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 #include <linux/iio/iio.h> 14 #include <linux/iio/buffer.h> 15 #include <linux/iio/kfifo_buf.h> 16 17 #include "inv_icm42600.h" 18 #include "inv_icm42600_temp.h" 19 #include "inv_icm42600_buffer.h" 20 #include "inv_icm42600_timestamp.h" 21 22 #define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info) \ 23 { \ 24 .type = IIO_ANGL_VEL, \ 25 .modified = 1, \ 26 .channel2 = _modifier, \ 27 .info_mask_separate = \ 28 BIT(IIO_CHAN_INFO_RAW) | \ 29 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 30 .info_mask_shared_by_type = \ 31 BIT(IIO_CHAN_INFO_SCALE), \ 32 .info_mask_shared_by_type_available = \ 33 BIT(IIO_CHAN_INFO_SCALE) | \ 34 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 35 .info_mask_shared_by_all = \ 36 BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 37 .info_mask_shared_by_all_available = \ 38 BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 39 .scan_index = _index, \ 40 .scan_type = { \ 41 .sign = 's', \ 42 .realbits = 16, \ 43 .storagebits = 16, \ 44 .endianness = IIO_BE, \ 45 }, \ 46 .ext_info = _ext_info, \ 47 } 48 49 enum inv_icm42600_gyro_scan { 50 INV_ICM42600_GYRO_SCAN_X, 51 INV_ICM42600_GYRO_SCAN_Y, 52 INV_ICM42600_GYRO_SCAN_Z, 53 INV_ICM42600_GYRO_SCAN_TEMP, 54 INV_ICM42600_GYRO_SCAN_TIMESTAMP, 55 }; 56 57 static const struct iio_chan_spec_ext_info inv_icm42600_gyro_ext_infos[] = { 58 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix), 59 {}, 60 }; 61 62 static const struct iio_chan_spec inv_icm42600_gyro_channels[] = { 63 INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X, 64 inv_icm42600_gyro_ext_infos), 65 INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y, 66 inv_icm42600_gyro_ext_infos), 67 INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z, 68 inv_icm42600_gyro_ext_infos), 69 INV_ICM42600_TEMP_CHAN(INV_ICM42600_GYRO_SCAN_TEMP), 70 IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_GYRO_SCAN_TIMESTAMP), 71 }; 72 73 /* 74 * IIO buffer data: size must be a power of 2 and timestamp aligned 75 * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp 76 */ 77 struct inv_icm42600_gyro_buffer { 78 struct inv_icm42600_fifo_sensor_data gyro; 79 int16_t temp; 80 int64_t timestamp __aligned(8); 81 }; 82 83 #define INV_ICM42600_SCAN_MASK_GYRO_3AXIS \ 84 (BIT(INV_ICM42600_GYRO_SCAN_X) | \ 85 BIT(INV_ICM42600_GYRO_SCAN_Y) | \ 86 BIT(INV_ICM42600_GYRO_SCAN_Z)) 87 88 #define INV_ICM42600_SCAN_MASK_TEMP BIT(INV_ICM42600_GYRO_SCAN_TEMP) 89 90 static const unsigned long inv_icm42600_gyro_scan_masks[] = { 91 /* 3-axis gyro + temperature */ 92 INV_ICM42600_SCAN_MASK_GYRO_3AXIS | INV_ICM42600_SCAN_MASK_TEMP, 93 0, 94 }; 95 96 /* enable gyroscope sensor and FIFO write */ 97 static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev, 98 const unsigned long *scan_mask) 99 { 100 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 101 struct inv_icm42600_timestamp *ts = iio_priv(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 inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0); 130 ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en); 131 if (ret) 132 goto out_unlock; 133 134 ret = inv_icm42600_buffer_update_watermark(st); 135 136 out_unlock: 137 mutex_unlock(&st->lock); 138 /* sleep maximum required time */ 139 if (sleep_gyro > sleep_temp) 140 sleep = sleep_gyro; 141 else 142 sleep = sleep_temp; 143 if (sleep) 144 msleep(sleep); 145 return ret; 146 } 147 148 static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st, 149 struct iio_chan_spec const *chan, 150 int16_t *val) 151 { 152 struct device *dev = regmap_get_device(st->map); 153 