From a1432b5b4f4c44473ee97152c2f356d372ccd45c Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Maneyrol Date: Mon, 22 Apr 2024 15:22:40 +0000 Subject: iio: imu: inv_icm42600: add support of ICM-42686-P Add ICM-42686-P chip supporting high FSRs (32G, 4000dps). Create accel and gyro iio device states with dynamic scales table set at device init. Signed-off-by: Jean-Baptiste Maneyrol Link: https://lore.kernel.org/r/20240422152240.85974-3-inv.git-commit@tdk.com Signed-off-by: Jonathan Cameron --- drivers/iio/imu/inv_icm42600/inv_icm42600.h | 35 +++++++++ drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c | 75 ++++++++++++++----- drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c | 15 ++-- drivers/iio/imu/inv_icm42600/inv_icm42600_core.c | 21 ++++++ drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c | 84 +++++++++++++++++----- drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c | 3 + drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c | 3 + 7 files changed, 193 insertions(+), 43 deletions(-) (limited to 'drivers/iio') diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h index 0566340b2660..c4ac91f6bafe 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h @@ -13,6 +13,7 @@ #include #include #include +#include #include "inv_icm42600_buffer.h" @@ -21,6 +22,7 @@ enum inv_icm42600_chip { INV_CHIP_ICM42600, INV_CHIP_ICM42602, INV_CHIP_ICM42605, + INV_CHIP_ICM42686, INV_CHIP_ICM42622, INV_CHIP_ICM42688, INV_CHIP_ICM42631, @@ -57,6 +59,17 @@ enum inv_icm42600_gyro_fs { 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 { @@ -66,6 +79,14 @@ enum inv_icm42600_accel_fs { 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 { @@ -151,6 +172,19 @@ struct inv_icm42600_state { } timestamp; }; + +/** + * struct inv_icm42600_sensor_state - sensor state variables + * @scales: table of scales. + * @scales_len: length (nb of items) of the scales table. + * @ts: timestamp module states. + */ +struct inv_icm42600_sensor_state { + const int *scales; + size_t scales_len; + struct inv_sensors_timestamp ts; +}; + /* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */ /* Bank selection register, available in all banks */ @@ -304,6 +338,7 @@ struct inv_icm42600_state { #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 diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c index f67bd5a39beb..83d8504ebfff 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c @@ -99,7 +99,8 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev, const unsigned long *scan_mask) { struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); - struct inv_sensors_timestamp *ts = iio_priv(indio_dev); + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &accel_st->ts; struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; unsigned int fifo_en = 0; unsigned int sleep_temp = 0; @@ -210,33 +211,54 @@ static const int inv_icm42600_accel_scale[] = { [2 * INV_ICM42600_ACCEL_FS_2G] = 0, [2 * INV_ICM42600_ACCEL_FS_2G + 1] = 598550, }; +static const int inv_icm42686_accel_scale[] = { + /* +/- 32G => 0.009576807 m/s-2 */ + [2 * INV_ICM42686_ACCEL_FS_32G] = 0, + [2 * INV_ICM42686_ACCEL_FS_32G + 1] = 9576807, + /* +/- 16G => 0.004788403 m/s-2 */ + [2 * INV_ICM42686_ACCEL_FS_16G] = 0, + [2 * INV_ICM42686_ACCEL_FS_16G + 1] = 4788403, + /* +/- 8G => 0.002394202 m/s-2 */ + [2 * INV_ICM42686_ACCEL_FS_8G] = 0, + [2 * INV_ICM42686_ACCEL_FS_8G + 1] = 2394202, + /* +/- 4G => 0.001197101 m/s-2 */ + [2 * INV_ICM42686_ACCEL_FS_4G] = 0, + [2 * INV_ICM42686_ACCEL_FS_4G + 1] = 1197101, + /* +/- 2G => 0.000598550 m/s-2 */ + [2 * INV_ICM42686_ACCEL_FS_2G] = 0, + [2 * INV_ICM42686_ACCEL_FS_2G + 1] = 598550, +}; -static int inv_icm42600_accel_read_scale(struct inv_icm42600_state *st, +static int inv_icm42600_accel_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 *accel_st = iio_priv(indio_dev); unsigned int idx; idx = st->conf.accel.fs; - *val = inv_icm42600_accel_scale[2 * idx]; - *val2 = inv_icm42600_accel_scale[2 * idx + 1]; + *val = accel_st->scales[2 * idx]; + *val2 = accel_st->scales[2 * idx + 1]; return IIO_VAL_INT_PLUS_NANO; } -static int inv_icm42600_accel_write_scale(struct inv_icm42600_state *st, +static int inv_icm42600_accel_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 *accel_st = iio_priv(indio_dev); struct device *dev = regmap_get_device(st->map); unsigned int idx; struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; int ret; - for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_scale); idx += 2) { - if (val == inv_icm42600_accel_scale[idx] && - val2 == inv_icm42600_accel_scale[idx + 1]) + for (idx = 0; idx < accel_st->scales_len; idx += 2) { + if (val == accel_st->scales[idx] && + val2 == accel_st->scales[idx + 1]) break; } - if (idx >= ARRAY_SIZE(inv_icm42600_accel_scale)) + if (idx >= accel_st->scales_len) return -EINVAL; conf.fs = idx / 2; @@ -309,7 +331,8 @@ static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev, int val, int val2) { struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); - struct inv_sensors_timestamp *ts = iio_priv(indio_dev); + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &accel_st->ts; struct device *dev = regmap_get_device(st->map); unsigned int idx; struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; @@ -565,7 +588,7 @@ static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev, *val = data; return IIO_VAL_INT; case IIO_CHAN_INFO_SCALE: - return inv_icm42600_accel_read_scale(st, val, val2); + return inv_icm42600_accel_read_scale(indio_dev, val, val2); case IIO_CHAN_INFO_SAMP_FREQ: return inv_icm42600_accel_read_odr(st, val, val2); case IIO_CHAN_INFO_CALIBBIAS: @@ -580,14 +603,16 @@ static int inv_icm42600_accel_read_avail(struct iio_dev *indio_dev, const int **vals, int *type, int *length, long mask) { + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + if (chan->type != IIO_ACCEL) return -EINVAL; switch (mask) { case IIO_CHAN_INFO_SCALE: - *vals = inv_icm42600_accel_scale; + *vals = accel_st->scales; *type = IIO_VAL_INT_PLUS_NANO; - *length = ARRAY_SIZE(inv_icm42600_accel_scale); + *length = accel_st->scales_len; return IIO_AVAIL_LIST; case IIO_CHAN_INFO_SAMP_FREQ: *vals = inv_icm42600_accel_odr; @@ -618,7 +643,7 @@ static int inv_icm42600_accel_write_raw(struct iio_dev *indio_dev, ret = iio_device_claim_direct_mode(indio_dev); if (ret) return ret; - ret = inv_icm42600_accel_write_scale(st, val, val2); + ret = inv_icm42600_accel_write_scale(indio_dev, val, val2); iio_device_release_direct_mode(indio_dev); return ret; case IIO_CHAN_INFO_SAMP_FREQ: @@ -705,8 +730,8 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st) { struct device *dev = regmap_get_device(st->map); const char *name; + struct inv_icm42600_sensor_state *accel_st; struct inv_sensors_timestamp_chip ts_chip; - struct inv_sensors_timestamp *ts; struct iio_dev *indio_dev; int ret; @@ -714,9 +739,21 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st) if (!name) return ERR_PTR(-ENOMEM); - indio_dev = devm_iio_device_alloc(dev, sizeof(*ts)); + indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st)); if (!indio_dev) return ERR_PTR(-ENOMEM); + accel_st = iio_priv(indio_dev); + + switch (st->chip) { + case INV_CHIP_ICM42686: + accel_st->scales = inv_icm42686_accel_scale; + accel_st->scales_len = ARRAY_SIZE(inv_icm42686_accel_scale); + break; + default: + accel_st->scales = inv_icm42600_accel_scale; + accel_st->scales_len = ARRAY_SIZE(inv_icm42600_accel_scale); + break; + } /* * clock period is 32kHz (31250ns) @@ -725,8 +762,7 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st) ts_chip.clock_period = 31250; ts_chip.jitter = 20; ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr); - ts = iio_priv(indio_dev); - inv_sensors_timestamp_init(ts, &ts_chip); + inv_sensors_timestamp_init(&accel_st->ts, &ts_chip); iio_device_set_drvdata(indio_dev, st); indio_dev->name = name; @@ -751,7 +787,8 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st) int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev) { struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); - struct inv_sensors_timestamp *ts = iio_priv(indio_dev); + struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &accel_st->ts; ssize_t i, size; unsigned int no; const void *accel, *gyro, *timestamp; diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c index b52f328fd26c..cfb4a41ab7c1 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c @@ -276,7 +276,8 @@ 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_sensors_timestamp *ts = iio_priv(indio_dev); + struct inv_icm42600_sensor_state *sensor_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &sensor_st->ts; pm_runtime_get_sync(dev); @@ -502,6 +503,8 @@ int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st, 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; @@ -509,7 +512,7 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st) return 0; /* handle gyroscope timestamp and FIFO data parsing */ - ts = iio_priv(st->indio_gyro); + ts = &gyro_st->ts; inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total, st->fifo.nb.gyro, st->timestamp.gyro); if (st->fifo.nb.gyro > 0) { @@ -519,7 +522,7 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st) } /* handle accelerometer timestamp and FIFO data parsing */ - ts = iio_priv(st->indio_accel); + ts = &accel_st->ts; inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total, st->fifo.nb.accel, st->timestamp.accel); if (st->fifo.nb.accel > 0) { @@ -534,6 +537,8 @@ 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) { + 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; int64_t gyro_ts, accel_ts; int ret; @@ -549,7 +554,7 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st, return 0; if (st->fifo.nb.gyro > 0) { - ts = iio_priv(st->indio_gyro); + ts = &gyro_st->ts; inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total, st->fifo.nb.gyro, gyro_ts); @@ -559,7 +564,7 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st, } if (st->fifo.nb.accel > 0) { - ts = iio_priv(st->indio_accel); + ts = &accel_st->ts; inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total, st->fifo.nb.accel, accel_ts); diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c index 82e0a2e2ad70..96116a68ab29 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c @@ -66,6 +66,22 @@ static const struct inv_icm42600_conf inv_icm42600_default_conf = { .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, @@ -82,6 +98,11 @@ static const struct inv_icm42600_hw inv_icm42600_hw[INV_CHIP_NB] = { .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", diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c index 3df0a715e885..e6f8de80128c 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c @@ -99,7 +99,8 @@ static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev, const unsigned long *scan_mask) { struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); - struct inv_sensors_timestamp *ts = iio_priv(indio_dev); + struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &gyro_st->ts; struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; unsigned int fifo_en = 0; unsigned int sleep_gyro = 0; @@ -222,33 +223,63 @@ static const int inv_icm42600_gyro_scale[] = { [2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0, [2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322, }; +static const int inv_icm42686_gyro_scale[] = { + /* +/- 4000dps => 0.002130529 rad/s */ + [2 * INV_ICM42686_GYRO_FS_4000DPS] = 0, + [2 * INV_ICM42686_GYRO_FS_4000DPS + 1] = 2130529, + /* +/- 2000dps => 0.001065264 rad/s */ + [2 * INV_ICM42686_GYRO_FS_2000DPS] = 0, + [2 * INV_ICM42686_GYRO_FS_2000DPS + 1] = 1065264, + /* +/- 1000dps => 0.000532632 rad/s */ + [2 * INV_ICM42686_GYRO_FS_1000DPS] = 0, + [2 * INV_ICM42686_GYRO_FS_1000DPS + 1] = 532632, + /* +/- 500dps => 0.000266316 rad/s */ + [2 * INV_ICM42686_GYRO_FS_500DPS] = 0, + [2 * INV_ICM42686_GYRO_FS_500DPS + 1] = 266316, + /* +/- 250dps => 0.000133158 rad/s */ + [2 * INV_ICM42686_GYRO_FS_250DPS] = 0, + [2 * INV_ICM42686_GYRO_FS_250DPS + 1] = 133158, + /* +/- 125dps => 0.000066579 rad/s */ + [2 * INV_ICM42686_GYRO_FS_125DPS] = 0, + [2 * INV_ICM42686_GYRO_FS_125DPS + 1] = 66579, + /* +/- 62.5dps => 0.000033290 rad/s */ + [2 * INV_ICM42686_GYRO_FS_62_5DPS] = 0, + [2 * INV_ICM42686_GYRO_FS_62_5DPS + 1] = 33290, + /* +/- 31.25dps => 0.000016645 rad/s */ + [2 * INV_ICM42686_GYRO_FS_31_25DPS] = 0, + [2 * INV_ICM42686_GYRO_FS_31_25DPS + 1] = 16645, +}; -static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st, +static int inv_icm42600_gyro_read_scale(struct iio_dev *indio_dev, int *val, int *val2) { + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev); unsigned int idx; idx = st->conf.gyro.fs; - *val = inv_icm42600_gyro_scale[2 * idx]; - *val2 = inv_icm42600_gyro_scale[2 * idx + 1]; + *val = gyro_st->scales[2 * idx]; + *val2 = gyro_st->scales[2 * idx + 1]; return IIO_VAL_INT_PLUS_NANO; } -static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st, +static int inv_icm42600_gyro_write_scale(struct iio_dev *indio_dev, int val, int val2) { + struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); + struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev); struct device *dev = regmap_get_device(st->map); unsigned int idx; struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; int ret; - for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) { - if (val == inv_icm42600_gyro_scale[idx] && - val2 == inv_icm42600_gyro_scale[idx + 1]) + for (idx = 0; idx < gyro_st->scales_len; idx += 2) { + if (val == gyro_st->scales[idx] && + val2 == gyro_st->scales[idx + 1]) break; } - if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale)) + if (idx >= gyro_st->scales_len) return -EINVAL; conf.fs = idx / 2; @@ -321,7 +352,8 @@ static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev, int val, int val2) { struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); - struct inv_sensors_timestamp *ts = iio_priv(indio_dev); + struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &gyro_st->ts; struct device *dev = regmap_get_device(st->map); unsigned int idx; struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; @@ -576,7 +608,7 @@ static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev, *val = data; return IIO_VAL_INT; case IIO_CHAN_INFO_SCALE: - return inv_icm42600_gyro_read_scale(st, val, val2); + return inv_icm42600_gyro_read_scale(indio_dev, val, val2); case IIO_CHAN_INFO_SAMP_FREQ: return inv_icm42600_gyro_read_odr(st, val, val2); case IIO_CHAN_INFO_CALIBBIAS: @@ -591,14 +623,16 @@ static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev, const int **vals, int *type, int *length, long mask) { + struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev); + if (chan->type != IIO_ANGL_VEL) return -EINVAL; switch (mask) { case IIO_CHAN_INFO_SCALE: - *vals = inv_icm42600_gyro_scale; + *vals = gyro_st->scales; *type = IIO_VAL_INT_PLUS_NANO; - *length = ARRAY_SIZE(inv_icm42600_gyro_scale); + *length = gyro_st->scales_len; return IIO_AVAIL_LIST; case IIO_CHAN_INFO_SAMP_FREQ: *vals = inv_icm42600_gyro_odr; @@ -629,7 +663,7 @@ static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev, ret = iio_device_claim_direct_mode(indio_dev); if (ret) return ret; - ret = inv_icm42600_gyro_write_scale(st, val, val2); + ret = inv_icm42600_gyro_write_scale(indio_dev, val, val2); iio_device_release_direct_mode(indio_dev); return ret; case IIO_CHAN_INFO_SAMP_FREQ: @@ -716,8 +750,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st) { struct device *dev = regmap_get_device(st->map); const char *name; + struct inv_icm42600_sensor_state *gyro_st; struct inv_sensors_timestamp_chip ts_chip; - struct inv_sensors_timestamp *ts; struct iio_dev *indio_dev; int ret; @@ -725,9 +759,21 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st) if (!name) return ERR_PTR(-ENOMEM); - indio_dev = devm_iio_device_alloc(dev, sizeof(*ts)); + indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st)); if (!indio_dev) return ERR_PTR(-ENOMEM); + gyro_st = iio_priv(indio_dev); + + switch (st->chip) { + case INV_CHIP_ICM42686: + gyro_st->scales = inv_icm42686_gyro_scale; + gyro_st->scales_len = ARRAY_SIZE(inv_icm42686_gyro_scale); + break; + default: + gyro_st->scales = inv_icm42600_gyro_scale; + gyro_st->scales_len = ARRAY_SIZE(inv_icm42600_gyro_scale); + break; + } /* * clock period is 32kHz (31250ns) @@ -736,8 +782,7 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st) ts_chip.clock_period = 31250; ts_chip.jitter = 20; ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr); - ts = iio_priv(indio_dev); - inv_sensors_timestamp_init(ts, &ts_chip); + inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip); iio_device_set_drvdata(indio_dev, st); indio_dev->name = name; @@ -763,7 +808,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st) int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev) { struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); - struct inv_sensors_timestamp *ts = iio_priv(indio_dev); + struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &gyro_st->ts; ssize_t i, size; unsigned int no; const void *accel, *gyro, *timestamp; diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c index ebb28f84ba98..8d33504d770f 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c @@ -81,6 +81,9 @@ static const struct of_device_id inv_icm42600_of_matches[] = { }, { .compatible = "invensense,icm42605", .data = (void *)INV_CHIP_ICM42605, + }, { + .compatible = "invensense,icm42686", + .data = (void *)INV_CHIP_ICM42686, }, { .compatible = "invensense,icm42622", .data = (void *)INV_CHIP_ICM42622, diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c index 50217a10e0bb..cc2bf1799a46 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c @@ -77,6 +77,9 @@ static const struct of_device_id inv_icm42600_of_matches[] = { }, { .compatible = "invensense,icm42605", .data = (void *)INV_CHIP_ICM42605, + }, { + .compatible = "invensense,icm42686", + .data = (void *)INV_CHIP_ICM42686, }, { .compatible = "invensense,icm42622", .data = (void *)INV_CHIP_ICM42622, -- cgit v1.2.3