FILE
inv_icm42600_gyro.c
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linux-6.19.14/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
1// SPDX-License-Identifier: GPL-2.0-or-later 2/* 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 aligned 76 * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp 77 */ 78struct inv_icm42600_gyro_buffer { 79 struct inv_icm42600_fifo_sensor_data gyro; 80 s16 temp; 81 aligned_s64 timestamp; 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_conf conf = INV_ICM42600_SENSOR_CONF_INIT; 103 unsigned int fifo_en = 0; 104 unsigned int sleep_gyro = 0; 105 unsigned int sleep_temp = 0; 106 unsigned int sleep; 107 int ret; 108 109 mutex_lock(&st->lock); 110 111 if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) { 112 /* enable temp sensor */ 113 ret = inv_icm42600_set_temp_conf(st, true, &sleep_temp); 114 if (ret) 115 goto out_unlock; 116 fifo_en |= INV_ICM42600_SENSOR_TEMP; 117 } 118 119 if (*scan_mask & INV_ICM42600_SCAN_MASK_GYRO_3AXIS) { 120 /* enable gyro sensor */ 121 conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE; 122 ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_gyro); 123 if (ret) 124 goto out_unlock; 125 fifo_en |= INV_ICM42600_SENSOR_GYRO; 126 } 127 128 /* update data FIFO write */ 129 ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en); 130 131out_unlock: 132 mutex_unlock(&st->lock); 133 /* sleep maximum required time */ 134 sleep = max(sleep_gyro, sleep_temp); 135 if (sleep) 136 msleep(sleep); 137 return ret; 138} 139 140static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st, 141 struct iio_chan_spec const *chan, 142 s16 *val) 143{ 144 struct device *dev = regmap_get_device(st->map); 145 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; 146 unsigned int reg; 147 __be16 *data; 148 int ret; 149 150 if (chan->type != IIO_ANGL_VEL) 151 return -EINVAL; 152 153 switch (chan->channel2) { 154 case IIO_MOD_X: 155 reg = INV_ICM42600_REG_GYRO_DATA_X; 156 break; 157 case IIO_MOD_Y: 158 reg = INV_ICM42600_REG_GYRO_DATA_Y; 159 break; 160 case IIO_MOD_Z: 161 reg = INV_ICM42600_REG_GYRO_DATA_Z; 162 break; 163 default: 164 return -EINVAL; 165 } 166 167 pm_runtime_get_sync(dev); 168 mutex_lock(&st->lock); 169 170 /* enable gyro sensor */ 171 conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE; 172 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); 173 if (ret) 174 goto exit; 175 176 /* read gyro register data */ 177 data = (__be16 *)&st->buffer[0]; 178 ret = regmap_bulk_read(st->map, reg, data, sizeof(*data)); 179 if (ret) 180 goto exit; 181 182 *val = (s16)be16_to_cpup(data); 183 if (*val == INV_ICM42600_DATA_INVALID) 184 ret = -EINVAL; 185exit: 186 mutex_unlock(&st->lock); 187 pm_runtime_put_autosuspend(dev); 188 return ret; 189} 190 191/* IIO format int + nano */ 192static const int inv_icm42600_gyro_scale[] = { 193 /* +/- 2000dps => 0.001065264 rad/s */ 194 [2 * INV_ICM42600_GYRO_FS_2000DPS] = 0, 195 [2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264, 196 /* +/- 1000dps => 0.000532632 rad/s */ 197 [2 * INV_ICM42600_GYRO_FS_1000DPS] = 0, 198 [2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632, 199 /* +/- 500dps => 0.000266316 rad/s */ 200 [2 * INV_ICM42600_GYRO_FS_500DPS] = 0, 201 [2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316, 202 /* +/- 250dps => 0.000133158 rad/s */ 203 [2 * INV_ICM42600_GYRO_FS_250DPS] = 0, 204 [2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158, 205 /* +/- 125dps => 0.000066579 rad/s */ 206 [2 * INV_ICM42600_GYRO_FS_125DPS] = 0, 207 [2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579, 