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 50 enum 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 58 static 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 63 static 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 */ 78 struct 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 91 static 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 */ 98 static 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_sensors_timestamp *ts = iio_priv(indio_dev); 103 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; 104 unsigned int fifo_en = 0; 105 unsigned int sleep_gyro = 0; 106 unsigned int sleep_temp = 0; 107 unsigned int sleep; 108 int ret; 109 110 mutex_lock(&st->lock); 111 112 if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) { 113 /* enable temp sensor */ 114 ret = inv_icm42600_set_temp_conf(st, true, &sleep_temp); 115 if (ret) 116 goto out_unlock; 117 fifo_en |= INV_ICM42600_SENSOR_TEMP; 118 } 119 120 if (*scan_mask & INV_ICM42600_SCAN_MASK_GYRO_3AXIS) { 121 /* enable gyro sensor */ 122 conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE; 123 ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_gyro); 124 if (ret) 125 goto out_unlock; 126 fifo_en |= INV_ICM42600_SENSOR_GYRO; 127 } 128 129 /* update data FIFO write */ 130 inv_sensors_timestamp_apply_odr(ts, 0, 0, 0); 131 ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en); 132 if (ret) 133 goto out_unlock; 134 135 ret = inv_icm42600_buffer_update_watermark(st); 136 137 out_unlock: 138 mutex_unlock(&st->lock); 139 /* sleep maximum required time */ 140 if (sleep_gyro > sleep_temp) 141 sleep = sleep_gyro; 142 else 143 sleep = sleep_temp; 144 if (sleep) 145 msleep(sleep); 146 return ret; 147 } 148 149 static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st, 150 struct iio_chan_spec const *chan, 151 int16_t *val) 152 { 153 struct device *dev = regmap_get_device(st->map); 154 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; 155 unsigned int reg; 156 __be16 *data; 157 int ret; 158 159 if (chan->type != IIO_ANGL_VEL) 160 return -EINVAL; 161 162 switch (chan->channel2) { 163 case IIO_MOD_X: 164 reg = INV_ICM42600_REG_GYRO_DATA_X; 165 break; 166 case IIO_MOD_Y: 167 reg = INV_ICM42600_REG_GYRO_DATA_Y; 168 break; 169 case IIO_MOD_Z: 170 reg = INV_ICM42600_REG_GYRO_DATA_Z; 171 break; 172 default: 173 return -EINVAL; 174 } 175 176 pm_runtime_get_sync(dev); 177 mutex_lock(&st->lock); 178 179 /* enable gyro sensor */ 180 conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE; 181 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); 182 if (ret) 183 goto exit; 184 185 /* read gyro register data */ 186 data = (__be16 *)&st->buffer[0]; 187 ret = regmap_bulk_read(st->map, reg, data, sizeof(*data)); 188 if (ret) 189 goto exit; 190 191 *val = (int16_t)be16_to_cpup(data); 192 if (*val == INV_ICM42600_DATA_INVALID) 193 ret = -EINVAL; 194 exit: 195 mutex_unlock(&st->lock); 196 pm_runtime_mark_last_busy(dev); 197 pm_runtime_put_autosuspend(dev); 198 return ret; 199 } 200 201 /* IIO format int + nano */ 202 static const int inv_icm42600_gyro_scale[] = { 203 /* +/- 2000dps => 0.001065264 rad/s */ 204 [2 * INV_ICM42600_GYRO_FS_2000DPS] = 0, 205 [2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264, 206 /* +/- 1000dps => 0.000532632 rad/s */ 207 [2 * INV_ICM42600_GYRO_FS_1000DPS] = 0, 208 [2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632, 