[PATCH v3 0/5] iio: imu: st_lsm6dsx: Add support for LSM9DS1

[PATCH v3 0/5] iio: imu: st_lsm6dsx: Add support for LSM9DS1

[Martin Kepplinger]

Resend 2 of Lorenzo's patches that this builds upon. They have been previously
posted to linux-iio only:
https://lore.kernel.org/linux-iio/cover.1563226641.git.lorenzo@kernel.org/

Then, add support for the LSM9DS1 accel/gyro unit in 3 simple steps. This
is also only a resend and rebase of the v2:
https://lore.kernel.org/linux-iio/20190716093325.7683-1-martin.kepplinger@puri.sm/

So I call this v3 and Lorenzo, I hope that it's fine for you that I just
take your patches here - also since they mention to be intended for supporting
the device.


revision history
----------------
v3: rebase and add Lorenzo's patches in order to apply to the iio testing brach
v2: further simplifications based on Lorenzo's feedback
v1: initial change for adding lsm9ds1 support




Lorenzo Bianconi (2):
  iio: imu: st_lsm6dsx: move odr_table in st_lsm6dsx_sensor_settings
  iio: imu: st_lsm6dsx: move fs_table in st_lsm6dsx_sensor_settings

Martin Kepplinger (3):
  iio: imu: st_lsm6sdx: move register definitions to sensor_settings
    struct
  iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1
  dt-bindings: iio: imu: st_lsm6dsx: add lsm9ds1 device bindings

 .../bindings/iio/imu/st_lsm6dsx.txt           |   1 +
 drivers/iio/imu/st_lsm6dsx/Kconfig            |   1 +
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h       |  12 +
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c  | 490 +++++++++++++++---
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c   |   5 +
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c   |   5 +
 6 files changed, 440 insertions(+), 74 deletions(-)

-- 
2.20.1

[PATCH v3 1/5] iio: imu: st_lsm6dsx: move odr_table in st_lsm6dsx_sensor_settings

[Martin Kepplinger]

From: Lorenzo Bianconi <lorenzo@kernel.org>

Move sensor odr table in st_lsm6dsx_sensor_settings in order to support
sensors with different odr maps. This is a preliminary patch to add
support for LSM9DS1 sensor to st_lsm6dsx driver

Signed-off-by: Lorenzo Bianconi <lorenzo@kernel.org>
---
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h      |   2 +
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 196 ++++++++++++++++---
 2 files changed, 166 insertions(+), 32 deletions(-)

diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index af379a5429ed..3a89f3f6e2c7 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -200,6 +200,7 @@ struct st_lsm6dsx_ext_dev_settings {
  * @wai: Sensor WhoAmI default value.
  * @max_fifo_size: Sensor max fifo length in FIFO words.
  * @id: List of hw id/device name supported by the driver configuration.
+ * @odr_table: Hw sensors odr table (Hz + val).
  * @decimator: List of decimator register info (addr + mask).
  * @batch: List of FIFO batching register info (addr + mask).
  * @fifo_ops: Sensor hw FIFO parameters.
@@ -213,6 +214,7 @@ struct st_lsm6dsx_settings {
 		enum st_lsm6dsx_hw_id hw_id;
 		const char *name;
 	} id[ST_LSM6DSX_MAX_ID];
+	struct st_lsm6dsx_odr_table_entry odr_table[2];
 	struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
 	struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
 	struct st_lsm6dsx_fifo_ops fifo_ops;
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index d8c4417cf4eb..b3c6c9792913 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -69,33 +69,6 @@
 #define ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR	0x24
 #define ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR	0x26
 
-static const struct st_lsm6dsx_odr_table_entry st_lsm6dsx_odr_table[] = {
-	[ST_LSM6DSX_ID_ACC] = {
-		.reg = {
-			.addr = 0x10,
-			.mask = GENMASK(7, 4),
-		},
-		.odr_avl[0] = {  13, 0x01 },
-		.odr_avl[1] = {  26, 0x02 },
-		.odr_avl[2] = {  52, 0x03 },
-		.odr_avl[3] = { 104, 0x04 },
-		.odr_avl[4] = { 208, 0x05 },
-		.odr_avl[5] = { 416, 0x06 },
-	},
-	[ST_LSM6DSX_ID_GYRO] = {
-		.reg = {
-			.addr = 0x11,
-			.mask = GENMASK(7, 4),
-		},
-		.odr_avl[0] = {  13, 0x01 },
-		.odr_avl[1] = {  26, 0x02 },
-		.odr_avl[2] = {  52, 0x03 },
-		.odr_avl[3] = { 104, 0x04 },
-		.odr_avl[4] = { 208, 0x05 },
-		.odr_avl[5] = { 416, 0x06 },
-	}
-};
-
 static const struct st_lsm6dsx_fs_table_entry st_lsm6dsx_fs_table[] = {
 	[ST_LSM6DSX_ID_ACC] = {
 		.reg = {
@@ -129,6 +102,32 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.name = ST_LSM6DS3_DEV_NAME,
 			},
 		},
+		.odr_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+		},
 		.decimator = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x08,
@@ -179,6 +178,32 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.name = ST_LSM6DS3H_DEV_NAME,
 			},
 		},
+		.odr_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+		},
 		.decimator = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x08,
@@ -238,6 +263,32 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.name = ST_LSM6DS3TRC_DEV_NAME,
 			},
 		},
+		.odr_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+		},
 		.decimator = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x08,
@@ -291,6 +342,32 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.name = ST_LSM6DSOX_DEV_NAME,
 			},
 		},
+		.odr_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+		},
 		.batch = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x09,
@@ -359,6 +436,32 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.name = ST_ASM330LHH_DEV_NAME,
 			},
 		},
+		.odr_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+		},
 		.batch = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x09,
@@ -401,6 +504,32 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.name = ST_LSM6DSR_DEV_NAME,
 			},
 		},
+		.odr_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(7, 4),
+				},
+				.odr_avl[0] = {  13, 0x01 },
+				.odr_avl[1] = {  26, 0x02 },
+				.odr_avl[2] = {  52, 0x03 },
+				.odr_avl[3] = { 104, 0x04 },
+				.odr_avl[4] = { 208, 0x05 },
+				.odr_avl[5] = { 416, 0x06 },
+			},
+		},
 		.batch = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x09,
@@ -563,20 +692,22 @@ static int st_lsm6dsx_set_full_scale(struct st_lsm6dsx_sensor *sensor,
 
