| Message ID | 20190813073533.8007-3-martin.kepplinger@puri.sm (mailing list archive) |
|---|---|
| State | New, archived |
| Headers | show |
| Series | iio: imu: st_lsm6dsx: Add support for LSM9DS1 | expand |
> 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. > > Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm> Hi Martin, most of comments are nitpicks (inline), the only issue I can see here is we can enable hw fifo for lsm6ds0/lsm9ds1 and read_fifo routine pointer is not currently initialized so we will end up with a NULL pointer dereference. Since we will need a different update FIFO routine for lsm6ds0/lsm9ds1 I am adding an update_fifo function pointer in fifo_ops in order to fix this issue. Regards, Lorenzo > --- > 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 c8f333902eb7..d03b5a2d8549 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" should be called 'lsm9ds1_imu' since lsm9ds1 is a 9-axis device? what do you think? > > 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, same here..ST_LSM9DS1_IMU_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 56e1c5262a2c..f038bb06f635 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_lsm9dsx_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), > +}; > + why not st_lsm6ds0_gyro_channels? > 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_lsm9dsx_gyro_channels, > + .len = ARRAY_SIZE(st_lsm9dsx_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", same here, what is the right compatible string? "st,lsm9ds1 or "st,lsm9ds1_imu"? > + .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 >
On 19.08.19 11:48, 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. >> >> 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. >> >> Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm> > > Hi Martin, > > most of comments are nitpicks (inline), the only issue I can see here is we can enable > hw fifo for lsm6ds0/lsm9ds1 and read_fifo routine pointer is not currently > initialized so we will end up with a NULL pointer dereference. Since we will > need a different update FIFO routine for lsm6ds0/lsm9ds1 I am adding an > update_fifo function pointer in fifo_ops in order to fix this issue. > > Regards, > Lorenzo > >> --- >> 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 c8f333902eb7..d03b5a2d8549 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" > > should be called 'lsm9ds1_imu' since lsm9ds1 is a 9-axis device? what do you > think? > >> >> 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, > > same here..ST_LSM9DS1_IMU_ID I wouldn't add "imu" to the actual part name, see below... > >> 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 56e1c5262a2c..f038bb06f635 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_lsm9dsx_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), >> +}; >> + > > why not st_lsm6ds0_gyro_channels? Would be ok with me. I'll remember this if I do a new iteration. > >> 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_lsm9dsx_gyro_channels, >> + .len = ARRAY_SIZE(st_lsm9dsx_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", > > same here, what is the right compatible string? "st,lsm9ds1 or > "st,lsm9ds1_imu"? well, I'm open for this change, but "imu" doesn't really mean much technically, so I would stick with the device name. "imu" is not part of the "part" name... > >> + .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 >>
> >> 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. > >> > >> Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm> > > > > Hi Martin, > > > > most of comments are nitpicks (inline), the only issue I can see here is we can enable > > hw fifo for lsm6ds0/lsm9ds1 and read_fifo routine pointer is not currently > > initialized so we will end up with a NULL pointer dereference. Since we will > > need a different update FIFO routine for lsm6ds0/lsm9ds1 I am adding an > > update_fifo function pointer in fifo_ops in order to fix this issue. > > > > Regards, > > Lorenzo > > > >> --- [...] > > > > should be called 'lsm9ds1_imu' since lsm9ds1 is a 9-axis device? what do you > > think? > > > >> > >> 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, > > > > same here..ST_LSM9DS1_IMU_ID > > I wouldn't add "imu" to the actual part name, see below... > > > > >> ST_LSM6DSX_MAX_ID, > >> }; > >> [...] > >> +}; > >> + > > > > why not st_lsm6ds0_gyro_channels? > > Would be ok with me. I'll remember this if I do a new iteration. > > > [...] > >> 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", > > > > same here, what is the right compatible string? "st,lsm9ds1 or > > "st,lsm9ds1_imu"? > > well, I'm open for this change, but "imu" doesn't really mean much > technically, so I would stick with the device name. "imu" is not part of > the "part" name... > I have not a strong opinion on it but IMU means 'Inertial Measurement Unit' and it used to indicate a device that runs a combination of accelerometer and gyroscope. I think using LSM9DS1 as device name it is weird since I would expect even the magn in this case (all supported devices by st_lsm6dsx are just IMU). I am not sure if "st,lsm9ds1_imu" is the right compatible string but I would indicate this node does not run a magn device. @Jonathan: what do you think? Regards, Lorenzo > > > >> + .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 > >> >
On Wed, 21 Aug 2019 11:08:58 +0200 Lorenzo Bianconi <lorenzo@kernel.org> 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. > > >> > > >> Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm> > > > > > > Hi Martin, > > > > > > most of comments are nitpicks (inline), the only issue I can see here is we can enable > > > hw fifo for lsm6ds0/lsm9ds1 and read_fifo routine pointer is not currently > > > initialized so we will end up with a NULL pointer dereference. Since we will > > > need a different update FIFO routine for lsm6ds0/lsm9ds1 I am adding an > > > update_fifo function pointer in fifo_ops in order to fix this issue. > > > > > > Regards, > > > Lorenzo > > > > > >> --- > > [...] > > > > > > > should be called 'lsm9ds1_imu' since lsm9ds1 is a 9-axis device? what do you > > > think? > > > > > >> > > >> 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, > > > > > > same here..ST_LSM9DS1_IMU_ID > > > > I wouldn't add "imu" to the actual part name, see below... > > > > > > > >> ST_LSM6DSX_MAX_ID, > > >> }; > > >> > > [...] > > > >> +}; > > >> + > > > > > > why not st_lsm6ds0_gyro_channels? > > > > Would be ok with me. I'll remember this if I do a new iteration. > > > > > > > [...] > > > >> 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", > > > > > > same here, what is the right compatible string? "st,lsm9ds1 or > > > "st,lsm9ds1_imu"? > > > > well, I'm open for this change, but "imu" doesn't really mean much > > technically, so I would stick with the device name. "imu" is not part of > > the "part" name... > > > > I have not a strong opinion on it but IMU means 'Inertial Measurement Unit' and > it used to indicate a device that runs a combination of accelerometer and > gyroscope. I think using LSM9DS1 as device name it is weird since I would > expect even the magn in this case (all supported devices by st_lsm6dsx are just > IMU). I am not sure if "st,lsm9ds1_imu" is the right compatible string but I > would indicate this node does not run a magn device. > > @Jonathan: what do you think? Hmm. Not totally obvious what to do here. We need a name that makes it clear this only supports part of the device. IMU gets used for cases including the magnetometer by some manufacturers, so not ideal, but perhaps it's the best we can do. Jonathan > > Regards, > Lorenzo > > > > > > >> + .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 > > >> > >
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 c8f333902eb7..d03b5a2d8549 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 56e1c5262a2c..f038bb06f635 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_lsm9dsx_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_lsm9dsx_gyro_channels, + .len = ARRAY_SIZE(st_lsm9dsx_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);
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. 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(-)