drivers:iio:imu:Added support to LSM9DS1 IMU sensor
List of supported features:
- Acc / Gyro sensors
> Configurable ODRs [Power_Off ... 476] Hz
> Configurable Full Scales
> Sensor Event Timestamp HW support
> Read single raw data values
- FIFO:
> HW Watermark configuration
> Custom Flush command / event support
- Triggered buffer support for external interrupt sources
Signed-off-by: mario tesi <mario.tesi@st.com>
Change-Id: I85048099848da44179b6f59366452b2b6bdbd989
This commit is contained in:
mario tesi
Mario Tesi
parent
a1c75d18df
commit
30ef4f8618
@ -12,5 +12,6 @@ source "drivers/iio/stm/imu/st_ism330dhcx/Kconfig"
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source "drivers/iio/stm/imu/st_asm330lhh/Kconfig"
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source "drivers/iio/stm/imu/st_lsm6dso32x/Kconfig"
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source "drivers/iio/stm/imu/st_lsm6dso/Kconfig"
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source "drivers/iio/stm/imu/st_imu68/Kconfig"
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endmenu
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@ -10,3 +10,4 @@ obj-y += st_ism330dhcx/
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obj-y += st_asm330lhh/
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obj-y += st_lsm6dso32x/
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obj-y += st_lsm6dso/
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obj-y += st_imu68/
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24
drivers/iio/stm/imu/st_imu68/Kconfig
Normal file
24
drivers/iio/stm/imu/st_imu68/Kconfig
Normal file
@ -0,0 +1,24 @@
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# SPDX-License-Identifier: GPL-2.0-only
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config IIO_ST_IMU68
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tristate "STMicroelectronics LSM9DS1 IMU sensor"
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depends on (I2C || SPI)
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select IIO_BUFFER
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select IIO_TRIGGERED_BUFFER
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select IIO_ST_IMU68_I2C if (I2C)
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select IIO_ST_IMU68_SPI if (SPI_MASTER)
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help
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Say yes here to build support for STMicroelectronics IMU sensors:
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LSM9DS1
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To compile this driver as a module, choose M here: the module
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will be called st_imu68.
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config IIO_ST_IMU68_I2C
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tristate
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depends on IIO_ST_IMU68
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config IIO_ST_IMU68_SPI
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tristate
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depends on IIO_ST_IMU68
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6
drivers/iio/stm/imu/st_imu68/Makefile
Normal file
6
drivers/iio/stm/imu/st_imu68/Makefile
Normal file
@ -0,0 +1,6 @@
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# SPDX-License-Identifier: GPL-2.0-only
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st_imu68-y := st_imu68_core.o st_imu68_buffer.o
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obj-$(CONFIG_IIO_ST_IMU68) += st_imu68.o
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obj-$(CONFIG_IIO_ST_IMU68_I2C) += st_imu68_i2c.o
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obj-$(CONFIG_IIO_ST_IMU68_SPI) += st_imu68_spi.o
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86
drivers/iio/stm/imu/st_imu68/st_imu68.h
Normal file
86
drivers/iio/stm/imu/st_imu68/st_imu68.h
Normal file
@ -0,0 +1,86 @@
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/* SPDX-License-Identifier: GPL-2.0-only */
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/*
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* STMicroelectronics st_imu68 sensor driver
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*
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* Copyright 2016 STMicroelectronics Inc.
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*
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* Lorenzo Bianconi <lorenzo.bianconi@st.com>
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*/
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#ifndef ST_IMU68_H
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#define ST_IMU68_H
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#include <linux/device.h>
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#define ST_LSM9DS1_DEV_NAME "lsm9ds1"
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#define ST_IMU68_OUT_LEN 6
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#if defined(CONFIG_SPI_MASTER)
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#define ST_IMU68_RX_MAX_LENGTH 8
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#define ST_IMU68_TX_MAX_LENGTH 8
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struct st_imu68_transfer_buffer {
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u8 rx_buf[ST_IMU68_RX_MAX_LENGTH];
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u8 tx_buf[ST_IMU68_TX_MAX_LENGTH] ____cacheline_aligned;
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};
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#endif /* CONFIG_SPI_MASTER */
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struct st_imu68_transfer_function {
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int (*read)(struct device *dev, u8 addr, int len, u8 *data);
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int (*write)(struct device *dev, u8 addr, int len, u8 *data);
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};
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enum st_imu68_sensor_id {
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ST_IMU68_ID_ACC,
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ST_IMU68_ID_GYRO,
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ST_IMU68_ID_MAX,
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};
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struct st_imu68_reg {
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u8 addr;
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u8 mask;
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};
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struct st_imu68_sensor {
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enum st_imu68_sensor_id id;
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struct st_imu68_hw *hw;
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struct iio_trigger *trigger;
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u32 gain;
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u16 odr;
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u8 drdy_mask;
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u8 status_mask;
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};
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struct st_imu68_hw {
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const char *name;
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struct device *dev;
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int irq;
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struct mutex lock;
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s64 timestamp;
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u8 enabled_mask;
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struct iio_dev *iio_devs[ST_IMU68_ID_MAX];
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const struct st_imu68_transfer_function *tf;
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#if defined(CONFIG_SPI_MASTER)
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struct st_imu68_transfer_buffer tb;
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#endif /* CONFIG_SPI_MASTER */
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};
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int st_imu68_write_with_mask(struct st_imu68_hw *hw, u8 addr, u8 mask,
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u8 val);
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int st_imu68_probe(struct device *dev, int irq, const char *name,
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const struct st_imu68_transfer_function *tf_ops);
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int st_imu68_remove(struct device *dev);
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int st_imu68_sensor_enable(struct st_imu68_sensor *sensor, bool enable);
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int st_imu68_allocate_buffers(struct st_imu68_hw *hw);
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void st_imu68_deallocate_buffers(struct st_imu68_hw *hw);
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int st_imu68_allocate_triggers(struct st_imu68_hw *hw);
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void st_imu68_deallocate_triggers(struct st_imu68_hw *hw);
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#endif /* ST_IMU68_H */
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196
drivers/iio/stm/imu/st_imu68/st_imu68_buffer.c
Normal file
196
drivers/iio/stm/imu/st_imu68/st_imu68_buffer.c
Normal file
@ -0,0 +1,196 @@
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/*
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* STMicroelectronics st_imu68 buffer library driver
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*
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* Copyright 2016 STMicroelectronics Inc.