209 /* +/- 500dps => 0.000266316 rad/s */ 210 [2 * INV_ICM42600_GYRO_FS_500DPS] = 0, 211 [2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316, 212 /* +/- 250dps => 0.000133158 rad/s */ 213 [2 * INV_ICM42600_GYRO_FS_250DPS] = 0, 214 [2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158, 215 /* +/- 125dps => 0.000066579 rad/s */ 216 [2 * INV_ICM42600_GYRO_FS_125DPS] = 0, 217 [2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579, 218 /* +/- 62.5dps => 0.000033290 rad/s */ 219 [2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0, 220 [2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290, 221 /* +/- 31.25dps => 0.000016645 rad/s */ 222 [2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0, 223 [2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645, 224 /* +/- 15.625dps => 0.000008322 rad/s */ 225 [2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0, 226 [2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322, 227 }; 228 229 static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st, 230 int *val, int *val2) 231 { 232 unsigned int idx; 233 234 idx = st->conf.gyro.fs; 235 236 *val = inv_icm42600_gyro_scale[2 * idx]; 237 *val2 = inv_icm42600_gyro_scale[2 * idx + 1]; 238 return IIO_VAL_INT_PLUS_NANO; 239 } 240 241 static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st, 242 int val, int val2) 243 { 244 struct device *dev = regmap_get_device(st->map); 245 unsigned int idx; 246 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; 247 int ret; 248 249 for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) { 250 if (val == inv_icm42600_gyro_scale[idx] && 251 val2 == inv_icm42600_gyro_scale[idx + 1]) 252 break; 253 } 254 if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale)) 255 return -EINVAL; 256 257 conf.fs = idx / 2; 258 259 pm_runtime_get_sync(dev); 260 mutex_lock(&st->lock); 261 262 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); 263 264 mutex_unlock(&st->lock); 265 pm_runtime_mark_last_busy(dev); 266 pm_runtime_put_autosuspend(dev); 267 268 return ret; 269 } 270 271 /* IIO format int + micro */ 272 static const int inv_icm42600_gyro_odr[] = { 273 /* 12.5Hz */ 274 12, 500000, 275 /* 25Hz */ 276 25, 0, 277 /* 50Hz */ 278 50, 0, 279 /* 100Hz */ 280 100, 0, 281 /* 200Hz */ 282 200, 0, 283 /* 1kHz */ 284 1000, 0, 285 /* 2kHz */ 286 2000, 0, 287 /* 4kHz */ 288 4000, 0, 289 }; 290 291 static const int inv_icm42600_gyro_odr_conv[] = { 292 INV_ICM42600_ODR_12_5HZ, 293 INV_ICM42600_ODR_25HZ, 294 INV_ICM42600_ODR_50HZ, 295 INV_ICM42600_ODR_100HZ, 296 INV_ICM42600_ODR_200HZ, 297 INV_ICM42600_ODR_1KHZ_LN, 298 INV_ICM42600_ODR_2KHZ_LN, 299 INV_ICM42600_ODR_4KHZ_LN, 300 }; 301 302 static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st, 303 int *val, int *val2) 304 { 305 unsigned int odr; 306 unsigned int i; 307 308 odr = st->conf.gyro.odr; 309 310 for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) { 311 if (inv_icm42600_gyro_odr_conv[i] == odr) 312 break; 313 } 314 if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv)) 315 return -EINVAL; 316 317 *val = inv_icm42600_gyro_odr[2 * i]; 318 *val2 = inv_icm42600_gyro_odr[2 * i + 1]; 319 320 return IIO_VAL_INT_PLUS_MICRO; 321 } 322 323 static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev, 324 int val, int val2) 325 { 326 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 327 