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-rw-r--r--drivers/iio/imu/Kconfig113
-rw-r--r--drivers/iio/imu/Makefile30
-rw-r--r--drivers/iio/imu/adis.c545
-rw-r--r--drivers/iio/imu/adis16400.c1243
-rw-r--r--drivers/iio/imu/adis16460.c431
-rw-r--r--drivers/iio/imu/adis16475.c1382
-rw-r--r--drivers/iio/imu/adis16480.c1536
-rw-r--r--drivers/iio/imu/adis_buffer.c216
-rw-r--r--drivers/iio/imu/adis_trigger.c91
-rw-r--r--drivers/iio/imu/bmi160/Kconfig33
-rw-r--r--drivers/iio/imu/bmi160/Makefile7
-rw-r--r--drivers/iio/imu/bmi160/bmi160.h31
-rw-r--r--drivers/iio/imu/bmi160/bmi160_core.c891
-rw-r--r--drivers/iio/imu/bmi160/bmi160_i2c.c71
-rw-r--r--drivers/iio/imu/bmi160/bmi160_spi.c68
-rw-r--r--drivers/iio/imu/bno055/Kconfig27
-rw-r--r--drivers/iio/imu/bno055/Makefile10
-rw-r--r--drivers/iio/imu/bno055/bno055.c1685
-rw-r--r--drivers/iio/imu/bno055/bno055.h13
-rw-r--r--drivers/iio/imu/bno055/bno055_i2c.c57
-rw-r--r--drivers/iio/imu/bno055/bno055_ser_core.c560
-rw-r--r--drivers/iio/imu/bno055/bno055_ser_trace.c14
-rw-r--r--drivers/iio/imu/bno055/bno055_ser_trace.h104
-rw-r--r--drivers/iio/imu/fxos8700.h10
-rw-r--r--drivers/iio/imu/fxos8700_core.c715
-rw-r--r--drivers/iio/imu/fxos8700_i2c.c70
-rw-r--r--drivers/iio/imu/fxos8700_spi.c58
-rw-r--r--drivers/iio/imu/inv_icm42600/Kconfig29
-rw-r--r--drivers/iio/imu/inv_icm42600/Makefile15
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600.h396
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c784
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c601
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h98
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_core.c786
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c796
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c104
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c100
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_temp.c84
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_temp.h30
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.c195
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.h85
-rw-r--r--drivers/iio/imu/inv_mpu6050/Kconfig34
-rw-r--r--drivers/iio/imu/inv_mpu6050/Makefile14
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c198
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c204
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h19
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_core.c1778
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c278
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h474
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c365
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h39
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c208
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c165
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c251
-rw-r--r--drivers/iio/imu/kmx61.c1529
-rw-r--r--drivers/iio/imu/st_lsm6dsx/Kconfig34
-rw-r--r--drivers/iio/imu/st_lsm6dsx/Makefile8
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h518
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c756
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c2380
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c154
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i3c.c57
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c919
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c154
-rw-r--r--drivers/iio/imu/st_lsm9ds0/Kconfig44
-rw-r--r--drivers/iio/imu/st_lsm9ds0/Makefile5
-rw-r--r--drivers/iio/imu/st_lsm9ds0/st_lsm9ds0.h22
-rw-r--r--drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c150
-rw-r--r--drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c80
-rw-r--r--drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c79
70 files changed, 25030 insertions, 0 deletions
diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
new file mode 100644
index 000000000..c2f97629e
--- /dev/null
+++ b/drivers/iio/imu/Kconfig
@@ -0,0 +1,113 @@
+# SPDX-License-Identifier: GPL-2.0-only
+#
+# IIO imu drivers configuration
+#
+# When adding new entries keep the list in alphabetical order
+
+menu "Inertial measurement units"
+
+config ADIS16400
+ tristate "Analog Devices ADIS16400 and similar IMU SPI driver"
+ depends on SPI
+ select IIO_ADIS_LIB
+ select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
+ help
+ Say yes here to build support for Analog Devices adis16300, adis16344,
+ adis16350, adis16354, adis16355, adis16360, adis16362, adis16364,
+ adis16365, adis16400 and adis16405 triaxial inertial sensors
+ (adis16400 series also have magnetometers).
+
+config ADIS16460
+ tristate "Analog Devices ADIS16460 and similar IMU driver"
+ depends on SPI
+ select IIO_ADIS_LIB
+ select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
+ help
+ Say yes here to build support for Analog Devices ADIS16460 inertial
+ sensor.
+
+ To compile this driver as a module, choose M here: the module will be
+ called adis16460.
+
+config ADIS16475
+ tristate "Analog Devices ADIS16475 and similar IMU driver"
+ depends on SPI
+ select IIO_ADIS_LIB
+ select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
+ help
+ Say yes here to build support for Analog Devices ADIS16470, ADIS16475,
+ ADIS16477, ADIS16465, ADIS16467, ADIS16500, ADIS16505, ADIS16507 inertial
+ sensors.
+
+ To compile this driver as a module, choose M here: the module will be
+ called adis16475.
+
+config ADIS16480
+ tristate "Analog Devices ADIS16480 and similar IMU driver"
+ depends on SPI
+ select IIO_ADIS_LIB
+ select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
+ select CRC32
+ help
+ Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
+ ADIS16485, ADIS16488 inertial sensors.
+
+source "drivers/iio/imu/bmi160/Kconfig"
+source "drivers/iio/imu/bno055/Kconfig"
+
+config FXOS8700
+ tristate
+
+config FXOS8700_I2C
+ tristate "NXP FXOS8700 I2C driver"
+ depends on I2C
+ select FXOS8700
+ select REGMAP_I2C
+ help
+ Say yes here to build support for the NXP FXOS8700 m+g combo
+ sensor on I2C.
+
+ This driver can also be built as a module. If so, the module will be
+ called fxos8700_i2c.
+
+config FXOS8700_SPI
+ tristate "NXP FXOS8700 SPI driver"
+ depends on SPI
+ select FXOS8700
+ select REGMAP_SPI
+ help
+ Say yes here to build support for the NXP FXOS8700 m+g combo
+ sensor on SPI.
+
+ This driver can also be built as a module. If so, the module will be
+ called fxos8700_spi.
+
+config KMX61
+ tristate "Kionix KMX61 6-axis accelerometer and magnetometer"
+ depends on I2C
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+ help
+ Say Y here if you want to build a driver for Kionix KMX61 6-axis
+ accelerometer and magnetometer.
+ To compile this driver as module, choose M here: the module will
+ be called kmx61.
+
+source "drivers/iio/imu/inv_icm42600/Kconfig"
+source "drivers/iio/imu/inv_mpu6050/Kconfig"
+source "drivers/iio/imu/st_lsm6dsx/Kconfig"
+source "drivers/iio/imu/st_lsm9ds0/Kconfig"
+
+endmenu
+
+config IIO_ADIS_LIB
+ tristate
+ help
+ A set of IO helper functions for the Analog Devices ADIS* device family.
+
+config IIO_ADIS_LIB_BUFFER
+ bool
+ select IIO_TRIGGERED_BUFFER
+ help
+ A set of buffer helper functions for the Analog Devices ADIS* device
+ family.
diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
new file mode 100644
index 000000000..6eb612034
--- /dev/null
+++ b/drivers/iio/imu/Makefile
@@ -0,0 +1,30 @@
+# SPDX-License-Identifier: GPL-2.0
+#
+# Makefile for Inertial Measurement Units
+#
+
+# When adding new entries keep the list in alphabetical order
+obj-$(CONFIG_ADIS16400) += adis16400.o
+obj-$(CONFIG_ADIS16460) += adis16460.o
+obj-$(CONFIG_ADIS16475) += adis16475.o
+obj-$(CONFIG_ADIS16480) += adis16480.o
+
+adis_lib-y += adis.o
+adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_trigger.o
+adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
+obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
+
+obj-y += bmi160/
+obj-y += bno055/
+
+obj-$(CONFIG_FXOS8700) += fxos8700_core.o
+obj-$(CONFIG_FXOS8700_I2C) += fxos8700_i2c.o
+obj-$(CONFIG_FXOS8700_SPI) += fxos8700_spi.o
+
+obj-y += inv_icm42600/
+obj-y += inv_mpu6050/
+
+obj-$(CONFIG_KMX61) += kmx61.o
+
+obj-y += st_lsm6dsx/
+obj-y += st_lsm9ds0/
diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c
new file mode 100644
index 000000000..bc40240b2
--- /dev/null
+++ b/drivers/iio/imu/adis.c
@@ -0,0 +1,545 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Common library for ADIS16XXX devices
+ *
+ * Copyright 2012 Analog Devices Inc.
+ * Author: Lars-Peter Clausen <lars@metafoo.de>
+ */
+
+#include <linux/delay.h>
+#include <linux/gpio/consumer.h>
+#include <linux/mutex.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/module.h>
+#include <asm/unaligned.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/imu/adis.h>
+
+#define ADIS_MSC_CTRL_DATA_RDY_EN BIT(2)
+#define ADIS_MSC_CTRL_DATA_RDY_POL_HIGH BIT(1)
+#define ADIS_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
+#define ADIS_GLOB_CMD_SW_RESET BIT(7)
+
+/**
+ * __adis_write_reg() - write N bytes to register (unlocked version)
+ * @adis: The adis device
+ * @reg: The address of the lower of the two registers
+ * @value: The value to write to device (up to 4 bytes)
+ * @size: The size of the @value (in bytes)
+ */
+int __adis_write_reg(struct adis *adis, unsigned int reg, unsigned int value,
+ unsigned int size)
+{
+ unsigned int page = reg / ADIS_PAGE_SIZE;
+ int ret, i;
+ struct spi_message msg;
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = adis->tx,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
+ .cs_change_delay.value = adis->data->cs_change_delay,
+ .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
+ }, {
+ .tx_buf = adis->tx + 2,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
+ .cs_change_delay.value = adis->data->cs_change_delay,
+ .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
+ }, {
+ .tx_buf = adis->tx + 4,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
+ .cs_change_delay.value = adis->data->cs_change_delay,
+ .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
+ }, {
+ .tx_buf = adis->tx + 6,
+ .bits_per_word = 8,
+ .len = 2,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
+ }, {
+ .tx_buf = adis->tx + 8,
+ .bits_per_word = 8,
+ .len = 2,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
+ },
+ };
+
+ spi_message_init(&msg);
+
+ if (adis->current_page != page) {
+ adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
+ adis->tx[1] = page;
+ spi_message_add_tail(&xfers[0], &msg);
+ }
+
+ switch (size) {
+ case 4:
+ adis->tx[8] = ADIS_WRITE_REG(reg + 3);
+ adis->tx[9] = (value >> 24) & 0xff;
+ adis->tx[6] = ADIS_WRITE_REG(reg + 2);
+ adis->tx[7] = (value >> 16) & 0xff;
+ fallthrough;
+ case 2:
+ adis->tx[4] = ADIS_WRITE_REG(reg + 1);
+ adis->tx[5] = (value >> 8) & 0xff;
+ fallthrough;
+ case 1:
+ adis->tx[2] = ADIS_WRITE_REG(reg);
+ adis->tx[3] = value & 0xff;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ xfers[size].cs_change = 0;
+
+ for (i = 1; i <= size; i++)
+ spi_message_add_tail(&xfers[i], &msg);
+
+ ret = spi_sync(adis->spi, &msg);
+ if (ret) {
+ dev_err(&adis->spi->dev, "Failed to write register 0x%02X: %d\n",
+ reg, ret);
+ } else {
+ adis->current_page = page;
+ }
+
+ return ret;
+}
+EXPORT_SYMBOL_NS_GPL(__adis_write_reg, IIO_ADISLIB);
+
+/**
+ * __adis_read_reg() - read N bytes from register (unlocked version)
+ * @adis: The adis device
+ * @reg: The address of the lower of the two registers
+ * @val: The value read back from the device
+ * @size: The size of the @val buffer
+ */
+int __adis_read_reg(struct adis *adis, unsigned int reg, unsigned int *val,
+ unsigned int size)
+{
+ unsigned int page = reg / ADIS_PAGE_SIZE;
+ struct spi_message msg;
+ int ret;
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = adis->tx,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
+ .cs_change_delay.value = adis->data->cs_change_delay,
+ .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
+ }, {
+ .tx_buf = adis->tx + 2,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ .delay.value = adis->data->read_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
+ .cs_change_delay.value = adis->data->cs_change_delay,
+ .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
+ }, {
+ .tx_buf = adis->tx + 4,
+ .rx_buf = adis->rx,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ .delay.value = adis->data->read_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
+ .cs_change_delay.value = adis->data->cs_change_delay,
+ .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
+ }, {
+ .rx_buf = adis->rx + 2,
+ .bits_per_word = 8,
+ .len = 2,
+ .delay.value = adis->data->read_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
+ },
+ };
+
+ spi_message_init(&msg);
+
+ if (adis->current_page != page) {
+ adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
+ adis->tx[1] = page;
+ spi_message_add_tail(&xfers[0], &msg);
+ }
+
+ switch (size) {
+ case 4:
+ adis->tx[2] = ADIS_READ_REG(reg + 2);
+ adis->tx[3] = 0;
+ spi_message_add_tail(&xfers[1], &msg);
+ fallthrough;
+ case 2:
+ adis->tx[4] = ADIS_READ_REG(reg);
+ adis->tx[5] = 0;
+ spi_message_add_tail(&xfers[2], &msg);
+ spi_message_add_tail(&xfers[3], &msg);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ ret = spi_sync(adis->spi, &msg);
+ if (ret) {
+ dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n",
+ reg, ret);
+ return ret;
+ }
+
+ adis->current_page = page;
+
+ switch (size) {
+ case 4:
+ *val = get_unaligned_be32(adis->rx);
+ break;
+ case 2:
+ *val = get_unaligned_be16(adis->rx + 2);
+ break;
+ }
+
+ return ret;
+}
+EXPORT_SYMBOL_NS_GPL(__adis_read_reg, IIO_ADISLIB);
+/**
+ * __adis_update_bits_base() - ADIS Update bits function - Unlocked version
+ * @adis: The adis device
+ * @reg: The address of the lower of the two registers
+ * @mask: Bitmask to change
+ * @val: Value to be written
+ * @size: Size of the register to update
+ *
+ * Updates the desired bits of @reg in accordance with @mask and @val.
+ */
+int __adis_update_bits_base(struct adis *adis, unsigned int reg, const u32 mask,
+ const u32 val, u8 size)
+{
+ int ret;
+ u32 __val;
+
+ ret = __adis_read_reg(adis, reg, &__val, size);
+ if (ret)
+ return ret;
+
+ __val = (__val & ~mask) | (val & mask);
+
+ return __adis_write_reg(adis, reg, __val, size);
+}
+EXPORT_SYMBOL_NS_GPL(__adis_update_bits_base, IIO_ADISLIB);
+
+#ifdef CONFIG_DEBUG_FS
+
+int adis_debugfs_reg_access(struct iio_dev *indio_dev, unsigned int reg,
+ unsigned int writeval, unsigned int *readval)
+{
+ struct adis *adis = iio_device_get_drvdata(indio_dev);
+
+ if (readval) {
+ u16 val16;
+ int ret;
+
+ ret = adis_read_reg_16(adis, reg, &val16);
+ if (ret == 0)
+ *readval = val16;
+
+ return ret;
+ }
+
+ return adis_write_reg_16(adis, reg, writeval);
+}
+EXPORT_SYMBOL_NS(adis_debugfs_reg_access, IIO_ADISLIB);
+
+#endif
+
+/**
+ * __adis_enable_irq() - Enable or disable data ready IRQ (unlocked)
+ * @adis: The adis device
+ * @enable: Whether to enable the IRQ
+ *
+ * Returns 0 on success, negative error code otherwise
+ */
+int __adis_enable_irq(struct adis *adis, bool enable)
+{
+ int ret;
+ u16 msc;
+
+ if (adis->data->enable_irq)
+ return adis->data->enable_irq(adis, enable);
+
+ if (adis->data->unmasked_drdy) {
+ if (enable)
+ enable_irq(adis->spi->irq);
+ else
+ disable_irq(adis->spi->irq);
+
+ return 0;
+ }
+
+ ret = __adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc);
+ if (ret)
+ return ret;
+
+ msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH;
+ msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2;
+ if (enable)
+ msc |= ADIS_MSC_CTRL_DATA_RDY_EN;
+ else
+ msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN;
+
+ return __adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc);
+}
+EXPORT_SYMBOL_NS(__adis_enable_irq, IIO_ADISLIB);
+
+/**
+ * __adis_check_status() - Check the device for error conditions (unlocked)
+ * @adis: The adis device
+ *
+ * Returns 0 on success, a negative error code otherwise
+ */
+int __adis_check_status(struct adis *adis)
+{
+ u16 status;
+ int ret;
+ int i;
+
+ ret = __adis_read_reg_16(adis, adis->data->diag_stat_reg, &status);
+ if (ret)
+ return ret;
+
+ status &= adis->data->status_error_mask;
+
+ if (status == 0)
+ return 0;
+
+ for (i = 0; i < 16; ++i) {
+ if (status & BIT(i)) {
+ dev_err(&adis->spi->dev, "%s.\n",
+ adis->data->status_error_msgs[i]);
+ }
+ }
+
+ return -EIO;
+}
+EXPORT_SYMBOL_NS_GPL(__adis_check_status, IIO_ADISLIB);
+
+/**
+ * __adis_reset() - Reset the device (unlocked version)
+ * @adis: The adis device
+ *
+ * Returns 0 on success, a negative error code otherwise
+ */
+int __adis_reset(struct adis *adis)
+{
+ int ret;
+ const struct adis_timeout *timeouts = adis->data->timeouts;
+
+ ret = __adis_write_reg_8(adis, adis->data->glob_cmd_reg,
+ ADIS_GLOB_CMD_SW_RESET);
+ if (ret) {
+ dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret);
+ return ret;
+ }
+
+ msleep(timeouts->sw_reset_ms);
+
+ return 0;
+}
+EXPORT_SYMBOL_NS_GPL(__adis_reset, IIO_ADIS_LIB);
+
+static int adis_self_test(struct adis *adis)
+{
+ int ret;
+ const struct adis_timeout *timeouts = adis->data->timeouts;
+
+ ret = __adis_write_reg_16(adis, adis->data->self_test_reg,
+ adis->data->self_test_mask);
+ if (ret) {
+ dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n",
+ ret);
+ return ret;
+ }
+
+ msleep(timeouts->self_test_ms);
+
+ ret = __adis_check_status(adis);
+
+ if (adis->data->self_test_no_autoclear)
+ __adis_write_reg_16(adis, adis->data->self_test_reg, 0x00);
+
+ return ret;
+}
+
+/**
+ * __adis_initial_startup() - Device initial setup
+ * @adis: The adis device
+ *
+ * The function performs a HW reset via a reset pin that should be specified
+ * via GPIOLIB. If no pin is configured a SW reset will be performed.
+ * The RST pin for the ADIS devices should be configured as ACTIVE_LOW.
+ *
+ * After the self-test operation is performed, the function will also check
+ * that the product ID is as expected. This assumes that drivers providing
+ * 'prod_id_reg' will also provide the 'prod_id'.
+ *
+ * Returns 0 if the device is operational, a negative error code otherwise.
+ *
+ * This function should be called early on in the device initialization sequence
+ * to ensure that the device is in a sane and known state and that it is usable.
+ */
+int __adis_initial_startup(struct adis *adis)
+{
+ const struct adis_timeout *timeouts = adis->data->timeouts;
+ struct gpio_desc *gpio;
+ u16 prod_id;
+ int ret;
+
+ /* check if the device has rst pin low */
+ gpio = devm_gpiod_get_optional(&adis->spi->dev, "reset", GPIOD_OUT_HIGH);
+ if (IS_ERR(gpio))
+ return PTR_ERR(gpio);
+
+ if (gpio) {
+ usleep_range(10, 12);
+ /* bring device out of reset */
+ gpiod_set_value_cansleep(gpio, 0);
+ msleep(timeouts->reset_ms);
+ } else {
+ ret = __adis_reset(adis);
+ if (ret)
+ return ret;
+ }
+
+ ret = adis_self_test(adis);
+ if (ret)
+ return ret;
+
+ /*
+ * don't bother calling this if we can't unmask the IRQ as in this case
+ * the IRQ is most likely not yet requested and we will request it
+ * with 'IRQF_NO_AUTOEN' anyways.
+ */
+ if (!adis->data->unmasked_drdy)
+ __adis_enable_irq(adis, false);
+
+ if (!adis->data->prod_id_reg)
+ return 0;
+
+ ret = adis_read_reg_16(adis, adis->data->prod_id_reg, &prod_id);
+ if (ret)
+ return ret;
+
+ if (prod_id != adis->data->prod_id)
+ dev_warn(&adis->spi->dev,
+ "Device ID(%u) and product ID(%u) do not match.\n",
+ adis->data->prod_id, prod_id);
+
+ return 0;
+}
+EXPORT_SYMBOL_NS_GPL(__adis_initial_startup, IIO_ADISLIB);
+
+/**
+ * adis_single_conversion() - Performs a single sample conversion
+ * @indio_dev: The IIO device
+ * @chan: The IIO channel
+ * @error_mask: Mask for the error bit
+ * @val: Result of the conversion
+ *
+ * Returns IIO_VAL_INT on success, a negative error code otherwise.
+ *
+ * The function performs a single conversion on a given channel and post
+ * processes the value accordingly to the channel spec. If a error_mask is given
+ * the function will check if the mask is set in the returned raw value. If it
+ * is set the function will perform a self-check. If the device does not report
+ * a error bit in the channels raw value set error_mask to 0.
+ */
+int adis_single_conversion(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ unsigned int error_mask, int *val)
+{
+ struct adis *adis = iio_device_get_drvdata(indio_dev);
+ unsigned int uval;
+ int ret;
+
+ mutex_lock(&adis->state_lock);
+
+ ret = __adis_read_reg(adis, chan->address, &uval,
+ chan->scan_type.storagebits / 8);
+ if (ret)
+ goto err_unlock;
+
+ if (uval & error_mask) {
+ ret = __adis_check_status(adis);
+ if (ret)
+ goto err_unlock;
+ }
+
+ if (chan->scan_type.sign == 's')
+ *val = sign_extend32(uval, chan->scan_type.realbits - 1);
+ else
+ *val = uval & ((1 << chan->scan_type.realbits) - 1);
+
+ ret = IIO_VAL_INT;
+err_unlock:
+ mutex_unlock(&adis->state_lock);
+ return ret;
+}
+EXPORT_SYMBOL_NS_GPL(adis_single_conversion, IIO_ADISLIB);
+
+/**
+ * adis_init() - Initialize adis device structure
+ * @adis: The adis device
+ * @indio_dev: The iio device
+ * @spi: The spi device
+ * @data: Chip specific data
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ *
+ * This function must be called, before any other adis helper function may be
+ * called.
+ */
+int adis_init(struct adis *adis, struct iio_dev *indio_dev,
+ struct spi_device *spi, const struct adis_data *data)
+{
+ if (!data || !data->timeouts) {
+ dev_err(&spi->dev, "No config data or timeouts not defined!\n");
+ return -EINVAL;
+ }
+
+ mutex_init(&adis->state_lock);
+ adis->spi = spi;
+ adis->data = data;
+ iio_device_set_drvdata(indio_dev, adis);
+
+ if (data->has_paging) {
+ /* Need to set the page before first read/write */
+ adis->current_page = -1;
+ } else {
+ /* Page will always be 0 */
+ adis->current_page = 0;
+ }
+
+ return 0;
+}
+EXPORT_SYMBOL_NS_GPL(adis_init, IIO_ADISLIB);
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
+MODULE_DESCRIPTION("Common library code for ADIS16XXX devices");
diff --git a/drivers/iio/imu/adis16400.c b/drivers/iio/imu/adis16400.c
new file mode 100644
index 000000000..17bb0c40a
--- /dev/null
+++ b/drivers/iio/imu/adis16400.c
@@ -0,0 +1,1243 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * adis16400.c support Analog Devices ADIS16400/5
+ * 3d 2g Linear Accelerometers,
+ * 3d Gyroscopes,
+ * 3d Magnetometers via SPI
+ *
+ * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
+ * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
+ * Copyright (c) 2011 Analog Devices Inc.
+ */
+
+#include <linux/irq.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/module.h>
+#include <linux/debugfs.h>
+#include <linux/bitops.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/imu/adis.h>
+
+#define ADIS16400_STARTUP_DELAY 290 /* ms */
+#define ADIS16400_MTEST_DELAY 90 /* ms */
+
+#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
+#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
+#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
+#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
+#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
+#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
+#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
+#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
+#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
+#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
+#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
+#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
+#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
+
+#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
+#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
+#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
+
+#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
+#define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
+#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
+
+#define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
+#define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
+
+/* Calibration parameters */
+#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
+#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
+#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
+#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
+#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
+#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
+#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
+#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
+#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
+#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
+#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
+#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
+
+#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
+#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
+#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
+#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
+#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
+#define ADIS16400_DIAG_STAT 0x3C /* System status */
+
+/* Alarm functions */
+#define ADIS16400_GLOB_CMD 0x3E /* System command */
+#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
+#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
+#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
+#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
+#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
+#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
+
+#define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
+#define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
+#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
+#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
+
+#define ADIS16400_ERROR_ACTIVE (1<<14)
+#define ADIS16400_NEW_DATA (1<<14)
+
+/* MSC_CTRL */
+#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
+#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
+#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
+#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
+#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
+#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
+#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
+#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
+#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
+
+/* SMPL_PRD */
+#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
+#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
+
+/* DIAG_STAT */
+#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
+#define ADIS16400_DIAG_STAT_YACCL_FAIL 14
+#define ADIS16400_DIAG_STAT_XACCL_FAIL 13
+#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
+#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
+#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
+#define ADIS16400_DIAG_STAT_ALARM2 9
+#define ADIS16400_DIAG_STAT_ALARM1 8
+#define ADIS16400_DIAG_STAT_FLASH_CHK 6
+#define ADIS16400_DIAG_STAT_SELF_TEST 5
+#define ADIS16400_DIAG_STAT_OVERFLOW 4
+#define ADIS16400_DIAG_STAT_SPI_FAIL 3
+#define ADIS16400_DIAG_STAT_FLASH_UPT 2
+#define ADIS16400_DIAG_STAT_POWER_HIGH 1
+#define ADIS16400_DIAG_STAT_POWER_LOW 0
+
+/* GLOB_CMD */
+#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
+#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
+#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
+#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
+#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
+#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
+
+/* SLP_CNT */
+#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
+
+#define ADIS16334_RATE_DIV_SHIFT 8
+#define ADIS16334_RATE_INT_CLK BIT(0)
+
+#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
+#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
+#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
+
+#define ADIS16400_HAS_PROD_ID BIT(0)
+#define ADIS16400_NO_BURST BIT(1)
+#define ADIS16400_HAS_SLOW_MODE BIT(2)
+#define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
+#define ADIS16400_BURST_DIAG_STAT BIT(4)
+
+struct adis16400_state;
+
+struct adis16400_chip_info {
+ const struct iio_chan_spec *channels;
+ const struct adis_data adis_data;
+ const int num_channels;
+ const long flags;
+ unsigned int gyro_scale_micro;
+ unsigned int accel_scale_micro;
+ int temp_scale_nano;
+ int temp_offset;
+ /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
+ int (*set_freq)(struct adis16400_state *st, unsigned int freq);
+ int (*get_freq)(struct adis16400_state *st);
+};
+
+/**
+ * struct adis16400_state - device instance specific data
+ * @variant: chip variant info
+ * @filt_int: integer part of requested filter frequency
+ * @adis: adis device
+ * @avail_scan_mask: NULL terminated array of bitmaps of channels
+ * that must be enabled together
+ **/
+struct adis16400_state {
+ struct adis16400_chip_info *variant;
+ int filt_int;
+
+ struct adis adis;
+ unsigned long avail_scan_mask[2];
+};
+
+/* At the moment triggers are only used for ring buffer
+ * filling. This may change!