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*
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* Lorenzo Bianconi <lorenzo.bianconi@st.com>
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*
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* Licensed under the GPL-2.
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*/
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#include <linux/module.h>
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#include <linux/kernel.h>
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#include <linux/interrupt.h>
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#include <linux/irq.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/trigger.h>
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#include <linux/iio/trigger_consumer.h>
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#include <linux/iio/triggered_buffer.h>
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#include "st_imu68.h"
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#define ST_IMU68_REG_INT1_CTRL_ADDR 0x0c
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#define ST_IMU68_REG_INT2_CTRL_ADDR 0x0d
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#define ST_IMU68_REG_STATUS_ADDR 0x17
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static int st_imu68_trig_set_state(struct iio_trigger *trig, bool state)
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{
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struct iio_dev *iio_dev = iio_trigger_get_drvdata(trig);
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struct st_imu68_sensor *sensor = iio_priv(iio_dev);
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int err;
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err = st_imu68_write_with_mask(sensor->hw, ST_IMU68_REG_INT1_CTRL_ADDR,
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sensor->drdy_mask, state);
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return err < 0 ? err : 0;
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}
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static const struct iio_trigger_ops st_imu68_trigger_ops = {
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.set_trigger_state = st_imu68_trig_set_state,
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};
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static irqreturn_t st_imu68_trigger_irq_handler(int irq, void *p)
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{
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struct st_imu68_hw *hw = (struct st_imu68_hw *)p;
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hw->timestamp = iio_get_time_ns(hw->iio_devs[0]);
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return IRQ_WAKE_THREAD;
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}
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static irqreturn_t st_imu68_trigger_thread_handler(int irq, void *p)
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{
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struct st_imu68_hw *hw = (struct st_imu68_hw *)p;
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struct st_imu68_sensor *sensor;
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int i, err, count = 0;
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u8 status;
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err = hw->tf->read(hw->dev, ST_IMU68_REG_STATUS_ADDR, sizeof(status),
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&status);
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if (err < 0)
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return IRQ_HANDLED;
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for (i = 0; i < ST_IMU68_ID_MAX; i++) {
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sensor = iio_priv(hw->iio_devs[i]);
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if (status & sensor->status_mask) {
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iio_trigger_poll_chained(sensor->trigger);
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count++;
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}
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}
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return count > 0 ? IRQ_HANDLED : IRQ_NONE;
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}
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int st_imu68_allocate_triggers(struct st_imu68_hw *hw)
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{
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struct st_imu68_sensor *sensor;
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int i, err;
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err = devm_request_threaded_irq(hw->dev, hw->irq,
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st_imu68_trigger_irq_handler,
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st_imu68_trigger_thread_handler,
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IRQF_TRIGGER_HIGH | IRQF_ONESHOT,
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hw->name, hw);
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if (err)
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return err;
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for (i = 0; i < ST_IMU68_ID_MAX; i++) {
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sensor = iio_priv(hw->iio_devs[i]);
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sensor->trigger = devm_iio_trigger_alloc(hw->dev, "%s-trigger",
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hw->iio_devs[i]->name);
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if (!sensor->trigger) {
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dev_err(hw->dev, "failed to allocate iio trigger.\n");
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err = -ENOMEM;
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goto err;
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}
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iio_trigger_set_drvdata(sensor->trigger, hw->iio_devs[i]);
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sensor->trigger->ops = &st_imu68_trigger_ops;
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sensor->trigger->dev.parent = hw->dev;
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err = iio_trigger_register(sensor->trigger);
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if (err < 0) {
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dev_err(hw->dev, "failed to register iio trigger.\n");
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goto err;
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}
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hw->iio_devs[i]->trig = sensor->trigger;
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}
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return 0;
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err:
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for (i--; i >= 0; i--) {
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sensor = iio_priv(hw->iio_devs[i]);
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iio_trigger_unregister(sensor->trigger);
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}
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return err;
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}
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void st_imu68_deallocate_triggers(struct st_imu68_hw *hw)
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{
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struct st_imu68_sensor *sensor;
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int i;
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for (i = 0; i < ST_IMU68_ID_MAX; i++) {
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sensor = iio_priv(hw->iio_devs[i]);
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iio_trigger_unregister(sensor->trigger);
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}
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}
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static int st_imu68_buffer_preenable(struct iio_dev *iio_dev)
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{
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return st_imu68_sensor_enable(iio_priv(iio_dev), true);
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}
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static int st_imu68_buffer_postdisable(struct iio_dev *iio_dev)
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{
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return st_imu68_sensor_enable(iio_priv(iio_dev), false);
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}
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static const struct iio_buffer_setup_ops st_imu68_buffer_setup_ops = {
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.preenable = st_imu68_buffer_preenable,
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.postdisable = st_imu68_buffer_postdisable,
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};
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static irqreturn_t st_imu68_buffer_thread_handler(int irq, void *p)
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{
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u8 buffer[ALIGN(ST_IMU68_OUT_LEN, sizeof(s64)) + sizeof(s64)];
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struct iio_poll_func *pf = p;
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struct iio_chan_spec const *ch = pf->indio_dev->channels;
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struct st_imu68_sensor *sensor = iio_priv(pf->indio_dev);
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struct st_imu68_hw *hw = sensor->hw;
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int err;
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err = hw->tf->read(hw->dev, ch->address, ST_IMU68_OUT_LEN, buffer);
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if (err < 0)
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goto out;
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iio_push_to_buffers_with_timestamp(pf->indio_dev, buffer,
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hw->timestamp);
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out:
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iio_trigger_notify_done(sensor->trigger);
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return IRQ_HANDLED;
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}
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int st_imu68_allocate_buffers(struct st_imu68_hw *hw)
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{
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int err, i;
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for (i = 0; i < ST_IMU68_ID_MAX; i++) {
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err = iio_triggered_buffer_setup(hw->iio_devs[i], NULL,
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st_imu68_buffer_thread_handler,
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&st_imu68_buffer_setup_ops);
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if (err)
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goto err;
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}
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return 0;
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err:
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for (i--; i >= 0; i--)
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iio_triggered_buffer_cleanup(hw->iio_devs[i]);
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return err;
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}
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void st_imu68_deallocate_buffers(struct st_imu68_hw *hw)
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{
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int i;
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for (i = 0; i < ST_IMU68_ID_MAX; i++)
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iio_triggered_buffer_cleanup(hw->iio_devs[i]);
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}
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625
drivers/iio/stm/imu/st_imu68/st_imu68_core.c
Normal file
625
drivers/iio/stm/imu/st_imu68/st_imu68_core.c
Normal file
@ -0,0 +1,625 @@
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// SPDX-License-Identifier: GPL-2.0-only
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/*
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* STMicroelectronics st_imu68 sensor driver
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*
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* Copyright 2019 STMicroelectronics Inc.
