On 10/01/17 21:55, Lorenzo Bianconi wrote: > Add support to STM LSM6DS3-LSM6DSM 6-axis (acc + gyro) Mems sensor > > http://www.st.com/resource/en/datasheet/lsm6ds3.pdf > http://www.st.com/resource/en/datasheet/lsm6dsm.pdf > > - continuous mode support > - i2c support > - spi support > - sw fifo mode support > - supported devices: lsm6ds3, lsm6dsm > > Signed-off-by: Lorenzo Bianconi <lorenzo.bianconi@xxxxxx> A nice driver, for a complex device. Good work! Applied to the togreg branch of iio.git - pushed out as testing for the autobuilders to play with it. Please watch out for double newlines at the end of files though. I've fixed up when applying. Thanks, Jonathan > --- > drivers/iio/imu/Kconfig | 1 + > drivers/iio/imu/Makefile | 2 + > drivers/iio/imu/st_lsm6dsx/Kconfig | 23 + > drivers/iio/imu/st_lsm6dsx/Makefile | 5 + > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 142 ++++++ > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 455 +++++++++++++++++ > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 673 +++++++++++++++++++++++++ > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c | 101 ++++ > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c | 118 +++++ > 9 files changed, 1520 insertions(+) > create mode 100644 drivers/iio/imu/st_lsm6dsx/Kconfig > create mode 100644 drivers/iio/imu/st_lsm6dsx/Makefile > create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c > create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c > > diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig > index 1f1ad41..156630a 100644 > --- a/drivers/iio/imu/Kconfig > +++ b/drivers/iio/imu/Kconfig > @@ -39,6 +39,7 @@ config KMX61 > be called kmx61. > > source "drivers/iio/imu/inv_mpu6050/Kconfig" > +source "drivers/iio/imu/st_lsm6dsx/Kconfig" > > endmenu > > diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile > index c71bcd3..8b563c3 100644 > --- a/drivers/iio/imu/Makefile > +++ b/drivers/iio/imu/Makefile > @@ -17,3 +17,5 @@ obj-y += bmi160/ > obj-y += inv_mpu6050/ > > obj-$(CONFIG_KMX61) += kmx61.o > + > +obj-y += st_lsm6dsx/ > diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig > new file mode 100644 > index 0000000..2ebcb74 > --- /dev/null > +++ b/drivers/iio/imu/st_lsm6dsx/Kconfig > @@ -0,0 +1,23 @@ > + > +config IIO_ST_LSM6DSX > + tristate "ST_LSM6DSx driver for STM 6-axis IMU MEMS sensors" > + depends on (I2C || SPI) > + select IIO_BUFFER > + select IIO_KFIFO_BUF > + select IIO_ST_LSM6DSX_I2C if (I2C) > + select IIO_ST_LSM6DSX_SPI if (SPI_MASTER) > + help > + Say yes here to build support for STMicroelectronics LSM6DSx imu > + sensor. Supported devices: lsm6ds3, lsm6dsm > + > + To compile this driver as a module, choose M here: the module > + will be called st_lsm6dsx. > + > +config IIO_ST_LSM6DSX_I2C > + tristate > + depends on IIO_ST_LSM6DSX > + > +config IIO_ST_LSM6DSX_SPI > + tristate > + depends on IIO_ST_LSM6DSX > + > diff --git a/drivers/iio/imu/st_lsm6dsx/Makefile b/drivers/iio/imu/st_lsm6dsx/Makefile > new file mode 100644 > index 0000000..35919fe > --- /dev/null > +++ b/drivers/iio/imu/st_lsm6dsx/Makefile > @@ -0,0 +1,5 @@ > +st_lsm6dsx-y := st_lsm6dsx_core.o st_lsm6dsx_buffer.o > + > +obj-$(CONFIG_IIO_ST_LSM6DSX) += st_lsm6dsx.o > +obj-$(CONFIG_IIO_ST_LSM6DSX_I2C) += st_lsm6dsx_i2c.o > +obj-$(CONFIG_IIO_ST_LSM6DSX_SPI) += st_lsm6dsx_spi.o > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > new file mode 100644 > index 0000000..16189ff > --- /dev/null > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > @@ -0,0 +1,142 @@ > +/* > + * STMicroelectronics st_lsm6dsx sensor driver > + * > + * Copyright 2016 STMicroelectronics Inc. > + * > + * Lorenzo Bianconi <lorenzo.bianconi@xxxxxx> > + * Denis Ciocca <denis.ciocca@xxxxxx> > + * > + * 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_LSM6DSM_DEV_NAME "lsm6dsm" > + > +enum st_lsm6dsx_hw_id { > + ST_LSM6DS3_ID, > + ST_LSM6DSM_ID, > +}; > + > +#define ST_LSM6DSX_CHAN_SIZE 2 > +#define ST_LSM6DSX_SAMPLE_SIZE 6 > +#define ST_LSM6DSX_SAMPLE_DEPTH (ST_LSM6DSX_SAMPLE_SIZE / \ > + ST_LSM6DSX_CHAN_SIZE) > + > +#if defined(CONFIG_SPI_MASTER) > +#define ST_LSM6DSX_RX_MAX_LENGTH 256 > +#define ST_LSM6DSX_TX_MAX_LENGTH 8 > + > +struct st_lsm6dsx_transfer_buffer { > + u8 rx_buf[ST_LSM6DSX_RX_MAX_LENGTH]; > + u8 tx_buf[ST_LSM6DSX_TX_MAX_LENGTH] ____cacheline_aligned; > +}; > +#endif /* CONFIG_SPI_MASTER */ > + > +struct st_lsm6dsx_transfer_function { > + int (*read)(struct device *dev, u8 addr, int len, u8 *data); > + int (*write)(struct device *dev, u8 addr, int len, u8 *data); > +}; > + > +struct st_lsm6dsx_reg { > + u8 addr; > + u8 mask; > +}; > + > +struct st_lsm6dsx_settings { > + u8 wai; > + u16 max_fifo_size; > + enum st_lsm6dsx_hw_id id; > +}; > + > +enum st_lsm6dsx_sensor_id { > + ST_LSM6DSX_ID_ACC, > + ST_LSM6DSX_ID_GYRO, > + 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 > + * @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. > + * @decimator_mask: Sensor mask for decimation register. > + * @delta_ts: Delta time between two consecutive interrupts. > + * @ts: Latest timestamp from the interrupt handler. > + */ > +struct st_lsm6dsx_sensor { > + enum st_lsm6dsx_sensor_id id; > + struct st_lsm6dsx_hw *hw; > + > + u32 gain; > + u16 odr; > + > + u16 watermark; > + u8 sip; > + u8 decimator; > + u8 decimator_mask; > + > + s64 delta_ts; > + s64 ts; > +}; > + > +/** > + * struct st_lsm6dsx_hw - ST IMU MEMS hw instance > + * @dev: Pointer to instance of struct device (I2C or SPI). > + * @irq: Device interrupt line (I2C or SPI). > + * @lock: Mutex to