+ */
+
+enum {
+ ADIS16400_SCAN_SUPPLY,
+ ADIS16400_SCAN_GYRO_X,
+ ADIS16400_SCAN_GYRO_Y,
+ ADIS16400_SCAN_GYRO_Z,
+ ADIS16400_SCAN_ACC_X,
+ ADIS16400_SCAN_ACC_Y,
+ ADIS16400_SCAN_ACC_Z,
+ ADIS16400_SCAN_MAGN_X,
+ ADIS16400_SCAN_MAGN_Y,
+ ADIS16400_SCAN_MAGN_Z,
+ ADIS16400_SCAN_BARO,
+ ADIS16350_SCAN_TEMP_X,
+ ADIS16350_SCAN_TEMP_Y,
+ ADIS16350_SCAN_TEMP_Z,
+ ADIS16300_SCAN_INCLI_X,
+ ADIS16300_SCAN_INCLI_Y,
+ ADIS16400_SCAN_ADC,
+ ADIS16400_SCAN_TIMESTAMP,
+};
+
+#ifdef CONFIG_DEBUG_FS
+
+static ssize_t adis16400_show_serial_number(struct file *file,
+ char __user *userbuf, size_t count, loff_t *ppos)
+{
+ struct adis16400_state *st = file->private_data;
+ u16 lot1, lot2, serial_number;
+ char buf[16];
+ size_t len;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
+ if (ret)
+ return ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
+ if (ret)
+ return ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
+ &serial_number);
+ if (ret)
+ return ret;
+
+ len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
+ serial_number);
+
+ return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
+
+static const struct file_operations adis16400_serial_number_fops = {
+ .open = simple_open,
+ .read = adis16400_show_serial_number,
+ .llseek = default_llseek,
+ .owner = THIS_MODULE,
+};
+
+static int adis16400_show_product_id(void *arg, u64 *val)
+{
+ struct adis16400_state *st = arg;
+ uint16_t prod_id;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
+ if (ret)
+ return ret;
+
+ *val = prod_id;
+
+ return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
+ adis16400_show_product_id, NULL, "%lld\n");
+
+static int adis16400_show_flash_count(void *arg, u64 *val)
+{
+ struct adis16400_state *st = arg;
+ uint16_t flash_count;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
+ if (ret)
+ return ret;
+
+ *val = flash_count;
+
+ return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
+ adis16400_show_flash_count, NULL, "%lld\n");
+
+static int adis16400_debugfs_init(struct iio_dev *indio_dev)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ struct dentry *d = iio_get_debugfs_dentry(indio_dev);
+
+ if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
+ debugfs_create_file_unsafe("serial_number", 0400,
+ d, st, &adis16400_serial_number_fops);
+ if (st->variant->flags & ADIS16400_HAS_PROD_ID)
+ debugfs_create_file_unsafe("product_id", 0400,
+ d, st, &adis16400_product_id_fops);
+ debugfs_create_file_unsafe("flash_count", 0400,
+ d, st, &adis16400_flash_count_fops);
+
+ return 0;
+}
+
+#else
+
+static int adis16400_debugfs_init(struct iio_dev *indio_dev)
+{
+ return 0;
+}
+
+#endif
+
+enum adis16400_chip_variant {
+ ADIS16300,
+ ADIS16334,
+ ADIS16350,
+ ADIS16360,
+ ADIS16362,
+ ADIS16364,
+ ADIS16367,
+ ADIS16400,
+ ADIS16445,
+ ADIS16448,
+};
+
+static int adis16334_get_freq(struct adis16400_state *st)
+{
+ int ret;
+ uint16_t t;
+
+ ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+ if (ret)
+ return ret;
+
+ t >>= ADIS16334_RATE_DIV_SHIFT;
+
+ return 819200 >> t;
+}
+
+static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
+{
+ unsigned int t;
+
+ if (freq < 819200)
+ t = ilog2(819200 / freq);
+ else
+ t = 0;
+
+ if (t > 0x31)
+ t = 0x31;
+
+ t <<= ADIS16334_RATE_DIV_SHIFT;
+ t |= ADIS16334_RATE_INT_CLK;
+
+ return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
+}
+
+static int adis16400_get_freq(struct adis16400_state *st)
+{
+ int sps, ret;
+ uint16_t t;
+
+ ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+ if (ret)
+ return ret;
+
+ sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
+ sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
+
+ return sps;
+}
+
+static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
+{
+ unsigned int t;
+ uint8_t val = 0;
+
+ t = 1638404 / freq;
+ if (t >= 128) {
+ val |= ADIS16400_SMPL_PRD_TIME_BASE;
+ t = 52851 / freq;
+ if (t >= 128)
+ t = 127;
+ } else if (t != 0) {
+ t--;
+ }
+
+ val |= t;
+
+ if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
+ else
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+
+ return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
+}
+
+static const unsigned int adis16400_3db_divisors[] = {
+ [0] = 2, /* Special case */
+ [1] = 6,
+ [2] = 12,
+ [3] = 25,
+ [4] = 50,
+ [5] = 100,
+ [6] = 200,
+ [7] = 200, /* Not a valid setting */
+};
+
+static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ uint16_t val16;
+ int i, ret;
+
+ for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
+ if (sps / adis16400_3db_divisors[i] >= val)
+ break;
+ }
+
+ ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
+ if (ret)
+ return ret;
+
+ ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
+ (val16 & ~0x07) | i);
+ return ret;
+}
+
+/* Power down the device */
+static int adis16400_stop_device(struct iio_dev *indio_dev)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ int ret;
+
+ ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
+ ADIS16400_SLP_CNT_POWER_OFF);
+ if (ret)
+ dev_err(&indio_dev->dev,
+ "problem with turning device off: SLP_CNT");
+
+ return ret;
+}
+
+static int adis16400_initial_setup(struct iio_dev *indio_dev)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ uint16_t prod_id, smp_prd;
+ unsigned int device_id;
+ int ret;
+
+ /* use low spi speed for init if the device has a slow mode */
+ if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
+ else
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+ st->adis.spi->mode = SPI_MODE_3;
+ spi_setup(st->adis.spi);
+
+ ret = adis_initial_startup(&st->adis);
+ if (ret)
+ return ret;
+
+ if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
+ ret = adis_read_reg_16(&st->adis,
+ ADIS16400_PRODUCT_ID, &prod_id);
+ if (ret)
+ goto err_ret;
+
+ if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
+ ret = -EINVAL;
+ goto err_ret;
+ }
+
+ if (prod_id != device_id)
+ dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
+ device_id, prod_id);
+
+ dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
+ indio_dev->name, prod_id,
+ st->adis.spi->chip_select, st->adis.spi->irq);
+ }
+ /* use high spi speed if possible */
+ if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
+ if (ret)
+ goto err_ret;
+
+ if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+ spi_setup(st->adis.spi);
+ }
+ }
+
+err_ret:
+ return ret;
+}
+
+static const uint8_t adis16400_addresses[] = {
+ [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
+ [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
+ [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
+ [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
+ [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
+ [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
+};
+
+static int adis16400_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int val, int val2, long info)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ int ret, sps;
+
+ switch (info) {
+ case IIO_CHAN_INFO_CALIBBIAS:
+ ret = adis_write_reg_16(&st->adis,
+ adis16400_addresses[chan->scan_index], val);
+ return ret;
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ /*
+ * Need to cache values so we can update if the frequency
+ * changes.
+ */
+ adis_dev_lock(&st->adis);
+ st->filt_int = val;
+ /* Work out update to current value */
+ sps = st->variant->get_freq(st);
+ if (sps < 0) {
+ adis_dev_unlock(&st->adis);
+ return sps;
+ }
+
+ ret = __adis16400_set_filter(indio_dev, sps,
+ val * 1000 + val2 / 1000);
+ adis_dev_unlock(&st->adis);
+ return ret;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ sps = val * 1000 + val2 / 1000;
+
+ if (sps <= 0)
+ return -EINVAL;
+
+ adis_dev_lock(&st->adis);
+ ret = st->variant->set_freq(st, sps);
+ adis_dev_unlock(&st->adis);
+ return ret;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int adis16400_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int *val, int *val2, long info)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ int16_t val16;
+ int ret;
+
+ switch (info) {
+ case IIO_CHAN_INFO_RAW:
+ return adis_single_conversion(indio_dev, chan, 0, val);
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = 0;
+ *val2 = st->variant->gyro_scale_micro;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_VOLTAGE:
+ *val = 0;
+ if (chan->channel == 0) {
+ *val = 2;
+ *val2 = 418000; /* 2.418 mV */
+ } else {
+ *val = 0;
+ *val2 = 805800; /* 805.8 uV */
+ }
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_ACCEL:
+ *val = 0;
+ *val2 = st->variant->accel_scale_micro;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_MAGN:
+ *val = 0;
+ *val2 = 500; /* 0.5 mgauss */
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_TEMP:
+ *val = st->variant->temp_scale_nano / 1000000;
+ *val2 = (st->variant->temp_scale_nano % 1000000);
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_PRESSURE:
+ /* 20 uBar = 0.002kPascal */
+ *val = 0;
+ *val2 = 2000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_CALIBBIAS:
+ ret = adis_read_reg_16(&st->adis,
+ adis16400_addresses[chan->scan_index], &val16);
+ if (ret)
+ return ret;
+ val16 = sign_extend32(val16, 11);
+ *val = val16;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_OFFSET:
+ /* currently only temperature */
+ *val = st->variant->temp_offset;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ adis_dev_lock(&st->adis);
+ /* Need both the number of taps and the sampling frequency */
+ ret = __adis_read_reg_16(&st->adis,
+ ADIS16400_SENS_AVG,
+ &val16);
+ if (ret) {
+ adis_dev_unlock(&st->adis);
+ return ret;
+ }
+ ret = st->variant->get_freq(st);
+ adis_dev_unlock(&st->adis);
+ if (ret)
+ return ret;
+ ret /= adis16400_3db_divisors[val16 & 0x07];
+ *val = ret / 1000;
+ *val2 = (ret % 1000) * 1000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ adis_dev_lock(&st->adis);
+ ret = st->variant->get_freq(st);
+ adis_dev_unlock(&st->adis);
+ if (ret)
+ return ret;
+ *val = ret / 1000;
+ *val2 = (ret % 1000) * 1000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+}
+
+#if IS_ENABLED(CONFIG_IIO_BUFFER)
+static irqreturn_t adis16400_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct adis16400_state *st = iio_priv(indio_dev);
+ struct adis *adis = &st->adis;
+ void *buffer;
+ int ret;
+
+ ret = spi_sync(adis->spi, &adis->msg);
+ if (ret)
+ dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
+
+ if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) {
+ buffer = adis->buffer + sizeof(u16);
+ /*
+ * The size here is always larger than, or equal to the true
+ * size of the channel data. This may result in a larger copy
+ * than necessary, but as the target buffer will be
+ * buffer->scan_bytes this will be safe.
+ */
+ iio_push_to_buffers_with_ts_unaligned(indio_dev, buffer,
+ indio_dev->scan_bytes - sizeof(pf->timestamp),
+ pf->timestamp);
+ } else {
+ iio_push_to_buffers_with_timestamp(indio_dev,
+ adis->buffer,
+ pf->timestamp);
+ }
+
+
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+#else
+#define adis16400_trigger_handler NULL
+#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
+
+#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
+ .type = IIO_VOLTAGE, \
+ .indexed = 1, \
+ .channel = chn, \
+ .extend_name = name, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = (si), \
+ .scan_type = { \
+ .sign = 'u', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_SUPPLY_CHAN(addr, bits) \
+ ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
+
+#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
+ ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
+
+#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
+ .type = IIO_ANGL_VEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = addr, \
+ .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
+ .type = IIO_ACCEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
+ .type = IIO_MAGN, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_MOD_TEMP_NAME_X "x"
+#define ADIS16400_MOD_TEMP_NAME_Y "y"
+#define ADIS16400_MOD_TEMP_NAME_Z "z"
+
+#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
+ .type = IIO_TEMP, \
+ .indexed = 1, \
+ .channel = 0, \
+ .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_OFFSET) | \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_type = \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_TEMP_CHAN(addr, bits) { \
+ .type = IIO_TEMP, \
+ .indexed = 1, \
+ .channel = 0, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_OFFSET) | \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = ADIS16350_SCAN_TEMP_X, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
+ .type = IIO_INCLI, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+static const struct iio_chan_spec adis16400_channels[] = {
+ ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+ ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
+ ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
+ ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
+ ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
+ ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16445_channels[] = {
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
+ ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
+ ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
+ ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16448_channels[] = {
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
+ ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
+ ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
+ ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
+ ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
+ ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
+ {
+ .type = IIO_PRESSURE,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
+ .address = ADIS16448_BARO_OUT,
+ .scan_index = ADIS16400_SCAN_BARO,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_BE,
+ },
+ },
+ ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16350_channels[] = {
+ ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+ ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
+ ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
+ ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
+ ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
+ ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
+ ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
+ ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16300_channels[] = {
+ ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+ ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
+ ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
+ ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
+ ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16334_channels[] = {
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+ ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const char * const adis16400_status_error_msgs[] = {
+ [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
+ [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
+ [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
+ [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
+ [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
+ [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
+ [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
+ [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
+ [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
+};
+
+#define ADIS16400_DATA(_timeouts, _burst_len) \
+{ \
+ .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
+ .glob_cmd_reg = ADIS16400_GLOB_CMD, \
+ .diag_stat_reg = ADIS16400_DIAG_STAT, \
+ .read_delay = 50, \
+ .write_delay = 50, \
+ .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
+ .self_test_reg = ADIS16400_MSC_CTRL, \
+ .status_error_msgs = adis16400_status_error_msgs, \
+ .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_ALARM2) | \
+ BIT(ADIS16400_DIAG_STAT_ALARM1) | \
+ BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
+ BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
+ BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
+ BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
+ BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
+ BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
+ .timeouts = (_timeouts), \
+ .burst_reg_cmd = ADIS16400_GLOB_CMD, \
+ .burst_len = (_burst_len), \
+ .burst_max_speed_hz = ADIS16400_SPI_BURST \
+}
+
+static const struct adis_timeout adis16300_timeouts = {
+ .reset_ms = ADIS16400_STARTUP_DELAY,
+ .sw_reset_ms = ADIS16400_STARTUP_DELAY,
+ .self_test_ms = ADIS16400_STARTUP_DELAY,
+};
+
+static const struct adis_timeout adis16334_timeouts = {
+ .reset_ms = 60,
+ .sw_reset_ms = 60,
+ .self_test_ms = 14,
+};
+
+static const struct adis_timeout adis16362_timeouts = {
+ .reset_ms = 130,
+ .sw_reset_ms = 130,
+ .self_test_ms = 12,
+};
+
+static const struct adis_timeout adis16400_timeouts = {
+ .reset_ms = 170,
+ .sw_reset_ms = 170,
+ .self_test_ms = 12,
+};
+
+static const struct adis_timeout adis16445_timeouts = {
+ .reset_ms = 55,
+ .sw_reset_ms = 55,
+ .self_test_ms = 16,
+};
+
+static const struct adis_timeout adis16448_timeouts = {
+ .reset_ms = 90,
+ .sw_reset_ms = 90,
+ .self_test_ms = 45,
+};
+
+static struct adis16400_chip_info adis16400_chips[] = {
+ [ADIS16300] = {
+ .channels = adis16300_channels,
+ .num_channels = ARRAY_SIZE(adis16300_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = 5884,
+ .temp_scale_nano = 140000000, /* 0.14 C */
+ .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
+ },
+ [ADIS16334] = {
+ .channels = adis16334_channels,
+ .num_channels = ARRAY_SIZE(adis16334_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
+ .temp_scale_nano = 67850000, /* 0.06785 C */
+ .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
+ .set_freq = adis16334_set_freq,
+ .get_freq = adis16334_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
+ },
+ [ADIS16350] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
+ .temp_scale_nano = 145300000, /* 0.1453 C */
+ .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
+ .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
+ },
+ [ADIS16360] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+ .temp_scale_nano = 136000000, /* 0.136 C */
+ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
+ },
+ [ADIS16362] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
+ .temp_scale_nano = 136000000, /* 0.136 C */
+ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
+ },
+ [ADIS16364] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
+ .temp_scale_nano = 136000000, /* 0.136 C */
+ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
+ },
+ [ADIS16367] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+ .temp_scale_nano = 136000000, /* 0.136 C */
+ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
+ },
+ [ADIS16400] = {
+ .channels = adis16400_channels,
+ .num_channels = ARRAY_SIZE(adis16400_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+ .temp_scale_nano = 140000000, /* 0.14 C */
+ .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
+ },
+ [ADIS16445] = {
+ .channels = adis16445_channels,
+ .num_channels = ARRAY_SIZE(adis16445_channels),
+ .flags = ADIS16400_HAS_PROD_ID |
+ ADIS16400_HAS_SERIAL_NUMBER |
+ ADIS16400_BURST_DIAG_STAT,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
+ .temp_scale_nano = 73860000, /* 0.07386 C */
+ .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
+ .set_freq = adis16334_set_freq,
+ .get_freq = adis16334_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
+ },
+ [ADIS16448] = {
+ .channels = adis16448_channels,
+ .num_channels = ARRAY_SIZE(adis16448_channels),
+ .flags = ADIS16400_HAS_PROD_ID |
+ ADIS16400_HAS_SERIAL_NUMBER |
+ ADIS16400_BURST_DIAG_STAT,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
+ .temp_scale_nano = 73860000, /* 0.07386 C */
+ .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
+ .set_freq = adis16334_set_freq,
+ .get_freq = adis16334_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
+ }
+};
+
+static const struct iio_info adis16400_info = {
+ .read_raw = &adis16400_read_raw,
+ .write_raw = &adis16400_write_raw,
+ .update_scan_mode = adis_update_scan_mode,
+ .debugfs_reg_access = adis_debugfs_reg_access,
+};
+
+static void adis16400_setup_chan_mask(struct adis16400_state *st)
+{
+ const struct adis16400_chip_info *chip_info = st->variant;
+ unsigned int i;
+
+ for (i = 0; i < chip_info->num_channels; i++) {
+ const struct iio_chan_spec *ch = &chip_info->channels[i];
+
+ if (ch->scan_index >= 0 &&
+ ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
+ st->avail_scan_mask[0] |= BIT(ch->scan_index);
+ }
+}
+
+static void adis16400_stop(void *data)
+{
+ adis16400_stop_device(data);
+}
+
+static int adis16400_probe(struct spi_device *spi)
+{
+ struct adis16400_state *st;
+ struct iio_dev *indio_dev;
+ int ret;
+ const struct adis_data *adis16400_data;
+
+ indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
+ if (indio_dev == NULL)
+ return -ENOMEM;
+
+ st = iio_priv(indio_dev);
+
+ /* setup the industrialio driver allocated elements */
+ st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
+ indio_dev->name = spi_get_device_id(spi)->name;
+ indio_dev->channels = st->variant->channels;
+ indio_dev->num_channels = st->variant->num_channels;
+ indio_dev->info = &adis16400_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ if (!(st->variant->flags & ADIS16400_NO_BURST)) {
+ adis16400_setup_chan_mask(st);
+ indio_dev->available_scan_masks = st->avail_scan_mask;
+ }
+
+ adis16400_data = &st->variant->adis_data;
+
+ ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
+ if (ret)
+ return ret;
+
+ ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
+ if (ret)
+ return ret;
+
+ /* Get the device into a sane initial state */
+ ret = adis16400_initial_setup(indio_dev);
+ if (ret)
+ return ret;
+
+ ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
+ if (ret)
+ return ret;
+
+ ret = devm_iio_device_register(&spi->dev, indio_dev);
+ if (ret)
+ return ret;
+
+ adis16400_debugfs_init(indio_dev);
+ return 0;
+}
+
+static const struct spi_device_id adis16400_id[] = {
+ {"adis16300", ADIS16300},
+ {"adis16305", ADIS16300},
+ {"adis16334", ADIS16334},
+ {"adis16350", ADIS16350},
+ {"adis16354", ADIS16350},
+ {"adis16355", ADIS16350},
+ {"adis16360", ADIS16360},
+ {"adis16362", ADIS16362},
+ {"adis16364", ADIS16364},
+ {"adis16365", ADIS16360},
+ {"adis16367", ADIS16367},
+ {"adis16400", ADIS16400},
+ {"adis16405", ADIS16400},
+ {"adis16445", ADIS16445},
+ {"adis16448", ADIS16448},
+ {}
+};
+MODULE_DEVICE_TABLE(spi, adis16400_id);
+
+static struct spi_driver adis16400_driver = {
+ .driver = {
+ .name = "adis16400",
+ },
+ .id_table = adis16400_id,
+ .probe = adis16400_probe,
+};
+module_spi_driver(adis16400_driver);
+
+MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
+MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
+MODULE_LICENSE("GPL v2");
+MODULE_IMPORT_NS(IIO_ADISLIB);
diff --git a/drivers/iio/imu/adis16460.c b/drivers/iio/imu/adis16460.c
new file mode 100644
index 000000000..69facd72b
--- /dev/null
+++ b/drivers/iio/imu/adis16460.c
@@ -0,0 +1,431 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * ADIS16460 IMU driver
+ *
+ * Copyright 2019 Analog Devices Inc.
+ */
+
+#include <linux/module.h>
+#include <linux/spi/spi.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/imu/adis.h>
+
+#include <linux/debugfs.h>
+
+#define ADIS16460_REG_FLASH_CNT 0x00
+#define ADIS16460_REG_DIAG_STAT 0x02
+#define ADIS16460_REG_X_GYRO_LOW 0x04
+#define ADIS16460_REG_X_GYRO_OUT 0x06
+#define ADIS16460_REG_Y_GYRO_LOW 0x08
+#define ADIS16460_REG_Y_GYRO_OUT 0x0A
+#define ADIS16460_REG_Z_GYRO_LOW 0x0C
+#define ADIS16460_REG_Z_GYRO_OUT 0x0E
+#define ADIS16460_REG_X_ACCL_LOW 0x10
+#define ADIS16460_REG_X_ACCL_OUT 0x12
+#define ADIS16460_REG_Y_ACCL_LOW 0x14
+#define ADIS16460_REG_Y_ACCL_OUT 0x16
+#define ADIS16460_REG_Z_ACCL_LOW 0x18
+#define ADIS16460_REG_Z_ACCL_OUT 0x1A
+#define ADIS16460_REG_SMPL_CNTR 0x1C
+#define ADIS16460_REG_TEMP_OUT 0x1E
+#define ADIS16460_REG_X_DELT_ANG 0x24
+#define ADIS16460_REG_Y_DELT_ANG 0x26
+#define ADIS16460_REG_Z_DELT_ANG 0x28
+#define ADIS16460_REG_X_DELT_VEL 0x2A
+#define ADIS16460_REG_Y_DELT_VEL 0x2C
+#define ADIS16460_REG_Z_DELT_VEL 0x2E
+#define ADIS16460_REG_MSC_CTRL 0x32
+#define ADIS16460_REG_SYNC_SCAL 0x34
+#define ADIS16460_REG_DEC_RATE 0x36
+#define ADIS16460_REG_FLTR_CTRL 0x38
+#define ADIS16460_REG_GLOB_CMD 0x3E
+#define ADIS16460_REG_X_GYRO_OFF 0x40
+#define ADIS16460_REG_Y_GYRO_OFF 0x42
+#define ADIS16460_REG_Z_GYRO_OFF 0x44
+#define ADIS16460_REG_X_ACCL_OFF 0x46
+#define ADIS16460_REG_Y_ACCL_OFF 0x48
+#define ADIS16460_REG_Z_ACCL_OFF 0x4A
+#define ADIS16460_REG_LOT_ID1 0x52
+#define ADIS16460_REG_LOT_ID2 0x54
+#define ADIS16460_REG_PROD_ID 0x56
+#define ADIS16460_REG_SERIAL_NUM 0x58
+#define ADIS16460_REG_CAL_SGNTR 0x60
+#define ADIS16460_REG_CAL_CRC 0x62
+#define ADIS16460_REG_CODE_SGNTR 0x64
+#define ADIS16460_REG_CODE_CRC 0x66
+
+struct adis16460_chip_info {
+ unsigned int num_channels;
+ const struct iio_chan_spec *channels;
+ unsigned int gyro_max_val;
+ unsigned int gyro_max_scale;
+ unsigned int accel_max_val;
+ unsigned int accel_max_scale;
+};
+
+struct adis16460 {
+ const struct adis16460_chip_info *chip_info;
+ struct adis adis;
+};
+
+#ifdef CONFIG_DEBUG_FS
+
+static int adis16460_show_serial_number(void *arg, u64 *val)
+{
+ struct adis16460 *adis16460 = arg;
+ u16 serial;
+ int ret;
+
+ ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
+ &serial);
+ if (ret)
+ return ret;
+
+ *val = serial;
+
+ return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops,
+ adis16460_show_serial_number, NULL, "0x%.4llx\n");
+
+static int adis16460_show_product_id(void *arg, u64 *val)
+{
+ struct adis16460 *adis16460 = arg;
+ u16 prod_id;
+ int ret;
+
+ ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
+ &prod_id);
+ if (ret)
+ return ret;
+
+ *val = prod_id;
+
+ return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops,
+ adis16460_show_product_id, NULL, "%llu\n");
+
+static int adis16460_show_flash_count(void *arg, u64 *val)
+{
+ struct adis16460 *adis16460 = arg;
+ u32 flash_count;
+ int ret;
+
+ ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
+ &flash_count);
+ if (ret)
+ return ret;
+
+ *val = flash_count;
+
+ return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops,
+ adis16460_show_flash_count, NULL, "%lld\n");
+
+static int adis16460_debugfs_init(struct iio_dev *indio_dev)
+{
+ struct adis16460 *adis16460 = iio_priv(indio_dev);
+ struct dentry *d = iio_get_debugfs_dentry(indio_dev);
+
+ debugfs_create_file_unsafe("serial_number", 0400,
+ d, adis16460, &adis16460_serial_number_fops);
+ debugfs_create_file_unsafe("product_id", 0400,
+ d, adis16460, &adis16460_product_id_fops);
+ debugfs_create_file_unsafe("flash_count", 0400,
+ d, adis16460, &adis16460_flash_count_fops);
+
+ return 0;
+}
+
+#else
+
+static int adis16460_debugfs_init(struct iio_dev *indio_dev)
+{
+ return 0;
+}
+
+#endif
+
+static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
+{
+ struct adis16460 *st = iio_priv(indio_dev);
+ int t;
+
+ t = val * 1000 + val2 / 1000;
+ if (t <= 0)
+ return -EINVAL;
+
+ t = 2048000 / t;
+ if (t > 2048)
+ t = 2048;
+
+ if (t != 0)
+ t--;
+
+ return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
+}
+
+static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
+{
+ struct adis16460 *st = iio_priv(indio_dev);
+ uint16_t t;
+ int ret;
+ unsigned int freq;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
+ if (ret)
+ return ret;
+
+ freq = 2048000 / (t + 1);
+ *val = freq / 1000;
+ *val2 = (freq % 1000) * 1000;
+
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int adis16460_read_raw(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan, int *val, int *val2, long info)
+{
+ struct adis16460 *st = iio_priv(indio_dev);
+
+ switch (info) {
+ case IIO_CHAN_INFO_RAW:
+ return adis_single_conversion(indio_dev, chan, 0, val);
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = st->chip_info->gyro_max_scale;
+ *val2 = st->chip_info->gyro_max_val;
+ return IIO_VAL_FRACTIONAL;
+ case IIO_ACCEL:
+ *val = st->chip_info->accel_max_scale;
+ *val2 = st->chip_info->accel_max_val;
+ return IIO_VAL_FRACTIONAL;
+ case IIO_TEMP:
+ *val = 50; /* 50 milli degrees Celsius/LSB */
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_OFFSET:
+ *val = 500; /* 25 degrees Celsius = 0x0000 */
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return adis16460_get_freq(indio_dev, val, val2);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int adis16460_write_raw(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan, int val, int val2, long info)
+{
+ switch (info) {
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return adis16460_set_freq(indio_dev, val, val2);
+ default:
+ return -EINVAL;
+ }
+}
+
+enum {
+ ADIS16460_SCAN_GYRO_X,
+ ADIS16460_SCAN_GYRO_Y,
+ ADIS16460_SCAN_GYRO_Z,
+ ADIS16460_SCAN_ACCEL_X,
+ ADIS16460_SCAN_ACCEL_Y,
+ ADIS16460_SCAN_ACCEL_Z,
+ ADIS16460_SCAN_TEMP,
+};
+
+#define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
+ { \
+ .type = (_type), \
+ .modified = 1, \
+ .channel2 = (_mod), \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (_address), \
+ .scan_index = (_si), \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (_bits), \
+ .storagebits = (_bits), \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
+#define ADIS16460_GYRO_CHANNEL(_mod) \
+ ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
+ ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
+ 32)
+
+#define ADIS16460_ACCEL_CHANNEL(_mod) \
+ ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
+ ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
+ 32)
+
+#define ADIS16460_TEMP_CHANNEL() { \
+ .type = IIO_TEMP, \
+ .indexed = 1, \
+ .channel = 0, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_OFFSET), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = ADIS16460_REG_TEMP_OUT, \
+ .scan_index = ADIS16460_SCAN_TEMP, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
+static const struct iio_chan_spec adis16460_channels[] = {
+ ADIS16460_GYRO_CHANNEL(X),
+ ADIS16460_GYRO_CHANNEL(Y),
+ ADIS16460_GYRO_CHANNEL(Z),
+ ADIS16460_ACCEL_CHANNEL(X),
+ ADIS16460_ACCEL_CHANNEL(Y),
+ ADIS16460_ACCEL_CHANNEL(Z),
+ ADIS16460_TEMP_CHANNEL(),
+ IIO_CHAN_SOFT_TIMESTAMP(7)
+};
+
+static const struct adis16460_chip_info adis16460_chip_info = {
+ .channels = adis16460_channels,
+ .num_channels = ARRAY_SIZE(adis16460_channels),
+ /*
+ * storing the value in rad/degree and the scale in degree
+ * gives us the result in rad and better precession than
+ * storing the scale directly in rad.
