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Commit 1c5de860 authored by mario tesi's avatar mario tesi Committed by Gerrit - the friendly Code Review server
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Updated ASM330LHH driver for HAL 1.0/2.0 



Updated driver to support decimal ODRs (CTS/VTS requirement)
and new timestamp management with alignemt of samples timestamp
to AP timestamp.

Signed-off-by: default avatarmario tesi <mario.tesi@st.com>
(cherry picked from commit 886f36d914579a01a7ace82fe2ee304593e7d71f)
Git-commit: 886f36d914579a01a7ace82fe2ee304593e7d71f
Git-Repo: https://github.com/STMicroelectronics/


STMems_ASM330LHH_IIO_HAL_Driver.git.

Change-Id: I5224aef722449ee1030b40d7e4b43089cf585ba2
Signed-off-by: default avatarPuneet Yatnal <puneet@codeaurora.org>
parent da2faffc

drivers/iio/imu/st_asm330lhh/Kconfig

+12 −0
Original line number Diff line number Diff line
@@ -21,6 +21,18 @@ config IIO_ST_ASM330LHH_SPI 
	tristate

	depends on IIO_ST_ASM330LHH



config IIO_ST_ASM330LHH_MAY_WAKEUP

	bool "Enable wake-up irq"

	depends on IIO_ST_ASM330LHH

	help

	  Enable wake-up irq on interrupt line



config IIO_ST_ASM330LHH_EN_TEMPERATURE_FIFO

	bool "Enable internal temperature sensor in FIFO"

	depends on IIO_ST_ASM330LHH

	help

          Enable internal temperature sensor channel in FIFO



config ENABLE_ASM_ACC_GYRO_BUFFERING

        bool "Enable accel & gyro  boot time sensor sample buffering"

        depends on IIO_ST_ASM330LHH

drivers/iio/imu/st_asm330lhh/st_asm330lhh.h

+209 −40
Original line number Diff line number Diff line 
/*

 * STMicroelectronics st_asm330lhh sensor driver

 *

 * Copyright 2018 STMicroelectronics Inc.

 * Copyright 2020 STMicroelectronics Inc.

 *

 * Lorenzo Bianconi <lorenzo.bianconi@st.com>

 *
@@ -13,35 +13,105 @@ 


#include <linux/device.h>

#include <linux/iio/iio.h>

#include <linux/delay.h>

#include <linux/input.h>

#include <linux/ktime.h>

#include <linux/slab.h>



#define ST_ASM330LHH_REVISION			"2.0.1"

#define ST_ASM330LHH_PATCH		"2"

#define ST_ASM330LHH_PATCH			"4"



#define ST_ASM330LHH_VERSION			"v"	\

	ST_ASM330LHH_REVISION				\

	"-"						\

	ST_ASM330LHH_PATCH



#define ST_ASM330LHH_MAX_ODR			833

#define ST_ASM330LHH_ODR_LIST_SIZE		8

#define ST_ASM330LHH_ODR_EXPAND(odr, uodr)	((odr * 1000000) + uodr)



#define ST_ASM330LHH_DEV_NAME			"asm330lhh"



#define ST_ASM330LHH_SAMPLE_SIZE	6

#define ST_ASM330LHH_TS_SAMPLE_SIZE	4

#define ST_ASM330LHH_TAG_SIZE		1

#define ST_ASM330LHH_FIFO_SAMPLE_SIZE	(ST_ASM330LHH_SAMPLE_SIZE + \

					 ST_ASM330LHH_TAG_SIZE)

