1// SPDX-License-Identifier: GPL-2.0-or-later
2/*
3 * Copyright (C) 2020 Invensense, Inc.
4 */
5
6#include <linux/kernel.h>
7#include <linux/device.h>
8#include <linux/mutex.h>
9#include <linux/pm_runtime.h>
10#include <linux/regmap.h>
11#include <linux/delay.h>
12#include <linux/math64.h>
13
14#include <linux/iio/buffer.h>
15#include <linux/iio/common/inv_sensors_timestamp.h>
16#include <linux/iio/iio.h>
17#include <linux/iio/kfifo_buf.h>
18
19#include "inv_icm42600.h"
20#include "inv_icm42600_temp.h"
21#include "inv_icm42600_buffer.h"
22
23#define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info) \
24 { \
25 .type = IIO_ANGL_VEL, \
26 .modified = 1, \
27 .channel2 = _modifier, \
28 .info_mask_separate = \
29 BIT(IIO_CHAN_INFO_RAW) | \
30 BIT(IIO_CHAN_INFO_CALIBBIAS), \
31 .info_mask_shared_by_type = \
32 BIT(IIO_CHAN_INFO_SCALE), \
33 .info_mask_shared_by_type_available = \
34 BIT(IIO_CHAN_INFO_SCALE) | \
35 BIT(IIO_CHAN_INFO_CALIBBIAS), \
36 .info_mask_shared_by_all = \
37 BIT(IIO_CHAN_INFO_SAMP_FREQ), \
38 .info_mask_shared_by_all_available = \
39 BIT(IIO_CHAN_INFO_SAMP_FREQ), \
40 .scan_index = _index, \
41 .scan_type = { \
42 .sign = 's', \
43 .realbits = 16, \
44 .storagebits = 16, \
45 .endianness = IIO_BE, \
46 }, \
47 .ext_info = _ext_info, \
48 }
49
50enum inv_icm42600_gyro_scan {
51 INV_ICM42600_GYRO_SCAN_X,
52 INV_ICM42600_GYRO_SCAN_Y,
53 INV_ICM42600_GYRO_SCAN_Z,
54 INV_ICM42600_GYRO_SCAN_TEMP,
55 INV_ICM42600_GYRO_SCAN_TIMESTAMP,
56};
57
58static const struct iio_chan_spec_ext_info inv_icm42600_gyro_ext_infos[] = {
59 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
60 {},
61};
62
63static const struct iio_chan_spec inv_icm42600_gyro_channels[] = {
64 INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X,
65 inv_icm42600_gyro_ext_infos),
66 INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y,
67 inv_icm42600_gyro_ext_infos),
68 INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z,
69 inv_icm42600_gyro_ext_infos),
70 INV_ICM42600_TEMP_CHAN(INV_ICM42600_GYRO_SCAN_TEMP),
71 IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_GYRO_SCAN_TIMESTAMP),
72};
73
74/*
75 * IIO buffer data: size must be a power of 2 and timestamp aligned
76 * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp
77 */
78struct inv_icm42600_gyro_buffer {
79 struct inv_icm42600_fifo_sensor_data gyro;
80 int16_t temp;
81 int64_t timestamp __aligned(8);
82};
83
84#define INV_ICM42600_SCAN_MASK_GYRO_3AXIS \
85 (BIT(INV_ICM42600_GYRO_SCAN_X) | \
86 BIT(INV_ICM42600_GYRO_SCAN_Y) | \
87 BIT(INV_ICM42600_GYRO_SCAN_Z))
88
89#define INV_ICM42600_SCAN_MASK_TEMP BIT(INV_ICM42600_GYRO_SCAN_TEMP)
90
91static const unsigned long inv_icm42600_gyro_scan_masks[] = {
92 /* 3-axis gyro + temperature */
93 INV_ICM42600_SCAN_MASK_GYRO_3AXIS | INV_ICM42600_SCAN_MASK_TEMP,
94 0,
95};
96
97/* enable gyroscope sensor and FIFO write */
98static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
99 const unsigned long *scan_mask)
100{
101 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
102 struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
103 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
104 unsigned int fifo_en = 0;
105 unsigned int sleep_gyro = 0;
106 unsigned int sleep_temp = 0;
107 unsigned int sleep;
108 int ret;
109
110 mutex_lock(&st->lock);
111
112 if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) {
113 /* enable temp sensor */
114 ret = inv_icm42600_set_temp_conf(st, enable: true, sleep_ms: &sleep_temp);
115 if (ret)
116 goto out_unlock;
