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Tue, 28 Jul 2026 15:58:11 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0:9162:e42b:cb94:2d55]) by smtp.gmail.com with ESMTPSA id 586e51a60fabf-4588646ade0sm990277fac.5.2026.07.28.15.58.10 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Tue, 28 Jul 2026 15:58:10 -0700 (PDT) From: Chris Morgan To: linux-iio@vger.kernel.org Cc: andy@kernel.org, nuno.sa@analog.com, dlechner@baylibre.com, jic23@kernel.org, jean-baptiste.maneyrol@tdk.com, linux-rockchip@lists.infradead.org, devicetree@vger.kernel.org, heiko@sntech.de, conor+dt@kernel.org, krzk+dt@kernel.org, robh@kernel.org, andriy.shevchenko@intel.com, Chris Morgan Subject: [PATCH V21 6/9] iio: imu: inv_icm42607: Add Accelerometer for icm42607 Date: Tue, 28 Jul 2026 17:55:37 -0500 Message-ID: <20260728225542.174825-7-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260728225542.174825-1-macroalpha82@gmail.com> References: <20260728225542.174825-1-macroalpha82@gmail.com> Precedence: bulk X-Mailing-List: linux-iio@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: 8bit From: Chris Morgan Add icm42607 accelerometer sensor for icm42607. Signed-off-by: Chris Morgan --- drivers/iio/imu/inv_icm42607/Makefile | 1 + drivers/iio/imu/inv_icm42607/inv_icm42607.h | 38 +++ .../iio/imu/inv_icm42607/inv_icm42607_accel.c | 308 ++++++++++++++++++ .../iio/imu/inv_icm42607/inv_icm42607_core.c | 232 ++++++++++++- 4 files changed, 576 insertions(+), 3 deletions(-) create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile index be109102e203..372c6d6bdcec 100644 --- a/drivers/iio/imu/inv_icm42607/Makefile +++ b/drivers/iio/imu/inv_icm42607/Makefile @@ -2,6 +2,7 @@ obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o inv-icm42607-y += inv_icm42607_core.o +inv-icm42607-y += inv_icm42607_accel.o obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o inv-icm42607-i2c-y += inv_icm42607_i2c.o diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h index 61927a6c2663..fd3e57ee4f14 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -88,6 +88,17 @@ enum inv_icm42607_filter_bw { INV_ICM42607_FILTER_BW_NB }; +/* Low-Power mode sensor data filter (averaging) */ +enum inv_icm42607_filter_avg { + INV_ICM42607_FILTER_AVG_2X = 0, + INV_ICM42607_FILTER_AVG_4X = 1, + INV_ICM42607_FILTER_AVG_8X = 2, + INV_ICM42607_FILTER_AVG_16X = 3, + INV_ICM42607_FILTER_AVG_32X = 4, + INV_ICM42607_FILTER_AVG_64X = 5, + /* values 6 and 7 also correspond to 64x. */ +}; + /* Temperature sensor data filter (bandwidth) */ enum inv_icm42607_temp_filter_bw { INV_ICM42607_TEMP_FILTER_BYPASS = 0, @@ -107,6 +118,7 @@ struct inv_icm42607_sensor_conf { int odr; int filter; }; +#define INV_ICM42607_SENSOR_CONF_INIT { -1, -1, -1, -1 } struct inv_icm42607_conf { struct inv_icm42607_sensor_conf gyro; @@ -125,6 +137,7 @@ struct inv_icm42607_hw { * @hw: Hardware specific data. * @lock: lock for serializing multiple registers access. * @map: regmap pointer. + * @indio_accel: accelerometer IIO device. * @vddio_supply: I/O voltage regulator for the chip. * @vddio_en: I/O voltage status for runtime PM. * @conf: chip sensors configurations. @@ -134,12 +147,23 @@ struct inv_icm42607_state { const struct inv_icm42607_hw *hw; struct mutex lock; struct regmap *map; + struct iio_dev *indio_accel; struct regulator *vddio_supply; bool vddio_en; struct inv_icm42607_conf conf; struct iio_mount_matrix orientation; }; +/** + * struct inv_icm42607_sensor_state - sensor state variables + * @power_mode: sensor requested power mode (for common frequencies) + * @filter: sensor filter. + */ +struct inv_icm42607_sensor_state { + enum inv_icm42607_sensor_mode power_mode; + int filter; +}; + /* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */ /* Register Map for User Bank 0 */ @@ -368,12 +392,26 @@ extern const struct inv_icm42607_hw inv_icm42607_hw_data; extern const struct inv_icm42607_hw inv_icm42607p_hw_data; extern const struct dev_pm_ops inv_icm42607_pm_ops; +const struct iio_mount_matrix * +inv_icm42607_get_mount_matrix(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan); + int inv_icm42607_get_pwr_mgmt0(struct inv_icm42607_state *st, enum inv_icm42607_sensor_mode *gyro, enum inv_icm42607_sensor_mode *accel); +int inv_icm42607_set_sensor_conf(struct inv_icm42607_state *st, + struct inv_icm42607_sensor_conf *conf, + enum iio_chan_type chan_type); + +int inv_icm42607_read_sensor(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + s16 *val); + int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw, inv_icm42607_bus_setup bus_setup); +struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st); + #endif diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file mode 100644 index 000000000000..f563c7708420 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c @@ -0,0 +1,308 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "inv_icm42607.h" + +#define INV_ICM42607_ACCEL_CHAN(_modifier, _index, _ext_info) \ +{ \ + .type = IIO_ACCEL, \ + .modified = 1, \ + .channel2 = _modifier, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_type_available = BIT(IIO_CHAN_INFO_SCALE), \ + .