 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, u8 *val)
 {
+	const struct st_lsm6dsx_odr_table_entry *odr_table;
 	int i;
 
+	odr_table = &sensor->hw->settings->odr_table[sensor->id];
 	for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++)
 		/*
 		 * ext devices can run at different odr respect to
 		 * accel sensor
 		 */
-		if (st_lsm6dsx_odr_table[sensor->id].odr_avl[i].hz >= odr)
+		if (odr_table->odr_avl[i].hz >= odr)
 			break;
 
 	if (i == ST_LSM6DSX_ODR_LIST_SIZE)
 		return -EINVAL;
 
-	*val = st_lsm6dsx_odr_table[sensor->id].odr_avl[i].val;
+	*val = odr_table->odr_avl[i].val;
 
 	return 0;
 }
@@ -641,7 +772,7 @@ static int st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u16 req_odr)
 			return err;
 	}
 
-	reg = &st_lsm6dsx_odr_table[ref_sensor->id].reg;
+	reg = &hw->settings->odr_table[ref_sensor->id].reg;
 	data = ST_LSM6DSX_SHIFT_VAL(val, reg->mask);
 	return st_lsm6dsx_update_bits_locked(hw, reg->addr, reg->mask, data);
 }
@@ -786,11 +917,12 @@ st_lsm6dsx_sysfs_sampling_frequency_avail(struct device *dev,
 {
 	struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
 	enum st_lsm6dsx_sensor_id id = sensor->id;
+	struct st_lsm6dsx_hw *hw = sensor->hw;
 	int i, len = 0;
 
 	for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++)
 		len += scnprintf(buf + len, PAGE_SIZE - len, "%d ",
-				 st_lsm6dsx_odr_table[id].odr_avl[i].hz);
+				 hw->settings->odr_table[id].odr_avl[i].hz);
 	buf[len - 1] = '\n';
 
 	return len;
@@ -1040,7 +1172,7 @@ static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
 	sensor = iio_priv(iio_dev);
 	sensor->id = id;
 	sensor->hw = hw;
-	sensor->odr = st_lsm6dsx_odr_table[id].odr_avl[0].hz;
+	sensor->odr = hw->settings->odr_table[id].odr_avl[0].hz;
 	sensor->gain = st_lsm6dsx_fs_table[id].fs_avl[0].gain;
 	sensor->watermark = 1;
 
-- 
2.20.1

[PATCH v3 2/5] iio: imu: st_lsm6dsx: move fs_table in st_lsm6dsx_sensor_settings

[Martin Kepplinger]

From: Lorenzo Bianconi <lorenzo@kernel.org>

Move fs_table in st_lsm6dsx_sensor_settings in order to support
sensors with different gain maps. This is a preliminary patch to add
support for LSM9DS1 sensor to st_lsm6dsx driver

Signed-off-by: Lorenzo Bianconi <lorenzo@kernel.org>
---
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h      |   2 +
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 175 +++++++++++++++----
 2 files changed, 144 insertions(+), 33 deletions(-)

diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index 3a89f3f6e2c7..ab1c66615d67 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -201,6 +201,7 @@ struct st_lsm6dsx_ext_dev_settings {
  * @max_fifo_size: Sensor max fifo length in FIFO words.
  * @id: List of hw id/device name supported by the driver configuration.
  * @odr_table: Hw sensors odr table (Hz + val).
+ * @fs_table: Hw sensors gain table (gain + val).
  * @decimator: List of decimator register info (addr + mask).
  * @batch: List of FIFO batching register info (addr + mask).
  * @fifo_ops: Sensor hw FIFO parameters.
@@ -215,6 +216,7 @@ struct st_lsm6dsx_settings {
 		const char *name;
 	} id[ST_LSM6DSX_MAX_ID];
 	struct st_lsm6dsx_odr_table_entry odr_table[2];
+	struct st_lsm6dsx_fs_table_entry fs_table[2];
 	struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
 	struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
 	struct st_lsm6dsx_fifo_ops fifo_ops;
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index b3c6c9792913..9aa109428a52 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -69,29 +69,6 @@
 #define ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR	0x24
 #define ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR	0x26
 