117 fifo_en |= INV_ICM42600_SENSOR_TEMP;
118 }
119
120 if (*scan_mask & INV_ICM42600_SCAN_MASK_GYRO_3AXIS) {
121 /* enable gyro sensor */
122 conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
123 ret = inv_icm42600_set_gyro_conf(st, conf: &conf, sleep_ms: &sleep_gyro);
124 if (ret)
125 goto out_unlock;
126 fifo_en |= INV_ICM42600_SENSOR_GYRO;
127 }
128
129 /* update data FIFO write */
130 inv_sensors_timestamp_apply_odr(ts, fifo_period: 0, fifo_nb: 0, fifo_no: 0);
131 ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en: fifo_en | st->fifo.en);
132 if (ret)
133 goto out_unlock;
134
135 ret = inv_icm42600_buffer_update_watermark(st);
136
137out_unlock:
138 mutex_unlock(lock: &st->lock);
139 /* sleep maximum required time */
140 sleep = max(sleep_gyro, sleep_temp);
141 if (sleep)
142 msleep(msecs: sleep);
143 return ret;
144}
145
146static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st,
147 struct iio_chan_spec const *chan,
148 int16_t *val)
149{
150 struct device *dev = regmap_get_device(map: st->map);
151 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
152 unsigned int reg;
153 __be16 *data;
154 int ret;
155
156 if (chan->type != IIO_ANGL_VEL)
157 return -EINVAL;
158
159 switch (chan->channel2) {
160 case IIO_MOD_X:
161 reg = INV_ICM42600_REG_GYRO_DATA_X;
162 break;
163 case IIO_MOD_Y:
164 reg = INV_ICM42600_REG_GYRO_DATA_Y;
165 break;
166 case IIO_MOD_Z:
167 reg = INV_ICM42600_REG_GYRO_DATA_Z;
168 break;
169 default:
170 return -EINVAL;
171 }
172
173 pm_runtime_get_sync(dev);
174 mutex_lock(&st->lock);
175
176 /* enable gyro sensor */
177 conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
178 ret = inv_icm42600_set_gyro_conf(st, conf: &conf, NULL);
179 if (ret)
180 goto exit;
181
182 /* read gyro register data */
183 data = (__be16 *)&st->buffer[0];
184 ret = regmap_bulk_read(map: st->map, reg, val: data, val_count: sizeof(*data));
185 if (ret)
186 goto exit;
187
188 *val = (int16_t)be16_to_cpup(p: data);
189 if (*val == INV_ICM42600_DATA_INVALID)
190 ret = -EINVAL;
191exit:
192 mutex_unlock(lock: &st->lock);
193 pm_runtime_mark_last_busy(dev);
194 pm_runtime_put_autosuspend(dev);
195 return ret;
196}
197
198/* IIO format int + nano */
199static const int inv_icm42600_gyro_scale[] = {
200 /* +/- 2000dps => 0.001065264 rad/s */
201 [2 * INV_ICM42600_GYRO_FS_2000DPS] = 0,
202 [2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264,
203 /* +/- 1000dps => 0.000532632 rad/s */
204 [2 * INV_ICM42600_GYRO_FS_1000DPS] = 0,
205 [2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632,
206 /* +/- 500dps => 0.000266316 rad/s */
207 [2 * INV_ICM42600_GYRO_FS_500DPS] = 0,
208 [2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316,
209 /* +/- 250dps => 0.000133158 rad/s */
210 [2 * INV_ICM42600_GYRO_FS_250DPS] = 0,
211 [2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158,
212 /* +/- 125dps => 0.000066579 rad/s */
213 [2 * INV_ICM42600_GYRO_FS_125DPS] = 0,
214 [2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579,
215 /* +/- 62.5dps => 0.000033290 rad/s */
216 [2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0,
217 [2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290,
218 /* +/- 31.25dps => 0.000016645 rad/s */
219 [2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0,
220 [2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645,
221 /* +/- 15.625dps => 0.000008322 rad/s */
222 [2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
223 [2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
224};
225
