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iio: imu: inv_icm42607: Add Accelerometer for icm42607

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Add icm42607 accelerometer sensor for icm42607.

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 2026-07-28 17:55:37 -05:00 committed by Jonathan Cameron
parent 3007c1530f
commit cbf992414e
4 changed files with 576 additions and 3 deletions
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1
drivers/iio/imu/inv_icm42607/Makefile
View File

@ -2,6 +2,7 @@
obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o
inv-icm42607-y += inv_icm42607_core.o
inv-icm42607-y += inv_icm42607_accel.o
obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o
inv-icm42607-i2c-y += inv_icm42607_i2c.o

38
drivers/iio/imu/inv_icm42607/inv_icm42607.h
View File

@ -88,6 +88,17 @@ enum inv_icm42607_filter_bw {
INV_ICM42607_FILTER_BW_NB
};
/* Low-Power mode sensor data filter (averaging) */
enum inv_icm42607_filter_avg {
INV_ICM42607_FILTER_AVG_2X = 0,
INV_ICM42607_FILTER_AVG_4X = 1,
INV_ICM42607_FILTER_AVG_8X = 2,
INV_ICM42607_FILTER_AVG_16X = 3,
INV_ICM42607_FILTER_AVG_32X = 4,
INV_ICM42607_FILTER_AVG_64X = 5,
/* values 6 and 7 also correspond to 64x. */
};
/* Temperature sensor data filter (bandwidth) */
enum inv_icm42607_temp_filter_bw {
INV_ICM42607_TEMP_FILTER_BYPASS = 0,
@ -107,6 +118,7 @@ struct inv_icm42607_sensor_conf {
int odr;
int filter;
};
#define INV_ICM42607_SENSOR_CONF_INIT { -1, -1, -1, -1 }
struct inv_icm42607_conf {
struct inv_icm42607_sensor_conf gyro;
@ -125,6 +137,7 @@ struct inv_icm42607_hw {
* @hw: Hardware specific data.
* @lock: lock for serializing multiple registers access.
* @map: regmap pointer.
* @indio_accel: accelerometer IIO device.
* @vddio_supply: I/O voltage regulator for the chip.
* @vddio_en: I/O voltage status for runtime PM.
* @conf: chip sensors configurations.
@ -134,12 +147,23 @@ struct inv_icm42607_state {
const struct inv_icm42607_hw *hw;
struct mutex lock;
struct regmap *map;
struct iio_dev *indio_accel;
struct regulator *vddio_supply;
bool vddio_en;
struct inv_icm42607_conf conf;
struct iio_mount_matrix orientation;
};
/**
* struct inv_icm42607_sensor_state - sensor state variables
* @power_mode: sensor requested power mode (for common frequencies)
* @filter: sensor filter.
*/
struct inv_icm42607_sensor_state {
enum inv_icm42607_sensor_mode power_mode;
int filter;
};
/* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
/* Register Map for User Bank 0 */
@ -368,12 +392,26 @@ extern const struct inv_icm42607_hw inv_icm42607_hw_data;
extern const struct inv_icm42607_hw inv_icm42607p_hw_data;
extern const struct dev_pm_ops inv_icm42607_pm_ops;
const struct iio_mount_matrix *
inv_icm42607_get_mount_matrix(struct iio_dev *indio_dev,
const struct iio_chan_spec *chan);
int inv_icm42607_get_pwr_mgmt0(struct inv_icm42607_state *st,
enum inv_icm42607_sensor_mode *gyro,
enum inv_icm42607_sensor_mode *accel);
int inv_icm42607_set_sensor_conf(struct inv_icm42607_state *st,
struct inv_icm42607_sensor_conf *conf,
enum iio_chan_type chan_type);
int inv_icm42607_read_sensor(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
s16 *val);
int inv_icm42607_core_probe(struct regmap *regmap,
const struct inv_icm42607_hw *hw,
inv_icm42607_bus_setup bus_setup);
struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st);
#endif

308
drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c Normal file
View File