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; 154 unsigned int reg; 155 __be16 *data; 156 int ret; 157 158 if (chan->type != IIO_ANGL_VEL) 159 return -EINVAL; 160 161 switch (chan->channel2) { 162 case IIO_MOD_X: 163 reg = INV_ICM42600_REG_GYRO_DATA_X; 164 break; 165 case IIO_MOD_Y: 166 reg = INV_ICM42600_REG_GYRO_DATA_Y; 167 break; 168 case IIO_MOD_Z: 169 reg = INV_ICM42600_REG_GYRO_DATA_Z; 170 break; 171 default: 172 return -EINVAL; 173 } 174 175 pm_runtime_get_sync(dev); 176 mutex_lock(&st->lock); 177 178 /* enable gyro sensor */ 179 conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE; 180 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); 181 if (ret) 182 goto exit; 183 184 /* read gyro register data */ 185 data = (__be16 *)&st->buffer[0]; 186 ret = regmap_bulk_read(st->map, reg, data, sizeof(*data)); 187 if (ret) 188 goto exit; 189 190 *val = (int16_t)be16_to_cpup(data); 191 if (*val == INV_ICM42600_DATA_INVALID) 192 ret = -EINVAL; 193 exit: 194 mutex_unlock(&st->lock); 195 pm_runtime_mark_last_busy(dev); 196 pm_runtime_put_autosuspend(dev); 197 return ret; 198 } 199 200 /* IIO format int + nano */ 201 static const int inv_icm42600_gyro_scale[] = { 202 /* +/- 2000dps => 0.001065264 rad/s */ 203 [2 * INV_ICM42600_GYRO_FS_2000DPS] = 0, 204 [2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264, 205 /* +/- 1000dps => 0.000532632 rad/s */ 206 [2 * INV_ICM42600_GYRO_FS_1000DPS] = 0, 207 [2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632, 208 /* +/- 500dps => 0.000266316 rad/s */ 209 [2 * INV_ICM42600_GYRO_FS_500DPS] = 0, 210 [2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316, 211 /* +/- 250dps => 0.000133158 rad/s */ 212 [2 * INV_ICM42600_GYRO_FS_250DPS] = 0, 213 [2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158, 214 /* +/- 125dps => 0.000066579 rad/s */ 215 [2 * INV_ICM42600_GYRO_FS_125DPS] = 0, 216 [2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579, 217 /* +/- 62.5dps => 0.000033290 rad/s */ 218 [2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0, 219 [2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290, 220 /* +/- 31.25dps => 0.000016645 rad/s */ 221 [2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0, 222 [2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645, 223 /* +/- 15.625dps => 0.000008322 rad/s */ 224 [2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0, 225 [2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322, 226 }; 227 228 static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st, 229 int *val, int *val2) 230 { 231 unsigned int idx; 232 233 idx = st->conf.gyro.fs; 234 235 *val = inv_icm42600_gyro_scale[2 * idx]; 236 *val2 = inv_icm42600_gyro_scale[2 * idx + 1]; 237 return IIO_VAL_INT_PLUS_NANO; 238 } 239 240 static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st, 241 int val, int val2) 242 { 243 struct device *dev = regmap_get_device(st->map); 244 unsigned int idx; 245 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; 246 int ret; 247 248 for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) { 249 if (val == inv_icm42600_gyro_scale[idx] && 250 val2 == inv_icm42600_gyro_scale[idx + 1]) 251 break; 252 } 253 if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale)) 254 return -EINVAL; 255 256 conf.fs = idx / 2; 257 258 pm_runtime_get_sync(dev); 259 mutex_lock(&st->lock); 260 261 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); 262 263 mutex_unlock(&st->lock); 264 pm_runtime_mark_last_busy(dev); 265 pm_runtime_put_autosuspend(dev); 266 267 return ret; 268 } 269 270 /* IIO format int + micro */ 271 static const int inv_icm42600_gyro_odr[] = { 272 /* 12.5Hz */ 