diff options
Diffstat (limited to 'drivers/iio/imu')
-rw-r--r-- | drivers/iio/imu/adis16475.c | 6 | ||||
-rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c | 10 | ||||
-rw-r--r-- | drivers/iio/imu/st_lsm6dsx/Kconfig | 4 | ||||
-rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 15 | ||||
-rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 59 | ||||
-rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 99 | ||||
-rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c | 21 | ||||
-rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c | 5 |
8 files changed, 194 insertions, 25 deletions
diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c index aec55f7e1f26..3abffb01ba31 100644 --- a/drivers/iio/imu/adis16475.c +++ b/drivers/iio/imu/adis16475.c @@ -326,11 +326,11 @@ static int adis16475_set_freq(struct adis16475 *st, const u32 freq) /* * This is not an hard requirement but it's not advised to run the IMU - * with a sample rate lower than 4000Hz due to possible undersampling + * with a sample rate lower than 1900Hz due to possible undersampling * issues. However, there are users that might really want to take the risk. * Hence, we provide a module parameter for them. If set, we allow sample - * rates lower than 4KHz. By default, we won't allow this and we just roundup - * the rate to the next multiple of the input clock bigger than 4KHz. This + * rates lower than 1.9KHz. By default, we won't allow this and we just roundup + * the rate to the next multiple of the input clock bigger than 1.9KHz. This * is done like this as in some cases (when DEC_RATE is 0) might give * us the closest value to the one desired by the user... */ diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c index 99576b2c171f..32d7f8364230 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c @@ -275,9 +275,14 @@ static int inv_icm42600_buffer_preenable(struct iio_dev *indio_dev) { struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); struct device *dev = regmap_get_device(st->map); + struct inv_icm42600_timestamp *ts = iio_priv(indio_dev); pm_runtime_get_sync(dev); + mutex_lock(&st->lock); + inv_icm42600_timestamp_reset(ts); + mutex_unlock(&st->lock); + return 0; } @@ -375,7 +380,6 @@ static int inv_icm42600_buffer_postdisable(struct iio_dev *indio_dev) struct device *dev = regmap_get_device(st->map); unsigned int sensor; unsigned int *watermark; - struct inv_icm42600_timestamp *ts; struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; unsigned int sleep_temp = 0; unsigned int sleep_sensor = 0; @@ -385,11 +389,9 @@ static int inv_icm42600_buffer_postdisable(struct iio_dev *indio_dev) if (indio_dev == st->indio_gyro) { sensor = INV_ICM42600_SENSOR_GYRO; watermark = &st->fifo.watermark.gyro; - ts = iio_priv(st->indio_gyro); } else if (indio_dev == st->indio_accel) { sensor = INV_ICM42600_SENSOR_ACCEL; watermark = &st->fifo.watermark.accel; - ts = iio_priv(st->indio_accel); } else { return -EINVAL; } @@ -417,8 +419,6 @@ static int inv_icm42600_buffer_postdisable(struct iio_dev *indio_dev) if (!st->fifo.on) ret = inv_icm42600_set_temp_conf(st, false, &sleep_temp); - inv_icm42600_timestamp_reset(ts); - out_unlock: mutex_unlock(&st->lock); diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig index 8c16cdacf2f2..5865a295a4df 100644 --- a/drivers/iio/imu/st_lsm6dsx/Kconfig +++ b/drivers/iio/imu/st_lsm6dsx/Kconfig @@ -14,8 +14,8 @@ config IIO_ST_LSM6DSX sensor. Supported devices: lsm6ds3, lsm6ds3h, lsm6dsl, lsm6dsm, ism330dlc, lsm6dso, lsm6dsox, asm330lhh, asm330lhhx, lsm6dsr, lsm6ds3tr-c, ism330dhcx, lsm6dsrx, lsm6ds0, lsm6dsop, lsm6dstx, - lsm6dsv, lsm6dsv16x, lsm6dso16is, ism330is, lsm6dst and the - accelerometer/gyroscope of