From nobody Sat Sep 13 22:29:47 2025 Received: from smtp.kernel.org (aws-us-west-2-korg-mail-1.web.codeaurora.org [10.30.226.201]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id 0E38A2E5407; Thu, 17 Jul 2025 13:26:04 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=10.30.226.201 ARC-Seal: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1752758765; cv=none; b=f2dQIaRDBZ6lyu/ozuIpBxOlDYIJ++ZTU9dQQaAzAm/Cm/hlGk5tWoX165m4lJUounuxc8Cz/mS839JDzKppSd3vEoBF7SF52syCvWt/ogMSifPyvah/pRzFfnRtrRoHr1OlQaK/Ce5fQZVeSSolAupyN0s/9DRnl9EUvDd3NTs= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1752758765; c=relaxed/simple; bh=VJ3vhuaDiCOkbjiZF8BX8kE578P55dydhhPBj5ef8j0=; h=From:Date:Subject:MIME-Version:Content-Type:Message-Id:References: In-Reply-To:To:Cc; b=C+YCURYrsFu5fqIog4isdOhgAORzzwessUQYeeGR0g9nGJnlxRE6qwpx9uNEUscf4W3ZCM7s1xHpgAVY9MECBLsWsBwztMbbmTkmm1kJYCewLa8ONmZEMPNAjhY3H+TbkddHG5zp8wZo6fIw0R0GTXVOyTlVzl3n/kaRhAdHziM= ARC-Authentication-Results: i=1; smtp.subspace.kernel.org; dkim=pass (2048-bit key) header.d=kernel.org header.i=@kernel.org header.b=LtUGsQf4; arc=none smtp.client-ip=10.30.226.201 Authentication-Results: smtp.subspace.kernel.org; dkim=pass (2048-bit key) header.d=kernel.org header.i=@kernel.org header.b="LtUGsQf4" Received: by smtp.kernel.org (Postfix) with ESMTPS id A7F96C4CEFC; Thu, 17 Jul 2025 13:26:04 +0000 (UTC) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=kernel.org; s=k20201202; t=1752758764; bh=VJ3vhuaDiCOkbjiZF8BX8kE578P55dydhhPBj5ef8j0=; h=From:Date:Subject:References:In-Reply-To:To:Cc:Reply-To:From; b=LtUGsQf49SWwlFwV/il0K1GuW1AilmZ3lQOSP22Bep9ruqQx7UWpwkhh9Y7bVysVc zPhBRBfkuK+Hn33MH7EzHv2+jwQFpK6mZ4WazCm9cN+l4k8ObMTcGNUIGDbiFbG7VS iezzaI0edT+KVHswQBTJRqCII0xtOHGBlslkM6KJc7z/DA3wB5ITZtqNTVvZdrXVwG aETIa7D8J5MJ5Zc6tNyOoW6pTgGXXBiNV3Hp6VNRG8GM+XAGgECfk/BLDfsJI+bd3F 9XdcwsPzB02O+CtECOoX+nCWLshzT4gbxDeU1MjIyR3kP6CVTzmOSad8RH8Cb5km6r 4EGSnTgqVQAUA== Received: from aws-us-west-2-korg-lkml-1.web.codeaurora.org (localhost.localdomain [127.0.0.1]) by smtp.lore.kernel.org (Postfix) with ESMTP id 9EC3BC83F22; Thu, 17 Jul 2025 13:26:04 +0000 (UTC) From: Remi Buisson via B4 Relay Date: Thu, 17 Jul 2025 13:25:56 +0000 Subject: [PATCH v3 4/8] iio: imu: inv_icm45600: add IMU IIO devices Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Type: text/plain; charset="utf-8" Content-Transfer-Encoding: quoted-printable Message-Id: <20250717-add_newport_driver-v3-4-c6099e02c562@tdk.com> References: <20250717-add_newport_driver-v3-0-c6099e02c562@tdk.com> In-Reply-To: <20250717-add_newport_driver-v3-0-c6099e02c562@tdk.com> To: Jonathan Cameron , David Lechner , =?utf-8?q?Nuno_S=C3=A1?= , Andy Shevchenko , Rob Herring , Krzysztof Kozlowski , Conor Dooley Cc: linux-kernel@vger.kernel.org, linux-iio@vger.kernel.org, devicetree@vger.kernel.org, Remi Buisson X-Mailer: b4 0.14.2 X-Developer-Signature: v=1; a=ed25519-sha256; t=1752758762; l=60200; i=remi.buisson@tdk.com; s=20250411; h=from:subject:message-id; bh=rGxQuqZxVhm5H1jGZ1m9uyU4ozXVW6aVhIRN33gnRbM=; b=ajMIFB53gSzeXwstzlWwTQIFIy/xyHmmrV+n68LKJ0DT9eiSp7uTfxQ/yWUGMnco+gB2iXA5+ cWPxRkQy3wUCWT60uRYmSLQoHTZrYahgNceq3EIGXqgtiBl4IO/43pr X-Developer-Key: i=remi.buisson@tdk.com; a=ed25519; pk=yDVMi4C7RpXN4dififo42A7fDDt3THYzoZoNq9lUZuo= X-Endpoint-Received: by B4 Relay for remi.buisson@tdk.com/20250411 with auth_id=372 X-Original-From: Remi Buisson Reply-To: remi.buisson@tdk.com From: Remi Buisson Add IIO devices for accelerometer and gyroscope sensors with data polling interface and FIFO parsing. Attributes: raw, scale, sampling_frequency, calibbias. Temperature is available as a processed channel. Signed-off-by: Remi Buisson --- drivers/iio/imu/inv_icm45600/Kconfig | 2 + drivers/iio/imu/inv_icm45600/Makefile | 4 +- drivers/iio/imu/inv_icm45600/inv_icm45600.h | 9 + drivers/iio/imu/inv_icm45600/inv_icm45600_accel.c | 798 +++++++++++++++++= +++ drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.c | 71 ++ drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.h | 2 + drivers/iio/imu/inv_icm45600/inv_icm45600_core.c | 122 ++++ drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c | 809 +++++++++++++++++= ++++ 8 files changed, 1816 insertions(+), 1 deletion(-) diff --git a/drivers/iio/imu/inv_icm45600/Kconfig b/drivers/iio/imu/inv_icm= 45600/Kconfig index 8cb5543e0a5817323ab7b2d520dd3430ac5dbc99..ea0a8d20cba26549b74105fa6fd= bca1ddb222633 100644 --- a/drivers/iio/imu/inv_icm45600/Kconfig +++ b/drivers/iio/imu/inv_icm45600/Kconfig @@ -2,4 +2,6 @@ =20 config INV_ICM45600 tristate + select IIO_BUFFER + select IIO_KFIFO_BUF select IIO_INV_SENSORS_TIMESTAMP diff --git a/drivers/iio/imu/inv_icm45600/Makefile b/drivers/iio/imu/inv_ic= m45600/Makefile index 19c521ffba17b0d108a8ecb45ecdea35dff6fd18..ced5e1d9f2c10400cfa48781466= 72d41f815c22a 100644 --- a/drivers/iio/imu/inv_icm45600/Makefile +++ b/drivers/iio/imu/inv_icm45600/Makefile @@ -2,4 +2,6 @@ =20 obj-$(CONFIG_INV_ICM45600) +=3D inv-icm45600.o inv-icm45600-y +=3D inv_icm45600_core.o -inv-icm45600-y +=3D inv_icm45600_buffer.o \ No newline at end of file +inv-icm45600-y +=3D inv_icm45600_buffer.o +inv-icm45600-y +=3D inv_icm45600_accel.o +inv-icm45600-y +=3D inv_icm45600_gyro.o diff --git a/drivers/iio/imu/inv_icm45600/inv_icm45600.h b/drivers/iio/imu/= inv_icm45600/inv_icm45600.h index 5625c437b6f54336f6e652c2ae2e4ea8f88e2396..cbc336867ddc65fcab3d738cbc4= bc266ada6ad1d 100644 --- a/drivers/iio/imu/inv_icm45600/inv_icm45600.h +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600.h @@ -109,6 +109,10 @@ struct inv_icm45600_chip_info { u8 whoami; const char *name; const struct inv_icm45600_conf *conf; + const int *accel_scales; + const int accel_scales_len; + const int *gyro_scales; + const int gyro_scales_len; }; =20 extern const struct inv_icm45600_chip_info inv_icm45605_chip_info; @@ -120,6 +124,11 @@ extern const struct inv_icm45600_chip_info inv_icm4568= 7_chip_info; extern const struct inv_icm45600_chip_info inv_icm45688p_chip_info; extern const struct inv_icm45600_chip_info inv_icm45689_chip_info; =20 +extern const int inv_icm45600_accel_scale[][2]; +extern const int inv_icm45686_accel_scale[][2]; +extern const int inv_icm45600_gyro_scale[][2]; +extern const int inv_icm45686_gyro_scale[][2]; + /** * struct inv_icm45600_state - driver state variables * @lock: lock for serializing multiple registers access. diff --git a/drivers/iio/imu/inv_icm45600/inv_icm45600_accel.c b/drivers/ii= o/imu/inv_icm45600/inv_icm45600_accel.c new file mode 100644 index 0000000000000000000000000000000000000000..bd6b85e25e1792744769916f6d5= 29615f9acf723 --- /dev/null +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600_accel.c @@ -0,0 +1,798 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2025 Invensense, Inc. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "inv_icm45600_buffer.h" +#include "inv_icm45600.h" + +enum inv_icm45600_accel_scan { + INV_ICM45600_ACCEL_SCAN_X, + INV_ICM45600_ACCEL_SCAN_Y, + INV_ICM45600_ACCEL_SCAN_Z, + INV_ICM45600_ACCEL_SCAN_TEMP, + INV_ICM45600_ACCEL_SCAN_TIMESTAMP, +}; + +static const struct iio_chan_spec_ext_info inv_icm45600_accel_ext_infos[] = =3D { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm45600_get_mount_matrix), + { }, +}; + +#define INV_ICM45600_ACCEL_CHAN(_modifier, _index, _ext_info) \ + { \ + .type =3D IIO_ACCEL, \ + .modified =3D 1, \ + .channel2 =3D _modifier, \ + .info_mask_separate =3D \ + BIT(IIO_CHAN_INFO_RAW) | \ + BIT(IIO_CHAN_INFO_CALIBBIAS), \ + .info_mask_shared_by_type =3D \ + BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_type_available =3D \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_CALIBBIAS), \ + .info_mask_shared_by_all =3D \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .info_mask_shared_by_all_available =3D \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index =3D _index, \ + .scan_type =3D { \ + .sign =3D 's', \ + .realbits =3D 16, \ + .storagebits =3D 16, \ + .endianness =3D IIO_LE, \ + }, \ + .ext_info =3D _ext_info, \ + } + +static const struct iio_chan_spec inv_icm45600_accel_channels[] =3D { + INV_ICM45600_ACCEL_CHAN(IIO_MOD_X, INV_ICM45600_ACCEL_SCAN_X, + inv_icm45600_accel_ext_infos), + INV_ICM45600_ACCEL_CHAN(IIO_MOD_Y, INV_ICM45600_ACCEL_SCAN_Y, + inv_icm45600_accel_ext_infos), + INV_ICM45600_ACCEL_CHAN(IIO_MOD_Z, INV_ICM45600_ACCEL_SCAN_Z, + inv_icm45600_accel_ext_infos), + INV_ICM45600_TEMP_CHAN(INV_ICM45600_ACCEL_SCAN_TEMP), + IIO_CHAN_SOFT_TIMESTAMP(INV_ICM45600_ACCEL_SCAN_TIMESTAMP), +}; + +/* + * IIO buffer data: size must be a power of 2 and timestamp aligned + * 16 bytes: 6 bytes acceleration, 2 bytes temperature, 8 bytes timestamp + */ +struct inv_icm45600_accel_buffer { + struct inv_icm45600_fifo_sensor_data accel; + s16 temp; + aligned_s64 timestamp; +}; + +static const unsigned long inv_icm45600_accel_scan_masks[] =3D { + /* 3-axis accel + temperature */ + BIT(INV_ICM45600_ACCEL_SCAN_X) | + BIT(INV_ICM45600_ACCEL_SCAN_Y) | + BIT(INV_ICM45600_ACCEL_SCAN_Z) | + BIT(INV_ICM45600_ACCEL_SCAN_TEMP), + 0, +}; + +/* enable accelerometer sensor and FIFO write */ +static int inv_icm45600_accel_update_scan_mode(struct iio_dev *indio_dev, + const unsigned long *scan_mask) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *accel_st =3D iio_priv(indio_dev); + struct inv_icm45600_sensor_conf conf =3D INV_ICM45600_SENSOR_CONF_KEEP_VA= LUES; + unsigned int fifo_en =3D 0; + unsigned int sleep =3D 0; + int ret; + + scoped_guard(mutex, &st->lock) { + if (*scan_mask & BIT(INV_ICM45600_ACCEL_SCAN_TEMP)) + fifo_en |=3D INV_ICM45600_SENSOR_TEMP; + + if (*scan_mask & (BIT(INV_ICM45600_ACCEL_SCAN_X) | + BIT(INV_ICM45600_ACCEL_SCAN_Y) | + BIT(INV_ICM45600_ACCEL_SCAN_Z))) { + /* enable accel sensor */ + conf.mode =3D accel_st->power_mode; + ret =3D inv_icm45600_set_accel_conf(st, &conf, &sleep); + if (ret) + return ret; + fifo_en |=3D INV_ICM45600_SENSOR_ACCEL; + } + + /* Update data FIFO write. */ + ret =3D inv_icm45600_buffer_set_fifo_en(st, fifo_en | st->fifo.en); + } + + /* Sleep required time. */ + if (sleep) + msleep(sleep); + + return ret; +} + +static int _inv_icm45600_accel_read_sensor(struct inv_icm45600_state *st, + struct inv_icm45600_sensor_state *accel_st, + unsigned int reg, int *val) +{ + struct inv_icm45600_sensor_conf conf =3D INV_ICM45600_SENSOR_CONF_KEEP_VA= LUES; + int ret; + + /* enable accel sensor */ + conf.mode =3D accel_st->power_mode; + ret =3D inv_icm45600_set_accel_conf(st, &conf, NULL); + if (ret) + return ret; + + /* read accel register data */ + ret =3D regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffer= .u16)); + if (ret) + return ret; + + *val =3D sign_extend32(le16_to_cpup(&st->buffer.u16), 15); + if (*val =3D=3D INV_ICM45600_DATA_INVALID) + return -ENODATA; + + return 0; +} + +static int inv_icm45600_accel_read_sensor(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *accel_st =3D iio_priv(indio_dev); + struct device *dev =3D regmap_get_device(st->map); + unsigned int reg; + int ret; + + if (chan->type !=3D IIO_ACCEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg =3D INV_ICM45600_REG_ACCEL_DATA_X; + break; + case IIO_MOD_Y: + reg =3D INV_ICM45600_REG_ACCEL_DATA_Y; + break; + case IIO_MOD_Z: + reg =3D INV_ICM45600_REG_ACCEL_DATA_Z; + break; + default: + return -EINVAL; + } + + ret =3D pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + scoped_guard(mutex, &st->lock) + ret =3D _inv_icm45600_accel_read_sensor(st, accel_st, reg, val); + + pm_runtime_put_autosuspend(dev); + + return ret; +} + +/* IIO format int + nano */ +const int inv_icm45600_accel_scale[][2] =3D { + /* +/- 16G =3D> 0.004788403 m/s-2 */ + [INV_ICM45600_ACCEL_FS_16G] =3D {0, 4788403}, + /* +/- 8G =3D> 0.002394202 m/s-2 */ + [INV_ICM45600_ACCEL_FS_8G] =3D {0, 2394202}, + /* +/- 4G =3D> 0.001197101 m/s-2 */ + [INV_ICM45600_ACCEL_FS_4G] =3D {0, 1197101}, + /* +/- 2G =3D> 0.000598550 m/s-2 */ + [INV_ICM45600_ACCEL_FS_2G] =3D {0, 598550}, +}; + +const int inv_icm45686_accel_scale[][2] =3D { + /* +/- 32G =3D> 0.009576806 m/s-2 */ + [INV_ICM45686_ACCEL_FS_32G] =3D {0, 9576806}, + /* +/- 16G =3D> 0.004788403 m/s-2 */ + [INV_ICM45686_ACCEL_FS_16G] =3D {0, 4788403}, + /* +/- 8G =3D> 0.002394202 m/s-2 */ + [INV_ICM45686_ACCEL_FS_8G] =3D {0, 2394202}, + /* +/- 4G =3D> 0.001197101 m/s-2 */ + [INV_ICM45686_ACCEL_FS_4G] =3D {0, 1197101}, + /* +/- 2G =3D> 0.000598550 m/s-2 */ + [INV_ICM45686_ACCEL_FS_2G] =3D {0, 598550}, +}; + +static int inv_icm45600_accel_read_scale(struct iio_dev *indio_dev, + int *val, int *val2) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *accel_st =3D iio_priv(indio_dev); + unsigned int idx; + + idx =3D st->conf.accel.fs; + + /* Full scale register starts at 1 for not High FSR parts */ + if (accel_st->scales =3D=3D (const int *)&inv_icm45600_accel_scale) + idx--; + + *val =3D accel_st->scales[2 * idx]; + *val2 =3D accel_st->scales[2 * idx + 1]; + return IIO_VAL_INT_PLUS_NANO; +} + +static int inv_icm45600_accel_write_scale(struct iio_dev *indio_dev, + int val, int val2) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *accel_st =3D iio_priv(indio_dev); + struct device *dev =3D regmap_get_device(st->map); + unsigned int idx; + struct inv_icm45600_sensor_conf conf =3D INV_ICM45600_SENSOR_CONF_KEEP_VA= LUES; + int ret; + + for (idx =3D 0; idx < accel_st->scales_len; idx +=3D 2) { + if (val =3D=3D accel_st->scales[idx] && + val2 =3D=3D accel_st->scales[idx + 1]) + break; + } + if (idx =3D=3D accel_st->scales_len) + return -EINVAL; + + conf.fs =3D idx / 2; + + /* Full scale register starts at 1 for not High FSR parts */ + if (accel_st->scales =3D=3D (const int *)&inv_icm45600_accel_scale) + conf.fs++; + + ret =3D pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + scoped_guard(mutex, &st->lock) + ret =3D inv_icm45600_set_accel_conf(st, &conf, NULL); + + pm_runtime_put_autosuspend(dev); + + return ret; +} + +/* IIO format int + micro */ +static const int inv_icm45600_accel_odr[] =3D { + /* 1.5625Hz */ + 1, 562500, + /* 3.125Hz */ + 3, 125000, + /* 6.25Hz */ + 6, 250000, + /* 12.5Hz */ + 12, 500000, + /* 25Hz */ + 25, 0, + /* 50Hz */ + 50, 0, + /* 100Hz */ + 100, 0, + /* 200Hz */ + 200, 0, + /* 400Hz */ + 400, 0, + /* 800Hz */ + 800, 0, + /* 1.6kHz */ + 1600, 0, + /* 3.2kHz */ + 3200, 0, + /* 6.4kHz */ + 6400, 0, +}; + +static const int inv_icm45600_accel_odr_conv[] =3D { + INV_ICM45600_ODR_1_5625HZ_LP, + INV_ICM45600_ODR_3_125HZ_LP, + INV_ICM45600_ODR_6_25HZ_LP, + INV_ICM45600_ODR_12_5HZ, + INV_ICM45600_ODR_25HZ, + INV_ICM45600_ODR_50HZ, + INV_ICM45600_ODR_100HZ, + INV_ICM45600_ODR_200HZ, + INV_ICM45600_ODR_400HZ, + INV_ICM45600_ODR_800HZ_LN, + INV_ICM45600_ODR_1600HZ_LN, + INV_ICM45600_ODR_3200HZ_LN, + INV_ICM45600_ODR_6400HZ_LN, +}; + +static int inv_icm45600_accel_read_odr(struct inv_icm45600_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + odr =3D st->conf.accel.odr; + + for (i =3D 0; i < ARRAY_SIZE(inv_icm45600_accel_odr_conv); ++i) { + if (inv_icm45600_accel_odr_conv[i] =3D=3D odr) + break; + } + if (i >=3D ARRAY_SIZE(inv_icm45600_accel_odr_conv)) + return -EINVAL; + + *val =3D inv_icm45600_accel_odr[2 * i]; + *val2 =3D inv_icm45600_accel_odr[2 * i + 1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int _inv_icm45600_accel_write_odr(struct iio_dev *indio_dev, int od= r) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *accel_st =3D iio_priv(indio_dev); + struct inv_sensors_timestamp *ts =3D &accel_st->ts; + struct inv_icm45600_sensor_conf conf =3D INV_ICM45600_SENSOR_CONF_KEEP_VA= LUES; + int ret; + + conf.odr =3D odr; + ret =3D inv_sensors_timestamp_update_odr(ts, inv_icm45600_odr_to_period(c= onf.odr), + iio_buffer_enabled(indio_dev)); + if (ret) + return ret; + + if (st->conf.accel.mode !