[PATCH v5 0/4] iio: imu: st_lsm6dsx: Add support for LSM9DS1

[PATCH v5 0/4] iio: imu: st_lsm6dsx: Add support for LSM9DS1

[Martin Kepplinger]

Add basic functionality for LSM9DS1. This has become a trivial addition
by now.

revision history
----------------
v5: struct rename and add one patch from Lorenzo in order handle fifo-enable
    correctly. thanks.
v4: rebase on top of today's iio testing branch with Lorenzo's recent work
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 (1):
  iio: imu: st_lsm6dsx: introduce update_fifo function pointer

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            |   2 +-
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h       |  12 ++
 .../iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c    |  19 ++-
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c  | 124 ++++++++++++++++--
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c   |   5 +
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c   |   5 +
 7 files changed, 154 insertions(+), 14 deletions(-)

-- 
2.20.1

[PATCH v5 1/4] iio: imu: st_lsm6dsx: introduce update_fifo function pointer

[Martin Kepplinger]

From: Lorenzo Bianconi <lorenzo@kernel.org>

Introduce update_fifo routine pointer in st_lsm6dsx_fifo_ops data
structure since we will need a different update FIFO configuration
callback adding support for lsm6ds0/lsm9ds1 imu device

Signed-off-by: Lorenzo Bianconi <lorenzo@kernel.org>
Tested-by: Martin Kepplinger <martin.kepplinger@puri.sm>
---
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h       |  4 ++++
 .../iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c    | 19 +++++++++++++++----
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c  |  6 ++++++
 3 files changed, 25 insertions(+), 4 deletions(-)

diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index 4e8e67ae1632..055e52dec36a 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -75,6 +75,7 @@ struct st_lsm6dsx_reg {
 	u8 mask;
 };
 
+struct st_lsm6dsx_sensor;
 struct st_lsm6dsx_hw;
 
 struct st_lsm6dsx_odr {
@@ -101,12 +102,14 @@ struct st_lsm6dsx_fs_table_entry {
 
 /**
  * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
+ * @update_fifo: Update FIFO configuration callback.
  * @read_fifo: Read FIFO callback.
  * @fifo_th: FIFO threshold register info (addr + mask).
  * @fifo_diff: FIFO diff status register info (addr + mask).
  * @th_wl: FIFO threshold word length.
  */
 struct st_lsm6dsx_fifo_ops {
+	int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
 	int (*read_fifo)(struct st_lsm6dsx_hw *hw);
 	struct {
 		u8 addr;
@@ -327,6 +330,7 @@ int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
 				u16 watermark);
+int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
 int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
 			     enum st_lsm6dsx_fifo_mode fifo_mode);
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
index 2c03a5b80f80..b0f3da1976e4 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
@@ -602,9 +602,8 @@ int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw)
 	return err;
 }
 
-static int st_lsm6dsx_update_fifo(struct iio_dev *iio_dev, bool enable)
+int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable)
 {
-	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
 	struct st_lsm6dsx_hw *hw = sensor->hw;
 	int err;
 
@@ -676,12 +675,24 @@ static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private)
 
 static int st_lsm6dsx_buffer_preenable(struct iio_dev *iio_dev)
 {
-	return st_lsm6dsx_update_fifo(iio_dev, true);
+	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+	struct st_lsm6dsx_hw *hw = sensor->hw;
+
+	if (!hw->settings->fifo_ops.update_fifo)
+		return -ENOTSUPP;
+
+	return hw->settings->fifo_ops.update_fifo(sensor, true);
 }
 
 static int st_lsm6dsx_buffer_postdisable(struct iio_dev *iio_dev)
 {
-	return st_lsm6dsx_update_fifo(iio_dev, false);
+	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+	struct st_lsm6dsx_hw *hw = sensor->hw;
+
+	if (!hw->settings->fifo_ops.update_fifo)
+		return -ENOTSUPP;
+
+	return hw->settings->fifo_ops.update_fifo(sensor, false);
 }
 
