798 lines
20 KiB
C
798 lines
20 KiB
C
// 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 <linux/iio/buffer.h>
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#include <linux/iio/kfifo_buf.h>
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#include "inv_icm42600.h"
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#include "inv_icm42600_temp.h"
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#include "inv_icm42600_buffer.h"
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#include "inv_icm42600_timestamp.h"
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#define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info) \
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{ \
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.type = IIO_ANGL_VEL, \
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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_gyro_scan {
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INV_ICM42600_GYRO_SCAN_X,
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INV_ICM42600_GYRO_SCAN_Y,
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INV_ICM42600_GYRO_SCAN_Z,
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INV_ICM42600_GYRO_SCAN_TEMP,
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INV_ICM42600_GYRO_SCAN_TIMESTAMP,
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};
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static const struct iio_chan_spec_ext_info inv_icm42600_gyro_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_gyro_channels[] = {
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INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X,
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inv_icm42600_gyro_ext_infos),
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INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y,
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inv_icm42600_gyro_ext_infos),
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INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z,
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inv_icm42600_gyro_ext_infos),
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INV_ICM42600_TEMP_CHAN(INV_ICM42600_GYRO_SCAN_TEMP),
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IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_GYRO_SCAN_TIMESTAMP),
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};
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/*
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* IIO buffer data: size must be a power of 2 and timestamp aligned
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* 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp
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*/
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struct inv_icm42600_gyro_buffer {
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struct inv_icm42600_fifo_sensor_data gyro;
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int16_t temp;
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int64_t timestamp __aligned(8);
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};
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#define INV_ICM42600_SCAN_MASK_GYRO_3AXIS \
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(BIT(INV_ICM42600_GYRO_SCAN_X) | \
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BIT(INV_ICM42600_GYRO_SCAN_Y) | \
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BIT(INV_ICM42600_GYRO_SCAN_Z))
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#define INV_ICM42600_SCAN_MASK_TEMP BIT(INV_ICM42600_GYRO_SCAN_TEMP)
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static const unsigned long inv_icm42600_gyro_scan_masks[] = {
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/* 3-axis gyro + temperature */
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INV_ICM42600_SCAN_MASK_GYRO_3AXIS | INV_ICM42600_SCAN_MASK_TEMP,
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0,
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};
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/* enable gyroscope sensor and FIFO write */
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static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
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const unsigned long *scan_mask)
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{
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
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struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
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unsigned int fifo_en = 0;
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unsigned int sleep_gyro = 0;
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unsigned int sleep_temp = 0;
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unsigned int sleep;
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int ret;
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mutex_lock(&st->lock);
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if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) {
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/* enable temp sensor */
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ret = inv_icm42600_set_temp_conf(st, true, &sleep_temp);
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if (ret)
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goto out_unlock;
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fifo_en |= INV_ICM42600_SENSOR_TEMP;
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}
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if (*scan_mask & INV_ICM42600_SCAN_MASK_GYRO_3AXIS) {
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/* enable gyro sensor */
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conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
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ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_gyro);
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if (ret)
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goto out_unlock;
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fifo_en |= INV_ICM42600_SENSOR_GYRO;
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}
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/* update data FIFO write */
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inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
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ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
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if (ret)
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goto out_unlock;
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ret = inv_icm42600_buffer_update_watermark(st);
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out_unlock:
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mutex_unlock(&st->lock);
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/* sleep maximum required time */
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if (sleep_gyro > sleep_temp)
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sleep = sleep_gyro;
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else
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sleep = sleep_temp;
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if (sleep)
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msleep(sleep);
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return ret;
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}
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static int inv_icm42600_gyro_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_ANGL_VEL)
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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_GYRO_DATA_X;
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break;
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case IIO_MOD_Y:
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reg = INV_ICM42600_REG_GYRO_DATA_Y;
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break;
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case IIO_MOD_Z:
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reg = INV_ICM42600_REG_GYRO_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 gyro sensor */
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conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
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ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
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if (ret)
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goto exit;
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/* read gyro 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_gyro_scale[] = {
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/* +/- 2000dps => 0.001065264 rad/s */
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[2 * INV_ICM42600_GYRO_FS_2000DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264,
