iio: imu: st_lsm6dsx: add support to LSM6DSR

Add support to STM LSM6DSR 6-axis (acc + gyro) Mems sensor
https://www.st.com/resource/en/datasheet/lsm6dsr.pdf

Signed-off-by: Lorenzo Bianconi <lorenzo@kernel.org>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

drivers/iio/imu/st_lsm6dsx/Kconfig

@@ -9,7 +9,7 @@ config IIO_ST_LSM6DSX
 	help
 	  Say yes here to build support for STMicroelectronics LSM6DSx imu
 	  sensor. Supported devices: lsm6ds3, lsm6ds3h, lsm6dsl, lsm6dsm,
-	  ism330dlc, lsm6dso, lsm6dsox, asm330lhh
+	  ism330dlc, lsm6dso, lsm6dsox, asm330lhh, lsm6dsr
 
 	  To compile this driver as a module, choose M here: the module
 	  will be called st_lsm6dsx.

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h

@@ -22,6 +22,7 @@
 #define ST_LSM6DSO_DEV_NAME	"lsm6dso"
 #define ST_ASM330LHH_DEV_NAME	"asm330lhh"
 #define ST_LSM6DSOX_DEV_NAME	"lsm6dsox"
+#define ST_LSM6DSR_DEV_NAME	"lsm6dsr"
 
 enum st_lsm6dsx_hw_id {
 	ST_LSM6DS3_ID,
@@ -32,6 +33,7 @@ enum st_lsm6dsx_hw_id {
 	ST_LSM6DSO_ID,
 	ST_ASM330LHH_ID,
 	ST_LSM6DSOX_ID,
+	ST_LSM6DSR_ID,
 	ST_LSM6DSX_MAX_ID,
 };
 

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c

@@ -13,9 +13,9 @@
  * (e.g. Gx, Gy, Gz, Ax, Ay, Az), then data are repeated depending on the
  * value of the decimation factor and ODR set for each FIFO data set.
  *
- * LSM6DSO/LSM6DSOX/ASM330LHH: The FIFO buffer can be configured to store data
+ * LSM6DSO/LSM6DSOX/ASM330LHH/LSM6DSR: The FIFO buffer can be configured to
- * from gyroscope and accelerometer. Each sample is queued with a tag (1B)
+ * store data from gyroscope and accelerometer. Each sample is queued with
- * indicating data source (gyroscope, accelerometer, hw timer).
+ * a tag (1B) indicating data source (gyroscope, accelerometer, hw timer).
  *
  * FIFO supported modes:
  *  - BYPASS: FIFO disabled
@@ -506,7 +506,7 @@ st_lsm6dsx_push_tagged_data(struct st_lsm6dsx_hw *hw, u8 tag,
 }
 
 /**
- * st_lsm6dsx_read_tagged_fifo() - LSM6DSO/LSM6DSOX/ASM330LHH read FIFO routine
+ * st_lsm6dsx_read_tagged_fifo() - tagged hw FIFO read routine
  * @hw: Pointer to instance of struct st_lsm6dsx_hw.
  *
  * Read samples from the hw FIFO and push them to IIO buffers.

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c

@@ -23,7 +23,7 @@
  *   - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
  *   - FIFO size: 4KB
  *
- * - LSM6DSO/LSM6DSOX/ASM330LHH
+ * - LSM6DSO/LSM6DSOX/ASM330LHH/LSM6DSR
  *   - Accelerometer/Gyroscope supported ODR [Hz]: 13, 26, 52, 104, 208, 416
  *   - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
  *   - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
@@ -387,6 +387,71 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 			},
 		},
 	},
+	{
+		.wai = 0x6b,
+		.max_fifo_size = 512,
+		.id = {
+			[0] = ST_LSM6DSR_ID,
+		},
+		.batch = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.addr = 0x09,
+				.mask = GENMASK(3, 0),
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.addr = 0x09,
+				.mask = GENMASK(7, 4),
+			},
+		},
+		.fifo_ops = {
+			.read_fifo = st_lsm6dsx_read_tagged_fifo,
+			.fifo_th = {
+				.addr = 0x07,
+				.mask = GENMASK(8, 0),
+			},
+			.fifo_diff = {
+				.addr = 0x3a,
+				.mask = GENMASK(8, 0),
+			},
+			.th_wl = 1,
+		},
+		.ts_settings = {
+			.timer_en = {
+				.addr = 0x19,
+				.mask = BIT(5),
+			},
+			.decimator = {
+				.addr = 0x0a,
+				.mask = GENMASK(7, 6),
+			},
+		},
+		.shub_settings = {
+			.page_mux = {
+				.addr = 0x01,
+				.mask = BIT(6),
+			},
+			.master_en = {
+				.addr = 0x14,
+				.mask = BIT(2),
+			},
+			.pullup_en = {
+				.addr = 0x14,
+				.mask = BIT(3),
+			},
+			.aux_sens = {
+				.addr = 0x14,
+				.mask = GENMASK(1, 0),
+			},
+			.wr_once = {
+				.addr = 0x14,
+				.mask = BIT(6),
+			},
+			.shub_out = 0x02,
+			.slv0_addr = 0x15,
+			.dw_slv0_addr = 0x21,
+			.batch_en = BIT(3),
+		}
+	},
 };
 
 static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c

@@ -73,6 +73,10 @@ static const struct of_device_id st_lsm6dsx_i2c_of_match[] = {
 		.compatible = "st,lsm6dsox",
 		.data = (void *)ST_LSM6DSOX_ID,
 	},
+	{
+		.compatible = "st,lsm6dsr",
+		.data = (void *)ST_LSM6DSR_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match);
@@ -86,6 +90,7 @@ static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = {
 	{ ST_LSM6DSO_DEV_NAME, ST_LSM6DSO_ID },
 	{ ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
 	{ ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
+	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
 	{},
 };
 MODULE_DEVICE_TABLE(i2c, st_lsm6dsx_i2c_id_table);

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c

@@ -73,6 +73,10 @@ static const struct of_device_id st_lsm6dsx_spi_of_match[] = {
 		.compatible = "st,lsm6dsox",
 		.data = (void *)ST_LSM6DSOX_ID,
 	},
+	{
+		.compatible = "st,lsm6dsr",
+		.data = (void *)ST_LSM6DSR_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match);
@@ -86,6 +90,7 @@ static const struct spi_device_id st_lsm6dsx_spi_id_table[] = {
 	{ ST_LSM6DSO_DEV_NAME, ST_LSM6DSO_ID },
 	{ ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
 	{ ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
+	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
 	{},
 };
 MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table);