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path: root/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
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Diffstat (limited to 'drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c')
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c98
1 files changed, 39 insertions, 59 deletions
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
index 938af5b640b0..7ef0a25ec74f 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[] = {
@@ -77,8 +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 \
@@ -99,8 +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_sensor_state *gyro_st = iio_priv(indio_dev);
- struct inv_sensors_timestamp *ts = &gyro_st->ts;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
unsigned int fifo_en = 0;
unsigned int sleep_gyro = 0;
@@ -128,7 +126,6 @@ static int inv_icm42600_gyro_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);
out_unlock:
@@ -142,7 +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;
@@ -182,12 +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;
}
@@ -281,12 +277,10 @@ static int inv_icm42600_gyro_write_scale(struct iio_dev *indio_dev,
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;
@@ -381,7 +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;
@@ -402,11 +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)
@@ -433,7 +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;
@@ -460,7 +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;
@@ -478,9 +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)
@@ -501,11 +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;
@@ -570,7 +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;
}
@@ -580,7 +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) {
@@ -594,11 +585,10 @@ 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;
@@ -656,20 +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;
+ 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;
@@ -699,16 +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,
@@ -720,15 +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 = {
@@ -809,10 +790,11 @@ 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) {
@@ -831,8 +813,6 @@ 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;
generated by cgit (git 2.34.1) at 2025-12-28 21:42:32 +0000