+ */
+ .gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
+ .gyro_max_scale = 1,
+ .accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
+ .accel_max_scale = 5,
+};
+
+static const struct iio_info adis16460_info = {
+ .read_raw = &adis16460_read_raw,
+ .write_raw = &adis16460_write_raw,
+ .update_scan_mode = adis_update_scan_mode,
+ .debugfs_reg_access = adis_debugfs_reg_access,
+};
+
+#define ADIS16460_DIAG_STAT_IN_CLK_OOS 7
+#define ADIS16460_DIAG_STAT_FLASH_MEM 6
+#define ADIS16460_DIAG_STAT_SELF_TEST 5
+#define ADIS16460_DIAG_STAT_OVERRANGE 4
+#define ADIS16460_DIAG_STAT_SPI_COMM 3
+#define ADIS16460_DIAG_STAT_FLASH_UPT 2
+
+static const char * const adis16460_status_error_msgs[] = {
+ [ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync",
+ [ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure",
+ [ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure",
+ [ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange",
+ [ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure",
+ [ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
+};
+
+static const struct adis_timeout adis16460_timeouts = {
+ .reset_ms = 225,
+ .sw_reset_ms = 225,
+ .self_test_ms = 10,
+};
+
+static const struct adis_data adis16460_data = {
+ .diag_stat_reg = ADIS16460_REG_DIAG_STAT,
+ .glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
+ .prod_id_reg = ADIS16460_REG_PROD_ID,
+ .prod_id = 16460,
+ .self_test_mask = BIT(2),
+ .self_test_reg = ADIS16460_REG_GLOB_CMD,
+ .has_paging = false,
+ .read_delay = 5,
+ .write_delay = 5,
+ .cs_change_delay = 16,
+ .status_error_msgs = adis16460_status_error_msgs,
+ .status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) |
+ BIT(ADIS16460_DIAG_STAT_FLASH_MEM) |
+ BIT(ADIS16460_DIAG_STAT_SELF_TEST) |
+ BIT(ADIS16460_DIAG_STAT_OVERRANGE) |
+ BIT(ADIS16460_DIAG_STAT_SPI_COMM) |
+ BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
+ .unmasked_drdy = true,
+ .timeouts = &adis16460_timeouts,
+};
+
+static int adis16460_probe(struct spi_device *spi)
+{
+ struct iio_dev *indio_dev;
+ struct adis16460 *st;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
+ if (indio_dev == NULL)
+ return -ENOMEM;
+
+ st = iio_priv(indio_dev);
+
+ st->chip_info = &adis16460_chip_info;
+ indio_dev->name = spi_get_device_id(spi)->name;
+ indio_dev->channels = st->chip_info->channels;
+ indio_dev->num_channels = st->chip_info->num_channels;
+ indio_dev->info = &adis16460_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data);
+ if (ret)
+ return ret;
+
+ ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
+ if (ret)
+ return ret;
+
+ ret = __adis_initial_startup(&st->adis);
+ if (ret)
+ return ret;
+
+ ret = devm_iio_device_register(&spi->dev, indio_dev);
+ if (ret)
+ return ret;
+
+ adis16460_debugfs_init(indio_dev);
+
+ return 0;
+}
+
+static const struct spi_device_id adis16460_ids[] = {
+ { "adis16460", 0 },
+ {}
+};
+MODULE_DEVICE_TABLE(spi, adis16460_ids);
+
+static const struct of_device_id adis16460_of_match[] = {
+ { .compatible = "adi,adis16460" },
+ {}
+};
+MODULE_DEVICE_TABLE(of, adis16460_of_match);
+
+static struct spi_driver adis16460_driver = {
+ .driver = {
+ .name = "adis16460",
+ .of_match_table = adis16460_of_match,
+ },
+ .id_table = adis16460_ids,
+ .probe = adis16460_probe,
+};
+module_spi_driver(adis16460_driver);
+
+MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS(IIO_ADISLIB);
diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
new file mode 100644
index 000000000..2d9397734
--- /dev/null
+++ b/drivers/iio/imu/adis16475.c
@@ -0,0 +1,1382 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * ADIS16475 IMU driver
+ *
+ * Copyright 2019 Analog Devices Inc.
+ */
+#include <linux/bitfield.h>
+#include <linux/bitops.h>
+#include <linux/clk.h>
+#include <linux/debugfs.h>
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/imu/adis.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/irq.h>
+#include <linux/lcm.h>
+#include <linux/math.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/property.h>
+#include <linux/spi/spi.h>
+
+#define ADIS16475_REG_DIAG_STAT 0x02
+#define ADIS16475_REG_X_GYRO_L 0x04
+#define ADIS16475_REG_Y_GYRO_L 0x08
+#define ADIS16475_REG_Z_GYRO_L 0x0C
+#define ADIS16475_REG_X_ACCEL_L 0x10
+#define ADIS16475_REG_Y_ACCEL_L 0x14
+#define ADIS16475_REG_Z_ACCEL_L 0x18
+#define ADIS16475_REG_TEMP_OUT 0x1c
+#define ADIS16475_REG_X_GYRO_BIAS_L 0x40
+#define ADIS16475_REG_Y_GYRO_BIAS_L 0x44
+#define ADIS16475_REG_Z_GYRO_BIAS_L 0x48
+#define ADIS16475_REG_X_ACCEL_BIAS_L 0x4c
+#define ADIS16475_REG_Y_ACCEL_BIAS_L 0x50
+#define ADIS16475_REG_Z_ACCEL_BIAS_L 0x54
+#define ADIS16475_REG_FILT_CTRL 0x5c
+#define ADIS16475_FILT_CTRL_MASK GENMASK(2, 0)
+#define ADIS16475_FILT_CTRL(x) FIELD_PREP(ADIS16475_FILT_CTRL_MASK, x)
+#define ADIS16475_REG_MSG_CTRL 0x60
+#define ADIS16475_MSG_CTRL_DR_POL_MASK BIT(0)
+#define ADIS16475_MSG_CTRL_DR_POL(x) \
+ FIELD_PREP(ADIS16475_MSG_CTRL_DR_POL_MASK, x)
+#define ADIS16475_SYNC_MODE_MASK GENMASK(4, 2)
+#define ADIS16475_SYNC_MODE(x) FIELD_PREP(ADIS16475_SYNC_MODE_MASK, x)
+#define ADIS16475_REG_UP_SCALE 0x62
+#define ADIS16475_REG_DEC_RATE 0x64
+#define ADIS16475_REG_GLOB_CMD 0x68
+#define ADIS16475_REG_FIRM_REV 0x6c
+#define ADIS16475_REG_FIRM_DM 0x6e
+#define ADIS16475_REG_FIRM_Y 0x70
+#define ADIS16475_REG_PROD_ID 0x72
+#define ADIS16475_REG_SERIAL_NUM 0x74
+#define ADIS16475_REG_FLASH_CNT 0x7c
+#define ADIS16500_BURST32_MASK BIT(9)
+#define ADIS16500_BURST32(x) FIELD_PREP(ADIS16500_BURST32_MASK, x)
+/* number of data elements in burst mode */
+#define ADIS16475_BURST32_MAX_DATA 32
+#define ADIS16475_BURST_MAX_DATA 20
+#define ADIS16475_MAX_SCAN_DATA 20
+/* spi max speed in brust mode */
+#define ADIS16475_BURST_MAX_SPEED 1000000
+#define ADIS16475_LSB_DEC_MASK BIT(0)
+#define ADIS16475_LSB_FIR_MASK BIT(1)
+
+enum {
+ ADIS16475_SYNC_DIRECT = 1,
+ ADIS16475_SYNC_SCALED,
+ ADIS16475_SYNC_OUTPUT,
+ ADIS16475_SYNC_PULSE = 5,
+};
+
+struct adis16475_sync {
+ u16 sync_mode;
+ u16 min_rate;
+ u16 max_rate;
+};
+
+struct adis16475_chip_info {
+ const struct iio_chan_spec *channels;
+ const struct adis16475_sync *sync;
+ const struct adis_data adis_data;
+ const char *name;
+ u32 num_channels;
+ u32 gyro_max_val;
+ u32 gyro_max_scale;
+ u32 accel_max_val;
+ u32 accel_max_scale;
+ u32 temp_scale;
+ u32 int_clk;
+ u16 max_dec;
+ u8 num_sync;
+ bool has_burst32;
+};
+
+struct adis16475 {
+ const struct adis16475_chip_info *info;
+ struct adis adis;
+ u32 clk_freq;
+ bool burst32;
+ unsigned long lsb_flag;
+ u16 sync_mode;
+ /* Alignment needed for the timestamp */
+ __be16 data[ADIS16475_MAX_SCAN_DATA] __aligned(8);
+};
+
+enum {
+ ADIS16475_SCAN_GYRO_X,
+ ADIS16475_SCAN_GYRO_Y,
+ ADIS16475_SCAN_GYRO_Z,
+ ADIS16475_SCAN_ACCEL_X,
+ ADIS16475_SCAN_ACCEL_Y,
+ ADIS16475_SCAN_ACCEL_Z,
+ ADIS16475_SCAN_TEMP,
+ ADIS16475_SCAN_DIAG_S_FLAGS,
+ ADIS16475_SCAN_CRC_FAILURE,
+};
+
+static bool low_rate_allow;
+module_param(low_rate_allow, bool, 0444);
+MODULE_PARM_DESC(low_rate_allow,
+ "Allow IMU rates below the minimum advisable when external clk is used in SCALED mode (default: N)");
+
+#ifdef CONFIG_DEBUG_FS
+static ssize_t adis16475_show_firmware_revision(struct file *file,
+ char __user *userbuf,
+ size_t count, loff_t *ppos)
+{
+ struct adis16475 *st = file->private_data;
+ char buf[7];
+ size_t len;
+ u16 rev;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_REV, &rev);
+ if (ret)
+ return ret;
+
+ len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff);
+
+ return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
+
+static const struct file_operations adis16475_firmware_revision_fops = {
+ .open = simple_open,
+ .read = adis16475_show_firmware_revision,
+ .llseek = default_llseek,
+ .owner = THIS_MODULE,
+};
+
+static ssize_t adis16475_show_firmware_date(struct file *file,
+ char __user *userbuf,
+ size_t count, loff_t *ppos)
+{
+ struct adis16475 *st = file->private_data;
+ u16 md, year;
+ char buf[12];
+ size_t len;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_Y, &year);
+ if (ret)
+ return ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_DM, &md);
+ if (ret)
+ return ret;
+
+ len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n", md >> 8, md & 0xff,
+ year);
+
+ return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
+
+static const struct file_operations adis16475_firmware_date_fops = {
+ .open = simple_open,
+ .read = adis16475_show_firmware_date,
+ .llseek = default_llseek,
+ .owner = THIS_MODULE,
+};
+
+static int adis16475_show_serial_number(void *arg, u64 *val)
+{
+ struct adis16475 *st = arg;
+ u16 serial;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16475_REG_SERIAL_NUM, &serial);
+ if (ret)
+ return ret;
+
+ *val = serial;
+
+ return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16475_serial_number_fops,
+ adis16475_show_serial_number, NULL, "0x%.4llx\n");
+
+static int adis16475_show_product_id(void *arg, u64 *val)
+{
+ struct adis16475 *st = arg;
+ u16 prod_id;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16475_REG_PROD_ID, &prod_id);
+ if (ret)
+ return ret;
+
+ *val = prod_id;
+
+ return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16475_product_id_fops,
+ adis16475_show_product_id, NULL, "%llu\n");
+
+static int adis16475_show_flash_count(void *arg, u64 *val)
+{
+ struct adis16475 *st = arg;
+ u32 flash_count;
+ int ret;
+
+ ret = adis_read_reg_32(&st->adis, ADIS16475_REG_FLASH_CNT,
+ &flash_count);
+ if (ret)
+ return ret;
+
+ *val = flash_count;
+
+ return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16475_flash_count_fops,
+ adis16475_show_flash_count, NULL, "%lld\n");
+
+static void adis16475_debugfs_init(struct iio_dev *indio_dev)
+{
+ struct adis16475 *st = iio_priv(indio_dev);
+ struct dentry *d = iio_get_debugfs_dentry(indio_dev);
+
+ debugfs_create_file_unsafe("serial_number", 0400,
+ d, st, &adis16475_serial_number_fops);
+ debugfs_create_file_unsafe("product_id", 0400,
+ d, st, &adis16475_product_id_fops);
+ debugfs_create_file_unsafe("flash_count", 0400,
+ d, st, &adis16475_flash_count_fops);
+ debugfs_create_file("firmware_revision", 0400,
+ d, st, &adis16475_firmware_revision_fops);
+ debugfs_create_file("firmware_date", 0400, d,
+ st, &adis16475_firmware_date_fops);
+}
+#else
+static void adis16475_debugfs_init(struct iio_dev *indio_dev)
+{
+}
+#endif
+
+static int adis16475_get_freq(struct adis16475 *st, u32 *freq)
+{
+ int ret;
+ u16 dec;
+ u32 sample_rate = st->clk_freq;
+
+ adis_dev_lock(&st->adis);
+
+ if (st->sync_mode == ADIS16475_SYNC_SCALED) {
+ u16 sync_scale;
+
+ ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, &sync_scale);
+ if (ret)
+ goto error;
+
+ sample_rate = st->clk_freq * sync_scale;
+ }
+
+ ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, &dec);
+ if (ret)
+ goto error;
+
+ adis_dev_unlock(&st->adis);
+
+ *freq = DIV_ROUND_CLOSEST(sample_rate, dec + 1);
+
+ return 0;
+error:
+ adis_dev_unlock(&st->adis);
+ return ret;
+}
+
+static int adis16475_set_freq(struct adis16475 *st, const u32 freq)
+{
+ u16 dec;
+ int ret;
+ u32 sample_rate = st->clk_freq;
+
+ if (!freq)
+ return -EINVAL;
+
+ adis_dev_lock(&st->adis);
+ /*
+ * When using sync scaled mode, the input clock needs to be scaled so that we have
+ * an IMU sample rate between (optimally) 1900 and 2100. After this, we can use the
+ * decimation filter to lower the sampling rate in order to get what the user wants.
+ * Optimally, the user sample rate is a multiple of both the IMU sample rate and
+ * the input clock. Hence, calculating the sync_scale dynamically gives us better
+ * chances of achieving a perfect/integer value for DEC_RATE. The math here is:
+ * 1. lcm of the input clock and the desired output rate.
+ * 2. get the highest multiple of the previous result lower than the adis max rate.
+ * 3. The last result becomes the IMU sample rate. Use that to calculate SYNC_SCALE
+ * and DEC_RATE (to get the user output rate)
+ */
+ if (st->sync_mode == ADIS16475_SYNC_SCALED) {
+ unsigned long scaled_rate = lcm(st->clk_freq, freq);
+ int sync_scale;
+
+ /*
+ * If lcm is bigger than the IMU maximum sampling rate there's no perfect
+ * solution. In this case, we get the highest multiple of the input clock
+ * lower than the IMU max sample rate.
+ */
+ if (scaled_rate > 2100000)
+ scaled_rate = 2100000 / st->clk_freq * st->clk_freq;
+ else
+ scaled_rate = 2100000 / scaled_rate * scaled_rate;
+
+ /*
+ * This is not an hard requirement but it's not advised to run the IMU
+ * with a sample rate lower than 4000Hz due to possible undersampling
+ * issues. However, there are users that might really want to take the risk.
+ * Hence, we provide a module parameter for them. If set, we allow sample
+ * rates lower than 4KHz. By default, we won't allow this and we just roundup
+ * the rate to the next multiple of the input clock bigger than 4KHz. This
+ * is done like this as in some cases (when DEC_RATE is 0) might give
+ * us the closest value to the one desired by the user...
+ */
+ if (scaled_rate < 1900000 && !low_rate_allow)
+ scaled_rate = roundup(1900000, st->clk_freq);
+
+ sync_scale = scaled_rate / st->clk_freq;
+ ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, sync_scale);
+ if (ret)
+ goto error;
+
+ sample_rate = scaled_rate;
+ }
+
+ dec = DIV_ROUND_CLOSEST(sample_rate, freq);
+
+ if (dec)
+ dec--;
+
+ if (dec > st->info->max_dec)
+ dec = st->info->max_dec;
+
+ ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, dec);
+ if (ret)
+ goto error;
+
+ adis_dev_unlock(&st->adis);
+ /*
+ * If decimation is used, then gyro and accel data will have meaningful
+ * bits on the LSB registers. This info is used on the trigger handler.
+ */
+ assign_bit(ADIS16475_LSB_DEC_MASK, &st->lsb_flag, dec);
+
+ return 0;
+error:
+ adis_dev_unlock(&st->adis);
+ return ret;
+}
+
+/* The values are approximated. */
+static const u32 adis16475_3db_freqs[] = {
+ [0] = 720, /* Filter disabled, full BW (~720Hz) */
+ [1] = 360,
+ [2] = 164,
+ [3] = 80,
+ [4] = 40,
+ [5] = 20,
+ [6] = 10,
+};
+
+static int adis16475_get_filter(struct adis16475 *st, u32 *filter)
+{
+ u16 filter_sz;
+ int ret;
+ const int mask = ADIS16475_FILT_CTRL_MASK;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL, &filter_sz);
+ if (ret)
+ return ret;
+
+ *filter = adis16475_3db_freqs[filter_sz & mask];
+
+ return 0;
+}
+
+static int adis16475_set_filter(struct adis16475 *st, const u32 filter)
+{
+ int i = ARRAY_SIZE(adis16475_3db_freqs);
+ int ret;
+
+ while (--i) {
+ if (adis16475_3db_freqs[i] >= filter)
+ break;
+ }
+
+ ret = adis_write_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL,
+ ADIS16475_FILT_CTRL(i));
+ if (ret)
+ return ret;
+
+ /*
+ * If FIR is used, then gyro and accel data will have meaningful
+ * bits on the LSB registers. This info is used on the trigger handler.
+ */
+ assign_bit(ADIS16475_LSB_FIR_MASK, &st->lsb_flag, i);
+
+ return 0;
+}
+
+static const u32 adis16475_calib_regs[] = {
+ [ADIS16475_SCAN_GYRO_X] = ADIS16475_REG_X_GYRO_BIAS_L,
+ [ADIS16475_SCAN_GYRO_Y] = ADIS16475_REG_Y_GYRO_BIAS_L,
+ [ADIS16475_SCAN_GYRO_Z] = ADIS16475_REG_Z_GYRO_BIAS_L,
+ [ADIS16475_SCAN_ACCEL_X] = ADIS16475_REG_X_ACCEL_BIAS_L,
+ [ADIS16475_SCAN_ACCEL_Y] = ADIS16475_REG_Y_ACCEL_BIAS_L,
+ [ADIS16475_SCAN_ACCEL_Z] = ADIS16475_REG_Z_ACCEL_BIAS_L,
+};
+
+static int adis16475_read_raw(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ int *val, int *val2, long info)
+{
+ struct adis16475 *st = iio_priv(indio_dev);
+ int ret;
+ u32 tmp;
+
+ switch (info) {
+ case IIO_CHAN_INFO_RAW:
+ return adis_single_conversion(indio_dev, chan, 0, val);
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = st->info->gyro_max_val;
+ *val2 = st->info->gyro_max_scale;
+ return IIO_VAL_FRACTIONAL;
+ case IIO_ACCEL:
+ *val = st->info->accel_max_val;
+ *val2 = st->info->accel_max_scale;
+ return IIO_VAL_FRACTIONAL;
+ case IIO_TEMP:
+ *val = st->info->temp_scale;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_CALIBBIAS:
+ ret = adis_read_reg_32(&st->adis,
+ adis16475_calib_regs[chan->scan_index],
+ val);
+ if (ret)
+ return ret;
+
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ ret = adis16475_get_filter(st, val);
+ if (ret)
+ return ret;
+
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ ret = adis16475_get_freq(st, &tmp);
+ if (ret)
+ return ret;
+
+ *val = tmp / 1000;
+ *val2 = (tmp % 1000) * 1000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int adis16475_write_raw(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ int val, int val2, long info)
+{
+ struct adis16475 *st = iio_priv(indio_dev);
+ u32 tmp;
+
+ switch (info) {
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ tmp = val * 1000 + val2 / 1000;
+ return adis16475_set_freq(st, tmp);
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ return adis16475_set_filter(st, val);
+ case IIO_CHAN_INFO_CALIBBIAS:
+ return adis_write_reg_32(&st->adis,
+ adis16475_calib_regs[chan->scan_index],
+ val);
+ default:
+ return -EINVAL;
+ }
+}
+
+#define ADIS16475_MOD_CHAN(_type, _mod, _address, _si, _r_bits, _s_bits) \
+ { \
+ .type = (_type), \
+ .modified = 1, \
+ .channel2 = (_mod), \
+ .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_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .address = (_address), \
+ .scan_index = (_si), \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (_r_bits), \
+ .storagebits = (_s_bits), \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
+#define ADIS16475_GYRO_CHANNEL(_mod) \
+ ADIS16475_MOD_CHAN(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
+ ADIS16475_REG_ ## _mod ## _GYRO_L, \
+ ADIS16475_SCAN_GYRO_ ## _mod, 32, 32)
+
+#define ADIS16475_ACCEL_CHANNEL(_mod) \
+ ADIS16475_MOD_CHAN(IIO_ACCEL, IIO_MOD_ ## _mod, \
+ ADIS16475_REG_ ## _mod ## _ACCEL_L, \
+ ADIS16475_SCAN_ACCEL_ ## _mod, 32, 32)
+
+#define ADIS16475_TEMP_CHANNEL() { \
+ .type = IIO_TEMP, \
+ .indexed = 1, \
+ .channel = 0, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .address = ADIS16475_REG_TEMP_OUT, \
+ .scan_index = ADIS16475_SCAN_TEMP, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
+static const struct iio_chan_spec adis16475_channels[] = {
+ ADIS16475_GYRO_CHANNEL(X),
+ ADIS16475_GYRO_CHANNEL(Y),
+ ADIS16475_GYRO_CHANNEL(Z),
+ ADIS16475_ACCEL_CHANNEL(X),
+ ADIS16475_ACCEL_CHANNEL(Y),
+ ADIS16475_ACCEL_CHANNEL(Z),
+ ADIS16475_TEMP_CHANNEL(),
+ IIO_CHAN_SOFT_TIMESTAMP(7)
+};
+
+enum adis16475_variant {
+ ADIS16470,
+ ADIS16475_1,
+ ADIS16475_2,
+ ADIS16475_3,
+ ADIS16477_1,
+ ADIS16477_2,
+ ADIS16477_3,
+ ADIS16465_1,
+ ADIS16465_2,
+ ADIS16465_3,
+ ADIS16467_1,
+ ADIS16467_2,
+ ADIS16467_3,
+ ADIS16500,
+ ADIS16505_1,
+ ADIS16505_2,
+ ADIS16505_3,
+ ADIS16507_1,
+ ADIS16507_2,
+ ADIS16507_3,
+};
+
+enum {
+ ADIS16475_DIAG_STAT_DATA_PATH = 1,
+ ADIS16475_DIAG_STAT_FLASH_MEM,
+ ADIS16475_DIAG_STAT_SPI,
+ ADIS16475_DIAG_STAT_STANDBY,
+ ADIS16475_DIAG_STAT_SENSOR,
+ ADIS16475_DIAG_STAT_MEMORY,
+ ADIS16475_DIAG_STAT_CLK,
+};
+
+static const char * const adis16475_status_error_msgs[] = {
+ [ADIS16475_DIAG_STAT_DATA_PATH] = "Data Path Overrun",
+ [ADIS16475_DIAG_STAT_FLASH_MEM] = "Flash memory update failure",
+ [ADIS16475_DIAG_STAT_SPI] = "SPI communication error",
+ [ADIS16475_DIAG_STAT_STANDBY] = "Standby mode",
+ [ADIS16475_DIAG_STAT_SENSOR] = "Sensor failure",
+ [ADIS16475_DIAG_STAT_MEMORY] = "Memory failure",
+ [ADIS16475_DIAG_STAT_CLK] = "Clock error",
+};
+
+#define ADIS16475_DATA(_prod_id, _timeouts) \
+{ \
+ .msc_ctrl_reg = ADIS16475_REG_MSG_CTRL, \
+ .glob_cmd_reg = ADIS16475_REG_GLOB_CMD, \
+ .diag_stat_reg = ADIS16475_REG_DIAG_STAT, \
+ .prod_id_reg = ADIS16475_REG_PROD_ID, \
+ .prod_id = (_prod_id), \
+ .self_test_mask = BIT(2), \
+ .self_test_reg = ADIS16475_REG_GLOB_CMD, \
+ .cs_change_delay = 16, \
+ .read_delay = 5, \
+ .write_delay = 5, \
+ .status_error_msgs = adis16475_status_error_msgs, \
+ .status_error_mask = BIT(ADIS16475_DIAG_STAT_DATA_PATH) | \
+ BIT(ADIS16475_DIAG_STAT_FLASH_MEM) | \
+ BIT(ADIS16475_DIAG_STAT_SPI) | \
+ BIT(ADIS16475_DIAG_STAT_STANDBY) | \
+ BIT(ADIS16475_DIAG_STAT_SENSOR) | \
+ BIT(ADIS16475_DIAG_STAT_MEMORY) | \
+ BIT(ADIS16475_DIAG_STAT_CLK), \
+ .unmasked_drdy = true, \
+ .timeouts = (_timeouts), \
+ .burst_reg_cmd = ADIS16475_REG_GLOB_CMD, \
+ .burst_len = ADIS16475_BURST_MAX_DATA, \
+ .burst_max_len = ADIS16475_BURST32_MAX_DATA, \
+ .burst_max_speed_hz = ADIS16475_BURST_MAX_SPEED \
+}
+
+static const struct adis16475_sync adis16475_sync_mode[] = {
+ { ADIS16475_SYNC_OUTPUT },
+ { ADIS16475_SYNC_DIRECT, 1900, 2100 },
+ { ADIS16475_SYNC_SCALED, 1, 128 },
+ { ADIS16475_SYNC_PULSE, 1000, 2100 },
+};
+
+static const struct adis_timeout adis16475_timeouts = {
+ .reset_ms = 200,
+ .sw_reset_ms = 200,
+ .self_test_ms = 20,
+};
+
+static const struct adis_timeout adis1650x_timeouts = {
+ .reset_ms = 260,
+ .sw_reset_ms = 260,
+ .self_test_ms = 30,
+};
+
+static const struct adis16475_chip_info adis16475_chip_info[] = {
+ [ADIS16470] = {
+ .name = "adis16470",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16470, &adis16475_timeouts),
+ },
+ [ADIS16475_1] = {
+ .name = "adis16475-1",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts),
+ },
+ [ADIS16475_2] = {
+ .name = "adis16475-2",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts),
+ },
+ [ADIS16475_3] = {
+ .name = "adis16475-3",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts),
+ },
+ [ADIS16477_1] = {
+ .name = "adis16477-1",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
+ },
+ [ADIS16477_2] = {
+ .name = "adis16477-2",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
+ },
+ [ADIS16477_3] = {
+ .name = "adis16477-3",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
+ },
+ [ADIS16465_1] = {
+ .name = "adis16465-1",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts),
+ },
+ [ADIS16465_2] = {
+ .name = "adis16465-2",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts),
+ },
+ [ADIS16465_3] = {
+ .name = "adis16465-3",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts),
+ },
+ [ADIS16467_1] = {
+ .name = "adis16467-1",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts),
+ },
+ [ADIS16467_2] = {
+ .name = "adis16467-2",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts),
+ },
+ [ADIS16467_3] = {
+ .name = "adis16467-3",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
+ .accel_max_val = 1,
+ .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode),
+ .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts),
+ },
+ [ADIS16500] = {
+ .name = "adis16500",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
+ .accel_max_val = 392,
+ .accel_max_scale = 32000 << 16,
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ /* pulse sync not supported */
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
+ .has_burst32 = true,
+ .adis_data = ADIS16475_DATA(16500, &adis1650x_timeouts),
+ },
+ [ADIS16505_1] = {
+ .name = "adis16505-1",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
+ .accel_max_val = 78,
+ .accel_max_scale = 32000 << 16,
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ /* pulse sync not supported */
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
+ .has_burst32 = true,
+ .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
+ },
+ [ADIS16505_2] = {
+ .name = "adis16505-2",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
+ .accel_max_val = 78,
+ .accel_max_scale = 32000 << 16,
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ /* pulse sync not supported */
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
+ .has_burst32 = true,
+ .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
+ },
+ [ADIS16505_3] = {
+ .name = "adis16505-3",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
+ .accel_max_val = 78,
+ .accel_max_scale = 32000 << 16,
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ /* pulse sync not supported */
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
+ .has_burst32 = true,
+ .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
+ },
+ [ADIS16507_1] = {
+ .name = "adis16507-1",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
+ .accel_max_val = 392,
+ .accel_max_scale = 32000 << 16,
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ /* pulse sync not supported */
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
+ .has_burst32 = true,
+ .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
+ },
+ [ADIS16507_2] = {
+ .name = "adis16507-2",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
+ .accel_max_val = 392,
+ .accel_max_scale = 32000 << 16,
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ /* pulse sync not supported */
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
+ .has_burst32 = true,
+ .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
+ },
+ [ADIS16507_3] = {
+ .name = "adis16507-3",
+ .num_channels = ARRAY_SIZE(adis16475_channels),
+ .channels = adis16475_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
+ .accel_max_val = 392,
+ .accel_max_scale = 32000 << 16,
+ .temp_scale = 100,
+ .int_clk = 2000,
+ .max_dec = 1999,
+ .sync = adis16475_sync_mode,
+ /* pulse sync not supported */
+ .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
+ .has_burst32 = true,
+ .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
+ },
+};
+
+static const struct iio_info adis16475_info = {
+ .read_raw = &adis16475_read_raw,
+ .write_raw = &adis16475_write_raw,
+ .update_scan_mode = adis_update_scan_mode,
+ .debugfs_reg_access = adis_debugfs_reg_access,
+};
+
+static bool adis16475_validate_crc(const u8 *buffer, u16 crc,
+ const bool burst32)
+{
+ int i;
+ /* extra 6 elements for low gyro and accel */
+ const u16 sz = burst32 ? ADIS16475_BURST32_MAX_DATA :
+ ADIS16475_BURST_MAX_DATA;
+
+ for (i = 0; i < sz - 2; i++)
+ crc -= buffer[i];
+
+ return crc == 0;
+}
+
+static void adis16475_burst32_check(struct adis16475 *st)
+{
+ int ret;
+ struct adis *adis = &st->adis;
+
+ if (!st->info->has_burst32)
+ return;
+
+ if (st->lsb_flag && !st->burst32) {
+ const u16 en = ADIS16500_BURST32(1);
+
+ ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
+ ADIS16500_BURST32_MASK, en);
+ if (ret)
+ return;
+
+ st->burst32 = true;
+
+ /*
+ * In 32-bit mode we need extra 2 bytes for all gyro
+ * and accel channels.
