diff options
Diffstat (limited to 'drivers/iio/imu/inv_icm42600')
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600.h | 64 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c | 383 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c | 24 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h | 10 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_core.c | 121 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c | 64 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c | 5 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c | 5 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_temp.c | 21 |
9 files changed, 577 insertions, 120 deletions
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h index 18787a43477b..1430ab4f1dea 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h @@ -135,6 +135,14 @@ struct inv_icm42600_suspended { bool temp; }; +struct inv_icm42600_apex { + unsigned int on; + struct { + u64 value; + bool enable; + } wom; +}; + /** * struct inv_icm42600_state - driver state variables * @lock: lock for serializing multiple registers access. @@ -143,14 +151,16 @@ struct inv_icm42600_suspended { * @map: regmap pointer. * @vdd_supply: VDD voltage regulator for the chip. * @vddio_supply: I/O voltage regulator for the chip. + * @irq: chip irq, required to enable/disable and set wakeup * @orientation: sensor chip orientation relative to main hardware. * @conf: chip sensors configurations. * @suspended: suspended sensors configuration. * @indio_gyro: gyroscope IIO device. * @indio_accel: accelerometer IIO device. - * @buffer: data transfer buffer aligned for DMA. - * @fifo: FIFO management structure. * @timestamp: interrupt timestamps. + * @apex: APEX (Advanced Pedometer and Event detection) management + * @fifo: FIFO management structure. + * @buffer: data transfer buffer aligned for DMA. */ struct inv_icm42600_state { struct mutex lock; @@ -159,17 +169,19 @@ struct inv_icm42600_state { struct regmap *map; struct regulator *vdd_supply; struct regulator *vddio_supply; + int irq; struct iio_mount_matrix orientation; struct inv_icm42600_conf conf; struct inv_icm42600_suspended suspended; struct iio_dev *indio_gyro; struct iio_dev *indio_accel; - uint8_t buffer[2] __aligned(IIO_DMA_MINALIGN); - struct inv_icm42600_fifo fifo; struct { - int64_t gyro; - int64_t accel; + s64 gyro; + s64 accel; } timestamp; + struct inv_icm42600_apex apex; + struct inv_icm42600_fifo fifo; + u8 buffer[3] __aligned(IIO_DMA_MINALIGN); }; @@ -253,6 +265,18 @@ struct inv_icm42600_sensor_state { #define INV_ICM42600_REG_FIFO_COUNT 0x002E #define INV_ICM42600_REG_FIFO_DATA 0x0030 +#define INV_ICM42600_REG_INT_STATUS2 0x0037 +#define INV_ICM42600_INT_STATUS2_SMD_INT BIT(3) +#define INV_ICM42600_INT_STATUS2_WOM_INT GENMASK(2, 0) + +#define INV_ICM42600_REG_INT_STATUS3 0x0038 +#define INV_ICM42600_INT_STATUS3_STEP_DET_INT BIT(5) +#define INV_ICM42600_INT_STATUS3_STEP_CNT_OVF_INT BIT(4) +#define INV_ICM42600_INT_STATUS3_TILT_DET_INT BIT(3) +#define INV_ICM42600_INT_STATUS3_WAKE_INT BIT(2) +#define INV_ICM42600_INT_STATUS3_SLEEP_INT BIT(1) +#define INV_ICM42600_INT_STATUS3_TAP_DET_INT BIT(0) + #define INV_ICM42600_REG_SIGNAL_PATH_RESET 0x004B #define INV_ICM42600_SIGNAL_PATH_RESET_DMP_INIT_EN BIT(6) #define INV_ICM42600_SIGNAL_PATH_RESET_DMP_MEM_RESET BIT(5) @@ -309,6 +333,14 @@ struct inv_icm42600_sensor_state { #define INV_ICM42600_TMST_CONFIG_TMST_FSYNC_EN BIT(1) #define INV_ICM42600_TMST_CONFIG_TMST_EN BIT(0) +#define INV_ICM42600_REG_SMD_CONFIG 0x0057 +#define INV_ICM42600_SMD_CONFIG_WOM_INT_MODE BIT(3) +#define INV_ICM42600_SMD_CONFIG_WOM_MODE BIT(2) +#define INV_ICM42600_SMD_CONFIG_SMD_MODE_OFF 0x00 +#define INV_ICM42600_SMD_CONFIG_SMD_MODE_WOM 0x01 +#define INV_ICM42600_SMD_CONFIG_SMD_MODE_SHORT 0x02 +#define INV_ICM42600_SMD_CONFIG_SMD_MODE_LONG 0x03 + #define INV_ICM42600_REG_FIFO_CONFIG1 0x005F #define INV_ICM42600_FIFO_CONFIG1_RESUME_PARTIAL_RD BIT(6) #define INV_ICM42600_FIFO_CONFIG1_WM_GT_TH BIT(5) @@ -338,6 +370,11 @@ struct inv_icm42600_sensor_state { #define INV_ICM42600_INT_SOURCE0_FIFO_FULL_INT1_EN BIT(1) #define INV_ICM42600_INT_SOURCE0_UI_AGC_RDY_INT1_EN BIT(0) +#define INV_ICM42600_REG_INT_SOURCE1 0x0066 +#define INV_ICM42600_INT_SOURCE1_I3C_ERROR_INT1_EN BIT(6) +#define INV_ICM42600_INT_SOURCE1_SMD_INT1_EN BIT(3) +#define INV_ICM42600_INT_SOURCE1_WOM_INT1_EN GENMASK(2, 0) + #define INV_ICM42600_REG_WHOAMI 0x0075 #define INV_ICM42600_WHOAMI_ICM42600 0x40 #define INV_ICM42600_WHOAMI_ICM42602 0x41 @@ -373,6 +410,10 @@ struct inv_icm42600_sensor_state { #define INV_ICM42600_INTF_CONFIG6_I3C_SDR_EN BIT(0) /* User bank 4 (MSB 0x40) */ +#define INV_ICM42600_REG_ACCEL_WOM_X_THR 0x404A +#define INV_ICM42600_REG_ACCEL_WOM_Y_THR 0x404B +#define INV_ICM42600_REG_ACCEL_WOM_Z_THR 0x404C + #define INV_ICM42600_REG_INT_SOURCE8 0x404F #define INV_ICM42600_INT_SOURCE8_FSYNC_IBI_EN BIT(5) #define INV_ICM42600_INT_SOURCE8_PLL_RDY_IBI_EN BIT(4) @@ -410,7 +451,7 @@ const struct iio_mount_matrix * inv_icm42600_get_mount_matrix(const struct iio_dev *indio_dev, const struct