[PATCHv2 1/3] iio: imu: st_lsm6sdx: move register definitions to sensor_settings struct

[PATCHv2 1/3] 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>
---


This is already based on Lorenzo's recent changes:
https://lore.kernel.org/linux-iio/853f216a-7814-cb79-180b-078ac5e8a359@puri.sm/T/#u
https://lore.kernel.org/linux-iio/501b0db9-63cb-905c-c09b-682eb73f1ff3@puri.sm/T/#u

revision history:
v2: improve variable names, thanks Lorenzo

thanks
                       martin



 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 ab1c66615d67..3c47f5d27d30 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -198,6 +198,9 @@ 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.
  * @odr_table: Hw sensors odr table (Hz + val).
@@ -210,6 +213,9 @@ 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 9aa109428a52..e0d2149625cc 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)
 
 #define ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR		0x28
 #define ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR		0x2a
@@ -72,6 +67,9 @@
 static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 	{
 		.wai = 0x69,
+		.int1_addr = 0x0d,
+		.int2_addr = 0x0e,
+		.reset_addr = 0x12,
 		.max_fifo_size = 1365,
 		.id = {
 			{
@@ -170,6 +168,9 @@ 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 = {
 			{
@@ -268,6 +269,9 @@ 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 = {
 			{
@@ -375,6 +379,9 @@ 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 = {
 			{
@@ -494,6 +501,9 @@ 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 = {
 			{
@@ -584,6 +594,9 @@ 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 = {
 			{
@@ -1117,10 +1130,10 @@ 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");
@@ -1220,7 +1233,7 @@ 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)
@@ -1229,7 +1242,7 @@ 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

[PATCHv2 2/3] 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.

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


This is already based on Lorenzo's recent changes:
https://lore.kernel.org/linux-iio/853f216a-7814-cb79-180b-078ac5e8a359@puri.sm/T/#u
https://lore.kernel.org/linux-iio/501b0db9-63cb-905c-c09b-682eb73f1ff3@puri.sm/T/#u

revision history:
v2: overall further simplification

thanks
                       martin



 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);
-- 
2.20.1

[PATCH 3/3] 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 92b48f242356..fd1722fc93af 100644
--- a/Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt
+++ b/Documentation/devicetree/bindings/iio/imu/st_lsm6dsx.txt
@@ -12,6 +12,7 @@ Required properties:
   "st,lsm6dsox"
   "st,lsm6dsr"
   "st,lsm6ds3tr-c"
+  "st,lsm9ds1"
 - reg: i2c address of the sensor / spi cs line
 
 Optional properties:
-- 
2.20.1

Re: [PATCHv2 1/3] iio: imu: st_lsm6sdx: move register definitions to sensor_settings struct

[Lorenzo Bianconi]

[-- Attachment #1: Type: text/plain, Size: 5590 bytes --]

> 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>

> 
> This is already based on Lorenzo's recent changes:
> https://lore.kernel.org/linux-iio/853f216a-7814-cb79-180b-078ac5e8a359@puri.sm/T/#u
> https://lore.kernel.org/linux-iio/501b0db9-63cb-905c-c09b-682eb73f1ff3@puri.sm/T/#u
> 
> revision history:
> v2: improve variable names, thanks Lorenzo
> 
> thanks
>                        martin
> 
> 
> 
>  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 ab1c66615d67..3c47f5d27d30 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> @@ -198,6 +198,9 @@ 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.
>   * @odr_table: Hw sensors odr table (Hz + val).
> @@ -210,6 +213,9 @@ 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 9aa109428a52..e0d2149625cc 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)
>  
>  #define ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR		0x28
>  #define ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR		0x2a
> @@ -72,6 +67,9 @@
>  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  	{
>  		.wai = 0x69,
> +		.int1_addr = 0x0d,
> +		.int2_addr = 0x0e,
> +		.reset_addr = 0x12,
>  		.max_fifo_size = 1365,
>  		.id = {
>  			{
> @@ -170,6 +168,9 @@ 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 = {
>  			{
> @@ -268,6 +269,9 @@ 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 = {
>  			{
> @@ -375,6 +379,9 @@ 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 = {
>  			{
> @@ -494,6 +501,9 @@ 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 = {
>  			{
> @@ -584,6 +594,9 @@ 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 = {
>  			{
> @@ -1117,10 +1130,10 @@ 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");
> @@ -1220,7 +1233,7 @@ 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)
> @@ -1229,7 +1242,7 @@ 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
> 

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Re: [PATCHv2 2/3] iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

[Lorenzo Bianconi]

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> 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.

I think LSM9DS1 relies on LSM6DS0 for acc and gyro part so I guess we can use
this name here, what do you think?

> 
> Signed-off-by: Martin Kepplinger <martin.kepplinger@puri.sm>
> ---
> 
> 
> This is already based on Lorenzo's recent changes:
> https://lore.kernel.org/linux-iio/853f216a-7814-cb79-180b-078ac5e8a359@puri.sm/T/#u
> https://lore.kernel.org/linux-iio/501b0db9-63cb-905c-c09b-682eb73f1ff3@puri.sm/T/#u
> 
> revision history:
> v2: overall further simplification
> 
> thanks
>                        martin
> 
> 
> 
>  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),

I guess you can use 0x18, 0x1a and 0x1c here and remove the definitions

> +	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);
> -- 
> 2.20.1
> 

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