text: /*
   * STMicroelectronics st_lsm6dsx sensor driver
   *
   * Copyright 2016 STMicroelectronics Inc.
   *
   * Lorenzo Bianconi <lorenzo.bianconi@st.com>
   * Denis Ciocca <denis.ciocca@st.com>
   *
   * Licensed under the GPL-2.
   */
  
  #ifndef ST_LSM6DSX_H
  #define ST_LSM6DSX_H
  
  #include <linux/device.h>
  
  #define ST_LSM6DS3_DEV_NAME	"lsm6ds3"
  #define ST_LSM6DS3H_DEV_NAME	"lsm6ds3h"
  #define ST_LSM6DSL_DEV_NAME	"lsm6dsl"
  #define ST_LSM6DSM_DEV_NAME	"lsm6dsm"
  #define ST_ISM330DLC_DEV_NAME	"ism330dlc"
  #define ST_LSM6DSO_DEV_NAME	"lsm6dso"
  
  enum st_lsm6dsx_hw_id {
  	ST_LSM6DS3_ID,
  	ST_LSM6DS3H_ID,
  	ST_LSM6DSL_ID,
  	ST_LSM6DSM_ID,
  	ST_ISM330DLC_ID,
  	ST_LSM6DSO_ID,
  	ST_LSM6DSX_MAX_ID,
  };
  
  #define ST_LSM6DSX_BUFF_SIZE		512
  #define ST_LSM6DSX_CHAN_SIZE		2
  #define ST_LSM6DSX_SAMPLE_SIZE		6
  #define ST_LSM6DSX_TAG_SIZE		1
  #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE	(ST_LSM6DSX_SAMPLE_SIZE + \
  					 ST_LSM6DSX_TAG_SIZE)
  #define ST_LSM6DSX_MAX_WORD_LEN		((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
  					 ST_LSM6DSX_SAMPLE_SIZE)
  #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN	((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
  					 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
  #define ST_LSM6DSX_SHIFT_VAL(val, mask)	(((val) << __ffs(mask)) & (mask))
  
  #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx)		\
  {									\
  	.type = chan_type,						\
  	.address = addr,						\
  	.modified = 1,							\
  	.channel2 = mod,						\
  	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |			\
  			      BIT(IIO_CHAN_INFO_SCALE),			\
  	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),	\
  	.scan_index = scan_idx,						\
  	.scan_type = {							\
  		.sign = 's',						\
  		.realbits = 16,						\
  		.storagebits = 16,					\
  		.endianness = IIO_LE,					\
  	},								\
  }
  
  struct st_lsm6dsx_reg {
  	u8 addr;
  	u8 mask;
  };
  
  struct st_lsm6dsx_hw;
  
  struct st_lsm6dsx_odr {
  	u16 hz;
  	u8 val;
  };
  
  #define ST_LSM6DSX_ODR_LIST_SIZE	6
  struct st_lsm6dsx_odr_table_entry {
  	struct st_lsm6dsx_reg reg;
  	struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
  };
  
  struct st_lsm6dsx_fs {
  	u32 gain;
  	u8 val;
  };
  
  #define ST_LSM6DSX_FS_LIST_SIZE		4
  struct st_lsm6dsx_fs_table_entry {
  	struct st_lsm6dsx_reg reg;
  	struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
  };
  
  /**
   * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
   * @read_fifo: Read FIFO callback.
   * @fifo_th: FIFO threshold register info (addr + mask).
   * @fifo_diff: FIFO diff status register info (addr + mask).
   * @th_wl: FIFO threshold word length.
   */
  struct st_lsm6dsx_fifo_ops {
  	int (*read_fifo)(struct st_lsm6dsx_hw *hw);
  	struct {
  		u8 addr;
  		u16 mask;
  	} fifo_th;
  	struct {
  		u8 addr;
  		u16 mask;
  	} fifo_diff;
  	u8 th_wl;
  };
  