208 /* +/- 62.5dps => 0.000033290 rad/s */ 209 [2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0, 210 [2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290, 211 /* +/- 31.25dps => 0.000016645 rad/s */ 212 [2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0, 213 [2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645, 214 /* +/- 15.625dps => 0.000008322 rad/s */ 215 [2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0, 216 [2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322, 217}; 218static const int inv_icm42686_gyro_scale[] = { 219 /* +/- 4000dps => 0.002130529 rad/s */ 220 [2 * INV_ICM42686_GYRO_FS_4000DPS] = 0, 221 [2 * INV_ICM42686_GYRO_FS_4000DPS + 1] = 2130529, 222 /* +/- 2000dps => 0.001065264 rad/s */ 223 [2 * INV_ICM42686_GYRO_FS_2000DPS] = 0, 224 [2 * INV_ICM42686_GYRO_FS_2000DPS + 1] = 1065264, 225 /* +/- 1000dps => 0.000532632 rad/s */ 226 [2 * INV_ICM42686_GYRO_FS_1000DPS] = 0, 227 [2 * INV_ICM42686_GYRO_FS_1000DPS + 1] = 532632, 228 /* +/- 500dps => 0.000266316 rad/s */ 229 [2 * INV_ICM42686_GYRO_FS_500DPS] = 0, 230 [2 * INV_ICM42686_GYRO_FS_500DPS + 1] = 266316, 231 /* +/- 250dps => 0.000133158 rad/s */ 232 [2 * INV_ICM42686_GYRO_FS_250DPS] = 0, 233 [2 * INV_ICM42686_GYRO_FS_250DPS + 1] = 133158, 234 /* +/- 125dps => 0.000066579 rad/s */ 235 [2 * INV_ICM42686_GYRO_FS_125DPS] = 0, 236 [2 * INV_ICM42686_GYRO_FS_125DPS + 1] = 66579, 237 /* +/- 62.5dps => 0.000033290 rad/s */ 238 [2 * INV_ICM42686_GYRO_FS_62_5DPS] = 0, 239 [2 * INV_ICM42686_GYRO_FS_62_5DPS + 1] = 33290, 240 /* +/- 31.25dps => 0.000016645 rad/s */ 241 [2 * INV_ICM42686_GYRO_FS_31_25DPS] = 0, 242 [2 * INV_ICM42686_GYRO_FS_31_25DPS + 1] = 16645, 243}; 244 245static int inv_icm42600_gyro_read_scale(struct iio_dev *indio_dev, 246 int *val, int *val2) 247{ 248 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 249 struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev); 250 unsigned int idx; 251 252 idx = st->conf.gyro.fs; 253 254 *val = gyro_st->scales[2 * idx]; 255 *val2 = gyro_st->scales[2 * idx + 1]; 256 return IIO_VAL_INT_PLUS_NANO; 257} 258 259static int inv_icm42600_gyro_write_scale(struct iio_dev *indio_dev, 260 int val, int val2) 261{ 262 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 263 struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev); 264 struct device *dev = regmap_get_device(st->map); 265 unsigned int idx; 266 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; 267 int ret; 268 269 for (idx = 0; idx < gyro_st->scales_len; idx += 2) { 270 if (val == gyro_st->scales[idx] && 271 val2 == gyro_st->scales[idx + 1]) 272 break; 273 } 274 if (idx >= gyro_st->scales_len) 275 return -EINVAL; 276 277 conf.fs = idx / 2; 278 279 pm_runtime_get_sync(dev); 280 281 scoped_guard(mutex, &st->lock) 282 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); 283 284 pm_runtime_put_autosuspend(dev); 285 286 return ret; 287} 288 289/* IIO format int + micro */ 290static const int inv_icm42600_gyro_odr[] = { 291 /* 12.5Hz */ 292 12, 500000, 293 /* 25Hz */ 294 25, 0, 295 /* 50Hz */ 296 50, 0, 297 /* 100Hz */ 298 100, 0, 299 /* 200Hz */ 300 200, 0, 301 /* 1kHz */ 302 1000, 0, 303 /* 2kHz */ 304 2000, 0, 305 /* 4kHz */ 306 4000, 0, 307}; 308 309static const int inv_icm42600_gyro_odr_conv[] = { 310 INV_ICM42600_ODR_12_5HZ, 311 INV_ICM42600_ODR_25HZ, 312 INV_ICM42600_ODR_50HZ, 313 INV_ICM42600_ODR_100HZ, 314 INV_ICM42600_ODR_200HZ, 315 INV_ICM42600_ODR_1KHZ_LN, 316 INV_ICM42600_ODR_2KHZ_LN, 317 INV_ICM42600_ODR_4KHZ_LN, 318}; 319 320static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st, 321 