From patchwork Wed Apr 14 19:54:53 2021 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Andy Shevchenko X-Patchwork-Id: 421924 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org X-Spam-Level: X-Spam-Status: No, score=-16.8 required=3.0 tests=BAYES_00, HEADER_FROM_DIFFERENT_DOMAINS,INCLUDES_CR_TRAILER,INCLUDES_PATCH, MAILING_LIST_MULTI,SPF_HELO_NONE,SPF_PASS,USER_AGENT_GIT autolearn=unavailable autolearn_force=no version=3.4.0 Received: from mail.kernel.org (mail.kernel.org [198.145.29.99]) by smtp.lore.kernel.org (Postfix) with ESMTP id 17651C43461 for ; Wed, 14 Apr 2021 19:55:07 +0000 (UTC) Received: from vger.kernel.org (vger.kernel.org [23.128.96.18]) by mail.kernel.org (Postfix) with ESMTP id F0B1161154 for ; Wed, 14 Apr 2021 19:55:06 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1353568AbhDNTzY (ORCPT ); Wed, 14 Apr 2021 15:55:24 -0400 Received: from mga07.intel.com ([134.134.136.100]:35245 "EHLO mga07.intel.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1353558AbhDNTzW (ORCPT ); Wed, 14 Apr 2021 15:55:22 -0400 IronPort-SDR: yIUyhLwricyLwnXOLvpCrwNLv78wgADJ7fDUpxu4p0EvlsbIldUW6a9xOVO79TdD7j6/QlikR4 T0+glTTa0rjQ== X-IronPort-AV: E=McAfee;i="6200,9189,9954"; a="258686529" X-IronPort-AV: E=Sophos;i="5.82,223,1613462400"; d="scan'208";a="258686529" Received: from orsmga001.jf.intel.com ([10.7.209.18]) by orsmga105.jf.intel.com with ESMTP/TLS/ECDHE-RSA-AES256-GCM-SHA384; 14 Apr 2021 12:54:59 -0700 IronPort-SDR: n0PEyPYANsh45LGCEpGS75Shdws3NYUVfN7Ryc/lAonvBBmdKhfD8BJsIljmv5PSUN3V8elRyA ZU6gVrc1rgLQ== X-ExtLoop1: 1 X-IronPort-AV: E=Sophos;i="5.82,223,1613462400"; d="scan'208";a="461343766" Received: from black.fi.intel.com ([10.237.72.28]) by orsmga001.jf.intel.com with ESMTP; 14 Apr 2021 12:54:55 -0700 Received: by black.fi.intel.com (Postfix, from userid 1003) id 9176C202; Wed, 14 Apr 2021 22:55:12 +0300 (EEST) From: Andy Shevchenko To: Jonathan Cameron , =?utf-8?b?R2HDq3RhbiBB?= =?utf-8?b?bmRyw6k=?= , Andy Shevchenko , =?utf-8?q?Nuno_S=C3=A1?= , Denis Ciocca , linux-iio@vger.kernel.org, devicetree@vger.kernel.org, linux-kernel@vger.kernel.org Cc: Jonathan Cameron , Lars-Peter Clausen , Peter Meerwald-Stadler , Rob Herring , Crestez Dan Leonard , mr.lahorde@laposte.net, Matija Podravec , Sergey Borishchenko Subject: [PATCH v1 6/7] iio: st_sensors: Add lsm9ds0 IMU support Date: Wed, 14 Apr 2021 22:54:53 +0300 Message-Id: <20210414195454.84183-6-andriy.shevchenko@linux.intel.com> X-Mailer: git-send-email 2.30.2 In-Reply-To: <20210414195454.84183-1-andriy.shevchenko@linux.intel.com> References: <20210414195454.84183-1-andriy.shevchenko@linux.intel.com> MIME-Version: 1.0 Precedence: bulk List-ID: X-Mailing-List: devicetree@vger.kernel.org We can utilize separate drivers for accelerometer and magnetometer, so here is the glue driver to enable LSM9DS0 IMU support. The idea was suggested by Crestez Dan Leonard in [1]. The proposed change was sent as RFC due to race condition concerns, which are indeed possible. In order to