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iio: imu: inv_icm45600: add IMU IIO gyroscope device

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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 <remi.buisson@tdk.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Remi Buisson
2025-10-07 07:20:05 +00:00
committed by Jonathan Cameron
parent 06674a72cf
commit 27e072bc34
7 changed files with 1069 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
drivers/iio/imu/inv_icm45600/Kconfig
View File

@@ -2,4 +2,6 @@
config INV_ICM45600
tristate
select IIO_BUFFER
select IIO_KFIFO_BUF
select IIO_INV_SENSORS_TIMESTAMP

1
drivers/iio/imu/inv_icm45600/Makefile
View File

@@ -3,3 +3,4 @@
obj-$(CONFIG_INV_ICM45600) += inv-icm45600.o
inv-icm45600-y += inv_icm45600_core.o
inv-icm45600-y += inv_icm45600_buffer.o
inv-icm45600-y += inv_icm45600_gyro.o

38
drivers/iio/imu/inv_icm45600/inv_icm45600.h
View File

@@ -113,8 +113,22 @@ 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;
};
extern const struct inv_icm45600_chip_info inv_icm45605_chip_info;
extern const struct inv_icm45600_chip_info inv_icm45606_chip_info;
extern const struct inv_icm45600_chip_info inv_icm45608_chip_info;
extern const struct inv_icm45600_chip_info inv_icm45634_chip_info;
extern const struct inv_icm45600_chip_info inv_icm45686_chip_info;
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;
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.
@@ -319,6 +333,26 @@ const struct iio_mount_matrix *
inv_icm45600_get_mount_matrix(const struct iio_dev *indio_dev,
const struct iio_chan_spec *chan);
#define INV_ICM45600_TEMP_CHAN(_index) \
{ \
.type = IIO_TEMP, \
.info_mask_separate = \
BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_OFFSET) | \
BIT(IIO_CHAN_INFO_SCALE), \
.scan_index = _index, \
.scan_type = { \
.sign = 's', \
.realbits = 16, \
.storagebits = 16, \
.endianness = 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);
int inv_icm45600_set_accel_conf(struct inv_icm45600_state *st,
@@ -336,4 +370,8 @@ int inv_icm45600_core_probe(struct regmap *regmap,
const struct inv_icm45600_chip_info *chip_info,
bool reset, inv_icm45600_bus_setup bus_setup);
struct iio_dev *inv_icm45600_gyro_init(struct inv_icm45600_state *st);
int inv_icm45600_gyro_parse_fifo(struct iio_dev *indio_dev);
#endif

56
drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.c
View File

@@ -389,7 +389,8 @@ const struct iio_buffer_setup_ops inv_icm45600_buffer_ops = {
.postdisable = inv_icm45600_buffer_postdisable,
};
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 = sizeof(struct inv_icm45600_fifo_2sensors_packet);
__le16 *raw_fifo_count;
@@ -417,6 +418,8 @@ int inv_icm45600_buffer_fifo_read(struct inv_icm45600_state *st)
fifo_nb = le16_to_cpup(raw_fifo_count);
if (fifo_nb == 0)
return 0;
if (max > 0 && fifo_nb > max)
fifo_nb = max;
/* Try to read all FIFO data in internal buffer. */
st->fifo.count = fifo_nb * packet_size;
@@ -448,6 +451,57 @@ int inv_icm45600_buffer_fifo_read(struct inv_icm45600_state *st)
return 0;
}
int inv_icm45600_buffer_fifo_parse(struct inv_icm45600_state *st)
{
struct inv_icm45600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
struct inv_sensors_timestamp *ts;
int ret;
if (st->fifo.nb.total == 0)
return 0;
/* Handle gyroscope timestamp and FIFO data parsing. */
if (st->fifo.nb.gyro > 0) {
ts = &gyro_st->ts;
inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_gyro,
st->timestamp.gyro);
ret = inv_icm45600_gyro_parse_fifo(st->indio_gyro);
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 = iio_priv(st->indio_gyro);
struct inv_sensors_timestamp *ts;
s64 gyro_ts, accel_ts;
int ret;
gyro_ts = iio_get_time_ns(st->indio_gyro);
accel_ts = iio_get_time_ns(st->indio_accel);
ret = inv_icm45600_buffer_fifo_read(st, count);
if (ret)
return ret;
if (st->fifo.nb.total == 0)
return 0;
if (st->fifo.nb.gyro > 0) {
ts = &gyro_st->ts;
inv_sensors_timestamp_interrupt(ts, st->fifo.nb.gyro, gyro_ts);
ret = inv_icm45600_gyro_parse_fifo(st->indio_gyro);
if (ret)
return ret;
}
return 0;
}
int inv_icm45600_buffer_init(struct inv_icm45600_state *st)
{
int ret;

