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 #include <linux/iio/iio.h>
  14 #include <linux/iio/buffer.h>
  15 #include <linux/iio/kfifo_buf.h>
  16
  17 #include "inv_icm42600.h"
  18 #include "inv_icm42600_temp.h"
  19 #include "inv_icm42600_buffer.h"
  20 #include "inv_icm42600_timestamp.h"
  21
  22 #define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info)            \
  23         {                                                               \
  24                 .type = IIO_ANGL_VEL,                                   \
  25                 .modified = 1,                                          \
  26                 .channel2 = _modifier,                                  \
  27                 .info_mask_separate =                                   \
  28                         BIT(IIO_CHAN_INFO_RAW) |                        \
  29                         BIT(IIO_CHAN_INFO_CALIBBIAS),                   \
  30                 .info_mask_shared_by_type =                             \
  31                         BIT(IIO_CHAN_INFO_SCALE),                       \
  32                 .info_mask_shared_by_type_available =                   \
  33                         BIT(IIO_CHAN_INFO_SCALE) |                      \
  34                         BIT(IIO_CHAN_INFO_CALIBBIAS),                   \
  35                 .info_mask_shared_by_all =                              \
  36                         BIT(IIO_CHAN_INFO_SAMP_FREQ),                   \
  37                 .info_mask_shared_by_all_available =                    \
  38                         BIT(IIO_CHAN_INFO_SAMP_FREQ),                   \
  39                 .scan_index = _index,                                   \
  40                 .scan_type = {                                          \
  41                         .sign = 's',                                    \
  42                         .realbits = 16,                                 \
  43                         .storagebits = 16,                              \
  44                         .endianness = IIO_BE,                           \
  45                 },                                                      \
  46                 .ext_info = _ext_info,                                  \
  47         }
  48
  49 enum inv_icm42600_gyro_scan {
  50         INV_ICM42600_GYRO_SCAN_X,
  51         INV_ICM42600_GYRO_SCAN_Y,
  52         INV_ICM42600_GYRO_SCAN_Z,
  53         INV_ICM42600_GYRO_SCAN_TEMP,
  54         INV_ICM42600_GYRO_SCAN_TIMESTAMP,
  55 };
  56
  57 static const struct iio_chan_spec_ext_info inv_icm42600_gyro_ext_infos[] = {
  58         IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
  59         {},
  60 };
  61
  62 static const struct iio_chan_spec inv_icm42600_gyro_channels[] = {
  63         INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X,
  64                                inv_icm42600_gyro_ext_infos),
  65         INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y,
  66                                inv_icm42600_gyro_ext_infos),
  67         INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z,
  68                                inv_icm42600_gyro_ext_infos),
  69         INV_ICM42600_TEMP_CHAN(INV_ICM42600_GYRO_SCAN_TEMP),
  70         IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_GYRO_SCAN_TIMESTAMP),
  71 };
  72
  73 /*
  74  * IIO buffer data: size must be a power of 2 and timestamp aligned
  75  * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp
  76  */
  77 struct inv_icm42600_gyro_buffer {
  78         struct inv_icm42600_fifo_sensor_data gyro;
  79         int16_t temp;
  80         int64_t timestamp __aligned(8);
  81 };
  82
  83 #define INV_ICM42600_SCAN_MASK_GYRO_3AXIS                               \
  84         (BIT(INV_ICM42600_GYRO_SCAN_X) |                                \
  85         BIT(INV_ICM42600_GYRO_SCAN_Y) |                                 \
  86         BIT(INV_ICM42600_GYRO_SCAN_Z))
  87
  88 #define INV_ICM42600_SCAN_MASK_TEMP     BIT(INV_ICM42600_GYRO_SCAN_TEMP)
  89
  90 static const unsigned long inv_icm42600_gyro_scan_masks[] = {
  91         /* 3-axis gyro + temperature */
  92         INV_ICM42600_SCAN_MASK_GYRO_3AXIS | INV_ICM42600_SCAN_MASK_TEMP,
  93         0,
  94 };
  95
  96 /* enable gyroscope sensor and FIFO write */
  97 static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
  98                                               const unsigned long *scan_mask)
  99 {
 100         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 101         struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
 102         struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 103         unsigned int fifo_en = 0;
 104         unsigned int sleep_gyro = 0;