int *val, int *val2) 322{ 323 unsigned int odr; 324 unsigned int i; 325 326 odr = st->conf.gyro.odr; 327 328 for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) { 329 if (inv_icm42600_gyro_odr_conv[i] == odr) 330 break; 331 } 332 if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv)) 333 return -EINVAL; 334 335 *val = inv_icm42600_gyro_odr[2 * i]; 336 *val2 = inv_icm42600_gyro_odr[2 * i + 1]; 337 338 return IIO_VAL_INT_PLUS_MICRO; 339} 340 341static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev, 342 int val, int val2) 343{ 344 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 345 struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev); 346 struct inv_sensors_timestamp *ts = &gyro_st->ts; 347 struct device *dev = regmap_get_device(st->map); 348 unsigned int idx; 349 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; 350 int ret; 351 352 for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) { 353 if (val == inv_icm42600_gyro_odr[idx] && 354 val2 == inv_icm42600_gyro_odr[idx + 1]) 355 break; 356 } 357 if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr)) 358 return -EINVAL; 359 360 conf.odr = inv_icm42600_gyro_odr_conv[idx / 2]; 361 if (conf.odr == st->conf.gyro.odr) 362 return 0; 363 364 pm_runtime_get_sync(dev); 365 mutex_lock(&st->lock); 366 367 ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr), 368 iio_buffer_enabled(indio_dev)); 369 if (ret) 370 goto out_unlock; 371 372 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); 373 if (ret) 374 goto out_unlock; 375 inv_icm42600_buffer_update_fifo_period(st); 376 inv_icm42600_buffer_update_watermark(st); 377 378out_unlock: 379 mutex_unlock(&st->lock); 380 pm_runtime_put_autosuspend(dev); 381 382 return ret; 383} 384 385/* 386 * Calibration bias values, IIO range format int + nano. 387 * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps. 388 */ 389static int inv_icm42600_gyro_calibbias[] = { 390 -1, 117010721, /* min: -1.117010721 rad/s */ 391 0, 545415, /* step: 0.000545415 rad/s */ 392 1, 116465306, /* max: 1.116465306 rad/s */ 393}; 394 395static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st, 396 struct iio_chan_spec const *chan, 397 int *val, int *val2) 398{ 399 struct device *dev = regmap_get_device(st->map); 400 s64 val64; 401 s32 bias; 402 unsigned int reg; 403 s16 offset; 404 u8 data[2]; 405 int ret; 406 407 if (chan->type != IIO_ANGL_VEL) 408 return -EINVAL; 409 410 switch (chan->channel2) { 411 case IIO_MOD_X: 412 reg = INV_ICM42600_REG_OFFSET_USER0; 413 break; 414 case IIO_MOD_Y: 415 reg = INV_ICM42600_REG_OFFSET_USER1; 416 break; 417 case IIO_MOD_Z: 418 reg = INV_ICM42600_REG_OFFSET_USER3; 419 break; 420 default: 421 return -EINVAL; 422 } 423 424 pm_runtime_get_sync(dev); 425 mutex_lock(&st->lock); 426 427 ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data)); 428 memcpy(data, st->buffer, sizeof(data)); 429 430 mutex_unlock(&st->lock); 431 pm_runtime_put_autosuspend(dev); 432 if (ret) 433 return ret; 434 435 /* 12 bits signed value */ 436 switch (chan->channel2) { 437 case IIO_MOD_X: 438 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11); 439 break; 440 case IIO_MOD_Y: 441 offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11); 442 break; 443 case IIO_MOD_Z: 444 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11); 445 break; 446 default: 447 return -EINVAL; 448 } 449 450 /* 451 * convert raw offset to dps then to rad/s 452 * 12 bits signed raw max 64 to dps: 64 / 2048 453 * dps to rad: Pi / 180 454 * result in nano (1000000000) 455 * (offset * 64 * Pi * 1000000000) / (2048 * 180) 456 */ 457 val64 = (s64)offset * 64LL * 3141592653LL; 458 /* for rounding, add + or - divisor (2048 * 180) divided by 2 */ 459 if (val64 >= 0) 460 val64 += 2048 * 180 / 2; 461 else 462 val64 -= 2048 * 180 / 2; 463 bias = div_s64(val64, 2048 * 180); 464 *val = bias / 1000000000L; 465 *val2 = bias % 1000000000L; 466 467 return IIO_VAL_INT_PLUS_NANO; 468} 469 470static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st, 471 struct iio_chan_spec const *chan, 472 int val, int val2) 473{ 474 struct device *dev = regmap_get_device(st->map); 475 s64 val64, min, max; 476 unsigned int reg, regval; 477 s16 offset; 478 int ret; 479 480 if (chan->type != IIO_ANGL_VEL) 481 return -EINVAL; 482 483 switch (chan->channel2) { 484 case IIO_MOD_X: 485 reg = INV_ICM42600_REG_OFFSET_USER0; 486 break; 487 case IIO_MOD_Y: 488 reg = INV_ICM42600_REG_OFFSET_USER1; 489 break; 490 case IIO_MOD_Z: 491 reg = INV_ICM42600_REG_OFFSET_USER3; 492 break; 493 default: 494 return -EINVAL; 495 } 496 497 /* inv_icm42600_gyro_calibbias: min - step - max in nano */ 498 min = (s64)inv_icm42600_gyro_calibbias[0] * 1000000000LL + 499 (s64)inv_icm42600_gyro_calibbias[1]; 500 max = (s64)inv_icm42600_gyro_calibbias[4] * 1000000000LL + 501 (s64)inv_icm42600_gyro_calibbias[5]; 502 val64 = (s64)val * 1000000000LL + (s64)val2; 503 if (val64 < min || val64 > max) 504 return -EINVAL; 505 506 /* 507 * convert rad/s to dps then to raw value 508 * rad to dps: 180 / Pi 509 * dps to raw 12 bits signed, max 64: 2048 / 64 510 * val in nano (1000000000) 511 * val * 180 * 2048 / (Pi * 1000000000 * 64) 512 */ 513 val64 = val64 * 180LL * 2048LL; 514 /* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */ 515 if (val64 >= 0) 516 val64 += 3141592653LL * 64LL / 2LL; 517 else 518 val64 -= 3141592653LL * 64LL / 2LL; 519 offset = div64_s64(val64, 3141592653LL * 64LL); 520 521 /* clamp value limited to 12 bits signed */ 522 if (offset < -2048) 523 offset = -2048; 524 else if (offset > 2047) 525 offset = 2047; 526 527 pm_runtime_get_sync(dev); 528 mutex_lock(&st->lock); 529 530 switch (chan->channel2) { 531 case IIO_MOD_X: 532 /* OFFSET_USER1 register is shared */ 533 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1, 534 ®val); 535 if (ret) 536 goto out_unlock; 537 st->buffer[0] = offset & 0xFF; 538 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8); 539 break; 540 case IIO_MOD_Y: 541 /* OFFSET_USER1 register is shared */ 542 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1, 543 ®val); 544 if (ret) 545 goto out_unlock; 546 st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F); 547 st->buffer[1] = offset & 0xFF; 548 break; 549 case IIO_MOD_Z: 550 /* OFFSET_USER4 register is shared */ 551 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4, 552 ®val); 553 if (ret) 554 goto out_unlock; 555 st->buffer[0] = offset & 0xFF; 556 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8); 557 break; 558 default: 559 ret = -EINVAL; 560 goto out_unlock; 561 } 562 563 ret = regmap_bulk_write(st->map, reg, st->buffer, 2); 564 565out_unlock: 566 mutex_unlock(&st->lock); 567 pm_runtime_put_autosuspend(dev); 568 return ret; 569} 570 571static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev, 572 struct iio_chan_spec const *chan, 573 int *val, int *val2, long mask) 574{ 575 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 576 s16 data; 577 int ret; 578 579 switch (chan->type) { 580 case IIO_ANGL_VEL: 581 break; 582 case IIO_TEMP: 583 return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask); 584 default: 585 return -EINVAL; 586 } 587 588 switch (mask) { 589 case IIO_CHAN_INFO_RAW: 