From patchwork Mon Jun 8 20:42:42 2020 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 8bit X-Patchwork-Submitter: Jean-Baptiste Maneyrol X-Patchwork-Id: 11593985 Return-Path: Received: from mail.kernel.org (pdx-korg-mail-1.web.codeaurora.org [172.30.200.123]) by pdx-korg-patchwork-2.web.codeaurora.org (Postfix) with ESMTP id 321D492A for ; Mon, 8 Jun 2020 20:44:53 +0000 (UTC) Received: from vger.kernel.org (vger.kernel.org [23.128.96.18]) by mail.kernel.org (Postfix) with ESMTP id 0906920775 for ; Mon, 8 Jun 2020 20:44:53 +0000 (UTC) Authentication-Results: mail.kernel.org; dkim=pass (2048-bit key) header.d=invensense.com header.i=@invensense.com header.b="Cb+8Pn6o"; dkim=pass (1024-bit key) header.d=invensense.onmicrosoft.com header.i=@invensense.onmicrosoft.com header.b="Nu1dhR4u" Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1726844AbgFHUoP (ORCPT ); Mon, 8 Jun 2020 16:44:15 -0400 Received: from mx0b-00328301.pphosted.com ([148.163.141.47]:8458 "EHLO mx0b-00328301.pphosted.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1726780AbgFHUoF (ORCPT ); Mon, 8 Jun 2020 16:44:05 -0400 Received: from pps.filterd (m0156136.ppops.net [127.0.0.1]) by mx0b-00328301.pphosted.com (8.16.0.42/8.16.0.42) with SMTP id 058Kcorf019143; Mon, 8 Jun 2020 13:43:57 -0700 DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=invensense.com; h=from : to : cc : subject : date : message-id : in-reply-to : references : content-type : content-transfer-encoding : mime-version; s=pfpt1; bh=kU+IuaD+USzK+7Uf0WSkAmmVYqlub7tjrL28klwo1KI=; b=Cb+8Pn6o9vUqGFkyN8Ghwp7NCwOd3aLOryH/In0g0RVxuB1fUaRUBIMY96xb/GMe5mqB 53qEw7CEUkr/QmR95ANrhOb9Q8+hy3oVjiBEV4OxUCtOIFiYf6OqT8HWm+Iye4jgYJGO qR/JC6yNrvuzzJXjK5Dw1zYivp1W31RkHpCiKrY6ArD2u34Hej9Xeq1YlIRulX+Lbtij qY8lwMhXbR1GwLb4x1R+9bGYbF1p6cdR9ml/1ZYcDPXuba4VByv47uAjspoAA2CsRduV ShHFoVouPo0JjSAkYJWijQBIdxCGkMdK9b/GCqzwl3av/nRsVjT/RqJDn3TwZW10X/AN vQ== Received: from nam10-mw2-obe.outbound.protection.outlook.com (mail-mw2nam10lp2108.outbound.protection.outlook.com [104.47.55.108]) by mx0b-00328301.pphosted.com with ESMTP id 31g8cf0xvg-1 (version=TLSv1.2 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=NOT); Mon, 08 Jun 2020 13:43:57 -0700 ARC-Seal: i=1; a=rsa-sha256; s=arcselector9901; d=microsoft.com; cv=none; b=eWiZ5P73LvU2lKyK9gH+k8LZmqteB2JLaeuYAQWL9pHZFarSHP7eQo+ntrgc4QSbYKad2VFuBRVWwfLQ2bEUJcSLn+EC+w57+uKzc1FWTYE8/md8xkppbmE81jr2gSBBs3IwEitjz7DEiYqpjXOtTt0c10fVz90fi4AMB7F7aBOXeM4Vgoe5dzhk2AJABsm0L3fQfDL0YZVvhu9XIUcX2KrnhwLFxxGWfrRtTZRR7RwEPdhOkDnzpFTM4qlvdCsTJUWJOPMJ4nBeIBb3SKM5Cln+fRPbap70OInHv/LBQhYTRcmyk1RAdbSCJCVCYvln1SgN/NL6PY4M9itSCRqTRA== ARC-Message-Signature: i=1; a=rsa-sha256; c=relaxed/relaxed; d=microsoft.com; s=arcselector9901; h=From:Date:Subject:Message-ID:Content-Type:MIME-Version:X-MS-Exchange-SenderADCheck; bh=kU+IuaD+USzK+7Uf0WSkAmmVYqlub7tjrL28klwo1KI=; b=KkWpHm3Kn4jzWVSpU6IAQqeEBZ8vuqaPbiJ3Qy+y3Dx6HhvpRmSaPPFOMonbBlQi1QuOiarg397wV7jvzuwX8iN2lLNisxP+Zfv8/HFXWYPZTH3RXDXNTkTAhWPkfmloJ10FSuIVhfI2xTWUIfQKTQQ0zDUHbEK2AFgH+LivgzQNDzXT0k1n089mnO/6x7LXwjTrfMddhNkWCRMbrJoRcjKYN3gn5bNyRMKPhbk5FwilxSISb3RsuGCyVu2u18NWYqh8YSpfWCKBJOmMIXTYP64kUPFDBKJlPndWH0PYdxyOSqPYxWtk2HlyXxAi65BtIGXlvLRguoIYAk7M87uvvg== ARC-Authentication-Results: i=1; mx.microsoft.com 1; spf=pass smtp.mailfrom=invensense.com; dmarc=pass action=none header.from=invensense.com; dkim=pass header.d=invensense.com; arc=none DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=invensense.onmicrosoft.com; s=selector2-invensense-onmicrosoft-com; h=From:Date:Subject:Message-ID:Content-Type:MIME-Version:X-MS-Exchange-SenderADCheck; bh=kU+IuaD+USzK+7Uf0WSkAmmVYqlub7tjrL28klwo1KI=; b=Nu1dhR4uxYyf5a8SK5+UvZ8YjA4Dp9RaIUHjQGQiIperqXbbSr6wV0uPV2pG9dldsTaw4i1l5j7GsIcrjA9BfGemEmeDVDkCe6ww0YdQ7nivrvlqt7iXyA9Z+3Z/afKxfT1zSGg8eh+2Wu4nKw5Q/MfpS8V7RHEMcIvrRnwnzhk= Authentication-Results: kernel.org; dkim=none (message not signed) header.d=none;kernel.org; dmarc=none action=none header.from=invensense.com; Received: from MN2PR12MB4422.namprd12.prod.outlook.com (2603:10b6:208:265::9) by MN2PR12MB3951.namprd12.prod.outlook.com (2603:10b6:208:16b::24) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.20.3066.20; Mon, 8 Jun 2020 20:43:55 +0000 Received: from MN2PR12MB4422.namprd12.prod.outlook.com ([fe80::8940:8e95:6996:cc0]) by MN2PR12MB4422.namprd12.prod.outlook.com ([fe80::8940:8e95:6996:cc0%8]) with mapi id 15.20.3066.023; Mon, 8 Jun 2020 20:43:55 +0000 From: Jean-Baptiste Maneyrol To: jic23@kernel.org, robh+dt@kernel.org, robh@kernel.org, mchehab+huawei@kernel.org, davem@davemloft.net, gregkh@linuxfoundation.org Cc: linux-iio@vger.kernel.org, devicetree@vger.kernel.org, linux-kernel@vger.kernel.org, Jean-Baptiste Maneyrol Subject: [PATCH v3 05/13] iio: imu: inv_icm42600: add accelerometer IIO device Date: Mon, 8 Jun 2020 22:42:42 +0200 Message-Id: <20200608204250.3291-6-jmaneyrol@invensense.com> X-Mailer: git-send-email 2.17.1 In-Reply-To: <20200608204250.3291-1-jmaneyrol@invensense.com> References: <20200608204250.3291-1-jmaneyrol@invensense.com> X-ClientProxiedBy: LNXP265CA0079.GBRP265.PROD.OUTLOOK.COM (2603:10a6:600:76::19) To MN2PR12MB4422.namprd12.prod.outlook.com (2603:10b6:208:265::9) MIME-Version: 1.0 X-MS-Exchange-MessageSentRepresentingType: 1 Received: from frgnb-buildozer.invcorp.invensense.com (77.157.193.39) by LNXP265CA0079.GBRP265.PROD.OUTLOOK.COM (2603:10a6:600:76::19) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.20.3066.18 via Frontend Transport; Mon, 8 Jun 2020 20:43:53 +0000 X-Mailer: git-send-email 2.17.1 X-Originating-IP: [77.157.193.39] X-MS-PublicTrafficType: Email X-MS-Office365-Filtering-Correlation-Id: 8370aba5-d967-41cc-a3bf-08d80beca8c3 X-MS-TrafficTypeDiagnostic: MN2PR12MB3951: X-MS-Exchange-Transport-Forked: True X-Microsoft-Antispam-PRVS: X-MS-Oob-TLC-OOBClassifiers: OLM:3968; X-Forefront-PRVS: 042857DBB5 X-MS-Exchange-SenderADCheck: 1 X-Microsoft-Antispam: BCL:0; X-Microsoft-Antispam-Message-Info: LYrpQjD8MYk1JdEvRbxY+aziMQnk9nAJtsWvweABW+J6EG56yfF/MUb+Ro6raCJi2K1lsx1Bqj9ziqXhSBbN/zh0Bd7YVA7MHADUYxH4A99s40oNW+zOSKKP0xGUCLig1iyiKznNf5C7Lt54kfVjyMIDao8qgvLas1mrw5pgdtAY+lUuhLQW9qh9ffzbXnKAuEYW/LyRGN+PcRUyuRBqMCebA7+1kjp6SMP4efwJr4fK+gdnHjRTm86qIcC02UuELlMYmGINkal6w9uABU/srIGqmgwrTWIlxiz6Rt0A67uBh/S1t1WgaAd9zTjoGvRHzN9uxM8xh4x8ZaD/36iSXw== X-Forefront-Antispam-Report: CIP:255.255.255.255;CTRY:;LANG:en;SCL:1;SRV:;IPV:NLI;SFV:NSPM;H:MN2PR12MB4422.namprd12.prod.outlook.com;PTR:;CAT:NONE;SFTY:;SFS:(39850400004)(376002)(346002)(396003)(136003)(366004)(66556008)(66476007)(66946007)(30864003)(6666004)(36756003)(86362001)(5660300002)(1076003)(6486002)(4326008)(956004)(2616005)(8936002)(2906002)(107886003)(8676002)(7696005)(16526019)(186003)(478600001)(52116002)(26005)(316002)(83380400001);DIR:OUT;SFP:1101; X-MS-Exchange-AntiSpam-MessageData: mAPrJuwo0QyEh6g0kKLDFAbhSKKl/d0lSBVmRNo1FyBMbYnsmI6AczFD3UA20LLbT8PLwN+NppxGlytyc225qtwuUUWqtDVeVA0XwCnVKIcHo1JfmoCEc5i+Fel421+jF6k3a5OYClndaDo5KGRmUFZ00AuJjrMUGlG466kAIB7Y4e8ONuqH+z8aWx3vweIU5EO/jVCCzNPOhabnCgXb7LnILHN9nOYxY21Xdj6tMyHCD75MR2J4H4BaS/WporIl28STF9NX6Vvq+EcUay8TGP+FmLRXLI+mR2oXB5xCja6NQkbsh3wpmADkGnRoeJNzH9/kwFBndNvJ+SbTGAUCijynasMCWre5hB30fIYgHn6/TOSGa5PuUhdKxq37xkEYPUYj6eSFIw00vbfZ5XozwQxYMPsjVtoOAhrJ49Rfa4gI7kFYDvNqBsQozpLERVYmfaQQ4YG59sVem6U78dhmC4nCDEOTaBDyYrMwm9sGYNo= X-OriginatorOrg: invensense.com X-MS-Exchange-CrossTenant-Network-Message-Id: 8370aba5-d967-41cc-a3bf-08d80beca8c3 X-MS-Exchange-CrossTenant-OriginalArrivalTime: 08 Jun 2020 20:43:55.1654 (UTC) X-MS-Exchange-CrossTenant-FromEntityHeader: Hosted X-MS-Exchange-CrossTenant-Id: 462b3b3b-e42b-47ea-801a-f1581aac892d X-MS-Exchange-CrossTenant-MailboxType: HOSTED X-MS-Exchange-CrossTenant-UserPrincipalName: GFw3EcG9k3O60CqJ8mtekRoE/nvBmJTCPk2TYsVSNQjyHcgLVWxHnNe2Fdw8mRaZLggqWNy50UNqxWPHojtCGVV5LsE9XojOGkSPCIDjsrw= X-MS-Exchange-Transport-CrossTenantHeadersStamped: MN2PR12MB3951 X-Proofpoint-Virus-Version: vendor=fsecure engine=2.50.10434:6.0.216,18.0.687 definitions=2020-06-08_18:2020-06-08,2020-06-08 signatures=0 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 suspectscore=0 spamscore=0 impostorscore=0 mlxscore=0 bulkscore=0 phishscore=0 clxscore=1015 malwarescore=0 priorityscore=1501 cotscore=-2147483648 mlxlogscore=999 lowpriorityscore=0 adultscore=0 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.12.0-2004280000 definitions=main-2006080144 Sender: linux-iio-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org Add IIO device for accelerometer sensor with data polling interface. Attributes: raw, scale, sampling_frequency, calibbias. Accelerometer in low noise mode. Signed-off-by: Jean-Baptiste Maneyrol --- drivers/iio/imu/inv_icm42600/inv_icm42600.h | 4 + .../iio/imu/inv_icm42600/inv_icm42600_accel.c | 592 ++++++++++++++++++ .../iio/imu/inv_icm42600/inv_icm42600_core.c | 4 + 3 files changed, 600 insertions(+) create mode 100644 drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h index d155470d770a..3b190461a2b6 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h @@ -121,6 +121,7 @@ struct inv_icm42600_suspended { * @conf: chip sensors