drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c

   1 // SPDX-License-Identifier: GPL-2.0-or-later
   2 /*
   3  * Copyright (C) 2020 Invensense, Inc.
   4  */
   5
   6 #include <linux/kernel.h>
   7 #include <linux/device.h>
   8 #include <linux/mutex.h>
   9 #include <linux/pm_runtime.h>
  10 #include <linux/regmap.h>
  11 #include <linux/delay.h>
  12 #include <linux/math64.h>
  13
  14 #include <linux/iio/buffer.h>
  15 #include <linux/iio/common/inv_sensors_timestamp.h>
  16 #include <linux/iio/iio.h>
  17 #include <linux/iio/kfifo_buf.h>
  18
  19 #include "inv_icm42600.h"
  20 #include "inv_icm42600_temp.h"
  21 #include "inv_icm42600_buffer.h"
  22
  23 #define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info)            \
  24         {                                                               \
  25                 .type = IIO_ANGL_VEL,                                   \
  26                 .modified = 1,                                          \
  27                 .channel2 = _modifier,                                  \
  28                 .info_mask_separate =                                   \
  29                         BIT(IIO_CHAN_INFO_RAW) |                        \
  30                         BIT(IIO_CHAN_INFO_CALIBBIAS),                   \
  31                 .info_mask_shared_by_type =                             \
  32                         BIT(IIO_CHAN_INFO_SCALE),                       \
  33                 .info_mask_shared_by_type_available =                   \
  34                         BIT(IIO_CHAN_INFO_SCALE) |                      \
  35                         BIT(IIO_CHAN_INFO_CALIBBIAS),                   \
  36                 .info_mask_shared_by_all =                              \
  37                         BIT(IIO_CHAN_INFO_SAMP_FREQ),                   \
  38                 .info_mask_shared_by_all_available =                    \
  39                         BIT(IIO_CHAN_INFO_SAMP_FREQ),                   \
  40                 .scan_index = _index,                                   \
  41                 .scan_type = {                                          \
  42                         .sign = 's',                                    \
  43                         .realbits = 16,                                 \
  44                         .storagebits = 16,                              \
  45                         .endianness = IIO_BE,                           \
  46                 },                                                      \
  47                 .ext_info = _ext_info,                                  \
  48         }
  49
  50 enum inv_icm42600_gyro_scan {
  51         INV_ICM42600_GYRO_SCAN_X,
  52         INV_ICM42600_GYRO_SCAN_Y,
  53         INV_ICM42600_GYRO_SCAN_Z,
  54         INV_ICM42600_GYRO_SCAN_TEMP,
  55         INV_ICM42600_GYRO_SCAN_TIMESTAMP,
  56 };
  57
  58 static const struct iio_chan_spec_ext_info inv_icm42600_gyro_ext_infos[] = {
  59         IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
  60         {},
  61 };
  62
  63 static const struct iio_chan_spec inv_icm42600_gyro_channels[] = {
  64         INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X,
  65                                inv_icm42600_gyro_ext_infos),
  66         INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y,
  67                                inv_icm42600_gyro_ext_infos),
  68         INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z,
  69                                inv_icm42600_gyro_ext_infos),
  70         INV_ICM42600_TEMP_CHAN(INV_ICM42600_GYRO_SCAN_TEMP),
  71         IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_GYRO_SCAN_TIMESTAMP),
  72 };
  73
  74 /*
  75  * IIO buffer data: size must be a power of 2 and timestamp aligned
  76  * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp
  77  */
  78 struct inv_icm42600_gyro_buffer {
  79         struct inv_icm42600_fifo_sensor_data gyro;
  80         int16_t temp;
  81         int64_t timestamp __aligned(8);
  82 };
  83
  84 #define INV_ICM42600_SCAN_MASK_GYRO_3AXIS                               \
  85         (BIT(INV_ICM42600_GYRO_SCAN_X) |                                \
  86         BIT(INV_ICM42600_GYRO_SCAN_Y) |                                 \
  87         BIT(INV_ICM42600_GYRO_SCAN_Z))
  88
  89 #define INV_ICM42600_SCAN_MASK_TEMP     BIT(INV_ICM42600_GYRO_SCAN_TEMP)
  90
  91 static const unsigned long inv_icm42600_gyro_scan_masks[] = {
  92         /* 3-axis gyro + temperature */
  93         INV_ICM42600_SCAN_MASK_GYRO_3AXIS | INV_ICM42600_SCAN_MASK_TEMP,
  94         0,
  95 };
  96
  97 /* enable gyroscope sensor and FIFO write */
  98 static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
  99                                               const unsigned long *scan_mask)
 100 {
