[PATCH 04/12] iio: imu: inv_icm42600: add gyroscope IIO device

Jean-Baptiste Maneyrol
2020-05-07T14:43:26Z

Add IIO device for gyroscope sensor with data polling interface.
Attributes: raw, scale, sampling_frequency, calibbias.

Gyroscope in low noise mode.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
drivers/iio/imu/inv_icm42600/inv_icm42600.h | 4 +
.../iio/imu/inv_icm42600/inv_icm42600_core.c | 5 +
.../iio/imu/inv_icm42600/inv_icm42600_gyro.c | 549 ++++++++++++++++++
3 files changed, 558 insertions(+)
create mode 100644 drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c

diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
index 8da4c8249aed..ca41a9d6404a 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
@@ -120,6 +120,7 @@ struct inv_icm42600_suspended {
* @orientation: sensor chip orientation relative to main hardware.
* @conf: chip sensors configurations.
* @suspended: suspended sensors configuration.
+ * @indio_gyro: gyroscope IIO device.
*/
struct inv_icm42600_state {
struct mutex lock;
@@ -131,6 +132,7 @@ struct inv_icm42600_state {
struct iio_mount_matrix orientation;
struct inv_icm42600_conf conf;
struct inv_icm42600_suspended suspended;
+ struct iio_dev *indio_gyro;
};

/* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
@@ -369,4 +371,6 @@ int inv_icm42600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
int inv_icm42600_core_probe(struct regmap *regmap, int chip,
inv_icm42600_bus_setup bus_setup);

+int inv_icm42600_gyro_init(struct inv_icm42600_state *st);
+
#endif
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
index 35bdf4f9d31e..151257652ce6 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
@@ -503,6 +503,11 @@ int inv_icm42600_core_probe(struct regmap *regmap, int chip,
if (ret)
return ret;

