iio: imu: inv_icm42600: add accelerometer IIO device
Add IIO device for accelerometer sensor with data polling interface. Attributes: raw, scale, sampling_frequency, calibbias. Accelerometer in low noise mode. Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Jean-Baptiste Maneyrol
Jonathan Cameron
parent
a095fadb44
commit
a47c1cdcb9
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@ -121,6 +121,7 @@ struct inv_icm42600_suspended {
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* @conf: chip sensors configurations.
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* @suspended: suspended sensors configuration.
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* @indio_gyro: gyroscope IIO device.
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* @indio_accel: accelerometer IIO device.
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* @buffer: data transfer buffer aligned for DMA.
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*/
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struct inv_icm42600_state {
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@ -134,6 +135,7 @@ struct inv_icm42600_state {
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struct inv_icm42600_conf conf;
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struct inv_icm42600_suspended suspended;
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struct iio_dev *indio_gyro;
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struct iio_dev *indio_accel;
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uint8_t buffer[2] ____cacheline_aligned;
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};
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@ -375,4 +377,6 @@ int inv_icm42600_core_probe(struct regmap *regmap, int chip,
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struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st);
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struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st);
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#endif
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@ -0,0 +1,592 @@
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// SPDX-License-Identifier: GPL-2.0-or-later
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/*
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* Copyright (C) 2020 Invensense, Inc.
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*/
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#include <linux/kernel.h>
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#include <linux/device.h>
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#include <linux/mutex.h>
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#include <linux/pm_runtime.h>
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#include <linux/regmap.h>
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#include <linux/delay.h>
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#include <linux/math64.h>
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#include <linux/iio/iio.h>
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#include "inv_icm42600.h"
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#define INV_ICM42600_ACCEL_CHAN(_modifier, _index, _ext_info) \
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{ \
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.type = IIO_ACCEL, \
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.modified = 1, \
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.channel2 = _modifier, \
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.info_mask_separate = \
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BIT(IIO_CHAN_INFO_RAW) | \
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BIT(IIO_CHAN_INFO_CALIBBIAS), \
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.info_mask_shared_by_type = \
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BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_type_available = \
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BIT(IIO_CHAN_INFO_SCALE) | \
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BIT(IIO_CHAN_INFO_CALIBBIAS), \
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.info_mask_shared_by_all = \
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BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.info_mask_shared_by_all_available = \
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BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.scan_index = _index, \
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.scan_type = { \
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.sign = 's', \
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.realbits = 16, \
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.storagebits = 16, \
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.endianness = IIO_BE, \
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}, \
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.ext_info = _ext_info, \
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}
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enum inv_icm42600_accel_scan {
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INV_ICM42600_ACCEL_SCAN_X,
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INV_ICM42600_ACCEL_SCAN_Y,
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INV_ICM42600_ACCEL_SCAN_Z,
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};
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static const struct iio_chan_spec_ext_info inv_icm42600_accel_ext_infos[] = {
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IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
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{},
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};
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static const struct iio_chan_spec inv_icm42600_accel_channels[] = {
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INV_ICM42600_ACCEL_CHAN(IIO_MOD_X, INV_ICM42600_ACCEL_SCAN_X,
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inv_icm42600_accel_ext_infos),
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INV_ICM42600_ACCEL_CHAN(IIO_MOD_Y, INV_ICM42600_ACCEL_SCAN_Y,
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inv_icm42600_accel_ext_infos),
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INV_ICM42600_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42600_ACCEL_SCAN_Z,
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inv_icm42600_accel_ext_infos),
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};
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static int inv_icm42600_accel_read_sensor(struct inv_icm42600_state *st,
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struct iio_chan_spec const *chan,