-static const struct st_lsm6dsx_fs_table_entry st_lsm6dsx_fs_table[] = {
-	[ST_LSM6DSX_ID_ACC] = {
-		.reg = {
-			.addr = 0x10,
-			.mask = GENMASK(3, 2),
-		},
-		.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
-		.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
-		.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
-		.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
-	},
-	[ST_LSM6DSX_ID_GYRO] = {
-		.reg = {
-			.addr = 0x11,
-			.mask = GENMASK(3, 2),
-		},
-		.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
-		.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 },
-	}
-};
-
 static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 	{
 		.wai = 0x69,
@@ -128,6 +105,28 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.odr_avl[5] = { 416, 0x06 },
 			},
 		},
+		.fs_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
+				.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 },
+			},
+		},
 		.decimator = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x08,
@@ -204,6 +203,28 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.odr_avl[5] = { 416, 0x06 },
 			},
 		},
+		.fs_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
+				.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 },
+			},
+		},
 		.decimator = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x08,
@@ -289,6 +310,28 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.odr_avl[5] = { 416, 0x06 },
 			},
 		},
+		.fs_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
+				.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 },
+			},
+		},
 		.decimator = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x08,
@@ -368,6 +411,28 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.odr_avl[5] = { 416, 0x06 },
 			},
 		},
+		.fs_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
+				.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 },
+			},
+		},
 		.batch = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x09,
@@ -462,6 +527,28 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.odr_avl[5] = { 416, 0x06 },
 			},
 		},
+		.fs_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
+				.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 },
+			},
+		},
 		.batch = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x09,
@@ -530,6 +617,28 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 				.odr_avl[5] = { 416, 0x06 },
 			},
 		},
+		.fs_table = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.reg = {
+					.addr = 0x10,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.reg = {
+					.addr = 0x11,
+					.mask = GENMASK(3, 2),
+				},
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
+				.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 },
+			},
+		},
 		.batch = {
 			[ST_LSM6DSX_ID_ACC] = {
 				.addr = 0x09,
@@ -665,23 +774,22 @@ static int st_lsm6dsx_check_whoami(struct st_lsm6dsx_hw *hw, int id,
 static int st_lsm6dsx_set_full_scale(struct st_lsm6dsx_sensor *sensor,
 				     u32 gain)
 {
-	struct st_lsm6dsx_hw *hw = sensor->hw;
-	const struct st_lsm6dsx_reg *reg;
+	const struct st_lsm6dsx_fs_table_entry *fs_table;
 	unsigned int data;
 	int i, err;
-	u8 val;
 
+	fs_table = &sensor->hw->settings->fs_table[sensor->id];
 	for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++)
-		if (st_lsm6dsx_fs_table[sensor->id].fs_avl[i].gain == gain)
+		if (fs_table->fs_avl[i].gain == gain)
 			break;
 
 	if (i == ST_LSM6DSX_FS_LIST_SIZE)
 		return -EINVAL;
 
-	val = st_lsm6dsx_fs_table[sensor->id].fs_avl[i].val;
-	reg = &st_lsm6dsx_fs_table[sensor->id].reg;
-	data = ST_LSM6DSX_SHIFT_VAL(val, reg->mask);
-	err = st_lsm6dsx_update_bits_locked(hw, reg->addr, reg->mask, data);
+	data = ST_LSM6DSX_SHIFT_VAL(fs_table->fs_avl[i].val,
+				    fs_table->reg.mask);
+	err = st_lsm6dsx_update_bits_locked(sensor->hw, fs_table->reg.addr,
+					    fs_table->reg.mask, data);
 	if (err < 0)
 		return err;
 
@@ -934,11 +1042,12 @@ static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev,
 {
 	struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
 	enum st_lsm6dsx_sensor_id id = sensor->id;
+	struct st_lsm6dsx_hw *hw = sensor->hw;
 	int i, len = 0;
 
 	for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++)
 		len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
-				 st_lsm6dsx_fs_table[id].fs_avl[i].gain);
+				 hw->settings->fs_table[id].fs_avl[i].gain);
 	buf[len - 1] = '\n';
 
 	return len;
@@ -1173,7 +1282,7 @@ static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
 	sensor->id = id;
 	sensor->hw = hw;
 	sensor->odr = hw->settings->odr_table[id].odr_avl[0].hz;
-	sensor->gain = st_lsm6dsx_fs_table[id].fs_avl[0].gain;
+	sensor->gain = hw->settings->fs_table[id].fs_avl[0].gain;
 	sensor->watermark = 1;
 
 	switch (id) {
-- 
2.20.1

[PATCH v3 3/5] iio: imu: st_lsm6sdx: move register definitions to sensor_settings struct

[Martin Kepplinger]

Move some register definitions to the per-device array of struct
st_lsm6dsx_sensor_settings in order to simplify adding new sensor
devices to the driver.

Also, remove completely unused register definitions.

Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm>
---
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h      |  6 ++++
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 31 ++++++++++++++------
 2 files changed, 28 insertions(+), 9 deletions(-)

diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index ab1c66615d67..3c47f5d27d30 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -198,6 +198,9 @@ struct st_lsm6dsx_ext_dev_settings {
 /**
  * struct st_lsm6dsx_settings - ST IMU sensor settings
  * @wai: Sensor WhoAmI default value.
+ * @int1_addr: Control Register address for INT1
+ * @int2_addr: Control Register address for INT2
+ * @reset_addr: register address for reset/reboot
  * @max_fifo_size: Sensor max fifo length in FIFO words.
  * @id: List of hw id/device name supported by the driver configuration.
  * @odr_table: Hw sensors odr table (Hz + val).
@@ -210,6 +213,9 @@ struct st_lsm6dsx_ext_dev_settings {
  */
 struct st_lsm6dsx_settings {
 	u8 wai;
+	u8 int1_addr;
+	u8 int2_addr;
+	u8 reset_addr;
 	u16 max_fifo_size;
 	struct {
 		enum st_lsm6dsx_hw_id hw_id;
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index 9aa109428a52..e0d2149625cc 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -49,17 +49,12 @@
 
 #include "st_lsm6dsx.h"
 