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_icm42607_accel_scan { + INV_ICM42607_ACCEL_SCAN_X, + INV_ICM42607_ACCEL_SCAN_Y, + INV_ICM42607_ACCEL_SCAN_Z, +}; + +static const struct iio_chan_spec_ext_info inv_icm42607_accel_ext_infos[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix), + { } +}; + +static const struct iio_chan_spec inv_icm42607_accel_channels[] = { + INV_ICM42607_ACCEL_CHAN(IIO_MOD_X, INV_ICM42607_ACCEL_SCAN_X, + inv_icm42607_accel_ext_infos), + INV_ICM42607_ACCEL_CHAN(IIO_MOD_Y, INV_ICM42607_ACCEL_SCAN_Y, + inv_icm42607_accel_ext_infos), + INV_ICM42607_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42607_ACCEL_SCAN_Z, + inv_icm42607_accel_ext_infos), +}; + +static const int inv_icm42607_accel_scale_nano[][2] = { + [INV_ICM42607_ACCEL_FS_16G] = { 0, 4788403 }, + [INV_ICM42607_ACCEL_FS_8G] = { 0, 2394202 }, + [INV_ICM42607_ACCEL_FS_4G] = { 0, 1197101 }, + [INV_ICM42607_ACCEL_FS_2G] = { 0, 598550 }, +}; + +static int inv_icm42607_accel_read_scale(struct iio_dev *indio_dev, + int *val, int *val2) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + unsigned int idx; + + guard(mutex)(&st->lock); + + idx = st->conf.accel.fs; + + *val = inv_icm42607_accel_scale_nano[idx][0]; + *val2 = inv_icm42607_accel_scale_nano[idx][1]; + return IIO_VAL_INT_PLUS_NANO; +} + +static int inv_icm42607_accel_write_scale(struct iio_dev *indio_dev, + int val, int val2) +{ + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + size_t scales_len = ARRAY_SIZE(inv_icm42607_accel_scale_nano); + struct device *dev = regmap_get_device(st->map); + unsigned int idx; + int ret; + + for (idx = 0; idx < scales_len; idx++) { + if (val == inv_icm42607_accel_scale_nano[idx][0] && + val2 == inv_icm42607_accel_scale_nano[idx][1]) + break; + } + if (idx == scales_len) + return -EINVAL; + + conf.fs = idx; + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_sensor_conf(st, &conf, IIO_ACCEL); +} + +/* IIO format int + micro , values 0-4 reserved. */ +static const int inv_icm42607_accel_odr[][2] = { + [INV_ICM42607_ODR_1600HZ] = { 1600, 0 }, + [INV_ICM42607_ODR_800HZ] = { 800, 0 }, + [INV_ICM42607_ODR_400HZ] = { 400, 0 }, + [INV_ICM42607_ODR_200HZ] = { 200, 0 }, + [INV_ICM42607_ODR_100HZ] = { 100, 0 }, + [INV_ICM42607_ODR_50HZ] = { 50, 0 }, + [INV_ICM42607_ODR_25HZ] = { 25, 0 }, + [INV_ICM42607_ODR_12_5HZ] = { 12, 500000 }, + [INV_ICM42607_ODR_6_25HZ_LP] = { 6, 250000 }, + [INV_ICM42607_ODR_3_125HZ_LP] = { 3, 125000 }, + [INV_ICM42607_ODR_1_5625HZ_LP] = { 1, 562500 }, +}; + +static int inv_icm42607_accel_read_odr(struct inv_icm42607_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + guard(mutex)(&st->lock); + + odr = st->conf.accel.odr; + + for (i = INV_ICM42607_ODR_1600HZ; i < ARRAY_SIZE(inv_icm42607_accel_odr); i++) { + if (i == odr) + break; + } + if (i == ARRAY_SIZE(inv_icm42607_accel_odr)) + return -EINVAL; + + *val = inv_icm42607_accel_odr[i][0]; + *val2 = inv_icm42607_accel_odr[i][1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int inv_icm42607_accel_write_odr(struct iio_dev *indio_dev, + int val, int val2) +{ + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + struct device *dev = regmap_get_device(st->map); + unsigned int idx; + int ret; + + for (idx = INV_ICM42607_ODR_1600HZ; + idx < ARRAY_SIZE(inv_icm42607_accel_odr); idx++) { + if (val == inv_icm42607_accel_odr[idx][0] && + val2 == inv_icm42607_accel_odr[idx][1]) + break; + } + if (idx == ARRAY_SIZE(inv_icm42607_accel_odr)) + return -EINVAL; + + conf.odr = idx; + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_sensor_conf(st, &conf, IIO_ACCEL); +} + +static int inv_icm42607_accel_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + s16 data; + int ret; + + switch (chan->type) { + case IIO_ACCEL: + break; + default: + return -EINVAL; + } + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = inv_icm42607_read_sensor(indio_dev, chan, &data); + if (ret) + return ret; + *val = data; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + return inv_icm42607_accel_read_scale(indio_dev, val, val2); + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm42607_accel_read_odr(st, val, val2); + default: + return -EINVAL; + } +} + +static int inv_icm42607_accel_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, + int *type, int *length, long mask) +{ + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ACCEL) + return -EINVAL; + *vals = (const int *)inv_icm42607_accel_scale_nano; + *type = IIO_VAL_INT_PLUS_NANO; + *length = ARRAY_SIZE(inv_icm42607_accel_scale_nano) * 2; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *vals = (const int *)inv_icm42607_accel_odr[INV_ICM42607_ODR_1600HZ]; + *type = IIO_VAL_INT_PLUS_MICRO; + *length = (ARRAY_SIZE(inv_icm42607_accel_odr) - + INV_ICM42607_ODR_1600HZ) * 