 101         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 102         struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
 103         struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 104         unsigned int fifo_en = 0;
 105         unsigned int sleep_gyro = 0;
 106         unsigned int sleep_temp = 0;
 107         unsigned int sleep;
 108         int ret;
 109
 110         mutex_lock(&st->lock);
 111
 112         if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) {
 113                 /* enable temp sensor */
 114                 ret = inv_icm42600_set_temp_conf(st, true, &sleep_temp);
 115                 if (ret)
 116                         goto out_unlock;
 117                 fifo_en |= INV_ICM42600_SENSOR_TEMP;
 118         }
 119
 120         if (*scan_mask & INV_ICM42600_SCAN_MASK_GYRO_3AXIS) {
 121                 /* enable gyro sensor */
 122                 conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
 123                 ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_gyro);
 124                 if (ret)
 125                         goto out_unlock;
 126                 fifo_en |= INV_ICM42600_SENSOR_GYRO;
 127         }
 128
 129         /* update data FIFO write */
 130         inv_sensors_timestamp_apply_odr(ts, 0, 0, 0);
 131         ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
 132         if (ret)
 133                 goto out_unlock;
 134
 135         ret = inv_icm42600_buffer_update_watermark(st);
 136
 137 out_unlock:
 138         mutex_unlock(&st->lock);
 139         /* sleep maximum required time */
 140         if (sleep_gyro > sleep_temp)
 141                 sleep = sleep_gyro;
 142         else
 143                 sleep = sleep_temp;
 144         if (sleep)
 145                 msleep(sleep);
 146         return ret;
 147 }
 148
 149 static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st,
 150                                          struct iio_chan_spec const *chan,
 151                                          int16_t *val)
 152 {
 153         struct device *dev = regmap_get_device(st->map);
 154         struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 155         unsigned int reg;
 156         __be16 *data;
 157         int ret;
 158
 159         if (chan->type != IIO_ANGL_VEL)
 160                 return -EINVAL;
 161
 162         switch (chan->channel2) {
 163         case IIO_MOD_X:
 164                 reg = INV_ICM42600_REG_GYRO_DATA_X;
 165                 break;
 166         case IIO_MOD_Y:
 167                 reg = INV_ICM42600_REG_GYRO_DATA_Y;
 168                 break;
 169         case IIO_MOD_Z:
 170                 reg = INV_ICM42600_REG_GYRO_DATA_Z;
 171                 break;
 172         default:
 173                 return -EINVAL;
 174         }
 175
 176         pm_runtime_get_sync(dev);
 177         mutex_lock(&st->lock);
 178
 179         /* enable gyro sensor */
 180         conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
 181         ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
 182         if (ret)
 183                 goto exit;
 184
 185         /* read gyro register data */
 186         data = (__be16 *)&st->buffer[0];
 187         ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
 188         if (ret)
 189                 goto exit;
 190
 191         *val = (int16_t)be16_to_cpup(data);
 192         if (*val == INV_ICM42600_DATA_INVALID)
 193                 ret = -EINVAL;
 194 exit:
 195         mutex_unlock(&st->lock);
 196         pm_runtime_mark_last_busy(dev);
 197         pm_runtime_put_autosuspend(dev);
 198         return ret;
 199 }
 200
 201 /* IIO format int + nano */
 202 static const int inv_icm42600_gyro_scale[] = {
 203         /* +/- 2000dps => 0.001065264 rad/s */
 204         [2 * INV_ICM42600_GYRO_FS_2000DPS] = 0,
 205         [2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264,
 206         /* +/- 1000dps => 0.000532632 rad/s */
 207         [2 * INV_ICM42600_GYRO_FS_1000DPS] = 0,
 208         [2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632,
 209         /* +/- 500dps => 0.000266316 rad/s */
 210         [2 * INV_ICM42600_GYRO_FS_500DPS] = 0,
 211         [2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316,
 212         /* +/- 250dps => 0.000133158 rad/s */
 213         [2 * INV_ICM42600_GYRO_FS_250DPS] = 0,
 214         [2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158,
 215         /* +/- 125dps => 0.000066579 rad/s */
 216         [2 * INV_ICM42600_GYRO_FS_125DPS] = 0,
 217         [2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579,
 218         /* +/- 62.5dps => 0.000033290 rad/s */
 219         [2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0,
 220         [2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290,
 221         /* +/- 31.25dps => 0.000016645 rad/s */
 222         [2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0,
