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 #include <linux/minmax.h>
14 #include <linux/units.h>
15
16 #include <linux/iio/buffer.h>
17 #include <linux/iio/common/inv_sensors_timestamp.h>
18 #include <linux/iio/events.h>
19 #include <linux/iio/iio.h>
20 #include <linux/iio/kfifo_buf.h>
21
22 #include "inv_icm42600.h"
23 #include "inv_icm42600_temp.h"
24 #include "inv_icm42600_buffer.h"
25
26 #define INV_ICM42600_ACCEL_CHAN(_modifier, _index, _ext_info) \
27 { \
28 .type = IIO_ACCEL, \
29 .modified = 1, \
30 .channel2 = _modifier, \
31 .info_mask_separate = \
32 BIT(IIO_CHAN_INFO_RAW) | \
33 BIT(IIO_CHAN_INFO_CALIBBIAS), \
34 .info_mask_shared_by_type = \
35 BIT(IIO_CHAN_INFO_SCALE), \
36 .info_mask_shared_by_type_available = \
37 BIT(IIO_CHAN_INFO_SCALE) | \
38 BIT(IIO_CHAN_INFO_CALIBBIAS), \
39 .info_mask_shared_by_all = \
40 BIT(IIO_CHAN_INFO_SAMP_FREQ), \
41 .info_mask_shared_by_all_available = \
42 BIT(IIO_CHAN_INFO_SAMP_FREQ), \
43 .scan_index = _index, \
44 .scan_type = { \
45 .sign = 's', \
46 .realbits = 16, \
47 .storagebits = 16, \
48 .endianness = IIO_BE, \
49 }, \
50 .ext_info = _ext_info, \
51 }
52
53 #define INV_ICM42600_ACCEL_EVENT_CHAN(_modifier, _events, _events_nb) \
54 { \
55 .type = IIO_ACCEL, \
56 .modified = 1, \
57 .channel2 = _modifier, \
58 .event_spec = _events, \
59 .num_event_specs = _events_nb, \
60 .scan_index = -1, \
61 }
62
63 enum inv_icm42600_accel_scan {
64 INV_ICM42600_ACCEL_SCAN_X,
65 INV_ICM42600_ACCEL_SCAN_Y,
66 INV_ICM42600_ACCEL_SCAN_Z,
67 INV_ICM42600_ACCEL_SCAN_TEMP,
68 INV_ICM42600_ACCEL_SCAN_TIMESTAMP,
69 };
70
71 static const char * const inv_icm42600_accel_power_mode_items[] = {
72 "low-noise",
73 "low-power",
74 };
75 static const int inv_icm42600_accel_power_mode_values[] = {
76 INV_ICM42600_SENSOR_MODE_LOW_NOISE,
77 INV_ICM42600_SENSOR_MODE_LOW_POWER,
78 };
79 static const int inv_icm42600_accel_filter_values[] = {
80 INV_ICM42600_FILTER_BW_ODR_DIV_2,
81 INV_ICM42600_FILTER_AVG_16X,
82 };
83
inv_icm42600_accel_power_mode_set(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,unsigned int idx)84 static int inv_icm42600_accel_power_mode_set(struct iio_dev *indio_dev,
85 const struct iio_chan_spec *chan,
86 unsigned int idx)
87 {
88 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
89 struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
90 int power_mode, filter;
91
92 if (chan->type != IIO_ACCEL)
93 return -EINVAL;
94
95 if (idx >= ARRAY_SIZE(inv_icm42600_accel_power_mode_values))
96 return -EINVAL;
97
98 power_mode = inv_icm42600_accel_power_mode_values[idx];
99 filter = inv_icm42600_accel_filter_values[idx];
100
101 guard(mutex)(&st->lock);
102
103 /* cannot change if accel sensor is on */
104 if (st->conf.accel.mode != INV_ICM42600_SENSOR_MODE_OFF)
105 return -EBUSY;
106
107 /* prevent change if power mode is not supported by the ODR */
108 switch (power_mode) {
109 case INV_ICM42600_SENSOR_MODE_LOW_NOISE:
110 if (st->conf.accel.odr >= INV_ICM42600_ODR_6_25HZ_LP &&
111 st->conf.accel.odr <= INV_ICM42600_ODR_1_5625HZ_LP)
112 return -EPERM;
113 break;
114 case INV_ICM42600_SENSOR_MODE_LOW_POWER:
115 default:
116 if (st->conf.accel.odr <= INV_ICM42600_ODR_1KHZ_LN)
117 return -EPERM;
118 break;
119 }
120
121 accel_st->power_mode = power_mode;
122 accel_st->filter = filter;
123
124 return 0;
125 }
126
inv_icm42600_accel_power_mode_get(struct iio_dev * indio_dev,const struct iio_chan_spec * chan)127 static int inv_icm42600_accel_power_mode_get(struct iio_dev *indio_dev,
128 const struct iio_chan_spec *chan)
129 {
130 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
131 struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
132 unsigned int idx;
133 int power_mode;
134
135 if (chan->type != IIO_ACCEL)
136 return -EINVAL;
137
138 guard(mutex)(&st->lock);
139
140 /* if sensor is on, returns actual power mode and not configured one */
141 switch (st->conf.accel.mode) {
142 case INV_ICM42600_SENSOR_MODE_LOW_POWER:
143 case INV_ICM42600_SENSOR_MODE_LOW_NOISE:
144 power_mode = st->conf.accel.mode;
145 break;
146 default:
147 power_mode = accel_st->power_mode;
148 break;
149 }
150
151 for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_power_mode_values); ++idx) {
152 if (power_mode == inv_icm42600_accel_power_mode_values[idx])
153 break;
154 }
155 if (idx >= ARRAY_SIZE(inv_icm42600_accel_power_mode_values))
156 return -EINVAL;
157
158 return idx;
159 }
160
161 static const struct iio_enum inv_icm42600_accel_power_mode_enum = {
162 .items = inv_icm42600_accel_power_mode_items,
163 .num_items = ARRAY_SIZE(inv_icm42600_accel_power_mode_items),