2; + return IIO_AVAIL_LIST; + default: + return -EINVAL; + } +} + +static int inv_icm42607_accel_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + int ret; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ACCEL) + return -EINVAL; + ret = inv_icm42607_accel_write_scale(indio_dev, val, val2); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm42607_accel_write_odr(indio_dev, val, val2); + default: + return -EINVAL; + } +} + +static int inv_icm42607_accel_write_raw_get_fmt(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + long mask) +{ + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ACCEL) + return -EINVAL; + return IIO_VAL_INT_PLUS_NANO; + case IIO_CHAN_INFO_SAMP_FREQ: + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static const struct iio_info inv_icm42607_accel_info = { + .read_raw = inv_icm42607_accel_read_raw, + .read_avail = inv_icm42607_accel_read_avail, + .write_raw = inv_icm42607_accel_write_raw, + .write_raw_get_fmt = inv_icm42607_accel_write_raw_get_fmt, +}; + +struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st) +{ + struct device *dev = regmap_get_device(st->map); + struct inv_icm42607_sensor_state *accel_st; + struct iio_dev *indio_dev; + const char *name; + int ret; + + name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->hw->name); + if (!name) + return ERR_PTR(-ENOMEM); + + indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st)); + if (!indio_dev) + return ERR_PTR(-ENOMEM); + + accel_st = iio_priv(indio_dev); + accel_st->power_mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE; + accel_st->filter = INV_ICM42607_FILTER_BW_73HZ; + + indio_dev->name = name; + indio_dev->info = &inv_icm42607_accel_info; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->channels = inv_icm42607_accel_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_accel_channels); + iio_device_set_drvdata(indio_dev, st); + + ret = devm_iio_device_register(dev, indio_dev); + if (ret) + return ERR_PTR(ret); + + return indio_dev; +} diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index af301bde3f17..68e84597241a 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -19,6 +19,8 @@ #include #include +#include + #include "inv_icm42607.h" static bool inv_icm42607_is_readable_reg(struct device *dev, unsigned int reg) @@ -104,6 +106,49 @@ const struct inv_icm42607_hw inv_icm42607p_hw_data = { }; EXPORT_SYMBOL_NS_GPL(inv_icm42607p_hw_data, "IIO_ICM42607"); +const struct iio_mount_matrix * +inv_icm42607_get_mount_matrix(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan) +{ + const struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + + return &st->orientation; +} + +static u32 inv_icm42607_odr_to_period_us(enum inv_icm42607_odr odr) +{ + static const u32 odr_periods[INV_ICM42607_ODR_NB] = { + /* Reserved values */ + 0, 0, 0, 0, 0, + /* 1600Hz */ + 625, + /* 800Hz */ + 1250, + /* 400Hz */ + 2500, + /* 200Hz */ + 5000, + /* 100 Hz */ + 10000, + /* 50Hz */ + 20000, + /* 25Hz */ + 40000, + /* 12.5Hz */ + 80000, + /* 6.25Hz */ + 160000, + /* 3.125Hz */ + 320000, + /* 1.5625Hz */ + 640000, + }; + + odr = clamp(odr, INV_ICM42607_ODR_1600HZ, INV_ICM42607_ODR_1_5625HZ_LP); + + return odr_periods[odr]; +} + int inv_icm42607_get_pwr_mgmt0(struct inv_icm42607_state *st, enum inv_icm42607_sensor_mode *gyro, enum inv_icm42607_sensor_mode *accel) @@ -126,7 +171,7 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, enum inv_icm42607_sensor_mode accel) { enum inv_icm42607_sensor_mode oldaccel, oldgyro; - unsigned int sleepval_us; + unsigned int sleepval_us, odr_us; unsigned int val; s64 disable_wait; int ret; @@ -163,22 +208,30 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, * If a state change occurs from off to on, sleep for the startup time * of the sensor. Since more than one sensor can be transitioned from * off to on, select the maximum time from each of the sensors changing - * from off to on. The startup time for the temp sensor is considerably + * from off to on. Also account for the time it takes for the first + * sample to be ready by looking up the odr value and adding it to the + * sleep time. The startup time for the temp sensor is considerably * smaller than the startup time for the other sensors and one or more * are required to be on for the temp sensor to function, so any start * delay should be enough. */ sleepval_us = 0; - if (accel && !oldaccel) + odr_us = 0; + if (accel && !oldaccel) { sleepval_us = max(sleepval_us, INV_ICM42607_ACCEL_STARTUP_TIME_US); + odr_us = max(odr_us, inv_icm42607_odr_to_period_us(st->conf.accel.odr)); + } if (gyro && !oldgyro) { sleepval_us = max(sleepval_us, INV_ICM42607_GYRO_STARTUP_TIME_US); + odr_us = max(odr_us, inv_icm42607_odr_to_period_us(st->conf.gyro.odr)); /* Track the earliest we can turn off the gyroscope. */ st->conf.gyro_stop = ktime_add_us(ktime_get(), INV_ICM42607_GYRO_STOP_TIME_US); } + sleepval_us += odr_us; + /* * Only sleep if sleepval_us is