 static const struct iio_buffer_setup_ops st_lsm6dsx_buffer_ops = {
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index 85824d6739ee..0aa93b45d772 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -154,6 +154,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 			},
 		},
 		.fifo_ops = {
+			.update_fifo = st_lsm6dsx_update_fifo,
 			.read_fifo = st_lsm6dsx_read_fifo,
 			.fifo_th = {
 				.addr = 0x06,
@@ -262,6 +263,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 			},
 		},
 		.fifo_ops = {
+			.update_fifo = st_lsm6dsx_update_fifo,
 			.read_fifo = st_lsm6dsx_read_fifo,
 			.fifo_th = {
 				.addr = 0x06,
@@ -379,6 +381,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 			},
 		},
 		.fifo_ops = {
+			.update_fifo = st_lsm6dsx_update_fifo,
 			.read_fifo = st_lsm6dsx_read_fifo,
 			.fifo_th = {
 				.addr = 0x06,
@@ -490,6 +493,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 			},
 		},
 		.fifo_ops = {
+			.update_fifo = st_lsm6dsx_update_fifo,
 			.read_fifo = st_lsm6dsx_read_tagged_fifo,
 			.fifo_th = {
 				.addr = 0x07,
@@ -616,6 +620,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 			},
 		},
 		.fifo_ops = {
+			.update_fifo = st_lsm6dsx_update_fifo,
 			.read_fifo = st_lsm6dsx_read_tagged_fifo,
 			.fifo_th = {
 				.addr = 0x07,
@@ -719,6 +724,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 			},
 		},
 		.fifo_ops = {
+			.update_fifo = st_lsm6dsx_update_fifo,
 			.read_fifo = st_lsm6dsx_read_tagged_fifo,
 			.fifo_th = {
 				.addr = 0x07,
-- 
2.20.1

[PATCH v5 2/4] 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>
Acked-by: Lorenzo Bianconi <lorenzo@kernel.org>
---
 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 055e52dec36a..090b7bd3c5b0 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -203,6 +203,9 @@ 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.
  * @channels: IIO channels supported by the device.
@@ -216,6 +219,9 @@ 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 0aa93b45d772..1b46d9dc2089 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)
 
 static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
 	ST_LSM6DSX_CHANNEL(IIO_ACCEL, 0x28, IIO_MOD_X, 0),
@@ -78,6 +73,9 @@ static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
 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 = {
 			{
@@ -187,6 +185,9 @@ 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 = {
 			{
@@ -296,6 +297,9 @@ 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 = {
 			{
@@ -414,6 +418,9 @@ 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 = {
 			{
@@ -544,6 +551,9 @@ 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 = {
 			{
@@ -645,6 +655,9 @@ 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 = {
 			{
@@ -1172,10 +1185,10 @@ 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");
@@ -1275,7 +1288,7 @@ 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)
@@ -1284,7 +1297,7 @@ 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 v5 3/4] 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.

accelerometer and gyroscope are not independently clocked. It runs at the gyro
frequencies if both are enabled, see chapter 7.12 of the datasheet.
We could have handled this as a single IIO device but we have split
it up to be more consistent with the other more flexible devices.

Despite supporting and testing the LSM9DS1, we call the gyro channels
iio_chan_spec struct "st_lsm6ds0_gyro_channels" because the register
description is equal. This suggests that supporting LSM6DS0 should be
trivial to do.

Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm>
---
 drivers/iio/imu/st_lsm6dsx/Kconfig           |  2 +-
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h      |  2 +
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 87 ++++++++++++++++++++
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c  |  5 ++
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c  |  5 ++
 5 files changed, 100 insertions(+), 1 deletion(-)

diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig
index 939058b27746..77aa0e77212d 100644
--- a/drivers/iio/imu/st_lsm6dsx/Kconfig
+++ b/drivers/iio/imu/st_lsm6dsx/Kconfig
@@ -12,7 +12,7 @@ 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,
-	  ism330dhcx
+	  ism330dhcx 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 090b7bd3c5b0..196e344301f6 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -24,6 +24,7 @@
 #define ST_LSM6DSR_DEV_NAME	"lsm6dsr"
 #define ST_LSM6DS3TRC_DEV_NAME	"lsm6ds3tr-c"
 #define ST_ISM330DHCX_DEV_NAME	"ism330dhcx"
+#define ST_LSM9DS1_DEV_NAME	"lsm9ds1"
 
 enum st_lsm6dsx_hw_id {
 	ST_LSM6DS3_ID,
@@ -37,6 +38,7 @@ enum st_lsm6dsx_hw_id {
 	ST_LSM6DSR_ID,
 	ST_LSM6DS3TRC_ID,
 	ST_ISM330DHCX_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 1b46d9dc2089..ad839ccf871c 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>
@@ -70,7 +79,85 @@ static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
 	IIO_CHAN_SOFT_TIMESTAMP(3),
 };
 