lsm9ds1. + lsm6dsv, lsm6dsv16x, lsm6dso16is, ism330is, asm330lhb, lsm6dst + and the accelerometer/gyroscope of lsm9ds1. To compile this driver as a module, choose M here: the module will be called st_lsm6dsx. diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h index 499fcf8875b4..c19237717e81 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h @@ -37,9 +37,10 @@ #define ST_LSM6DSV16X_DEV_NAME "lsm6dsv16x" #define ST_LSM6DSO16IS_DEV_NAME "lsm6dso16is" #define ST_ISM330IS_DEV_NAME "ism330is" +#define ST_ASM330LHB_DEV_NAME "asm330lhb" enum st_lsm6dsx_hw_id { - ST_LSM6DS3_ID, + ST_LSM6DS3_ID = 1, ST_LSM6DS3H_ID, ST_LSM6DSL_ID, ST_LSM6DSM_ID, @@ -61,6 +62,7 @@ enum st_lsm6dsx_hw_id { ST_LSM6DSV16X_ID, ST_LSM6DSO16IS_ID, ST_ISM330IS_ID, + ST_ASM330LHB_ID, ST_LSM6DSX_MAX_ID, }; @@ -137,6 +139,13 @@ struct st_lsm6dsx_odr_table_entry { int odr_len; }; +struct st_lsm6dsx_samples_to_discard { + struct { + u32 milli_hz; + u16 samples; + } val[ST_LSM6DSX_ODR_LIST_SIZE]; +}; + struct st_lsm6dsx_fs { u32 gain; u8 val; @@ -291,6 +300,7 @@ struct st_lsm6dsx_ext_dev_settings { * @irq_config: interrupts related registers. * @drdy_mask: register info for data-ready mask (addr + mask). * @odr_table: Hw sensors odr table (Hz + val). + * @samples_to_discard: Number of samples to discard for filters settling time. * @fs_table: Hw sensors gain table (gain + val). * @decimator: List of decimator register info (addr + mask). * @batch: List of FIFO batching register info (addr + mask). @@ -323,6 +333,7 @@ struct st_lsm6dsx_settings { } irq_config; struct st_lsm6dsx_reg drdy_mask; struct st_lsm6dsx_odr_table_entry odr_table[2]; + struct st_lsm6dsx_samples_to_discard samples_to_discard[2]; struct st_lsm6dsx_fs_table_entry fs_table[2]; struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID]; struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID]; @@ -353,6 +364,7 @@ enum st_lsm6dsx_fifo_mode { * @hw: Pointer to instance of struct st_lsm6dsx_hw. * @gain: Configured sensor sensitivity. * @odr: Output data rate of the sensor [Hz]. + * @samples_to_discard: Number of samples to discard for filters settling time. * @watermark: Sensor watermark level. * @decimator: Sensor decimation factor. * @sip: Number of samples in a given pattern. @@ -367,6 +379,7 @@ struct st_lsm6dsx_sensor { u32 gain; u32 odr; + u16 samples_to_discard; u16 watermark; u8 decimator; u8 sip; diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c index 7dd5205aea5b..066fe561c5e8 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c @@ -15,7 +15,7 @@ * value of the decimation factor and ODR set for each FIFO data set. * * LSM6DSO/LSM6DSOX/ASM330LHH/ASM330LHHX/LSM6DSR/LSM6DSRX/ISM330DHCX/ - * LSM6DST/LSM6DSOP/LSM6DSTX/LSM6DSV: + * LSM6DST/LSM6DSOP/LSM6DSTX/LSM6DSV/ASM330LHB: * The FIFO buffer can be configured to store data from gyroscope and * accelerometer. Each sample is queued with a tag (1B) indicating data * source (gyroscope, accelerometer, hw timer). @@ -457,17 +457,31 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) } if (gyro_sip > 0 && !(sip % gyro_sensor->decimator)) { - iio_push_to_buffers_with_timestamp( - hw->iio_devs[ST_LSM6DSX_ID_GYRO], - &hw->scan[ST_LSM6DSX_ID_GYRO], - gyro_sensor->ts_ref + ts); + /* + * We need to discards gyro samples during + * filters settling time + */ + if (gyro_sensor->samples_to_discard > 0) + gyro_sensor->samples_to_discard--; + else + iio_push_to_buffers_with_timestamp( + hw->iio_devs[ST_LSM6DSX_ID_GYRO], + &hw->scan[ST_LSM6DSX_ID_GYRO], + gyro_sensor->ts_ref + ts); gyro_sip--; } if (acc_sip > 0 && !