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? 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. 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