greater than 0 in case some platforms * have issues with a 0 delay. The 0 delay can happen if one or both @@ -190,6 +243,174 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, return 0; } +/* + * Sanity test between old and new config values, and note if we need + * to update register config0 or config1. + */ +static void inv_icm42607_update_config(struct inv_icm42607_sensor_conf *conf, + struct inv_icm42607_sensor_conf *oldconf, + bool *config0, bool *config1) +{ + if (conf->mode < 0) + conf->mode = oldconf->mode; + if (conf->fs < 0) + conf->fs = oldconf->fs; + if (conf->odr < 0) + conf->odr = oldconf->odr; + if (conf->filter < 0) + conf->filter = oldconf->filter; + + *config0 = (conf->fs != oldconf->fs) || (conf->odr != oldconf->odr); + + *config1 = (conf->filter != oldconf->filter); +} + +int inv_icm42607_set_sensor_conf(struct inv_icm42607_state *st, + struct inv_icm42607_sensor_conf *conf, + enum iio_chan_type chan_type) +{ + enum inv_icm42607_sensor_mode accel_mode, gyro_mode; + struct inv_icm42607_sensor_conf *oldconf; + bool config0, config1; + unsigned int val; + int ret; + + switch (chan_type) { + case IIO_ACCEL: + oldconf = &st->conf.accel; + break; + case IIO_ANGL_VEL: + oldconf = &st->conf.gyro; + break; + default: + return -EINVAL; + } + + /* + * Since we are only making one-shot calls today, we can avoid needless + * on/off cycles if we rely on the runtime power management to handle + * shutting off the sensors when not in use. The downside is if we + * enable both sensors then only read from one, we have to wait for + * runtime PM to turn it off. So just keep the mode of the sensor we + * are not actively using to whatever it's already set as. + */ + ret = inv_icm42607_get_pwr_mgmt0(st, &gyro_mode, &accel_mode); + if (ret) + return ret; + + inv_icm42607_update_config(conf, oldconf, &config0, &config1); + + if (config0) { + if (chan_type == IIO_ANGL_VEL) { + val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK, conf->fs); + val |= FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_ODR_MASK, conf->odr); + ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val); + } else { + val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK, conf->fs); + val |= FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_ODR_MASK, conf->odr); + ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val); + } + if (ret) + return ret; + + oldconf->fs = conf->fs; + oldconf->odr = conf->odr; + } + + if (config1) { + if (chan_type == IIO_ANGL_VEL) { + val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, + conf->filter); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_GYRO_CONFIG1, + INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, val); + } else { + val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK, + conf->filter); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_ACCEL_CONFIG1, + INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK, val); + } + if (ret) + return ret; + + oldconf->filter = conf->filter; + } + + oldconf->mode = conf->mode; + + switch (chan_type) { + case IIO_ACCEL: + return inv_icm42607_set_pwr_mgmt0(st, gyro_mode, conf->mode); + case IIO_ANGL_VEL: + return inv_icm42607_set_pwr_mgmt0(st, conf->mode, accel_mode); + default: + return -EINVAL; + } +} + +int inv_icm42607_read_sensor(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + s16 *val) +{ + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42607_sensor_state *sensor_st = iio_priv(indio_dev); + struct device *dev = regmap_get_device(st->map); + unsigned int reg; + __be16 data; + int ret; + + if ((chan->type != IIO_ANGL_VEL) && (chan->type != IIO_ACCEL)) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + if (chan->type == IIO_ANGL_VEL) + reg = INV_ICM42607_REG_GYRO_DATA_X1; + else + reg = INV_ICM42607_REG_ACCEL_DATA_X1; + break; + case IIO_MOD_Y: + if (chan->type == IIO_ANGL_VEL) + reg = INV_ICM42607_REG_GYRO_DATA_Y1; + else + reg = INV_ICM42607_REG_ACCEL_DATA_Y1; + break; + case IIO_MOD_Z: + if (chan->type == IIO_ANGL_VEL) + reg = INV_ICM42607_REG_GYRO_DATA_Z1; + else + reg = INV_ICM42607_REG_ACCEL_DATA_Z1; + break; + default: + return -EINVAL; + } + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + /* enable sensor */ + conf.mode = sensor_st->power_mode; + conf.filter = sensor_st->filter; + ret = inv_icm42607_set_sensor_conf(st, &conf, chan->type); + if (ret) + return ret; + + /* read sensor register data */ + ret = regmap_bulk_read(st->map, reg, &data, sizeof(data)); + if (ret) + return ret; + + *val = be16_to_cpu(data); + if (*val == INV_ICM42607_DATA_INVALID) + return -EINVAL; + + return 0; +} + static int inv_icm42607_set_init_conf(struct inv_icm42607_state *st, const struct inv_icm42607_conf *conf) { @@ -409,6 +630,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, pm_runtime_set_autosuspend_delay(dev, INV_ICM42607_SUSPEND_DELAY_MS); pm_runtime_use_autosuspend(dev); + /* Initialize IIO device for Accel */ + st->indio_accel = inv_icm42607_accel_init(st); + if (IS_ERR(st->indio_accel)) + return PTR_ERR(st->indio_accel); + return 0; } EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607"); -- 2.43.0 From mboxrd@z Thu Jan 1 00:00:00 1970 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org Received: from bombadil.infradead.org (bombadil.infradead.org [198.137.202.133]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.lore.kernel.org (Postfix) with ESMTPS id 99C76C53219 for ; Tue, 28 Jul 2026 22:58:24 +0000 (UTC) DKIM-Signature: v=1; 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charset="us-ascii" Content-Transfer-Encoding: 7bit Sender: "Linux-rockchip" Errors-To: linux-rockchip-bounces+linux-rockchip=archiver.kernel.org@lists.infradead.org From: Chris Morgan Add icm42607 accelerometer sensor for icm42607. Signed-off-by: Chris Morgan --- drivers/iio/imu/inv_icm42607/Makefile | 1 + drivers/iio/imu/inv_icm42607/inv_icm42607.h | 38 +++ .../iio/imu/inv_icm42607/inv_icm42607_accel.c | 308 ++++++++++++++++++ .../iio/imu/inv_icm42607/inv_icm42607_core.c | 232 ++++++++++++- 4 files changed, 576 insertions(+), 3 deletions(-) create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile index be109102e203..372c6d6bdcec 100644 --- a/drivers/iio/imu/inv_icm42607/Makefile +++ b/drivers/iio/imu/inv_icm42607/Makefile @@ -2,6 +2,7 @@ obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o inv-icm42607-y += inv_icm42607_core.o +inv-icm42607-y += inv_icm42607_accel.o obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o inv-icm42607-i2c-y += inv_icm42607_i2c.o diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h index 61927a6c2663..fd3e57ee4f14 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -88,6 +88,17 @@ enum inv_icm42607_filter_bw { INV_ICM42607_FILTER_BW_NB }; +/* Low-Power mode sensor data filter (averaging) */ +enum inv_icm42607_filter_avg { + INV_ICM42607_FILTER_AVG_2X = 0, + INV_ICM42607_FILTER_AVG_4X = 1, + INV_ICM42607_FILTER_AVG_8X = 2, + INV_ICM42607_FILTER_AVG_16X = 3, + INV_ICM42607_FILTER_AVG_32X = 4, + INV_ICM42607_FILTER_AVG_64X = 5, + /* values 6 and 7 also correspond to 64x. */ +}; + /* Temperature sensor data filter (bandwidth) */ enum inv_icm42607_temp_filter_bw { INV_ICM42607_TEMP_FILTER_BYPASS = 0, @@ -107,6 +118,7 @@ struct inv_icm42607_sensor_conf { int odr; int filter; }; +#define INV_ICM42607_SENSOR_CONF_INIT { -1, -1, -1, -1 } struct inv_icm42607_conf { struct inv_icm42607_sensor_conf gyro; @@ -125,6 +137,7 @@ struct inv_icm42607_hw { * @hw: Hardware specific data. * @lock: lock for serializing multiple registers access. * @map: regmap pointer. + * @indio_accel: accelerometer IIO device. * @vddio_supply: I/O voltage regulator for the chip. * @vddio_en: I/O voltage status for runtime PM. * @conf: chip sensors configurations. @@ -134,12 +147,23 @@ struct inv_icm42607_state { const struct inv_icm42607_hw *hw; struct mutex lock; struct regmap *map; + struct iio_dev *indio_accel; struct regulator *vddio_supply; bool vddio_en; struct inv_icm42607_conf conf; struct iio_mount_matrix orientation; }; +/** + * struct inv_icm42607_sensor_state - sensor state variables + * @power_mode: sensor requested power mode (for common frequencies) + * @filter: sensor filter. + */ +struct inv_icm42607_sensor_state { + enum inv_icm42607_sensor_mode power_mode; + int filter; +}; + /* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */ /* Register Map for User Bank 0 */ @@ -368,12 +392,26 @@ extern const struct inv_icm42607_hw inv_icm42607_hw_data; extern const struct inv_icm42607_hw inv_icm42607p_hw_data; extern const struct dev_pm_ops inv_icm42607_pm_ops; +const struct iio_mount_matrix * +inv_icm42607_get_mount_matrix(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan); + int inv_icm42607_get_pwr_mgmt0(struct inv_icm42607_state *st, enum inv_icm42607_sensor_mode *gyro, enum inv_icm42607_sensor_mode *accel); +int inv_icm42607_set_sensor_conf(struct inv_icm42607_state *st, + struct inv_icm42607_sensor_conf *conf, + enum iio_chan_type chan_type); + +int inv_icm42607_read_sensor(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + s16 *val); + int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw, inv_icm42607_bus_setup bus_setup); +struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st); + #endif diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file mode 100644 index 000000000000..f563c7708420 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c @@ -0,0 +1,308 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "inv_icm42607.h" + +#define INV_ICM42607_ACCEL_CHAN(_modifier, _index, _ext_info) \ +{ \ + .type = IIO_ACCEL, \ + .modified = 1, \ + .channel2 = _modifier, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_type_available = BIT(IIO_CHAN_INFO_SCALE), \ + .