 223         [2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645,
 224         /* +/- 15.625dps => 0.000008322 rad/s */
 225         [2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
 226         [2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
 227 };
 228
 229 static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
 230                                         int *val, int *val2)
 231 {
 232         unsigned int idx;
 233
 234         idx = st->conf.gyro.fs;
 235
 236         *val = inv_icm42600_gyro_scale[2 * idx];
 237         *val2 = inv_icm42600_gyro_scale[2 * idx + 1];
 238         return IIO_VAL_INT_PLUS_NANO;
 239 }
 240
 241 static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
 242                                          int val, int val2)
 243 {
 244         struct device *dev = regmap_get_device(st->map);
 245         unsigned int idx;
 246         struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 247         int ret;
 248
 249         for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) {
 250                 if (val == inv_icm42600_gyro_scale[idx] &&
 251                     val2 == inv_icm42600_gyro_scale[idx + 1])
 252                         break;
 253         }
 254         if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
 255                 return -EINVAL;
 256
 257         conf.fs = idx / 2;
 258
 259         pm_runtime_get_sync(dev);
 260         mutex_lock(&st->lock);
 261
 262         ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
 263
 264         mutex_unlock(&st->lock);
 265         pm_runtime_mark_last_busy(dev);
 266         pm_runtime_put_autosuspend(dev);
 267
 268         return ret;
 269 }
 270
 271 /* IIO format int + micro */
 272 static const int inv_icm42600_gyro_odr[] = {
 273         /* 12.5Hz */
 274         12, 500000,
 275         /* 25Hz */
 276         25, 0,
 277         /* 50Hz */
 278         50, 0,
 279         /* 100Hz */
 280         100, 0,
 281         /* 200Hz */
 282         200, 0,
 283         /* 1kHz */
 284         1000, 0,
 285         /* 2kHz */
 286         2000, 0,
 287         /* 4kHz */
 288         4000, 0,
 289 };
 290
 291 static const int inv_icm42600_gyro_odr_conv[] = {
 292         INV_ICM42600_ODR_12_5HZ,
 293         INV_ICM42600_ODR_25HZ,
 294         INV_ICM42600_ODR_50HZ,
 295         INV_ICM42600_ODR_100HZ,
 296         INV_ICM42600_ODR_200HZ,
 297         INV_ICM42600_ODR_1KHZ_LN,
 298         INV_ICM42600_ODR_2KHZ_LN,
 299         INV_ICM42600_ODR_4KHZ_LN,
 300 };
 301
 302 static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st,
 303                                       int *val, int *val2)
 304 {
 305         unsigned int odr;
 306         unsigned int i;
 307
 308         odr = st->conf.gyro.odr;
 309
 310         for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) {
 311                 if (inv_icm42600_gyro_odr_conv[i] == odr)
 312                         break;
 313         }
 314         if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv))
 315                 return -EINVAL;
 316
 317         *val = inv_icm42600_gyro_odr[2 * i];
 318         *val2 = inv_icm42600_gyro_odr[2 * i + 1];
 319
 320         return IIO_VAL_INT_PLUS_MICRO;
 321 }
 322
 323 static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
 324                                        int val, int val2)
 325 {
 326         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 327         struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
 328         struct device *dev = regmap_get_device(st->map);
 329         unsigned int idx;
 330         struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 331         int ret;
 332
 333         for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) {
 334                 if (val == inv_icm42600_gyro_odr[idx] &&
 335                     val2 == inv_icm42600_gyro_odr[idx + 1])
 336                         break;
 337         }
 338         if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr))
 339                 return -EINVAL;
 340
 341         conf.odr = inv_icm42600_gyro_odr_conv[idx / 2];
 342
 343         pm_runtime_get_sync(dev);
 344         mutex_lock(&st->lock);
 345
 346         ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
 347                                                iio_buffer_enabled(indio_dev));
 348         if (ret)
 349                 goto out_unlock;
 350
 351         ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
 352         if (ret)
 353                 goto out_unlock;
 354         inv_icm42600_buffer_update_fifo_period(st);
 355         inv_icm42600_buffer_update_watermark(st);
 356
 357 out_unlock:
 358         mutex_unlock(&st->lock);
 359         pm_runtime_mark_last_busy(dev);
 360         pm_runtime_put_autosuspend(dev);
 361
 362         return ret;
 363 }
 364
 365 /*
 366  * Calibration bias values, IIO range format int + nano.