struct inv_sensors_timestamp *ts = iio_priv(indio_dev); 328 struct device *dev = regmap_get_device(st->map); 329 unsigned int idx; 330 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; 331 int ret; 332 333 for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) { 334 if (val == inv_icm42600_gyro_odr[idx] && 335 val2 == inv_icm42600_gyro_odr[idx + 1]) 336 break; 337 } 338 if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr)) 339 return -EINVAL; 340 341 conf.odr = inv_icm42600_gyro_odr_conv[idx / 2]; 342 343 pm_runtime_get_sync(dev); 344 mutex_lock(&st->lock); 345 346 ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr), 347 iio_buffer_enabled(indio_dev)); 348 if (ret) 349 goto out_unlock; 350 351 ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); 352 if (ret) 353 goto out_unlock; 354 inv_icm42600_buffer_update_fifo_period(st); 355 inv_icm42600_buffer_update_watermark(st); 356 357 out_unlock: 358 mutex_unlock(&st->lock); 359 pm_runtime_mark_last_busy(dev); 360 pm_runtime_put_autosuspend(dev); 361 362 return ret; 363 } 364 365 /* 366 * Calibration bias values, IIO range format int + nano. 367 * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps. 368 */ 369 static int inv_icm42600_gyro_calibbias[] = { 370 -1, 117010721, /* min: -1.117010721 rad/s */ 371 0, 545415, /* step: 0.000545415 rad/s */ 372 1, 116465306, /* max: 1.116465306 rad/s */ 373 }; 374 375 static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st, 376 struct iio_chan_spec const *chan, 377 int *val, int *val2) 378 { 379 struct device *dev = regmap_get_device(st->map); 380 int64_t val64; 381 int32_t bias; 382 unsigned int reg; 383 int16_t offset; 384 uint8_t data[2]; 385 int ret; 386 387 if (chan->type != IIO_ANGL_VEL) 388 return -EINVAL; 389 390 switch (chan->channel2) { 391 case IIO_MOD_X: 392 reg = INV_ICM42600_REG_OFFSET_USER0; 393 break; 394 case IIO_MOD_Y: 395 reg = INV_ICM42600_REG_OFFSET_USER1; 396 break; 397 case IIO_MOD_Z: 398 reg = INV_ICM42600_REG_OFFSET_USER3; 399 break; 400 default: 401 return -EINVAL; 402 } 403 404 pm_runtime_get_sync(dev); 405 mutex_lock(&st->lock); 406 407 ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data)); 408 memcpy(data, st->buffer, sizeof(data)); 409 410 mutex_unlock(&st->lock); 411 pm_runtime_mark_last_busy(dev); 412 pm_runtime_put_autosuspend(dev); 413 if (ret) 414 return ret; 415 416 /* 12 bits signed value */ 417 switch (chan->channel2) { 418 case IIO_MOD_X: 419 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11); 420 break; 421 case IIO_MOD_Y: 422 offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11); 423 break; 424 case IIO_MOD_Z: 425 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11); 426 break; 427 default: 428 return -EINVAL; 429 } 430 431 /* 432 * convert raw offset to dps then to rad/s 433 * 12 bits signed raw max 64 to dps: 64 / 2048 434 * dps to rad: Pi / 180 435 * result in nano (1000000000) 436 * (offset * 64 * Pi * 1000000000) / (2048 * 180) 437 */ 438 val64 = (int64_t)offset * 64LL * 3141592653LL; 439 /* for rounding, add + or - divisor (2048 * 180) divided by 2 */ 440 if (val64 >= 0) 441 val64 += 2048 * 180 / 2; 442 else 443 val64 -= 2048 * 180 / 2; 444 bias = div_s64(val64, 2048 * 180); 445 *val = bias / 1000000000L; 446 *val2 = bias % 1000000000L; 447 448 return IIO_VAL_INT_PLUS_NANO; 449 } 450 451 static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st, 