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*
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* Lorenzo Bianconi <lorenzo.bianconi@st.com>
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* Mario Tesi <mario.tesi@st.com>
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*/
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#include <linux/kernel.h>
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#include <linux/module.h>
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#include <linux/delay.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include "st_imu68.h"
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#define ST_IMU68_WHOAMI_ADDR 0x0f
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#define ST_IMU68_WHOAMI 0x68
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#define ST_IMU68_REG_GYRO_ODR_ADDR 0x10
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#define ST_IMU68_REG_GYRO_ODR_MASK GENMASK(7, 5)
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#define ST_IMU68_REG_GYRO_FS_ADDR 0x10
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#define ST_IMU68_REG_GYRO_FS_MASK GENMASK(4, 3)
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#define ST_IMU68_REG_CTRL4_ADDR 0x1e
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#define ST_IMU68_GYRO_EN_MASK GENMASK(5, 3)
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#define ST_IMU68_REG_CTRL5_ADDR 0x1f
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#define ST_IMU68_ACC_EN_MASK GENMASK(5, 3)
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#define ST_IMU68_REG_ACC_ODR_ADDR 0x20
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#define ST_IMU68_REG_ACC_ODR_MASK GENMASK(7, 5)
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#define ST_IMU68_REG_ACC_FS_ADDR 0x20
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#define ST_IMU68_REG_ACC_FS_MASK GENMASK(4, 3)
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#define ST_IMU68_INT_ACC_DRDY_MASK BIT(0)
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#define ST_IMU68_ACC_STATUS_MASK BIT(0)
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#define ST_IMU68_INT_GYRO_DRDY_MASK BIT(1)
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#define ST_IMU68_GYRO_STATUS_MASK BIT(1)
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#define ST_IMU68_REG_GYRO_OUT_X_L_ADDR 0x18
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#define ST_IMU68_REG_GYRO_OUT_Y_L_ADDR 0x1a
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#define ST_IMU68_REG_GYRO_OUT_Z_L_ADDR 0x1c
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#define ST_IMU68_REG_ACC_OUT_X_L_ADDR 0x28
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#define ST_IMU68_REG_ACC_OUT_Y_L_ADDR 0x2a
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#define ST_IMU68_REG_ACC_OUT_Z_L_ADDR 0x2c
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#define ST_IMU68_ACC_FS_2G_GAIN IIO_G_TO_M_S_2(61)
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#define ST_IMU68_ACC_FS_4G_GAIN IIO_G_TO_M_S_2(122)
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#define ST_IMU68_ACC_FS_8G_GAIN IIO_G_TO_M_S_2(244)
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#define ST_IMU68_ACC_FS_16G_GAIN IIO_G_TO_M_S_2(732)
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#define ST_IMU68_GYRO_FS_250_GAIN IIO_DEGREE_TO_RAD(8750)
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#define ST_IMU68_GYRO_FS_500_GAIN IIO_DEGREE_TO_RAD(17500)
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#define ST_IMU68_GYRO_FS_2000_GAIN IIO_DEGREE_TO_RAD(70000)
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struct st_imu68_odr {
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u16 hz;
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u8 val;
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};
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#define ST_IMU68_ODR_LIST_SIZE 5
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struct st_imu68_odr_table_entry {
