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796 lines
20 KiB
796 lines
20 KiB
// SPDX-License-Identifier: GPL-2.0-or-later |
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/* |
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* Copyright (C) 2020 Invensense, Inc. |
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*/ |
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|
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#include <linux/kernel.h> |
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#include <linux/device.h> |
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#include <linux/mutex.h> |
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#include <linux/pm_runtime.h> |
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#include <linux/regmap.h> |
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#include <linux/delay.h> |
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#include <linux/math64.h> |
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#include <linux/iio/iio.h> |
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#include <linux/iio/buffer.h> |
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#include <linux/iio/kfifo_buf.h> |
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|
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#include "inv_icm42600.h" |
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#include "inv_icm42600_temp.h" |
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#include "inv_icm42600_buffer.h" |
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#include "inv_icm42600_timestamp.h" |
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|
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#define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info) \ |
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{ \ |
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.type = IIO_ANGL_VEL, \ |
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.modified = 1, \ |
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.channel2 = _modifier, \ |
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.info_mask_separate = \ |
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BIT(IIO_CHAN_INFO_RAW) | \ |
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BIT(IIO_CHAN_INFO_CALIBBIAS), \ |
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.info_mask_shared_by_type = \ |
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BIT(IIO_CHAN_INFO_SCALE), \ |
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.info_mask_shared_by_type_available = \ |
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BIT(IIO_CHAN_INFO_SCALE) | \ |
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BIT(IIO_CHAN_INFO_CALIBBIAS), \ |
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.info_mask_shared_by_all = \ |
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BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
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.info_mask_shared_by_all_available = \ |
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BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
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.scan_index = _index, \ |
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.scan_type = { \ |
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.sign = 's', \ |
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.realbits = 16, \ |
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.storagebits = 16, \ |
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.endianness = IIO_BE, \ |
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}, \ |
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.ext_info = _ext_info, \ |
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} |
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enum inv_icm42600_gyro_scan { |
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INV_ICM42600_GYRO_SCAN_X, |
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INV_ICM42600_GYRO_SCAN_Y, |
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INV_ICM42600_GYRO_SCAN_Z, |
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INV_ICM42600_GYRO_SCAN_TEMP, |
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INV_ICM42600_GYRO_SCAN_TIMESTAMP, |
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}; |
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static const struct iio_chan_spec_ext_info inv_icm42600_gyro_ext_infos[] = { |
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IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix), |
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{}, |
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}; |
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static const struct iio_chan_spec inv_icm42600_gyro_channels[] = { |
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INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X, |
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inv_icm42600_gyro_ext_infos), |
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INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y, |
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inv_icm42600_gyro_ext_infos), |
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INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z, |
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inv_icm42600_gyro_ext_infos), |
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INV_ICM42600_TEMP_CHAN(INV_ICM42600_GYRO_SCAN_TEMP), |
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IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_GYRO_SCAN_TIMESTAMP), |
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}; |
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|
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/* |
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* IIO buffer data: size must be a power of 2 and timestamp aligned |
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* 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp |
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*/ |
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struct inv_icm42600_gyro_buffer { |
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struct inv_icm42600_fifo_sensor_data gyro; |
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int16_t temp; |
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int64_t timestamp __aligned(8); |
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}; |
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#define INV_ICM42600_SCAN_MASK_GYRO_3AXIS \ |
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(BIT(INV_ICM42600_GYRO_SCAN_X) | \ |
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BIT(INV_ICM42600_GYRO_SCAN_Y) | \ |
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BIT(INV_ICM42600_GYRO_SCAN_Z)) |
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#define INV_ICM42600_SCAN_MASK_TEMP BIT(INV_ICM42600_GYRO_SCAN_TEMP) |
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static const unsigned long inv_icm42600_gyro_scan_masks[] = { |
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/* 3-axis gyro + temperature */ |
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INV_ICM42600_SCAN_MASK_GYRO_3AXIS | INV_ICM42600_SCAN_MASK_TEMP, |
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0, |
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}; |
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|
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/* enable gyroscope sensor and FIFO write */ |
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static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev, |
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const unsigned long *scan_mask) |