452 struct iio_chan_spec const *chan, 453 int val, int val2) 454 { 455 struct device *dev = regmap_get_device(st->map); 456 int64_t val64, min, max; 457 unsigned int reg, regval; 458 int16_t offset; 459 int ret; 460 461 if (chan->type != IIO_ANGL_VEL) 462 return -EINVAL; 463 464 switch (chan->channel2) { 465 case IIO_MOD_X: 466 reg = INV_ICM42600_REG_OFFSET_USER0; 467 break; 468 case IIO_MOD_Y: 469 reg = INV_ICM42600_REG_OFFSET_USER1; 470 break; 471 case IIO_MOD_Z: 472 reg = INV_ICM42600_REG_OFFSET_USER3; 473 break; 474 default: 475 return -EINVAL; 476 } 477 478 /* inv_icm42600_gyro_calibbias: min - step - max in nano */ 479 min = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL + 480 (int64_t)inv_icm42600_gyro_calibbias[1]; 481 max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL + 482 (int64_t)inv_icm42600_gyro_calibbias[5]; 483 val64 = (int64_t)val * 1000000000LL + (int64_t)val2; 484 if (val64 < min || val64 > max) 485 return -EINVAL; 486 487 /* 488 * convert rad/s to dps then to raw value 489 * rad to dps: 180 / Pi 490 * dps to raw 12 bits signed, max 64: 2048 / 64 491 * val in nano (1000000000) 492 * val * 180 * 2048 / (Pi * 1000000000 * 64) 493 */ 494 val64 = val64 * 180LL * 2048LL; 495 /* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */ 496 if (val64 >= 0) 497 val64 += 3141592653LL * 64LL / 2LL; 498 else 499 val64 -= 3141592653LL * 64LL / 2LL; 500 offset = div64_s64(val64, 3141592653LL * 64LL); 501 502 /* clamp value limited to 12 bits signed */ 503 if (offset < -2048) 504 offset = -2048; 505 else if (offset > 2047) 506 offset = 2047; 507 508 pm_runtime_get_sync(dev); 509 mutex_lock(&st->lock); 510 511 switch (chan->channel2) { 512 case IIO_MOD_X: 513 /* OFFSET_USER1 register is shared */ 514 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1, 515 ®val); 516 if (ret) 517 goto out_unlock; 518 st->buffer[0] = offset & 0xFF; 519 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8); 520 break; 521 case IIO_MOD_Y: 522 /* OFFSET_USER1 register is shared */ 523 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1, 524 ®val); 525 if (ret) 526 goto out_unlock; 527 st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F); 528 st->buffer[1] = offset & 0xFF; 529 break; 530 case IIO_MOD_Z: 531 /* OFFSET_USER4 register is shared */ 532 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4, 533 ®val); 534 if (ret) 535 goto out_unlock; 536 st->buffer[0] = offset & 0xFF; 537 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8); 538 break; 539 default: 540 ret = -EINVAL; 541 goto out_unlock; 542 } 543 544 ret = regmap_bulk_write(st->map, reg, st->buffer, 2); 545 546 out_unlock: 547 mutex_unlock(&st->lock); 548 pm_runtime_mark_last_busy(dev); 549 pm_runtime_put_autosuspend(dev); 550 return ret; 551 } 552 553 static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev, 554 struct iio_chan_spec const *chan, 555 int *val, int *val2, long mask) 556 { 557 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 558 int16_t data; 559 int ret; 560 561 switch (chan->type) { 562 case IIO_ANGL_VEL: 563 break; 564 case IIO_TEMP: 565 return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask); 566 default: 567 return -EINVAL; 568 } 569 570 switch (mask) { 571 case IIO_CHAN_INFO_RAW: 572 ret = iio_device_claim_direct_mode(indio_dev); 573 if (ret) 574 return ret; 575 ret = inv_icm42600_gyro_read_sensor(st, chan, &data); 