-#define ST_LSM6DSX_REG_INT1_ADDR		0x0d
-#define ST_LSM6DSX_REG_INT2_ADDR		0x0e
 #define ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK	BIT(3)
 #define ST_LSM6DSX_REG_WHOAMI_ADDR		0x0f
-#define ST_LSM6DSX_REG_RESET_ADDR		0x12
 #define ST_LSM6DSX_REG_RESET_MASK		BIT(0)
 #define ST_LSM6DSX_REG_BOOT_MASK		BIT(7)
 #define ST_LSM6DSX_REG_BDU_ADDR			0x12
 #define ST_LSM6DSX_REG_BDU_MASK			BIT(6)
-#define ST_LSM6DSX_REG_INT2_ON_INT1_ADDR	0x13
-#define ST_LSM6DSX_REG_INT2_ON_INT1_MASK	BIT(5)
 
 #define ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR		0x28
 #define ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR		0x2a
@@ -72,6 +67,9 @@
 static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 	{
 		.wai = 0x69,
+		.int1_addr = 0x0d,
+		.int2_addr = 0x0e,
+		.reset_addr = 0x12,
 		.max_fifo_size = 1365,
 		.id = {
 			{
@@ -170,6 +168,9 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 	},
 	{
 		.wai = 0x69,
+		.int1_addr = 0x0d,
+		.int2_addr = 0x0e,
+		.reset_addr = 0x12,
 		.max_fifo_size = 682,
 		.id = {
 			{
@@ -268,6 +269,9 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 	},
 	{
 		.wai = 0x6a,
+		.int1_addr = 0x0d,
+		.int2_addr = 0x0e,
+		.reset_addr = 0x12,
 		.max_fifo_size = 682,
 		.id = {
 			{
@@ -375,6 +379,9 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 	},
 	{
 		.wai = 0x6c,
+		.int1_addr = 0x0d,
+		.int2_addr = 0x0e,
+		.reset_addr = 0x12,
 		.max_fifo_size = 512,
 		.id = {
 			{
@@ -494,6 +501,9 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 	},
 	{
 		.wai = 0x6b,
+		.int1_addr = 0x0d,
+		.int2_addr = 0x0e,
+		.reset_addr = 0x12,
 		.max_fifo_size = 512,
 		.id = {
 			{
@@ -584,6 +594,9 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 	},
 	{
 		.wai = 0x6b,
+		.int1_addr = 0x0d,
+		.int2_addr = 0x0e,
+		.reset_addr = 0x12,
 		.max_fifo_size = 512,
 		.id = {
 			{
@@ -1117,10 +1130,10 @@ static int st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, u8 *drdy_reg)
 
 	switch (drdy_pin) {
 	case 1:
-		*drdy_reg = ST_LSM6DSX_REG_INT1_ADDR;
+		*drdy_reg = hw->settings->int1_addr;
 		break;
 	case 2:
-		*drdy_reg = ST_LSM6DSX_REG_INT2_ADDR;
+		*drdy_reg = hw->settings->int2_addr;
 		break;
 	default:
 		dev_err(hw->dev, "unsupported data ready pin\n");
@@ -1220,7 +1233,7 @@ static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
 	int err;
 
 	/* device sw reset */
-	err = regmap_update_bits(hw->regmap, ST_LSM6DSX_REG_RESET_ADDR,
+	err = regmap_update_bits(hw->regmap, hw->settings->reset_addr,
 				 ST_LSM6DSX_REG_RESET_MASK,
 				 FIELD_PREP(ST_LSM6DSX_REG_RESET_MASK, 1));
 	if (err < 0)
@@ -1229,7 +1242,7 @@ static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
 	msleep(50);
 
 	/* reload trimming parameter */
-	err = regmap_update_bits(hw->regmap, ST_LSM6DSX_REG_RESET_ADDR,
+	err = regmap_update_bits(hw->regmap, hw->settings->reset_addr,
 				 ST_LSM6DSX_REG_BOOT_MASK,
 				 FIELD_PREP(ST_LSM6DSX_REG_BOOT_MASK, 1));
 	if (err < 0)
-- 
2.20.1

[PATCH v3 4/5] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

[Martin Kepplinger]

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>
---
 drivers/iio/imu/st_lsm6dsx/Kconfig           |  1 +
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h      |  2 +
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 94 +++++++++++++++++++-
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c  |  5 ++
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c  |  5 ++
 5 files changed, 104 insertions(+), 3 deletions(-)

diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig
index 2d8b2e1edfce..4a57bfb3c12e 100644
--- a/drivers/iio/imu/st_lsm6dsx/Kconfig
+++ b/drivers/iio/imu/st_lsm6dsx/Kconfig
@@ -11,6 +11,7 @@ config IIO_ST_LSM6DSX
 	  Say yes here to build support for STMicroelectronics LSM6DSx imu
 	  sensor. Supported devices: lsm6ds3, lsm6ds3h, lsm6dsl, lsm6dsm,
 	  ism330dlc, lsm6dso, lsm6dsox, asm330lhh, lsm6dsr, lsm6ds3tr-c
+	  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 3c47f5d27d30..9a30cc717de2 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -23,6 +23,7 @@
 #define ST_LSM6DSOX_DEV_NAME	"lsm6dsox"
 #define ST_LSM6DSR_DEV_NAME	"lsm6dsr"
 #define ST_LSM6DS3TRC_DEV_NAME	"lsm6ds3tr-c"
+#define ST_LSM9DS1_DEV_NAME	"lsm9ds1"
 
 enum st_lsm6dsx_hw_id {
 	ST_LSM6DS3_ID,
@@ -35,6 +36,7 @@ enum st_lsm6dsx_hw_id {
 	ST_LSM6DSOX_ID,
 	ST_LSM6DSR_ID,
 	ST_LSM6DS3TRC_ID,
+	ST_LSM9DS1_ID,
 	ST_LSM6DSX_MAX_ID,
 };
 
