On Thu, 30 Aug 2018 22:52:58 +0200 Lorenzo Bianconi <lorenzo.bianconi@xxxxxxxxxx> wrote: > Add support to STM LSM6DSO 6-axis (acc + gyro) Mems sensor > https://www.st.com/resource/en/datasheet/lsm6dso.pdf > > Signed-off-by: Lorenzo Bianconi <lorenzo.bianconi@xxxxxxxxxx> A nice clean set of patches that add this somewhat different device in a minimally invasive way. Good stuff. Applied to the togreg branch of iio.git and pushed out as testing for the autobuilders to play with it. Thanks, Jonathan > --- > drivers/iio/imu/st_lsm6dsx/Kconfig | 2 +- > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 12 +- > .../iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 144 +++++++++++++++++- > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 45 ++++++ > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c | 5 + > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c | 5 + > 6 files changed, 205 insertions(+), 8 deletions(-) > > diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig > index ccc817e17eb8..094fd006b63d 100644 > --- a/drivers/iio/imu/st_lsm6dsx/Kconfig > +++ b/drivers/iio/imu/st_lsm6dsx/Kconfig > @@ -9,7 +9,7 @@ config IIO_ST_LSM6DSX > help > Say yes here to build support for STMicroelectronics LSM6DSx imu > sensor. Supported devices: lsm6ds3, lsm6ds3h, lsm6dsl, lsm6dsm, > - ism330dlc > + ism330dlc, lsm6dso > > To compile this driver as a module, choose M here: the module > will be called st_lsm6dsx. > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > index 6cf806f10787..ef73519a0fb6 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > @@ -19,6 +19,7 @@ > #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, > @@ -26,14 +27,20 @@ enum st_lsm6dsx_hw_id { > ST_LSM6DSL_ID, > ST_LSM6DSM_ID, > ST_ISM330DLC_ID, > + ST_LSM6DSO_ID, > ST_LSM6DSX_MAX_ID, > }; > > -#define ST_LSM6DSX_BUFF_SIZE 400 > +#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)) > > struct st_lsm6dsx_reg { > @@ -83,6 +90,7 @@ struct st_lsm6dsx_hw_ts_settings { > * @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. > */ > @@ -91,6 +99,7 @@ struct st_lsm6dsx_settings { > 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; > }; > @@ -180,6 +189,7 @@ 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); > > #endif /* ST_LSM6DSX_H */ > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > index 2002ba4a1abd..340f2b16c457 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > @@ -12,6 +12,11 @@ > * buffer contains the data of all the enabled FIFO data sets > * (e.g. Gx, Gy, Gz, Ax, Ay, Az), then data are repeated depending on the > * value of the decimation factor and ODR set for each FIFO data set. > + * > + * LSM6DSO: The FIFO buffer can be configured to store data from gyroscope and > + * accelerometer. Each sample is queued with a tag (1B) indicating data source > + * (gyroscope, accelerometer, hw timer). > + * > * FIFO supported modes: > * - BYPASS: FIFO disabled > * - CONTINUOUS: FIFO enabled. When the buffer is full, the FIFO index > @@ -46,6 +51,7 @@ > #define ST_LSM6DSX_FIFO_ODR_MASK GENMASK(6, 3) > #define ST_LSM6DSX_FIFO_EMPTY_MASK BIT(12) > #define ST_LSM6DSX_REG_FIFO_OUTL_ADDR 0x3e > +#define ST_LSM6DSX_REG_FIFO_OUT_TAG_ADDR 0x78 > #define ST_LSM6DSX_REG_TS_RESET_ADDR 0x42 > > #define ST_LSM6DSX_MAX_FIFO_ODR_VAL 0x08 > @@ -58,6 +64,12 @@ struct st_lsm6dsx_decimator_entry { > u8 val; > }; > > +enum st_lsm6dsx_fifo_tag { > + ST_LSM6DSX_GYRO_TAG = 0x01, > + ST_LSM6DSX_ACC_TAG = 0x02, > + ST_LSM6DSX_TS_TAG = 0x04, > +}; > + > static const > struct st_lsm6dsx_decimator_entry st_lsm6dsx_decimator_table[] = { > { 0, 0x0 }, > @@ -177,12 +189,34 @@ static int st_lsm6dsx_set_fifo_odr(struct st_lsm6dsx_sensor *sensor, > bool enable) > { > struct