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Tue, 12 May 2026 15:19:10 -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 V6 08/11] iio: imu: inv_icm42607: Add Accelerometer for icm42607 Date: Tue, 12 May 2026 17:16:29 -0500 Message-ID: <20260512221634.256747-9-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260512221634.256747-1-macroalpha82@gmail.com> References: <20260512221634.256747-1-macroalpha82@gmail.com> Precedence: bulk X-Mailing-List: devicetree@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 | 27 + .../iio/imu/inv_icm42607/inv_icm42607_accel.c | 575 ++++++++++++++++++ .../imu/inv_icm42607/inv_icm42607_buffer.c | 63 +- .../imu/inv_icm42607/inv_icm42607_buffer.h | 4 +- .../iio/imu/inv_icm42607/inv_icm42607_core.c | 72 +++ 6 files changed, 738 insertions(+), 4 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 ccb8e007cdeb..e908d77c4219 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 inv-icm42607-y += inv_icm42607_buffer.o inv-icm42607-y += inv_icm42607_temp.o diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h index 4e053281dc55..095f4a495e3f 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -82,6 +82,17 @@ enum inv_icm42607_filter_bw { INV_ICM42607_FILTER_BW_16HZ }; +enum inv_icm42607_filter_avg { + /* Low-Power mode sensor data filter (averaging) */ + INV_ICM42607_FILTER_AVG_2X = 0, + INV_ICM42607_FILTER_AVG_4X, + INV_ICM42607_FILTER_AVG_8X, + INV_ICM42607_FILTER_AVG_16X, + INV_ICM42607_FILTER_AVG_32X, + INV_ICM42607_FILTER_AVG_64X + /* values 7 and 8 also correspond to 64x. */ +}; + struct inv_icm42607_sensor_conf { int mode; int fs; @@ -121,6 +132,7 @@ struct inv_icm42607_suspended { * @suspended: suspended sensors configuration. * @indio_gyro: gyroscope IIO device. * @indio_accel: accelerometer IIO device. + * @timestamp: interrupt timestamps. * @fifo: FIFO management structure. * @buffer: data transfer buffer aligned for DMA. */ @@ -136,6 +148,9 @@ struct inv_icm42607_state { struct inv_icm42607_suspended suspended; struct iio_dev *indio_gyro; struct iio_dev *indio_accel; + struct { + s64 accel; + } timestamp; struct inv_icm42607_fifo fifo; __be16 buffer[3] __aligned(IIO_DMA_MINALIGN); }; @@ -377,12 +392,24 @@ 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); + u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr); +int inv_icm42607_set_accel_conf(struct inv_icm42607_state *st, + struct inv_icm42607_sensor_conf *conf, + unsigned int *sleep_ms); + int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable, unsigned int *sleep_ms); 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); + +int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev); + #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..06f2126af22a --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c @@ -0,0 +1,575 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include "inv_icm42607.h" +#include "inv_icm42607_temp.h" +#include "inv_icm42607_buffer.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, \ +} + +#define INV_ICM42607_ACCEL_EVENT_CHAN(_modifier, _events, _events_nb) \ + { \ + .type = IIO_ACCEL, \ + .modified = 1, \ + .channel2 = _modifier, \ + .event_spec = _events, \ + .num_event_specs = _events_nb, \ + .scan_index = -1, \ + } + +enum inv_icm42607_accel_scan { + INV_ICM42607_ACCEL_SCAN_X, + INV_ICM42607_ACCEL_SCAN_Y, + INV_ICM42607_ACCEL_SCAN_Z, + INV_ICM42607_ACCEL_SCAN_TEMP, + INV_ICM42607_ACCEL_SCAN_TIMESTAMP, +}; + +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), + INV_ICM42607_TEMP_CHAN(INV_ICM42607_ACCEL_SCAN_TEMP), + IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42607_ACCEL_SCAN_TIMESTAMP), +}; + +static const struct iio_event_spec inv_icm42607_motion_events[] = { + { + .type = IIO_EV_TYPE_THRESH, + .dir = IIO_EV_DIR_EITHER, + .mask_separate = BIT(IIO_EV_INFO_ENABLE) | BIT(IIO_EV_INFO_VALUE), + }, +}; + +struct inv_icm42607_accel_buffer { + struct inv_icm42607_fifo_sensor_data accel; + s16 temp; + aligned_s64 timestamp; +}; + +#define INV_ICM42607_SCAN_MASK_ACCEL_3AXIS \ + (BIT(INV_ICM42607_ACCEL_SCAN_X) | \ + BIT(INV_ICM42607_ACCEL_SCAN_Y) | \ + BIT(INV_ICM42607_ACCEL_SCAN_Z)) + +#define INV_ICM42607_SCAN_MASK_TEMP BIT(INV_ICM42607_ACCEL_SCAN_TEMP) + +static const unsigned long inv_icm42607_accel_scan_masks[] = { + INV_ICM42607_SCAN_MASK_ACCEL_3AXIS, + INV_ICM42607_SCAN_MASK_TEMP, + INV_ICM42607_SCAN_MASK_ACCEL_3AXIS | INV_ICM42607_SCAN_MASK_TEMP, + 0 +}; + +/* enable accelerometer sensor and FIFO write */ +static int inv_icm42607_accel_update_scan_mode(struct iio_dev *indio_dev, + const unsigned long *scan_mask) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev); + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + unsigned int fifo_en = 0; + unsigned int sleep_temp = 0; + unsigned int sleep_accel = 0; + int ret; + + mutex_lock(&st->lock); + + if (*scan_mask & INV_ICM42607_SCAN_MASK_TEMP) { + /* enable temp sensor */ + ret = inv_icm42607_set_temp_conf(st, true, &sleep_temp); + if (ret) + goto out_unlock; + fifo_en |= INV_ICM42607_SENSOR_TEMP; + } + + if (*scan_mask & INV_ICM42607_SCAN_MASK_ACCEL_3AXIS) { + /* enable accel sensor */ + conf.mode = accel_st->power_mode; + conf.filter = accel_st->filter; + ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_accel); + if (ret) + goto out_unlock; + fifo_en |= INV_ICM42607_SENSOR_ACCEL; + } + + /* update data FIFO write */ + ret = inv_icm42607_buffer_set_fifo_en(st, fifo_en | st->fifo.en); + +out_unlock: + mutex_unlock(&st->lock); + /* + * Choose the highest enable-delay time of the two sensors being + * enabled, and sleep for that amount of time. + */ + msleep(max(sleep_accel, sleep_temp)); + + return ret; +} + +static int inv_icm42607_accel_read_sensor(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + s16 *val) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev); + struct device *dev = regmap_get_device(st->map); + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + unsigned int reg; + __be16 *data; + int ret; + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg = INV_ICM42607_REG_ACCEL_DATA_X1; + break; + case IIO_MOD_Y: + reg = INV_ICM42607_REG_ACCEL_DATA_Y1; + break; + case IIO_MOD_Z: + reg = INV_ICM42607_REG_ACCEL_DATA_Z1; + break; + default: + return -EINVAL; + } + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + if (PM_RUNTIME_ACQUIRE_ERR(&pm)) + return -ENXIO; + + guard(mutex)(&st->lock); + + /* enable accel sensor */ + conf.mode = accel_st->power_mode; + conf.filter = accel_st->filter; + ret = inv_icm42607_set_accel_conf(st, &conf, NULL); + if (ret) + return ret; + + /* read accel register data */ + data = &st->buffer[0]; + ret = regmap_bulk_read(st->map, reg, data, sizeof(*data)); + if (ret) + return ret; + + *val = be16_to_cpup(data); + if (*val == INV_ICM42607_DATA_INVALID) + return -EINVAL; + + return 0; +} + +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; + + 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; + + 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); + if (PM_RUNTIME_ACQUIRE_ERR(&pm)) + return -ENXIO; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_accel_conf(st, &conf, NULL); +} + +/* IIO format int + micro , values 0-5 reserved. */ +static const int inv_icm42607_accel_odr[][2] = { + [INV_ICM42607_ODR_1_5625HZ_LP] = { 1, 562500 }, + [INV_ICM42607_ODR_3_125HZ_LP] = { 3, 125000 }, + [INV_ICM42607_ODR_6_25HZ_LP] = { 6, 250000 }, + [INV_ICM42607_ODR_12_5HZ] = { 12, 500000 }, + [INV_ICM42607_ODR_25HZ] = { 25, 0 }, + [INV_ICM42607_ODR_50HZ] = { 50, 0 }, + [INV_ICM42607_ODR_100HZ] = { 100, 0 }, + [INV_ICM42607_ODR_200HZ] = { 200, 0 }, + [INV_ICM42607_ODR_400HZ] = { 400, 0 }, + [INV_ICM42607_ODR_800HZ] = { 800, 0 }, + [INV_ICM42607_ODR_1600HZ] = { 1600, 0 } +}; + +static int inv_icm42607_accel_read_odr(struct