Commit b6c71b1e authored by Martin Kepplinger's avatar Martin Kepplinger Committed by Angus Ainslie (Purism)

iio: imu: st_lsm6dsx: add support for accel/gyro unit of lsm9sd1

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's avatarMartin Kepplinger <martin.kepplinger@puri.sm>
parent 2dda948b
......@@ -12,6 +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
and the accelerometer/gyroscope of lsm9ds1.
To compile this driver as a module, choose M here: the module
will be called st_lsm6dsx.
......
......@@ -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,
};
......
......@@ -30,6 +30,13 @@
* - 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 +77,85 @@ 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,
......
......@@ -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);
......
......@@ -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);
......
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