=3D INV_ICM45600_SENSOR_MODE_OFF) + conf.mode =3D accel_st->power_mode; + + ret =3D inv_icm45600_set_accel_conf(st, &conf, NULL); + if (ret) + return ret; + + inv_icm45600_buffer_update_fifo_period(st); + inv_icm45600_buffer_update_watermark(st); + + return 0; +} + +static int inv_icm45600_accel_write_odr(struct iio_dev *indio_dev, + int val, int val2) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct device *dev =3D regmap_get_device(st->map); + unsigned int idx; + int odr; + int ret; + + for (idx =3D 0; idx < ARRAY_SIZE(inv_icm45600_accel_odr); idx +=3D 2) { + if (val =3D=3D inv_icm45600_accel_odr[idx] && + val2 =3D=3D inv_icm45600_accel_odr[idx + 1]) + break; + } + if (idx >=3D ARRAY_SIZE(inv_icm45600_accel_odr)) + return -EINVAL; + + odr =3D inv_icm45600_accel_odr_conv[idx / 2]; + + ret =3D pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + scoped_guard(mutex, &st->lock) + ret =3D _inv_icm45600_accel_write_odr(indio_dev, odr); + + pm_runtime_put_autosuspend(dev); + + return ret; +} + +/* + * Calibration bias values, IIO range format int + micro. + * Value is limited to +/-1g coded on 14 bits signed. Step is 0.125mg. + */ +static int inv_icm45600_accel_calibbias[] =3D { + -9, 806650, /* min: -9.806650 m/s=C2=B2 */ + 0, 1197, /* step: 0.001197 m/s=C2=B2 */ + 9, 805453, /* max: 9.805453 m/s=C2=B2 */ +}; + +static int inv_icm45600_accel_read_offset(struct inv_icm45600_state *st, + struct iio_chan_spec const *chan, + int *val, int *val2) +{ + struct device *dev =3D regmap_get_device(st->map); + s64 val64; + s32 bias; + unsigned int reg; + s16 offset; + int ret; + + if (chan->type !=3D IIO_ACCEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg =3D INV_ICM45600_IPREG_SYS2_REG_24; + break; + case IIO_MOD_Y: + reg =3D INV_ICM45600_IPREG_SYS2_REG_32; + break; + case IIO_MOD_Z: + reg =3D INV_ICM45600_IPREG_SYS2_REG_40; + break; + default: + return -EINVAL; + } + + ret =3D pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + scoped_guard(mutex, &st->lock) + ret =3D regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffe= r.u16)); + + pm_runtime_put_autosuspend(dev); + if (ret) + return ret; + + offset =3D le16_to_cpup(&st->buffer.u16) & INV_ICM45600_ACCEL_OFFUSER_MAS= K; + /* 14 bits signed value */ + offset =3D sign_extend32(offset, 13); + + /* + * convert raw offset to g then to m/s=C2=B2 + * 14 bits signed raw step 1/8192g + * g to m/s=C2=B2: 9.806650 + * result in micro (* 1000000) + * (offset * 9806650) / 8192 + */ + val64 =3D (s64)offset * 9806650LL; + /* for rounding, add + or - divisor (8192) divided by 2 */ + if (val64 >=3D 0) + val64 +=3D 8192LL / 2LL; + else + val64 -=3D 8192LL / 2LL; + bias =3D div_s64(val64, 8192L); + *val =3D bias / 1000000L; + *val2 =3D bias % 1000000L; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int inv_icm45600_accel_write_offset(struct inv_icm45600_state *st, + struct iio_chan_spec const *chan, + int val, int val2) +{ + struct device *dev =3D regmap_get_device(st->map); + s64 val64; + s32 min, max; + unsigned int reg; + s16 offset; + int ret; + + if (chan->type !=3D IIO_ACCEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg =3D INV_ICM45600_IPREG_SYS2_REG_24; + break; + case IIO_MOD_Y: + reg =3D INV_ICM45600_IPREG_SYS2_REG_32; + break; + case IIO_MOD_Z: + reg =3D INV_ICM45600_IPREG_SYS2_REG_40; + break; + default: + return -EINVAL; + } + + /* inv_icm45600_accel_calibbias: min - step - max in micro */ + min =3D inv_icm45600_accel_calibbias[0] * 1000000L - + inv_icm45600_accel_calibbias[1]; + max =3D inv_icm45600_accel_calibbias[4] * 1000000L + + inv_icm45600_accel_calibbias[5]; + val64 =3D (s64)val * 1000000LL; + if (val >=3D 0) + val64 +=3D (s64)val2; + else + val64 -=3D (s64)val2; + if (val64 < min || val64 > max) + return -EINVAL; + + /* + * convert m/s=C2=B2 to g then to raw value + * m/s=C2=B2 to g: 1 / 9.806650 + * g to raw 14 bits signed, step 1/8192g: * 8192 + * val in micro (1000000) + * val * 8192 / (9.806650 * 1000000) + */ + val64 =3D val64 * 8192LL; + /* for rounding, add + or - divisor (9806650) divided by 2 */ + if (val64 >=3D 0) + val64 +=3D 9806650 / 2; + else + val64 -=3D 9806650 / 2; + offset =3D div_s64(val64, 9806650); + + /* clamp value limited to 14 bits signed */ + if (offset < -8192) + offset =3D -8192; + else if (offset > 8191) + offset =3D 8191; + + st->buffer.u16 =3D cpu_to_le16(offset & INV_ICM45600_ACCEL_OFFUSER_MASK); + + ret =3D pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + scoped_guard(mutex, &st->lock) + ret =3D regmap_bulk_write(st->map, reg, &st->buffer.u16, sizeof(st->buff= er.u16)); + + pm_runtime_put_autosuspend(dev); + return ret; +} + +static int inv_icm45600_accel_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + int ret; + + switch (chan->type) { + case IIO_ACCEL: + break; + case IIO_TEMP: + return inv_icm45600_temp_read_raw(indio_dev, chan, val, val2, mask); + default: + return -EINVAL; + } + + switch (mask) { + case IIO_CHAN_INFO_RAW: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret =3D inv_icm45600_accel_read_sensor(indio_dev, chan, val); + iio_device_release_direct(indio_dev); + if (ret) + return ret; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + return inv_icm45600_accel_read_scale(indio_dev, val, val2); + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm45600_accel_read_odr(st, val, val2); + case IIO_CHAN_INFO_CALIBBIAS: + return inv_icm45600_accel_read_offset(st, chan, val, val2); + default: + return -EINVAL; + } +} + +static int inv_icm45600_accel_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, + int *type, int *length, long mask) +{ + struct inv_icm45600_sensor_state *accel_st =3D iio_priv(indio_dev); + + if (chan->type !=3D IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + *vals =3D accel_st->scales; + *type =3D IIO_VAL_INT_PLUS_NANO; + *length =3D accel_st->scales_len; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *vals =3D inv_icm45600_accel_odr; + *type =3D IIO_VAL_INT_PLUS_MICRO; + *length =3D ARRAY_SIZE(inv_icm45600_accel_odr); + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_CALIBBIAS: + *vals =3D inv_icm45600_accel_calibbias; + *type =3D IIO_VAL_INT_PLUS_MICRO; + return IIO_AVAIL_RANGE; + default: + return -EINVAL; + } +} + +static int inv_icm45600_accel_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + int ret; + + if (chan->type !