> 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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