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struct st_imu68_reg reg;
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struct st_imu68_odr odr_avl[ST_IMU68_ODR_LIST_SIZE];
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};
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static const struct st_imu68_odr_table_entry st_imu68_odr_table[] = {
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[ST_IMU68_ID_ACC] = {
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.reg = {
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.addr = ST_IMU68_REG_ACC_ODR_ADDR,
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.mask = ST_IMU68_REG_ACC_ODR_MASK,
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},
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.odr_avl[0] = { 10, 0x01 },
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.odr_avl[1] = { 50, 0x02 },
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.odr_avl[2] = { 119, 0x03 },
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.odr_avl[3] = { 238, 0x04 },
|
||||
.odr_avl[4] = { 476, 0x05 },
|
||||
},
|
||||
[ST_IMU68_ID_GYRO] = {
|
||||
.reg = {
|
||||
.addr = ST_IMU68_REG_GYRO_ODR_ADDR,
|
||||
.mask = ST_IMU68_REG_GYRO_ODR_MASK,
|
||||
},
|
||||
.odr_avl[0] = { 15, 0x01 },
|
||||
.odr_avl[1] = { 60, 0x02 },
|
||||
.odr_avl[2] = { 119, 0x03 },
|
||||
.odr_avl[3] = { 238, 0x04 },
|
||||
.odr_avl[4] = { 476, 0x05 },
|
||||
}
|
||||
};
|
||||
|
||||
struct st_imu68_fs {
|
||||
u32 gain;
|
||||
u8 val;
|
||||
};
|
||||
|
||||
#define ST_IMU68_FS_LIST_SIZE 4
|
||||
struct st_imu68_fs_table_entry {
|
||||
struct st_imu68_reg reg;
|
||||
struct st_imu68_fs fs_avl[ST_IMU68_FS_LIST_SIZE];
|
||||
u8 depth;
|
||||
};
|
||||
|
||||
static const struct st_imu68_fs_table_entry st_imu68_fs_table[] = {
|
||||
[ST_IMU68_ID_ACC] = {
|
||||
.reg = {
|
||||
.addr = ST_IMU68_REG_ACC_FS_ADDR,
|
||||
.mask = ST_IMU68_REG_ACC_FS_MASK,
|
||||
},
|
||||
.fs_avl[0] = { ST_IMU68_ACC_FS_2G_GAIN, 0x0 },
|
||||
.fs_avl[1] = { ST_IMU68_ACC_FS_4G_GAIN, 0x2 },
|
||||
.fs_avl[2] = { ST_IMU68_ACC_FS_8G_GAIN, 0x3 },
|
||||
.fs_avl[3] = { ST_IMU68_ACC_FS_16G_GAIN, 0x1 },
|
||||
},
|
||||
[ST_IMU68_ID_GYRO] = {
|
||||
.reg = {
|
||||
.addr = ST_IMU68_REG_GYRO_FS_ADDR,
|
||||
.mask = ST_IMU68_REG_GYRO_FS_MASK,
|
||||
},
|
||||
.fs_avl[0] = { ST_IMU68_GYRO_FS_250_GAIN, 0x0 },
|
||||
.fs_avl[1] = { ST_IMU68_GYRO_FS_500_GAIN, 0x1 },
|
||||
.fs_avl[2] = { ST_IMU68_GYRO_FS_2000_GAIN, 0x3 },
|
||||
}
|
||||
};
|
||||
|
||||
#define ST_IMU68_CHANNEL(chan_type, addr, mod, scan_idx) \
|
||||
{ \
|
||||
.type = chan_type, \
|
||||
.address = addr, \
|
||||
.modified = 1, \
|
||||
.channel2 = mod, \
|
||||
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
||||
BIT(IIO_CHAN_INFO_SCALE), \
|
||||
.scan_index = scan_idx, \
|
||||
.scan_type = { \
|
||||
.sign = 's', \
|
||||
.realbits = 16, \
|
||||
.storagebits = 16, \
|
||||
.endianness = IIO_LE, \
|
||||
}, \
|
||||
}
|
||||
|
||||
static const struct iio_chan_spec st_imu68_acc_channels[] = {
|
||||
ST_IMU68_CHANNEL(IIO_ACCEL, ST_IMU68_REG_ACC_OUT_X_L_ADDR,
|
||||
IIO_MOD_X, 0),
|
||||
ST_IMU68_CHANNEL(IIO_ACCEL, ST_IMU68_REG_ACC_OUT_Y_L_ADDR,
|
||||
IIO_MOD_Y, 1),
|
||||
ST_IMU68_CHANNEL(IIO_ACCEL, ST_IMU68_REG_ACC_OUT_Z_L_ADDR,
|
||||
IIO_MOD_Z, 2),
|
||||
IIO_CHAN_SOFT_TIMESTAMP(3),
|
||||
};
|
||||
|
||||
static const struct iio_chan_spec st_imu68_gyro_channels[] = {
|
||||
ST_IMU68_CHANNEL(IIO_ANGL_VEL, ST_IMU68_REG_GYRO_OUT_X_L_ADDR,
|
||||
IIO_MOD_X, 0),
|
||||
ST_IMU68_CHANNEL(IIO_ANGL_VEL, ST_IMU68_REG_GYRO_OUT_Y_L_ADDR,
|
||||
IIO_MOD_Y, 1),
|
||||
ST_IMU68_CHANNEL(IIO_ANGL_VEL, ST_IMU68_REG_GYRO_OUT_Z_L_ADDR,
|
||||
IIO_MOD_Z, 2),
|
||||
IIO_CHAN_SOFT_TIMESTAMP(3),
|
||||
};
|
||||
|
||||
static inline int st_imu68_claim_direct_mode(struct iio_dev *iio_dev)
|
||||
{
|
||||
mutex_lock(&iio_dev->mlock);
|
||||
|
||||
if (iio_buffer_enabled(iio_dev)) {
|
||||
mutex_unlock(&iio_dev->mlock);
|
||||