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int16_t *val)
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{
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struct device *dev = regmap_get_device(st->map);
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
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unsigned int reg;
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__be16 *data;
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int ret;
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if (chan->type != IIO_ACCEL)
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return -EINVAL;
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switch (chan->channel2) {
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case IIO_MOD_X:
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reg = INV_ICM42600_REG_ACCEL_DATA_X;
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break;
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case IIO_MOD_Y:
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reg = INV_ICM42600_REG_ACCEL_DATA_Y;
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break;
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case IIO_MOD_Z:
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reg = INV_ICM42600_REG_ACCEL_DATA_Z;
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break;
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default:
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return -EINVAL;
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}
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pm_runtime_get_sync(dev);
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mutex_lock(&st->lock);
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/* enable accel sensor */
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conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
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ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
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if (ret)
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goto exit;
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/* read accel register data */
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data = (__be16 *)&st->buffer[0];
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ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
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if (ret)
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goto exit;
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*val = (int16_t)be16_to_cpup(data);
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if (*val == INV_ICM42600_DATA_INVALID)
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ret = -EINVAL;
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exit:
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mutex_unlock(&st->lock);
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pm_runtime_mark_last_busy(dev);
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pm_runtime_put_autosuspend(dev);
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return ret;
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}
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/* IIO format int + nano */
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static const int inv_icm42600_accel_scale[] = {
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/* +/- 16G => 0.004788403 m/s-2 */
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[2 * INV_ICM42600_ACCEL_FS_16G] = 0,
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[2 * INV_ICM42600_ACCEL_FS_16G + 1] = 4788403,
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/* +/- 8G => 0.002394202 m/s-2 */
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[2 * INV_ICM42600_ACCEL_FS_8G] = 0,
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[2 * INV_ICM42600_ACCEL_FS_8G + 1] = 2394202,
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/* +/- 4G => 0.001197101 m/s-2 */
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[2 * INV_ICM42600_ACCEL_FS_4G] = 0,
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[2 * INV_ICM42600_ACCEL_FS_4G + 1] = 1197101,
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/* +/- 2G => 0.000598550 m/s-2 */
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[2 * INV_ICM42600_ACCEL_FS_2G] = 0,
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[2 * INV_ICM42600_ACCEL_FS_2G + 1] = 598550,
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};
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static int inv_icm42600_accel_read_scale(struct inv_icm42600_state *st,
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int *val, int *val2)
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{
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unsigned int idx;
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idx = st->conf.accel.fs;
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*val = inv_icm42600_accel_scale[2 * idx];
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*val2 = inv_icm42600_accel_scale[2 * idx + 1];
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return IIO_VAL_INT_PLUS_NANO;
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}
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static int inv_icm42600_accel_write_scale(struct inv_icm42600_state *st,
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int val, int val2)
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{
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struct device *dev = regmap_get_device(st->map);
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unsigned int idx;
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
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int ret;
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for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_scale); idx += 2) {
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if (val == inv_icm42600_accel_scale[idx] &&
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val2 == inv_icm42600_accel_scale[idx + 1])
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break;
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}
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if (idx >= ARRAY_SIZE(inv_icm42600_accel_scale))
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return -EINVAL;
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conf.fs = idx / 2;
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pm_runtime_get_sync(dev);
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mutex_lock(&st->lock);
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ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
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mutex_unlock(&st->lock);
