From nobody Sun Sep 14 00:34:56 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 EE90F275B0A; Wed, 20 Aug 2025 14:24:45 +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=1755699886; cv=none; b=pdsophViFSJURWYjI0lN1OMubrvIu3P1DF8hIwNLIEvTDtKnOUnLCkgfD0JXTv8DRQ9VDj8TG9wQWvU+EIKFGPY9PzbFh/+tgb1aNYZGtc52zR3kYOnvMg2r3LGgJrq35McC17AjrgqqPiosrqLubRl9mbEY8u0BHtGv2RBt5JM= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1755699886; c=relaxed/simple; bh=iV1cHVTZOpKmWsKgE6I1SJMRols0ul8ljgR2JlaAEB0=; h=From:Date:Subject:MIME-Version:Content-Type:Message-Id:References: In-Reply-To:To:Cc; b=PjP1cHHrCEmyJihtlSOhG+FkCySlNdSFlu0oh1SBtKazPl7WYRlXq1avBHLUzP2roBEhzWOFCECPl4FgjZLCUvBi8h9rGAcw9c2Q/RtbZxXLBzk3U7mqRgJbsEEc8FhsvdeBh47ICtm5mKgMeu28OxPK1JaLn1z8Vk70NdG5BQA= ARC-Authentication-Results: i=1; smtp.subspace.kernel.org; dkim=pass (2048-bit key) header.d=kernel.org header.i=@kernel.org header.b=fO2bZgQl; 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="fO2bZgQl" Received: by smtp.kernel.org (Postfix) with ESMTPS id 9033DC19421; Wed, 20 Aug 2025 14:24:45 +0000 (UTC) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=kernel.org; s=k20201202; t=1755699885; bh=iV1cHVTZOpKmWsKgE6I1SJMRols0ul8ljgR2JlaAEB0=; h=From:Date:Subject:References:In-Reply-To:To:Cc:Reply-To:From; b=fO2bZgQlHpsomwjAP2bKklfGnHhDBSW7ZP6RwfUGM01t2SXYlX/9vc1koiiAdMnoK JNwTtdPNAf85sWRL2mqMwoHmC3g+TL9swGfEEPnrH87gIHEI4ZeuT8KZ/zDLWtnmgv eyIdw7Tot9s9A/Pfk4XIokb1krg9YIx1XFi8ySIxI9NBN3fuf6jiNhogHcJcjfmuVo iiO3czvL8IzI9Y4/aJ0e4bFSd11PpeAj15uLRo5/1aCkUuvT4f5FNEakw8bEcAdlAg iB6MJJLmW7SdL+NlkkpLFsYuVWWAwS82Pf+TIyBhy88dael0exHYoVMUe7q/0Wj4UR C9349FEh5439g== 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 87D2CCA0EED; Wed, 20 Aug 2025 14:24:45 +0000 (UTC) From: Remi Buisson via B4 Relay Date: Wed, 20 Aug 2025 14:24:22 +0000 Subject: [PATCH v5 4/9] iio: imu: inv_icm45600: add IMU IIO gyroscope device 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: <20250820-add_newport_driver-v5-4-2fc9f13dddee@tdk.com> References: <20250820-add_newport_driver-v5-0-2fc9f13dddee@tdk.com> In-Reply-To: <20250820-add_newport_driver-v5-0-2fc9f13dddee@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=1755699883; l=38002; i=remi.buisson@tdk.com; s=20250411; h=from:subject:message-id; bh=wi2VuFFuUCGamBruMs5lxhen9GfdBAn3HvcjNggFwtY=; b=GdLK58aPrPreCtcZ7JB/0PPrQSgcCvp8/E5h+7b1DXRzIMVta2GFpeWBPThc4dOC+zu/06EVN W8x8BGyBxKUDVWc6TM3naPdr7pGs7U3u96/Na1YHwS9Qzbz8rH7DeBP 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 device for gyroscope sensor 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 | 1 + drivers/iio/imu/inv_icm45600/inv_icm45600.h | 29 + drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.c | 76 +- drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.h | 5 +- drivers/iio/imu/inv_icm45600/inv_icm45600_core.c | 104 ++- drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c | 792 +++++++++++++++++= ++++ 7 files changed, 1006 insertions(+), 3 deletions(-) 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 72f95bc30d993e0ea16b97622f4a041a09ec6559..b5954b4053c25259957faf4fc9d= 1979c9ff74608 100644 --- a/drivers/iio/imu/inv_icm45600/Makefile +++ b/drivers/iio/imu/inv_icm45600/Makefile @@ -3,3 +3,4 @@ obj-$(CONFIG_INV_ICM45600) +=3D inv-icm45600.o inv-icm45600-y +=3D inv_icm45600_core.o inv-icm45600-y +=3D inv_icm45600_buffer.