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Add lsm6dsvxxx sensor driver (lsm6dsv320x and lsm6dsv80x) #95802

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bfd8adf
sensor/lsm6dsvxxx: change DT common prop names
avisconti May 27, 2025
a7ef571
drivers/sensor/st: add support to LSM6DSVXXX IMU family
avisconti May 28, 2025
28a36e5
drivers/sensor: lsm6dsvxxx: add streaming capabality
avisconti Jun 5, 2025
f96ce07
drivers/sensor: lsm6dsvxxx: add lsm6dsv80x support
avisconti Oct 23, 2025
c12fdea
drivers/sensor: lsm6dsvxxx: add High-g data support in FIFO
avisconti Sep 10, 2025
70d1015
drivers/sensor: lsm6dsvxxx: add ism6hg256x support
avisconti Oct 23, 2025
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1 change: 1 addition & 0 deletions drivers/sensor/st/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ add_subdirectory_ifdef(CONFIG_LSM6DSL lsm6dsl)
add_subdirectory_ifdef(CONFIG_LSM6DSO lsm6dso)
add_subdirectory_ifdef(CONFIG_LSM6DSO16IS lsm6dso16is)
add_subdirectory_ifdef(CONFIG_LSM6DSV16X lsm6dsv16x)
add_subdirectory_ifdef(CONFIG_LSM6DSVXXX lsm6dsvxxx)
add_subdirectory_ifdef(CONFIG_LSM9DS0_GYRO lsm9ds0_gyro)
add_subdirectory_ifdef(CONFIG_LSM9DS0_MFD lsm9ds0_mfd)
add_subdirectory_ifdef(CONFIG_LSM9DS1 lsm9ds1)
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1 change: 1 addition & 0 deletions drivers/sensor/st/Kconfig
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Expand Up @@ -30,6 +30,7 @@ source "drivers/sensor/st/lsm6dsl/Kconfig"
source "drivers/sensor/st/lsm6dso/Kconfig"
source "drivers/sensor/st/lsm6dso16is/Kconfig"
source "drivers/sensor/st/lsm6dsv16x/Kconfig"
source "drivers/sensor/st/lsm6dsvxxx/Kconfig"
source "drivers/sensor/st/lsm9ds0_gyro/Kconfig"
source "drivers/sensor/st/lsm9ds0_mfd/Kconfig"
source "drivers/sensor/st/lsm9ds1/Kconfig"
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4 changes: 2 additions & 2 deletions drivers/sensor/st/lsm6dsv16x/lsm6dsv16x.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1232,11 +1232,11 @@ static int lsm6dsv16x_pm_action(const struct device *dev, enum pm_device_action
}
break;
case PM_DEVICE_ACTION_SUSPEND:
if (lsm6dsv16x_xl_data_rate_set(ctx, LSM6DSV16X_DT_ODR_OFF) < 0) {
if (lsm6dsv16x_xl_data_rate_set(ctx, LSM6DSVXXX_DT_ODR_OFF) < 0) {
LOG_ERR("failed to disable accelerometer");
ret = -EIO;
}
if (lsm6dsv16x_gy_data_rate_set(ctx, LSM6DSV16X_DT_ODR_OFF) < 0) {
if (lsm6dsv16x_gy_data_rate_set(ctx, LSM6DSVXXX_DT_ODR_OFF) < 0) {
LOG_ERR("failed to disable gyroscope");
ret = -EIO;
}
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66 changes: 33 additions & 33 deletions drivers/sensor/st/lsm6dsv16x/lsm6dsv16x_decoder.c
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Expand Up @@ -15,50 +15,50 @@ LOG_MODULE_REGISTER(LSM6DSV16X_DECODER, CONFIG_SENSOR_LOG_LEVEL);