 105         unsigned int sleep_temp = 0;
 106         unsigned int sleep;
 107         int ret;
 108
 109         mutex_lock(&st->lock);
 110
 111         if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) {
 112                 /* enable temp sensor */
 113                 ret = inv_icm42600_set_temp_conf(st, true, &sleep_temp);
 114                 if (ret)
 115                         goto out_unlock;
 116                 fifo_en |= INV_ICM42600_SENSOR_TEMP;
 117         }
 118
 119         if (*scan_mask & INV_ICM42600_SCAN_MASK_GYRO_3AXIS) {
 120                 /* enable gyro sensor */
 121                 conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
 122                 ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_gyro);
 123                 if (ret)
 124                         goto out_unlock;
 125                 fifo_en |= INV_ICM42600_SENSOR_GYRO;
 126         }
 127
 128         /* update data FIFO write */
 129         inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
 130         ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
 131         if (ret)
 132                 goto out_unlock;
 133
 134         ret = inv_icm42600_buffer_update_watermark(st);
 135
 136 out_unlock:
 137         mutex_unlock(&st->lock);
 138         /* sleep maximum required time */
 139         if (sleep_gyro > sleep_temp)
 140                 sleep = sleep_gyro;
 141         else
 142                 sleep = sleep_temp;
 143         if (sleep)
 144                 msleep(sleep);
 145         return ret;
 146 }
 147
 148 static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st,
 149                                          struct iio_chan_spec const *chan,
 150                                          int16_t *val)
 151 {
 152         struct device *dev = regmap_get_device(st->map);
 153         struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 154         unsigned int reg;
 155         __be16 *data;
 156         int ret;
 157
 158         if (chan->type != IIO_ANGL_VEL)
 159                 return -EINVAL;
 160
 161         switch (chan->channel2) {
 162         case IIO_MOD_X:
 163                 reg = INV_ICM42600_REG_GYRO_DATA_X;
 164                 break;
 165         case IIO_MOD_Y:
 166                 reg = INV_ICM42600_REG_GYRO_DATA_Y;
 167                 break;
 168         case IIO_MOD_Z:
 169                 reg = INV_ICM42600_REG_GYRO_DATA_Z;
 170                 break;
 171         default:
 172                 return -EINVAL;
 173         }
 174
 175         pm_runtime_get_sync(dev);
 176         mutex_lock(&st->lock);
 177
 178         /* enable gyro sensor */
 179         conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
 180         ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
 181         if (ret)
 182                 goto exit;
 183
 184         /* read gyro register data */
 185         data = (__be16 *)&st->buffer[0];
 186         ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
 187         if (ret)
 188                 goto exit;
 189
 190         *val = (int16_t)be16_to_cpup(data);
 191         if (*val == INV_ICM42600_DATA_INVALID)
 192                 ret = -EINVAL;
 193 exit:
 194         mutex_unlock(&st->lock);
 195         pm_runtime_mark_last_busy(dev);
 196         pm_runtime_put_autosuspend(dev);
 197         return ret;
 198 }
 199
 200 /* IIO format int + nano */
 201 static const int inv_icm42600_gyro_scale[] = {
 202         /* +/- 2000dps => 0.001065264 rad/s */
 203         [2 * INV_ICM42600_GYRO_FS_2000DPS] = 0,
 204         [2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264,
 205         /* +/- 1000dps => 0.000532632 rad/s */
 206         [2 * INV_ICM42600_GYRO_FS_1000DPS] = 0,
 207         [2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632,
 208         /* +/- 500dps => 0.000266316 rad/s */
 209         [2 * INV_ICM42600_GYRO_FS_500DPS] = 0,
 210         [2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316,
 211         /* +/- 250dps => 0.000133158 rad/s */
 212         [2 * INV_ICM42600_GYRO_FS_250DPS] = 0,
 213         [2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158,
 214         /* +/- 125dps => 0.000066579 rad/s */
 215         [2 * INV_ICM42600_GYRO_FS_125DPS] = 0,
 216         [2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579,
 217         /* +/- 62.5dps => 0.000033290 rad/s */
 218         [2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0,
 219         [2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290,
 220         /* +/- 31.25dps => 0.000016645 rad/s */
 221         [2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0,
 222         [2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645,
 223         /* +/- 15.625dps => 0.000008322 rad/s */