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{ |
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); |
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struct inv_icm42600_timestamp *ts = iio_priv(indio_dev); |
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; |
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unsigned int fifo_en = 0; |
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unsigned int sleep_gyro = 0; |
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unsigned int sleep_temp = 0; |
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unsigned int sleep; |
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int ret; |
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mutex_lock(&st->lock); |
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if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) { |
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/* enable temp sensor */ |
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ret = inv_icm42600_set_temp_conf(st, true, &sleep_temp); |
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if (ret) |
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goto out_unlock; |
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fifo_en |= INV_ICM42600_SENSOR_TEMP; |
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} |
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if (*scan_mask & INV_ICM42600_SCAN_MASK_GYRO_3AXIS) { |
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/* enable gyro sensor */ |
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conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE; |
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ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_gyro); |
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if (ret) |
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goto out_unlock; |
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fifo_en |= INV_ICM42600_SENSOR_GYRO; |
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} |
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/* update data FIFO write */ |
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inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0); |
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ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en); |
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if (ret) |
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goto out_unlock; |
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ret = inv_icm42600_buffer_update_watermark(st); |
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out_unlock: |
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mutex_unlock(&st->lock); |
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/* sleep maximum required time */ |
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if (sleep_gyro > sleep_temp) |
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sleep = sleep_gyro; |
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else |
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sleep = sleep_temp; |
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if (sleep) |
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msleep(sleep); |
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return ret; |
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} |
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static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st, |
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struct iio_chan_spec const *chan, |
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int16_t *val) |
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{ |
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struct device *dev = regmap_get_device(st->map); |
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; |
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unsigned int reg; |
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__be16 *data; |
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int ret; |
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if (chan->type != IIO_ANGL_VEL) |
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return -EINVAL; |
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switch (chan->channel2) { |
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case IIO_MOD_X: |
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reg = INV_ICM42600_REG_GYRO_DATA_X; |
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break; |
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case IIO_MOD_Y: |
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reg = INV_ICM42600_REG_GYRO_DATA_Y; |
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break; |
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case IIO_MOD_Z: |
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reg = INV_ICM42600_REG_GYRO_DATA_Z; |
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break; |
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default: |
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return -EINVAL; |
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} |
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pm_runtime_get_sync(dev); |
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mutex_lock(&st->lock); |
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/* enable gyro sensor */ |
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conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE; |
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ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); |
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if (ret) |
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goto exit; |
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/* read gyro register data */ |
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data = (__be16 *)&st->buffer[0]; |
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ret = regmap_bulk_read(st->map, reg, data, sizeof(*data)); |
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if (ret) |
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goto exit; |
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*val = (int16_t)be16_to_cpup(data); |
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if (*val == INV_ICM42600_DATA_INVALID) |
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ret = -EINVAL; |
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exit: |
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mutex_unlock(&st->lock); |
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pm_runtime_mark_last_busy(dev); |
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pm_runtime_put_autosuspend(dev); |
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return ret; |
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} |
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/* IIO format int + nano */ |
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static const int inv_icm42600_gyro_scale[] = { |
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/* +/- 2000dps => 0.001065264 rad/s */ |
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[2 * INV_ICM42600_GYRO_FS_2000DPS] = 0, |
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[2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264, |
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/* +/- 1000dps => 0.000532632 rad/s */ |
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[2 * INV_ICM42600_GYRO_FS_1000DPS] = 0, |
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[2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632, |
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/* +/- 500dps => 0.000266316 rad/s */ |
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[2 * INV_ICM42600_GYRO_FS_500DPS] = 0, |
