Resguardo inicial

linux-7.2.3/drivers/iio/imu/inv_icm42600/Kconfig

@@ -0,0 +1,30 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+config INV_ICM42600
+	tristate
+	select IIO_BUFFER
+	select IIO_INV_SENSORS_TIMESTAMP
+
+config INV_ICM42600_I2C
+	tristate "InvenSense ICM-426xx I2C driver"
+	depends on I2C
+	select INV_ICM42600
+	select REGMAP_I2C
+	help
+	  This driver supports the InvenSense ICM-426xx motion tracking
+	  devices over I2C.
+
+	  This driver can be built as a module. The module will be called
+	  inv-icm42600-i2c.
+
+config INV_ICM42600_SPI
+	tristate "InvenSense ICM-426xx SPI driver"
+	depends on SPI_MASTER
+	select INV_ICM42600
+	select REGMAP_SPI
+	help
+	  This driver supports the InvenSense ICM-426xx motion tracking
+	  devices over SPI.
+
+	  This driver can be built as a module. The module will be called
+	  inv-icm42600-spi.

linux-7.2.3/drivers/iio/imu/inv_icm42600/Makefile

@@ -0,0 +1,14 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+obj-$(CONFIG_INV_ICM42600) += inv-icm42600.o
+inv-icm42600-y += inv_icm42600_core.o
+inv-icm42600-y += inv_icm42600_gyro.o
+inv-icm42600-y += inv_icm42600_accel.o
+inv-icm42600-y += inv_icm42600_temp.o
+inv-icm42600-y += inv_icm42600_buffer.o
+
+obj-$(CONFIG_INV_ICM42600_I2C) += inv-icm42600-i2c.o
+inv-icm42600-i2c-y += inv_icm42600_i2c.o
+
+obj-$(CONFIG_INV_ICM42600_SPI) += inv-icm42600-spi.o
+inv-icm42600-spi-y += inv_icm42600_spi.o