 224         [2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
 225         [2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
 226 };
 227
 228 static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
 229                                         int *val, int *val2)
 230 {
 231         unsigned int idx;
 232
 233         idx = st->conf.gyro.fs;
 234
 235         *val = inv_icm42600_gyro_scale[2 * idx];
 236         *val2 = inv_icm42600_gyro_scale[2 * idx + 1];
 237         return IIO_VAL_INT_PLUS_NANO;
 238 }
 239
 240 static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
 241                                          int val, int val2)
 242 {
 243         struct device *dev = regmap_get_device(st->map);
 244         unsigned int idx;
 245         struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 246         int ret;
 247
 248         for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) {
 249                 if (val == inv_icm42600_gyro_scale[idx] &&
 250                     val2 == inv_icm42600_gyro_scale[idx + 1])
 251                         break;
 252         }
 253         if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
 254                 return -EINVAL;
 255
 256         conf.fs = idx / 2;
 257
 258         pm_runtime_get_sync(dev);
 259         mutex_lock(&st->lock);
 260
 261         ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
 262
 263         mutex_unlock(&st->lock);
 264         pm_runtime_mark_last_busy(dev);
 265         pm_runtime_put_autosuspend(dev);
 266
 267         return ret;
 268 }
 269
 270 /* IIO format int + micro */
 271 static const int inv_icm42600_gyro_odr[] = {
 272         /* 12.5Hz */
 273         12, 500000,
 274         /* 25Hz */
 275         25, 0,
 276         /* 50Hz */
 277         50, 0,
 278         /* 100Hz */
 279         100, 0,
 280         /* 200Hz */
 281         200, 0,
 282         /* 1kHz */
 283         1000, 0,
 284         /* 2kHz */
 285         2000, 0,
 286         /* 4kHz */
 287         4000, 0,
 288 };
 289
 290 static const int inv_icm42600_gyro_odr_conv[] = {
 291         INV_ICM42600_ODR_12_5HZ,
 292         INV_ICM42600_ODR_25HZ,
 293         INV_ICM42600_ODR_50HZ,
 294         INV_ICM42600_ODR_100HZ,
 295         INV_ICM42600_ODR_200HZ,
 296         INV_ICM42600_ODR_1KHZ_LN,
 297         INV_ICM42600_ODR_2KHZ_LN,
 298         INV_ICM42600_ODR_4KHZ_LN,
 299 };
 300
 301 static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st,
 302                                       int *val, int *val2)
 303 {
 304         unsigned int odr;
 305         unsigned int i;
 306
 307         odr = st->conf.gyro.odr;
 308
 309         for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) {
 310                 if (inv_icm42600_gyro_odr_conv[i] == odr)
 311                         break;
 312         }
 313         if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv))
 314                 return -EINVAL;
 315
 316         *val = inv_icm42600_gyro_odr[2 * i];
 317         *val2 = inv_icm42600_gyro_odr[2 * i + 1];
 318
 319         return IIO_VAL_INT_PLUS_MICRO;
 320 }
 321
 322 static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
 323                                        int val, int val2)
 324 {
 325         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 326         struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
 327         struct device *dev = regmap_get_device(st->map);
 328         unsigned int idx;
 329         struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 330         int ret;
 331
 332         for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) {
 333                 if (val == inv_icm42600_gyro_odr[idx] &&
 334                     val2 == inv_icm42600_gyro_odr[idx + 1])
 335                         break;
 336         }
 337         if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr))
 338                 return -EINVAL;
 339
 340         conf.odr = inv_icm42600_gyro_odr_conv[idx / 2];
 341
 342         pm_runtime_get_sync(dev);
 343         mutex_lock(&st->lock);
 344
 345         ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
 346                                                 iio_buffer_enabled(indio_dev));
 347         if (ret)
 348                 goto out_unlock;
 349
 350         ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
 351         if (ret)
 352                 goto out_unlock;
 353         inv_icm42600_buffer_update_fifo_period(st);
 354         inv_icm42600_buffer_update_watermark(st);
 355
 356 out_unlock:
 357         mutex_unlock(&st->lock);
 358         pm_runtime_mark_last_busy(dev);
 359         pm_runtime_put_autosuspend(dev);
 360
 361         return ret;
 362 }
 363
 364 /*
 365  * Calibration bias values, IIO range format int + nano.