#define ST_ASM330LHH_MAX_FIFO_DEPTH	416

#define ST_ASM330LHH_DEFAULT_XL_FS_INDEX	2

#define ST_ASM330LHH_DEFAULT_XL_ODR_INDEX	1

#define ST_ASM330LHH_DEFAULT_G_FS_INDEX		3

#define ST_ASM330LHH_DEFAULT_G_ODR_INDEX	1

#define ST_ASM330LHH_DEFAULT_T_FS_INDEX		0

#define ST_ASM330LHH_DEFAULT_T_ODR_INDEX	1



#define ST_ASM330LHH_REG_FIFO_CTRL1_ADDR	0x07

#define ST_ASM330LHH_REG_FIFO_CTRL2_ADDR	0x08

#define ST_ASM330LHH_REG_FIFO_WTM_MASK		GENMASK(8, 0)

#define ST_ASM330LHH_REG_FIFO_WTM8_MASK		BIT(0)

#define ST_ASM330LHH_REG_FIFO_STATUS_DIFF	GENMASK(9, 0)



#define ST_ASM330LHH_REG_FIFO_CTRL3_ADDR	0x09

#define ST_ASM330LHH_REG_BDR_XL_MASK		GENMASK(3, 0)

#define ST_ASM330LHH_REG_BDR_GY_MASK		GENMASK(7, 4)



#define ST_ASM330LHH_REG_FIFO_BATCH_ADDR	0x09

#define ST_ASM330LHH_REG_FIFO_CTRL4_ADDR	0x0a

#define ST_ASM330LHH_REG_FIFO_MODE_MASK		GENMASK(2, 0)

#define ST_ASM330LHH_REG_DEC_TS_MASK		GENMASK(7, 6)

#define ST_ASM330LHH_REG_ODR_T_BATCH_MASK	GENMASK(5, 4)



#define ST_ASM330LHH_REG_INT1_CTRL_ADDR		0x0d

#define ST_ASM330LHH_REG_INT2_CTRL_ADDR		0x0e

#define ST_ASM330LHH_REG_INT_FIFO_TH_MASK	BIT(3)



#define ST_ASM330LHH_REG_WHOAMI_ADDR		0x0f

#define ST_ASM330LHH_WHOAMI_VAL			0x6b



#define ST_ASM330LHH_CTRL1_XL_ADDR		0x10

#define ST_ASM330LHH_CTRL2_G_ADDR		0x11



#define ST_ASM330LHH_REG_CTRL3_C_ADDR		0x12

#define ST_ASM330LHH_REG_SW_RESET_MASK		BIT(0)

#define ST_ASM330LHH_REG_PP_OD_MASK		BIT(4)

#define ST_ASM330LHH_REG_H_LACTIVE_MASK		BIT(5)

#define ST_ASM330LHH_REG_BDU_MASK		BIT(6)

#define ST_ASM330LHH_REG_BOOT_MASK		BIT(7)



#define ST_ASM330LHH_REG_CTRL4_C_ADDR		0x13

#define ST_ASM330LHH_REG_DRDY_MASK		BIT(3)



#define ST_ASM330LHH_REG_CTRL5_C_ADDR		0x14

#define ST_ASM330LHH_REG_ROUNDING_MASK		GENMASK(6, 5)



#define ST_ASM330LHH_REG_CTRL9_XL_ADDR		0x18

#define ST_ASM330LHH_REG_DEVICE_CONF_MASK	BIT(1)



#define ST_ASM330LHH_REG_CTRL10_C_ADDR		0x19

#define ST_ASM330LHH_REG_TIMESTAMP_EN_MASK	BIT(5)



#define ST_ASM330LHH_REG_STATUS_ADDR		0x1e

#define ST_ASM330LHH_REG_STATUS_TDA		BIT(2)



