845 lines · c
1// SPDX-License-Identifier: GPL-2.0-or-later2/*3 * Copyright (C) 2020 Invensense, Inc.4 */5 6#include <linux/kernel.h>7#include <linux/device.h>8#include <linux/mutex.h>9#include <linux/pm_runtime.h>10#include <linux/regmap.h>11#include <linux/delay.h>12#include <linux/math64.h>13 14#include <linux/iio/buffer.h>15#include <linux/iio/common/inv_sensors_timestamp.h>16#include <linux/iio/iio.h>17#include <linux/iio/kfifo_buf.h>18 19#include "inv_icm42600.h"20#include "inv_icm42600_temp.h"21#include "inv_icm42600_buffer.h"22 23#define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info) \24 { \25 .type = IIO_ANGL_VEL, \26 .modified = 1, \27 .channel2 = _modifier, \28 .info_mask_separate = \29 BIT(IIO_CHAN_INFO_RAW) | \30 BIT(IIO_CHAN_INFO_CALIBBIAS), \31 .info_mask_shared_by_type = \32 BIT(IIO_CHAN_INFO_SCALE), \33 .info_mask_shared_by_type_available = \34 BIT(IIO_CHAN_INFO_SCALE) | \35 BIT(IIO_CHAN_INFO_CALIBBIAS), \36 .info_mask_shared_by_all = \37 BIT(IIO_CHAN_INFO_SAMP_FREQ), \38 .info_mask_shared_by_all_available = \39 BIT(IIO_CHAN_INFO_SAMP_FREQ), \40 .scan_index = _index, \41 .scan_type = { \42 .sign = 's', \43 .realbits = 16, \44 .storagebits = 16, \45 .endianness = IIO_BE, \46 }, \47 .ext_info = _ext_info, \48 }49 50enum inv_icm42600_gyro_scan {51 INV_ICM42600_GYRO_SCAN_X,52 INV_ICM42600_GYRO_SCAN_Y,53 INV_ICM42600_GYRO_SCAN_Z,54 INV_ICM42600_GYRO_SCAN_TEMP,55 INV_ICM42600_GYRO_SCAN_TIMESTAMP,56};57 58static const struct iio_chan_spec_ext_info inv_icm42600_gyro_ext_infos[] = {59 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),60 {},61};62 63static const struct iio_chan_spec inv_icm42600_gyro_channels[] = {64 INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X,65 inv_icm42600_gyro_ext_infos),66 INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y,67 inv_icm42600_gyro_ext_infos),68 INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z,69 inv_icm42600_gyro_ext_infos),70 INV_ICM42600_TEMP_CHAN(INV_ICM42600_GYRO_SCAN_TEMP),71 IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_GYRO_SCAN_TIMESTAMP),72};73 74/*75 * IIO buffer data: size must be a power of 2 and timestamp aligned76 * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp77 */78struct inv_icm42600_gyro_buffer {79 struct inv_icm42600_fifo_sensor_data gyro;80 int16_t temp;81 int64_t timestamp __aligned(8);82};83 84#define INV_ICM42600_SCAN_MASK_GYRO_3AXIS \85 (BIT(INV_ICM42600_GYRO_SCAN_X) | \86 BIT(INV_ICM42600_GYRO_SCAN_Y) | \87 BIT(INV_ICM42600_GYRO_SCAN_Z))88 89#define INV_ICM42600_SCAN_MASK_TEMP BIT(INV_ICM42600_GYRO_SCAN_TEMP)90 91static const unsigned long inv_icm42600_gyro_scan_masks[] = {92 /* 3-axis gyro + temperature */93 INV_ICM42600_SCAN_MASK_GYRO_3AXIS | INV_ICM42600_SCAN_MASK_TEMP,94 0,95};96 97/* enable gyroscope sensor and FIFO write */98static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,99 const unsigned long *scan_mask)100{101 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);102 struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);103 struct inv_sensors_timestamp *ts = &gyro_st->ts;104 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;105 unsigned int fifo_en = 0;106 unsigned int sleep_gyro = 0;107 unsigned int sleep_temp = 0;108 unsigned int sleep;109 int ret;110 111 mutex_lock(&st->lock);112 113 if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) {114 /* enable temp sensor */115 ret = inv_icm42600_set_temp_conf(st, true, &sleep_temp);116 if (ret)117 goto out_unlock;118 fifo_en |= INV_ICM42600_SENSOR_TEMP;119 }120 121 if (*scan_mask & INV_ICM42600_SCAN_MASK_GYRO_3AXIS) {122 /* enable gyro sensor */123 conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;124 ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_gyro);125 if (ret)126 goto out_unlock;127 fifo_en |= INV_ICM42600_SENSOR_GYRO;128 }129 130 /* update data FIFO write */131 inv_sensors_timestamp_apply_odr(ts, 0, 0, 0);132 ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);133 134out_unlock:135 mutex_unlock(&st->lock);136 /* sleep maximum required time */137 sleep = max(sleep_gyro, sleep_temp);138 if (sleep)139 msleep(sleep);140 return ret;141}142 143static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st,144 struct iio_chan_spec const *chan,145 int16_t *val)146{147 struct device *dev = regmap_get_device(st->map);148 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;149 unsigned int reg;150 __be16 *data;151 int ret;152 153 if (chan->type != IIO_ANGL_VEL)154 return -EINVAL;155 156 switch (chan->channel2) {157 case IIO_MOD_X:158 reg = INV_ICM42600_REG_GYRO_DATA_X;159 break;160 case IIO_MOD_Y:161 reg = INV_ICM42600_REG_GYRO_DATA_Y;162 break;163 case IIO_MOD_Z:164 reg = INV_ICM42600_REG_GYRO_DATA_Z;165 break;166 default:167 return -EINVAL;168 }169 170 pm_runtime_get_sync(dev);171 mutex_lock(&st->lock);172 173 /* enable gyro sensor */174 conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;175 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);176 if (ret)177 goto exit;178 179 /* read gyro register data */180 data = (__be16 *)&st->buffer[0];181 ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));182 if (ret)183 goto exit;184 185 *val = (int16_t)be16_to_cpup(data);186 if (*val == INV_ICM42600_DATA_INVALID)187 ret = -EINVAL;188exit:189 mutex_unlock(&st->lock);190 pm_runtime_mark_last_busy(dev);191 pm_runtime_put_autosuspend(dev);192 return ret;193}194 195/* IIO format int + nano */196static const int inv_icm42600_gyro_scale[] = {197 /* +/- 2000dps => 0.001065264 rad/s */198 [2 * INV_ICM42600_GYRO_FS_2000DPS] = 0,199 [2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264,200 /* +/- 1000dps => 0.000532632 rad/s */201 [2 * INV_ICM42600_GYRO_FS_1000DPS] = 0,202 [2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632,203 /* +/- 500dps => 0.000266316 rad/s */204 [2 * INV_ICM42600_GYRO_FS_500DPS] = 0,205 [2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316,206 /* +/- 250dps => 0.000133158 rad/s */207 [2 * INV_ICM42600_GYRO_FS_250DPS] = 0,208 [2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158,209 /* +/- 125dps => 0.000066579 rad/s */210 [2 * INV_ICM42600_GYRO_FS_125DPS] = 0,211 [2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579,212 /* +/- 62.5dps => 0.000033290 rad/s */213 [2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0,214 [2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290,215 /* +/- 31.25dps => 0.000016645 rad/s */216 [2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0,217 [2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645,218 /* +/- 15.625dps => 0.000008322 rad/s */219 [2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,220 [2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,221};222static const int inv_icm42686_gyro_scale[] = {223 /* +/- 4000dps => 0.002130529 rad/s */224 [2 * INV_ICM42686_GYRO_FS_4000DPS] = 