226static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
227 int *val, int *val2)
228{
229 unsigned int idx;
230
231 idx = st->conf.gyro.fs;
232
233 *val = inv_icm42600_gyro_scale[2 * idx];
234 *val2 = inv_icm42600_gyro_scale[2 * idx + 1];
235 return IIO_VAL_INT_PLUS_NANO;
236}
237
238static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
239 int val, int val2)
240{
241 struct device *dev = regmap_get_device(map: st->map);
242 unsigned int idx;
243 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
244 int ret;
245
246 for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) {
247 if (val == inv_icm42600_gyro_scale[idx] &&
248 val2 == inv_icm42600_gyro_scale[idx + 1])
249 break;
250 }
251 if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
252 return -EINVAL;
253
254 conf.fs = idx / 2;
255
256 pm_runtime_get_sync(dev);
257 mutex_lock(&st->lock);
258
259 ret = inv_icm42600_set_gyro_conf(st, conf: &conf, NULL);
260
261 mutex_unlock(lock: &st->lock);
262 pm_runtime_mark_last_busy(dev);
263 pm_runtime_put_autosuspend(dev);
264
265 return ret;
266}
267
268/* IIO format int + micro */
269static const int inv_icm42600_gyro_odr[] = {
270 /* 12.5Hz */
271 12, 500000,
272 /* 25Hz */
273 25, 0,
274 /* 50Hz */
275 50, 0,
276 /* 100Hz */
277 100, 0,
278 /* 200Hz */
279 200, 0,
280 /* 1kHz */
281 1000, 0,
282 /* 2kHz */
283 2000, 0,
284 /* 4kHz */
285 4000, 0,
286};
287
288static const int inv_icm42600_gyro_odr_conv[] = {
289 INV_ICM42600_ODR_12_5HZ,
290 INV_ICM42600_ODR_25HZ,
291 INV_ICM42600_ODR_50HZ,
292 INV_ICM42600_ODR_100HZ,
293 INV_ICM42600_ODR_200HZ,
294 INV_ICM42600_ODR_1KHZ_LN,
295 INV_ICM42600_ODR_2KHZ_LN,
296 INV_ICM42600_ODR_4KHZ_LN,
297};
298
299static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st,
300 int *val, int *val2)
301{
302 unsigned int odr;
303 unsigned int i;
304
305 odr = st->conf.gyro.odr;
306
307 for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) {
308 if (inv_icm42600_gyro_odr_conv[i] == odr)
309 break;
310 }
311 if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv))
312 return -EINVAL;
313
314 *val = inv_icm42600_gyro_odr[2 * i];
315 *val2 = inv_icm42600_gyro_odr[2 * i + 1];
316
317 return IIO_VAL_INT_PLUS_MICRO;
318}
319
320static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
321 int val, int val2)
322{
323 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
324 struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
325 struct device *dev = regmap_get_device(map: st->map);
326 unsigned int idx;
327 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
328 int ret;
329
330 for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) {
331 if (val == inv_icm42600_gyro_odr[idx] &&
332 val2 == inv_icm42600_gyro_odr[idx + 1])
333 break;
334 }
335 if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr))
336 return -EINVAL;
337
338 conf.odr = inv_icm42600_gyro_odr_conv[idx / 2];
339
340 pm_runtime_get_sync(dev);
341 mutex_lock(&st->lock);
342
343 ret = inv_sensors_timestamp_update_odr(ts, period: inv_icm42600_odr_to_period(odr: conf.odr),
344 fifo: iio_buffer_enabled(indio_dev));
345 if (ret)
346 goto out_unlock;
347
348 ret = inv_icm42600_set_gyro_conf(st, conf: &conf, NULL);
349 if (ret)
350 goto out_unlock;
351 inv_icm42600_buffer_update_fifo_period(st);
352 inv_icm42600_buffer_update_watermark(st);
353
354out_unlock:
355 mutex_unlock(lock: &st->lock);
356 pm_runtime_mark_last_busy(dev);
357 pm_runtime_put_autosuspend(dev);
358
359 return ret;
360}
361
362/*
363 * Calibration bias values, IIO range format int + nano.