st_lsm6dsx_hw *hw = sensor->hw; > + const struct st_lsm6dsx_reg *batch_reg; > u8 data; > > - data = hw->enable_mask ? ST_LSM6DSX_MAX_FIFO_ODR_VAL : 0; > - return regmap_update_bits(hw->regmap, ST_LSM6DSX_REG_FIFO_MODE_ADDR, > - ST_LSM6DSX_FIFO_ODR_MASK, > - FIELD_PREP(ST_LSM6DSX_FIFO_ODR_MASK, data)); > + batch_reg = &hw->settings->batch[sensor->id]; > + if (batch_reg->addr) { > + int val; > + > + if (enable) { > + int err; > + > + err = st_lsm6dsx_check_odr(sensor, sensor->odr, > + &data); > + if (err < 0) > + return err; > + } else { > + data = 0; > + } > + val = ST_LSM6DSX_SHIFT_VAL(data, batch_reg->mask); > + return regmap_update_bits(hw->regmap, batch_reg->addr, > + batch_reg->mask, val); > + } else { > + data = hw->enable_mask ? ST_LSM6DSX_MAX_FIFO_ODR_VAL : 0; > + return regmap_update_bits(hw->regmap, > + ST_LSM6DSX_REG_FIFO_MODE_ADDR, > + ST_LSM6DSX_FIFO_ODR_MASK, > + FIELD_PREP(ST_LSM6DSX_FIFO_ODR_MASK, > + data)); > + } > } > > int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, u16 watermark) > @@ -252,8 +286,8 @@ static int st_lsm6dsx_reset_hw_ts(struct st_lsm6dsx_hw *hw) > } > > /* > - * Set max bulk read to ST_LSM6DSX_MAX_WORD_LEN in order to avoid > - * a kmalloc for each bus access > + * Set max bulk read to ST_LSM6DSX_MAX_WORD_LEN/ST_LSM6DSX_MAX_TAGGED_WORD_LEN > + * in order to avoid a kmalloc for each bus access > */ > static inline int st_lsm6dsx_read_block(struct st_lsm6dsx_hw *hw, u8 addr, > u8 *data, unsigned int data_len, > @@ -404,6 +438,104 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) > return read_len; > } > > +/** > + * st_lsm6dsx_read_tagged_fifo() - LSM6DSO read FIFO routine > + * @hw: Pointer to instance of struct st_lsm6dsx_hw. > + * > + * Read samples from the hw FIFO and push them to IIO buffers. > + * > + * Return: Number of bytes read from the FIFO > + */ > +int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw) > +{ > + u16 pattern_len = hw->sip * ST_LSM6DSX_TAGGED_SAMPLE_SIZE; > + u16 fifo_len, fifo_diff_mask; > + struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor; > + u8 iio_buff[ST_LSM6DSX_IIO_BUFF_SIZE], tag; > + bool reset_ts = false; > + int i, err, read_len; > + __le16 fifo_status; > + s64 ts = 0; > + > + err = regmap_bulk_read(hw->regmap, > + hw->settings->fifo_ops.fifo_diff.addr, > + &fifo_status, sizeof(fifo_status)); > + if (err < 0) { > + dev_err(hw->dev, "failed to read fifo status (err=%d)\n", > + err); > + return err; > + } > + > + fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask; > + fifo_len = (le16_to_cpu(fifo_status) & fifo_diff_mask) * > + ST_LSM6DSX_TAGGED_SAMPLE_SIZE; > + if (!fifo_len) > + return 0; > + > + acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); > + gyro_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_GYRO]); > + > + for (read_len = 0; read_len < fifo_len; read_len += pattern_len) { > + err = st_lsm6dsx_read_block(hw, > + ST_LSM6DSX_REG_FIFO_OUT_TAG_ADDR, > + hw->buff, pattern_len, > + ST_LSM6DSX_MAX_TAGGED_WORD_LEN); > + if (err < 0) { > + dev_err(hw->dev, > + "failed to read pattern from fifo (err=%d)\n", > + err); > + return err; > + } > + > + for (i = 0; i < pattern_len; > + i += ST_LSM6DSX_TAGGED_SAMPLE_SIZE) { > + memcpy(iio_buff, &hw->buff[i + ST_LSM6DSX_TAG_SIZE], > + ST_LSM6DSX_SAMPLE_SIZE); > + > + tag = hw->buff[i] >> 3; > + switch (tag) { > + case ST_LSM6DSX_TS_TAG: > + /* > + * hw timestamp is 4B long and it is stored > + * in FIFO according to this schema: > + * B0 = ts[7:0], B1 = ts[15:8], B2 = ts[23:16], > + * B3 = ts[31:24] > + */ > + ts = le32_to_cpu(*((__le32 *)iio_buff)); > + /* > + * check if hw timestamp engine is going to > + * reset (the sensor generates an interrupt > + * to signal the hw