+ */
+ adis->burst_extra_len = 6 * sizeof(u16);
+ adis->xfer[1].len += 6 * sizeof(u16);
+ dev_dbg(&adis->spi->dev, "Enable burst32 mode, xfer:%d",
+ adis->xfer[1].len);
+
+ } else if (!st->lsb_flag && st->burst32) {
+ const u16 en = ADIS16500_BURST32(0);
+
+ ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
+ ADIS16500_BURST32_MASK, en);
+ if (ret)
+ return;
+
+ st->burst32 = false;
+
+ /* Remove the extra bits */
+ adis->burst_extra_len = 0;
+ adis->xfer[1].len -= 6 * sizeof(u16);
+ dev_dbg(&adis->spi->dev, "Disable burst32 mode, xfer:%d\n",
+ adis->xfer[1].len);
+ }
+}
+
+static irqreturn_t adis16475_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct adis16475 *st = iio_priv(indio_dev);
+ struct adis *adis = &st->adis;
+ int ret, bit, i = 0;
+ __be16 *buffer;
+ u16 crc;
+ bool valid;
+ /* offset until the first element after gyro and accel */
+ const u8 offset = st->burst32 ? 13 : 7;
+
+ ret = spi_sync(adis->spi, &adis->msg);
+ if (ret)
+ goto check_burst32;
+
+ buffer = adis->buffer;
+
+ crc = be16_to_cpu(buffer[offset + 2]);
+ valid = adis16475_validate_crc(adis->buffer, crc, st->burst32);
+ if (!valid) {
+ dev_err(&adis->spi->dev, "Invalid crc\n");
+ goto check_burst32;
+ }
+
+ for_each_set_bit(bit, indio_dev->active_scan_mask,
+ indio_dev->masklength) {
+ /*
+ * When burst mode is used, system flags is the first data
+ * channel in the sequence, but the scan index is 7.
+ */
+ switch (bit) {
+ case ADIS16475_SCAN_TEMP:
+ st->data[i++] = buffer[offset];
+ break;
+ case ADIS16475_SCAN_GYRO_X ... ADIS16475_SCAN_ACCEL_Z:
+ /*
+ * The first 2 bytes on the received data are the
+ * DIAG_STAT reg, hence the +1 offset here...
+ */
+ if (st->burst32) {
+ /* upper 16 */
+ st->data[i++] = buffer[bit * 2 + 2];
+ /* lower 16 */
+ st->data[i++] = buffer[bit * 2 + 1];
+ } else {
+ st->data[i++] = buffer[bit + 1];
+ /*
+ * Don't bother in doing the manual read if the
+ * device supports burst32. burst32 will be
+ * enabled in the next call to
+ * adis16475_burst32_check()...
+ */
+ if (st->lsb_flag && !st->info->has_burst32) {
+ u16 val = 0;
+ const u32 reg = ADIS16475_REG_X_GYRO_L +
+ bit * 4;
+
+ adis_read_reg_16(adis, reg, &val);
+ st->data[i++] = cpu_to_be16(val);
+ } else {
+ /* lower not used */
+ st->data[i++] = 0;
+ }
+ }
+ break;
+ }
+ }
+
+ iio_push_to_buffers_with_timestamp(indio_dev, st->data, pf->timestamp);
+check_burst32:
+ /*
+ * We only check the burst mode at the end of the current capture since
+ * it takes a full data ready cycle for the device to update the burst
+ * array.
+ */
+ adis16475_burst32_check(st);
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+
+static int adis16475_config_sync_mode(struct adis16475 *st)
+{
+ int ret;
+ struct device *dev = &st->adis.spi->dev;
+ const struct adis16475_sync *sync;
+ u32 sync_mode;
+
+ /* default to internal clk */
+ st->clk_freq = st->info->int_clk * 1000;
+
+ ret = device_property_read_u32(dev, "adi,sync-mode", &sync_mode);
+ if (ret)
+ return 0;
+
+ if (sync_mode >= st->info->num_sync) {
+ dev_err(dev, "Invalid sync mode: %u for %s\n", sync_mode,
+ st->info->name);
+ return -EINVAL;
+ }
+
+ sync = &st->info->sync[sync_mode];
+ st->sync_mode = sync->sync_mode;
+
+ /* All the other modes require external input signal */
+ if (sync->sync_mode != ADIS16475_SYNC_OUTPUT) {
+ struct clk *clk = devm_clk_get_enabled(dev, NULL);
+
+ if (IS_ERR(clk))
+ return PTR_ERR(clk);
+
+ st->clk_freq = clk_get_rate(clk);
+ if (st->clk_freq < sync->min_rate ||
+ st->clk_freq > sync->max_rate) {
+ dev_err(dev,
+ "Clk rate:%u not in a valid range:[%u %u]\n",
+ st->clk_freq, sync->min_rate, sync->max_rate);
+ return -EINVAL;
+ }
+
+ if (sync->sync_mode == ADIS16475_SYNC_SCALED) {
+ u16 up_scale;
+
+ /*
+ * In sync scaled mode, the IMU sample rate is the clk_freq * sync_scale.
+ * Hence, default the IMU sample rate to the highest multiple of the input
+ * clock lower than the IMU max sample rate. The optimal range is
+ * 1900-2100 sps...
+ */
+ up_scale = 2100 / st->clk_freq;
+
+ ret = __adis_write_reg_16(&st->adis,
+ ADIS16475_REG_UP_SCALE,
+ up_scale);
+ if (ret)
+ return ret;
+ }
+
+ st->clk_freq *= 1000;
+ }
+ /*
+ * Keep in mind that the mask for the clk modes in adis1650*
+ * chips is different (1100 instead of 11100). However, we
+ * are not configuring BIT(4) in these chips and the default
+ * value is 0, so we are fine in doing the below operations.
+ * I'm keeping this for simplicity and avoiding extra variables
+ * in chip_info.
+ */
+ ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
+ ADIS16475_SYNC_MODE_MASK, sync->sync_mode);
+ if (ret)
+ return ret;
+
+ usleep_range(250, 260);
+
+ return 0;
+}
+
+static int adis16475_config_irq_pin(struct adis16475 *st)
+{
+ int ret;
+ struct irq_data *desc;
+ u32 irq_type;
+ u16 val = 0;
+ u8 polarity;
+ struct spi_device *spi = st->adis.spi;
+
+ desc = irq_get_irq_data(spi->irq);
+ if (!desc) {
+ dev_err(&spi->dev, "Could not find IRQ %d\n", spi->irq);
+ return -EINVAL;
+ }
+ /*
+ * It is possible to configure the data ready polarity. Furthermore, we
+ * need to update the adis struct if we want data ready as active low.
+ */
+ irq_type = irqd_get_trigger_type(desc);
+ if (irq_type == IRQ_TYPE_EDGE_RISING) {
+ polarity = 1;
+ st->adis.irq_flag = IRQF_TRIGGER_RISING;
+ } else if (irq_type == IRQ_TYPE_EDGE_FALLING) {
+ polarity = 0;
+ st->adis.irq_flag = IRQF_TRIGGER_FALLING;
+ } else {
+ dev_err(&spi->dev, "Invalid interrupt type 0x%x specified\n",
+ irq_type);
+ return -EINVAL;
+ }
+
+ val = ADIS16475_MSG_CTRL_DR_POL(polarity);
+ ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
+ ADIS16475_MSG_CTRL_DR_POL_MASK, val);
+ if (ret)
+ return ret;
+ /*
+ * There is a delay writing to any bits written to the MSC_CTRL
+ * register. It should not be bigger than 200us, so 250 should be more
+ * than enough!
+ */
+ usleep_range(250, 260);
+
+ return 0;
+}
+
+
+static int adis16475_probe(struct spi_device *spi)
+{
+ struct iio_dev *indio_dev;
+ struct adis16475 *st;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ st = iio_priv(indio_dev);
+
+ st->info = spi_get_device_match_data(spi);
+ if (!st->info)
+ return -EINVAL;
+
+ ret = adis_init(&st->adis, indio_dev, spi, &st->info->adis_data);
+ if (ret)
+ return ret;
+
+ indio_dev->name = st->info->name;
+ indio_dev->channels = st->info->channels;
+ indio_dev->num_channels = st->info->num_channels;
+ indio_dev->info = &adis16475_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = __adis_initial_startup(&st->adis);
+ if (ret)
+ return ret;
+
+ ret = adis16475_config_irq_pin(st);
+ if (ret)
+ return ret;
+
+ ret = adis16475_config_sync_mode(st);
+ if (ret)
+ return ret;
+
+ ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev,
+ adis16475_trigger_handler);
+ if (ret)
+ return ret;
+
+ ret = devm_iio_device_register(&spi->dev, indio_dev);
+ if (ret)
+ return ret;
+
+ adis16475_debugfs_init(indio_dev);
+
+ return 0;
+}
+
+static const struct of_device_id adis16475_of_match[] = {
+ { .compatible = "adi,adis16470",
+ .data = &adis16475_chip_info[ADIS16470] },
+ { .compatible = "adi,adis16475-1",
+ .data = &adis16475_chip_info[ADIS16475_1] },
+ { .compatible = "adi,adis16475-2",
+ .data = &adis16475_chip_info[ADIS16475_2] },
+ { .compatible = "adi,adis16475-3",
+ .data = &adis16475_chip_info[ADIS16475_3] },
+ { .compatible = "adi,adis16477-1",
+ .data = &adis16475_chip_info[ADIS16477_1] },
+ { .compatible = "adi,adis16477-2",
+ .data = &adis16475_chip_info[ADIS16477_2] },
+ { .compatible = "adi,adis16477-3",
+ .data = &adis16475_chip_info[ADIS16477_3] },
+ { .compatible = "adi,adis16465-1",
+ .data = &adis16475_chip_info[ADIS16465_1] },
+ { .compatible = "adi,adis16465-2",
+ .data = &adis16475_chip_info[ADIS16465_2] },
+ { .compatible = "adi,adis16465-3",
+ .data = &adis16475_chip_info[ADIS16465_3] },
+ { .compatible = "adi,adis16467-1",
+ .data = &adis16475_chip_info[ADIS16467_1] },
+ { .compatible = "adi,adis16467-2",
+ .data = &adis16475_chip_info[ADIS16467_2] },
+ { .compatible = "adi,adis16467-3",
+ .data = &adis16475_chip_info[ADIS16467_3] },
+ { .compatible = "adi,adis16500",
+ .data = &adis16475_chip_info[ADIS16500] },
+ { .compatible = "adi,adis16505-1",
+ .data = &adis16475_chip_info[ADIS16505_1] },
+ { .compatible = "adi,adis16505-2",
+ .data = &adis16475_chip_info[ADIS16505_2] },
+ { .compatible = "adi,adis16505-3",
+ .data = &adis16475_chip_info[ADIS16505_3] },
+ { .compatible = "adi,adis16507-1",
+ .data = &adis16475_chip_info[ADIS16507_1] },
+ { .compatible = "adi,adis16507-2",
+ .data = &adis16475_chip_info[ADIS16507_2] },
+ { .compatible = "adi,adis16507-3",
+ .data = &adis16475_chip_info[ADIS16507_3] },
+ { },
+};
+MODULE_DEVICE_TABLE(of, adis16475_of_match);
+
+static const struct spi_device_id adis16475_ids[] = {
+ { "adis16470", (kernel_ulong_t)&adis16475_chip_info[ADIS16470] },
+ { "adis16475-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_1] },
+ { "adis16475-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_2] },
+ { "adis16475-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_3] },
+ { "adis16477-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_1] },
+ { "adis16477-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_2] },
+ { "adis16477-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_3] },
+ { "adis16465-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_1] },
+ { "adis16465-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_2] },
+ { "adis16465-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_3] },
+ { "adis16467-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_1] },
+ { "adis16467-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_2] },
+ { "adis16467-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_3] },
+ { "adis16500", (kernel_ulong_t)&adis16475_chip_info[ADIS16500] },
+ { "adis16505-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_1] },
+ { "adis16505-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_2] },
+ { "adis16505-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_3] },
+ { "adis16507-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_1] },
+ { "adis16507-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_2] },
+ { "adis16507-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_3] },
+ { }
+};
+MODULE_DEVICE_TABLE(spi, adis16475_ids);
+
+static struct spi_driver adis16475_driver = {
+ .driver = {
+ .name = "adis16475",
+ .of_match_table = adis16475_of_match,
+ },
+ .probe = adis16475_probe,
+ .id_table = adis16475_ids,
+};
+module_spi_driver(adis16475_driver);
+
+MODULE_AUTHOR("Nuno Sa <nuno.sa@analog.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16475 IMU driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS(IIO_ADISLIB);
diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
new file mode 100644
index 000000000..fe520194a
--- /dev/null
+++ b/drivers/iio/imu/adis16480.c
@@ -0,0 +1,1536 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * ADIS16480 and similar IMUs driver
+ *
+ * Copyright 2012 Analog Devices Inc.
+ */
+
+#include <linux/clk.h>
+#include <linux/bitfield.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/math.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/lcm.h>
+#include <linux/property.h>
+#include <linux/swab.h>
+#include <linux/crc32.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/imu/adis.h>
+#include <linux/iio/trigger_consumer.h>
+
+#include <linux/debugfs.h>
+
+#define ADIS16480_PAGE_SIZE 0x80
+
+#define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg))
+
+#define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */
+#define ADIS16480_REG_SEQ_CNT ADIS16480_REG(0x00, 0x06)
+#define ADIS16480_REG_SYS_E_FLA ADIS16480_REG(0x00, 0x08)
+#define ADIS16480_REG_DIAG_STS ADIS16480_REG(0x00, 0x0A)
+#define ADIS16480_REG_ALM_STS ADIS16480_REG(0x00, 0x0C)
+#define ADIS16480_REG_TEMP_OUT ADIS16480_REG(0x00, 0x0E)
+#define ADIS16480_REG_X_GYRO_OUT ADIS16480_REG(0x00, 0x10)
+#define ADIS16480_REG_Y_GYRO_OUT ADIS16480_REG(0x00, 0x14)
+#define ADIS16480_REG_Z_GYRO_OUT ADIS16480_REG(0x00, 0x18)
+#define ADIS16480_REG_X_ACCEL_OUT ADIS16480_REG(0x00, 0x1C)
+#define ADIS16480_REG_Y_ACCEL_OUT ADIS16480_REG(0x00, 0x20)
+#define ADIS16480_REG_Z_ACCEL_OUT ADIS16480_REG(0x00, 0x24)
+#define ADIS16480_REG_X_MAGN_OUT ADIS16480_REG(0x00, 0x28)
+#define ADIS16480_REG_Y_MAGN_OUT ADIS16480_REG(0x00, 0x2A)
+#define ADIS16480_REG_Z_MAGN_OUT ADIS16480_REG(0x00, 0x2C)
+#define ADIS16480_REG_BAROM_OUT ADIS16480_REG(0x00, 0x2E)
+#define ADIS16480_REG_X_DELTAANG_OUT ADIS16480_REG(0x00, 0x40)
+#define ADIS16480_REG_Y_DELTAANG_OUT ADIS16480_REG(0x00, 0x44)
+#define ADIS16480_REG_Z_DELTAANG_OUT ADIS16480_REG(0x00, 0x48)
+#define ADIS16480_REG_X_DELTAVEL_OUT ADIS16480_REG(0x00, 0x4C)
+#define ADIS16480_REG_Y_DELTAVEL_OUT ADIS16480_REG(0x00, 0x50)
+#define ADIS16480_REG_Z_DELTAVEL_OUT ADIS16480_REG(0x00, 0x54)
+#define ADIS16480_REG_PROD_ID ADIS16480_REG(0x00, 0x7E)
+
+#define ADIS16480_REG_X_GYRO_SCALE ADIS16480_REG(0x02, 0x04)
+#define ADIS16480_REG_Y_GYRO_SCALE ADIS16480_REG(0x02, 0x06)
+#define ADIS16480_REG_Z_GYRO_SCALE ADIS16480_REG(0x02, 0x08)
+#define ADIS16480_REG_X_ACCEL_SCALE ADIS16480_REG(0x02, 0x0A)
+#define ADIS16480_REG_Y_ACCEL_SCALE ADIS16480_REG(0x02, 0x0C)
+#define ADIS16480_REG_Z_ACCEL_SCALE ADIS16480_REG(0x02, 0x0E)
+#define ADIS16480_REG_X_GYRO_BIAS ADIS16480_REG(0x02, 0x10)
+#define ADIS16480_REG_Y_GYRO_BIAS ADIS16480_REG(0x02, 0x14)
+#define ADIS16480_REG_Z_GYRO_BIAS ADIS16480_REG(0x02, 0x18)
+#define ADIS16480_REG_X_ACCEL_BIAS ADIS16480_REG(0x02, 0x1C)
+#define ADIS16480_REG_Y_ACCEL_BIAS ADIS16480_REG(0x02, 0x20)
+#define ADIS16480_REG_Z_ACCEL_BIAS ADIS16480_REG(0x02, 0x24)
+#define ADIS16480_REG_X_HARD_IRON ADIS16480_REG(0x02, 0x28)
+#define ADIS16480_REG_Y_HARD_IRON ADIS16480_REG(0x02, 0x2A)
+#define ADIS16480_REG_Z_HARD_IRON ADIS16480_REG(0x02, 0x2C)
+#define ADIS16480_REG_BAROM_BIAS ADIS16480_REG(0x02, 0x40)
+#define ADIS16480_REG_FLASH_CNT ADIS16480_REG(0x02, 0x7C)
+
+#define ADIS16480_REG_GLOB_CMD ADIS16480_REG(0x03, 0x02)
+#define ADIS16480_REG_FNCTIO_CTRL ADIS16480_REG(0x03, 0x06)
+#define ADIS16480_REG_GPIO_CTRL ADIS16480_REG(0x03, 0x08)
+#define ADIS16480_REG_CONFIG ADIS16480_REG(0x03, 0x0A)
+#define ADIS16480_REG_DEC_RATE ADIS16480_REG(0x03, 0x0C)
+#define ADIS16480_REG_SLP_CNT ADIS16480_REG(0x03, 0x10)
+#define ADIS16480_REG_FILTER_BNK0 ADIS16480_REG(0x03, 0x16)
+#define ADIS16480_REG_FILTER_BNK1 ADIS16480_REG(0x03, 0x18)
+#define ADIS16480_REG_ALM_CNFG0 ADIS16480_REG(0x03, 0x20)
+#define ADIS16480_REG_ALM_CNFG1 ADIS16480_REG(0x03, 0x22)
+#define ADIS16480_REG_ALM_CNFG2 ADIS16480_REG(0x03, 0x24)
+#define ADIS16480_REG_XG_ALM_MAGN ADIS16480_REG(0x03, 0x28)
+#define ADIS16480_REG_YG_ALM_MAGN ADIS16480_REG(0x03, 0x2A)
+#define ADIS16480_REG_ZG_ALM_MAGN ADIS16480_REG(0x03, 0x2C)
+#define ADIS16480_REG_XA_ALM_MAGN ADIS16480_REG(0x03, 0x2E)
+#define ADIS16480_REG_YA_ALM_MAGN ADIS16480_REG(0x03, 0x30)
+#define ADIS16480_REG_ZA_ALM_MAGN ADIS16480_REG(0x03, 0x32)
+#define ADIS16480_REG_XM_ALM_MAGN ADIS16480_REG(0x03, 0x34)
+#define ADIS16480_REG_YM_ALM_MAGN ADIS16480_REG(0x03, 0x36)
+#define ADIS16480_REG_ZM_ALM_MAGN ADIS16480_REG(0x03, 0x38)
+#define ADIS16480_REG_BR_ALM_MAGN ADIS16480_REG(0x03, 0x3A)
+#define ADIS16480_REG_FIRM_REV ADIS16480_REG(0x03, 0x78)
+#define ADIS16480_REG_FIRM_DM ADIS16480_REG(0x03, 0x7A)
+#define ADIS16480_REG_FIRM_Y ADIS16480_REG(0x03, 0x7C)
+
+/*
+ * External clock scaling in PPS mode.
+ * Available only for ADIS1649x devices
+ */
+#define ADIS16495_REG_SYNC_SCALE ADIS16480_REG(0x03, 0x10)
+#define ADIS16495_REG_BURST_CMD ADIS16480_REG(0x00, 0x7C)
+#define ADIS16495_BURST_ID 0xA5A5
+/* total number of segments in burst */
+#define ADIS16495_BURST_MAX_DATA 20
+/* spi max speed in burst mode */
+#define ADIS16495_BURST_MAX_SPEED 6000000
+
+#define ADIS16480_REG_SERIAL_NUM ADIS16480_REG(0x04, 0x20)
+
+/* Each filter coefficent bank spans two pages */
+#define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \
+ ADIS16480_REG((page) + 1, (x) - 60 + 8))
+#define ADIS16480_FIR_COEF_A(x) ADIS16480_FIR_COEF(0x05, (x))
+#define ADIS16480_FIR_COEF_B(x) ADIS16480_FIR_COEF(0x07, (x))
+#define ADIS16480_FIR_COEF_C(x) ADIS16480_FIR_COEF(0x09, (x))
+#define ADIS16480_FIR_COEF_D(x) ADIS16480_FIR_COEF(0x0B, (x))
+
+/* ADIS16480_REG_FNCTIO_CTRL */
+#define ADIS16480_DRDY_SEL_MSK GENMASK(1, 0)
+#define ADIS16480_DRDY_SEL(x) FIELD_PREP(ADIS16480_DRDY_SEL_MSK, x)
+#define ADIS16480_DRDY_POL_MSK BIT(2)
+#define ADIS16480_DRDY_POL(x) FIELD_PREP(ADIS16480_DRDY_POL_MSK, x)
+#define ADIS16480_DRDY_EN_MSK BIT(3)
+#define ADIS16480_DRDY_EN(x) FIELD_PREP(ADIS16480_DRDY_EN_MSK, x)
+#define ADIS16480_SYNC_SEL_MSK GENMASK(5, 4)
+#define ADIS16480_SYNC_SEL(x) FIELD_PREP(ADIS16480_SYNC_SEL_MSK, x)
+#define ADIS16480_SYNC_EN_MSK BIT(7)
+#define ADIS16480_SYNC_EN(x) FIELD_PREP(ADIS16480_SYNC_EN_MSK, x)
+#define ADIS16480_SYNC_MODE_MSK BIT(8)
+#define ADIS16480_SYNC_MODE(x) FIELD_PREP(ADIS16480_SYNC_MODE_MSK, x)
+
+struct adis16480_chip_info {
+ unsigned int num_channels;
+ const struct iio_chan_spec *channels;
+ unsigned int gyro_max_val;
+ unsigned int gyro_max_scale;
+ unsigned int accel_max_val;
+ unsigned int accel_max_scale;
+ unsigned int temp_scale;
+ unsigned int int_clk;
+ unsigned int max_dec_rate;
+ const unsigned int *filter_freqs;
+ bool has_pps_clk_mode;
+ bool has_sleep_cnt;
+ const struct adis_data adis_data;
+};
+
+enum adis16480_int_pin {
+ ADIS16480_PIN_DIO1,
+ ADIS16480_PIN_DIO2,
+ ADIS16480_PIN_DIO3,
+ ADIS16480_PIN_DIO4
+};
+
+enum adis16480_clock_mode {
+ ADIS16480_CLK_SYNC,
+ ADIS16480_CLK_PPS,
+ ADIS16480_CLK_INT
+};
+
+struct adis16480 {
+ const struct adis16480_chip_info *chip_info;
+
+ struct adis adis;
+ struct clk *ext_clk;
+ enum adis16480_clock_mode clk_mode;
+ unsigned int clk_freq;
+ /* Alignment needed for the timestamp */
+ __be16 data[ADIS16495_BURST_MAX_DATA] __aligned(8);
+};
+
+static const char * const adis16480_int_pin_names[4] = {
+ [ADIS16480_PIN_DIO1] = "DIO1",
+ [ADIS16480_PIN_DIO2] = "DIO2",
+ [ADIS16480_PIN_DIO3] = "DIO3",
+ [ADIS16480_PIN_DIO4] = "DIO4",
+};
+
+static bool low_rate_allow;
+module_param(low_rate_allow, bool, 0444);
+MODULE_PARM_DESC(low_rate_allow,
+ "Allow IMU rates below the minimum advisable when external clk is used in PPS mode (default: N)");
+
+#ifdef CONFIG_DEBUG_FS
+
+static ssize_t adis16480_show_firmware_revision(struct file *file,
+ char __user *userbuf, size_t count, loff_t *ppos)
+{
+ struct adis16480 *adis16480 = file->private_data;
+ char buf[7];
+ size_t len;
+ u16 rev;
+ int ret;
+
+ ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev);
+ if (ret)
+ return ret;
+
+ len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff);
+
+ return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
+
+static const struct file_operations adis16480_firmware_revision_fops = {
+ .open = simple_open,
+ .read = adis16480_show_firmware_revision,
+ .llseek = default_llseek,
+ .owner = THIS_MODULE,
+};
+
+static ssize_t adis16480_show_firmware_date(struct file *file,
+ char __user *userbuf, size_t count, loff_t *ppos)
+{
+ struct adis16480 *adis16480 = file->private_data;
+ u16 md, year;
+ char buf[12];
+ size_t len;
+ int ret;
+
+ ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year);
+ if (ret)
+ return ret;
+
+ ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md);
+ if (ret)
+ return ret;
+
+ len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n",
+ md >> 8, md & 0xff, year);
+
+ return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
+
+static const struct file_operations adis16480_firmware_date_fops = {
+ .open = simple_open,
+ .read = adis16480_show_firmware_date,
+ .llseek = default_llseek,
+ .owner = THIS_MODULE,
+};
+
+static int adis16480_show_serial_number(void *arg, u64 *val)
+{
+ struct adis16480 *adis16480 = arg;
+ u16 serial;
+ int ret;
+
+ ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM,
+ &serial);
+ if (ret)
+ return ret;
+
+ *val = serial;
+
+ return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16480_serial_number_fops,
+ adis16480_show_serial_number, NULL, "0x%.4llx\n");
+
+static int adis16480_show_product_id(void *arg, u64 *val)
+{
+ struct adis16480 *adis16480 = arg;
+ u16 prod_id;
+ int ret;
+
+ ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID,
+ &prod_id);
+ if (ret)
+ return ret;
+
+ *val = prod_id;
+
+ return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16480_product_id_fops,
+ adis16480_show_product_id, NULL, "%llu\n");
+
+static int adis16480_show_flash_count(void *arg, u64 *val)
+{
+ struct adis16480 *adis16480 = arg;
+ u32 flash_count;
+ int ret;
+
+ ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT,
+ &flash_count);
+ if (ret)
+ return ret;
+
+ *val = flash_count;
+
+ return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16480_flash_count_fops,
+ adis16480_show_flash_count, NULL, "%lld\n");
+
+static int adis16480_debugfs_init(struct iio_dev *indio_dev)
+{
+ struct adis16480 *adis16480 = iio_priv(indio_dev);
+ struct dentry *d = iio_get_debugfs_dentry(indio_dev);
+
+ debugfs_create_file_unsafe("firmware_revision", 0400,
+ d, adis16480, &adis16480_firmware_revision_fops);
+ debugfs_create_file_unsafe("firmware_date", 0400,
+ d, adis16480, &adis16480_firmware_date_fops);
+ debugfs_create_file_unsafe("serial_number", 0400,
+ d, adis16480, &adis16480_serial_number_fops);
+ debugfs_create_file_unsafe("product_id", 0400,
+ d, adis16480, &adis16480_product_id_fops);
+ debugfs_create_file_unsafe("flash_count", 0400,
+ d, adis16480, &adis16480_flash_count_fops);
+
+ return 0;
+}
+
+#else
+
+static int adis16480_debugfs_init(struct iio_dev *indio_dev)
+{
+ return 0;
+}
+
+#endif
+
+static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
+{
+ struct adis16480 *st = iio_priv(indio_dev);
+ unsigned int t, sample_rate = st->clk_freq;
+ int ret;
+
+ if (val < 0 || val2 < 0)
+ return -EINVAL;
+
+ t = val * 1000 + val2 / 1000;
+ if (t == 0)
+ return -EINVAL;
+
+ adis_dev_lock(&st->adis);
+ /*
+ * When using PPS mode, the input clock needs to be scaled so that we have an IMU
+ * sample rate between (optimally) 4000 and 4250. After this, we can use the
+ * decimation filter to lower the sampling rate in order to get what the user wants.
+ * Optimally, the user sample rate is a multiple of both the IMU sample rate and
+ * the input clock. Hence, calculating the sync_scale dynamically gives us better
+ * chances of achieving a perfect/integer value for DEC_RATE. The math here is:
+ * 1. lcm of the input clock and the desired output rate.
+ * 2. get the highest multiple of the previous result lower than the adis max rate.
+ * 3. The last result becomes the IMU sample rate. Use that to calculate SYNC_SCALE
+ * and DEC_RATE (to get the user output rate)
+ */
+ if (st->clk_mode == ADIS16480_CLK_PPS) {
+ unsigned long scaled_rate = lcm(st->clk_freq, t);
+ int sync_scale;
+
+ /*
+ * If lcm is bigger than the IMU maximum sampling rate there's no perfect
+ * solution. In this case, we get the highest multiple of the input clock
+ * lower than the IMU max sample rate.
+ */
+ if (scaled_rate > st->chip_info->int_clk)
+ scaled_rate = st->chip_info->int_clk / st->clk_freq * st->clk_freq;
+ else
+ scaled_rate = st->chip_info->int_clk / scaled_rate * scaled_rate;
+
+ /*
+ * This is not an hard requirement but it's not advised to run the IMU
+ * with a sample rate lower than 4000Hz due to possible undersampling
+ * issues. However, there are users that might really want to take the risk.
+ * Hence, we provide a module parameter for them. If set, we allow sample
+ * rates lower than 4KHz. By default, we won't allow this and we just roundup
+ * the rate to the next multiple of the input clock bigger than 4KHz. This
+ * is done like this as in some cases (when DEC_RATE is 0) might give
+ * us the closest value to the one desired by the user...