iio_chan_spec *chan); -uint32_t inv_icm42600_odr_to_period(enum inv_icm42600_odr odr); +u32 inv_icm42600_odr_to_period(enum inv_icm42600_odr odr); int inv_icm42600_set_accel_conf(struct inv_icm42600_state *st, struct inv_icm42600_sensor_conf *conf, @@ -423,10 +464,13 @@ int inv_icm42600_set_gyro_conf(struct inv_icm42600_state *st, int inv_icm42600_set_temp_conf(struct inv_icm42600_state *st, bool enable, unsigned int *sleep_ms); +int inv_icm42600_enable_wom(struct inv_icm42600_state *st); +int inv_icm42600_disable_wom(struct inv_icm42600_state *st); + int inv_icm42600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg, unsigned int writeval, unsigned int *readval); -int inv_icm42600_core_probe(struct regmap *regmap, int chip, int irq, +int inv_icm42600_core_probe(struct regmap *regmap, int chip, inv_icm42600_bus_setup bus_setup); struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st); @@ -437,4 +481,8 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st); int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev); +void inv_icm42600_accel_handle_events(struct iio_dev *indio_dev, + unsigned int status2, unsigned int status3, + s64 timestamp); + #endif diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c index 388520ec60b5..7a28051330b7 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c @@ -10,9 +10,12 @@ #include <linux/regmap.h> #include <linux/delay.h> #include <linux/math64.h> +#include <linux/minmax.h> +#include <linux/units.h> #include <linux/iio/buffer.h> #include <linux/iio/common/inv_sensors_timestamp.h> +#include <linux/iio/events.h> #include <linux/iio/iio.h> #include <linux/iio/kfifo_buf.h> @@ -47,6 +50,16 @@ .ext_info = _ext_info, \ } +#define INV_ICM42600_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_icm42600_accel_scan { INV_ICM42600_ACCEL_SCAN_X, INV_ICM42600_ACCEL_SCAN_Y, @@ -82,14 +95,15 @@ static int inv_icm42600_accel_power_mode_set(struct iio_dev *indio_dev, if (idx >= ARRAY_SIZE(inv_icm42600_accel_power_mode_values)) return -EINVAL; - if (iio_buffer_enabled(indio_dev)) - return -EBUSY; - power_mode = inv_icm42600_accel_power_mode_values[idx]; filter = inv_icm42600_accel_filter_values[idx]; guard(mutex)(&st->lock); + /* cannot change if accel sensor is on */ + if (st->conf.accel.mode != INV_ICM42600_SENSOR_MODE_OFF) + return -EBUSY; + /* prevent change if power mode is not supported by the ODR */ switch (power_mode) { case INV_ICM42600_SENSOR_MODE_LOW_NOISE: @@ -157,7 +171,17 @@ static const struct iio_chan_spec_ext_info inv_icm42600_accel_ext_infos[] = { &inv_icm42600_accel_power_mode_enum), IIO_ENUM("power_mode", IIO_SHARED_BY_TYPE, &inv_icm42600_accel_power_mode_enum), - {}, + { } +}; + +/* WoM event: rising ROC */ +static const struct iio_event_spec inv_icm42600_wom_events[] = { + { + .type = IIO_EV_TYPE_ROC, + .dir = IIO_EV_DIR_RISING, + .mask_separate = BIT(IIO_EV_INFO_ENABLE) | + BIT(IIO_EV_INFO_VALUE), + }, }; static const struct iio_chan_spec inv_icm42600_accel_channels[] = { @@ -169,6 +193,8 @@ static const struct iio_chan_spec inv_icm42600_accel_channels[] = { inv_icm42600_accel_ext_infos), INV_ICM42600_TEMP_CHAN(INV_ICM42600_ACCEL_SCAN_TEMP), IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_ACCEL_SCAN_TIMESTAMP), + INV_ICM42600_ACCEL_EVENT_CHAN(IIO_MOD_X_OR_Y_OR_Z, inv_icm42600_wom_events, + ARRAY_SIZE(inv_icm42600_wom_events)), }; /* @@ -177,7 +203,7 @@ static const struct iio_chan_spec inv_icm42600_accel_channels[] = { */ struct inv_icm42600_accel_buffer { struct inv_icm42600_fifo_sensor_data accel; - int16_t temp; + s16 temp; aligned_s64 timestamp; }; @@ -241,7 +267,7 @@ out_unlock: static int inv_icm42600_accel_read_sensor(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, - int16_t *val) + s16 *val) { struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); @@ -284,7 +310,7 @@ static int inv_icm42600_accel_read_sensor(struct iio_dev *indio_dev, if (ret) goto exit; - *val = (int16_t)be16_to_cpup(data); + *val = (s16)be16_to_cpup(data); if (*val == INV_ICM42600_DATA_INVALID) ret = -EINVAL; exit: @@ -294,6 +320,180 @@ exit: return ret; } +static unsigned int inv_icm42600_accel_convert_roc_to_wom(u64 roc, + int accel_hz, int accel_uhz) +{ + /* 1000/256mg per LSB converted in µm/s² */ + const unsigned int convert = (9807U * (MICRO / MILLI)) / 256U; + u64 value; + u64 freq_uhz; + + /* return 0 only if roc is 0 */ + if (roc == 0) + return 0; + + freq_uhz = (u64)accel_hz * MICRO + (u64)accel_uhz; + value = div64_u64(roc * MICRO, freq_uhz * (u64)convert); + + /* limit value to 8 bits and prevent 0 */ + return clamp(value, 1, 255); +} + +static u64 inv_icm42600_accel_convert_wom_to_roc(unsigned int threshold, + int accel_hz, int accel_uhz) +{ + /* 1000/256mg per LSB converted in µm/s² */ + const unsigned int convert = (9807U * (MICRO / MILLI)) / 256U; + u64 value; + u64 freq_uhz; + + value = threshold * convert; + freq_uhz = (u64)accel_hz * MICRO + (u64)accel_uhz; + + /* compute the differential by multiplying by the frequency */ + return div_u64(value * freq_uhz, MICRO); +} + +static int