5
drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.h
View File

@@ -90,7 +90,10 @@ int inv_icm45600_buffer_set_fifo_en(struct inv_icm45600_state *st,
int inv_icm45600_buffer_update_watermark(struct inv_icm45600_state *st);
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);
int inv_icm45600_buffer_hwfifo_flush(struct inv_icm45600_state *st,
unsigned int count);

179
drivers/iio/imu/inv_icm45600/inv_icm45600_core.c
View File

@@ -136,6 +136,97 @@ static const struct regmap_config inv_icm45600_regmap_config = {
.val_bits = 8,
};
/* These are the chip initial default configurations (default FS value is based on icm45686) */
static const struct inv_icm45600_conf inv_icm45600_default_conf = {
.gyro = {
.mode = INV_ICM45600_SENSOR_MODE_OFF,
.fs = INV_ICM45686_GYRO_FS_2000DPS,
.odr = INV_ICM45600_ODR_800HZ_LN,
.filter = INV_ICM45600_GYRO_LP_AVG_SEL_8X,
},
};
static const struct inv_icm45600_conf inv_icm45686_default_conf = {
.gyro = {
.mode = INV_ICM45600_SENSOR_MODE_OFF,
.fs = INV_ICM45686_GYRO_FS_4000DPS,
.odr = INV_ICM45600_ODR_800HZ_LN,
.filter = INV_ICM45600_GYRO_LP_AVG_SEL_8X,
},
};
const struct inv_icm45600_chip_info inv_icm45605_chip_info = {
.whoami = INV_ICM45600_WHOAMI_ICM45605,
.name = "icm45605",
.conf = &inv_icm45600_default_conf,
.gyro_scales = (const int *)inv_icm45600_gyro_scale,
.gyro_scales_len = INV_ICM45600_GYRO_FS_MAX,
};
EXPORT_SYMBOL_NS_GPL(inv_icm45605_chip_info, "IIO_ICM45600");
const struct inv_icm45600_chip_info inv_icm45606_chip_info = {
.whoami = INV_ICM45600_WHOAMI_ICM45606,
.name = "icm45606",
.conf = &inv_icm45600_default_conf,
.gyro_scales = (const int *)inv_icm45600_gyro_scale,
.gyro_scales_len = INV_ICM45600_GYRO_FS_MAX,
};
EXPORT_SYMBOL_NS_GPL(inv_icm45606_chip_info, "IIO_ICM45600");
const struct inv_icm45600_chip_info inv_icm45608_chip_info = {
.whoami = INV_ICM45600_WHOAMI_ICM45608,
.name = "icm45608",
.conf = &inv_icm45600_default_conf,
.gyro_scales = (const int *)inv_icm45600_gyro_scale,
.gyro_scales_len = INV_ICM45600_GYRO_FS_MAX,
};
EXPORT_SYMBOL_NS_GPL(inv_icm45608_chip_info, "IIO_ICM45600");
const struct inv_icm45600_chip_info inv_icm45634_chip_info = {
.whoami = INV_ICM45600_WHOAMI_ICM45634,
.name = "icm45634",
.conf = &inv_icm45600_default_conf,
.gyro_scales = (const int *)inv_icm45600_gyro_scale,
.gyro_scales_len = INV_ICM45600_GYRO_FS_MAX,
};
EXPORT_SYMBOL_NS_GPL(inv_icm45634_chip_info, "IIO_ICM45600");
const struct inv_icm45600_chip_info inv_icm45686_chip_info = {
.whoami = INV_ICM45600_WHOAMI_ICM45686,
.name = "icm45686",
.conf = &inv_icm45686_default_conf,
.gyro_scales = (const int *)inv_icm45686_gyro_scale,
.gyro_scales_len = INV_ICM45686_GYRO_FS_MAX,
};
EXPORT_SYMBOL_NS_GPL(inv_icm45686_chip_info, "IIO_ICM45600");
const struct inv_icm45600_chip_info inv_icm45687_chip_info = {
.whoami = INV_ICM45600_WHOAMI_ICM45687,
.name = "icm45687",
.conf = &inv_icm45686_default_conf,
.gyro_scales = (const int *)inv_icm45686_gyro_scale,
.gyro_scales_len = INV_ICM45686_GYRO_FS_MAX,
};
EXPORT_SYMBOL_NS_GPL(inv_icm45687_chip_info, "IIO_ICM45600");
const struct inv_icm45600_chip_info inv_icm45688p_chip_info = {
.whoami = INV_ICM45600_WHOAMI_ICM45688P,
.name = "icm45688p",
.conf = &inv_icm45686_default_conf,
