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SubjectRe: [PATCH 2/3] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1
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On 15.07.19 23:49, Lorenzo Bianconi wrote:
>> The LSM9DS1's accelerometer / gyroscope unit and it's magnetometer (separately
>> supported in iio/magnetometer/st_magn*) are located on a separate i2c addresses
>> on the bus.
>>
>> For the datasheet, see https://www.st.com/resource/en/datasheet/lsm9ds1.pdf
>>
>> Treat it just like the LSM6* devices and, despite it's name, hook it up
>> to the st_lsm6dsx driver, using it's basic functionality.
>>
>> Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm>
>> ---
>>
>> What do you think about an addition like this? How confusing is it to support
>> an LSM9 module by the lsm6 driver, despite it's name? It requires almost no
>> code, so why not think about it, right?
>
> I am fine with (it was on my ToDo list, so thanks for working on this).
> I have just posted the following series that will help you adding support for
> LSM9DS1
> https://patchwork.kernel.org/cover/11045061/
> I think you just need to take care of gyro channels allocating iio devices (you
> probably need to pass hw_id to st_lsm6dsx_alloc_iiodev())

yes. I'll look over allocation once more.

>
>>
>> Oh, I'm not 100% convinced by my new "if" in probe(), but even that is
>> not too confusing I guess.
>>
>> thanks,
>>
>> martin
>>
>> p.s.: todos:
>> * hook up the fifo / buffer / trigger functionality,
>> * (off-topic a bit) move the (currently strange) gyro-only support
>> for lsm9ds0 to this driver as well.
>
> Regarding FIFO I guess it is enough to set decimator factor to 1 for both accel
> and gyro.
>
> Regards,
> Lorenzo
>
>>
>>
>>
>> drivers/iio/imu/st_lsm6dsx/Kconfig | 3 +-
>> drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 4 +
>> drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 105 ++++++++++++++++++-
>> drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c | 5 +
>> drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c | 5 +
>> 5 files changed, 117 insertions(+), 5 deletions(-)
>>
>> diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig
>> index 002a423eae52..0b5a568e4c16 100644
>> --- a/drivers/iio/imu/st_lsm6dsx/Kconfig
>> +++ b/drivers/iio/imu/st_lsm6dsx/Kconfig
>> @@ -10,7 +10,8 @@ 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, lsm6dsr
>> + ism330dlc, lsm6dso, lsm6dsox, asm330lhh, lsm6dsr and the
>> + accelerometer/gyroscope of lsm9ds1.
>>
>> To compile this driver as a module, choose M here: the module
>> will be called st_lsm6dsx.
>> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
>> index f072ac14f213..8af9641260fa 100644
>> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
>> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
>> @@ -22,6 +22,7 @@
>> #define ST_ASM330LHH_DEV_NAME "asm330lhh"
>> #define ST_LSM6DSOX_DEV_NAME "lsm6dsox"
>> #define ST_LSM6DSR_DEV_NAME "lsm6dsr"
>> +#define ST_LSM9DS1_DEV_NAME "lsm9ds1"
>>
>> enum st_lsm6dsx_hw_id {
>> ST_LSM6DS3_ID,
>> @@ -33,6 +34,7 @@ enum st_lsm6dsx_hw_id {
>> ST_ASM330LHH_ID,
>> ST_LSM6DSOX_ID,
>> ST_LSM6DSR_ID,
>> + ST_LSM9DS1_ID,
>> ST_LSM6DSX_MAX_ID,
>> };
>>
>> @@ -230,6 +232,8 @@ enum st_lsm6dsx_sensor_id {
>> ST_LSM6DSX_ID_EXT0,
>> ST_LSM6DSX_ID_EXT1,
>> ST_LSM6DSX_ID_EXT2,
>> + ST_LSM9DSX_ID_GYRO,
>> + ST_LSM9DSX_ID_ACC,
>> ST_LSM6DSX_ID_MAX,
>> };
>>
>> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
>> index 7a4fe70a8f20..6acfe63073de 100644
>> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
>> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
>> @@ -10,6 +10,8 @@
>> * +-125/+-245/+-500/+-1000/+-2000 dps
>> * LSM6DSx series has an integrated First-In-First-Out (FIFO) buffer
>> * allowing dynamic batching of sensor data.
>> + * LSM9DSx series is similar but includes an additional magnetometer, handled
>> + * by a different driver.
