2
0
mirror of https://github.com/edk2-porting/linux-next.git synced 2024-12-24 21:24:00 +08:00

iio: imu: st_lsm6dsx: add support to LSM6DSO

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>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Lorenzo Bianconi 2018-08-30 22:52:58 +02:00 committed by Jonathan Cameron
parent 5b3c87fd92
commit 801a6e0af0
6 changed files with 205 additions and 8 deletions

View File

@ -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.

View File

@ -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 */

View File

@ -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)
@ -251,8 +285,8 @@ 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,
@ -403,6 +437,104 @@ 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;

View File

@ -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) \

View File

@ -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);

View File

@ -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);