/* SPDX-License-Identifier: GPL-2.0-only */
/*
 * STMicroelectronics st_lsm6dsx sensor driver
 *
 * Copyright 2016 STMicroelectronics Inc.
 *
 * Lorenzo Bianconi <lorenzo.bianconi@st.com>
 * Denis Ciocca <denis.ciocca@st.com>
 */

#ifndef ST_LSM6DSX_H
#define ST_LSM6DSX_H

#include <linux/device.h>
#include <linux/iio/iio.h>
#include <linux/regulator/consumer.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"
#define ST_ASM330LHH_DEV_NAME   "asm330lhh"
#define ST_LSM6DSOX_DEV_NAME    "lsm6dsox"
#define ST_LSM6DSR_DEV_NAME     "lsm6dsr"
#define ST_LSM6DS3TRC_DEV_NAME  "lsm6ds3tr-c"
#define ST_ISM330DHCX_DEV_NAME  "ism330dhcx"
#define ST_LSM9DS1_DEV_NAME     "lsm9ds1-imu"
#define ST_LSM6DS0_DEV_NAME     "lsm6ds0"
#define ST_LSM6DSRX_DEV_NAME    "lsm6dsrx"
#define ST_LSM6DST_DEV_NAME     "lsm6dst"
#define ST_LSM6DSOP_DEV_NAME    "lsm6dsop"
#define ST_ASM330LHHX_DEV_NAME  "asm330lhhx"
#define ST_LSM6DSTX_DEV_NAME    "lsm6dstx"
#define ST_LSM6DSV_DEV_NAME     "lsm6dsv"
#define ST_LSM6DSV16X_DEV_NAME  "lsm6dsv16x"
#define ST_LSM6DSO16IS_DEV_NAME "lsm6dso16is"
#define ST_ISM330IS_DEV_NAME    "ism330is"
#define ST_ASM330LHB_DEV_NAME   "asm330lhb"
#define ST_ASM330LHHXG1_DEV_NAME        "asm330lhhxg1"

enum st_lsm6dsx_hw_id {
        ST_LSM6DS3_ID = 1,
        ST_LSM6DS3H_ID,
        ST_LSM6DSL_ID,
        ST_LSM6DSM_ID,
        ST_ISM330DLC_ID,
        ST_LSM6DSO_ID,
        ST_ASM330LHH_ID,
        ST_LSM6DSOX_ID,
        ST_LSM6DSR_ID,
        ST_LSM6DS3TRC_ID,
        ST_ISM330DHCX_ID,
        ST_LSM9DS1_ID,
        ST_LSM6DS0_ID,
        ST_LSM6DSRX_ID,
        ST_LSM6DST_ID,
        ST_LSM6DSOP_ID,
        ST_ASM330LHHX_ID,
        ST_LSM6DSTX_ID,
        ST_LSM6DSV_ID,
        ST_LSM6DSV16X_ID,
        ST_LSM6DSO16IS_ID,
        ST_ISM330IS_ID,
        ST_ASM330LHB_ID,
        ST_ASM330LHHXG1_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_field_get(mask, reg) ((reg & mask) >> __ffs(mask))

#define ST_LSM6DSX_CHANNEL_ACC(addr, mod, scan_idx, events)             \
{                                                                       \
        .type = IIO_ACCEL,                                              \
        .address = addr,                                                \
        .modified = 1,                                                  \
        .channel2 = mod,                                                \
        .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),                   \
        .info_mask_shared_by_type = 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,                                   \
        },                                                              \
        .event_spec = events,                                           \
        .num_event_specs = ARRAY_SIZE(events),                          \
        .ext_info = st_lsm6dsx_ext_info,                                \
}

#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),                   \
        .info_mask_shared_by_type = 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,                                   \
        },                                                              \
        .ext_info = st_lsm6dsx_ext_info,                                \
}

struct st_lsm6dsx_reg {
        u8 addr;
        u8 mask;
};

struct st_lsm6dsx_sensor;
struct st_lsm6dsx_hw;

struct st_lsm6dsx_odr {
        u32 milli_hz;
        u8 val;
};

#define ST_LSM6DSX_ODR_LIST_SIZE        8
struct st_lsm6dsx_odr_table_entry {
        struct st_lsm6dsx_reg reg;

        struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
        int odr_len;
};

struct st_lsm6dsx_samples_to_discard {
        struct {
                u32 milli_hz;
                u16 samples;
        } val[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];
        int fs_len;
};

