diff options
Diffstat (limited to 'drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c')
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c | 1243 |
1 files changed, 1243 insertions, 0 deletions
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c new file mode 100644 index 000000000000..54760d8f92a2 --- /dev/null +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c @@ -0,0 +1,1243 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2020 Invensense, Inc. + */ + +#include <linux/kernel.h> +#include <linux/device.h> +#include <linux/mutex.h> +#include <linux/pm_runtime.h> +#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> + +#include "inv_icm42600.h" +#include "inv_icm42600_temp.h" +#include "inv_icm42600_buffer.h" + +#define INV_ICM42600_ACCEL_CHAN(_modifier, _index, _ext_info) \ + { \ + .type = IIO_ACCEL, \ + .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) | \ + BIT(IIO_CHAN_INFO_CALIBBIAS), \ + .info_mask_shared_by_all = \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .info_mask_shared_by_all_available = \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index = _index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_BE, \ + }, \ + .ext_info = _ext_info, \ + } + +#define INV_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, + INV_ICM42600_ACCEL_SCAN_Z, + INV_ICM42600_ACCEL_SCAN_TEMP, + INV_ICM42600_ACCEL_SCAN_TIMESTAMP, +}; + +static const char * const inv_icm42600_accel_power_mode_items[] = { + "low-noise", + "low-power", +}; +static const int inv_icm42600_accel_power_mode_values[] = { + INV_ICM42600_SENSOR_MODE_LOW_NOISE, + INV_ICM42600_SENSOR_MODE_LOW_POWER, +}; +static const int inv_icm42600_accel_filter_values[] = { + INV_ICM42600_FILTER_BW_ODR_DIV_2, + INV_ICM42600_FILTER_AVG_16X, +}; + +static int inv_icm42600_accel_power_mode_set(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + unsigned int idx) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + int power_mode, filter; + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + if (idx >= ARRAY_SIZE(inv_icm42600_accel_power_mode_values)) + return -EINVAL; + + 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: + if (st->conf.accel.odr >= INV_ICM42600_ODR_6_25HZ_LP && + st->conf.accel.odr <= INV_ICM42600_ODR_1_5625HZ_LP) + return -EPERM; + break; + case INV_ICM42600_SENSOR_MODE_LOW_POWER: + default: + if (st->conf.accel.odr <= INV_ICM42600_ODR_1KHZ_LN) + return -EPERM; + break; + } + + accel_st->power_mode = power_mode; + accel_st->filter = filter; + + return 0; +} + +static int inv_icm42600_accel_power_mode_get(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + unsigned int idx; + int power_mode; + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + guard(mutex)(&st->lock); + + /* if sensor is on, returns actual power mode and not configured one */ + switch (st->conf.accel.mode) { + case INV_ICM42600_SENSOR_MODE_LOW_POWER: + case INV_ICM42600_SENSOR_MODE_LOW_NOISE: + power_mode = st->conf.accel.mode; + break; + default: + power_mode = accel_st->power_mode; + break; + } + + for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_power_mode_values); ++idx) { + if (power_mode == inv_icm42600_accel_power_mode_values[idx]) + break; + } + if (idx >= ARRAY_SIZE(inv_icm42600_accel_power_mode_values)) + return -EINVAL; + + return idx; +} + +static const struct iio_enum inv_icm42600_accel_power_mode_enum = { + .items = inv_icm42600_accel_power_mode_items, + .num_items = ARRAY_SIZE(inv_icm42600_accel_power_mode_items), + .set = inv_icm42600_accel_power_mode_set, + .get = inv_icm42600_accel_power_mode_get, +}; + +static const struct iio_chan_spec_ext_info inv_icm42600_accel_ext_infos[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix), + IIO_ENUM_AVAILABLE("power_mode", IIO_SHARED_BY_TYPE, + &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[] = { + INV_ICM42600_ACCEL_CHAN(IIO_MOD_X, INV_ICM42600_ACCEL_SCAN_X, + inv_icm42600_accel_ext_infos), + INV_ICM42600_ACCEL_CHAN(IIO_MOD_Y, INV_ICM42600_ACCEL_SCAN_Y, + inv_icm42600_accel_ext_infos), + INV_ICM42600_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42600_ACCEL_SCAN_Z, + 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)), +}; + +/* + * IIO buffer data: size must be a power of 