+ */
+ if (scaled_rate < 4000000 && !low_rate_allow)
+ scaled_rate = roundup(4000000, st->clk_freq);
+
+ sync_scale = scaled_rate / st->clk_freq;
+ ret = __adis_write_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, sync_scale);
+ if (ret)
+ goto error;
+
+ sample_rate = scaled_rate;
+ }
+
+ t = DIV_ROUND_CLOSEST(sample_rate, t);
+ if (t)
+ t--;
+
+ if (t > st->chip_info->max_dec_rate)
+ t = st->chip_info->max_dec_rate;
+
+ ret = __adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
+error:
+ adis_dev_unlock(&st->adis);
+ return ret;
+}
+
+static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
+{
+ struct adis16480 *st = iio_priv(indio_dev);
+ uint16_t t;
+ int ret;
+ unsigned int freq, sample_rate = st->clk_freq;
+
+ adis_dev_lock(&st->adis);
+
+ if (st->clk_mode == ADIS16480_CLK_PPS) {
+ u16 sync_scale;
+
+ ret = __adis_read_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, &sync_scale);
+ if (ret)
+ goto error;
+
+ sample_rate = st->clk_freq * sync_scale;
+ }
+
+ ret = __adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
+ if (ret)
+ goto error;
+
+ adis_dev_unlock(&st->adis);
+
+ freq = DIV_ROUND_CLOSEST(sample_rate, (t + 1));
+
+ *val = freq / 1000;
+ *val2 = (freq % 1000) * 1000;
+
+ return IIO_VAL_INT_PLUS_MICRO;
+error:
+ adis_dev_unlock(&st->adis);
+ return ret;
+}
+
+enum {
+ ADIS16480_SCAN_GYRO_X,
+ ADIS16480_SCAN_GYRO_Y,
+ ADIS16480_SCAN_GYRO_Z,
+ ADIS16480_SCAN_ACCEL_X,
+ ADIS16480_SCAN_ACCEL_Y,
+ ADIS16480_SCAN_ACCEL_Z,
+ ADIS16480_SCAN_MAGN_X,
+ ADIS16480_SCAN_MAGN_Y,
+ ADIS16480_SCAN_MAGN_Z,
+ ADIS16480_SCAN_BARO,
+ ADIS16480_SCAN_TEMP,
+};
+
+static const unsigned int adis16480_calibbias_regs[] = {
+ [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS,
+ [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS,
+ [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS,
+ [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS,
+ [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS,
+ [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS,
+ [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON,
+ [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON,
+ [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON,
+ [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS,
+};
+
+static const unsigned int adis16480_calibscale_regs[] = {
+ [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE,
+ [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE,
+ [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE,
+ [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE,
+ [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE,
+ [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE,
+};
+
+static int adis16480_set_calibbias(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan, int bias)
+{
+ unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
+ struct adis16480 *st = iio_priv(indio_dev);
+
+ switch (chan->type) {
+ case IIO_MAGN:
+ case IIO_PRESSURE:
+ if (bias < -0x8000 || bias >= 0x8000)
+ return -EINVAL;
+ return adis_write_reg_16(&st->adis, reg, bias);
+ case IIO_ANGL_VEL:
+ case IIO_ACCEL:
+ return adis_write_reg_32(&st->adis, reg, bias);
+ default:
+ break;
+ }
+
+ return -EINVAL;
+}
+
+static int adis16480_get_calibbias(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan, int *bias)
+{
+ unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
+ struct adis16480 *st = iio_priv(indio_dev);
+ uint16_t val16;
+ uint32_t val32;
+ int ret;
+
+ switch (chan->type) {
+ case IIO_MAGN:
+ case IIO_PRESSURE:
+ ret = adis_read_reg_16(&st->adis, reg, &val16);
+ if (ret == 0)
+ *bias = sign_extend32(val16, 15);
+ break;
+ case IIO_ANGL_VEL:
+ case IIO_ACCEL:
+ ret = adis_read_reg_32(&st->adis, reg, &val32);
+ if (ret == 0)
+ *bias = sign_extend32(val32, 31);
+ break;
+ default:
+ ret = -EINVAL;
+ }
+
+ if (ret)
+ return ret;
+
+ return IIO_VAL_INT;
+}
+
+static int adis16480_set_calibscale(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan, int scale)
+{
+ unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
+ struct adis16480 *st = iio_priv(indio_dev);
+
+ if (scale < -0x8000 || scale >= 0x8000)
+ return -EINVAL;
+
+ return adis_write_reg_16(&st->adis, reg, scale);
+}
+
+static int adis16480_get_calibscale(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan, int *scale)
+{
+ unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
+ struct adis16480 *st = iio_priv(indio_dev);
+ uint16_t val16;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, reg, &val16);
+ if (ret)
+ return ret;
+
+ *scale = sign_extend32(val16, 15);
+ return IIO_VAL_INT;
+}
+
+static const unsigned int adis16480_def_filter_freqs[] = {
+ 310,
+ 55,
+ 275,
+ 63,
+};
+
+static const unsigned int adis16495_def_filter_freqs[] = {
+ 300,
+ 100,
+ 300,
+ 100,
+};
+
+static const unsigned int ad16480_filter_data[][2] = {
+ [ADIS16480_SCAN_GYRO_X] = { ADIS16480_REG_FILTER_BNK0, 0 },
+ [ADIS16480_SCAN_GYRO_Y] = { ADIS16480_REG_FILTER_BNK0, 3 },
+ [ADIS16480_SCAN_GYRO_Z] = { ADIS16480_REG_FILTER_BNK0, 6 },
+ [ADIS16480_SCAN_ACCEL_X] = { ADIS16480_REG_FILTER_BNK0, 9 },
+ [ADIS16480_SCAN_ACCEL_Y] = { ADIS16480_REG_FILTER_BNK0, 12 },
+ [ADIS16480_SCAN_ACCEL_Z] = { ADIS16480_REG_FILTER_BNK1, 0 },
+ [ADIS16480_SCAN_MAGN_X] = { ADIS16480_REG_FILTER_BNK1, 3 },
+ [ADIS16480_SCAN_MAGN_Y] = { ADIS16480_REG_FILTER_BNK1, 6 },
+ [ADIS16480_SCAN_MAGN_Z] = { ADIS16480_REG_FILTER_BNK1, 9 },
+};
+
+static int adis16480_get_filter_freq(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan, int *freq)
+{
+ struct adis16480 *st = iio_priv(indio_dev);
+ unsigned int enable_mask, offset, reg;
+ uint16_t val;
+ int ret;
+
+ reg = ad16480_filter_data[chan->scan_index][0];
+ offset = ad16480_filter_data[chan->scan_index][1];
+ enable_mask = BIT(offset + 2);
+
+ ret = adis_read_reg_16(&st->adis, reg, &val);
+ if (ret)
+ return ret;
+
+ if (!(val & enable_mask))
+ *freq = 0;
+ else
+ *freq = st->chip_info->filter_freqs[(val >> offset) & 0x3];
+
+ return IIO_VAL_INT;
+}
+
+static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan, unsigned int freq)
+{
+ struct adis16480 *st = iio_priv(indio_dev);
+ unsigned int enable_mask, offset, reg;
+ unsigned int diff, best_diff;
+ unsigned int i, best_freq;
+ uint16_t val;
+ int ret;
+
+ reg = ad16480_filter_data[chan->scan_index][0];
+ offset = ad16480_filter_data[chan->scan_index][1];
+ enable_mask = BIT(offset + 2);
+
+ adis_dev_lock(&st->adis);
+
+ ret = __adis_read_reg_16(&st->adis, reg, &val);
+ if (ret)
+ goto out_unlock;
+
+ if (freq == 0) {
+ val &= ~enable_mask;
+ } else {
+ best_freq = 0;
+ best_diff = st->chip_info->filter_freqs[0];
+ for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) {
+ if (st->chip_info->filter_freqs[i] >= freq) {
+ diff = st->chip_info->filter_freqs[i] - freq;
+ if (diff < best_diff) {
+ best_diff = diff;
+ best_freq = i;
+ }
+ }
+ }
+
+ val &= ~(0x3 << offset);
+ val |= best_freq << offset;
+ val |= enable_mask;
+ }
+
+ ret = __adis_write_reg_16(&st->adis, reg, val);
+out_unlock:
+ adis_dev_unlock(&st->adis);
+
+ return ret;
+}
+
+static int adis16480_read_raw(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan, int *val, int *val2, long info)
+{
+ struct adis16480 *st = iio_priv(indio_dev);
+ unsigned int temp;
+
+ switch (info) {
+ case IIO_CHAN_INFO_RAW:
+ return adis_single_conversion(indio_dev, chan, 0, val);
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = st->chip_info->gyro_max_scale;
+ *val2 = st->chip_info->gyro_max_val;
+ return IIO_VAL_FRACTIONAL;
+ case IIO_ACCEL:
+ *val = st->chip_info->accel_max_scale;
+ *val2 = st->chip_info->accel_max_val;
+ return IIO_VAL_FRACTIONAL;
+ case IIO_MAGN:
+ *val = 0;
+ *val2 = 100; /* 0.0001 gauss */
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_TEMP:
+ /*
+ * +85 degrees Celsius = temp_max_scale
+ * +25 degrees Celsius = 0
+ * LSB, 25 degrees Celsius = 60 / temp_max_scale
+ */
+ *val = st->chip_info->temp_scale / 1000;
+ *val2 = (st->chip_info->temp_scale % 1000) * 1000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_PRESSURE:
+ /*
+ * max scale is 1310 mbar
+ * max raw value is 32767 shifted for 32bits
+ */
+ *val = 131; /* 1310mbar = 131 kPa */
+ *val2 = 32767 << 16;
+ return IIO_VAL_FRACTIONAL;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_OFFSET:
+ /* Only the temperature channel has a offset */
+ temp = 25 * 1000000LL; /* 25 degree Celsius = 0x0000 */
+ *val = DIV_ROUND_CLOSEST_ULL(temp, st->chip_info->temp_scale);
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_CALIBBIAS:
+ return adis16480_get_calibbias(indio_dev, chan, val);
+ case IIO_CHAN_INFO_CALIBSCALE:
+ return adis16480_get_calibscale(indio_dev, chan, val);
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ return adis16480_get_filter_freq(indio_dev, chan, val);
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return adis16480_get_freq(indio_dev, val, val2);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int adis16480_write_raw(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan, int val, int val2, long info)
+{
+ switch (info) {
+ case IIO_CHAN_INFO_CALIBBIAS:
+ return adis16480_set_calibbias(indio_dev, chan, val);
+ case IIO_CHAN_INFO_CALIBSCALE:
+ return adis16480_set_calibscale(indio_dev, chan, val);
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ return adis16480_set_filter_freq(indio_dev, chan, val);
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return adis16480_set_freq(indio_dev, val, val2);
+
+ default:
+ return -EINVAL;
+ }
+}
+
+#define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \
+ { \
+ .type = (_type), \
+ .modified = 1, \
+ .channel2 = (_mod), \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS) | \
+ _info_sep, \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (_address), \
+ .scan_index = (_si), \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (_bits), \
+ .storagebits = (_bits), \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
+#define ADIS16480_GYRO_CHANNEL(_mod) \
+ ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
+ ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
+ BIT(IIO_CHAN_INFO_CALIBSCALE), \
+ 32)
+
+#define ADIS16480_ACCEL_CHANNEL(_mod) \
+ ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
+ ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
+ BIT(IIO_CHAN_INFO_CALIBSCALE), \
+ 32)
+
+#define ADIS16480_MAGN_CHANNEL(_mod) \
+ ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
+ ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ 16)
+
+#define ADIS16480_PRESSURE_CHANNEL() \
+ { \
+ .type = IIO_PRESSURE, \
+ .indexed = 1, \
+ .channel = 0, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS) | \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = ADIS16480_REG_BAROM_OUT, \
+ .scan_index = ADIS16480_SCAN_BARO, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 32, \
+ .storagebits = 32, \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
+#define ADIS16480_TEMP_CHANNEL() { \
+ .type = IIO_TEMP, \
+ .indexed = 1, \
+ .channel = 0, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_OFFSET), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = ADIS16480_REG_TEMP_OUT, \
+ .scan_index = ADIS16480_SCAN_TEMP, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
+static const struct iio_chan_spec adis16480_channels[] = {
+ ADIS16480_GYRO_CHANNEL(X),
+ ADIS16480_GYRO_CHANNEL(Y),
+ ADIS16480_GYRO_CHANNEL(Z),
+ ADIS16480_ACCEL_CHANNEL(X),
+ ADIS16480_ACCEL_CHANNEL(Y),
+ ADIS16480_ACCEL_CHANNEL(Z),
+ ADIS16480_MAGN_CHANNEL(X),
+ ADIS16480_MAGN_CHANNEL(Y),
+ ADIS16480_MAGN_CHANNEL(Z),
+ ADIS16480_PRESSURE_CHANNEL(),
+ ADIS16480_TEMP_CHANNEL(),
+ IIO_CHAN_SOFT_TIMESTAMP(11)
+};
+
+static const struct iio_chan_spec adis16485_channels[] = {
+ ADIS16480_GYRO_CHANNEL(X),
+ ADIS16480_GYRO_CHANNEL(Y),
+ ADIS16480_GYRO_CHANNEL(Z),
+ ADIS16480_ACCEL_CHANNEL(X),
+ ADIS16480_ACCEL_CHANNEL(Y),
+ ADIS16480_ACCEL_CHANNEL(Z),
+ ADIS16480_TEMP_CHANNEL(),
+ IIO_CHAN_SOFT_TIMESTAMP(7)
+};
+
+enum adis16480_variant {
+ ADIS16375,
+ ADIS16480,
+ ADIS16485,
+ ADIS16488,
+ ADIS16490,
+ ADIS16495_1,
+ ADIS16495_2,
+ ADIS16495_3,
+ ADIS16497_1,
+ ADIS16497_2,
+ ADIS16497_3,
+};
+
+#define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
+#define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
+#define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
+#define ADIS16480_DIAG_STAT_XACCL_FAIL 3
+#define ADIS16480_DIAG_STAT_YACCL_FAIL 4
+#define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
+#define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
+#define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
+#define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
+#define ADIS16480_DIAG_STAT_BARO_FAIL 11
+
+static const char * const adis16480_status_error_msgs[] = {
+ [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+ [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+ [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+ [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+ [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+ [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+ [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
+ [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
+ [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
+ [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
+};
+
+static int adis16480_enable_irq(struct adis *adis, bool enable);
+
+#define ADIS16480_DATA(_prod_id, _timeouts, _burst_len) \
+{ \
+ .diag_stat_reg = ADIS16480_REG_DIAG_STS, \
+ .glob_cmd_reg = ADIS16480_REG_GLOB_CMD, \
+ .prod_id_reg = ADIS16480_REG_PROD_ID, \
+ .prod_id = (_prod_id), \
+ .has_paging = true, \
+ .read_delay = 5, \
+ .write_delay = 5, \
+ .self_test_mask = BIT(1), \
+ .self_test_reg = ADIS16480_REG_GLOB_CMD, \
+ .status_error_msgs = adis16480_status_error_msgs, \
+ .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_BARO_FAIL), \
+ .enable_irq = adis16480_enable_irq, \
+ .timeouts = (_timeouts), \
+ .burst_reg_cmd = ADIS16495_REG_BURST_CMD, \
+ .burst_len = (_burst_len), \
+ .burst_max_speed_hz = ADIS16495_BURST_MAX_SPEED \
+}
+
+static const struct adis_timeout adis16485_timeouts = {
+ .reset_ms = 560,
+ .sw_reset_ms = 120,
+ .self_test_ms = 12,
+};
+
+static const struct adis_timeout adis16480_timeouts = {
+ .reset_ms = 560,
+ .sw_reset_ms = 560,
+ .self_test_ms = 12,
+};
+
+static const struct adis_timeout adis16495_timeouts = {
+ .reset_ms = 170,
+ .sw_reset_ms = 130,
+ .self_test_ms = 40,
+};
+
+static const struct adis_timeout adis16495_1_timeouts = {
+ .reset_ms = 250,
+ .sw_reset_ms = 210,
+ .self_test_ms = 20,
+};
+
+static const struct adis16480_chip_info adis16480_chip_info[] = {
+ [ADIS16375] = {
+ .channels = adis16485_channels,
+ .num_channels = ARRAY_SIZE(adis16485_channels),
+ /*
+ * Typically we do IIO_RAD_TO_DEGREE in the denominator, which
+ * is exactly the same as IIO_DEGREE_TO_RAD in numerator, since
+ * it gives better approximation. However, in this case we
+ * cannot do it since it would not fit in a 32bit variable.
+ */
+ .gyro_max_val = 22887 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(300),
+ .accel_max_val = IIO_M_S_2_TO_G(21973 << 16),
+ .accel_max_scale = 18,
+ .temp_scale = 5650, /* 5.65 milli degree Celsius */
+ .int_clk = 2460000,
+ .max_dec_rate = 2048,
+ .has_sleep_cnt = true,
+ .filter_freqs = adis16480_def_filter_freqs,
+ .adis_data = ADIS16480_DATA(16375, &adis16485_timeouts, 0),
+ },
+ [ADIS16480] = {
+ .channels = adis16480_channels,
+ .num_channels = ARRAY_SIZE(adis16480_channels),
+ .gyro_max_val = 22500 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
+ .accel_max_val = IIO_M_S_2_TO_G(12500 << 16),
+ .accel_max_scale = 10,
+ .temp_scale = 5650, /* 5.65 milli degree Celsius */
+ .int_clk = 2460000,
+ .max_dec_rate = 2048,
+ .has_sleep_cnt = true,
+ .filter_freqs = adis16480_def_filter_freqs,
+ .adis_data = ADIS16480_DATA(16480, &adis16480_timeouts, 0),
+ },
+ [ADIS16485] = {
+ .channels = adis16485_channels,
+ .num_channels = ARRAY_SIZE(adis16485_channels),
+ .gyro_max_val = 22500 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
+ .accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
+ .accel_max_scale = 5,
+ .temp_scale = 5650, /* 5.65 milli degree Celsius */
+ .int_clk = 2460000,
+ .max_dec_rate = 2048,
+ .has_sleep_cnt = true,
+ .filter_freqs = adis16480_def_filter_freqs,
+ .adis_data = ADIS16480_DATA(16485, &adis16485_timeouts, 0),
+ },
+ [ADIS16488] = {
+ .channels = adis16480_channels,
+ .num_channels = ARRAY_SIZE(adis16480_channels),
+ .gyro_max_val = 22500 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
+ .accel_max_val = IIO_M_S_2_TO_G(22500 << 16),
+ .accel_max_scale = 18,
+ .temp_scale = 5650, /* 5.65 milli degree Celsius */
+ .int_clk = 2460000,
+ .max_dec_rate = 2048,
+ .has_sleep_cnt = true,
+ .filter_freqs = adis16480_def_filter_freqs,
+ .adis_data = ADIS16480_DATA(16488, &adis16485_timeouts, 0),
+ },
+ [ADIS16490] = {
+ .channels = adis16485_channels,
+ .num_channels = ARRAY_SIZE(adis16485_channels),
+ .gyro_max_val = 20000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(100),
+ .accel_max_val = IIO_M_S_2_TO_G(16000 << 16),
+ .accel_max_scale = 8,
+ .temp_scale = 14285, /* 14.285 milli degree Celsius */
+ .int_clk = 4250000,
+ .max_dec_rate = 4250,
+ .filter_freqs = adis16495_def_filter_freqs,
+ .has_pps_clk_mode = true,
+ .adis_data = ADIS16480_DATA(16490, &adis16495_timeouts, 0),
+ },
+ [ADIS16495_1] = {
+ .channels = adis16485_channels,
+ .num_channels = ARRAY_SIZE(adis16485_channels),
+ .gyro_max_val = 20000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(125),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
+ .accel_max_scale = 8,
+ .temp_scale = 12500, /* 12.5 milli degree Celsius */
+ .int_clk = 4250000,
+ .max_dec_rate = 4250,
+ .filter_freqs = adis16495_def_filter_freqs,
+ .has_pps_clk_mode = true,
+ /* 20 elements of 16bits */
+ .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts,
+ ADIS16495_BURST_MAX_DATA * 2),
+ },
+ [ADIS16495_2] = {
+ .channels = adis16485_channels,
+ .num_channels = ARRAY_SIZE(adis16485_channels),
+ .gyro_max_val = 18000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
+ .accel_max_scale = 8,
+ .temp_scale = 12500, /* 12.5 milli degree Celsius */
+ .int_clk = 4250000,
+ .max_dec_rate = 4250,
+ .filter_freqs = adis16495_def_filter_freqs,
+ .has_pps_clk_mode = true,
+ /* 20 elements of 16bits */
+ .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts,
+ ADIS16495_BURST_MAX_DATA * 2),
+ },
+ [ADIS16495_3] = {
+ .channels = adis16485_channels,
+ .num_channels = ARRAY_SIZE(adis16485_channels),
+ .gyro_max_val = 20000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(2000),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
+ .accel_max_scale = 8,
+ .temp_scale = 12500, /* 12.5 milli degree Celsius */
+ .int_clk = 4250000,
+ .max_dec_rate = 4250,
+ .filter_freqs = adis16495_def_filter_freqs,
+ .has_pps_clk_mode = true,
+ /* 20 elements of 16bits */
+ .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts,
+ ADIS16495_BURST_MAX_DATA * 2),
+ },
+ [ADIS16497_1] = {
+ .channels = adis16485_channels,
+ .num_channels = ARRAY_SIZE(adis16485_channels),
+ .gyro_max_val = 20000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(125),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
+ .accel_max_scale = 40,
+ .temp_scale = 12500, /* 12.5 milli degree Celsius */
+ .int_clk = 4250000,
+ .max_dec_rate = 4250,
+ .filter_freqs = adis16495_def_filter_freqs,
+ .has_pps_clk_mode = true,
+ /* 20 elements of 16bits */
+ .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts,
+ ADIS16495_BURST_MAX_DATA * 2),
+ },
+ [ADIS16497_2] = {
+ .channels = adis16485_channels,
+ .num_channels = ARRAY_SIZE(adis16485_channels),
+ .gyro_max_val = 18000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
+ .accel_max_scale = 40,
+ .temp_scale = 12500, /* 12.5 milli degree Celsius */
+ .int_clk = 4250000,
+ .max_dec_rate = 4250,
+ .filter_freqs = adis16495_def_filter_freqs,
+ .has_pps_clk_mode = true,
+ /* 20 elements of 16bits */
+ .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts,
+ ADIS16495_BURST_MAX_DATA * 2),
+ },
+ [ADIS16497_3] = {
+ .channels = adis16485_channels,
+ .num_channels = ARRAY_SIZE(adis16485_channels),
+ .gyro_max_val = 20000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(2000),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
+ .accel_max_scale = 40,
+ .temp_scale = 12500, /* 12.5 milli degree Celsius */
+ .int_clk = 4250000,
+ .max_dec_rate = 4250,
+ .filter_freqs = adis16495_def_filter_freqs,
+ .has_pps_clk_mode = true,
+ /* 20 elements of 16bits */
+ .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts,
+ ADIS16495_BURST_MAX_DATA * 2),
+ },
+};
+
+static bool adis16480_validate_crc(const u16 *buf, const u8 n_elem, const u32 crc)
+{
+ u32 crc_calc;
+ u16 crc_buf[15];
+ int j;
+
+ for (j = 0; j < n_elem; j++)
+ crc_buf[j] = swab16(buf[j]);
+
+ crc_calc = crc32(~0, crc_buf, n_elem * 2);
+ crc_calc ^= ~0;
+
+ return (crc == crc_calc);
+}
+
+static irqreturn_t adis16480_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct adis16480 *st = iio_priv(indio_dev);
+ struct adis *adis = &st->adis;
+ struct device *dev = &adis->spi->dev;
+ int ret, bit, offset, i = 0;
+ __be16 *buffer;
+ u32 crc;
+ bool valid;
+
+ adis_dev_lock(adis);
+ if (adis->current_page != 0) {
+ adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
+ adis->tx[1] = 0;
+ ret = spi_write(adis->spi, adis->tx, 2);
+ if (ret) {
+ dev_err(dev, "Failed to change device page: %d\n", ret);
+ adis_dev_unlock(adis);
+ goto irq_done;
+ }
+
+ adis->current_page = 0;
+ }
+
+ ret = spi_sync(adis->spi, &adis->msg);
+ if (ret) {
+ dev_err(dev, "Failed to read data: %d\n", ret);
+ adis_dev_unlock(adis);
+ goto irq_done;
+ }
+
+ adis_dev_unlock(adis);
+
+ /*
+ * After making the burst request, the response can have one or two
+ * 16-bit responses containing the BURST_ID depending on the sclk. If
+ * clk > 3.6MHz, then we will have two BURST_ID in a row. If clk < 3MHZ,
+ * we have only one. To manage that variation, we use the transition from the
+ * BURST_ID to the SYS_E_FLAG register, which will not be equal to 0xA5A5. If
+ * we not find this variation in the first 4 segments, then the data should
+ * not be valid.
+ */
+ buffer = adis->buffer;
+ for (offset = 0; offset < 4; offset++) {
+ u16 curr = be16_to_cpu(buffer[offset]);
+ u16 next = be16_to_cpu(buffer[offset + 1]);
+
+ if (curr == ADIS16495_BURST_ID && next != ADIS16495_BURST_ID) {
+ offset++;
+ break;
+ }
+ }
+
+ if (offset == 4) {
+ dev_err(dev, "Invalid burst data\n");
+ goto irq_done;
+ }
+
+ crc = be16_to_cpu(buffer[offset + 16]) << 16 | be16_to_cpu(buffer[offset + 15]);
+ valid = adis16480_validate_crc((u16 *)&buffer[offset], 15, crc);
+ if (!valid) {
+ dev_err(dev, "Invalid crc\n");
+ goto irq_done;
+ }
+
+ for_each_set_bit(bit, indio_dev->active_scan_mask, indio_dev->masklength) {
+ /*
+ * When burst mode is used, temperature is the first data
+ * channel in the sequence, but the temperature scan index
+ * is 10.
+ */
+ switch (bit) {
+ case ADIS16480_SCAN_TEMP:
+ st->data[i++] = buffer[offset + 1];
+ break;
+ case ADIS16480_SCAN_GYRO_X ... ADIS16480_SCAN_ACCEL_Z:
+ /* The lower register data is sequenced first */
+ st->data[i++] = buffer[2 * bit + offset + 3];
+ st->data[i++] = buffer[2 * bit + offset + 2];
+ break;
+ }
+ }
+
+ iio_push_to_buffers_with_timestamp(indio_dev, st->data, pf->timestamp);
+irq_done:
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+
+static const struct iio_info adis16480_info = {
+ .read_raw = &adis16480_read_raw,
+ .write_raw = &adis16480_write_raw,
+ .update_scan_mode = adis_update_scan_mode,
+ .debugfs_reg_access = adis_debugfs_reg_access,
+};
+
+static int adis16480_stop_device(struct iio_dev *indio_dev)
+{
+ struct adis16480 *st = iio_priv(indio_dev);
+ struct device *dev = &st->adis.spi->dev;
+ int ret;
+
+ ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9));
+ if (ret)
+ dev_err(dev, "Could not power down device: %d\n", ret);
+
+ return ret;
+}
+
+static int adis16480_enable_irq(struct adis *adis, bool enable)
+{
+ uint16_t val;
+ int ret;
+
+ ret = __adis_read_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, &val);
+ if (ret)
+ return ret;
+
+ val &= ~ADIS16480_DRDY_EN_MSK;
+ val |= ADIS16480_DRDY_EN(enable);
+
+ return __adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, val);
+}
+
+static int adis16480_config_irq_pin(struct adis16480 *st)
+{
+ struct device *dev = &st->adis.spi->dev;
+ struct fwnode_handle *fwnode = dev_fwnode(dev);
+ struct irq_data *desc;
+ enum adis16480_int_pin pin;
+ unsigned int irq_type;
+ uint16_t val;
+ int i, irq = 0;
+
+ desc = irq_get_irq_data(st->adis.spi->irq);
+ if (!desc) {
+ dev_err(dev, "Could not find IRQ %d\n", irq);
+ return -EINVAL;
+ }
+
+ /* Disable data ready since the default after reset is on */
+ val = ADIS16480_DRDY_EN(0);
+
+ /*
+ * Get the interrupt from the devicetre by reading the interrupt-names
+ * property. If it is not specified, use DIO1 pin as default.
+ * According to the datasheet, the factory default assigns DIO2 as data
+ * ready signal. However, in the previous versions of the driver, DIO1
+ * pin was used. So, we should leave it as is since some devices might
+ * be expecting the interrupt on the wrong physical pin.
+ */
+ pin = ADIS16480_PIN_DIO1;
+ for (i = 0; i < ARRAY_SIZE(adis16480_int_pin_names); i++) {
+ irq = fwnode_irq_get_byname(fwnode, adis16480_int_pin_names[i]);
+ if (irq > 0) {
+ pin = i;
+ break;
+ }
+ }
+
+ val |= ADIS16480_DRDY_SEL(pin);
+
+ /*
+ * Get the interrupt line behaviour. The data ready polarity can be
+ * configured as positive or negative, corresponding to
+ * IRQ_TYPE_EDGE_RISING or IRQ_TYPE_EDGE_FALLING respectively.