/**
 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
 * @update_fifo: Update FIFO configuration callback.
 * @read_fifo: Read FIFO callback.
 * @fifo_th: FIFO threshold register info (addr + mask).
 * @fifo_diff: FIFO diff status register info (addr + mask).
 * @max_size: Sensor max fifo length in FIFO words.
 * @th_wl: FIFO threshold word length.
 */
struct st_lsm6dsx_fifo_ops {
        int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
        int (*read_fifo)(struct st_lsm6dsx_hw *hw);
        struct {
                u8 addr;
                u16 mask;
        } fifo_th;
        struct {
                u8 addr;
                u16 mask;
        } fifo_diff;
        u16 max_size;
        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).
 * @freq_fine: Difference in % of ODR with respect to the typical.
 * @ts_sensitivity: Nominal timestamp sensitivity.
 * @ts_trim_coeff: Coefficient for calculating the calibrated timestamp gain.
 *                 This coefficient comes into play when linearizing the formula
 *                 used to calculate the calibrated timestamp (please see the
 *                 relevant formula in the AN for the specific IMU).
 *                 For example, in the case of LSM6DSO we have:
 *
 *                  1 / (1 + x) ~= 1 - x (Taylor’s Series)
 *                  ttrim[s] = 1 / (40000 * (1 + 0.0015 * val)) (from AN5192)
 *                  ttrim[ns] ~= 25000 - 37.5 * val
 *                  ttrim[ns] ~= 25000 - (37500 * val) / 1000
 *
 *                  so, replacing ts_sensitivity = 25000 and
 *                  ts_trim_coeff = 37500
 *
 *                  ttrim[ns] ~= ts_sensitivity - (ts_trim_coeff * val) / 1000
 */
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;
        u8 freq_fine;
        u16 ts_sensitivity;
        u16 ts_trim_coeff;
};

/**
 * 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).
 * @emb_func:  embedded function register info (addr + mask).
 * @num_ext_dev: max number of slave devices.
 * @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.
 * @pause: controller pause value.
 */
struct st_lsm6dsx_shub_settings {
        struct st_lsm6dsx_reg page_mux;
        struct {
                bool sec_page;
                u8 addr;
                u8 mask;
        } master_en;
        struct {
                bool sec_page;
                u8 addr;
                u8 mask;
        } pullup_en;
        struct st_lsm6dsx_reg aux_sens;
        struct st_lsm6dsx_reg wr_once;
        struct st_lsm6dsx_reg emb_func;
        u8 num_ext_dev;
        struct {
                bool sec_page;
                u8 addr;
        } shub_out;
        u8 slv0_addr;
        u8 dw_slv0_addr;
        u8 batch_en;
        u8 pause;
};

enum st_lsm6dsx_event_id {
        ST_LSM6DSX_EVENT_WAKEUP,
        ST_LSM6DSX_EVENT_TAP,
        ST_LSM6DSX_EVENT_MAX
};

struct st_lsm6dsx_event_src {
        struct st_lsm6dsx_reg value;
        struct st_lsm6dsx_reg x_value;
        struct st_lsm6dsx_reg y_value;
        struct st_lsm6dsx_reg z_value;
        u8 enable_mask;
        u8 enable_axis_reg;
        u8 enable_x_mask;
        u8 enable_y_mask;
        u8 enable_z_mask;
        struct st_lsm6dsx_reg status;
        u8 status_x_mask;
        u8 status_y_mask;
        u8 status_z_mask;
};

struct st_lsm6dsx_event_settings {
        struct st_lsm6dsx_reg enable_reg;
        struct st_lsm6dsx_event_src sources[ST_LSM6DSX_EVENT_MAX];
};