273 12, 500000, 274 /* 25Hz */ 275 25, 0, 276 /* 50Hz */ 277 50, 0, 278 /* 100Hz */ 279 100, 0, 280 /* 200Hz */ 281 200, 0, 282 /* 1kHz */ 283 1000, 0, 284 /* 2kHz */ 285 2000, 0, 286 /* 4kHz */ 287 4000, 0, 288 }; 289 290 static const int inv_icm42600_gyro_odr_conv[] = { 291 INV_ICM42600_ODR_12_5HZ, 292 INV_ICM42600_ODR_25HZ, 293 INV_ICM42600_ODR_50HZ, 294 INV_ICM42600_ODR_100HZ, 295 INV_ICM42600_ODR_200HZ, 296 INV_ICM42600_ODR_1KHZ_LN, 297 INV_ICM42600_ODR_2KHZ_LN, 298 INV_ICM42600_ODR_4KHZ_LN, 299 }; 300 301 static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st, 302 int *val, int *val2) 303 { 304 unsigned int odr; 305 unsigned int i; 306 307 odr = st->conf.gyro.odr; 308 309 for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) { 310 if (inv_icm42600_gyro_odr_conv[i] == odr) 311 break; 312 } 313 if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv)) 314 return -EINVAL; 315 316 *val = inv_icm42600_gyro_odr[2 * i]; 317 *val2 = inv_icm42600_gyro_odr[2 * i + 1]; 318 319 return IIO_VAL_INT_PLUS_MICRO; 320 } 321 322 static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev, 323 int val, int val2) 324 { 325 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 326 struct inv_icm42600_timestamp *ts = iio_priv(indio_dev); 327 struct device *dev = regmap_get_device(st->map); 328 unsigned int idx; 329 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; 330 int ret; 331 332 for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) { 333 if (val == inv_icm42600_gyro_odr[idx] && 334 val2 == inv_icm42600_gyro_odr[idx + 1]) 335 break; 336 } 337 if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr)) 338 return -EINVAL; 339 340 conf.odr = inv_icm42600_gyro_odr_conv[idx / 2]; 341 342 pm_runtime_get_sync(dev); 343 mutex_lock(&st->lock); 344 345 ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr), 346 iio_buffer_enabled(indio_dev)); 347 if (ret) 348 goto out_unlock; 349 350 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); 351 if (ret) 352 goto out_unlock; 353 inv_icm42600_buffer_update_fifo_period(st); 354 inv_icm42600_buffer_update_watermark(st); 355 356 out_unlock: 357 mutex_unlock(&st->lock); 358 pm_runtime_mark_last_busy(dev); 359 pm_runtime_put_autosuspend(dev); 360 361 return ret; 362 } 363 364 /* 365 * Calibration bias values, IIO range format int + nano. 366 * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps. 367 */ 368 static int inv_icm42600_gyro_calibbias[] = { 369 -1, 117010721, /* min: -1.117010721 rad/s */ 370 0, 545415, /* step: 0.000545415 rad/s */ 371 1, 116465306, /* max: 1.116465306 rad/s */ 372 }; 373 374 static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st, 375 struct iio_chan_spec const *chan, 376 int *val, int *val2) 377 { 378 struct device *dev = regmap_get_device(st->map); 379 int64_t val64; 380 int32_t bias; 381 unsigned int reg; 382 int16_t offset; 383 uint8_t data[2]; 384 int ret; 385 386 if (chan->type != IIO_ANGL_VEL) 387 return -EINVAL; 388 389 switch (chan->channel2) { 390 case IIO_MOD_X: 391 reg = INV_ICM42600_REG_OFFSET_USER0; 392 break; 393 case IIO_MOD_Y: 394 reg = INV_ICM42600_REG_OFFSET_USER1; 395 break; 396 case IIO_MOD_Z: 397 reg = INV_ICM42600_REG_OFFSET_USER3; 398 break; 399 default: 400 return -EINVAL; 401 } 402 403 pm_runtime_get_sync(dev); 404 mutex_lock(&st->lock); 405 406 ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data)); 407 memcpy(data, st->buffer, sizeof(data)); 408 409 mutex_unlock(&st->lock); 410 pm_runtime_mark_last_busy(dev); 411 pm_runtime_put_autosuspend(dev); 412 if (ret) 413 return ret; 414 415 /* 12 bits signed value */ 416 switch (chan->channel2) { 417 case IIO_MOD_X: 418 