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/* +/- 1000dps => 0.000532632 rad/s */
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[2 * INV_ICM42600_GYRO_FS_1000DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632,
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/* +/- 500dps => 0.000266316 rad/s */
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[2 * INV_ICM42600_GYRO_FS_500DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316,
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/* +/- 250dps => 0.000133158 rad/s */
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[2 * INV_ICM42600_GYRO_FS_250DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158,
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/* +/- 125dps => 0.000066579 rad/s */
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[2 * INV_ICM42600_GYRO_FS_125DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579,
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/* +/- 62.5dps => 0.000033290 rad/s */
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[2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290,
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/* +/- 31.25dps => 0.000016645 rad/s */
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[2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645,
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/* +/- 15.625dps => 0.000008322 rad/s */
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[2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
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};
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static int inv_icm42600_gyro_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.gyro.fs;
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*val = inv_icm42600_gyro_scale[2 * idx];
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*val2 = inv_icm42600_gyro_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_gyro_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_gyro_scale); idx += 2) {
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if (val == inv_icm42600_gyro_scale[idx] &&
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val2 == inv_icm42600_gyro_scale[idx + 1])
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break;
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}
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if (idx >= ARRAY_SIZE(inv_icm42600_gyro_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_gyro_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_gyro_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_gyro_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_gyro_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.gyro.odr;
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for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) {
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if (inv_icm42600_gyro_odr_conv[i] == odr)
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break;
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}
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if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv))
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return -EINVAL;
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*val = inv_icm42600_gyro_odr[2 * i];
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*val2 = inv_icm42600_gyro_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_gyro_write_odr(struct iio_dev *indio_dev,
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int val, int val2)
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{
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
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struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
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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_gyro_odr); idx += 2) {
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if (val == inv_icm42600_gyro_odr[idx] &&
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val2 == inv_icm42600_gyro_odr[idx + 1])
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break;
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}
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if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr))
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return -EINVAL;
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conf.odr = inv_icm42600_gyro_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_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
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iio_buffer_enabled(indio_dev));
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if (ret)
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goto out_unlock;
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ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
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if (ret)
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goto out_unlock;
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inv_icm42600_buffer_update_fifo_period(st);
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inv_icm42600_buffer_update_watermark(st);
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out_unlock:
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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 + nano.
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* Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps.
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*/
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static int inv_icm42600_gyro_calibbias[] = {
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-1, 117010721, /* min: -1.117010721 rad/s */
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0, 545415, /* step: 0.000545415 rad/s */
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1, 116465306, /* max: 1.116465306 rad/s */
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};
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static int inv_icm42600_gyro_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_ANGL_VEL)
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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_USER0;
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break;
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case IIO_MOD_Y:
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reg = INV_ICM42600_REG_OFFSET_USER1;
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break;
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case IIO_MOD_Z:
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reg = INV_ICM42600_REG_OFFSET_USER3;
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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[1] & 0x0F) << 8) | data[0], 11);
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break;
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case IIO_MOD_Y:
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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_Z:
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offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 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 dps then to rad/s
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* 12 bits signed raw max 64 to dps: 64 / 2048
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* dps to rad: Pi / 180
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* result in nano (1000000000)
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* (offset * 64 * Pi * 1000000000) / (2048 * 180)
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*/
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val64 = (int64_t)offset * 64LL * 3141592653LL;
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/* for rounding, add + or - divisor (2048 * 180) divided by 2 */
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if (val64 >= 0)
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val64 += 2048 * 180 / 2;
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else
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val64 -= 2048 * 180 / 2;
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bias = div_s64(val64, 2048 * 180);
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*val = bias / 1000000000L;
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*val2 = bias % 1000000000L;
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return IIO_VAL_INT_PLUS_NANO;
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}
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static int inv_icm42600_gyro_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, 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_ANGL_VEL)
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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_USER0;
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break;