inv_icm42600_accel_set_wom_threshold(struct inv_icm42600_state *st, + u64 value, + int accel_hz, int accel_uhz) +{ + unsigned int threshold; + int ret; + + /* convert roc to wom threshold and convert back to handle clipping */ + threshold = inv_icm42600_accel_convert_roc_to_wom(value, accel_hz, accel_uhz); + value = inv_icm42600_accel_convert_wom_to_roc(threshold, accel_hz, accel_uhz); + + dev_dbg(regmap_get_device(st->map), "wom_threshold: 0x%x\n", threshold); + + /* set accel WoM threshold for the 3 axes */ + st->buffer[0] = threshold; + st->buffer[1] = threshold; + st->buffer[2] = threshold; + ret = regmap_bulk_write(st->map, INV_ICM42600_REG_ACCEL_WOM_X_THR, st->buffer, 3); + if (ret) + return ret; + + st->apex.wom.value = value; + + return 0; +} + +static int _inv_icm42600_accel_enable_wom(struct iio_dev *indio_dev) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; + unsigned int sleep_ms = 0; + int ret; + + scoped_guard(mutex, &st->lock) { + /* turn on accel sensor */ + conf.mode = accel_st->power_mode; + conf.filter = accel_st->filter; + ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_ms); + if (ret) + return ret; + } + + if (sleep_ms) + msleep(sleep_ms); + + scoped_guard(mutex, &st->lock) { + ret = inv_icm42600_enable_wom(st); + if (ret) + return ret; + st->apex.on++; + st->apex.wom.enable = true; + } + + return 0; +} + +static int inv_icm42600_accel_enable_wom(struct iio_dev *indio_dev) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct device *pdev = regmap_get_device(st->map); + int ret; + + ret = pm_runtime_resume_and_get(pdev); + if (ret) + return ret; + + ret = _inv_icm42600_accel_enable_wom(indio_dev); + if (ret) { + pm_runtime_mark_last_busy(pdev); + pm_runtime_put_autosuspend(pdev); + return ret; + } + + return 0; +} + +static int _inv_icm42600_accel_disable_wom(struct iio_dev *indio_dev) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; + unsigned int sleep_ms = 0; + int ret; + + scoped_guard(mutex, &st->lock) { + /* + * Consider that turning off WoM is always working to avoid + * blocking the chip in on mode and prevent going back to sleep. + * If there is an error, the chip will anyway go back to sleep + * and the feature will not work anymore. + */ + st->apex.wom.enable = false; + st->apex.on--; + ret = inv_icm42600_disable_wom(st); + if (ret) + return ret; + /* turn off accel sensor if not used */ + if (!st->apex.on && !iio_buffer_enabled(indio_dev)) { + conf.mode = INV_ICM42600_SENSOR_MODE_OFF; + ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_ms); + if (ret) + return ret; + } + } + + if (sleep_ms) + msleep(sleep_ms); + + return 0; +} + +static int inv_icm42600_accel_disable_wom(struct iio_dev *indio_dev) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct device *pdev = regmap_get_device(st->map); + int ret; + + ret = _inv_icm42600_accel_disable_wom(indio_dev); + + pm_runtime_mark_last_busy(pdev); + pm_runtime_put_autosuspend(pdev); + + return ret; +} + +void inv_icm42600_accel_handle_events(struct iio_dev *indio_dev, + unsigned int status2, unsigned int status3, + s64 timestamp) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + u64 ev_code; + + /* handle WoM event */ + if (st->apex.wom.enable && (status2 & INV_ICM42600_INT_STATUS2_WOM_INT)) { + ev_code = IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, IIO_MOD_X_OR_Y_OR_Z, + IIO_EV_TYPE_ROC, IIO_EV_DIR_RISING); + iio_push_event(indio_dev, ev_code, timestamp); + } +} + /* IIO format int + nano */ static const int inv_icm42600_accel_scale[] = { /* +/- 16G => 0.004788403 m/s-2 */ @@ -466,6 +666,10 @@ static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev, ret = inv_icm42600_set_accel_conf(st, &conf, NULL); if (ret) goto out_unlock; + /* update wom threshold since roc is dependent on sampling frequency */ + ret = inv_icm42600_accel_set_wom_threshold(st, st->apex.wom.value, val, val2); + if (ret) + goto out_unlock; inv_icm42600_buffer_update_fifo_period(st); inv_icm42600_buffer_update_watermark(st); @@ -492,11 +696,11 @@ static int inv_icm42600_accel_read_offset(struct inv_icm42600_state *st, int *val, int *val2) { struct device *dev = regmap_get_device(st->map); - int64_t val64; - int32_t bias; + s64 val64; + s32 bias; unsigned int reg; - int16_t offset; - uint8_t data[2]; + s16 offset; + u8 data[2]; int ret; if (chan->type != IIO_ACCEL) @@ -550,7 +754,7 @@ static int inv_icm42600_accel_read_offset(struct inv_icm42600_state *st, * result in micro (1000000) * (offset * 5 * 9.806650 * 1000000) / 10000 */ - val64 = (int64_t)offset * 5LL * 9806650LL; + val64 = (s64)offset * 5LL * 9806650LL; /* for rounding, add + or - divisor (10000) divided by 2 */ if (val64 >= 0) val64 += 10000LL / 2LL; @@ -568,10 +772,10 @@ static int inv_icm42600_accel_write_offset(struct inv_icm42600_state *st, int val, int val2) { struct device *dev = regmap_get_device(st->map); - int64_t val64; - int32_t min, max; + s64 val64; + s32 min, max; unsigned int reg, regval; - int16_t offset; + s16 offset; int ret; if (chan->type != IIO_ACCEL) @@ -596,7 +800,7 @@ static int inv_icm42600_accel_write_offset(struct