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index e0d2149625cc..2f3d2bf25646 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>
@@ -64,7 +73,72 @@
 #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_settings st_lsm6dsx_sensor_settings[] = {
+	{
+		.wai = 0x68,
+		.int1_addr = 0x0c,
+		.int2_addr = 0x0d,
+		.reset_addr = 0x22,
+		.max_fifo_size = 32,
+		.id = {
+			{
+				.hw_id = ST_LSM9DS1_ID,
+				.name = ST_LSM9DS1_DEV_NAME,
+			},
+		},
+		.odr_table = {
+			[ST_LSM6DSX_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_LSM6DSX_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 },
+			},
+		},
+		.fs_table = {
+			[ST_LSM6DSX_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_LSM6DSX_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 },
+			},
+		},
+	},
 	{
 		.wai = 0x69,
 		.int1_addr = 0x0d,
@@ -733,6 +807,16 @@ 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;
@@ -1278,7 +1362,7 @@ static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
 
 static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
 					       enum st_lsm6dsx_sensor_id id,
-					       const char *name)
+					       const char *name, int hw_id)
 {
 	struct st_lsm6dsx_sensor *sensor;
 	struct iio_dev *iio_dev;
@@ -1308,7 +1392,11 @@ static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
 			  name);
 		break;
 	case ST_LSM6DSX_ID_GYRO:
-		iio_dev->channels = st_lsm6dsx_gyro_channels;
+		if (hw_id == ST_LSM9DS1_ID)
+			iio_dev->channels = st_lsm9dsx_gyro_channels;
+		else
+			iio_dev->channels = st_lsm6dsx_gyro_channels;
+
 		iio_dev->num_channels = ARRAY_SIZE(st_lsm6dsx_gyro_channels);
 		iio_dev->info = &st_lsm6dsx_gyro_info;
 
@@ -1354,7 +1442,7 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
 		return err;
 
 	for (i = 0; i < ST_LSM6DSX_ID_EXT0; i++) {
-		hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name);
+		hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name, hw_id);
 		if (!hw->iio_devs[i])
 			return -ENOMEM;
 	}
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
index 28581eb0532c..c36a057c36ee 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
@@ -79,6 +79,10 @@ static const struct of_device_id st_lsm6dsx_i2c_of_match[] = {
 		.compatible = "st,lsm6ds3tr-c",
 		.data = (void *)ST_LSM6DS3TRC_ID,
 	},
+	{
+		.compatible = "st,lsm9ds1",
+		.data = (void *)ST_LSM9DS1_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match);
@@ -94,6 +98,7 @@ static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = {
 	{ ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
 	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
 	{ ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_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 0371e8b94a3e..138e3b985865 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
@@ -79,6 +79,10 @@ static const struct of_device_id st_lsm6dsx_spi_of_match[] = {
 		.compatible = "st,lsm6ds3tr-c",
 		.data = (void *)ST_LSM6DS3TRC_ID,
 	},
+	{
+		.compatible = "st,lsm9ds1",
+		.data = (void *)ST_LSM9DS1_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match);
@@ -94,6 +98,7 @@ static const struct spi_device_id st_lsm6dsx_spi_id_table[] = {
 	{ ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
 	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
 	{ ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_ID },
+	{ ST_LSM9DS1_DEV_NAME, ST_LSM9DS1_ID },
 	{},
 };
 MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table);
-- 
2.20.1

[PATCH v3 5/5] dt-bindings: iio: imu: st_lsm6dsx: add lsm9ds1 device bindings

[Martin Kepplinger]

Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm>
---
 Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt b/Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt
index 92b48f242356..fd1722fc93af 100644
--- a/Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt
+++ b/Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt
@@ -12,6 +12,7 @@ Required properties:
   "st,lsm6dsox"
   "st,lsm6dsr"
   "st,lsm6ds3tr-c"
+  "st,lsm9ds1"
 - reg: i2c address of the sensor / spi cs line
 
 Optional properties:
-- 
2.20.1

Re: [PATCH v3 4/5] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

[Martin Kepplinger]

On 25.07.19 09:04, 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
>     <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
>     <mailto:martin.kepplinger@puri.sm>>
> 
> 
> 
>  Hi Martin,
> 
> could you please check if LSM9DS1 and LSM6DS0 have a common register map
> for the supported features (I think so)? If so I think it is better to
> rename LSM9DS1 in LSM6DS0 since st_lsm6dsx supports just acc and gyro
> (we will support LSM9DS1 with a proper dts configuration)
> 
> Regards,
> Lorenzo

Hi Lorenzo,

The register mappings of LSM6DSO and LSM9DS1 don't match (gyro out for
example). The LSM9DS1 magnetometer is a *different* device on the bus
than accel/gyro (despite being on the same chip). That one is already
supported in drivers/iio/magnetometer/st_magn_*

So LSM9DS1 in the imu driver (lsm6dsx) can also just support accel and
gyro in order to complete the support for the device.

Besides, that's the device I have and test here. I can't really name it
differently.