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 a8f5769a09c9f734a15d02d2ee953fac649dc04f..a243cf5ad7e05039a8b1d4bed07= e30e89e8f6ee4 100644 --- a/drivers/iio/imu/inv_icm45600/inv_icm45600.h +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600.h @@ -109,6 +109,8 @@ struct inv_icm45600_chip_info { u8 whoami; const char *name; const struct inv_icm45600_conf *conf; + const int *gyro_scales; + const int gyro_scales_len; }; =20 extern const struct inv_icm45600_chip_info inv_icm45605_chip_info; @@ -120,6 +122,9 @@ extern const struct inv_icm45600_chip_info inv_icm45687= _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_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. @@ -323,6 +328,26 @@ const struct iio_mount_matrix * inv_icm45600_get_mount_matrix(const struct iio_dev *indio_dev, const struct iio_chan_spec *chan); =20 +#define INV_ICM45600_TEMP_CHAN(_index) \ + { \ + .type =3D IIO_TEMP, \ + .info_mask_separate =3D \ + BIT(IIO_CHAN_INFO_RAW) | \ + BIT(IIO_CHAN_INFO_OFFSET) | \ + BIT(IIO_CHAN_INFO_SCALE), \ + .scan_index =3D _index, \ + .scan_type =3D { \ + .sign =3D 's', \ + .realbits =3D 16, \ + .storagebits =3D 16, \ + .endianness =3D IIO_LE, \ + }, \ + } + +int inv_icm45600_temp_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask); + u32 inv_icm45600_odr_to_period(enum inv_icm45600_odr odr); =20 int inv_icm45600_set_accel_conf(struct inv_icm45600_state *st, @@ -340,4 +365,8 @@ int inv_icm45600_core_probe(struct regmap *regmap, const struct inv_icm45600_chip_info *chip_info, bool reset, inv_icm45600_bus_setup bus_setup); =20 +struct iio_dev *inv_icm45600_gyro_init(struct inv_icm45600_state *st); + +int inv_icm45600_gyro_parse_fifo(struct iio_dev *indio_dev); + #endif diff --git a/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.c b/drivers/i= io/imu/inv_icm45600/inv_icm45600_buffer.c index 50fd21a24e34decfbe10426946a51c61353eb6a9..5bf9535e27e8942312fe9749ce0= c733149de0a9d 100644 --- a/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.c +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.c @@ -400,7 +400,8 @@ const struct iio_buffer_setup_ops inv_icm45600_buffer_o= ps =3D { .postdisable =3D inv_icm45600_buffer_postdisable, }; =20 -int inv_icm45600_buffer_fifo_read(struct inv_icm45600_state *st) +int inv_icm45600_buffer_fifo_read(struct inv_icm45600_state *st, + unsigned int max) { const ssize_t packet_size =3D sizeof(struct inv_icm45600_fifo_2sensors_pa= cket); __le16 *raw_fifo_count; @@ -429,6 +430,8 @@ int inv_icm45600_buffer_fifo_read(struct inv_icm45600_s= tate *st) /* Check and limit number of samples if requested. */ if (fifo_nb =3D=3D 0) return 0; + if (max > 0 && fifo_nb > max) + fifo_nb =3D max; =20 /* Try to read all FIFO data in internal buffer. */ st->fifo.count =3D fifo_nb * packet_size; @@ -459,6 +462,77 @@ 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 da463461b5f2708014126f868fa6008db0520a4e..cf4495a1d53921ad9ee35fbe3dc= 8862af46a9b65 100644 --- a/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.h +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.h @@ -90,7 +90,10 @@ int inv_icm45600_buffer_set_fifo_en(struct inv_icm45600_= state *st, =20 int inv_icm45600_buffer_update_watermark(struct inv_icm45600_state *st); =20 -int inv_icm45600_buffer_fifo_read(struct inv_icm45600_state *st); +int inv_icm45600_buffer_fifo_read(struct inv_icm45600_state *st, + unsigned int max); + +int inv_icm45600_buffer_fifo_parse(struct inv_icm45600_state *st); =20 int inv_icm45600_buffer_hwfifo_flush(struct inv_icm45600_state *st, unsigned int count); diff --git a/drivers/iio/imu/inv_icm45600/inv_icm45600_core.c b/drivers/iio= /imu/inv_icm45600/inv_icm45600_core.c index 1657daf7c2d0445d6d10658f7f5b0f16f1623d69..706fda073060f18e3627b1de66c= 96ad95a74b8e1 100644 --- a/drivers/iio/imu/inv_icm45600/inv_icm45600_core.c +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600_core.c @@ -155,6 +155,8 @@ const struct inv_icm45600_chip_info inv_icm45605_chip_i= nfo =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45605, .name =3D "icm45605", .conf =3D &inv_icm45600_default_conf, + .