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11); 419 break; 420 case IIO_MOD_Y: 421 offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11); 422 break; 423 case IIO_MOD_Z: 424 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11); 425 break; 426 default: 427 return -EINVAL; 428 } 429 430 /* 431 * convert raw offset to dps then to rad/s 432 * 12 bits signed raw max 64 to dps: 64 / 2048 433 * dps to rad: Pi / 180 434 * result in nano (1000000000) 435 * (offset * 64 * Pi * 1000000000) / (2048 * 180) 436 */ 437 val64 = (int64_t)offset * 64LL * 3141592653LL; 438 /* for rounding, add + or - divisor (2048 * 180) divided by 2 */ 439 if (val64 >= 0) 440 val64 += 2048 * 180 / 2; 441 else 442 val64 -= 2048 * 180 / 2; 443 bias = div_s64(val64, 2048 * 180); 444 *val = bias / 1000000000L; 445 *val2 = bias % 1000000000L; 446 447 return IIO_VAL_INT_PLUS_NANO; 448 } 449 450 static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st, 451 struct iio_chan_spec const *chan, 452 int val, int val2) 453 { 454 struct device *dev = regmap_get_device(st->map); 455 int64_t val64, min, max; 456 unsigned int reg, regval; 457 int16_t offset; 458 int ret; 459 460 if (chan->type != IIO_ANGL_VEL) 461 return -EINVAL; 462 463 switch (chan->channel2) { 464 case IIO_MOD_X: 465 reg = INV_ICM42600_REG_OFFSET_USER0; 466 break; 467 case IIO_MOD_Y: 468 reg = INV_ICM42600_REG_OFFSET_USER1; 469 break; 470 case IIO_MOD_Z: 471 reg = INV_ICM42600_REG_OFFSET_USER3; 472 break; 473 default: 474 return -EINVAL; 475 } 476 477 /* inv_icm42600_gyro_calibbias: min - step - max in nano */ 478 min = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL + 479 (int64_t)inv_icm42600_gyro_calibbias[1]; 480 max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL + 481 (int64_t)inv_icm42600_gyro_calibbias[5]; 482 val64 = (int64_t)val * 1000000000LL + (int64_t)val2; 483 if (val64 < min || val64 > max) 484 return -EINVAL; 485 486 /* 487 * convert rad/s to dps then to raw value 488 * rad to dps: 180 / Pi 489 * dps to raw 12 bits signed, max 64: 2048 / 64 490 * val in nano (1000000000) 491 * val * 180 * 2048 / (Pi * 1000000000 * 64) 492 */ 493 val64 = val64 * 180LL * 2048LL; 494 /* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */ 495 if (val64 >= 0) 496 val64 += 3141592653LL * 64LL / 2LL; 497 else 498 val64 -= 3141592653LL * 64LL / 2LL; 499 offset = div64_s64(val64, 3141592653LL * 64LL); 500 501 /* clamp value limited to 12 bits signed */ 502 if (offset < -2048) 503 offset = -2048; 504 else if (offset > 2047) 505 offset = 2047; 506 507 pm_runtime_get_sync(dev); 508 mutex_lock(&st->lock); 509 510 switch (chan->channel2) { 511 case IIO_MOD_X: 512 /* OFFSET_USER1 register is shared */ 513 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1, 514 ®val); 515 if (ret) 516 goto out_unlock; 517 st->buffer[0] = offset & 0xFF; 518 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8); 519 break; 520 case IIO_MOD_Y: 521 /* OFFSET_USER1 register is shared */ 522 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1, 523 ®val); 524 if (ret) 525 goto out_unlock; 526 st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F); 527 st->buffer[1] = offset & 0xFF; 528 break; 529 case IIO_MOD_Z: 530 /* OFFSET_USER4 register is shared */ 531 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4, 532 ®val); 533 if (ret) 534 goto out_unlock; 535 st->buffer[0] = offset & 0xFF; 536 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8); 537 break; 538 default: 539 ret = -EINVAL; 540 goto out_unlock; 541 } 542 543 ret = regmap_bulk_write(st->map, reg, st->buffer, 2); 544 545 out_unlock: 546 mutex_unlock(&st->lock); 547 