@ -0,0 +1,308 @@
// SPDX-License-Identifier: GPL-2.0-or-later
/*
* Copyright (C) 2026 InvenSense, Inc.
*/
#include <linux/array_size.h>
#include <linux/bits.h>
#include <linux/cleanup.h>
#include <linux/device/devres.h>
#include <linux/err.h>
#include <linux/iio/iio.h>
#include <linux/mutex.h>
#include <linux/pm_runtime.h>
#include <linux/regmap.h>
#include <linux/types.h>
#include "inv_icm42607.h"
#define INV_ICM42607_ACCEL_CHAN(_modifier, _index, _ext_info) \
{ \
.type = IIO_ACCEL, \
.modified = 1, \
.channel2 = _modifier, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
.info_mask_shared_by_type_available = BIT(IIO_CHAN_INFO_SCALE), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.info_mask_shared_by_all_available = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.scan_index = _index, \
.scan_type = { \
.sign = 's', \
.realbits = 16, \
.storagebits = 16, \
.endianness = IIO_BE, \
}, \
.ext_info = _ext_info, \
}
enum inv_icm42607_accel_scan {
INV_ICM42607_ACCEL_SCAN_X,
INV_ICM42607_ACCEL_SCAN_Y,
INV_ICM42607_ACCEL_SCAN_Z,
};
static const struct iio_chan_spec_ext_info inv_icm42607_accel_ext_infos[] = {
IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix),
{ }
};
static const struct iio_chan_spec inv_icm42607_accel_channels[] = {
INV_ICM42607_ACCEL_CHAN(IIO_MOD_X, INV_ICM42607_ACCEL_SCAN_X,
inv_icm42607_accel_ext_infos),
INV_ICM42607_ACCEL_CHAN(IIO_MOD_Y, INV_ICM42607_ACCEL_SCAN_Y,
inv_icm42607_accel_ext_infos),
INV_ICM42607_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42607_ACCEL_SCAN_Z,
inv_icm42607_accel_ext_infos),
};
static const int inv_icm42607_accel_scale_nano[][2] = {
[INV_ICM42607_ACCEL_FS_16G] = { 0, 4788403 },
[INV_ICM42607_ACCEL_FS_8G] = { 0, 2394202 },
[INV_ICM42607_ACCEL_FS_4G] = { 0, 1197101 },
[INV_ICM42607_ACCEL_FS_2G] = { 0, 598550 },
};
static int inv_icm42607_accel_read_scale(struct iio_dev *indio_dev,
int *val, int *val2)
{
struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
unsigned int idx;
guard(mutex)(&st->lock);
idx = st->conf.accel.fs;
*val = inv_icm42607_accel_scale_nano[idx][0];
*val2 = inv_icm42607_accel_scale_nano[idx][1];
return IIO_VAL_INT_PLUS_NANO;
}
static int inv_icm42607_accel_write_scale(struct iio_dev *indio_dev,
int val, int val2)
{
struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
size_t scales_len = ARRAY_SIZE(inv_icm42607_accel_scale_nano);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
int ret;
for (idx = 0; idx < scales_len; idx++) {
if (val == inv_icm42607_accel_scale_nano[idx][0] &&
val2 == inv_icm42607_accel_scale_nano[idx][1])
break;
}
if (idx == scales_len)
return -EINVAL;
conf.fs = idx;
PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);
ret = PM_RUNTIME_ACQUIRE_ERR(&pm);
if (ret)
return ret;
guard(mutex)(&st->lock);
return inv_icm42607_set_sensor_conf(st, &conf, IIO_ACCEL);
}
/* IIO format int + micro , values 0-4 reserved. */
static const int inv_icm42607_accel_odr[][2] = {
[INV_ICM42607_ODR_1600HZ] = { 1600, 0 },
[INV_ICM42607_ODR_800HZ] = { 800, 0 },
[INV_ICM42607_ODR_400HZ] = { 400, 0 },
[INV_ICM42607_ODR_200HZ] = { 200, 0 },
[INV_ICM42607_ODR_100HZ] = { 100, 0 },
[INV_ICM42607_ODR_50HZ] = { 50, 0 },
[INV_ICM42607_ODR_25HZ] = { 25, 0 },
[INV_ICM42607_ODR_12_5HZ] = { 12, 500000 },
[INV_ICM42607_ODR_6_25HZ_LP] = { 6, 250000 },
[INV_ICM42607_ODR_3_125HZ_LP] = { 3, 125000 },
[INV_ICM42607_ODR_1_5625HZ_LP] = { 1, 562500 },
};
static int inv_icm42607_accel_read_odr(struct inv_icm42607_state *st,
int *val, int *val2)
{
unsigned int odr;
unsigned int i;
guard(mutex)(&st->lock);
odr = st->conf.accel.odr;
for (i = INV_ICM42607_ODR_1600HZ; i < ARRAY_SIZE(inv_icm42607_accel_odr); i++) {
if (i == odr)
break;
}
if (i == ARRAY_SIZE(inv_icm42607_accel_odr))
return -EINVAL;
*val = inv_icm42607_accel_odr[i][0];
*val2 = inv_icm42607_accel_odr[i][1];