576 iio_device_release_direct_mode(indio_dev); 577 if (ret) 578 return ret; 579 *val = data; 580 return IIO_VAL_INT; 581 case IIO_CHAN_INFO_SCALE: 582 return inv_icm42600_gyro_read_scale(st, val, val2); 583 case IIO_CHAN_INFO_SAMP_FREQ: 584 return inv_icm42600_gyro_read_odr(st, val, val2); 585 case IIO_CHAN_INFO_CALIBBIAS: 586 return inv_icm42600_gyro_read_offset(st, chan, val, val2); 587 default: 588 return -EINVAL; 589 } 590 } 591 592 static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev, 593 struct iio_chan_spec const *chan, 594 const int **vals, 595 int *type, int *length, long mask) 596 { 597 if (chan->type != IIO_ANGL_VEL) 598 return -EINVAL; 599 600 switch (mask) { 601 case IIO_CHAN_INFO_SCALE: 602 *vals = inv_icm42600_gyro_scale; 603 *type = IIO_VAL_INT_PLUS_NANO; 604 *length = ARRAY_SIZE(inv_icm42600_gyro_scale); 605 return IIO_AVAIL_LIST; 606 case IIO_CHAN_INFO_SAMP_FREQ: 607 *vals = inv_icm42600_gyro_odr; 608 *type = IIO_VAL_INT_PLUS_MICRO; 609 *length = ARRAY_SIZE(inv_icm42600_gyro_odr); 610 return IIO_AVAIL_LIST; 611 case IIO_CHAN_INFO_CALIBBIAS: 612 *vals = inv_icm42600_gyro_calibbias; 613 *type = IIO_VAL_INT_PLUS_NANO; 614 return IIO_AVAIL_RANGE; 615 default: 616 return -EINVAL; 617 } 618 } 619 620 static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev, 621 struct iio_chan_spec const *chan, 622 int val, int val2, long mask) 623 { 624 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 625 int ret; 626 627 if (chan->type != IIO_ANGL_VEL) 628 return -EINVAL; 629 630 switch (mask) { 631 case IIO_CHAN_INFO_SCALE: 632 ret = iio_device_claim_direct_mode(indio_dev); 633 if (ret) 634 return ret; 635 ret = inv_icm42600_gyro_write_scale(st, val, val2); 636 iio_device_release_direct_mode(indio_dev); 637 return ret; 638 case IIO_CHAN_INFO_SAMP_FREQ: 639 return inv_icm42600_gyro_write_odr(indio_dev, val, val2); 640 case IIO_CHAN_INFO_CALIBBIAS: 641 ret = iio_device_claim_direct_mode(indio_dev); 642 if (ret) 643 return ret; 644 ret = inv_icm42600_gyro_write_offset(st, chan, val, val2); 645 iio_device_release_direct_mode(indio_dev); 646 return ret; 647 default: 648 return -EINVAL; 649 } 650 } 651 652 static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev, 653 struct iio_chan_spec const *chan, 654 long mask) 655 { 656 if (chan->type != IIO_ANGL_VEL) 657 return -EINVAL; 658 659 switch (mask) { 660 case IIO_CHAN_INFO_SCALE: 661 return IIO_VAL_INT_PLUS_NANO; 662 case IIO_CHAN_INFO_SAMP_FREQ: 663 return IIO_VAL_INT_PLUS_MICRO; 664 case IIO_CHAN_INFO_CALIBBIAS: 665 return IIO_VAL_INT_PLUS_NANO; 666 default: 667 return -EINVAL; 668 } 669 } 670 671 static int inv_icm42600_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev, 672 unsigned int val) 673 { 674 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 675 int ret; 676 677 mutex_lock(&st->lock); 678 679 st->fifo.watermark.gyro = val; 680 ret = inv_icm42600_buffer_update_watermark(st); 681 682 mutex_unlock(&st->lock); 683 684 return ret; 685 } 686 687 static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev, 688 unsigned int count) 689 { 690 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 691 int ret; 692 693 if (count == 0) 694 return 0; 695 696 mutex_lock(&st->lock); 697 698 ret = inv_icm42600_buffer_hwfifo_flush(st, count); 699 if (!ret) 700 ret = st->fifo.nb.gyro; 701 702 mutex_unlock(&st->lock); 703 704 return