#define ST_ASM330LHH_REG_OUT_TEMP_L_ADDR	0x20

#define ST_ASM330LHH_REG_OUT_TEMP_H_ADDR	0x21



#define ST_ASM330LHH_MAX_ODR			416

#define ST_ASM330LHH_REG_OUTX_L_A_ADDR		0x28

#define ST_ASM330LHH_REG_OUTY_L_A_ADDR		0x2a

#define ST_ASM330LHH_REG_OUTZ_L_A_ADDR		0x2c



#define ST_ASM330LHH_REG_OUTX_L_G_ADDR		0x22

#define ST_ASM330LHH_REG_OUTY_L_G_ADDR		0x24

#define ST_ASM330LHH_REG_OUTZ_L_G_ADDR		0x26



#define ST_ASM330LHH_REG_TAP_CFG0_ADDR		0x56

#define ST_ASM330LHH_REG_LIR_MASK		BIT(0)



#define ST_ASM330LHH_REG_THS_6D_ADDR		0x59

#define ST_ASM330LHH_SIXD_THS_MASK		GENMASK(6, 5)



#define ST_ASM330LHH_REG_WAKE_UP_THS_ADDR	0x5b

#define ST_ASM330LHH_WAKE_UP_THS_MASK		GENMASK(5, 0)



#define ST_ASM330LHH_REG_WAKE_UP_DUR_ADDR	0x5c

#define ST_ASM330LHH_WAKE_UP_DUR_MASK		GENMASK(6, 5)



#define ST_ASM330LHH_REG_FREE_FALL_ADDR		0x5d

#define ST_ASM330LHH_FF_THS_MASK		GENMASK(2, 0)



#define ST_ASM330LHH_INTERNAL_FREQ_FINE		0x63



/* Timestamp Tick 25us/LSB */

#define ST_ASM330LHH_TS_DELTA_NS		25000ULL
@@ -51,7 +121,21 @@ 
#define CUSTOM_IIO_EV_DIR_FIFO_DATA (IIO_EV_DIR_NONE + 2)

#define CUSTOM_IIO_EV_TYPE_FIFO_FLUSH (IIO_EV_TYPE_CHANGE + 1)



#define ST_ASM330LHH_CHANNEL(chan_type, addr, mod, ch2, scan_idx,	\

/* Temperature in uC */

#define ST_ASM330LHH_TEMP_GAIN			256

#define ST_ASM330LHH_TEMP_FS_GAIN		(1000000 / \

						ST_ASM330LHH_TEMP_GAIN)

#define ST_ASM330LHH_TEMP_OFFSET		6400



/* FIFO simple size and depth */

#define ST_ASM330LHH_SAMPLE_SIZE		6

#define ST_ASM330LHH_TS_SAMPLE_SIZE		4

#define ST_ASM330LHH_TAG_SIZE			1

#define ST_ASM330LHH_FIFO_SAMPLE_SIZE		(ST_ASM330LHH_SAMPLE_SIZE + \

						 ST_ASM330LHH_TAG_SIZE)

#define ST_ASM330LHH_MAX_FIFO_DEPTH		416



#define ST_ASM330LHH_DATA_CHANNEL(chan_type, addr, mod, ch2, scan_idx,	\

				rb, sb, sg)				\

{									\

	.type = chan_type,						\
@@ -75,9 +159,9 @@ static const struct iio_event_spec st_asm330lhh_flush_event = { 
	.dir = IIO_EV_DIR_EITHER,

};



#define ST_ASM330LHH_FLUSH_CHANNEL(dtype)		\

#define ST_ASM330LHH_EVENT_CHANNEL(ctype, etype)	\

{							\

	.type = dtype,					\

	.type = ctype,					\

	.modified = 0,					\

	.scan_index = -1,				\

	.indexed = -1,					\
@@ -105,43 +189,89 @@ struct st_asm330lhh_transfer_buffer { 


struct st_asm330lhh_transfer_function {

	int (*read)(struct device *dev, u8 addr, int len, u8 *data);

	int (*write)(struct device *dev, u8 addr, int len, u8 *data);

	int (*write)(struct device *dev, u8 addr, int len, const u8 *data);

};



/**

 * struct st_asm330lhh_reg - Generic sensor register description (addr + mask)

 * @addr: Address of register.

 * @mask: Bitmask register for proper usage.