linux-7.2.3/drivers/iio/imu/inv_icm42600/inv_icm42600.h

@@ -0,0 +1,487 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#ifndef INV_ICM42600_H_
+#define INV_ICM42600_H_
+
+#include <linux/bits.h>
+#include <linux/bitfield.h>
+#include <linux/regmap.h>
+#include <linux/mutex.h>
+#include <linux/regulator/consumer.h>
+#include <linux/pm.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+
+#include "inv_icm42600_buffer.h"
+
+enum inv_icm42600_chip {
+	INV_CHIP_INVALID,
+	INV_CHIP_ICM42600,
+	INV_CHIP_ICM42602,
+	INV_CHIP_ICM42605,
+	INV_CHIP_ICM42686,
+	INV_CHIP_ICM42622,
+	INV_CHIP_ICM42688,
+	INV_CHIP_ICM42631,
+	INV_CHIP_NB,
+};
+
+/* serial bus slew rates */
+enum inv_icm42600_slew_rate {
+	INV_ICM42600_SLEW_RATE_20_60NS,
+	INV_ICM42600_SLEW_RATE_12_36NS,
+	INV_ICM42600_SLEW_RATE_6_18NS,
+	INV_ICM42600_SLEW_RATE_4_12NS,
+	INV_ICM42600_SLEW_RATE_2_6NS,
+	INV_ICM42600_SLEW_RATE_INF_2NS,
+};
+
+enum inv_icm42600_sensor_mode {
+	INV_ICM42600_SENSOR_MODE_OFF,
+	INV_ICM42600_SENSOR_MODE_STANDBY,
+	INV_ICM42600_SENSOR_MODE_LOW_POWER,
+	INV_ICM42600_SENSOR_MODE_LOW_NOISE,
+	INV_ICM42600_SENSOR_MODE_NB,
+};
+
+/* gyroscope fullscale values */
+enum inv_icm42600_gyro_fs {
+	INV_ICM42600_GYRO_FS_2000DPS,
+	INV_ICM42600_GYRO_FS_1000DPS,
+	INV_ICM42600_GYRO_FS_500DPS,
+	INV_ICM42600_GYRO_FS_250DPS,
+	INV_ICM42600_GYRO_FS_125DPS,
+	INV_ICM42600_GYRO_FS_62_5DPS,
+	INV_ICM42600_GYRO_FS_31_25DPS,
+	INV_ICM42600_GYRO_FS_15_625DPS,
+	INV_ICM42600_GYRO_FS_NB,
+};
+enum inv_icm42686_gyro_fs {
+	INV_ICM42686_GYRO_FS_4000DPS,
+	INV_ICM42686_GYRO_FS_2000DPS,
+	INV_ICM42686_GYRO_FS_1000DPS,
+	INV_ICM42686_GYRO_FS_500DPS,
+	INV_ICM42686_GYRO_FS_250DPS,
+	INV_ICM42686_GYRO_FS_125DPS,
+	INV_ICM42686_GYRO_FS_62_5DPS,
+	INV_ICM42686_GYRO_FS_31_25DPS,
+	INV_ICM42686_GYRO_FS_NB,
+};
+
+/* accelerometer fullscale values */
+enum inv_icm42600_accel_fs {
+	INV_ICM42600_ACCEL_FS_16G,
+	INV_ICM42600_ACCEL_FS_8G,
+	INV_ICM42600_ACCEL_FS_4G,
+	INV_ICM42600_ACCEL_FS_2G,
+	INV_ICM42600_ACCEL_FS_NB,
+};
+enum inv_icm42686_accel_fs {
+	INV_ICM42686_ACCEL_FS_32G,
+	INV_ICM42686_ACCEL_FS_16G,
+	INV_ICM42686_ACCEL_FS_8G,
+	INV_ICM42686_ACCEL_FS_4G,
+	INV_ICM42686_ACCEL_FS_2G,
+	INV_ICM42686_ACCEL_FS_NB,
+};
+
+/* ODR suffixed by LN or LP are Low-Noise or Low-Power mode only */
+enum inv_icm42600_odr {
+	INV_ICM42600_ODR_8KHZ_LN = 3,
+	INV_ICM42600_ODR_4KHZ_LN,
+	INV_ICM42600_ODR_2KHZ_LN,
+	INV_ICM42600_ODR_1KHZ_LN,
+	INV_ICM42600_ODR_200HZ,
+	INV_ICM42600_ODR_100HZ,
+	INV_ICM42600_ODR_50HZ,
+	INV_ICM42600_ODR_25HZ,
+	INV_ICM42600_ODR_12_5HZ,
+	INV_ICM42600_ODR_6_25HZ_LP,
+	INV_ICM42600_ODR_3_125HZ_LP,
+	INV_ICM42600_ODR_1_5625HZ_LP,
+	INV_ICM42600_ODR_500HZ,
+	INV_ICM42600_ODR_NB,
+};
+
+enum inv_icm42600_filter {
+	/* Low-Noise mode sensor data filter (3rd order filter by default) */
+	INV_ICM42600_FILTER_BW_ODR_DIV_2,
+
+	/* Low-Power mode sensor data filter (averaging) */
+	INV_ICM42600_FILTER_AVG_1X = 1,
+	INV_ICM42600_FILTER_AVG_16X = 6,
+};
+
+struct inv_icm42600_sensor_conf {
+	int mode;
+	int fs;
+	int odr;
+	int filter;
+};
+#define INV_ICM42600_SENSOR_CONF_INIT		{-1, -1, -1, -1}
+
+struct inv_icm42600_conf {
+	struct inv_icm42600_sensor_conf gyro;
+	struct inv_icm42600_sensor_conf accel;
+	bool temp_en;
+};
+
+struct inv_icm42600_suspended {
+	enum inv_icm42600_sensor_mode gyro;
+	enum inv_icm42600_sensor_mode accel;
+	bool temp;
+};
+
+struct inv_icm42600_apex {
+	unsigned int on;
+	struct {
+		u64 value;
+		bool enable;
+	} wom;
+};
+
+/**
+ *  struct inv_icm42600_state - driver state variables
+ *  @lock:		lock for serializing multiple registers access.
+ *  @chip:		chip identifier.
+ *  @name:		chip name.
+ *  @map:		regmap pointer.
+ *  @vdd_supply:	VDD voltage regulator for the chip.
+ *  @vddio_supply:	I/O voltage regulator for the chip.
+ *  @irq:		chip irq, required to enable/disable and set wakeup
+ *  @orientation:	sensor chip orientation relative to main hardware.
+ *  @conf:		chip sensors configurations.
+ *  @suspended:		suspended sensors configuration.
+ *  @indio_gyro:	gyroscope IIO device.
+ *  @indio_accel:	accelerometer IIO device.
+ *  @timestamp:		interrupt timestamps.
+ *  @apex:		APEX (Advanced Pedometer and Event detection) management
+ *  @fifo:		FIFO management structure.
+ *  @buffer:		data transfer buffer aligned for DMA.
+ */
+struct inv_icm42600_state {
+	struct mutex lock;
+	enum inv_icm42600_chip chip;
+	const char *name;
+	struct regmap *map;
+	struct regulator *vddio_supply;
+	int irq;
+	struct iio_mount_matrix orientation;
+	struct inv_icm42600_conf conf;
+	struct inv_icm42600_suspended suspended;
+	struct iio_dev *indio_gyro;
+	struct iio_dev *indio_accel;
+	struct {
+		s64 gyro;
+		s64 accel;
+	} timestamp;
+	struct inv_icm42600_apex apex;
+	struct inv_icm42600_fifo fifo;
+	u8 buffer[3] __aligned(IIO_DMA_MINALIGN);
+};
+
+
+/**
+ * struct inv_icm42600_sensor_state - sensor state variables
+ * @scales:		table of scales.
+ * @scales_len:		length (nb of items) of the scales table.
+ * @power_mode:		sensor requested power mode (for common frequencies)
+ * @filter:		sensor filter.
+ * @ts:			timestamp module states.
+ */
+struct inv_icm42600_sensor_state {
+	const int *scales;
+	size_t scales_len;
+	enum inv_icm42600_sensor_mode power_mode;
+	enum inv_icm42600_filter filter;
+	struct inv_sensors_timestamp ts;
+};
+
+/* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
+
+/* Bank selection register, available in all banks */
+#define INV_ICM42600_REG_BANK_SEL			0x76
+#define INV_ICM42600_BANK_SEL_MASK			GENMASK(2, 0)
+
+/* User bank 0 (MSB 0x00) */
+#define INV_ICM42600_REG_DEVICE_CONFIG			0x0011
+#define INV_ICM42600_DEVICE_CONFIG_SOFT_RESET		BIT(0)
+
+#define INV_ICM42600_REG_DRIVE_CONFIG			0x0013
+#define INV_ICM42600_DRIVE_CONFIG_I2C_MASK		GENMASK(5, 3)
+#define INV_ICM42600_DRIVE_CONFIG_I2C(_rate)		\
+		FIELD_PREP(INV_ICM42600_DRIVE_CONFIG_I2C_MASK, (_rate))
+#define INV_ICM42600_DRIVE_CONFIG_SPI_MASK		GENMASK(2, 0)
+#define INV_ICM42600_DRIVE_CONFIG_SPI(_rate)		\
+		FIELD_PREP(INV_ICM42600_DRIVE_CONFIG_SPI_MASK, (_rate))
+
+#define INV_ICM42600_REG_INT_CONFIG			0x0014
+#define INV_ICM42600_INT_CONFIG_INT2_LATCHED		BIT(5)
+#define INV_ICM42600_INT_CONFIG_INT2_PUSH_PULL		BIT(4)
+#define INV_ICM42600_INT_CONFIG_INT2_ACTIVE_HIGH	BIT(3)
+#define INV_ICM42600_INT_CONFIG_INT2_ACTIVE_LOW		0x00
+#define INV_ICM42600_INT_CONFIG_INT1_LATCHED		BIT(2)
+#define INV_ICM42600_INT_CONFIG_INT1_PUSH_PULL		BIT(1)
+#define INV_ICM42600_INT_CONFIG_INT1_ACTIVE_HIGH	BIT(0)
+#define INV_ICM42600_INT_CONFIG_INT1_ACTIVE_LOW		0x00
+
+#define INV_ICM42600_REG_FIFO_CONFIG			0x0016
+#define INV_ICM42600_FIFO_CONFIG_MASK			GENMASK(7, 6)
+#define INV_ICM42600_FIFO_CONFIG_BYPASS			\
+		FIELD_PREP(INV_ICM42600_FIFO_CONFIG_MASK, 0)
+#define INV_ICM42600_FIFO_CONFIG_STREAM			\
+		FIELD_PREP(INV_ICM42600_FIFO_CONFIG_MASK, 1)
+#define INV_ICM42600_FIFO_CONFIG_STOP_ON_FULL		\
+		FIELD_PREP(INV_ICM42600_FIFO_CONFIG_MASK, 2)
+
+/* all sensor data are 16 bits (2 registers wide) in big-endian */
+#define INV_ICM42600_REG_TEMP_DATA			0x001D
+#define INV_ICM42600_REG_ACCEL_DATA_X			0x001F
+#define INV_ICM42600_REG_ACCEL_DATA_Y			0x0021
+#define INV_ICM42600_REG_ACCEL_DATA_Z			0x0023
+#define INV_ICM42600_REG_GYRO_DATA_X			0x0025
+#define INV_ICM42600_REG_GYRO_DATA_Y			0x0027
+#define INV_ICM42600_REG_GYRO_DATA_Z			0x0029
+#define INV_ICM42600_DATA_INVALID			-32768
+
+#define INV_ICM42600_REG_INT_STATUS			0x002D
+#define INV_ICM42600_INT_STATUS_UI_FSYNC		BIT(6)
+#define INV_ICM42600_INT_STATUS_PLL_RDY			BIT(5)
+#define INV_ICM42600_INT_STATUS_RESET_DONE		BIT(4)
+#define INV_ICM42600_INT_STATUS_DATA_RDY		BIT(3)
+#define INV_ICM42600_INT_STATUS_FIFO_THS		BIT(2)
+#define INV_ICM42600_INT_STATUS_FIFO_FULL		BIT(1)
+#define INV_ICM42600_INT_STATUS_AGC_RDY			BIT(0)
+
+/*
+ * FIFO access registers
+ * FIFO count is 16 bits (2 registers) big-endian
+ * FIFO data is a continuous read register to read FIFO content
+ */
+#define INV_ICM42600_REG_FIFO_COUNT			0x002E
+#define INV_ICM42600_REG_FIFO_DATA			0x0030
+
+#define INV_ICM42600_REG_INT_STATUS2			0x0037
+#define INV_ICM42600_INT_STATUS2_SMD_INT		BIT(3)
+#define INV_ICM42600_INT_STATUS2_WOM_INT		GENMASK(2, 0)
+
+#define INV_ICM42600_REG_INT_STATUS3			0x0038
+#define INV_ICM42600_INT_STATUS3_STEP_DET_INT		BIT(5)
+#define INV_ICM42600_INT_STATUS3_STEP_CNT_OVF_INT	BIT(4)
+#define INV_ICM42600_INT_STATUS3_TILT_DET_INT		BIT(3)
+#define INV_ICM42600_INT_STATUS3_WAKE_INT		BIT(2)
+#define INV_ICM42600_INT_STATUS3_SLEEP_INT		BIT(1)
+#define INV_ICM42600_INT_STATUS3_TAP_DET_INT		BIT(0)
+
+#define INV_ICM42600_REG_SIGNAL_PATH_RESET		0x004B
+#define INV_ICM42600_SIGNAL_PATH_RESET_DMP_INIT_EN	BIT(6)
+#define INV_ICM42600_SIGNAL_PATH_RESET_DMP_MEM_RESET	BIT(5)
+#define INV_ICM42600_SIGNAL_PATH_RESET_RESET		BIT(3)
+#define INV_ICM42600_SIGNAL_PATH_RESET_TMST_STROBE	BIT(2)
+#define INV_ICM42600_SIGNAL_PATH_RESET_FIFO_FLUSH	BIT(1)
+
+/* default configuration: all data big-endian and fifo count in bytes */
+#define INV_ICM42600_REG_INTF_CONFIG0			0x004C
+#define INV_ICM42600_INTF_CONFIG0_FIFO_HOLD_LAST_DATA	BIT(7)
+#define INV_ICM42600_INTF_CONFIG0_FIFO_COUNT_REC	BIT(6)
+#define INV_ICM42600_INTF_CONFIG0_FIFO_COUNT_ENDIAN	BIT(5)
+#define INV_ICM42600_INTF_CONFIG0_SENSOR_DATA_ENDIAN	BIT(4)
+#define INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_MASK	GENMASK(1, 0)
+#define INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_SPI_DIS	\
+		FIELD_PREP(INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_MASK, 2)
+#define INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS	\
+		FIELD_PREP(INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_MASK, 3)
+
+#define INV_ICM42600_REG_INTF_CONFIG1			0x004D
+#define INV_ICM42600_INTF_CONFIG1_ACCEL_LP_CLK_RC	BIT(3)
+
+#define INV_ICM42600_REG_PWR_MGMT0			0x004E
+#define INV_ICM42600_PWR_MGMT0_TEMP_DIS			BIT(5)
+#define INV_ICM42600_PWR_MGMT0_IDLE			BIT(4)
+#define INV_ICM42600_PWR_MGMT0_GYRO(_mode)		\
+		FIELD_PREP(GENMASK(3, 2), (_mode))
+#define INV_ICM42600_PWR_MGMT0_ACCEL(_mode)		\
+		FIELD_PREP(GENMASK(1, 0), (_mode))
+
+#define INV_ICM42600_REG_GYRO_CONFIG0			0x004F
+#define INV_ICM42600_GYRO_CONFIG0_FS(_fs)		\
+		FIELD_PREP(GENMASK(7, 5), (_fs))
+#define INV_ICM42600_GYRO_CONFIG0_ODR(_odr)		\
+		FIELD_PREP(GENMASK(3, 0), (_odr))
+
+#define INV_ICM42600_REG_ACCEL_CONFIG0			0x0050
+#define INV_ICM42600_ACCEL_CONFIG0_FS(_fs)		\
+		FIELD_PREP(GENMASK(7, 5), (_fs))
+#define INV_ICM42600_ACCEL_CONFIG0_ODR(_odr)		\
+		FIELD_PREP(GENMASK(3, 0), (_odr))
+
+#define INV_ICM42600_REG_GYRO_ACCEL_CONFIG0		0x0052
+#define INV_ICM42600_GYRO_ACCEL_CONFIG0_ACCEL_FILT(_f)	\
+		FIELD_PREP(GENMASK(7, 4), (_f))
+#define INV_ICM42600_GYRO_ACCEL_CONFIG0_GYRO_FILT(_f)	\
+		FIELD_PREP(GENMASK(3, 0), (_f))
+
+#define INV_ICM42600_REG_TMST_CONFIG			0x0054
+#define INV_ICM42600_TMST_CONFIG_MASK			GENMASK(4, 0)
+#define INV_ICM42600_TMST_CONFIG_TMST_TO_REGS_EN	BIT(4)
+#define INV_ICM42600_TMST_CONFIG_TMST_RES_16US		BIT(3)
+#define INV_ICM42600_TMST_CONFIG_TMST_DELTA_EN		BIT(2)
+#define INV_ICM42600_TMST_CONFIG_TMST_FSYNC_EN		BIT(1)
+#define INV_ICM42600_TMST_CONFIG_TMST_EN		BIT(0)
+
+#define INV_ICM42600_REG_SMD_CONFIG			0x0057
+#define INV_ICM42600_SMD_CONFIG_WOM_INT_MODE		BIT(3)
+#define INV_ICM42600_SMD_CONFIG_WOM_MODE		BIT(2)
+#define INV_ICM42600_SMD_CONFIG_SMD_MODE_OFF		0x00
+#define INV_ICM42600_SMD_CONFIG_SMD_MODE_WOM		0x01
+#define INV_ICM42600_SMD_CONFIG_SMD_MODE_SHORT		0x02
+#define INV_ICM42600_SMD_CONFIG_SMD_MODE_LONG		0x03
+
+#define INV_ICM42600_REG_FIFO_CONFIG1			0x005F
+#define INV_ICM42600_FIFO_CONFIG1_RESUME_PARTIAL_RD	BIT(6)
+#define INV_ICM42600_FIFO_CONFIG1_WM_GT_TH		BIT(5)
+#define INV_ICM42600_FIFO_CONFIG1_TMST_FSYNC_EN		BIT(3)
+#define INV_ICM42600_FIFO_CONFIG1_TEMP_EN		BIT(2)
+#define INV_ICM42600_FIFO_CONFIG1_GYRO_EN		BIT(1)
+#define INV_ICM42600_FIFO_CONFIG1_ACCEL_EN		BIT(0)
+
+/* FIFO watermark is 16 bits (2 registers wide) in little-endian */
+#define INV_ICM42600_REG_FIFO_WATERMARK			0x0060
+#define INV_ICM42600_FIFO_WATERMARK_VAL(_wm)		\
+		cpu_to_le16((_wm) & GENMASK(11, 0))
+/* FIFO is 2048 bytes, let 12 samples for reading latency */
+#define INV_ICM42600_FIFO_WATERMARK_MAX			(2048 - 12 * 16)
+
+#define INV_ICM42600_REG_INT_CONFIG1			0x0064
+#define INV_ICM42600_INT_CONFIG1_TPULSE_DURATION	BIT(6)
+#define INV_ICM42600_INT_CONFIG1_TDEASSERT_DISABLE	BIT(5)
+#define INV_ICM42600_INT_CONFIG1_ASYNC_RESET		BIT(4)
+
+#define INV_ICM42600_REG_INT_SOURCE0			0x0065
+#define INV_ICM42600_INT_SOURCE0_UI_FSYNC_INT1_EN	BIT(6)
+#define INV_ICM42600_INT_SOURCE0_PLL_RDY_INT1_EN	BIT(5)
+#define INV_ICM42600_INT_SOURCE0_RESET_DONE_INT1_EN	BIT(4)
+#define INV_ICM42600_INT_SOURCE0_UI_DRDY_INT1_EN	BIT(3)
+#define INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN	BIT(2)
+#define INV_ICM42600_INT_SOURCE0_FIFO_FULL_INT1_EN	BIT(1)
+#define INV_ICM42600_INT_SOURCE0_UI_AGC_RDY_INT1_EN	BIT(0)
+
+#define INV_ICM42600_REG_INT_SOURCE1			0x0066
+#define INV_ICM42600_INT_SOURCE1_I3C_ERROR_INT1_EN	BIT(6)
+#define INV_ICM42600_INT_SOURCE1_SMD_INT1_EN		BIT(3)
+#define INV_ICM42600_INT_SOURCE1_WOM_INT1_EN		GENMASK(2, 0)
+
+#define INV_ICM42600_REG_WHOAMI				0x0075
+#define INV_ICM42600_WHOAMI_ICM42600			0x40
+#define INV_ICM42600_WHOAMI_ICM42602			0x41
+#define INV_ICM42600_WHOAMI_ICM42605			0x42
+#define INV_ICM42600_WHOAMI_ICM42686			0x44
+#define INV_ICM42600_WHOAMI_ICM42622			0x46
+#define INV_ICM42600_WHOAMI_ICM42688			0x47
+#define INV_ICM42600_WHOAMI_ICM42631			0x5C
+
+/* User bank 1 (MSB 0x10) */
+#define INV_ICM42600_REG_SENSOR_CONFIG0			0x1003
+#define INV_ICM42600_SENSOR_CONFIG0_ZG_DISABLE		BIT(5)
+#define INV_ICM42600_SENSOR_CONFIG0_YG_DISABLE		BIT(4)
+#define INV_ICM42600_SENSOR_CONFIG0_XG_DISABLE		BIT(3)
+#define INV_ICM42600_SENSOR_CONFIG0_ZA_DISABLE		BIT(2)
+#define INV_ICM42600_SENSOR_CONFIG0_YA_DISABLE		BIT(1)
+#define INV_ICM42600_SENSOR_CONFIG0_XA_DISABLE		BIT(0)
+
+/* Timestamp value is 20 bits (3 registers) in little-endian */
+#define INV_ICM42600_REG_TMSTVAL			0x1062
+#define INV_ICM42600_TMSTVAL_MASK			GENMASK(19, 0)
+
+#define INV_ICM42600_REG_INTF_CONFIG4			0x107A
+#define INV_ICM42600_INTF_CONFIG4_I3C_BUS_ONLY		BIT(6)
+#define INV_ICM42600_INTF_CONFIG4_SPI_AP_4WIRE		BIT(1)
+
+#define INV_ICM42600_REG_INTF_CONFIG6			0x107C
+#define INV_ICM42600_INTF_CONFIG6_MASK			GENMASK(4, 0)
+#define INV_ICM42600_INTF_CONFIG6_I3C_EN		BIT(4)
+#define INV_ICM42600_INTF_CONFIG6_I3C_IBI_BYTE_EN	BIT(3)
+#define INV_ICM42600_INTF_CONFIG6_I3C_IBI_EN		BIT(2)
+#define INV_ICM42600_INTF_CONFIG6_I3C_DDR_EN		BIT(1)
+#define INV_ICM42600_INTF_CONFIG6_I3C_SDR_EN		BIT(0)
+
+/* User bank 4 (MSB 0x40) */
+#define INV_ICM42600_REG_ACCEL_WOM_X_THR		0x404A
+#define INV_ICM42600_REG_ACCEL_WOM_Y_THR		0x404B
+#define INV_ICM42600_REG_ACCEL_WOM_Z_THR		0x404C
+
+#define INV_ICM42600_REG_INT_SOURCE8			0x404F
+#define INV_ICM42600_INT_SOURCE8_FSYNC_IBI_EN		BIT(5)
+#define INV_ICM42600_INT_SOURCE8_PLL_RDY_IBI_EN		BIT(4)
+#define INV_ICM42600_INT_SOURCE8_UI_DRDY_IBI_EN		BIT(3)
+#define INV_ICM42600_INT_SOURCE8_FIFO_THS_IBI_EN	BIT(2)
+#define INV_ICM42600_INT_SOURCE8_FIFO_FULL_IBI_EN	BIT(1)
+#define INV_ICM42600_INT_SOURCE8_AGC_RDY_IBI_EN		BIT(0)
+
+#define INV_ICM42600_REG_OFFSET_USER0			0x4077
+#define INV_ICM42600_REG_OFFSET_USER1			0x4078
+#define INV_ICM42600_REG_OFFSET_USER2			0x4079
+#define INV_ICM42600_REG_OFFSET_USER3			0x407A
+#define INV_ICM42600_REG_OFFSET_USER4			0x407B
+#define INV_ICM42600_REG_OFFSET_USER5			0x407C
+#define INV_ICM42600_REG_OFFSET_USER6			0x407D
+#define INV_ICM42600_REG_OFFSET_USER7			0x407E
+#define INV_ICM42600_REG_OFFSET_USER8			0x407F
+
+/* Sleep times required by the driver */
+#define INV_ICM42600_POWER_UP_TIME_MS		100
+#define INV_ICM42600_RESET_TIME_MS		1
+#define INV_ICM42600_ACCEL_STARTUP_TIME_MS	20
+#define INV_ICM42600_GYRO_STARTUP_TIME_MS	60
+#define INV_ICM42600_GYRO_STOP_TIME_MS		150
+#define INV_ICM42600_TEMP_STARTUP_TIME_MS	14
+#define INV_ICM42600_SUSPEND_DELAY_MS		2000
+
+typedef int (*inv_icm42600_bus_setup)(struct inv_icm42600_state *);
+
+extern const struct regmap_config inv_icm42600_regmap_config;
+extern const struct regmap_config inv_icm42600_spi_regmap_config;
+extern const struct dev_pm_ops inv_icm42600_pm_ops;
+
+const struct iio_mount_matrix *
+inv_icm42600_get_mount_matrix(const struct iio_dev *indio_dev,
+			      const struct iio_chan_spec *chan);
+
+u32 inv_icm42600_odr_to_period(enum inv_icm42600_odr odr);
+
+int inv_icm42600_set_accel_conf(struct inv_icm42600_state *st,
+				struct inv_icm42600_sensor_conf *conf,
+				unsigned int *sleep_ms);
+
+int inv_icm42600_set_gyro_conf(struct inv_icm42600_state *st,
+			       struct inv_icm42600_sensor_conf *conf,
+			       unsigned int *sleep_ms);
+
+int inv_icm42600_set_temp_conf(struct inv_icm42600_state *st, bool enable,
+			       unsigned int *sleep_ms);
+
+int inv_icm42600_enable_wom(struct inv_icm42600_state *st);
+int inv_icm42600_disable_wom(struct inv_icm42600_state *st);
+
+int inv_icm42600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
+			     unsigned int writeval, unsigned int *readval);
+
+int inv_icm42600_core_probe(struct regmap *regmap, int chip,
+			    inv_icm42600_bus_setup bus_setup);
+
+struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st);
+
+int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev);
+
+struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st);
+
+int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev);
+
+void inv_icm42600_accel_handle_events(struct iio_dev *indio_dev,
+				      unsigned int status2, unsigned int status3,
+				      s64 timestamp);
+
+#endif

