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-rw-r--r--drivers/iio/imu/st_lsm6dsx/Kconfig4
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h13
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c59
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c22
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c5
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c5
6 files changed, 97 insertions, 11 deletions
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..9dfe4917a386 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -37,6 +37,7 @@
#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,
@@ -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..455e5edd3a80 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -634,6 +634,24 @@ 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 +1032,10 @@ 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 = {
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
index df5f60925260..ccdc4ceffd85 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
@@ -125,6 +125,10 @@ 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);
@@ -152,6 +156,7 @@ 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);
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);
generated by cgit v1.2.3 (git 2.25.1) at 2024-08-11 03:22:11 +0000