 */

struct st_asm330lhh_reg {

	u8 addr;

	u8 mask;

};



/**

 * struct st_asm330lhh_odr - Single ODR entry

 * @hz: Most significant part of the sensor ODR (Hz).

 * @uhz: Less significant part of the sensor ODR (micro Hz).

 * @val: ODR register value.

 * @batch_val: Batching ODR register value.

 */

struct st_asm330lhh_odr {

	u16 hz;

	u32 uhz;

	u8 val;

	u8 batch_val;

};



#define ST_ASM330LHH_ODR_LIST_SIZE	7

/**

 * struct st_asm330lhh_odr_table_entry - Sensor ODR table

 * @size: Size of ODR table.

 * @reg: ODR register.

 * @batching_reg: ODR register for batching on fifo.

 * @odr_avl: Array of supported ODR value.

 */

struct st_asm330lhh_odr_table_entry {

	u8 size;

	struct st_asm330lhh_reg reg;

	struct st_asm330lhh_reg batching_reg;

	struct st_asm330lhh_odr odr_avl[ST_ASM330LHH_ODR_LIST_SIZE];

};



/**

 * struct st_asm330lhh_fs - Full Scale sensor table entry

 * @reg: Register description for FS settings.

 * @gain: Sensor sensitivity (mdps/LSB, mg/LSB and uC/LSB).

 * @val: FS register value.

 */

struct st_asm330lhh_fs {

	struct st_asm330lhh_reg reg;

	u32 gain;

	u8 val;

};



#define ST_ASM330LHH_FS_LIST_SIZE		6

#define ST_ASM330LHH_FS_ACC_LIST_SIZE		4

#define ST_ASM330LHH_FS_GYRO_LIST_SIZE		6

#define ST_ASM330LHH_FS_TEMP_LIST_SIZE		1

#define ST_ASM330LHH_FS_LIST_SIZE		6



/**

 * struct st_asm330lhh_fs_table_entry - Full Scale sensor table

 * @size: Full Scale sensor table size.

 * @fs_avl: Full Scale list entries.

 */

struct st_asm330lhh_fs_table_entry {

	u32 size;

	struct st_asm330lhh_reg reg;

	u8 size;

	struct st_asm330lhh_fs fs_avl[ST_ASM330LHH_FS_LIST_SIZE];

};



#define ST_ASM330LHH_ACC_FS_2G_GAIN	IIO_G_TO_M_S_2(61)

#define ST_ASM330LHH_ACC_FS_4G_GAIN	IIO_G_TO_M_S_2(122)

#define ST_ASM330LHH_ACC_FS_8G_GAIN	IIO_G_TO_M_S_2(244)

#define ST_ASM330LHH_ACC_FS_16G_GAIN	IIO_G_TO_M_S_2(488)



#define ST_ASM330LHH_GYRO_FS_125_GAIN	IIO_DEGREE_TO_RAD(4375)

#define ST_ASM330LHH_GYRO_FS_250_GAIN	IIO_DEGREE_TO_RAD(8750)

#define ST_ASM330LHH_GYRO_FS_500_GAIN	IIO_DEGREE_TO_RAD(17500)

#define ST_ASM330LHH_GYRO_FS_1000_GAIN	IIO_DEGREE_TO_RAD(35000)

#define ST_ASM330LHH_GYRO_FS_2000_GAIN	IIO_DEGREE_TO_RAD(70000)

#define ST_ASM330LHH_GYRO_FS_4000_GAIN	IIO_DEGREE_TO_RAD(140000)



enum st_asm330lhh_sensor_id {

	ST_ASM330LHH_ID_GYRO = 0,

	ST_ASM330LHH_ID_ACC,

	ST_ASM330LHH_ID_GYRO,

	ST_ASM330LHH_ID_TEMP,

	ST_ASM330LHH_ID_MAX,

};
@@ -163,24 +293,24 @@ enum { 
 * @gain: Configured sensor sensitivity.