364 * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps.
365 */
366static int inv_icm42600_gyro_calibbias[] = {
367 -1, 117010721, /* min: -1.117010721 rad/s */
368 0, 545415, /* step: 0.000545415 rad/s */
369 1, 116465306, /* max: 1.116465306 rad/s */
370};
371
372static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st,
373 struct iio_chan_spec const *chan,
374 int *val, int *val2)
375{
376 struct device *dev = regmap_get_device(map: st->map);
377 int64_t val64;
378 int32_t bias;
379 unsigned int reg;
380 int16_t offset;
381 uint8_t data[2];
382 int ret;
383
384 if (chan->type != IIO_ANGL_VEL)
385 return -EINVAL;
386
387 switch (chan->channel2) {
388 case IIO_MOD_X:
389 reg = INV_ICM42600_REG_OFFSET_USER0;
390 break;
391 case IIO_MOD_Y:
392 reg = INV_ICM42600_REG_OFFSET_USER1;
393 break;
394 case IIO_MOD_Z:
395 reg = INV_ICM42600_REG_OFFSET_USER3;
396 break;
397 default:
398 return -EINVAL;
399 }
400
401 pm_runtime_get_sync(dev);
402 mutex_lock(&st->lock);
403
404 ret = regmap_bulk_read(map: st->map, reg, val: st->buffer, val_count: sizeof(data));
405 memcpy(data, st->buffer, sizeof(data));
406
407 mutex_unlock(lock: &st->lock);
408 pm_runtime_mark_last_busy(dev);
409 pm_runtime_put_autosuspend(dev);
410 if (ret)
411 return ret;
412
413 /* 12 bits signed value */
414 switch (chan->channel2) {
415 case IIO_MOD_X:
416 offset = sign_extend32(value: ((data[1] & 0x0F) << 8) | data[0], index: 11);
417 break;
418 case IIO_MOD_Y:
419 offset = sign_extend32(value: ((data[0] & 0xF0) << 4) | data[1], index: 11);
420 break;
421 case IIO_MOD_Z:
422 offset = sign_extend32(value: ((data[1] & 0x0F) << 8) | data[0], index: 11);
423 break;
424 default:
425 return -EINVAL;
426 }
427
428 /*
429 * convert raw offset to dps then to rad/s
430 * 12 bits signed raw max 64 to dps: 64 / 2048
431 * dps to rad: Pi / 180
432 * result in nano (1000000000)
433 * (offset * 64 * Pi * 1000000000) / (2048 * 180)
434 */
435 val64 = (int64_t)offset * 64LL * 3141592653LL;
436 /* for rounding, add + or - divisor (2048 * 180) divided by 2 */
437 if (val64 >= 0)
438 val64 += 2048 * 180 / 2;
439 else
440 val64 -= 2048 * 180 / 2;
441 bias = div_s64(dividend: val64, divisor: 2048 * 180);
442 *val = bias / 1000000000L;
443 *val2 = bias % 1000000000L;
444
445 return IIO_VAL_INT_PLUS_NANO;
446}
447
448static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st,
449 struct iio_chan_spec const *chan,
450 int val, int val2)
451{
452 struct device *dev = regmap_get_device(map: st->map);
453 int64_t val64, min, max;
454 unsigned int reg, regval;
455 int16_t offset;
456 int ret;
457
458 if (chan->type != IIO_ANGL_VEL)
459 return -EINVAL;
460
461 switch (chan->channel2) {
462 case IIO_MOD_X:
463 reg = INV_ICM42600_REG_OFFSET_USER0;
464 break;
465 case IIO_MOD_Y:
466 reg = INV_ICM42600_REG_OFFSET_USER1;
467 break;
468 case IIO_MOD_Z:
469 reg = INV_ICM42600_REG_OFFSET_USER3;
470 break;
471 default:
472 return -EINVAL;
473 }
474
475 /* inv_icm42600_gyro_calibbias: min - step - max in nano */
476 min = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL +
477 (int64_t)inv_icm42600_gyro_calibbias[1];
478 max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL +
479 (int64_t)inv_icm42600_gyro_calibbias[5];