ret; 705 } 706 707 static const struct iio_info inv_icm42600_gyro_info = { 708 .read_raw = inv_icm42600_gyro_read_raw, 709 .read_avail = inv_icm42600_gyro_read_avail, 710 .write_raw = inv_icm42600_gyro_write_raw, 711 .write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt, 712 .debugfs_reg_access = inv_icm42600_debugfs_reg, 713 .update_scan_mode = inv_icm42600_gyro_update_scan_mode, 714 .hwfifo_set_watermark = inv_icm42600_gyro_hwfifo_set_watermark, 715 .hwfifo_flush_to_buffer = inv_icm42600_gyro_hwfifo_flush, 716 }; 717 718 struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st) 719 { 720 struct device *dev = regmap_get_device(st->map); 721 const char *name; 722 struct inv_sensors_timestamp_chip ts_chip; 723 struct inv_sensors_timestamp *ts; 724 struct iio_dev *indio_dev; 725 int ret; 726 727 name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name); 728 if (!name) 729 return ERR_PTR(-ENOMEM); 730 731 indio_dev = devm_iio_device_alloc(dev, sizeof(*ts)); 732 if (!indio_dev) 733 return ERR_PTR(-ENOMEM); 734 735 /* 736 * clock period is 32kHz (31250ns) 737 * jitter is +/- 2% (20 per mille) 738 */ 739 ts_chip.clock_period = 31250; 740 ts_chip.jitter = 20; 741 ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr); 742 ts = iio_priv(indio_dev); 743 inv_sensors_timestamp_init(ts, &ts_chip); 744 745 iio_device_set_drvdata(indio_dev, st); 746 indio_dev->name = name; 747 indio_dev->info = &inv_icm42600_gyro_info; 748 indio_dev->modes = INDIO_DIRECT_MODE; 749 indio_dev->channels = inv_icm42600_gyro_channels; 750 indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels); 751 indio_dev->available_scan_masks = inv_icm42600_gyro_scan_masks; 752 indio_dev->setup_ops = &inv_icm42600_buffer_ops; 753 754 ret = devm_iio_kfifo_buffer_setup(dev, indio_dev, 755 &inv_icm42600_buffer_ops); 756 if (ret) 757 return ERR_PTR(ret); 758 759 ret = devm_iio_device_register(dev, indio_dev); 760 if (ret) 761 return ERR_PTR(ret); 762 763 return indio_dev; 764 } 765 766 int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev) 767 { 768 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); 769 struct inv_sensors_timestamp *ts = iio_priv(indio_dev); 770 ssize_t i, size; 771 unsigned int no; 772 const void *accel, *gyro, *timestamp; 773 const int8_t *temp; 774 unsigned int odr; 775 int64_t ts_val; 776 struct inv_icm42600_gyro_buffer buffer; 777 778 /* parse all fifo packets */ 779 for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) { 780 size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i], 781 &accel, &gyro, &temp, ×tamp, &odr); 782 /* quit if error or FIFO is empty */ 783 if (size <= 0) 784 return size; 785 786 /* skip packet if no gyro data or data is invalid */ 787 if (gyro == NULL || !inv_icm42600_fifo_is_data_valid(gyro)) 788 continue; 789 790 /* update odr */ 791 if (odr & INV_ICM42600_SENSOR_GYRO) 792 inv_sensors_timestamp_apply_odr(ts, st->fifo.period, 793 st->fifo.nb.total, no); 794 795 /* buffer is copied to userspace, zeroing it to avoid any data leak */ 796 memset(&buffer, 0, sizeof(buffer)); 797 memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro)); 798 /* convert 8 bits FIFO temperature in high resolution format */ 799 buffer.temp = temp ? (*temp * 64) : 0; 800 ts_val = inv_sensors_timestamp_pop(ts); 801 iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val); 802 } 803 804 return 0; 805 } 806