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

 * @watermark: Sensor watermark level.

 * @batch_mask: Sensor mask for FIFO batching register

 * @last_fifo_timestamp: Store last sample timestamp in FIFO, used by flush

 */

struct st_asm330lhh_sensor {

	enum st_asm330lhh_sensor_id id;

	struct st_asm330lhh_hw *hw;

	struct iio_trigger *trig;



	u32 gain;

	u16 odr;

	u32 offset;



	__le16 old_data;



	u8 std_samples;

	u8 std_level;

	int odr;

	int uodr;



	u16 max_watermark;

	u16 watermark;

	u8 batch_mask;

	u8 batch_addr;

	s64 last_fifo_timestamp;

#ifdef CONFIG_ENABLE_ASM_ACC_GYRO_BUFFERING

	bool read_boot_sample;

	int bufsample_cnt;
@@ -216,6 +346,7 @@ struct st_asm330lhh_sensor { 
 * @tsample: Timestamp for each sensor sample.

 * @delta_ts: Delta time between two consecutive interrupts.

 * @ts: Latest timestamp from irq handler.

 * @odr_table_entry: Sensors ODR table.

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

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

 * @tb: Transfer buffers used by SPI I/O operations.
@@ -223,6 +354,7 @@ struct st_asm330lhh_sensor { 
struct st_asm330lhh_hw {

	struct device *dev;

	int irq;

	int int_pin;



	struct mutex lock;

	struct mutex fifo_lock;
@@ -230,7 +362,7 @@ struct st_asm330lhh_hw { 


	enum st_asm330lhh_fifo_mode fifo_mode;

	unsigned long state;

	u8 enable_mask;

	u32 enable_mask;



	s64 ts_offset;

	u64 ts_delta_ns;
@@ -240,12 +372,14 @@ struct st_asm330lhh_hw { 
	s64 tsample;

	s64 delta_ts;

	s64 ts;

	const struct st_asm330lhh_odr_table_entry *odr_table_entry;

	struct iio_dev *iio_devs[ST_ASM330LHH_ID_MAX];



	const struct st_asm330lhh_transfer_function *tf;

	struct st_asm330lhh_transfer_buffer tb;

	struct regulator *vdd;

	struct regulator *vio;

	struct iio_mount_matrix orientation;

	int enable_gpio;

	bool asm330_hrtimer;

	struct hrtimer st_asm330lhh_hrtimer;
@@ -265,14 +399,47 @@ static inline int st_asm330lhh_read_atomic(struct st_asm330lhh_hw *hw, u8 addr, 
	return err;

}



static inline int st_asm330lhh_write_atomic(struct st_asm330lhh_hw *hw, u8 addr,

					  int len, u8 *data)

{

	int err;



	mutex_lock(&hw->page_lock);

	err = hw->tf->write(hw->dev, addr, len, data);

	mutex_unlock(&hw->page_lock);



	return err;

}



int __st_asm330lhh_write_with_mask(struct st_asm330lhh_hw *hw, u8 addr, u8 mask,

				 u8 val);

static inline int st_asm330lhh_write_with_mask(struct st_asm330lhh_hw *hw,

		u8 addr, u8 mask, u8 val)

{

	int err;



	mutex_lock(&hw->page_lock);

	err = __st_asm330lhh_write_with_mask(hw, addr, mask, val);

	mutex_unlock(&hw->page_lock);



	return err;

}



static inline bool st_asm330lhh_is_fifo_enabled(struct st_asm330lhh_hw *hw)

{

	return hw->enable_mask & (BIT(ST_ASM330LHH_ID_GYRO) |

				  BIT(ST_ASM330LHH_ID_ACC));