=3D IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret =3D inv_icm45600_accel_write_scale(indio_dev, val, val2); + iio_device_release_direct(indio_dev); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm45600_accel_write_odr(indio_dev, val, val2); + case IIO_CHAN_INFO_CALIBBIAS: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret =3D inv_icm45600_accel_write_offset(st, chan, val, val2); + iio_device_release_direct(indio_dev); + return ret; + default: + return -EINVAL; + } +} + +static int inv_icm45600_accel_write_raw_get_fmt(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + long mask) +{ + if (chan->type !=3D IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + return IIO_VAL_INT_PLUS_NANO; + case IIO_CHAN_INFO_SAMP_FREQ: + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_CALIBBIAS: + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static int inv_icm45600_accel_hwfifo_set_watermark(struct iio_dev *indio_d= ev, + unsigned int val) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + + guard(mutex)(&st->lock); + + st->fifo.watermark.accel =3D val; + return inv_icm45600_buffer_update_watermark(st); +} + +static int inv_icm45600_accel_hwfifo_flush(struct iio_dev *indio_dev, + unsigned int count) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + int ret; + + if (count =3D=3D 0) + return 0; + + guard(mutex)(&st->lock); + + ret =3D inv_icm45600_buffer_hwfifo_flush(st, count); + if (!ret) + ret =3D st->fifo.nb.accel; + + return ret; +} + +static const struct iio_info inv_icm45600_accel_info =3D { + .read_raw =3D inv_icm45600_accel_read_raw, + .read_avail =3D inv_icm45600_accel_read_avail, + .write_raw =3D inv_icm45600_accel_write_raw, + .write_raw_get_fmt =3D inv_icm45600_accel_write_raw_get_fmt, + .debugfs_reg_access =3D inv_icm45600_debugfs_reg, + .update_scan_mode =3D inv_icm45600_accel_update_scan_mode, + .hwfifo_set_watermark =3D inv_icm45600_accel_hwfifo_set_watermark, + .hwfifo_flush_to_buffer =3D inv_icm45600_accel_hwfifo_flush, +}; + +struct iio_dev *inv_icm45600_accel_init(struct inv_icm45600_state *st) +{ + struct device *dev =3D regmap_get_device(st->map); + const char *name; + struct inv_icm45600_sensor_state *accel_st; + struct inv_sensors_timestamp_chip ts_chip; + struct iio_dev *indio_dev; + int ret; + + name =3D devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->chip_info->name); + if (!name) + return ERR_PTR(-ENOMEM); + + indio_dev =3D devm_iio_device_alloc(dev, sizeof(*accel_st)); + if (!indio_dev) + return ERR_PTR(-ENOMEM); + accel_st =3D iio_priv(indio_dev); + + accel_st->scales =3D st->chip_info->accel_scales; + accel_st->scales_len =3D st->chip_info->accel_scales_len * 2; + + /* low-power (LP) mode by default at init, no ULP mode */ + accel_st->power_mode =3D INV_ICM45600_SENSOR_MODE_LOW_POWER; + ret =3D regmap_set_bits(st->map, INV_ICM45600_REG_SMC_CONTROL_0, + INV_ICM45600_SMC_CONTROL_0_ACCEL_LP_CLK_SEL); + if (ret) + return ERR_PTR(ret); + + /* + * clock period is 32kHz (31250ns) + * jitter is +/- 2% (20 per mille) + */ + ts_chip.clock_period =3D 31250; + ts_chip.jitter =3D 20; + ts_chip.init_period =3D inv_icm45600_odr_to_period(st->conf.accel.odr); + inv_sensors_timestamp_init(&accel_st->ts, &ts_chip); + + iio_device_set_drvdata(indio_dev, st); + indio_dev->name =3D name; + indio_dev->info =3D &inv_icm45600_accel_info; + indio_dev->modes =3D INDIO_DIRECT_MODE; + indio_dev->channels =3D inv_icm45600_accel_channels; + indio_dev->num_channels =3D ARRAY_SIZE(inv_icm45600_accel_channels); + indio_dev->available_scan_masks =3D inv_icm45600_accel_scan_masks; + + ret =3D devm_iio_kfifo_buffer_setup(dev, indio_dev, + &inv_icm45600_buffer_ops); + if (ret) + return ERR_PTR(ret); + + ret =3D devm_iio_device_register(dev, indio_dev); + if (ret) + return ERR_PTR(ret); + + return indio_dev; +} + +int inv_icm45600_accel_parse_fifo(struct iio_dev *indio_dev) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *accel_st =3D iio_priv(indio_dev); + struct inv_sensors_timestamp *ts =3D &accel_st->ts; + ssize_t i, size; + unsigned int no; + const struct inv_icm45600_fifo_sensor_data *accel, *gyro; + const __le16 *timestamp; + const s8 *temp; + unsigned int odr; + s64 ts_val; + struct inv_icm45600_accel_buffer buffer; + + /* parse all fifo packets */ + for (i =3D 0, no =3D 0; i < st->fifo.count; i +=3D size, ++no) { + size =3D inv_icm45600_fifo_decode_packet(&st->fifo.data[i], + &accel, &gyro, &temp, ×tamp, &odr); + /* quit if error or FIFO is empty */ + if (size <=3D 0) + return size; + + /* skip packet if no accel data or data is invalid */ + if (accel =3D=3D NULL || !inv_icm45600_fifo_is_data_valid(accel)) + continue; + + /* update odr */ + if (odr & INV_ICM45600_SENSOR_ACCEL) + inv_sensors_timestamp_apply_odr(ts, st->fifo.period, + st->fifo.nb.total, no); + + /* buffer is copied to userspace, zeroing it to avoid any data leak */ + memset(&buffer, 0, sizeof(buffer)); + memcpy(&buffer.accel, accel, sizeof(buffer.accel)); + /* convert 8 bits FIFO temperature in high resolution format */ + buffer.temp =3D temp ? (*temp * 64) : 0; + ts_val =3D inv_sensors_timestamp_pop(ts); + iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val); + } + + return 0; +} diff --git a/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.c b/drivers/i= io/imu/inv_icm45600/inv_icm45600_buffer.c index b37607e52721097daf6362bac20001b0d4210f4b..2dcc13159091d2828ff374d40d8= da7b8df5e7b6e 100644 --- a/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.c +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.c @@ -481,6 +481,77 @@ int inv_icm45600_buffer_fifo_read(struct inv_icm45600_= state *st, return 0; } =20 +int inv_icm45600_buffer_fifo_parse(struct inv_icm45600_state *st) +{ + struct inv_icm45600_sensor_state *gyro_st =3D iio_priv(st->indio_gyro); + struct inv_icm45600_sensor_state *accel_st =3D iio_priv(st->indio_accel); + struct inv_sensors_timestamp *ts; + int ret; + + if (st->fifo.nb.total =3D=3D 0) + return 0; + + /* Handle gyroscope timestamp and FIFO data parsing. */ + if (st->fifo.nb.gyro > 0) { + ts =3D &gyro_st->ts; + inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_gyro, + st->timestamp.gyro); + ret =3D inv_icm45600_gyro_parse_fifo(st->indio_gyro); + if (ret) + return ret; + } + + /* Handle accelerometer timestamp and FIFO data parsing. */ + if (st->fifo.nb.accel > 0) { + ts =3D &accel_st->ts; + inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_accel, + st->timestamp.accel); + ret =3D inv_icm45600_accel_parse_fifo(st->indio_accel); + if (ret) + return ret; + } + + return 0; +} + +int inv_icm45600_buffer_hwfifo_flush(struct inv_icm45600_state *st, + unsigned int count) +{ + struct inv_icm45600_sensor_state *gyro_st =3D iio_priv(st->indio_gyro); + struct inv_icm45600_sensor_state *accel_st =3D iio_priv(st->indio_accel); + struct inv_sensors_timestamp *ts; + s64 gyro_ts, accel_ts; + int ret; + + gyro_ts =3D iio_get_time_ns(st->indio_gyro); + accel_ts =3D iio_get_time_ns(st->indio_accel); + + ret =3D inv_icm45600_buffer_fifo_read(st, count); + if (ret) + return ret; + + if (st->fifo.nb.total =3D=3D 0) + return 0; + + if (st->fifo.nb.gyro > 0) { + ts =3D &gyro_st->ts; + inv_sensors_timestamp_interrupt(ts, st->fifo.nb.gyro, gyro_ts); + ret =3D inv_icm45600_gyro_parse_fifo(st->indio_gyro); + if (ret) + return ret; + } + + if (st->fifo.nb.accel > 0) { + ts =3D &accel_st->ts; + inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts); + ret =3D inv_icm45600_accel_parse_fifo(st->indio_accel); + if (ret) + return ret; + } + + return 0; +} + int inv_icm45600_buffer_init(struct inv_icm45600_state *st) { int ret; diff --git a/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.h b/drivers/i= io/imu/inv_icm45600/inv_icm45600_buffer.h index 09595a41cf637a3ba9bc44e4df53a9d0aa11f485..23a75fe19c483428f92cad1c7ef= 95cbcaa3c4d37 100644 --- a/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.h +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.h @@ -93,6 +93,8 @@ int inv_icm45600_buffer_update_watermark(struct inv_icm45= 600_state *st); int inv_icm45600_buffer_fifo_read(struct inv_icm45600_state *st, unsigned int max); =20 +int inv_icm45600_buffer_fifo_parse(struct inv_icm45600_state *st); + int inv_icm45600_buffer_hwfifo_flush(struct inv_icm45600_state *st, unsigned int count); =20 diff --git a/drivers/iio/imu/inv_icm45600/inv_icm45600_core.c b/drivers/iio= /imu/inv_icm45600/inv_icm45600_core.c index 0b85630610dcbae7890e69423e1878364ebc3f0d..5aedd3bd2de2500f9b7e7df556d= 9fe8fb158d33b 100644 --- a/drivers/iio/imu/inv_icm45600/inv_icm45600_core.c +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600_core.c @@ -153,6 +153,10 @@ const struct inv_icm45600_chip_info inv_icm45605_chip_= info =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45605, .name =3D "icm45605", .conf =3D &inv_icm45600_default_conf, + .accel_scales =3D (const int *)inv_icm45600_accel_scale, + .accel_scales_len =3D INV_ICM45600_ACCEL_FS_MAX, + .gyro_scales =3D (const int *)inv_icm45600_gyro_scale, + .gyro_scales_len =3D INV_ICM45600_GYRO_FS_MAX, }; EXPORT_SYMBOL_NS_GPL(inv_icm45605_chip_info, "IIO_ICM45600"); =20 @@ -160,6 +164,10 @@ const struct inv_icm45600_chip_info inv_icm45606_chip_= info =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45606, .name =3D "icm45606", .conf =3D &inv_icm45600_default_conf, + .accel_scales =3D (const int *)inv_icm45600_accel_scale, + .accel_scales_len =3D INV_ICM45600_ACCEL_FS_MAX, + .gyro_scales =3D (const int *)inv_icm45600_gyro_scale, + .gyro_scales_len =3D INV_ICM45600_GYRO_FS_MAX, }; EXPORT_SYMBOL_NS_GPL(inv_icm45606_chip_info, "IIO_ICM45600"); =20 @@ -167,6 +175,10 @@ const struct inv_icm45600_chip_info inv_icm45608_chip_= info =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45608, .name =3D "icm45608", .conf =3D &inv_icm45600_default_conf, + .accel_scales =3D (const int *)inv_icm45600_accel_scale, + .accel_scales_len =3D INV_ICM45600_ACCEL_FS_MAX, + .gyro_scales =3D (const int *)inv_icm45600_gyro_scale, + .gyro_scales_len =3D INV_ICM45600_GYRO_FS_MAX, }; EXPORT_SYMBOL_NS_GPL(inv_icm45608_chip_info, "IIO_ICM45600"); =20 @@ -174,6 +186,10 @@ const struct inv_icm45600_chip_info inv_icm45634_chip_= info =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45634, .name =3D "icm45634", .conf =3D &inv_icm45600_default_conf, + .accel_scales =3D (const int *)inv_icm45600_accel_scale, + .accel_scales_len =3D INV_ICM45600_ACCEL_FS_MAX, + .gyro_scales =3D (const int *)inv_icm45600_gyro_scale, + .gyro_scales_len =3D INV_ICM45600_GYRO_FS_MAX, }; EXPORT_SYMBOL_NS_GPL(inv_icm45634_chip_info, "IIO_ICM45600"); =20 @@ -181,6 +197,10 @@ const struct inv_icm45600_chip_info inv_icm45686_chip_= info =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45686, .name =3D "icm45686", .conf =3D &inv_icm45686_default_conf, + .accel_scales =3D (const int *)inv_icm45686_accel_scale, + .accel_scales_len =3D INV_ICM45686_ACCEL_FS_MAX, + .gyro_scales =3D (const int *)inv_icm45686_gyro_scale, + .gyro_scales_len =3D INV_ICM45686_GYRO_FS_MAX, }; EXPORT_SYMBOL_NS_GPL(inv_icm45686_chip_info, "IIO_ICM45600"); =20 @@ -188,6 +208,10 @@ const struct inv_icm45600_chip_info inv_icm45687_chip_= info =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45687, .name =3D "icm45687", .conf =3D &inv_icm45686_default_conf, + .accel_scales =3D (const int *)inv_icm45686_accel_scale, + .accel_scales_len =3D INV_ICM45686_ACCEL_FS_MAX, + .gyro_scales =3D (const int *)inv_icm45686_gyro_scale, + .gyro_scales_len =3D INV_ICM45686_GYRO_FS_MAX, }; EXPORT_SYMBOL_NS_GPL(inv_icm45687_chip_info, "IIO_ICM45600"); =20 @@ -195,6 +219,10 @@ const struct inv_icm45600_chip_info inv_icm45688p_chip= _info =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45688P, .name =3D "icm45688p", .conf =3D &inv_icm45686_default_conf, + .accel_scales =3D (const int *)inv_icm45686_accel_scale, + .accel_scales_len =3D INV_ICM45686_ACCEL_FS_MAX, + .gyro_scales =3D (const int *)inv_icm45686_gyro_scale, + .gyro_scales_len =3D INV_ICM45686_GYRO_FS_MAX, }; EXPORT_SYMBOL_NS_GPL(inv_icm45688p_chip_info, "IIO_ICM45600"); =20 @@ -202,6 +230,10 @@ const struct inv_icm45600_chip_info inv_icm45689_chip_= info =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45689, .name =3D "icm45689", .conf =3D &inv_icm45686_default_conf, + .accel_scales =3D (const int *)inv_icm45686_accel_scale, + .accel_scales_len =3D INV_ICM45686_ACCEL_FS_MAX, + .gyro_scales =3D (const int *)inv_icm45686_gyro_scale, + .gyro_scales_len =3D INV_ICM45686_GYRO_FS_MAX, }; EXPORT_SYMBOL_NS_GPL(inv_icm45689_chip_info, "IIO_ICM45600"); =20 @@ -562,6 +594,9 @@ static irqreturn_t inv_icm45600_irq_handler(int irq, vo= id *_data) dev_err(dev, "FIFO read error %d\n", ret); return IRQ_HANDLED; } + ret =3D inv_icm45600_buffer_fifo_parse(st); + if (ret) + dev_err(dev, "FIFO parsing error %d\n", ret); } =20 /* FIFO full warning. */ @@ -725,6 +760,14 @@ int inv_icm45600_core_probe(struct regmap *regmap, con= st struct inv_icm45600_chi if (ret) return ret; =20 + st->indio_gyro =3D inv_icm45600_gyro_init(st); + if (IS_ERR(st->indio_gyro)) + return PTR_ERR(st->indio_gyro); + + st->indio_accel =3D inv_icm45600_accel_init(st); + if (IS_ERR(st->indio_accel)) + return PTR_ERR(st->indio_accel); + ret =3D inv_icm45600_irq_init(st, irq, irq_type, open_drain); if (ret) return ret; @@ -860,6 +903,85 @@ static int inv_icm45600_runtime_resume(struct device *= dev) return inv_icm45600_enable_regulator_vddio(st); } =20 +static int _inv_icm45600_temp_read(struct inv_icm45600_state *st, s16 *tem= p) +{ + struct inv_icm45600_sensor_conf conf =3D INV_ICM45600_SENSOR_CONF_KEEP_VA= LUES; + int ret; + + /* Make sure a sensor is on. */ + if (st->conf.gyro.mode =3D=3D INV_ICM45600_SENSOR_MODE_OFF && + st->conf.accel.mode =3D=3D INV_ICM45600_SENSOR_MODE_OFF) { + conf.mode =3D INV_ICM45600_SENSOR_MODE_LOW_POWER; + ret =3D inv_icm45600_set_accel_conf(st, &conf, NULL); + if (ret) + return ret; + } + + ret =3D regmap_bulk_read(st->map, INV_ICM45600_REG_TEMP_DATA, + &st->buffer.u16, sizeof(st->buffer.u16)); + if (ret) + return ret; + + *temp =3D (s16)le16_to_cpup(&st->buffer.u16); + if (*temp =3D=3D INV_ICM45600_DATA_INVALID) + return -EINVAL; + + return 0; +} + +static int inv_icm45600_temp_read(struct inv_icm45600_state *st, s16 *temp) +{ + struct device *dev =3D regmap_get_device(st->map); + int ret; + + ret =3D pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + scoped_guard(mutex, &st->lock) + ret =3D _inv_icm45600_temp_read(st, temp); + + pm_runtime_put_autosuspend(dev); + + return ret; +} + +int inv_icm45600_temp_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + s16 temp; + int ret; + + if (chan->type !