linux-7.2.3/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c

@@ -0,0 +1,599 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/minmax.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+
+#include "inv_icm42600.h"
+#include "inv_icm42600_buffer.h"
+
+/* FIFO header: 1 byte */
+#define INV_ICM42600_FIFO_HEADER_MSG		BIT(7)
+#define INV_ICM42600_FIFO_HEADER_ACCEL		BIT(6)
+#define INV_ICM42600_FIFO_HEADER_GYRO		BIT(5)
+#define INV_ICM42600_FIFO_HEADER_TMST_FSYNC	GENMASK(3, 2)
+#define INV_ICM42600_FIFO_HEADER_ODR_ACCEL	BIT(1)
+#define INV_ICM42600_FIFO_HEADER_ODR_GYRO	BIT(0)
+
+struct inv_icm42600_fifo_1sensor_packet {
+	u8 header;
+	struct inv_icm42600_fifo_sensor_data data;
+	s8 temp;
+} __packed;
+#define INV_ICM42600_FIFO_1SENSOR_PACKET_SIZE		8
+
+struct inv_icm42600_fifo_2sensors_packet {
+	u8 header;
+	struct inv_icm42600_fifo_sensor_data accel;
+	struct inv_icm42600_fifo_sensor_data gyro;
+	s8 temp;
+	__be16 timestamp;
+} __packed;
+#define INV_ICM42600_FIFO_2SENSORS_PACKET_SIZE		16
+
+ssize_t inv_icm42600_fifo_decode_packet(const void *packet, const void **accel,
+					const void **gyro, const s8 **temp,
+					const void **timestamp, unsigned int *odr)
+{
+	const struct inv_icm42600_fifo_1sensor_packet *pack1 = packet;
+	const struct inv_icm42600_fifo_2sensors_packet *pack2 = packet;
+	u8 header = *((const u8 *)packet);
+
+	/* FIFO empty */
+	if (header & INV_ICM42600_FIFO_HEADER_MSG) {
+		*accel = NULL;
+		*gyro = NULL;
+		*temp = NULL;
+		*timestamp = NULL;
+		*odr = 0;
+		return 0;
+	}
+
+	/* handle odr flags */
+	*odr = 0;
+	if (header & INV_ICM42600_FIFO_HEADER_ODR_GYRO)
+		*odr |= INV_ICM42600_SENSOR_GYRO;
+	if (header & INV_ICM42600_FIFO_HEADER_ODR_ACCEL)
+		*odr |= INV_ICM42600_SENSOR_ACCEL;
+
+	/* accel + gyro */
+	if ((header & INV_ICM42600_FIFO_HEADER_ACCEL) &&
+	    (header & INV_ICM42600_FIFO_HEADER_GYRO)) {
+		*accel = &pack2->accel;
+		*gyro = &pack2->gyro;
+		*temp = &pack2->temp;
+		*timestamp = &pack2->timestamp;
+		return INV_ICM42600_FIFO_2SENSORS_PACKET_SIZE;
+	}
+
+	/* accel only */
+	if (header & INV_ICM42600_FIFO_HEADER_ACCEL) {
+		*accel = &pack1->data;
+		*gyro = NULL;
+		*temp = &pack1->temp;
+		*timestamp = NULL;
+		return INV_ICM42600_FIFO_1SENSOR_PACKET_SIZE;
+	}
+
+	/* gyro only */
+	if (header & INV_ICM42600_FIFO_HEADER_GYRO) {
+		*accel = NULL;
+		*gyro = &pack1->data;
+		*temp = &pack1->temp;
+		*timestamp = NULL;
+		return INV_ICM42600_FIFO_1SENSOR_PACKET_SIZE;
+	}
+
+	/* invalid packet if here */
+	return -EINVAL;
+}
+
+void inv_icm42600_buffer_update_fifo_period(struct inv_icm42600_state *st)
+{
+	u32 period_gyro, period_accel;
+
+	if (st->fifo.en & INV_ICM42600_SENSOR_GYRO)
+		period_gyro = inv_icm42600_odr_to_period(st->conf.gyro.odr);
+	else
+		period_gyro = U32_MAX;
+
+	if (st->fifo.en & INV_ICM42600_SENSOR_ACCEL)
+		period_accel = inv_icm42600_odr_to_period(st->conf.accel.odr);
+	else
+		period_accel = U32_MAX;
+
+	st->fifo.period = min(period_gyro, period_accel);
+}
+
+int inv_icm42600_buffer_set_fifo_en(struct inv_icm42600_state *st,
+				    unsigned int fifo_en)
+{
+	unsigned int mask, val;
+	int ret;
+
+	/* update only FIFO EN bits */
+	mask = INV_ICM42600_FIFO_CONFIG1_TMST_FSYNC_EN |
+		INV_ICM42600_FIFO_CONFIG1_TEMP_EN |
+		INV_ICM42600_FIFO_CONFIG1_GYRO_EN |
+		INV_ICM42600_FIFO_CONFIG1_ACCEL_EN;
+
+	val = 0;
+	if (fifo_en & INV_ICM42600_SENSOR_GYRO)
+		val |= INV_ICM42600_FIFO_CONFIG1_GYRO_EN;
+	if (fifo_en & INV_ICM42600_SENSOR_ACCEL)
+		val |= INV_ICM42600_FIFO_CONFIG1_ACCEL_EN;
+	if (fifo_en & INV_ICM42600_SENSOR_TEMP)
+		val |= INV_ICM42600_FIFO_CONFIG1_TEMP_EN;
+
+	ret = regmap_update_bits(st->map, INV_ICM42600_REG_FIFO_CONFIG1, mask, val);
+	if (ret)
+		return ret;
+
+	st->fifo.en = fifo_en;
+	inv_icm42600_buffer_update_fifo_period(st);
+
+	return 0;
+}
+
+static size_t inv_icm42600_get_packet_size(unsigned int fifo_en)
+{
+	size_t packet_size;
+
+	if ((fifo_en & INV_ICM42600_SENSOR_GYRO) &&
+	    (fifo_en & INV_ICM42600_SENSOR_ACCEL))
+		packet_size = INV_ICM42600_FIFO_2SENSORS_PACKET_SIZE;
+	else
+		packet_size = INV_ICM42600_FIFO_1SENSOR_PACKET_SIZE;
+
+	return packet_size;
+}
+
+static unsigned int inv_icm42600_wm_truncate(unsigned int watermark,
+					     size_t packet_size)
+{
+	size_t wm_size;
+	unsigned int wm;
+
+	wm_size = watermark * packet_size;
+	if (wm_size > INV_ICM42600_FIFO_WATERMARK_MAX)
+		wm_size = INV_ICM42600_FIFO_WATERMARK_MAX;
+
+	wm = wm_size / packet_size;
+
+	return wm;
+}
+
+/**
+ * inv_icm42600_buffer_update_watermark - update watermark FIFO threshold
+ * @st:	driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ *
+ * FIFO watermark threshold is computed based on the required watermark values
+ * set for gyro and accel sensors. Since watermark is all about acceptable data
+ * latency, use the smallest setting between the 2. It means choosing the
+ * smallest latency but this is not as simple as choosing the smallest watermark
+ * value. Latency depends on watermark and ODR. It requires several steps:
+ * 1) compute gyro and accel latencies and choose the smallest value.
+ * 2) adapt the choosen latency so that it is a multiple of both gyro and accel
+ *    ones. Otherwise it is possible that you don't meet a requirement. (for
+ *    example with gyro @100Hz wm 4 and accel @100Hz with wm 6, choosing the
+ *    value of 4 will not meet accel latency requirement because 6 is not a
+ *    multiple of 4. You need to use the value 2.)
+ * 3) Since all periods are multiple of each others, watermark is computed by
+ *    dividing this computed latency by the smallest period, which corresponds
+ *    to the FIFO frequency. Beware that this is only true because we are not
+ *    using 500Hz frequency which is not a multiple of the others.
+ */
+int inv_icm42600_buffer_update_watermark(struct inv_icm42600_state *st)
+{
+	size_t packet_size, wm_size;
+	unsigned int wm_gyro, wm_accel, watermark;
+	u32 period_gyro, period_accel;
+	u32 latency_gyro, latency_accel, latency;
+	bool restore;
+	__le16 raw_wm;
+	int ret;
+
+	packet_size = inv_icm42600_get_packet_size(st->fifo.en);
+
+	/* compute sensors latency, depending on sensor watermark and odr */
+	wm_gyro = inv_icm42600_wm_truncate(st->fifo.watermark.gyro, packet_size);
+	wm_accel = inv_icm42600_wm_truncate(st->fifo.watermark.accel, packet_size);
+	/* use us for odr to avoid overflow using 32 bits values */
+	period_gyro = inv_icm42600_odr_to_period(st->conf.gyro.odr) / 1000UL;
+	period_accel = inv_icm42600_odr_to_period(st->conf.accel.odr) / 1000UL;
+	latency_gyro = period_gyro * wm_gyro;
+	latency_accel = period_accel * wm_accel;
+
+	/* 0 value for watermark means that the sensor is turned off */
+	if (wm_gyro == 0 && wm_accel == 0)
+		return 0;
+
+	if (latency_gyro == 0) {
+		watermark = wm_accel;
+		st->fifo.watermark.eff_accel = wm_accel;
+	} else if (latency_accel == 0) {
+		watermark = wm_gyro;
+		st->fifo.watermark.eff_gyro = wm_gyro;
+	} else {
+		/* compute the smallest latency that is a multiple of both */
+		if (latency_gyro <= latency_accel)
+			latency = latency_gyro - (latency_accel % latency_gyro);
+		else
+			latency = latency_accel - (latency_gyro % latency_accel);
+		/* all this works because periods are multiple of each others */
+		watermark = latency / min(period_gyro, period_accel);
+		if (watermark < 1)
+			watermark = 1;
+		/* update effective watermark */
+		st->fifo.watermark.eff_gyro = latency / period_gyro;
+		if (st->fifo.watermark.eff_gyro < 1)
+			st->fifo.watermark.eff_gyro = 1;
+		st->fifo.watermark.eff_accel = latency / period_accel;
+		if (st->fifo.watermark.eff_accel < 1)
+			st->fifo.watermark.eff_accel = 1;
+	}
+
+	/* compute watermark value in bytes */
+	wm_size = watermark * packet_size;
+	st->fifo.watermark.value = watermark;
+
+	/* changing FIFO watermark requires to turn off watermark interrupt */
+	ret = regmap_update_bits_check(st->map, INV_ICM42600_REG_INT_SOURCE0,
+				       INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN,
+				       0, &restore);
+	if (ret)
+		return ret;
+
+	raw_wm = INV_ICM42600_FIFO_WATERMARK_VAL(wm_size);
+	memcpy(st->buffer, &raw_wm, sizeof(raw_wm));
+	ret = regmap_bulk_write(st->map, INV_ICM42600_REG_FIFO_WATERMARK,
+				st->buffer, sizeof(raw_wm));
+	if (ret)
+		return ret;
+
+	/* restore watermark interrupt */
+	if (restore) {
+		ret = regmap_set_bits(st->map, INV_ICM42600_REG_INT_SOURCE0,
+				      INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
+static int inv_icm42600_buffer_preenable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	struct inv_icm42600_sensor_state *sensor_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &sensor_st->ts;
+
+	pm_runtime_get_sync(dev);
+
+	guard(mutex)(&st->lock);
+	inv_sensors_timestamp_reset(ts);
+
+	return 0;
+}
+
+/*
+ * update_scan_mode callback is turning sensors on and setting data FIFO enable
+ * bits.
+ */
+static int inv_icm42600_buffer_postenable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	if (st->fifo.on) {
+		st->fifo.on++;
+		return 0;
+	}
+
+	/* set FIFO threshold interrupt */
+	ret = regmap_set_bits(st->map, INV_ICM42600_REG_INT_SOURCE0,
+			      INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN);
+	if (ret)
+		return ret;
+
+	/* flush FIFO data */
+	ret = regmap_write(st->map, INV_ICM42600_REG_SIGNAL_PATH_RESET,
+			   INV_ICM42600_SIGNAL_PATH_RESET_FIFO_FLUSH);
+	if (ret)
+		return ret;
+
+	/* set FIFO in streaming mode */
+	ret = regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,
+			   INV_ICM42600_FIFO_CONFIG_STREAM);
+	if (ret)
+		return ret;
+
+	/* workaround: first read of FIFO count after reset is always 0 */
+	ret = regmap_bulk_read(st->map, INV_ICM42600_REG_FIFO_COUNT, st->buffer, 2);
+	if (ret)
+		return ret;
+
+	st->fifo.on++;
+
+	return 0;
+}
+
+static int inv_icm42600_buffer_predisable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	if (st->fifo.on > 1) {
+		st->fifo.on--;
+		return 0;
+	}
+
+	/* set FIFO in bypass mode */
+	ret = regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,
+			   INV_ICM42600_FIFO_CONFIG_BYPASS);
+	if (ret)
+		return ret;
+
+	/* flush FIFO data */
+	ret = regmap_write(st->map, INV_ICM42600_REG_SIGNAL_PATH_RESET,
+			   INV_ICM42600_SIGNAL_PATH_RESET_FIFO_FLUSH);
+	if (ret)
+		return ret;
+
+	/* disable FIFO threshold interrupt */
+	ret = regmap_clear_bits(st->map, INV_ICM42600_REG_INT_SOURCE0,
+				INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN);
+	if (ret)
+		return ret;
+
+	st->fifo.on--;
+
+	return 0;
+}
+
+static int inv_icm42600_buffer_postdisable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_state *sensor_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &sensor_st->ts;
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int sensor;
+	unsigned int *watermark;
+	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+	unsigned int sleep_temp = 0;
+	unsigned int sleep_sensor = 0;
+	unsigned int sleep;
+	int ret;
+
+	if (indio_dev == st->indio_gyro) {
+		sensor = INV_ICM42600_SENSOR_GYRO;
+		watermark = &st->fifo.watermark.gyro;
+	} else if (indio_dev == st->indio_accel) {
+		sensor = INV_ICM42600_SENSOR_ACCEL;
+		watermark = &st->fifo.watermark.accel;
+	} else {
+		return -EINVAL;
+	}
+
+	mutex_lock(&st->lock);
+
+	inv_sensors_timestamp_apply_odr(ts, 0, 0, 0);
+
+	ret = inv_icm42600_buffer_set_fifo_en(st, st->fifo.en & ~sensor);
+	if (ret)
+		goto out_unlock;
+
+	*watermark = 0;
+	ret = inv_icm42600_buffer_update_watermark(st);
+	if (ret)
+		goto out_unlock;
+
+	conf.mode = INV_ICM42600_SENSOR_MODE_OFF;
+	if (sensor == INV_ICM42600_SENSOR_GYRO)
+		ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_sensor);
+	else if (!st->apex.on)
+		ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_sensor);
+	if (ret)
+		goto out_unlock;
+
+	/* if FIFO is off, turn temperature off */
+	if (!st->fifo.on)
+		ret = inv_icm42600_set_temp_conf(st, false, &sleep_temp);
+
+out_unlock:
+	mutex_unlock(&st->lock);
+
+	/* sleep maximum required time */
+	sleep = max(sleep_sensor, sleep_temp);
+	if (sleep)
+		msleep(sleep);
+
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+const struct iio_buffer_setup_ops inv_icm42600_buffer_ops = {
+	.preenable = inv_icm42600_buffer_preenable,
+	.postenable = inv_icm42600_buffer_postenable,
+	.predisable = inv_icm42600_buffer_predisable,
+	.postdisable = inv_icm42600_buffer_postdisable,
+};
+
+int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st,
+				  unsigned int max)
+{
+	size_t max_count;
+	__be16 *raw_fifo_count;
+	ssize_t i, size;
+	const void *accel, *gyro, *timestamp;
+	const s8 *temp;
+	unsigned int odr;
+	int ret;
+
+	/* reset all samples counters */
+	st->fifo.count = 0;
+	st->fifo.nb.gyro = 0;
+	st->fifo.nb.accel = 0;
+	st->fifo.nb.total = 0;
+
+	/* compute maximum FIFO read size (watermark for max = 0 interrupt case) */
+	if (max == 0)
+		max = st->fifo.watermark.value;
+	max_count = max * inv_icm42600_get_packet_size(st->fifo.en);
+
+	/* read FIFO count value */
+	raw_fifo_count = (__be16 *)st->buffer;
+	ret = regmap_bulk_read(st->map, INV_ICM42600_REG_FIFO_COUNT,
+			       raw_fifo_count, sizeof(*raw_fifo_count));
+	if (ret)
+		return ret;
+	st->fifo.count = be16_to_cpup(raw_fifo_count);
+
+	/* check and clamp FIFO count value */
+	if (st->fifo.count == 0)
+		return 0;
+	if (st->fifo.count > max_count)
+		st->fifo.count = max_count;
+
+	/* read all FIFO data in internal buffer */
+	ret = regmap_noinc_read(st->map, INV_ICM42600_REG_FIFO_DATA,
+				st->fifo.data, st->fifo.count);
+	if (ret)
+		return ret;
+
+	/* compute number of samples for each sensor */
+	for (i = 0; i < st->fifo.count; i += size) {
+		size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i],
+				&accel, &gyro, &temp, &timestamp, &odr);
+		if (size <= 0)
+			break;
+		if (gyro != NULL && inv_icm42600_fifo_is_data_valid(gyro))
+			st->fifo.nb.gyro++;
+		if (accel != NULL && inv_icm42600_fifo_is_data_valid(accel))
+			st->fifo.nb.accel++;
+		st->fifo.nb.total++;
+	}
+
+	return 0;
+}
+
+int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
+{
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel);
+	struct inv_sensors_timestamp *ts;
+	int ret;
+
+	if (st->fifo.nb.total == 0)
+		return 0;
+
+	/* handle gyroscope timestamp and FIFO data parsing */
+	if (st->fifo.nb.gyro > 0) {
+		ts = &gyro_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_gyro,
+						st->timestamp.gyro);
+		ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
+		if (ret)
+			return ret;
+	}
+
+	/* handle accelerometer timestamp and FIFO data parsing */
+	if (st->fifo.nb.accel > 0) {
+		ts = &accel_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_accel,
+						st->timestamp.accel);
+		ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
+int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
+				     unsigned int count)
+{
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel);
+	struct inv_sensors_timestamp *ts;
+	s64 gyro_ts, accel_ts;
+	int ret;
+
+	gyro_ts = iio_get_time_ns(st->indio_gyro);
+	accel_ts = iio_get_time_ns(st->indio_accel);
+
+	ret = inv_icm42600_buffer_fifo_read(st, count);
+	if (ret)
+		return ret;
+
+	if (st->fifo.nb.total == 0)
+		return 0;
+
+	if (st->fifo.nb.gyro > 0) {
+		ts = &gyro_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.nb.gyro, gyro_ts);
+		ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
+		if (ret)
+			return ret;
+	}
+
+	if (st->fifo.nb.accel > 0) {
+		ts = &accel_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts);
+		ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
+int inv_icm42600_buffer_init(struct inv_icm42600_state *st)
+{
+	unsigned int val;
+	int ret;
+
+	st->fifo.watermark.eff_gyro = 1;
+	st->fifo.watermark.eff_accel = 1;
+	st->fifo.watermark.value = 1;
+
+	/*
+	 * Default FIFO configuration (bits 7 to 5)
+	 * - use invalid value
+	 * - FIFO count in bytes
+	 * - FIFO count in big endian
+	 */
+	val = INV_ICM42600_INTF_CONFIG0_FIFO_COUNT_ENDIAN;
+	ret = regmap_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG0,
+				 GENMASK(7, 5), val);
+	if (ret)
+		return ret;
+
+	/*
+	 * Enable FIFO partial read and continuous watermark interrupt.
+	 * Disable all FIFO EN bits.
+	 */
+	val = INV_ICM42600_FIFO_CONFIG1_RESUME_PARTIAL_RD |
+	      INV_ICM42600_FIFO_CONFIG1_WM_GT_TH;
+	return regmap_update_bits(st->map, INV_ICM42600_REG_FIFO_CONFIG1,
+				  GENMASK(6, 5) | GENMASK(3, 0), val);
+}