#ifdef CONFIG_LSM6DSV16X_STREAM
static const uint32_t accel_period_ns[] = {
[LSM6DSV16X_XL_BATCHED_AT_1Hz875] = UINT32_C(1000000000000) / 1875,
[LSM6DSV16X_XL_BATCHED_AT_7Hz5] = UINT32_C(1000000000000) / 7500,
[LSM6DSV16X_XL_BATCHED_AT_15Hz] = UINT32_C(1000000000) / 15,
[LSM6DSV16X_XL_BATCHED_AT_30Hz] = UINT32_C(1000000000) / 30,
[LSM6DSV16X_XL_BATCHED_AT_60Hz] = UINT32_C(1000000000) / 60,
[LSM6DSV16X_XL_BATCHED_AT_120Hz] = UINT32_C(1000000000) / 120,
[LSM6DSV16X_XL_BATCHED_AT_240Hz] = UINT32_C(1000000000) / 240,
[LSM6DSV16X_XL_BATCHED_AT_480Hz] = UINT32_C(1000000000) / 480,
[LSM6DSV16X_XL_BATCHED_AT_960Hz] = UINT32_C(1000000000) / 960,
[LSM6DSV16X_XL_BATCHED_AT_1920Hz] = UINT32_C(1000000000) / 1920,
[LSM6DSV16X_XL_BATCHED_AT_3840Hz] = UINT32_C(1000000000) / 3840,
[LSM6DSV16X_XL_BATCHED_AT_7680Hz] = UINT32_C(1000000000) / 7680,
[LSM6DSVXXX_DT_XL_BATCHED_AT_1Hz875] = UINT32_C(1000000000000) / 1875,
[LSM6DSVXXX_DT_XL_BATCHED_AT_7Hz5] = UINT32_C(1000000000000) / 7500,
[LSM6DSVXXX_DT_XL_BATCHED_AT_15Hz] = UINT32_C(1000000000) / 15,
[LSM6DSVXXX_DT_XL_BATCHED_AT_30Hz] = UINT32_C(1000000000) / 30,
[LSM6DSVXXX_DT_XL_BATCHED_AT_60Hz] = UINT32_C(1000000000) / 60,
[LSM6DSVXXX_DT_XL_BATCHED_AT_120Hz] = UINT32_C(1000000000) / 120,
[LSM6DSVXXX_DT_XL_BATCHED_AT_240Hz] = UINT32_C(1000000000) / 240,
[LSM6DSVXXX_DT_XL_BATCHED_AT_480Hz] = UINT32_C(1000000000) / 480,
[LSM6DSVXXX_DT_XL_BATCHED_AT_960Hz] = UINT32_C(1000000000) / 960,
[LSM6DSVXXX_DT_XL_BATCHED_AT_1920Hz] = UINT32_C(1000000000) / 1920,
[LSM6DSVXXX_DT_XL_BATCHED_AT_3840Hz] = UINT32_C(1000000000) / 3840,
[LSM6DSVXXX_DT_XL_BATCHED_AT_7680Hz] = UINT32_C(1000000000) / 7680,
};

static const uint32_t gyro_period_ns[] = {
[LSM6DSV16X_GY_BATCHED_AT_1Hz875] = UINT32_C(1000000000000) / 1875,
[LSM6DSV16X_GY_BATCHED_AT_7Hz5] = UINT32_C(1000000000000) / 7500,
[LSM6DSV16X_GY_BATCHED_AT_15Hz] = UINT32_C(1000000000) / 15,
[LSM6DSV16X_GY_BATCHED_AT_30Hz] = UINT32_C(1000000000) / 30,
[LSM6DSV16X_GY_BATCHED_AT_60Hz] = UINT32_C(1000000000) / 60,
[LSM6DSV16X_GY_BATCHED_AT_120Hz] = UINT32_C(1000000000) / 120,
[LSM6DSV16X_GY_BATCHED_AT_240Hz] = UINT32_C(1000000000) / 240,
[LSM6DSV16X_GY_BATCHED_AT_480Hz] = UINT32_C(1000000000) / 480,
[LSM6DSV16X_GY_BATCHED_AT_960Hz] = UINT32_C(1000000000) / 960,
[LSM6DSV16X_GY_BATCHED_AT_1920Hz] = UINT32_C(1000000000) / 1920,
[LSM6DSV16X_GY_BATCHED_AT_3840Hz] = UINT32_C(1000000000) / 3840,
[LSM6DSV16X_GY_BATCHED_AT_7680Hz] = UINT32_C(1000000000) / 7680,
[LSM6DSVXXX_DT_GY_BATCHED_AT_1Hz875] = UINT32_C(1000000000000) / 1875,
[LSM6DSVXXX_DT_GY_BATCHED_AT_7Hz5] = UINT32_C(1000000000000) / 7500,
[LSM6DSVXXX_DT_GY_BATCHED_AT_15Hz] = UINT32_C(1000000000) / 15,
[LSM6DSVXXX_DT_GY_BATCHED_AT_30Hz] = UINT32_C(1000000000) / 30,
[LSM6DSVXXX_DT_GY_BATCHED_AT_60Hz] = UINT32_C(1000000000) / 60,
[LSM6DSVXXX_DT_GY_BATCHED_AT_120Hz] = UINT32_C(1000000000) / 120,
[LSM6DSVXXX_DT_GY_BATCHED_AT_240Hz] = UINT32_C(1000000000) / 240,
[LSM6DSVXXX_DT_GY_BATCHED_AT_480Hz] = UINT32_C(1000000000) / 480,
[LSM6DSVXXX_DT_GY_BATCHED_AT_960Hz] = UINT32_C(1000000000) / 960,
[LSM6DSVXXX_DT_GY_BATCHED_AT_1920Hz] = UINT32_C(1000000000) / 1920,
[LSM6DSVXXX_DT_GY_BATCHED_AT_3840Hz] = UINT32_C(1000000000) / 3840,
[LSM6DSVXXX_DT_GY_BATCHED_AT_7680Hz] = UINT32_C(1000000000) / 7680,
};

