Commit a095fadb authored by Jean-Baptiste Maneyrol's avatar Jean-Baptiste Maneyrol Committed by Jonathan Cameron
Browse files

iio: imu: inv_icm42600: add gyroscope IIO device 



Add IIO device for gyroscope sensor with data polling interface.
Attributes: raw, scale, sampling_frequency, calibbias.

Gyroscope in low noise mode.

Signed-off-by: default avatarJean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Signed-off-by: default avatarJonathan Cameron <Jonathan.Cameron@huawei.com>
parent 9f9ff91b

drivers/iio/imu/inv_icm42600/inv_icm42600.h

+6 −0
Original line number Diff line number Diff line
@@ -120,6 +120,8 @@ struct inv_icm42600_suspended { 
 *  @orientation:	sensor chip orientation relative to main hardware.

 *  @conf:		chip sensors configurations.

 *  @suspended:		suspended sensors configuration.

 *  @indio_gyro:	gyroscope IIO device.

 *  @buffer:		data transfer buffer aligned for DMA.

 */

struct inv_icm42600_state {

	struct mutex lock;
@@ -131,6 +133,8 @@ struct inv_icm42600_state { 
	struct iio_mount_matrix orientation;

	struct inv_icm42600_conf conf;

	struct inv_icm42600_suspended suspended;

	struct iio_dev *indio_gyro;

	uint8_t buffer[2] ____cacheline_aligned;

};



/* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
@@ -369,4 +373,6 @@ int inv_icm42600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg, 
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);



#endif

drivers/iio/imu/inv_icm42600/inv_icm42600_core.c

+4 −0
Original line number Diff line number Diff line
@@ -509,6 +509,10 @@ int inv_icm42600_core_probe(struct regmap *regmap, int chip, 
	if (ret)

		return ret;



	st->indio_gyro = inv_icm42600_gyro_init(st);

	if (IS_ERR(st->indio_gyro))

		return PTR_ERR(st->indio_gyro);



	/* setup runtime power management */

	ret = pm_runtime_set_active(dev);

	if (ret)

drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c

0 → 100644
+603 −0
Original line number Diff line number Diff line 
// 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/iio/iio.h>



#include "inv_icm42600.h"



#define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info)		\

	{								\

		.type = IIO_ANGL_VEL,					\

		.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,					\

	}



enum inv_icm42600_gyro_scan {

	INV_ICM42600_GYRO_SCAN_X,

	INV_ICM42600_GYRO_SCAN_Y,

	INV_ICM42600_GYRO_SCAN_Z,

};



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[] = {

	INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X,

			       inv_icm42600_gyro_ext_infos),

	INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y,

			       inv_icm42600_gyro_ext_infos),

	INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z,

			       inv_icm42600_gyro_ext_infos),

};



static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st,

					 struct iio_chan_spec const *chan,

					 int16_t *val)

{

	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_ANGL_VEL)

		return -EINVAL;



	switch (chan->channel2) {

	case IIO_MOD_X:

		reg = INV_ICM42600_REG_GYRO_DATA_X;

		break;

	case IIO_MOD_Y:

		reg = INV_ICM42600_REG_GYRO_DATA_Y;

		break;

	case IIO_MOD_Z:

		reg = INV_ICM42600_REG_GYRO_DATA_Z;

		break;

	default:

		return -EINVAL;

	}



	pm_runtime_get_sync(dev);

	mutex_lock(&st->lock);



	/* enable gyro sensor */

	conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;

	ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);

	if (ret)

		goto exit;



	/* read gyro register data */

	data = (__be16 *)&st->buffer[0];

	ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));

	if (ret)

		goto exit;



	*val = (int16_t)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;

}



/* IIO format int + nano */

static const int inv_icm42600_gyro_scale[] = {

	/* +/- 2000dps => 0.001065264 rad/s */

	[2 * INV_ICM42600_GYRO_FS_2000DPS] = 0,

	[2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264,

	/* +/- 1000dps => 0.000532632 rad/s */

	[2 * INV_ICM42600_GYRO_FS_1000DPS] = 0,

	[2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632,

	/* +/- 500dps => 0.000266316 rad/s */

	[2 * INV_ICM42600_GYRO_FS_500DPS] = 0,

	[2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316,

	/* +/- 250dps => 0.000133158 rad/s */

	[2 * INV_ICM42600_GYRO_FS_250DPS] = 0,

	[2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158,

	/* +/- 125dps => 0.000066579 rad/s */

	[2 * INV_ICM42600_GYRO_FS_125DPS] = 0,

	[2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579,

	/* +/- 62.5dps => 0.000033290 rad/s */

	[2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0,

	[2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290,

	/* +/- 31.25dps => 0.000016645 rad/s */

	[2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0,

	[2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645,

	/* +/- 15.625dps => 0.000008322 rad/s */

	[2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,

	[2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,

};



static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,

					int *val, int *val2)