  /**
   * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
   * @timer_en: Hw timer enable register info (addr + mask).
   * @hr_timer: Hw timer resolution register info (addr + mask).
   * @fifo_en: Hw timer FIFO enable register info (addr + mask).
   * @decimator: Hw timer FIFO decimator register info (addr + mask).
   */
  struct st_lsm6dsx_hw_ts_settings {
  	struct st_lsm6dsx_reg timer_en;
  	struct st_lsm6dsx_reg hr_timer;
  	struct st_lsm6dsx_reg fifo_en;
  	struct st_lsm6dsx_reg decimator;
  };
  
  /**
   * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
   * @page_mux: register page mux info (addr + mask).
   * @master_en: master config register info (addr + mask).
   * @pullup_en: i2c controller pull-up register info (addr + mask).
   * @aux_sens: aux sensor register info (addr + mask).
   * @wr_once: write_once register info (addr + mask).
   * @shub_out: sensor hub first output register info.
   * @slv0_addr: slave0 address in secondary page.
   * @dw_slv0_addr: slave0 write register address in secondary page.
   * @batch_en: Enable/disable FIFO batching.
   */
  struct st_lsm6dsx_shub_settings {
  	struct st_lsm6dsx_reg page_mux;
  	struct st_lsm6dsx_reg master_en;
  	struct st_lsm6dsx_reg pullup_en;
  	struct st_lsm6dsx_reg aux_sens;
  	struct st_lsm6dsx_reg wr_once;
  	u8 shub_out;
  	u8 slv0_addr;
  	u8 dw_slv0_addr;
  	u8 batch_en;
  };
  
  enum st_lsm6dsx_ext_sensor_id {
  	ST_LSM6DSX_ID_MAGN,
  };
  
  /**
   * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
   * @i2c_addr: I2c slave address list.
   * @wai: Wai address info.
   * @id: external sensor id.
   * @odr: Output data rate of the sensor [Hz].
   * @gain: Configured sensor sensitivity.
   * @temp_comp: Temperature compensation register info (addr + mask).
   * @pwr_table: Power on register info (addr + mask).
   * @off_canc: Offset cancellation register info (addr + mask).
   * @bdu: Block data update register info (addr + mask).
   * @out: Output register info.
   */
  struct st_lsm6dsx_ext_dev_settings {
  	u8 i2c_addr[2];
  	struct {
  		u8 addr;
  		u8 val;
  	} wai;
  	enum st_lsm6dsx_ext_sensor_id id;
  	struct st_lsm6dsx_odr_table_entry odr_table;
  	struct st_lsm6dsx_fs_table_entry fs_table;
  	struct st_lsm6dsx_reg temp_comp;
  	struct {
  		struct st_lsm6dsx_reg reg;
  		u8 off_val;
  		u8 on_val;
  	} pwr_table;
  	struct st_lsm6dsx_reg off_canc;
  	struct st_lsm6dsx_reg bdu;
  	struct {
  		u8 addr;
  		u8 len;
  	} out;
  };
  
  /**
   * struct st_lsm6dsx_settings - ST IMU sensor settings
   * @wai: Sensor WhoAmI default value.
   * @max_fifo_size: Sensor max fifo length in FIFO words.
   * @id: List of hw id supported by the driver configuration.
   * @decimator: List of decimator register info (addr + mask).
   * @batch: List of FIFO batching register info (addr + mask).
   * @fifo_ops: Sensor hw FIFO parameters.
   * @ts_settings: Hw timer related settings.
   * @shub_settings: i2c controller related settings.
   */
  struct st_lsm6dsx_settings {
  	u8 wai;
  	u16 max_fifo_size;
  	enum st_lsm6dsx_hw_id id[ST_LSM6DSX_MAX_ID];
  	struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
  	struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
  	struct st_lsm6dsx_fifo_ops fifo_ops;
  	struct st_lsm6dsx_hw_ts_settings ts_settings;
  	struct st_lsm6dsx_shub_settings shub_settings;
  };
  
  enum st_lsm6dsx_sensor_id {
  	ST_LSM6DSX_ID_GYRO,
  	ST_LSM6DSX_ID_ACC,
  	ST_LSM6DSX_ID_EXT0,
  	ST_LSM6DSX_ID_EXT1,
  	ST_LSM6DSX_ID_EXT2,
  	ST_LSM6DSX_ID_MAX,
  };
  
  enum st_lsm6dsx_fifo_mode {
  	ST_LSM6DSX_FIFO_BYPASS = 0x0,
  	ST_LSM6DSX_FIFO_CONT = 0x6,
  };
  