amend the initial change, I went further by providing a specific multi-instantiate probe driver that reuses existing accelerometer and magnetometer. [1]: https://lore.kernel.org/patchwork/patch/670353/ Suggested-by: Crestez Dan Leonard Cc: mr.lahorde@laposte.net Cc: Matija Podravec Cc: Sergey Borishchenko Signed-off-by: Andy Shevchenko --- drivers/iio/accel/st_accel_core.c | 89 +++++++++- drivers/iio/imu/Kconfig | 1 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/st_lsm9ds0/Kconfig | 28 ++++ drivers/iio/imu/st_lsm9ds0/Makefile | 5 + drivers/iio/imu/st_lsm9ds0/st_lsm9ds0.h | 23 +++ drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c | 163 +++++++++++++++++++ drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c | 84 ++++++++++ drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c | 83 ++++++++++ drivers/iio/magnetometer/st_magn_core.c | 98 +++++++++++ include/linux/iio/common/st_sensors.h | 2 + 11 files changed, 576 insertions(+), 1 deletion(-) create mode 100644 drivers/iio/imu/st_lsm9ds0/Kconfig create mode 100644 drivers/iio/imu/st_lsm9ds0/Makefile create mode 100644 drivers/iio/imu/st_lsm9ds0/st_lsm9ds0.h create mode 100644 drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c create mode 100644 drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c create mode 100644 drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c diff --git a/drivers/iio/accel/st_accel_core.c b/drivers/iio/accel/st_accel_core.c index 5c258c1ca62d..dc32ebefe3fc 100644 --- a/drivers/iio/accel/st_accel_core.c +++ b/drivers/iio/accel/st_accel_core.c @@ -980,7 +980,94 @@ static const struct st_sensor_settings st_accel_sensors_settings[] = { .multi_read_bit = true, .bootime = 2, }, - + { + .wai = 0x49, + .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, + .sensors_supported = { + [0] = LSM9DS0_IMU_DEV_NAME, + }, + .ch = (struct iio_chan_spec *)st_accel_16bit_channels, + .odr = { + .addr = 0x20, + .mask = GENMASK(7, 4), + .odr_avl = { + { 3, 0x01, }, + { 6, 0x02, }, + { 12, 0x03, }, + { 25, 0x04, }, + { 50, 0x05, }, + { 100, 0x06, }, + { 200, 0x07, }, + { 400, 0x08, }, + { 800, 0x09, }, + { 1600, 0x0a, }, + }, + }, + .pw = { + .addr = 0x20, + .mask = GENMASK(7, 4), + .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, + }, + .enable_axis = { + .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, + .mask = ST_SENSORS_DEFAULT_AXIS_MASK, + }, + .fs = { + .addr = 0x21, + .mask = GENMASK(5, 3), + .fs_avl = { + [0] = { + .num = ST_ACCEL_FS_AVL_2G, + .value = 0x00, + .gain = IIO_G_TO_M_S_2(61), + }, + [1] = { + .num = ST_ACCEL_FS_AVL_4G, + .value = 0x01, + .gain = IIO_G_TO_M_S_2(122), + }, + [2] = { + .num = ST_ACCEL_FS_AVL_6G, + .value = 0x02, + .gain = IIO_G_TO_M_S_2(183), + }, + [3] = { + .num = ST_ACCEL_FS_AVL_8G, + .value = 0x03, + .gain = IIO_G_TO_M_S_2(244), + }, + [4] = { + .num = ST_ACCEL_FS_AVL_16G, + .value = 0x04, + .gain = IIO_G_TO_M_S_2(732), + }, + }, + }, + .bdu = { + .addr = 0x20, + .mask = BIT(3), + }, + .drdy_irq = { + .int1 = { + .addr = 0x22, + .mask = BIT(2), + }, + .int2 = { + .addr = 0x23, + .mask = BIT(3), + }, + .stat_drdy = { + .addr = ST_SENSORS_DEFAULT_STAT_ADDR, + .mask = GENMASK(2, 0), + }, + }, + .sim = { + .addr = 0x21, + .value = BIT(0), + }, + .multi_read_bit = true, + .bootime = 2, + }, }; /* Default accel DRDY is available on INT1 pin */ diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index f02883b08480..001ca2c3ff95 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -94,6 +94,7 @@ config KMX61 source "drivers/iio/imu/inv_icm42600/Kconfig" source "drivers/iio/imu/inv_mpu6050/Kconfig" source "drivers/iio/imu/st_lsm6dsx/Kconfig" +source "drivers/iio/imu/st_lsm9ds0/Kconfig" endmenu diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index 13e9ff442b11..c82748096c77 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -26,3 +26,4 @@ obj-y += inv_mpu6050/ obj-$(CONFIG_KMX61) += kmx61.o obj-y += st_lsm6dsx/ +obj-y += st_lsm9ds0/ diff --git a/drivers/iio/imu/st_lsm9ds0/Kconfig b/drivers/iio/imu/st_lsm9ds0/Kconfig new file mode 100644 index 000000000000..53b7017014f8 --- /dev/null +++ b/drivers/iio/imu/st_lsm9ds0/Kconfig @@ -0,0 +1,28 @@ +# SPDX-License-Identifier: GPL-2.0-only + +config IIO_ST_LSM9DS0 + tristate "STMicroelectronics LSM9DS0 IMU driver" + depends on (I2C || SPI_MASTER) && SYSFS + depends on !SENSORS_LIS3_I2C + depends on !SENSORS_LIS3_SPI + select IIO_ST_LSM9DS0_I2C if I2C + select IIO_ST_LSM9DS0_SPI if SPI_MASTER + select IIO_ST_ACCEL_3AXIS + select IIO_ST_MAGN_3AXIS + + help + Say yes here to build support for STMicroelectronics LSM9DS0 IMU + sensor. Supported devices: accelerometer/magnetometer of lsm9ds0. + + To compile this driver as a module, choose M here: the module + will be called st_lsm9ds0. + +config IIO_ST_LSM9DS0_I2C + tristate + depends on IIO_ST_LSM9DS0 + select REGMAP_I2C + +config IIO_ST_LSM9DS0_SPI + tristate + depends on IIO_ST_LSM9DS0 + select REGMAP_SPI diff --git a/drivers/iio/imu/st_lsm9ds0/Makefile b/drivers/iio/imu/st_lsm9ds0/Makefile new file mode 100644 index 000000000000..488af523f648 --- /dev/null +++ b/drivers/iio/imu/st_lsm9ds0/Makefile @@ -0,0 +1,5 @@ +# SPDX-License-Identifier: GPL-2.0-only +obj-$(CONFIG_IIO_ST_LSM9DS0) += st_lsm9ds0.o +st_lsm9ds0-y := st_lsm9ds0_core.o +obj-$(CONFIG_IIO_ST_LSM9DS0_I2C) += st_lsm9ds0_i2c.o +obj-$(CONFIG_IIO_ST_LSM9DS0_SPI) += st_lsm9ds0_spi.o diff --git a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0.h b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0.h new file mode 100644 index 000000000000..146393afd9a7 --- /dev/null +++ b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0.h @@ -0,0 +1,23 @@ +/* SPDX-License-Identifier: GPL-2.0-only */ +// STMicroelectronics LSM9DS0 IMU driver + +#ifndef ST_LSM9DS0_H +#define ST_LSM9DS0_H + +struct iio_dev; +struct regulator; + +struct st_lsm9ds0 { + struct device *dev; + const char *name; + int irq; + struct iio_dev *accel; + struct iio_dev *magn; + struct regulator *vdd; + struct regulator *vdd_io; +}; + +int