Jetson Nano LSM6DSM integration

Autonomous Machines Jetson & Embedded Systems Jetson Nano
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#1

Hello,

I am trying to integrate the LSM6DSM into the jetson nano dev board. I followed the steps included in the STM driver kernel image README: https://github.com/STMicroelectronics/STMems_Linux_IIO_drivers/tree/linux-4.9.y-gh.

  1. I have added the driver files into kernel-4.9/drivers/iio/imu
  2. I have edited the Kconfig to include the IMU driver option
  3. I have updated the defconfig file to flag the Kconfig option as m
  4. I have updated the device tree as the following

i2c@7000c500 {
status = “ok”;
imu: lsm6dsm@6a {
compatible = “st,lsm6dsm”;
reg = <0x6a>;
interrupts = <&gpio TEGRA_GPIO(Y, 2) IRQ_TYPE_LEVEL_HIGH>;
};

  1. I flashed the board with the updated files

From this, I have the following messages from dmesg:
nvidia@nn-123:~$ dmesg | grep lsm
[ 1.838885] st-lsm6dsm-i2c 2-006a: DRDY not available, curernt implementation needs irq!
[ 1.838894] st-lsm6dsm-i2c: probe of 2-006a failed with error -22

It seems like the driver loads but is not recognizing the interrupt in the device tree. Any ideas on how to resolve this issue?

Thank you,
Ben

#3

Have try to modify the interrupt like below.

                        interrupt-parent = <&gpio>;
                        interrupts = <TEGRA_GPIO(Y, 2) IRQ_TYPE_LEVEL_HIGH>;
#4

I made that change to the DTB. The device no longer completes a boot and I have this on the serial debug output:

Starting kernel …

[ 0.000000] Booting Linux on physical CPU 0x0
[ 0.000000] Linux version 4.9.140-hawkware (ben@X112) (gcc version 7.3.1 20180425 [linaro-7.3-2018.05 revision d29120a424ecfbc167ef90065c0eeb7f91977701] (Linaro GCC 7.3-2018.05) ) #1 SMP PREEMPT Tue Dec 8 14:52:58 EST 2020
[ 0.000000] Boot CPU: AArch64 Processor [411fd071]
[ 0.000000] OF: fdt:memory scan node memory@80000000, reg size 48,
[ 0.000000] OF: fdt: - 80000000 , 7ee00000
[ 0.000000] OF: fdt: - 100000000 , 7f200000
[ 0.000000] earlycon: uart8250 at MMIO32 0x0000000070006000 (options ‘’)
[ 0.000000] bootconsole [uart8250] enabled
[ 1.021461] tegradc tegradc.1: dpd enable lookup fail:-19
[ 1.527547] Host read timeout at address 545c00c4
[ 1.773030] imx219 7-0010: imx219_board_setup: error during i2c read probe (-121)
[ 1.780586] imx219 7-0010: board setup failed
[ 1.808924] imx219 8-0010: imx219_board_setup: error during i2c read probe (-121)
[ 1.816449] imx219 8-0010: board setup failed
[ 2.086105] Unable to handle kernel read from unreadable memory at virtual address 00000040
[ 2.094642] Mem abort info:
[ 2.097443] ESR = 0x96000005
[ 2.100507] Exception class = DABT (current EL), IL = 32 bits
[ 2.106429] SET = 0, FnV = 0
[ 2.109475] EA = 0, S1PTW = 0
[ 2.112630] Data abort info:
[ 2.115520] ISV = 0, ISS = 0x00000005
[ 2.119356] CM = 0, WnR = 0
[ 2.122326] [0000000000000040] user address but active_mm is swapper
[ 2.128678] Internal error: Oops: 96000005 [#1] PREEMPT SMP
[ 2.134240] Modules linked in:
[ 2.137297] CPU: 0 PID: 1 Comm: swapper/0 Not tainted 4.9.140-hawkware #1
[ 2.144071] Hardware name: NVIDIA Jetson Nano Developer Kit (DT)
[ 2.150066] task: ffffffc0fa6f0000 task.stack: ffffffc0fa66c000
[ 2.155979] PC is at sysfs_create_link+0x28/0x68
[ 2.160590] LR is at iio_device_register+0x5d0/0x6c0
[ 2.165543] pc : [] lr : [] pstate: 20400045
[ 2.172924] sp : ffffffc0fa66fad0
[ 2.176230] x29: ffffffc0fa66fad0 x28: ffffffc0f7b2a800
[ 2.181547] x27: ffffff80090a88e8 x26: 0000000000000010
[ 2.186863] x25: 0000000000000000 x24: ffffffc0f7f7f3b0
[ 2.192175] x23: ffffffc0f7ca2380 x22: ffffffc0f7f7f010
[ 2.197490] x21: ffffff8009506790 x20: ffffffc0f7f7f020
[ 2.202806] x19: 0000000000000010 x18: 0000000000000000
[ 2.208119] x17: 0000000000000003 x16: 0000000000000000
[ 2.213433] x15: 000000000000000b x14: ffffffc0f7d9791c
[ 2.218747] x13: ffffffc0f7d97196 x12: 0000000000000018
[ 2.224061] x11: 0000000000000400 x10: 0000000000000000
[ 2.229376] x9 : 00000000007cbd1a x8 : 0000000000000400
[ 2.234690] x7 : 0000000000002c00 x6 : ffffffc0f79b7840
[ 2.240003] x5 : ffffffc0fa6f0000 x4 : ffffffc0fefc1120
[ 2.245315] x3 : ffffffc0f9478800 x2 : ffffff8009506790
[ 2.250629] x1 : ffffffc0f7f7f020 x0 : ffffff8008cd2790
[ 2.255943]
[ 2.257428] Process swapper/0 (pid: 1, stack limit = 0xffffffc0fa66c000)
[ 2.264115] Call trace:
[ 2.266556] [] sysfs_create_link+0x28/0x68
[ 2.272205] [] iio_device_register+0x5d0/0x6c0
[ 2.278201] [] st_lsm6dsm_common_probe+0x724/0x850
[ 2.284543] [] st_lsm6dsm_i2c_probe+0x60/0xa0
[ 2.290453] [] i2c_device_probe+0x144/0x258
[ 2.296189] [] driver_probe_device+0xd8/0x408
[ 2.302097] [] __driver_attach+0xdc/0x128
[ 2.307658] [] bus_for_each_dev+0x5c/0xa8
[ 2.313218] [] driver_attach+0x30/0x40
[ 2.318520] [] bus_add_driver+0x20c/0x2a8
[ 2.324081] [] driver_register+0x6c/0x110
[ 2.329642] [] i2c_register_driver+0x4c/0xb0
[ 2.335465] [] st_lsm6dsm_driver_init+0x18/0x20
[ 2.341548] [] do_one_initcall+0x44/0x130
[ 2.347111] [] kernel_init_freeable+0x1a0/0x244
[ 2.353195] [] kernel_init+0x18/0x108
[ 2.358408] [] ret_from_fork+0x10/0x30
[ 2.363713] —[ end trace f88b29066ce0c621 ]—
[ 2.373603] Kernel panic - not syncing: Attempted to kill init! exitcode=0x0000000b
[ 2.373603]
[ 2.382727] SMP: stopping secondary CPUs
[ 2.386697] Kernel Offset: disabled
[ 2.390179] Memory Limit: none
[ 2.398393] Rebooting in 5 seconds…

I will continue to investigate to try get to the bottom of it. It does seem to be an issue with probing the lsm6dsm device

#5

Have a check below patch was in your current release kernel source.