[PATCH v3] iio: imu: st_lsm6dsx: add mount matrix support

[PATCH v3] iio: imu: st_lsm6dsx: add mount matrix support

[Martin Kepplinger]

Allow to read the mount-matrix device tree property and provide the
mount_matrix file for userspace to read.

Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm>
---

tested using the lsm9ds1 on the librem5-devkit (and userspace tools like
iio-sensor-proxy) where this will be needed.

thanks,

                                       martin

revision history
----------------
v3: fix race condition during probe(). thanks Jonathan
v2: additions and simplifications according to Lorenzo's review. thanks.


 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h      | 19 +++++++++++++++++++
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c |  4 ++++
 2 files changed, 23 insertions(+)

diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index a763ff46f596..7076fc8c4c3b 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -76,6 +76,7 @@ enum st_lsm6dsx_hw_id {
 		.endianness = IIO_LE,					\
 	},								\
 	.event_spec = &st_lsm6dsx_event,				\
+	.ext_info = st_lsm6dsx_accel_ext_info,				\
 	.num_event_specs = 1,						\
 }
 
@@ -380,6 +381,7 @@ struct st_lsm6dsx_sensor {
  * @enable_event: enabled event bitmask.
  * @iio_devs: Pointers to acc/gyro iio_dev instances.
  * @settings: Pointer to the specific sensor settings in use.
+ * @orientation: sensor chip orientation relative to main hardware.
  */
 struct st_lsm6dsx_hw {
 	struct device *dev;
@@ -406,6 +408,8 @@ struct st_lsm6dsx_hw {
 	struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
 
 	const struct st_lsm6dsx_settings *settings;
+
+	struct iio_mount_matrix orientation;
 };
 
 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
@@ -479,4 +483,19 @@ st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
 	return err;
 }
 
+static const inline struct iio_mount_matrix *
+st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
+			    const struct iio_chan_spec *chan)
+{
+	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+	struct st_lsm6dsx_hw *hw = sensor->hw;
+
+	return &hw->orientation;
+}
+
+static const struct iio_chan_spec_ext_info st_lsm6dsx_accel_ext_info[] = {
+	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
+	{ }
+};
+
 #endif /* ST_LSM6DSX_H */
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index 0c64e35c7599..6e4d0a03c8b5 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -2312,6 +2312,10 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
 			return err;
 	}
 
+	err = iio_read_mount_matrix(hw->dev, "mount-matrix", &hw->orientation);
+	if (err)
+		return err;
+
 	for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
 		if (!hw->iio_devs[i])
 			continue;
-- 
2.20.1

Re: [PATCH v3] iio: imu: st_lsm6dsx: add mount matrix support

[Jonathan Cameron]

On Mon, 13 Jan 2020 11:11:40 +0100
Martin Kepplinger <martin.kepplinger@puri.sm> wrote:

> Allow to read the mount-matrix device tree property and provide the
> mount_matrix file for userspace to read.
> 
> Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm>

Applied to the togreg branch of iio.git and pushed out as testing for
the autobuilders to play with it.

Thanks,

Jonathan

> ---
> 
> tested using the lsm9ds1 on the librem5-devkit (and userspace tools like
> iio-sensor-proxy) where this will be needed.
> 
> thanks,
> 
>                                        martin
> 
> revision history
> ----------------
> v3: fix race condition during probe(). thanks Jonathan
> v2: additions and simplifications according to Lorenzo's review. thanks.
> 
> 
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h      | 19 +++++++++++++++++++
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c |  4 ++++
>  2 files changed, 23 insertions(+)
> 
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> index a763ff46f596..7076fc8c4c3b 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> @@ -76,6 +76,7 @@ enum st_lsm6dsx_hw_id {
>  		.endianness = IIO_LE,					\
>  	},								\
>  	.event_spec = &st_lsm6dsx_event,				\
> +	.ext_info = st_lsm6dsx_accel_ext_info,				\
>  	.num_event_specs = 1,						\
>  }
>  
> @@ -380,6 +381,7 @@ struct st_lsm6dsx_sensor {
>   * @enable_event: enabled event bitmask.
>   * @iio_devs: Pointers to acc/gyro iio_dev instances.
>   * @settings: Pointer to the specific sensor settings in use.
> + * @orientation: sensor chip orientation relative to main hardware.
>   */
>  struct st_lsm6dsx_hw {
>  	struct device *dev;
> @@ -406,6 +408,8 @@ struct st_lsm6dsx_hw {
>  	struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
>  
>  	const struct st_lsm6dsx_settings *settings;
> +
> +	struct iio_mount_matrix orientation;
>  };
>  
>  static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
> @@ -479,4 +483,19 @@ st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
>  	return err;
>  }
>  
> +static const inline struct iio_mount_matrix *
> +st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
> +			    const struct iio_chan_spec *chan)
> +{
> +	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
> +	struct st_lsm6dsx_hw *hw = sensor->hw;
> +
> +	return &hw->orientation;
> +}
> +
> +static const struct iio_chan_spec_ext_info st_lsm6dsx_accel_ext_info[] = {
> +	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
> +	{ }
> +};
> +
>  #endif /* ST_LSM6DSX_H */
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> index 0c64e35c7599..6e4d0a03c8b5 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> @@ -2312,6 +2312,10 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
>  			return err;
>  	}
>  
> +	err = iio_read_mount_matrix(hw->dev, "mount-matrix", &hw->orientation);
> +	if (err)
> +		return err;
> +
>  	for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
>  		if (!hw->iio_devs[i])
>  			continue;