What are you working on (dts description)?

thanks,
                             martin

Re: [PATCH v3 4/5] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

[Martin Kepplinger]

On 25.07.19 18:04, Lorenzo Bianconi wrote:
> 
>     On 25.07.19 09:04, 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
>     <https://www.st.com/resource/en/datasheet/lsm9ds1.pdf>
>     >     <https://www.st.com/resource/en/datasheet/lsm9ds1.pdf
>     <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
>     <mailto:martin.kepplinger@puri.sm>
>     >     <mailto:martin.kepplinger@puri.sm
>     <mailto:martin.kepplinger@puri.sm>>>
>     >
>     >
>     >
>     >  Hi Martin,
>     >
>     > could you please check if LSM9DS1 and LSM6DS0 have a common
>     register map
>     > for the supported features (I think so)? If so I think it is better to
>     > rename LSM9DS1 in LSM6DS0 since st_lsm6dsx supports just acc and gyro
>     > (we will support LSM9DS1 with a proper dts configuration)
>     >
>     > Regards,
>     > Lorenzo
> 
>     Hi Lorenzo,
> 
>     The register mappings of LSM6DSO and LSM9DS1 don't match (gyro out for
>     example). The LSM9DS1 magnetometer is a *different* device on the bus
>     than accel/gyro (despite being on the same chip). That one is already
>     supported in drivers/iio/magnetometer/st_magn_*
> 
>     So LSM9DS1 in the imu driver (lsm6dsx) can also just support accel and
>     gyro in order to complete the support for the device.
> 
>     Besides, that's the device I have and test here. I can't really name it
>     differently.
> 
> 
> I mean LSM6DS0, not LSMDSO..the datasheet is not on st website, but you
> can find easily on the web..AFAIK this device shares the registermap
> with LSM9DS1 imu device. So I guess we can rename the struct from
> st_lsm9ds1 (which is not just an imu) to st_lsm6ds0. I guess it is more
> correct. 
> 

Seems like they are equal enough (LSM6DS0 has only one interrupt line,
but we should be able to add it anyways I guess).

Makes sense to name things after that then, yes. At least in code. I'll
update next week.

thanks,
                            martin

Re: [PATCH v3 4/5] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

[Jonathan Cameron]

On Thu, 25 Jul 2019 07:31:31 +0200
Martin Kepplinger <martin.kepplinger@puri.sm> 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>
I'm a little confused on this hardware.

How does buffered output work if these are independently clocked?

I took a quick look at the datasheet, and 'suspect' the answer is that
it runs at the gyro frequencies if both are enable. Is that right?

Code looks fine.

Jonathan



> ---
>  drivers/iio/imu/st_lsm6dsx/Kconfig           |  1 +
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h      |  2 +
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 94 +++++++++++++++++++-
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c  |  5 ++
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c  |  5 ++
>  5 files changed, 104 insertions(+), 3 deletions(-)
> 
> diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig
> index 2d8b2e1edfce..4a57bfb3c12e 100644
> --- a/drivers/iio/imu/st_lsm6dsx/Kconfig
> +++ b/drivers/iio/imu/st_lsm6dsx/Kconfig
> @@ -11,6 +11,7 @@ config IIO_ST_LSM6DSX
>  	  Say yes here to build support for STMicroelectronics LSM6DSx imu
>  	  sensor. Supported devices: lsm6ds3, lsm6ds3h, lsm6dsl, lsm6dsm,
>  	  ism330dlc, lsm6dso, lsm6dsox, asm330lhh, lsm6dsr, lsm6ds3tr-c
> +	  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 3c47f5d27d30..9a30cc717de2 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> @@ -23,6 +23,7 @@
>  #define ST_LSM6DSOX_DEV_NAME	"lsm6dsox"
>  #define ST_LSM6DSR_DEV_NAME	"lsm6dsr"
>  #define ST_LSM6DS3TRC_DEV_NAME	"lsm6ds3tr-c"
> +#define ST_LSM9DS1_DEV_NAME	"lsm9ds1"
>  
>  enum st_lsm6dsx_hw_id {
>  	ST_LSM6DS3_ID,
> @@ -35,6 +36,7 @@ enum st_lsm6dsx_hw_id {
>  	ST_LSM6DSOX_ID,
>  	ST_LSM6DSR_ID,
>  	ST_LSM6DS3TRC_ID,
> +	ST_LSM9DS1_ID,
>  	ST_LSM6DSX_MAX_ID,
>  };
>  
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> index e0d2149625cc..2f3d2bf25646 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>
> @@ -64,7 +73,72 @@
>  #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_settings st_lsm6dsx_sensor_settings[] = {
> +	{
> +		.wai = 0x68,
> +		.int1_addr = 0x0c,
> +		.int2_addr = 0x0d,
> +		.reset_addr = 0x22,
> +		.max_fifo_size = 32,
> +		.id = {
> +			{
> +				.hw_id = ST_LSM9DS1_ID,
> +				.name = ST_LSM9DS1_DEV_NAME,
> +			},
> +		},
> +		.odr_table = {
> +			[ST_LSM6DSX_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_LSM6DSX_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 },
> +			},
> +		},
> +		.fs_table = {
> +			[ST_LSM6DSX_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_LSM6DSX_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 },
> +			},
> +		},
> +	},
>  	{
>  		.wai = 0x69,
>  		.int1_addr = 0x0d,
> @@ -733,6 +807,16 @@ 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;
> @@ -1278,7 +1362,7 @@ static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
>  
>  static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
>  					       enum st_lsm6dsx_sensor_id id,
> -					       const char *name)
> +					       const char *name, int hw_id)
>  {
>  	struct st_lsm6dsx_sensor *sensor;
>  	struct iio_dev *iio_dev;
> @@ -1308,7 +1392,11 @@ static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
>  			  name);
>  		break;
>  	case ST_LSM6DSX_ID_GYRO:
> -		iio_dev->channels = st_lsm6dsx_gyro_channels;
> +		if (hw_id == ST_LSM9DS1_ID)
> +			iio_dev->channels = st_lsm9dsx_gyro_channels;
> +		else
> +			iio_dev->channels = st_lsm6dsx_gyro_channels;
> +
>  		iio_dev->num_channels = ARRAY_SIZE(st_lsm6dsx_gyro_channels);
>  		iio_dev->info = &st_lsm6dsx_gyro_info;
>  
> @@ -1354,7 +1442,7 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
>  		return err;
>  
>  	for (i = 0; i < ST_LSM6DSX_ID_EXT0; i++) {
> -		hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name);
> +		hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name, hw_id);
>  		if (!hw->iio_devs[i])
>  			return -ENOMEM;
>  	}
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
> index 28581eb0532c..c36a057c36ee 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
> @@ -79,6 +79,10 @@ static const struct of_device_id st_lsm6dsx_i2c_of_match[] = {
>  		.compatible = "st,lsm6ds3tr-c",
>  		.data = (void *)ST_LSM6DS3TRC_ID,
>  	},
> +	{
> +		.compatible = "st,lsm9ds1",
> +		.data = (void *)ST_LSM9DS1_ID,
> +	},
>  	{},
>  };
>  MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match);
> @@ -94,6 +98,7 @@ static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = {
>  	{ ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
>  	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
>  	{ ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_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 0371e8b94a3e..138e3b985865 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
> @@ -79,6 +79,10 @@ static const struct of_device_id st_lsm6dsx_spi_of_match[] = {
>  		.compatible = "st,lsm6ds3tr-c",
>  		.data = (void *)ST_LSM6DS3TRC_ID,
>  	},
> +	{
> +		.compatible = "st,lsm9ds1",
> +		.data = (void *)ST_LSM9DS1_ID,
> +	},
>  	{},
>  };
>  MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match);
> @@ -94,6 +98,7 @@ static const struct spi_device_id st_lsm6dsx_spi_id_table[] = {
>  	{ ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
>  	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
>  	{ ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_ID },
> +	{ ST_LSM9DS1_DEV_NAME, ST_LSM9DS1_ID },
>  	{},
>  };
>  MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table);