164 .set = inv_icm42600_accel_power_mode_set,
165 .get = inv_icm42600_accel_power_mode_get,
166 };
167
168 static const struct iio_chan_spec_ext_info inv_icm42600_accel_ext_infos[] = {
169 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
170 IIO_ENUM_AVAILABLE("power_mode", IIO_SHARED_BY_TYPE,
171 &inv_icm42600_accel_power_mode_enum),
172 IIO_ENUM("power_mode", IIO_SHARED_BY_TYPE,
173 &inv_icm42600_accel_power_mode_enum),
174 { }
175 };
176
177 /* WoM event: rising ROC */
178 static const struct iio_event_spec inv_icm42600_wom_events[] = {
179 {
180 .type = IIO_EV_TYPE_ROC,
181 .dir = IIO_EV_DIR_RISING,
182 .mask_separate = BIT(IIO_EV_INFO_ENABLE) |
183 BIT(IIO_EV_INFO_VALUE),
184 },
185 };
186
187 static const struct iio_chan_spec inv_icm42600_accel_channels[] = {
188 INV_ICM42600_ACCEL_CHAN(IIO_MOD_X, INV_ICM42600_ACCEL_SCAN_X,
189 inv_icm42600_accel_ext_infos),
190 INV_ICM42600_ACCEL_CHAN(IIO_MOD_Y, INV_ICM42600_ACCEL_SCAN_Y,
191 inv_icm42600_accel_ext_infos),
192 INV_ICM42600_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42600_ACCEL_SCAN_Z,
193 inv_icm42600_accel_ext_infos),
194 INV_ICM42600_TEMP_CHAN(INV_ICM42600_ACCEL_SCAN_TEMP),
195 IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_ACCEL_SCAN_TIMESTAMP),
196 INV_ICM42600_ACCEL_EVENT_CHAN(IIO_MOD_X_OR_Y_OR_Z, inv_icm42600_wom_events,
197 ARRAY_SIZE(inv_icm42600_wom_events)),
198 };
199
200 /*
201 * IIO buffer data: size must be a power of 2 and timestamp aligned
202 * 16 bytes: 6 bytes acceleration, 2 bytes temperature, 8 bytes timestamp
203 */
204 struct inv_icm42600_accel_buffer {
205 struct inv_icm42600_fifo_sensor_data accel;
206 s16 temp;
207 aligned_s64 timestamp;
208 };
209
210 #define INV_ICM42600_SCAN_MASK_ACCEL_3AXIS \
211 (BIT(INV_ICM42600_ACCEL_SCAN_X) | \
212 BIT(INV_ICM42600_ACCEL_SCAN_Y) | \
213 BIT(INV_ICM42600_ACCEL_SCAN_Z))
214
215 #define INV_ICM42600_SCAN_MASK_TEMP BIT(INV_ICM42600_ACCEL_SCAN_TEMP)
216
217 static const unsigned long inv_icm42600_accel_scan_masks[] = {
218 /* 3-axis accel + temperature */
219 INV_ICM42600_SCAN_MASK_ACCEL_3AXIS | INV_ICM42600_SCAN_MASK_TEMP,
220 0,
221 };
222
223 /* enable accelerometer sensor and FIFO write */
inv_icm42600_accel_update_scan_mode(struct iio_dev * indio_dev,const unsigned long * scan_mask)224 static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
225 const unsigned long *scan_mask)
226 {
227 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
228 struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
229 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
230 unsigned int fifo_en = 0;
231 unsigned int sleep_temp = 0;
232 unsigned int sleep_accel = 0;
233 unsigned int sleep;
234 int ret;
235
236 mutex_lock(&st->lock);
237
238 if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) {
239 /* enable temp sensor */
240 ret = inv_icm42600_set_temp_conf(st, true, &sleep_temp);
241 if (ret)
242 goto out_unlock;
243 fifo_en |= INV_ICM42600_SENSOR_TEMP;
244 }
245
246 if (*scan_mask & INV_ICM42600_SCAN_MASK_ACCEL_3AXIS) {
247 /* enable accel sensor */
248 conf.mode = accel_st->power_mode;
249 conf.filter = accel_st->filter;
250 ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_accel);
251 if (ret)
252 goto out_unlock;
253 fifo_en |= INV_ICM42600_SENSOR_ACCEL;
254 }
255
256 /* update data FIFO write */
257 ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
258
259 out_unlock:
260 mutex_unlock(&st->lock);
261 /* sleep maximum required time */
262 sleep = max(sleep_accel, sleep_temp);
263 if (sleep)
264 msleep(sleep);
265 return ret;
266 }
267
inv_icm42600_accel_read_sensor(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,s16 * val)268 static int inv_icm42600_accel_read_sensor(struct iio_dev *indio_dev,
269 struct iio_chan_spec const *chan,
270 s16 *val)
271 {
272 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
273 struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
274 struct device *dev = regmap_get_device(st->map);
275 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
276 unsigned int reg;
277 __be16 *data;
278 int ret;
279
280 if (chan->type != IIO_ACCEL)
281 return -EINVAL;
282
283 switch (chan->channel2) {
284 case IIO_MOD_X:
285 reg = INV_ICM42600_REG_ACCEL_DATA_X;
286 break;
287 case IIO_MOD_Y:
288 reg = INV_ICM42600_REG_ACCEL_DATA_Y;
289 break;
290 case IIO_MOD_Z:
291 reg = INV_ICM42600_REG_ACCEL_DATA_Z;
292 break;
293 default:
294 return -EINVAL;
295 }
296
297 pm_runtime_get_sync(dev);
298 mutex_lock(&st->lock);
299
300 /* enable accel sensor */
301 conf.mode = accel_st->power_mode;
