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Mon, 30 Mar 2026 13:01:12 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0::54]) by smtp.gmail.com with ESMTPSA id 46e09a7af769-7da0a336353sm6601068a34.2.2026.03.30.13.01.11 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Mon, 30 Mar 2026 13:01:12 -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 V3 8/9] iio: imu: inv_icm42607: Add Gyroscope to icm42607 Date: Mon, 30 Mar 2026 14:58:52 -0500 Message-ID: <20260330195853.392877-9-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260330195853.392877-1-macroalpha82@gmail.com> References: <20260330195853.392877-1-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 gyroscope functions to the icm42607 driver. Signed-off-by: Chris Morgan --- drivers/iio/imu/inv_icm42607/Makefile | 1 + drivers/iio/imu/inv_icm42607/inv_icm42607.h | 8 + .../imu/inv_icm42607/inv_icm42607_buffer.c | 25 +- .../iio/imu/inv_icm42607/inv_icm42607_core.c | 45 ++ .../iio/imu/inv_icm42607/inv_icm42607_gyro.c | 579 ++++++++++++++++++ 5 files changed, 657 insertions(+), 1 deletion(-) create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile index e908d77c4219..fc66e580fe99 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_gyro.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 f5f1b5fea183..76388ffb88e3 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -441,6 +441,10 @@ 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_gyro_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); @@ -453,6 +457,10 @@ int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg, int inv_icm42607_core_probe(struct regmap *regmap, int chip, inv_icm42607_bus_setup bus_setup); +struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st); + +int inv_icm42607_gyro_parse_fifo(struct iio_dev *indio_dev); + struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st); int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev); diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c index b086068e56ce..92cf7ffe5077 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c @@ -384,7 +384,10 @@ static int inv_icm42607_buffer_postdisable(struct iio_dev *indio_dev) goto out_unlock; conf.mode = INV_ICM42607_SENSOR_MODE_OFF; - ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_sensor); + if (sensor == INV_ICM42607_SENSOR_GYRO) + ret = inv_icm42607_set_gyro_conf(st, &conf, &sleep_sensor); + else + ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_sensor); if (ret) goto out_unlock; @@ -473,6 +476,7 @@ int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st, int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st) { + struct inv_icm42607_sensor_state *gyro_st = iio_priv(st->indio_gyro); struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel); struct inv_sensors_timestamp *ts; int ret; @@ -480,6 +484,16 @@ int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st) if (st->fifo.nb.total == 0) return 0; + /* handle gyroscope timestamp and FIFO data parsing */ + if (st->fifo.nb.gyro > 0) { + ts = &gyro_st->ts; + inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_gyro, + st->timestamp.gyro); + ret = inv_icm42607_gyro_parse_fifo(st->indio_gyro); + if (ret) + return ret; + } + /* handle accelerometer timestamp and FIFO data parsing */ if (st->fifo.nb.accel > 0) { ts = &accel_st->ts; @@ -496,6 +510,7 @@ 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) { + struct inv_icm42607_sensor_state *gyro_st = iio_priv(st->indio_gyro); struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel); struct inv_sensors_timestamp *ts; s64 gyro_ts, accel_ts; @@ -511,6 +526,14 @@ int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st, if (st->fifo.nb.total == 0) return 0; + if (st->fifo.nb.gyro > 0) { + ts = &gyro_st->ts; + inv_sensors_timestamp_interrupt(ts, st->fifo.nb.gyro, gyro_ts); + ret = inv_icm42607_gyro_parse_fifo(st->indio_gyro); + if (ret) + return ret; + } + if (st->fifo.nb.accel > 0) { ts = &accel_st->ts; inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts); diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index 4ac3af52c1b8..6d95ffb675f3 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -219,6 +219,46 @@ int inv_icm42607_set_accel_conf(struct inv_icm42607_state *st, st->conf.temp_en, sleep_ms); } +int inv_icm42607_set_gyro_conf(struct inv_icm42607_state *st, + struct inv_icm42607_sensor_conf *conf, + unsigned int *sleep_ms) +{ + struct inv_icm42607_sensor_conf *oldconf = &st->conf.gyro; + 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 = INV_ICM42607_GYRO_CONFIG0_FS_SEL(conf->fs) | + INV_ICM42607_GYRO_CONFIG0_ODR(conf->odr); + ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val); + if (ret) + return ret; + oldconf->fs = conf->fs; + oldconf->odr = conf->odr; + } + + if (conf->filter != oldconf->filter) { + val = INV_ICM42607_GYRO_CONFIG1_FILTER(conf->filter); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_GYRO_CONFIG1, + INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, val); + if (ret) + return ret; + oldconf->filter = conf->filter; + } + + return inv_icm42607_set_pwr_mgmt0(st, conf->mode, st->conf.accel.mode, + st->conf.temp_en, sleep_ms); +} + int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable, unsigned int *sleep_ms) { @@ -588,6 +628,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip, if (ret) return ret; + /* Initialize IIO device for Gyro */ + st->indio_gyro = inv_icm42607_gyro_init(st); + if (IS_ERR(st->indio_gyro)) + return PTR_ERR(st->indio_gyro); + /* Initialize IIO device for Accel */ st->indio_accel = inv_icm42607_accel_init(st); if (IS_ERR(st->indio_accel)) diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c new file mode 100644 index 000000000000..80473c07c6a4 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c @@ -0,0 +1,579 @@ +// 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 "inv_icm42607.h" +#include "inv_icm42607_temp.h" +#include "inv_icm42607_buffer.h" + +#define INV_ICM42607_GYRO_CHAN(_modifier, _index, _ext_info) \ +{ \ + .type = IIO_ANGL_VEL, \ + .modified = 1, \ + .channel2 = _modifier, \ + .info_mask_separate = \ + BIT(IIO_CHAN_INFO_RAW) | \ + BIT(IIO_CHAN_INFO_CALIBBIAS), \ + .info_mask_shared_by_type = \ + BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_all = \ + 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_gyro_scan { + INV_ICM42607_GYRO_SCAN_X, + INV_ICM42607_GYRO_SCAN_Y, + INV_ICM42607_GYRO_SCAN_Z, + INV_ICM42607_GYRO_SCAN_TEMP, + INV_ICM42607_GYRO_SCAN_TIMESTAMP, +}; + +static const struct iio_chan_spec_ext_info inv_icm42607_gyro_ext_infos[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix), + {}, +}; + +static const struct iio_chan_spec inv_icm42607_gyro_channels[] = { + INV_ICM42607_GYRO_CHAN(IIO_MOD_X, INV_ICM42607_GYRO_SCAN_X, + inv_icm42607_gyro_ext_infos), + INV_ICM42607_GYRO_CHAN(IIO_MOD_Y, INV_ICM42607_GYRO_SCAN_Y, + inv_icm42607_gyro_ext_infos), + INV_ICM42607_GYRO_CHAN(IIO_MOD_Z, INV_ICM42607_GYRO_SCAN_Z, + inv_icm42607_gyro_ext_infos), + INV_ICM42607_TEMP_CHAN(INV_ICM42607_GYRO_SCAN_TEMP), + IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42607_GYRO_SCAN_TIMESTAMP), +}; + +/* + * IIO buffer data: size must be a power of 2 and timestamp aligned + * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp + */ +struct inv_icm42607_gyro_buffer { + struct inv_icm42607_fifo_sensor_data gyro; + s16 temp; + aligned_s64 timestamp; +}; + +#define INV_ICM42607_SCAN_MASK_GYRO_3AXIS \ + (BIT(INV_ICM42607_GYRO_SCAN_X) | \ + BIT(INV_ICM42607_GYRO_SCAN_Y) | \ + BIT(INV_ICM42607_GYRO_SCAN_Z)) + +#define INV_ICM42607_SCAN_MASK_TEMP BIT(INV_ICM42607_GYRO_SCAN_TEMP) + +static const unsigned long inv_icm42607_gyro_scan_masks[] = { + /* 3-axis gyro + temperature */ + INV_ICM42607_SCAN_MASK_GYRO_3AXIS | INV_ICM42607_SCAN_MASK_TEMP, + 0, +}; + +/* enable gyroscope sensor and FIFO write */ +static int inv_icm42607_gyro_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_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + unsigned int fifo_en = 0; + unsigned int sleep_gyro = 0; + unsigned int sleep_temp = 0; + unsigned int sleep; + 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_GYRO_3AXIS) { + /* enable gyro sensor */ + conf.mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE; + ret = inv_icm42607_set_gyro_conf(st, &conf, &sleep_gyro); + if (ret) + goto out_unlock; + fifo_en |= INV_ICM42607_SENSOR_GYRO; + } + + /* update data FIFO write */ + ret = inv_icm42607_buffer_set_fifo_en(st, fifo_en | st->fifo.en); + if (ret) + goto out_unlock; + +out_unlock: + mutex_unlock(&st->lock); + /* sleep maximum required time */ + sleep = max(sleep_gyro, sleep_temp); + if (sleep) + msleep(sleep); + return ret; +} + +static int inv_icm42607_gyro_read_sensor(struct inv_icm42607_state *st, + struct iio_chan_spec const *chan, + s16 *val) +{ + 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_ANGL_VEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg = INV_ICM42607_REG_GYRO_DATA_X1; + break; + case IIO_MOD_Y: + reg = INV_ICM42607_REG_GYRO_DATA_Y1; + break; + case IIO_MOD_Z: + reg = INV_ICM42607_REG_GYRO_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 gyro sensor */ + conf.mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE; + ret = inv_icm42607_set_gyro_conf(st, &conf, NULL); + if (ret) + return ret; + + /* read gyro register data */ + data = (__be16 *)&st->buffer[0]; + ret = regmap_bulk_read(st->map, reg, data, sizeof(*data)); + if (ret) + return ret; + + *val = (s16)be16_to_cpup(data); + if (*val == INV_ICM42607_DATA_INVALID) + ret = -EINVAL; + + return ret; +} + +/* IIO format int + nano */ +static const int inv_icm42607_gyro_scale[] = { + /* +/- 2000dps => 0.001065264 rad/s */ + [2 * INV_ICM42607_GYRO_FS_2000DPS] = 0, + [2 * INV_ICM42607_GYRO_FS_2000DPS + 1] = 1065264, + /* +/- 1000dps => 0.000532632 rad/s */ + [2 * INV_ICM42607_GYRO_FS_1000DPS] = 0, + [2 * INV_ICM42607_GYRO_FS_1000DPS + 1] = 532632, + /* +/- 500dps => 0.000266316 rad/s */ + [2 * INV_ICM42607_GYRO_FS_500DPS] = 0, + [2 * INV_ICM42607_GYRO_FS_500DPS + 1] = 266316, + /* +/- 250dps => 0.000133158 rad/s */ + [2 * INV_ICM42607_GYRO_FS_250DPS] = 0, + [2 * INV_ICM42607_GYRO_FS_250DPS + 1] = 133158, +}; + +static int inv_icm42607_gyro_read_scale(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 *gyro_st = iio_priv(indio_dev); + unsigned int idx; + + idx = st->conf.gyro.fs; + + *val = gyro_st->scales[2 * idx]; + *val2 = gyro_st->scales[2 * idx + 1]; + return IIO_VAL_INT_PLUS_NANO; +} + +static int inv_icm42607_gyro_write_scale(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 *gyro_st = iio_priv(indio_dev); + 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 = 0; idx < gyro_st->scales_len; idx += 2) { + if (val == gyro_st->scales[idx] && + val2 == gyro_st->scales[idx + 1]) + break; + } + if (idx >= gyro_st->scales_len) + return -EINVAL; + + conf.fs = idx / 2; + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + if (PM_RUNTIME_ACQUIRE_ERR(&pm)) + return -ENXIO; + + guard(mutex)(&st->lock); + + ret = inv_icm42607_set_gyro_conf(st, &conf, NULL); + + return ret; +} + +/* IIO format int + micro */ +static const int inv_icm42607_gyro_odr[] = { + /* 12.5Hz */ + 12, 500000, + /* 25Hz */ + 25, 0, + /* 50Hz */ + 50, 0, + /* 100Hz */ + 100, 0, + /* 200Hz */ + 200, 0, + /* 400Hz */ + 400, 0, + /* 800Hz */ + 800, 0, + /* 1600Hz */ + 1600, 0, +}; + +static const int inv_icm42607_gyro_odr_conv[] = { + INV_ICM42607_ODR_12_5HZ, + INV_ICM42607_ODR_25HZ, + INV_ICM42607_ODR_50HZ, + INV_ICM42607_ODR_100HZ, + INV_ICM42607_ODR_200HZ, + INV_ICM42607_ODR_400HZ, + INV_ICM42607_ODR_800HZ, + INV_ICM42607_ODR_1600HZ, +}; + +static int inv_icm42607_gyro_read_odr(struct inv_icm42607_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + odr = st->conf.gyro.odr; + + for (i = 0; i < ARRAY_SIZE(inv_icm42607_gyro_odr_conv); ++i) { + if (inv_icm42607_gyro_odr_conv[i] == odr) + break; + } + if (i >= ARRAY_SIZE(inv_icm42607_gyro_odr_conv)) + return -EINVAL; + + *val = inv_icm42607_gyro_odr[2 * i]; + *val2 = inv_icm42607_gyro_odr[2 * i + 1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int inv_icm42607_gyro_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 *gyro_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &gyro_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 = 0; idx < ARRAY_SIZE(inv_icm42607_gyro_odr); idx += 2) { + if (val == inv_icm42607_gyro_odr[idx] && + val2 == inv_icm42607_gyro_odr[idx + 1]) + break; + } + if (idx >= ARRAY_SIZE(inv_icm42607_gyro_odr)) + return -EINVAL; + + conf.odr = inv_icm42607_gyro_odr_conv[idx / 2]; + + 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_gyro_conf(st, &conf, NULL); + if (ret) + return ret; + inv_icm42607_buffer_update_fifo_period(st); + inv_icm42607_buffer_update_watermark(st); + + return ret; +} + +/* + * Calibration bias values, IIO range format int + nano. + * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps. + */ +static int inv_icm42607_gyro_write_calibbias(struct inv_icm42607_state *st, + struct iio_chan_spec const *chan, + int val, int val2) +{ + /* Not actually supported in the ICM-42607P registers */ + return -EOPNOTSUPP; +} + +static int inv_icm42607_gyro_read_calibbias(struct inv_icm42607_state *st, + struct iio_chan_spec const *chan, + int *val, int *val2) +{ + /* Not actually supported in the ICM-42607P registers */ + return -EOPNOTSUPP; +} + +static int inv_icm42607_gyro_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_ANGL_VEL: + 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_gyro_read_sensor(st, 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_gyro_read_scale(indio_dev, val, val2); + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm42607_gyro_read_odr(st, val, val2); + case IIO_CHAN_INFO_CALIBBIAS: + return inv_icm42607_gyro_read_calibbias(st, chan, val, val2); + default: + return -EINVAL; + } +} + +static int inv_icm42607_gyro_write_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); + int ret; + + if (chan->type != IIO_ANGL_VEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret = inv_icm42607_gyro_write_scale(indio_dev, val, val2); + iio_device_release_direct(indio_dev); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm42607_gyro_write_odr(indio_dev, val, val2); + case IIO_CHAN_INFO_CALIBBIAS: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret = inv_icm42607_gyro_write_calibbias(st, chan, val, val2); + iio_device_release_direct(indio_dev); + return