#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
static const uint32_t temp_period_ns[] = {
[LSM6DSV16X_TEMP_BATCHED_AT_1Hz875] = UINT32_C(1000000000000) / 1875,
[LSM6DSV16X_TEMP_BATCHED_AT_15Hz] = UINT32_C(1000000000) / 15,
[LSM6DSV16X_TEMP_BATCHED_AT_60Hz] = UINT32_C(1000000000) / 60,
[LSM6DSVXXX_DT_TEMP_BATCHED_AT_1Hz875] = UINT32_C(1000000000000) / 1875,
[LSM6DSVXXX_DT_TEMP_BATCHED_AT_15Hz] = UINT32_C(1000000000) / 15,
[LSM6DSVXXX_DT_TEMP_BATCHED_AT_60Hz] = UINT32_C(1000000000) / 60,
};
#endif

static const uint32_t sflp_period_ns[] = {
[LSM6DSV16X_DT_SFLP_ODR_AT_15Hz] = UINT32_C(1000000000) / 15,
[LSM6DSV16X_DT_SFLP_ODR_AT_30Hz] = UINT32_C(1000000000) / 30,
[LSM6DSV16X_DT_SFLP_ODR_AT_60Hz] = UINT32_C(1000000000) / 60,
[LSM6DSV16X_DT_SFLP_ODR_AT_120Hz] = UINT32_C(1000000000) / 120,
[LSM6DSV16X_DT_SFLP_ODR_AT_240Hz] = UINT32_C(1000000000) / 240,
[LSM6DSV16X_DT_SFLP_ODR_AT_480Hz] = UINT32_C(1000000000) / 480,
[LSM6DSVXXX_DT_SFLP_ODR_AT_15Hz] = UINT32_C(1000000000) / 15,
[LSM6DSVXXX_DT_SFLP_ODR_AT_30Hz] = UINT32_C(1000000000) / 30,
[LSM6DSVXXX_DT_SFLP_ODR_AT_60Hz] = UINT32_C(1000000000) / 60,
[LSM6DSVXXX_DT_SFLP_ODR_AT_120Hz] = UINT32_C(1000000000) / 120,
[LSM6DSVXXX_DT_SFLP_ODR_AT_240Hz] = UINT32_C(1000000000) / 240,
[LSM6DSVXXX_DT_SFLP_ODR_AT_480Hz] = UINT32_C(1000000000) / 480,
};
#endif /* CONFIG_LSM6DSV16X_STREAM */