590 if (!iio_device_claim_direct(indio_dev)) 591 return -EBUSY; 592 ret = inv_icm42600_gyro_read_sensor(st, chan, &data); 593 iio_device_release_direct(indio_dev); 594 if (ret) 595 return ret; 596 *val = data; 597 return IIO_VAL_INT; 598 case IIO_CHAN_INFO_SCALE: 599 return inv_icm42600_gyro_read_scale(indio_dev, val, val2); 600 case IIO_CHAN_INFO_SAMP_FREQ: 601 return inv_icm42600_gyro_read_odr(st, val, val2); 602 case IIO_CHAN_INFO_CALIBBIAS: 603 return inv_icm42600_gyro_read_offset(st, chan, val, val2); 604 default: 605 return -EINVAL; 606 } 607} 608 609static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev, 610 struct iio_chan_spec const *chan, 611 const int **vals, 612 int *type, int *length, long mask) 613{ 614 struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev); 615 616 if (chan->type != IIO_ANGL_VEL) 617 return -EINVAL; 618 619 switch (mask) { 620 case IIO_CHAN_INFO_SCALE: 621 *vals = gyro_st->scales; 622 *type = IIO_VAL_INT_PLUS_NANO; 623 *length = gyro_st->scales_len; 624 return IIO_AVAIL_LIST; 625 case IIO_CHAN_INFO_SAMP_FREQ: 626 *vals = inv_icm42600_gyro_odr; 627 *type = IIO_VAL_INT_PLUS_MICRO; 628 *length = ARRAY_SIZE(inv_icm42600_gyro_odr); 629 return IIO_AVAIL_LIST; 630 case IIO_CHAN_INFO_CALIBBIAS: 631 *vals = inv_icm42600_gyro_calibbias; 632 *type = IIO_VAL_INT_PLUS_NANO; 633 return IIO_AVAIL_RANGE; 634 default: 635 return -EINVAL; 636 } 637} 638 639static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev, 640 struct iio_chan_spec const *chan, 641 int val, int val2, long mask) 642{ 643 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 644 int ret; 645 646 if (chan->type != IIO_ANGL_VEL) 647 return -EINVAL; 648 649 switch (mask) { 650 case IIO_CHAN_INFO_SCALE: 651 if (!iio_device_claim_direct(indio_dev)) 652 return -EBUSY; 653 ret = inv_icm42600_gyro_write_scale(indio_dev, val, val2); 654 iio_device_release_direct(indio_dev); 655 return ret; 656 case IIO_CHAN_INFO_SAMP_FREQ: 657 return inv_icm42600_gyro_write_odr(indio_dev, val, val2); 658 case IIO_CHAN_INFO_CALIBBIAS: 659 if (!iio_device_claim_direct(indio_dev)) 660 return -EBUSY; 661 ret = inv_icm42600_gyro_write_offset(st, chan, val, val2); 662 iio_device_release_direct(indio_dev); 663 return ret; 664 default: 665 return -EINVAL; 666 } 667} 668 669static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev, 670 struct iio_chan_spec const *chan, 671 long mask) 672{ 673 if (chan->type != IIO_ANGL_VEL) 674 return -EINVAL; 675 676 switch (mask) { 677 case IIO_CHAN_INFO_SCALE: 678 return IIO_VAL_INT_PLUS_NANO; 679 case IIO_CHAN_INFO_SAMP_FREQ: 680 return IIO_VAL_INT_PLUS_MICRO; 681 case IIO_CHAN_INFO_CALIBBIAS: 682 return IIO_VAL_INT_PLUS_NANO; 683 default: 684 return -EINVAL; 685 } 686} 687 688static int inv_icm42600_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev, 689 unsigned int val) 690{ 691 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 692 693 guard(mutex)(&st->lock); 694 695 st->fifo.watermark.gyro = val; 696 return inv_icm42600_buffer_update_watermark(st); 697} 698 699static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev, 700 unsigned int count) 701{ 702 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 703 int ret; 704 705 if (count == 0) 706 return 0; 707 708 guard(mutex)(&st->lock); 709 710 ret = inv_icm42600_buffer_hwfifo_flush(st, count); 711 if (ret) 712 return ret; 713 714 return st->fifo.nb.gyro; 715} 716 717static const struct iio_info inv_icm42600_gyro_info = { 718 .read_raw = inv_icm42600_gyro_read_raw, 719 .read_avail = inv_icm42600_gyro_read_avail, 720 .write_raw = inv_icm42600_gyro_write_raw, 