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 @@ -162,6 +164,8 @@ const struct inv_icm45600_chip_info inv_icm45606_chip_i= nfo =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45606, .name =3D "icm45606", .conf =3D &inv_icm45600_default_conf, + .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 @@ -169,6 +173,8 @@ const struct inv_icm45600_chip_info inv_icm45608_chip_i= nfo =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45608, .name =3D "icm45608", .conf =3D &inv_icm45600_default_conf, + .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 @@ -176,6 +182,8 @@ const struct inv_icm45600_chip_info inv_icm45634_chip_i= nfo =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45634, .name =3D "icm45634", .conf =3D &inv_icm45600_default_conf, + .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 @@ -183,6 +191,8 @@ const struct inv_icm45600_chip_info inv_icm45686_chip_i= nfo =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45686, .name =3D "icm45686", .conf =3D &inv_icm45686_default_conf, + .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 @@ -190,6 +200,8 @@ const struct inv_icm45600_chip_info inv_icm45687_chip_i= nfo =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45687, .name =3D "icm45687", .conf =3D &inv_icm45686_default_conf, + .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 @@ -197,6 +209,8 @@ 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, + .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 @@ -204,6 +218,8 @@ const struct inv_icm45600_chip_info inv_icm45689_chip_i= nfo =3D { .whoami =3D INV_ICM45600_WHOAMI_ICM45689, .name =3D "icm45689", .conf =3D &inv_icm45686_default_conf, + .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 @@ -539,11 +555,14 @@ static irqreturn_t inv_icm45600_irq_handler(int irq, = void *_data) /* Read the FIFO data. */ mask =3D INV_ICM45600_INT_STATUS_FIFO_THS | INV_ICM45600_INT_STATUS_FIFO_= FULL; if (status & mask) { - ret =3D inv_icm45600_buffer_fifo_read(st); + ret =3D inv_icm45600_buffer_fifo_read(st, 0); if (ret) { 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. */ @@ -710,6 +729,10 @@ 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); + ret =3D inv_icm45600_irq_init(st, irq, irq_type, open_drain); if (ret) return ret; @@ -835,6 +858,85 @@ 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 { SYSTEM_SLEEP_PM_OPS(inv_icm45600_suspend, inv_icm45600_resume) 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..e4300b28436130a529914333578= cca9896ac62a3 --- /dev/null +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c @@ -0,0 +1,792 @@ +// 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, 562500, /* 1.5625Hz */ + 3, 125000, /* 3.125Hz */ + 6, 250000, /* 6.25Hz */ + 12, 500000, /* 12.5Hz */ + 25, 0, /* 25Hz */ + 50, 0, /* 50Hz */ + 100, 0, /* 100Hz */ + 200, 0, /* 200Hz */ + 400, 0, /* 400Hz */ + 800, 0, /* 800Hz */ + 1600, 0, /* 1.6kHz */ + 3200, 0, /* 3.2kHz */ + 6400, 0, /* 6.4kHz */ +}; + +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 */ + offset =3D clamp(offset, -8192, 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) + return ret; + + return st->fifo.nb.gyro; +} + +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); + struct inv_icm45600_sensor_state *gyro_st; + struct inv_sensors_timestamp_chip ts_chip; + struct iio_dev *indio_dev; + const char *name; + 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; + + /* parse all fifo packets */ + for (i =3D 0, no =3D 0; i < st->fifo.count; i +=3D size, ++no) { + struct inv_icm45600_gyro_buffer buffer =3D { }; + const struct inv_icm45600_fifo_sensor_data *accel, *gyro; + const __le16 *timestamp; + const s8 *temp; + unsigned int odr; + s64 ts_val; + + 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); + + 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_ts(indio_dev, &buffer, sizeof(buffer), ts_val); + } + + return 0; +} --=20 2.34.1