0,225 [2 * INV_ICM42686_GYRO_FS_4000DPS + 1] = 2130529,226 /* +/- 2000dps => 0.001065264 rad/s */227 [2 * INV_ICM42686_GYRO_FS_2000DPS] = 0,228 [2 * INV_ICM42686_GYRO_FS_2000DPS + 1] = 1065264,229 /* +/- 1000dps => 0.000532632 rad/s */230 [2 * INV_ICM42686_GYRO_FS_1000DPS] = 0,231 [2 * INV_ICM42686_GYRO_FS_1000DPS + 1] = 532632,232 /* +/- 500dps => 0.000266316 rad/s */233 [2 * INV_ICM42686_GYRO_FS_500DPS] = 0,234 [2 * INV_ICM42686_GYRO_FS_500DPS + 1] = 266316,235 /* +/- 250dps => 0.000133158 rad/s */236 [2 * INV_ICM42686_GYRO_FS_250DPS] = 0,237 [2 * INV_ICM42686_GYRO_FS_250DPS + 1] = 133158,238 /* +/- 125dps => 0.000066579 rad/s */239 [2 * INV_ICM42686_GYRO_FS_125DPS] = 0,240 [2 * INV_ICM42686_GYRO_FS_125DPS + 1] = 66579,241 /* +/- 62.5dps => 0.000033290 rad/s */242 [2 * INV_ICM42686_GYRO_FS_62_5DPS] = 0,243 [2 * INV_ICM42686_GYRO_FS_62_5DPS + 1] = 33290,244 /* +/- 31.25dps => 0.000016645 rad/s */245 [2 * INV_ICM42686_GYRO_FS_31_25DPS] = 0,246 [2 * INV_ICM42686_GYRO_FS_31_25DPS + 1] = 16645,247};248 249static int inv_icm42600_gyro_read_scale(struct iio_dev *indio_dev,250 int *val, int *val2)251{252 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);253 struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);254 unsigned int idx;255 256 idx = st->conf.gyro.fs;257 258 *val = gyro_st->scales[2 * idx];259 *val2 = gyro_st->scales[2 * idx + 1];260 return IIO_VAL_INT_PLUS_NANO;261}262 263static int inv_icm42600_gyro_write_scale(struct iio_dev *indio_dev,264 int val, int val2)265{266 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);267 struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);268 struct device *dev = regmap_get_device(st->map);269 unsigned int idx;270 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;271 int ret;272 273 for (idx = 0; idx < gyro_st->scales_len; idx += 2) {274 if (val == gyro_st->scales[idx] &&275 val2 == gyro_st->scales[idx + 1])276 break;277 }278 if (idx >= gyro_st->scales_len)279 return -EINVAL;280 281 conf.fs = idx / 2;282 283 pm_runtime_get_sync(dev);284 mutex_lock(&st->lock);285 286 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);287 288 mutex_unlock(&st->lock);289 pm_runtime_mark_last_busy(dev);290 pm_runtime_put_autosuspend(dev);291 292 return ret;293}294 295/* IIO format int + micro */296static const int inv_icm42600_gyro_odr[] = {297 /* 12.5Hz */298 12, 500000,299 /* 25Hz */300 25, 0,301 /* 50Hz */302 50, 0,303 /* 100Hz */304 100, 0,305 /* 200Hz */306 200, 0,307 /* 1kHz */308 1000, 0,309 /* 2kHz */310 2000, 0,311 /* 4kHz */312 4000, 0,313};314 315static const int inv_icm42600_gyro_odr_conv[] = {316 INV_ICM42600_ODR_12_5HZ,317 INV_ICM42600_ODR_25HZ,318 INV_ICM42600_ODR_50HZ,319 INV_ICM42600_ODR_100HZ,320 INV_ICM42600_ODR_200HZ,321 INV_ICM42600_ODR_1KHZ_LN,322 INV_ICM42600_ODR_2KHZ_LN,323 INV_ICM42600_ODR_4KHZ_LN,324};325 326static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st,327 int *val, int *val2)328{329 unsigned int odr;330 unsigned int i;331 332 odr = st->conf.gyro.odr;333 334 for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) {335 if (inv_icm42600_gyro_odr_conv[i] == odr)336 break;337 }338 if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv))339 return -EINVAL;340 341 *val = inv_icm42600_gyro_odr[2 * i];342 *val2 = inv_icm42600_gyro_odr[2 * i + 1];343 344 return IIO_VAL_INT_PLUS_MICRO;345}346 347static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,348 