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_icm42607_accel_scan { + INV_ICM42607_ACCEL_SCAN_X, + INV_ICM42607_ACCEL_SCAN_Y, + INV_ICM42607_ACCEL_SCAN_Z, +}; + +static const struct iio_chan_spec_ext_info inv_icm42607_accel_ext_infos[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix), + { } +}; + +static const struct iio_chan_spec inv_icm42607_accel_channels[] = { + INV_ICM42607_ACCEL_CHAN(IIO_MOD_X, INV_ICM42607_ACCEL_SCAN_X, + inv_icm42607_accel_ext_infos), + INV_ICM42607_ACCEL_CHAN(IIO_MOD_Y, INV_ICM42607_ACCEL_SCAN_Y, + inv_icm42607_accel_ext_infos), + INV_ICM42607_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42607_ACCEL_SCAN_Z, + inv_icm42607_accel_ext_infos), +}; + +static const int inv_icm42607_accel_scale_nano[][2] = { + [INV_ICM42607_ACCEL_FS_16G] = { 0, 4788403 }, + [INV_ICM42607_ACCEL_FS_8G] = { 0, 2394202 }, + [INV_ICM42607_ACCEL_FS_4G] = { 0, 1197101 }, + [INV_ICM42607_ACCEL_FS_2G] = { 0, 598550 }, +}; + +static int inv_icm42607_accel_read_scale(struct iio_dev *indio_dev, + int *val, int *val2) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + unsigned int idx; + + guard(mutex)(&st->lock); + + idx = st->conf.accel.fs; + + *val = inv_icm42607_accel_scale_nano[idx][0]; + *val2 = inv_icm42607_accel_scale_nano[idx][1]; + return IIO_VAL_INT_PLUS_NANO; +} + +static int inv_icm42607_accel_write_scale(struct iio_dev *indio_dev, + int val, int val2) +{ + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + size_t scales_len = ARRAY_SIZE(inv_icm42607_accel_scale_nano); + struct device *dev = regmap_get_device(st->map); + unsigned int idx; + int ret; + + for (idx = 0; idx < scales_len; idx++) { + if (val == inv_icm42607_accel_scale_nano[idx][0] && + val2 == inv_icm42607_accel_scale_nano[idx][1]) + break; + } + if (idx == scales_len) + return -EINVAL; + + conf.fs = idx; + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_sensor_conf(st, &conf, IIO_ACCEL); +} + +/* IIO format int + micro , values 0-4 reserved. */ +static const int inv_icm42607_accel_odr[][2] = { + [INV_ICM42607_ODR_1600HZ] = { 1600, 0 }, + [INV_ICM42607_ODR_800HZ] = { 800, 0 }, + [INV_ICM42607_ODR_400HZ] = { 400, 0 }, + [INV_ICM42607_ODR_200HZ] = { 200, 0 }, + [INV_ICM42607_ODR_100HZ] = { 100, 0 }, + [INV_ICM42607_ODR_50HZ] = { 50, 0 }, + [INV_ICM42607_ODR_25HZ] = { 25, 0 }, + [INV_ICM42607_ODR_12_5HZ] = { 12, 500000 }, + [INV_ICM42607_ODR_6_25HZ_LP] = { 6, 250000 }, + [INV_ICM42607_ODR_3_125HZ_LP] = { 3, 125000 }, + [INV_ICM42607_ODR_1_5625HZ_LP] = { 1, 562500 }, +}; + +static int inv_icm42607_accel_read_odr(struct inv_icm42607_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + guard(mutex)(&st->lock); + + odr = st->conf.accel.odr; + + for (i = INV_ICM42607_ODR_1600HZ; i < ARRAY_SIZE(inv_icm42607_accel_odr); i++) { + if (i == odr) + break; + } + if (i == ARRAY_SIZE(inv_icm42607_accel_odr)) + return -EINVAL; + + *val = inv_icm42607_accel_odr[i][0]; + *val2 = inv_icm42607_accel_odr[i][1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int inv_icm42607_accel_write_odr(struct iio_dev *indio_dev, + int val, int val2) +{ + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + struct device *dev = regmap_get_device(st->map); + unsigned int idx; + int ret; + + for (idx = INV_ICM42607_ODR_1600HZ; + idx < ARRAY_SIZE(inv_icm42607_accel_odr); idx++) { + if (val == inv_icm42607_accel_odr[idx][0] && + val2 == inv_icm42607_accel_odr[idx][1]) + break; + } + if (idx == ARRAY_SIZE(inv_icm42607_accel_odr)) + return -EINVAL; + + conf.odr = idx; + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_sensor_conf(st, &conf, IIO_ACCEL); +} + +static int inv_icm42607_accel_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + s16 data; + int ret; + + switch (chan->type) { + case IIO_ACCEL: + break; + default: + return -EINVAL; + } + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = inv_icm42607_read_sensor(indio_dev, chan, &data); + if (ret) + return ret; + *val = data; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + return inv_icm42607_accel_read_scale(indio_dev, val, val2); + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm42607_accel_read_odr(st, val, val2); + default: + return -EINVAL; + } +} + +static int inv_icm42607_accel_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, + int *type, int *length, long mask) +{ + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ACCEL) + return -EINVAL; + *vals = (const int *)inv_icm42607_accel_scale_nano; + *type = IIO_VAL_INT_PLUS_NANO; + *length = ARRAY_SIZE(inv_icm42607_accel_scale_nano) * 2; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *vals = (const int *)inv_icm42607_accel_odr[INV_ICM42607_ODR_1600HZ]; + *type = IIO_VAL_INT_PLUS_MICRO; + *length = (ARRAY_SIZE(inv_icm42607_accel_odr) - + INV_ICM42607_ODR_1600HZ) * 2; + return IIO_AVAIL_LIST; + default: + return -EINVAL; + } +} + +static int inv_icm42607_accel_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + int ret; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ACCEL) + return -EINVAL; + ret = inv_icm42607_accel_write_scale(indio_dev, val, val2); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm42607_accel_write_odr(indio_dev, val, val2); + default: + return -EINVAL; + } +} + +static int inv_icm42607_accel_write_raw_get_fmt(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + long mask) +{ + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ACCEL) + return -EINVAL; + return IIO_VAL_INT_PLUS_NANO; + case IIO_CHAN_INFO_SAMP_FREQ: + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static const struct iio_info inv_icm42607_accel_info = { + .read_raw = inv_icm42607_accel_read_raw, + .read_avail = inv_icm42607_accel_read_avail, + .write_raw = inv_icm42607_accel_write_raw, + .write_raw_get_fmt = inv_icm42607_accel_write_raw_get_fmt, +}; + +struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st) +{ + struct device *dev = regmap_get_device(st->map); + struct inv_icm42607_sensor_state *accel_st; + struct iio_dev *indio_dev; + const char *name; + int ret; + + name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->hw->name); + if (!name) + return ERR_PTR(-ENOMEM); + + indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st)); + if (!indio_dev) + return ERR_PTR(-ENOMEM); + + accel_st = iio_priv(indio_dev); + accel_st->power_mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE; + accel_st->filter = INV_ICM42607_FILTER_BW_73HZ; + + indio_dev->name = name; + indio_dev->info = &inv_icm42607_accel_info; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->channels = inv_icm42607_accel_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_accel_channels); + iio_device_set_drvdata(indio_dev, st); + + ret = devm_iio_device_register(dev, indio_dev); + if (ret) + return ERR_PTR(ret); + + return indio_dev; +} diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index af301bde3f17..68e84597241a 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -19,6 +19,8 @@ #include #include +#include + #include "inv_icm42607.h" static bool inv_icm42607_is_readable_reg(struct device *dev, unsigned int reg) @@ -104,6 +106,49 @@ const struct inv_icm42607_hw inv_icm42607p_hw_data = { }; EXPORT_SYMBOL_NS_GPL(inv_icm42607p_hw_data, "IIO_ICM42607"); +const struct iio_mount_matrix * +inv_icm42607_get_mount_matrix(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan) +{ + const struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + + return &st->orientation; +} + +static u32 inv_icm42607_odr_to_period_us(enum inv_icm42607_odr odr) +{ + static const u32 odr_periods[INV_ICM42607_ODR_NB] = { + /* Reserved values */ + 0, 0, 0, 0, 0, + /* 1600Hz */ + 625, + /* 800Hz */ + 1250, + /* 400Hz */ + 2500, + /* 200Hz */ + 5000, + /* 100 Hz */ + 10000, + /* 50Hz */ + 20000, + /* 25Hz */ + 40000, + /* 12.5Hz */ + 80000, + /* 6.25Hz */ + 160000, + /* 3.125Hz */ + 320000, + /* 1.5625Hz */ + 640000, + }; + + odr = clamp(odr, INV_ICM42607_ODR_1600HZ, INV_ICM42607_ODR_1_5625HZ_LP); + + return odr_periods[odr]; +} + int inv_icm42607_get_pwr_mgmt0(struct inv_icm42607_state *st, enum inv_icm42607_sensor_mode *gyro, enum inv_icm42607_sensor_mode *accel) @@ -126,7 +171,7 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, enum inv_icm42607_sensor_mode accel) { enum inv_icm42607_sensor_mode oldaccel, oldgyro; - unsigned int sleepval_us; + unsigned int sleepval_us, odr_us; unsigned int val; s64 disable_wait; int ret; @@ -163,22 +208,30 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, * If a state change occurs from off to on, sleep for the startup time * of the sensor. Since more than one sensor can be transitioned from * off to on, select the maximum time from each of the sensors changing - * from off to on. The startup time for the temp sensor is considerably + * from off to on. Also account for the time it takes for the first + * sample to be ready by looking up the odr value and adding it to the + * sleep time. The startup time for the temp sensor is considerably * smaller than the startup time for the other sensors and one or more * are required to be on for the temp sensor to function, so any start * delay should be enough. */ sleepval_us = 0; - if (accel && !oldaccel) + odr_us = 0; + if (accel && !oldaccel) { sleepval_us = max(sleepval_us, INV_ICM42607_ACCEL_STARTUP_TIME_US); + odr_us = max(odr_us, inv_icm42607_odr_to_period_us(st->conf.accel.odr)); + } if (gyro && !oldgyro) { sleepval_us = max(sleepval_us, INV_ICM42607_GYRO_STARTUP_TIME_US); + odr_us = max(odr_us, inv_icm42607_odr_to_period_us(st->conf.gyro.odr)); /* Track the earliest we can turn off the gyroscope. */ st->conf.gyro_stop = ktime_add_us(ktime_get(), INV_ICM42607_GYRO_STOP_TIME_US); } + sleepval_us += odr_us; + /* * Only sleep if sleepval_us is greater than 0 in case some platforms * have issues with a 0 delay. The 0 delay can happen if one or both @@ -190,6 +243,174 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, return 0; } +/* + * Sanity test between old and new config values, and note if we need + * to update register config0 or config1. + */ +static void inv_icm42607_update_config(struct