480 val64 = (int64_t)val * 1000000000LL + (int64_t)val2;
481 if (val64 < min || val64 > max)
482 return -EINVAL;
483
484 /*
485 * convert rad/s to dps then to raw value
486 * rad to dps: 180 / Pi
487 * dps to raw 12 bits signed, max 64: 2048 / 64
488 * val in nano (1000000000)
489 * val * 180 * 2048 / (Pi * 1000000000 * 64)
490 */
491 val64 = val64 * 180LL * 2048LL;
492 /* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */
493 if (val64 >= 0)
494 val64 += 3141592653LL * 64LL / 2LL;
495 else
496 val64 -= 3141592653LL * 64LL / 2LL;
497 offset = div64_s64(dividend: val64, divisor: 3141592653LL * 64LL);
498
499 /* clamp value limited to 12 bits signed */
500 if (offset < -2048)
501 offset = -2048;
502 else if (offset > 2047)
503 offset = 2047;
504
505 pm_runtime_get_sync(dev);
506 mutex_lock(&st->lock);
507
508 switch (chan->channel2) {
509 case IIO_MOD_X:
510 /* OFFSET_USER1 register is shared */
511 ret = regmap_read(map: st->map, INV_ICM42600_REG_OFFSET_USER1,
512 val: &regval);
513 if (ret)
514 goto out_unlock;
515 st->buffer[0] = offset & 0xFF;
516 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
517 break;
518 case IIO_MOD_Y:
519 /* OFFSET_USER1 register is shared */
520 ret = regmap_read(map: st->map, INV_ICM42600_REG_OFFSET_USER1,
521 val: &regval);
522 if (ret)
523 goto out_unlock;
524 st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
525 st->buffer[1] = offset & 0xFF;
526 break;
527 case IIO_MOD_Z:
528 /* OFFSET_USER4 register is shared */
529 ret = regmap_read(map: st->map, INV_ICM42600_REG_OFFSET_USER4,
530 val: &regval);
531 if (ret)
532 goto out_unlock;
533 st->buffer[0] = offset & 0xFF;
534 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
535 break;
536 default:
537 ret = -EINVAL;
538 goto out_unlock;
539 }
540
541 ret = regmap_bulk_write(map: st->map, reg, val: st->buffer, val_count: 2);
542
543out_unlock:
544 mutex_unlock(lock: &st->lock);
545 pm_runtime_mark_last_busy(dev);
546 pm_runtime_put_autosuspend(dev);
547 return ret;
548}
549
550static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
551 struct iio_chan_spec const *chan,
552 int *val, int *val2, long mask)
553{
554 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
555 int16_t data;
556 int ret;
557
558 switch (chan->type) {
559 case IIO_ANGL_VEL:
560 break;
561 case IIO_TEMP:
562 return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask);
563 default:
564 return -EINVAL;
565 }
566
567 switch (mask) {
568 case IIO_CHAN_INFO_RAW:
569 ret = iio_device_claim_direct_mode(indio_dev);
570 if (ret)
571 return ret;
572 ret = inv_icm42600_gyro_read_sensor(st, chan, val: &data);
573 iio_device_release_direct_mode(indio_dev);
574 if (ret)
575 return ret;
576 *val = data;
577 return IIO_VAL_INT;
578 case IIO_CHAN_INFO_SCALE:
579 return inv_icm42600_gyro_read_scale(st, val, val2);
580 case IIO_CHAN_INFO_SAMP_FREQ:
581 return inv_icm42600_gyro_read_odr(st, val, val2);
582 case IIO_CHAN_INFO_CALIBBIAS:
583 return inv_icm42600_gyro_read_offset(st, chan, val, val2);
584 default:
585 return -EINVAL;
586 }
587}
588
589static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
590 struct iio_chan_spec const *chan,
591 const int **vals,
