Re: [PATCH 2/3] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

[Martin Kepplinger <martin.kepplinger@puri.sm>]

On 15.07.19 23:49, 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
>>
>> 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>
>> ---
>>
>> 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())

yes. I'll look over allocation once more.

> 
>>
>> 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@st.com>
>> @@ -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
>>