302 conf.filter = accel_st->filter;
303 ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
304 if (ret)
305 goto exit;
306
307 /* read accel register data */
308 data = (__be16 *)&st->buffer[0];
309 ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
310 if (ret)
311 goto exit;
312
313 *val = (s16)be16_to_cpup(data);
314 if (*val == INV_ICM42600_DATA_INVALID)
315 ret = -EINVAL;
316 exit:
317 mutex_unlock(&st->lock);
318 pm_runtime_put_autosuspend(dev);
319 return ret;
320 }
321
inv_icm42600_accel_convert_roc_to_wom(u64 roc,int accel_hz,int accel_uhz)322 static unsigned int inv_icm42600_accel_convert_roc_to_wom(u64 roc,
323 int accel_hz, int accel_uhz)
324 {
325 /* 1000/256mg per LSB converted in µm/s² */
326 const unsigned int convert = (9807U * (MICRO / MILLI)) / 256U;
327 u64 value;
328 u64 freq_uhz;
329
330 /* return 0 only if roc is 0 */
331 if (roc == 0)
332 return 0;
333
334 freq_uhz = (u64)accel_hz * MICRO + (u64)accel_uhz;
335 value = div64_u64(roc * MICRO, freq_uhz * (u64)convert);
336
337 /* limit value to 8 bits and prevent 0 */
338 return clamp(value, 1, 255);
339 }
340
inv_icm42600_accel_convert_wom_to_roc(unsigned int threshold,int accel_hz,int accel_uhz)341 static u64 inv_icm42600_accel_convert_wom_to_roc(unsigned int threshold,
342 int accel_hz, int accel_uhz)
343 {
344 /* 1000/256mg per LSB converted in µm/s² */
345 const unsigned int convert = (9807U * (MICRO / MILLI)) / 256U;
346 u64 value;
347 u64 freq_uhz;
348
349 value = threshold * convert;
350 freq_uhz = (u64)accel_hz * MICRO + (u64)accel_uhz;
351
352 /* compute the differential by multiplying by the frequency */
353 return div_u64(value * freq_uhz, MICRO);
354 }
355
inv_icm42600_accel_set_wom_threshold(struct inv_icm42600_state * st,u64 value,int accel_hz,int accel_uhz)356 static int inv_icm42600_accel_set_wom_threshold(struct inv_icm42600_state *st,
357 u64 value,
358 int accel_hz, int accel_uhz)
359 {
360 unsigned int threshold;
361 int ret;
362
363 /* convert roc to wom threshold and convert back to handle clipping */
364 threshold = inv_icm42600_accel_convert_roc_to_wom(value, accel_hz, accel_uhz);
365 value = inv_icm42600_accel_convert_wom_to_roc(threshold, accel_hz, accel_uhz);
366
367 dev_dbg(regmap_get_device(st->map), "wom_threshold: 0x%x\n", threshold);
368
369 /* set accel WoM threshold for the 3 axes */
370 st->buffer[0] = threshold;
371 st->buffer[1] = threshold;
372 st->buffer[2] = threshold;
373 ret = regmap_bulk_write(st->map, INV_ICM42600_REG_ACCEL_WOM_X_THR, st->buffer, 3);
374 if (ret)
375 return ret;
376
377 st->apex.wom.value = value;
378
379 return 0;
380 }
381
_inv_icm42600_accel_enable_wom(struct iio_dev * indio_dev)382 static int _inv_icm42600_accel_enable_wom(struct iio_dev *indio_dev)
383 {
384 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
385 struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
386 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
387 unsigned int sleep_ms = 0;
388 int ret;
389
390 scoped_guard(mutex, &st->lock) {
391 /* turn on accel sensor */
392 conf.mode = accel_st->power_mode;
393 conf.filter = accel_st->filter;
394 ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_ms);
395 if (ret)
396 return ret;
397 }
398
399 if (sleep_ms)
400 msleep(sleep_ms);
401
402 scoped_guard(mutex, &st->lock) {
403 ret = inv_icm42600_enable_wom(st);
404 if (ret)
405 return ret;
406 st->apex.on++;
407 st->apex.wom.enable = true;
408 }
409
410 return 0;
411 }
412
inv_icm42600_accel_enable_wom(struct iio_dev * indio_dev)413 static int inv_icm42600_accel_enable_wom(struct iio_dev *indio_dev)
414 {
415 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
416 struct device *pdev = regmap_get_device(st->map);
417 int ret;
418
419 ret = pm_runtime_resume_and_get(pdev);
420 if (ret)
421 return ret;
422
423 ret = _inv_icm42600_accel_enable_wom(indio_dev);
424 if (ret) {
425 pm_runtime_mark_last_busy(pdev);
426 pm_runtime_put_autosuspend(pdev);
427 return ret;
428 }
429
430 return 0;
431 }
432
_inv_icm42600_accel_disable_wom(struct iio_dev * indio_dev)433 static int _inv_icm42600_accel_disable_wom(struct iio_dev *indio_dev)
434 {
435 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
436 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
437 unsigned int sleep_ms = 0;
438 int ret;
439
440 scoped_guard(mutex, &st->lock) {
441 /*
442 * Consider that turning off WoM is always working to avoid
443 * blocking the chip in on mode and prevent going back to sleep.
444 * If there is an error, the chip will anyway go back to sleep
445 * and the feature will not work anymore.