inv_icm42600_state *st, inv_icm42600_accel_calibbias[1]; max = inv_icm42600_accel_calibbias[4] * 1000000L + inv_icm42600_accel_calibbias[5]; - val64 = (int64_t)val * 1000000LL + (int64_t)val2; + val64 = (s64)val * 1000000LL + (s64)val2; if (val64 < min || val64 > max) return -EINVAL; @@ -671,7 +875,7 @@ static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev, int *val, int *val2, long mask) { struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); - int16_t data; + s16 data; int ret; switch (chan->type) { @@ -685,11 +889,10 @@ static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev, switch (mask) { case IIO_CHAN_INFO_RAW: - ret = iio_device_claim_direct_mode(indio_dev); - if (ret) - return ret; + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; ret = inv_icm42600_accel_read_sensor(indio_dev, chan, &data); - iio_device_release_direct_mode(indio_dev); + iio_device_release_direct(indio_dev); if (ret) return ret; *val = data; @@ -747,20 +950,18 @@ static int inv_icm42600_accel_write_raw(struct iio_dev *indio_dev, switch (mask) { case IIO_CHAN_INFO_SCALE: - ret = iio_device_claim_direct_mode(indio_dev); - if (ret) - return ret; + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; ret = inv_icm42600_accel_write_scale(indio_dev, val, val2); - iio_device_release_direct_mode(indio_dev); + iio_device_release_direct(indio_dev); return ret; case IIO_CHAN_INFO_SAMP_FREQ: return inv_icm42600_accel_write_odr(indio_dev, val, val2); case IIO_CHAN_INFO_CALIBBIAS: - ret = iio_device_claim_direct_mode(indio_dev); - if (ret) - return ret; + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; ret = inv_icm42600_accel_write_offset(st, chan, val, val2); - iio_device_release_direct_mode(indio_dev); + iio_device_release_direct(indio_dev); return ret; default: return -EINVAL; @@ -822,6 +1023,116 @@ static int inv_icm42600_accel_hwfifo_flush(struct iio_dev *indio_dev, return ret; } +static int inv_icm42600_accel_read_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + + /* handle only WoM (roc rising) event */ + if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING) + return -EINVAL; + + guard(mutex)(&st->lock); + + return st->apex.wom.enable ? 1 : 0; +} + +static int inv_icm42600_accel_write_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + bool state) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + + /* handle only WoM (roc rising) event */ + if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING) + return -EINVAL; + + scoped_guard(mutex, &st->lock) { + if (st->apex.wom.enable == state) + return 0; + } + + if (state) + return inv_icm42600_accel_enable_wom(indio_dev); + + return inv_icm42600_accel_disable_wom(indio_dev); +} + +static int inv_icm42600_accel_read_event_value(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + enum iio_event_info info, + int *val, int *val2) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + u32 rem; + + /* handle only WoM (roc rising) event value */ + if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING) + return -EINVAL; + + guard(mutex)(&st->lock); + + /* return value in micro */ + *val = div_u64_rem(st->apex.wom.value, MICRO, &rem); + *val2 = rem; + return IIO_VAL_INT_PLUS_MICRO; +} + +static int _inv_icm42600_accel_wom_value(struct inv_icm42600_state *st, + int val, int val2) +{ + u64 value; + unsigned int accel_hz, accel_uhz; + int ret; + + guard(mutex)(&st->lock); + + ret = inv_icm42600_accel_read_odr(st, &accel_hz, &accel_uhz); + if (ret < 0) + return ret; + + value = (u64)val * MICRO + (u64)val2; + + return inv_icm42600_accel_set_wom_threshold(st, value, + accel_hz, accel_uhz); +} + +static int inv_icm42600_accel_write_event_value(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + enum iio_event_info info, + int val, int val2) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct device *dev = regmap_get_device(st->map); + int ret; + + /* handle only WoM (roc rising) event value */ + if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING) + return -EINVAL; + + if (val < 0 || val2 < 0) + return -EINVAL; + + ret = pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + ret = _inv_icm42600_accel_wom_value(st, val, val2); + + pm_runtime_mark_last_busy(dev); + pm_runtime_put_autosuspend(dev); + + return ret; +} + static const struct iio_info inv_icm42600_accel_info = { .read_raw = inv_icm42600_accel_read_raw, .read_avail = inv_icm42600_accel_read_avail, @@ -831,6 +1142,10 @@ static const struct iio_info inv_icm42600_accel_info = { .update_scan_mode = inv_icm42600_accel_update_scan_mode, .hwfifo_set_watermark = inv_icm42600_accel_hwfifo_set_watermark, .hwfifo_flush_to_buffer = inv_icm42600_accel_hwfifo_flush, + .read_event_config = inv_icm42600_accel_read_event_config, + .write_event_config = inv_icm42600_accel_write_event_config, + .read_event_value = inv_icm42600_accel_read_event_value, + .write_event_value = inv_icm42600_accel_write_event_value, }; struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st) @@ -891,6 +1206,11 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st) 