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Commit 290a6ce1 authored by Lorenzo Bianconi's avatar Lorenzo Bianconi Committed by Jonathan Cameron
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iio: imu: add support to lsm6dsx driver 

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: default avatarLorenzo Bianconi <lorenzo.bianconi@st.com>
Signed-off-by: default avatarJonathan Cameron <jic23@kernel.org>
parent adc8ec5f

drivers/iio/imu/Kconfig

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Original line number Diff line number Diff line
@@ -39,6 +39,7 @@ config KMX61 
	  be called kmx61.



source "drivers/iio/imu/inv_mpu6050/Kconfig"

source "drivers/iio/imu/st_lsm6dsx/Kconfig"



endmenu

drivers/iio/imu/Makefile

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@@ -17,3 +17,5 @@ obj-y += bmi160/ 
obj-y += inv_mpu6050/



obj-$(CONFIG_KMX61) += kmx61.o



obj-y += st_lsm6dsx/

drivers/iio/imu/st_lsm6dsx/Kconfig

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+22 −0
Original line number Diff line number Diff line 


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

drivers/iio/imu/st_lsm6dsx/Makefile

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st_lsm6dsx-y := st_lsm6dsx_core.o st_lsm6dsx_buffer.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

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h

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+141 −0
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/*

 * 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"



enum st_lsm6dsx_hw_id {

	ST_LSM6DS3_ID,

	ST_LSM6DSM_ID,

};



#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_hw_id id;

};



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 - ST IMU sensor instance

 * @id: Sensor identifier.

 * @hw: Pointer to instance of struct st_lsm6dsx_hw.

 * @gain: Configured sensor sensitivity.

 * @odr: Output data rate of the sensor [Hz].

 * @watermark: Sensor watermark level.

 * @sip: Number of samples in a given pattern.

 * @decimator: FIFO decimation factor.

 * @decimator_mask: Sensor mask for decimation register.

 * @delta_ts: Delta time between two consecutive interrupts.

 * @ts: Latest timestamp from the interrupt handler.

 */

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 - ST IMU MEMS hw instance

 * @dev: Pointer to instance of struct device (I2C or SPI).

 * @irq: Device interrupt line (I2C or SPI).

 * @lock: Mutex to protect read and write operations.

 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.

 * @fifo_mode: FIFO operating mode supported by the device.

 * @enable_mask: Enabled sensor bitmask.

 * @sip: Total number of samples (acc/gyro) in a given pattern.

 * @iio_devs: Pointers to acc/gyro iio_dev instances.

 * @settings: Pointer to the specific sensor settings in use.

 * @tf: Transfer function structure used by I/O operations.

 * @tb: Transfer buffers used by SPI I/O operations.

 */

struct st_lsm6dsx_hw {

	struct device *dev;

	int irq;



	struct mutex lock;

	struct mutex fifo_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 device *dev, int irq, int hw_id,

		     const struct st_lsm6dsx_transfer_function *tf_ops);

int st_lsm6dsx_sensor_enable(struct st_lsm6dsx_sensor *sensor);

int st_lsm6dsx_sensor_disable(struct st_lsm6dsx_sensor *sensor);

int st_lsm6dsx_fifo_setup(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 */