int val, int val2)349{350 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);351 struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);352 struct inv_sensors_timestamp *ts = &gyro_st->ts;353 struct device *dev = regmap_get_device(st->map);354 unsigned int idx;355 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;356 int ret;357 358 for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) {359 if (val == inv_icm42600_gyro_odr[idx] &&360 val2 == inv_icm42600_gyro_odr[idx + 1])361 break;362 }363 if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr))364 return -EINVAL;365 366 conf.odr = inv_icm42600_gyro_odr_conv[idx / 2];367 368 pm_runtime_get_sync(dev);369 mutex_lock(&st->lock);370 371 ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),372 iio_buffer_enabled(indio_dev));373 if (ret)374 goto out_unlock;375 376 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);377 if (ret)378 goto out_unlock;379 inv_icm42600_buffer_update_fifo_period(st);380 inv_icm42600_buffer_update_watermark(st);381 382out_unlock:383 mutex_unlock(&st->lock);384 pm_runtime_mark_last_busy(dev);385 pm_runtime_put_autosuspend(dev);386 387 return ret;388}389 390/*391 * Calibration bias values, IIO range format int + nano.392 * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps.393 */394static int inv_icm42600_gyro_calibbias[] = {395 -1, 117010721, /* min: -1.117010721 rad/s */396 0, 545415, /* step: 0.000545415 rad/s */397 1, 116465306, /* max: 1.116465306 rad/s */398};399 400static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st,401 struct iio_chan_spec const *chan,402 int *val, int *val2)403{404 struct device *dev = regmap_get_device(st->map);405 int64_t val64;406 int32_t bias;407 unsigned int reg;408 int16_t offset;409 uint8_t data[2];410 int ret;411 412 if (chan->type != IIO_ANGL_VEL)413 return -EINVAL;414 415 switch (chan->channel2) {416 case IIO_MOD_X:417 reg = INV_ICM42600_REG_OFFSET_USER0;418 break;419 case IIO_MOD_Y:420 reg = INV_ICM42600_REG_OFFSET_USER1;421 break;422 case IIO_MOD_Z:423 reg = INV_ICM42600_REG_OFFSET_USER3;424 break;425 default:426 return -EINVAL;427 }428 429 pm_runtime_get_sync(dev);430 mutex_lock(&st->lock);431 432 ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data));433 memcpy(data, st->buffer, sizeof(data));434 435 mutex_unlock(&st->lock);436 pm_runtime_mark_last_busy(dev);437 pm_runtime_put_autosuspend(dev);438 if (ret)439 return ret;440 441 /* 12 bits signed value */442 switch (chan->channel2) {443 case IIO_MOD_X:444 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);445 break;446 case IIO_MOD_Y:447 offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);448 break;449 case IIO_MOD_Z:450 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);451 break;452 default:453 return -EINVAL;454 }455 456 /*457 * convert raw offset to dps then to rad/s458 * 12 bits signed raw max 64 to dps: 64 / 2048459 * dps to rad: Pi / 180460 * result in nano (1000000000)461 * (offset * 64 * Pi * 1000000000) / (2048 * 180)462 */463 val64 = (int64_t)offset * 64LL * 3141592653LL;464 /* for rounding, add + or - divisor (2048 * 180) divided by 2 */465 if (val64 >= 0)466 val64 += 2048 * 180 / 2;467 else468 val64 -= 2048 * 180 / 2;469 bias = div_s64(val64, 2048 * 180);470 *val = bias / 1000000000L;471 *val2 = bias % 1000000000L;472 473 return IIO_VAL_INT_PLUS_NANO;474}475 476static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st,477 