592 int *type, int *length, long mask)
593{
594 if (chan->type != IIO_ANGL_VEL)
595 return -EINVAL;
596
597 switch (mask) {
598 case IIO_CHAN_INFO_SCALE:
599 *vals = inv_icm42600_gyro_scale;
600 *type = IIO_VAL_INT_PLUS_NANO;
601 *length = ARRAY_SIZE(inv_icm42600_gyro_scale);
602 return IIO_AVAIL_LIST;
603 case IIO_CHAN_INFO_SAMP_FREQ:
604 *vals = inv_icm42600_gyro_odr;
605 *type = IIO_VAL_INT_PLUS_MICRO;
606 *length = ARRAY_SIZE(inv_icm42600_gyro_odr);
607 return IIO_AVAIL_LIST;
608 case IIO_CHAN_INFO_CALIBBIAS:
609 *vals = inv_icm42600_gyro_calibbias;
610 *type = IIO_VAL_INT_PLUS_NANO;
611 return IIO_AVAIL_RANGE;
612 default:
613 return -EINVAL;
614 }
615}
616
617static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
618 struct iio_chan_spec const *chan,
619 int val, int val2, long mask)
620{
621 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
622 int ret;
623
624 if (chan->type != IIO_ANGL_VEL)
625 return -EINVAL;
626
627 switch (mask) {
628 case IIO_CHAN_INFO_SCALE:
629 ret = iio_device_claim_direct_mode(indio_dev);
630 if (ret)
631 return ret;
632 ret = inv_icm42600_gyro_write_scale(st, val, val2);
633 iio_device_release_direct_mode(indio_dev);
634 return ret;
635 case IIO_CHAN_INFO_SAMP_FREQ:
636 return inv_icm42600_gyro_write_odr(indio_dev, val, val2);
637 case IIO_CHAN_INFO_CALIBBIAS:
638 ret = iio_device_claim_direct_mode(indio_dev);
639 if (ret)
640 return ret;
641 ret = inv_icm42600_gyro_write_offset(st, chan, val, val2);
642 iio_device_release_direct_mode(indio_dev);
643 return ret;
644 default:
645 return -EINVAL;
646 }
647}
648
649static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,
650 struct iio_chan_spec const *chan,
651 long mask)
652{
653 if (chan->type != IIO_ANGL_VEL)
654 return -EINVAL;
655
656 switch (mask) {
657 case IIO_CHAN_INFO_SCALE:
658 return IIO_VAL_INT_PLUS_NANO;
659 case IIO_CHAN_INFO_SAMP_FREQ:
660 return IIO_VAL_INT_PLUS_MICRO;
661 case IIO_CHAN_INFO_CALIBBIAS:
662 return IIO_VAL_INT_PLUS_NANO;
663 default:
664 return -EINVAL;
665 }
666}
667
668static int inv_icm42600_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev,
669 unsigned int val)
670{
671 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
672 int ret;
673
674 mutex_lock(&st->lock);
675
676 st->fifo.watermark.gyro = val;
677 ret = inv_icm42600_buffer_update_watermark(st);
678
679 mutex_unlock(lock: &st->lock);
680
681 return ret;
682}
683
684static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev,
685 unsigned int count)
686{
687 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
688 int ret;
689
690 if (count == 0)
691 return 0;
692
693 mutex_lock(&st->lock);
694
695 ret = inv_icm42600_buffer_hwfifo_flush(st, count);
696 if (!ret)
697 ret = st->fifo.nb.gyro;
698
699 mutex_unlock(lock: &st->lock);
700
701 return ret;
702}
703
704static const struct iio_info inv_icm42600_gyro_info = {
705 .read_raw = inv_icm42600_gyro_read_raw,
706 .read_avail = inv_icm42600_gyro_read_avail,
707 .write_raw = inv_icm42600_gyro_write_raw,
708 .write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt,
709 .debugfs_reg_access = inv_icm42600_debugfs_reg,
710 .update_scan_mode = inv_icm42600_gyro_update_scan_mode,