+ */
+ irq_type = irqd_get_trigger_type(desc);
+ if (irq_type == IRQ_TYPE_EDGE_RISING) { /* Default */
+ val |= ADIS16480_DRDY_POL(1);
+ } else if (irq_type == IRQ_TYPE_EDGE_FALLING) {
+ val |= ADIS16480_DRDY_POL(0);
+ } else {
+ dev_err(dev, "Invalid interrupt type 0x%x specified\n", irq_type);
+ return -EINVAL;
+ }
+ /* Write the data ready configuration to the FNCTIO_CTRL register */
+ return adis_write_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, val);
+}
+
+static int adis16480_fw_get_ext_clk_pin(struct adis16480 *st)
+{
+ struct device *dev = &st->adis.spi->dev;
+ const char *ext_clk_pin;
+ enum adis16480_int_pin pin;
+ int i;
+
+ pin = ADIS16480_PIN_DIO2;
+ if (device_property_read_string(dev, "adi,ext-clk-pin", &ext_clk_pin))
+ goto clk_input_not_found;
+
+ for (i = 0; i < ARRAY_SIZE(adis16480_int_pin_names); i++) {
+ if (strcasecmp(ext_clk_pin, adis16480_int_pin_names[i]) == 0)
+ return i;
+ }
+
+clk_input_not_found:
+ dev_info(dev, "clk input line not specified, using DIO2\n");
+ return pin;
+}
+
+static int adis16480_ext_clk_config(struct adis16480 *st, bool enable)
+{
+ struct device *dev = &st->adis.spi->dev;
+ unsigned int mode, mask;
+ enum adis16480_int_pin pin;
+ uint16_t val;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, &val);
+ if (ret)
+ return ret;
+
+ pin = adis16480_fw_get_ext_clk_pin(st);
+ /*
+ * Each DIOx pin supports only one function at a time. When a single pin
+ * has two assignments, the enable bit for a lower priority function
+ * automatically resets to zero (disabling the lower priority function).
+ */
+ if (pin == ADIS16480_DRDY_SEL(val))
+ dev_warn(dev, "DIO%x pin supports only one function at a time\n", pin + 1);
+
+ mode = ADIS16480_SYNC_EN(enable) | ADIS16480_SYNC_SEL(pin);
+ mask = ADIS16480_SYNC_EN_MSK | ADIS16480_SYNC_SEL_MSK;
+ /* Only ADIS1649x devices support pps ext clock mode */
+ if (st->chip_info->has_pps_clk_mode) {
+ mode |= ADIS16480_SYNC_MODE(st->clk_mode);
+ mask |= ADIS16480_SYNC_MODE_MSK;
+ }
+
+ val &= ~mask;
+ val |= mode;
+
+ ret = adis_write_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, val);
+ if (ret)
+ return ret;
+
+ return clk_prepare_enable(st->ext_clk);
+}
+
+static int adis16480_get_ext_clocks(struct adis16480 *st)
+{
+ struct device *dev = &st->adis.spi->dev;
+
+ st->ext_clk = devm_clk_get_optional(dev, "sync");
+ if (IS_ERR(st->ext_clk))
+ return dev_err_probe(dev, PTR_ERR(st->ext_clk), "failed to get ext clk\n");
+ if (st->ext_clk) {
+ st->clk_mode = ADIS16480_CLK_SYNC;
+ return 0;
+ }
+
+ if (st->chip_info->has_pps_clk_mode) {
+ st->ext_clk = devm_clk_get_optional(dev, "pps");
+ if (IS_ERR(st->ext_clk))
+ return dev_err_probe(dev, PTR_ERR(st->ext_clk), "failed to get ext clk\n");
+ if (st->ext_clk) {
+ st->clk_mode = ADIS16480_CLK_PPS;
+ return 0;
+ }
+ }
+
+ st->clk_mode = ADIS16480_CLK_INT;
+ return 0;
+}
+
+static void adis16480_stop(void *data)
+{
+ adis16480_stop_device(data);
+}
+
+static void adis16480_clk_disable(void *data)
+{
+ clk_disable_unprepare(data);
+}
+
+static int adis16480_probe(struct spi_device *spi)
+{
+ const struct spi_device_id *id = spi_get_device_id(spi);
+ const struct adis_data *adis16480_data;
+ irq_handler_t trigger_handler = NULL;
+ struct device *dev = &spi->dev;
+ struct iio_dev *indio_dev;
+ struct adis16480 *st;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
+ if (indio_dev == NULL)
+ return -ENOMEM;
+
+ st = iio_priv(indio_dev);
+
+ st->chip_info = &adis16480_chip_info[id->driver_data];
+ indio_dev->name = spi_get_device_id(spi)->name;
+ indio_dev->channels = st->chip_info->channels;
+ indio_dev->num_channels = st->chip_info->num_channels;
+ indio_dev->info = &adis16480_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ adis16480_data = &st->chip_info->adis_data;
+
+ ret = adis_init(&st->adis, indio_dev, spi, adis16480_data);
+ if (ret)
+ return ret;
+
+ ret = __adis_initial_startup(&st->adis);
+ if (ret)
+ return ret;
+
+ if (st->chip_info->has_sleep_cnt) {
+ ret = devm_add_action_or_reset(dev, adis16480_stop, indio_dev);
+ if (ret)
+ return ret;
+ }
+
+ ret = adis16480_config_irq_pin(st);
+ if (ret)
+ return ret;
+
+ ret = adis16480_get_ext_clocks(st);
+ if (ret)
+ return ret;
+
+ if (st->ext_clk) {
+ ret = adis16480_ext_clk_config(st, true);
+ if (ret)
+ return ret;
+
+ ret = devm_add_action_or_reset(dev, adis16480_clk_disable, st->ext_clk);
+ if (ret)
+ return ret;
+
+ st->clk_freq = clk_get_rate(st->ext_clk);
+ st->clk_freq *= 1000; /* micro */
+ if (st->clk_mode == ADIS16480_CLK_PPS) {
+ u16 sync_scale;
+
+ /*
+ * In PPS mode, the IMU sample rate is the clk_freq * sync_scale. Hence,
+ * default the IMU sample rate to the highest multiple of the input clock
+ * lower than the IMU max sample rate. The internal sample rate is the
+ * max...
+ */
+ sync_scale = st->chip_info->int_clk / st->clk_freq;
+ ret = __adis_write_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, sync_scale);
+ if (ret)
+ return ret;
+ }
+ } else {
+ st->clk_freq = st->chip_info->int_clk;
+ }
+
+ /* Only use our trigger handler if burst mode is supported */
+ if (adis16480_data->burst_len)
+ trigger_handler = adis16480_trigger_handler;
+
+ ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev,
+ trigger_handler);
+ if (ret)
+ return ret;
+
+ ret = devm_iio_device_register(dev, indio_dev);
+ if (ret)
+ return ret;
+
+ adis16480_debugfs_init(indio_dev);
+
+ return 0;
+}
+
+static const struct spi_device_id adis16480_ids[] = {
+ { "adis16375", ADIS16375 },
+ { "adis16480", ADIS16480 },
+ { "adis16485", ADIS16485 },
+ { "adis16488", ADIS16488 },
+ { "adis16490", ADIS16490 },
+ { "adis16495-1", ADIS16495_1 },
+ { "adis16495-2", ADIS16495_2 },
+ { "adis16495-3", ADIS16495_3 },
+ { "adis16497-1", ADIS16497_1 },
+ { "adis16497-2", ADIS16497_2 },
+ { "adis16497-3", ADIS16497_3 },
+ { }
+};
+MODULE_DEVICE_TABLE(spi, adis16480_ids);
+
+static const struct of_device_id adis16480_of_match[] = {
+ { .compatible = "adi,adis16375" },
+ { .compatible = "adi,adis16480" },
+ { .compatible = "adi,adis16485" },
+ { .compatible = "adi,adis16488" },
+ { .compatible = "adi,adis16490" },
+ { .compatible = "adi,adis16495-1" },
+ { .compatible = "adi,adis16495-2" },
+ { .compatible = "adi,adis16495-3" },
+ { .compatible = "adi,adis16497-1" },
+ { .compatible = "adi,adis16497-2" },
+ { .compatible = "adi,adis16497-3" },
+ { },
+};
+MODULE_DEVICE_TABLE(of, adis16480_of_match);
+
+static struct spi_driver adis16480_driver = {
+ .driver = {
+ .name = "adis16480",
+ .of_match_table = adis16480_of_match,
+ },
+ .id_table = adis16480_ids,
+ .probe = adis16480_probe,
+};
+module_spi_driver(adis16480_driver);
+
+MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
+MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver");
+MODULE_LICENSE("GPL v2");
+MODULE_IMPORT_NS(IIO_ADISLIB);
diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c
new file mode 100644
index 000000000..928933027
--- /dev/null
+++ b/drivers/iio/imu/adis_buffer.c
@@ -0,0 +1,216 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Common library for ADIS16XXX devices
+ *
+ * Copyright 2012 Analog Devices Inc.
+ * Author: Lars-Peter Clausen <lars@metafoo.de>
+ */
+
+#include <linux/export.h>
+#include <linux/interrupt.h>
+#include <linux/mutex.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/imu/adis.h>
+
+static int adis_update_scan_mode_burst(struct iio_dev *indio_dev,
+ const unsigned long *scan_mask)
+{
+ struct adis *adis = iio_device_get_drvdata(indio_dev);
+ unsigned int burst_length, burst_max_length;
+ u8 *tx;
+
+ burst_length = adis->data->burst_len + adis->burst_extra_len;
+
+ if (adis->data->burst_max_len)
+ burst_max_length = adis->data->burst_max_len;
+ else
+ burst_max_length = burst_length;
+
+ adis->xfer = kcalloc(2, sizeof(*adis->xfer), GFP_KERNEL);
+ if (!adis->xfer)
+ return -ENOMEM;
+
+ adis->buffer = kzalloc(burst_max_length + sizeof(u16), GFP_KERNEL);
+ if (!adis->buffer) {
+ kfree(adis->xfer);
+ adis->xfer = NULL;
+ return -ENOMEM;
+ }
+
+ tx = adis->buffer + burst_max_length;
+ tx[0] = ADIS_READ_REG(adis->data->burst_reg_cmd);
+ tx[1] = 0;
+
+ adis->xfer[0].tx_buf = tx;
+ adis->xfer[0].bits_per_word = 8;
+ adis->xfer[0].len = 2;
+ if (adis->data->burst_max_speed_hz)
+ adis->xfer[0].speed_hz = adis->data->burst_max_speed_hz;
+ adis->xfer[1].rx_buf = adis->buffer;
+ adis->xfer[1].bits_per_word = 8;
+ adis->xfer[1].len = burst_length;
+ if (adis->data->burst_max_speed_hz)
+ adis->xfer[1].speed_hz = adis->data->burst_max_speed_hz;
+
+ spi_message_init(&adis->msg);
+ spi_message_add_tail(&adis->xfer[0], &adis->msg);
+ spi_message_add_tail(&adis->xfer[1], &adis->msg);
+
+ return 0;
+}
+
+int adis_update_scan_mode(struct iio_dev *indio_dev,
+ const unsigned long *scan_mask)
+{
+ struct adis *adis = iio_device_get_drvdata(indio_dev);
+ const struct iio_chan_spec *chan;
+ unsigned int scan_count;
+ unsigned int i, j;
+ __be16 *tx, *rx;
+
+ kfree(adis->xfer);
+ kfree(adis->buffer);
+
+ if (adis->data->burst_len)
+ return adis_update_scan_mode_burst(indio_dev, scan_mask);
+
+ scan_count = indio_dev->scan_bytes / 2;
+
+ adis->xfer = kcalloc(scan_count + 1, sizeof(*adis->xfer), GFP_KERNEL);
+ if (!adis->xfer)
+ return -ENOMEM;
+
+ adis->buffer = kcalloc(indio_dev->scan_bytes, 2, GFP_KERNEL);
+ if (!adis->buffer) {
+ kfree(adis->xfer);
+ adis->xfer = NULL;
+ return -ENOMEM;
+ }
+
+ rx = adis->buffer;
+ tx = rx + scan_count;
+
+ spi_message_init(&adis->msg);
+
+ for (j = 0; j <= scan_count; j++) {
+ adis->xfer[j].bits_per_word = 8;
+ if (j != scan_count)
+ adis->xfer[j].cs_change = 1;
+ adis->xfer[j].len = 2;
+ adis->xfer[j].delay.value = adis->data->read_delay;
+ adis->xfer[j].delay.unit = SPI_DELAY_UNIT_USECS;
+ if (j < scan_count)
+ adis->xfer[j].tx_buf = &tx[j];
+ if (j >= 1)
+ adis->xfer[j].rx_buf = &rx[j - 1];
+ spi_message_add_tail(&adis->xfer[j], &adis->msg);
+ }
+
+ chan = indio_dev->channels;
+ for (i = 0; i < indio_dev->num_channels; i++, chan++) {
+ if (!test_bit(chan->scan_index, scan_mask))
+ continue;
+ if (chan->scan_type.storagebits == 32)
+ *tx++ = cpu_to_be16((chan->address + 2) << 8);
+ *tx++ = cpu_to_be16(chan->address << 8);
+ }
+
+ return 0;
+}
+EXPORT_SYMBOL_NS_GPL(adis_update_scan_mode, IIO_ADISLIB);
+
+static irqreturn_t adis_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct adis *adis = iio_device_get_drvdata(indio_dev);
+ int ret;
+
+ if (adis->data->has_paging) {
+ mutex_lock(&adis->state_lock);
+ if (adis->current_page != 0) {
+ adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
+ adis->tx[1] = 0;
+ ret = spi_write(adis->spi, adis->tx, 2);
+ if (ret) {
+ dev_err(&adis->spi->dev, "Failed to change device page: %d\n", ret);
+ mutex_unlock(&adis->state_lock);
+ goto irq_done;
+ }
+
+ adis->current_page = 0;
+ }
+ }
+
+ ret = spi_sync(adis->spi, &adis->msg);
+ if (adis->data->has_paging)
+ mutex_unlock(&adis->state_lock);
+ if (ret) {
+ dev_err(&adis->spi->dev, "Failed to read data: %d", ret);
+ goto irq_done;
+ }
+
+ iio_push_to_buffers_with_timestamp(indio_dev, adis->buffer,
+ pf->timestamp);
+
+irq_done:
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+
+static void adis_buffer_cleanup(void *arg)
+{
+ struct adis *adis = arg;
+
+ kfree(adis->buffer);
+ kfree(adis->xfer);
+}
+
+/**
+ * devm_adis_setup_buffer_and_trigger() - Sets up buffer and trigger for
+ * the managed adis device
+ * @adis: The adis device
+ * @indio_dev: The IIO device
+ * @trigger_handler: Optional trigger handler, may be NULL.
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ *
+ * This function sets up the buffer and trigger for a adis devices. If
+ * 'trigger_handler' is NULL the default trigger handler will be used. The
+ * default trigger handler will simply read the registers assigned to the
+ * currently active channels.
+ */
+int
+devm_adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev,
+ irq_handler_t trigger_handler)
+{
+ int ret;
+
+ if (!trigger_handler)
+ trigger_handler = adis_trigger_handler;
+
+ ret = devm_iio_triggered_buffer_setup(&adis->spi->dev, indio_dev,
+ &iio_pollfunc_store_time,
+ trigger_handler, NULL);
+ if (ret)
+ return ret;
+
+ if (adis->spi->irq) {
+ ret = devm_adis_probe_trigger(adis, indio_dev);
+ if (ret)
+ return ret;
+ }
+
+ return devm_add_action_or_reset(&adis->spi->dev, adis_buffer_cleanup,
+ adis);
+}
+EXPORT_SYMBOL_NS_GPL(devm_adis_setup_buffer_and_trigger, IIO_ADISLIB);
+
diff --git a/drivers/iio/imu/adis_trigger.c b/drivers/iio/imu/adis_trigger.c
new file mode 100644
index 000000000..f890bf842
--- /dev/null
+++ b/drivers/iio/imu/adis_trigger.c
@@ -0,0 +1,91 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Common library for ADIS16XXX devices
+ *
+ * Copyright 2012 Analog Devices Inc.
+ * Author: Lars-Peter Clausen <lars@metafoo.de>
+ */
+
+#include <linux/interrupt.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/export.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/imu/adis.h>
+
+static int adis_data_rdy_trigger_set_state(struct iio_trigger *trig, bool state)
+{
+ struct adis *adis = iio_trigger_get_drvdata(trig);
+
+ return adis_enable_irq(adis, state);
+}
+
+static const struct iio_trigger_ops adis_trigger_ops = {
+ .set_trigger_state = &adis_data_rdy_trigger_set_state,
+};
+
+static int adis_validate_irq_flag(struct adis *adis)
+{
+ unsigned long direction = adis->irq_flag & IRQF_TRIGGER_MASK;
+
+ /* We cannot mask the interrupt so ensure it's not enabled at request */
+ if (adis->data->unmasked_drdy)
+ adis->irq_flag |= IRQF_NO_AUTOEN;
+ /*
+ * Typically this devices have data ready either on the rising edge or
+ * on the falling edge of the data ready pin. This checks enforces that
+ * one of those is set in the drivers... It defaults to
+ * IRQF_TRIGGER_RISING for backward compatibility with devices that
+ * don't support changing the pin polarity.
+ */
+ if (direction == IRQF_TRIGGER_NONE) {
+ adis->irq_flag |= IRQF_TRIGGER_RISING;
+ return 0;
+ } else if (direction != IRQF_TRIGGER_RISING &&
+ direction != IRQF_TRIGGER_FALLING) {
+ dev_err(&adis->spi->dev, "Invalid IRQ mask: %08lx\n",
+ adis->irq_flag);
+ return -EINVAL;
+ }
+
+ return 0;
+}
+
+/**
+ * devm_adis_probe_trigger() - Sets up trigger for a managed adis device
+ * @adis: The adis device
+ * @indio_dev: The IIO device
+ *
+ * Returns 0 on success or a negative error code
+ */
+int devm_adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev)
+{
+ int ret;
+
+ adis->trig = devm_iio_trigger_alloc(&adis->spi->dev, "%s-dev%d",
+ indio_dev->name,
+ iio_device_id(indio_dev));
+ if (!adis->trig)
+ return -ENOMEM;
+
+ adis->trig->ops = &adis_trigger_ops;
+ iio_trigger_set_drvdata(adis->trig, adis);
+
+ ret = adis_validate_irq_flag(adis);
+ if (ret)
+ return ret;
+
+ ret = devm_request_irq(&adis->spi->dev, adis->spi->irq,
+ &iio_trigger_generic_data_rdy_poll,
+ adis->irq_flag,
+ indio_dev->name,
+ adis->trig);
+ if (ret)
+ return ret;
+
+ return devm_iio_trigger_register(&adis->spi->dev, adis->trig);
+}
+EXPORT_SYMBOL_NS_GPL(devm_adis_probe_trigger, IIO_ADISLIB);
+
diff --git a/drivers/iio/imu/bmi160/Kconfig b/drivers/iio/imu/bmi160/Kconfig
new file mode 100644
index 000000000..9d14d85cc
--- /dev/null
+++ b/drivers/iio/imu/bmi160/Kconfig
@@ -0,0 +1,33 @@
+# SPDX-License-Identifier: GPL-2.0-only
+#
+# BMI160 IMU driver
+#
+
+config BMI160
+ tristate
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+
+config BMI160_I2C
+ tristate "Bosch BMI160 I2C driver"
+ depends on I2C
+ select BMI160
+ select REGMAP_I2C
+ help
+ If you say yes here you get support for BMI160 IMU on I2C with
+ accelerometer, gyroscope and external BMG160 magnetometer.
+
+ This driver can also be built as a module. If so, the module will be
+ called bmi160_i2c.
+
+config BMI160_SPI
+ tristate "Bosch BMI160 SPI driver"
+ depends on SPI
+ select BMI160
+ select REGMAP_SPI
+ help
+ If you say yes here you get support for BMI160 IMU on SPI with
+ accelerometer, gyroscope and external BMG160 magnetometer.
+
+ This driver can also be built as a module. If so, the module will be
+ called bmi160_spi.
diff --git a/drivers/iio/imu/bmi160/Makefile b/drivers/iio/imu/bmi160/Makefile
new file mode 100644
index 000000000..fdcfeddf4
--- /dev/null
+++ b/drivers/iio/imu/bmi160/Makefile
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: GPL-2.0-only
+#
+# Makefile for Bosch BMI160 IMU
+#
+obj-$(CONFIG_BMI160) += bmi160_core.o
+obj-$(CONFIG_BMI160_I2C) += bmi160_i2c.o
+obj-$(CONFIG_BMI160_SPI) += bmi160_spi.o
diff --git a/drivers/iio/imu/bmi160/bmi160.h b/drivers/iio/imu/bmi160/bmi160.h
new file mode 100644
index 000000000..32c2ea2d7
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160.h
@@ -0,0 +1,31 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+#ifndef BMI160_H_
+#define BMI160_H_
+
+#include <linux/iio/iio.h>
+#include <linux/regulator/consumer.h>
+
+struct bmi160_data {
+ struct regmap *regmap;
+ struct iio_trigger *trig;
+ struct regulator_bulk_data supplies[2];
+ struct iio_mount_matrix orientation;
+ /*
+ * Ensure natural alignment for timestamp if present.
+ * Max length needed: 2 * 3 channels + 4 bytes padding + 8 byte ts.
+ * If fewer channels are enabled, less space may be needed, as
+ * long as the timestamp is still aligned to 8 bytes.
+ */
+ __le16 buf[12] __aligned(8);
+};
+
+extern const struct regmap_config bmi160_regmap_config;
+
+int bmi160_core_probe(struct device *dev, struct regmap *regmap,
+ const char *name, bool use_spi);
+
+int bmi160_enable_irq(struct regmap *regmap, bool enable);
+
+int bmi160_probe_trigger(struct iio_dev *indio_dev, int irq, u32 irq_type);
+
+#endif /* BMI160_H_ */
diff --git a/drivers/iio/imu/bmi160/bmi160_core.c b/drivers/iio/imu/bmi160/bmi160_core.c
new file mode 100644
index 000000000..a77f1a834
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160_core.c
@@ -0,0 +1,891 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * BMI160 - Bosch IMU (accel, gyro plus external magnetometer)
+ *
+ * Copyright (c) 2016, Intel Corporation.
+ * Copyright (c) 2019, Martin Kelly.