inv_icm42607_sensor_conf *conf, + struct inv_icm42607_sensor_conf *oldconf, + bool *config0, bool *config1) +{ + if (conf->mode < 0) + conf->mode = oldconf->mode; + if (conf->fs < 0) + conf->fs = oldconf->fs; + if (conf->odr < 0) + conf->odr = oldconf->odr; + if (conf->filter < 0) + conf->filter = oldconf->filter; + + *config0 = (conf->fs != oldconf->fs) || (conf->odr != oldconf->odr); + + *config1 = (conf->filter != oldconf->filter); +} + +int inv_icm42607_set_sensor_conf(struct inv_icm42607_state *st, + struct inv_icm42607_sensor_conf *conf, + enum iio_chan_type chan_type) +{ + enum inv_icm42607_sensor_mode accel_mode, gyro_mode; + struct inv_icm42607_sensor_conf *oldconf; + bool config0, config1; + unsigned int val; + int ret; + + switch (chan_type) { + case IIO_ACCEL: + oldconf = &st->conf.accel; + break; + case IIO_ANGL_VEL: + oldconf = &st->conf.gyro; + break; + default: + return -EINVAL; + } + + /* + * Since we are only making one-shot calls today, we can avoid needless + * on/off cycles if we rely on the runtime power management to handle + * shutting off the sensors when not in use. The downside is if we + * enable both sensors then only read from one, we have to wait for + * runtime PM to turn it off. So just keep the mode of the sensor we + * are not actively using to whatever it's already set as. + */ + ret = inv_icm42607_get_pwr_mgmt0(st, &gyro_mode, &accel_mode); + if (ret) + return ret; + + inv_icm42607_update_config(conf, oldconf, &config0, &config1); + + if (config0) { + if (chan_type == IIO_ANGL_VEL) { + val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK, conf->fs); + val |= FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_ODR_MASK, conf->odr); + ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val); + } else { + val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK, conf->fs); + val |= FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_ODR_MASK, conf->odr); + ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val); + } + if (ret) + return ret; + + oldconf->fs = conf->fs; + oldconf->odr = conf->odr; + } + + if (config1) { + if (chan_type == IIO_ANGL_VEL) { + val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, + conf->filter); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_GYRO_CONFIG1, + INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, val); + } else { + val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK, + conf->filter); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_ACCEL_CONFIG1, + INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK, val); + } + if (ret) + return ret; + + oldconf->filter = conf->filter; + } + + oldconf->mode = conf->mode; + + switch (chan_type) { + case IIO_ACCEL: + return inv_icm42607_set_pwr_mgmt0(st, gyro_mode, conf->mode); + case IIO_ANGL_VEL: + return inv_icm42607_set_pwr_mgmt0(st, conf->mode, accel_mode); + default: + return -EINVAL; + } +} + +int inv_icm42607_read_sensor(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + s16 *val) +{ + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42607_sensor_state *sensor_st = iio_priv(indio_dev); + struct device *dev = regmap_get_device(st->map); + unsigned int reg; + __be16 data; + int ret; + + if ((chan->type != IIO_ANGL_VEL) && (chan->type != IIO_ACCEL)) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + if (chan->type == IIO_ANGL_VEL) + reg = INV_ICM42607_REG_GYRO_DATA_X1; + else + reg = INV_ICM42607_REG_ACCEL_DATA_X1; + break; + case IIO_MOD_Y: + if (chan->type == IIO_ANGL_VEL) + reg = INV_ICM42607_REG_GYRO_DATA_Y1; + else + reg = INV_ICM42607_REG_ACCEL_DATA_Y1; + break; + case IIO_MOD_Z: + if (chan->type == IIO_ANGL_VEL) + reg = INV_ICM42607_REG_GYRO_DATA_Z1; + else + reg = INV_ICM42607_REG_ACCEL_DATA_Z1; + break; + default: + return -EINVAL; + } + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + /* enable sensor */ + conf.mode = sensor_st->power_mode; + conf.filter = sensor_st->filter; + ret = inv_icm42607_set_sensor_conf(st, &conf, chan->type); + if (ret) + return ret; + + /* read sensor register data */ + ret = regmap_bulk_read(st->map, reg, &data, sizeof(data)); + if (ret) + return ret; + + *val = be16_to_cpu(data); + if (*val == INV_ICM42607_DATA_INVALID) + return -EINVAL; + + return 0; +} + static int inv_icm42607_set_init_conf(struct inv_icm42607_state *st, const struct inv_icm42607_conf *conf) { @@ -409,6 +630,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, pm_runtime_set_autosuspend_delay(dev, INV_ICM42607_SUSPEND_DELAY_MS); pm_runtime_use_autosuspend(dev); + /* Initialize IIO device for Accel */ + st->indio_accel = inv_icm42607_accel_init(st); + if (IS_ERR(st->indio_accel)) + return PTR_ERR(st->indio_accel); + return 0; } EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607"); -- 2.43.0 _______________________________________________ Linux-rockchip mailing list Linux-rockchip@lists.infradead.org http://lists.infradead.org/mailman/listinfo/linux-rockchip