{

	unsigned int idx;



	idx = st->conf.gyro.fs;



	*val = inv_icm42600_gyro_scale[2 * idx];

	*val2 = inv_icm42600_gyro_scale[2 * idx + 1];

	return IIO_VAL_INT_PLUS_NANO;

}



static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,

					 int val, int val2)

{

	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])

			break;

	}

	if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))

		return -EINVAL;



	conf.fs = idx / 2;



	pm_runtime_get_sync(dev);

	mutex_lock(&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;

}



/* IIO format int + micro */

static const int inv_icm42600_gyro_odr[] = {

	/* 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_gyro_odr_conv[] = {

	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_gyro_read_odr(struct inv_icm42600_state *st,

				      int *val, int *val2)

{

	unsigned int odr;

	unsigned int i;



	odr = st->conf.gyro.odr;



	for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) {

		if (inv_icm42600_gyro_odr_conv[i] == odr)

			break;

	}

	if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv))

		return -EINVAL;



	*val = inv_icm42600_gyro_odr[2 * i];

	*val2 = inv_icm42600_gyro_odr[2 * i + 1];



	return IIO_VAL_INT_PLUS_MICRO;

}



static int inv_icm42600_gyro_write_odr(struct inv_icm42600_state *st,

				       int val, int val2)

{

	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_odr); idx += 2) {

		if (val == inv_icm42600_gyro_odr[idx] &&

		    val2 == inv_icm42600_gyro_odr[idx + 1])

			break;

	}

	if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr))

		return -EINVAL;



	conf.odr = inv_icm42600_gyro_odr_conv[idx / 2];



	pm_runtime_get_sync(dev);

	mutex_lock(&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;

}



/*

 * Calibration bias values, IIO range format int + nano.

 * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps.

 */

static int inv_icm42600_gyro_calibbias[] = {

	-1, 117010721,		/* min: -1.117010721 rad/s */

	0, 545415,		/* step: 0.000545415 rad/s */

	1, 116465306,		/* max: 1.116465306 rad/s */

};



static int inv_icm42600_gyro_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);

	int64_t val64;

	int32_t bias;

	unsigned int reg;

	int16_t offset;

	uint8_t data[2];

	int ret;



	if (chan->type != IIO_ANGL_VEL)

		return -EINVAL;



	switch (chan->channel2) {

	case IIO_MOD_X:

		reg = INV_ICM42600_REG_OFFSET_USER0;

		break;

	case IIO_MOD_Y:

		reg = INV_ICM42600_REG_OFFSET_USER1;

		break;

	case IIO_MOD_Z:

		reg = INV_ICM42600_REG_OFFSET_USER3;

		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_mark_last_busy(dev);

	pm_runtime_put_autosuspend(dev);

	if (ret)

		return ret;



	/* 12 bits signed value */

	switch (chan->channel2) {

	case IIO_MOD_X:

		offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);

		break;

	case IIO_MOD_Y:

		offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);

		break;

	case IIO_MOD_Z:

		offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);

		break;

	default:

		return -EINVAL;

	}



	/*

	 * convert raw offset to dps then to rad/s

	 * 12 bits signed raw max 64 to dps: 64 / 2048

	 * dps to rad: Pi / 180

	 * result in nano (1000000000)

	 * (offset * 64 * Pi * 1000000000) / (2048 * 180)

	 */

	val64 = (int64_t)offset * 64LL * 3141592653LL;

	/* for rounding, add + or - divisor (2048 * 180) divided by 2 */

	if (val64 >= 0)

		val64 += 2048 * 180 / 2;

	else

		val64 -= 2048 * 180 / 2;

	bias = div_s64(val64, 2048 * 180);

	*val = bias / 1000000000L;

	*val2 = bias % 1000000000L;



	return IIO_VAL_INT_PLUS_NANO;

}



static int inv_icm42600_gyro_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);

	int64_t val64, min, max;

	unsigned int reg, regval;

	int16_t offset;

	int ret;



	if (chan->type != IIO_ANGL_VEL)

		return -EINVAL;



	switch (chan->channel2) {

	case IIO_MOD_X:

		reg = INV_ICM42600_REG_OFFSET_USER0;

		break;

	case IIO_MOD_Y:

		reg = INV_ICM42600_REG_OFFSET_USER1;

		break;

	case IIO_MOD_Z:

		reg = INV_ICM42600_REG_OFFSET_USER3;

		break;

	default:

		return -EINVAL;

	}



	/* 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;

	if (val64 < min || val64 > max)

		return -EINVAL;



	/*

	 * convert rad/s to dps then to raw value

	 * rad to dps: 180 / Pi

	 * dps to raw 12 bits signed, max 64: 2048 / 64

	 * val in nano (1000000000)

	 * val * 180 * 2048 / (Pi * 1000000000 * 64)