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_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_table: Output data rate of the sensor [Hz].
 * @fs_table: Configured sensor sensitivity table depending on full scale.
 * @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
 * @reset: register address for reset.
 * @boot: register address for boot.
 * @bdu: register address for Block Data Update.
 * @id: List of hw id/device name supported by the driver configuration.
 * @channels: IIO channels supported by the device.
 * @irq_config: interrupts related registers.
 * @drdy_mask: register info for data-ready mask (addr + mask).
 * @odr_table: Hw sensors odr table (Hz + val).
 * @samples_to_discard: Number of samples to discard for filters settling time.
 * @fs_table: Hw sensors gain table (gain + val).
 * @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 {
        struct st_lsm6dsx_reg reset;
        struct st_lsm6dsx_reg boot;
        struct st_lsm6dsx_reg bdu;
        struct {
                enum st_lsm6dsx_hw_id hw_id;
                const char *name;
                u8 wai;
        } id[ST_LSM6DSX_MAX_ID];
        struct {
                const struct iio_chan_spec *chan;
                int len;
        } channels[2];
        struct {
                struct st_lsm6dsx_reg irq1;
                struct st_lsm6dsx_reg irq2;
                u8 irq1_func;
                u8 irq2_func;
                struct st_lsm6dsx_reg lir;
                struct st_lsm6dsx_reg clear_on_read;
                struct st_lsm6dsx_reg hla;
                struct st_lsm6dsx_reg od;
        } irq_config;
        struct st_lsm6dsx_reg drdy_mask;
        struct st_lsm6dsx_odr_table_entry odr_table[2];
        struct st_lsm6dsx_samples_to_discard samples_to_discard[2];
        struct st_lsm6dsx_fs_table_entry fs_table[2];
        struct st_lsm6dsx_reg decimator[ST_LSM6DSX_ID_MAX];
        struct st_lsm6dsx_reg batch[2];
        struct st_lsm6dsx_fifo_ops fifo_ops;
        struct st_lsm6dsx_hw_ts_settings ts_settings;
        struct st_lsm6dsx_shub_settings shub_settings;
        struct st_lsm6dsx_event_settings event_settings;
};

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 [mHz].
 * hwfifo_odr_mHz: Batch data rate for hardware FIFO [mHz]
 * @samples_to_discard: Number of samples to discard for filters settling time.
 * @watermark: Sensor watermark level.
 * @decimator: Sensor decimation factor.
 * @sip: Number of samples in a given pattern.
 * @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;
        u32 odr;
        u32 hwfifo_odr_mHz;

        u16 samples_to_discard;
        u16 watermark;
        u8 decimator;
        u8 sip;
        s64 ts_ref;

        struct {
                const struct st_lsm6dsx_ext_dev_settings *settings;
                u32 slv_odr;
                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.
 * @suspend_mask: Suspended sensor bitmask.
 * @enable_mask: Enabled sensor bitmask.
 * @fifo_mask: Enabled hw FIFO bitmask.
 * @ts_gain: Hw timestamp rate after internal calibration.
 * @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.
 * @irq_routing: pointer to interrupt routing configuration.
 * @enable_event: enabled event bitmask.
 * @iio_devs: Pointers to acc/gyro iio_dev instances.
 * @settings: Pointer to the specific sensor settings in use.
 * @orientation: sensor chip orientation relative to main hardware.
 * @scan: Temporary buffers used to align data before iio_push_to_buffers()
 */
struct st_lsm6dsx_hw {
        struct device *dev;
        struct regmap *regmap;
        int irq;

        struct mutex fifo_lock;
        struct mutex conf_lock;
        struct mutex page_lock;

        u8 suspend_mask;
        u8 enable_mask;
        u8 fifo_mask;
        s64 ts_gain;
        u8 ts_sip;
        u8 sip;

        u8 irq_routing;
        u8 enable_event[ST_LSM6DSX_EVENT_MAX];

        u8 *buff;

        struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];

        const struct st_lsm6dsx_settings *settings;

        struct iio_mount_matrix orientation;
        /* Ensure natural alignment of buffer elements */
        struct {
                __le16 channels[3];
                aligned_s64 ts;
        } scan[ST_LSM6DSX_ID_MAX];
};

static __maybe_unused 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,
                     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_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
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, u32 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_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len);
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;
}

static inline const struct iio_mount_matrix *
st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
                            const struct iio_chan_spec *chan)
{
        struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
        struct st_lsm6dsx_hw *hw = sensor->hw;

        return &hw->orientation;
}

static inline int
st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
{
        if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
            sensor->id == ST_LSM6DSX_ID_EXT1 ||
            sensor->id == ST_LSM6DSX_ID_EXT2)
                return st_lsm6dsx_shub_set_enable(sensor, enable);

        return st_lsm6dsx_sensor_set_enable(sensor, enable);
}

static const
struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_ext_info[] = {
        IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
        { }
};

#endif /* ST_LSM6DSX_H */