446 */
447 st->apex.wom.enable = false;
448 st->apex.on--;
449 ret = inv_icm42600_disable_wom(st);
450 if (ret)
451 return ret;
452 /* turn off accel sensor if not used */
453 if (!st->apex.on && !iio_buffer_enabled(indio_dev)) {
454 conf.mode = INV_ICM42600_SENSOR_MODE_OFF;
455 ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_ms);
456 if (ret)
457 return ret;
458 }
459 }
460
461 if (sleep_ms)
462 msleep(sleep_ms);
463
464 return 0;
465 }
466
inv_icm42600_accel_disable_wom(struct iio_dev * indio_dev)467 static int inv_icm42600_accel_disable_wom(struct iio_dev *indio_dev)
468 {
469 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
470 struct device *pdev = regmap_get_device(st->map);
471 int ret;
472
473 ret = _inv_icm42600_accel_disable_wom(indio_dev);
474
475 pm_runtime_mark_last_busy(pdev);
476 pm_runtime_put_autosuspend(pdev);
477
478 return ret;
479 }
480
inv_icm42600_accel_handle_events(struct iio_dev * indio_dev,unsigned int status2,unsigned int status3,s64 timestamp)481 void inv_icm42600_accel_handle_events(struct iio_dev *indio_dev,
482 unsigned int status2, unsigned int status3,
483 s64 timestamp)
484 {
485 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
486 u64 ev_code;
487
488 /* handle WoM event */
489 if (st->apex.wom.enable && (status2 & INV_ICM42600_INT_STATUS2_WOM_INT)) {
490 ev_code = IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, IIO_MOD_X_OR_Y_OR_Z,
491 IIO_EV_TYPE_ROC, IIO_EV_DIR_RISING);
492 iio_push_event(indio_dev, ev_code, timestamp);
493 }
494 }
495
496 /* IIO format int + nano */
497 static const int inv_icm42600_accel_scale[] = {
498 /* +/- 16G => 0.004788403 m/s-2 */
499 [2 * INV_ICM42600_ACCEL_FS_16G] = 0,
500 [2 * INV_ICM42600_ACCEL_FS_16G + 1] = 4788403,
501 /* +/- 8G => 0.002394202 m/s-2 */
502 [2 * INV_ICM42600_ACCEL_FS_8G] = 0,
503 [2 * INV_ICM42600_ACCEL_FS_8G + 1] = 2394202,
504 /* +/- 4G => 0.001197101 m/s-2 */
505 [2 * INV_ICM42600_ACCEL_FS_4G] = 0,
506 [2 * INV_ICM42600_ACCEL_FS_4G + 1] = 1197101,
507 /* +/- 2G => 0.000598550 m/s-2 */
508 [2 * INV_ICM42600_ACCEL_FS_2G] = 0,
509 [2 * INV_ICM42600_ACCEL_FS_2G + 1] = 598550,
510 };
511 static const int inv_icm42686_accel_scale[] = {
512 /* +/- 32G => 0.009576807 m/s-2 */
513 [2 * INV_ICM42686_ACCEL_FS_32G] = 0,
514 [2 * INV_ICM42686_ACCEL_FS_32G + 1] = 9576807,
515 /* +/- 16G => 0.004788403 m/s-2 */
516 [2 * INV_ICM42686_ACCEL_FS_16G] = 0,
517 [2 * INV_ICM42686_ACCEL_FS_16G + 1] = 4788403,
518 /* +/- 8G => 0.002394202 m/s-2 */
519 [2 * INV_ICM42686_ACCEL_FS_8G] = 0,
520 [2 * INV_ICM42686_ACCEL_FS_8G + 1] = 2394202,
521 /* +/- 4G => 0.001197101 m/s-2 */
522 [2 * INV_ICM42686_ACCEL_FS_4G] = 0,
523 [2 * INV_ICM42686_ACCEL_FS_4G + 1] = 1197101,
524 /* +/- 2G => 0.000598550 m/s-2 */
525 [2 * INV_ICM42686_ACCEL_FS_2G] = 0,
526 [2 * INV_ICM42686_ACCEL_FS_2G + 1] = 598550,
527 };
528
inv_icm42600_accel_read_scale(struct iio_dev * indio_dev,int * val,int * val2)529 static int inv_icm42600_accel_read_scale(struct iio_dev *indio_dev,
530 int *val, int *val2)
531 {
532 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
533 struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
534 unsigned int idx;
535
536 idx = st->conf.accel.fs;
537
538 *val = accel_st->scales[2 * idx];
539 *val2 = accel_st->scales[2 * idx + 1];
540 return IIO_VAL_INT_PLUS_NANO;
541 }
542
inv_icm42600_accel_write_scale(struct iio_dev * indio_dev,int val,int val2)543 static int inv_icm42600_accel_write_scale(struct iio_dev *indio_dev,
544 int val, int val2)
545 {
546 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
547 struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
548 struct device *dev = regmap_get_device(st->map);
549 unsigned int idx;
550 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
551 int ret;
552
553 for (idx = 0; idx < accel_st->scales_len; idx += 2) {
554 if (val == accel_st->scales[idx] &&
555 val2 == accel_st->scales[idx + 1])
556 break;
557 }
558 if (idx >= accel_st->scales_len)
559 return -EINVAL;
560
561 conf.fs = idx / 2;
562
563 pm_runtime_get_sync(dev);
564
565 scoped_guard(mutex, &st->lock)
566 ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
567
568 pm_runtime_put_autosuspend(dev);
569
570 return ret;
571 }
572
573 /* IIO format int + micro */
574 static const int inv_icm42600_accel_odr[] = {
575 /* 1.5625Hz */
576 1, 562500,
577 /* 3.125Hz */
578 3, 125000,
579 /* 6.25Hz */
580 6, 250000,
581 /* 12.5Hz */
582 12, 500000,
583 /* 25Hz */
584 25, 0,
585 /* 50Hz */
586 50, 0,
587 /* 100Hz */
588 100, 0,
589 /* 200Hz */
590 200, 0,
591 /* 1kHz */
592 1000, 0,
593 /* 2kHz */
594 2000, 0,
595 /* 4kHz */
596 4000, 0,
597 };
598
599 static const int inv_icm42600_accel_odr_conv[] = {
600 INV_ICM42600_ODR_1_5625HZ_LP,
601 INV_ICM42600_ODR_3_125HZ_LP,
602 INV_ICM42600_ODR_6_25HZ_LP,
603 INV_ICM42600_ODR_12_5HZ,
604 INV_ICM42600_ODR_25HZ,
605 INV_ICM42600_ODR_50HZ,
606 INV_ICM42600_ODR_100HZ,
607 INV_ICM42600_ODR_200HZ,
608 INV_ICM42600_ODR_1KHZ_LN,
609 INV_ICM42600_ODR_2KHZ_LN,
610 INV_ICM42600_ODR_4KHZ_LN,