linux-7.2.3/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h

@@ -0,0 +1,101 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#ifndef INV_ICM42600_BUFFER_H_
+#define INV_ICM42600_BUFFER_H_
+
+#include <linux/kernel.h>
+#include <linux/bits.h>
+
+struct inv_icm42600_state;
+
+#define INV_ICM42600_SENSOR_GYRO	BIT(0)
+#define INV_ICM42600_SENSOR_ACCEL	BIT(1)
+#define INV_ICM42600_SENSOR_TEMP	BIT(2)
+
+/**
+ * struct inv_icm42600_fifo - FIFO state variables
+ * @on:		reference counter for FIFO on.
+ * @en:		bits field of INV_ICM42600_SENSOR_* for FIFO EN bits.
+ * @period:	FIFO internal period.
+ * @watermark:	watermark configuration values for accel and gyro.
+ * @count:	number of bytes in the FIFO data buffer.
+ * @nb:		gyro, accel and total samples in the FIFO data buffer.
+ * @data:	FIFO data buffer aligned for DMA (2kB + 32 bytes of read cache).
+ */
+struct inv_icm42600_fifo {
+	unsigned int on;
+	unsigned int en;
+	u32 period;
+	struct {
+		unsigned int gyro;
+		unsigned int accel;
+		unsigned int eff_gyro;
+		unsigned int eff_accel;
+		unsigned int value;
+	} watermark;
+	size_t count;
+	struct {
+		size_t gyro;
+		size_t accel;
+		size_t total;
+	} nb;
+	u8 data[2080] __aligned(IIO_DMA_MINALIGN);
+};
+
+/* FIFO data packet */
+struct inv_icm42600_fifo_sensor_data {
+	__be16 x;
+	__be16 y;
+	__be16 z;
+} __packed;
+#define INV_ICM42600_FIFO_DATA_INVALID		-32768
+
+static inline s16 inv_icm42600_fifo_get_sensor_data(__be16 d)
+{
+	return be16_to_cpu(d);
+}
+
+static inline bool
+inv_icm42600_fifo_is_data_valid(const struct inv_icm42600_fifo_sensor_data *s)
+{
+	s16 x, y, z;
+
+	x = inv_icm42600_fifo_get_sensor_data(s->x);
+	y = inv_icm42600_fifo_get_sensor_data(s->y);
+	z = inv_icm42600_fifo_get_sensor_data(s->z);
+
+	if (x == INV_ICM42600_FIFO_DATA_INVALID &&
+	    y == INV_ICM42600_FIFO_DATA_INVALID &&
+	    z == INV_ICM42600_FIFO_DATA_INVALID)
+		return false;
+
+	return true;
+}
+
+ssize_t inv_icm42600_fifo_decode_packet(const void *packet, const void **accel,
+					const void **gyro, const s8 **temp,
+					const void **timestamp, unsigned int *odr);
+
+extern const struct iio_buffer_setup_ops inv_icm42600_buffer_ops;
+
+int inv_icm42600_buffer_init(struct inv_icm42600_state *st);
+
+void inv_icm42600_buffer_update_fifo_period(struct inv_icm42600_state *st);
+
+int inv_icm42600_buffer_set_fifo_en(struct inv_icm42600_state *st,
+				    unsigned int fifo_en);
+
+int inv_icm42600_buffer_update_watermark(struct inv_icm42600_state *st);
+
+int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st,
+				  unsigned int max);
+
+int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st);
+
+int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
+				     unsigned int count);
+
+#endif

