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> --- 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); -- 2.18.0
