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iio: imu: inv_icm42607: Add Gyroscope to icm42607
Add gyroscope functions to the icm42607 driver. Signed-off-by: Chris Morgan <macromorgan@hotmail.com> Signed-off-by: Jonathan Cameron <jonathan.cameron@oss.qualcomm.com>
This commit is contained in:
Chris Morgan
Jonathan Cameron
parent
cbf992414e
commit
55abd7edfb
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@ -2,6 +2,7 @@
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obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o
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inv-icm42607-y += inv_icm42607_core.o
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inv-icm42607-y += inv_icm42607_gyro.o
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inv-icm42607-y += inv_icm42607_accel.o
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obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o
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@ -138,6 +138,7 @@ struct inv_icm42607_hw {
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* @lock: lock for serializing multiple registers access.
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* @map: regmap pointer.
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* @indio_accel: accelerometer IIO device.
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* @indio_gyro: gyroscope IIO device.
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* @vddio_supply: I/O voltage regulator for the chip.
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* @vddio_en: I/O voltage status for runtime PM.
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* @conf: chip sensors configurations.
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@ -148,6 +149,7 @@ struct inv_icm42607_state {
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struct mutex lock;
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struct regmap *map;
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struct iio_dev *indio_accel;
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struct iio_dev *indio_gyro;
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struct regulator *vddio_supply;
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bool vddio_en;
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struct inv_icm42607_conf conf;
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@ -412,6 +414,8 @@ int inv_icm42607_core_probe(struct regmap *regmap,
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const struct inv_icm42607_hw *hw,
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inv_icm42607_bus_setup bus_setup);
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struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st);
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struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st);
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#endif
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@ -635,6 +635,11 @@ int inv_icm42607_core_probe(struct regmap *regmap,
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if (IS_ERR(st->indio_accel))
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return PTR_ERR(st->indio_accel);
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/* Initialize IIO device for Gyro */
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st->indio_gyro = inv_icm42607_gyro_init(st);
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if (IS_ERR(st->indio_gyro))
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return PTR_ERR(st->indio_gyro);
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return 0;
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}
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EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607");
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305
drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
Normal file
305
drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
Normal file
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@ -0,0 +1,305 @@
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// SPDX-License-Identifier: GPL-2.0-or-later
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/*
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* Copyright (C) 2026 InvenSense, Inc.
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*/
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#include <linux/array_size.h>
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#include <linux/bits.h>
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#include <linux/cleanup.h>
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#include <linux/device/devres.h>
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#include <linux/err.h>
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#include <linux/iio/iio.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/types.h>
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#include "inv_icm42607.h"
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#define INV_ICM42607_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 = BIT(IIO_CHAN_INFO_RAW), \
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.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_type_available = BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.info_mask_shared_by_all_available = 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_icm42607_gyro_scan {
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INV_ICM42607_GYRO_SCAN_X,
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INV_ICM42607_GYRO_SCAN_Y,
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INV_ICM42607_GYRO_SCAN_Z,
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};
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static const struct iio_chan_spec_ext_info inv_icm42607_gyro_ext_infos[] = {
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IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix),
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{ }
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};
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static const struct iio_chan_spec inv_icm42607_gyro_channels[] = {
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INV_ICM42607_GYRO_CHAN(IIO_MOD_X, INV_ICM42607_GYRO_SCAN_X,
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inv_icm42607_gyro_ext_infos),
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INV_ICM42607_GYRO_CHAN(IIO_MOD_Y, INV_ICM42607_GYRO_SCAN_Y,
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inv_icm42607_gyro_ext_infos),
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INV_ICM42607_GYRO_CHAN(IIO_MOD_Z, INV_ICM42607_GYRO_SCAN_Z,
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inv_icm42607_gyro_ext_infos),
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};
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static const int inv_icm42607_gyro_scale_nano[][2] = {
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[INV_ICM42607_GYRO_FS_2000DPS] = { 0, 1065264 },
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[INV_ICM42607_GYRO_FS_1000DPS] = { 0, 532632 },
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[INV_ICM42607_GYRO_FS_500DPS] = { 0, 266316 },
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[INV_ICM42607_GYRO_FS_250DPS] = { 0, 133158 },
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};
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static int inv_icm42607_gyro_read_scale(struct iio_dev *indio_dev,
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int *val, int *val2)
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{
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struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
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unsigned int idx;
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guard(mutex)(&st->lock);
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idx = st->conf.gyro.fs;
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*val = inv_icm42607_gyro_scale_nano[idx][0];
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*val2 = inv_icm42607_gyro_scale_nano[idx][1];
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return IIO_VAL_INT_PLUS_NANO;
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}
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static int inv_icm42607_gyro_write_scale(struct iio_dev *indio_dev,
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int val, int val2)
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{
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struct inv_icm42607_state *st = iio_device_get_drvdata(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_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
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size_t scales_len = ARRAY_SIZE(inv_icm42607_gyro_scale_nano);
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int ret;
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for (idx = 0; idx < scales_len; idx++) {
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if (val == inv_icm42607_gyro_scale_nano[idx][0] &&
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val2 == inv_icm42607_gyro_scale_nano[idx][1])
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break;
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}
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if (idx == scales_len)
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return -EINVAL;
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conf.fs = idx;
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PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);
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ret = PM_RUNTIME_ACQUIRE_ERR(&pm);
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if (ret)
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return ret;
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guard(mutex)(&st->lock);
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return inv_icm42607_set_sensor_conf(st, &conf, IIO_ANGL_VEL);
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}
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/* IIO format int + micro , values 0-4 reserved. */
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static const int inv_icm42607_gyro_odr[][2] = {
