Re: [PATCH 2/3] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

From: Lorenzo Bianconi
Date: Mon Jul 15 2019 - 17:49:29 EST

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> 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@xxxxxxx>
> ---
>
> 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())

>
> 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@xxxxxx>
> @@ -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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