| Author | Tokens | Token Proportion | Commits | Commit Proportion |
|---|---|---|---|---|
| Jean-Baptiste Maneyrol | 1205 | 99.10% | 10 | 83.33% |
| Jay Greco | 6 | 0.49% | 1 | 8.33% |
| Jonathan Cameron | 5 | 0.41% | 1 | 8.33% |
| Total | 1216 | 12 |
/* 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_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. * @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. * @buffer: data transfer buffer aligned for DMA. * @fifo: FIFO management structure. * @timestamp: interrupt timestamps. */ struct inv_icm42600_state { struct mutex lock; enum inv_icm42600_chip chip; const char *name; struct regmap *map; struct regulator *vdd_supply; struct regulator *vddio_supply; 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; uint8_t buffer[2] __aligned(IIO_DMA_MINALIGN); struct inv_icm42600_fifo fifo; struct { int64_t gyro; int64_t accel; } 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 */ #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_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_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_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_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 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); uint32_t 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_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, int irq, 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); #endif
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