linux-7.2.3/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c

@@ -0,0 +1,961 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/regulator/consumer.h>
+#include <linux/pm_runtime.h>
+#include <linux/property.h>
+#include <linux/regmap.h>
+
+#include <linux/iio/iio.h>
+
+#include "inv_icm42600.h"
+#include "inv_icm42600_buffer.h"
+
+static const struct regmap_range_cfg inv_icm42600_regmap_ranges[] = {
+	{
+		.name = "user banks",
+		.range_min = 0x0000,
+		.range_max = 0x4FFF,
+		.selector_reg = INV_ICM42600_REG_BANK_SEL,
+		.selector_mask = INV_ICM42600_BANK_SEL_MASK,
+		.selector_shift = 0,
+		.window_start = 0,
+		.window_len = 0x1000,
+	},
+};
+
+static const struct regmap_range inv_icm42600_regmap_volatile_yes_ranges[] = {
+	/* Sensor data registers */
+	regmap_reg_range(0x001D, 0x002A),
+	/* INT status, FIFO, APEX data */
+	regmap_reg_range(0x002D, 0x0038),
+	/* Signal path reset */
+	regmap_reg_range(0x004B, 0x004B),
+	/* FIFO lost packets */
+	regmap_reg_range(0x006C, 0x006D),
+	/* Timestamp value */
+	regmap_reg_range(0x1062, 0x1064),
+};
+
+static const struct regmap_range inv_icm42600_regmap_volatile_no_ranges[] = {
+	regmap_reg_range(0x0000, 0x001C),
+	regmap_reg_range(0x006E, 0x1061),
+	regmap_reg_range(0x1065, 0x4FFF),
+};
+
+static const struct regmap_access_table inv_icm42600_regmap_volatile_accesses[] = {
+	{
+		.yes_ranges = inv_icm42600_regmap_volatile_yes_ranges,
+		.n_yes_ranges = ARRAY_SIZE(inv_icm42600_regmap_volatile_yes_ranges),
+		.no_ranges = inv_icm42600_regmap_volatile_no_ranges,
+		.n_no_ranges = ARRAY_SIZE(inv_icm42600_regmap_volatile_no_ranges),
+	},
+};
+
+static const struct regmap_range inv_icm42600_regmap_rd_noinc_no_ranges[] = {
+	regmap_reg_range(0x0000, INV_ICM42600_REG_FIFO_DATA - 1),
+	regmap_reg_range(INV_ICM42600_REG_FIFO_DATA + 1, 0x4FFF),
+};
+
+static const struct regmap_access_table inv_icm42600_regmap_rd_noinc_accesses[] = {
+	{
+		.no_ranges = inv_icm42600_regmap_rd_noinc_no_ranges,
+		.n_no_ranges = ARRAY_SIZE(inv_icm42600_regmap_rd_noinc_no_ranges),
+	},
+};
+
+const struct regmap_config inv_icm42600_regmap_config = {
+	.name = "inv_icm42600",
+	.reg_bits = 8,
+	.val_bits = 8,
+	.max_register = 0x4FFF,
+	.ranges = inv_icm42600_regmap_ranges,
+	.num_ranges = ARRAY_SIZE(inv_icm42600_regmap_ranges),
+	.volatile_table = inv_icm42600_regmap_volatile_accesses,
+	.rd_noinc_table = inv_icm42600_regmap_rd_noinc_accesses,
+	.cache_type = REGCACHE_MAPLE,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm42600_regmap_config, "IIO_ICM42600");
+
+/* define specific regmap for SPI not supporting burst write */
+const struct regmap_config inv_icm42600_spi_regmap_config = {
+	.name = "inv_icm42600",
+	.reg_bits = 8,
+	.val_bits = 8,
+	.max_register = 0x4FFF,
+	.ranges = inv_icm42600_regmap_ranges,
+	.num_ranges = ARRAY_SIZE(inv_icm42600_regmap_ranges),
+	.volatile_table = inv_icm42600_regmap_volatile_accesses,
+	.rd_noinc_table = inv_icm42600_regmap_rd_noinc_accesses,
+	.cache_type = REGCACHE_MAPLE,
+	.use_single_write = true,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm42600_spi_regmap_config, "IIO_ICM42600");
+
+struct inv_icm42600_hw {
+	u8 whoami;
+	const char *name;
+	const struct inv_icm42600_conf *conf;
+};
+
+/* chip initial default configuration */
+static const struct inv_icm42600_conf inv_icm42600_default_conf = {
+	.gyro = {
+		.mode = INV_ICM42600_SENSOR_MODE_OFF,
+		.fs = INV_ICM42600_GYRO_FS_2000DPS,
+		.odr = INV_ICM42600_ODR_50HZ,
+		.filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
+	},
+	.accel = {
+		.mode = INV_ICM42600_SENSOR_MODE_OFF,
+		.fs = INV_ICM42600_ACCEL_FS_16G,
+		.odr = INV_ICM42600_ODR_50HZ,
+		.filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
+	},
+	.temp_en = false,
+};
+
+static const struct inv_icm42600_conf inv_icm42686_default_conf = {
+	.gyro = {
+		.mode = INV_ICM42600_SENSOR_MODE_OFF,
+		.fs = INV_ICM42686_GYRO_FS_4000DPS,
+		.odr = INV_ICM42600_ODR_50HZ,
+		.filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
+	},
+	.accel = {
+		.mode = INV_ICM42600_SENSOR_MODE_OFF,
+		.fs = INV_ICM42686_ACCEL_FS_32G,
+		.odr = INV_ICM42600_ODR_50HZ,
+		.filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
+	},
+	.temp_en = false,
+};
+
+static const struct inv_icm42600_hw inv_icm42600_hw[INV_CHIP_NB] = {
+	[INV_CHIP_ICM42600] = {
+		.whoami = INV_ICM42600_WHOAMI_ICM42600,
+		.name = "icm42600",
+		.conf = &inv_icm42600_default_conf,
+	},
+	[INV_CHIP_ICM42602] = {
+		.whoami = INV_ICM42600_WHOAMI_ICM42602,
+		.name = "icm42602",
+		.conf = &inv_icm42600_default_conf,
+	},
+	[INV_CHIP_ICM42605] = {
+		.whoami = INV_ICM42600_WHOAMI_ICM42605,
+		.name = "icm42605",
+		.conf = &inv_icm42600_default_conf,
+	},
+	[INV_CHIP_ICM42686] = {
+		.whoami = INV_ICM42600_WHOAMI_ICM42686,
+		.name = "icm42686",
+		.conf = &inv_icm42686_default_conf,
+	},
+	[INV_CHIP_ICM42622] = {
+		.whoami = INV_ICM42600_WHOAMI_ICM42622,
+		.name = "icm42622",
+		.conf = &inv_icm42600_default_conf,
+	},
+	[INV_CHIP_ICM42688] = {
+		.whoami = INV_ICM42600_WHOAMI_ICM42688,
+		.name = "icm42688",
+		.conf = &inv_icm42600_default_conf,
+	},
+	[INV_CHIP_ICM42631] = {
+		.whoami = INV_ICM42600_WHOAMI_ICM42631,
+		.name = "icm42631",
+		.conf = &inv_icm42600_default_conf,
+	},
+};
+
+const struct iio_mount_matrix *
+inv_icm42600_get_mount_matrix(const struct iio_dev *indio_dev,
+			      const struct iio_chan_spec *chan)
+{
+	const struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+
+	return &st->orientation;
+}
+
+u32 inv_icm42600_odr_to_period(enum inv_icm42600_odr odr)
+{
+	static u32 odr_periods[INV_ICM42600_ODR_NB] = {
+		/* reserved values */
+		0, 0, 0,
+		/* 8kHz */
+		125000,
+		/* 4kHz */
+		250000,
+		/* 2kHz */
+		500000,
+		/* 1kHz */
+		1000000,
+		/* 200Hz */
+		5000000,
+		/* 100Hz */
+		10000000,
+		/* 50Hz */
+		20000000,
+		/* 25Hz */
+		40000000,
+		/* 12.5Hz */
+		80000000,
+		/* 6.25Hz */
+		160000000,
+		/* 3.125Hz */
+		320000000,
+		/* 1.5625Hz */
+		640000000,
+		/* 500Hz */
+		2000000,
+	};
+
+	return odr_periods[odr];
+}
+
+static int inv_icm42600_set_pwr_mgmt0(struct inv_icm42600_state *st,
+				      enum inv_icm42600_sensor_mode gyro,
+				      enum inv_icm42600_sensor_mode accel,
+				      bool temp, unsigned int *sleep_ms)
+{
+	enum inv_icm42600_sensor_mode oldgyro = st->conf.gyro.mode;
+	enum inv_icm42600_sensor_mode oldaccel = st->conf.accel.mode;
+	bool oldtemp = st->conf.temp_en;
+	unsigned int sleepval;
+	unsigned int val;
+	int ret;
+
+	/* if nothing changed, exit */
+	if (gyro == oldgyro && accel == oldaccel && temp == oldtemp)
+		return 0;
+
+	val = INV_ICM42600_PWR_MGMT0_GYRO(gyro) |
+	      INV_ICM42600_PWR_MGMT0_ACCEL(accel);
+	if (!temp)
+		val |= INV_ICM42600_PWR_MGMT0_TEMP_DIS;
+	ret = regmap_write(st->map, INV_ICM42600_REG_PWR_MGMT0, val);
+	if (ret)
+		return ret;
+
+	st->conf.gyro.mode = gyro;
+	st->conf.accel.mode = accel;
+	st->conf.temp_en = temp;
+
+	/* compute required wait time for sensors to stabilize */
+	sleepval = 0;
+	/* temperature stabilization time */
+	if (temp && !oldtemp) {
+		if (sleepval < INV_ICM42600_TEMP_STARTUP_TIME_MS)
+			sleepval = INV_ICM42600_TEMP_STARTUP_TIME_MS;
+	}
+	/* accel startup time */
+	if (accel != oldaccel && oldaccel == INV_ICM42600_SENSOR_MODE_OFF) {
+		/* block any register write for at least 200 µs */
+		usleep_range(200, 300);
+		if (sleepval < INV_ICM42600_ACCEL_STARTUP_TIME_MS)
+			sleepval = INV_ICM42600_ACCEL_STARTUP_TIME_MS;
+	}
+	if (gyro != oldgyro) {
+		/* gyro startup time */
+		if (oldgyro == INV_ICM42600_SENSOR_MODE_OFF) {
+			/* block any register write for at least 200 µs */
+			usleep_range(200, 300);
+			if (sleepval < INV_ICM42600_GYRO_STARTUP_TIME_MS)
+				sleepval = INV_ICM42600_GYRO_STARTUP_TIME_MS;
+		/* gyro stop time */
+		} else if (gyro == INV_ICM42600_SENSOR_MODE_OFF) {
+			if (sleepval < INV_ICM42600_GYRO_STOP_TIME_MS)
+				sleepval =  INV_ICM42600_GYRO_STOP_TIME_MS;
+		}
+	}
+
+	/* deferred sleep value if sleep pointer is provided or direct sleep */
+	if (sleep_ms)
+		*sleep_ms = sleepval;
+	else if (sleepval)
+		msleep(sleepval);
+
+	return 0;
+}
+
+int inv_icm42600_set_accel_conf(struct inv_icm42600_state *st,
+				struct inv_icm42600_sensor_conf *conf,
+				unsigned int *sleep_ms)
+{
+	struct inv_icm42600_sensor_conf *oldconf = &st->conf.accel;
+	unsigned int val;
+	int ret;
+
+	/* Sanitize missing values with current values */
+	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;
+
+	/* force power mode against ODR when sensor is on */
+	switch (conf->mode) {
+	case INV_ICM42600_SENSOR_MODE_LOW_POWER:
+	case INV_ICM42600_SENSOR_MODE_LOW_NOISE:
+		if (conf->odr <= INV_ICM42600_ODR_1KHZ_LN) {
+			conf->mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+			conf->filter = INV_ICM42600_FILTER_BW_ODR_DIV_2;
+		} else if (conf->odr >= INV_ICM42600_ODR_6_25HZ_LP &&
+			   conf->odr <= INV_ICM42600_ODR_1_5625HZ_LP) {
+			conf->mode = INV_ICM42600_SENSOR_MODE_LOW_POWER;
+			conf->filter = INV_ICM42600_FILTER_AVG_16X;
+		}
+		break;
+	default:
+		break;
+	}
+
+	/* set ACCEL_CONFIG0 register (accel fullscale & odr) */
+	if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {
+		val = INV_ICM42600_ACCEL_CONFIG0_FS(conf->fs) |
+		      INV_ICM42600_ACCEL_CONFIG0_ODR(conf->odr);
+		ret = regmap_write(st->map, INV_ICM42600_REG_ACCEL_CONFIG0, val);
+		if (ret)
+			return ret;
+		oldconf->fs = conf->fs;
+		oldconf->odr = conf->odr;
+	}
+
+	/* set GYRO_ACCEL_CONFIG0 register (accel filter) */
+	if (conf->filter != oldconf->filter) {
+		val = INV_ICM42600_GYRO_ACCEL_CONFIG0_ACCEL_FILT(conf->filter) |
+		      INV_ICM42600_GYRO_ACCEL_CONFIG0_GYRO_FILT(st->conf.gyro.filter);
+		ret = regmap_write(st->map, INV_ICM42600_REG_GYRO_ACCEL_CONFIG0, val);
+		if (ret)
+			return ret;
+		oldconf->filter = conf->filter;
+	}
+
+	/* set PWR_MGMT0 register (accel sensor mode) */
+	return inv_icm42600_set_pwr_mgmt0(st, st->conf.gyro.mode, conf->mode,
+					  st->conf.temp_en, sleep_ms);
+}
+
+int inv_icm42600_set_gyro_conf(struct inv_icm42600_state *st,
+			       struct inv_icm42600_sensor_conf *conf,
+			       unsigned int *sleep_ms)
+{
+	struct inv_icm42600_sensor_conf *oldconf = &st->conf.gyro;
+	unsigned int val;
+	int ret;
+
+	/* sanitize missing values with current values */
+	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;
+
+	/* set GYRO_CONFIG0 register (gyro fullscale & odr) */
+	if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {
+		val = INV_ICM42600_GYRO_CONFIG0_FS(conf->fs) |
+		      INV_ICM42600_GYRO_CONFIG0_ODR(conf->odr);
+		ret = regmap_write(st->map, INV_ICM42600_REG_GYRO_CONFIG0, val);
+		if (ret)
+			return ret;
+		oldconf->fs = conf->fs;
+		oldconf->odr = conf->odr;
+	}
+
+	/* set GYRO_ACCEL_CONFIG0 register (gyro filter) */
+	if (conf->filter != oldconf->filter) {
+		val = INV_ICM42600_GYRO_ACCEL_CONFIG0_ACCEL_FILT(st->conf.accel.filter) |
+		      INV_ICM42600_GYRO_ACCEL_CONFIG0_GYRO_FILT(conf->filter);
+		ret = regmap_write(st->map, INV_ICM42600_REG_GYRO_ACCEL_CONFIG0, val);
+		if (ret)
+			return ret;
+		oldconf->filter = conf->filter;
+	}
+
+	/* set PWR_MGMT0 register (gyro sensor mode) */
+	return inv_icm42600_set_pwr_mgmt0(st, conf->mode, st->conf.accel.mode,
+					  st->conf.temp_en, sleep_ms);
+
+	return 0;
+}
+
+int inv_icm42600_set_temp_conf(struct inv_icm42600_state *st, bool enable,
+			       unsigned int *sleep_ms)
+{
+	return inv_icm42600_set_pwr_mgmt0(st, st->conf.gyro.mode,
+					  st->conf.accel.mode, enable,
+					  sleep_ms);
+}
+
+int inv_icm42600_enable_wom(struct inv_icm42600_state *st)
+{
+	int ret;
+
+	/* enable WoM hardware */
+	ret = regmap_write(st->map, INV_ICM42600_REG_SMD_CONFIG,
+			   INV_ICM42600_SMD_CONFIG_SMD_MODE_WOM |
+			   INV_ICM42600_SMD_CONFIG_WOM_MODE);
+	if (ret)
+		return ret;
+
+	/* enable WoM interrupt */
+	return regmap_set_bits(st->map, INV_ICM42600_REG_INT_SOURCE1,
+			      INV_ICM42600_INT_SOURCE1_WOM_INT1_EN);
+}
+
+int inv_icm42600_disable_wom(struct inv_icm42600_state *st)
+{
+	int ret;
+
+	/* disable WoM interrupt */
+	ret = regmap_clear_bits(st->map, INV_ICM42600_REG_INT_SOURCE1,
+				INV_ICM42600_INT_SOURCE1_WOM_INT1_EN);
+	if (ret)
+		return ret;
+
+	/* disable WoM hardware */
+	return regmap_write(st->map, INV_ICM42600_REG_SMD_CONFIG,
+			    INV_ICM42600_SMD_CONFIG_SMD_MODE_OFF);
+}
+
+int inv_icm42600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
+			     unsigned int writeval, unsigned int *readval)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+
+	guard(mutex)(&st->lock);
+
+	if (readval)
+		return regmap_read(st->map, reg, readval);
+
+	return regmap_write(st->map, reg, writeval);
+}
+
+static int inv_icm42600_set_conf(struct inv_icm42600_state *st,
+				 const struct inv_icm42600_conf *conf)
+{
+	unsigned int val;
+	int ret;
+
+	/* set PWR_MGMT0 register (gyro & accel sensor mode, temp enabled) */
+	val = INV_ICM42600_PWR_MGMT0_GYRO(conf->gyro.mode) |
+	      INV_ICM42600_PWR_MGMT0_ACCEL(conf->accel.mode);
+	if (!conf->temp_en)
+		val |= INV_ICM42600_PWR_MGMT0_TEMP_DIS;
+	ret = regmap_write(st->map, INV_ICM42600_REG_PWR_MGMT0, val);
+	if (ret)
+		return ret;
+
+	/* set GYRO_CONFIG0 register (gyro fullscale & odr) */
+	val = INV_ICM42600_GYRO_CONFIG0_FS(conf->gyro.fs) |