2 and timestamp aligned + * 16 bytes: 6 bytes acceleration, 2 bytes temperature, 8 bytes timestamp + */ +struct inv_icm42600_accel_buffer { + struct inv_icm42600_fifo_sensor_data accel; + s16 temp; + aligned_s64 timestamp; +}; + +#define INV_ICM42600_SCAN_MASK_ACCEL_3AXIS \ + (BIT(INV_ICM42600_ACCEL_SCAN_X) | \ + BIT(INV_ICM42600_ACCEL_SCAN_Y) | \ + BIT(INV_ICM42600_ACCEL_SCAN_Z)) + +#define INV_ICM42600_SCAN_MASK_TEMP BIT(INV_ICM42600_ACCEL_SCAN_TEMP) + +static const unsigned long inv_icm42600_accel_scan_masks[] = { + /* 3-axis accel + temperature */ + INV_ICM42600_SCAN_MASK_ACCEL_3AXIS | INV_ICM42600_SCAN_MASK_TEMP, + 0, +}; + +/* enable accelerometer sensor and FIFO write */ +static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev, + const unsigned long *scan_mask) +{ + 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 fifo_en = 0; + unsigned int sleep_temp = 0; + unsigned int sleep_accel = 0; + unsigned int sleep; + int ret; + + mutex_lock(&st->lock); + + if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) { + /* enable temp sensor */ + ret = inv_icm42600_set_temp_conf(st, true, &sleep_temp); + if (ret) + goto out_unlock; + fifo_en |= INV_ICM42600_SENSOR_TEMP; + } + + if (*scan_mask & INV_ICM42600_SCAN_MASK_ACCEL_3AXIS) { + /* enable accel sensor */ + conf.mode = accel_st->power_mode; + conf.filter = accel_st->filter; + ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_accel); + if (ret) + goto out_unlock; + fifo_en |= INV_ICM42600_SENSOR_ACCEL; + } + + /* update data FIFO write */ + ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en); + +out_unlock: + mutex_unlock(&st->lock); + /* sleep maximum required time */ + sleep = max(sleep_accel, sleep_temp); + if (sleep) + msleep(sleep); + return ret; +} + +static int inv_icm42600_accel_read_sensor(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + s16 *val) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + 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_ACCEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg = INV_ICM42600_REG_ACCEL_DATA_X; + break; + case IIO_MOD_Y: + reg = INV_ICM42600_REG_ACCEL_DATA_Y; + break; + case IIO_MOD_Z: + reg = INV_ICM42600_REG_ACCEL_DATA_Z; + break; + default: + return -EINVAL; + } + + pm_runtime_get_sync(dev); + mutex_lock(&st->lock); + + /* enable accel sensor */ + conf.mode = accel_st->power_mode; + conf.filter = accel_st->filter; + ret = inv_icm42600_set_accel_conf(st, &conf, NULL); + if (ret) + goto exit; + + /* read accel register data */ + data = (__be16 *)&st->buffer[0]; + ret = regmap_bulk_read(st->map, reg, data, sizeof(*data)); + if (ret) + goto exit; + + *val = (s16)be16_to_cpup(data); + if (*val == INV_ICM42600_DATA_INVALID) + ret = -EINVAL; +exit: + mutex_unlock(&st->lock); + pm_runtime_put_autosuspend(dev); + 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 */ + [2 * INV_ICM42600_ACCEL_FS_16G] = 0, + [2 * INV_ICM42600_ACCEL_FS_16G + 1] = 4788403, + /* +/- 8G => 0.002394202 m/s-2 */ + [2 * INV_ICM42600_ACCEL_FS_8G] = 0, + [2 * INV_ICM42600_ACCEL_FS_8G + 1] = 2394202, + /* +/- 4G => 0.001197101 m/s-2 */ + [2 * INV_ICM42600_ACCEL_FS_4G] = 0, + [2 * INV_ICM42600_ACCEL_FS_4G + 1] = 1197101, + /* +/- 2G => 0.000598550 m/s-2 */ + [2 * INV_ICM42600_ACCEL_FS_2G] = 0, + [2 * INV_ICM42600_ACCEL_FS_2G + 1] = 598550, +}; +static const int inv_icm42686_accel_scale[] = { + /* +/- 32G => 0.009576807 m/s-2 */ + [2 * INV_ICM42686_ACCEL_FS_32G] = 0, + [2 * INV_ICM42686_ACCEL_FS_32G + 1] = 9576807, + /* +/- 16G => 0.004788403 m/s-2 */ + [2 * INV_ICM42686_ACCEL_FS_16G] = 0, + [2 * INV_ICM42686_ACCEL_FS_16G + 1] = 4788403, + /* +/- 8G => 0.002394202 m/s-2 */ + [2 * INV_ICM42686_ACCEL_FS_8G] = 0, + [2 * INV_ICM42686_ACCEL_FS_8G + 1] = 2394202, + /* +/- 4G => 0.001197101 m/s-2 */ + [2 * INV_ICM42686_ACCEL_FS_4G] = 0, + [2 * INV_ICM42686_ACCEL_FS_4G + 1] = 1197101, + /* +/- 2G => 0.000598550 m/s-2 */ + [2 * INV_ICM42686_ACCEL_FS_2G] = 0, + [2 * INV_ICM42686_ACCEL_FS_2G + 1] = 598550, +}; + +static int inv_icm42600_accel_read_scale(struct iio_dev *indio_dev, + int *val, int *val2) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + unsigned int idx; + + idx = st->conf.accel.fs; + + *val = accel_st->scales[2 * idx]; + *val2 = accel_st->scales[2 * idx + 1]; + return IIO_VAL_INT_PLUS_NANO; +} + +static int inv_icm42600_accel_write_scale(struct iio_dev *indio_dev, + int val, int val2) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + 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 < accel_st->scales_len; idx += 2) { + if (val == accel_st->scales[idx] && + val2 == accel_st->scales[idx + 1]) + break; + } + if (idx >= accel_st->scales_len) + return -EINVAL; + + conf.fs = idx / 2; + + pm_runtime_get_sync(dev); + + scoped_guard(mutex, &st->lock) + ret = inv_icm42600_set_accel_conf(st, &conf, NULL); + + pm_runtime_put_autosuspend(dev); + + return ret; +} + +/* IIO format int + micro */ +static const int inv_icm42600_accel_odr[] = { + /* 1.5625Hz */ + 1, 562500, + /* 3.125Hz */ + 3, 125000, + /* 6.25Hz */ + 6, 250000, + /* 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_accel_odr_conv[] = { + INV_ICM42600_ODR_1_5625HZ_LP, + INV_ICM42600_ODR_3_125HZ_LP, + INV_ICM42600_ODR_6_25HZ_LP, + 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_accel_read_odr(struct inv_icm42600_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + odr = st->conf.accel.odr; + + for (i = 0; i < ARRAY_SIZE(inv_icm42600_accel_odr_conv); ++i) { + if (inv_icm42600_accel_odr_conv[i] == odr) + break; + } + if (i >= ARRAY_SIZE(inv_icm42600_accel_odr_conv)) + return -EINVAL; + + *val = inv_icm42600_accel_odr[2 * i]; + *val2 = inv_icm42600_accel_odr[2 * i + 1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev, + int val, int val2) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &accel_st->ts; + struct device *dev = regmap_get_device(st->map); + unsigned int idx; + struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; + int ret; + + for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_odr); idx += 2) { + if (val == inv_icm42600_accel_odr[idx] && + val2 == inv_icm42600_accel_odr[idx + 1]) + break; + } + if (idx >= ARRAY_SIZE(inv_icm42600_accel_odr)) + return -EINVAL; + + conf.odr = inv_icm42600_accel_odr_conv[idx / 2]; + + pm_runtime_get_sync(dev); + mutex_lock(&st->lock); + + ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr), + iio_buffer_enabled(indio_dev)); + if (ret) + goto out_unlock; + + 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); + +out_unlock: + mutex_unlock(&st->lock); + pm_runtime_put_autosuspend(dev); + + return ret; +} + +/* + * Calibration bias values, IIO range format int + micro. + * Value is limited to +/-1g coded on 12 bits signed. Step is 0.5mg. + */ +static int inv_icm42600_accel_calibbias[] = { + -10, 42010, /* min: -10.042010 m/s² */ + 0, 4903, /* step: 0.004903 m/s² */ + 10, 37106, /* max: 10.037106 m/s² */ +}; + +static int inv_icm42600_accel_read_offset(struct inv_icm42600_state *st, + struct iio_chan_spec const *chan, + int *val, int *val2) +{ + struct device *dev = regmap_get_device(st->map); + s64 val64; + s32 bias; + unsigned int reg; + s16 offset; + u8 data[2]; + int ret; + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg = INV_ICM42600_REG_OFFSET_USER4; + break; + case IIO_MOD_Y: + reg = INV_ICM42600_REG_OFFSET_USER6; + break; + case IIO_MOD_Z: + reg = INV_ICM42600_REG_OFFSET_USER7; + break; + default: + return -EINVAL; + } + + pm_runtime_get_sync(dev); + mutex_lock(&st->lock); + + ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data)); + memcpy(data, st->buffer, sizeof(data)); + + mutex_unlock(&st->lock); + pm_runtime_put_autosuspend(dev); + if (ret) + return ret; + + /* 12 bits signed value */ + switch (chan->channel2) { + case IIO_MOD_X: + offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11); + break; + case IIO_MOD_Y: + offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11); + break; + case IIO_MOD_Z: + offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11); + break; + default: + return -EINVAL; + } + + /* + * convert raw offset to g then to m/s² + * 12 bits signed raw step 0.5mg to g: 5 / 10000 + * g to m/s²: 9.806650 + * result in micro (1000000) + * (offset * 5 * 9.806650 * 1000000) / 10000 + */ + val64 = (s64)offset * 5LL * 9806650LL; + /* for rounding, add + or - divisor (10000) divided by 2 */ + if (val64 >= 0) + val64 += 10000LL / 2LL; + else + val64 -= 10000LL / 2LL; + bias = div_s64(val64, 10000L); + *val = bias / 