+ *
+ * IIO core driver for BMI160, with support for I2C/SPI busses
+ *
+ * TODO: magnetometer, hardware FIFO
+ */
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+#include <linux/irq.h>
+#include <linux/property.h>
+#include <linux/regulator/consumer.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger.h>
+
+#include "bmi160.h"
+
+#define BMI160_REG_CHIP_ID 0x00
+#define BMI160_CHIP_ID_VAL 0xD1
+
+#define BMI160_REG_PMU_STATUS 0x03
+
+/* X axis data low byte address, the rest can be obtained using axis offset */
+#define BMI160_REG_DATA_MAGN_XOUT_L 0x04
+#define BMI160_REG_DATA_GYRO_XOUT_L 0x0C
+#define BMI160_REG_DATA_ACCEL_XOUT_L 0x12
+
+#define BMI160_REG_ACCEL_CONFIG 0x40
+#define BMI160_ACCEL_CONFIG_ODR_MASK GENMASK(3, 0)
+#define BMI160_ACCEL_CONFIG_BWP_MASK GENMASK(6, 4)
+
+#define BMI160_REG_ACCEL_RANGE 0x41
+#define BMI160_ACCEL_RANGE_2G 0x03
+#define BMI160_ACCEL_RANGE_4G 0x05
+#define BMI160_ACCEL_RANGE_8G 0x08
+#define BMI160_ACCEL_RANGE_16G 0x0C
+
+#define BMI160_REG_GYRO_CONFIG 0x42
+#define BMI160_GYRO_CONFIG_ODR_MASK GENMASK(3, 0)
+#define BMI160_GYRO_CONFIG_BWP_MASK GENMASK(5, 4)
+
+#define BMI160_REG_GYRO_RANGE 0x43
+#define BMI160_GYRO_RANGE_2000DPS 0x00
+#define BMI160_GYRO_RANGE_1000DPS 0x01
+#define BMI160_GYRO_RANGE_500DPS 0x02
+#define BMI160_GYRO_RANGE_250DPS 0x03
+#define BMI160_GYRO_RANGE_125DPS 0x04
+
+#define BMI160_REG_CMD 0x7E
+#define BMI160_CMD_ACCEL_PM_SUSPEND 0x10
+#define BMI160_CMD_ACCEL_PM_NORMAL 0x11
+#define BMI160_CMD_ACCEL_PM_LOW_POWER 0x12
+#define BMI160_CMD_GYRO_PM_SUSPEND 0x14
+#define BMI160_CMD_GYRO_PM_NORMAL 0x15
+#define BMI160_CMD_GYRO_PM_FAST_STARTUP 0x17
+#define BMI160_CMD_SOFTRESET 0xB6
+
+#define BMI160_REG_INT_EN 0x51
+#define BMI160_DRDY_INT_EN BIT(4)
+
+#define BMI160_REG_INT_OUT_CTRL 0x53
+#define BMI160_INT_OUT_CTRL_MASK 0x0f
+#define BMI160_INT1_OUT_CTRL_SHIFT 0
+#define BMI160_INT2_OUT_CTRL_SHIFT 4
+#define BMI160_EDGE_TRIGGERED BIT(0)
+#define BMI160_ACTIVE_HIGH BIT(1)
+#define BMI160_OPEN_DRAIN BIT(2)
+#define BMI160_OUTPUT_EN BIT(3)
+
+#define BMI160_REG_INT_LATCH 0x54
+#define BMI160_INT1_LATCH_MASK BIT(4)
+#define BMI160_INT2_LATCH_MASK BIT(5)
+
+/* INT1 and INT2 are in the opposite order as in INT_OUT_CTRL! */
+#define BMI160_REG_INT_MAP 0x56
+#define BMI160_INT1_MAP_DRDY_EN 0x80
+#define BMI160_INT2_MAP_DRDY_EN 0x08
+
+#define BMI160_REG_DUMMY 0x7F
+
+#define BMI160_NORMAL_WRITE_USLEEP 2
+#define BMI160_SUSPENDED_WRITE_USLEEP 450
+
+#define BMI160_ACCEL_PMU_MIN_USLEEP 3800
+#define BMI160_GYRO_PMU_MIN_USLEEP 80000
+#define BMI160_SOFTRESET_USLEEP 1000
+
+#define BMI160_CHANNEL(_type, _axis, _index) { \
+ .type = _type, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##_axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ }, \
+ .ext_info = bmi160_ext_info, \
+}
+
+/* scan indexes follow DATA register order */
+enum bmi160_scan_axis {
+ BMI160_SCAN_EXT_MAGN_X = 0,
+ BMI160_SCAN_EXT_MAGN_Y,
+ BMI160_SCAN_EXT_MAGN_Z,
+ BMI160_SCAN_RHALL,
+ BMI160_SCAN_GYRO_X,
+ BMI160_SCAN_GYRO_Y,
+ BMI160_SCAN_GYRO_Z,
+ BMI160_SCAN_ACCEL_X,
+ BMI160_SCAN_ACCEL_Y,
+ BMI160_SCAN_ACCEL_Z,
+ BMI160_SCAN_TIMESTAMP,
+};
+
+enum bmi160_sensor_type {
+ BMI160_ACCEL = 0,
+ BMI160_GYRO,
+ BMI160_EXT_MAGN,
+ BMI160_NUM_SENSORS /* must be last */
+};
+
+enum bmi160_int_pin {
+ BMI160_PIN_INT1,
+ BMI160_PIN_INT2
+};
+
+const struct regmap_config bmi160_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+};
+EXPORT_SYMBOL_NS(bmi160_regmap_config, IIO_BMI160);
+
+struct bmi160_regs {
+ u8 data; /* LSB byte register for X-axis */
+ u8 config;
+ u8 config_odr_mask;
+ u8 config_bwp_mask;
+ u8 range;
+ u8 pmu_cmd_normal;
+ u8 pmu_cmd_suspend;
+};
+
+static struct bmi160_regs bmi160_regs[] = {
+ [BMI160_ACCEL] = {
+ .data = BMI160_REG_DATA_ACCEL_XOUT_L,
+ .config = BMI160_REG_ACCEL_CONFIG,
+ .config_odr_mask = BMI160_ACCEL_CONFIG_ODR_MASK,
+ .config_bwp_mask = BMI160_ACCEL_CONFIG_BWP_MASK,
+ .range = BMI160_REG_ACCEL_RANGE,
+ .pmu_cmd_normal = BMI160_CMD_ACCEL_PM_NORMAL,
+ .pmu_cmd_suspend = BMI160_CMD_ACCEL_PM_SUSPEND,
+ },
+ [BMI160_GYRO] = {
+ .data = BMI160_REG_DATA_GYRO_XOUT_L,
+ .config = BMI160_REG_GYRO_CONFIG,
+ .config_odr_mask = BMI160_GYRO_CONFIG_ODR_MASK,
+ .config_bwp_mask = BMI160_GYRO_CONFIG_BWP_MASK,
+ .range = BMI160_REG_GYRO_RANGE,
+ .pmu_cmd_normal = BMI160_CMD_GYRO_PM_NORMAL,
+ .pmu_cmd_suspend = BMI160_CMD_GYRO_PM_SUSPEND,
+ },
+};
+
+static unsigned long bmi160_pmu_time[] = {
+ [BMI160_ACCEL] = BMI160_ACCEL_PMU_MIN_USLEEP,
+ [BMI160_GYRO] = BMI160_GYRO_PMU_MIN_USLEEP,
+};
+
+struct bmi160_scale {
+ u8 bits;
+ int uscale;
+};
+
+struct bmi160_odr {
+ u8 bits;
+ int odr;
+ int uodr;
+};
+
+static const struct bmi160_scale bmi160_accel_scale[] = {
+ { BMI160_ACCEL_RANGE_2G, 598},
+ { BMI160_ACCEL_RANGE_4G, 1197},
+ { BMI160_ACCEL_RANGE_8G, 2394},
+ { BMI160_ACCEL_RANGE_16G, 4788},
+};
+
+static const struct bmi160_scale bmi160_gyro_scale[] = {
+ { BMI160_GYRO_RANGE_2000DPS, 1065},
+ { BMI160_GYRO_RANGE_1000DPS, 532},
+ { BMI160_GYRO_RANGE_500DPS, 266},
+ { BMI160_GYRO_RANGE_250DPS, 133},
+ { BMI160_GYRO_RANGE_125DPS, 66},
+};
+
+struct bmi160_scale_item {
+ const struct bmi160_scale *tbl;
+ int num;
+};
+
+static const struct bmi160_scale_item bmi160_scale_table[] = {
+ [BMI160_ACCEL] = {
+ .tbl = bmi160_accel_scale,
+ .num = ARRAY_SIZE(bmi160_accel_scale),
+ },
+ [BMI160_GYRO] = {
+ .tbl = bmi160_gyro_scale,
+ .num = ARRAY_SIZE(bmi160_gyro_scale),
+ },
+};
+
+static const struct bmi160_odr bmi160_accel_odr[] = {
+ {0x01, 0, 781250},
+ {0x02, 1, 562500},
+ {0x03, 3, 125000},
+ {0x04, 6, 250000},
+ {0x05, 12, 500000},
+ {0x06, 25, 0},
+ {0x07, 50, 0},
+ {0x08, 100, 0},
+ {0x09, 200, 0},
+ {0x0A, 400, 0},
+ {0x0B, 800, 0},
+ {0x0C, 1600, 0},
+};
+
+static const struct bmi160_odr bmi160_gyro_odr[] = {
+ {0x06, 25, 0},
+ {0x07, 50, 0},
+ {0x08, 100, 0},
+ {0x09, 200, 0},
+ {0x0A, 400, 0},
+ {0x0B, 800, 0},
+ {0x0C, 1600, 0},
+ {0x0D, 3200, 0},
+};
+
+struct bmi160_odr_item {
+ const struct bmi160_odr *tbl;
+ int num;
+};
+
+static const struct bmi160_odr_item bmi160_odr_table[] = {
+ [BMI160_ACCEL] = {
+ .tbl = bmi160_accel_odr,
+ .num = ARRAY_SIZE(bmi160_accel_odr),
+ },
+ [BMI160_GYRO] = {
+ .tbl = bmi160_gyro_odr,
+ .num = ARRAY_SIZE(bmi160_gyro_odr),
+ },
+};
+
+static const struct iio_mount_matrix *
+bmi160_get_mount_matrix(const struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan)
+{
+ struct bmi160_data *data = iio_priv(indio_dev);
+
+ return &data->orientation;
+}
+
+static const struct iio_chan_spec_ext_info bmi160_ext_info[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, bmi160_get_mount_matrix),
+ { }
+};
+
+static const struct iio_chan_spec bmi160_channels[] = {
+ BMI160_CHANNEL(IIO_ACCEL, X, BMI160_SCAN_ACCEL_X),
+ BMI160_CHANNEL(IIO_ACCEL, Y, BMI160_SCAN_ACCEL_Y),
+ BMI160_CHANNEL(IIO_ACCEL, Z, BMI160_SCAN_ACCEL_Z),
+ BMI160_CHANNEL(IIO_ANGL_VEL, X, BMI160_SCAN_GYRO_X),
+ BMI160_CHANNEL(IIO_ANGL_VEL, Y, BMI160_SCAN_GYRO_Y),
+ BMI160_CHANNEL(IIO_ANGL_VEL, Z, BMI160_SCAN_GYRO_Z),
+ IIO_CHAN_SOFT_TIMESTAMP(BMI160_SCAN_TIMESTAMP),
+};
+
+static enum bmi160_sensor_type bmi160_to_sensor(enum iio_chan_type iio_type)
+{
+ switch (iio_type) {
+ case IIO_ACCEL:
+ return BMI160_ACCEL;
+ case IIO_ANGL_VEL:
+ return BMI160_GYRO;
+ default:
+ return -EINVAL;
+ }
+}
+
+static
+int bmi160_set_mode(struct bmi160_data *data, enum bmi160_sensor_type t,
+ bool mode)
+{
+ int ret;
+ u8 cmd;
+
+ if (mode)
+ cmd = bmi160_regs[t].pmu_cmd_normal;
+ else
+ cmd = bmi160_regs[t].pmu_cmd_suspend;
+
+ ret = regmap_write(data->regmap, BMI160_REG_CMD, cmd);
+ if (ret)
+ return ret;
+
+ usleep_range(bmi160_pmu_time[t], bmi160_pmu_time[t] + 1000);
+
+ return 0;
+}
+
+static
+int bmi160_set_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
+ int uscale)
+{
+ int i;
+
+ for (i = 0; i < bmi160_scale_table[t].num; i++)
+ if (bmi160_scale_table[t].tbl[i].uscale == uscale)
+ break;
+
+ if (i == bmi160_scale_table[t].num)
+ return -EINVAL;
+
+ return regmap_write(data->regmap, bmi160_regs[t].range,
+ bmi160_scale_table[t].tbl[i].bits);
+}
+
+static
+int bmi160_get_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
+ int *uscale)
+{
+ int i, ret, val;
+
+ ret = regmap_read(data->regmap, bmi160_regs[t].range, &val);
+ if (ret)
+ return ret;
+
+ for (i = 0; i < bmi160_scale_table[t].num; i++)
+ if (bmi160_scale_table[t].tbl[i].bits == val) {
+ *uscale = bmi160_scale_table[t].tbl[i].uscale;
+ return 0;
+ }
+
+ return -EINVAL;
+}
+
+static int bmi160_get_data(struct bmi160_data *data, int chan_type,
+ int axis, int *val)
+{
+ u8 reg;
+ int ret;
+ __le16 sample;
+ enum bmi160_sensor_type t = bmi160_to_sensor(chan_type);
+
+ reg = bmi160_regs[t].data + (axis - IIO_MOD_X) * sizeof(sample);
+
+ ret = regmap_bulk_read(data->regmap, reg, &sample, sizeof(sample));
+ if (ret)
+ return ret;
+
+ *val = sign_extend32(le16_to_cpu(sample), 15);
+
+ return 0;
+}
+
+static
+int bmi160_set_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
+ int odr, int uodr)
+{
+ int i;
+
+ for (i = 0; i < bmi160_odr_table[t].num; i++)
+ if (bmi160_odr_table[t].tbl[i].odr == odr &&
+ bmi160_odr_table[t].tbl[i].uodr == uodr)
+ break;
+
+ if (i >= bmi160_odr_table[t].num)
+ return -EINVAL;
+
+ return regmap_update_bits(data->regmap,
+ bmi160_regs[t].config,
+ bmi160_regs[t].config_odr_mask,
+ bmi160_odr_table[t].tbl[i].bits);
+}
+
+static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
+ int *odr, int *uodr)
+{
+ int i, val, ret;
+
+ ret = regmap_read(data->regmap, bmi160_regs[t].config, &val);
+ if (ret)
+ return ret;
+
+ val &= bmi160_regs[t].config_odr_mask;
+
+ for (i = 0; i < bmi160_odr_table[t].num; i++)
+ if (val == bmi160_odr_table[t].tbl[i].bits)
+ break;
+
+ if (i >= bmi160_odr_table[t].num)
+ return -EINVAL;
+
+ *odr = bmi160_odr_table[t].tbl[i].odr;
+ *uodr = bmi160_odr_table[t].tbl[i].uodr;
+
+ return 0;
+}
+
+static irqreturn_t bmi160_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct bmi160_data *data = iio_priv(indio_dev);
+ int i, ret, j = 0, base = BMI160_REG_DATA_MAGN_XOUT_L;
+ __le16 sample;
+
+ for_each_set_bit(i, indio_dev->active_scan_mask,
+ indio_dev->masklength) {
+ ret = regmap_bulk_read(data->regmap, base + i * sizeof(sample),
+ &sample, sizeof(sample));
+ if (ret)
+ goto done;
+ data->buf[j++] = sample;
+ }
+
+ iio_push_to_buffers_with_timestamp(indio_dev, data->buf, pf->timestamp);
+done:
+ iio_trigger_notify_done(indio_dev->trig);
+ return IRQ_HANDLED;
+}
+
+static int bmi160_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ int ret;
+ struct bmi160_data *data = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = bmi160_get_data(data, chan->type, chan->channel2, val);
+ if (ret)
+ return ret;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ *val = 0;
+ ret = bmi160_get_scale(data,
+ bmi160_to_sensor(chan->type), val2);
+ return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ ret = bmi160_get_odr(data, bmi160_to_sensor(chan->type),
+ val, val2);
+ return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+
+ return 0;
+}
+
+static int bmi160_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct bmi160_data *data = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ return bmi160_set_scale(data,
+ bmi160_to_sensor(chan->type), val2);
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return bmi160_set_odr(data, bmi160_to_sensor(chan->type),
+ val, val2);
+ default:
+ return -EINVAL;
+ }
+
+ return 0;
+}
+
+static
+IIO_CONST_ATTR(in_accel_sampling_frequency_available,
+ "0.78125 1.5625 3.125 6.25 12.5 25 50 100 200 400 800 1600");
+static
+IIO_CONST_ATTR(in_anglvel_sampling_frequency_available,
+ "25 50 100 200 400 800 1600 3200");
+static
+IIO_CONST_ATTR(in_accel_scale_available,
+ "0.000598 0.001197 0.002394 0.004788");
+static
+IIO_CONST_ATTR(in_anglvel_scale_available,
+ "0.001065 0.000532 0.000266 0.000133 0.000066");
+
+static struct attribute *bmi160_attrs[] = {
+ &iio_const_attr_in_accel_sampling_frequency_available.dev_attr.attr,
+ &iio_const_attr_in_anglvel_sampling_frequency_available.dev_attr.attr,
+ &iio_const_attr_in_accel_scale_available.dev_attr.attr,
+ &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group bmi160_attrs_group = {
+ .attrs = bmi160_attrs,
+};
+
+static const struct iio_info bmi160_info = {
+ .read_raw = bmi160_read_raw,
+ .write_raw = bmi160_write_raw,
+ .attrs = &bmi160_attrs_group,
+};
+
+static int bmi160_write_conf_reg(struct regmap *regmap, unsigned int reg,
+ unsigned int mask, unsigned int bits,
+ unsigned int write_usleep)
+{
+ int ret;
+ unsigned int val;
+
+ ret = regmap_read(regmap, reg, &val);
+ if (ret)
+ return ret;
+
+ val = (val & ~mask) | bits;
+
+ ret = regmap_write(regmap, reg, val);
+ if (ret)
+ return ret;
+
+ /*
+ * We need to wait after writing before we can write again. See the
+ * datasheet, page 93.
+ */
+ usleep_range(write_usleep, write_usleep + 1000);
+
+ return 0;
+}
+
+static int bmi160_config_pin(struct regmap *regmap, enum bmi160_int_pin pin,
+ bool open_drain, u8 irq_mask,
+ unsigned long write_usleep)
+{
+ int ret;
+ struct device *dev = regmap_get_device(regmap);
+ u8 int_out_ctrl_shift;
+ u8 int_latch_mask;
+ u8 int_map_mask;
+ u8 int_out_ctrl_mask;
+ u8 int_out_ctrl_bits;
+ const char *pin_name;
+
+ switch (pin) {
+ case BMI160_PIN_INT1:
+ int_out_ctrl_shift = BMI160_INT1_OUT_CTRL_SHIFT;
+ int_latch_mask = BMI160_INT1_LATCH_MASK;
+ int_map_mask = BMI160_INT1_MAP_DRDY_EN;
+ break;
+ case BMI160_PIN_INT2:
+ int_out_ctrl_shift = BMI160_INT2_OUT_CTRL_SHIFT;
+ int_latch_mask = BMI160_INT2_LATCH_MASK;
+ int_map_mask = BMI160_INT2_MAP_DRDY_EN;
+ break;
+ }
+ int_out_ctrl_mask = BMI160_INT_OUT_CTRL_MASK << int_out_ctrl_shift;
+
+ /*
+ * Enable the requested pin with the right settings:
+ * - Push-pull/open-drain
+ * - Active low/high
+ * - Edge/level triggered
+ */
+ int_out_ctrl_bits = BMI160_OUTPUT_EN;
+ if (open_drain)
+ /* Default is push-pull. */
+ int_out_ctrl_bits |= BMI160_OPEN_DRAIN;
+ int_out_ctrl_bits |= irq_mask;
+ int_out_ctrl_bits <<= int_out_ctrl_shift;
+
+ ret = bmi160_write_conf_reg(regmap, BMI160_REG_INT_OUT_CTRL,
+ int_out_ctrl_mask, int_out_ctrl_bits,
+ write_usleep);
+ if (ret)
+ return ret;
+
+ /* Set the pin to input mode with no latching. */
+ ret = bmi160_write_conf_reg(regmap, BMI160_REG_INT_LATCH,
+ int_latch_mask, int_latch_mask,
+ write_usleep);
+ if (ret)
+ return ret;
+
+ /* Map interrupts to the requested pin. */
+ ret = bmi160_write_conf_reg(regmap, BMI160_REG_INT_MAP,
+ int_map_mask, int_map_mask,
+ write_usleep);
+ if (ret) {
+ switch (pin) {
+ case BMI160_PIN_INT1:
+ pin_name = "INT1";
+ break;
+ case BMI160_PIN_INT2:
+ pin_name = "INT2";
+ break;
+ }
+ dev_err(dev, "Failed to configure %s IRQ pin", pin_name);
+ }
+
+ return ret;
+}
+
+int bmi160_enable_irq(struct regmap *regmap, bool enable)
+{
+ unsigned int enable_bit = 0;
+
+ if (enable)
+ enable_bit = BMI160_DRDY_INT_EN;
+
+ return bmi160_write_conf_reg(regmap, BMI160_REG_INT_EN,
+ BMI160_DRDY_INT_EN, enable_bit,
+ BMI160_NORMAL_WRITE_USLEEP);
+}
+EXPORT_SYMBOL_NS(bmi160_enable_irq, IIO_BMI160);
+
+static int bmi160_get_irq(struct fwnode_handle *fwnode, enum bmi160_int_pin *pin)
+{
+ int irq;
+
+ /* Use INT1 if possible, otherwise fall back to INT2. */
+ irq = fwnode_irq_get_byname(fwnode, "INT1");
+ if (irq > 0) {
+ *pin = BMI160_PIN_INT1;
+ return irq;
+ }
+
+ irq = fwnode_irq_get_byname(fwnode, "INT2");
+ if (irq > 0)
+ *pin = BMI160_PIN_INT2;
+
+ return irq;
+}
+
+static int bmi160_config_device_irq(struct iio_dev *indio_dev, int irq_type,
+ enum bmi160_int_pin pin)
+{
+ bool open_drain;
+ u8 irq_mask;
+ struct bmi160_data *data = iio_priv(indio_dev);
+ struct device *dev = regmap_get_device(data->regmap);
+
+ /* Level-triggered, active-low is the default if we set all zeroes. */
+ if (irq_type == IRQF_TRIGGER_RISING)
+ irq_mask = BMI160_ACTIVE_HIGH | BMI160_EDGE_TRIGGERED;
+ else if (irq_type == IRQF_TRIGGER_FALLING)
+ irq_mask = BMI160_EDGE_TRIGGERED;
+ else if (irq_type == IRQF_TRIGGER_HIGH)
+ irq_mask = BMI160_ACTIVE_HIGH;
+ else if (irq_type == IRQF_TRIGGER_LOW)
+ irq_mask = 0;
+ else {
+ dev_err(&indio_dev->dev,
+ "Invalid interrupt type 0x%x specified\n", irq_type);
+ return -EINVAL;
+ }
+
+ open_drain = device_property_read_bool(dev, "drive-open-drain");
+
+ return bmi160_config_pin(data->regmap, pin, open_drain, irq_mask,
+ BMI160_NORMAL_WRITE_USLEEP);
+}
+
+static int bmi160_setup_irq(struct iio_dev *indio_dev, int irq,
+ enum bmi160_int_pin pin)
+{
+ struct irq_data *desc;
+ u32 irq_type;
+ int ret;
+
+ desc = irq_get_irq_data(irq);
+ if (!desc) {
+ dev_err(&indio_dev->dev, "Could not find IRQ %d\n", irq);
+ return -EINVAL;
+ }
+
+ irq_type = irqd_get_trigger_type(desc);
+
+ ret = bmi160_config_device_irq(indio_dev, irq_type, pin);
+ if (ret)
+ return ret;
+
+ return bmi160_probe_trigger(indio_dev, irq, irq_type);
+}
+
+static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
+{
+ int ret;
+ unsigned int val;
+ struct device *dev = regmap_get_device(data->regmap);
+
+ ret = regulator_bulk_enable(ARRAY_SIZE(data->supplies), data->supplies);
+ if (ret) {
+ dev_err(dev, "Failed to enable regulators: %d\n", ret);
+ return ret;
+ }
+
+ ret = regmap_write(data->regmap, BMI160_REG_CMD, BMI160_CMD_SOFTRESET);
+ if (ret)
+ goto disable_regulator;
+
+ usleep_range(BMI160_SOFTRESET_USLEEP, BMI160_SOFTRESET_USLEEP + 1);
+
+ /*
+ * CS rising edge is needed before starting SPI, so do a dummy read
+ * See Section 3.2.1, page 86 of the datasheet
+ */
+ if (use_spi) {
+ ret = regmap_read(data->regmap, BMI160_REG_DUMMY, &val);
+ if (ret)
+ goto disable_regulator;
+ }
+
+ ret = regmap_read(data->regmap, BMI160_REG_CHIP_ID, &val);
+ if (ret) {
+ dev_err(dev, "Error reading chip id\n");
+ goto disable_regulator;
+ }
+ if (val != BMI160_CHIP_ID_VAL) {
+ dev_err(dev, "Wrong chip id, got %x expected %x\n",
+ val, BMI160_CHIP_ID_VAL);
+ ret = -ENODEV;
+ goto disable_regulator;
+ }
+
+ ret = bmi160_set_mode(data, BMI160_ACCEL, true);
+ if (ret)
+ goto disable_regulator;
+
+ ret = bmi160_set_mode(data, BMI160_GYRO, true);
+ if (ret)
+ goto disable_accel;
+
+ return 0;
+
+disable_accel:
+ bmi160_set_mode(data, BMI160_ACCEL, false);
+
+disable_regulator:
+ regulator_bulk_disable(ARRAY_SIZE(data->supplies), data->supplies);
+ return ret;
+}
+
+static int bmi160_data_rdy_trigger_set_state(struct iio_trigger *trig,
+ bool enable)
+{
+ struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+ struct bmi160_data *data = iio_priv(indio_dev);
+
+ return bmi160_enable_irq(data->regmap, enable);
+}
+
+static const struct iio_trigger_ops bmi160_trigger_ops = {
+ .set_trigger_state = &bmi160_data_rdy_trigger_set_state,
+};
+
+int bmi160_probe_trigger(struct iio_dev *indio_dev, int irq, u32 irq_type)
+{
+ struct bmi160_data *data = iio_priv(indio_dev);
+ int ret;
+
+ data->trig = devm_iio_trigger_alloc(&indio_dev->dev, "%s-dev%d",
+ indio_dev->name,
+ iio_device_id(indio_dev));
+
+ if (data->trig == NULL)
+ return -ENOMEM;
+
+ ret = devm_request_irq(&indio_dev->dev, irq,
+ &iio_trigger_generic_data_rdy_poll,
+ irq_type, "bmi160", data->trig);
+ if (ret)
+ return ret;
+
+ data->trig->dev.parent = regmap_get_device(data->regmap);
+ data->trig->ops = &bmi160_trigger_ops;
+ iio_trigger_set_drvdata(data->trig, indio_dev);
+
+ ret = devm_iio_trigger_register(&indio_dev->dev, data->trig);
+ if (ret)
+ return ret;
+
+ indio_dev->trig = iio_trigger_get(data->trig);
+
+ return 0;
+}
+
+static void bmi160_chip_uninit(void *data)
+{
+ struct bmi160_data *bmi_data = data;
+ struct device *dev = regmap_get_device(bmi_data->regmap);
+ int ret;
+
+ bmi160_set_mode(bmi_data, BMI160_GYRO, false);
+ bmi160_set_mode(bmi_data, BMI160_ACCEL, false);
+
+ ret = regulator_bulk_disable(ARRAY_SIZE(bmi_data->supplies),
+ bmi_data->supplies);
+ if (ret)
+ dev_err(dev, "Failed to disable regulators: %d\n", ret);
+}
+
+int bmi160_core_probe(struct device *dev, struct regmap *regmap,
+ const char *name, bool use_spi)
+{
+ struct iio_dev *indio_dev;
+ struct bmi160_data *data;
+ int irq;
+ enum bmi160_int_pin int_pin;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ data = iio_priv(indio_dev);
+ dev_set_drvdata(dev, indio_dev);
+ data->regmap = regmap;
+
+ data->supplies[0].supply = "vdd";
+ data->supplies[1].supply = "vddio";
+ ret = devm_regulator_bulk_get(dev,
+ ARRAY_SIZE(data->supplies),
+ data->supplies);
+ if (ret) {
+ dev_err(dev, "Failed to get regulators: %d\n", ret);
+ return ret;
+ }
+
+ ret = iio_read_mount_matrix(dev, &data->orientation);
+ if (ret)
+ return ret;
+
+ ret = bmi160_chip_init(data, use_spi);
+ if (ret)
+ return ret;
+
+ ret = devm_add_action_or_reset(dev, bmi160_chip_uninit, data);
+ if (ret)
+ return ret;
+
+ indio_dev->channels = bmi160_channels;
+ indio_dev->num_channels = ARRAY_SIZE(bmi160_channels);
+ indio_dev->name = name;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->info = &bmi160_info;
+
+ ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
+ iio_pollfunc_store_time,
+ bmi160_trigger_handler, NULL);
+ if (ret)
+ return ret;
+
+ irq = bmi160_get_irq(dev_fwnode(dev), &int_pin);
+ if (irq > 0) {
+ ret = bmi160_setup_irq(indio_dev, irq, int_pin);
+ if (ret)
+ dev_err(&indio_dev->dev, "Failed to setup IRQ %d\n",
+ irq);
+ } else {
+ dev_info(&indio_dev->dev, "Not setting up IRQ trigger\n");
+ }
+
+ return devm_iio_device_register(dev, indio_dev);
+}
+EXPORT_SYMBOL_NS_GPL(bmi160_core_probe, IIO_BMI160);
+
+MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com>");
+MODULE_DESCRIPTION("Bosch BMI160 driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/bmi160/bmi160_i2c.c b/drivers/iio/imu/bmi160/bmi160_i2c.c
new file mode 100644
index 000000000..d93f4fa2a
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160_i2c.c
@@ -0,0 +1,71 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * BMI160 - Bosch IMU, I2C bits
+ *
+ * Copyright (c) 2016, Intel Corporation.
+ *
+ * 7-bit I2C slave address is:
+ * - 0x68 if SDO is pulled to GND
+ * - 0x69 if SDO is pulled to VDDIO
+ */
+#include <linux/i2c.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+
+#include "bmi160.h"
+
+static int bmi160_i2c_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ struct regmap *regmap;
+ const char *name;
+
+ regmap = devm_regmap_init_i2c(client, &bmi160_regmap_config);
+ if (IS_ERR(regmap)) {
+ dev_err(&client->dev, "Failed to register i2c regmap: %pe\n",
+ regmap);
+ return PTR_ERR(regmap);
+ }
+
+ if (id)
+ name = id->name;
+ else
+ name = dev_name(&client->dev);
+
+ return bmi160_core_probe(&client->dev, regmap, name, false);
+}
+
+static const struct i2c_device_id bmi160_i2c_id[] = {
+ {"bmi160", 0},
+ {}
+};
+MODULE_DEVICE_TABLE(i2c, bmi160_i2c_id);
+
+static const struct acpi_device_id bmi160_acpi_match[] = {
+ {"BMI0160", 0},
+ { },
+};
+MODULE_DEVICE_TABLE(acpi, bmi160_acpi_match);
+
+static const struct of_device_id bmi160_of_match[] = {
+ { .compatible = "bosch,bmi160" },
+ { },
+};
+MODULE_DEVICE_TABLE(of, bmi160_of_match);
+
+static struct i2c_driver bmi160_i2c_driver = {
+ .driver = {
+ .name = "bmi160_i2c",
+ .acpi_match_table = bmi160_acpi_match,
+ .of_match_table = bmi160_of_match,
+ },
+ .probe = bmi160_i2c_probe,
+ .id_table = bmi160_i2c_id,
+};
+module_i2c_driver(bmi160_i2c_driver);
+
+MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com>");
+MODULE_DESCRIPTION("BMI160 I2C driver");
+MODULE_LICENSE("GPL v2");
+MODULE_IMPORT_NS(IIO_BMI160);
diff --git a/drivers/iio/imu/bmi160/bmi160_spi.c b/drivers/iio/imu/bmi160/bmi160_spi.c
new file mode 100644
index 000000000..8b573ea99
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160_spi.c
@@ -0,0 +1,68 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * BMI160 - Bosch IMU, SPI bits
+ *
+ * Copyright (c) 2016, Intel Corporation.
+ *
+ */
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+
+#include "bmi160.h"
+
+static int bmi160_spi_probe(struct spi_device *spi)
+{
+ struct regmap *regmap;
+ const struct spi_device_id *id = spi_get_device_id(spi);
+ const char *name;
+
+ regmap = devm_regmap_init_spi(spi, &bmi160_regmap_config);
+ if (IS_ERR(regmap)) {
+ dev_err(&spi->dev, "Failed to register spi regmap: %pe\n",
+ regmap);
+ return PTR_ERR(regmap);
+ }
+
+ if (id)
+ name = id->name;
+ else
+ name = dev_name(&spi->dev);
+
+ return bmi160_core_probe(&spi->dev, regmap, name, true);
+}
+
+static const struct spi_device_id bmi160_spi_id[] = {
+ {"bmi160", 0},
+ {}
+};
+MODULE_DEVICE_TABLE(spi, bmi160_spi_id);
+
+static const struct acpi_device_id bmi160_acpi_match[] = {
+ {"BMI0160", 0},
+ { },
+};
+MODULE_DEVICE_TABLE(acpi, bmi160_acpi_match);
+
+static const struct of_device_id bmi160_of_match[] = {
+ { .compatible = "bosch,bmi160" },
+ { },
+};
+MODULE_DEVICE_TABLE(of, bmi160_of_match);
+
+static struct spi_driver bmi160_spi_driver = {
+ .probe = bmi160_spi_probe,
+ .id_table = bmi160_spi_id,
+ .driver = {
+ .acpi_match_table = bmi160_acpi_match,
+ .of_match_table = bmi160_of_match,
+ .name = "bmi160_spi",
+ },
+};
+module_spi_driver(bmi160_spi_driver);
+
+MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com");
+MODULE_DESCRIPTION("Bosch BMI160 SPI driver");
+MODULE_LICENSE("GPL v2");
+MODULE_IMPORT_NS(IIO_BMI160);
diff --git a/drivers/iio/imu/bno055/Kconfig b/drivers/iio/imu/bno055/Kconfig
new file mode 100644
index 000000000..83e53acfb
--- /dev/null
+++ b/drivers/iio/imu/bno055/Kconfig
@@ -0,0 +1,27 @@
+# SPDX-License-Identifier: GPL-2.0
+
+config BOSCH_BNO055
+ tristate
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+
+config BOSCH_BNO055_SERIAL
+ tristate "Bosch BNO055 attached via UART"
+ depends on SERIAL_DEV_BUS
+ select BOSCH_BNO055
+ help
+ Enable this to support Bosch BNO055 IMUs attached via UART.
+
+ This driver can also be built as a module. If so, the module will be
+ called bno055_sl.
+
+config BOSCH_BNO055_I2C
+ tristate "Bosch BNO055 attached via I2C bus"
+ depends on I2C
+ select REGMAP_I2C
+ select BOSCH_BNO055
+ help
+ Enable this to support Bosch BNO055 IMUs attached via I2C bus.
+
+ This driver can also be built as a module. If so, the module will be
+ called bno055_i2c.
diff --git a/drivers/iio/imu/bno055/Makefile b/drivers/iio/imu/bno055/Makefile
new file mode 100644
index 000000000..98c624730
--- /dev/null
+++ b/drivers/iio/imu/bno055/Makefile
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: GPL-2.0
+
+obj-$(CONFIG_BOSCH_BNO055) += bno055.o
+obj-$(CONFIG_BOSCH_BNO055_SERIAL) += bno055_ser.o
+bno055_ser-y := bno055_ser_core.o
+# define_trace.h needs to know how to find our header
+CFLAGS_bno055_ser_trace.o := -I$(src)
+bno055_ser-$(CONFIG_TRACING) += bno055_ser_trace.o
+
+obj-$(CONFIG_BOSCH_BNO055_I2C) += bno055_i2c.o
diff --git a/drivers/iio/imu/bno055/bno055.c b/drivers/iio/imu/bno055/bno055.c
new file mode 100644
index 000000000..52744dd98
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055.c
@@ -0,0 +1,1685 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * IIO driver for Bosch BNO055 IMU
+ *
+ * Copyright (C) 2021-2022 Istituto Italiano di Tecnologia
+ * Electronic Design Laboratory
+ * Written by Andrea Merello <andrea.merello@iit.it>
+ *
+ * Portions of this driver are taken from the BNO055 driver patch
+ * from Vlad Dogaru which is Copyright (c) 2016, Intel Corporation.
+ *
+ * This driver is also based on BMI160 driver, which is:
+ * Copyright (c) 2016, Intel Corporation.
+ * Copyright (c) 2019, Martin Kelly.