=3D IIO_TEMP) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret =3D inv_icm45600_temp_read(st, &temp); + if (ret) + return ret; + *val =3D temp; + return IIO_VAL_INT; + /* + * T=C2=B0C =3D (temp / 128) + 25 + * Tm=C2=B0C =3D 1000 * ((temp * 100 / 12800) + 25) + * scale: 100000 / 13248 =3D 7.8125 + * offset: 25000 + */ + case IIO_CHAN_INFO_SCALE: + *val =3D 7; + *val2 =3D 812500; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_OFFSET: + *val =3D 25000; + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + EXPORT_NS_GPL_DEV_PM_OPS(inv_icm45600_pm_ops, IIO_ICM45600) =3D { SET_SYSTEM_SLEEP_PM_OPS(inv_icm45600_suspend, inv_icm45600_resume) SET_RUNTIME_PM_OPS(inv_icm45600_runtime_suspend, diff --git a/drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c b/drivers/iio= /imu/inv_icm45600/inv_icm45600_gyro.c new file mode 100644 index 0000000000000000000000000000000000000000..48373befafa0efe0e5dcb2c97b2= c836436ce7d78 --- /dev/null +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c @@ -0,0 +1,809 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2025 Invensense, Inc. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "inv_icm45600_buffer.h" +#include "inv_icm45600.h" + +enum inv_icm45600_gyro_scan { + INV_ICM45600_GYRO_SCAN_X, + INV_ICM45600_GYRO_SCAN_Y, + INV_ICM45600_GYRO_SCAN_Z, + INV_ICM45600_GYRO_SCAN_TEMP, + INV_ICM45600_GYRO_SCAN_TIMESTAMP, +}; + +static const struct iio_chan_spec_ext_info inv_icm45600_gyro_ext_infos[] = =3D { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm45600_get_mount_matrix), + { }, +}; + +#define INV_ICM45600_GYRO_CHAN(_modifier, _index, _ext_info) \ + { \ + .type =3D IIO_ANGL_VEL, \ + .modified =3D 1, \ + .channel2 =3D _modifier, \ + .info_mask_separate =3D \ + BIT(IIO_CHAN_INFO_RAW) | \ + BIT(IIO_CHAN_INFO_CALIBBIAS), \ + .info_mask_shared_by_type =3D \ + BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_type_available =3D \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_CALIBBIAS), \ + .info_mask_shared_by_all =3D \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .info_mask_shared_by_all_available =3D \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index =3D _index, \ + .scan_type =3D { \ + .sign =3D 's', \ + .realbits =3D 16, \ + .storagebits =3D 16, \ + .endianness =3D IIO_LE, \ + }, \ + .ext_info =3D _ext_info, \ + } + +static const struct iio_chan_spec inv_icm45600_gyro_channels[] =3D { + INV_ICM45600_GYRO_CHAN(IIO_MOD_X, INV_ICM45600_GYRO_SCAN_X, + inv_icm45600_gyro_ext_infos), + INV_ICM45600_GYRO_CHAN(IIO_MOD_Y, INV_ICM45600_GYRO_SCAN_Y, + inv_icm45600_gyro_ext_infos), + INV_ICM45600_GYRO_CHAN(IIO_MOD_Z, INV_ICM45600_GYRO_SCAN_Z, + inv_icm45600_gyro_ext_infos), + INV_ICM45600_TEMP_CHAN(INV_ICM45600_GYRO_SCAN_TEMP), + IIO_CHAN_SOFT_TIMESTAMP(INV_ICM45600_GYRO_SCAN_TIMESTAMP), +}; + +/* + * IIO buffer data: size must be a power of 2 and timestamp aligned + * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timest= amp + */ +struct inv_icm45600_gyro_buffer { + struct inv_icm45600_fifo_sensor_data gyro; + s16 temp; + aligned_s64 timestamp; +}; + +static const unsigned long inv_icm45600_gyro_scan_masks[] =3D { + /* 3-axis gyro + temperature */ + BIT(INV_ICM45600_GYRO_SCAN_X) | + BIT(INV_ICM45600_GYRO_SCAN_Y) | + BIT(INV_ICM45600_GYRO_SCAN_Z) | + BIT(INV_ICM45600_GYRO_SCAN_TEMP), + 0, +}; + +/* enable gyroscope sensor and FIFO write */ +static int inv_icm45600_gyro_update_scan_mode(struct iio_dev *indio_dev, + const unsigned long *scan_mask) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *gyro_st =3D iio_priv(indio_dev); + struct inv_icm45600_sensor_conf conf =3D INV_ICM45600_SENSOR_CONF_KEEP_VA= LUES; + unsigned int fifo_en =3D 0; + unsigned int sleep =3D 0; + int ret; + + scoped_guard(mutex, &st->lock) { + if (*scan_mask & BIT(INV_ICM45600_GYRO_SCAN_TEMP)) + fifo_en |=3D INV_ICM45600_SENSOR_TEMP; + + if (*scan_mask & (BIT(INV_ICM45600_GYRO_SCAN_X) | + BIT(INV_ICM45600_GYRO_SCAN_Y) | + BIT(INV_ICM45600_GYRO_SCAN_Z))) { + /* enable gyro sensor */ + conf.mode =3D gyro_st->power_mode; + ret =3D inv_icm45600_set_gyro_conf(st, &conf, &sleep); + if (ret) + return ret; + fifo_en |=3D INV_ICM45600_SENSOR_GYRO; + } + /* update data FIFO write */ + ret =3D inv_icm45600_buffer_set_fifo_en(st, fifo_en | st->fifo.en); + } + /* sleep required time */ + if (sleep) + msleep(sleep); + + return ret; +} + +static int _inv_icm45600_gyro_read_sensor(struct inv_icm45600_state *st, + struct inv_icm45600_sensor_state *gyro_st, + unsigned int reg, int *val) +{ + struct inv_icm45600_sensor_conf conf =3D INV_ICM45600_SENSOR_CONF_KEEP_VA= LUES; + int ret; + + /* enable gyro sensor */ + conf.mode =3D gyro_st->power_mode; + ret =3D inv_icm45600_set_gyro_conf(st, &conf, NULL); + if (ret) + return ret; + + /* read gyro register data */ + ret =3D regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffer= .u16)); + if (ret) + return ret; + + *val =3D sign_extend32(le16_to_cpup(&st->buffer.u16), 15); + if (*val =3D=3D INV_ICM45600_DATA_INVALID) + return -ENODATA; + + return 0; +} + +static int inv_icm45600_gyro_read_sensor(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *gyro_st =3D iio_priv(indio_dev); + struct device *dev =3D regmap_get_device(st->map); + unsigned int reg; + int ret; + + if (chan->type !=3D IIO_ANGL_VEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg =3D INV_ICM45600_REG_GYRO_DATA_X; + break; + case IIO_MOD_Y: + reg =3D INV_ICM45600_REG_GYRO_DATA_Y; + break; + case IIO_MOD_Z: + reg =3D INV_ICM45600_REG_GYRO_DATA_Z; + break; + default: + return -EINVAL; + } + + ret =3D pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + scoped_guard(mutex, &st->lock) + ret =3D _inv_icm45600_gyro_read_sensor(st, gyro_st, reg, val); + + pm_runtime_put_autosuspend(dev); + + return ret; +} + +/* IIO format int + nano */ +const int inv_icm45600_gyro_scale[][2] =3D { + /* +/- 2000dps =3D> 0.001065264 rad/s */ + [INV_ICM45600_GYRO_FS_2000DPS] =3D {0, 1065264}, + /* +/- 1000dps =3D> 0.000532632 rad/s */ + [INV_ICM45600_GYRO_FS_1000DPS] =3D {0, 532632}, + /* +/- 500dps =3D> 0.000266316 rad/s */ + [INV_ICM45600_GYRO_FS_500DPS] =3D {0, 266316}, + /* +/- 250dps =3D> 0.000133158 rad/s */ + [INV_ICM45600_GYRO_FS_250DPS] =3D {0, 133158}, + /* +/- 125dps =3D> 0.000066579 rad/s */ + [INV_ICM45600_GYRO_FS_125DPS] =3D {0, 66579}, + /* +/- 62.5dps =3D> 0.000033290 rad/s */ + [INV_ICM45600_GYRO_FS_62_5DPS] =3D {0, 33290}, + /* +/- 31.25dps =3D> 0.000016645 rad/s */ + [INV_ICM45600_GYRO_FS_31_25DPS] =3D {0, 16645}, + /* +/- 15.625dps =3D> 0.000008322 rad/s */ + [INV_ICM45600_GYRO_FS_15_625DPS] =3D {0, 8322}, +}; + +/* IIO format int + nano */ +const int inv_icm45686_gyro_scale[][2] =3D { + /* +/- 4000dps =3D> 0.002130529 rad/s */ + [INV_ICM45686_GYRO_FS_4000DPS] =3D {0, 2130529}, + /* +/- 2000dps =3D> 0.001065264 rad/s */ + [INV_ICM45686_GYRO_FS_2000DPS] =3D {0, 1065264}, + /* +/- 1000dps =3D> 0.000532632 rad/s */ + [INV_ICM45686_GYRO_FS_1000DPS] =3D {0, 532632}, + /* +/- 500dps =3D> 0.000266316 rad/s */ + [INV_ICM45686_GYRO_FS_500DPS] =3D {0, 266316}, + /* +/- 250dps =3D> 0.000133158 rad/s */ + [INV_ICM45686_GYRO_FS_250DPS] =3D {0, 133158}, + /* +/- 125dps =3D> 0.000066579 rad/s */ + [INV_ICM45686_GYRO_FS_125DPS] =3D {0, 66579}, + /* +/- 62.5dps =3D> 0.000033290 rad/s */ + [INV_ICM45686_GYRO_FS_62_5DPS] =3D {0, 33290}, + /* +/- 31.25dps =3D> 0.000016645 rad/s */ + [INV_ICM45686_GYRO_FS_31_25DPS] =3D {0, 16645}, + /* +/- 15.625dps =3D> 0.000008322 rad/s */ + [INV_ICM45686_GYRO_FS_15_625DPS] =3D {0, 8322}, +}; + +static int inv_icm45600_gyro_read_scale(struct iio_dev *indio_dev, + int *val, int *val2) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *gyro_st =3D iio_priv(indio_dev); + unsigned int idx; + + idx =3D st->conf.gyro.fs; + + /* Full scale register starts at 1 for not High FSR parts */ + if (gyro_st->scales =3D=3D (const int *)&inv_icm45600_gyro_scale) + idx--; + + *val =3D gyro_st->scales[2 * idx]; + *val2 =3D gyro_st->scales[2 * idx + 1]; + return IIO_VAL_INT_PLUS_NANO; +} + +static int inv_icm45600_gyro_write_scale(struct iio_dev *indio_dev, + int val, int val2) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *gyro_st =3D iio_priv(indio_dev); + struct device *dev =3D regmap_get_device(st->map); + unsigned int idx; + struct inv_icm45600_sensor_conf conf =3D INV_ICM45600_SENSOR_CONF_KEEP_VA= LUES; + int ret; + + for (idx =3D 0; idx < gyro_st->scales_len; idx +=3D 2) { + if (val =3D=3D gyro_st->scales[idx] && + val2 =3D=3D gyro_st->scales[idx + 1]) + break; + } + if (idx =3D=3D gyro_st->scales_len) + return -EINVAL; + + conf.fs =3D idx / 2; + + /* Full scale register starts at 1 for not High FSR parts */ + if (gyro_st->scales =3D=3D (const int *)&inv_icm45600_gyro_scale) + conf.fs++; + + ret =3D pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + scoped_guard(mutex, &st->lock) + ret =3D inv_icm45600_set_gyro_conf(st, &conf, NULL); + + pm_runtime_put_autosuspend(dev); + + return ret; +} + +/* IIO format int + micro */ +static const int inv_icm45600_gyro_odr[] =3D { + /* 1.5625Hz */ + 1, 562500, + /* 3.125Hz */ + 3, 125000, + /* 6.25Hz */ + 6, 250000, + /* 12.5Hz */ + 12, 500000, + /* 25Hz */ + 25, 0, + /* 50Hz */ + 50, 0, + /* 100Hz */ + 100, 0, + /* 200Hz */ + 200, 0, + /* 400Hz */ + 400, 0, + /* 800Hz */ + 800, 0, + /* 1.6kHz */ + 1600, 0, + /* 3.2kHz */ + 3200, 0, + /* 6.4kHz */ + 6400, 0, +}; + +static const int inv_icm45600_gyro_odr_conv[] =3D { + INV_ICM45600_ODR_1_5625HZ_LP, + INV_ICM45600_ODR_3_125HZ_LP, + INV_ICM45600_ODR_6_25HZ_LP, + INV_ICM45600_ODR_12_5HZ, + INV_ICM45600_ODR_25HZ, + INV_ICM45600_ODR_50HZ, + INV_ICM45600_ODR_100HZ, + INV_ICM45600_ODR_200HZ, + INV_ICM45600_ODR_400HZ, + INV_ICM45600_ODR_800HZ_LN, + INV_ICM45600_ODR_1600HZ_LN, + INV_ICM45600_ODR_3200HZ_LN, + INV_ICM45600_ODR_6400HZ_LN, +}; + +static int inv_icm45600_gyro_read_odr(struct inv_icm45600_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + odr =3D st->conf.gyro.odr; + + for (i =3D 0; i < ARRAY_SIZE(inv_icm45600_gyro_odr_conv); ++i) { + if (inv_icm45600_gyro_odr_conv[i] =3D=3D odr) + break; + } + if (i >=3D ARRAY_SIZE(inv_icm45600_gyro_odr_conv)) + return -EINVAL; + + *val =3D inv_icm45600_gyro_odr[2 * i]; + *val2 =3D inv_icm45600_gyro_odr[2 * i + 1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int _inv_icm45600_gyro_write_odr(struct iio_dev *indio_dev, int odr) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *gyro_st =3D iio_priv(indio_dev); + struct inv_sensors_timestamp *ts =3D &gyro_st->ts; + struct inv_icm45600_sensor_conf conf =3D INV_ICM45600_SENSOR_CONF_KEEP_VA= LUES; + int ret; + + conf.odr =3D odr; + ret =3D inv_sensors_timestamp_update_odr(ts, inv_icm45600_odr_to_period(c= onf.odr), + iio_buffer_enabled(indio_dev)); + if (ret) + return ret; + + if (st->conf.gyro.mode !=3D INV_ICM45600_SENSOR_MODE_OFF) + conf.mode =3D gyro_st->power_mode; + + ret =3D inv_icm45600_set_gyro_conf(st, &conf, NULL); + if (ret) + return ret; + + inv_icm45600_buffer_update_fifo_period(st); + inv_icm45600_buffer_update_watermark(st); + + return 0; +} + +static int inv_icm45600_gyro_write_odr(struct iio_dev *indio_dev, + int val, int val2) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct device *dev =3D regmap_get_device(st->map); + unsigned int idx; + int odr; + int ret; + + for (idx =3D 0; idx < ARRAY_SIZE(inv_icm45600_gyro_odr); idx +=3D 2) { + if (val =3D=3D inv_icm45600_gyro_odr[idx] && + val2 =3D=3D inv_icm45600_gyro_odr[idx + 1]) + break; + } + if (idx >=3D ARRAY_SIZE(inv_icm45600_gyro_odr)) + return -EINVAL; + + odr =3D inv_icm45600_gyro_odr_conv[idx / 2]; + + ret =3D pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + scoped_guard(mutex, &st->lock) + ret =3D _inv_icm45600_gyro_write_odr(indio_dev, odr); + + pm_runtime_put_autosuspend(dev); + + return ret; +} + +/* + * Calibration bias values, IIO range format int + nano. + * Value is limited to +/-62.5dps coded on 14 bits signed. Step is 7.5mdps. + */ +static int inv_icm45600_gyro_calibbias[] =3D { + -1, 90830336, /* min: -1.090830336 rad/s */ + 0, 133158, /* step: 0.000133158 rad/s */ + 1, 90697178, /* max: 1.090697178 rad/s */ +}; + +static int inv_icm45600_gyro_read_offset(struct inv_icm45600_state *st, + struct iio_chan_spec const *chan, + int *val, int *val2) +{ + struct device *dev =3D regmap_get_device(st->map); + s64 val64; + s32 bias; + unsigned int reg; + s16 offset; + int ret; + + if (chan->type !=3D IIO_ANGL_VEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg =3D INV_ICM45600_IPREG_SYS1_REG_42; + break; + case IIO_MOD_Y: + reg =3D INV_ICM45600_IPREG_SYS1_REG_56; + break; + case IIO_MOD_Z: + reg =3D INV_ICM45600_IPREG_SYS1_REG_70; + break; + default: + return -EINVAL; + } + + ret =3D pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + scoped_guard(mutex, &st->lock) + ret =3D regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffe= r.u16)); + + pm_runtime_put_autosuspend(dev); + if (ret) + return ret; + + offset =3D le16_to_cpup(&st->buffer.u16) & INV_ICM45600_GYRO_OFFUSER_MASK; + /* 14 bits signed value */ + offset =3D sign_extend32(offset, 13); + + /* + * convert raw offset to dps then to rad/s + * 14 bits signed raw max 62.5 to dps: 625 / 81920 + * dps to rad: Pi / 180 + * result in nano (1000000000) + * (offset * 625 * Pi * 1000000000) / (81920 * 180) + */ + val64 =3D (s64)offset * 625LL * 3141592653LL; + /* for rounding, add + or - divisor (81920 * 180) divided by 2 */ + if (val64 >=3D 0) + val64 +=3D 81920 * 180 / 2; + else + val64 -=3D 81920 * 180 / 2; + bias =3D div_s64(val64, 81920 * 180); + *val =3D bias / 1000000000L; + *val2 =3D bias % 1000000000L; + + return IIO_VAL_INT_PLUS_NANO; +} + +static int inv_icm45600_gyro_write_offset(struct inv_icm45600_state *st, + struct iio_chan_spec const *chan, + int val, int val2) +{ + struct device *dev =3D regmap_get_device(st->map); + s64 val64, min, max; + unsigned int reg; + s16 offset; + int ret; + + if (chan->type !=3D IIO_ANGL_VEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg =3D INV_ICM45600_IPREG_SYS1_REG_42; + break; + case IIO_MOD_Y: + reg =3D INV_ICM45600_IPREG_SYS1_REG_56; + break; + case IIO_MOD_Z: + reg =3D INV_ICM45600_IPREG_SYS1_REG_70; + break; + default: + return -EINVAL; + } + + /* inv_icm45600_gyro_calibbias: min - step - max in nano */ + min =3D (s64)inv_icm45600_gyro_calibbias[0] * 1000000000LL - + (s64)inv_icm45600_gyro_calibbias[1]; + max =3D (s64)inv_icm45600_gyro_calibbias[4] * 1000000000LL + + (s64)inv_icm45600_gyro_calibbias[5]; + val64 =3D (s64)val * 1000000000LL; + if (val >=3D 0) + val64 +=3D (s64)val2; + else + val64 -=3D (s64)val2; + if (val64 < min || val64 > max) + return -EINVAL; + + /* + * convert rad/s to dps then to raw value + * rad to dps: 180 / Pi + * dps to raw 14 bits signed, max 62.5: 8192 / 62.5 + * val in nano (1000000000) + * val * 180 * 8192 / (Pi * 1000000000 * 62.5) + */ + val64 =3D val64 * 180LL * 8192; + /* for rounding, add + or - divisor (314159265 * 625) divided by 2 */ + if (val64 >=3D 0) + val64 +=3D 314159265LL * 625LL / 2LL; + else + val64 -=3D 