+ /* create and init gyroscope iio device */
+ ret = inv_icm42600_gyro_init(st);
+ if (ret)
+ return ret;
+
/* setup runtime power management */
ret = pm_runtime_set_active(dev);
if (ret)
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
new file mode 100644
index 000000000000..74aa2b5fa611
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -0,0 +1,549 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#include <linux/device.h>
+#include <linux/mutex.h>
+#include <linux/interrupt.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+#include <linux/iio/iio.h>
+
+#include "inv_icm42600.h"
+
+#define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info) \
+ { \
+ .type = IIO_ANGL_VEL, \
+ .modified = 1, \
+ .channel2 = _modifier, \
+ .info_mask_separate = \
+ BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .info_mask_shared_by_type = \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_type_available = \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .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, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+ .ext_info = _ext_info, \
+ }
+
+enum inv_icm42600_gyro_scan {
+ INV_ICM42600_GYRO_SCAN_X,
+ INV_ICM42600_GYRO_SCAN_Y,
+ INV_ICM42600_GYRO_SCAN_Z,
+};
+
+static const struct iio_chan_spec_ext_info inv_icm42600_gyro_ext_infos[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
+ {},
+};
+
+static const struct iio_chan_spec inv_icm42600_gyro_channels[] = {
+ INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X,
+ inv_icm42600_gyro_ext_infos),
+ INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y,
+ inv_icm42600_gyro_ext_infos),
+ INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z,
+ inv_icm42600_gyro_ext_infos),
+};
+
+static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st,
+ struct iio_chan_spec const *chan,
+ int16_t *val)
+{
+ struct device *dev = regmap_get_device(st->map);
+ struct inv_icm42600_sensor_conf conf = INV_ICM42600_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_ICM42600_REG_GYRO_DATA_X;
+ break;
+ case IIO_MOD_Y:
+ reg = INV_ICM42600_REG_GYRO_DATA_Y;
+ break;
+ case IIO_MOD_Z:
+ reg = INV_ICM42600_REG_GYRO_DATA_Z;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ /* enable gyro sensor */
+ conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+ ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+ if (ret)
+ goto exit;
+
+ /* read gyro register data */
+ ret = regmap_bulk_read(st->map, reg, &data, sizeof(data));
+ if (ret)
+ goto exit;
+
+ *val = (int16_t)be16_to_cpu(data);
+ if (*val == INV_ICM42600_DATA_INVALID)
+ ret = -EINVAL;
+exit:
+ mutex_unlock(&st->lock);
+ pm_runtime_mark_last_busy(dev);
+ pm_runtime_put_autosuspend(dev);
+ return ret;
+}
+
+/* IIO format int + nano */
+static const int inv_icm42600_gyro_scale[] = {
+ /* +/- 2000dps => 0.001065264 rad/s */
+ [2 * INV_ICM42600_GYRO_FS_2000DPS] = 0,
+ [2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264,
+ /* +/- 1000dps => 0.000532632 rad/s */
+ [2 * INV_ICM42600_GYRO_FS_1000DPS] = 0,
+ [2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632,
+ /* +/- 500dps => 0.000266316 rad/s */
+ [2 * INV_ICM42600_GYRO_FS_500DPS] = 0,
+ [2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316,
+ /* +/- 250dps => 0.000133158 rad/s */
+ [2 * INV_ICM42600_GYRO_FS_250DPS] = 0,
+ [2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158,
+ /* +/- 125dps => 0.000066579 rad/s */
+ [2 * INV_ICM42600_GYRO_FS_125DPS] = 0,
+ [2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579,
+ /* +/- 62.5dps => 0.000033290 rad/s */
+ [2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0,
+ [2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290,
+ /* +/- 31.25dps => 0.000016645 rad/s */
+ [2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0,
+ [2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645,
+ /* +/- 15.625dps => 0.000008322 rad/s */
+ [2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
+ [2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
+};
+
+static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
+ int *val, int *val2)
+{
+ unsigned int idx;
+
+ mutex_lock(&st->lock);
+ idx = st->conf.gyro.fs;
+ mutex_unlock(&st->lock);
+
+ *val = inv_icm42600_gyro_scale[2 * idx];
+ *val2 = inv_icm42600_gyro_scale[2 * idx + 1];