(sip % acc_sensor->decimator)) { - iio_push_to_buffers_with_timestamp( - hw->iio_devs[ST_LSM6DSX_ID_ACC], - &hw->scan[ST_LSM6DSX_ID_ACC], - acc_sensor->ts_ref + ts); + /* + * We need to discards accel samples during + * filters settling time + */ + if (acc_sensor->samples_to_discard > 0) + acc_sensor->samples_to_discard--; + else + iio_push_to_buffers_with_timestamp( + hw->iio_devs[ST_LSM6DSX_ID_ACC], + &hw->scan[ST_LSM6DSX_ID_ACC], + acc_sensor->ts_ref + ts); acc_sip--; } if (ext_sip > 0 && !(sip % ext_sensor->decimator)) { @@ -654,6 +668,30 @@ int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw) return err; } +static void +st_lsm6dsx_update_samples_to_discard(struct st_lsm6dsx_sensor *sensor) +{ + const struct st_lsm6dsx_samples_to_discard *data; + struct st_lsm6dsx_hw *hw = sensor->hw; + int i; + + if (sensor->id != ST_LSM6DSX_ID_GYRO && + sensor->id != ST_LSM6DSX_ID_ACC) + return; + + /* check if drdy mask is supported in hw */ + if (hw->settings->drdy_mask.addr) + return; + + data = &hw->settings->samples_to_discard[sensor->id]; + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) { + if (data->val[i].milli_hz == sensor->odr) { + sensor->samples_to_discard = data->val[i].samples; + return; + } + } +} + int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable) { struct st_lsm6dsx_hw *hw = sensor->hw; @@ -673,6 +711,9 @@ int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable) goto out; } + if (enable) + st_lsm6dsx_update_samples_to_discard(sensor); + err = st_lsm6dsx_device_set_enable(sensor, enable); if (err < 0) goto out; diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c index 3f6060c64f32..6a18b363cf73 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c @@ -56,6 +56,7 @@ #include <linux/kernel.h> #include <linux/module.h> +#include <linux/acpi.h> #include <linux/delay.h> #include <linux/iio/events.h> #include <linux/iio/iio.h> @@ -634,6 +635,24 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .fs_len = 4, }, }, + .samples_to_discard = { + [ST_LSM6DSX_ID_ACC] = { + .val[0] = { 12500, 1 }, + .val[1] = { 26000, 1 }, + .val[2] = { 52000, 1 }, + .val[3] = { 104000, 2 }, + .val[4] = { 208000, 2 }, + .val[5] = { 416000, 2 }, + }, + [ST_LSM6DSX_ID_GYRO] = { + .val[0] = { 12500, 2 }, + .val[1] = { 26000, 5 }, + .val[2] = { 52000, 7 }, + .val[3] = { 104000, 12 }, + .val[4] = { 208000, 20 }, + .val[5] = { 416000, 36 }, + }, + }, .irq_config = { .irq1 = { .addr = 0x0d, @@ -1014,6 +1033,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .hw_id = ST_LSM6DSOP_ID, .name = ST_LSM6DSOP_DEV_NAME, .wai = 0x6c, + }, { + .hw_id = ST_ASM330LHB_ID, + .name = ST_ASM330LHB_DEV_NAME, + .wai = 0x6b, }, }, .channels = { @@ -2602,6 +2625,73 @@ static int st_lsm6dsx_init_regulators(struct device *dev) return 0; } +#ifdef CONFIG_ACPI + +static int lsm6dsx_get_acpi_mount_matrix(struct device *dev, + struct iio_mount_matrix *orientation) +{ + struct acpi_buffer buffer = { ACPI_ALLOCATE_BUFFER, NULL }; + struct acpi_device *adev = ACPI_COMPANION(dev); + union acpi_object *obj, *elements; + acpi_status status; + int i, j, val[3]; + char *str; + + if (!has_acpi_companion(dev)) + return -EINVAL; + + if (!acpi_has_method(adev->handle, "ROTM")) + return -EINVAL; + + status = acpi_evaluate_object(adev->handle, "ROTM", NULL, &buffer); + if (ACPI_FAILURE(status)) { + dev_warn(dev, "Failed to get ACPI mount matrix: %d\n", status); + return -EINVAL; + } + + obj = buffer.pointer; + if (obj->type != ACPI_TYPE_PACKAGE || obj->package.count != 3) + goto unknown_format; + + elements = obj->package.elements; + for (i = 0; i < 3; i++) { + if (elements[i].type != ACPI_TYPE_STRING) + goto unknown_format; + + str = elements[i].string.pointer; + if (sscanf(str, "%d %d %d", &val[0], &val[1], &val[2]) != 3) + goto unknown_format; + + for (j = 0; j < 3; j++) { + switch (val[j]) { + case -1: str = "-1"; break; + case 0: str = "0"; break; + case 1: str = "1"; break; + default: goto unknown_format; + } + orientation->rotation[i * 3 + j] = str; + } + } + + kfree(buffer.pointer); + return 0; + +unknown_format: + dev_warn(dev, "Unknown ACPI mount matrix format, ignoring\n"); + kfree(buffer.pointer); + return -EINVAL; +} + +#else + +static int lsm6dsx_get_acpi_mount_matrix(struct device *dev, + struct iio_mount_matrix *orientation) +{ + return false; +} + +#endif + int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, struct regmap *regmap) { @@ -2676,9 +2766,12 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, return err; } - err = iio_read_mount_matrix(hw->dev, &hw->orientation); - if (err) - return err; + err = lsm6dsx_get_acpi_mount_matrix(hw->dev, &hw->orientation); + if (err) { + err = iio_read_mount_matrix(hw->dev, &hw->orientation); + if (err) + return err; + } for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { if (!hw->iio_devs[i]) diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c index df5f60925260..020717f92363 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c @@ -23,10 +23,15 @@ static const struct regmap_config st_lsm6dsx_i2c_regmap_config = { static int st_lsm6dsx_i2c_probe(struct i2c_client *client) { - const struct i2c_device_id *id = i2c_client_get_device_id(client); - int hw_id = id->driver_data; + int hw_id; struct regmap *regmap; + hw_id = (kernel_ulong_t)device_get_match_data(&client->dev); + if (!hw_id) + hw_id = i2c_client_get_device_id(client)->driver_data; + if (!hw_id) + return -EINVAL; + regmap = devm_regmap_init_i2c(client, &st_lsm6dsx_i2c_regmap_config); if (IS_ERR(regmap)) { dev_err(&client->dev, "Failed to register i2c regmap %ld\n", PTR_ERR(regmap)); @@ -125,10 +130,20 @@ static const struct of_device_id st_lsm6dsx_i2c_of_match[] = { .compatible = "st,ism330is", .data = (void *)ST_ISM330IS_ID, }, + { + .compatible = "st,asm330lhb", + .data = (void *)ST_ASM330LHB_ID, + }, {}, }; MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match); +static const struct acpi_device_id st_lsm6dsx_i2c_acpi_match[] = { + { "SMO8B30", ST_LSM6DS3TRC_ID, }, + {} +}; +MODULE_DEVICE_TABLE(acpi, st_lsm6dsx_i2c_acpi_match); + static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = { { ST_LSM6DS3_DEV_NAME, ST_LSM6DS3_ID }, { ST_LSM6DS3H_DEV_NAME, ST_LSM6DS3H_ID }, @@ -152,6 +167,7 @@ static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = { { ST_LSM6DSV16X_DEV_NAME, ST_LSM6DSV16X_ID }, { ST_LSM6DSO16IS_DEV_NAME, ST_LSM6DSO16IS_ID }, { ST_ISM330IS_DEV_NAME, ST_ISM330IS_ID }, + { ST_ASM330LHB_DEV_NAME, ST_ASM330LHB_ID }, {}, }; MODULE_DEVICE_TABLE(i2c, st_lsm6dsx_i2c_id_table); @@ -161,6 +177,7 @@ static struct i2c_driver st_lsm6dsx_driver = { .name = "st_lsm6dsx_i2c", .pm = pm_sleep_ptr(&st_lsm6dsx_pm_ops), .of_match_table = st_lsm6dsx_i2c_of_match, + .acpi_match_table = st_lsm6dsx_i2c_acpi_match, }, .probe_new = st_lsm6dsx_i2c_probe, .id_table = st_lsm6dsx_i2c_id_table, diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c index 974584bda875..f56c170c41a9 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c @@ -125,6 +125,10 @@ static const struct of_device_id st_lsm6dsx_spi_of_match[] = { .compatible = "st,ism330is", .data = (void *)ST_ISM330IS_ID, }, + { + .compatible = "st,asm330lhb", + .data = (void *)ST_ASM330LHB_ID, + }, {}, }; MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match); @@ -152,6 +156,7 @@ static const struct spi_device_id st_lsm6dsx_spi_id_table[] = { { ST_LSM6DSV16X_DEV_NAME, ST_LSM6DSV16X_ID }, { ST_LSM6DSO16IS_DEV_NAME, ST_LSM6DSO16IS_ID }, { ST_ISM330IS_DEV_NAME, ST_ISM330IS_ID }, + { ST_ASM330LHB_DEV_NAME, ST_ASM330LHB_ID }, {}, }; MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table); |