>> *
>> * Supported sensors:
>> * - LSM6DS3:
>> @@ -30,6 +32,13 @@
>> * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
>> * - FIFO size: 3KB
>> *
>> + * - LSM9DS1:
>> + * - Accelerometer supported ODR [Hz]: 10, 50, 119, 238, 476, 952
>> + * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
>> + * - Gyroscope supported ODR [Hz]: 15, 60, 119, 238, 476, 952
>> + * - Gyroscope supported full-scale [dps]: +-245/+-500/+-2000
>> + * - FIFO size: 32
>> + *
>> * Copyright 2016 STMicroelectronics Inc.
>> *
>> * Lorenzo Bianconi <lorenzo.bianconi@st.com>
>> @@ -64,6 +73,10 @@
>> #define ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR 0x24
>> #define ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR 0x26
>>
>> +#define ST_LSM9DSX_REG_GYRO_OUT_X_L_ADDR 0x18
>> +#define ST_LSM9DSX_REG_GYRO_OUT_Y_L_ADDR 0x1a
>> +#define ST_LSM9DSX_REG_GYRO_OUT_Z_L_ADDR 0x1c
>> +
>> static const struct st_lsm6dsx_odr_table_entry st_lsm6dsx_odr_table[] = {
>> [ST_LSM6DSX_ID_ACC] = {
>> .reg = {
>> @@ -88,6 +101,30 @@ static const struct st_lsm6dsx_odr_table_entry st_lsm6dsx_odr_table[] = {
>> .odr_avl[3] = { 104, 0x04 },
>> .odr_avl[4] = { 208, 0x05 },
>> .odr_avl[5] = { 416, 0x06 },
>> + },
>> + [ST_LSM9DSX_ID_ACC] = {
>> + .reg = {
>> + .addr = 0x20,
>> + .mask = GENMASK(7, 5),
>> + },
>> + .odr_avl[0] = { 10, 0x01 },
>> + .odr_avl[1] = { 50, 0x02 },
>> + .odr_avl[2] = { 119, 0x03 },
>> + .odr_avl[3] = { 238, 0x04 },
>> + .odr_avl[4] = { 476, 0x05 },
>> + .odr_avl[5] = { 952, 0x06 },
>> + },
>> + [ST_LSM9DSX_ID_GYRO] = {
>> + .reg = {
>> + .addr = 0x10,
>> + .mask = GENMASK(7, 5),
>> + },
>> + .odr_avl[0] = { 15, 0x01 },
>> + .odr_avl[1] = { 60, 0x02 },
>> + .odr_avl[2] = { 119, 0x03 },
>> + .odr_avl[3] = { 238, 0x04 },
>> + .odr_avl[4] = { 476, 0x05 },
>> + .odr_avl[5] = { 952, 0x06 },
>> }
>> };
>>
>> @@ -111,10 +148,43 @@ static const struct st_lsm6dsx_fs_table_entry st_lsm6dsx_fs_table[] = {
>> .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
>> .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
>> .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
>> + },
>> + [ST_LSM9DSX_ID_ACC] = {
>> + .reg = {
>> + .addr = 0x20,
>> + .mask = GENMASK(4, 3),
>> + },
>> + .fs_avl[0] = { 599, 0x0 },
>> + .fs_avl[1] = { 1197, 0x2 },
>> + .fs_avl[2] = { 2394, 0x3 },
>> + .fs_avl[3] = { 4788, 0x1 },
>> + },
>> + [ST_LSM9DSX_ID_GYRO] = {
>> + .reg = {
>> + .addr = 0x10,
>> + .mask = GENMASK(4, 3),
>> + },
>> + .fs_avl[0] = { IIO_DEGREE_TO_RAD(245), 0x0 },
>> + .fs_avl[1] = { IIO_DEGREE_TO_RAD(500), 0x1 },
>> + .fs_avl[2] = { IIO_DEGREE_TO_RAD(0), 0x2 },
>> + .fs_avl[3] = { IIO_DEGREE_TO_RAD(2000), 0x3 },
>> }
>> };
>>
>> static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>> + {
>> + .wai = 0x68,
>> + .reg_int1_addr = 0x0c,
>> + .reg_int2_addr = 0x0d,
>> + .reg_reset_addr = 0x22,
>> + .max_fifo_size = 32,
>> + .id = {
>> + {
>> + .hw_id = ST_LSM9DS1_ID,
>> + .name = ST_LSM9DS1_DEV_NAME,
>> + },
>> + },
>> + },
>> {
>> .wai = 0x69,
>> .reg_int1_addr = 0x0d,
>> @@ -492,6 +562,16 @@ static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
>> IIO_CHAN_SOFT_TIMESTAMP(3),
>> };
>>
>> +static const struct iio_chan_spec st_lsm9dsx_gyro_channels[] = {
>> + ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM9DSX_REG_GYRO_OUT_X_L_ADDR,
>> + IIO_MOD_X, 0),
>> + ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM9DSX_REG_GYRO_OUT_Y_L_ADDR,
>> + IIO_MOD_Y, 1),
>> + ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM9DSX_REG_GYRO_OUT_Z_L_ADDR,
>> + IIO_MOD_Z, 2),
>> + IIO_CHAN_SOFT_TIMESTAMP(3),
>> +};
>> +