pm_runtime_mark_last_busy(dev); 548 pm_runtime_put_autosuspend(dev); 549 return ret; 550 } 551 552 static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev, 553 struct iio_chan_spec const *chan, 554 int *val, int *val2, long mask) 555 { 556 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 557 int16_t data; 558 int ret; 559 560 switch (chan->type) { 561 case IIO_ANGL_VEL: 562 break; 563 case IIO_TEMP: 564 return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask); 565 default: 566 return -EINVAL; 567 } 568 569 switch (mask) { 570 case IIO_CHAN_INFO_RAW: 571 ret = iio_device_claim_direct_mode(indio_dev); 572 if (ret) 573 return ret; 574 ret = inv_icm42600_gyro_read_sensor(st, chan, &data); 575 iio_device_release_direct_mode(indio_dev); 576 if (ret) 577 return ret; 578 *val = data; 579 return IIO_VAL_INT; 580 case IIO_CHAN_INFO_SCALE: 581 return inv_icm42600_gyro_read_scale(st, val, val2); 582 case IIO_CHAN_INFO_SAMP_FREQ: 583 return inv_icm42600_gyro_read_odr(st, val, val2); 584 case IIO_CHAN_INFO_CALIBBIAS: 585 return inv_icm42600_gyro_read_offset(st, chan, val, val2); 586 default: 587 return -EINVAL; 588 } 589 } 590 591 static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev, 592 struct iio_chan_spec const *chan, 593 const int **vals, 594 int *type, int *length, long mask) 595 { 596 if (chan->type != IIO_ANGL_VEL) 597 return -EINVAL; 598 599 switch (mask) { 600 case IIO_CHAN_INFO_SCALE: 601 *vals = inv_icm42600_gyro_scale; 602 *type = IIO_VAL_INT_PLUS_NANO; 603 *length = ARRAY_SIZE(inv_icm42600_gyro_scale); 604 return IIO_AVAIL_LIST; 605 case IIO_CHAN_INFO_SAMP_FREQ: 606 *vals = inv_icm42600_gyro_odr; 607 *type = IIO_VAL_INT_PLUS_MICRO; 608 *length = ARRAY_SIZE(inv_icm42600_gyro_odr); 609 return IIO_AVAIL_LIST; 610 case IIO_CHAN_INFO_CALIBBIAS: 611 *vals = inv_icm42600_gyro_calibbias; 612 *type = IIO_VAL_INT_PLUS_NANO; 613 return IIO_AVAIL_RANGE; 614 default: 615 return -EINVAL; 616 } 617 } 618 619 static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev, 620 struct iio_chan_spec const *chan, 621 int val, int val2, long mask) 622 { 623 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 624 int ret; 625 626 if (chan->type != IIO_ANGL_VEL) 627 return -EINVAL; 628 629 switch (mask) { 630 case IIO_CHAN_INFO_SCALE: 631 ret = iio_device_claim_direct_mode(indio_dev); 632 if (ret) 633 return ret; 634 ret = inv_icm42600_gyro_write_scale(st, val, val2); 635 iio_device_release_direct_mode(indio_dev); 636 return ret; 637 case IIO_CHAN_INFO_SAMP_FREQ: 638 return inv_icm42600_gyro_write_odr(indio_dev, val, val2); 639 case IIO_CHAN_INFO_CALIBBIAS: 640 ret = iio_device_claim_direct_mode(indio_dev); 641 if (ret) 642 return ret; 643 ret = inv_icm42600_gyro_write_offset(st, chan, val, val2); 644 iio_device_release_direct_mode(indio_dev); 645 return ret; 646 default: 647 return -EINVAL; 648 } 649 } 650 651 static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev, 652 struct iio_chan_spec const *chan, 653 long mask) 654 { 655 if (chan->type != IIO_ANGL_VEL) 656 return -EINVAL; 657 658 switch (mask) { 659 case IIO_CHAN_INFO_SCALE: 660 return IIO_VAL_INT_PLUS_NANO; 661 case IIO_CHAN_INFO_SAMP_FREQ: 662 return IIO_VAL_INT_PLUS_MICRO; 663 case IIO_CHAN_INFO_CALIBBIAS: 664 return IIO_VAL_INT_PLUS_NANO; 665 default: 666 return -EINVAL; 667 } 668 } 669 670 static int inv_icm42600_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev, 671 unsigned int val) 672 { 673 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 674 int ret; 675 676 mutex_lock(&st->lock); 677 678 st->fifo.watermark.gyro = val; 679 ret = inv_icm42600_buffer_update_watermark(st); 680 681 mutex_unlock(&st->lock); 