st_lsm9ds0_probe(struct st_lsm9ds0 *lsm9ds0, struct regmap *regmap); +int st_lsm9ds0_remove(struct st_lsm9ds0 *lsm9ds0); + +#endif /* ST_LSM9DS0_H */ diff --git a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c new file mode 100644 index 000000000000..8204f7303fd7 --- /dev/null +++ b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c @@ -0,0 +1,163 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * STMicroelectronics LSM9DS0 IMU driver + * + * Copyright (C) 2021, Intel Corporation + * + * Author: Andy Shevchenko + */ + +#include +#include +#include +#include + +#include +#include + +#include "st_lsm9ds0.h" + +static int st_lsm9ds0_power_enable(struct device *dev, struct st_lsm9ds0 *lsm9ds0) +{ + int ret; + + /* Regulators not mandatory, but if requested we should enable them. */ + lsm9ds0->vdd = devm_regulator_get(dev, "vdd"); + if (IS_ERR(lsm9ds0->vdd)) { + dev_err(dev, "unable to get Vdd supply\n"); + return PTR_ERR(lsm9ds0->vdd); + } + ret = regulator_enable(lsm9ds0->vdd); + if (ret) { + dev_warn(dev, "Failed to enable specified Vdd supply\n"); + return ret; + } + + lsm9ds0->vdd_io = devm_regulator_get(dev, "vddio"); + if (IS_ERR(lsm9ds0->vdd_io)) { + dev_err(dev, "unable to get Vdd_IO supply\n"); + regulator_disable(lsm9ds0->vdd); + return PTR_ERR(lsm9ds0->vdd_io); + } + ret = regulator_enable(lsm9ds0->vdd_io); + if (ret) { + dev_warn(dev, "Failed to enable specified Vdd_IO supply\n"); + regulator_disable(lsm9ds0->vdd); + return ret; + } + + return 0; +} + +static void st_lsm9ds0_power_disable(void *data) +{ + struct st_lsm9ds0 *lsm9ds0 = data; + + regulator_disable(lsm9ds0->vdd_io); + regulator_disable(lsm9ds0->vdd); +} + +static int devm_st_lsm9ds0_power_enable(struct st_lsm9ds0 *lsm9ds0) +{ + struct device *dev = lsm9ds0->dev; + int ret; + + ret = st_lsm9ds0_power_enable(dev, lsm9ds0); + if (ret) + return ret; + + return devm_add_action_or_reset(dev, st_lsm9ds0_power_disable, lsm9ds0); +} + +static int st_lsm9ds0_probe_accel(struct st_lsm9ds0 *lsm9ds0, struct regmap *regmap) +{ + const struct st_sensor_settings *settings; + struct device *dev = lsm9ds0->dev; + struct st_sensor_data *data; + + settings = st_accel_get_settings(lsm9ds0->name); + if (!settings) { + dev_err(dev, "device name %s not recognized.\n", lsm9ds0->name); + return -ENODEV; + } + + lsm9ds0->accel = devm_iio_device_alloc(dev, sizeof(*data)); + if (!lsm9ds0->accel) + return -ENOMEM; + + lsm9ds0->accel->name = lsm9ds0->name; + + data = iio_priv(lsm9ds0->accel); + data->sensor_settings = (struct st_sensor_settings *)settings; + data->dev = dev; + data->irq = lsm9ds0->irq; + data->regmap = regmap; + data->vdd = lsm9ds0->vdd; + data->vdd_io = lsm9ds0->vdd_io; + + return st_accel_common_probe(lsm9ds0->accel); +} + +static int st_lsm9ds0_probe_magn(struct st_lsm9ds0 *lsm9ds0, struct regmap *regmap) +{ + const struct st_sensor_settings *settings; + struct device *dev = lsm9ds0->dev; + struct st_sensor_data *data; + + settings = st_magn_get_settings(lsm9ds0->name); + if (!settings) { + dev_err(dev, "device name %s not recognized.