Re: [PATCH v3 4/5] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

[Martin Kepplinger]

On 27.07.19 19:48, Jonathan Cameron wrote:
> On Thu, 25 Jul 2019 07:31:31 +0200
> Martin Kepplinger <martin.kepplinger@puri.sm> 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>
> I'm a little confused on this hardware.
> 
> How does buffered output work if these are independently clocked?
> 
> I took a quick look at the datasheet, and 'suspect' the answer is that
> it runs at the gyro frequencies if both are enable. Is that right?
> 

Thanks for reviewing, Jonathan,

Correct. It says so in chapter 7.12. But that's a "problem" with all
these imu devices, not specific to this addition right?

Sidenote: I thought about renaming things to "lsm6ds0" here just because
of the name and because the registers are (almost) the same as for my
lsm9ds1. But I'm not a fan of blindly doing that without being able to
test. When the current patchset looks good to you, let's keep it that way.

                            martin

Re: [PATCH v3 4/5] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

[Jonathan Cameron]

On Sun, 28 Jul 2019 08:04:51 +0200
Martin Kepplinger <martin.kepplinger@puri.sm> wrote:

> On 27.07.19 19:48, Jonathan Cameron wrote:
> > On Thu, 25 Jul 2019 07:31:31 +0200
> > Martin Kepplinger <martin.kepplinger@puri.sm> 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>  
> > I'm a little confused on this hardware.
> > 
> > How does buffered output work if these are independently clocked?
> > 
> > I took a quick look at the datasheet, and 'suspect' the answer is that
> > it runs at the gyro frequencies if both are enable. Is that right?
> >   
> 
> Thanks for reviewing, Jonathan,
> 
> Correct. It says so in chapter 7.12. But that's a "problem" with all
> these imu devices, not specific to this addition right?
It's not a problem as such, but there is a related difference in this
device to the others supported by this driver.

The other parts seem to allow for independent data rate setting, with
streaming to the buffer that isn't in 'lock step'.  I.e you can get

Ax_1, Ay_1, Az_1, Gx_1, Gy_1, Gz_1, Gx_2, Gy_2, Gz_2, Ax_2, Ay_2, Az_2, Gy_3...

That required us to split them up into two devices and means that, to fuse
data from these two source, userspace has to do the harder job of
aligning the two datasets.

For this device, things are simpler in that you always a 'scan' that goes
across both accelerometer and gyroscope channels.  That allows us to
represent it as a single IIO device with a single buffer.

I'm not seeing any reference in the lsm9ds1 to the pattern registers
that are used to handle difference in frequency for the other
parts by letting us know what is actually present in each data set
in the fifo.

Now, that doesn't meant we can't still handle them separately given
we already do that for other parts.

Anyhow, is my understanding correct?

Jonathan

> 
> Sidenote: I thought about renaming things to "lsm6ds0" here just because
> of the name and because the registers are (almost) the same as for my
> lsm9ds1. But I'm not a fan of blindly doing that without being able to
> test. When the current patchset looks good to you, let's keep it that way.
> 
>                             martin

Re: [PATCH v3 4/5] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

[Lorenzo Bianconi]

[-- Attachment #1: Type: text/plain, Size: 3161 bytes --]