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case IIO_MOD_Y:
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reg = INV_ICM42600_REG_OFFSET_USER1;
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break;
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case IIO_MOD_Z:
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reg = INV_ICM42600_REG_OFFSET_USER3;
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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_gyro_calibbias: min - step - max in nano */
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min = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL +
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(int64_t)inv_icm42600_gyro_calibbias[1];
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max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL +
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(int64_t)inv_icm42600_gyro_calibbias[5];
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val64 = (int64_t)val * 1000000000LL + (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 rad/s to dps then to raw value
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* rad to dps: 180 / Pi
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* dps to raw 12 bits signed, max 64: 2048 / 64
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* val in nano (1000000000)
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* val * 180 * 2048 / (Pi * 1000000000 * 64)
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*/
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val64 = val64 * 180LL * 2048LL;
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/* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */
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if (val64 >= 0)
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val64 += 3141592653LL * 64LL / 2LL;
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else
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val64 -= 3141592653LL * 64LL / 2LL;
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offset = div64_s64(val64, 3141592653LL * 64LL);
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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_USER1 register is shared */
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ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
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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 & 0xFF;
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st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
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break;
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case IIO_MOD_Y:
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/* OFFSET_USER1 register is shared */
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ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
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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;
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case IIO_MOD_Z:
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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 & 0xFF;
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st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
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break;
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default:
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ret = -EINVAL;
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goto out_unlock;
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}
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ret = regmap_bulk_write(st->map, reg, st->buffer, 2);
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out_unlock:
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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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static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val, int *val2, long mask)
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{
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
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int16_t data;
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int ret;
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switch (chan->type) {
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case IIO_ANGL_VEL:
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break;
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case IIO_TEMP:
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return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask);
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default:
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return -EINVAL;
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}
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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ret = iio_device_claim_direct_mode(indio_dev);
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if (ret)
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return ret;
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ret = inv_icm42600_gyro_read_sensor(st, chan, &data);
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iio_device_release_direct_mode(indio_dev);
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if (ret)
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return ret;
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*val = data;
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_SCALE:
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return inv_icm42600_gyro_read_scale(st, val, val2);
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case IIO_CHAN_INFO_SAMP_FREQ:
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return inv_icm42600_gyro_read_odr(st, val, val2);
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case IIO_CHAN_INFO_CALIBBIAS:
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return inv_icm42600_gyro_read_offset(st, chan, val, val2);
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default:
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return -EINVAL;
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}
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}
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static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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const int **vals,
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int *type, int *length, long mask)
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{
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if (chan->type != IIO_ANGL_VEL)
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return -EINVAL;
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switch (mask) {
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case IIO_CHAN_INFO_SCALE:
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*vals = inv_icm42600_gyro_scale;
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*type = IIO_VAL_INT_PLUS_NANO;
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*length = ARRAY_SIZE(inv_icm42600_gyro_scale);
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return IIO_AVAIL_LIST;
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case IIO_CHAN_INFO_SAMP_FREQ:
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*vals = inv_icm42600_gyro_odr;
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*type = IIO_VAL_INT_PLUS_MICRO;
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*length = ARRAY_SIZE(inv_icm42600_gyro_odr);
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return IIO_AVAIL_LIST;
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case IIO_CHAN_INFO_CALIBBIAS:
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*vals = inv_icm42600_gyro_calibbias;
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*type = IIO_VAL_INT_PLUS_NANO;
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return IIO_AVAIL_RANGE;
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default:
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return -EINVAL;
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}
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}
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static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int val, int val2, long mask)
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{
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
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int ret;
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if (chan->type != IIO_ANGL_VEL)
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return -EINVAL;
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switch (mask) {
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case IIO_CHAN_INFO_SCALE:
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ret = iio_device_claim_direct_mode(indio_dev);