\n", lsm9ds0->name); + return -ENODEV; + } + + lsm9ds0->magn = devm_iio_device_alloc(dev, sizeof(*data)); + if (!lsm9ds0->magn) + return -ENOMEM; + + lsm9ds0->magn->name = lsm9ds0->name; + + data = iio_priv(lsm9ds0->magn); + data->sensor_settings = (struct st_sensor_settings *)settings; + data->dev = dev; + data->irq = lsm9ds0->irq; + data->regmap = regmap; + data->vdd = lsm9ds0->vdd; + data->vdd_io = lsm9ds0->vdd_io; + + return st_magn_common_probe(lsm9ds0->magn); +} + +int st_lsm9ds0_probe(struct st_lsm9ds0 *lsm9ds0, struct regmap *regmap) +{ + int ret; + + ret = devm_st_lsm9ds0_power_enable(lsm9ds0); + if (ret) + return ret; + + /* Setup accelerometer device */ + ret = st_lsm9ds0_probe_accel(lsm9ds0, regmap); + if (ret) + return ret; + + /* Setup magnetometer device */ + ret = st_lsm9ds0_probe_magn(lsm9ds0, regmap); + if (ret) + st_accel_common_remove(lsm9ds0->accel); + + return ret; +} +EXPORT_SYMBOL_GPL(st_lsm9ds0_probe); + +int st_lsm9ds0_remove(struct st_lsm9ds0 *lsm9ds0) +{ + st_magn_common_remove(lsm9ds0->magn); + st_accel_common_remove(lsm9ds0->accel); + + return 0; +} +EXPORT_SYMBOL_GPL(st_lsm9ds0_remove); + +MODULE_AUTHOR("Andy Shevchenko "); +MODULE_DESCRIPTION("STMicroelectronics LSM9DS0 IMU core driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c new file mode 100644 index 000000000000..50a36ab53bc3 --- /dev/null +++ b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c @@ -0,0 +1,84 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * STMicroelectronics LSM9DS0 IMU driver + * + * Copyright (C) 2021, Intel Corporation + * + * Author: Andy Shevchenko + */ + +#include +#include +#include +#include + +#include + +#include "st_lsm9ds0.h" + +static const struct of_device_id st_lsm9ds0_of_match[] = { + { + .compatible = "st,lsm9ds0-imu", + .data = LSM9DS0_IMU_DEV_NAME, + }, + {} +}; +MODULE_DEVICE_TABLE(of, st_lsm9ds0_of_match); + +static const struct i2c_device_id st_lsm9ds0_id_table[] = { + { LSM9DS0_IMU_DEV_NAME }, + {} +}; +MODULE_DEVICE_TABLE(i2c, st_lsm9ds0_id_table); + +static const struct regmap_config st_lsm9ds0_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + .read_flag_mask = 0x80, +}; + +static int st_lsm9ds0_i2c_probe(struct i2c_client *client) +{ + const struct regmap_config *config = &st_lsm9ds0_regmap_config; + struct device *dev = &client->dev; + struct st_lsm9ds0 *lsm9ds0; + struct regmap *regmap; + + st_sensors_dev_name_probe(dev, client->name, sizeof(client->name)); + + lsm9ds0 = devm_kzalloc(dev, sizeof(*lsm9ds0), GFP_KERNEL); + if (!lsm9ds0) + return -ENOMEM; + + lsm9ds0->dev = dev; + lsm9ds0->name = client->name; + lsm9ds0->irq = client->irq; + + regmap = devm_regmap_init_i2c(client, config); + if (IS_ERR(regmap)) + return PTR_ERR(regmap); + + i2c_set_clientdata(client, lsm9ds0); + + return st_lsm9ds0_probe(lsm9ds0, regmap); +} + +static int st_lsm9ds0_i2c_remove(struct i2c_client *client) +{ + return