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[2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316, |
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/* +/- 250dps => 0.000133158 rad/s */ |
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[2 * INV_ICM42600_GYRO_FS_250DPS] = 0, |
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[2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158, |
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/* +/- 125dps => 0.000066579 rad/s */ |
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[2 * INV_ICM42600_GYRO_FS_125DPS] = 0, |
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[2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579, |
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/* +/- 62.5dps => 0.000033290 rad/s */ |
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[2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0, |
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[2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290, |
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/* +/- 31.25dps => 0.000016645 rad/s */ |
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[2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0, |
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[2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645, |
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/* +/- 15.625dps => 0.000008322 rad/s */ |
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[2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0, |
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[2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322, |
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}; |
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static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st, |
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int *val, int *val2) |
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{ |
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unsigned int idx; |
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idx = st->conf.gyro.fs; |
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*val = inv_icm42600_gyro_scale[2 * idx]; |
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*val2 = inv_icm42600_gyro_scale[2 * idx + 1]; |
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return IIO_VAL_INT_PLUS_NANO; |
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} |
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static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st, |
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int val, int val2) |
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{ |
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struct device *dev = regmap_get_device(st->map); |
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unsigned int idx; |
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; |
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int ret; |
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for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) { |
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if (val == inv_icm42600_gyro_scale[idx] && |
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val2 == inv_icm42600_gyro_scale[idx + 1]) |
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break; |
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} |
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if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale)) |
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return -EINVAL; |
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conf.fs = idx / 2; |
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pm_runtime_get_sync(dev); |
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mutex_lock(&st->lock); |
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ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); |
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mutex_unlock(&st->lock); |
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pm_runtime_mark_last_busy(dev); |
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pm_runtime_put_autosuspend(dev); |
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return ret; |
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} |
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/* IIO format int + micro */ |
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static const int inv_icm42600_gyro_odr[] = { |
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/* 12.5Hz */ |
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12, 500000, |
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/* 25Hz */ |
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25, 0, |
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/* 50Hz */ |
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50, 0, |
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/* 100Hz */ |
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100, 0, |
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/* 200Hz */ |
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200, 0, |
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/* 1kHz */ |
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1000, 0, |
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/* 2kHz */ |
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2000, 0, |
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/* 4kHz */ |
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4000, 0, |
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}; |
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static const int inv_icm42600_gyro_odr_conv[] = { |
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INV_ICM42600_ODR_12_5HZ, |
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INV_ICM42600_ODR_25HZ, |
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INV_ICM42600_ODR_50HZ, |
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INV_ICM42600_ODR_100HZ, |
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INV_ICM42600_ODR_200HZ, |
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INV_ICM42600_ODR_1KHZ_LN, |
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INV_ICM42600_ODR_2KHZ_LN, |
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INV_ICM42600_ODR_4KHZ_LN, |
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}; |
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static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st, |
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int *val, int *val2) |
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{ |
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unsigned int odr; |
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unsigned int i; |
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odr = st->conf.gyro.odr; |
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for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) { |
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if (inv_icm42600_gyro_odr_conv[i] == odr) |
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break; |
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} |
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if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv)) |
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return -EINVAL; |
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*val = inv_icm42600_gyro_odr[2 * i]; |
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*val2 = inv_icm42600_gyro_odr[2 * i + 1]; |
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return IIO_VAL_INT_PLUS_MICRO; |
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} |
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static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev, |