611 };
612
inv_icm42600_accel_read_odr(struct inv_icm42600_state * st,int * val,int * val2)613 static int inv_icm42600_accel_read_odr(struct inv_icm42600_state *st,
614 int *val, int *val2)
615 {
616 unsigned int odr;
617 unsigned int i;
618
619 odr = st->conf.accel.odr;
620
621 for (i = 0; i < ARRAY_SIZE(inv_icm42600_accel_odr_conv); ++i) {
622 if (inv_icm42600_accel_odr_conv[i] == odr)
623 break;
624 }
625 if (i >= ARRAY_SIZE(inv_icm42600_accel_odr_conv))
626 return -EINVAL;
627
628 *val = inv_icm42600_accel_odr[2 * i];
629 *val2 = inv_icm42600_accel_odr[2 * i + 1];
630
631 return IIO_VAL_INT_PLUS_MICRO;
632 }
633
inv_icm42600_accel_write_odr(struct iio_dev * indio_dev,int val,int val2)634 static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev,
635 int val, int val2)
636 {
637 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
638 struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
639 struct inv_sensors_timestamp *ts = &accel_st->ts;
640 struct device *dev = regmap_get_device(st->map);
641 unsigned int idx;
642 struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
643 int ret;
644
645 for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_odr); idx += 2) {
646 if (val == inv_icm42600_accel_odr[idx] &&
647 val2 == inv_icm42600_accel_odr[idx + 1])
648 break;
649 }
650 if (idx >= ARRAY_SIZE(inv_icm42600_accel_odr))
651 return -EINVAL;
652
653 conf.odr = inv_icm42600_accel_odr_conv[idx / 2];
654 if (conf.odr == st->conf.accel.odr)
655 return 0;
656
657 pm_runtime_get_sync(dev);
658 mutex_lock(&st->lock);
659
660 ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
661 iio_buffer_enabled(indio_dev));
662 if (ret)
663 goto out_unlock;
664
665 ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
666 if (ret)
667 goto out_unlock;
668 /* update wom threshold since roc is dependent on sampling frequency */
669 ret = inv_icm42600_accel_set_wom_threshold(st, st->apex.wom.value, val, val2);
670 if (ret)
671 goto out_unlock;
672 inv_icm42600_buffer_update_fifo_period(st);
673 inv_icm42600_buffer_update_watermark(st);
674
675 out_unlock:
676 mutex_unlock(&st->lock);
677 pm_runtime_put_autosuspend(dev);
678
679 return ret;
680 }
681
682 /*
683 * Calibration bias values, IIO range format int + micro.
684 * Value is limited to +/-1g coded on 12 bits signed. Step is 0.5mg.
685 */
686 static int inv_icm42600_accel_calibbias[] = {
687 -10, 42010, /* min: -10.042010 m/s² */
688 0, 4903, /* step: 0.004903 m/s² */
689 10, 37106, /* max: 10.037106 m/s² */
690 };
691
inv_icm42600_accel_read_offset(struct inv_icm42600_state * st,struct iio_chan_spec const * chan,int * val,int * val2)692 static int inv_icm42600_accel_read_offset(struct inv_icm42600_state *st,
693 struct iio_chan_spec const *chan,
694 int *val, int *val2)
695 {
696 struct device *dev = regmap_get_device(st->map);
697 s64 val64;
698 s32 bias;
699 unsigned int reg;
700 s16 offset;
701 u8 data[2];
702 int ret;
703
704 if (chan->type != IIO_ACCEL)
705 return -EINVAL;
706
707 switch (chan->channel2) {
708 case IIO_MOD_X:
709 reg = INV_ICM42600_REG_OFFSET_USER4;
710 break;
711 case IIO_MOD_Y:
712 reg = INV_ICM42600_REG_OFFSET_USER6;
713 break;
714 case IIO_MOD_Z:
715 reg = INV_ICM42600_REG_OFFSET_USER7;
716 break;
717 default:
718 return -EINVAL;
719 }
720
721 pm_runtime_get_sync(dev);
722 mutex_lock(&st->lock);
723
724 ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data));
725 memcpy(data, st->buffer, sizeof(data));
726
727 mutex_unlock(&st->lock);
728 pm_runtime_put_autosuspend(dev);
729 if (ret)
730 return ret;
731
732 /* 12 bits signed value */
733 switch (chan->channel2) {
734 case IIO_MOD_X:
735 offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);
736 break;
737 case IIO_MOD_Y:
738 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
739 break;
740 case IIO_MOD_Z:
741 offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);
742 break;
743 default:
744 return -EINVAL;
745 }
746
747 /*
748 * convert raw offset to g then to m/s²
749 * 12 bits signed raw step 0.5mg to g: 5 / 10000
750 * g to m/s²: 9.806650
751 * result in micro (1000000)
752 * (offset * 5 * 9.806650 * 1000000) / 10000
753 */
754 val64 = (s64)offset * 5LL * 9806650LL;
755 /* for rounding, add + or - divisor (10000) divided by 2 */
756 if (val64 >= 0)
757 val64 += 10000LL / 2LL;
758 else
759 val64 -= 10000LL / 2LL;
760 bias = div_s64(val64, 10000L);
761 *val = bias / 1000000L;
762 *val2 = bias % 1000000L;
763
764 return IIO_VAL_INT_PLUS_MICRO;
765 }
766
inv_icm42600_accel_write_offset(struct inv_icm42600_state * st,struct iio_chan_spec const * chan,int val,int val2)767 static int inv_icm42600_accel_write_offset(struct inv_icm42600_state *st,
768 struct iio_chan_spec const *chan,
769 int val, int val2)
770 {
771 struct device *dev = regmap_get_device(st->map);
772 s64 val64;
773 s32 min, max;
774 unsigned int reg, regval;
775 s16 offset;
776 int ret;
777
778 if (chan->type != IIO_ACCEL)
779 return -EINVAL;
780
781 switch (chan->channel2) {
782 case IIO_MOD_X:
783 reg = INV_ICM42600_REG_OFFSET_USER4;
784 break;
785 case IIO_MOD_Y:
786 reg = INV_ICM42600_REG_OFFSET_USER6;
787 break;
788 case IIO_MOD_Z:
789 reg = INV_ICM42600_REG_OFFSET_USER7;
790 break;
791 default:
792 return -EINVAL;
793 }
794
795 /* inv_icm42600_accel_calibbias: min - step - max in micro */
796 min = inv_icm42600_accel_calibbias[0] * 1000000L +
797 inv_icm42600_accel_calibbias[1];
798 max = inv_icm42600_accel_calibbias[4] * 1000000L +
799 inv_icm42600_accel_calibbias[5];
800 val64 = (s64)val * 1000000LL + (s64)val2;
801 if (val64 < min || val64 > max)
802 return -EINVAL;
803
804 /*
805 * convert m/s² to g then to raw value
806 * m/s² to g: 1 / 9.806650
807 * g to raw 12 bits signed, step 0.5mg: 10000 / 5
808 * val in micro (1000000)
809 * val * 10000 / (9.806650 * 1000000 * 5)
810 */
811 val64 = val64 * 10000LL;
812 /* for rounding, add + or - divisor (9806650 * 5) divided by 2 */
813 if (val64 >= 0)
814 val64 += 9806650 * 5 / 2;
815 else
816 val64 -= 9806650 * 5 / 2;
817 offset = div_s64(val64, 9806650 * 5);
818
819 /* clamp value limited to 12 bits signed */
820 if (offset < -2048)
821 offset = -2048;
822 else if (offset > 2047)
823 offset = 2047;
824
825 pm_runtime_get_sync(dev);
826 mutex_lock(&st->lock);
827
828 switch (chan->channel2) {
829 case IIO_MOD_X:
830 /* OFFSET_USER4 register is shared */
831 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,
832 ®val);
833 if (ret)
834 goto out_unlock;
835 st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
836 st->buffer[1] = offset & 0xFF;
837 break;
838 case IIO_MOD_Y:
839 /* OFFSET_USER7 register is shared */
840 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER7,
841 ®val);
842 if (ret)
843 goto out_unlock;
844 st->buffer[0] = offset & 0xFF;
845 st->buffer[1] = ((offset & 0xF00) >> 8) | (regval & 0xF0);
846 break;
847 case IIO_MOD_Z:
848 /* OFFSET_USER7 register is shared */
849 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER7,
850 ®val);
851 if (ret)
852 goto out_unlock;
853 st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
854 st->buffer[1] = offset & 0xFF;
855 break;
856 default:
857 ret = -EINVAL;
858 goto out_unlock;
859 }
860
861 ret = regmap_bulk_write(st->map, reg, st->buffer, 2);
862
863 out_unlock:
864 mutex_unlock(&st->lock);
865 pm_runtime_put_autosuspend(dev);
866 return ret;
867 }
868
inv_icm42600_accel_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)869 static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev,
870 struct iio_chan_spec const *chan,
871 int *val, int *val2, long mask)
872 {
873 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
874 s16 data;
875 int ret;
876
877 switch (chan->type) {
878 case IIO_ACCEL:
879 break;
880 case IIO_TEMP:
881 return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask);
882 default:
883 return -EINVAL;
884 }
885
886 switch (mask) {
887 case IIO_CHAN_INFO_RAW:
888 if (!iio_device_claim_direct(indio_dev))
889 return -EBUSY;
890 ret = inv_icm42600_accel_read_sensor(indio_dev, chan, &data);
891 iio_device_release_direct(indio_dev);
892 if (ret)
893 return ret;
894 *val = data;
895 return IIO_VAL_INT;
896 case IIO_CHAN_INFO_SCALE:
897 return inv_icm42600_accel_read_scale(indio_dev, val, val2);
898 case IIO_CHAN_INFO_SAMP_FREQ:
899 return inv_icm42600_accel_read_odr(st, val, val2);
900 case IIO_CHAN_INFO_CALIBBIAS:
901 return inv_icm42600_accel_read_offset(st, chan, val, val2);
902 default:
903 return -EINVAL;
904 }
905 }
906
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)907 static int inv_icm42600_accel_read_avail(struct iio_dev *indio_dev,
908 struct iio_chan_spec const *chan,
909 const int **vals,
910 int *type, int *length, long mask)
911 {
912 struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
913
914 if (chan->type != IIO_ACCEL)
915 return -EINVAL;
916
917 switch (mask) {
918 case IIO_CHAN_INFO_SCALE:
919 *vals = accel_st->scales;
920 *type = IIO_VAL_INT_PLUS_NANO;
921 *length = accel_st->scales_len;
922 return IIO_AVAIL_LIST;
923 case IIO_CHAN_INFO_SAMP_FREQ:
924 *vals = inv_icm42600_accel_odr;
925 *type = IIO_VAL_INT_PLUS_MICRO;
926 *length = ARRAY_SIZE(inv_icm42600_accel_odr);
927 return IIO_AVAIL_LIST;
928 case IIO_CHAN_INFO_CALIBBIAS:
929 *vals = inv_icm42600_accel_calibbias;
930 *type = IIO_VAL_INT_PLUS_MICRO;
931 return IIO_AVAIL_RANGE;
932 default:
933 return -EINVAL;
934 }
935 }
936
inv_icm42600_accel_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)937 static int inv_icm42600_accel_write_raw(struct iio_dev *indio_dev,
938 struct iio_chan_spec const *chan,
939 int val, int val2, long mask)
940 {
941 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
942 int ret;
943
944 if (chan->type != IIO_ACCEL)
945 return -EINVAL;
946
947 switch (mask) {
948 case IIO_CHAN_INFO_SCALE:
949 if (!iio_device_claim_direct(indio_dev))
950 return -EBUSY;
951 ret = inv_icm42600_accel_write_scale(indio_dev, val, val2);
952 iio_device_release_direct(indio_dev);
953 return ret;
954 case IIO_CHAN_INFO_SAMP_FREQ:
955 return inv_icm42600_accel_write_odr(indio_dev, val, val2);
