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

Jean-Baptiste Maneyrol
2020-05-18T15:34:12Z

Hi Jonathan,

I agree with all comments.

For regmap_bulk_read, by looking at source code it doesn't seem to requires specific alignment, except if bus read callback is expecting that. But I can see numerous drivers calling regmap_bulk_read with a data buffer on the stack and not particularly aligned.

And we definitely can read calibration offset registers while running, the lock is indeed not needed.

Thanks,
JB

From: Jonathan Cameron <Jonathan.Cameron@Huawei.com>

Sent: Friday, May 8, 2020 16:01

To: Jean-Baptiste Maneyrol <JManeyrol@invensense.com>

Cc: jic23@kernel.org <jic23@kernel.org>; robh+dt@kernel.org <robh+dt@kernel.org>; robh@kernel.org <robh@kernel.org>; mchehab+huawei@kernel.org <mchehab+huawei@kernel.org>; davem@davemloft.net <davem@davemloft.net>; gregkh@linuxfoundation.org <gregkh@linuxfoundation.org>;
linux-iio@vger.kernel.org <linux-iio@vger.kernel.org>; devicetree@vger.kernel.org <devicetree@vger.kernel.org>; linux-kernel@vger.kernel.org <linux-kernel@vger.kernel.org>

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

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On Thu, 7 May 2020 16:42:14 +0200

Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> wrote:

> 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>

Few trivial things and questions inline.

J

> ---

>  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 */

'Kind' of obvious from function name?   Maybe drop the comment?

> +     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,                                     \

Shift has the 'obviously' default of 0, so normally we don't bother explicitly

setting it to 0 like this.

> +                     .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));

IIRC bulk reads need to be to dma safe buffers.  So typically on the stack and

in appropriately aligned location in any containing structure.

> +     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;

Seems like we shouldn't need the lock to retrieve a single value.

Is there some odd intermediate state somewhere I'm missing?

> +     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])

Alignment of code seems odd.

> +                     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]);

This doesn't look right for negative values.  You would be better

off with a sign extend of the 12 bit value.

> +             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;

Perhaps worth an available callback to give the range?

> +

> +     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;

I'm curious.  Why can't we read back a calibration offset whilst doing

buffered capture?

> +             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);

> +}