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48 changes: 24 additions & 24 deletions drivers/sensor/st/lsm6dsv16x/lsm6dsv16x_rtio_stream.c
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Original file line number Diff line number Diff line change
Expand Up @@ -82,9 +82,9 @@ static void lsm6dsv16x_config_fifo(const struct device *dev, struct trigger_conf
stmdev_ctx_t *ctx = (stmdev_ctx_t *)&config->ctx;
uint8_t fifo_wtm = 0;
lsm6dsv16x_pin_int_route_t pin_int = { 0 };
lsm6dsv16x_fifo_xl_batch_t xl_batch = LSM6DSV16X_DT_XL_NOT_BATCHED;
lsm6dsv16x_fifo_gy_batch_t gy_batch = LSM6DSV16X_DT_GY_NOT_BATCHED;
lsm6dsv16x_fifo_temp_batch_t temp_batch = LSM6DSV16X_DT_TEMP_NOT_BATCHED;
lsm6dsv16x_fifo_xl_batch_t xl_batch = LSM6DSVXXX_DT_XL_NOT_BATCHED;
lsm6dsv16x_fifo_gy_batch_t gy_batch = LSM6DSVXXX_DT_GY_NOT_BATCHED;
lsm6dsv16x_fifo_temp_batch_t temp_batch = LSM6DSVXXX_DT_TEMP_NOT_BATCHED;
lsm6dsv16x_fifo_mode_t fifo_mode = LSM6DSV16X_BYPASS_MODE;
lsm6dsv16x_sflp_data_rate_t sflp_odr = LSM6DSV16X_SFLP_120Hz;
lsm6dsv16x_fifo_sflp_raw_t sflp_fifo = { 0 };
Expand All @@ -107,15 +107,15 @@ static void lsm6dsv16x_config_fifo(const struct device *dev, struct trigger_conf
fifo_mode = LSM6DSV16X_STREAM_MODE;
fifo_wtm = config->fifo_wtm;

if (config->sflp_fifo_en & LSM6DSV16X_DT_SFLP_FIFO_GAME_ROTATION) {
if (config->sflp_fifo_en & LSM6DSVXXX_DT_SFLP_FIFO_GAME_ROTATION) {
sflp_fifo.game_rotation = 1;
}

if (config->sflp_fifo_en & LSM6DSV16X_DT_SFLP_FIFO_GRAVITY) {
if (config->sflp_fifo_en & LSM6DSVXXX_DT_SFLP_FIFO_GRAVITY) {
sflp_fifo.gravity = 1;
}

if (config->sflp_fifo_en & LSM6DSV16X_DT_SFLP_FIFO_GBIAS) {
if (config->sflp_fifo_en & LSM6DSVXXX_DT_SFLP_FIFO_GBIAS) {
sflp_fifo.gbias = 1;
}

Expand Down Expand Up @@ -151,34 +151,34 @@ static void lsm6dsv16x_config_fifo(const struct device *dev, struct trigger_conf
* make the SFLP gbias setting effective. Then restore it to saved values.
*/
switch (sflp_odr) {
case LSM6DSV16X_DT_SFLP_ODR_AT_480Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_480Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_480Hz);
case LSM6DSVXXX_DT_SFLP_ODR_AT_480Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_480Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_480Hz);
break;

case LSM6DSV16X_DT_SFLP_ODR_AT_240Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_240Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_240Hz);
case LSM6DSVXXX_DT_SFLP_ODR_AT_240Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_240Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_240Hz);
break;

case LSM6DSV16X_DT_SFLP_ODR_AT_120Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_120Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_120Hz);
case LSM6DSVXXX_DT_SFLP_ODR_AT_120Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_120Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_120Hz);
break;

case LSM6DSV16X_DT_SFLP_ODR_AT_60Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_60Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_60Hz);
case LSM6DSVXXX_DT_SFLP_ODR_AT_60Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_60Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_60Hz);
break;

case LSM6DSV16X_DT_SFLP_ODR_AT_30Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_30Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_30Hz);
case LSM6DSVXXX_DT_SFLP_ODR_AT_30Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_30Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_30Hz);
break;

case LSM6DSV16X_DT_SFLP_ODR_AT_15Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_15Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSV16X_DT_ODR_AT_15Hz);
case LSM6DSVXXX_DT_SFLP_ODR_AT_15Hz:
lsm6dsv16x_accel_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_15Hz);
lsm6dsv16x_gyro_set_odr_raw(dev, LSM6DSVXXX_DT_ODR_AT_15Hz);
break;
}