956 case IIO_CHAN_INFO_CALIBBIAS:
957 if (!iio_device_claim_direct(indio_dev))
958 return -EBUSY;
959 ret = inv_icm42600_accel_write_offset(st, chan, val, val2);
960 iio_device_release_direct(indio_dev);
961 return ret;
962 default:
963 return -EINVAL;
964 }
965 }
966
inv_icm42600_accel_write_raw_get_fmt(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,long mask)967 static int inv_icm42600_accel_write_raw_get_fmt(struct iio_dev *indio_dev,
968 struct iio_chan_spec const *chan,
969 long mask)
970 {
971 if (chan->type != IIO_ACCEL)
972 return -EINVAL;
973
974 switch (mask) {
975 case IIO_CHAN_INFO_SCALE:
976 return IIO_VAL_INT_PLUS_NANO;
977 case IIO_CHAN_INFO_SAMP_FREQ:
978 return IIO_VAL_INT_PLUS_MICRO;
979 case IIO_CHAN_INFO_CALIBBIAS:
980 return IIO_VAL_INT_PLUS_MICRO;
981 default:
982 return -EINVAL;
983 }
984 }
985
inv_icm42600_accel_hwfifo_set_watermark(struct iio_dev * indio_dev,unsigned int val)986 static int inv_icm42600_accel_hwfifo_set_watermark(struct iio_dev *indio_dev,
987 unsigned int val)
988 {
989 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
990
991 guard(mutex)(&st->lock);
992
993 st->fifo.watermark.accel = val;
994 return inv_icm42600_buffer_update_watermark(st);
995 }
996
inv_icm42600_accel_hwfifo_flush(struct iio_dev * indio_dev,unsigned int count)997 static int inv_icm42600_accel_hwfifo_flush(struct iio_dev *indio_dev,
998 unsigned int count)
999 {
1000 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
1001 int ret;
1002
1003 if (count == 0)
1004 return 0;
1005
1006 guard(mutex)(&st->lock);
1007
1008 ret = inv_icm42600_buffer_hwfifo_flush(st, count);
1009 if (ret)
1010 return ret;
1011
1012 return st->fifo.nb.accel;
1013 }
1014
inv_icm42600_accel_read_event_config(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,enum iio_event_type type,enum iio_event_direction dir)1015 static int inv_icm42600_accel_read_event_config(struct iio_dev *indio_dev,
1016 const struct iio_chan_spec *chan,
1017 enum iio_event_type type,
1018 enum iio_event_direction dir)
1019 {
1020 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
1021
1022 /* handle only WoM (roc rising) event */
1023 if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
1024 return -EINVAL;
1025
1026 guard(mutex)(&st->lock);
1027
1028 return st->apex.wom.enable ? 1 : 0;
1029 }
1030
inv_icm42600_accel_write_event_config(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,enum iio_event_type type,enum iio_event_direction dir,bool state)1031 static int inv_icm42600_accel_write_event_config(struct iio_dev *indio_dev,
1032 const struct iio_chan_spec *chan,
1033 enum iio_event_type type,
1034 enum iio_event_direction dir,
1035 bool state)
1036 {
1037 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
1038
1039 /* handle only WoM (roc rising) event */
1040 if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
1041 return -EINVAL;
1042
1043 scoped_guard(mutex, &st->lock) {
1044 if (st->apex.wom.enable == state)
1045 return 0;
1046 }
1047
1048 if (state)
1049 return inv_icm42600_accel_enable_wom(indio_dev);
1050
1051 return inv_icm42600_accel_disable_wom(indio_dev);
1052 }
1053
inv_icm42600_accel_read_event_value(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,enum iio_event_type type,enum iio_event_direction dir,enum iio_event_info info,int * val,int * val2)1054 static int inv_icm42600_accel_read_event_value(struct iio_dev *indio_dev,
1055 const struct iio_chan_spec *chan,
1056 enum iio_event_type type,
1057 enum iio_event_direction dir,
1058 enum iio_event_info info,
1059 int *val, int *val2)
1060 {
1061 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
1062 u32 rem;
1063
1064 /* handle only WoM (roc rising) event value */
1065 if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
1066 return -EINVAL;
1067
1068 guard(mutex)(&st->lock);
1069
1070 /* return value in micro */
1071 *val = div_u64_rem(st->apex.wom.value, MICRO, &rem);
1072 *val2 = rem;
1073 return IIO_VAL_INT_PLUS_MICRO;
1074 }
1075
_inv_icm42600_accel_wom_value(struct inv_icm42600_state * st,int val,int val2)1076 static int _inv_icm42600_accel_wom_value(struct inv_icm42600_state *st,
1077 int val, int val2)
1078 {
1079 u64 value;
1080 unsigned int accel_hz, accel_uhz;
1081 int ret;
1082
1083 guard(mutex)(&st->lock);
1084
1085 ret = inv_icm42600_accel_read_odr(st, &accel_hz, &accel_uhz);
1086 if (ret < 0)
1087 return ret;
1088
1089 value = (u64)val * MICRO + (u64)val2;
1090
1091 return inv_icm42600_accel_set_wom_threshold(st, value,
1092 accel_hz, accel_uhz);
1093 }
1094
inv_icm42600_accel_write_event_value(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,enum iio_event_type type,enum iio_event_direction dir,enum iio_event_info info,int val,int val2)1095 static int inv_icm42600_accel_write_event_value(struct iio_dev *indio_dev,
1096 const struct iio_chan_spec *chan,
1097 enum iio_event_type type,
1098 enum iio_event_direction dir,
1099 enum iio_event_info info,
1100 int val, int val2)
1101 {
1102 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