struct iio_chan_spec const *chan,478 int val, int val2)479{480 struct device *dev = regmap_get_device(st->map);481 int64_t val64, min, max;482 unsigned int reg, regval;483 int16_t offset;484 int ret;485 486 if (chan->type != IIO_ANGL_VEL)487 return -EINVAL;488 489 switch (chan->channel2) {490 case IIO_MOD_X:491 reg = INV_ICM42600_REG_OFFSET_USER0;492 break;493 case IIO_MOD_Y:494 reg = INV_ICM42600_REG_OFFSET_USER1;495 break;496 case IIO_MOD_Z:497 reg = INV_ICM42600_REG_OFFSET_USER3;498 break;499 default:500 return -EINVAL;501 }502 503 /* inv_icm42600_gyro_calibbias: min - step - max in nano */504 min = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL +505 (int64_t)inv_icm42600_gyro_calibbias[1];506 max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL +507 (int64_t)inv_icm42600_gyro_calibbias[5];508 val64 = (int64_t)val * 1000000000LL + (int64_t)val2;509 if (val64 < min || val64 > max)510 return -EINVAL;511 512 /*513 * convert rad/s to dps then to raw value514 * rad to dps: 180 / Pi515 * dps to raw 12 bits signed, max 64: 2048 / 64516 * val in nano (1000000000)517 * val * 180 * 2048 / (Pi * 1000000000 * 64)518 */519 val64 = val64 * 180LL * 2048LL;520 /* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */521 if (val64 >= 0)522 val64 += 3141592653LL * 64LL / 2LL;523 else524 val64 -= 3141592653LL * 64LL / 2LL;525 offset = div64_s64(val64, 3141592653LL * 64LL);526 527 /* clamp value limited to 12 bits signed */528 if (offset < -2048)529 offset = -2048;530 else if (offset > 2047)531 offset = 2047;532 533 pm_runtime_get_sync(dev);534 mutex_lock(&st->lock);535 536 switch (chan->channel2) {537 case IIO_MOD_X:538 /* OFFSET_USER1 register is shared */539 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,540 ®val);541 if (ret)542 goto out_unlock;543 st->buffer[0] = offset & 0xFF;544 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);545 break;546 case IIO_MOD_Y:547 /* OFFSET_USER1 register is shared */548 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,549 ®val);550 if (ret)551 goto out_unlock;552 st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);553 st->buffer[1] = offset & 0xFF;554 break;555 case IIO_MOD_Z:556 /* OFFSET_USER4 register is shared */557 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,558 ®val);559 if (ret)560 goto out_unlock;561 st->buffer[0] = offset & 0xFF;562 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);563 break;564 default:565 ret = -EINVAL;566 goto out_unlock;567 }568 569 ret = regmap_bulk_write(st->map, reg, st->buffer, 2);570 571out_unlock:572 mutex_unlock(&st->lock);573 pm_runtime_mark_last_busy(dev);574 pm_runtime_put_autosuspend(dev);575 return ret;576}577 578static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,579 struct iio_chan_spec const *chan,580 int *val, int *val2, long mask)581{582 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);583 int16_t data;584 int ret;585 586 switch (chan->type) {587 case IIO_ANGL_VEL:588 break;589 case IIO_TEMP:590 return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask);591 default:592 return -EINVAL;593 }594 595 switch (mask) {596 case IIO_CHAN_INFO_RAW:597 ret = iio_device_claim_direct_mode(indio_dev);598 if (ret)599 return ret;600 ret = inv_icm42600_gyro_read_sensor(st, chan, &data);601 iio_device_release_direct_mode(indio_dev);602 if (ret)603 return ret;604 *val = data;605 return IIO_VAL_INT;606 case IIO_CHAN_INFO_SCALE:607 return