.gyro_scales = (const int *)inv_icm45686_gyro_scale,
.gyro_scales_len = INV_ICM45686_GYRO_FS_MAX,
};
EXPORT_SYMBOL_NS_GPL(inv_icm45688p_chip_info, "IIO_ICM45600");
const struct inv_icm45600_chip_info inv_icm45689_chip_info = {
.whoami = INV_ICM45600_WHOAMI_ICM45689,
.name = "icm45689",
.conf = &inv_icm45686_default_conf,
.gyro_scales = (const int *)inv_icm45686_gyro_scale,
.gyro_scales_len = INV_ICM45686_GYRO_FS_MAX,
};
EXPORT_SYMBOL_NS_GPL(inv_icm45689_chip_info, "IIO_ICM45600");
const struct iio_mount_matrix *
inv_icm45600_get_mount_matrix(const struct iio_dev *indio_dev,
const struct iio_chan_spec *chan)
@@ -465,11 +556,14 @@ static irqreturn_t inv_icm45600_irq_handler(int irq, void *_data)
/* Read the FIFO data. */
mask = INV_ICM45600_INT_STATUS_FIFO_THS | INV_ICM45600_INT_STATUS_FIFO_FULL;
if (status & mask) {
ret = inv_icm45600_buffer_fifo_read(st);
ret = inv_icm45600_buffer_fifo_read(st, 0);
if (ret) {
dev_err(dev, "FIFO read error %d\n", ret);
return IRQ_HANDLED;
}
ret = inv_icm45600_buffer_fifo_parse(st);
if (ret)
dev_err(dev, "FIFO parsing error %d\n", ret);
}
/* FIFO full warning. */
@@ -642,6 +736,10 @@ int inv_icm45600_core_probe(struct regmap *regmap, const struct inv_icm45600_chi
if (ret)
return ret;
st->indio_gyro = inv_icm45600_gyro_init(st);
if (IS_ERR(st->indio_gyro))
return PTR_ERR(st->indio_gyro);
ret = inv_icm45600_irq_init(st, irq, irq_type, open_drain);
if (ret)
return ret;
@@ -767,6 +865,85 @@ static int inv_icm45600_runtime_resume(struct device *dev)
return inv_icm45600_enable_regulator_vddio(st);
}
static int _inv_icm45600_temp_read(struct inv_icm45600_state *st, s16 *temp)
{
struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
int ret;
/* Make sure a sensor is on. */
if (st->conf.gyro.mode == INV_ICM45600_SENSOR_MODE_OFF &&
st->conf.accel.mode == INV_ICM45600_SENSOR_MODE_OFF) {
conf.mode = INV_ICM45600_SENSOR_MODE_LOW_POWER;
ret = inv_icm45600_set_accel_conf(st, &conf, NULL);
if (ret)
return ret;
}
ret = regmap_bulk_read(st->map, INV_ICM45600_REG_TEMP_DATA,
&st->buffer.u16, sizeof(st->buffer.u16));
if (ret)
return ret;
*temp = (s16)le16_to_cpup(&st->buffer.u16);
if (*temp == INV_ICM45600_DATA_INVALID)
return -EINVAL;
return 0;
}
static int inv_icm45600_temp_read(struct inv_icm45600_state *st, s16 *temp)
{
struct device *dev = regmap_get_device(st->map);
int ret;
ret = pm_runtime_resume_and_get(dev);
if (ret)
return ret;
scoped_guard(mutex, &st->lock)
ret = _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 = iio_device_get_drvdata(indio_dev);
s16 temp;
int ret;
if (chan->type != IIO_TEMP)
return -EINVAL;
switch (mask) {
case IIO_CHAN_INFO_RAW:
ret = inv_icm45600_temp_read(st, &temp);
if (ret)
return ret;
*val = temp;
return IIO_VAL_INT;
/*
* T°C = (temp / 128) + 25
* Tm°C = 1000 * ((temp * 100 / 12800) + 25)
* scale: 100000 / 13248 = 7.8125
* offset: 25000
*/
case IIO_CHAN_INFO_SCALE:
*val = 7;
*val2 = 812500;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_CHAN_INFO_OFFSET:
*val = 25000;
return IIO_VAL_INT;
default:
return -EINVAL;
}
}
EXPORT_NS_GPL_DEV_PM_OPS(inv_icm45600_pm_ops, IIO_ICM45600) = {
SYSTEM_SLEEP_PM_OPS(inv_icm45600_suspend, inv_icm45600_resume)
RUNTIME_PM_OPS(inv_icm45600_runtime_suspend,