 367  * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps.
 368  */
 369 static int inv_icm42600_gyro_calibbias[] = {
 370         -1, 117010721,          /* min: -1.117010721 rad/s */
 371         0, 545415,              /* step: 0.000545415 rad/s */
 372         1, 116465306,           /* max: 1.116465306 rad/s */
 373 };
 374
 375 static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st,
 376                                          struct iio_chan_spec const *chan,
 377                                          int *val, int *val2)
 378 {
 379         struct device *dev = regmap_get_device(st->map);
 380         int64_t val64;
 381         int32_t bias;
 382         unsigned int reg;
 383         int16_t offset;
 384         uint8_t data[2];
 385         int ret;
 386
 387         if (chan->type != IIO_ANGL_VEL)
 388                 return -EINVAL;
 389
 390         switch (chan->channel2) {
 391         case IIO_MOD_X:
 392                 reg = INV_ICM42600_REG_OFFSET_USER0;
 393                 break;
 394         case IIO_MOD_Y:
 395                 reg = INV_ICM42600_REG_OFFSET_USER1;
 396                 break;
 397         case IIO_MOD_Z:
 398                 reg = INV_ICM42600_REG_OFFSET_USER3;
 399                 break;
 400         default:
 401                 return -EINVAL;
 402         }
 403
 404         pm_runtime_get_sync(dev);
 405         mutex_lock(&st->lock);
 406
 407         ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data));
 408         memcpy(data, st->buffer, sizeof(data));
 409
 410         mutex_unlock(&st->lock);
 411         pm_runtime_mark_last_busy(dev);
 412         pm_runtime_put_autosuspend(dev);
 413         if (ret)
 414                 return ret;
 415
 416         /* 12 bits signed value */
 417         switch (chan->channel2) {
 418         case IIO_MOD_X:
 419                 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
 420                 break;
 421         case IIO_MOD_Y:
 422                 offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);
 423                 break;
 424         case IIO_MOD_Z:
 425                 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
 426                 break;
 427         default:
 428                 return -EINVAL;
 429         }
 430
 431         /*
 432          * convert raw offset to dps then to rad/s
 433          * 12 bits signed raw max 64 to dps: 64 / 2048
 434          * dps to rad: Pi / 180
 435          * result in nano (1000000000)
 436          * (offset * 64 * Pi * 1000000000) / (2048 * 180)
 437          */
 438         val64 = (int64_t)offset * 64LL * 3141592653LL;
 439         /* for rounding, add + or - divisor (2048 * 180) divided by 2 */
 440         if (val64 >= 0)
 441                 val64 += 2048 * 180 / 2;
 442         else
 443                 val64 -= 2048 * 180 / 2;
 444         bias = div_s64(val64, 2048 * 180);
 445         *val = bias / 1000000000L;
 446         *val2 = bias % 1000000000L;
 447
 448         return IIO_VAL_INT_PLUS_NANO;
 449 }
 450
 451 static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st,
 452                                           struct iio_chan_spec const *chan,
 453                                           int val, int val2)
 454 {
 455         struct device *dev = regmap_get_device(st->map);
 456         int64_t val64, min, max;
 457         unsigned int reg, regval;
 458         int16_t offset;
 459         int ret;
 460
 461         if (chan->type != IIO_ANGL_VEL)
 462                 return -EINVAL;
 463
 464         switch (chan->channel2) {
 465         case IIO_MOD_X:
 466                 reg = INV_ICM42600_REG_OFFSET_USER0;
 467                 break;
 468         case IIO_MOD_Y:
 469                 reg = INV_ICM42600_REG_OFFSET_USER1;
 470                 break;
 471         case IIO_MOD_Z:
 472                 reg = INV_ICM42600_REG_OFFSET_USER3;
 473                 break;
 474         default:
 475                 return -EINVAL;
 476         }
 477
 478         /* inv_icm42600_gyro_calibbias: min - step - max in nano */
 479         min = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL +
 480               (int64_t)inv_icm42600_gyro_calibbias[1];
 481         max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL +
 482               (int64_t)inv_icm42600_gyro_calibbias[5];