682 683 return ret; 684 } 685 686 static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev, 687 unsigned int count) 688 { 689 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 690 int ret; 691 692 if (count == 0) 693 return 0; 694 695 mutex_lock(&st->lock); 696 697 ret = inv_icm42600_buffer_hwfifo_flush(st, count); 698 if (!ret) 699 ret = st->fifo.nb.gyro; 700 701 mutex_unlock(&st->lock); 702 703 return ret; 704 } 705 706 static const struct iio_info inv_icm42600_gyro_info = { 707 .read_raw = inv_icm42600_gyro_read_raw, 708 .read_avail = inv_icm42600_gyro_read_avail, 709 .write_raw = inv_icm42600_gyro_write_raw, 710 .write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt, 711 .debugfs_reg_access = inv_icm42600_debugfs_reg, 712 .update_scan_mode = inv_icm42600_gyro_update_scan_mode, 713 .hwfifo_set_watermark = inv_icm42600_gyro_hwfifo_set_watermark, 714 .hwfifo_flush_to_buffer = inv_icm42600_gyro_hwfifo_flush, 715 }; 716 717 struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st) 718 { 719 struct device *dev = regmap_get_device(st->map); 720 const char *name; 721 struct inv_icm42600_timestamp *ts; 722 struct iio_dev *indio_dev; 723 struct iio_buffer *buffer; 724 int ret; 725 726 name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name); 727 if (!name) 728 return ERR_PTR(-ENOMEM); 729 730 indio_dev = devm_iio_device_alloc(dev, sizeof(*ts)); 731 if (!indio_dev) 732 return ERR_PTR(-ENOMEM); 733 734 buffer = devm_iio_kfifo_allocate(dev); 735 if (!buffer) 736 return ERR_PTR(-ENOMEM); 737 738 ts = iio_priv(indio_dev); 739 inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.gyro.odr)); 740 741 iio_device_set_drvdata(indio_dev, st); 742 indio_dev->name = name; 743 indio_dev->info = &inv_icm42600_gyro_info; 744 indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE; 745 indio_dev->channels = inv_icm42600_gyro_channels; 746 indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels); 747 indio_dev->available_scan_masks = inv_icm42600_gyro_scan_masks; 748 indio_dev->setup_ops = &inv_icm42600_buffer_ops; 749 750 iio_device_attach_buffer(indio_dev, buffer); 751 752 ret = devm_iio_device_register(dev, indio_dev); 753 if (ret) 754 return ERR_PTR(ret); 755 756 return indio_dev; 757 } 758 759 int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev) 760 { 761 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 762 struct inv_icm42600_timestamp *ts = iio_priv(indio_dev); 763 ssize_t i, size; 764 unsigned int no; 765 const void *accel, *gyro, *timestamp; 766 const int8_t *temp; 767 unsigned int odr; 768 int64_t ts_val; 769 struct inv_icm42600_gyro_buffer buffer; 770 771 /* parse all fifo packets */ 772 for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) { 773 size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i], 774 &accel, &gyro, &temp, ×tamp, &odr); 775 /* quit if error or FIFO is empty */ 776 if (size <= 0) 777 return size; 778 779 /* skip packet if no gyro data or data is invalid */ 780 if (gyro == NULL || !inv_icm42600_fifo_is_data_valid(gyro)) 781 continue; 782 783 /* update odr */ 784 if (odr & INV_ICM42600_SENSOR_GYRO) 785 inv_icm42600_timestamp_apply_odr(ts, st->fifo.period, 786 st->fifo.nb.total, no); 787 788 /* buffer is copied to userspace, zeroing it to avoid any data leak */ 789 memset(&buffer, 0, sizeof(buffer)); 790 memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro)); 791 /* convert 8 bits FIFO temperature in high resolution format */ 792 buffer.temp = temp ? (*temp * 64) : 0; 793 ts_val = inv_icm42600_timestamp_pop(ts); 794 iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val); 795 } 796 797 return 0; 798 } 799