st_lsm9ds0_remove(i2c_get_clientdata(client)); +} + +static struct i2c_driver st_lsm9ds0_driver = { + .driver = { + .name = "st-lsm9ds0-i2c", + .of_match_table = st_lsm9ds0_of_match, + }, + .probe_new = st_lsm9ds0_i2c_probe, + .remove = st_lsm9ds0_i2c_remove, + .id_table = st_lsm9ds0_id_table, +}; +module_i2c_driver(st_lsm9ds0_driver); + +MODULE_AUTHOR("Andy Shevchenko "); +MODULE_DESCRIPTION("STMicroelectronics LSM9DS0 IMU I2C driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c new file mode 100644 index 000000000000..272c88990dd0 --- /dev/null +++ b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c @@ -0,0 +1,83 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * STMicroelectronics LSM9DS0 IMU driver + * + * Copyright (C) 2021, Intel Corporation + * + * Author: Andy Shevchenko + */ + +#include +#include +#include +#include + +#include + +#include "st_lsm9ds0.h" + +static const struct of_device_id st_lsm9ds0_of_match[] = { + { + .compatible = "st,lsm9ds0-imu", + .data = LSM9DS0_IMU_DEV_NAME, + }, + {} +}; +MODULE_DEVICE_TABLE(of, st_lsm9ds0_of_match); + +static const struct spi_device_id st_lsm9ds0_id_table[] = { + { LSM9DS0_IMU_DEV_NAME }, + {} +}; +MODULE_DEVICE_TABLE(spi, st_lsm9ds0_id_table); + +static const struct regmap_config st_lsm9ds0_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + .read_flag_mask = 0xc0, +}; + +static int st_lsm9ds0_spi_probe(struct spi_device *spi) +{ + struct device *dev = &spi->dev; + struct st_lsm9ds0 *lsm9ds0; + struct regmap *regmap; + + st_sensors_dev_name_probe(dev, spi->modalias, sizeof(spi->modalias)); + + lsm9ds0 = devm_kzalloc(dev, sizeof(*lsm9ds0), GFP_KERNEL); + if (!lsm9ds0) + return -ENOMEM; + + lsm9ds0->dev = dev; + lsm9ds0->name = spi->modalias; + lsm9ds0->irq = spi->irq; + + regmap = devm_regmap_init_spi(spi, &st_lsm9ds0_regmap_config); + if (IS_ERR(regmap)) + return PTR_ERR(regmap); + + spi_set_drvdata(spi, lsm9ds0); + + return st_lsm9ds0_probe(lsm9ds0, regmap); +} + +static int st_lsm9ds0_spi_remove(struct spi_device *spi) +{ + return st_lsm9ds0_remove(spi_get_drvdata(spi)); +} + +static struct spi_driver st_lsm9ds0_driver = { + .driver = { + .name = "st-lsm9ds0-spi", + .of_match_table = st_lsm9ds0_of_match, + }, + .probe = st_lsm9ds0_spi_probe, + .remove = st_lsm9ds0_spi_remove, + .id_table = st_lsm9ds0_id_table, +}; +module_spi_driver(st_lsm9ds0_driver); + +MODULE_AUTHOR("Andy Shevchenko "); +MODULE_DESCRIPTION("STMicroelectronics LSM9DS0 IMU SPI driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/magnetometer/st_magn_core.c b/drivers/iio/magnetometer/st_magn_core.c index 018b2523edfe..34fd892a776a 100644 --- a/drivers/iio/magnetometer/st_magn_core.c +++ b/drivers/iio/magnetometer/st_magn_core.c @@ -33,6 +33,7 @@ /* FULLSCALE */ #define ST_MAGN_FS_AVL_1300MG 1300 #define ST_MAGN_FS_AVL_1900MG 1900 +#define ST_MAGN_FS_AVL_2000MG 2000 #define ST_MAGN_FS_AVL_2500MG 2500 #define ST_MAGN_FS_AVL_4000MG 4000 #define ST_MAGN_FS_AVL_4700MG 4700 @@ -53,6 +54,11 @@ #define ST_MAGN_3_OUT_Y_L_ADDR 0x6a #define ST_MAGN_3_OUT_Z_L_ADDR 0x6c +/* Special L addresses for sensor 4 */ +#define ST_MAGN_4_OUT_X_L_ADDR 0x08 +#define ST_MAGN_4_OUT_Y_L_ADDR 0x0a +#define ST_MAGN_4_OUT_Z_L_ADDR 0x0c + static const struct iio_chan_spec st_magn_16bit_channels[] = { ST_SENSORS_LSM_CHANNELS(IIO_MAGN, BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), @@ -101,6 +107,22 @@ static const struct iio_chan_spec st_magn_3_16bit_channels[] = { IIO_CHAN_SOFT_TIMESTAMP(3) }; +static const struct iio_chan_spec st_magn_4_16bit_channels[] = { + ST_SENSORS_LSM_CHANNELS(IIO_MAGN, + BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), + ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16, + ST_MAGN_4_OUT_X_L_ADDR), + ST_SENSORS_LSM_CHANNELS(IIO_MAGN, + BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), + ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16, + ST_MAGN_4_OUT_Y_L_ADDR), + ST_SENSORS_LSM_CHANNELS(IIO_MAGN, + BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), + ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16, + ST_MAGN_4_OUT_Z_L_ADDR), + IIO_CHAN_SOFT_TIMESTAMP(3) +}; + static const struct st_sensor_settings st_magn_sensors_settings[] = { { .wai = 0, /* This sensor has no valid WhoAmI report 0 */ @@ -380,6 +402,82 @@ static const struct st_sensor_settings st_magn_sensors_settings[] = { .multi_read_bit = false, .bootime = 2, }, + { + .wai = 0x49, + .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, + .sensors_supported = { + [0] = LSM9DS0_IMU_DEV_NAME, + }, + .ch = (struct iio_chan_spec *)st_magn_4_16bit_channels, + .odr = { + .addr = 0x24, + .mask = GENMASK(4, 2), + .odr_avl = { + { 3, 0x00, }, + { 6, 0x01, }, + { 12, 0x02, }, + { 25, 0x03, }, + { 50, 0x04, }, + { 100, 0x05, }, + }, + }, + .pw = { + .addr = 0x26, + .mask = GENMASK(1, 0), + .value_on = 0x00, + .value_off = 0x03, + }, + .fs = { + .addr = 0x25, + .mask = GENMASK(6, 5), + .fs_avl = { + [0] = { + .num = ST_MAGN_FS_AVL_2000MG, + .value = 0x00, + .gain = 73, + }, + [1] = { + .num = ST_MAGN_FS_AVL_4000MG, + .value = 0x01, + .gain = 146, + }, + [2] = { + .num = ST_MAGN_FS_AVL_8000MG, + .value = 0x02, + .gain = 292, + }, + [3] = { + .num = ST_MAGN_FS_AVL_12000MG, + .value = 0x03, + .gain = 438, + }, + }, + }, + .bdu = { + .addr = 0x20, + .mask = BIT(3), + }, + .drdy_irq = { + .int1 = { + .addr = 0x22, + .mask = BIT(1), + }, + .int2 = { + .addr = 0x23, + .mask = BIT(2), + }, + .stat_drdy = { + .addr = 0x07, + .mask = GENMASK(2, 0), + }, + }, + .sim = { + .addr = 0x21, + .value = BIT(0), + }, + .multi_read_bit = true, + .bootime = 2, + }, }; /* Default magn DRDY is available on INT2 pin */ diff --git a/include/linux/iio/common/st_sensors.h b/include/linux/iio/common/st_sensors.h index aa017b90fb06..0b9aeb479f48 100644 --- a/include/linux/iio/common/st_sensors.h +++ b/include/linux/iio/common/st_sensors.h @@ -20,6 +20,8 @@ #include +#define LSM9DS0_IMU_DEV_NAME "lsm9ds0" + /* * Buffer size max case: 2bytes per channel, 3 channels in total + * 8bytes timestamp channel (s64)