  /**
   * struct st_lsm6dsx_sensor - ST IMU sensor instance
   * @name: Sensor name.
   * @id: Sensor identifier.
   * @hw: Pointer to instance of struct st_lsm6dsx_hw.
   * @gain: Configured sensor sensitivity.
   * @odr: Output data rate of the sensor [Hz].
   * @watermark: Sensor watermark level.
   * @sip: Number of samples in a given pattern.
   * @decimator: FIFO decimation factor.
   * @ts_ref: Sensor timestamp reference for hw one.
   * @ext_info: Sensor settings if it is connected to i2c controller
   */
  struct st_lsm6dsx_sensor {
  	char name[32];
  	enum st_lsm6dsx_sensor_id id;
  	struct st_lsm6dsx_hw *hw;
  
  	u32 gain;
  	u16 odr;
  
  	u16 watermark;
  	u8 sip;
  	u8 decimator;
  	s64 ts_ref;
  
  	struct {
  		const struct st_lsm6dsx_ext_dev_settings *settings;
  		u8 addr;
  	} ext_info;
  };
  
  /**
   * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
   * @dev: Pointer to instance of struct device (I2C or SPI).
   * @regmap: Register map of the device.
   * @irq: Device interrupt line (I2C or SPI).
   * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
   * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
   * @page_lock: Mutex to prevent concurrent memory page configuration.
   * @fifo_mode: FIFO operating mode supported by the device.
   * @enable_mask: Enabled sensor bitmask.
   * @ts_sip: Total number of timestamp samples in a given pattern.
   * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
   * @buff: Device read buffer.
   * @iio_devs: Pointers to acc/gyro iio_dev instances.
   * @settings: Pointer to the specific sensor settings in use.
   */
  struct st_lsm6dsx_hw {
  	struct device *dev;
  	struct regmap *regmap;
  	int irq;
  
  	struct mutex fifo_lock;
  	struct mutex conf_lock;
  	struct mutex page_lock;
  
  	enum st_lsm6dsx_fifo_mode fifo_mode;
  	u8 enable_mask;
  	u8 ts_sip;
  	u8 sip;
  
  	u8 *buff;
  
  	struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
  
  	const struct st_lsm6dsx_settings *settings;
  };
  
  static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0};
  extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
  
  int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, const char *name,
  		     struct regmap *regmap);
  int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
  				 bool enable);
  int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
  int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
  int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
  				u16 watermark);
  int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
  int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
  			     enum st_lsm6dsx_fifo_mode fifo_mode);
  int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
  int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
  int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, u8 *val);
  int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
  int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
  int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
  
  static inline int
  st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
  			      unsigned int mask, unsigned int val)
  {
  	int err;
  
  	mutex_lock(&hw->page_lock);
  	err = regmap_update_bits(hw->regmap, addr, mask, val);
  	mutex_unlock(&hw->page_lock);
  
  	return err;
  }
  
  static inline int
  st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
  		       void *val, unsigned int len)
  {
  	int err;
  
  	mutex_lock(&hw->page_lock);
  	err = regmap_bulk_read(hw->regmap, addr, val, len);
  	mutex_unlock(&hw->page_lock);
  
  	return err;
  }
  
  static inline int
  st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
  			unsigned int val)
  {
  	int err;
  
  	mutex_lock(&hw->page_lock);
  	err = regmap_write(hw->regmap, addr, val);
  	mutex_unlock(&hw->page_lock);
  
  	return err;
  }
  
  #endif /* ST_LSM6DSX_H */
  