+ return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
+ int val, int val2)
+{
+ struct device *dev = regmap_get_device(st->map);
+ unsigned int idx;
+ struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+ int ret;
+
+ for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) {
+ if (val == inv_icm42600_gyro_scale[idx] &&
+ val2 == inv_icm42600_gyro_scale[idx + 1])
+ break;
+ }
+ if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
+ return -EINVAL;
+
+ /* update gyro fs */
+ pm_runtime_get_sync(dev);
+
+ mutex_lock(&st->lock);
+ conf.fs = idx / 2;
+ ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+ mutex_unlock(&st->lock);
+
+ pm_runtime_mark_last_busy(dev);
+ pm_runtime_put_autosuspend(dev);
+
+ return ret;
+}
+
+/* IIO format int + micro */
+static const int inv_icm42600_gyro_odr[] = {
+ /* 12.5Hz */
+ 12, 500000,
+ /* 25Hz */
+ 25, 0,
+ /* 50Hz */
+ 50, 0,
+ /* 100Hz */
+ 100, 0,
+ /* 200Hz */
+ 200, 0,
+ /* 1kHz */
+ 1000, 0,
+ /* 2kHz */
+ 2000, 0,
+ /* 4kHz */
+ 4000, 0,
+};
+
+static const int inv_icm42600_gyro_odr_conv[] = {
+ INV_ICM42600_ODR_12_5HZ,
+ INV_ICM42600_ODR_25HZ,
+ INV_ICM42600_ODR_50HZ,
+ INV_ICM42600_ODR_100HZ,
+ INV_ICM42600_ODR_200HZ,
+ INV_ICM42600_ODR_1KHZ_LN,
+ INV_ICM42600_ODR_2KHZ_LN,
+ INV_ICM42600_ODR_4KHZ_LN,
+};
+
+static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st,
+ int *val, int *val2)
+{
+ unsigned int odr;
+ unsigned int i;
+
+ mutex_lock(&st->lock);
+ odr = st->conf.gyro.odr;
+ mutex_unlock(&st->lock);
+
+ for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) {
+ if (inv_icm42600_gyro_odr_conv[i] == odr)
+ break;
+ }
+ if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv))
+ return -EINVAL;
+
+ *val = inv_icm42600_gyro_odr[2 * i];
+ *val2 = inv_icm42600_gyro_odr[2 * i + 1];
+
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int inv_icm42600_gyro_write_odr(struct inv_icm42600_state *st,
+ int val, int val2)
+{
+ struct device *dev = regmap_get_device(st->map);
+ unsigned int idx;
+ struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+ int ret;
+
+ for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) {
+ if (val == inv_icm42600_gyro_odr[idx] &&
+ val2 == inv_icm42600_gyro_odr[idx + 1])
+ break;
+ }
+ if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr))
+ return -EINVAL;
+
+ /* update gyro odr */
+ pm_runtime_get_sync(dev);
+
+ mutex_lock(&st->lock);
+ conf.odr = inv_icm42600_gyro_odr_conv[idx / 2];
+ ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+ mutex_unlock(&st->lock);
+
+ pm_runtime_mark_last_busy(dev);
+ pm_runtime_put_autosuspend(dev);
+
+ return ret;
+}
+
+static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st,
+ struct iio_chan_spec const *chan,
+ int16_t *val)
+{
+ struct device *dev = regmap_get_device(st->map);
+ unsigned int reg;
+ uint8_t data[2];
+ int ret;
+
+ if (chan->type != IIO_ANGL_VEL)
+ return -EINVAL;
+
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ reg = INV_ICM42600_REG_OFFSET_USER0;
+ break;
+ case IIO_MOD_Y:
+ reg = INV_ICM42600_REG_OFFSET_USER1;
+ break;
+ case IIO_MOD_Z:
+ reg = INV_ICM42600_REG_OFFSET_USER3;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ pm_runtime_get_sync(dev);
+
+ /* read gyro offset data */
+ mutex_lock(&st->lock);
+ ret = regmap_bulk_read(st->map, reg, &data, sizeof(data));
+ mutex_unlock(&st->lock);
+ if (ret)
+ goto exit;
+
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ *val = (int16_t)(((data[1] & 0x0F) << 8) | data[0]);
+ break;
+ case IIO_MOD_Y:
+ *val = (int16_t)(((data[0] & 0xF0) << 4) | data[1]);
+ break;
+ case IIO_MOD_Z:
+ *val = (int16_t)(((data[1] & 0x0F) << 8) | data[0]);
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+
+exit:
+ pm_runtime_mark_last_busy(dev);
+ pm_runtime_put_autosuspend(dev);
+ return ret;
+}
+
+static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st,
+ struct iio_chan_spec const *chan,
+ int val)
+{
+ struct device *dev = regmap_get_device(st->map);
+ unsigned int reg, regval;
+ uint8_t data[2];
+ int ret;
+
+ if (chan->type != IIO_ANGL_VEL)
+ return -EINVAL;
+
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ reg = INV_ICM42600_REG_OFFSET_USER0;
+ break;
+ case IIO_MOD_Y:
+ reg = INV_ICM42600_REG_OFFSET_USER1;
+ break;
+ case IIO_MOD_Z:
+ reg = INV_ICM42600_REG_OFFSET_USER3;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ /* value is limited to 12 bits signed */