configurations. * @suspended: suspended sensors configuration. * @indio_gyro: gyroscope IIO device. + * @indio_accel: accelerometer IIO device. * @buffer: data transfer buffer aligned for DMA. */ struct inv_icm42600_state { @@ -134,6 +135,7 @@ struct inv_icm42600_state { struct inv_icm42600_conf conf; struct inv_icm42600_suspended suspended; struct iio_dev *indio_gyro; + struct iio_dev *indio_accel; uint8_t buffer[2] ____cacheline_aligned; }; @@ -375,4 +377,6 @@ int inv_icm42600_core_probe(struct regmap *regmap, int chip, struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st); +struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st); + #endif diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c new file mode 100644 index 000000000000..717c6b0869fc --- /dev/null +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c @@ -0,0 +1,592 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2020 Invensense, Inc. + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "inv_icm42600.h" + +#define INV_ICM42600_ACCEL_CHAN(_modifier, _index, _ext_info) \ + { \ + .type = IIO_ACCEL, \ + .modified = 1, \ + .channel2 = _modifier, \ + .info_mask_separate = \ + BIT(IIO_CHAN_INFO_RAW) | \ + BIT(IIO_CHAN_INFO_CALIBBIAS), \ + .info_mask_shared_by_type = \ + BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_type_available = \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_CALIBBIAS), \ + .info_mask_shared_by_all = \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .info_mask_shared_by_all_available = \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index = _index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_BE, \ + }, \ + .ext_info = _ext_info, \ + } + +enum inv_icm42600_accel_scan { + INV_ICM42600_ACCEL_SCAN_X, + INV_ICM42600_ACCEL_SCAN_Y, + INV_ICM42600_ACCEL_SCAN_Z, +}; + +static const struct iio_chan_spec_ext_info inv_icm42600_accel_ext_infos[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix), + {}, +}; + +static const struct iio_chan_spec inv_icm42600_accel_channels[] = { + INV_ICM42600_ACCEL_CHAN(IIO_MOD_X, INV_ICM42600_ACCEL_SCAN_X, + inv_icm42600_accel_ext_infos), + INV_ICM42600_ACCEL_CHAN(IIO_MOD_Y, INV_ICM42600_ACCEL_SCAN_Y, + inv_icm42600_accel_ext_infos), + INV_ICM42600_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42600_ACCEL_SCAN_Z, + inv_icm42600_accel_ext_infos), +}; + +static int inv_icm42600_accel_read_sensor(struct inv_icm42600_state *st, + struct iio_chan_spec const *chan, + int16_t *val) +{ + struct device *dev = regmap_get_device(st->map); + struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; + unsigned int reg; + __be16 *data; + int ret; + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg = INV_ICM42600_REG_ACCEL_DATA_X; + break; + case IIO_MOD_Y: + reg = INV_ICM42600_REG_ACCEL_DATA_Y; + break; + case IIO_MOD_Z: + reg = INV_ICM42600_REG_ACCEL_DATA_Z; + break; + default: + return -EINVAL; + } + + pm_runtime_get_sync(dev); + mutex_lock(&st->lock); + + /* enable accel sensor */ + conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE; + ret = inv_icm42600_set_accel_conf(st, &conf, NULL); + if (ret) + goto exit; + + /* read accel register data */ + data = (__be16 *)&st->buffer[0]; + ret = regmap_bulk_read(st->map, reg, data, sizeof(*data)); + if (ret) + goto exit; + + *val = (int16_t)be16_to_cpup(data); + if (*val == INV_ICM42600_DATA_INVALID) + ret = -EINVAL; +exit: + mutex_unlock(&st->lock); + pm_runtime_mark_last_busy(dev); + pm_runtime_put_autosuspend(dev); + return ret; +} + +/* IIO format int + nano */ +static const int inv_icm42600_accel_scale[] = { + /* +/- 16G => 0.004788403 m/s-2 */ + [2 * INV_ICM42600_ACCEL_FS_16G] = 0, + [2 * INV_ICM42600_ACCEL_FS_16G + 1] = 4788403, + /* +/- 8G => 0.002394202 m/s-2 */ + [2 * INV_ICM42600_ACCEL_FS_8G] = 0, + [2 * INV_ICM42600_ACCEL_FS_8G + 1] = 2394202, + /* +/- 4G => 0.001197101 m/s-2 */ + [2 * INV_ICM42600_ACCEL_FS_4G] = 0, + [2 * INV_ICM42600_ACCEL_FS_4G + 1] = 1197101, + /* +/- 2G => 0.000598550 m/s-2 */ + [2 * INV_ICM42600_ACCEL_FS_2G] = 0, + [2 * INV_ICM42600_ACCEL_FS_2G + 1] = 598550, +}; + +static int inv_icm42600_accel_read_scale(struct inv_icm42600_state *st, + int *val, int *val2) +{ + unsigned int idx; + + idx = st->conf.accel.fs; + + *val = inv_icm42600_accel_scale[2 * idx]; + *val2 = inv_icm42600_accel_scale[2 * idx + 1]; + return IIO_VAL_INT_PLUS_NANO; +} + +static int inv_icm42600_accel_write_scale(struct inv_icm42600_state *st, + int val, int val2) +{ + struct device *dev = regmap_get_device(st->map); + unsigned int idx; + struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; + int ret; + + for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_scale); idx += 2) { + if (val == inv_icm42600_accel_scale[idx] && + val2 == inv_icm42600_accel_scale[idx + 1]) + break; + } + if (idx >= ARRAY_SIZE(inv_icm42600_accel_scale)) + return -EINVAL; + + conf.fs = idx / 2; + + pm_runtime_get_sync(dev); + mutex_lock(&st->lock); + + ret = inv_icm42600_set_accel_conf(st, &conf, NULL); + + mutex_unlock(&st->lock); + pm_runtime_mark_last_busy(dev); + pm_runtime_put_autosuspend(dev); + + return ret; +} + +/* IIO format int + micro */ +static const int inv_icm42600_accel_odr[] = { + /* 12.5Hz */ + 12, 500000, + /* 25Hz */ + 25, 0, + /* 50Hz */ + 50, 0, + /* 100Hz */ + 100, 0, + /* 200Hz */ + 200, 0, + /* 1kHz */ + 1000, 0, + /* 2kHz */ + 2000, 0, + /* 4kHz */ + 4000, 0, +}; + +static const int inv_icm42600_accel_odr_conv[] = { + INV_ICM42600_ODR_12_5HZ, + INV_ICM42600_ODR_25HZ, + INV_ICM42600_ODR_50HZ, + INV_ICM42600_ODR_100HZ, + INV_ICM42600_ODR_200HZ, + INV_ICM42600_ODR_1KHZ_LN, + INV_ICM42600_ODR_2KHZ_LN, + INV_ICM42600_ODR_4KHZ_LN, +}; + +static int inv_icm42600_accel_read_odr(struct inv_icm42600_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + odr = st->conf.accel.odr; + + for (i = 0; i < ARRAY_SIZE(inv_icm42600_accel_odr_conv); ++i) { + if (inv_icm42600_accel_odr_conv[i] == odr) + break; + } + if (i >= ARRAY_SIZE(inv_icm42600_accel_odr_conv)) + return -EINVAL; + + *val = inv_icm42600_accel_odr[2 * i]; + *val2 = inv_icm42600_accel_odr[2 * i + 1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int inv_icm42600_accel_write_odr(struct inv_icm42600_state *st, + int val, int val2) +{ + struct device *dev = regmap_get_device(st->map); + unsigned int idx; + struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; + int ret; + + for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_odr); idx += 2) { + if (val == inv_icm42600_accel_odr[idx] && + val2 == inv_icm42600_accel_odr[idx + 1]) + break; + } + if (idx >= ARRAY_SIZE(inv_icm42600_accel_odr)) + return -EINVAL; + + conf.odr = inv_icm42600_accel_odr_conv[idx / 2]; + + pm_runtime_get_sync(dev); + mutex_lock(&st->lock); + + ret = inv_icm42600_set_accel_conf(st, &conf, NULL); + + mutex_unlock(&st->lock); + pm_runtime_mark_last_busy(dev); + pm_runtime_put_autosuspend(dev); + + return ret; +} + +/* + * Calibration bias values, IIO range format int + micro. + * Value is limited to +/-1g coded on 12 bits signed. Step is 0.5mg. + */ +static int inv_icm42600_accel_calibbias[] = { + -10, 42010, /* min: -10.042010 m/s² */ + 0, 4903, /* step: 0.004903 m/s² */ + 10, 37106, /* max: 10.037106 m/s² */ +}; + +static int inv_icm42600_accel_read_offset(struct inv_icm42600_state *st, + struct iio_chan_spec const *chan, + int *val, int *val2) +{ + struct device *dev = regmap_get_device(st->map); + int64_t val64; + int32_t bias; + unsigned int reg; + int16_t offset; + uint8_t data[2]; + int ret; + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg = INV_ICM42600_REG_OFFSET_USER4; + break; + case IIO_MOD_Y: + reg = INV_ICM42600_REG_OFFSET_USER6; + break; + case IIO_MOD_Z: + reg = INV_ICM42600_REG_OFFSET_USER7; + break; + default: + return -EINVAL; + } + + pm_runtime_get_sync(dev); + mutex_lock(&st->lock); + + ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data)); + memcpy(data, st->buffer, sizeof(data)); + + mutex_unlock(&st->lock); + pm_runtime_mark_last_busy(dev); + pm_runtime_put_autosuspend(dev); + if (ret) + return ret; + + /* 12 bits signed value */ + switch (chan->channel2) { + case IIO_MOD_X: + offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11); + break; + case IIO_MOD_Y: + offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11); + break; + case IIO_MOD_Z: + offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11); + break; + default: + return -EINVAL; + } + + /* + * convert raw offset to g then to m/s² + * 12 bits signed raw step 0.5mg to g: 5 / 10000 + * g to m/s²: 9.806650 + * result in micro (1000000) + * (offset * 5 * 9.806650 * 1000000) / 10000 + */ + val64 = (int64_t)offset * 5LL * 9806650LL; + /* for rounding, add + or - divisor (10000) divided by 2 */ + if (val64 >= 0) + val64 += 10000LL / 2LL; + else + val64 -= 10000LL / 2LL; + bias = div_s64(val64, 10000L); + *val = bias / 1000000L; + *val2 = bias % 1000000L; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int inv_icm42600_accel_write_offset(struct inv_icm42600_state *st, + struct iio_chan_spec const *chan, + int val, int val2) +{ + struct