inv_icm42600_gyro_read_scale(indio_dev, val, val2);608 case IIO_CHAN_INFO_SAMP_FREQ:609 return inv_icm42600_gyro_read_odr(st, val, val2);610 case IIO_CHAN_INFO_CALIBBIAS:611 return inv_icm42600_gyro_read_offset(st, chan, val, val2);612 default:613 return -EINVAL;614 }615}616 617static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,618 struct iio_chan_spec const *chan,619 const int **vals,620 int *type, int *length, long mask)621{622 struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);623 624 if (chan->type != IIO_ANGL_VEL)625 return -EINVAL;626 627 switch (mask) {628 case IIO_CHAN_INFO_SCALE:629 *vals = gyro_st->scales;630 *type = IIO_VAL_INT_PLUS_NANO;631 *length = gyro_st->scales_len;632 return IIO_AVAIL_LIST;633 case IIO_CHAN_INFO_SAMP_FREQ:634 *vals = inv_icm42600_gyro_odr;635 *type = IIO_VAL_INT_PLUS_MICRO;636 *length = ARRAY_SIZE(inv_icm42600_gyro_odr);637 return IIO_AVAIL_LIST;638 case IIO_CHAN_INFO_CALIBBIAS:639 *vals = inv_icm42600_gyro_calibbias;640 *type = IIO_VAL_INT_PLUS_NANO;641 return IIO_AVAIL_RANGE;642 default:643 return -EINVAL;644 }645}646 647static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,648 struct iio_chan_spec const *chan,649 int val, int val2, long mask)650{651 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);652 int ret;653 654 if (chan->type != IIO_ANGL_VEL)655 return -EINVAL;656 657 switch (mask) {658 case IIO_CHAN_INFO_SCALE:659 ret = iio_device_claim_direct_mode(indio_dev);660 if (ret)661 return ret;662 ret = inv_icm42600_gyro_write_scale(indio_dev, val, val2);663 iio_device_release_direct_mode(indio_dev);664 return ret;665 case IIO_CHAN_INFO_SAMP_FREQ:666 return inv_icm42600_gyro_write_odr(indio_dev, val, val2);667 case IIO_CHAN_INFO_CALIBBIAS:668 ret = iio_device_claim_direct_mode(indio_dev);669 if (ret)670 return ret;671 ret = inv_icm42600_gyro_write_offset(st, chan, val, val2);672 iio_device_release_direct_mode(indio_dev);673 return ret;674 default:675 return -EINVAL;676 }677}678 679static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,680 struct iio_chan_spec const *chan,681 long mask)682{683 if (chan->type != IIO_ANGL_VEL)684 return -EINVAL;685 686 switch (mask) {687 case IIO_CHAN_INFO_SCALE:688 return IIO_VAL_INT_PLUS_NANO;689 case IIO_CHAN_INFO_SAMP_FREQ:690 return IIO_VAL_INT_PLUS_MICRO;691 case IIO_CHAN_INFO_CALIBBIAS:692 return IIO_VAL_INT_PLUS_NANO;693 default:694 return -EINVAL;695 }696}697 698static int inv_icm42600_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev,699 unsigned int val)700{701 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);702 int ret;703 704 mutex_lock(&st->lock);705 706 st->fifo.watermark.gyro = val;707 ret = inv_icm42600_buffer_update_watermark(st);708 709 mutex_unlock(&st->lock);710 711 return ret;712}713 714static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev,715 unsigned int count)716{717 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);718 int ret;719 720 if (count == 0)721 return 0;722 723 mutex_lock(&st->lock);724 725 ret = inv_icm42600_buffer_hwfifo_flush(st, count);726 if (!ret)727 ret = st->fifo.nb.gyro;728 729 mutex_unlock(&st->lock);730 731 return ret;732}733 734static const struct iio_info inv_icm42600_gyro_info = {735 .read_raw = inv_icm42600_gyro_read_raw,736 .read_avail = inv_icm42600_gyro_read_avail,737 .write_raw = inv_icm42600_gyro_write_raw,738 .write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt,739 .debugfs_reg_access = inv_icm42600_debugfs_reg,740 .update_scan_mode = inv_icm42600_gyro_update_scan_mode,741 .hwfifo_set_watermark = inv_icm42600_gyro_hwfifo_set_watermark,742 .hwfifo_flush_to_buffer = inv_icm42600_gyro_hwfifo_flush,743};744 745struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)746{747 struct device *dev = regmap_get_device(st->map);748 const char *name;749 struct inv_icm42600_sensor_state *gyro_st;750 struct inv_sensors_timestamp_chip ts_chip;751 struct iio_dev *indio_dev;752 int ret;753 754 name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);755 if (!name)756 return ERR_PTR(-ENOMEM);757 758 indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st));759 if (!indio_dev)760 return ERR_PTR(-ENOMEM);761 gyro_st = iio_priv(indio_dev);762 763 switch (st->chip) {764 case INV_CHIP_ICM42686:765 gyro_st->scales = inv_icm42686_gyro_scale;766 gyro_st->scales_len = ARRAY_SIZE(inv_icm42686_gyro_scale);767 break;768 default:769 gyro_st->scales = inv_icm42600_gyro_scale;770 gyro_st->scales_len = ARRAY_SIZE(inv_icm42600_gyro_scale);771 break;772 }773 774 /*775 * clock period is 32kHz (31250ns)776 * jitter is +/- 2% (20 per mille)777 */778 ts_chip.clock_period = 31250;779 ts_chip.jitter = 20;780 ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);781 inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip);782 783 iio_device_set_drvdata(indio_dev, st);784 indio_dev->name = name;785 indio_dev->info = &inv_icm42600_gyro_info;786 indio_dev->modes = INDIO_DIRECT_MODE;787 indio_dev->channels = inv_icm42600_gyro_channels;788 indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels);789 indio_dev->available_scan_masks = inv_icm42600_gyro_scan_masks;790 indio_dev->setup_ops = &inv_icm42600_buffer_ops;791 792 ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,793 &inv_icm42600_buffer_ops);794 if (ret)795 return ERR_PTR(ret);796 797 ret = devm_iio_device_register(dev, indio_dev);798 if (ret)799 return ERR_PTR(ret);800 801 return indio_dev;802}803 804int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)805{806 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);807 struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);808 struct inv_sensors_timestamp *ts = &gyro_st->ts;809 ssize_t i, size;810 unsigned int no;811 const void *accel, *gyro, *timestamp;812 const int8_t *temp;813 unsigned int odr;814 int64_t ts_val;815 struct inv_icm42600_gyro_buffer buffer;816 817 /* parse all fifo packets */818 for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {819 size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i],820 &accel, &gyro, &temp, ×tamp, &odr);821 /* quit if error or FIFO is empty */822 if (size <= 0)823 return size;824 825 /* skip packet if no gyro data or data is invalid */826 if (gyro == NULL || !inv_icm42600_fifo_is_data_valid(gyro))827 continue;828 829 /* update odr */830 if (odr & INV_ICM42600_SENSOR_GYRO)831 inv_sensors_timestamp_apply_odr(ts, st->fifo.period,832 st->fifo.nb.total, no);833 834 /* buffer is copied to userspace, zeroing it to avoid any data leak */835 memset(&buffer, 0, sizeof(buffer));836 memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro));837 /* convert 8 bits FIFO temperature in high resolution format */838 buffer.temp = temp ? (*temp * 64) : 0;839 ts_val = inv_sensors_timestamp_pop(ts);840 iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);841 }842 843 return 0;844}845