791
drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c Normal file
View File

@@ -0,0 +1,791 @@
// SPDX-License-Identifier: GPL-2.0-or-later
/*
* Copyright (C) 2025 Invensense, Inc.
*/
#include <linux/delay.h>
#include <linux/device.h>
#include <linux/err.h>
#include <linux/math64.h>
#include <linux/mutex.h>
#include <linux/pm_runtime.h>
#include <linux/regmap.h>
#include <linux/types.h>
#include <linux/iio/buffer.h>
#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/iio.h>
#include <linux/iio/kfifo_buf.h>
#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[] = {
IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm45600_get_mount_matrix),
{ }
};
#define INV_ICM45600_GYRO_CHAN(_modifier, _index, _ext_info) \
{ \
.type = IIO_ANGL_VEL, \
.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_LE, \
}, \
.ext_info = _ext_info, \
}
static const struct iio_chan_spec inv_icm45600_gyro_channels[] = {
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 timestamp
*/
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[] = {
/* 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 = iio_device_get_drvdata(indio_dev);
struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
unsigned int fifo_en = 0;
unsigned int sleep = 0;
int ret;
scoped_guard(mutex, &st->lock) {
if (*scan_mask & BIT(INV_ICM45600_GYRO_SCAN_TEMP))
fifo_en |= 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 = gyro_st->power_mode;
ret = inv_icm45600_set_gyro_conf(st, &conf, &sleep);
if (ret)
return ret;
fifo_en |= INV_ICM45600_SENSOR_GYRO;
}
ret = inv_icm45600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
}
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 = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
int ret;
/* enable gyro sensor */
conf.mode = gyro_st->power_mode;
ret = inv_icm45600_set_gyro_conf(st, &conf, NULL);
if (ret)
return ret;
/* read gyro register data */
ret = regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffer.u16));
if (ret)
return ret;
*val = sign_extend32(le16_to_cpup(&st->buffer.u16), 15);
if (*val == 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 = iio_device_get_drvdata(indio_dev);
struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int reg;
int ret;
if (chan->type != IIO_ANGL_VEL)
return -EINVAL;
switch (chan->channel2) {
case IIO_MOD_X:
reg = INV_ICM45600_REG_GYRO_DATA_X;
break;
case IIO_MOD_Y:
reg = INV_ICM45600_REG_GYRO_DATA_Y;
break;
case IIO_MOD_Z:
reg = INV_ICM45600_REG_GYRO_DATA_Z;
break;
default:
return -EINVAL;
}
ret = pm_runtime_resume_and_get(dev);
if (ret)
return ret;
scoped_guard(mutex, &st->lock)
ret = _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] = {
/* +/- 2000dps => 0.001065264 rad/s */
[INV_ICM45600_GYRO_FS_2000DPS] = { 0, 1065264 },
/* +/- 1000dps => 0.000532632 rad/s */
[INV_ICM45600_GYRO_FS_1000DPS] = { 0, 532632 },
/* +/- 500dps => 0.000266316 rad/s */
[INV_ICM45600_GYRO_FS_500DPS] = { 0, 266316 },
/* +/- 250dps => 0.000133158 rad/s */
[INV_ICM45600_GYRO_FS_250DPS] = { 0, 133158 },
/* +/- 125dps => 0.000066579 rad/s */
[INV_ICM45600_GYRO_FS_125DPS] = { 0, 66579 },
/* +/- 62.5dps => 0.000033290 rad/s */
[INV_ICM45600_GYRO_FS_62_5DPS] = { 0, 33290 },
/* +/- 31.25dps => 0.000016645 rad/s */
[INV_ICM45600_GYRO_FS_31_25DPS] = { 0, 16645 },