return -EBUSY;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
static inline void st_imu68_release_direct_mode(struct iio_dev *iio_dev)
|
||||
{
|
||||
mutex_unlock(&iio_dev->mlock);
|
||||
}
|
||||
|
||||
int st_imu68_write_with_mask(struct st_imu68_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_imu68_check_whoami(struct st_imu68_hw *hw)
|
||||
{
|
||||
int err;
|
||||
u8 data;
|
||||
|
||||
err = hw->tf->read(hw->dev, ST_IMU68_WHOAMI_ADDR, sizeof(data),
|
||||
&data);
|
||||
if (err < 0) {
|
||||
dev_err(hw->dev, "failed to read whoami register\n");
|
||||
return err;
|
||||
}
|
||||
|
||||
if (data != ST_IMU68_WHOAMI) {
|
||||
dev_err(hw->dev, "unsupported whoami [%02x]\n", data);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int st_imu68_set_full_scale(struct st_imu68_sensor *sensor, u32 gain)
|
||||
{
|
||||
enum st_imu68_sensor_id id = sensor->id;
|
||||
int i, err;
|
||||
u8 val;
|
||||
|
||||
for (i = 0; i < ST_IMU68_FS_LIST_SIZE; i++)
|
||||
if ((st_imu68_fs_table[id].fs_avl[i].gain == gain) &&
|
||||
st_imu68_fs_table[id].fs_avl[i].gain)
|
||||
break;
|
||||
|
||||
if (i == ST_IMU68_FS_LIST_SIZE)
|
||||
return -EINVAL;
|
||||
|
||||
val = st_imu68_fs_table[id].fs_avl[i].val;
|
||||
err = st_imu68_write_with_mask(sensor->hw,
|
||||
st_imu68_fs_table[id].reg.addr,
|
||||
st_imu68_fs_table[id].reg.mask, val);
|
||||
if (err < 0)
|
||||
return err;
|
||||
|
||||
sensor->gain = gain;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int st_imu68_set_odr(struct st_imu68_sensor *sensor, u16 odr)
|
||||
{
|
||||
enum st_imu68_sensor_id id = sensor->id;
|
||||
int i, err;
|
||||
u8 val;
|
||||
|
||||
for (i = 0; i < ST_IMU68_ODR_LIST_SIZE; i++)
|
||||
if (st_imu68_odr_table[id].odr_avl[i].hz >= odr)
|
||||
break;
|
||||
|
||||
if (i == ST_IMU68_ODR_LIST_SIZE)
|
||||
return -EINVAL;
|
||||
|
||||
val = st_imu68_odr_table[id].odr_avl[i].val;
|
||||
err = st_imu68_write_with_mask(sensor->hw,
|
||||
st_imu68_odr_table[id].reg.addr,
|
||||
st_imu68_odr_table[id].reg.mask, val);
|
||||
if (err < 0)
|
||||
return err;
|
||||
|
||||
sensor->odr = st_imu68_odr_table[id].odr_avl[i].hz;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static ssize_t
|
||||
st_imu68_sysfs_sampling_frequency_avail(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
char *buf)
|
||||
{
|
||||
struct st_imu68_sensor *sensor = iio_priv(dev_get_drvdata(dev));
|
||||
enum st_imu68_sensor_id id = sensor->id;
|
||||
int i, len = 0;
|
||||
|
||||
for (i = 0; i < ST_IMU68_ODR_LIST_SIZE; i++)
|
||||
len += scnprintf(buf + len, PAGE_SIZE - len, "%d ",
|
||||
st_imu68_odr_table[id].odr_avl[i].hz);
|
||||
buf[len - 1] = '\n';
|
||||
|
||||
return len;
|
||||
}
|
||||
|
||||
static ssize_t st_imu68_sysfs_scale_avail(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
char *buf)
|
||||
{
|
||||
struct st_imu68_sensor *sensor = iio_priv(dev_get_drvdata(dev));
|
||||
enum st_imu68_sensor_id id = sensor->id;
|
||||
int i, len = 0;
|
||||
|
||||
for (i = 0; i < ST_IMU68_FS_LIST_SIZE; i++)
|
||||
len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
|
||||
st_imu68_fs_table[id].fs_avl[i].gain);
|
||||
buf[len - 1] = '\n';
|
||||
|
||||
return len;
|
||||
}
|
||||
|
||||
static int st_imu68_read_oneshot(struct st_imu68_sensor *sensor, u8 addr,
|
||||
int *val)
|
||||
{
|
||||
int err, delay;
|
||||
__le16 data;
|
||||
|
||||
err = st_imu68_sensor_enable(sensor, true);
|
||||
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),
|
||||
(u8 *)&data);
|
||||
if (err < 0)
|
||||
return err;
|
||||
|
||||
st_imu68_sensor_enable(sensor, false);
|
||||
|
||||
*val = (s16)data;
|
||||
|
||||
return IIO_VAL_INT;
|
||||
}
|
||||
|
||||
static int st_imu68_read_raw(struct iio_dev *iio_dev,
|
||||
struct iio_chan_spec const *ch,
|
||||
int *val, int *val2, long mask)
|
||||
{
|
||||
struct st_imu68_sensor *sensor = iio_priv(iio_dev);
|
||||
int ret;
|
||||
|
||||
switch (mask) {
|
||||
case IIO_CHAN_INFO_RAW:
|
||||
ret = st_imu68_claim_direct_mode(iio_dev);
|
||||
if (ret)
|
||||
break;
|
||||
|
