On Sat, 14 Dec 2019 17:52:59 +0100
Lorenzo Bianconi <lorenzo@xxxxxxxxxx> wrote:
> Enabled i2c master controller support for LSM6DSM sensor. Enable
> ext_sensor0 for lsm6dsm. This series has been tested using LIS2MDL as
> slave device connected to the i2c controller of the LSM6DSM
>
> Signed-off-by: Lorenzo Bianconi <lorenzo@xxxxxxxxxx>
One question inline. However I'm happy enough to take it with that
outstanding on basis I am not going to push out as non rebasing for
a while yet.
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/st_lsm6dsx.h | 4 ++
> .../iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 27 ++++++++---
> drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 47 +++++++++++++++++++
> drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c | 31 ++++++++----
> 4 files changed, 94 insertions(+), 15 deletions(-)
>
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> index c2d00c3dd044..1c528b7aefdf 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> @@ -176,11 +176,13 @@ struct st_lsm6dsx_hw_ts_settings {
> * @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;
> @@ -196,6 +198,7 @@ struct st_lsm6dsx_shub_settings {
> } 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;
> @@ -204,6 +207,7 @@ struct st_lsm6dsx_shub_settings {
> u8 slv0_addr;
> u8 dw_slv0_addr;
> u8 batch_en;
> + u8 pause;
> };
>
> struct st_lsm6dsx_event_settings {
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
> index d416990ae309..cc2b19b60d61 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
> @@ -332,12 +332,13 @@ static inline int st_lsm6dsx_read_block(struct st_lsm6dsx_hw *hw, u8 addr,
> */
> int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
> {
> + struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor, *ext_sensor = NULL;
> + int err, acc_sip, gyro_sip, ts_sip, ext_sip, read_len, offset;
> u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE;
> u16 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask;
> - int err, acc_sip, gyro_sip, ts_sip, read_len, offset;
> - struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor;
> u8 gyro_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
> u8 acc_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
> + u8 ext_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
> bool reset_ts = false;
> __le16 fifo_status;
> s64 ts = 0;
> @@ -360,6 +361,8 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
>
> acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
> gyro_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_GYRO]);
> + if (hw->iio_devs[ST_LSM6DSX_ID_EXT0])
> + ext_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_EXT0]);
>
> for (read_len = 0; read_len < fifo_len; read_len += pattern_len) {
> err = st_lsm6dsx_read_block(hw, ST_LSM6DSX_REG_FIFO_OUTL_ADDR,
> @@ -387,12 +390,13 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
> * following pattern is repeated every 9 samples:
> * - Gx, Gy, Gz, Ax, Ay, Az, Ts, Gx, Gy, Gz, Ts, Gx, ..
> */
> + ext_sip = ext_sensor ? ext_sensor->sip : 0;
> gyro_sip = gyro_sensor->sip;
> acc_sip = acc_sensor->sip;
> ts_sip = hw->ts_sip;
> offset = 0;
>
> - while (acc_sip > 0 || gyro_sip > 0) {
> + while (acc_sip > 0 || gyro_sip > 0 || ext_sip > 0) {
> if (gyro_sip > 0) {
> memcpy(gyro_buff, &hw->buff[offset],
> ST_LSM6DSX_SAMPLE_SIZE);
> @@ -403,6 +407,11 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
> ST_LSM6DSX_SAMPLE_SIZE);
> offset += ST_LSM6DSX_SAMPLE_SIZE;
> }
> + if (ext_sip > 0) {
> + memcpy(ext_buff, &hw->buff[offset],
> + ST_LSM6DSX_SAMPLE_SIZE);
> + offset += ST_LSM6DSX_SAMPLE_SIZE;
> + }
>
> if (ts_sip-- > 0) {
> u8 data[ST_LSM6DSX_SAMPLE_SIZE];
> @@ -436,6 +445,10 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
> iio_push_to_buffers_with_timestamp(
> hw->iio_devs[ST_LSM6DSX_ID_ACC],
> acc_buff, acc_sensor->ts_ref + ts);
> + if (ext_sip-- > 0)
> + iio_push_to_buffers_with_timestamp(
> + hw->iio_devs[ST_LSM6DSX_ID_EXT0],
> + ext_buff, ext_sensor->ts_ref + ts);
> }
> }
>
> @@ -628,12 +641,12 @@ int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable)
> err = st_lsm6dsx_sensor_set_enable(sensor, enable);
> if (err < 0)
> goto out;
> -
> - err = st_lsm6dsx_set_fifo_odr(sensor, enable);
> - if (err < 0)
> - goto out;
> }
>
Why this change? I'm not sure what the original logic was so hard to follow ;)
> + err = st_lsm6dsx_set_fifo_odr(sensor, enable);
> + if (err < 0)
> + goto out;
> +
> err = st_lsm6dsx_update_decimators(hw);
> if (err < 0)
> goto out;
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> index 679831d84d78..1f00b0d74b25 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> @@ -655,6 +655,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