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); + return indio_dev; } @@ -905,7 +1225,8 @@ int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev) const int8_t *temp; unsigned int odr; int64_t ts_val; - struct inv_icm42600_accel_buffer buffer; + /* buffer is copied to userspace, zeroing it to avoid any data leak */ + struct inv_icm42600_accel_buffer buffer = { }; /* parse all fifo packets */ for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) { @@ -924,8 +1245,6 @@ int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev) inv_sensors_timestamp_apply_odr(ts, st->fifo.period, st->fifo.nb.total, no); - /* buffer is copied to userspace, zeroing it to avoid any data leak */ - memset(&buffer, 0, sizeof(buffer)); memcpy(&buffer.accel, accel, sizeof(buffer.accel)); /* convert 8 bits FIFO temperature in high resolution format */ buffer.temp = temp ? (*temp * 64) : 0; diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c index aae7c56481a3..7c4ed981db04 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c @@ -26,28 +26,28 @@ #define INV_ICM42600_FIFO_HEADER_ODR_GYRO BIT(0) struct inv_icm42600_fifo_1sensor_packet { - uint8_t header; + u8 header; struct inv_icm42600_fifo_sensor_data data; - int8_t temp; + s8 temp; } __packed; #define INV_ICM42600_FIFO_1SENSOR_PACKET_SIZE 8 struct inv_icm42600_fifo_2sensors_packet { - uint8_t header; + u8 header; struct inv_icm42600_fifo_sensor_data accel; struct inv_icm42600_fifo_sensor_data gyro; - int8_t temp; + s8 temp; __be16 timestamp; } __packed; #define INV_ICM42600_FIFO_2SENSORS_PACKET_SIZE 16 ssize_t inv_icm42600_fifo_decode_packet(const void *packet, const void **accel, - const void **gyro, const int8_t **temp, + const void **gyro, const s8 **temp, const void **timestamp, unsigned int *odr) { const struct inv_icm42600_fifo_1sensor_packet *pack1 = packet; const struct inv_icm42600_fifo_2sensors_packet *pack2 = packet; - uint8_t header = *((const uint8_t *)packet); + u8 header = *((const u8 *)packet); /* FIFO empty */ if (header & INV_ICM42600_FIFO_HEADER_MSG) { @@ -100,7 +100,7 @@ ssize_t inv_icm42600_fifo_decode_packet(const void *packet, const void **accel, void inv_icm42600_buffer_update_fifo_period(struct inv_icm42600_state *st) { - uint32_t period_gyro, period_accel, period; + u32 period_gyro, period_accel, period; if (st->fifo.en & INV_ICM42600_SENSOR_GYRO) period_gyro = inv_icm42600_odr_to_period(st->conf.gyro.odr); @@ -204,8 +204,8 @@ int inv_icm42600_buffer_update_watermark(struct inv_icm42600_state *st) { size_t packet_size, wm_size; unsigned int wm_gyro, wm_accel, watermark; - uint32_t period_gyro, period_accel, period; - uint32_t latency_gyro, latency_accel, latency; + u32 period_gyro, period_accel, period; + u32 latency_gyro, latency_accel, latency; bool restore; __le16 raw_wm; int ret; @@ -422,7 +422,7 @@ static int inv_icm42600_buffer_postdisable(struct iio_dev *indio_dev) conf.mode = INV_ICM42600_SENSOR_MODE_OFF; if (sensor == INV_ICM42600_SENSOR_GYRO) ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_sensor); - else + else if (!st->apex.on) ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_sensor); if (ret) goto out_unlock; @@ -459,7 +459,7 @@ int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st, __be16 *raw_fifo_count; ssize_t i, size; const void *accel, *gyro, *timestamp; - const int8_t *temp; + const s8 *temp; unsigned int odr; int ret; @@ -550,7 +550,7 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st, struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro); struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel); struct inv_sensors_timestamp *ts; - int64_t gyro_ts, accel_ts; + s64 gyro_ts, accel_ts; int ret; gyro_ts = iio_get_time_ns(st->indio_gyro); diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h index f6c85daf42b0..ffca4da1e249 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h @@ -28,7 +28,7 @@ struct inv_icm42600_state; struct inv_icm42600_fifo { unsigned int on; unsigned int en; - uint32_t period; + u32 period; struct { unsigned int gyro; unsigned int accel; @@ -41,7 +41,7 @@ struct inv_icm42600_fifo { size_t accel; size_t total; } nb; - uint8_t data[2080] __aligned(IIO_DMA_MINALIGN); + u8 data[2080] __aligned(IIO_DMA_MINALIGN); }; /* FIFO data packet */ @@ -52,7 +52,7 @@ struct inv_icm42600_fifo_sensor_data { } __packed; #define INV_ICM42600_FIFO_DATA_INVALID -32768 -static inline int16_t inv_icm42600_fifo_get_sensor_data(__be16 d) +static inline s16 inv_icm42600_fifo_get_sensor_data(__be16 d) { return be16_to_cpu(d); } @@ -60,7 +60,7 @@ static inline int16_t inv_icm42600_fifo_get_sensor_data(__be16 d) static inline bool inv_icm42600_fifo_is_data_valid(const struct inv_icm42600_fifo_sensor_data *s) { - int16_t x, y, z; + s16 x, y, z; x = inv_icm42600_fifo_get_sensor_data(s->x); y = inv_icm42600_fifo_get_sensor_data(s->y); @@ -75,7 +75,7 @@ inv_icm42600_fifo_is_data_valid(const struct inv_icm42600_fifo_sensor_data *s) } ssize_t inv_icm42600_fifo_decode_packet(const void *packet, const void **accel, - const void **gyro, const int8_t **temp, + const void **gyro, const s8 **temp, const void **timestamp, unsigned int *odr); extern const struct iio_buffer_setup_ops inv_icm42600_buffer_ops; diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c index ef9875d3b79d..a4d42e7e2180 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c @@ -83,7 +83,7 @@ const struct regmap_config inv_icm42600_regmap_config = { .num_ranges = ARRAY_SIZE(inv_icm42600_regmap_ranges), .volatile_table = inv_icm42600_regmap_volatile_accesses, .rd_noinc_table = inv_icm42600_regmap_rd_noinc_accesses, - .cache_type = REGCACHE_RBTREE, + .cache_type = REGCACHE_MAPLE, }; EXPORT_SYMBOL_NS_GPL(inv_icm42600_regmap_config, "IIO_ICM42600"); @@ -97,13 +97,13 @@ const struct regmap_config inv_icm42600_spi_regmap_config = { .num_ranges = ARRAY_SIZE(inv_icm42600_regmap_ranges), .volatile_table = inv_icm42600_regmap_volatile_accesses, .rd_noinc_table = inv_icm42600_regmap_rd_noinc_accesses, - .cache_type = REGCACHE_RBTREE, + .cache_type = REGCACHE_MAPLE, .use_single_write = true, }; EXPORT_SYMBOL_NS_GPL(inv_icm42600_spi_regmap_config, "IIO_ICM42600"); struct inv_icm42600_hw { - uint8_t whoami; + u8 whoami; const char *name; const struct inv_icm42600_conf *conf; }; @@ -188,9 +188,9 @@ inv_icm42600_get_mount_matrix(const struct iio_dev *indio_dev, return &st->orientation; } -uint32_t inv_icm42600_odr_to_period(enum inv_icm42600_odr odr) +u32 inv_icm42600_odr_to_period(enum inv_icm42600_odr odr) { - static uint32_t odr_periods[INV_ICM42600_ODR_NB] = { + static u32 odr_periods[INV_ICM42600_ODR_NB] = { /* reserved values */ 0, 0, 0, /* 8kHz */ @@ -404,6 +404,37 @@ int inv_icm42600_set_temp_conf(struct inv_icm42600_state *st, bool enable, sleep_ms); } +int inv_icm42600_enable_wom(struct inv_icm42600_state *st) +{ + int ret; + + /* enable WoM hardware */ + ret = regmap_write(st->map, INV_ICM42600_REG_SMD_CONFIG, + INV_ICM42600_SMD_CONFIG_SMD_MODE_WOM | + INV_ICM42600_SMD_CONFIG_WOM_MODE); + if (ret) + return ret; + + /* enable WoM interrupt */ + return regmap_set_bits(st->map, INV_ICM42600_REG_INT_SOURCE1, + INV_ICM42600_INT_SOURCE1_WOM_INT1_EN); +} + +int inv_icm42600_disable_wom(struct inv_icm42600_state *st) +{ + int ret; + + /* disable WoM interrupt */ + ret = regmap_clear_bits(st->map, INV_ICM42600_REG_INT_SOURCE1, + INV_ICM42600_INT_SOURCE1_WOM_INT1_EN); + if (ret) + return ret; + + /* disable WoM hardware */ + return regmap_write(st->map, INV_ICM42600_REG_SMD_CONFIG, + INV_ICM42600_SMD_CONFIG_SMD_MODE_OFF); +} + int inv_icm42600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg, unsigned int writeval, unsigned int *readval) { @@ -548,6 +579,19 @@ static irqreturn_t inv_icm42600_irq_handler(int irq, void *_data) mutex_lock(&st->lock); + if (st->apex.on) { + unsigned int status2, status3; + + /* read INT_STATUS2 and INT_STATUS3 in 1 operation */ + ret = regmap_bulk_read(st->map, INV_ICM42600_REG_INT_STATUS2, st->buffer, 2); + if (ret) + goto out_unlock; + status2 = st->buffer[0]; + status3 = st->buffer[1]; + inv_icm42600_accel_handle_events(st->indio_accel, status2, status3, + st->timestamp.accel); + } + ret = regmap_read(st->map, INV_ICM42600_REG_INT_STATUS, &status); if (ret) goto out_unlock; @@ -683,12 +727,13 @@ static void inv_icm42600_disable_pm(void *_data) pm_runtime_disable(dev); } -int inv_icm42600_core_probe(struct regmap *regmap, int chip, int irq, +int inv_icm42600_core_probe(struct regmap *regmap, int chip, inv_icm42600_bus_setup bus_setup) { struct device *dev = regmap_get_device(regmap); + struct fwnode_handle *fwnode = dev_fwnode(dev); struct inv_icm42600_state *st; - int irq_type; + int irq, irq_type; bool open_drain; int ret; @@ -697,6 +742,15 @@ int inv_icm42600_core_probe(struct regmap *regmap, int chip, int irq, return -ENODEV; } + /* get INT1 only supported interrupt or fallback to first interrupt */ + irq = fwnode_irq_get_byname(fwnode, "INT1"); + if (irq < 0 && irq != -EPROBE_DEFER) { + dev_info(dev, "no INT1 interrupt defined, fallback to first interrupt\n"); + irq = fwnode_irq_get(fwnode, 0); + } + if (irq < 0) + return dev_err_probe(dev, irq, "error missing INT1 interrupt\n"); + irq_type = irq_get_trigger_type(irq); if (!irq_type) irq_type = IRQF_TRIGGER_FALLING; @@ -711,6 +765,7 @@ int inv_icm42600_core_probe(struct regmap *regmap, int chip, int irq, mutex_init(&st->lock); st->chip = chip; st->map = regmap; + st->irq = irq; ret = iio_read_mount_matrix(dev, &st->orientation); if (ret) { @@ -789,6 +844,9 @@ EXPORT_SYMBOL_NS_GPL(inv_icm42600_core_probe, "IIO_ICM42600"); static int inv_icm42600_suspend(struct device *dev) { struct inv_icm42600_state *st = dev_get_drvdata(dev); + struct device *accel_dev; + bool wakeup; + int accel_conf; int ret; mutex_lock(&st->lock); @@ -809,13 +867,32 @@ static int inv_icm42600_suspend(struct device *dev) goto out_unlock; } + /* keep chip on and wake-up capable if APEX and wakeup on */ + accel_dev = &st->indio_accel->dev; + wakeup = st->apex.on && device_may_wakeup(accel_dev); + if (wakeup) { + /* keep accel on and setup irq for wakeup */ + accel_conf = st->conf.accel.mode; + enable_irq_wake(st->irq); + disable_irq(st->irq); + } else { + /* disable APEX features and accel if wakeup disabled */ + if (st->apex.wom.enable) { + ret = inv_icm42600_disable_wom(st); + if (ret) + goto out_unlock; + } + accel_conf = INV_ICM42600_SENSOR_MODE_OFF; + } + ret = inv_icm42600_set_pwr_mgmt0(st, INV_ICM42600_SENSOR_MODE_OFF, - INV_ICM42600_SENSOR_MODE_OFF, false, - NULL); + accel_conf, false, NULL); if (ret) goto out_unlock; - regulator_disable(st->vddio_supply); + /* disable vddio regulator if chip is sleeping */ + if (!wakeup) + regulator_disable(st->vddio_supply); out_unlock: mutex_unlock(&st->lock); @@ -831,13 +908,24 @@ static int inv_icm42600_resume(struct device *dev) struct inv_icm42600_state *st = dev_get_drvdata(dev); struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro); struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel); + struct device *accel_dev; + bool wakeup; int ret; mutex_lock(&st->lock); - ret = inv_icm42600_enable_regulator_vddio(st); - if (ret) - goto out_unlock; + /* check wakeup capability */ + accel_dev = &st->indio_accel->dev; + wakeup = st->apex.on && device_may_wakeup(accel_dev); + /* restore irq state or vddio if cut off */ + if (wakeup) { + enable_irq(st->irq); + disable_irq_wake(st->irq); + } else { + ret = inv_icm42600_enable_regulator_vddio(st); + if (ret) + goto out_unlock; + } pm_runtime_disable(dev); pm_runtime_set_active(dev); @@ -850,6 +938,13 @@ static int inv_icm42600_resume(struct device *dev) if (ret) goto out_unlock; + /* restore APEX features if disabled */ + if (!wakeup && st->apex.wom.enable) { + ret = inv_icm42600_enable_wom(st); + if (ret) + goto out_unlock; + } + /* restore FIFO data streaming */ if (st->fifo.on) { inv_sensors_timestamp_reset(&gyro_st->ts); diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c index 591ed78a55bb..9ba6f13628e6 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c @@ -57,7 +57,7 @@ enum inv_icm42600_gyro_scan { 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[] = { @@ -77,7 +77,7 @@ static const struct iio_chan_spec inv_icm42600_gyro_channels[] = { */ struct inv_icm42600_gyro_buffer { struct inv_icm42600_fifo_sensor_data gyro; - int16_t temp; + s16 temp; aligned_s64 timestamp; }; @@ -139,7 +139,7 @@ out_unlock: static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st, struct iio_chan_spec const *chan, - int16_t *val) + s16 *val) { struct device *dev = regmap_get_device(st->map); struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; @@ -179,7 +179,7 @@ static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st, if (ret) goto exit; - *val = (int16_t)be16_to_cpup(data); + *val = (s16)be16_to_cpup(data); if (*val == INV_ICM42600_DATA_INVALID) ret = -EINVAL; exit: @@ -399,11 +399,11 @@ static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st, int *val, int *val2) { struct device *dev = regmap_get_device(st->map); - int64_t val64; - int32_t bias; + s64 val64; + s32 bias; unsigned int reg; - int16_t offset; - uint8_t data[2]; + s16 offset; + u8 data[2]; int ret; if (chan->type != IIO_ANGL_VEL) @@ -457,7 +457,7 @@ static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st, * result in nano (1000000000) * (offset * 64 * Pi * 1000000000) / (2048 * 180) */ - val64 = (int64_t)offset * 64LL * 3141592653LL; + val64 = (s64)offset * 64LL * 3141592653LL; /* for rounding, add + or - divisor (2048 * 180) divided by 2 */ if (val64 >= 0) val64 += 2048 * 180 / 2; @@ -475,9 +475,9 @@ static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st, int val, int val2) { struct device *dev = regmap_get_device(st->map); - int64_t val64, min, max; + s64 val64, min, max; unsigned int reg, regval; - int16_t offset; + s16 offset; int ret; if (chan->type != IIO_ANGL_VEL) @@ -498,11 +498,11 @@ static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st, } /* inv_icm42600_gyro_calibbias: min - step - max in nano */ - min = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL + - (int64_t)inv_icm42600_gyro_calibbias[1]; - max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL + - (int64_t)inv_icm42600_gyro_calibbias[5]; - val64 = (int64_t)val * 1000000000LL + (int64_t)val2; + min = (s64)inv_icm42600_gyro_calibbias[0] * 1000000000LL + + (s64)inv_icm42600_gyro_calibbias[1]; + max = (s64)inv_icm42600_gyro_calibbias[4] * 1000000000LL + + (s64)inv_icm42600_gyro_calibbias[5]; + val64 = (s64)val * 1000000000LL + (s64)val2; if (val64 < min || val64 > max) return -EINVAL; @@ -577,7 +577,7 @@ static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev, int *val, int *val2, long mask) { struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); - int16_t data; + s16 data; int ret; switch (chan->type) { @@ -591,11 +591,10 @@ static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev, switch (mask) { case IIO_CHAN_INFO_RAW: - ret = iio_device_claim_direct_mode(indio_dev); - if (ret) - return ret; + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; ret = inv_icm42600_gyro_read_sensor(st, chan, &data); - iio_device_release_direct_mode(indio_dev); + iio_device_release_direct(indio_dev); if (ret) return ret; *val = data; @@ -653,20 +652,18 @@ static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev, switch (mask) { case IIO_CHAN_INFO_SCALE: - ret = iio_device_claim_direct_mode(indio_dev); - if (ret) - return ret; + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; ret = inv_icm42600_gyro_write_scale(indio_dev, val, val2); - iio_device_release_direct_mode(indio_dev); + iio_device_release_direct(indio_dev); return ret; case IIO_CHAN_INFO_SAMP_FREQ: return inv_icm42600_gyro_write_odr(indio_dev, val, val2); case IIO_CHAN_INFO_CALIBBIAS: - ret = iio_device_claim_direct_mode(indio_dev); - if (ret) - return ret; + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; ret = inv_icm42600_gyro_write_offset(st, chan, val, val2); - iio_device_release_direct_mode(indio_dev); + iio_device_release_direct(indio_dev); return ret; default: return -EINVAL; @@ -806,10 +803,11 @@ int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev) ssize_t i, size; unsigned int no; const void *accel, *gyro, *timestamp; - const int8_t *temp; + const s8 *temp; unsigned int odr; - int64_t ts_val; - struct inv_icm42600_gyro_buffer buffer; + s64 ts_val; + /* buffer is copied to userspace, zeroing it to avoid any data leak */ + struct inv_icm42600_gyro_buffer buffer = { }; /* parse all fifo packets */ for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) { @@ -828,8 +826,6 @@ int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev) inv_sensors_timestamp_apply_odr(ts, st->fifo.period, st->fifo.nb.total, no); - /* buffer is copied to userspace, zeroing it to avoid any data leak */ - memset(&buffer, 0, sizeof(buffer)); memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro)); /* convert 8 bits FIFO temperature in high resolution format */ buffer.temp = temp ? (*temp * 64) : 0; diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c index 04e440fe023a..7e4d3ea68721 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c @@ -67,8 +67,7 @@ static int inv_icm42600_probe(struct i2c_client *client) if (IS_ERR(regmap)) return PTR_ERR(regmap); - return inv_icm42600_core_probe(regmap, chip, client->irq, - inv_icm42600_i2c_bus_setup); + return inv_icm42600_core_probe(regmap, chip, inv_icm42600_i2c_bus_setup); } /* @@ -110,7 +109,7 @@ static const struct of_device_id inv_icm42600_of_matches[] = { .compatible = "invensense,icm42631", .data = (void *)INV_CHIP_ICM42631, }, - {} + { } }; MODULE_DEVICE_TABLE(of, inv_icm42600_of_matches); diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c index 2bd2c4c8e50c..13e2e7d38638 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c @@ -64,8 +64,7 @@ static int inv_icm42600_probe(struct spi_device *spi) if (IS_ERR(regmap)) return PTR_ERR(regmap); - return inv_icm42600_core_probe(regmap, chip, spi->irq, - inv_icm42600_spi_bus_setup); + return inv_icm42600_core_probe(regmap, chip, inv_icm42600_spi_bus_setup); } /* @@ -107,7 +106,7 @@ static const struct of_device_id inv_icm42600_of_matches[] = { .compatible = "invensense,icm42631", .data = (void *)INV_CHIP_ICM42631, }, - {} + { } }; MODULE_DEVICE_TABLE(of, inv_icm42600_of_matches); diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_temp.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_temp.c index 213cce1c3111..8b15afca498c 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_temp.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_temp.c @@ -13,7 +13,7 @@ #include "inv_icm42600.h" #include "inv_icm42600_temp.h" -static int inv_icm42600_temp_read(struct inv_icm42600_state *st, int16_t *temp) +static int inv_icm42600_temp_read(struct inv_icm42600_state *st, s16 *temp) { struct device *dev = regmap_get_device(st->map); __be16 *raw; @@ -31,7 +31,7 @@ static int inv_icm42600_temp_read(struct inv_icm42600_state *st, int16_t *temp) if (ret) goto exit; - *temp = (int16_t)be16_to_cpup(raw); + *temp = (s16)be16_to_cpup(raw); if (*temp == INV_ICM42600_DATA_INVALID) ret = -EINVAL; @@ -48,7 +48,7 @@ int inv_icm42600_temp_read_raw(struct iio_dev *indio_dev, int *val, int *val2, long mask) { struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); - int16_t temp; + s16 temp; int ret; if (chan->type != IIO_TEMP) @@ -56,27 +56,28 @@ int inv_icm42600_temp_read_raw(struct iio_dev *indio_dev, switch (mask) { case IIO_CHAN_INFO_RAW: - ret = iio_device_claim_direct_mode(indio_dev); - if (ret) - return ret; + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; ret = inv_icm42600_temp_read(st, &temp); - iio_device_release_direct_mode(indio_dev); + iio_device_release_direct(indio_dev); if (ret) return ret; *val = temp; return IIO_VAL_INT; /* * T°C = (temp / 132.48) + 25 - * Tm°C = 1000 * ((temp * 100 / 13248) + 25) + * Tm°C = 1000 * ((temp / 132.48) + 25) + * Tm°C = 7.548309 * temp + 25000 + * Tm°C = (temp + 3312) * 7.548309 * scale: 100000 / 13248 ~= 7.548309 - * offset: 25000 + * offset: 3312 */ case IIO_CHAN_INFO_SCALE: *val = 7; *val2 = 548309; return IIO_VAL_INT_PLUS_MICRO; case IIO_CHAN_INFO_OFFSET: - *val = 25000; + *val = 3312; return IIO_VAL_INT; default: return -EINVAL; |