||||
ret = st_imu68_read_oneshot(sensor, ch->address, val);
|
||||
st_imu68_release_direct_mode(iio_dev);
|
||||
break;
|
||||
case IIO_CHAN_INFO_SCALE:
|
||||
*val = 0;
|
||||
*val2 = sensor->gain;
|
||||
ret = IIO_VAL_INT_PLUS_MICRO;
|
||||
break;
|
||||
default:
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int st_imu68_write_raw(struct iio_dev *iio_dev,
|
||||
struct iio_chan_spec const *chan,
|
||||
int val, int val2, long mask)
|
||||
{
|
||||
struct st_imu68_sensor *sensor = iio_priv(iio_dev);
|
||||
int err;
|
||||
|
||||
err = st_imu68_claim_direct_mode(iio_dev);
|
||||
if (err)
|
||||
return err;
|
||||
|
||||
switch (mask) {
|
||||
case IIO_CHAN_INFO_SCALE:
|
||||
err = st_imu68_set_full_scale(sensor, val2);
|
||||
break;
|
||||
default:
|
||||
err = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
st_imu68_release_direct_mode(iio_dev);
|
||||
|
||||
return err;
|
||||
}
|
||||
|
||||
int st_imu68_sensor_enable(struct st_imu68_sensor *sensor, bool enable)
|
||||
{
|
||||
int err;
|
||||
enum st_imu68_sensor_id id = sensor->id;
|
||||
|
||||
if (enable) {
|
||||
u16 odr;
|
||||
struct st_imu68_sensor *sensor_acc =
|
||||
iio_priv(sensor->hw->iio_devs[ST_IMU68_ID_ACC]);
|
||||
|
||||
/* Check if Gyro enabling with Acc already on */
|
||||
if ((id == ST_IMU68_ID_GYRO) &&
|
||||
(sensor->hw->enabled_mask & BIT(ST_IMU68_ID_ACC))) {
|
||||
odr = max(sensor->odr, sensor_acc->odr);
|
||||
} else {
|
||||
odr = sensor->odr;
|
||||
}
|
||||
|
||||
err = st_imu68_set_odr(sensor, odr);
|
||||
if (err < 0)
|
||||
return err;
|
||||
|
||||
sensor->hw->enabled_mask |= BIT(id);
|
||||
} else {
|
||||
err = st_imu68_write_with_mask(sensor->hw,
|
||||
st_imu68_odr_table[id].reg.addr,
|
||||
st_imu68_odr_table[id].reg.mask,
|
||||
0);
|
||||
if (err < 0)
|
||||
return err;
|
||||
|
||||
sensor->hw->enabled_mask &= ~BIT(id);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static ssize_t st_imu68_get_sampling_frequency(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
char *buf)
|
||||
{
|
||||
struct st_imu68_sensor *sensor = iio_priv(dev_get_drvdata(dev));
|
||||
|
||||
return sprintf(buf, "%d\n", sensor->odr);
|
||||
}
|
||||
|
||||
static ssize_t st_imu68_set_sampling_frequency(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
const char *buf, size_t count)
|
||||
{
|
||||
struct st_imu68_sensor *sensor = iio_priv(dev_get_drvdata(dev));
|
||||
int err, odr;
|
||||
|
||||
err = kstrtoint(buf, 10, &odr);
|
||||
if (err < 0)
|
||||
return err;
|
||||
|
||||
err = st_imu68_set_odr(sensor, odr);
|
||||
|
||||
return err < 0 ? err : count;
|
||||
}
|
||||
|
||||
static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_imu68_sysfs_sampling_frequency_avail);
|
||||
static IIO_DEVICE_ATTR(in_accel_scale_available, 0444,
|
||||
st_imu68_sysfs_scale_avail, NULL, 0);
|
||||
static IIO_DEVICE_ATTR(in_anglvel_scale_available, 0444,
|
||||
st_imu68_sysfs_scale_avail, NULL, 0);
|
||||
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
|
||||
st_imu68_get_sampling_frequency,
|
||||
st_imu68_set_sampling_frequency);
|
||||
|
||||
static struct attribute *st_imu68_acc_attributes[] = {
|
||||
&iio_dev_attr_sampling_frequency.dev_attr.attr,
|
||||
&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_imu68_acc_attribute_group = {
|
||||
.attrs = st_imu68_acc_attributes,
|
||||
};
|
||||
|
||||
static const struct iio_info st_imu68_acc_info = {
|
||||
.attrs = &st_imu68_acc_attribute_group,
|
||||
.read_raw = st_imu68_read_raw,
|
||||
.write_raw = st_imu68_write_raw,
|
||||
};
|
||||
|
||||
static struct attribute *st_imu68_gyro_attributes[] = {
|
||||
&iio_dev_attr_sampling_frequency.dev_attr.attr,
|
||||
&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_imu68_gyro_attribute_group = {
|
||||
.attrs = st_imu68_gyro_attributes,
|
||||
};
|
||||
|
||||
static const struct iio_info st_imu68_gyro_info = {
|
||||
.attrs = &st_imu68_gyro_attribute_group,
|
||||
.read_raw = st_imu68_read_raw,
|
||||
.write_raw = st_imu68_write_raw,
|
||||
};
|
||||
