Re: [PATCH] iio: gyro: st_gyro: add support for the LSM9DS1

Martin Kelly <martin@xxxxxxxxxxxxxxxx> · Mon, 1 Jan 2018 11:32:21 -0800

On 01/01/2018 02:42 AM, Jonathan Cameron wrote:
On Sun, 31 Dec 2017 13:06:52 -0800
Martin Kelly <martin@xxxxxxxxxxxxxxxx> wrote:

From: Martin Kelly <martin@xxxxxxxxxxxxxxxx>

Update the sensor settings to support the LSM9DS1 sensor.

Signed-off-by: Martin Kelly <martin@xxxxxxxxxxxxxxxx>

Hi Martin,

I'm rather unsure if we should be adding more gyro only
support for these devices.  Ths lsm9ds0 was in theory
a stop gap whilst support was properly sorted out.

Looking back Crestez did post an RFC for each of the
parts as well for reference but made the point that this was
the wrong way to do things.

This part (and the ds0) really need to be supported by a proper gyro/accel
driver rather than just cherry picking out the gyro part.

We are stuck having to maintain precise backwards compatibility
for the ds0 part by the fact it is upstream already.  I'm not
particularly keen to make things worse.

https://patchwork.kernel.org/patch/8824981/
https://marc.info/?t=146057421800001&r=1&w=4

Looking at the datasheet this is a mess of a device.

The accel and gyro feed one fifo, the magnetometer only supports
direct access. The magnetometer is effectively a separate part
so supporting that should be easy enough.

Denis, did your rework of the st driver to support these dual
devices get anywhere?

Anyhow, lets hold this one for now until we hear from Denis or
someone else at ST on the current status of supporting these
properly.


Sure, I'll wait for Denis. It seems to me we have two possible situations:

(1) A proper combo driver is ready soon, or can be made to work with not 
much more effort than extending the current driver. In this case, I 
should rewrite the patch to use the combo driver, or wait until the 
combo driver is available. I'm not sure if the proper combo driver is 
something Denis is working on or if it's Lorenzo's driver.

(2) The combo driver won't be ready for a while, or it takes a large 
refactor to make it work with the LSM9X combo devices. In this case, it 
seems to me that adding another device should not significantly increase 
maintenance burden, as the main maintenance is in maintaining the 
infrastructure rather than the settings struct for each device itself. 
We still need to solve the need for a proper combo driver, but in the 
meantime (which could be a while), we'll have support for a new device, 
which is good for everyone.

Jonathan
  
---
  .../devicetree/bindings/iio/st-sensors.txt         |  1 +
  drivers/iio/gyro/Kconfig                           |  3 +-
  drivers/iio/gyro/st_gyro.h                         |  1 +
  drivers/iio/gyro/st_gyro_core.c                    | 95 ++++++++++++++++++++++
  drivers/iio/gyro/st_gyro_i2c.c                     |  5 ++
  drivers/iio/gyro/st_gyro_spi.c                     |  5 ++
  6 files changed, 109 insertions(+), 1 deletion(-)

diff --git a/Documentation/devicetree/bindings/iio/st-sensors.txt b/Documentation/devicetree/bindings/iio/st-sensors.txt
index 6f626f73417e..e3d2b5d5d707 100644
--- a/Documentation/devicetree/bindings/iio/st-sensors.txt
+++ b/Documentation/devicetree/bindings/iio/st-sensors.txt
@@ -59,6 +59,7 @@ Gyroscopes:
  - st,l3g4is-gyro
  - st,lsm330-gyro
  - st,lsm9ds0-gyro
+- st,lsm9ds1-gyro
  
  Magnetometers:
  - st,lsm303agr-magn
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index 3126cf05e6b9..0d63c84c5312 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -111,7 +111,8 @@ config IIO_ST_GYRO_3AXIS
  	select IIO_TRIGGERED_BUFFER if (IIO_BUFFER)
  	help
  	  Say yes here to build support for STMicroelectronics gyroscopes:
-	  L3G4200D, LSM330DL, L3GD20, LSM330DLC, L3G4IS, LSM330, LSM9DS0.
+	  L3G4200D, LSM330DL, L3GD20, LSM330DLC, L3G4IS, LSM330, LSM9DS0,
+          LSM9DS1.

Please copy the spaces vs tabs in Kconfig >

Ooops, will do if we go forward with the patch as-is.

  
  	  This driver can also be built as a module. If so, these modules
  	  will be created:
diff --git a/drivers/iio/gyro/st_gyro.h b/drivers/iio/gyro/st_gyro.h
index 48923ae6ac3b..f89de446d066 100644
--- a/drivers/iio/gyro/st_gyro.h
+++ b/drivers/iio/gyro/st_gyro.h
@@ -23,6 +23,7 @@
  #define L3G4IS_GYRO_DEV_NAME		"l3g4is_ui"
  #define LSM330_GYRO_DEV_NAME		"lsm330_gyro"
  #define LSM9DS0_GYRO_DEV_NAME		"lsm9ds0_gyro"
+#define LSM9DS1_GYRO_DEV_NAME		"lsm9ds1_gyro"
  
  /**
   * struct st_sensors_platform_data - gyro platform data
diff --git a/drivers/iio/gyro/st_gyro_core.c b/drivers/iio/gyro/st_gyro_core.c
index b31064ba37b9..ebfce311e855 100644
--- a/drivers/iio/gyro/st_gyro_core.c
+++ b/drivers/iio/gyro/st_gyro_core.c
@@ -56,6 +56,23 @@ static const struct iio_chan_spec st_gyro_16bit_channels[] = {
  	IIO_CHAN_SOFT_TIMESTAMP(3)
  };
  