+	      INV_ICM42600_GYRO_CONFIG0_ODR(conf->gyro.odr);
+	ret = regmap_write(st->map, INV_ICM42600_REG_GYRO_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	/* set ACCEL_CONFIG0 register (accel fullscale & odr) */
+	val = INV_ICM42600_ACCEL_CONFIG0_FS(conf->accel.fs) |
+	      INV_ICM42600_ACCEL_CONFIG0_ODR(conf->accel.odr);
+	ret = regmap_write(st->map, INV_ICM42600_REG_ACCEL_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	/* set GYRO_ACCEL_CONFIG0 register (gyro & accel filters) */
+	val = INV_ICM42600_GYRO_ACCEL_CONFIG0_ACCEL_FILT(conf->accel.filter) |
+	      INV_ICM42600_GYRO_ACCEL_CONFIG0_GYRO_FILT(conf->gyro.filter);
+	ret = regmap_write(st->map, INV_ICM42600_REG_GYRO_ACCEL_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	/* update internal conf */
+	st->conf = *conf;
+
+	return 0;
+}
+
+/**
+ *  inv_icm42600_setup() - check and setup chip
+ *  @st:	driver internal state
+ *  @bus_setup:	callback for setting up bus specific registers
+ *
+ *  Returns 0 on success, a negative error code otherwise.
+ */
+static int inv_icm42600_setup(struct inv_icm42600_state *st,
+			      inv_icm42600_bus_setup bus_setup)
+{
+	const struct inv_icm42600_hw *hw = &inv_icm42600_hw[st->chip];
+	const struct device *dev = regmap_get_device(st->map);
+	unsigned int val;
+	int ret;
+
+	/* check chip self-identification value */
+	ret = regmap_read(st->map, INV_ICM42600_REG_WHOAMI, &val);
+	if (ret)
+		return ret;
+	if (val != hw->whoami) {
+		dev_err(dev, "invalid whoami %#02x expected %#02x (%s)\n",
+			val, hw->whoami, hw->name);
+		return -ENODEV;
+	}
+	st->name = hw->name;
+
+	/* reset to make sure previous state are not there */
+	ret = regmap_write(st->map, INV_ICM42600_REG_DEVICE_CONFIG,
+			   INV_ICM42600_DEVICE_CONFIG_SOFT_RESET);
+	if (ret)
+		return ret;
+	msleep(INV_ICM42600_RESET_TIME_MS);
+
+	ret = regmap_read(st->map, INV_ICM42600_REG_INT_STATUS, &val);
+	if (ret)
+		return ret;
+	if (!(val & INV_ICM42600_INT_STATUS_RESET_DONE)) {
+		dev_err(dev, "reset error, reset done bit not set\n");
+		return -ENODEV;
+	}
+
+	/* set chip bus configuration */
+	ret = bus_setup(st);
+	if (ret)
+		return ret;
+
+	/* sensor data in big-endian (default) */
+	ret = regmap_set_bits(st->map, INV_ICM42600_REG_INTF_CONFIG0,
+			      INV_ICM42600_INTF_CONFIG0_SENSOR_DATA_ENDIAN);
+	if (ret)
+		return ret;
+
+	/*
+	 * Use RC clock for accel low-power to fix glitches when switching
+	 * gyro on/off while accel low-power is on.
+	 */
+	ret = regmap_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG1,
+				 INV_ICM42600_INTF_CONFIG1_ACCEL_LP_CLK_RC,
+				 INV_ICM42600_INTF_CONFIG1_ACCEL_LP_CLK_RC);
+	if (ret)
+		return ret;
+
+	return inv_icm42600_set_conf(st, hw->conf);
+}
+
+static irqreturn_t inv_icm42600_irq_timestamp(int irq, void *_data)
+{
+	struct inv_icm42600_state *st = _data;
+
+	st->timestamp.gyro = iio_get_time_ns(st->indio_gyro);
+	st->timestamp.accel = iio_get_time_ns(st->indio_accel);
+
+	return IRQ_WAKE_THREAD;
+}
+
+static irqreturn_t inv_icm42600_irq_handler(int irq, void *_data)
+{
+	struct inv_icm42600_state *st = _data;
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int status;
+	int ret;
+
+	mutex_lock(&st->lock);
+
+	if (st->apex.on) {
+		unsigned int status2, status3;
+
+		/* read INT_STATUS2 and INT_STATUS3 in 1 operation */
+		ret = regmap_bulk_read(st->map, INV_ICM42600_REG_INT_STATUS2, st->buffer, 2);
+		if (ret)
+			goto out_unlock;
+		status2 = st->buffer[0];
+		status3 = st->buffer[1];
+		inv_icm42600_accel_handle_events(st->indio_accel, status2, status3,
+						 st->timestamp.accel);
+	}
+
+	ret = regmap_read(st->map, INV_ICM42600_REG_INT_STATUS, &status);
+	if (ret)
+		goto out_unlock;
+
+	/* FIFO full */
+	if (status & INV_ICM42600_INT_STATUS_FIFO_FULL)
+		dev_warn(dev, "FIFO full data lost!\n");
+
+	/* FIFO threshold reached */
+	if (status & INV_ICM42600_INT_STATUS_FIFO_THS) {
+		ret = inv_icm42600_buffer_fifo_read(st, 0);
+		if (ret) {
+			dev_err(dev, "FIFO read error %d\n", ret);
+			goto out_unlock;
+		}
+		ret = inv_icm42600_buffer_fifo_parse(st);
+		if (ret)
+			dev_err(dev, "FIFO parsing error %d\n", ret);
+	}
+
+out_unlock:
+	mutex_unlock(&st->lock);
+	return IRQ_HANDLED;
+}
+
+/**
+ * inv_icm42600_irq_init() - initialize int pin and interrupt handler
+ * @st:		driver internal state
+ * @irq:	irq number
+ * @irq_type:	irq trigger type
+ * @open_drain:	true if irq is open drain, false for push-pull
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+static int inv_icm42600_irq_init(struct inv_icm42600_state *st, int irq,
+				 int irq_type, bool open_drain)
+{
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int val;
+	int ret;
+
+	/* configure INT1 interrupt: default is active low on edge */
+	switch (irq_type) {
+	case IRQF_TRIGGER_RISING:
+	case IRQF_TRIGGER_HIGH:
+		val = INV_ICM42600_INT_CONFIG_INT1_ACTIVE_HIGH;
+		break;
+	default:
+		val = INV_ICM42600_INT_CONFIG_INT1_ACTIVE_LOW;
+		break;
+	}
+
+	switch (irq_type) {
+	case IRQF_TRIGGER_LOW:
+	case IRQF_TRIGGER_HIGH:
+		val |= INV_ICM42600_INT_CONFIG_INT1_LATCHED;
+		break;
+	default:
+		break;
+	}
+
+	if (!open_drain)
+		val |= INV_ICM42600_INT_CONFIG_INT1_PUSH_PULL;
+
+	ret = regmap_write(st->map, INV_ICM42600_REG_INT_CONFIG, val);
+	if (ret)
+		return ret;
+
+	/* Deassert async reset for proper INT pin operation (cf datasheet) */
+	ret = regmap_clear_bits(st->map, INV_ICM42600_REG_INT_CONFIG1,
+				INV_ICM42600_INT_CONFIG1_ASYNC_RESET);
+	if (ret)
+		return ret;
+
+	irq_type |= IRQF_ONESHOT;
+	return devm_request_threaded_irq(dev, irq, inv_icm42600_irq_timestamp,
+					 inv_icm42600_irq_handler, irq_type,
+					 "inv_icm42600", st);
+}
+
+static int inv_icm42600_timestamp_setup(struct inv_icm42600_state *st)
+{
+	unsigned int val;
+
+	/* enable timestamp register */
+	val = INV_ICM42600_TMST_CONFIG_TMST_TO_REGS_EN |
+	      INV_ICM42600_TMST_CONFIG_TMST_EN;
+	return regmap_update_bits(st->map, INV_ICM42600_REG_TMST_CONFIG,
+				  INV_ICM42600_TMST_CONFIG_MASK, val);
+}
+
+static int inv_icm42600_enable_regulator_vddio(struct inv_icm42600_state *st)
+{
+	int ret;
+
+	ret = regulator_enable(st->vddio_supply);
+	if (ret)
+		return ret;
+
+	/* wait a little for supply ramp */
+	usleep_range(3000, 4000);
+
+	return 0;
+}
+
+static void inv_icm42600_disable_vddio_reg(void *_data)
+{
+	struct inv_icm42600_state *st = _data;
+	struct device *dev = regmap_get_device(st->map);
+
+	if (pm_runtime_status_suspended(dev))
+		return;
+
+	regulator_disable(st->vddio_supply);
+}
+
+int inv_icm42600_core_probe(struct regmap *regmap, int chip,
+			    inv_icm42600_bus_setup bus_setup)
+{
+	struct device *dev = regmap_get_device(regmap);
+	struct fwnode_handle *fwnode = dev_fwnode(dev);
+	struct inv_icm42600_state *st;
+	int irq, irq_type;
+	bool open_drain;
+	int ret;
+
+	if (chip <= INV_CHIP_INVALID || chip >= INV_CHIP_NB) {
+		dev_err(dev, "invalid chip = %d\n", chip);
+		return -ENODEV;
+	}
+
+	/* get INT1 only supported interrupt or fallback to first interrupt */
+	irq = fwnode_irq_get_byname(fwnode, "INT1");
+	if (irq < 0 && irq != -EPROBE_DEFER) {
+		dev_info(dev, "no INT1 interrupt defined, fallback to first interrupt\n");
+		irq = fwnode_irq_get(fwnode, 0);
+	}
+	if (irq < 0)
+		return dev_err_probe(dev, irq, "error missing INT1 interrupt\n");
+
+	irq_type = irq_get_trigger_type(irq);
+	if (!irq_type)
+		irq_type = IRQF_TRIGGER_FALLING;
+
+	open_drain = device_property_read_bool(dev, "drive-open-drain");
+
+	st = devm_kzalloc(dev, sizeof(*st), GFP_KERNEL);
+	if (!st)
+		return -ENOMEM;
+
+	dev_set_drvdata(dev, st);
+	mutex_init(&st->lock);
+	st->chip = chip;
+	st->map = regmap;
+	st->irq = irq;
+
+	ret = iio_read_mount_matrix(dev, &st->orientation);
+	if (ret) {
+		dev_err(dev, "failed to retrieve mounting matrix %d\n", ret);
+		return ret;
+	}
+
+	ret = devm_regulator_get_enable(dev, "vdd");
+	if (ret)
+		return dev_err_probe(dev, ret,
+				     "Failed to get vdd regulator\n");
+
+	msleep(INV_ICM42600_POWER_UP_TIME_MS);
+
+	st->vddio_supply = devm_regulator_get(dev, "vddio");
+	if (IS_ERR(st->vddio_supply))
+		return PTR_ERR(st->vddio_supply);
+
+	ret = inv_icm42600_enable_regulator_vddio(st);
+	if (ret)
+		return ret;
+
+	ret = devm_add_action_or_reset(dev, inv_icm42600_disable_vddio_reg, st);
+	if (ret)
+		return ret;
+
+	/* setup chip registers */
+	ret = inv_icm42600_setup(st, bus_setup);
+	if (ret)
+		return ret;
+
+	ret = inv_icm42600_timestamp_setup(st);
+	if (ret)
+		return ret;
+
+	ret = inv_icm42600_buffer_init(st);
+	if (ret)
+		return ret;
+
+	st->indio_gyro = inv_icm42600_gyro_init(st);
+	if (IS_ERR(st->indio_gyro))
+		return PTR_ERR(st->indio_gyro);
+
+	st->indio_accel = inv_icm42600_accel_init(st);
+	if (IS_ERR(st->indio_accel))
+		return PTR_ERR(st->indio_accel);
+
+	ret = inv_icm42600_irq_init(st, irq, irq_type, open_drain);
+	if (ret)
+		return ret;
+
+	/* setup runtime power management */
+	ret = devm_pm_runtime_set_active_enabled(dev);
+	if (ret)
+		return ret;
+
+	pm_runtime_set_autosuspend_delay(dev, INV_ICM42600_SUSPEND_DELAY_MS);
+	pm_runtime_use_autosuspend(dev);
+
+	return ret;
+}
+EXPORT_SYMBOL_NS_GPL(inv_icm42600_core_probe, "IIO_ICM42600");
+
+/*
+ * Suspend saves sensors state and turns everything off.
+ * Check first if runtime suspend has not already done the job.
+ */
+static int inv_icm42600_suspend(struct device *dev)
+{
+	struct inv_icm42600_state *st = dev_get_drvdata(dev);
+	struct device *accel_dev;
+	bool wakeup;
+	int accel_conf;
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	st->suspended.gyro = st->conf.gyro.mode;
+	st->suspended.accel = st->conf.accel.mode;
+	st->suspended.temp = st->conf.temp_en;
+	if (pm_runtime_suspended(dev))
+		return 0;
+
+	/* disable FIFO data streaming */
+	if (st->fifo.on) {
+		ret = regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,
+				   INV_ICM42600_FIFO_CONFIG_BYPASS);
+		if (ret)
+			return ret;
+	}
+
+	/* keep chip on and wake-up capable if APEX and wakeup on */
+	accel_dev = &st->indio_accel->dev;
+	wakeup = st->apex.on && device_may_wakeup(accel_dev);
+	if (wakeup) {
+		/* keep accel on and setup irq for wakeup */
+		accel_conf = st->conf.accel.mode;
+		enable_irq_wake(st->irq);
+		disable_irq(st->irq);
+	} else {
+		/* disable APEX features and accel if wakeup disabled */
+		if (st->apex.wom.enable) {
+			ret = inv_icm42600_disable_wom(st);
+			if (ret)
+				return ret;
+		}
+		accel_conf = INV_ICM42600_SENSOR_MODE_OFF;
+	}
+
+	ret = inv_icm42600_set_pwr_mgmt0(st, INV_ICM42600_SENSOR_MODE_OFF,
+					 accel_conf, false, NULL);
+	if (ret)
+		return ret;
+
+	/* disable vddio regulator if chip is sleeping */
+	if (!wakeup)
+		regulator_disable(st->vddio_supply);
+
+	return 0;
+}
+
+/*
+ * System resume gets the system back on and restores the sensors state.
+ * Manually put runtime power management in system active state.
+ */
+static int inv_icm42600_resume(struct device *dev)
+{
+	struct inv_icm42600_state *st = dev_get_drvdata(dev);
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel);
+	struct device *accel_dev;
+	bool wakeup;
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	if (pm_runtime_suspended(dev))
+		return 0;
+
+	/* check wakeup capability */
+	accel_dev = &st->indio_accel->dev;
+	wakeup = st->apex.on && device_may_wakeup(accel_dev);
+	/* restore irq state or vddio if cut off */
+	if (wakeup) {
+		enable_irq(st->irq);
+		disable_irq_wake(st->irq);
+	} else {
+		ret = inv_icm42600_enable_regulator_vddio(st);
+		if (ret)
+			return ret;
+	}
+
+	/* restore sensors state */
+	ret = inv_icm42600_set_pwr_mgmt0(st, st->suspended.gyro,
+					 st->suspended.accel,
+					 st->suspended.temp, NULL);
+	if (ret)
+		return ret;
+
+	/* restore APEX features if disabled */
+	if (!wakeup && st->apex.wom.enable) {
+		ret = inv_icm42600_enable_wom(st);
+		if (ret)
+			return ret;
+	}
+
+	/* restore FIFO data streaming */
+	if (st->fifo.on) {
+		inv_sensors_timestamp_reset(&gyro_st->ts);
+		inv_sensors_timestamp_reset(&accel_st->ts);
+		ret = regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,
+				   INV_ICM42600_FIFO_CONFIG_STREAM);
+	}
+
+	return 0;
+}
+
+/* Runtime suspend will turn off sensors that are enabled by iio devices. */
+static int inv_icm42600_runtime_suspend(struct device *dev)
+{
+	struct inv_icm42600_state *st = dev_get_drvdata(dev);
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	/* disable all sensors */
+	ret = inv_icm42600_set_pwr_mgmt0(st, INV_ICM42600_SENSOR_MODE_OFF,
+					 INV_ICM42600_SENSOR_MODE_OFF, false,
+					 NULL);
+	if (ret)
+		return ret;
+
+	regulator_disable(st->vddio_supply);
+
+	return 0;
+}
+
+/* Sensors are enabled by iio devices, no need to turn them back on here. */
+static int inv_icm42600_runtime_resume(struct device *dev)
+{
+	struct inv_icm42600_state *st = dev_get_drvdata(dev);
+
+	guard(mutex)(&st->lock);
+
+	return inv_icm42600_enable_regulator_vddio(st);
+}
+
+EXPORT_NS_GPL_DEV_PM_OPS(inv_icm42600_pm_ops, IIO_ICM42600) = {
+	SYSTEM_SLEEP_PM_OPS(inv_icm42600_suspend, inv_icm42600_resume)
+	RUNTIME_PM_OPS(inv_icm42600_runtime_suspend,
+		       inv_icm42600_runtime_resume, NULL)
+};
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-426xx device driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_INV_SENSORS_TIMESTAMP");