return IIO_VAL_INT_PLUS_MICRO;
}
static int inv_icm42607_accel_write_odr(struct iio_dev *indio_dev,
int val, int val2)
{
struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
int ret;
for (idx = INV_ICM42607_ODR_1600HZ;
idx < ARRAY_SIZE(inv_icm42607_accel_odr); idx++) {
if (val == inv_icm42607_accel_odr[idx][0] &&
val2 == inv_icm42607_accel_odr[idx][1])
break;
}
if (idx == ARRAY_SIZE(inv_icm42607_accel_odr))
return -EINVAL;
conf.odr = idx;
PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);
ret = PM_RUNTIME_ACQUIRE_ERR(&pm);
if (ret)
return ret;
guard(mutex)(&st->lock);
return inv_icm42607_set_sensor_conf(st, &conf, IIO_ACCEL);
}
static int inv_icm42607_accel_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val, int *val2, long mask)
{
struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
s16 data;
int ret;
switch (chan->type) {
case IIO_ACCEL:
break;
default:
return -EINVAL;
}
switch (mask) {
case IIO_CHAN_INFO_RAW:
ret = inv_icm42607_read_sensor(indio_dev, chan, &data);
if (ret)
return ret;
*val = data;
return IIO_VAL_INT;
case IIO_CHAN_INFO_SCALE:
return inv_icm42607_accel_read_scale(indio_dev, val, val2);
case IIO_CHAN_INFO_SAMP_FREQ:
return inv_icm42607_accel_read_odr(st, val, val2);
default:
return -EINVAL;
}
}
static int inv_icm42607_accel_read_avail(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
const int **vals,
int *type, int *length, long mask)
{
switch (mask) {
case IIO_CHAN_INFO_SCALE:
if (chan->type != IIO_ACCEL)
return -EINVAL;
*vals = (const int *)inv_icm42607_accel_scale_nano;
*type = IIO_VAL_INT_PLUS_NANO;
*length = ARRAY_SIZE(inv_icm42607_accel_scale_nano) * 2;
return IIO_AVAIL_LIST;
case IIO_CHAN_INFO_SAMP_FREQ:
*vals = (const int *)inv_icm42607_accel_odr[INV_ICM42607_ODR_1600HZ];
*type = IIO_VAL_INT_PLUS_MICRO;
*length = (ARRAY_SIZE(inv_icm42607_accel_odr) -
INV_ICM42607_ODR_1600HZ) * 2;
return IIO_AVAIL_LIST;
default:
return -EINVAL;
}
}
static int inv_icm42607_accel_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int val, int val2, long mask)
{
int ret;
switch (mask) {
case IIO_CHAN_INFO_SCALE:
if (chan->type != IIO_ACCEL)
return -EINVAL;
ret = inv_icm42607_accel_write_scale(indio_dev, val, val2);
return ret;
case IIO_CHAN_INFO_SAMP_FREQ:
return inv_icm42607_accel_write_odr(indio_dev, val, val2);
default:
return -EINVAL;
}
}
static int inv_icm42607_accel_write_raw_get_fmt(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
long mask)
{
switch (mask) {
case IIO_CHAN_INFO_SCALE:
if (chan->type != IIO_ACCEL)
return -EINVAL;
return IIO_VAL_INT_PLUS_NANO;
case IIO_CHAN_INFO_SAMP_FREQ:
return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
}
static const struct iio_info inv_icm42607_accel_info = {
.read_raw = inv_icm42607_accel_read_raw,
.read_avail = inv_icm42607_accel_read_avail,
.write_raw = inv_icm42607_accel_write_raw,
.write_raw_get_fmt = inv_icm42607_accel_write_raw_get_fmt,
};
struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st)
{
struct device *dev = regmap_get_device(st->map);
struct inv_icm42607_sensor_state *accel_st;
struct iio_dev *indio_dev;
const char *name;
int ret;
name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->hw->name);
if (!name)
return ERR_PTR(-ENOMEM);
indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st));
if (!indio_dev)
return ERR_PTR(-ENOMEM);
accel_st = iio_priv(indio_dev);
accel_st->power_mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE;
accel_st->filter = INV_ICM42607_FILTER_BW_73HZ;
indio_dev->name = name;
indio_dev->info = &inv_icm42607_accel_info;
indio_dev->modes = INDIO_DIRECT_MODE;
indio_dev->channels = inv_icm42607_accel_channels;
indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_accel_channels);
iio_device_set_drvdata(indio_dev, st);
ret = devm_iio_device_register(dev, indio_dev);
if (ret)
return ERR_PTR(ret);
return indio_dev;
}

