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st_lsm6dsx Industrial IO IMU driver not loading #228

Closed Panky-codes closed 4 years ago

Panky-codes commented 4 years ago

I have an LSM6DS3 IMU sensor from ST. I was successful in writing a userspace SPI driver to interact with this sensor from my beaglebone, and now I am trying to use an IIO kernel module driver, st_lsm6dsx_spi that comes pre-built. However, even after countless hours of debugging, I am having trouble getting it to work from kernel space.

I adapted my overlay (posted below) to use this LKM for spi0. I can see a device being created in /sys/bus/spi as follows:

debian@beaglebone:~$ cat /sys/bus/spi/devices/spi1.0/
modalias    of_node/    power/      statistics/ subsystem/  uevent
debian@beaglebone:~$ cat /sys/bus/spi/devices/spi1.0/modalias 
spi: lsm6ds3

But I don't see the correct driver is loaded for it. It not creating any char device in /dev/ directory nor I can see any sign of it in /sys/bus/iio/devices directory. No effect even if I try to manually load the driver, st_lsm6dsx_spi using modprobe.

Could someone say how to proceed from here? Any help would be highly appreciated.

More information: I disabled the universal overlay as it loads spidev driver in the available spi channels. My sudo /opt/scripts/tools/version.sh output:

git:/opt/scripts/:[109f74fb87e6034ae1a8971a244064a8d5e090a5]
eeprom:[A335BNLT00C05014BBBK1F75]
model:[TI_AM335x_BeagleBone_Black]
dogtag:[BeagleBoard.org Debian Image 2019-08-03]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot 2019.04-00002-gbb4af0f50f]:[location: dd MBR]
kernel:[4.14.108-ti-r113]
nodejs:[v6.17.0]
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[uboot_overlay_addr4=/lib/firmware/BB-LSM6DSX-00A0.dtbo]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]
pkg:[bb-cape-overlays]:[4.4.20190801.0-0rcnee0~stretch+20190801]
pkg:[bb-wl18xx-firmware]:[1.20190227.1-0rcnee0~stretch+20190227]
pkg:[kmod]:[23-2rcnee1~stretch+20171005]
pkg:[librobotcontrol]:[1.0.4-git20190227.1-0rcnee0~stretch+20190327]
pkg:[firmware-ti-connectivity]:[20180825+dfsg-1rcnee1~stretch+20181217]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal i2c bluetooth netdev gpio pwm eqep remoteproc admin spi tisdk weston-launch xenomai cloud9ide]
cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet]
dmesg | grep remote
[    1.114108] remoteproc remoteproc0: wkup_m3 is available
[    1.322488] remoteproc remoteproc0: powering up wkup_m3
[    1.322607] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217168
[    1.326544] remoteproc remoteproc0: remote processor wkup_m3 is now up
dmesg | grep pru
dmesg | grep pinctrl-single
[    0.872348] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size 568
dmesg | grep gpio-of-helper
[    0.873576] gpio-of-helper ocp:cape-universal: ready
lsusb
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
END

My DTS overlay: 

  /dts-v1/;
/plugin/;

#include <dt-bindings/board/am335x-bbw-bbb-base.h>
#include <dt-bindings/pinctrl/am33xx.h>

/ {
    compatible = "ti,beaglebone", "ti,beaglebone-black";

    /* identification */
    part-number = "BB-LSM6DX";
    version = "00A0";

    /* state the resources this cape uses */
    exclusive-use =
        /* the pin header uses */
        "P9.17",    /* P9_17 (A16) spi0_cs0.spi0_cs0 */
        "P9.18",    /* P9_18 (B16) spi0_d1.spi0_d1 */
        "P9.21",    /* P9_21 (B17) spi0_d0.spi0_d0 */
        "P9.22",    /* P9_22 (A17) spi0_sclk.spi0_sclk */
        /* the hardware ip uses */
        "spi0";

    /*
     * Helper to show loaded overlays under: /proc/device-tree/chosen/overlays/
     */
    fragment@0 {
        target-path="/";
        __overlay__ {

            chosen {
                overlays {
                    BB-LSM6DSX-00A0 = __TIMESTAMP__;
                };
            };
        };
    };

    /*
     * Free up the pins used by the cape from the pinmux helpers.
     */
    fragment@1 {
        target = <&ocp>;
        __overlay__ {
            P9_17_pinmux { status = "disabled"; };  /* P9_17 (A16) spi0_cs0.spi0_cs0 */
            P9_18_pinmux { status = "disabled"; };  /* P9_18 (B16) spi0_d1.spi0_d1 */
            P9_21_pinmux { status = "disabled"; };  /* P9_21 (B17) spi0_d0.spi0_d0 */
            P9_22_pinmux { status = "disabled"; };  /* P9_22 (A17) spi0_sclk.spi0_sclk */
        };
    };

    fragment@2 {
        target = <&am33xx_pinmux>;
        __overlay__ {
            bb_spi0_pins: pinmux_bb_spi0_pins {
                pinctrl-single,pins = <
                    AM33XX_PADCONF(AM335X_PIN_SPI0_SCLK, PIN_INPUT, MUX_MODE0) /* P9_22 (A17) spi0_sclk.spi0_sclk */
                    AM33XX_PADCONF(AM335X_PIN_SPI0_D0, PIN_INPUT, MUX_MODE0)   /* P9_21 (B17) spi0_d0.spi0_d0 */
                    AM33XX_PADCONF(AM335X_PIN_SPI0_D1, PIN_INPUT, MUX_MODE0)   /* P9_18 (B16) spi0_d1.spi0_d1 */
                    AM33XX_PADCONF(AM335X_PIN_SPI0_CS0, PIN_INPUT, MUX_MODE0)  /* P9_17 (A16) spi0_cs0.spi0_cs0 */
                >;
            };
        };
    };
    fragment@3 {
        target = <&spi0>;
        __overlay__ {
            #address-cells = <1>;
            #size-cells = <0>;