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pm_runtime_mark_last_busy(dev);
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pm_runtime_put_autosuspend(dev);
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return ret;
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}
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/* IIO format int + micro */
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static const int inv_icm42600_accel_odr[] = {
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/* 12.5Hz */
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12, 500000,
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/* 25Hz */
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25, 0,
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/* 50Hz */
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50, 0,
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/* 100Hz */
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100, 0,
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/* 200Hz */
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200, 0,
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/* 1kHz */
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1000, 0,
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/* 2kHz */
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2000, 0,
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/* 4kHz */
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4000, 0,
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};
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static const int inv_icm42600_accel_odr_conv[] = {
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INV_ICM42600_ODR_12_5HZ,
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INV_ICM42600_ODR_25HZ,
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INV_ICM42600_ODR_50HZ,
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INV_ICM42600_ODR_100HZ,
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INV_ICM42600_ODR_200HZ,
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INV_ICM42600_ODR_1KHZ_LN,
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INV_ICM42600_ODR_2KHZ_LN,
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INV_ICM42600_ODR_4KHZ_LN,
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};
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static int inv_icm42600_accel_read_odr(struct inv_icm42600_state *st,
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int *val, int *val2)
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{
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unsigned int odr;
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unsigned int i;
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odr = st->conf.accel.odr;
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for (i = 0; i < ARRAY_SIZE(inv_icm42600_accel_odr_conv); ++i) {
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if (inv_icm42600_accel_odr_conv[i] == odr)
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break;
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}
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if (i >= ARRAY_SIZE(inv_icm42600_accel_odr_conv))
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return -EINVAL;
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*val = inv_icm42600_accel_odr[2 * i];
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*val2 = inv_icm42600_accel_odr[2 * i + 1];
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return IIO_VAL_INT_PLUS_MICRO;
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}
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static int inv_icm42600_accel_write_odr(struct inv_icm42600_state *st,
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int val, int val2)
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{
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struct device *dev = regmap_get_device(st->map);
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unsigned int idx;
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
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int ret;
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for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_odr); idx += 2) {
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if (val == inv_icm42600_accel_odr[idx] &&
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val2 == inv_icm42600_accel_odr[idx + 1])
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break;
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}
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if (idx >= ARRAY_SIZE(inv_icm42600_accel_odr))
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return -EINVAL;
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conf.odr = inv_icm42600_accel_odr_conv[idx / 2];
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pm_runtime_get_sync(dev);
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mutex_lock(&st->lock);
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ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
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mutex_unlock(&st->lock);
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pm_runtime_mark_last_busy(dev);
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pm_runtime_put_autosuspend(dev);
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return ret;
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}
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/*
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* Calibration bias values, IIO range format int + micro.
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* Value is limited to +/-1g coded on 12 bits signed. Step is 0.5mg.
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*/
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static int inv_icm42600_accel_calibbias[] = {
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-10, 42010, /* min: -10.042010 m/s² */
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0, 4903, /* step: 0.004903 m/s² */
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10, 37106, /* max: 10.037106 m/s² */
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};
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static int inv_icm42600_accel_read_offset(struct inv_icm42600_state *st,
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struct iio_chan_spec const *chan,
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int *val, int *val2)
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{
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struct device *dev = regmap_get_device(st->map);
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int64_t val64;
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int32_t bias;