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int val, int val2) |
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{ |
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev); |
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struct inv_icm42600_timestamp *ts = iio_priv(indio_dev); |
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struct device *dev = regmap_get_device(st->map); |
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unsigned int idx; |
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT; |
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int ret; |
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for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) { |
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if (val == inv_icm42600_gyro_odr[idx] && |
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val2 == inv_icm42600_gyro_odr[idx + 1]) |
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break; |
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} |
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if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr)) |
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return -EINVAL; |
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conf.odr = inv_icm42600_gyro_odr_conv[idx / 2]; |
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pm_runtime_get_sync(dev); |
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mutex_lock(&st->lock); |
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ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr), |
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iio_buffer_enabled(indio_dev)); |
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if (ret) |
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goto out_unlock; |
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ret = inv_icm42600_set_gyro_conf(st, &conf, NULL); |
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if (ret) |
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goto out_unlock; |
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inv_icm42600_buffer_update_fifo_period(st); |
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inv_icm42600_buffer_update_watermark(st); |
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out_unlock: |
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mutex_unlock(&st->lock); |
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pm_runtime_mark_last_busy(dev); |
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pm_runtime_put_autosuspend(dev); |
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return ret; |
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} |
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/* |
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* Calibration bias values, IIO range format int + nano. |
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* Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps. |
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*/ |
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static int inv_icm42600_gyro_calibbias[] = { |
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-1, 117010721, /* min: -1.117010721 rad/s */ |
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0, 545415, /* step: 0.000545415 rad/s */ |
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1, 116465306, /* max: 1.116465306 rad/s */ |
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}; |
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static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st, |
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struct iio_chan_spec const *chan, |
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int *val, int *val2) |
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{ |
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struct device *dev = regmap_get_device(st->map); |
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int64_t val64; |
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int32_t bias; |
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unsigned int reg; |
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int16_t offset; |
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uint8_t data[2]; |
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int ret; |
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if (chan->type != IIO_ANGL_VEL) |
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return -EINVAL; |
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switch (chan->channel2) { |
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case IIO_MOD_X: |
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reg = INV_ICM42600_REG_OFFSET_USER0; |
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break; |
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case IIO_MOD_Y: |
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reg = INV_ICM42600_REG_OFFSET_USER1; |
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break; |
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case IIO_MOD_Z: |
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reg = INV_ICM42600_REG_OFFSET_USER3; |
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break; |
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default: |
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return -EINVAL; |
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} |
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pm_runtime_get_sync(dev); |
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mutex_lock(&st->lock); |
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ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data)); |
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memcpy(data, st->buffer, sizeof(data)); |
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mutex_unlock(&st->lock); |
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pm_runtime_mark_last_busy(dev); |
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pm_runtime_put_autosuspend(dev); |
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if (ret) |
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return ret; |
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|
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/* 12 bits signed value */ |
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switch (chan->channel2) { |
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case IIO_MOD_X: |
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offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11); |
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break; |
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case IIO_MOD_Y: |
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offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11); |
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break; |
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case IIO_MOD_Z: |
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offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11); |
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break; |
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default: |
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return -EINVAL; |
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} |
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|
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/* |
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* convert raw offset to dps then to rad/s |
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* 12 bits signed raw max 64 to dps: 64 / 2048 |
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* dps to rad: Pi / 180 |
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* result in nano (1000000000) |