	 */

	val64 = val64 * 180LL * 2048LL;

	/* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */

	if (val64 >= 0)

		val64 += 3141592653LL * 64LL / 2LL;

	else

		val64 -= 3141592653LL * 64LL / 2LL;

	offset = div64_s64(val64, 3141592653LL * 64LL);



	/* 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_USER1 register is shared */

		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,

				  &regval);

		if (ret)

			goto out_unlock;

		st->buffer[0] = offset & 0xFF;

		st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);

		break;

	case IIO_MOD_Y:

		/* OFFSET_USER1 register is shared */

		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,

				  &regval);

		if (ret)

			goto out_unlock;

		st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);

		st->buffer[1] = offset & 0xFF;

		break;

	case IIO_MOD_Z:

		/* OFFSET_USER4 register is shared */

		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,

				  &regval);

		if (ret)

			goto out_unlock;

		st->buffer[0] = offset & 0xFF;

		st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);

		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_mark_last_busy(dev);

	pm_runtime_put_autosuspend(dev);

	return ret;

}



static int inv_icm42600_gyro_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);

	int16_t data;

	int ret;



	if (chan->type != IIO_ANGL_VEL)

		return -EINVAL;



	switch (mask) {

	case IIO_CHAN_INFO_RAW:

		ret = iio_device_claim_direct_mode(indio_dev);

		if (ret)

			return ret;

		ret = inv_icm42600_gyro_read_sensor(st, chan, &data);

		iio_device_release_direct_mode(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);

	case IIO_CHAN_INFO_SAMP_FREQ:

		return inv_icm42600_gyro_read_odr(st, val, val2);

	case IIO_CHAN_INFO_CALIBBIAS:

		return inv_icm42600_gyro_read_offset(st, chan, val, val2);

	default:

		return -EINVAL;

	}

}



static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,

					struct iio_chan_spec const *chan,

					const int **vals,

					int *type, int *length, long mask)

{

	if (chan->type != IIO_ANGL_VEL)

		return -EINVAL;



	switch (mask) {

	case IIO_CHAN_INFO_SCALE:

		*vals = inv_icm42600_gyro_scale;

		*type = IIO_VAL_INT_PLUS_NANO;

		*length = ARRAY_SIZE(inv_icm42600_gyro_scale);

		return IIO_AVAIL_LIST;

	case IIO_CHAN_INFO_SAMP_FREQ:

		*vals = inv_icm42600_gyro_odr;

		*type = IIO_VAL_INT_PLUS_MICRO;

		*length = ARRAY_SIZE(inv_icm42600_gyro_odr);

		return IIO_AVAIL_LIST;

	case IIO_CHAN_INFO_CALIBBIAS:

		*vals = inv_icm42600_gyro_calibbias;

		*type = IIO_VAL_INT_PLUS_NANO;

		return IIO_AVAIL_RANGE;

	default:

		return -EINVAL;

	}

}



static int inv_icm42600_gyro_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_ANGL_VEL)

		return -EINVAL;



	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);

		return ret;

	case IIO_CHAN_INFO_SAMP_FREQ:

		return inv_icm42600_gyro_write_odr(st, val, val2);

	case IIO_CHAN_INFO_CALIBBIAS:

		ret = iio_device_claim_direct_mode(indio_dev);

		if (ret)

			return ret;

		ret = inv_icm42600_gyro_write_offset(st, chan, val, val2);

		iio_device_release_direct_mode(indio_dev);

		return ret;

	default:

		return -EINVAL;

	}

}



static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,

					       struct iio_chan_spec const *chan,

					       long mask)

{

	if (chan->type != IIO_ANGL_VEL)

		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_NANO;

	default:

		return -EINVAL;

	}

}



static const struct iio_info inv_icm42600_gyro_info = {

	.read_raw = inv_icm42600_gyro_read_raw,

	.read_avail = inv_icm42600_gyro_read_avail,

	.write_raw = inv_icm42600_gyro_write_raw,

	.write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt,

	.debugfs_reg_access = inv_icm42600_debugfs_reg,

};



struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)

{

	struct device *dev = regmap_get_device(st->map);

	const char *name;

	struct iio_dev *indio_dev;

	int ret;



	name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);

	if (!name)

		return ERR_PTR(-ENOMEM);



	indio_dev = devm_iio_device_alloc(dev, 0);

	if (!indio_dev)

		return ERR_PTR(-ENOMEM);



	iio_device_set_drvdata(indio_dev, st);

	indio_dev->name = name;

	indio_dev->info = &inv_icm42600_gyro_info;

	indio_dev->modes = INDIO_DIRECT_MODE;

	indio_dev->channels = inv_icm42600_gyro_channels;

	indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels);



	ret = devm_iio_device_register(dev, indio_dev);

	if (ret)

		return ERR_PTR(ret);



	return indio_dev;

}