711 .hwfifo_set_watermark = inv_icm42600_gyro_hwfifo_set_watermark,
712 .hwfifo_flush_to_buffer = inv_icm42600_gyro_hwfifo_flush,
713};
714
715struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
716{
717 struct device *dev = regmap_get_device(map: st->map);
718 const char *name;
719 struct inv_sensors_timestamp_chip ts_chip;
720 struct inv_sensors_timestamp *ts;
721 struct iio_dev *indio_dev;
722 int ret;
723
724 name = devm_kasprintf(dev, GFP_KERNEL, fmt: "%s-gyro", st->name);
725 if (!name)
726 return ERR_PTR(error: -ENOMEM);
727
728 indio_dev = devm_iio_device_alloc(parent: dev, sizeof_priv: sizeof(*ts));
729 if (!indio_dev)
730 return ERR_PTR(error: -ENOMEM);
731
732 /*
733 * clock period is 32kHz (31250ns)
734 * jitter is +/- 2% (20 per mille)
735 */
736 ts_chip.clock_period = 31250;
737 ts_chip.jitter = 20;
738 ts_chip.init_period = inv_icm42600_odr_to_period(odr: st->conf.accel.odr);
739 ts = iio_priv(indio_dev);
740 inv_sensors_timestamp_init(ts, chip: &ts_chip);
741
742 iio_device_set_drvdata(indio_dev, data: st);
743 indio_dev->name = name;
744 indio_dev->info = &inv_icm42600_gyro_info;
745 indio_dev->modes = INDIO_DIRECT_MODE;
746 indio_dev->channels = inv_icm42600_gyro_channels;
747 indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels);
748 indio_dev->available_scan_masks = inv_icm42600_gyro_scan_masks;
749 indio_dev->setup_ops = &inv_icm42600_buffer_ops;
750
751 ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
752 &inv_icm42600_buffer_ops);
753 if (ret)
754 return ERR_PTR(error: ret);
755
756 ret = devm_iio_device_register(dev, indio_dev);
757 if (ret)
758 return ERR_PTR(error: ret);
759
760 return indio_dev;
761}
762
763int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
764{
765 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
766 struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
767 ssize_t i, size;
768 unsigned int no;
769 const void *accel, *gyro, *timestamp;
770 const int8_t *temp;
771 unsigned int odr;
772 int64_t ts_val;
773 struct inv_icm42600_gyro_buffer buffer;
774
775 /* parse all fifo packets */
776 for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
777 size = inv_icm42600_fifo_decode_packet(packet: &st->fifo.data[i],
778 accel: &accel, gyro: &gyro, temp: &temp, timestamp: &timestamp, odr: &odr);
779 /* quit if error or FIFO is empty */
780 if (size <= 0)
781 return size;
782
783 /* skip packet if no gyro data or data is invalid */
784 if (gyro == NULL || !inv_icm42600_fifo_is_data_valid(s: gyro))
785 continue;
786
787 /* update odr */
788 if (odr & INV_ICM42600_SENSOR_GYRO)
789 inv_sensors_timestamp_apply_odr(ts, fifo_period: st->fifo.period,
790 fifo_nb: st->fifo.nb.total, fifo_no: no);
791
792 /* buffer is copied to userspace, zeroing it to avoid any data leak */
793 memset(&buffer, 0, sizeof(buffer));
794 memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro));
795 /* convert 8 bits FIFO temperature in high resolution format */
796 buffer.temp = temp ? (*temp * 64) : 0;
797 ts_val = inv_sensors_timestamp_pop(ts);
798 iio_push_to_buffers_with_timestamp(indio_dev, data: &buffer, timestamp: ts_val);
799 }
800
801 return 0;
802}
803

source code of linux/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c