>> int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable)
>> {
>> const struct st_lsm6dsx_shub_settings *hub_settings;
>> @@ -1056,6 +1136,7 @@ static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
>>
>> switch (id) {
>> case ST_LSM6DSX_ID_ACC:
>> + case ST_LSM9DSX_ID_ACC:
>> iio_dev->channels = st_lsm6dsx_acc_channels;
>> iio_dev->num_channels = ARRAY_SIZE(st_lsm6dsx_acc_channels);
>> iio_dev->info = &st_lsm6dsx_acc_info;
>> @@ -1068,6 +1149,14 @@ static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
>> iio_dev->num_channels = ARRAY_SIZE(st_lsm6dsx_gyro_channels);
>> iio_dev->info = &st_lsm6dsx_gyro_info;
>>
>> + scnprintf(sensor->name, sizeof(sensor->name), "%s_gyro",
>> + name);
>> + break;
>> + case ST_LSM9DSX_ID_GYRO:
>> + iio_dev->channels = st_lsm9dsx_gyro_channels;
>> + iio_dev->num_channels = ARRAY_SIZE(st_lsm9dsx_gyro_channels);
>> + iio_dev->info = &st_lsm6dsx_gyro_info;
>> +
>> scnprintf(sensor->name, sizeof(sensor->name), "%s_gyro",
>> name);
>> break;
>> @@ -1109,10 +1198,18 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
>> if (err < 0)
>> return err;
>>
>> - for (i = 0; i < ST_LSM6DSX_ID_EXT0; i++) {
>> - hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name);
>> - if (!hw->iio_devs[i])
>> - return -ENOMEM;
>> + if (hw_id == ST_LSM9DS1_ID) {
>> + for (i = ST_LSM9DSX_ID_GYRO; i <= ST_LSM9DSX_ID_ACC; i++) {
>> + hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name);
>> + if (!hw->iio_devs[i])
>> + return -ENOMEM;
>> + }
>> + } else {
>> + for (i = 0; i < ST_LSM6DSX_ID_EXT0; i++) {
>> + hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name);
>> + if (!hw->iio_devs[i])
>> + return -ENOMEM;
>> + }
>> }
>>
>> err = st_lsm6dsx_init_device(hw);
>> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
>> index b3211e0ac07b..a684e7db1299 100644
>> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
>> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
>> @@ -75,6 +75,10 @@ static const struct of_device_id st_lsm6dsx_i2c_of_match[] = {
>> .compatible = "st,lsm6dsr",
>> .data = (void *)ST_LSM6DSR_ID,
>> },
>> + {
>> + .compatible = "st,lsm9ds1",
>> + .data = (void *)ST_LSM9DS1_ID,
>> + },
>> {},
>> };
>> MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match);
>> @@ -89,6 +93,7 @@ static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = {
>> { ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
>> { ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
>> { ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
>> + { ST_LSM9DS1_DEV_NAME, ST_LSM9DS1_ID },
>> {},
>> };
>> MODULE_DEVICE_TABLE(i2c, st_lsm6dsx_i2c_id_table);
>> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
>> index c9d3c4711018..709769177e91 100644
>> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
>> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
>> @@ -75,6 +75,10 @@ static const struct of_device_id st_lsm6dsx_spi_of_match[] = {
>> .compatible = "st,lsm6dsr",
>> .data = (void *)ST_LSM6DSR_ID,
>> },
>> + {
>> + .compatible = "st,lsm9ds1",
>> + .data = (void *)ST_LSM9DS1_ID,
>> + },
>> {},
>> };
>> MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match);
>> @@ -89,6 +93,7 @@ static const struct spi_device_id st_lsm6dsx_spi_id_table[] = {
>> { ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
>> { ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
>> { ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
>> + { ST_LSM9DS1_DEV_NAME, ST_LSM9DS1_ID },
>> {},
>> };
>> MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table);
>> --
>> 2.20.1
>>

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