+static const struct iio_chan_spec st_lsm6ds0_gyro_channels[] = {
+	ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x18, IIO_MOD_X, 0),
+	ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1a, IIO_MOD_Y, 1),
+	ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1c, IIO_MOD_Z, 2),
+	IIO_CHAN_SOFT_TIMESTAMP(3),
+};
+
 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,
+			},
+		},
+		.channels = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.chan = st_lsm6dsx_acc_channels,
+				.len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.chan = st_lsm6ds0_gyro_channels,
+				.len = ARRAY_SIZE(st_lsm6ds0_gyro_channels),
+			},
+		},
+		.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,
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
index 15c6aa5b6caa..2f1b30ff083b 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
@@ -83,6 +83,10 @@ static const struct of_device_id st_lsm6dsx_i2c_of_match[] = {
 		.compatible = "st,ism330dhcx",
 		.data = (void *)ST_ISM330DHCX_ID,
 	},
+	{
+		.compatible = "st,lsm9ds1",
+		.data = (void *)ST_LSM9DS1_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match);
@@ -99,6 +103,7 @@ static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = {
 	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
 	{ ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_ID },
 	{ ST_ISM330DHCX_DEV_NAME, ST_ISM330DHCX_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 a8430ee11310..421ce704f346 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
@@ -83,6 +83,10 @@ static const struct of_device_id st_lsm6dsx_spi_of_match[] = {
 		.compatible = "st,ism330dhcx",
 		.data = (void *)ST_ISM330DHCX_ID,
 	},
+	{
+		.compatible = "st,lsm9ds1",
+		.data = (void *)ST_LSM9DS1_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match);
@@ -99,6 +103,7 @@ static const struct spi_device_id st_lsm6dsx_spi_id_table[] = {
 	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
 	{ ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_ID },
 	{ ST_ISM330DHCX_DEV_NAME, ST_ISM330DHCX_ID },
+	{ ST_LSM9DS1_DEV_NAME, ST_LSM9DS1_ID },
 	{},
 };
 MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table);
-- 
2.20.1

[PATCH v5 4/4] 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 87407d110bb7..0b0a74d9ab89 100644
--- a/Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt
+++ b/Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt
@@ -13,6 +13,7 @@ Required properties:
   "st,lsm6dsr"
   "st,lsm6ds3tr-c"
   "st,ism330dhcx"
+  "st,lsm9ds1"
 - reg: i2c address of the sensor / spi cs line
 
 Optional properties:
-- 
2.20.1

Re: [PATCH v5 4/4] dt-bindings: iio: imu: st_lsm6dsx: add lsm9ds1 device bindings

[Jonathan Cameron]

On Wed, 21 Aug 2019 15:25:20 +0200
Martin Kepplinger <martin.kepplinger@puri.sm> wrote:

Tweaked to add the -imu plus some text in the patch description to say
why.

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

Thanks,

Jonathan

> 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 87407d110bb7..0b0a74d9ab89 100644
> --- a/Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt
> +++ b/Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt
> @@ -13,6 +13,7 @@ Required properties:
>    "st,lsm6dsr"
>    "st,lsm6ds3tr-c"
>    "st,ism330dhcx"
> +  "st,lsm9ds1"
>  - reg: i2c address of the sensor / spi cs line
>  
>  Optional properties:

Re: [PATCH v5 1/4] iio: imu: st_lsm6dsx: introduce update_fifo function pointer

[Jonathan Cameron]

On Wed, 21 Aug 2019 15:25:17 +0200
Martin Kepplinger <martin.kepplinger@puri.sm> wrote:

> From: Lorenzo Bianconi <lorenzo@kernel.org>
> 
> Introduce update_fifo routine pointer in st_lsm6dsx_fifo_ops data
> structure since we will need a different update FIFO configuration
> callback adding support for lsm6ds0/lsm9ds1 imu device
> 
> Signed-off-by: Lorenzo Bianconi <lorenzo@kernel.org>
> Tested-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