 366  * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps.
 367  */
 368 static int inv_icm42600_gyro_calibbias[] = {
 369         -1, 117010721,          /* min: -1.117010721 rad/s */
 370         0, 545415,              /* step: 0.000545415 rad/s */
 371         1, 116465306,           /* max: 1.116465306 rad/s */
 372 };
 373
 374 static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st,
 375                                          struct iio_chan_spec const *chan,
 376                                          int *val, int *val2)
 377 {
 378         struct device *dev = regmap_get_device(st->map);
 379         int64_t val64;
 380         int32_t bias;
 381         unsigned int reg;
 382         int16_t offset;
 383         uint8_t data[2];
 384         int ret;
 385
 386         if (chan->type != IIO_ANGL_VEL)
 387                 return -EINVAL;
 388
 389         switch (chan->channel2) {
 390         case IIO_MOD_X:
 391                 reg = INV_ICM42600_REG_OFFSET_USER0;
 392                 break;
 393         case IIO_MOD_Y:
 394                 reg = INV_ICM42600_REG_OFFSET_USER1;
 395                 break;
 396         case IIO_MOD_Z:
 397                 reg = INV_ICM42600_REG_OFFSET_USER3;
 398                 break;
 399         default:
 400                 return -EINVAL;
 401         }
 402
 403         pm_runtime_get_sync(dev);
 404         mutex_lock(&st->lock);
 405
 406         ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data));
 407         memcpy(data, st->buffer, sizeof(data));
 408
 409         mutex_unlock(&st->lock);
 410         pm_runtime_mark_last_busy(dev);
 411         pm_runtime_put_autosuspend(dev);
 412         if (ret)
 413                 return ret;
 414
 415         /* 12 bits signed value */
 416         switch (chan->channel2) {
 417         case IIO_MOD_X:
 418                 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
 419                 break;
 420         case IIO_MOD_Y:
 421                 offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);
 422                 break;
 423         case IIO_MOD_Z:
 424                 offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
 425                 break;
 426         default:
 427                 return -EINVAL;
 428         }
 429
 430         /*
 431          * convert raw offset to dps then to rad/s
 432          * 12 bits signed raw max 64 to dps: 64 / 2048
 433          * dps to rad: Pi / 180
 434          * result in nano (1000000000)
 435          * (offset * 64 * Pi * 1000000000) / (2048 * 180)
 436          */
 437         val64 = (int64_t)offset * 64LL * 3141592653LL;
 438         /* for rounding, add + or - divisor (2048 * 180) divided by 2 */
 439         if (val64 >= 0)
 440                 val64 += 2048 * 180 / 2;
 441         else
 442                 val64 -= 2048 * 180 / 2;
 443         bias = div_s64(val64, 2048 * 180);
 444         *val = bias / 1000000000L;
 445         *val2 = bias % 1000000000L;
 446
 447         return IIO_VAL_INT_PLUS_NANO;
 448 }
 449
 450 static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st,
 451                                           struct iio_chan_spec const *chan,
 452                                           int val, int val2)
 453 {
 454         struct device *dev = regmap_get_device(st->map);
 455         int64_t val64, min, max;
 456         unsigned int reg, regval;
 457         int16_t offset;
 458         int ret;
 459
 460         if (chan->type != IIO_ANGL_VEL)
 461                 return -EINVAL;
 462
 463         switch (chan->channel2) {
 464         case IIO_MOD_X:
 465                 reg = INV_ICM42600_REG_OFFSET_USER0;
 466                 break;
 467         case IIO_MOD_Y:
 468                 reg = INV_ICM42600_REG_OFFSET_USER1;
 469                 break;
 470         case IIO_MOD_Z:
 471                 reg = INV_ICM42600_REG_OFFSET_USER3;
 472                 break;
 473         default:
 474                 return -EINVAL;
 475         }
 476
 477         /* inv_icm42600_gyro_calibbias: min - step - max in nano */
 478         min = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL +
 479               (int64_t)inv_icm42600_gyro_calibbias[1];
 480         max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL +
 481               (int64_t)inv_icm42600_gyro_calibbias[5];
 482         val64 = (int64_t)val * 1000000000LL + (int64_t)val2;
 483         if (val64 < min || val64 > max)
 484                 return -EINVAL;
 485
 486         /*
 487          * convert rad/s to dps then to raw value
 488          * rad to dps: 180 / Pi
 489          * dps to raw 12 bits signed, max 64: 2048 / 64
 490          * val in nano (1000000000)
 491          * val * 180 * 2048 / (Pi * 1000000000 * 64)
 492          */
 493         val64 = val64 * 180LL * 2048LL;
 494         /* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */
 495         if (val64 >= 0)
 496                 val64 += 3141592653LL * 64LL / 2LL;
 497         else
 498                 val64 -= 3141592653LL * 64LL / 2LL;
 499         offset = div64_s64(val64, 3141592653LL * 64LL);
 500
 501         /* clamp value limited to 12 bits signed */
 502         if (offset < -2048)
 503                 offset = -2048;
 504         else if (offset > 2047)
 505                 offset = 2047;
 506
 507         pm_runtime_get_sync(dev);
 508         mutex_lock(&st->lock);
 509
 510         switch (chan->channel2) {
 511         case IIO_MOD_X:
 512                 /* OFFSET_USER1 register is shared */
 513                 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
 514                                   &regval);
 515                 if (ret)
 516                         goto out_unlock;
 517                 st->buffer[0] = offset & 0xFF;
 518                 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
 519                 break;
 520         case IIO_MOD_Y:
 521                 /* OFFSET_USER1 register is shared */
 522                 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
 523                                   &regval);
 524                 if (ret)
 525                         goto out_unlock;
 526                 st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
 527                 st->buffer[1] = offset & 0xFF;
 528                 break;
 529         case IIO_MOD_Z:
 530                 /* OFFSET_USER4 register is shared */
 531                 ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,
 532                                   &regval);
 533                 if (ret)
 534                         goto out_unlock;
 535                 st->buffer[0] = offset & 0xFF;
 536                 st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
 537                 break;
 538         default:
 539                 ret = -EINVAL;
 540                 goto out_unlock;
 541         }
 542
 543         ret = regmap_bulk_write(st->map, reg, st->buffer, 2);
 544
 545 out_unlock:
 546         mutex_unlock(&st->lock);
 547         pm_runtime_mark_last_busy(dev);
 548         pm_runtime_put_autosuspend(dev);
 549         return ret;
 550 }
 551
 552 static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
 553                                       struct iio_chan_spec const *chan,
 554                                       int *val, int *val2, long mask)
 555 {
 556         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 557         int16_t data;
 558         int ret;
 559
 560         switch (chan->type) {
 561         case IIO_ANGL_VEL:
 562                 break;
 563         case IIO_TEMP:
 564                 return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask);
 565         default:
 566                 return -EINVAL;
 567         }
 568
 569         switch (mask) {
 570         case IIO_CHAN_INFO_RAW:
 571                 ret = iio_device_claim_direct_mode(indio_dev);
 572                 if (ret)
 573                         return ret;
 574                 ret = inv_icm42600_gyro_read_sensor(st, chan, &data);
 575                 iio_device_release_direct_mode(indio_dev);
 576                 if (ret)
 577                         return ret;
 578                 *val = data;
 579                 return IIO_VAL_INT;
 580         case IIO_CHAN_INFO_SCALE:
 581                 return inv_icm42600_gyro_read_scale(st, val, val2);
 582         case IIO_CHAN_INFO_SAMP_FREQ:
 583                 return inv_icm42600_gyro_read_odr(st, val, val2);
 584         case IIO_CHAN_INFO_CALIBBIAS:
 585                 return inv_icm42600_gyro_read_offset(st, chan, val, val2);
 586         default:
 587                 return -EINVAL;
 588         }
 589 }
 590
 591 static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
 592                                         struct iio_chan_spec const *chan,
 593                                         const int **vals,
 594                                         int *type, int *length, long mask)
 595 {
 596         if (chan->type != IIO_ANGL_VEL)
 597                 return -EINVAL;
 598
 599         switch (mask) {
 600         case IIO_CHAN_INFO_SCALE:
 601                 *vals = inv_icm42600_gyro_scale;
 602                 *type = IIO_VAL_INT_PLUS_NANO;
 603                 *length = ARRAY_SIZE(inv_icm42600_gyro_scale);
 604                 return IIO_AVAIL_LIST;
 605         case IIO_CHAN_INFO_SAMP_FREQ:
 606                 *vals = inv_icm42600_gyro_odr;
 607                 *type = IIO_VAL_INT_PLUS_MICRO;
 608                 *length = ARRAY_SIZE(inv_icm42600_gyro_odr);
 609                 return IIO_AVAIL_LIST;
 610         case IIO_CHAN_INFO_CALIBBIAS:
 611                 *vals = inv_icm42600_gyro_calibbias;
 612                 *type = IIO_VAL_INT_PLUS_NANO;
 613                 return IIO_AVAIL_RANGE;
 614         default:
 615                 return -EINVAL;
 616         }
 617 }
 618
 619 static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
 620                                        struct iio_chan_spec const *chan,
 621                                        int val, int val2, long mask)
 622 {
 623         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 624         int ret;
 625
 626         if (chan->type != IIO_ANGL_VEL)
 627                 return -EINVAL;
 628
 629         switch (mask) {
 630         case IIO_CHAN_INFO_SCALE:
 631                 ret = iio_device_claim_direct_mode(indio_dev);
 632                 if (ret)
 633                         return ret;
 634                 ret = inv_icm42600_gyro_write_scale(st, val, val2);
 635                 iio_device_release_direct_mode(indio_dev);
 636                 return ret;
 637         case IIO_CHAN_INFO_SAMP_FREQ:
 638                 return inv_icm42600_gyro_write_odr(indio_dev, val, val2);
 639         case IIO_CHAN_INFO_CALIBBIAS:
 640                 ret = iio_device_claim_direct_mode(indio_dev);
 641                 if (ret)
 642                         return ret;
 643                 ret = inv_icm42600_gyro_write_offset(st, chan, val, val2);
 644                 iio_device_release_direct_mode(indio_dev);
 645                 return ret;
 646         default:
 647                 return -EINVAL;
 648         }
 649 }
 650
 651 static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,
 652                                                struct iio_chan_spec const *chan,
 653                                                long mask)
 654 {
 655         if (chan->type != IIO_ANGL_VEL)
 656                 return -EINVAL;
 657
 658         switch (mask) {
 659         case IIO_CHAN_INFO_SCALE:
 660                 return IIO_VAL_INT_PLUS_NANO;
 661         case IIO_CHAN_INFO_SAMP_FREQ:
 662                 return IIO_VAL_INT_PLUS_MICRO;
 663         case IIO_CHAN_INFO_CALIBBIAS:
 664                 return IIO_VAL_INT_PLUS_NANO;
 665         default:
 666                 return -EINVAL;
 667         }
 668 }
 669
 670 static int inv_icm42600_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev,
 671                                                   unsigned int val)
 672 {
 673         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 674         int ret;
 675
 676         mutex_lock(&st->lock);
 677
 678         st->fifo.watermark.gyro = val;
 679         ret = inv_icm42600_buffer_update_watermark(st);
 680
 681         mutex_unlock(&st->lock);
 682
 683         return ret;
 684 }
 685
 686 static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev,
 687                                           unsigned int count)
 688 {
 689         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 690         int ret;
 691
 692         if (count == 0)
 693                 return 0;
 694
 695         mutex_lock(&st->lock);
 696
 697         ret = inv_icm42600_buffer_hwfifo_flush(st, count);