/* +/- 15.625dps => 0.000008322 rad/s */
[INV_ICM45600_GYRO_FS_15_625DPS] = { 0, 8322 },
};
/* IIO format int + nano */
const int inv_icm45686_gyro_scale[][2] = {
/* +/- 4000dps => 0.002130529 rad/s */
[INV_ICM45686_GYRO_FS_4000DPS] = { 0, 2130529 },
/* +/- 2000dps => 0.001065264 rad/s */
[INV_ICM45686_GYRO_FS_2000DPS] = { 0, 1065264 },
/* +/- 1000dps => 0.000532632 rad/s */
[INV_ICM45686_GYRO_FS_1000DPS] = { 0, 532632 },
/* +/- 500dps => 0.000266316 rad/s */
[INV_ICM45686_GYRO_FS_500DPS] = { 0, 266316 },
/* +/- 250dps => 0.000133158 rad/s */
[INV_ICM45686_GYRO_FS_250DPS] = { 0, 133158 },
/* +/- 125dps => 0.000066579 rad/s */
[INV_ICM45686_GYRO_FS_125DPS] = { 0, 66579 },
/* +/- 62.5dps => 0.000033290 rad/s */
[INV_ICM45686_GYRO_FS_62_5DPS] = { 0, 33290 },
/* +/- 31.25dps => 0.000016645 rad/s */
[INV_ICM45686_GYRO_FS_31_25DPS] = { 0, 16645 },
/* +/- 15.625dps => 0.000008322 rad/s */
[INV_ICM45686_GYRO_FS_15_625DPS] = { 0, 8322 },
};
static int inv_icm45600_gyro_read_scale(struct iio_dev *indio_dev,
int *val, int *val2)
{
struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
unsigned int idx;
idx = st->conf.gyro.fs;
/* Full scale register starts at 1 for not High FSR parts */
if (gyro_st->scales == (const int *)&inv_icm45600_gyro_scale)
idx--;
*val = gyro_st->scales[2 * idx];
*val2 = 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 = iio_device_get_drvdata(indio_dev);
struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
int ret;
for (idx = 0; idx < gyro_st->scales_len; idx += 2) {
if (val == gyro_st->scales[idx] &&
val2 == gyro_st->scales[idx + 1])
break;
}
if (idx == gyro_st->scales_len)
return -EINVAL;
conf.fs = idx / 2;
/* Full scale register starts at 1 for not High FSR parts */
if (gyro_st->scales == (const int *)&inv_icm45600_gyro_scale)
conf.fs++;
ret = pm_runtime_resume_and_get(dev);
if (ret)
return ret;
scoped_guard(mutex, &st->lock)
ret = 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[] = {
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[] = {
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 = st->conf.gyro.odr;
for (i = 0; i < ARRAY_SIZE(inv_icm45600_gyro_odr_conv); ++i) {
if (inv_icm45600_gyro_odr_conv[i] == odr)
break;
}
if (i >= ARRAY_SIZE(inv_icm45600_gyro_odr_conv))
return -EINVAL;
*val = inv_icm45600_gyro_odr[2 * i];
*val2 = 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 = iio_device_get_drvdata(indio_dev);
struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
struct inv_sensors_timestamp *ts = &gyro_st->ts;
struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
int ret;
conf.odr = odr;
ret = inv_sensors_timestamp_update_odr(ts, inv_icm45600_odr_to_period(conf.odr),
iio_buffer_enabled(indio_dev));
if (ret)
return ret;
if (st->conf.gyro.mode != INV_ICM45600_SENSOR_MODE_OFF)
conf.mode = gyro_st->power_mode;
ret = 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 = iio_device_get_drvdata(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
int odr;
int ret;
for (idx = 0; idx < ARRAY_SIZE(inv_icm45600_gyro_odr); idx += 2) {
if (val == inv_icm45600_gyro_odr[idx] &&
val2 == inv_icm45600_gyro_odr[idx + 1])
break;
}
if (idx >= ARRAY_SIZE(inv_icm45600_gyro_odr))
return -EINVAL;
odr = inv_icm45600_gyro_odr_conv[idx / 2];
ret = pm_runtime_resume_and_get(dev);