timestamp will reset in > + * 1.638s) > + */ > + if (!reset_ts && ts >= 0xffff0000) > + reset_ts = true; > + ts *= ST_LSM6DSX_TS_SENSITIVITY; > + break; > + case ST_LSM6DSX_GYRO_TAG: > + iio_push_to_buffers_with_timestamp( > + hw->iio_devs[ST_LSM6DSX_ID_GYRO], > + iio_buff, gyro_sensor->ts_ref + ts); > + break; > + case ST_LSM6DSX_ACC_TAG: > + iio_push_to_buffers_with_timestamp( > + hw->iio_devs[ST_LSM6DSX_ID_ACC], > + iio_buff, acc_sensor->ts_ref + ts); > + break; > + default: > + break; > + } > + } > + } > + > + if (unlikely(reset_ts)) { > + err = st_lsm6dsx_reset_hw_ts(hw); > + if (err < 0) > + return err; > + } > + return read_len; > +} > + > int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw) > { > int err; > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > index 5a43d8139950..2ad3c610e4b6 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > @@ -23,6 +23,12 @@ > * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000 > * - FIFO size: 4KB > * > + * - LSM6DSO > + * - Accelerometer/Gyroscope supported ODR [Hz]: 13, 26, 52, 104, 208, 416 > + * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 > + * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000 > + * - FIFO size: 3KB > + * > * Copyright 2016 STMicroelectronics Inc. > * > * Lorenzo Bianconi <lorenzo.bianconi@xxxxxx> > @@ -297,6 +303,45 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { > }, > }, > }, > + { > + .wai = 0x6c, > + .max_fifo_size = 512, > + .id = { > + [0] = ST_LSM6DSO_ID, > + }, > + .batch = { > + [ST_LSM6DSX_ID_ACC] = { > + .addr = 0x09, > + .mask = GENMASK(3, 0), > + }, > + [ST_LSM6DSX_ID_GYRO] = { > + .addr = 0x09, > + .mask = GENMASK(7, 4), > + }, > + }, > + .fifo_ops = { > + .read_fifo = st_lsm6dsx_read_tagged_fifo, > + .fifo_th = { > + .addr = 0x07, > + .mask = GENMASK(8, 0), > + }, > + .fifo_diff = { > + .addr = 0x3a, > + .mask = GENMASK(8, 0), > + }, > + .th_wl = 1, > + }, > + .ts_settings = { > + .timer_en = { > + .addr = 0x19, > + .mask = BIT(5), > + }, > + .decimator = { > + .addr = 0x0a, > + .mask = GENMASK(7, 6), > + }, > + }, > + }, > }; > > #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \ > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c > index 377c4e9997da..448b7bc1e578 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c > @@ -61,6 +61,10 @@ static const struct of_device_id st_lsm6dsx_i2c_of_match[] = { > .compatible = "st,ism330dlc", > .data = (void *)ST_ISM330DLC_ID, > }, > + { > + .compatible = "st,lsm6dso", > + .data = (void *)ST_LSM6DSO_ID, > + }, > {}, > }; > MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match); > @@ -71,6 +75,7 @@ static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = { > { ST_LSM6DSL_DEV_NAME, ST_LSM6DSL_ID }, > { ST_LSM6DSM_DEV_NAME, ST_LSM6DSM_ID }, > { ST_ISM330DLC_DEV_NAME, ST_ISM330DLC_ID }, > + { ST_LSM6DSO_DEV_NAME, ST_LSM6DSO_ID }, > {}, > }; > MODULE_DEVICE_TABLE(i2c, st_lsm6dsx_i2c_id_table); > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c > index fec5c6ce7eb7..b1df8a6973e6 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c > @@ -61,6 +61,10 @@ static const struct of_device_id st_lsm6dsx_spi_of_match[] = { > .compatible = "st,ism330dlc", > .data = (void *)ST_ISM330DLC_ID, > }, > + { > + .compatible = "st,lsm6dso", > + .data = (void *)ST_LSM6DSO_ID, > + }, > {}, > }; > MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match); > @@ -71,6 +75,7 @@ static const struct spi_device_id st_lsm6dsx_spi_id_table[] = { > { ST_LSM6DSL_DEV_NAME, ST_LSM6DSL_ID }, > { ST_LSM6DSM_DEV_NAME, ST_LSM6DSM_ID }, > { ST_ISM330DLC_DEV_NAME, ST_ISM330DLC_ID }, > + { ST_LSM6DSO_DEV_NAME, ST_LSM6DSO_ID }, > {}, > }; > MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table);