232
drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
View File

@ -19,6 +19,8 @@
#include <linux/timekeeping.h>
#include <linux/types.h>
#include <asm/byteorder.h>
#include "inv_icm42607.h"
static bool inv_icm42607_is_readable_reg(struct device *dev, unsigned int reg)
@ -104,6 +106,49 @@ const struct inv_icm42607_hw inv_icm42607p_hw_data = {
};
EXPORT_SYMBOL_NS_GPL(inv_icm42607p_hw_data, "IIO_ICM42607");
const struct iio_mount_matrix *
inv_icm42607_get_mount_matrix(struct iio_dev *indio_dev,
const struct iio_chan_spec *chan)
{
const struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
return &st->orientation;
}
static u32 inv_icm42607_odr_to_period_us(enum inv_icm42607_odr odr)
{
static const u32 odr_periods[INV_ICM42607_ODR_NB] = {
/* Reserved values */
0, 0, 0, 0, 0,
/* 1600Hz */
625,
/* 800Hz */
1250,
/* 400Hz */
2500,
/* 200Hz */
5000,
/* 100 Hz */
10000,
/* 50Hz */
20000,
/* 25Hz */
40000,
/* 12.5Hz */
80000,
/* 6.25Hz */
160000,
/* 3.125Hz */
320000,
/* 1.5625Hz */
640000,
};
odr = clamp(odr, INV_ICM42607_ODR_1600HZ, INV_ICM42607_ODR_1_5625HZ_LP);
return odr_periods[odr];
}
int inv_icm42607_get_pwr_mgmt0(struct inv_icm42607_state *st,
enum inv_icm42607_sensor_mode *gyro,
enum inv_icm42607_sensor_mode *accel)
@ -126,7 +171,7 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
enum inv_icm42607_sensor_mode accel)
{
enum inv_icm42607_sensor_mode oldaccel, oldgyro;
unsigned int sleepval_us;
unsigned int sleepval_us, odr_us;
unsigned int val;
s64 disable_wait;
int ret;
@ -163,22 +208,30 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
* If a state change occurs from off to on, sleep for the startup time
* of the sensor. Since more than one sensor can be transitioned from
* off to on, select the maximum time from each of the sensors changing
* from off to on. The startup time for the temp sensor is considerably
* from off to on. Also account for the time it takes for the first
* sample to be ready by looking up the odr value and adding it to the
* sleep time. The startup time for the temp sensor is considerably
* smaller than the startup time for the other sensors and one or more
* are required to be on for the temp sensor to function, so any start
* delay should be enough.
*/
sleepval_us = 0;
if (accel && !oldaccel)
odr_us = 0;
if (accel && !oldaccel) {
sleepval_us = max(sleepval_us, INV_ICM42607_ACCEL_STARTUP_TIME_US);
odr_us = max(odr_us, inv_icm42607_odr_to_period_us(st->conf.accel.odr));
}
if (gyro && !oldgyro) {
sleepval_us = max(sleepval_us, INV_ICM42607_GYRO_STARTUP_TIME_US);
odr_us = max(odr_us, inv_icm42607_odr_to_period_us(st->conf.gyro.odr));
/* Track the earliest we can turn off the gyroscope. */
st->conf.gyro_stop = ktime_add_us(ktime_get(),
INV_ICM42607_GYRO_STOP_TIME_US);
}
sleepval_us += odr_us;
/*
* Only sleep if sleepval_us is greater than 0 in case some platforms
* have issues with a 0 delay. The 0 delay can happen if one or both
@ -190,6 +243,174 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
return 0;
}
/*
* Sanity test between old and new config values, and note if we need
* to update register config0 or config1.
*/
static void inv_icm42607_update_config(struct inv_icm42607_sensor_conf *conf,
struct inv_icm42607_sensor_conf *oldconf,
bool *config0, bool *config1)
{
if (conf->mode < 0)
conf->mode = oldconf->mode;
if (conf->fs < 0)
conf->fs = oldconf->fs;
if (conf->odr < 0)
conf->odr = oldconf->odr;
if (conf->filter < 0)
conf->filter = oldconf->filter;
*config0 = (conf->fs != oldconf->fs) || (conf->odr != oldconf->odr);
*config1 = (conf->filter != oldconf->filter);
}
int inv_icm42607_set_sensor_conf(struct inv_icm42607_state *st,
struct inv_icm42607_sensor_conf *conf,
enum iio_chan_type chan_type)
{
enum inv_icm42607_sensor_mode accel_mode, gyro_mode;
struct inv_icm42607_sensor_conf *oldconf;
bool config0, config1;
unsigned int val;
int ret;