device *dev = regmap_get_device(st->map); + int64_t val64; + int32_t min, max; + unsigned int reg, regval; + int16_t offset; + int ret; + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg = INV_ICM42600_REG_OFFSET_USER4; + break; + case IIO_MOD_Y: + reg = INV_ICM42600_REG_OFFSET_USER6; + break; + case IIO_MOD_Z: + reg = INV_ICM42600_REG_OFFSET_USER7; + break; + default: + return -EINVAL; + } + + /* inv_icm42600_accel_calibbias: min - step - max in micro */ + min = inv_icm42600_accel_calibbias[0] * 1000000L + + inv_icm42600_accel_calibbias[1]; + max = inv_icm42600_accel_calibbias[4] * 1000000L + + inv_icm42600_accel_calibbias[5]; + val64 = (int64_t)val * 1000000LL + (int64_t)val2; + if (val64 < min || val64 > max) + return -EINVAL; + + /* + * convert m/s² to g then to raw value + * m/s² to g: 1 / 9.806650 + * g to raw 12 bits signed, step 0.5mg: 10000 / 5 + * val in micro (1000000) + * val * 10000 / (9.806650 * 1000000 * 5) + */ + val64 = val64 * 10000LL; + /* for rounding, add + or - divisor (9806650 * 5) divided by 2 */ + if (val64 >= 0) + val64 += 9806650 * 5 / 2; + else + val64 -= 9806650 * 5 / 2; + offset = div_s64(val64, 9806650 * 5); + + /* clamp value limited to 12 bits signed */ + if (offset < -2048) + offset = -2048; + else if (offset > 2047) + offset = 2047; + + pm_runtime_get_sync(dev); + mutex_lock(&st->lock); + + switch (chan->channel2) { + case IIO_MOD_X: + /* OFFSET_USER4 register is shared */ + ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4, + ®val); + if (ret) + goto out_unlock; + st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F); + st->buffer[1] = offset & 0xFF; + break; + case IIO_MOD_Y: + /* OFFSET_USER7 register is shared */ + ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER7, + ®val); + if (ret) + goto out_unlock; + st->buffer[0] = offset & 0xFF; + st->buffer[1] = ((offset & 0xF00) >> 8) | (regval & 0xF0); + break; + case IIO_MOD_Z: + /* OFFSET_USER7 register is shared */ + ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER7, + ®val); + if (ret) + goto out_unlock; + st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F); + st->buffer[1] = offset & 0xFF; + break; + default: + ret = -EINVAL; + goto out_unlock; + } + + ret = regmap_bulk_write(st->map, reg, st->buffer, 2); + +out_unlock: + mutex_unlock(&st->lock); + pm_runtime_mark_last_busy(dev); + pm_runtime_put_autosuspend(dev); + return ret; +} + +static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + int16_t data; + int ret; + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + return ret; + ret = inv_icm42600_accel_read_sensor(st, chan, &data); + iio_device_release_direct_mode(indio_dev); + if (ret) + return ret; + *val = data; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + return inv_icm42600_accel_read_scale(st, val, val2); + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm42600_accel_read_odr(st, val, val2); + case IIO_CHAN_INFO_CALIBBIAS: + return inv_icm42600_accel_read_offset(st, chan, val, val2); + default: + return -EINVAL; + } +} + +static