inv_icm42607_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + odr = st->conf.accel.odr; + + for (i = 5; 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_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &accel_st->ts; + struct device *dev = regmap_get_device(st->map); + unsigned int idx; + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + int ret; + + for (idx = 5; 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); + if (PM_RUNTIME_ACQUIRE_ERR(&pm)) + return -ENXIO; + + guard(mutex)(&st->lock); + + ret = inv_sensors_timestamp_update_odr(ts, inv_icm42607_odr_to_period(conf.odr), + iio_buffer_enabled(indio_dev)); + if (ret) + return ret; + + ret = inv_icm42607_set_accel_conf(st, &conf, NULL); + if (ret) + return ret; + + inv_icm42607_buffer_update_fifo_period(st); + inv_icm42607_buffer_update_watermark(st); + + return 0; +} + +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; + case IIO_TEMP: + return inv_icm42607_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_icm42607_accel_read_sensor(indio_dev, chan, &data); + iio_device_release_direct(indio_dev); + 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) +{ + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + *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; + *type = IIO_VAL_INT_PLUS_MICRO; + *length = ARRAY_SIZE(inv_icm42607_accel_odr) * 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; + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret = inv_icm42607_accel_write_scale(indio_dev, val, val2); + iio_device_release_direct(indio_dev); + 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) +{ + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + return IIO_VAL_INT_PLUS_NANO; + case IIO_CHAN_INFO_SAMP_FREQ: + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static int inv_icm42607_accel_hwfifo_set_watermark(struct iio_dev *indio_dev, + unsigned int val) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + + guard(mutex)(&st->lock); + + st->fifo.watermark.accel = val; + return inv_icm42607_buffer_update_watermark(st); +} + +static int inv_icm42607_accel_hwfifo_flush(struct iio_dev *indio_dev, + unsigned int count) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + int ret; + + if (count == 0) + return 0; + + /* Make sure we don't try to count more than the buffer can hold. */ + count = min(count, sizeof(st->fifo.data)); + + guard(mutex)(&st->lock); + + ret = inv_icm42607_buffer_hwfifo_flush(st, count); + if (ret) + return ret; + + return st->fifo.nb.accel; +} + +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, + .update_scan_mode = inv_icm42607_accel_update_scan_mode, + .hwfifo_set_watermark = inv_icm42607_accel_hwfifo_set_watermark, + .hwfifo_flush_to_buffer = inv_icm42607_accel_hwfifo_flush, +}; + +struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st) +{ + struct device *dev = regmap_get_device(st->map); + const char *name; + struct inv_icm42607_sensor_state *accel_st; + struct inv_sensors_timestamp_chip ts_chip; + struct iio_dev *indio_dev; + 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_AVG_16X; + + /* + * 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_icm42607_odr_to_period(st->conf.accel.odr); + inv_sensors_timestamp_init(&accel_st->ts, &ts_chip); + + iio_device_set_drvdata(indio_dev, st); + 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); + indio_dev->available_scan_masks = inv_icm42607_accel_scan_masks; + + ret = devm_iio_kfifo_buffer_setup(dev, indio_dev, + &inv_icm42607_buffer_ops); + if (ret) + return ERR_PTR(ret); + + /* accel events are wakeup capable */ + ret = devm_device_init_wakeup(&indio_dev->dev); + 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_icm42607_accel_parse_fifo(struct iio_dev *indio_dev) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &accel_st->ts; + ssize_t i, size; + unsigned int no; + const void *accel, *gyro, *timestamp; + const int8_t *temp; + unsigned int odr; + int64_t ts_val; + struct inv_icm42607_accel_buffer buffer = { }; + + /* parse all fifo packets */ + for (i = 0, no = 0; i < st->fifo.count && i + size > st->fifo.count; + i += size, ++no) { + size = inv_icm42607_fifo_decode_packet(&st->fifo.data[i], + &accel, &gyro, &temp, ×tamp, &odr); + /* quit if error or FIFO is empty */ + if (size <= 0) + return size; + + /* skip packet if no accel data or data is invalid */ + if (accel == NULL || !inv_icm42607_fifo_is_data_valid(accel)) + continue; + + /* update odr */ + if (odr & INV_ICM42607_SENSOR_ACCEL) + inv_sensors_timestamp_apply_odr(ts, st->fifo.period, + st->fifo.nb.total, no); + + memcpy(&buffer.accel, accel, sizeof(buffer.accel)); + /* 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; +} diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c index 0919b4241241..42a3211a1dfb 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c @@ -40,7 +40,7 @@ struct inv_icm42607_fifo_2sensors_packet { ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel, const void **gyro, const int8_t **temp, - const void **timestamp) + const void **timestamp, unsigned int *odr) { const struct inv_icm42607_fifo_1sensor_packet *pack1 = packet; const struct inv_icm42607_fifo_2sensors_packet *pack2 = packet; @@ -52,9 +52,17 @@ ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel, *gyro = NULL; *temp = NULL; *timestamp = NULL; + *odr = 0; return 0; } + /* handle odr flags */ + *odr = 0; + if (header & INV_ICM42607_FIFO_HEADER_ODR_GYRO) + *odr |= INV_ICM42607_SENSOR_GYRO; + if (header & INV_ICM42607_FIFO_HEADER_ODR_ACCEL) + *odr |= INV_ICM42607_SENSOR_ACCEL; + /* accel + gyro */ if ((header & INV_ICM42607_FIFO_HEADER_ACCEL) && (header & INV_ICM42607_FIFO_HEADER_GYRO)) { @@ -348,6 +356,7 @@ static int inv_icm42607_buffer_postdisable(struct iio_dev *indio_dev) struct device *dev = regmap_get_device(st->map); unsigned int sensor; unsigned int *watermark; + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; unsigned int sleep_temp = 0; unsigned int sleep_sensor = 0; unsigned int sleep; @@ -374,6 +383,16 @@ static int inv_icm42607_buffer_postdisable(struct iio_dev *indio_dev) if (ret) goto out_unlock; + conf.mode = INV_ICM42607_SENSOR_MODE_OFF; + if (sensor != INV_ICM42607_SENSOR_GYRO) + ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_sensor); + if (ret) + goto out_unlock; + + /* if FIFO is off, turn temperature off */ + if (!st->fifo.on) + ret = inv_icm42607_set_temp_conf(st, false, &sleep_temp); + out_unlock: mutex_unlock(&st->lock); @@ -399,6 +418,7 @@ int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st, { const void *accel, *gyro, *timestamp; size_t i, max_count; + unsigned int odr; const s8 *temp; ssize_t size; int ret; @@ -440,7 +460,7 @@ int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st, /* compute number of samples for each sensor */ for (i = 0; i < st->fifo.count && i + size > st->fifo.count; i += size) { size = inv_icm42607_fifo_decode_packet(&st->fifo.data[i], - &accel, &gyro, &temp, ×tamp); + &accel, &gyro, &temp, ×tamp, &odr); if (size <= 0) break; if (gyro != NULL && inv_icm42607_fifo_is_data_valid(gyro)) @@ -453,9 +473,33 @@ int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st, return 0; } +int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st) +{ + struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel); + struct inv_sensors_timestamp *ts; + int ret; + + if (st->fifo.nb.total == 0) + return 0; + + /* handle accelerometer timestamp and FIFO data parsing */ + if (st->fifo.nb.accel > 0) { + ts = &accel_st->ts; + inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_accel, + st->timestamp.accel); + ret = inv_icm42607_accel_parse_fifo(st->indio_accel); + if (ret) + return ret; + } + + return 0; +} + int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st, unsigned int count) { + struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel); + struct