protect read and write operations. > + * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO. > + * @fifo_mode: FIFO operating mode supported by the device. > + * @enable_mask: Enabled sensor bitmask. > + * @sip: Total number of samples (acc/gyro) in a given pattern. > + * @iio_devs: Pointers to acc/gyro iio_dev instances. > + * @settings: Pointer to the specific sensor settings in use. > + * @tf: Transfer function structure used by I/O operations. > + * @tb: Transfer buffers used by SPI I/O operations. > + */ > +struct st_lsm6dsx_hw { > + struct device *dev; > + int irq; > + > + struct mutex lock; > + struct mutex fifo_lock; > + > + enum st_lsm6dsx_fifo_mode fifo_mode; > + u8 enable_mask; > + u8 sip; > + > + struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX]; > + > + const struct st_lsm6dsx_settings *settings; > + > + const struct st_lsm6dsx_transfer_function *tf; > +#if defined(CONFIG_SPI_MASTER) > + struct st_lsm6dsx_transfer_buffer tb; > +#endif /* CONFIG_SPI_MASTER */ > +}; > + > +int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, > + const struct st_lsm6dsx_transfer_function *tf_ops); > +int st_lsm6dsx_sensor_enable(struct st_lsm6dsx_sensor *sensor); > +int st_lsm6dsx_sensor_disable(struct st_lsm6dsx_sensor *sensor); > +int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw); > +int st_lsm6dsx_write_with_mask(struct st_lsm6dsx_hw *hw, u8 addr, u8 mask, > + u8 val); > +int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, > + u16 watermark); > + > +#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 > new file mode 100644 > index 0000000..a16d7c9 > --- /dev/null > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > @@ -0,0 +1,455 @@ > +/* > + * STMicroelectronics st_lsm6dsx FIFO buffer library driver > + * > + * LSM6DS3/LSM6DSM: The FIFO buffer can be configured to store data > + * from gyroscope and accelerometer. Samples are queued without any tag > + * according to a specific pattern based on 'FIFO data sets' (6 bytes each): > + * - 1st data set is reserved for gyroscope data > + * - 2nd data set is reserved for accelerometer data > + * The FIFO pattern changes depending on the ODRs and decimation factors > + * assigned to the FIFO data sets. The first sequence of data stored in FIFO > + * 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. > + * FIFO supported modes: > + * - BYPASS: FIFO disabled > + * - CONTINUOUS: FIFO enabled. When the buffer is full, the FIFO index > + * restarts from the beginning and the oldest sample is overwritten > + * > + * Copyright 2016 STMicroelectronics Inc. > + * > + * Lorenzo Bianconi <lorenzo.bianconi@xxxxxx> > + * Denis Ciocca <denis.ciocca@xxxxxx> > + * > + * Licensed under the GPL-2. > + */ > +#include <linux/module.h> > +#include <linux/interrupt.h> > +#include <linux/irq.h> > +#include <linux/iio/kfifo_buf.h> > +#include <linux/iio/iio.h> > +#include <linux/iio/buffer.h> > + > +#include "st_lsm6dsx.h" > + > +#define ST_LSM6DSX_REG_FIFO_THL_ADDR 0x06 > +#define ST_LSM6DSX_REG_FIFO_THH_ADDR 0x07 > +#define ST_LSM6DSX_FIFO_TH_MASK GENMASK(11, 0) > +#define ST_LSM6DSX_REG_FIFO_DEC_GXL_ADDR 0x08 > +#define ST_LSM6DSX_REG_FIFO_MODE_ADDR 0x0a > +#define ST_LSM6DSX_FIFO_MODE_MASK GENMASK(2, 0) > +#define ST_LSM6DSX_FIFO_ODR_MASK GENMASK(6, 3) > +#define ST_LSM6DSX_REG_FIFO_DIFFL_ADDR 0x3a > +#define ST_LSM6DSX_FIFO_DIFF_MASK GENMASK(11, 0) > +#define ST_LSM6DSX_FIFO_EMPTY_MASK BIT(12) > +#define ST_LSM6DSX_REG_FIFO_OUTL_ADDR 0x3e > + > +#define ST_LSM6DSX_MAX_FIFO_ODR_VAL 0x08 > + > +struct st_lsm6dsx_decimator_entry { > + u8 decimator; > + u8 val; > +}; > + > +static const > +struct st_lsm6dsx_decimator_entry st_lsm6dsx_decimator_table[] = { > + { 0, 0x0 }, > + { 1, 0x1 }, > + { 2, 0x2 }, > + { 3, 0x3 }, > + { 4, 0x4 }, > + { 8, 0x5 }, > + { 16, 0x6 }, > + { 32, 0x7 }, > +}; > + > +static int st_lsm6dsx_get_decimator_val(u8 val) > +{ > + const int max_size = ARRAY_SIZE(st_lsm6dsx_decimator_table); > + int i; > + > + for (i = 0; i < max_size; i++) > + if (st_lsm6dsx_decimator_table[i].decimator == val) > + break; > + > + return i == max_size ? 0 : st_lsm6dsx_decimator_table[i].val; > +} > + > +static void st_lsm6dsx_get_max_min_odr(struct st_lsm6dsx_hw *hw, > + u16 *max_odr, u16 *min_odr) > +{ > + struct st_lsm6dsx_sensor *sensor; > + int i; > + > + *max_odr = 0, *min_odr = ~0; > + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { > + sensor = iio_priv(hw->iio_devs[i]); > + > + if (!(hw->enable_mask & BIT(sensor->id))) > + continue; > + > + *max_odr = max_t(u16, *max_odr, sensor->odr); > + *min_odr = min_t(u16, *min_odr, sensor->odr); > + } > +} > + > +static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw) > +{ > + struct st_lsm6dsx_sensor *sensor; > + u16 max_odr, min_odr, sip = 0; > + int err, i; > + u8 data; > + > + st_lsm6dsx_get_max_min_odr(hw, &max_odr, &min_odr); > + > + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { > + sensor = iio_priv(hw->iio_devs[i]); > + > + /* update fifo decimators and sample in pattern */ > + if (hw->enable_mask & BIT(sensor->id)) { > + sensor->sip = sensor->odr / min_odr; > + sensor->decimator = max_odr / sensor->odr; > + data = st_lsm6dsx_get_decimator_val(sensor->decimator); > + } else { > + sensor->sip = 0; > + sensor->decimator = 0; > + data = 0; > + } > + > + err = st_lsm6dsx_write_with_mask(hw, > + ST_LSM6DSX_REG_FIFO_DEC_GXL_ADDR, > + sensor->decimator_mask, data); > + if (err < 0) > + return err; > + > + sip += sensor->sip; > + } > + hw->sip = sip; > + > + return 0; > +} > + > +static