|
||||
static const unsigned long st_imu68_available_scan_masks[] = {0x7, 0x0};
|
||||
|
||||
static struct iio_dev *st_imu68_alloc_iiodev(struct st_imu68_hw *hw,
|
||||
enum st_imu68_sensor_id id)
|
||||
{
|
||||
struct st_imu68_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_imu68_available_scan_masks;
|
||||
|
||||
sensor = iio_priv(iio_dev);
|
||||
sensor->id = id;
|
||||
sensor->hw = hw;
|
||||
sensor->odr = st_imu68_odr_table[id].odr_avl[0].hz;
|
||||
sensor->gain = st_imu68_fs_table[id].fs_avl[0].gain;
|
||||
|
||||
switch (id) {
|
||||
case ST_IMU68_ID_ACC:
|
||||
iio_dev->channels = st_imu68_acc_channels;
|
||||
iio_dev->num_channels = ARRAY_SIZE(st_imu68_acc_channels);
|
||||
iio_dev->name = kasprintf(GFP_KERNEL, "%s_accel", hw->name);
|
||||
iio_dev->info = &st_imu68_acc_info;
|
||||
|
||||
sensor->drdy_mask = ST_IMU68_INT_ACC_DRDY_MASK;
|
||||
sensor->status_mask = ST_IMU68_ACC_STATUS_MASK;
|
||||
break;
|
||||
case ST_IMU68_ID_GYRO:
|
||||
iio_dev->channels = st_imu68_gyro_channels;
|
||||
iio_dev->num_channels = ARRAY_SIZE(st_imu68_gyro_channels);
|
||||
iio_dev->name = kasprintf(GFP_KERNEL, "%s_gyro", hw->name);
|
||||
iio_dev->info = &st_imu68_gyro_info;
|
||||
|
||||
sensor->drdy_mask = ST_IMU68_INT_GYRO_DRDY_MASK;
|
||||
sensor->status_mask = ST_IMU68_GYRO_STATUS_MASK;
|
||||
break;
|
||||
default:
|
||||
return NULL;
|
||||
}
|
||||
|
||||
return iio_dev;
|
||||
}
|
||||
|
||||
int st_imu68_probe(struct device *dev, int irq, const char *name,
|
||||
const struct st_imu68_transfer_function *tf_ops)
|
||||
{
|
||||
struct st_imu68_hw *hw;
|
||||
int err, i;
|
||||
|
||||
hw = devm_kzalloc(dev, sizeof(*hw), GFP_KERNEL);
|
||||
if (!hw)
|
||||
return -ENOMEM;
|
||||
|
||||
dev_set_drvdata(dev, (void *)hw);
|
||||
|
||||
mutex_init(&hw->lock);
|
||||
hw->name = name;
|
||||
hw->dev = dev;
|
||||
hw->irq = irq;
|
||||
hw->tf = tf_ops;
|
||||
hw->enabled_mask = 0;
|
||||
|
||||
err = st_imu68_check_whoami(hw);
|
||||
if (err < 0)
|
||||
return err;
|
||||
|
||||
err = st_imu68_write_with_mask(hw, ST_IMU68_REG_CTRL4_ADDR,
|
||||
ST_IMU68_GYRO_EN_MASK, 0x7);
|
||||
if (err < 0)
|
||||
return err;
|
||||
|
||||
err = st_imu68_write_with_mask(hw, ST_IMU68_REG_CTRL5_ADDR,
|
||||
ST_IMU68_ACC_EN_MASK, 0x7);
|
||||
if (err < 0)
|
||||
return err;
|
||||
|
||||
for (i = 0; i < ST_IMU68_ID_MAX; i++) {
|
||||
hw->iio_devs[i] = st_imu68_alloc_iiodev(hw, i);
|
||||
if (!hw->iio_devs[i])
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
if (irq > 0) {
|
||||
err = st_imu68_allocate_buffers(hw);
|
||||
if (err)
|
||||
return err;
|
||||
|
||||
err = st_imu68_allocate_triggers(hw);
|
||||
if (err)
|
||||
goto deallocate_iio_buffers;
|
||||
}
|
||||
|
||||
for (i = 0; i < ST_IMU68_ID_MAX; i++) {
|
||||
err = devm_iio_device_register(hw->dev, hw->iio_devs[i]);
|
||||
if (err)
|
||||
goto deallocate_iio_triggers;
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
deallocate_iio_triggers:
|
||||
if (irq > 0)
|
||||
st_imu68_deallocate_triggers(hw);
|
||||
deallocate_iio_buffers:
|
||||
if (irq > 0)
|
||||
st_imu68_deallocate_buffers(hw);
|
||||
|
||||
return err;
|
||||
}
|
||||
EXPORT_SYMBOL(st_imu68_probe);
|
||||
|
||||
int st_imu68_remove(struct device *dev)
|
||||
{
|
||||
struct st_imu68_hw *hw = dev_get_drvdata(dev);
|
||||
|
||||
if (hw->irq) {
|
||||
st_imu68_deallocate_triggers(hw);
|
||||
st_imu68_deallocate_buffers(hw);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
EXPORT_SYMBOL(st_imu68_remove);
|
||||
|
||||
MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@st.com>");
|
||||
MODULE_AUTHOR("Mario Tesi <mario.tesi@st.com>");
|
||||
MODULE_DESCRIPTION("STMicroelectronics st_imu68 driver");
|
||||
MODULE_LICENSE("GPL v2");
|
||||
76
drivers/iio/stm/imu/st_imu68/st_imu68_i2c.c
Normal file
76
drivers/iio/stm/imu/st_imu68/st_imu68_i2c.c
Normal file
@ -0,0 +1,76 @@
|
||||
// SPDX-License-Identifier: GPL-2.0-only
|
||||
/*
|
||||
* STMicroelectronics st_imu68 i2c driver
|
||||
*
|
||||
* Copyright 2016 STMicroelectronics Inc.