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* (offset * 64 * Pi * 1000000000) / (2048 * 180) |
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*/ |
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val64 = (int64_t)offset * 64LL * 3141592653LL; |
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/* for rounding, add + or - divisor (2048 * 180) divided by 2 */ |
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if (val64 >= 0) |
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val64 += 2048 * 180 / 2; |
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else |
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val64 -= 2048 * 180 / 2; |
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bias = div_s64(val64, 2048 * 180); |
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*val = bias / 1000000000L; |
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*val2 = bias % 1000000000L; |
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return IIO_VAL_INT_PLUS_NANO; |
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} |
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static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st, |
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struct iio_chan_spec const *chan, |
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int val, int val2) |
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{ |
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struct device *dev = regmap_get_device(st->map); |
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int64_t val64, min, max; |
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unsigned int reg, regval; |
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int16_t offset; |
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int ret; |
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|
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if (chan->type != IIO_ANGL_VEL) |
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return -EINVAL; |
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|
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switch (chan->channel2) { |
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case IIO_MOD_X: |
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reg = INV_ICM42600_REG_OFFSET_USER0; |
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break; |
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case IIO_MOD_Y: |
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reg = INV_ICM42600_REG_OFFSET_USER1; |
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break; |
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case IIO_MOD_Z: |
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reg = INV_ICM42600_REG_OFFSET_USER3; |
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break; |
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default: |
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return -EINVAL; |
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} |
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|
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/* inv_icm42600_gyro_calibbias: min - step - max in nano */ |
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min = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL + |
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(int64_t)inv_icm42600_gyro_calibbias[1]; |
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max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL + |
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(int64_t)inv_icm42600_gyro_calibbias[5]; |
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val64 = (int64_t)val * 1000000000LL + (int64_t)val2; |
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if (val64 < min || val64 > max) |
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return -EINVAL; |
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|
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/* |
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* convert rad/s to dps then to raw value |
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* rad to dps: 180 / Pi |
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* dps to raw 12 bits signed, max 64: 2048 / 64 |
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* val in nano (1000000000) |
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* val * 180 * 2048 / (Pi * 1000000000 * 64) |
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*/ |
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val64 = val64 * 180LL * 2048LL; |
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/* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */ |
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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, |
|
®val); |
|
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, |
|
®val); |
|
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, |
|
®val); |
|
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_mark_last_busy(dev); |
|
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); |
|
int16_t 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: |
|
ret = iio_device_claim_direct_mode(indio_dev); |
|
if (ret) |
|
return ret; |
|
ret = inv_icm42600_gyro_read_sensor(st, chan, &data); |
|
iio_device_release_direct_mode(indio_dev); |
|
if (ret) |
|
return ret; |
|
*val = data; |
|
return IIO_VAL_INT; |
|
case IIO_CHAN_INFO_SCALE: |
|
return inv_icm42600_gyro_read_scale(st, 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) |
|
{ |
|
if (chan->type != IIO_ANGL_VEL) |
|
return -EINVAL; |
|
|
|
switch (mask) { |
|
case IIO_CHAN_INFO_SCALE: |
|
*vals = inv_icm42600_gyro_scale; |
|
*type = IIO_VAL_INT_PLUS_NANO; |
|
*length = ARRAY_SIZE(inv_icm42600_gyro_scale); |
|
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: |
|
ret = iio_device_claim_direct_mode(indio_dev); |
|
if (ret) |
|
return ret; |
|
ret = inv_icm42600_gyro_write_scale(st, val, val2); |
|
iio_device_release_direct_mode(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: |
|
ret = iio_device_claim_direct_mode(indio_dev); |
|
if (ret) |
|
return ret; |
|
ret = inv_icm42600_gyro_write_offset(st, chan, val, val2); |
|
iio_device_release_direct_mode(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); |
|
int ret; |
|
|
|
mutex_lock(&st->lock); |
|
|
|
st->fifo.watermark.gyro = val; |
|
ret = inv_icm42600_buffer_update_watermark(st); |
|
|
|
mutex_unlock(&st->lock); |
|
|
|
return ret; |
|
} |
|
|
|
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; |
|
|
|
mutex_lock(&st->lock); |
|
|
|
ret = inv_icm42600_buffer_hwfifo_flush(st, count); |
|
if (!ret) |
|
ret = st->fifo.nb.gyro; |
|
|
|
mutex_unlock(&st->lock); |
|
|
|
return ret; |
|
} |
|
|
|
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_timestamp *ts; |
|
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(*ts)); |
|
if (!indio_dev) |
|
return ERR_PTR(-ENOMEM); |
|
|
|
ts = iio_priv(indio_dev); |
|
inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.gyro.odr)); |
|
|
|
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_timestamp *ts = iio_priv(indio_dev); |
|
ssize_t i, size; |
|
unsigned int no; |
|
const void *accel, *gyro, *timestamp; |
|
const int8_t *temp; |
|
unsigned int odr; |
|
int64_t ts_val; |
|
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, ×tamp, &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_icm42600_timestamp_apply_odr(ts, st->fifo.period, |
|
st->fifo.nb.total, no); |
|
|
|
/* buffer is copied to userspace, zeroing it to avoid any data leak */ |
|
memset(&buffer, 0, sizeof(buffer)); |
|
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_icm42600_timestamp_pop(ts); |
|
iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val); |
|
} |
|
|
|
return 0; |
|
}
|
|
|