int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw, > + enum st_lsm6dsx_fifo_mode fifo_mode) > +{ > + u8 data; > + int err; > + > + switch (fifo_mode) { > + case ST_LSM6DSX_FIFO_BYPASS: > + data = fifo_mode; > + break; > + case ST_LSM6DSX_FIFO_CONT: > + data = (ST_LSM6DSX_MAX_FIFO_ODR_VAL << > + __ffs(ST_LSM6DSX_FIFO_ODR_MASK)) | fifo_mode; > + break; > + default: > + return -EINVAL; > + } > + > + err = hw->tf->write(hw->dev, ST_LSM6DSX_REG_FIFO_MODE_ADDR, > + sizeof(data), &data); > + if (err < 0) > + return err; > + > + hw->fifo_mode = fifo_mode; > + > + return 0; > +} > + > +int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, u16 watermark) > +{ > + u16 fifo_watermark = ~0, cur_watermark, sip = 0; > + struct st_lsm6dsx_hw *hw = sensor->hw; > + struct st_lsm6dsx_sensor *cur_sensor; > + __le16 wdata; > + int i, err; > + u8 data; > + > + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { > + cur_sensor = iio_priv(hw->iio_devs[i]); > + > + if (!(hw->enable_mask & BIT(cur_sensor->id))) > + continue; > + > + cur_watermark = (cur_sensor == sensor) ? watermark > + : cur_sensor->watermark; > + > + fifo_watermark = min_t(u16, fifo_watermark, cur_watermark); > + sip += cur_sensor->sip; > + } > + > + if (!sip) > + return 0; > + > + fifo_watermark = max_t(u16, fifo_watermark, sip); > + fifo_watermark = (fifo_watermark / sip) * sip; > + fifo_watermark = fifo_watermark * ST_LSM6DSX_SAMPLE_DEPTH; > + > + mutex_lock(&hw->lock); > + > + err = hw->tf->read(hw->dev, ST_LSM6DSX_REG_FIFO_THH_ADDR, > + sizeof(data), &data); > + if (err < 0) > + goto out; > + > + fifo_watermark = ((data & ~ST_LSM6DSX_FIFO_TH_MASK) << 8) | > + (fifo_watermark & ST_LSM6DSX_FIFO_TH_MASK); > + > + wdata = cpu_to_le16(fifo_watermark); > + err = hw->tf->write(hw->dev, ST_LSM6DSX_REG_FIFO_THL_ADDR, > + sizeof(wdata), (u8 *)&wdata); > +out: > + mutex_unlock(&hw->lock); > + > + return err < 0 ? err : 0; > +} > + > +/** > + * st_lsm6dsx_read_fifo() - LSM6DS3-LSM6DSM 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 > + */ > +static int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) > +{ > + u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE; > + int err, acc_sip, gyro_sip, read_len, samples, offset; > + struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor; > + s64 acc_ts, acc_delta_ts, gyro_ts, gyro_delta_ts; > + u8 iio_buff[ALIGN(ST_LSM6DSX_SAMPLE_SIZE, sizeof(s64)) + sizeof(s64)]; > + u8 buff[pattern_len]; > + __le16 fifo_status; > + > + err = hw->tf->read(hw->dev, ST_LSM6DSX_REG_FIFO_DIFFL_ADDR, > + sizeof(fifo_status), (u8 *)&fifo_status); > + if (err < 0) > + return err; > + > + if (fifo_status & cpu_to_le16(ST_LSM6DSX_FIFO_EMPTY_MASK)) > + return 0; > + > + fifo_len = (le16_to_cpu(fifo_status) & ST_LSM6DSX_FIFO_DIFF_MASK) * > + ST_LSM6DSX_CHAN_SIZE; > + samples = fifo_len / ST_LSM6DSX_SAMPLE_SIZE; > + fifo_len = (fifo_len / pattern_len) * pattern_len; > + > + /* > + * compute delta timestamp between two consecutive samples > + * in order to estimate queueing time of data generated > + * by the sensor > + */ > + acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); > + acc_ts = acc_sensor->ts - acc_sensor->delta_ts; > + acc_delta_ts = div_s64(acc_sensor->delta_ts * acc_sensor->decimator, > + samples); > + > + gyro_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_GYRO]); > + gyro_ts = gyro_sensor->ts - gyro_sensor->delta_ts; > + gyro_delta_ts = div_s64(gyro_sensor->delta_ts * gyro_sensor->decimator, > + samples); > + > + for (read_len = 0; read_len < fifo_len; read_len += pattern_len) { > + err = hw->tf->read(hw->dev, ST_LSM6DSX_REG_FIFO_OUTL_ADDR, > + sizeof(buff), buff); > + if (err < 0) > + return err; > + > + /* > + * Data are written to the FIFO with a specific pattern > + * depending on the configured ODRs. The first sequence of data > + * stored in FIFO contains the data of all enabled sensors > + * (e.g. Gx, Gy, Gz, Ax, Ay, Az), then data are repeated > + * depending on the value of the decimation factor set for each > + * sensor. > + * > + * Supposing the FIFO is storing data from gyroscope and > + * accelerometer at different ODRs: > + * - gyroscope ODR = 208Hz, accelerometer ODR = 104Hz > + * Since the gyroscope ODR is twice the accelerometer one, the > + * following pattern is repeated every 9 samples: > + * - Gx, Gy, Gz, Ax, Ay, Az, Gx, Gy, Gz > + */ > + gyro_sip = gyro_sensor->sip; > + acc_sip = acc_sensor->sip; > + offset = 0; > + > + while (acc_sip > 0 || gyro_sip > 0) { > + if (gyro_sip-- > 0) { > + memcpy(iio_buff, &buff[offset], > + ST_LSM6DSX_SAMPLE_SIZE); > + iio_push_to_buffers_with_timestamp( > + hw->iio_devs[ST_LSM6DSX_ID_GYRO], > + iio_buff, gyro_ts); > + offset += ST_LSM6DSX_SAMPLE_SIZE; > + gyro_ts += gyro_delta_ts; > + } > + > + if (acc_sip-- > 0) { > + memcpy(iio_buff, &buff[offset], > + ST_LSM6DSX_SAMPLE_SIZE); > + iio_push_to_buffers_with_timestamp( > + hw->iio_devs[ST_LSM6DSX_ID_ACC], > + iio_buff, acc_ts); > + offset += ST_LSM6DSX_SAMPLE_SIZE; > + acc_ts += acc_delta_ts; > + } > + } > + } > + > + return read_len; > +} > + > +static int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw) > +{ > + int err; > + > + mutex_lock(&hw->fifo_lock); > + > + st_lsm6dsx_read_fifo(hw); > + err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_BYPASS); > + > + mutex_unlock(&hw->fifo_lock); > + > + return err; > +} > + > +static int st_lsm6dsx_update_fifo(struct iio_dev *iio_dev, bool enable) > +{ > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); > + struct st_lsm6dsx_hw *hw = sensor->hw; > + int err; > + > + if (hw->fifo_mode != ST_LSM6DSX_FIFO_BYPASS) { > + err = st_lsm6dsx_flush_fifo(hw); > + if (err < 0) > + return err; > + } > + > + if (enable) { > + err = st_lsm6dsx_sensor_enable(sensor); > + if (err < 0) > + return err; > + } else { > + err = st_lsm6dsx_sensor_disable(sensor); > + if (err < 0) > + return err; > + } > + > + err = st_lsm6dsx_update_decimators(hw); > + if (err < 0) > + return err; > + > + err = st_lsm6dsx_update_watermark(sensor, sensor->watermark); > + if (err < 0) > + return err; > + > + if (hw->enable_mask) { > + err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT); > + if (err < 0) > + return err; > + > + /* > + * store enable buffer timestamp as reference to compute > + * first delta timestamp > + */ > + sensor->ts = iio_get_time_ns(iio_dev); > + } > + > + return 0; > +} > + > +static irqreturn_t st_lsm6dsx_handler_irq(int irq, void *private) > +{ > + struct st_lsm6dsx_hw *hw = (struct st_lsm6dsx_hw *)private; > + struct st_lsm6dsx_sensor *sensor; > + int i; > + > + if (!hw->sip) > + return IRQ_NONE; > + > + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { > + sensor = iio_priv(hw->iio_devs[i]); > + > + if (sensor->sip > 0) { > + s64 timestamp; > + > + timestamp = iio_get_time_ns(hw->iio_devs[i]); > + sensor->delta_ts = timestamp - sensor->ts; > + sensor->ts = timestamp; > + } > + } > + > + return IRQ_WAKE_THREAD; > +} > + > +static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private) > +{ > + struct st_lsm6dsx_hw *hw = (struct st_lsm6dsx_hw *)private; > + int count; > + > + mutex_lock(&hw->fifo_lock); > + count = st_lsm6dsx_read_fifo(hw); > + mutex_unlock(&hw->fifo_lock); > + > + return !count ? IRQ_NONE : IRQ_HANDLED; > +} > + > +static int st_lsm6dsx_buffer_preenable(struct iio_dev *iio_dev) > +{ > + return st_lsm6dsx_update_fifo(iio_dev, true); > +} > + > +static int st_lsm6dsx_buffer_postdisable(struct iio_dev *iio_dev) > +{ > + return st_lsm6dsx_update_fifo(iio_dev, false); > +} > + > +static const struct iio_buffer_setup_ops st_lsm6dsx_buffer_ops = { > + .preenable = st_lsm6dsx_buffer_preenable, > + .postdisable = st_lsm6dsx_buffer_postdisable, > +}; > + > +int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw) > +{ > + struct iio_buffer *buffer; > + unsigned long irq_type; > + int i, err; > + > + irq_type = irqd_get_trigger_type(irq_get_irq_data(hw->irq)); > + > + switch (irq_type) { > + case IRQF_TRIGGER_HIGH: > + case IRQF_TRIGGER_RISING: > + break; > + default: > + dev_info(hw->dev, "mode %lx unsupported\n", irq_type); > + return -EINVAL; > + } > + > + err = devm_request_threaded_irq(hw->dev, hw->irq, > + st_lsm6dsx_handler_irq, > + st_lsm6dsx_handler_thread, > + irq_type | IRQF_ONESHOT, > + "lsm6dsx", hw); > + if (err) { > + dev_err(hw->dev, "failed to request trigger irq %d\n", > + hw->irq); > + return err; > + } > + > + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { > + buffer = devm_iio_kfifo_allocate(hw->dev); > + if (!buffer) > + return -ENOMEM; > + > + iio_device_attach_buffer(hw->iio_devs[i], buffer); > + hw->iio_devs[i]->modes |= INDIO_BUFFER_SOFTWARE; > + hw->iio_devs[i]->setup_ops = &st_lsm6dsx_buffer_ops; > + } > + > + return 0; > +} > + > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > new file mode 100644 > index 0000000..01e002c > --- /dev/null > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > @@ -0,0 +1,673 @@ > +/* > + * STMicroelectronics st_lsm6dsx sensor driver > + * > + * The ST LSM6DSx IMU MEMS series consists of 3D digital accelerometer > + * and 3D digital gyroscope system-in-package with a digital I2C/SPI serial > + * interface standard output. > + * LSM6DSx IMU MEMS series has a dynamic user-selectable full-scale > + * acceleration range of +-2/+-4/+-8/+-16 g and an angular rate range of > + * +-125/+-245/+-500/+-1000/+-2000 dps > + * LSM6DSx series has an integrated First-In-First-Out (FIFO) buffer > + * allowing dynamic batching of sensor data. > + * > + * Supported sensors: > + * - LSM6DS3: > + * - 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: 8KB > + * > + * - LSM6DSM: > + * - 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: 4KB > + * > + * Copyright 2016 STMicroelectronics Inc. > + * > + * Lorenzo Bianconi <lorenzo.bianconi@xxxxxx> > + * Denis Ciocca <denis.ciocca@xxxxxx> > + * > + * Licensed under the GPL-2. > + */ > + > +#include <linux/kernel.h> > +#include <linux/module.h> > +#include <linux/delay.h> > +#include <linux/iio/iio.h> > +#include <linux/iio/sysfs.h> > + > +#include "st_lsm6dsx.h" > + > +#define ST_LSM6DSX_REG_ACC_DEC_MASK GENMASK(2, 0) > +#define ST_LSM6DSX_REG_GYRO_DEC_MASK GENMASK(5, 3) > +#define ST_LSM6DSX_REG_INT1_ADDR 0x0d > +#define ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK BIT(3) > +#define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f > +#define ST_LSM6DSX_REG_RESET_ADDR 0x12 > +#define ST_LSM6DSX_REG_RESET_MASK BIT(0) > +#define ST_LSM6DSX_REG_BDU_ADDR 0x12 > +#define ST_LSM6DSX_REG_BDU_MASK BIT(6) > +#define ST_LSM6DSX_REG_INT2_ON_INT1_ADDR 0x13 > +#define ST_LSM6DSX_REG_INT2_ON_INT1_MASK BIT(5) > +#define ST_LSM6DSX_REG_ROUNDING_ADDR 0x16 > +#define ST_LSM6DSX_REG_ROUNDING_MASK BIT(2) > +#define ST_LSM6DSX_REG_LIR_ADDR 0x58 > +#define ST_LSM6DSX_REG_LIR_MASK BIT(0) > + > +#define ST_LSM6DSX_REG_ACC_ODR_ADDR 0x10 > +#define ST_LSM6DSX_REG_ACC_ODR_MASK GENMASK(7, 4) > +#define ST_LSM6DSX_REG_ACC_FS_ADDR 0x10 > +#define ST_LSM6DSX_REG_ACC_FS_MASK GENMASK(3, 2) > +#define ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR 0x28 > +#define ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR 0x2a > +#define ST_LSM6DSX_REG_ACC_OUT_Z_L_ADDR 0x2c > + > +#define ST_LSM6DSX_REG_GYRO_ODR_ADDR 0x11 > +#define ST_LSM6DSX_REG_GYRO_ODR_MASK GENMASK(7, 4) > +#define ST_LSM6DSX_REG_GYRO_FS_ADDR 0x11 > +#define ST_LSM6DSX_REG_GYRO_FS_MASK GENMASK(3, 2) > +#define ST_LSM6DSX_REG_GYRO_OUT_X_L_ADDR 0x22 > +#define ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR 0x24 > +#define ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR 0x26 > + > +#define ST_LSM6DS3_WHOAMI 0x69 > +#define ST_LSM6DSM_WHOAMI 0x6a > + > +#define ST_LSM6DS3_MAX_FIFO_SIZE 8192 > +#define ST_LSM6DSM_MAX_FIFO_SIZE 4096 > + > +#define ST_LSM6DSX_ACC_FS_2G_GAIN IIO_G_TO_M_S_2(61) > +#define ST_LSM6DSX_ACC_FS_4G_GAIN IIO_G_TO_M_S_2(122) > +#define ST_LSM6DSX_ACC_FS_8G_GAIN IIO_G_TO_M_S_2(244) > +#define ST_LSM6DSX_ACC_FS_16G_GAIN IIO_G_TO_M_S_2(488) > + > +#define ST_LSM6DSX_GYRO_FS_245_GAIN IIO_DEGREE_TO_RAD(4375) > +#define ST_LSM6DSX_GYRO_FS_500_GAIN IIO_DEGREE_TO_RAD(8750) > +#define ST_LSM6DSX_GYRO_FS_1000_GAIN IIO_DEGREE_TO_RAD(17500) > +#define ST_LSM6DSX_GYRO_FS_2000_GAIN IIO_DEGREE_TO_RAD(70000) > + > +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]; > +}; > + > +static const struct st_lsm6dsx_odr_table_entry st_lsm6dsx_odr_table[] = { > + [ST_LSM6DSX_ID_ACC] = { > + .reg = { > + .addr = ST_LSM6DSX_REG_ACC_ODR_ADDR, > + .mask = ST_LSM6DSX_REG_ACC_ODR_MASK, > + }, > + .odr_avl[0] = { 13, 0x01 }, > + .odr_avl[1] = { 26, 0x02 }, > + .odr_avl[2] = { 52, 0x03 }, > + .odr_avl[3] = { 104, 0x04 }, > + .odr_avl[4] = { 208, 0x05 }, > + .odr_avl[5] = { 416, 0x06 }, > + }, > + [ST_LSM6DSX_ID_GYRO] = { > + .reg = { > + .addr = ST_LSM6DSX_REG_GYRO_ODR_ADDR, > + .mask = ST_LSM6DSX_REG_GYRO_ODR_MASK, > + }, > + .odr_avl[0] = { 13, 0x01 }, > + .odr_avl[1] = { 26, 0x02 }, > + .odr_avl[2] = { 52, 0x03 }, > + .odr_avl[3] = { 104, 0x04 }, > + .odr_avl[4] = { 208, 0x05 }, > + .odr_avl[5] = { 416, 0x06 }, > + } > +}; > + > +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]; > +}; > + > +static const struct st_lsm6dsx_fs_table_entry st_lsm6dsx_fs_table[] = { > + [ST_LSM6DSX_ID_ACC] = { > + .reg = { > + .addr = ST_LSM6DSX_REG_ACC_FS_ADDR, > + .mask = ST_LSM6DSX_REG_ACC_FS_MASK, > + }, > + .fs_avl[0] = { ST_LSM6DSX_ACC_FS_2G_GAIN, 0x0 }, > + .fs_avl[1] = { ST_LSM6DSX_ACC_FS_4G_GAIN, 0x2 }, > + .fs_avl[2] = { ST_LSM6DSX_ACC_FS_8G_GAIN, 0x3 }, > + .fs_avl[3] = { ST_LSM6DSX_ACC_FS_16G_GAIN, 0x1 }, > + }, > + [ST_LSM6DSX_ID_GYRO] = { > + .reg = { > + .addr = ST_LSM6DSX_REG_GYRO_FS_ADDR, > + .mask = ST_LSM6DSX_REG_GYRO_FS_MASK, > + }, > + .fs_avl[0] = { ST_LSM6DSX_GYRO_FS_245_GAIN, 0x0 }, > + .fs_avl[1] = { ST_LSM6DSX_GYRO_FS_500_GAIN, 0x1 }, > + .fs_avl[2] = { ST_LSM6DSX_GYRO_FS_1000_GAIN, 0x2 }, > + .fs_avl[3] = { ST_LSM6DSX_GYRO_FS_2000_GAIN, 0x3 }, > + } > +}; > + > +static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { > + { > + .wai = ST_LSM6DS3_WHOAMI, > + .max_fifo_size = ST_LSM6DS3_MAX_FIFO_SIZE, > + .id = ST_LSM6DS3_ID, > + }, > + { > + .wai = ST_LSM6DSM_WHOAMI, > + .max_fifo_size = ST_LSM6DSM_MAX_FIFO_SIZE, > + .id = ST_LSM6DSM_ID, > + }, > +}; > + > +#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, \ > + }, \ > +} > + > +static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = { > + ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR, > + IIO_MOD_X, 0), > + ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR, > + IIO_MOD_Y, 1), > + ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Z_L_ADDR, > + IIO_MOD_Z, 2), > + IIO_CHAN_SOFT_TIMESTAMP(3), > +}; > + > +static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = { > + ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_X_L_ADDR, > + IIO_MOD_X, 0), > + ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR, > + IIO_MOD_Y, 1), > + ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR, > + IIO_MOD_Z, 2), > + IIO_CHAN_SOFT_TIMESTAMP(3), > +}; > + > +int st_lsm6dsx_write_with_mask(struct st_lsm6dsx_hw *hw, u8 addr, u8 mask, > + u8 val) > +{ > + u8 data; > + int err; > + > + mutex_lock(&hw->lock); > + > + err = hw->tf->read(hw->dev, addr, sizeof(data), &data); > + if (err < 0) { > + dev_err(hw->dev, "failed to read %02x register\n", addr); > + goto out; > + } > + > + data = (data & ~mask) | ((val << __ffs(mask)) & mask); > + > + err = hw->tf->write(hw->dev, addr, sizeof(data), &data); > + if (err < 0) > + dev_err(hw->dev, "failed to write %02x register\n", addr); > + > +out: > + mutex_unlock(&hw->lock); > + > + return err; > +} > + > +static int st_lsm6dsx_check_whoami(struct st_lsm6dsx_hw *hw, int id) > +{ > + int err, i; > + u8 data; > + > + for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_sensor_settings); i++) { > + if (id == st_lsm6dsx_sensor_settings[i].id) > + break; > + } > + > + if (i == ARRAY_SIZE(st_lsm6dsx_sensor_settings)) { > + dev_err(hw->dev, "unsupported hw id [%02x]\n", id); > + return -ENODEV; > + } > + > + err = hw->tf->read(hw->dev, ST_LSM6DSX_REG_WHOAMI_ADDR, sizeof(data), > + &data); > + if (err < 0) { > + dev_err(hw->dev, "failed to read whoami register\n"); > + return err; > + } > + > + if (data != st_lsm6dsx_sensor_settings[i].wai) { > + dev_err(hw->dev, "unsupported whoami [%02x]\n", data); > + return -ENODEV; > + } > + > + hw->settings = &st_lsm6dsx_sensor_settings[i]; > + > + return 0; > +} > + > +static int st_lsm6dsx_set_full_scale(struct st_lsm6dsx_sensor *sensor, > + u32 gain) > +{ > + enum st_lsm6dsx_sensor_id id = sensor->id; > + int i, err; > + u8 val; > + > + for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) > + if (st_lsm6dsx_fs_table[id].fs_avl[i].gain == gain) > + break; > + > + if (i == ST_LSM6DSX_FS_LIST_SIZE) > + return -EINVAL; > + > + val = st_lsm6dsx_fs_table[id].fs_avl[i].val; > + err = st_lsm6dsx_write_with_mask(sensor->hw, > + st_lsm6dsx_fs_table[id].reg.addr, > + st_lsm6dsx_fs_table[id].reg.mask, > + val); > + if (err < 0) > + return err; > + > + sensor->gain = gain; > + > + return 0; > +} > + > +static int st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u16 odr) > +{ > + enum st_lsm6dsx_sensor_id id = sensor->id; > + int i, err; > + u8 val; > + > + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) > + if (st_lsm6dsx_odr_table[id].odr_avl[i].hz == odr) > + break; > + > + if (i == ST_LSM6DSX_ODR_LIST_SIZE) > + return -EINVAL; > + > + val = st_lsm6dsx_odr_table[id].odr_avl[i].val; > + err = st_lsm6dsx_write_with_mask(sensor->hw, > + st_lsm6dsx_odr_table[id].reg.addr, > + st_lsm6dsx_odr_table[id].reg.mask, > + val); > + if (err < 0) > + return err; > + > + sensor->odr = odr; > + > + return 0; > +} > + > +int st_lsm6dsx_sensor_enable(struct st_lsm6dsx_sensor *sensor) > +{ > + int err; > + > + err = st_lsm6dsx_set_odr(sensor, sensor->odr); > + if (err < 0) > + return err; > + > + sensor->hw->enable_mask |= BIT(sensor->id); > + > + return 0; > +} > + > +int st_lsm6dsx_sensor_disable(struct st_lsm6dsx_sensor *sensor) > +{ > + enum st_lsm6dsx_sensor_id id = sensor->id; > + int err; > + > + err = st_lsm6dsx_write_with_mask(sensor->hw, > + st_lsm6dsx_odr_table[id].reg.addr, > + st_lsm6dsx_odr_table[id].reg.mask, 0); > + if (err < 0) > + return err; > + > + sensor->hw->enable_mask &= ~BIT(id); > + > + return 0; > +} > + > +static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor, > + u8 addr, int *val) > +{ > + int err, delay; > + __le16 data; > + > + err = st_lsm6dsx_sensor_enable(sensor); > + if (err < 0) > + return err; > + > + delay = 1000000 / sensor->odr; > + usleep_range(delay, 2 * delay); > + > + err = sensor->hw->tf->read(sensor->hw->dev, addr, sizeof(data), > + (u8 *)&data); > + if (err < 0) > + return err; > + > + st_lsm6dsx_sensor_disable(sensor); > + > + *val = (s16)data; > + > + return IIO_VAL_INT; > +} > + > +static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev, > + struct iio_chan_spec const *ch, > + int *val, int *val2, long mask) > +{ > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); > + int ret; > + > + switch (mask) { > + case IIO_CHAN_INFO_RAW: > + ret = iio_device_claim_direct_mode(iio_dev); > + if (ret) > + break; > + > + ret = st_lsm6dsx_read_oneshot(sensor, ch->address, val); > + iio_device_release_direct_mode(iio_dev); > + break; > + case IIO_CHAN_INFO_SAMP_FREQ: > + *val = sensor->odr; > + ret = IIO_VAL_INT; > + break; > + case IIO_CHAN_INFO_SCALE: > + *val = 0; > + *val2 = sensor->gain; > + ret = IIO_VAL_INT_PLUS_MICRO; > + break; > + default: > + ret = -EINVAL; > + break; > + } > + > + return ret; > +} > + > +static int st_lsm6dsx_write_raw(struct iio_dev *iio_dev, > + struct iio_chan_spec const *chan, > + int val, int val2, long mask) > +{ > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); > + int err; > + > + err = iio_device_claim_direct_mode(iio_dev); > + if (err) > + return err; > + > + switch (mask) { > + case IIO_CHAN_INFO_SCALE: > + err = st_lsm6dsx_set_full_scale(sensor, val2); > + break; > + case IIO_CHAN_INFO_SAMP_FREQ: > + err = st_lsm6dsx_set_odr(sensor, val); > + break; > + default: > + err = -EINVAL; > + break; > + } > + > + iio_device_release_direct_mode(iio_dev); > + > + return err; > +} > + > +static int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val) > +{ > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); > + struct st_lsm6dsx_hw *hw = sensor->hw; > + int err, max_fifo_len; > + > + max_fifo_len = hw->settings->max_fifo_size / ST_LSM6DSX_SAMPLE_SIZE; > + if (val < 1 || val > max_fifo_len) > + return -EINVAL; > + > + err = st_lsm6dsx_update_watermark(sensor, val); > + if (err < 0) > + return err; > + > + sensor->watermark = val; > + > + return 0; > +} > + > +static ssize_t > +st_lsm6dsx_sysfs_sampling_frequency_avail(struct device *dev, > + struct device_attribute *attr, > + char *buf) > +{ > + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); > + enum st_lsm6dsx_sensor_id id = sensor->id; > + int i, len = 0; > + > + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) > + len += scnprintf(buf + len, PAGE_SIZE - len, "%d ", > + st_lsm6dsx_odr_table[id].odr_avl[i].hz); > + buf[len - 1] = '\n'; > + > + return len; > +} > + > +static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev, > + struct device_attribute *attr, > + char *buf) > +{ > + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); > + enum st_lsm6dsx_sensor_id id = sensor->id; > + int i, len = 0; > + > + for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) > + len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ", > + st_lsm6dsx_fs_table[id].fs_avl[i].gain); > + buf[len - 1] = '\n'; > + > + return len; > +} > + > +static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_sysfs_sampling_frequency_avail); > +static IIO_DEVICE_ATTR(in_accel_scale_available, 0444, > + st_lsm6dsx_sysfs_scale_avail, NULL, 0); > +static IIO_DEVICE_ATTR(in_anglvel_scale_available, 0444, > + st_lsm6dsx_sysfs_scale_avail, NULL, 0); > + > +static struct attribute *st_lsm6dsx_acc_attributes[] = { > + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, > + &iio_dev_attr_in_accel_scale_available.dev_attr.attr, > + NULL, > +}; > + > +static const struct attribute_group st_lsm6dsx_acc_attribute_group = { > + .attrs = st_lsm6dsx_acc_attributes, > +}; > + > +static const struct iio_info st_lsm6dsx_acc_info = { > + .driver_module = THIS_MODULE, > + .attrs = &st_lsm6dsx_acc_attribute_group, > + .read_raw = st_lsm6dsx_read_raw, > + .write_raw = st_lsm6dsx_write_raw, > + .hwfifo_set_watermark = st_lsm6dsx_set_watermark, > +}; > + > +static struct attribute *st_lsm6dsx_gyro_attributes[] = { > + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, > + &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, > + NULL, > +}; > + > +static const struct attribute_group st_lsm6dsx_gyro_attribute_group = { > + .attrs = st_lsm6dsx_gyro_attributes, > +}; > + > +static const struct iio_info st_lsm6dsx_gyro_info = { > + .driver_module = THIS_MODULE, > + .attrs = &st_lsm6dsx_gyro_attribute_group, > + .read_raw = st_lsm6dsx_read_raw, > + .write_raw = st_lsm6dsx_write_raw, > + .hwfifo_set_watermark = st_lsm6dsx_set_watermark, > +}; > + > +static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0}; > + > +static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw) > +{ > + int err; > + u8 data; > + > + data = ST_LSM6DSX_REG_RESET_MASK; > + err = hw->tf->write(hw->dev, ST_LSM6DSX_REG_RESET_ADDR, sizeof(data), > + &data); > + if (err < 0) > + return err; > + > + msleep(200); > + > + /* latch interrupts */ > + err = st_lsm6dsx_write_with_mask(hw, ST_LSM6DSX_REG_LIR_ADDR, > + ST_LSM6DSX_REG_LIR_MASK, 1); > + if (err < 0) > + return err; > + > + /* enable Block Data Update */ > + err = st_lsm6dsx_write_with_mask(hw, ST_LSM6DSX_REG_BDU_ADDR, > + ST_LSM6DSX_REG_BDU_MASK, 1); > + if (err < 0) > + return err; > + > + err = st_lsm6dsx_write_with_mask(hw, ST_LSM6DSX_REG_ROUNDING_ADDR, > + ST_LSM6DSX_REG_ROUNDING_MASK, 1); > + if (err < 0) > + return err; > + > + /* enable FIFO watermak interrupt */ > + err = st_lsm6dsx_write_with_mask(hw, ST_LSM6DSX_REG_INT1_ADDR, > + ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK, 1); > + if (err < 0) > + return err; > + > + /* redirect INT2 on INT1 */ > + return st_lsm6dsx_write_with_mask(hw, ST_LSM6DSX_REG_INT2_ON_INT1_ADDR, > + ST_LSM6DSX_REG_INT2_ON_INT1_MASK, 1); > +} > + > +static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw, > + enum st_lsm6dsx_sensor_id id) > +{ > + struct st_lsm6dsx_sensor *sensor; > + struct iio_dev *iio_dev; > + > + iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor)); > + if (!iio_dev) > + return NULL; > + > + iio_dev->modes = INDIO_DIRECT_MODE; > + iio_dev->dev.parent = hw->dev; > + iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks; > + > + sensor = iio_priv(iio_dev); > + sensor->id = id; > + sensor->hw = hw; > + sensor->odr = st_lsm6dsx_odr_table[id].odr_avl[0].hz; > + sensor->gain = st_lsm6dsx_fs_table[id].fs_avl[0].gain; > + sensor->watermark = 1; > + > + switch (id) { > + case ST_LSM6DSX_ID_ACC: > + iio_dev->channels = st_lsm6dsx_acc_channels; > + iio_dev->num_channels = ARRAY_SIZE(st_lsm6dsx_acc_channels); > + iio_dev->name = "lsm6dsx_accel"; > + iio_dev->info = &st_lsm6dsx_acc_info; > + > + sensor->decimator_mask = ST_LSM6DSX_REG_ACC_DEC_MASK; > + break; > + case ST_LSM6DSX_ID_GYRO: > + iio_dev->channels = st_lsm6dsx_gyro_channels; > + iio_dev->num_channels = ARRAY_SIZE(st_lsm6dsx_gyro_channels); > + iio_dev->name = "lsm6dsx_gyro"; > + iio_dev->info = &st_lsm6dsx_gyro_info; > + > + sensor->decimator_mask = ST_LSM6DSX_REG_GYRO_DEC_MASK; > + break; > + default: > + return NULL; > + } > + > + return iio_dev; > +} > + > +int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, > + const struct st_lsm6dsx_transfer_function *tf_ops) > +{ > + struct st_lsm6dsx_hw *hw; > + int i, err; > + > + hw = devm_kzalloc(dev, sizeof(*hw), GFP_KERNEL); > + if (!hw) > + return -ENOMEM; > + > + dev_set_drvdata(dev, (void *)hw); > + > + mutex_init(&hw->lock); > + mutex_init(&hw->fifo_lock); > + > + hw->dev = dev; > + hw->irq = irq; > + hw->tf = tf_ops; > + > + err = st_lsm6dsx_check_whoami(hw, hw_id); > + if (err < 0) > + return err; > + > + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { > + hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i); > + if (!hw->iio_devs[i]) > + return -ENOMEM; > + } > + > + err = st_lsm6dsx_init_device(hw); > + if (err < 0) > + return err; > + > + if (hw->irq > 0) { > + err = st_lsm6dsx_fifo_setup(hw); > + if (err < 0) > + return err; > + } > + > + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { > + err = devm_iio_device_register(hw->dev, hw->iio_devs[i]); > + if (err) > + return err; > + } > + > + return 0; > +} > +EXPORT_SYMBOL(st_lsm6dsx_probe); > + > +MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@xxxxxx>"); > +MODULE_AUTHOR("Denis Ciocca <denis.ciocca@xxxxxx>"); > +MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx driver"); > +MODULE_LICENSE("GPL v2"); > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c > new file mode 100644 > index 0000000..ea30411 > --- /dev/null > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c > @@ -0,0 +1,101 @@ > +/* > + * STMicroelectronics st_lsm6dsx i2c driver > + * > + * Copyright 2016 STMicroelectronics Inc. > + * > + * Lorenzo Bianconi <lorenzo.bianconi@xxxxxx> > + * Denis Ciocca <denis.ciocca@xxxxxx> > + * > + * Licensed under the GPL-2. > + */ > + > +#include <linux/kernel.h> > +#include <linux/module.h> > +#include <linux/i2c.h> > +#include <linux/slab.h> > +#include <linux/of.h> > + > +#include "st_lsm6dsx.h" > + > +static int st_lsm6dsx_i2c_read(struct device *dev, u8 addr, int len, u8 *data) > +{ > + struct i2c_client *client = to_i2c_client(dev); > + struct i2c_msg msg[2]; > + > + msg[0].addr = client->addr; > + msg[0].flags = client->flags; > + msg[0].len = 1; > + msg[0].buf = &addr; > + > + msg[1].addr = client->addr; > + msg[1].flags = client->flags | I2C_M_RD; > + msg[1].len = len; > + msg[1].buf = data; > + > + return i2c_transfer(client->adapter, msg, 2); > +} > + > +static int st_lsm6dsx_i2c_write(struct device *dev, u8 addr, int len, u8 *data) > +{ > + struct i2c_client *client = to_i2c_client(dev); > + struct i2c_msg msg; > + u8 send[len + 1]; > + > + send[0] = addr; > + memcpy(&send[1], data, len * sizeof(u8)); > + > + msg.addr = client->addr; > + msg.flags = client->flags; > + msg.len = len + 1; > + msg.buf = send; > + > + return i2c_transfer(client->adapter, &msg, 1); > +} > + > +static const struct st_lsm6dsx_transfer_function st_lsm6dsx_transfer_fn = { > + .read = st_lsm6dsx_i2c_read, > + .write = st_lsm6dsx_i2c_write, > +}; > + > +static int st_lsm6dsx_i2c_probe(struct i2c_client *client, > + const struct i2c_device_id *id) > +{ > + return st_lsm6dsx_probe(&client->dev, client->irq, > + (int)id->driver_data, > + &st_lsm6dsx_transfer_fn); > +} > + > +static const struct of_device_id st_lsm6dsx_i2c_of_match[] = { > + { > + .compatible = "st,lsm6ds3", > + .data = (void *)ST_LSM6DS3_ID, > + }, > + { > + .compatible = "st,lsm6dsm", > + .data = (void *)ST_LSM6DSM_ID, > + }, > + {}, > +}; > +MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match); > + > +static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = { > + { ST_LSM6DS3_DEV_NAME, ST_LSM6DS3_ID }, > + { ST_LSM6DSM_DEV_NAME, ST_LSM6DSM_ID }, > + {}, > +}; > +MODULE_DEVICE_TABLE(i2c, st_lsm6dsx_i2c_id_table); > + > +static struct i2c_driver st_lsm6dsx_driver = { > + .driver = { > + .name = "st_lsm6dsx_i2c", > + .of_match_table = of_match_ptr(st_lsm6dsx_i2c_of_match), > + }, > + .probe = st_lsm6dsx_i2c_probe, > + .id_table = st_lsm6dsx_i2c_id_table, > +}; > +module_i2c_driver(st_lsm6dsx_driver); > + > +MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@xxxxxx>"); > +MODULE_AUTHOR("Denis Ciocca <denis.ciocca@xxxxxx>"); > +MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx i2c driver"); > +MODULE_LICENSE("GPL v2"); > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c > new file mode 100644 > index 0000000..fbe7247 > --- /dev/null > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c > @@ -0,0 +1,118 @@ > +/* > + * STMicroelectronics st_lsm6dsx spi driver > + * > + * Copyright 2016 STMicroelectronics Inc. > + * > + * Lorenzo Bianconi <lorenzo.bianconi@xxxxxx> > + * Denis Ciocca <denis.ciocca@xxxxxx> > + * > + * Licensed under the GPL-2. > + */ > + > +#include <linux/kernel.h> > +#include <linux/module.h> > +#include <linux/spi/spi.h> > +#include <linux/slab.h> > +#include <linux/of.h> > + > +#include "st_lsm6dsx.h" > + > +#define SENSORS_SPI_READ BIT(7) > + > +static int st_lsm6dsx_spi_read(struct device *dev, u8 addr, int len, > + u8 *data) > +{ > + struct spi_device *spi = to_spi_device(dev); > + struct st_lsm6dsx_hw *hw = spi_get_drvdata(spi); > + int err; > + > + struct spi_transfer xfers[] = { > + { > + .tx_buf = hw->tb.tx_buf, > + .bits_per_word = 8, > + .len = 1, > + }, > + { > + .rx_buf = hw->tb.rx_buf, > + .bits_per_word = 8, > + .len = len, > + } > + }; > + > + hw->tb.tx_buf[0] = addr | SENSORS_SPI_READ; > + > + err = spi_sync_transfer(spi, xfers, ARRAY_SIZE(xfers)); > + if (err < 0) > + return err; > + > + memcpy(data, hw->tb.rx_buf, len * sizeof(u8)); > + > + return len; > +} > + > +static int st_lsm6dsx_spi_write(struct device *dev, u8 addr, int len, > + u8 *data) > +{ > + struct st_lsm6dsx_hw *hw; > + struct spi_device *spi; > + > + if (len >= ST_LSM6DSX_TX_MAX_LENGTH) > + return -ENOMEM; > + > + spi = to_spi_device(dev); > + hw = spi_get_drvdata(spi); > + > + hw->tb.tx_buf[0] = addr; > + memcpy(&hw->tb.tx_buf[1], data, len); > + > + return spi_write(spi, hw->tb.tx_buf, len + 1); > +} > + > +static const struct st_lsm6dsx_transfer_function st_lsm6dsx_transfer_fn = { > + .read = st_lsm6dsx_spi_read, > + .write = st_lsm6dsx_spi_write, > +}; > + > +static int st_lsm6dsx_spi_probe(struct spi_device *spi) > +{ > + const struct spi_device_id *id = spi_get_device_id(spi); > + > + return st_lsm6dsx_probe(&spi->dev, spi->irq, > + (int)id->driver_data, > + &st_lsm6dsx_transfer_fn); > +} > + > +static const struct of_device_id st_lsm6dsx_spi_of_match[] = { > + { > + .compatible = "st,lsm6ds3", > + .data = (void *)ST_LSM6DS3_ID, > + }, > + { > + .compatible = "st,lsm6dsm", > + .data = (void *)ST_LSM6DSM_ID, > + }, > + {}, > +}; > +MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match); > + > +static const struct spi_device_id st_lsm6dsx_spi_id_table[] = { > + { ST_LSM6DS3_DEV_NAME, ST_LSM6DS3_ID }, > + { ST_LSM6DSM_DEV_NAME, ST_LSM6DSM_ID }, > + {}, > +}; > +MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table); > + > +static struct spi_driver st_lsm6dsx_driver = { > + .driver = { > + .name = "st_lsm6dsx_spi", > + .of_match_table = of_match_ptr(st_lsm6dsx_spi_of_match), > + }, > + .probe = st_lsm6dsx_spi_probe, > + .id_table = st_lsm6dsx_spi_id_table, > +}; > +module_spi_driver(st_lsm6dsx_driver); > + > +MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@xxxxxx>"); > +MODULE_AUTHOR("Denis Ciocca <denis.ciocca@xxxxxx>"); > +MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx spi driver"); > +MODULE_LICENSE("GPL v2"); > -- To unsubscribe from this list: send the line "unsubscribe linux-iio" in the body of a message to majordomo@xxxxxxxxxxxxxxx More majordomo info at http://vger.kernel.org/majordomo-info.html