inv_sensors_timestamp *ts; s64 gyro_ts, accel_ts; int ret; @@ -463,8 +507,21 @@ int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st, accel_ts = iio_get_time_ns(st->indio_accel); ret = inv_icm42607_buffer_fifo_read(st, count); + if (ret) + return ret; - return ret; + if (st->fifo.nb.total == 0) + return 0; + + if (st->fifo.nb.accel > 0) { + ts = &accel_st->ts; + inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts); + ret = inv_icm42607_accel_parse_fifo(st->indio_accel); + if (ret) + return ret; + } + + return 0; } int inv_icm42607_buffer_init(struct inv_icm42607_state *st) diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h index b77deb66f8bd..4160076bbf77 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h @@ -71,7 +71,7 @@ inv_icm42607_fifo_is_data_valid(const struct inv_icm42607_fifo_sensor_data *s) ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel, const void **gyro, const s8 **temp, - const void **timestamp); + const void **timestamp, unsigned int *odr); extern const struct iio_buffer_setup_ops inv_icm42607_buffer_ops; @@ -87,6 +87,8 @@ int inv_icm42607_buffer_update_watermark(struct inv_icm42607_state *st); int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st, unsigned int max); +int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st); + int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st, unsigned int count); diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index 9b10722af3ae..56ce9a51cb9c 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -74,6 +74,15 @@ 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; +} + u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr) { static const u32 odr_periods[INV_ICM42607_ODR_NB] = { @@ -164,6 +173,53 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, return 0; } +int inv_icm42607_set_accel_conf(struct inv_icm42607_state *st, + struct inv_icm42607_sensor_conf *conf, + unsigned int *sleep_ms) +{ + struct inv_icm42607_sensor_conf *oldconf = &st->conf.accel; + unsigned int val; + int ret; + + 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; + + if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) { + 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 (conf->filter != oldconf->filter) { + if (conf->mode == INV_ICM42607_SENSOR_MODE_LOW_POWER) { + val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_AVG_MASK, conf->filter); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_ACCEL_CONFIG1, + INV_ICM42607_ACCEL_CONFIG1_AVG_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; + } + + return inv_icm42607_set_pwr_mgmt0(st, st->conf.gyro.mode, conf->mode, + st->conf.temp_en, sleep_ms); +} + int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable, unsigned int *sleep_ms) { @@ -385,6 +441,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw 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"); @@ -400,6 +461,8 @@ static int inv_icm42607_suspend(struct device *dev) guard(mutex)(&st->lock); + st->suspended.accel = st->conf.accel.mode; + st->suspended.temp = st->conf.temp_en; if (pm_runtime_suspended(dev)) return 0; @@ -427,6 +490,7 @@ static int inv_icm42607_suspend(struct device *dev) static int inv_icm42607_resume(struct device *dev) { struct inv_icm42607_state *st = dev_get_drvdata(dev); + struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel); int ret; guard(mutex)(&st->lock); @@ -438,7 +502,15 @@ static int inv_icm42607_resume(struct device *dev) if (ret) return ret; + /* restore sensors state, noting gyro still not yet supported. */ + ret = inv_icm42607_set_pwr_mgmt0(st, INV_ICM42607_SENSOR_MODE_OFF, + st->suspended.accel, + st->suspended.temp, NULL); + if (ret) + return ret; + if (st->fifo.on) { + inv_sensors_timestamp_reset(&accel_st->ts); ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1, INV_ICM42607_FIFO_CONFIG1_MODE); if (ret) -- 2.43.0