1000000L; + *val2 = bias % 1000000L; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int inv_icm42600_accel_write_offset(struct inv_icm42600_state *st, + struct iio_chan_spec const *chan, + int val, int val2) +{ + struct device *dev = regmap_get_device(st->map); + s64 val64; + s32 min, max; + unsigned int reg, regval; + s16 offset; + int ret; + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (chan->channel2) { + case IIO_MOD_X: + reg = INV_ICM42600_REG_OFFSET_USER4; + break; + case IIO_MOD_Y: + reg = INV_ICM42600_REG_OFFSET_USER6; + break; + case IIO_MOD_Z: + reg = INV_ICM42600_REG_OFFSET_USER7; + break; + default: + return -EINVAL; + } + + /* inv_icm42600_accel_calibbias: min - step - max in micro */ + min = inv_icm42600_accel_calibbias[0] * 1000000L + + inv_icm42600_accel_calibbias[1]; + max = inv_icm42600_accel_calibbias[4] * 1000000L + + inv_icm42600_accel_calibbias[5]; + val64 = (s64)val * 1000000LL + (s64)val2; + if (val64 < min || val64 > max) + return -EINVAL; + + /* + * convert m/s² to g then to raw value + * m/s² to g: 1 / 9.806650 + * g to raw 12 bits signed, step 0.5mg: 10000 / 5 + * val in micro (1000000) + * val * 10000 / (9.806650 * 1000000 * 5) + */ + val64 = val64 * 10000LL; + /* for rounding, add + or - divisor (9806650 * 5) divided by 2 */ + if (val64 >= 0) + val64 += 9806650 * 5 / 2; + else + val64 -= 9806650 * 5 / 2; + offset = div_s64(val64, 9806650 * 5); + + /* clamp value limited to 12 bits signed */ + if (offset < -2048) + offset = -2048; + else if (offset > 2047) + offset = 2047; + + pm_runtime_get_sync(dev); + mutex_lock(&st->lock); + + switch (chan->channel2) { + case IIO_MOD_X: + /* OFFSET_USER4 register is shared */ + ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4, + ®val); + if (ret) + goto out_unlock; + st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F); + st->buffer[1] = offset & 0xFF; + break; + case IIO_MOD_Y: + /* OFFSET_USER7 register is shared */ + ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER7, + ®val); + if (ret) + goto out_unlock; + st->buffer[0] = offset & 0xFF; + st->buffer[1] = ((offset & 0xF00) >> 8) | (regval & 0xF0); + break; + case IIO_MOD_Z: + /* OFFSET_USER7 register is shared */ + ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER7, + ®val); + if (ret) + goto out_unlock; + st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F); + st->buffer[1] = offset & 0xFF; + break; + default: + ret = -EINVAL; + goto out_unlock; + } + + ret = regmap_bulk_write(st->map, reg, st->buffer, 2); + +out_unlock: + mutex_unlock(&st->lock); + pm_runtime_put_autosuspend(dev); + return ret; +} + +static int inv_icm42600_accel_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); + s16 data; + int ret; + + switch (chan->type) { + case IIO_ACCEL: + break; + case IIO_TEMP: + return inv_icm42600_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_icm42600_accel_read_sensor(indio_dev, chan, &data); + iio_device_release_direct(indio_dev); + if (ret) + return ret; + *val = data; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + return inv_icm42600_accel_read_scale(indio_dev, val, val2); + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm42600_accel_read_odr(st, val, val2); + case IIO_CHAN_INFO_CALIBBIAS: + return inv_icm42600_accel_read_offset(st, chan, val, val2); + default: + return -EINVAL; + } +} + +static int inv_icm42600_accel_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, + int *type, int *length, long mask) +{ + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + *vals = accel_st->scales; + *type = IIO_VAL_INT_PLUS_NANO; + *length = accel_st->scales_len; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *vals = inv_icm42600_accel_odr; + *type = IIO_VAL_INT_PLUS_MICRO; + *length = ARRAY_SIZE(inv_icm42600_accel_odr); + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_CALIBBIAS: + *vals = inv_icm42600_accel_calibbias; + *type = IIO_VAL_INT_PLUS_MICRO; + return IIO_AVAIL_RANGE; + default: + return -EINVAL; + } +} + +static int inv_icm42600_accel_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_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret = inv_icm42600_accel_write_scale(indio_dev, val, val2); + 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: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret = inv_icm42600_accel_write_offset(st, chan, val, val2); + iio_device_release_direct(indio_dev); + return ret; + default: + return -EINVAL; + } +} + +static int inv_icm42600_accel_write_raw_get_fmt(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + long mask) +{ + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + return IIO_VAL_INT_PLUS_NANO; + case IIO_CHAN_INFO_SAMP_FREQ: + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_CALIBBIAS: + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static int inv_icm42600_accel_hwfifo_set_watermark(struct iio_dev *indio_dev, + unsigned int val) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + + guard(mutex)(&st->lock); + + st->fifo.watermark.accel = val; + return inv_icm42600_buffer_update_watermark(st); +} + +static int inv_icm42600_accel_hwfifo_flush(struct iio_dev *indio_dev, + unsigned int count) +{ + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + int ret; + + if (count == 0) + return 0; + + guard(mutex)(&st->lock); + + ret = inv_icm42600_buffer_hwfifo_flush(st, count); + if (ret) + return ret; + + return st->fifo.nb.accel; +} + +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, + .write_raw = inv_icm42600_accel_write_raw, + .write_raw_get_fmt = inv_icm42600_accel_write_raw_get_fmt, + .debugfs_reg_access = inv_icm42600_debugfs_reg, + .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) +{ + struct device *dev = regmap_get_device(st->map); + const char *name; + struct inv_icm42600_sensor_state *accel_st; + struct inv_sensors_timestamp_chip ts_chip; + struct iio_dev *indio_dev; + int ret; + + name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->name); + if (!name) + return ERR_PTR(-ENOMEM); + + indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st)); + if (!indio_dev) + return ERR_PTR(-ENOMEM); + accel_st = iio_priv(indio_dev); + + switch (st->chip) { + case INV_CHIP_ICM42686: + accel_st->scales = inv_icm42686_accel_scale; + accel_st->scales_len = ARRAY_SIZE(inv_icm42686_accel_scale); + break; + default: + accel_st->scales = inv_icm42600_accel_scale; + accel_st->scales_len = ARRAY_SIZE(inv_icm42600_accel_scale); + break; + } + /* low-power by default at init */ + accel_st->power_mode = INV_ICM42600_SENSOR_MODE_LOW_POWER; + accel_st->filter = INV_ICM42600_FILTER_AVG_16X; + + /* + * clock period is 32kHz (31250ns) + * jitter is +/- 2% (20 per mille) + */ + ts_chip.clock_period = 31250; + ts_chip.jitter = 20; + ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr); + inv_sensors_timestamp_init(&accel_st->ts, &ts_chip); + + iio_device_set_drvdata(indio_dev, st); + indio_dev->name = name; + indio_dev->info = &inv_icm42600_accel_info; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->channels = inv_icm42600_accel_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_accel_channels); + indio_dev->available_scan_masks = inv_icm42600_accel_scan_masks; + + ret = devm_iio_kfifo_buffer_setup(dev, indio_dev, + &inv_icm42600_buffer_ops); + if (ret) + return ERR_PTR(ret); + + ret = devm_iio_device_register(dev, indio_dev); + 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; +} + +int inv_icm42600_accel_parse_fifo(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_sensors_timestamp *ts = &accel_st->ts; + ssize_t i, size; + unsigned int no; + const void *accel, *gyro, *timestamp; + const int8_t *temp; + unsigned int odr; + int64_t ts_val; + /* 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) { + size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i], + &accel, &gyro, &temp, ×tamp, &odr); + /* quit if error or FIFO is empty */ + if (size <= 0) + return size; + + /* skip packet if no accel data or data is invalid */ + if (accel == NULL || !inv_icm42600_fifo_is_data_valid(accel)) + continue; + + /* update odr */ + if (odr & INV_ICM42600_SENSOR_ACCEL) + inv_sensors_timestamp_apply_odr(ts, st->fifo.period, + st->fifo.nb.total, no); + + memcpy(&buffer.accel, accel, sizeof(buffer.accel)); + /* convert 8 bits FIFO temperature in high resolution format */ + buffer.temp = temp ? (*temp * 64) : 0; + ts_val = inv_sensors_timestamp_pop(ts); + iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val); + } + + return 0; +} |