> ---
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h       |  4 ++++
>  .../iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c    | 19 +++++++++++++++----
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c  |  6 ++++++
>  3 files changed, 25 insertions(+), 4 deletions(-)
> 
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> index 4e8e67ae1632..055e52dec36a 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> @@ -75,6 +75,7 @@ struct st_lsm6dsx_reg {
>  	u8 mask;
>  };
>  
> +struct st_lsm6dsx_sensor;
>  struct st_lsm6dsx_hw;
>  
>  struct st_lsm6dsx_odr {
> @@ -101,12 +102,14 @@ struct st_lsm6dsx_fs_table_entry {
>  
>  /**
>   * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
> + * @update_fifo: Update FIFO configuration callback.
>   * @read_fifo: Read FIFO callback.
>   * @fifo_th: FIFO threshold register info (addr + mask).
>   * @fifo_diff: FIFO diff status register info (addr + mask).
>   * @th_wl: FIFO threshold word length.
>   */
>  struct st_lsm6dsx_fifo_ops {
> +	int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
>  	int (*read_fifo)(struct st_lsm6dsx_hw *hw);
>  	struct {
>  		u8 addr;
> @@ -327,6 +330,7 @@ int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
>  int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
>  int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
>  				u16 watermark);
> +int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
>  int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
>  int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
>  			     enum st_lsm6dsx_fifo_mode fifo_mode);
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
> index 2c03a5b80f80..b0f3da1976e4 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
> @@ -602,9 +602,8 @@ int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw)
>  	return err;
>  }
>  
> -static int st_lsm6dsx_update_fifo(struct iio_dev *iio_dev, bool enable)
> +int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable)
>  {
> -	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
>  	struct st_lsm6dsx_hw *hw = sensor->hw;
>  	int err;
>  
> @@ -676,12 +675,24 @@ static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private)
>  
>  static int st_lsm6dsx_buffer_preenable(struct iio_dev *iio_dev)
>  {
> -	return st_lsm6dsx_update_fifo(iio_dev, true);
> +	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
> +	struct st_lsm6dsx_hw *hw = sensor->hw;
> +
> +	if (!hw->settings->fifo_ops.update_fifo)
> +		return -ENOTSUPP;
> +
> +	return hw->settings->fifo_ops.update_fifo(sensor, true);
>  }
>  
>  static int st_lsm6dsx_buffer_postdisable(struct iio_dev *iio_dev)
>  {
> -	return st_lsm6dsx_update_fifo(iio_dev, false);
> +	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
> +	struct st_lsm6dsx_hw *hw = sensor->hw;
> +
> +	if (!hw->settings->fifo_ops.update_fifo)
> +		return -ENOTSUPP;
> +
> +	return hw->settings->fifo_ops.update_fifo(sensor, false);
>  }
>  
>  static const struct iio_buffer_setup_ops st_lsm6dsx_buffer_ops = {
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> index 85824d6739ee..0aa93b45d772 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> @@ -154,6 +154,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  			},
>  		},
>  		.fifo_ops = {
> +			.update_fifo = st_lsm6dsx_update_fifo,
>  			.read_fifo = st_lsm6dsx_read_fifo,
>  			.fifo_th = {
>  				.addr = 0x06,
> @@ -262,6 +263,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  			},
>  		},
>  		.fifo_ops = {
> +			.update_fifo = st_lsm6dsx_update_fifo,
>  			.read_fifo = st_lsm6dsx_read_fifo,
>  			.fifo_th = {
>  				.addr = 0x06,
> @@ -379,6 +381,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  			},
>  		},
>  		.fifo_ops = {
> +			.update_fifo = st_lsm6dsx_update_fifo,
>  			.read_fifo = st_lsm6dsx_read_fifo,
>  			.fifo_th = {
>  				.addr = 0x06,
> @@ -490,6 +493,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  			},
>  		},
>  		.fifo_ops = {
> +			.update_fifo = st_lsm6dsx_update_fifo,
>  			.read_fifo = st_lsm6dsx_read_tagged_fifo,
>  			.fifo_th = {
>  				.addr = 0x07,
> @@ -616,6 +620,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  			},
>  		},
>  		.fifo_ops = {
> +			.update_fifo = st_lsm6dsx_update_fifo,
>  			.read_fifo = st_lsm6dsx_read_tagged_fifo,
>  			.fifo_th = {
>  				.addr = 0x07,
> @@ -719,6 +724,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  			},
>  		},
>  		.fifo_ops = {
> +			.update_fifo = st_lsm6dsx_update_fifo,
>  			.read_fifo = st_lsm6dsx_read_tagged_fifo,
>  			.fifo_th = {
>  				.addr = 0x07,

