Linux kernel iio module for lsm9ds1 IMU device.

It is composed of 2 devices on a same chip:

• an accelerometer and gyroscope;
• a magnetometer

They can be connected as I2C or SPI devices. In SPI, one or two GPO should be use to select to which subdevice is listening.

The accelerometer and gyroscope have:

• the same measurment frequency when they are activated together (which is the only implemented case for the moment);
• a common hardware buffer, with an I/O for configurable trigger.
• a (poor?) temperature sensor

• i2c support;
• spi support;
• basic iio device support:
  • accelerometer support;
  • gyroscope support;
  • magnetometer support;
  • temperature support;
• iio software buffer support:
  • accelerometer and gyroscope support;
  • magnetometer support;
• hardware buffer support:
  • accelerometer and gyroscope support;
• trigger support:
  • accelerometer and gyroscope support;
  • magnetometer support;
• frequency setting:
  • accelerometer and gyroscope support;
  • magnetometer support;
• scale setting:
  • accelerometer and gyroscope support;
  • magnetometer support;
• other setting:
  • accelerometer and gyroscope support;
  • magnetometer support;

At each boot:

echo lsm9ds1_ag 0x6b > /sys/bus/i2c/devices/i2c-2/new_device
echo lsm9ds1_m 0x1e > /sys/bus/i2c/devices/i2c-2/new_device

Before compiling your dtb:

&i2c2 {
	lsm9ds1ag0@6b {
		compatible = "st,lsm9ds1_ag";
		reg = <0x6b>;
	};

	lsm9ds1m0@1e {
		compatible = "st,lsm9ds1_m";
		reg = <0x1e>;
	};
};

iio_info

or

cat /sys/bus/iio/devices/iio\:device0/in_accel0_x_raw

Setting the iio software timer trigger at $2Hz$ for the iio:device0:

modprobe iio-trig-hrtimer
mkdir /config
mount -t configfs none /config/
mkdir /config/iio/triggers/hrtimer/instance1
echo 2 > /sys/bus/iio/devices/trigger0/sampling_frequency
cat /sys/bus/iio/devices/trigger0/name > /sys/bus/iio/devices/iio\:device0/trigger/current_trigger

Enable and reading the buffer:

for /sys/bus/iio/devices/iio\:device0/scan_elements/*_en; do echo 1 > $i; done
echo 1 > /sys/bus/iio/devices/iio\:device0/buffer/enable
cat /dev/iio\:device0