From: Jonathan Cameron <jic23@kernel.org>
To: Lorenzo Bianconi <lorenzo.bianconi@redhat.com>
Cc: linux-iio@vger.kernel.org, devicetree@vger.kernel.org
Subject: Re: [PATCH 4/5] iio: imu: st_lsm6dsx: add support to LSM6DSO
Date: Sun, 2 Sep 2018 21:30:38 +0100 [thread overview]
Message-ID: <20180902213038.5c7910b9@archlinux> (raw)
In-Reply-To: <20180830205259.7029-5-lorenzo.bianconi@redhat.com>
On Thu, 30 Aug 2018 22:52:58 +0200
Lorenzo Bianconi <lorenzo.bianconi@redhat.com> 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@redhat.com>
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@st.com>
> @@ -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);
prev parent reply other threads:[~2018-09-03 0:47 UTC|newest]
Thread overview: 2+ messages / expand[flat|nested] mbox.gz Atom feed top
2018-08-30 20:52 [PATCH 4/5] iio: imu: st_lsm6dsx: add support to LSM6DSO Lorenzo Bianconi
2018-09-02 20:30 ` Jonathan Cameron [this message]
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