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if (ret)
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return ret;
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ret = inv_icm42600_gyro_write_scale(st, val, val2);
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iio_device_release_direct_mode(indio_dev);
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return ret;
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case IIO_CHAN_INFO_SAMP_FREQ:
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return inv_icm42600_gyro_write_odr(indio_dev, val, val2);
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case IIO_CHAN_INFO_CALIBBIAS:
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ret = iio_device_claim_direct_mode(indio_dev);
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if (ret)
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return ret;
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ret = inv_icm42600_gyro_write_offset(st, chan, val, val2);
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iio_device_release_direct_mode(indio_dev);
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return ret;
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default:
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return -EINVAL;
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}
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}
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static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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long mask)
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{
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if (chan->type != IIO_ANGL_VEL)
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return -EINVAL;
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switch (mask) {
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case IIO_CHAN_INFO_SCALE:
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return IIO_VAL_INT_PLUS_NANO;
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case IIO_CHAN_INFO_SAMP_FREQ:
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_CHAN_INFO_CALIBBIAS:
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return IIO_VAL_INT_PLUS_NANO;
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default:
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return -EINVAL;
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}
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}
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static int inv_icm42600_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev,
|
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unsigned int val)
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{
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
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int ret;
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mutex_lock(&st->lock);
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st->fifo.watermark.gyro = val;
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ret = inv_icm42600_buffer_update_watermark(st);
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mutex_unlock(&st->lock);
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return ret;
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}
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static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev,
|
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unsigned int count)
|
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{
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
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int ret;
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if (count == 0)
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return 0;
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mutex_lock(&st->lock);
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|
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ret = inv_icm42600_buffer_hwfifo_flush(st, count);
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if (!ret)
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ret = st->fifo.nb.gyro;
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mutex_unlock(&st->lock);
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|
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return ret;
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}
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static const struct iio_info inv_icm42600_gyro_info = {
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.read_raw = inv_icm42600_gyro_read_raw,
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.read_avail = inv_icm42600_gyro_read_avail,
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.write_raw = inv_icm42600_gyro_write_raw,
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.write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt,
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.debugfs_reg_access = inv_icm42600_debugfs_reg,
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.update_scan_mode = inv_icm42600_gyro_update_scan_mode,
|
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.hwfifo_set_watermark = inv_icm42600_gyro_hwfifo_set_watermark,
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.hwfifo_flush_to_buffer = inv_icm42600_gyro_hwfifo_flush,
|
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};
|
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|
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struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
|
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{
|
|
struct device *dev = regmap_get_device(st->map);
|
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const char *name;
|
|
struct inv_icm42600_timestamp *ts;
|
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struct iio_dev *indio_dev;
|
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int ret;
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|
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name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);
|
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if (!name)
|
|
return ERR_PTR(-ENOMEM);
|
|
|
|
indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
|
|
if (!indio_dev)
|
|
return ERR_PTR(-ENOMEM);
|
|
|
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ts = iio_priv(indio_dev);
|
|
inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.gyro.odr));
|
|
|
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iio_device_set_drvdata(indio_dev, st);
|
|
indio_dev->name = name;
|
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indio_dev->info = &inv_icm42600_gyro_info;
|
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indio_dev->modes = INDIO_DIRECT_MODE;
|
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indio_dev->channels = inv_icm42600_gyro_channels;
|
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indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels);
|
|
indio_dev->available_scan_masks = inv_icm42600_gyro_scan_masks;
|
|
indio_dev->setup_ops = &inv_icm42600_buffer_ops;
|
|
|
|
ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
|
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INDIO_BUFFER_SOFTWARE,
|
|
&inv_icm42600_buffer_ops);
|
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if (ret)
|
|
return ERR_PTR(ret);
|
|
|
|
ret = devm_iio_device_register(dev, indio_dev);
|
|
if (ret)
|
|
return ERR_PTR(ret);
|
|
|
|
return indio_dev;
|
|
}
|
|
|
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int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
|
|
{
|
|
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
|
|
struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
|
|
ssize_t i, size;
|
|
unsigned int no;
|
|
const void *accel, *gyro, *timestamp;
|
|
const int8_t *temp;
|
|
unsigned int odr;
|
|
int64_t ts_val;
|
|
struct inv_icm42600_gyro_buffer buffer;
|
|
|
|
/* parse all fifo packets */
|
|
for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
|
|
size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i],
|
|
&accel, &gyro, &temp, ×tamp, &odr);
|
|
/* quit if error or FIFO is empty */
|
|
if (size <= 0)
|
|
return size;
|
|
|
|
/* skip packet if no gyro data or data is invalid */
|
|
if (gyro == NULL || !inv_icm42600_fifo_is_data_valid(gyro))
|
|
continue;
|
|
|
|
/* update odr */
|
|
if (odr & INV_ICM42600_SENSOR_GYRO)
|
|
inv_icm42600_timestamp_apply_odr(ts, st->fifo.period,
|
|
st->fifo.nb.total, no);
|
|
|
|
/* buffer is copied to userspace, zeroing it to avoid any data leak */
|
|
memset(&buffer, 0, sizeof(buffer));
|
|
memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro));
|
|
/* convert 8 bits FIFO temperature in high resolution format */
|
|
buffer.temp = temp ? (*temp * 64) : 0;
|
|
ts_val = inv_icm42600_timestamp_pop(ts);
|
|
iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
|
|
}
|
|
|
|
return 0;
|
|
}
|