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path: root/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
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Diffstat (limited to 'drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c')
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c228
1 files changed, 186 insertions, 42 deletions
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
index f67bd5a39beb..e6cd9dcb0687 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
@@ -55,9 +55,109 @@ enum inv_icm42600_accel_scan {
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;
+
+ 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);
+
+ /* 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),
+ { }
};
static const struct iio_chan_spec inv_icm42600_accel_channels[] = {
@@ -78,7 +178,7 @@ 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;
- int64_t timestamp __aligned(8);
+ aligned_s64 timestamp;
};
#define INV_ICM42600_SCAN_MASK_ACCEL_3AXIS \
@@ -99,7 +199,7 @@ 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_sensors_timestamp *ts = iio_priv(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;
@@ -119,7 +219,8 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
if (*scan_mask & INV_ICM42600_SCAN_MASK_ACCEL_3AXIS) {
/* enable accel sensor */
- conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+ 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;
@@ -127,12 +228,7 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
}
/* update data FIFO write */
- inv_sensors_timestamp_apply_odr(ts, 0, 0, 0);
ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
- if (ret)
- goto out_unlock;
-
- ret = inv_icm42600_buffer_update_watermark(st);
out_unlock:
mutex_unlock(&st->lock);
@@ -143,10 +239,12 @@ out_unlock:
return ret;
}
-static int inv_icm42600_accel_read_sensor(struct inv_icm42600_state *st,
+static int inv_icm42600_accel_read_sensor(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int16_t *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;
@@ -174,7 +272,8 @@ static int inv_icm42600_accel_read_sensor(struct inv_icm42600_state *st,
mutex_lock(&st->lock);
/* enable accel sensor */
- conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+ conf.mode = accel_st->power_mode;
+ conf.filter = accel_st->filter;
ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
if (ret)
goto exit;
@@ -210,33 +309,54 @@ static const int inv_icm42600_accel_scale[] = {
[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 inv_icm42600_state *st,
+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 = inv_icm42600_accel_scale[2 * idx];
- *val2 = inv_icm42600_accel_scale[2 * idx + 1];
+ *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 inv_icm42600_state *st,
+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 < ARRAY_SIZE(inv_icm42600_accel_scale); idx += 2) {
- if (val == inv_icm42600_accel_scale[idx] &&
- val2 == inv_icm42600_accel_scale[idx + 1])
+ 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 >= ARRAY_SIZE(inv_icm42600_accel_scale))
+ if (idx >= accel_st->scales_len)
return -EINVAL;
conf.fs = idx / 2;
@@ -255,6 +375,12 @@ static int inv_icm42600_accel_write_scale(struct inv_icm42600_state *st,
/* 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 */
@@ -274,6 +400,9 @@ static const int inv_icm42600_accel_odr[] = {
};
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,
@@ -309,7 +438,8 @@ 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_sensors_timestamp *ts = iio_priv(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;
@@ -555,17 +685,16 @@ 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;
- ret = inv_icm42600_accel_read_sensor(st, chan, &data);
- iio_device_release_direct_mode(indio_dev);
+ 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(st, val, val2);
+ 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:
@@ -580,14 +709,16 @@ static int inv_icm42600_accel_read_avail(struct iio_dev *indio_dev,
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 = inv_icm42600_accel_scale;
+ *vals = accel_st->scales;
*type = IIO_VAL_INT_PLUS_NANO;
- *length = ARRAY_SIZE(inv_icm42600_accel_scale);
+ *length = accel_st->scales_len;
return IIO_AVAIL_LIST;
case IIO_CHAN_INFO_SAMP_FREQ:
*vals = inv_icm42600_accel_odr;
@@ -615,20 +746,18 @@ 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;
- ret = inv_icm42600_accel_write_scale(st, val, val2);
- iio_device_release_direct_mode(indio_dev);
+ 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:
- 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;
@@ -705,8 +834,8 @@ 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 inv_sensors_timestamp *ts;
struct iio_dev *indio_dev;
int ret;
@@ -714,9 +843,24 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
if (!name)
return ERR_PTR(-ENOMEM);
- indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
+ 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)
@@ -725,8 +869,7 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
ts_chip.clock_period = 31250;
ts_chip.jitter = 20;
ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
- ts = iio_priv(indio_dev);
- inv_sensors_timestamp_init(ts, &ts_chip);
+ inv_sensors_timestamp_init(&accel_st->ts, &ts_chip);
iio_device_set_drvdata(indio_dev, st);
indio_dev->name = name;
@@ -751,7 +894,8 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(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;
generated by cgit (git 2.34.1) at 2025-08-02 11:26:41 +0000