if (ret)
return ret;
scoped_guard(mutex, &st->lock)
ret = _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[] = {
-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 = regmap_get_device(st->map);
s64 val64;
s32 bias;
unsigned int reg;
s16 offset;
int ret;
if (chan->type != IIO_ANGL_VEL)
return -EINVAL;
switch (chan->channel2) {
case IIO_MOD_X:
reg = INV_ICM45600_IPREG_SYS1_REG_42;
break;
case IIO_MOD_Y:
reg = INV_ICM45600_IPREG_SYS1_REG_56;
break;
case IIO_MOD_Z:
reg = INV_ICM45600_IPREG_SYS1_REG_70;
break;
default:
return -EINVAL;
}
ret = pm_runtime_resume_and_get(dev);
if (ret)
return ret;
scoped_guard(mutex, &st->lock)
ret = regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffer.u16));
pm_runtime_put_autosuspend(dev);
if (ret)
return ret;
offset = le16_to_cpup(&st->buffer.u16) & INV_ICM45600_GYRO_OFFUSER_MASK;
/* 14 bits signed value */
offset = 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 = (s64)offset * 625LL * 3141592653LL;
/* for rounding, add + or - divisor (81920 * 180) divided by 2 */
if (val64 >= 0)
val64 += 81920 * 180 / 2;
else
val64 -= 81920 * 180 / 2;
bias = div_s64(val64, 81920 * 180);
*val = bias / 1000000000L;
*val2 = 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 = regmap_get_device(st->map);
s64 val64, min, max;
unsigned int reg;
s16 offset;
int ret;
if (chan->type != IIO_ANGL_VEL)
return -EINVAL;
switch (chan->channel2) {
case IIO_MOD_X:
reg = INV_ICM45600_IPREG_SYS1_REG_42;
break;
case IIO_MOD_Y:
reg = INV_ICM45600_IPREG_SYS1_REG_56;
break;
case IIO_MOD_Z:
reg = INV_ICM45600_IPREG_SYS1_REG_70;
break;
default:
return -EINVAL;
}
/* inv_icm45600_gyro_calibbias: min - step - max in nano */
min = (s64)inv_icm45600_gyro_calibbias[0] * 1000000000LL -
(s64)inv_icm45600_gyro_calibbias[1];
max = (s64)inv_icm45600_gyro_calibbias[4] * 1000000000LL +
(s64)inv_icm45600_gyro_calibbias[5];
val64 = (s64)val * 1000000000LL;
if (val >= 0)
val64 += (s64)val2;
else
val64 -= (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 = val64 * 180LL * 8192;
/* for rounding, add + or - divisor (314159265 * 625) divided by 2 */
if (val64 >= 0)
val64 += 314159265LL * 625LL / 2LL;
else
val64 -= 314159265LL * 625LL / 2LL;
offset = div64_s64(val64, 314159265LL * 625LL);
/* clamp value limited to 14 bits signed */
offset = clamp(offset, -8192, 8191);
st->buffer.u16 = cpu_to_le16(offset & INV_ICM45600_GYRO_OFFUSER_MASK);
ret = pm_runtime_resume_and_get(dev);
if (ret)
return ret;
scoped_guard(mutex, &st->lock)
ret = regmap_bulk_write(st->map, reg, &st->buffer.u16, sizeof(st->buffer.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 = 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 = 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 = iio_priv(indio_dev);
if (chan->type != IIO_ANGL_VEL)
return -EINVAL;
switch (mask) {
case IIO_CHAN_INFO_SCALE:
*vals = gyro_st->scales;
*type = IIO_VAL_INT_PLUS_NANO;
*length = gyro_st->scales_len;
return IIO_AVAIL_LIST;
case IIO_CHAN_INFO_SAMP_FREQ:
*vals = inv_icm45600_gyro_odr;
*type = IIO_VAL_INT_PLUS_MICRO;
*length = ARRAY_SIZE(inv_icm45600_gyro_odr);
return IIO_AVAIL_LIST;
case IIO_CHAN_INFO_CALIBBIAS:
*vals = inv_icm45600_gyro_calibbias;
*type = 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 = iio_device_get_drvdata(indio_dev);