> .addr = 0x08,
> .mask = GENMASK(5, 3),
> },
> + [ST_LSM6DSX_ID_EXT0] = {
> + .addr = 0x09,
> + .mask = GENMASK(2, 0),
> + },
> },
> .fifo_ops = {
> .update_fifo = st_lsm6dsx_update_fifo,
> @@ -687,6 +691,39 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
> .mask = GENMASK(5, 3),
> },
> },
> + .shub_settings = {
> + .page_mux = {
> + .addr = 0x01,
> + .mask = BIT(7),
> + },
> + .master_en = {
> + .addr = 0x1a,
> + .mask = BIT(0),
> + },
> + .pullup_en = {
> + .addr = 0x1a,
> + .mask = BIT(3),
> + },
> + .aux_sens = {
> + .addr = 0x04,
> + .mask = GENMASK(5, 4),
> + },
> + .wr_once = {
> + .addr = 0x07,
> + .mask = BIT(5),
> + },
> + .emb_func = {
> + .addr = 0x19,
> + .mask = BIT(2),
> + },
> + .num_ext_dev = 1,
> + .shub_out = {
> + .addr = 0x2e,
> + },
> + .slv0_addr = 0x02,
> + .dw_slv0_addr = 0x0e,
> + .pause = 0x7,
> + },
> .event_settings = {
> .enable_reg = {
> .addr = 0x58,
> @@ -1901,6 +1938,16 @@ static int st_lsm6dsx_init_shub(struct st_lsm6dsx_hw *hw)
> hub_settings->aux_sens.mask, data);
>
> st_lsm6dsx_set_page(hw, false);
> +
> + if (err < 0)
> + return err;
> + }
> +
> + if (hub_settings->emb_func.addr) {
> + data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->emb_func.mask);
> + err = regmap_update_bits(hw->regmap,
> + hub_settings->emb_func.addr,
> + hub_settings->emb_func.mask, data);
> }
>
> return err;
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
> index dc739dfb36f2..eea555617d4a 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
> @@ -221,16 +221,21 @@ st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
> u8 *data, int len)
> {
> const struct st_lsm6dsx_shub_settings *hub_settings;
> + u8 config[3], slv_addr, slv_config = 0;
> struct st_lsm6dsx_hw *hw = sensor->hw;
> - u8 config[3], slv_addr;
> + const struct st_lsm6dsx_reg *aux_sens;
> int err;
>
> hub_settings = &hw->settings->shub_settings;
> slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
> + aux_sens = &hw->settings->shub_settings.aux_sens;
> + /* do not overwrite aux_sens */
> + if (slv_addr + 2 == aux_sens->addr)
> + slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
>
> config[0] = (sensor->ext_info.addr << 1) | 1;
> config[1] = addr;
> - config[2] = len & ST_LS6DSX_READ_OP_MASK;
> + config[2] = (len & ST_LS6DSX_READ_OP_MASK) | slv_config;
>
> err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
> sizeof(config));
> @@ -248,7 +253,9 @@ st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
>
> st_lsm6dsx_shub_master_enable(sensor, false);
>
> - memset(config, 0, sizeof(config));
> + config[0] = hub_settings->pause;
> + config[1] = 0;
> + config[2] = slv_config;
> return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
> sizeof(config));
> }
> @@ -305,7 +312,8 @@ st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr,
> st_lsm6dsx_shub_master_enable(sensor, false);
> }
>
> - memset(config, 0, sizeof(config));
> + config[0] = hub_settings->pause;
> + config[1] = 0;
> return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config));
> }
>
> @@ -697,14 +705,19 @@ st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
> const struct st_lsm6dsx_ext_dev_settings *settings)
> {
> const struct st_lsm6dsx_shub_settings *hub_settings;
> + u8 config[3], data, slv_addr, slv_config = 0;
> + const struct st_lsm6dsx_reg *aux_sens;
> struct st_lsm6dsx_sensor *sensor;
> - u8 config[3], data, slv_addr;
> bool found = false;
> int i, err;
>
> + sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
> hub_settings = &hw->settings->shub_settings;
> + aux_sens = &hw->settings->shub_settings.aux_sens;
> slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
> - sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
> + /* do not overwrite aux_sens */
> + if (slv_addr + 2 == aux_sens->addr)
> + slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
>
> for (i = 0; i < ARRAY_SIZE(settings->i2c_addr); i++) {
> if (!settings->i2c_addr[i])
> @@ -713,7 +726,7 @@ st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
> /* read wai slave register */
> config[0] = (settings->i2c_addr[i] << 1) | 0x1;
> config[1] = settings->wai.addr;
> - config[2] = 0x1;
> + config[2] = 0x1 | slv_config;
>
> err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
> sizeof(config));
> @@ -742,7 +755,9 @@ st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
> }
>
> /* reset SLV0 channel */
> - memset(config, 0, sizeof(config));
> + config[0] = hub_settings->pause;
> + config[1] = 0;
> + config[2] = slv_config;
> err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
> sizeof(config));
> if (err < 0)