314159265LL * 625LL / 2LL; + offset =3D div64_s64(val64, 314159265LL * 625LL); + + /* clamp value limited to 14 bits signed */ + if (offset < -8192) + offset =3D -8192; + else if (offset > 8191) + offset =3D 8191; + + st->buffer.u16 =3D cpu_to_le16(offset & INV_ICM45600_GYRO_OFFUSER_MASK); + + ret =3D pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + scoped_guard(mutex, &st->lock) + ret =3D regmap_bulk_write(st->map, reg, &st->buffer.u16, sizeof(st->buff= er.u16)); + + pm_runtime_put_autosuspend(dev); + return ret; +} + +static int inv_icm45600_gyro_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + int ret; + + switch (chan->type) { + case IIO_ANGL_VEL: + break; + case IIO_TEMP: + return inv_icm45600_temp_read_raw(indio_dev, chan, val, val2, mask); + default: + return -EINVAL; + } + + switch (mask) { + case IIO_CHAN_INFO_RAW: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret =3D inv_icm45600_gyro_read_sensor(indio_dev, chan, val); + iio_device_release_direct(indio_dev); + if (ret) + return ret; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + return inv_icm45600_gyro_read_scale(indio_dev, val, val2); + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm45600_gyro_read_odr(st, val, val2); + case IIO_CHAN_INFO_CALIBBIAS: + return inv_icm45600_gyro_read_offset(st, chan, val, val2); + default: + return -EINVAL; + } +} + +static int inv_icm45600_gyro_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, + int *type, int *length, long mask) +{ + struct inv_icm45600_sensor_state *gyro_st =3D iio_priv(indio_dev); + + if (chan->type !=3D IIO_ANGL_VEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + *vals =3D gyro_st->scales; + *type =3D IIO_VAL_INT_PLUS_NANO; + *length =3D gyro_st->scales_len; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *vals =3D inv_icm45600_gyro_odr; + *type =3D IIO_VAL_INT_PLUS_MICRO; + *length =3D ARRAY_SIZE(inv_icm45600_gyro_odr); + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_CALIBBIAS: + *vals =3D inv_icm45600_gyro_calibbias; + *type =3D IIO_VAL_INT_PLUS_NANO; + return IIO_AVAIL_RANGE; + default: + return -EINVAL; + } +} + +static int inv_icm45600_gyro_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + int ret; + + if (chan->type !=3D IIO_ANGL_VEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret =3D inv_icm45600_gyro_write_scale(indio_dev, val, val2); + iio_device_release_direct(indio_dev); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm45600_gyro_write_odr(indio_dev, val, val2); + case IIO_CHAN_INFO_CALIBBIAS: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret =3D inv_icm45600_gyro_write_offset(st, chan, val, val2); + iio_device_release_direct(indio_dev); + return ret; + default: + return -EINVAL; + } +} + +static int inv_icm45600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + long mask) +{ + if (chan->type !=3D IIO_ANGL_VEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + return IIO_VAL_INT_PLUS_NANO; + case IIO_CHAN_INFO_SAMP_FREQ: + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_CALIBBIAS: + return IIO_VAL_INT_PLUS_NANO; + default: + return -EINVAL; + } +} + +static int inv_icm45600_gyro_hwfifo_set_watermark(struct iio_dev *indio_de= v, + unsigned int val) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + + guard(mutex)(&st->lock); + + st->fifo.watermark.gyro =3D val; + return inv_icm45600_buffer_update_watermark(st); +} + +static int inv_icm45600_gyro_hwfifo_flush(struct iio_dev *indio_dev, + unsigned int count) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + int ret; + + if (count =3D=3D 0) + return 0; + + guard(mutex)(&st->lock); + + ret =3D inv_icm45600_buffer_hwfifo_flush(st, count); + if (!ret) + ret =3D st->fifo.nb.gyro; + + return ret; +} + +static const struct iio_info inv_icm45600_gyro_info =3D { + .read_raw =3D inv_icm45600_gyro_read_raw, + .read_avail =3D inv_icm45600_gyro_read_avail, + .write_raw =3D inv_icm45600_gyro_write_raw, + .write_raw_get_fmt =3D inv_icm45600_gyro_write_raw_get_fmt, + .debugfs_reg_access =3D inv_icm45600_debugfs_reg, + .update_scan_mode =3D inv_icm45600_gyro_update_scan_mode, + .hwfifo_set_watermark =3D inv_icm45600_gyro_hwfifo_set_watermark, + .hwfifo_flush_to_buffer =3D inv_icm45600_gyro_hwfifo_flush, +}; + +struct iio_dev *inv_icm45600_gyro_init(struct inv_icm45600_state *st) +{ + struct device *dev =3D regmap_get_device(st->map); + const char *name; + struct inv_icm45600_sensor_state *gyro_st; + struct inv_sensors_timestamp_chip ts_chip; + struct iio_dev *indio_dev; + int ret; + + name =3D devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->chip_info->name); + if (!name) + return ERR_PTR(-ENOMEM); + + indio_dev =3D devm_iio_device_alloc(dev, sizeof(*gyro_st)); + if (!indio_dev) + return ERR_PTR(-ENOMEM); + gyro_st =3D iio_priv(indio_dev); + + gyro_st->scales =3D st->chip_info->gyro_scales; + gyro_st->scales_len =3D st->chip_info->gyro_scales_len * 2; + + /* low-noise by default at init */ + gyro_st->power_mode =3D INV_ICM45600_SENSOR_MODE_LOW_NOISE; + + /* + * clock period is 32kHz (31250ns) + * jitter is +/- 2% (20 per mille) + */ + ts_chip.clock_period =3D 31250; + ts_chip.jitter =3D 20; + ts_chip.init_period =3D inv_icm45600_odr_to_period(st->conf.gyro.odr); + inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip); + + iio_device_set_drvdata(indio_dev, st); + indio_dev->name =3D name; + indio_dev->info =3D &inv_icm45600_gyro_info; + indio_dev->modes =3D INDIO_DIRECT_MODE; + indio_dev->channels =3D inv_icm45600_gyro_channels; + indio_dev->num_channels =3D ARRAY_SIZE(inv_icm45600_gyro_channels); + indio_dev->available_scan_masks =3D inv_icm45600_gyro_scan_masks; + indio_dev->setup_ops =3D &inv_icm45600_buffer_ops; + + ret =3D devm_iio_kfifo_buffer_setup(dev, indio_dev, + &inv_icm45600_buffer_ops); + if (ret) + return ERR_PTR(ret); + + ret =3D devm_iio_device_register(dev, indio_dev); + if (ret) + return ERR_PTR(ret); + + return indio_dev; +} + +int inv_icm45600_gyro_parse_fifo(struct iio_dev *indio_dev) +{ + struct inv_icm45600_state *st =3D iio_device_get_drvdata(indio_dev); + struct inv_icm45600_sensor_state *gyro_st =3D iio_priv(indio_dev); + struct inv_sensors_timestamp *ts =3D &gyro_st->ts; + ssize_t i, size; + unsigned int no; + const struct inv_icm45600_fifo_sensor_data *accel, *gyro; + const __le16 *timestamp; + const s8 *temp; + unsigned int odr; + s64 ts_val; + struct inv_icm45600_gyro_buffer buffer; + + /* parse all fifo packets */ + for (i =3D 0, no =3D 0; i < st->fifo.count; i +=3D size, ++no) { + size =3D inv_icm45600_fifo_decode_packet(&st->fifo.data[i], + &accel, &gyro, &temp, ×tamp, &odr); + /* quit if error or FIFO is empty */ + if (size <=3D 0) + return size; + + /* skip packet if no gyro data or data is invalid */ + if (gyro =3D=3D NULL || !inv_icm45600_fifo_is_data_valid(gyro)) + continue; + + /* update odr */ + if (odr & INV_ICM45600_SENSOR_GYRO) + inv_sensors_timestamp_apply_odr(ts, st->fifo.period, + st->fifo.nb.total, no); + + /* buffer is copied to userspace, zeroing it to avoid any data leak */ + memset(&buffer, 0, sizeof(buffer)); + memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro)); + /* convert 8 bits FIFO temperature in high resolution format */ + buffer.temp =3D temp ? (*temp * 64) : 0; + ts_val =3D inv_sensors_timestamp_pop(ts); + iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val); + } + + return 0; +} --=20 2.34.1