            status = "okay";
            pinctrl-names = "default";
            pinctrl-0 = <&bb_spi0_pins>;
            channel@0 {
                    status = "disabled"; /* Enabled by default in bb-kernel so users can use spidev from userspace */
            };
            channel@1 {
                    status = "disabled";
            };
           lsm6ds3: lsm6ds3@0 {
                spi-max-frequency = <500000>;
                compatible = "st, lsm6ds3";
                                reg = <0x0>;
            };

        };
    };
};
RobertCNelson commented 4 years ago

@Panky-codes , just to clarify...

You wrote:

compatible = "st, lsm6ds3";

did you add the " " (space) when you copied?

https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt

- compatible: must be one of:
  "st,lsm6ds3"
  "st,lsm6ds3h"
  "st,lsm6dsl"
  "st,lsm6dsm"
  "st,ism330dlc"
  "st,lsm6dso"
  "st,asm330lhh"
  "st,lsm6dsox"
  "st,lsm6dsr"
  "st,lsm6ds3tr-c"
  "st,ism330dhcx"
  "st,lsm9ds1-imu"
  "st,lsm6ds0"
  "st,lsm6dsrx"

you spi frequency might be too "slow" for the bus.. give 1 of these 3 a try..

spi-max-frequency = <8000000>;
spi-max-frequency = <12000000>;
spi-max-frequency = <16000000>;

Regards,

Panky-codes commented 4 years ago

Hello @RobertCNelson. Thanks a lot for your reply. That was spot on. The mistake was indeed space ( " ") as you mentioned. I saw some examples where spaces were used and somehow it became a part of my DT overlay. I just removed the space from the DT overlay file, and now BBB is detecting the IMU automatically. The final DT overlay if someone wants to use this device is as follow:

 /dts-v1/;
/plugin/;

#include <dt-bindings/board/am335x-bbw-bbb-base.h>
#include <dt-bindings/pinctrl/am33xx.h>

/ {
    compatible = "ti,beaglebone", "ti,beaglebone-black";

    /* identification */
    part-number = "BB-LSM6DX";
    version = "00A0";

    /* state the resources this cape uses */
    exclusive-use =
        /* the pin header uses */
        "P9.17",    /* P9_17 (A16) spi0_cs0.spi0_cs0 */
        "P9.18",    /* P9_18 (B16) spi0_d1.spi0_d1 */
        "P9.21",    /* P9_21 (B17) spi0_d0.spi0_d0 */
        "P9.22",    /* P9_22 (A17) spi0_sclk.spi0_sclk */
        /* the hardware ip uses */
        "spi0";

    /*
     * Helper to show loaded overlays under: /proc/device-tree/chosen/overlays/
     */
    fragment@0 {
        target-path="/";
        __overlay__ {

            chosen {
                overlays {
                    BB-LSM6DSX-00A0 = __TIMESTAMP__;
                };
            };
        };
    };

    /*
     * Free up the pins used by the cape from the pinmux helpers.
     */
    fragment@1 {
        target = <&ocp>;
        __overlay__ {
            P9_17_pinmux { status = "disabled"; };  /* P9_17 (A16) spi0_cs0.spi0_cs0 */
            P9_18_pinmux { status = "disabled"; };  /* P9_18 (B16) spi0_d1.spi0_d1 */
            P9_21_pinmux { status = "disabled"; };  /* P9_21 (B17) spi0_d0.spi0_d0 */
            P9_22_pinmux { status = "disabled"; };  /* P9_22 (A17) spi0_sclk.spi0_sclk */
        };
    };

    fragment@2 {
        target = <&am33xx_pinmux>;
        __overlay__ {
            bb_spi0_pins: pinmux_bb_spi0_pins {
                pinctrl-single,pins = <
                    AM33XX_PADCONF(AM335X_PIN_SPI0_SCLK, PIN_INPUT, MUX_MODE0) /* P9_22 (A17) spi0_sclk.spi0_sclk */
                    AM33XX_PADCONF(AM335X_PIN_SPI0_D0, PIN_INPUT, MUX_MODE0)   /* P9_21 (B17) spi0_d0.spi0_d0 */
                    AM33XX_PADCONF(AM335X_PIN_SPI0_D1, PIN_INPUT, MUX_MODE0)   /* P9_18 (B16) spi0_d1.spi0_d1 */
                    AM33XX_PADCONF(AM335X_PIN_SPI0_CS0, PIN_INPUT, MUX_MODE0)  /* P9_17 (A16) spi0_cs0.spi0_cs0 */
                >;
            };
        };
    };
    fragment@3 {
        target = <&spi0>;
        __overlay__ {
            #address-cells = <1>;
            #size-cells = <0>;

            status = "okay";
            pinctrl-names = "default";
            pinctrl-0 = <&bb_spi0_pins>;
            channel@0 {
                    status = "disabled"; /* Enabled by default in bb-kernel so users can use spidev from userspace */
            };
            channel@1 {
                    status = "disabled";
            };
           lsm6ds3: lsm6ds3@0 {
                spi-max-frequency = <500000>;
                compatible = "st,lsm6ds3";
                                reg = <0x0>;
            };

        };
    };
};