+/* The LSM9DS1 uses different output registers that the other chips. */
+static const struct iio_chan_spec st_gyro_lsm9ds1_16bit_channels[] = {
+	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
+			BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
+			ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
+			0x18),
+	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
+			BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
+			ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
+			0x1a),
+	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
+			BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
+			ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
+			0x1c),
+	IIO_CHAN_SOFT_TIMESTAMP(3)
+};
+
  static const struct st_sensor_settings st_gyro_sensors_settings[] = {
  	{
  		.wai = 0xd3,
@@ -285,6 +302,84 @@ static const struct st_sensor_settings st_gyro_sensors_settings[] = {
  		.multi_read_bit = true,
  		.bootime = 2,
  	},
+	{
+		.wai = 0x68,
+		.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
+		.sensors_supported = {
+			[0] = LSM9DS1_GYRO_DEV_NAME,
+		},
+		.ch = (struct iio_chan_spec *)st_gyro_lsm9ds1_16bit_channels,
+		.odr = {
+			.addr = 0x10,
+			.mask = 0xe0,
+			.odr_avl = {
+				{ .hz = 15, .value = 0x01, },
+				{ .hz = 60, .value = 0x02, },
+				{ .hz = 119, .value = 0x03, },
+				{ .hz = 238, .value = 0x04, },
+				{ .hz = 476, .value = 0x05, },
+				{ .hz = 952, .value = 0x06, },
+			},
+		},
+		.pw = {
+			.addr = 0x10,
+			.mask = 0xe0,
+			.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
+			.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
+		},
+		.enable_axis = {
+			.addr = 0x1e,
+			.mask = 0x38,
+		},
+		.fs = {
+			.addr = 0x10,
+			.mask = 0x38,
+			.fs_avl = {
+				[0] = {
+					.num = ST_GYRO_FS_AVL_250DPS,
+					.value = 0x00,
+					.gain = IIO_DEGREE_TO_RAD(8750),
+				},
+				[1] = {
+					.num = ST_GYRO_FS_AVL_500DPS,
+					.value = 0x01,
+					.gain = IIO_DEGREE_TO_RAD(17500),
+				},
+				[2] = {
+					.num = ST_GYRO_FS_AVL_2000DPS,
+					/* 2 is "Not Available". */
+					.value = 0x03,
+					.gain = IIO_DEGREE_TO_RAD(70000),
+				},
+			},
+		},
+		.bdu = {
+			.addr = 0x22,
+			.mask = 0x40,
+		},
+		.drdy_irq = {
+			.int1 = {
+				.addr = 0x0c,
+				.mask = 0x02,
+			},
+			.int2 = {
+				.addr = 0x0d,
+				.mask = 0x02,
+			},
+			.addr_ihl = 0x22,
+			.mask_ihl = 0x20,
+			.stat_drdy = {
+				.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
+				.mask = 0x02,
+			},
+		},
+		.sim = {
+			.addr = 0x22,
+			.value = BIT(3),
+		},
+		.multi_read_bit = false,
+		.bootime = 2,
+	},
  };
  
  static int st_gyro_read_raw(struct iio_dev *indio_dev,
diff --git a/drivers/iio/gyro/st_gyro_i2c.c b/drivers/iio/gyro/st_gyro_i2c.c
index b405b82b9177..97faa3ddac17 100644
--- a/drivers/iio/gyro/st_gyro_i2c.c
+++ b/drivers/iio/gyro/st_gyro_i2c.c
@@ -56,6 +56,10 @@ static const struct of_device_id st_gyro_of_match[] = {
  		.compatible = "st,lsm9ds0-gyro",
  		.data = LSM9DS0_GYRO_DEV_NAME,
  	},
+	{
+		.compatible = "st,lsm9ds1-gyro",
+		.data = LSM9DS1_GYRO_DEV_NAME,
+	},
  	{},
  };
  MODULE_DEVICE_TABLE(of, st_gyro_of_match);
@@ -104,6 +108,7 @@ static const struct i2c_device_id st_gyro_id_table[] = {
  	{ L3G4IS_GYRO_DEV_NAME },
  	{ LSM330_GYRO_DEV_NAME },
  	{ LSM9DS0_GYRO_DEV_NAME },
+	{ LSM9DS1_GYRO_DEV_NAME },
  	{},
  };
  MODULE_DEVICE_TABLE(i2c, st_gyro_id_table);
diff --git a/drivers/iio/gyro/st_gyro_spi.c b/drivers/iio/gyro/st_gyro_spi.c
index 0b52ed577dc2..7d4661cc260c 100644
--- a/drivers/iio/gyro/st_gyro_spi.c
+++ b/drivers/iio/gyro/st_gyro_spi.c
@@ -61,6 +61,10 @@ static const struct of_device_id st_gyro_of_match[] = {
  		.compatible = "st,lsm9ds0-gyro",
  		.data = LSM9DS0_GYRO_DEV_NAME,
  	},
+	{
+		.compatible = "st,lsm9ds1-gyro",
+		.data = LSM9DS1_GYRO_DEV_NAME,
+	},
  	{},
  };
  MODULE_DEVICE_TABLE(of, st_gyro_of_match);
@@ -108,6 +112,7 @@ static const struct spi_device_id st_gyro_id_table[] = {
  	{ L3G4IS_GYRO_DEV_NAME },
  	{ LSM330_GYRO_DEV_NAME },
  	{ LSM9DS0_GYRO_DEV_NAME },
+	{ LSM9DS1_GYRO_DEV_NAME },
  	{},
  };
  MODULE_DEVICE_TABLE(spi, st_gyro_id_table);

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