+ if (val < -2048 || val > 2047)
+ return -EINVAL;
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ /* OFFSET_USER1 register is shared */
+ ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
+ &regval);
+ if (ret)
+ goto out_unlock;
+ data[0] = val & 0xFF;
+ data[1] = (regval & 0xF0) | ((val & 0xF00) >> 8);
+ break;
+ case IIO_MOD_Y:
+ /* OFFSET_USER1 register is shared */
+ ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
+ &regval);
+ if (ret)
+ goto out_unlock;
+ data[0] = ((val & 0xF00) >> 4) | (regval & 0x0F);
+ data[1] = val & 0xFF;
+ break;
+ case IIO_MOD_Z:
+ /* OFFSET_USER4 register is shared */
+ ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,
+ &regval);
+ if (ret)
+ goto out_unlock;
+ data[0] = val & 0xFF;
+ data[1] = (regval & 0xF0) | ((val & 0xF00) >> 8);
+ break;
+ default:
+ ret = -EINVAL;
+ goto out_unlock;
+ }
+
+ ret = regmap_bulk_write(st->map, reg, data, sizeof(data));
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ pm_runtime_mark_last_busy(dev);
+ pm_runtime_put_autosuspend(dev);
+ return ret;
+}
+
+static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ int16_t data;
+ int ret;
+
+ if (chan->type != IIO_ANGL_VEL)
+ return -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = iio_device_claim_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ ret = inv_icm42600_gyro_read_sensor(st, chan, &data);
+ iio_device_release_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ *val = data;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ return inv_icm42600_gyro_read_scale(st, val, val2);
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return inv_icm42600_gyro_read_odr(st, val, val2);
+ case IIO_CHAN_INFO_CALIBBIAS:
+ ret = iio_device_claim_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ ret = inv_icm42600_gyro_read_offset(st, chan, &data);
+ iio_device_release_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ *val = data;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42600_gyro_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_ANGL_VEL)
+ return -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ *vals = inv_icm42600_gyro_scale;
+ *type = IIO_VAL_INT_PLUS_NANO;
+ *length = ARRAY_SIZE(inv_icm42600_gyro_scale);
+ return IIO_AVAIL_LIST;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ *vals = inv_icm42600_gyro_odr;
+ *type = IIO_VAL_INT_PLUS_MICRO;
+ *length = ARRAY_SIZE(inv_icm42600_gyro_odr);
+ return IIO_AVAIL_LIST;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct inv_icm42600_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:
+ ret = iio_device_claim_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ ret = inv_icm42600_gyro_write_scale(st, val, val2);
+ iio_device_release_direct_mode(indio_dev);
+ return ret;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return inv_icm42600_gyro_write_odr(st, val, val2);
+ case IIO_CHAN_INFO_CALIBBIAS:
+ ret = iio_device_claim_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ ret = inv_icm42600_gyro_write_offset(st, chan, val);
+ iio_device_release_direct_mode(indio_dev);
+ return ret;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42600_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;
+ default:
+ return -EINVAL;
+ }
+}
+
+static const struct iio_info inv_icm42600_gyro_info = {
+ .read_raw = inv_icm42600_gyro_read_raw,
+ .read_avail = inv_icm42600_gyro_read_avail,
+ .write_raw = inv_icm42600_gyro_write_raw,
+ .write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt,
+ .debugfs_reg_access = inv_icm42600_debugfs_reg,
+};
+
+int inv_icm42600_gyro_init(struct inv_icm42600_state *st)
+{
+ struct device *dev = regmap_get_device(st->map);
+ const char *name;
+ struct iio_dev *indio_dev;
+
+ name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);
+ if (!name)
+ return -ENOMEM;
+
+ indio_dev = devm_iio_device_alloc(dev, 0);
+ if (!indio_dev)
+ return -ENOMEM;
+
+ iio_device_set_drvdata(indio_dev, st);
+ indio_dev->dev.parent = dev;
+ indio_dev->name = name;
+ indio_dev->info = &inv_icm42600_gyro_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->channels = inv_icm42600_gyro_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels);
+
+ st->indio_gyro = indio_dev;
+ return devm_iio_device_register(dev, st->indio_gyro);
+}
--
2.17.1