Re: [PATCH v5 2/4] iio: imu: st_lsm6sdx: move register definitions to sensor_settings struct

[Jonathan Cameron]

On Wed, 21 Aug 2019 15:25:18 +0200
Martin Kepplinger <martin.kepplinger@puri.sm> wrote:

> 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>
> Acked-by: Lorenzo Bianconi <lorenzo@kernel.org>

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

Thanks,

Jonathan

> ---
>  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 055e52dec36a..090b7bd3c5b0 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> @@ -203,6 +203,9 @@ 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.
>   * @channels: IIO channels supported by the device.
> @@ -216,6 +219,9 @@ 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 0aa93b45d772..1b46d9dc2089 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)
>  
>  static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
>  	ST_LSM6DSX_CHANNEL(IIO_ACCEL, 0x28, IIO_MOD_X, 0),
> @@ -78,6 +73,9 @@ static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
>  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 = {
>  			{
> @@ -187,6 +185,9 @@ 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 = {
>  			{
> @@ -296,6 +297,9 @@ 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 = {
>  			{
> @@ -414,6 +418,9 @@ 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 = {
>  			{
> @@ -544,6 +551,9 @@ 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 = {
>  			{
> @@ -645,6 +655,9 @@ 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 = {
>  			{
> @@ -1172,10 +1185,10 @@ 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");
> @@ -1275,7 +1288,7 @@ 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)
> @@ -1284,7 +1297,7 @@ 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)

Re: [PATCH v5 3/4] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

[Jonathan Cameron]

On Wed, 21 Aug 2019 15:25:19 +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.
> 
> accelerometer and gyroscope are not independently clocked. It runs at the gyro
> frequencies if both are enabled, see chapter 7.12 of the datasheet.
> We could have handled this as a single IIO device but we have split
> it up to be more consistent with the other more flexible devices.
> 
> Despite supporting and testing the LSM9DS1, we call the gyro channels
> iio_chan_spec struct "st_lsm6ds0_gyro_channels" because the register
> description is equal. This suggests that supporting LSM6DS0 should be
> trivial to do.
> 
> Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm>

Typo in the patch title that I've fixed up.  After a bit of thought
I've added postfix -imu but only in minimal number of places.

I've not bothered with the internal defines as within the driver at least
it's obvious which part we are talking about.

imu isn't the perfect name but having both -gyroaccel or something similar
is also not great.  We still have time to change this if people feel
strongly about it.

Applied to the togreg branch of iio.git and pushed out as testing.

