Add sensor firmware upload API support

drivers/sensor/sensor_handlers.c

@@ -68,6 +68,15 @@ static inline int z_vrfy_sensor_get_decoder(const struct device *dev,
 }
 #include <zephyr/syscalls/sensor_get_decoder_mrsh.c>
 
+static inline int z_vrfy_sensor_upload_fw(const struct device *dev,
+					  const void *fw_buf, size_t fw_len)
+{
+	K_OOPS(K_SYSCALL_OBJ(dev, K_OBJ_DRIVER_SENSOR));
+	K_OOPS(K_SYSCALL_MEMORY_READ(fw_buf, fw_len));
+	return z_impl_sensor_upload_fw(dev, fw_buf, fw_len);
+}
+#include <zephyr/syscalls/sensor_upload_fw_mrsh.c>
+
 static inline int z_vrfy_sensor_reconfigure_read_iodev(struct rtio_iodev *iodev,
 						       const struct device *sensor,
 						       const struct sensor_chan_spec *channels,

drivers/sensor/st/lsm6dso16is/Kconfig

@@ -18,6 +18,10 @@ menuconfig LSM6DSO16IS
 
 if LSM6DSO16IS
 
+config LSM6DSO16IS_ISPU_ENABLE
+	bool "ISPU Enable"
+	select USE_ST_MEMS_ISPU
+
 choice LSM6DSO16IS_TRIGGER_MODE
 	prompt "Trigger mode"
 	help

drivers/sensor/st/lsm6dso16is/lsm6dso16is.c

@@ -710,13 +710,39 @@
 	return 0;
 }
 
+static int lsm6dso16is_upload_ispu(const struct device *dev,
+				   const void *fw_buf,
+				   size_t fw_len)
+{
+	const struct lsm6dso16is_config *cfg = dev->config;
+	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
+	const struct mems_conf_op *bufp = (const struct mems_conf_op *)fw_buf;
+	int i;
+
+	/* Load ISPU configuration */
+	for ( i = 0; i < fw_len; i++ ) {
+		switch(bufp[i].type) {
+		case MEMS_CONF_OP_TYPE_DELAY:
+			k_msleep(bufp[i].data);
+			break;
+
+		case MEMS_CONF_OP_TYPE_WRITE:
+			ctx->write_reg(ctx->handle, bufp[i].address, (uint8_t *)&bufp[i].data, 1);
+			break;
+		}
+	}
+
+	return 0;
+}
+
 static DEVICE_API(sensor, lsm6dso16is_driver_api) = {
 	.attr_set = lsm6dso16is_attr_set,
 #if CONFIG_LSM6DSO16IS_TRIGGER
 	.trigger_set = lsm6dso16is_trigger_set,
 #endif
 	.sample_fetch = lsm6dso16is_sample_fetch,
 	.channel_get = lsm6dso16is_channel_get,
+	.upload_fw = lsm6dso16is_upload_ispu,
 };
 
 static int lsm6dso16is_init_chip(const struct device *dev)

drivers/sensor/st/lsm6dso16is/lsm6dso16is.h

@@ -17,6 +17,7 @@
 #include <zephyr/sys/util.h>
 #include <stmemsc.h>
 #include "lsm6dso16is_reg.h"
+#include "mems_conf_shared_types.h"
 
 #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
 #include <zephyr/drivers/spi.h>

include/zephyr/drivers/sensor.h

@@ -705,6 +705,9 @@ struct sensor_read_config {
 /* Used to submit an RTIO sqe to the sensor's iodev */
 typedef void (*sensor_submit_t)(const struct device *sensor, struct rtio_iodev_sqe *sqe);
 
+/* Used to provide a driver specific callback to upload a f/w in the sensor */
+typedef int (*sensor_upload_fw_t)(const struct device *dev, const void *fw_buf, size_t fw_len);
+
 /* The default decoder API */
 extern const struct sensor_decoder_api __sensor_default_decoder;
 
@@ -719,6 +722,7 @@ __subsystem struct sensor_driver_api {
 	sensor_channel_get_t channel_get;
 	sensor_get_decoder_t get_decoder;
 	sensor_submit_t submit;
+	sensor_upload_fw_t upload_fw;
 };
 
 /**
@@ -1004,6 +1008,32 @@ static inline int z_impl_sensor_get_decoder(const struct device *dev,
 	return api->get_decoder(dev, decoder);
 }
 
+/**
+ * @brief Upload a Firmware to the sensor
+ *
+ * @param[in] dev The sensor device
+ * @param[in] fw_buf Pointer to the Firmware buffer
+ * @param[in] fw_len Length of Firmware
+ * @return 0 on success
+ * @return < 0 on error
+ */
+__syscall int sensor_upload_fw(const struct device *dev,
+			       const void *fw_buf, size_t fw_len);
+
+static inline int z_impl_sensor_upload_fw(const struct device *dev,
+					  const void *fw_buf, size_t fw_len)
+{
+	const struct sensor_driver_api *api = (const struct sensor_driver_api *)dev->api;
+
+	__ASSERT_NO_MSG(api != NULL);
+
+	if (api->upload_fw == NULL) {
+		return -ENOSYS;
+	}
+
+	return api->upload_fw(dev, fw_buf, fw_len);
+}
+
 /**
  * @brief Reconfigure a reading iodev
  *

modules/hal_st/Kconfig

@@ -202,3 +202,6 @@ config USE_STDC_STTS751
 	bool
 
 endif # HAS_STMEMSC
+
+config USE_ST_MEMS_ISPU
+	bool

samples/shields/x_nucleo_iks4a1/standard/prj.conf

@@ -7,6 +7,7 @@ CONFIG_LIS2MDL_TRIGGER_OWN_THREAD=y
 CONFIG_LPS2XDF_TRIGGER_OWN_THREAD=y
 CONFIG_LSM6DSO16IS_TRIGGER_NONE=y
 CONFIG_LSM6DSO16IS_ENABLE_TEMP=y
+CONFIG_LSM6DSO16IS_ISPU_ENABLE=y
 CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD=y
 CONFIG_LSM6DSV16X_ENABLE_TEMP=y
 CONFIG_LIS2DUX12_TRIGGER_OWN_THREAD=y

samples/shields/x_nucleo_iks4a1/standard/src/main.c

@@ -88,10 +88,19 @@ static void lis2mdl_config(const struct device *lis2mdl)
 #endif
 }
 
+#include "norm.h"
+
 static void lsm6dso16is_config(const struct device *lsm6dso16is)
 {
 	struct sensor_value odr_attr, fs_attr, mode_attr;
 
+	/* upload norm ISPU example */
+	if (sensor_upload_fw(lsm6dso16is, ispu_conf_conf_0,
+			    (sizeof(ispu_conf_conf_0) / sizeof(struct mems_conf_op))) < 0) {
+		printk("Cannot upload ISPU\n");
+		return;
+	}
+
 	mode_attr.val1 = 0; /* HP */
 
 	if (sensor_attr_set(lsm6dso16is, SENSOR_CHAN_ACCEL_XYZ,

west.yml

@@ -240,8 +240,9 @@ manifest:
       groups:
         - hal
     - name: hal_st
-      revision: 9f81b4427e955885398805b7bca0da3a8cd9109c
+      revision: pull/26/head
       path: modules/hal/st
+      submodules: true
       groups:
         - hal
     - name: hal_stm32