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18 changes: 18 additions & 0 deletions drivers/sensor/st/lsm6dsvxxx/CMakeLists.txt
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@@ -0,0 +1,18 @@
# ST Microelectronics LSM6DSVXXX accelerometer sensor
#
# Copyright (c) 2025 STMicroelectronics
#
# SPDX-License-Identifier: Apache-2.0
#
zephyr_library()

zephyr_library_sources(lsm6dsvxxx.c)
zephyr_library_sources_ifdef(CONFIG_SENSOR_ASYNC_API lsm6dsvxxx_decoder.c)
zephyr_library_sources_ifdef(CONFIG_LSM6DSVXXX_STREAM lsm6dsvxxx_stream.c)
zephyr_library_sources_ifdef(CONFIG_LSM6DSVXXX_TRIGGER lsm6dsvxxx_trigger.c)

zephyr_library_sources_ifdef(CONFIG_DT_HAS_ST_LSM6DSV320X_ENABLED lsm6dsv320x.c)
zephyr_library_sources_ifdef(CONFIG_DT_HAS_ST_LSM6DSV80X_ENABLED lsm6dsv80x.c)
zephyr_library_sources_ifdef(CONFIG_DT_HAS_ST_ISM6HG256X_ENABLED ism6hg256x.c)

zephyr_library_include_directories(../stmemsc)
48 changes: 48 additions & 0 deletions drivers/sensor/st/lsm6dsvxxx/Kconfig
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@@ -0,0 +1,48 @@
# ST Microelectronics LSM6DSVXXX accelerometer sensor

# Copyright (c) 2025 STMicroelectronics
# SPDX-License-Identifier: Apache-2.0

menuconfig LSM6DSVXXX
bool "LSM6DSVXXX IMU sensor"
default y
depends on DT_HAS_ST_LSM6DSV320X_ENABLED || DT_HAS_ST_LSM6DSV80X_ENABLED ||\
DT_HAS_ST_ISM6HG256X_ENABLED
depends on ZEPHYR_HAL_ST_MODULE
select I2C if $(dt_compat_on_bus,$(DT_COMPAT_ST_LSM6DSV320X),i2c) ||\
$(dt_compat_on_bus,$(DT_COMPAT_ST_LSM6DSV80X),i2c) ||\
$(dt_compat_on_bus,$(DT_COMPAT_ST_ISM6HG256X),i2c)
select I3C if $(dt_compat_on_bus,$(DT_COMPAT_ST_LSM6DSV320X),i3c) ||\
$(dt_compat_on_bus,$(DT_COMPAT_ST_LSM6DSV80X),i3c) ||\
$(dt_compat_on_bus,$(DT_COMPAT_ST_ISM6HG256X),i3c)
select SPI if $(dt_compat_on_bus,$(DT_COMPAT_ST_LSM6DSV320X),spi) ||\
$(dt_compat_on_bus,$(DT_COMPAT_ST_LSM6DSV80X),spi) ||\
$(dt_compat_on_bus,$(DT_COMPAT_ST_ISM6HG256X),spi)
select HAS_STMEMSC
select USE_STDC_LSM6DSV320X if DT_HAS_ST_LSM6DSV320X_ENABLED
select USE_STDC_LSM6DSV80X if DT_HAS_ST_LSM6DSV80X_ENABLED
select USE_STDC_ISM6HG256X if DT_HAS_ST_ISM6HG256X_ENABLED
help
Enable driver for LSM6DSVXXX family IMU sensors.

if LSM6DSVXXX

config LSM6DSVXXX_STREAM
bool "LSM6DSVXXX data streaming"
select LSM6DSVXXX_TRIGGER
default y
depends on SPI_RTIO || I2C_RTIO || I3C_RTIO
depends on SENSOR_ASYNC_API
help
Use this config option to enable streaming sensor data via RTIO subsystem.

config LSM6DSVXXX_TRIGGER
bool

config LSM6DSVXXX_ENABLE_TEMP
bool "Temperature"
help
Enable/disable temperature sensor


endif # LSM6DSVXXX
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