 698         if (!ret)
 699                 ret = st->fifo.nb.gyro;
 700
 701         mutex_unlock(&st->lock);
 702
 703         return ret;
 704 }
 705
 706 static const struct iio_info inv_icm42600_gyro_info = {
 707         .read_raw = inv_icm42600_gyro_read_raw,
 708         .read_avail = inv_icm42600_gyro_read_avail,
 709         .write_raw = inv_icm42600_gyro_write_raw,
 710         .write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt,
 711         .debugfs_reg_access = inv_icm42600_debugfs_reg,
 712         .update_scan_mode = inv_icm42600_gyro_update_scan_mode,
 713         .hwfifo_set_watermark = inv_icm42600_gyro_hwfifo_set_watermark,
 714         .hwfifo_flush_to_buffer = inv_icm42600_gyro_hwfifo_flush,
 715 };
 716
 717 struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 718 {
 719         struct device *dev = regmap_get_device(st->map);
 720         const char *name;
 721         struct inv_icm42600_timestamp *ts;
 722         struct iio_dev *indio_dev;
 723         int ret;
 724
 725         name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);
 726         if (!name)
 727                 return ERR_PTR(-ENOMEM);
 728
 729         indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
 730         if (!indio_dev)
 731                 return ERR_PTR(-ENOMEM);
 732
 733         ts = iio_priv(indio_dev);
 734         inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.gyro.odr));
 735
 736         iio_device_set_drvdata(indio_dev, st);
 737         indio_dev->name = name;
 738         indio_dev->info = &inv_icm42600_gyro_info;
 739         indio_dev->modes = INDIO_DIRECT_MODE;
 740         indio_dev->channels = inv_icm42600_gyro_channels;
 741         indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels);
 742         indio_dev->available_scan_masks = inv_icm42600_gyro_scan_masks;
 743         indio_dev->setup_ops = &inv_icm42600_buffer_ops;
 744
 745         ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
 746                                           INDIO_BUFFER_SOFTWARE,
 747                                           &inv_icm42600_buffer_ops);
 748         if (ret)
 749                 return ERR_PTR(ret);
 750
 751         ret = devm_iio_device_register(dev, indio_dev);
 752         if (ret)
 753                 return ERR_PTR(ret);
 754
 755         return indio_dev;
 756 }
 757
 758 int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
 759 {
 760         struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 761         struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
 762         ssize_t i, size;
 763         unsigned int no;
 764         const void *accel, *gyro, *timestamp;
 765         const int8_t *temp;
 766         unsigned int odr;
 767         int64_t ts_val;
 768         struct inv_icm42600_gyro_buffer buffer;
 769
 770         /* parse all fifo packets */
 771         for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
 772                 size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i],
 773                                 &accel, &gyro, &temp, &timestamp, &odr);
 774                 /* quit if error or FIFO is empty */
 775                 if (size <= 0)
 776                         return size;
 777
 778                 /* skip packet if no gyro data or data is invalid */
 779                 if (gyro == NULL || !inv_icm42600_fifo_is_data_valid(gyro))
 780                         continue;
 781
 782                 /* update odr */
 783                 if (odr & INV_ICM42600_SENSOR_GYRO)
 784                         inv_icm42600_timestamp_apply_odr(ts, st->fifo.period,
 785                                                          st->fifo.nb.total, no);
 786
 787                 /* buffer is copied to userspace, zeroing it to avoid any data leak */
 788                 memset(&buffer, 0, sizeof(buffer));
 789                 memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro));
 790                 /* convert 8 bits FIFO temperature in high resolution format */
 791                 buffer.temp = temp ? (*temp * 64) : 0;
 792                 ts_val = inv_icm42600_timestamp_pop(ts);
 793                 iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
 794         }
 795
 796         return 0;
 797 }