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path: root/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
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Diffstat (limited to 'drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c')
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c84
1 files changed, 65 insertions, 19 deletions
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
index 3df0a715e885..e6f8de80128c 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -99,7 +99,8 @@ static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
const unsigned long *scan_mask)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &gyro_st->ts;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
unsigned int fifo_en = 0;
unsigned int sleep_gyro = 0;
@@ -222,33 +223,63 @@ static const int inv_icm42600_gyro_scale[] = {
[2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
[2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
};
+static const int inv_icm42686_gyro_scale[] = {
+ /* +/- 4000dps => 0.002130529 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_4000DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_4000DPS + 1] = 2130529,
+ /* +/- 2000dps => 0.001065264 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_2000DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_2000DPS + 1] = 1065264,
+ /* +/- 1000dps => 0.000532632 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_1000DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_1000DPS + 1] = 532632,
+ /* +/- 500dps => 0.000266316 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_500DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_500DPS + 1] = 266316,
+ /* +/- 250dps => 0.000133158 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_250DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_250DPS + 1] = 133158,
+ /* +/- 125dps => 0.000066579 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_125DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_125DPS + 1] = 66579,
+ /* +/- 62.5dps => 0.000033290 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_62_5DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_62_5DPS + 1] = 33290,
+ /* +/- 31.25dps => 0.000016645 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_31_25DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_31_25DPS + 1] = 16645,
+};
-static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_gyro_read_scale(struct iio_dev *indio_dev,
int *val, int *val2)
{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
unsigned int idx;
idx = st->conf.gyro.fs;
- *val = inv_icm42600_gyro_scale[2 * idx];
- *val2 = inv_icm42600_gyro_scale[2 * idx + 1];
+ *val = gyro_st->scales[2 * idx];
+ *val2 = gyro_st->scales[2 * idx + 1];
return IIO_VAL_INT_PLUS_NANO;
}
-static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_gyro_write_scale(struct iio_dev *indio_dev,
int val, int val2)
{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
int ret;
- for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) {
- if (val == inv_icm42600_gyro_scale[idx] &&
- val2 == inv_icm42600_gyro_scale[idx + 1])
+ for (idx = 0; idx < gyro_st->scales_len; idx += 2) {
+ if (val == gyro_st->scales[idx] &&
+ val2 == gyro_st->scales[idx + 1])
break;
}
- if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
+ if (idx >= gyro_st->scales_len)
return -EINVAL;
conf.fs = idx / 2;
@@ -321,7 +352,8 @@ static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
int val, int val2)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &gyro_st->ts;
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
@@ -576,7 +608,7 @@ static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
*val = data;
return IIO_VAL_INT;
case IIO_CHAN_INFO_SCALE:
- return inv_icm42600_gyro_read_scale(st, val, val2);
+ return inv_icm42600_gyro_read_scale(indio_dev, val, val2);
case IIO_CHAN_INFO_SAMP_FREQ:
return inv_icm42600_gyro_read_odr(st, val, val2);
case IIO_CHAN_INFO_CALIBBIAS:
@@ -591,14 +623,16 @@ static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
const int **vals,
int *type, int *length, long mask)
{
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+
if (chan->type != IIO_ANGL_VEL)
return -EINVAL;
switch (mask) {
case IIO_CHAN_INFO_SCALE:
- *vals = inv_icm42600_gyro_scale;
+ *vals = gyro_st->scales;
*type = IIO_VAL_INT_PLUS_NANO;
- *length = ARRAY_SIZE(inv_icm42600_gyro_scale);
+ *length = gyro_st->scales_len;
return IIO_AVAIL_LIST;
case IIO_CHAN_INFO_SAMP_FREQ:
*vals = inv_icm42600_gyro_odr;
@@ -629,7 +663,7 @@ static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
ret = iio_device_claim_direct_mode(indio_dev);
if (ret)
return ret;
- ret = inv_icm42600_gyro_write_scale(st, val, val2);
+ ret = inv_icm42600_gyro_write_scale(indio_dev, val, val2);
iio_device_release_direct_mode(indio_dev);
return ret;
case IIO_CHAN_INFO_SAMP_FREQ:
@@ -716,8 +750,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
{
struct device *dev = regmap_get_device(st->map);
const char *name;
+ struct inv_icm42600_sensor_state *gyro_st;
struct inv_sensors_timestamp_chip ts_chip;
- struct inv_sensors_timestamp *ts;
struct iio_dev *indio_dev;
int ret;
@@ -725,9 +759,21 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
if (!name)
return ERR_PTR(-ENOMEM);
- indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st));
if (!indio_dev)
return ERR_PTR(-ENOMEM);
+ gyro_st = iio_priv(indio_dev);
+
+ switch (st->chip) {
+ case INV_CHIP_ICM42686:
+ gyro_st->scales = inv_icm42686_gyro_scale;
+ gyro_st->scales_len = ARRAY_SIZE(inv_icm42686_gyro_scale);
+ break;
+ default:
+ gyro_st->scales = inv_icm42600_gyro_scale;
+ gyro_st->scales_len = ARRAY_SIZE(inv_icm42600_gyro_scale);
+ break;
+ }
/*
* clock period is 32kHz (31250ns)
@@ -736,8 +782,7 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
ts_chip.clock_period = 31250;
ts_chip.jitter = 20;
ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
- ts = iio_priv(indio_dev);
- inv_sensors_timestamp_init(ts, &ts_chip);
+ inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip);
iio_device_set_drvdata(indio_dev, st);
indio_dev->name = name;
@@ -763,7 +808,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &gyro_st->ts;
ssize_t i, size;
unsigned int no;
const void *accel, *gyro, *timestamp;
generated by cgit v1.2.3 (git 2.39.0) at 2024-06-27 21:24:12 +0300