linux-7.2.3/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c

@@ -0,0 +1,826 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+#include <linux/math64.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/kfifo_buf.h>
+
+#include "inv_icm42600.h"
+#include "inv_icm42600_temp.h"
+#include "inv_icm42600_buffer.h"
+
+#define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info)		\
+	{								\
+		.type = IIO_ANGL_VEL,					\
+		.modified = 1,						\
+		.channel2 = _modifier,					\
+		.info_mask_separate =					\
+			BIT(IIO_CHAN_INFO_RAW) |			\
+			BIT(IIO_CHAN_INFO_CALIBBIAS),			\
+		.info_mask_shared_by_type =				\
+			BIT(IIO_CHAN_INFO_SCALE),			\
+		.info_mask_shared_by_type_available =			\
+			BIT(IIO_CHAN_INFO_SCALE) |			\
+			BIT(IIO_CHAN_INFO_CALIBBIAS),			\
+		.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_icm42600_gyro_scan {
+	INV_ICM42600_GYRO_SCAN_X,
+	INV_ICM42600_GYRO_SCAN_Y,
+	INV_ICM42600_GYRO_SCAN_Z,
+	INV_ICM42600_GYRO_SCAN_TEMP,
+	INV_ICM42600_GYRO_SCAN_TIMESTAMP,
+};
+
+static const struct iio_chan_spec_ext_info inv_icm42600_gyro_ext_infos[] = {
+	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
+	{ }
+};
+
+static const struct iio_chan_spec inv_icm42600_gyro_channels[] = {
+	INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X,
+			       inv_icm42600_gyro_ext_infos),
+	INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y,
+			       inv_icm42600_gyro_ext_infos),
+	INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z,
+			       inv_icm42600_gyro_ext_infos),
+	INV_ICM42600_TEMP_CHAN(INV_ICM42600_GYRO_SCAN_TEMP),
+	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_GYRO_SCAN_TIMESTAMP),
+};
+
+/*
+ * IIO buffer data: size must be a power of 2 and timestamp aligned
+ * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp
+ */
+struct inv_icm42600_gyro_buffer {
+	struct inv_icm42600_fifo_sensor_data gyro;
+	s16 temp;
+	aligned_s64 timestamp;
+};
+
+#define INV_ICM42600_SCAN_MASK_GYRO_3AXIS				\
+	(BIT(INV_ICM42600_GYRO_SCAN_X) |				\
+	BIT(INV_ICM42600_GYRO_SCAN_Y) |					\
+	BIT(INV_ICM42600_GYRO_SCAN_Z))
+
+#define INV_ICM42600_SCAN_MASK_TEMP	BIT(INV_ICM42600_GYRO_SCAN_TEMP)
+
+static const unsigned long inv_icm42600_gyro_scan_masks[] = {
+	/* 3-axis gyro + temperature */
+	INV_ICM42600_SCAN_MASK_GYRO_3AXIS | INV_ICM42600_SCAN_MASK_TEMP,
+	0,
+};
+
+/* enable gyroscope sensor and FIFO write */
+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_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+	unsigned int fifo_en = 0;
+	unsigned int sleep_gyro = 0;
+	unsigned int sleep_temp = 0;
+	unsigned int sleep;
+	int ret;
+
+	mutex_lock(&st->lock);
+
+	if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) {
+		/* enable temp sensor */
+		ret = inv_icm42600_set_temp_conf(st, true, &sleep_temp);
+		if (ret)
+			goto out_unlock;
+		fifo_en |= INV_ICM42600_SENSOR_TEMP;
+	}
+
+	if (*scan_mask & INV_ICM42600_SCAN_MASK_GYRO_3AXIS) {
+		/* enable gyro sensor */
+		conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+		ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_gyro);
+		if (ret)
+			goto out_unlock;
+		fifo_en |= INV_ICM42600_SENSOR_GYRO;
+	}
+
+	/* update data FIFO write */
+	ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
+
+out_unlock:
+	mutex_unlock(&st->lock);
+	/* sleep maximum required time */
+	sleep = max(sleep_gyro, sleep_temp);
+	if (sleep)
+		msleep(sleep);
+	return ret;
+}
+
+static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st,
+					 struct iio_chan_spec const *chan,
+					 s16 *val)
+{
+	struct device *dev = regmap_get_device(st->map);
+	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+	unsigned int reg;
+	__be16 *data;
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM42600_REG_GYRO_DATA_X;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM42600_REG_GYRO_DATA_Y;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM42600_REG_GYRO_DATA_Z;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	/* enable gyro sensor */
+	conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+	ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+	if (ret)
+		goto exit;
+
+	/* read gyro register data */
+	data = (__be16 *)&st->buffer[0];
+	ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
+	if (ret)
+		goto exit;
+
+	*val = (s16)be16_to_cpup(data);
+	if (*val == INV_ICM42600_DATA_INVALID)
+		ret = -EINVAL;
+exit:
+	mutex_unlock(&st->lock);
+	pm_runtime_put_autosuspend(dev);
+	return ret;
+}
+
+/* IIO format int + nano */
+static const int inv_icm42600_gyro_scale[] = {
+	/* +/- 2000dps => 0.001065264 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_2000DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264,
+	/* +/- 1000dps => 0.000532632 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_1000DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632,
+	/* +/- 500dps => 0.000266316 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_500DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316,
+	/* +/- 250dps => 0.000133158 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_250DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158,
+	/* +/- 125dps => 0.000066579 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_125DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579,
+	/* +/- 62.5dps => 0.000033290 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290,
+	/* +/- 31.25dps => 0.000016645 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645,
+	/* +/- 15.625dps => 0.000008322 rad/s */
+	[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 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 = 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 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 < gyro_st->scales_len; idx += 2) {
+		if (val == gyro_st->scales[idx] &&
+		    val2 == gyro_st->scales[idx + 1])
+			break;
+	}
+	if (idx >= gyro_st->scales_len)
+		return -EINVAL;
+
+	conf.fs = idx / 2;
+
+	pm_runtime_get_sync(dev);
+
+	scoped_guard(mutex, &st->lock)
+		ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+/* IIO format int + micro */
+static const int inv_icm42600_gyro_odr[] = {
+	/* 12.5Hz */
+	12, 500000,
+	/* 25Hz */
+	25, 0,
+	/* 50Hz */
+	50, 0,
+	/* 100Hz */
+	100, 0,
+	/* 200Hz */
+	200, 0,
+	/* 1kHz */
+	1000, 0,
+	/* 2kHz */
+	2000, 0,
+	/* 4kHz */
+	4000, 0,
+};
+
+static const int inv_icm42600_gyro_odr_conv[] = {
+	INV_ICM42600_ODR_12_5HZ,
+	INV_ICM42600_ODR_25HZ,
+	INV_ICM42600_ODR_50HZ,
+	INV_ICM42600_ODR_100HZ,
+	INV_ICM42600_ODR_200HZ,
+	INV_ICM42600_ODR_1KHZ_LN,
+	INV_ICM42600_ODR_2KHZ_LN,
+	INV_ICM42600_ODR_4KHZ_LN,
+};
+
+static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st,
+				      int *val, int *val2)
+{
+	unsigned int odr;
+	unsigned int i;
+
+	odr = st->conf.gyro.odr;
+
+	for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) {
+		if (inv_icm42600_gyro_odr_conv[i] == odr)
+			break;
+	}
+	if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv))
+		return -EINVAL;
+
+	*val = inv_icm42600_gyro_odr[2 * i];
+	*val2 = inv_icm42600_gyro_odr[2 * i + 1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+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_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;
+	int ret;
+
+	for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) {
+		if (val == inv_icm42600_gyro_odr[idx] &&
+		    val2 == inv_icm42600_gyro_odr[idx + 1])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr))
+		return -EINVAL;
+
+	conf.odr = inv_icm42600_gyro_odr_conv[idx / 2];
+	if (conf.odr == st->conf.gyro.odr)
+		return 0;
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
+					       iio_buffer_enabled(indio_dev));
+	if (ret)
+		goto out_unlock;
+
+	ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+	if (ret)
+		goto out_unlock;
+	inv_icm42600_buffer_update_fifo_period(st);
+	inv_icm42600_buffer_update_watermark(st);
+
+out_unlock:
+	mutex_unlock(&st->lock);
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+/*
+ * Calibration bias values, IIO range format int + nano.
+ * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps.
+ */
+static int inv_icm42600_gyro_calibbias[] = {
+	-1, 117010721,		/* min: -1.117010721 rad/s */
+	0, 545415,		/* step: 0.000545415 rad/s */
+	1, 116465306,		/* max: 1.116465306 rad/s */
+};
+
+static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st,
+					 struct iio_chan_spec const *chan,
+					 int *val, int *val2)
+{
+	struct device *dev = regmap_get_device(st->map);
+	s64 val64;
+	s32 bias;
+	unsigned int reg;
+	s16 offset;
+	u8 data[2];
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM42600_REG_OFFSET_USER0;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM42600_REG_OFFSET_USER1;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM42600_REG_OFFSET_USER3;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data));
+	memcpy(data, st->buffer, sizeof(data));
+
+	mutex_unlock(&st->lock);
+	pm_runtime_put_autosuspend(dev);
+	if (ret)
+		return ret;
+
+	/* 12 bits signed value */
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
+		break;
+	case IIO_MOD_Y:
+		offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);
+		break;
+	case IIO_MOD_Z:
+		offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	/*
+	 * convert raw offset to dps then to rad/s
+	 * 12 bits signed raw max 64 to dps: 64 / 2048
+	 * dps to rad: Pi / 180
+	 * result in nano (1000000000)
+	 * (offset * 64 * Pi * 1000000000) / (2048 * 180)
+	 */
+	val64 = (s64)offset * 64LL * 3141592653LL;
+	/* for rounding, add + or - divisor (2048 * 180) divided by 2 */
+	if (val64 >= 0)
+		val64 += 2048 * 180 / 2;
+	else
+		val64 -= 2048 * 180 / 2;
+	bias = div_s64(val64, 2048 * 180);
+	*val = bias / 1000000000L;
+	*val2 = bias % 1000000000L;
+
+	return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st,
+					  struct iio_chan_spec const *chan,
+					  int val, int val2)
+{
+	struct device *dev = regmap_get_device(st->map);
+	s64 val64, min, max;
+	unsigned int reg, regval;
+	s16 offset;
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM42600_REG_OFFSET_USER0;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM42600_REG_OFFSET_USER1;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM42600_REG_OFFSET_USER3;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	/* inv_icm42600_gyro_calibbias: min - step - max in nano */
+	min = (s64)inv_icm42600_gyro_calibbias[0] * 1000000000LL +
+	      (s64)inv_icm42600_gyro_calibbias[1];
+	max = (s64)inv_icm42600_gyro_calibbias[4] * 1000000000LL +
+	      (s64)inv_icm42600_gyro_calibbias[5];
+	val64 = (s64)val * 1000000000LL + (s64)val2;
+	if (val64 < min || val64 > max)
+		return -EINVAL;
+
+	/*
+	 * convert rad/s to dps then to raw value
+	 * rad to dps: 180 / Pi
+	 * dps to raw 12 bits signed, max 64: 2048 / 64
+	 * val in nano (1000000000)
+	 * val * 180 * 2048 / (Pi * 1000000000 * 64)
+	 */
+	val64 = val64 * 180LL * 2048LL;
+	/* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */
+	if (val64 >= 0)
+		val64 += 3141592653LL * 64LL / 2LL;
+	else
+		val64 -= 3141592653LL * 64LL / 2LL;
+	offset = div64_s64(val64, 3141592653LL * 64LL);
+
+	/* clamp value limited to 12 bits signed */
+	if (offset < -2048)
+		offset = -2048;
+	else if (offset > 2047)
+		offset = 2047;
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		/* OFFSET_USER1 register is shared */
+		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
+				  &regval);
+		if (ret)
+			goto out_unlock;
+		st->buffer[0] = offset & 0xFF;
+		st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
+		break;
+	case IIO_MOD_Y:
+		/* OFFSET_USER1 register is shared */
+		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
+				  &regval);
+		if (ret)
+			goto out_unlock;
+		st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
+		st->buffer[1] = offset & 0xFF;
+		break;
+	case IIO_MOD_Z:
+		/* OFFSET_USER4 register is shared */
+		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,
+				  &regval);
+		if (ret)
+			goto out_unlock;
+		st->buffer[0] = offset & 0xFF;
+		st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
+		break;
+	default:
+		ret = -EINVAL;
+		goto out_unlock;
+	}
+
+	ret = regmap_bulk_write(st->map, reg, st->buffer, 2);
+
+out_unlock:
+	mutex_unlock(&st->lock);
+	pm_runtime_put_autosuspend(dev);
+	return ret;
+}
+
+static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
+				      struct iio_chan_spec const *chan,
+				      int *val, int *val2, long mask)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	s16 data;
+	int ret;
+
+	switch (chan->type) {
+	case IIO_ANGL_VEL:
+		break;
+	case IIO_TEMP:
+		return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask);
+	default:
+		return -EINVAL;
+	}
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm42600_gyro_read_sensor(st, chan, &data);
+		iio_device_release_direct(indio_dev);
+		if (ret)
+			return ret;
+		*val = data;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_SCALE:
+		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:
+		return inv_icm42600_gyro_read_offset(st, chan, val, val2);
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
+					struct iio_chan_spec const *chan,
+					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 = gyro_st->scales;
+		*type = IIO_VAL_INT_PLUS_NANO;
+		*length = gyro_st->scales_len;
+		return IIO_AVAIL_LIST;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		*vals = inv_icm42600_gyro_odr;
+		*type = IIO_VAL_INT_PLUS_MICRO;
+		*length = ARRAY_SIZE(inv_icm42600_gyro_odr);
+		return IIO_AVAIL_LIST;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		*vals = inv_icm42600_gyro_calibbias;
+		*type = IIO_VAL_INT_PLUS_NANO;
+		return IIO_AVAIL_RANGE;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
+				       struct iio_chan_spec const *chan,
+				       int val, int val2, long mask)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm42600_gyro_write_scale(indio_dev, val, val2);
+		iio_device_release_direct(indio_dev);
+		return ret;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm42600_gyro_write_odr(indio_dev, val, val2);
+	case IIO_CHAN_INFO_CALIBBIAS:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm42600_gyro_write_offset(st, chan, val, val2);
+		iio_device_release_direct(indio_dev);
+		return ret;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,
+					       struct iio_chan_spec const *chan,
+					       long mask)
+{
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		return IIO_VAL_INT_PLUS_NANO;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		return IIO_VAL_INT_PLUS_NANO;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42600_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev,
+						  unsigned int val)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+
+	guard(mutex)(&st->lock);
+
+	st->fifo.watermark.gyro = val;
+	return inv_icm42600_buffer_update_watermark(st);
+}
+
+static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev,
+					  unsigned int count)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	if (count == 0)
+		return 0;
+
+	guard(mutex)(&st->lock);
+
+	ret = inv_icm42600_buffer_hwfifo_flush(st, count);
+	if (ret)
+		return ret;
+
+	return st->fifo.nb.gyro;
+}
+
+static const struct iio_info inv_icm42600_gyro_info = {
+	.read_raw = inv_icm42600_gyro_read_raw,
+	.read_avail = inv_icm42600_gyro_read_avail,
+	.write_raw = inv_icm42600_gyro_write_raw,
+	.write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt,
+	.debugfs_reg_access = inv_icm42600_debugfs_reg,
+	.update_scan_mode = inv_icm42600_gyro_update_scan_mode,
+	.hwfifo_set_watermark = inv_icm42600_gyro_hwfifo_set_watermark,
+	.hwfifo_flush_to_buffer = inv_icm42600_gyro_hwfifo_flush,
+};
+
+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 iio_dev *indio_dev;
+	int ret;
+
+	name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);
+	if (!name)
+		return ERR_PTR(-ENOMEM);
+
+	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 8kHz (125000ns)
+	 * jitter is +/- 2% (20 per mille)
+	 */
+	ts_chip.clock_period = 125000;
+	ts_chip.jitter = 20;
+	ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
+	inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip);
+
+	iio_device_set_drvdata(indio_dev, st);
+	indio_dev->name = name;
+	indio_dev->info = &inv_icm42600_gyro_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->channels = inv_icm42600_gyro_channels;
+	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,
+					  &inv_icm42600_buffer_ops);
+	if (ret)
+		return ERR_PTR(ret);
+
+	ret = devm_iio_device_register(dev, indio_dev);
+	if (ret)
+		return ERR_PTR(ret);
+
+	return indio_dev;
+}
+
+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_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;
+	const s8 *temp;
+	unsigned int odr;
+	s64 ts_val;
+	/* buffer is copied to userspace, zeroing it to avoid any data leak */
+	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, &timestamp, &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_sensors_timestamp_apply_odr(ts, st->fifo.period,
+							st->fifo.nb.total, no);
+
+		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_sensors_timestamp_pop(ts);
+		iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
+	}
+
+	return 0;
+}