> On Sun, 28 Jul 2019 08:04:51 +0200
> Martin Kepplinger <martin.kepplinger@puri.sm> wrote:
> 
> > On 27.07.19 19:48, Jonathan Cameron wrote:
> > > On Thu, 25 Jul 2019 07:31:31 +0200
> > > Martin Kepplinger <martin.kepplinger@puri.sm> 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>  
> > > I'm a little confused on this hardware.
> > > 
> > > How does buffered output work if these are independently clocked?
> > > 
> > > I took a quick look at the datasheet, and 'suspect' the answer is that
> > > it runs at the gyro frequencies if both are enable. Is that right?
> > >   
> > 
> > Thanks for reviewing, Jonathan,
> > 
> > Correct. It says so in chapter 7.12. But that's a "problem" with all
> > these imu devices, not specific to this addition right?
> It's not a problem as such, but there is a related difference in this
> device to the others supported by this driver.
> 
> The other parts seem to allow for independent data rate setting, with
> streaming to the buffer that isn't in 'lock step'.  I.e you can get
> 
> Ax_1, Ay_1, Az_1, Gx_1, Gy_1, Gz_1, Gx_2, Gy_2, Gz_2, Ax_2, Ay_2, Az_2, Gy_3...

correct

> 
> That required us to split them up into two devices and means that, to fuse
> data from these two source, userspace has to do the harder job of
> aligning the two datasets.
> 
> For this device, things are simpler in that you always a 'scan' that goes
> across both accelerometer and gyroscope channels.  That allows us to
> represent it as a single IIO device with a single buffer.
> 
> I'm not seeing any reference in the lsm9ds1 to the pattern registers
> that are used to handle difference in frequency for the other
> parts by letting us know what is actually present in each data set
> in the fifo.
> 
> Now, that doesn't meant we can't still handle them separately given
> we already do that for other parts.

what about reusing st_lsm6dsx_read_fifo() for lsm6ds0/lsm9ds1 but setting hw->sip to:
- hw->sip = 1 (acc_sip = 1, gyro_sip = 0) when just the acc is enabled
- hw->sip = 2 (acc_sip = 1, gyro_sip = 1) when both devices are enabled

I guess it is just a matter of adding a 'bool fixed_pattern' in
st_lsm6dsx_settings. What do you think?

Regards,
Lorenzo

> 
> Anyhow, is my understanding correct?
> 
> Jonathan
> 
> > 
> > Sidenote: I thought about renaming things to "lsm6ds0" here just because
> > of the name and because the registers are (almost) the same as for my
> > lsm9ds1. But I'm not a fan of blindly doing that without being able to
> > test. When the current patchset looks good to you, let's keep it that way.
> > 
> >                             martin
> 

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Re: [PATCH v3 4/5] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

[Jonathan Cameron]

On Sun, 28 Jul 2019 19:52:34 +0200
Lorenzo Bianconi <lorenzo@kernel.org> wrote:

> > On Sun, 28 Jul 2019 08:04:51 +0200
> > Martin Kepplinger <martin.kepplinger@puri.sm> wrote:
> >   
> > > On 27.07.19 19:48, Jonathan Cameron wrote:  
> > > > On Thu, 25 Jul 2019 07:31:31 +0200
> > > > Martin Kepplinger <martin.kepplinger@puri.sm> 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>    
> > > > I'm a little confused on this hardware.
> > > > 
> > > > How does buffered output work if these are independently clocked?
> > > > 
> > > > I took a quick look at the datasheet, and 'suspect' the answer is that
> > > > it runs at the gyro frequencies if both are enable. Is that right?
> > > >     
> > > 
> > > Thanks for reviewing, Jonathan,
> > > 
> > > Correct. It says so in chapter 7.12. But that's a "problem" with all
> > > these imu devices, not specific to this addition right?  
> > It's not a problem as such, but there is a related difference in this
> > device to the others supported by this driver.
> > 
> > The other parts seem to allow for independent data rate setting, with
> > streaming to the buffer that isn't in 'lock step'.  I.e you can get
> > 
> > Ax_1, Ay_1, Az_1, Gx_1, Gy_1, Gz_1, Gx_2, Gy_2, Gz_2, Ax_2, Ay_2, Az_2, Gy_3...  
> 
> correct
> 
> > 
> > That required us to split them up into two devices and means that, to fuse
> > data from these two source, userspace has to do the harder job of
> > aligning the two datasets.
> > 
> > For this device, things are simpler in that you always a 'scan' that goes
> > across both accelerometer and gyroscope channels.  That allows us to
> > represent it as a single IIO device with a single buffer.
> > 
> > I'm not seeing any reference in the lsm9ds1 to the pattern registers
> > that are used to handle difference in frequency for the other
> > parts by letting us know what is actually present in each data set
> > in the fifo.
> > 
> > Now, that doesn't meant we can't still handle them separately given
> > we already do that for other parts.  
> 
> what about reusing st_lsm6dsx_read_fifo() for lsm6ds0/lsm9ds1 but setting hw->sip to:
> - hw->sip = 1 (acc_sip = 1, gyro_sip = 0) when just the acc is enabled
> - hw->sip = 2 (acc_sip = 1, gyro_sip = 1) when both devices are enabled
> 
> I guess it is just a matter of adding a 'bool fixed_pattern' in
> st_lsm6dsx_settings. What do you think?

If I understand this, the intent is still to split it to two separate
IIO devices?  I don't really mind if that's the case and it seems like something
similar to what you describe should work for that.

If we go this way, some comments should be added to explain that whilst
we could have handled this as a single IIO device, we have split it to
be more consistent with the other more flexible devices.

Thanks,

Jonathan

> 
> Regards,
> Lorenzo
> 
> > 
> > Anyhow, is my understanding correct?
> > 
> > Jonathan
> >   
> > > 
> > > Sidenote: I thought about renaming things to "lsm6ds0" here just because
> > > of the name and because the registers are (almost) the same as for my
> > > lsm9ds1. But I'm not a fan of blindly doing that without being able to
> > > test. When the current patchset looks good to you, let's keep it that way.
> > > 
> > >                             martin  
> >