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List: linux-iio
Subject: [PATCH v2 1/2] iio: imu: add support to lsm6dsx driver
From: Lorenzo Bianconi <lorenzo.bianconi83 () gmail ! com>
Date: 2016-11-30 20:05:58
Message-ID: 20161130200559.29910-2-lorenzo.bianconi () st ! com
[Download RAW message or body]
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@st.com>
---
drivers/iio/imu/Kconfig | 1 +
drivers/iio/imu/Makefile | 2 +
drivers/iio/imu/st_lsm6dsx/Kconfig | 23 +
drivers/iio/imu/st_lsm6dsx/Makefile | 6 +
drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 107 ++++
drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 696 +++++++++++++++++++++++++++
drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c | 111 +++++
drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_ring.c | 401 +++++++++++++++
drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c | 129 +++++
9 files changed, 1476 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_core.c
create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_ring.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-$(CONFIG_KMX61) += kmx61.o
+
+obj-y += st_lsm6dsx/
diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig
new file mode 100644
index 0000000..9a0781b
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/Kconfig
@@ -0,0 +1,23 @@
+
+config IIO_ST_LSM6DSX
+ tristate "ST_LSM6DSx driver for STM 6-axis imu Mems sensors"
+ depends on (I2C || SPI)
+ select IIO_BUFFER
+ select IIO_KFIFO_BUF
+ select IIO_ST_LSM6DSX_I2C if (I2C)
+ select IIO_ST_LSM6DSX_SPI if (SPI_MASTER)
+ help
+ Say yes here to build support for STMicroelectronics LSM6DSx imu
+ sensor. Supported devices: lsm6ds3, lsm6dsm
+
+ To compile this driver as a module, choose M here: the module
+ will be called st_lsm6dsx.
+
+config IIO_ST_LSM6DSX_I2C
+ tristate
+ depends on IIO_ST_LSM6DSX
+
+config IIO_ST_LSM6DSX_SPI
+ tristate
+ depends on IIO_ST_LSM6DSX
+
diff --git a/drivers/iio/imu/st_lsm6dsx/Makefile b/drivers/iio/imu/st_lsm6dsx/Makefile
new file mode 100644
index 0000000..812d655
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/Makefile
@@ -0,0 +1,6 @@
+st_lsm6dsx-y := st_lsm6dsx_core.o \
+ st_lsm6dsx_ring.o
+
+obj-$(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..a43beab
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -0,0 +1,107 @@
+/*
+ * STMicroelectronics st_lsm6dsx sensor driver
+ *
+ * Copyright 2016 STMicroelectronics Inc.
+ *
+ * Lorenzo Bianconi <lorenzo.bianconi@st.com>
+ * Denis Ciocca <denis.ciocca@st.com>
+ *
+ * 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"
+
+#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_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 {
+ 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 {
+ const char *name;
+ struct device *dev;
+ int irq;
+ struct mutex 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 st_lsm6dsx_hw *hw);
+int st_lsm6dsx_sensor_enable(struct st_lsm6dsx_sensor *sensor);
+int st_lsm6dsx_sensor_disable(struct st_lsm6dsx_sensor *sensor);
+int st_lsm6dsx_allocate_rings(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_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
new file mode 100644
index 0000000..ae4cf30
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -0,0 +1,696 @@
+/*
+ * STMicroelectronics st_lsm6dsx sensor driver
+ *
+ * Copyright 2016 STMicroelectronics Inc.