switch (chan_type) {
case IIO_ACCEL:
oldconf = &st->conf.accel;
break;
case IIO_ANGL_VEL:
oldconf = &st->conf.gyro;
break;
default:
return -EINVAL;
}
/*
* Since we are only making one-shot calls today, we can avoid needless
* on/off cycles if we rely on the runtime power management to handle
* shutting off the sensors when not in use. The downside is if we
* enable both sensors then only read from one, we have to wait for
* runtime PM to turn it off. So just keep the mode of the sensor we
* are not actively using to whatever it's already set as.
*/
ret = inv_icm42607_get_pwr_mgmt0(st, &gyro_mode, &accel_mode);
if (ret)
return ret;
inv_icm42607_update_config(conf, oldconf, &config0, &config1);
if (config0) {
if (chan_type == IIO_ANGL_VEL) {
val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK, conf->fs);
val |= FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_ODR_MASK, conf->odr);
ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val);
} else {
val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK, conf->fs);
val |= FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_ODR_MASK, conf->odr);
ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val);
}
if (ret)
return ret;
oldconf->fs = conf->fs;
oldconf->odr = conf->odr;
}
if (config1) {
if (chan_type == IIO_ANGL_VEL) {
val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG1_FILTER_MASK,
conf->filter);
ret = regmap_update_bits(st->map, INV_ICM42607_REG_GYRO_CONFIG1,
INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, val);
} else {
val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK,
conf->filter);
ret = regmap_update_bits(st->map, INV_ICM42607_REG_ACCEL_CONFIG1,
INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK, val);
}
if (ret)
return ret;
oldconf->filter = conf->filter;
}
oldconf->mode = conf->mode;
switch (chan_type) {
case IIO_ACCEL:
return inv_icm42607_set_pwr_mgmt0(st, gyro_mode, conf->mode);
case IIO_ANGL_VEL:
return inv_icm42607_set_pwr_mgmt0(st, conf->mode, accel_mode);
default:
return -EINVAL;
}
}
int inv_icm42607_read_sensor(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
s16 *val)
{
struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
struct inv_icm42607_sensor_state *sensor_st = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int reg;
__be16 data;
int ret;
if ((chan->type != IIO_ANGL_VEL) && (chan->type != IIO_ACCEL))
return -EINVAL;
switch (chan->channel2) {
case IIO_MOD_X:
if (chan->type == IIO_ANGL_VEL)
reg = INV_ICM42607_REG_GYRO_DATA_X1;
else
reg = INV_ICM42607_REG_ACCEL_DATA_X1;
break;
case IIO_MOD_Y:
if (chan->type == IIO_ANGL_VEL)
reg = INV_ICM42607_REG_GYRO_DATA_Y1;
else
reg = INV_ICM42607_REG_ACCEL_DATA_Y1;
break;
case IIO_MOD_Z:
if (chan->type == IIO_ANGL_VEL)
reg = INV_ICM42607_REG_GYRO_DATA_Z1;
else
reg = INV_ICM42607_REG_ACCEL_DATA_Z1;
break;
default:
return -EINVAL;
}
PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);
ret = PM_RUNTIME_ACQUIRE_ERR(&pm);
if (ret)
return ret;
guard(mutex)(&st->lock);
/* enable sensor */
conf.mode = sensor_st->power_mode;
conf.filter = sensor_st->filter;
ret = inv_icm42607_set_sensor_conf(st, &conf, chan->type);
if (ret)
return ret;
/* read sensor register data */
ret = regmap_bulk_read(st->map, reg, &data, sizeof(data));
if (ret)
return ret;
*val = be16_to_cpu(data);
if (*val == INV_ICM42607_DATA_INVALID)
return -EINVAL;
return 0;
}
static int inv_icm42607_set_init_conf(struct inv_icm42607_state *st,
const struct inv_icm42607_conf *conf)
{
@ -409,6 +630,11 @@ int inv_icm42607_core_probe(struct regmap *regmap,
pm_runtime_set_autosuspend_delay(dev, INV_ICM42607_SUSPEND_DELAY_MS);
pm_runtime_use_autosuspend(dev);
/* Initialize IIO device for Accel */
st->indio_accel = inv_icm42607_accel_init(st);
if (IS_ERR(st->indio_accel))
return PTR_ERR(st->indio_accel);
return 0;
}
EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607");