Thanks,

Jonathan


> ---
>  drivers/iio/imu/st_lsm6dsx/Kconfig           |  2 +-
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h      |  2 +
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 87 ++++++++++++++++++++
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c  |  5 ++
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c  |  5 ++
>  5 files changed, 100 insertions(+), 1 deletion(-)
> 
> diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig
> index 939058b27746..77aa0e77212d 100644
> --- a/drivers/iio/imu/st_lsm6dsx/Kconfig
> +++ b/drivers/iio/imu/st_lsm6dsx/Kconfig
> @@ -12,7 +12,7 @@ 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,
> -	  ism330dhcx
> +	  ism330dhcx 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 090b7bd3c5b0..196e344301f6 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> @@ -24,6 +24,7 @@
>  #define ST_LSM6DSR_DEV_NAME	"lsm6dsr"
>  #define ST_LSM6DS3TRC_DEV_NAME	"lsm6ds3tr-c"
>  #define ST_ISM330DHCX_DEV_NAME	"ism330dhcx"
> +#define ST_LSM9DS1_DEV_NAME	"lsm9ds1"
>  
>  enum st_lsm6dsx_hw_id {
>  	ST_LSM6DS3_ID,
> @@ -37,6 +38,7 @@ enum st_lsm6dsx_hw_id {
>  	ST_LSM6DSR_ID,
>  	ST_LSM6DS3TRC_ID,
>  	ST_ISM330DHCX_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 1b46d9dc2089..ad839ccf871c 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>
> @@ -70,7 +79,85 @@ static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
>  	IIO_CHAN_SOFT_TIMESTAMP(3),
>  };
>  
> +static const struct iio_chan_spec st_lsm6ds0_gyro_channels[] = {
> +	ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x18, IIO_MOD_X, 0),
> +	ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1a, IIO_MOD_Y, 1),
> +	ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1c, IIO_MOD_Z, 2),
> +	IIO_CHAN_SOFT_TIMESTAMP(3),
> +};
> +
>  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,
> +			},
> +		},
> +		.channels = {
> +			[ST_LSM6DSX_ID_ACC] = {
> +				.chan = st_lsm6dsx_acc_channels,
> +				.len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
> +			},
> +			[ST_LSM6DSX_ID_GYRO] = {
> +				.chan = st_lsm6ds0_gyro_channels,
> +				.len = ARRAY_SIZE(st_lsm6ds0_gyro_channels),
> +			},
> +		},
> +		.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,
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
> index 15c6aa5b6caa..2f1b30ff083b 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
> @@ -83,6 +83,10 @@ static const struct of_device_id st_lsm6dsx_i2c_of_match[] = {
>  		.compatible = "st,ism330dhcx",
>  		.data = (void *)ST_ISM330DHCX_ID,
>  	},
> +	{
> +		.compatible = "st,lsm9ds1",
> +		.data = (void *)ST_LSM9DS1_ID,
> +	},
>  	{},
>  };
>  MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match);
> @@ -99,6 +103,7 @@ static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = {
>  	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
>  	{ ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_ID },
>  	{ ST_ISM330DHCX_DEV_NAME, ST_ISM330DHCX_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 a8430ee11310..421ce704f346 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
> @@ -83,6 +83,10 @@ static const struct of_device_id st_lsm6dsx_spi_of_match[] = {
>  		.compatible = "st,ism330dhcx",
>  		.data = (void *)ST_ISM330DHCX_ID,
>  	},
> +	{
> +		.compatible = "st,lsm9ds1",
> +		.data = (void *)ST_LSM9DS1_ID,
> +	},
>  	{},
>  };
>  MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match);
> @@ -99,6 +103,7 @@ static const struct spi_device_id st_lsm6dsx_spi_id_table[] = {
>  	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
>  	{ ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_ID },
>  	{ ST_ISM330DHCX_DEV_NAME, ST_ISM330DHCX_ID },
> +	{ ST_LSM9DS1_DEV_NAME, ST_LSM9DS1_ID },
>  	{},
>  };
>  MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table);

Re: [PATCH v5 2/4] iio: imu: st_lsm6sdx: move register definitions to sensor_settings struct

[Martin Kepplinger]

On 21.08.19 15:25, Martin Kepplinger wrote:
> 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>
> Acked-by: Lorenzo Bianconi <lorenzo@kernel.org>
> ---
>  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(-)
> 

I just notices the commit message header typo "st_lsm6sdx" should be
"st_lsm6dsx" of course. If you can still rebase/force-push to testing,
would you be able to fix that? If it's too far out there already, so be
it :) sorry for the typo, and thanks for adding "-imu" yourself where
applicable.

thanks,

                      martin

Re: [PATCH v5 4/4] dt-bindings: iio: imu: st_lsm6dsx: add lsm9ds1 device bindings

[Rob Herring]

On Wed, 21 Aug 2019 15:25:20 +0200, Martin Kepplinger wrote:
> Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm>
> ---
>  Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt | 1 +
>  1 file changed, 1 insertion(+)
> 

Reviewed-by: Rob Herring <robh@kernel.org>

Re: [PATCH v5 2/4] iio: imu: st_lsm6sdx: move register definitions to sensor_settings struct

[Jonathan Cameron]

On Tue, 27 Aug 2019 08:54:57 +0200
Martin Kepplinger <martin.kepplinger@puri.sm> wrote:

> On 21.08.19 15:25, Martin Kepplinger wrote:
> > 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>
> > Acked-by: Lorenzo Bianconi <lorenzo@kernel.org>
> > ---
> >  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(-)
> >   
> 
> I just notices the commit message header typo "st_lsm6sdx" should be
> "st_lsm6dsx" of course. If you can still rebase/force-push to testing,
> would you be able to fix that? If it's too far out there already, so be
> it :) sorry for the typo, and thanks for adding "-imu" yourself where
> applicable.

I can indeed. Fixed up.

Added Rob's ack to the dt patch as well.

Thanks,

Jonathan

> 
> thanks,
> 
>                       martin