ret; + default: + return -EINVAL; + } +} + +static int inv_icm42607_gyro_write_raw_get_fmt(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + long mask) +{ + if (chan->type != IIO_ANGL_VEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + return IIO_VAL_INT_PLUS_NANO; + case IIO_CHAN_INFO_SAMP_FREQ: + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_CALIBBIAS: + return IIO_VAL_INT_PLUS_NANO; + default: + return -EINVAL; + } +} + +static int inv_icm42607_gyro_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.gyro = val; + return inv_icm42607_buffer_update_watermark(st); +} + +static int inv_icm42607_gyro_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; + + guard(mutex)(&st->lock); + + ret = inv_icm42607_buffer_hwfifo_flush(st, count); + if (ret) + return ret; + + return st->fifo.nb.gyro; +} + +static const struct iio_info inv_icm42607_gyro_info = { + .read_raw = inv_icm42607_gyro_read_raw, + .write_raw = inv_icm42607_gyro_write_raw, + .write_raw_get_fmt = inv_icm42607_gyro_write_raw_get_fmt, + .debugfs_reg_access = inv_icm42607_debugfs_reg, + .update_scan_mode = inv_icm42607_gyro_update_scan_mode, + .hwfifo_set_watermark = inv_icm42607_gyro_hwfifo_set_watermark, + .hwfifo_flush_to_buffer = inv_icm42607_gyro_hwfifo_flush, +}; + +struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st) +{ + struct device *dev = regmap_get_device(st->map); + const char *name; + struct inv_icm42607_sensor_state *gyro_st; + struct inv_sensors_timestamp_chip ts_chip; + struct iio_dev *indio_dev; + int ret; + + name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name); + if (!name) + return ERR_PTR(-ENOMEM); + + indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st)); + if (!indio_dev) + return ERR_PTR(-ENOMEM); + gyro_st = iio_priv(indio_dev); + + gyro_st->scales = inv_icm42607_gyro_scale; + gyro_st->scales_len = ARRAY_SIZE(inv_icm42607_gyro_scale); + + /* + * 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(&gyro_st->ts, &ts_chip); + + iio_device_set_drvdata(indio_dev, st); + indio_dev->name = name; + indio_dev->info = &inv_icm42607_gyro_info; + indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE; + indio_dev->channels = inv_icm42607_gyro_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_gyro_channels); + indio_dev->available_scan_masks = inv_icm42607_gyro_scan_masks; + indio_dev->setup_ops = &inv_icm42607_buffer_ops; + + ret = devm_iio_kfifo_buffer_setup(dev, indio_dev, + &inv_icm42607_buffer_ops); + if (ret) + return ERR_PTR(ret); + + ret = devm_iio_device_register(dev, indio_dev); + if (ret) + return ERR_PTR(ret); + + return indio_dev; +} + +int inv_icm42607_gyro_parse_fifo(struct iio_dev *indio_dev) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &gyro_st->ts; + ssize_t i, size; + unsigned int no; + const void *accel, *gyro, *timestamp; + const s8 *temp; + unsigned int odr; + s64 ts_val; + struct inv_icm42607_gyro_buffer buffer = { }; + + /* parse all fifo packets */ + for (i = 0, no = 0; i < 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 gyro data or data is invalid */ + if (gyro == NULL || !inv_icm42607_fifo_is_data_valid(gyro)) + continue; + + /* update odr */ + if (odr & INV_ICM42607_SENSOR_GYRO) { + inv_sensors_timestamp_apply_odr(ts, st->fifo.period, + st->fifo.nb.total, no); + } + + memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro)); + /* convert 8 bits FIFO temperature in high resolution format */ + buffer.temp = temp ? (*temp * 64) : 0; + ts_val = inv_sensors_timestamp_pop(ts); + iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val); + } + + return 0; +} -- 2.43.0