linux-7.2.3/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c

@@ -0,0 +1,129 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/i2c.h>
+#include <linux/regmap.h>
+#include <linux/property.h>
+
+#include "inv_icm42600.h"
+
+static int inv_icm42600_i2c_bus_setup(struct inv_icm42600_state *st)
+{
+	unsigned int mask, val;
+	int ret;
+
+	/*
+	 * setup interface registers
+	 * This register write to REG_INTF_CONFIG6 enables a spike filter that
+	 * is impacting the line and can prevent the I2C ACK to be seen by the
+	 * controller. So we don't test the return value.
+	 */
+	regmap_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG6,
+			   INV_ICM42600_INTF_CONFIG6_MASK,
+			   INV_ICM42600_INTF_CONFIG6_I3C_EN);
+
+	ret = regmap_clear_bits(st->map, INV_ICM42600_REG_INTF_CONFIG4,
+				INV_ICM42600_INTF_CONFIG4_I3C_BUS_ONLY);
+	if (ret)
+		return ret;
+
+	/* set slew rates for I2C and SPI */
+	mask = INV_ICM42600_DRIVE_CONFIG_I2C_MASK |
+	       INV_ICM42600_DRIVE_CONFIG_SPI_MASK;
+	val = INV_ICM42600_DRIVE_CONFIG_I2C(INV_ICM42600_SLEW_RATE_12_36NS) |
+	      INV_ICM42600_DRIVE_CONFIG_SPI(INV_ICM42600_SLEW_RATE_12_36NS);
+	ret = regmap_update_bits(st->map, INV_ICM42600_REG_DRIVE_CONFIG,
+				 mask, val);
+	if (ret)
+		return ret;
+
+	/* disable SPI bus */
+	return regmap_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG0,
+				  INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_MASK,
+				  INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_SPI_DIS);
+}
+
+static int inv_icm42600_probe(struct i2c_client *client)
+{
+	const void *match;
+	enum inv_icm42600_chip chip;
+	struct regmap *regmap;
+
+	if (!i2c_check_functionality(client->adapter, I2C_FUNC_SMBUS_I2C_BLOCK))
+		return -ENOTSUPP;
+
+	match = device_get_match_data(&client->dev);
+	if (!match)
+		return -EINVAL;
+	chip = (uintptr_t)match;
+
+	regmap = devm_regmap_init_i2c(client, &inv_icm42600_regmap_config);
+	if (IS_ERR(regmap))
+		return PTR_ERR(regmap);
+
+	return inv_icm42600_core_probe(regmap, chip, inv_icm42600_i2c_bus_setup);
+}
+
+/*
+ * device id table is used to identify what device can be
+ * supported by this driver
+ */
+static const struct i2c_device_id inv_icm42600_id[] = {
+	{ .name = "icm42600", .driver_data = INV_CHIP_ICM42600 },
+	{ .name = "icm42602", .driver_data = INV_CHIP_ICM42602 },
+	{ .name = "icm42605", .driver_data = INV_CHIP_ICM42605 },
+	{ .name = "icm42686", .driver_data = INV_CHIP_ICM42686 },
+	{ .name = "icm42622", .driver_data = INV_CHIP_ICM42622 },
+	{ .name = "icm42688", .driver_data = INV_CHIP_ICM42688 },
+	{ .name = "icm42631", .driver_data = INV_CHIP_ICM42631 },
+	{ }
+};
+MODULE_DEVICE_TABLE(i2c, inv_icm42600_id);
+
+static const struct of_device_id inv_icm42600_of_matches[] = {
+	{
+		.compatible = "invensense,icm42600",
+		.data = (void *)INV_CHIP_ICM42600,
+	}, {
+		.compatible = "invensense,icm42602",
+		.data = (void *)INV_CHIP_ICM42602,
+	}, {
+		.compatible = "invensense,icm42605",
+		.data = (void *)INV_CHIP_ICM42605,
+	}, {
+		.compatible = "invensense,icm42686",
+		.data = (void *)INV_CHIP_ICM42686,
+	}, {
+		.compatible = "invensense,icm42622",
+		.data = (void *)INV_CHIP_ICM42622,
+	}, {
+		.compatible = "invensense,icm42688",
+		.data = (void *)INV_CHIP_ICM42688,
+	}, {
+		.compatible = "invensense,icm42631",
+		.data = (void *)INV_CHIP_ICM42631,
+	},
+	{ }
+};
+MODULE_DEVICE_TABLE(of, inv_icm42600_of_matches);
+
+static struct i2c_driver inv_icm42600_driver = {
+	.driver = {
+		.name = "inv-icm42600-i2c",
+		.of_match_table = inv_icm42600_of_matches,
+		.pm = pm_ptr(&inv_icm42600_pm_ops),
+	},
+	.id_table = inv_icm42600_id,
+	.probe = inv_icm42600_probe,
+};
+module_i2c_driver(inv_icm42600_driver);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-426xx I2C driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_ICM42600");

linux-7.2.3/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c

@@ -0,0 +1,126 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/spi/spi.h>
+#include <linux/regmap.h>
+#include <linux/property.h>
+
+#include "inv_icm42600.h"
+
+static int inv_icm42600_spi_bus_setup(struct inv_icm42600_state *st)
+{
+	unsigned int mask, val;
+	int ret;
+
+	/* setup interface registers */
+	val = INV_ICM42600_INTF_CONFIG6_I3C_EN |
+	      INV_ICM42600_INTF_CONFIG6_I3C_SDR_EN |
+	      INV_ICM42600_INTF_CONFIG6_I3C_DDR_EN;
+	ret = regmap_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG6,
+				 INV_ICM42600_INTF_CONFIG6_MASK, val);
+	if (ret)
+		return ret;
+
+	ret = regmap_clear_bits(st->map, INV_ICM42600_REG_INTF_CONFIG4,
+				INV_ICM42600_INTF_CONFIG4_I3C_BUS_ONLY);
+	if (ret)
+		return ret;
+
+	/* set slew rates for I2C and SPI */
+	mask = INV_ICM42600_DRIVE_CONFIG_I2C_MASK |
+	       INV_ICM42600_DRIVE_CONFIG_SPI_MASK;
+	val = INV_ICM42600_DRIVE_CONFIG_I2C(INV_ICM42600_SLEW_RATE_20_60NS) |
+	      INV_ICM42600_DRIVE_CONFIG_SPI(INV_ICM42600_SLEW_RATE_INF_2NS);
+	ret = regmap_update_bits(st->map, INV_ICM42600_REG_DRIVE_CONFIG,
+				 mask, val);
+	if (ret)
+		return ret;
+
+	/* disable i2c bus */
+	return regmap_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG0,
+				  INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_MASK,
+				  INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS);
+}
+
+static int inv_icm42600_probe(struct spi_device *spi)
+{
+	const void *match;
+	enum inv_icm42600_chip chip;
+	struct regmap *regmap;
+
+	match = device_get_match_data(&spi->dev);
+	if (!match)
+		return -EINVAL;
+	chip = (uintptr_t)match;
+
+	/* use SPI specific regmap */
+	regmap = devm_regmap_init_spi(spi, &inv_icm42600_spi_regmap_config);
+	if (IS_ERR(regmap))
+		return PTR_ERR(regmap);
+
+	return inv_icm42600_core_probe(regmap, chip, inv_icm42600_spi_bus_setup);
+}
+
+/*
+ * device id table is used to identify what device can be
+ * supported by this driver
+ */
+static const struct spi_device_id inv_icm42600_id[] = {
+	{ "icm42600", INV_CHIP_ICM42600 },
+	{ "icm42602", INV_CHIP_ICM42602 },
+	{ "icm42605", INV_CHIP_ICM42605 },
+	{ "icm42686", INV_CHIP_ICM42686 },
+	{ "icm42622", INV_CHIP_ICM42622 },
+	{ "icm42688", INV_CHIP_ICM42688 },
+	{ "icm42631", INV_CHIP_ICM42631 },
+	{ }
+};
+MODULE_DEVICE_TABLE(spi, inv_icm42600_id);
+
+static const struct of_device_id inv_icm42600_of_matches[] = {
+	{
+		.compatible = "invensense,icm42600",
+		.data = (void *)INV_CHIP_ICM42600,
+	}, {
+		.compatible = "invensense,icm42602",
+		.data = (void *)INV_CHIP_ICM42602,
+	}, {
+		.compatible = "invensense,icm42605",
+		.data = (void *)INV_CHIP_ICM42605,
+	}, {
+		.compatible = "invensense,icm42686",
+		.data = (void *)INV_CHIP_ICM42686,
+	}, {
+		.compatible = "invensense,icm42622",
+		.data = (void *)INV_CHIP_ICM42622,
+	}, {
+		.compatible = "invensense,icm42688",
+		.data = (void *)INV_CHIP_ICM42688,
+	}, {
+		.compatible = "invensense,icm42631",
+		.data = (void *)INV_CHIP_ICM42631,
+	},
+	{ }
+};
+MODULE_DEVICE_TABLE(of, inv_icm42600_of_matches);
+
+static struct spi_driver inv_icm42600_driver = {
+	.driver = {
+		.name = "inv-icm42600-spi",
+		.of_match_table = inv_icm42600_of_matches,
+		.pm = pm_ptr(&inv_icm42600_pm_ops),
+	},
+	.id_table = inv_icm42600_id,
+	.probe = inv_icm42600_probe,
+};
+module_spi_driver(inv_icm42600_driver);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-426xx SPI driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_ICM42600");

linux-7.2.3/drivers/iio/imu/inv_icm42600/inv_icm42600_temp.c

@@ -0,0 +1,85 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/iio/iio.h>
+
+#include "inv_icm42600.h"
+#include "inv_icm42600_temp.h"
+
+static int inv_icm42600_temp_read(struct inv_icm42600_state *st, s16 *temp)
+{
+	struct device *dev = regmap_get_device(st->map);
+	__be16 *raw;
+	int ret;
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	ret = inv_icm42600_set_temp_conf(st, true, NULL);
+	if (ret)
+		goto exit;
+
+	raw = (__be16 *)&st->buffer[0];
+	ret = regmap_bulk_read(st->map, INV_ICM42600_REG_TEMP_DATA, raw, sizeof(*raw));
+	if (ret)
+		goto exit;
+
+	*temp = (s16)be16_to_cpup(raw);
+	/*
+	 * Temperature data is invalid if both accel and gyro are off.
+	 * Return -EBUSY in this case.
+	 */
+	if (*temp == INV_ICM42600_DATA_INVALID)
+		ret = -EBUSY;
+
+exit:
+	mutex_unlock(&st->lock);
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+int inv_icm42600_temp_read_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int *val, int *val2, long mask)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	s16 temp;
+	int ret;
+
+	if (chan->type != IIO_TEMP)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		ret = inv_icm42600_temp_read(st, &temp);
+		if (ret)
+			return ret;
+		*val = temp;
+		return IIO_VAL_INT;
+	/*
+	 * T°C = (temp / 132.48) + 25
+	 * Tm°C = 1000 * ((temp / 132.48) + 25)
+	 * Tm°C = 7.548309 * temp + 25000
+	 * Tm°C = (temp + 3312) * 7.548309
+	 * scale: 100000 / 13248 ~= 7.548309
+	 * offset: 3312
+	 */
+	case IIO_CHAN_INFO_SCALE:
+		*val = 7;
+		*val2 = 548309;
+		return IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_OFFSET:
+		*val = 3312;
+		return IIO_VAL_INT;
+	default:
+		return -EINVAL;
+	}
+}

linux-7.2.3/drivers/iio/imu/inv_icm42600/inv_icm42600_temp.h

@@ -0,0 +1,30 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#ifndef INV_ICM42600_TEMP_H_
+#define INV_ICM42600_TEMP_H_
+
+#include <linux/iio/iio.h>
+
+#define INV_ICM42600_TEMP_CHAN(_index)					\
+	{								\
+		.type = IIO_TEMP,					\
+		.info_mask_separate =					\
+			BIT(IIO_CHAN_INFO_RAW) |			\
+			BIT(IIO_CHAN_INFO_OFFSET) |			\
+			BIT(IIO_CHAN_INFO_SCALE),			\
+		.scan_index = _index,					\
+		.scan_type = {						\
+			.sign = 's',					\
+			.realbits = 16,					\
+			.storagebits = 16,				\
+		},							\
+	}
+
+int inv_icm42600_temp_read_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int *val, int *val2, long mask);
+
+#endif