 483         val64 = (int64_t)val * 1000000000LL + (int64_t)val2;
 484         if (val64 < min || val64 > max)
 485                 return -EINVAL;
 486
 487         /*
 488          * convert rad/s to dps then to raw value
 489          * rad to dps: 180 / Pi
 490          * dps to raw 12 bits signed, max 64: 2048 / 64
 491          * val in nano (1000000000)
 492          * val * 180 * 2048 / (Pi * 1000000000 * 64)
 493          */
 494         val64 = val64 * 180LL * 2048LL;
 495         /* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */
 496         if (val64 >= 0)
 497                 val64 += 3141592653LL * 64LL / 2LL;
 498         else
 499                 val64 -= 3141592653LL * 64LL / 2LL;
 500         offset = div64_s64(val64, 3141592653LL * 64LL);
 501
 502         /* clamp value limited to 12 bits signed */
 503         if (offset < -2048)
 504                 offset = -2048;
 505         else if (offset > 2047)
 506                 offset = 2047;
 507
 508         pm_runtime_get_sync(dev);
 509         mutex_lock(&st->lock);
 510
 511         switch (chan->channel2) {
 512         case IIO_MOD_X:
 513                 /* OFFSET_USER1 register is shared */
 514                 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
 515                                   &regval);
 516                 if (ret)
 517                         goto out_unlock;
 518                 st->buffer[0] = offset & 0xFF;
 519                 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
 520                 break;
 521         case IIO_MOD_Y:
 522                 /* OFFSET_USER1 register is shared */
 523                 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
 524                                   &regval);
 525                 if (ret)
 526                         goto out_unlock;
 527                 st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
 528                 st->buffer[1] = offset & 0xFF;
 529                 break;
 530         case IIO_MOD_Z:
 531                 /* OFFSET_USER4 register is shared */
 532                 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,
 533                                   &regval);
 534                 if (ret)
 535                         goto out_unlock;
 536                 st->buffer[0] = offset & 0xFF;
 537                 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
 538                 break;
 539         default:
 540                 ret = -EINVAL;
 541                 goto out_unlock;
 542         }
 543
 544         ret = regmap_bulk_write(st->map, reg, st->buffer, 2);
 545
 546 out_unlock:
 547         mutex_unlock(&st->lock);
 548         pm_runtime_mark_last_busy(dev);
 549         pm_runtime_put_autosuspend(dev);
 550         return ret;
 551 }
 552
 553 static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
 554                                       struct iio_chan_spec const *chan,
 555                                       int *val, int *val2, long mask)
 556 {
 557         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 558         int16_t data;
 559         int ret;
 560
 561         switch (chan->type) {
 562         case IIO_ANGL_VEL:
 563                 break;
 564         case IIO_TEMP:
 565                 return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask);
 566         default:
 567                 return -EINVAL;
 568         }
 569
 570         switch (mask) {
 571         case IIO_CHAN_INFO_RAW:
 572                 ret = iio_device_claim_direct_mode(indio_dev);
 573                 if (ret)
 574                         return ret;
 575                 ret = inv_icm42600_gyro_read_sensor(st, chan, &data);
 576                 iio_device_release_direct_mode(indio_dev);
 577                 if (ret)
 578                         return ret;
 579                 *val = data;
 580                 return IIO_VAL_INT;
 581         case IIO_CHAN_INFO_SCALE:
 582                 return inv_icm42600_gyro_read_scale(st, val, val2);
 583         case IIO_CHAN_INFO_SAMP_FREQ:
 584                 return inv_icm42600_gyro_read_odr(st, val, val2);
 585         case IIO_CHAN_INFO_CALIBBIAS:
 586                 return inv_icm42600_gyro_read_offset(st, chan, val, val2);
 587         default:
 588                 return -EINVAL;