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unsigned int reg;
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int16_t offset;
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uint8_t data[2];
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int ret;
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if (chan->type != IIO_ACCEL)
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return -EINVAL;
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switch (chan->channel2) {
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case IIO_MOD_X:
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reg = INV_ICM42600_REG_OFFSET_USER4;
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break;
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case IIO_MOD_Y:
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reg = INV_ICM42600_REG_OFFSET_USER6;
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break;
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case IIO_MOD_Z:
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reg = INV_ICM42600_REG_OFFSET_USER7;
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break;
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default:
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return -EINVAL;
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}
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pm_runtime_get_sync(dev);
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mutex_lock(&st->lock);
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ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data));
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memcpy(data, st->buffer, sizeof(data));
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mutex_unlock(&st->lock);
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pm_runtime_mark_last_busy(dev);
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pm_runtime_put_autosuspend(dev);
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if (ret)
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return ret;
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/* 12 bits signed value */
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switch (chan->channel2) {
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case IIO_MOD_X:
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offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);
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break;
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case IIO_MOD_Y:
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offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
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break;
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case IIO_MOD_Z:
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offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);
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break;
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default:
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return -EINVAL;
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}
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/*
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* convert raw offset to g then to m/s²
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* 12 bits signed raw step 0.5mg to g: 5 / 10000
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* g to m/s²: 9.806650
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* result in micro (1000000)
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* (offset * 5 * 9.806650 * 1000000) / 10000
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*/
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val64 = (int64_t)offset * 5LL * 9806650LL;
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/* for rounding, add + or - divisor (10000) divided by 2 */
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if (val64 >= 0)
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val64 += 10000LL / 2LL;
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else
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val64 -= 10000LL / 2LL;
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bias = div_s64(val64, 10000L);
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*val = bias / 1000000L;
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*val2 = bias % 1000000L;
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return IIO_VAL_INT_PLUS_MICRO;
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}
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static int inv_icm42600_accel_write_offset(struct inv_icm42600_state *st,
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struct iio_chan_spec const *chan,
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int val, int val2)
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{
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struct device *dev = regmap_get_device(st->map);
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int64_t val64;
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int32_t min, max;
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unsigned int reg, regval;
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int16_t offset;
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int ret;
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if (chan->type != IIO_ACCEL)
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return -EINVAL;
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switch (chan->channel2) {
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case IIO_MOD_X:
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reg = INV_ICM42600_REG_OFFSET_USER4;
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break;
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case IIO_MOD_Y:
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reg = INV_ICM42600_REG_OFFSET_USER6;
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break;
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case IIO_MOD_Z:
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reg = INV_ICM42600_REG_OFFSET_USER7;
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break;
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default:
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return -EINVAL;
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}
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/* inv_icm42600_accel_calibbias: min - step - max in micro */
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min = inv_icm42600_accel_calibbias[0] * 1000000L +
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inv_icm42600_accel_calibbias[1];
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max = inv_icm42600_accel_calibbias[4] * 1000000L +