}



int st_asm330lhh_probe(struct device *dev, int irq,

		       const struct st_asm330lhh_transfer_function *tf_ops);

int st_asm330lhh_sensor_set_enable(struct st_asm330lhh_sensor *sensor,

				   bool enable);

int st_asm330lhh_fifo_setup(struct st_asm330lhh_hw *hw);

int st_asm330lhh_write_with_mask(struct st_asm330lhh_hw *hw, u8 addr, u8 mask,

				 u8 val);

int st_asm330lhh_get_odr_val(enum st_asm330lhh_sensor_id id, u16 odr, u8 *val);

int st_asm330lhh_buffers_setup(struct st_asm330lhh_hw *hw);

int st_asm330lhh_get_batch_val(struct st_asm330lhh_sensor *sensor, int odr,

			       int uodr, u8 *val);

int st_asm330lhh_update_watermark(struct st_asm330lhh_sensor *sensor,

				  u16 watermark);

ssize_t st_asm330lhh_flush_fifo(struct device *dev,

				struct device_attribute *attr,

				const char *buf, size_t size);
@@ -283,11 +450,13 @@ ssize_t st_asm330lhh_get_watermark(struct device *dev, 
ssize_t st_asm330lhh_set_watermark(struct device *dev,

				   struct device_attribute *attr,

				   const char *buf, size_t size);

int st_asm330lhh_suspend_fifo(struct st_asm330lhh_hw *hw);

int st_asm330lhh_set_fifo_mode(struct st_asm330lhh_hw *hw,

			       enum st_asm330lhh_fifo_mode fifo_mode);

int st_asm330lhh_suspend_fifo(struct st_asm330lhh_hw *hw);

int st_asm330lhh_update_watermark(struct st_asm330lhh_sensor *sensor,

					u16 watermark);

int __st_asm330lhh_set_sensor_batching_odr(struct st_asm330lhh_sensor *sensor,

					   bool enable);

int st_asm330lhh_update_batching(struct iio_dev *iio_dev, bool enable);

int st_asm330lhh_reset_hwts(struct st_asm330lhh_hw *hw);

int st_asm330lhh_update_fifo(struct iio_dev *iio_dev, bool enable);

int asm330_check_acc_gyro_early_buff_enable_flag(

		struct st_asm330lhh_sensor *sensor);

drivers/iio/imu/st_asm330lhh/st_asm330lhh_buffer.c

+173 −87

File changed.

Preview size limit exceeded, changes collapsed.

drivers/iio/imu/st_asm330lhh/st_asm330lhh_core.c

+483 −239

File changed.

Preview size limit exceeded, changes collapsed.

drivers/iio/imu/st_asm330lhh/st_asm330lhh_i2c.c

+4 −3
Original line number Diff line number Diff line 
/*

 * STMicroelectronics st_asm330lhh i2c driver

 *

 * Copyright 2018 STMicroelectronics Inc.

 * Copyright 2020 STMicroelectronics Inc.

 *

 * Lorenzo Bianconi <lorenzo.bianconi@st.com>

 *
@@ -45,7 +45,8 @@ static int st_asm330lhh_i2c_read(struct device *dev, u8 addr, int len, u8 *data) 
	return ret;

}



static int st_asm330lhh_i2c_write(struct device *dev, u8 addr, int len, u8 *data)

static int st_asm330lhh_i2c_write(struct device *dev, u8 addr, int len,

				const u8 *data)

{

	struct i2c_client *client = to_i2c_client(dev);

	struct i2c_msg msg;
@@ -100,7 +101,7 @@ static struct i2c_driver st_asm330lhh_driver = { 
	.driver = {

		.name = "st_asm330lhh_i2c",

		.pm = &st_asm330lhh_pm_ops,

		.of_match_table = of_match_ptr(st_asm330lhh_i2c_of_match),

		.of_match_table = st_asm330lhh_i2c_of_match,

	},

	.probe = st_asm330lhh_i2c_probe,

	.id_table = st_asm330lhh_i2c_id_table,