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[INV_ICM42607_ODR_1600HZ] = { 1600, 0 },
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[INV_ICM42607_ODR_800HZ] = { 800, 0 },
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[INV_ICM42607_ODR_400HZ] = { 400, 0 },
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[INV_ICM42607_ODR_200HZ] = { 200, 0 },
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[INV_ICM42607_ODR_100HZ] = { 100, 0 },
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[INV_ICM42607_ODR_50HZ] = { 50, 0 },
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[INV_ICM42607_ODR_25HZ] = { 25, 0 },
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[INV_ICM42607_ODR_12_5HZ] = { 12, 500000 },
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};
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static int inv_icm42607_gyro_read_odr(struct inv_icm42607_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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guard(mutex)(&st->lock);
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odr = st->conf.gyro.odr;
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for (i = INV_ICM42607_ODR_1600HZ; i < ARRAY_SIZE(inv_icm42607_gyro_odr); i++) {
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if (i == odr)
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break;
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}
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if (i == ARRAY_SIZE(inv_icm42607_gyro_odr))
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return -EINVAL;
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*val = inv_icm42607_gyro_odr[i][0];
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*val2 = inv_icm42607_gyro_odr[i][1];
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return IIO_VAL_INT_PLUS_MICRO;
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}
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static int inv_icm42607_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_icm42607_state *st = iio_device_get_drvdata(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_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
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int ret;
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for (idx = INV_ICM42607_ODR_1600HZ;
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idx < ARRAY_SIZE(inv_icm42607_gyro_odr); idx++) {
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if (val == inv_icm42607_gyro_odr[idx][0] &&
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val2 == inv_icm42607_gyro_odr[idx][1])
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break;
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}
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if (idx == ARRAY_SIZE(inv_icm42607_gyro_odr))
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return -EINVAL;
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conf.odr = idx;
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PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);
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ret = PM_RUNTIME_ACQUIRE_ERR(&pm);
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if (ret)
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return ret;
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guard(mutex)(&st->lock);
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return inv_icm42607_set_sensor_conf(st, &conf, IIO_ANGL_VEL);
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}
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static int inv_icm42607_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_icm42607_state *st = iio_device_get_drvdata(indio_dev);
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s16 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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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 = inv_icm42607_read_sensor(indio_dev, chan, &data);
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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_icm42607_gyro_read_scale(indio_dev, val, val2);
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case IIO_CHAN_INFO_SAMP_FREQ:
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return inv_icm42607_gyro_read_odr(st, 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_icm42607_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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switch (mask) {
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case IIO_CHAN_INFO_SCALE:
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if (chan->type != IIO_ANGL_VEL)
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return -EINVAL;
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*vals = (const int *)inv_icm42607_gyro_scale_nano;
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*type = IIO_VAL_INT_PLUS_NANO;
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*length = ARRAY_SIZE(inv_icm42607_gyro_scale_nano) * 2;
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return IIO_AVAIL_LIST;
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case IIO_CHAN_INFO_SAMP_FREQ:
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*vals = (const int *)inv_icm42607_gyro_odr[INV_ICM42607_ODR_1600HZ];
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*type = IIO_VAL_INT_PLUS_MICRO;
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*length = (ARRAY_SIZE(inv_icm42607_gyro_odr) -
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INV_ICM42607_ODR_1600HZ) * 2;
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return IIO_AVAIL_LIST;
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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_icm42607_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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int ret;
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switch (mask) {
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case IIO_CHAN_INFO_SCALE:
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if (chan->type != IIO_ANGL_VEL)
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return -EINVAL;
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ret = inv_icm42607_gyro_write_scale(indio_dev, val, val2);
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return ret;
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case IIO_CHAN_INFO_SAMP_FREQ:
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return inv_icm42607_gyro_write_odr(indio_dev, 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_icm42607_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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switch (mask) {
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case IIO_CHAN_INFO_SCALE:
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if (chan->type != IIO_ANGL_VEL)
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return -EINVAL;
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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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default:
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return -EINVAL;
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}
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}
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static const struct iio_info inv_icm42607_gyro_info = {
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.read_raw = inv_icm42607_gyro_read_raw,
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.read_avail = inv_icm42607_gyro_read_avail,
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.write_raw = inv_icm42607_gyro_write_raw,
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.write_raw_get_fmt = inv_icm42607_gyro_write_raw_get_fmt,
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};
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struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st)
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{
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struct device *dev = regmap_get_device(st->map);
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const char *name;
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struct inv_icm42607_sensor_state *gyro_st;
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struct iio_dev *indio_dev;
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int ret;
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name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->hw->name);
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if (!name)
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return ERR_PTR(-ENOMEM);
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indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st));
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if (!indio_dev)
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return ERR_PTR(-ENOMEM);
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gyro_st = iio_priv(indio_dev);
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gyro_st->power_mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE;
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gyro_st->filter = INV_ICM42607_FILTER_BW_73HZ;
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indio_dev->name = name;
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indio_dev->info = &inv_icm42607_gyro_info;
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indio_dev->modes = INDIO_DIRECT_MODE;
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indio_dev->channels = inv_icm42607_gyro_channels;
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indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_gyro_channels);
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iio_device_set_drvdata(indio_dev, st);
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ret = devm_iio_device_register(dev, indio_dev);
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if (ret)
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return ERR_PTR(ret);
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return indio_dev;
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}
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