|
||||
*
|
||||
* Lorenzo Bianconi <lorenzo.bianconi@st.com>
|
||||
*/
|
||||
|
||||
#include <linux/kernel.h>
|
||||
#include <linux/module.h>
|
||||
#include <linux/i2c.h>
|
||||
#include <linux/slab.h>
|
||||
#include <linux/of.h>
|
||||
|
||||
#include "st_imu68.h"
|
||||
|
||||
static int st_imu68_i2c_read(struct device *dev, u8 addr, int len, u8 *data)
|
||||
{
|
||||
return i2c_smbus_read_i2c_block_data_or_emulated(to_i2c_client(dev),
|
||||
addr, len, data);
|
||||
}
|
||||
|
||||
static int st_imu68_i2c_write(struct device *dev, u8 addr, int len, u8 *data)
|
||||
{
|
||||
return i2c_smbus_write_i2c_block_data(to_i2c_client(dev), addr, len,
|
||||
data);
|
||||
}
|
||||
|
||||
static const struct st_imu68_transfer_function st_imu68_transfer_fn = {
|
||||
.read = st_imu68_i2c_read,
|
||||
.write = st_imu68_i2c_write,
|
||||
};
|
||||
|
||||
static int st_imu68_i2c_probe(struct i2c_client *client,
|
||||
const struct i2c_device_id *id)
|
||||
{
|
||||
return st_imu68_probe(&client->dev, client->irq, client->name,
|
||||
&st_imu68_transfer_fn);
|
||||
}
|
||||
|
||||
static int st_imu68_i2c_remove(struct i2c_client *client)
|
||||
{
|
||||
st_imu68_remove(&client->dev);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static const struct of_device_id st_imu68_i2c_of_match[] = {
|
||||
{
|
||||
.compatible = "st,lsm9ds1",
|
||||
},
|
||||
{},
|
||||
};
|
||||
MODULE_DEVICE_TABLE(of, st_imu68_i2c_of_match);
|
||||
|
||||
static const struct i2c_device_id st_imu68_i2c_id_table[] = {
|
||||
{ ST_LSM9DS1_DEV_NAME },
|
||||
{},
|
||||
};
|
||||
MODULE_DEVICE_TABLE(i2c, st_imu68_i2c_id_table);
|
||||
|
||||
static struct i2c_driver st_imu68_driver = {
|
||||
.driver = {
|
||||
.name = "st_imu68_i2c",
|
||||
.of_match_table = of_match_ptr(st_imu68_i2c_of_match),
|
||||
},
|
||||
.probe = st_imu68_i2c_probe,
|
||||
.remove = st_imu68_i2c_remove,
|
||||
.id_table = st_imu68_i2c_id_table,
|
||||
};
|
||||
module_i2c_driver(st_imu68_driver);
|
||||
|
||||
MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@st.com>");
|
||||
MODULE_DESCRIPTION("STMicroelectronics st_imu68 i2c driver");
|
||||
MODULE_LICENSE("GPL v2");
|
||||
112
drivers/iio/stm/imu/st_imu68/st_imu68_spi.c
Normal file
112
drivers/iio/stm/imu/st_imu68/st_imu68_spi.c
Normal file
@ -0,0 +1,112 @@
|
||||
// SPDX-License-Identifier: GPL-2.0-only
|
||||
/*
|
||||
* STMicroelectronics st_imu68 spi driver
|
||||
*
|
||||
* Copyright 2016 STMicroelectronics Inc.
|
||||
*
|
||||
* Lorenzo Bianconi <lorenzo.bianconi@st.com>
|
||||
*/
|
||||
|
||||
#include <linux/kernel.h>
|
||||
#include <linux/module.h>
|
||||
#include <linux/spi/spi.h>
|
||||
#include <linux/slab.h>
|
||||
#include <linux/of.h>
|
||||
|
||||
#include "st_imu68.h"
|
||||
|
||||
#define SENSORS_SPI_READ BIT(7)
|
||||
|
||||
static int st_imu68_spi_read(struct device *dev, u8 addr, int len, u8 *data)
|
||||
{
|
||||
struct spi_device *spi = to_spi_device(dev);
|
||||
struct st_imu68_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_imu68_spi_write(struct device *dev, u8 addr, int len, u8 *data)
|
||||
{
|
||||
struct st_imu68_hw *hw;
|
||||
struct spi_device *spi;
|
||||
|
||||
if (len >= ST_IMU68_TX_MAX_LENGTH)
|
||||
return -ENOMEM;
|
||||
|
||||
spi = to_spi_device(dev);
|
||||
hw = spi_get_drvdata(spi);
|
||||
|
||||
hw->tb.tx_buf[0] = addr;
|
||||
memcpy(&hw->tb.tx_buf[1], data, len);
|
||||
|
||||
return spi_write(spi, hw->tb.tx_buf, len + 1);
|
||||
}
|
||||
|
||||
static const struct st_imu68_transfer_function st_imu68_transfer_fn = {
|
||||
.read = st_imu68_spi_read,
|
||||
.write = st_imu68_spi_write,
|
||||
};
|
||||
|
||||
static int st_imu68_spi_probe(struct spi_device *spi)
|
||||
{
|
||||
return st_imu68_probe(&spi->dev, spi->irq, spi->modalias,
|
||||
&st_imu68_transfer_fn);
|
||||
}
|
||||
|
||||
static int st_imu68_spi_remove(struct spi_device *spi)
|
||||
{
|
||||
st_imu68_remove(&spi->dev);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static const struct of_device_id st_imu68_spi_of_match[] = {
|
||||
{
|
||||
.compatible = "st,lsm9ds1",
|
||||
},
|
||||
{},
|
||||
};
|
||||
MODULE_DEVICE_TABLE(of, st_imu68_spi_of_match);
|
||||
|
||||
static const struct spi_device_id st_imu68_spi_id_table[] = {
|
||||
{ ST_LSM9DS1_DEV_NAME },
|
||||
{},
|
||||
};
|
||||
MODULE_DEVICE_TABLE(spi, st_imu68_spi_id_table);
|
||||
|
||||
static struct spi_driver st_imu68_driver = {
|
||||
.driver = {
|
||||
.name = "st_imu68_spi",
|
||||
.of_match_table = of_match_ptr(st_imu68_spi_of_match),
|
||||
},
|
||||
.probe = st_imu68_spi_probe,
|
||||
.remove = st_imu68_spi_remove,
|
||||
.id_table = st_imu68_spi_id_table,
|
||||
};
|
||||
module_spi_driver(st_imu68_driver);
|
||||
|
||||
MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@st.com>");
|
||||
MODULE_DESCRIPTION("STMicroelectronics st_imu68 spi driver");
|
||||
MODULE_LICENSE("GPL v2");
|
||||
3
stm_iio_configs/imu68_defconfig
Normal file
3
stm_iio_configs/imu68_defconfig
Normal file
@ -0,0 +1,3 @@
|
||||
CONFIG_IIO_ST_IMU68=m
|
||||
CONFIG_IIO_ST_IMU68_I2C=m
|
||||
CONFIG_IIO_ST_IMU68_SPI=m
|
||||
Loading…
Reference in New Issue
Block a user