int inv_icm42600_accel_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, + int *type, int *length, long mask) +{ + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + *vals = inv_icm42600_accel_scale; + *type = IIO_VAL_INT_PLUS_NANO; + *length = ARRAY_SIZE(inv_icm42600_accel_scale); + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *vals = inv_icm42600_accel_odr; + *type = IIO_VAL_INT_PLUS_MICRO; + *length = ARRAY_SIZE(inv_icm42600_accel_odr); + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_CALIBBIAS: + *vals = inv_icm42600_accel_calibbias; + *type = IIO_VAL_INT_PLUS_MICRO; + return IIO_AVAIL_RANGE; + default: + return -EINVAL; + } +} + +static int inv_icm42600_accel_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + int ret; + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + return ret; + ret = inv_icm42600_accel_write_scale(st, val, val2); + iio_device_release_direct_mode(indio_dev); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm42600_accel_write_odr(st, val, val2); + case IIO_CHAN_INFO_CALIBBIAS: + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + return ret; + ret = inv_icm42600_accel_write_offset(st, chan, val, val2); + iio_device_release_direct_mode(indio_dev); + return ret; + default: + return -EINVAL; + } +} + +static int inv_icm42600_accel_write_raw_get_fmt(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + long mask) +{ + if (chan->type != 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 const struct iio_info inv_icm42600_accel_info = { + .read_raw = inv_icm42600_accel_read_raw, + .read_avail = inv_icm42600_accel_read_avail, + .write_raw = inv_icm42600_accel_write_raw, + .write_raw_get_fmt = inv_icm42600_accel_write_raw_get_fmt, + .debugfs_reg_access = inv_icm42600_debugfs_reg, +}; + +struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st) +{ + struct device *dev = regmap_get_device(st->map); + const char *name; + struct iio_dev *indio_dev; + int ret; + + name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->name); + if (!name) + return ERR_PTR(-ENOMEM); + + indio_dev = devm_iio_device_alloc(dev, 0); + if (!indio_dev) + return ERR_PTR(-ENOMEM); + + iio_device_set_drvdata(indio_dev, st); + indio_dev->name = name; + indio_dev->info = &inv_icm42600_accel_info; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->channels = inv_icm42600_accel_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_accel_channels); + + ret = devm_iio_device_register(dev, indio_dev); + if (ret) + return ERR_PTR(ret); + + return indio_dev; +} diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c index 84e9ff320b3b..a35ff21f50bb 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c @@ -513,6 +513,10 @@ int inv_icm42600_core_probe(struct regmap *regmap, int chip, if (IS_ERR(st->indio_gyro)) return PTR_ERR(st->indio_gyro); + st->indio_accel = inv_icm42600_accel_init(st); + if (IS_ERR(st->indio_accel)) + return PTR_ERR(st->indio_accel); + /* setup runtime power management */ ret = pm_runtime_set_active(dev); if (ret)