int ret;
if (chan->type != IIO_ANGL_VEL)
return -EINVAL;
switch (mask) {
case IIO_CHAN_INFO_SCALE:
if (!iio_device_claim_direct(indio_dev))
return -EBUSY;
ret = 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 = 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 != 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_dev,
unsigned int val)
{
struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
guard(mutex)(&st->lock);
st->fifo.watermark.gyro = 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 = iio_device_get_drvdata(indio_dev);
int ret;
if (count == 0)
return 0;
guard(mutex)(&st->lock);
ret = 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 = {
.read_raw = inv_icm45600_gyro_read_raw,
.read_avail = inv_icm45600_gyro_read_avail,
.write_raw = inv_icm45600_gyro_write_raw,
.write_raw_get_fmt = inv_icm45600_gyro_write_raw_get_fmt,
.debugfs_reg_access = inv_icm45600_debugfs_reg,
.update_scan_mode = inv_icm45600_gyro_update_scan_mode,
.hwfifo_set_watermark = inv_icm45600_gyro_hwfifo_set_watermark,
.hwfifo_flush_to_buffer = inv_icm45600_gyro_hwfifo_flush,
};
struct iio_dev *inv_icm45600_gyro_init(struct inv_icm45600_state *st)
{
struct device *dev = 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 = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->chip_info->name);
if (!name)
return ERR_PTR(-ENOMEM);
indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st));
if (!indio_dev)
return ERR_PTR(-ENOMEM);
gyro_st = iio_priv(indio_dev);
gyro_st->scales = st->chip_info->gyro_scales;
gyro_st->scales_len = st->chip_info->gyro_scales_len * 2;
/* low-noise by default at init */
gyro_st->power_mode = INV_ICM45600_SENSOR_MODE_LOW_NOISE;
/*
* clock period is 32kHz (31250ns)
* jitter is +/- 2% (20 per mille)
*/
ts_chip.clock_period = 31250;
ts_chip.jitter = 20;
ts_chip.init_period = 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 = name;
indio_dev->info = &inv_icm45600_gyro_info;
indio_dev->modes = INDIO_DIRECT_MODE;
indio_dev->channels = inv_icm45600_gyro_channels;
indio_dev->num_channels = ARRAY_SIZE(inv_icm45600_gyro_channels);
indio_dev->available_scan_masks = inv_icm45600_gyro_scan_masks;
indio_dev->setup_ops = &inv_icm45600_buffer_ops;
ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
&inv_icm45600_buffer_ops);
if (ret)
return ERR_PTR(ret);
ret = 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 = iio_device_get_drvdata(indio_dev);
struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
struct inv_sensors_timestamp *ts = &gyro_st->ts;
ssize_t i, size;
unsigned int no;
/* parse all fifo packets */
for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
struct inv_icm45600_gyro_buffer buffer = { };
const struct inv_icm45600_fifo_sensor_data *accel, *gyro;
const __le16 *timestamp;
const s8 *temp;
unsigned int odr;
s64 ts_val;
size = inv_icm45600_fifo_decode_packet(&st->fifo.data[i],
&accel, &gyro, &temp, &timestamp, &odr);
/* quit if error or FIFO is empty */
if (size <= 0)
return size;
/* skip packet if no gyro data or data is invalid */
if (gyro == 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 = temp ? (*temp * 64) : 0;
ts_val = inv_sensors_timestamp_pop(ts);
iio_push_to_buffers_with_ts(indio_dev, &buffer, sizeof(buffer), ts_val);
}
return 0;
}