 589         }
 590 }
 591
 592 static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
 593                                         struct iio_chan_spec const *chan,
 594                                         const int **vals,
 595                                         int *type, int *length, long mask)
 596 {
 597         if (chan->type != IIO_ANGL_VEL)
 598                 return -EINVAL;
 599
 600         switch (mask) {
 601         case IIO_CHAN_INFO_SCALE:
 602                 *vals = inv_icm42600_gyro_scale;
 603                 *type = IIO_VAL_INT_PLUS_NANO;
 604                 *length = ARRAY_SIZE(inv_icm42600_gyro_scale);
 605                 return IIO_AVAIL_LIST;
 606         case IIO_CHAN_INFO_SAMP_FREQ:
 607                 *vals = inv_icm42600_gyro_odr;
 608                 *type = IIO_VAL_INT_PLUS_MICRO;
 609                 *length = ARRAY_SIZE(inv_icm42600_gyro_odr);
 610                 return IIO_AVAIL_LIST;
 611         case IIO_CHAN_INFO_CALIBBIAS:
 612                 *vals = inv_icm42600_gyro_calibbias;
 613                 *type = IIO_VAL_INT_PLUS_NANO;
 614                 return IIO_AVAIL_RANGE;
 615         default:
 616                 return -EINVAL;
 617         }
 618 }
 619
 620 static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
 621                                        struct iio_chan_spec const *chan,
 622                                        int val, int val2, long mask)
 623 {
 624         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 625         int ret;
 626
 627         if (chan->type != IIO_ANGL_VEL)
 628                 return -EINVAL;
 629
 630         switch (mask) {
 631         case IIO_CHAN_INFO_SCALE:
 632                 ret = iio_device_claim_direct_mode(indio_dev);
 633                 if (ret)
 634                         return ret;
 635                 ret = inv_icm42600_gyro_write_scale(st, val, val2);
 636                 iio_device_release_direct_mode(indio_dev);
 637                 return ret;
 638         case IIO_CHAN_INFO_SAMP_FREQ:
 639                 return inv_icm42600_gyro_write_odr(indio_dev, val, val2);
 640         case IIO_CHAN_INFO_CALIBBIAS:
 641                 ret = iio_device_claim_direct_mode(indio_dev);
 642                 if (ret)
 643                         return ret;
 644                 ret = inv_icm42600_gyro_write_offset(st, chan, val, val2);
 645                 iio_device_release_direct_mode(indio_dev);
 646                 return ret;
 647         default:
 648                 return -EINVAL;
 649         }
 650 }
 651
 652 static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,
 653                                                struct iio_chan_spec const *chan,
 654                                                long mask)
 655 {
 656         if (chan->type != IIO_ANGL_VEL)
 657                 return -EINVAL;
 658
 659         switch (mask) {
 660         case IIO_CHAN_INFO_SCALE:
 661                 return IIO_VAL_INT_PLUS_NANO;
 662         case IIO_CHAN_INFO_SAMP_FREQ:
 663                 return IIO_VAL_INT_PLUS_MICRO;
 664         case IIO_CHAN_INFO_CALIBBIAS:
 665                 return IIO_VAL_INT_PLUS_NANO;
 666         default:
 667                 return -EINVAL;
 668         }
 669 }
 670
 671 static int inv_icm42600_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev,
 672                                                   unsigned int val)
 673 {
 674         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 675         int ret;
 676
 677         mutex_lock(&st->lock);
 678
 679         st->fifo.watermark.gyro = val;
 680         ret = inv_icm42600_buffer_update_watermark(st);
 681
 682         mutex_unlock(&st->lock);
 683
 684         return ret;
 685 }
 686
 687 static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev,
 688                                           unsigned int count)
 689 {
 690         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 691         int ret;
 692
 693         if (count == 0)
 694                 return 0;
 695
 696         mutex_lock(&st->lock);
 697
 698         ret = inv_icm42600_buffer_hwfifo_flush(st, count);
 699         if (!ret)
 700                 ret = st->fifo.nb.gyro;
 701
 702         mutex_unlock(&st->lock);
 703
 704         return ret;
 705 }
 706
