| Message ID | 20190725053132.9589-5-martin.kepplinger@puri.sm (mailing list archive) |
|---|---|
| State | New, archived |
| Headers | show |
| Series | iio: imu: st_lsm6dsx: Add support for LSM9DS1 | expand |
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
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
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);
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
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
> 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 >
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 > >
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);
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(-)