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inv_icm42600_accel_calibbias[5];
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val64 = (int64_t)val * 1000000LL + (int64_t)val2;
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if (val64 < min || val64 > max)
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return -EINVAL;
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/*
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* convert m/s² to g then to raw value
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* m/s² to g: 1 / 9.806650
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* g to raw 12 bits signed, step 0.5mg: 10000 / 5
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* val in micro (1000000)
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* val * 10000 / (9.806650 * 1000000 * 5)
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*/
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val64 = val64 * 10000LL;
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/* for rounding, add + or - divisor (9806650 * 5) divided by 2 */
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if (val64 >= 0)
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val64 += 9806650 * 5 / 2;
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else
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val64 -= 9806650 * 5 / 2;
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offset = div_s64(val64, 9806650 * 5);
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/* clamp value limited to 12 bits signed */
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if (offset < -2048)
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offset = -2048;
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else if (offset > 2047)
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offset = 2047;
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pm_runtime_get_sync(dev);
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mutex_lock(&st->lock);
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switch (chan->channel2) {
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case IIO_MOD_X:
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/* OFFSET_USER4 register is shared */
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ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,
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®val);
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if (ret)
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goto out_unlock;
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st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
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st->buffer[1] = offset & 0xFF;
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break;
|
||||
case IIO_MOD_Y:
|
||||
/* OFFSET_USER7 register is shared */
|
||||
ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER7,
|
||||
®val);
|
||||
if (ret)
|
||||
goto out_unlock;
|
||||
st->buffer[0] = offset & 0xFF;
|
||||
st->buffer[1] = ((offset & 0xF00) >> 8) | (regval & 0xF0);
|
||||
break;
|
||||
case IIO_MOD_Z:
|
||||
/* OFFSET_USER7 register is shared */
|
||||
ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER7,
|
||||
®val);
|
||||
if (ret)
|
||||
goto out_unlock;
|
||||
st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
|
||||
st->buffer[1] = offset & 0xFF;
|
||||
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_accel_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_ACCEL)
|
||||
return -EINVAL;
|
||||
|
||||
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 (ret)
|
||||
return ret;
|
||||
*val = data;
|
||||
return IIO_VAL_INT;
|
||||
case IIO_CHAN_INFO_SCALE:
|
||||
return inv_icm42600_accel_read_scale(st, val, val2);
|
||||
case IIO_CHAN_INFO_SAMP_FREQ:
|
||||
return inv_icm42600_accel_read_odr(st, val, val2);
|
||||
case IIO_CHAN_INFO_CALIBBIAS:
|
||||
return inv_icm42600_accel_read_offset(st, chan, val, val2);
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
static int inv_icm42600_accel_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_ACCEL)
|
||||
return -EINVAL;
|
||||
|
||||
switch (mask) {
|
||||
case IIO_CHAN_INFO_SCALE:
|
||||
*vals = inv_icm42600_accel_scale;
|
||||
*type = IIO_VAL_INT_PLUS_NANO;
|
||||
*length = ARRAY_SIZE(inv_icm42600_accel_scale);
|
||||
return IIO_AVAIL_LIST;
|
||||
case IIO_CHAN_INFO_SAMP_FREQ:
|
||||
*vals = inv_icm42600_accel_odr;
|
||||
*type = IIO_VAL_INT_PLUS_MICRO;
|
||||
*length = ARRAY_SIZE(inv_icm42600_accel_odr);
|
||||
return IIO_AVAIL_LIST;
|
||||
case IIO_CHAN_INFO_CALIBBIAS:
|
||||
*vals = inv_icm42600_accel_calibbias;
|
||||
*type = IIO_VAL_INT_PLUS_MICRO;
|
||||
return IIO_AVAIL_RANGE;
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
static int inv_icm42600_accel_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_ACCEL)
|
||||
return -EINVAL;
|
||||
|
||||
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);
|
||||
return ret;
|
||||
case IIO_CHAN_INFO_SAMP_FREQ:
|
||||
return inv_icm42600_accel_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_accel_write_offset(st, chan, val, val2);
|
||||
iio_device_release_direct_mode(indio_dev);
|
||||
return ret;
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
static int inv_icm42600_accel_write_raw_get_fmt(struct iio_dev *indio_dev,
|
||||
struct iio_chan_spec const *chan,
|
||||
long mask)
|
||||
{
|
||||
if (chan->type != IIO_ACCEL)
|
||||
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_MICRO;
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
static const struct iio_info inv_icm42600_accel_info = {
|
||||
.read_raw = inv_icm42600_accel_read_raw,
|
||||
.read_avail = inv_icm42600_accel_read_avail,
|
||||
.write_raw = inv_icm42600_accel_write_raw,
|
||||
.write_raw_get_fmt = inv_icm42600_accel_write_raw_get_fmt,
|
||||
.debugfs_reg_access = inv_icm42600_debugfs_reg,
|
||||
};
|
||||
|
||||
struct iio_dev *inv_icm42600_accel_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-accel", 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_accel_info;
|
||||
indio_dev->modes = INDIO_DIRECT_MODE;
|
||||
indio_dev->channels = inv_icm42600_accel_channels;
|
||||
indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_accel_channels);
|
||||
|
||||
ret = devm_iio_device_register(dev, indio_dev);
|
||||
if (ret)
|
||||
return ERR_PTR(ret);
|
||||
|
||||
return indio_dev;
|
||||
}
|
||||
|
|
@ -513,6 +513,10 @@ int inv_icm42600_core_probe(struct regmap *regmap, int chip,
|
|||
if (IS_ERR(st->indio_gyro))
|
||||
return PTR_ERR(st->indio_gyro);
|
||||
|
||||
st->indio_accel = inv_icm42600_accel_init(st);
|
||||
if (IS_ERR(st->indio_accel))
|
||||
return PTR_ERR(st->indio_accel);
|
||||
|
||||
/* setup runtime power management */
|
||||
ret = pm_runtime_set_active(dev);
|
||||
if (ret)
|
||||
|
|
|
|||
Loading…
Reference in New Issue