+ *
+ * Lorenzo Bianconi <lorenzo.bianconi@st.com>
+ * Denis Ciocca <denis.ciocca@st.com>
+ *
+ * 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 <asm/unaligned.h>
+
+#include "st_lsm6dsx.h"
+
+#define ST_LSM6DSX_REG_ACC_DEC_MASK 0x07
+#define ST_LSM6DSX_REG_GYRO_DEC_MASK 0x38
+#define ST_LSM6DSX_REG_INT1_ADDR 0x0d
+#define ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK 0x08
+#define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f
+#define ST_LSM6DSX_REG_RESET_ADDR 0x12
+#define ST_LSM6DSX_REG_RESET_MASK 0x01
+#define ST_LSM6DSX_REG_BDU_ADDR 0x12
+#define ST_LSM6DSX_REG_BDU_MASK 0x40
+#define ST_LSM6DSX_REG_INT2_ON_INT1_ADDR 0x13
+#define ST_LSM6DSX_REG_INT2_ON_INT1_MASK 0x20
+#define ST_LSM6DSX_REG_ROUNDING_ADDR 0x16
+#define ST_LSM6DSX_REG_ROUNDING_MASK 0x04
+#define ST_LSM6DSX_REG_LIR_ADDR 0x58
+#define ST_LSM6DSX_REG_LIR_MASK 0x01
+
+#define ST_LSM6DSX_REG_ACC_ODR_ADDR 0x10
+#define ST_LSM6DSX_REG_ACC_ODR_MASK 0xf0
+#define ST_LSM6DSX_REG_ACC_FS_ADDR 0x10
+#define ST_LSM6DSX_REG_ACC_FS_MASK 0x0c
+#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 0xf0
+#define ST_LSM6DSX_REG_GYRO_FS_ADDR 0x11
+#define ST_LSM6DSX_REG_GYRO_FS_MASK 0x0c
+#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,
+ },
+ {
+ .wai = ST_LSM6DSM_WHOAMI,
+ .max_fifo_size = ST_LSM6DSM_MAX_FIFO_SIZE,
+ },
+};
+
+static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
+ {
+ .type = IIO_ACCEL,
+ .address = ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .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 = 0,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_LE,
+ },
+ },
+ {
+ .type = IIO_ACCEL,
+ .address = ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .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 = 1,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_LE,
+ },
+ },
+ {
+ .type = IIO_ACCEL,
+ .address = ST_LSM6DSX_REG_ACC_OUT_Z_L_ADDR,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .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 = 2,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_LE,
+ },
+ },
+ IIO_CHAN_SOFT_TIMESTAMP(3),
+};
+
+static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
+ {
+ .type = IIO_ANGL_VEL,
+ .address = ST_LSM6DSX_REG_GYRO_OUT_X_L_ADDR,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .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 = 0,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_LE,
+ },
+ },
+ {
+ .type = IIO_ANGL_VEL,
+ .address = ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .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 = 1,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_LE,
+ },
+ },
+ {
+ .type = IIO_ANGL_VEL,
+ .address = ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .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 = 2,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_LE,
+ },
+ },
+ 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 err, i;
+ u8 data;
+
+ 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;
+ }
+
+ for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_sensor_settings); i++) {
+ if (data == st_lsm6dsx_sensor_settings[i].wai) {
+ hw->settings = &st_lsm6dsx_sensor_settings[i];
+ break;
+ }
+ }
+
+ if (i == ARRAY_SIZE(st_lsm6dsx_sensor_settings)) {
+ dev_err(hw->dev, "unsupported whoami [%02x]\n", data);
+ return -ENODEV;
+ }
+
+ return 0;
+}
+
+static int st_lsm6dsx_set_fs(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, 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;
+ u8 data[2];
+
+ 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), data);
+ if (err < 0)
+ return err;
+
+ st_lsm6dsx_sensor_disable(sensor);
+
+ *val = (s16)get_unaligned_le16(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;
+
+ ret = iio_device_claim_direct_mode(iio_dev);
+ if (ret)
+ return ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = st_lsm6dsx_read_oneshot(sensor, ch->address, val);
+ 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;
+ }
+
+ iio_device_release_direct_mode(iio_dev);
+
+ 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_fs(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_avl(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_avl);
+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 BDU */
+ 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 st_lsm6dsx_hw *hw)
+{
+ int i, err;
+
+ mutex_init(&hw->lock);
+
+ err = st_lsm6dsx_check_whoami(hw);
+ 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_allocate_rings(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@st.com>");
+MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
+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..c80e624
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
@@ -0,0 +1,111 @@
+/*
+ * STMicroelectronics st_lsm6dsx i2c driver
+ *
+ * Copyright 2016 STMicroelectronics Inc.
