1 files changed, 119 insertions, 92 deletions

diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
index cec1dd0e0464..7ef0a25ec74f 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -10,14 +10,15 @@
 #include <linux/regmap.h>
 #include <linux/delay.h>
 #include <linux/math64.h>
-#include <linux/iio/iio.h>
+
 #include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.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"
-#include "inv_icm42600_timestamp.h"
 
 #define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info)		\
 	{								\
@@ -56,7 +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[] = {
@@ -76,8 +77,8 @@ 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;
-	int64_t timestamp __aligned(8);
+	s16 temp;
+	aligned_s64 timestamp;
 };
 
 #define INV_ICM42600_SCAN_MASK_GYRO_3AXIS				\
@@ -98,7 +99,6 @@ static int inv_icm42600_gyro_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_timestamp *ts = iio_priv(indio_dev);
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 	unsigned int fifo_en = 0;
 	unsigned int sleep_gyro = 0;
@@ -126,20 +126,12 @@ static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
 	}
 
 	/* update data FIFO write */
-	inv_icm42600_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);
 	/* sleep maximum required time */
-	if (sleep_gyro > sleep_temp)
-		sleep = sleep_gyro;
-	else
-		sleep = sleep_temp;
+	sleep = max(sleep_gyro, sleep_temp);
 	if (sleep)
 		msleep(sleep);
 	return ret;
@@ -147,7 +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;
@@ -187,12 +179,11 @@ 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:
 	mutex_unlock(&st->lock);
-	pm_runtime_mark_last_busy(dev);
 	pm_runtime_put_autosuspend(dev);
 	return ret;
 }
@@ -224,44 +215,72 @@ static const int inv_icm42600_gyro_scale[] = {
 	[2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
 	[2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
 };
+static const int inv_icm42686_gyro_scale[] = {
+	/* +/- 4000dps => 0.002130529 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_4000DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_4000DPS + 1] = 2130529,
+	/* +/- 2000dps => 0.001065264 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_2000DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_2000DPS + 1] = 1065264,
+	/* +/- 1000dps => 0.000532632 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_1000DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_1000DPS + 1] = 532632,
+	/* +/- 500dps => 0.000266316 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_500DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_500DPS + 1] = 266316,
+	/* +/- 250dps => 0.000133158 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_250DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_250DPS + 1] = 133158,
+	/* +/- 125dps => 0.000066579 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_125DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_125DPS + 1] = 66579,
+	/* +/- 62.5dps => 0.000033290 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_62_5DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_62_5DPS + 1] = 33290,
+	/* +/- 31.25dps => 0.000016645 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_31_25DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_31_25DPS + 1] = 16645,
+};
 
-static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_gyro_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 *gyro_st = iio_priv(indio_dev);
 	unsigned int idx;
 
 	idx = st->conf.gyro.fs;
 
-	*val = inv_icm42600_gyro_scale[2 * idx];
-	*val2 = inv_icm42600_gyro_scale[2 * idx + 1];
+	*val = gyro_st->scales[2 * idx];
+	*val2 = gyro_st->scales[2 * idx + 1];
 	return IIO_VAL_INT_PLUS_NANO;
 }
 
-static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_gyro_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 *gyro_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_gyro_scale); idx += 2) {
-		if (val == inv_icm42600_gyro_scale[idx] &&
-		    val2 == inv_icm42600_gyro_scale[idx + 1])
+	for (idx = 0; idx < gyro_st->scales_len; idx += 2) {
+		if (val == gyro_st->scales[idx] &&
+		    val2 == gyro_st->scales[idx + 1])
 			break;
 	}
-	if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
+	if (idx >= gyro_st->scales_len)
 		return -EINVAL;
 
 	conf.fs = idx / 2;
 
 	pm_runtime_get_sync(dev);
-	mutex_lock(&st->lock);
 
-	ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+	scoped_guard(mutex, &st->lock)
+		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;
@@ -323,7 +342,8 @@ static int inv_icm42600_gyro_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_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &gyro_st->ts;
 	struct device *dev = regmap_get_device(st->map);
 	unsigned int idx;
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
@@ -342,8 +362,8 @@ static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
 	pm_runtime_get_sync(dev);
 	mutex_lock(&st->lock);
 
-	ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
-						iio_buffer_enabled(indio_dev));
+	ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
+					       iio_buffer_enabled(indio_dev));
 	if (ret)
 		goto out_unlock;
 
@@ -355,7 +375,6 @@ static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
 
 out_unlock:
 	mutex_unlock(&st->lock);
-	pm_runtime_mark_last_busy(dev);
 	pm_runtime_put_autosuspend(dev);
 
 	return ret;
@@ -376,11 +395,11 @@ 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)
@@ -407,7 +426,6 @@ static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st,
 	memcpy(data, st->buffer, sizeof(data));
 
 	mutex_unlock(&st->lock);
-	pm_runtime_mark_last_busy(dev);
 	pm_runtime_put_autosuspend(dev);
 	if (ret)
 		return ret;
@@ -434,7 +452,7 @@ 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;
@@ -452,9 +470,9 @@ 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)
@@ -475,11 +493,11 @@ 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;
 