721 .write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt, 722 .debugfs_reg_access = inv_icm42600_debugfs_reg, 723 .update_scan_mode = inv_icm42600_gyro_update_scan_mode, 724 .hwfifo_set_watermark = inv_icm42600_gyro_hwfifo_set_watermark, 725 .hwfifo_flush_to_buffer = inv_icm42600_gyro_hwfifo_flush, 726}; 727 728struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st) 729{ 730 struct device *dev = regmap_get_device(st->map); 731 const char *name; 732 struct inv_icm42600_sensor_state *gyro_st; 733 struct inv_sensors_timestamp_chip ts_chip; 734 struct iio_dev *indio_dev; 735 int ret; 736 737 name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name); 738 if (!name) 739 return ERR_PTR(-ENOMEM); 740 741 indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st)); 742 if (!indio_dev) 743 return ERR_PTR(-ENOMEM); 744 gyro_st = iio_priv(indio_dev); 745 746 switch (st->chip) { 747 case INV_CHIP_ICM42686: 748 gyro_st->scales = inv_icm42686_gyro_scale; 749 gyro_st->scales_len = ARRAY_SIZE(inv_icm42686_gyro_scale); 750 break; 751 default: 752 gyro_st->scales = inv_icm42600_gyro_scale; 753 gyro_st->scales_len = ARRAY_SIZE(inv_icm42600_gyro_scale); 754 break; 755 } 756 757 /* 758 * clock period is 32kHz (31250ns) 759 * jitter is +/- 2% (20 per mille) 760 */ 761 ts_chip.clock_period = 31250; 762 ts_chip.jitter = 20; 763 ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr); 764 inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip); 765 766 iio_device_set_drvdata(indio_dev, st); 767 indio_dev->name = name; 768 indio_dev->info = &inv_icm42600_gyro_info; 769 indio_dev->modes = INDIO_DIRECT_MODE; 770 indio_dev->channels = inv_icm42600_gyro_channels; 771 indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels); 772 indio_dev->available_scan_masks = inv_icm42600_gyro_scan_masks; 773 indio_dev->setup_ops = &inv_icm42600_buffer_ops; 774 775 ret = devm_iio_kfifo_buffer_setup(dev, indio_dev, 776 &inv_icm42600_buffer_ops); 777 if (ret) 778 return ERR_PTR(ret); 779 780 ret = devm_iio_device_register(dev, indio_dev); 781 if (ret) 782 return ERR_PTR(ret); 783 784 return indio_dev; 785} 786 787int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev) 788{ 789 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 790 struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev); 791 struct inv_sensors_timestamp *ts = &gyro_st->ts; 792 ssize_t i, size; 793 unsigned int no; 794 const void *accel, *gyro, *timestamp; 795 const s8 *temp; 796 unsigned int odr; 797 s64 ts_val; 798 /* buffer is copied to userspace, zeroing it to avoid any data leak */ 799 struct inv_icm42600_gyro_buffer buffer = { }; 800 801 /* parse all fifo packets */ 802 for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) { 803 size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i], 804 &accel, &gyro, &temp, ×tamp, &odr); 805 /* quit if error or FIFO is empty */ 806 if (size <= 0) 807 return size; 808 809 /* skip packet if no gyro data or data is invalid */ 810 if (gyro == NULL || !inv_icm42600_fifo_is_data_valid(gyro)) 811 continue; 812 813 /* update odr */ 814 if (odr & INV_ICM42600_SENSOR_GYRO) 815 inv_sensors_timestamp_apply_odr(ts, st->fifo.period, 816 st->fifo.nb.total, no); 817 818 memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro)); 819 /* convert 8 bits FIFO temperature in high resolution format */ 820 buffer.temp = temp ? (*temp * 64) : 0; 821 ts_val = inv_sensors_timestamp_pop(ts); 822 iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val); 823 } 824 825 return 0; 826}
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