+ *
+ * Lorenzo Bianconi <lorenzo.bianconi@st.com>
+ * Denis Ciocca <denis.ciocca@st.com>
+ *
+ * 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)
+{
+ struct st_lsm6dsx_hw *hw;
+
+ hw = devm_kzalloc(&client->dev, sizeof(*hw), GFP_KERNEL);
+ if (!hw)
+ return -ENOMEM;
+
+ i2c_set_clientdata(client, hw);
+ hw->name = client->name;
+ hw->dev = &client->dev;
+ hw->irq = client->irq;
+ hw->tf = &st_lsm6dsx_transfer_fn;
+
+ return st_lsm6dsx_probe(hw);
+}
+
+static const struct of_device_id st_lsm6dsx_i2c_of_match[] = {
+ {
+ .compatible = "st,lsm6ds3",
+ .data = ST_LSM6DS3_DEV_NAME,
+ },
+ {
+ .compatible = "st,lsm6dsm",
+ .data = ST_LSM6DSM_DEV_NAME,
+ },
+ {},
+};
+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_LSM6DSM_DEV_NAME },
+ {},
+};
+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@st.com>");
+MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
+MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx i2c driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_ring.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_ring.c
new file mode 100644
index 0000000..9a8c503
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_ring.c
@@ -0,0 +1,401 @@
+/*
+ * STMicroelectronics st_lsm6dsx sensor driver
+ *
+ * Copyright 2016 STMicroelectronics Inc.
+ *
+ * Lorenzo Bianconi <lorenzo.bianconi@st.com>
+ * Denis Ciocca <denis.ciocca@st.com>
+ *
+ * Licensed under the GPL-2.
+ */
+#include <linux/module.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/iio/kfifo_buf.h>
+#include <asm/unaligned.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 0x0fff
+#define ST_LSM6DSX_REG_FIFO_DEC_GXL_ADDR 0x08
+#define ST_LSM6DSX_REG_FIFO_MODE_ADDR 0x0a
+#define ST_LSM6DSX_FIFO_MODE_MASK 0x07
+#define ST_LSM6DSX_FIFO_ODR_MASK 0x78
+#define ST_LSM6DSX_REG_FIFO_DIFFL_ADDR 0x3a
+#define ST_LSM6DSX_FIFO_DIFF_MASK 0x0f
+#define ST_LSM6DSX_FIFO_EMPTY_MASK 0x10
+#define ST_LSM6DSX_REG_FIFO_OUTL_ADDR 0x3e
+
+struct st_lsm6dsx_dec_entry {
+ u8 decimator;
+ u8 val;
+};
+
+static const struct st_lsm6dsx_dec_entry st_lsm6dsx_dec_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)
+{
+ int i, max_size = ARRAY_SIZE(st_lsm6dsx_dec_table);
+
+ for (i = 0; i < max_size; i++)
+ if (st_lsm6dsx_dec_table[i].decimator == val)
+ break;
+
+ return i == max_size ? 0 : st_lsm6dsx_dec_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 = fifo_mode | 0x40;
+ 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;
+ 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);
+
+ err = hw->tf->write(hw->dev, ST_LSM6DSX_REG_FIFO_THL_ADDR,
+ sizeof(fifo_watermark), (u8 *)&fifo_watermark);
+out:
+ mutex_unlock(&hw->lock);
+
+ return err < 0 ? err : 0;
+}
+
+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, offset, samples;
+ struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor;
+ s64 acc_ts, acc_delta_ts, gyro_ts, gyro_delta_ts;
+ u8 iio_buf[ALIGN(ST_LSM6DSX_SAMPLE_SIZE, sizeof(s64)) + sizeof(s64)];
+ u8 fifo_status[2], buf[pattern_len];
+
+ err = hw->tf->read(hw->dev, ST_LSM6DSX_REG_FIFO_DIFFL_ADDR,
+ sizeof(fifo_status), fifo_status);
+ if (err < 0)
+ return err;
+
+ if (fifo_status[1] & ST_LSM6DSX_FIFO_EMPTY_MASK)
+ return 0;
+
+ fifo_status[1] &= ST_LSM6DSX_FIFO_DIFF_MASK;
+ fifo_len = (u16)get_unaligned_le16(fifo_status) * ST_LSM6DSX_CHAN_SIZE;
+ samples = fifo_len / ST_LSM6DSX_SAMPLE_SIZE;
+ fifo_len = (fifo_len / pattern_len) * pattern_len;
+ /*
+ * leave one complete pattern in FIFO to guarantee
+ * proper alignment
+ */