1103 struct device *dev = regmap_get_device(st->map);
1104 int ret;
1105
1106 /* handle only WoM (roc rising) event value */
1107 if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
1108 return -EINVAL;
1109
1110 if (val < 0 || val2 < 0)
1111 return -EINVAL;
1112
1113 ret = pm_runtime_resume_and_get(dev);
1114 if (ret)
1115 return ret;
1116
1117 ret = _inv_icm42600_accel_wom_value(st, val, val2);
1118
1119 pm_runtime_mark_last_busy(dev);
1120 pm_runtime_put_autosuspend(dev);
1121
1122 return ret;
1123 }
1124
1125 static const struct iio_info inv_icm42600_accel_info = {
1126 .read_raw = inv_icm42600_accel_read_raw,
1127 .read_avail = inv_icm42600_accel_read_avail,
1128 .write_raw = inv_icm42600_accel_write_raw,
1129 .write_raw_get_fmt = inv_icm42600_accel_write_raw_get_fmt,
1130 .debugfs_reg_access = inv_icm42600_debugfs_reg,
1131 .update_scan_mode = inv_icm42600_accel_update_scan_mode,
1132 .hwfifo_set_watermark = inv_icm42600_accel_hwfifo_set_watermark,
1133 .hwfifo_flush_to_buffer = inv_icm42600_accel_hwfifo_flush,
1134 .read_event_config = inv_icm42600_accel_read_event_config,
1135 .write_event_config = inv_icm42600_accel_write_event_config,
1136 .read_event_value = inv_icm42600_accel_read_event_value,
1137 .write_event_value = inv_icm42600_accel_write_event_value,
1138 };
1139
inv_icm42600_accel_init(struct inv_icm42600_state * st)1140 struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
1141 {
1142 struct device *dev = regmap_get_device(st->map);
1143 const char *name;
1144 struct inv_icm42600_sensor_state *accel_st;
1145 struct inv_sensors_timestamp_chip ts_chip;
1146 struct iio_dev *indio_dev;
1147 int ret;
1148
1149 name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->name);
1150 if (!name)
1151 return ERR_PTR(-ENOMEM);
1152
1153 indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st));
1154 if (!indio_dev)
1155 return ERR_PTR(-ENOMEM);
1156 accel_st = iio_priv(indio_dev);
1157
1158 switch (st->chip) {
1159 case INV_CHIP_ICM42686:
1160 accel_st->scales = inv_icm42686_accel_scale;
1161 accel_st->scales_len = ARRAY_SIZE(inv_icm42686_accel_scale);
1162 break;
1163 default:
1164 accel_st->scales = inv_icm42600_accel_scale;
1165 accel_st->scales_len = ARRAY_SIZE(inv_icm42600_accel_scale);
1166 break;
1167 }
1168 /* low-power by default at init */
1169 accel_st->power_mode = INV_ICM42600_SENSOR_MODE_LOW_POWER;
1170 accel_st->filter = INV_ICM42600_FILTER_AVG_16X;
1171
1172 /*
1173 * clock period is 32kHz (31250ns)
1174 * jitter is +/- 2% (20 per mille)
1175 */
1176 ts_chip.clock_period = 31250;
1177 ts_chip.jitter = 20;
1178 ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
1179 inv_sensors_timestamp_init(&accel_st->ts, &ts_chip);
1180
1181 iio_device_set_drvdata(indio_dev, st);
1182 indio_dev->name = name;
1183 indio_dev->info = &inv_icm42600_accel_info;
1184 indio_dev->modes = INDIO_DIRECT_MODE;
1185 indio_dev->channels = inv_icm42600_accel_channels;
1186 indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_accel_channels);
1187 indio_dev->available_scan_masks = inv_icm42600_accel_scan_masks;
1188
1189 ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
1190 &inv_icm42600_buffer_ops);
1191 if (ret)
1192 return ERR_PTR(ret);
1193
1194 ret = devm_iio_device_register(dev, indio_dev);
1195 if (ret)
1196 return ERR_PTR(ret);
1197
1198 /* accel events are wakeup capable */
1199 ret = devm_device_init_wakeup(&indio_dev->dev);
1200 if (ret)
1201 return ERR_PTR(ret);
1202
1203 return indio_dev;
1204 }
1205
inv_icm42600_accel_parse_fifo(struct iio_dev * indio_dev)1206 int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
1207 {
1208 struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
1209 struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
1210 struct inv_sensors_timestamp *ts = &accel_st->ts;
1211 ssize_t i, size;
1212 unsigned int no;
1213 const void *accel, *gyro, *timestamp;
1214 const s8 *temp;
1215 unsigned int odr;
1216 int64_t ts_val;
1217 /* buffer is copied to userspace, zeroing it to avoid any data leak */
1218 struct inv_icm42600_accel_buffer buffer = { };
1219
1220 /* parse all fifo packets */
1221 for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
1222 size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i],
1223 &accel, &gyro, &temp, ×tamp, &odr);
1224 /* quit if error or FIFO is empty */
1225 if (size <= 0)
1226 return size;
1227
1228 /* skip packet if no accel data or data is invalid */
1229 if (accel == NULL || !inv_icm42600_fifo_is_data_valid(accel))
1230 continue;
1231
1232 /* update odr */
1233 if (odr & INV_ICM42600_SENSOR_ACCEL)
1234 inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
1235 st->fifo.nb.total, no);
1236
1237 memcpy(&buffer.accel, accel, sizeof(buffer.accel));
1238 /* convert 8 bits FIFO temperature in high resolution format */
1239 buffer.temp = temp ? (*temp * 64) : 0;
1240 ts_val = inv_sensors_timestamp_pop(ts);
1241 iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
1242 }
1243
1244 return 0;
1245 }
1246