@@ -544,7 +562,6 @@ static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st,
 
 out_unlock:
 	mutex_unlock(&st->lock);
-	pm_runtime_mark_last_busy(dev);
 	pm_runtime_put_autosuspend(dev);
 	return ret;
 }
@@ -554,7 +571,7 @@ 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) {
@@ -568,17 +585,16 @@ 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;
 		return IIO_VAL_INT;
 	case IIO_CHAN_INFO_SCALE:
-		return inv_icm42600_gyro_read_scale(st, val, val2);
+		return inv_icm42600_gyro_read_scale(indio_dev, val, val2);
 	case IIO_CHAN_INFO_SAMP_FREQ:
 		return inv_icm42600_gyro_read_odr(st, val, val2);
 	case IIO_CHAN_INFO_CALIBBIAS:
@@ -593,14 +609,16 @@ static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
 					const int **vals,
 					int *type, int *length, long mask)
 {
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+
 	if (chan->type != IIO_ANGL_VEL)
 		return -EINVAL;
 
 	switch (mask) {
 	case IIO_CHAN_INFO_SCALE:
-		*vals = inv_icm42600_gyro_scale;
+		*vals = gyro_st->scales;
 		*type = IIO_VAL_INT_PLUS_NANO;
-		*length = ARRAY_SIZE(inv_icm42600_gyro_scale);
+		*length = gyro_st->scales_len;
 		return IIO_AVAIL_LIST;
 	case IIO_CHAN_INFO_SAMP_FREQ:
 		*vals = inv_icm42600_gyro_odr;
@@ -628,20 +646,18 @@ 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;
-		ret = inv_icm42600_gyro_write_scale(st, val, val2);
-		iio_device_release_direct_mode(indio_dev);
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm42600_gyro_write_scale(indio_dev, val, val2);
+		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;
@@ -671,16 +687,11 @@ static int inv_icm42600_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev,
 						  unsigned int val)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	int ret;
 
-	mutex_lock(&st->lock);
+	guard(mutex)(&st->lock);
 
 	st->fifo.watermark.gyro = val;
-	ret = inv_icm42600_buffer_update_watermark(st);
-
-	mutex_unlock(&st->lock);
-
-	return ret;
+	return inv_icm42600_buffer_update_watermark(st);
 }
 
 static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev,
@@ -692,15 +703,13 @@ static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev,
 	if (count == 0)
 		return 0;
 
-	mutex_lock(&st->lock);
+	guard(mutex)(&st->lock);
 
 	ret = inv_icm42600_buffer_hwfifo_flush(st, count);
-	if (!ret)
-		ret = st->fifo.nb.gyro;
-
-	mutex_unlock(&st->lock);
+	if (ret)
+		return ret;
 
-	return ret;
+	return st->fifo.nb.gyro;
 }
 
 static const struct iio_info inv_icm42600_gyro_info = {
@@ -718,7 +727,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 {
 	struct device *dev = regmap_get_device(st->map);
 	const char *name;
-	struct inv_icm42600_timestamp *ts;
+	struct inv_icm42600_sensor_state *gyro_st;
+	struct inv_sensors_timestamp_chip ts_chip;
 	struct iio_dev *indio_dev;
 	int ret;
 
@@ -726,12 +736,30 @@ struct iio_dev *inv_icm42600_gyro_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(*gyro_st));
 	if (!indio_dev)
 		return ERR_PTR(-ENOMEM);
+	gyro_st = iio_priv(indio_dev);
 
-	ts = iio_priv(indio_dev);
-	inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.gyro.odr));
+	switch (st->chip) {
+	case INV_CHIP_ICM42686:
+		gyro_st->scales = inv_icm42686_gyro_scale;
+		gyro_st->scales_len = ARRAY_SIZE(inv_icm42686_gyro_scale);
+		break;
+	default:
+		gyro_st->scales = inv_icm42600_gyro_scale;
+		gyro_st->scales_len = ARRAY_SIZE(inv_icm42600_gyro_scale);
+		break;
+	}
+
+	/*
+	 * 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(&gyro_st->ts, &ts_chip);
 
 	iio_device_set_drvdata(indio_dev, st);
 	indio_dev->name = name;
@@ -743,7 +771,6 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 	indio_dev->setup_ops = &inv_icm42600_buffer_ops;
 
 	ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
-					  INDIO_BUFFER_SOFTWARE,
 					  &inv_icm42600_buffer_ops);
 	if (ret)
 		return ERR_PTR(ret);
@@ -758,14 +785,16 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &gyro_st->ts;
 	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) {
@@ -781,15 +810,13 @@ int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
 
 		/* update odr */
 		if (odr & INV_ICM42600_SENSOR_GYRO)
-			inv_icm42600_timestamp_apply_odr(ts, st->fifo.period,
-							 st->fifo.nb.total, no);
+			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;
-		ts_val = inv_icm42600_timestamp_pop(ts);
+		ts_val = inv_sensors_timestamp_pop(ts);
 		iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
 	}