 707 static const struct iio_info inv_icm42600_gyro_info = {
 708         .read_raw = inv_icm42600_gyro_read_raw,
 709         .read_avail = inv_icm42600_gyro_read_avail,
 710         .write_raw = inv_icm42600_gyro_write_raw,
 711         .write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt,
 712         .debugfs_reg_access = inv_icm42600_debugfs_reg,
 713         .update_scan_mode = inv_icm42600_gyro_update_scan_mode,
 714         .hwfifo_set_watermark = inv_icm42600_gyro_hwfifo_set_watermark,
 715         .hwfifo_flush_to_buffer = inv_icm42600_gyro_hwfifo_flush,
 716 };
 717
 718 struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 719 {
 720         struct device *dev = regmap_get_device(st->map);
 721         const char *name;
 722         struct inv_sensors_timestamp_chip ts_chip;
 723         struct inv_sensors_timestamp *ts;
 724         struct iio_dev *indio_dev;
 725         int ret;
 726
 727         name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);
 728         if (!name)
 729                 return ERR_PTR(-ENOMEM);
 730
 731         indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
 732         if (!indio_dev)
 733                 return ERR_PTR(-ENOMEM);
 734
 735         /*
 736          * clock period is 32kHz (31250ns)
 737          * jitter is +/- 2% (20 per mille)
 738          */
 739         ts_chip.clock_period = 31250;
 740         ts_chip.jitter = 20;
 741         ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
 742         ts = iio_priv(indio_dev);
 743         inv_sensors_timestamp_init(ts, &ts_chip);
 744
 745         iio_device_set_drvdata(indio_dev, st);
 746         indio_dev->name = name;
 747         indio_dev->info = &inv_icm42600_gyro_info;
 748         indio_dev->modes = INDIO_DIRECT_MODE;
 749         indio_dev->channels = inv_icm42600_gyro_channels;
 750         indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels);
 751         indio_dev->available_scan_masks = inv_icm42600_gyro_scan_masks;
 752         indio_dev->setup_ops = &inv_icm42600_buffer_ops;
 753
 754         ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
 755                                           &inv_icm42600_buffer_ops);
 756         if (ret)
 757                 return ERR_PTR(ret);
 758
 759         ret = devm_iio_device_register(dev, indio_dev);
 760         if (ret)
 761                 return ERR_PTR(ret);
 762
 763         return indio_dev;
 764 }
 765
 766 int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
 767 {
 768         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 769         struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
 770         ssize_t i, size;
 771         unsigned int no;
 772         const void *accel, *gyro, *timestamp;
 773         const int8_t *temp;
 774         unsigned int odr;
 775         int64_t ts_val;
 776         struct inv_icm42600_gyro_buffer buffer;
 777
 778         /* parse all fifo packets */
 779         for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
 780                 size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i],
 781                                 &accel, &gyro, &temp, &timestamp, &odr);
 782                 /* quit if error or FIFO is empty */
 783                 if (size <= 0)
 784                         return size;
 785
 786                 /* skip packet if no gyro data or data is invalid */
 787                 if (gyro == NULL || !inv_icm42600_fifo_is_data_valid(gyro))
 788                         continue;
 789
 790                 /* update odr */
 791                 if (odr & INV_ICM42600_SENSOR_GYRO)
 792                         inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
 793                                                         st->fifo.nb.total, no);
 794
 795                 /* buffer is copied to userspace, zeroing it to avoid any data leak */
 796                 memset(&buffer, 0, sizeof(buffer));
 797                 memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro));
 798                 /* convert 8 bits FIFO temperature in high resolution format */
 799                 buffer.temp = temp ? (*temp * 64) : 0;
 800                 ts_val = inv_sensors_timestamp_pop(ts);
 801                 iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
 802         }
 803
 804         return 0;
 805 }