+ fifo_len -= pattern_len;
+
+ /* compute delta timestamp */
+ 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(buf), buf);
+ if (err < 0)
+ return err;
+
+ 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_buf, &buf[offset],
+ ST_LSM6DSX_SAMPLE_SIZE);
+ iio_push_to_buffers_with_timestamp(
+ hw->iio_devs[ST_LSM6DSX_ID_GYRO],
+ iio_buf, gyro_ts);
+ offset += ST_LSM6DSX_SAMPLE_SIZE;
+ gyro_ts += gyro_delta_ts;
+ }
+
+ if (acc_sip-- > 0) {
+ memcpy(iio_buf, &buf[offset],
+ ST_LSM6DSX_SAMPLE_SIZE);
+ iio_push_to_buffers_with_timestamp(
+ hw->iio_devs[ST_LSM6DSX_ID_ACC],
+ iio_buf, 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;
+
+ disable_irq(hw->irq);
+
+ st_lsm6dsx_read_fifo(hw);
+ err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_BYPASS);
+
+ enable_irq(hw->irq);
+
+ 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;
+ }
+
+ err = enable ? st_lsm6dsx_sensor_enable(sensor)
+ : 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;
+
+ sensor->ts = iio_get_time_ns(iio_dev);
+ }
+
+ return 0;
+}
+
+static irqreturn_t st_lsm6dsx_ring_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_ring_handler_thread(int irq, void *private)
+{
+ struct st_lsm6dsx_hw *hw = (struct st_lsm6dsx_hw *)private;
+ int count;
+
+ count = st_lsm6dsx_read_fifo(hw);
+
+ 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_allocate_rings(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, using IRQF_TRIGGER_HIGH\n",
+ irq_type);
+ irq_type = IRQF_TRIGGER_HIGH;
+ break;
+ }
+
+ err = devm_request_threaded_irq(hw->dev, hw->irq,
+ st_lsm6dsx_ring_handler_irq,
+ st_lsm6dsx_ring_handler_thread,
+ irq_type | IRQF_ONESHOT,
+ hw->name, 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_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
new file mode 100644
index 0000000..262eae6
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
@@ -0,0 +1,129 @@
+/*
+ * STMicroelectronics st_lsm6dsx spi driver
+ *
+ * Copyright 2016 STMicroelectronics Inc.
+ *
+ * Lorenzo Bianconi <lorenzo.bianconi@st.com>
+ * Denis Ciocca <denis.ciocca@st.com>
+ *
+ * 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 0x80
+
+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 spi_device *spi = to_spi_device(dev);
+ struct st_lsm6dsx_hw *hw = spi_get_drvdata(spi);
+
+ struct spi_transfer xfers = {
+ .tx_buf = hw->tb.tx_buf,
+ .bits_per_word = 8,
+ .len = len + 1,
+ };
+
+ if (len >= ST_LSM6DSX_TX_MAX_LENGTH)
+ return -ENOMEM;
+
+ hw->tb.tx_buf[0] = addr;
+ memcpy(&hw->tb.tx_buf[1], data, len);
+
+ return spi_sync_transfer(spi, &xfers, 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)
+{
+ struct st_lsm6dsx_hw *hw;
+
+ hw = devm_kzalloc(&spi->dev, sizeof(*hw), GFP_KERNEL);
+ if (!hw)
+ return -ENOMEM;
+
+ spi_set_drvdata(spi, hw);
+ hw->name = spi->modalias;
+ hw->dev = &spi->dev;
+ hw->irq = spi->irq;
+ hw->tf = &st_lsm6dsx_transfer_fn;
+
+ return st_lsm6dsx_probe(hw);
+}
+
+static const struct of_device_id st_lsm6dsx_spi_of_match[] = {
+ {
+ .compatible = "st,lsm6ds3",
+ .data = ST_LSM6DS3_DEV_NAME,
+ },
+ {
+ .compatible = "st,lsm6dsm",
+ .data = ST_LSM6DSM_DEV_NAME,
+ },
+ {},
+};
+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_LSM6DSM_DEV_NAME },
+ {},
+};
+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@st.com>");
+MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
+MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx spi driver");
+MODULE_LICENSE("GPL v2");
--
2.9.3
--
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