+ */
+
+#include <linux/bitfield.h>
+#include <linux/bitmap.h>
+#include <linux/clk.h>
+#include <linux/debugfs.h>
+#include <linux/device.h>
+#include <linux/firmware.h>
+#include <linux/gpio/consumer.h>
+#include <linux/module.h>
+#include <linux/mutex.h>
+#include <linux/regmap.h>
+#include <linux/util_macros.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#include "bno055.h"
+
+#define BNO055_FW_UID_FMT "bno055-caldata-%*phN.dat"
+#define BNO055_FW_GENERIC_NAME "bno055-caldata.dat"
+
+/* common registers */
+#define BNO055_PAGESEL_REG 0x7
+
+/* page 0 registers */
+#define BNO055_CHIP_ID_REG 0x0
+#define BNO055_CHIP_ID_MAGIC 0xA0
+#define BNO055_SW_REV_LSB_REG 0x4
+#define BNO055_SW_REV_MSB_REG 0x5
+#define BNO055_ACC_DATA_X_LSB_REG 0x8
+#define BNO055_ACC_DATA_Y_LSB_REG 0xA
+#define BNO055_ACC_DATA_Z_LSB_REG 0xC
+#define BNO055_MAG_DATA_X_LSB_REG 0xE
+#define BNO055_MAG_DATA_Y_LSB_REG 0x10
+#define BNO055_MAG_DATA_Z_LSB_REG 0x12
+#define BNO055_GYR_DATA_X_LSB_REG 0x14
+#define BNO055_GYR_DATA_Y_LSB_REG 0x16
+#define BNO055_GYR_DATA_Z_LSB_REG 0x18
+#define BNO055_EUL_DATA_X_LSB_REG 0x1A
+#define BNO055_EUL_DATA_Y_LSB_REG 0x1C
+#define BNO055_EUL_DATA_Z_LSB_REG 0x1E
+#define BNO055_QUAT_DATA_W_LSB_REG 0x20
+#define BNO055_LIA_DATA_X_LSB_REG 0x28
+#define BNO055_LIA_DATA_Y_LSB_REG 0x2A
+#define BNO055_LIA_DATA_Z_LSB_REG 0x2C
+#define BNO055_GRAVITY_DATA_X_LSB_REG 0x2E
+#define BNO055_GRAVITY_DATA_Y_LSB_REG 0x30
+#define BNO055_GRAVITY_DATA_Z_LSB_REG 0x32
+#define BNO055_SCAN_CH_COUNT ((BNO055_GRAVITY_DATA_Z_LSB_REG - BNO055_ACC_DATA_X_LSB_REG) / 2)
+#define BNO055_TEMP_REG 0x34
+#define BNO055_CALIB_STAT_REG 0x35
+#define BNO055_CALIB_STAT_MAGN_SHIFT 0
+#define BNO055_CALIB_STAT_ACCEL_SHIFT 2
+#define BNO055_CALIB_STAT_GYRO_SHIFT 4
+#define BNO055_CALIB_STAT_SYS_SHIFT 6
+#define BNO055_SYS_ERR_REG 0x3A
+#define BNO055_POWER_MODE_REG 0x3E
+#define BNO055_POWER_MODE_NORMAL 0
+#define BNO055_SYS_TRIGGER_REG 0x3F
+#define BNO055_SYS_TRIGGER_RST_SYS BIT(5)
+#define BNO055_SYS_TRIGGER_CLK_SEL BIT(7)
+#define BNO055_OPR_MODE_REG 0x3D
+#define BNO055_OPR_MODE_CONFIG 0x0
+#define BNO055_OPR_MODE_AMG 0x7
+#define BNO055_OPR_MODE_FUSION_FMC_OFF 0xB
+#define BNO055_OPR_MODE_FUSION 0xC
+#define BNO055_UNIT_SEL_REG 0x3B
+/* Android orientation mode means: pitch value decreases turning clockwise */
+#define BNO055_UNIT_SEL_ANDROID BIT(7)
+#define BNO055_UNIT_SEL_GYR_RPS BIT(1)
+#define BNO055_CALDATA_START 0x55
+#define BNO055_CALDATA_END 0x6A
+#define BNO055_CALDATA_LEN 22
+
+/*
+ * The difference in address between the register that contains the
+ * value and the register that contains the offset. This applies for
+ * accel, gyro and magn channels.
+ */
+#define BNO055_REG_OFFSET_ADDR 0x4D
+
+/* page 1 registers */
+#define BNO055_PG1(x) ((x) | 0x80)
+#define BNO055_ACC_CONFIG_REG BNO055_PG1(0x8)
+#define BNO055_ACC_CONFIG_LPF_MASK GENMASK(4, 2)
+#define BNO055_ACC_CONFIG_RANGE_MASK GENMASK(1, 0)
+#define BNO055_MAG_CONFIG_REG BNO055_PG1(0x9)
+#define BNO055_MAG_CONFIG_HIGHACCURACY 0x18
+#define BNO055_MAG_CONFIG_ODR_MASK GENMASK(2, 0)
+#define BNO055_GYR_CONFIG_REG BNO055_PG1(0xA)
+#define BNO055_GYR_CONFIG_RANGE_MASK GENMASK(2, 0)
+#define BNO055_GYR_CONFIG_LPF_MASK GENMASK(5, 3)
+#define BNO055_GYR_AM_SET_REG BNO055_PG1(0x1F)
+#define BNO055_UID_LOWER_REG BNO055_PG1(0x50)
+#define BNO055_UID_HIGHER_REG BNO055_PG1(0x5F)
+#define BNO055_UID_LEN 16
+
+struct bno055_sysfs_attr {
+ int *vals;
+ int len;
+ int *fusion_vals;
+ int *hw_xlate;
+ int type;
+};
+
+static int bno055_acc_lpf_vals[] = {
+ 7, 810000, 15, 630000, 31, 250000, 62, 500000,
+ 125, 0, 250, 0, 500, 0, 1000, 0,
+};
+
+static struct bno055_sysfs_attr bno055_acc_lpf = {
+ .vals = bno055_acc_lpf_vals,
+ .len = ARRAY_SIZE(bno055_acc_lpf_vals),
+ .fusion_vals = (int[]){62, 500000},
+ .type = IIO_VAL_INT_PLUS_MICRO,
+};
+
+static int bno055_acc_range_vals[] = {
+ /* G: 2, 4, 8, 16 */
+ 1962, 3924, 7848, 15696
+};
+
+static struct bno055_sysfs_attr bno055_acc_range = {
+ .vals = bno055_acc_range_vals,
+ .len = ARRAY_SIZE(bno055_acc_range_vals),
+ .fusion_vals = (int[]){3924}, /* 4G */
+ .type = IIO_VAL_INT,
+};
+
+/*
+ * Theoretically the IMU should return data in a given (i.e. fixed) unit
+ * regardless of the range setting. This happens for the accelerometer, but not
+ * for the gyroscope; the gyroscope range setting affects the scale.
+ * This is probably due to this[0] bug.
+ * For this reason we map the internal range setting onto the standard IIO scale
+ * attribute for gyro.
+ * Since the bug[0] may be fixed in future, we check for the IMU FW version and
+ * eventually warn the user.
+ * Currently we just don't care about "range" attributes for gyro.
+ *
+ * [0] https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-Wrong-sensitivity-resolution-in-datasheet/td-p/10266
+ */
+
+/*
+ * dps = hwval * (dps_range/2^15)
+ * rps = hwval * (rps_range/2^15)
+ * = hwval * (dps_range/(2^15 * k))
+ * where k is rad-to-deg factor
+ */
+static int bno055_gyr_scale_vals[] = {
+ 125, 1877467, 250, 1877467, 500, 1877467,
+ 1000, 1877467, 2000, 1877467,
+};
+
+static struct bno055_sysfs_attr bno055_gyr_scale = {
+ .vals = bno055_gyr_scale_vals,
+ .len = ARRAY_SIZE(bno055_gyr_scale_vals),
+ .fusion_vals = (int[]){1, 900},
+ .hw_xlate = (int[]){4, 3, 2, 1, 0},
+ .type = IIO_VAL_FRACTIONAL,
+};
+
+static int bno055_gyr_lpf_vals[] = {12, 23, 32, 47, 64, 116, 230, 523};
+static struct bno055_sysfs_attr bno055_gyr_lpf = {
+ .vals = bno055_gyr_lpf_vals,
+ .len = ARRAY_SIZE(bno055_gyr_lpf_vals),
+ .fusion_vals = (int[]){32},
+ .hw_xlate = (int[]){5, 4, 7, 3, 6, 2, 1, 0},
+ .type = IIO_VAL_INT,
+};
+
+static int bno055_mag_odr_vals[] = {2, 6, 8, 10, 15, 20, 25, 30};
+static struct bno055_sysfs_attr bno055_mag_odr = {
+ .vals = bno055_mag_odr_vals,
+ .len = ARRAY_SIZE(bno055_mag_odr_vals),
+ .fusion_vals = (int[]){20},
+ .type = IIO_VAL_INT,
+};
+
+struct bno055_priv {
+ struct regmap *regmap;
+ struct device *dev;
+ struct clk *clk;
+ int operation_mode;
+ int xfer_burst_break_thr;
+ struct mutex lock;
+ u8 uid[BNO055_UID_LEN];
+ struct gpio_desc *reset_gpio;
+ bool sw_reset;
+ struct {
+ __le16 chans[BNO055_SCAN_CH_COUNT];
+ s64 timestamp __aligned(8);
+ } buf;
+ struct dentry *debugfs;
+};
+
+static bool bno055_regmap_volatile(struct device *dev, unsigned int reg)
+{
+ /* data and status registers */
+ if (reg >= BNO055_ACC_DATA_X_LSB_REG && reg <= BNO055_SYS_ERR_REG)
+ return true;
+
+ /* when in fusion mode, config is updated by chip */
+ if (reg == BNO055_MAG_CONFIG_REG ||
+ reg == BNO055_ACC_CONFIG_REG ||
+ reg == BNO055_GYR_CONFIG_REG)
+ return true;
+
+ /* calibration data may be updated by the IMU */
+ if (reg >= BNO055_CALDATA_START && reg <= BNO055_CALDATA_END)
+ return true;
+
+ return false;
+}
+
+static bool bno055_regmap_readable(struct device *dev, unsigned int reg)
+{
+ /* unnamed PG0 reserved areas */
+ if ((reg < BNO055_PG1(0) && reg > BNO055_CALDATA_END) ||
+ reg == 0x3C)
+ return false;
+
+ /* unnamed PG1 reserved areas */
+ if (reg > BNO055_PG1(BNO055_UID_HIGHER_REG) ||
+ (reg < BNO055_PG1(BNO055_UID_LOWER_REG) && reg > BNO055_PG1(BNO055_GYR_AM_SET_REG)) ||
+ reg == BNO055_PG1(0xE) ||
+ (reg < BNO055_PG1(BNO055_PAGESEL_REG) && reg >= BNO055_PG1(0x0)))
+ return false;
+ return true;
+}
+
+static bool bno055_regmap_writeable(struct device *dev, unsigned int reg)
+{
+ /*
+ * Unreadable registers are indeed reserved; there are no WO regs
+ * (except for a single bit in SYS_TRIGGER register)
+ */
+ if (!bno055_regmap_readable(dev, reg))
+ return false;
+
+ /* data and status registers */
+ if (reg >= BNO055_ACC_DATA_X_LSB_REG && reg <= BNO055_SYS_ERR_REG)
+ return false;
+
+ /* ID areas */
+ if (reg < BNO055_PAGESEL_REG ||
+ (reg <= BNO055_UID_HIGHER_REG && reg >= BNO055_UID_LOWER_REG))
+ return false;
+
+ return true;
+}
+
+static const struct regmap_range_cfg bno055_regmap_ranges[] = {
+ {
+ .range_min = 0,
+ .range_max = 0x7f * 2,
+ .selector_reg = BNO055_PAGESEL_REG,
+ .selector_mask = GENMASK(7, 0),
+ .selector_shift = 0,
+ .window_start = 0,
+ .window_len = 0x80,
+ },
+};
+
+const struct regmap_config bno055_regmap_config = {
+ .name = "bno055",
+ .reg_bits = 8,
+ .val_bits = 8,
+ .ranges = bno055_regmap_ranges,
+ .num_ranges = 1,
+ .volatile_reg = bno055_regmap_volatile,
+ .max_register = 0x80 * 2,
+ .writeable_reg = bno055_regmap_writeable,
+ .readable_reg = bno055_regmap_readable,
+ .cache_type = REGCACHE_RBTREE,
+};
+EXPORT_SYMBOL_NS_GPL(bno055_regmap_config, IIO_BNO055);
+
+/* must be called in configuration mode */
+static int bno055_calibration_load(struct bno055_priv *priv, const u8 *data, int len)
+{
+ if (len != BNO055_CALDATA_LEN) {
+ dev_dbg(priv->dev, "Invalid calibration file size %d (expected %d)",
+ len, BNO055_CALDATA_LEN);
+ return -EINVAL;
+ }
+
+ dev_dbg(priv->dev, "loading cal data: %*ph", BNO055_CALDATA_LEN, data);
+ return regmap_bulk_write(priv->regmap, BNO055_CALDATA_START,
+ data, BNO055_CALDATA_LEN);
+}
+
+static int bno055_operation_mode_do_set(struct bno055_priv *priv,
+ int operation_mode)
+{
+ int ret;
+
+ ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG,
+ operation_mode);
+ if (ret)
+ return ret;
+
+ /* Following datasheet specifications: sensor takes 7mS up to 19 mS to switch mode */
+ msleep(20);
+
+ return 0;
+}
+
+static int bno055_system_reset(struct bno055_priv *priv)
+{
+ int ret;
+
+ if (priv->reset_gpio) {
+ gpiod_set_value_cansleep(priv->reset_gpio, 0);
+ usleep_range(5000, 10000);
+ gpiod_set_value_cansleep(priv->reset_gpio, 1);
+ } else if (priv->sw_reset) {
+ ret = regmap_write(priv->regmap, BNO055_SYS_TRIGGER_REG,
+ BNO055_SYS_TRIGGER_RST_SYS);
+ if (ret)
+ return ret;
+ } else {
+ return 0;
+ }
+
+ regcache_drop_region(priv->regmap, 0x0, 0xff);
+ usleep_range(650000, 700000);
+
+ return 0;
+}
+
+static int bno055_init(struct bno055_priv *priv, const u8 *caldata, int len)
+{
+ int ret;
+
+ ret = bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_CONFIG);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(priv->regmap, BNO055_POWER_MODE_REG,
+ BNO055_POWER_MODE_NORMAL);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(priv->regmap, BNO055_SYS_TRIGGER_REG,
+ priv->clk ? BNO055_SYS_TRIGGER_CLK_SEL : 0);
+ if (ret)
+ return ret;
+
+ /* use standard SI units */
+ ret = regmap_write(priv->regmap, BNO055_UNIT_SEL_REG,
+ BNO055_UNIT_SEL_ANDROID | BNO055_UNIT_SEL_GYR_RPS);
+ if (ret)
+ return ret;
+
+ if (caldata) {
+ ret = bno055_calibration_load(priv, caldata, len);
+ if (ret)
+ dev_warn(priv->dev, "failed to load calibration data with error %d\n",
+ ret);
+ }
+
+ return 0;
+}
+
+static ssize_t bno055_operation_mode_set(struct bno055_priv *priv,
+ int operation_mode)
+{
+ u8 caldata[BNO055_CALDATA_LEN];
+ int ret;
+
+ mutex_lock(&priv->lock);
+
+ ret = bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_CONFIG);
+ if (ret)
+ goto exit_unlock;
+
+ if (operation_mode == BNO055_OPR_MODE_FUSION ||
+ operation_mode == BNO055_OPR_MODE_FUSION_FMC_OFF) {
+ /* for entering fusion mode, reset the chip to clear the algo state */
+ ret = regmap_bulk_read(priv->regmap, BNO055_CALDATA_START, caldata,
+ BNO055_CALDATA_LEN);
+ if (ret)
+ goto exit_unlock;
+
+ ret = bno055_system_reset(priv);
+ if (ret)
+ goto exit_unlock;
+
+ ret = bno055_init(priv, caldata, BNO055_CALDATA_LEN);
+ if (ret)
+ goto exit_unlock;
+ }
+
+ ret = bno055_operation_mode_do_set(priv, operation_mode);
+ if (ret)
+ goto exit_unlock;
+
+ priv->operation_mode = operation_mode;
+
+exit_unlock:
+ mutex_unlock(&priv->lock);
+ return ret;
+}
+
+static void bno055_uninit(void *arg)
+{
+ struct bno055_priv *priv = arg;
+
+ /* stop the IMU */
+ bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_CONFIG);
+}
+
+#define BNO055_CHANNEL(_type, _axis, _index, _address, _sep, _sh, _avail) { \
+ .address = _address, \
+ .type = _type, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##_axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | (_sep), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | (_sh), \
+ .info_mask_shared_by_type_available = _avail, \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ .repeat = IIO_MOD_##_axis == IIO_MOD_QUATERNION ? 4 : 0, \
+ }, \
+}
+
+/* scan indexes follow DATA register order */
+enum bno055_scan_axis {
+ BNO055_SCAN_ACCEL_X,
+ BNO055_SCAN_ACCEL_Y,
+ BNO055_SCAN_ACCEL_Z,
+ BNO055_SCAN_MAGN_X,
+ BNO055_SCAN_MAGN_Y,
+ BNO055_SCAN_MAGN_Z,
+ BNO055_SCAN_GYRO_X,
+ BNO055_SCAN_GYRO_Y,
+ BNO055_SCAN_GYRO_Z,
+ BNO055_SCAN_YAW,
+ BNO055_SCAN_ROLL,
+ BNO055_SCAN_PITCH,
+ BNO055_SCAN_QUATERNION,
+ BNO055_SCAN_LIA_X,
+ BNO055_SCAN_LIA_Y,
+ BNO055_SCAN_LIA_Z,
+ BNO055_SCAN_GRAVITY_X,
+ BNO055_SCAN_GRAVITY_Y,
+ BNO055_SCAN_GRAVITY_Z,
+ BNO055_SCAN_TIMESTAMP,
+ _BNO055_SCAN_MAX
+};
+
+static const struct iio_chan_spec bno055_channels[] = {
+ /* accelerometer */
+ BNO055_CHANNEL(IIO_ACCEL, X, BNO055_SCAN_ACCEL_X,
+ BNO055_ACC_DATA_X_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)),
+ BNO055_CHANNEL(IIO_ACCEL, Y, BNO055_SCAN_ACCEL_Y,
+ BNO055_ACC_DATA_Y_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)),
+ BNO055_CHANNEL(IIO_ACCEL, Z, BNO055_SCAN_ACCEL_Z,
+ BNO055_ACC_DATA_Z_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)),
+ /* gyroscope */
+ BNO055_CHANNEL(IIO_ANGL_VEL, X, BNO055_SCAN_GYRO_X,
+ BNO055_GYR_DATA_X_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) |
+ BIT(IIO_CHAN_INFO_SCALE)),
+ BNO055_CHANNEL(IIO_ANGL_VEL, Y, BNO055_SCAN_GYRO_Y,
+ BNO055_GYR_DATA_Y_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) |
+ BIT(IIO_CHAN_INFO_SCALE)),
+ BNO055_CHANNEL(IIO_ANGL_VEL, Z, BNO055_SCAN_GYRO_Z,
+ BNO055_GYR_DATA_Z_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) |
+ BIT(IIO_CHAN_INFO_SCALE)),
+ /* magnetometer */
+ BNO055_CHANNEL(IIO_MAGN, X, BNO055_SCAN_MAGN_X,
+ BNO055_MAG_DATA_X_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), BIT(IIO_CHAN_INFO_SAMP_FREQ)),
+ BNO055_CHANNEL(IIO_MAGN, Y, BNO055_SCAN_MAGN_Y,
+ BNO055_MAG_DATA_Y_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), BIT(IIO_CHAN_INFO_SAMP_FREQ)),
+ BNO055_CHANNEL(IIO_MAGN, Z, BNO055_SCAN_MAGN_Z,
+ BNO055_MAG_DATA_Z_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), BIT(IIO_CHAN_INFO_SAMP_FREQ)),
+ /* euler angle */
+ BNO055_CHANNEL(IIO_ROT, YAW, BNO055_SCAN_YAW,
+ BNO055_EUL_DATA_X_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_ROT, ROLL, BNO055_SCAN_ROLL,
+ BNO055_EUL_DATA_Y_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_ROT, PITCH, BNO055_SCAN_PITCH,
+ BNO055_EUL_DATA_Z_LSB_REG, 0, 0, 0),
+ /* quaternion */
+ BNO055_CHANNEL(IIO_ROT, QUATERNION, BNO055_SCAN_QUATERNION,
+ BNO055_QUAT_DATA_W_LSB_REG, 0, 0, 0),
+
+ /* linear acceleration */
+ BNO055_CHANNEL(IIO_ACCEL, LINEAR_X, BNO055_SCAN_LIA_X,
+ BNO055_LIA_DATA_X_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_ACCEL, LINEAR_Y, BNO055_SCAN_LIA_Y,
+ BNO055_LIA_DATA_Y_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_ACCEL, LINEAR_Z, BNO055_SCAN_LIA_Z,
+ BNO055_LIA_DATA_Z_LSB_REG, 0, 0, 0),
+
+ /* gravity vector */
+ BNO055_CHANNEL(IIO_GRAVITY, X, BNO055_SCAN_GRAVITY_X,
+ BNO055_GRAVITY_DATA_X_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_GRAVITY, Y, BNO055_SCAN_GRAVITY_Y,
+ BNO055_GRAVITY_DATA_Y_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_GRAVITY, Z, BNO055_SCAN_GRAVITY_Z,
+ BNO055_GRAVITY_DATA_Z_LSB_REG, 0, 0, 0),
+
+ {
+ .type = IIO_TEMP,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED),
+ .scan_index = -1,
+ },
+ IIO_CHAN_SOFT_TIMESTAMP(BNO055_SCAN_TIMESTAMP),
+};
+
+static int bno055_get_regmask(struct bno055_priv *priv, int *val, int *val2,
+ int reg, int mask, struct bno055_sysfs_attr *attr)
+{
+ const int shift = __ffs(mask);
+ int hwval, idx;
+ int ret;
+ int i;
+
+ ret = regmap_read(priv->regmap, reg, &hwval);
+ if (ret)
+ return ret;
+
+ idx = (hwval & mask) >> shift;
+ if (attr->hw_xlate)
+ for (i = 0; i < attr->len; i++)
+ if (attr->hw_xlate[i] == idx) {
+ idx = i;
+ break;
+ }
+ if (attr->type == IIO_VAL_INT) {
+ *val = attr->vals[idx];
+ } else { /* IIO_VAL_INT_PLUS_MICRO or IIO_VAL_FRACTIONAL */
+ *val = attr->vals[idx * 2];
+ *val2 = attr->vals[idx * 2 + 1];
+ }
+
+ return attr->type;
+}
+
+static int bno055_set_regmask(struct bno055_priv *priv, int val, int val2,
+ int reg, int mask, struct bno055_sysfs_attr *attr)
+{
+ const int shift = __ffs(mask);
+ int best_delta;
+ int req_val;
+ int tbl_val;
+ bool first;
+ int delta;
+ int hwval;
+ int ret;
+ int len;
+ int i;
+
+ /*
+ * The closest value the HW supports is only one in fusion mode,
+ * and it is autoselected, so don't do anything, just return OK,
+ * as the closest possible value has been (virtually) selected
+ */
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG)
+ return 0;
+
+ len = attr->len;
+
+ /*
+ * We always get a request in INT_PLUS_MICRO, but we
+ * take care of the micro part only when we really have
+ * non-integer tables. This prevents 32-bit overflow with
+ * larger integers contained in integer tables.
+ */
+ req_val = val;
+ if (attr->type != IIO_VAL_INT) {
+ len /= 2;
+ req_val = min(val, 2147) * 1000000 + val2;
+ }
+
+ first = true;
+ for (i = 0; i < len; i++) {
+ switch (attr->type) {
+ case IIO_VAL_INT:
+ tbl_val = attr->vals[i];
+ break;
+ case IIO_VAL_INT_PLUS_MICRO:
+ WARN_ON(attr->vals[i * 2] > 2147);
+ tbl_val = attr->vals[i * 2] * 1000000 +
+ attr->vals[i * 2 + 1];
+ break;
+ case IIO_VAL_FRACTIONAL:
+ WARN_ON(attr->vals[i * 2] > 4294);
+ tbl_val = attr->vals[i * 2] * 1000000 /
+ attr->vals[i * 2 + 1];
+ break;
+ default:
+ return -EINVAL;
+ }
+ delta = abs(tbl_val - req_val);
+ if (first || delta < best_delta) {
+ best_delta = delta;
+ hwval = i;
+ first = false;
+ }
+ }
+
+ if (attr->hw_xlate)
+ hwval = attr->hw_xlate[hwval];
+
+ ret = bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_CONFIG);
+ if (ret)
+ return ret;
+
+ ret = regmap_update_bits(priv->regmap, reg, mask, hwval << shift);
+ if (ret)
+ return ret;
+
+ return bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_AMG);
+}
+
+static int bno055_read_simple_chan(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ __le16 raw_val;
+ int ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = regmap_bulk_read(priv->regmap, chan->address,
+ &raw_val, sizeof(raw_val));
+ if (ret < 0)
+ return ret;
+ *val = sign_extend32(le16_to_cpu(raw_val), 15);
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_OFFSET:
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG) {
+ *val = 0;
+ } else {
+ ret = regmap_bulk_read(priv->regmap,
+ chan->address +
+ BNO055_REG_OFFSET_ADDR,
+ &raw_val, sizeof(raw_val));
+ if (ret < 0)
+ return ret;
+ /*
+ * IMU reports sensor offsets; IIO wants correction
+ * offsets, thus we need the 'minus' here.
+ */
+ *val = -sign_extend32(le16_to_cpu(raw_val), 15);
+ }
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ *val = 1;
+ switch (chan->type) {
+ case IIO_GRAVITY:
+ /* Table 3-35: 1 m/s^2 = 100 LSB */
+ case IIO_ACCEL:
+ /* Table 3-17: 1 m/s^2 = 100 LSB */
+ *val2 = 100;
+ break;
+ case IIO_MAGN:
+ /*
+ * Table 3-19: 1 uT = 16 LSB. But we need
+ * Gauss: 1G = 0.1 uT.
+ */
+ *val2 = 160;
+ break;
+ case IIO_ANGL_VEL:
+ /*
+ * Table 3-22: 1 Rps = 900 LSB
+ * .. but this is not exactly true. See comment at the
+ * beginning of this file.
+ */
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG) {
+ *val = bno055_gyr_scale.fusion_vals[0];
+ *val2 = bno055_gyr_scale.fusion_vals[1];
+ return IIO_VAL_FRACTIONAL;
+ }
+
+ return bno055_get_regmask(priv, val, val2,
+ BNO055_GYR_CONFIG_REG,
+ BNO055_GYR_CONFIG_RANGE_MASK,
+ &bno055_gyr_scale);
+ break;
+ case IIO_ROT:
+ /* Table 3-28: 1 degree = 16 LSB */
+ *val2 = 16;
+ break;
+ default:
+ return -EINVAL;
+ }
+ return IIO_VAL_FRACTIONAL;
+
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ if (chan->type != IIO_MAGN)
+ return -EINVAL;
+
+ return bno055_get_regmask(priv, val, val2,
+ BNO055_MAG_CONFIG_REG,
+ BNO055_MAG_CONFIG_ODR_MASK,
+ &bno055_mag_odr);
+
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ return bno055_get_regmask(priv, val, val2,
+ BNO055_GYR_CONFIG_REG,
+ BNO055_GYR_CONFIG_LPF_MASK,
+ &bno055_gyr_lpf);
+ case IIO_ACCEL:
+ return bno055_get_regmask(priv, val, val2,
+ BNO055_ACC_CONFIG_REG,
+ BNO055_ACC_CONFIG_LPF_MASK,
+ &bno055_acc_lpf);
+ default:
+ return -EINVAL;
+ }
+
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bno055_sysfs_attr_avail(struct bno055_priv *priv, struct bno055_sysfs_attr *attr,
+ const int **vals, int *length)
+{
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG) {
+ /* locked when fusion enabled */
+ *vals = attr->fusion_vals;
+ if (attr->type == IIO_VAL_INT)
+ *length = 1;
+ else
+ *length = 2; /* IIO_VAL_INT_PLUS_MICRO or IIO_VAL_FRACTIONAL*/
+ } else {
+ *vals = attr->vals;
+ *length = attr->len;
+ }
+
+ return attr->type;
+}
+
+static int bno055_read_avail(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ const int **vals, int *type, int *length,
+ long mask)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *type = bno055_sysfs_attr_avail(priv, &bno055_gyr_scale,
+ vals, length);
+ return IIO_AVAIL_LIST;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *type = bno055_sysfs_attr_avail(priv, &bno055_gyr_lpf,
+ vals, length);
+ return IIO_AVAIL_LIST;
+ case IIO_ACCEL:
+ *type = bno055_sysfs_attr_avail(priv, &bno055_acc_lpf,
+ vals, length);
+ return IIO_AVAIL_LIST;
+ default:
+ return -EINVAL;
+ }
+
+ break;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ switch (chan->type) {
+ case IIO_MAGN:
+ *type = bno055_sysfs_attr_avail(priv, &bno055_mag_odr,
+ vals, length);
+ return IIO_AVAIL_LIST;
+ default:
+ return -EINVAL;
+ }
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bno055_read_temp_chan(struct iio_dev *indio_dev, int *val)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ unsigned int raw_val;
+ int ret;
+
+ ret = regmap_read(priv->regmap, BNO055_TEMP_REG, &raw_val);
+ if (ret < 0)
+ return ret;
+
+ /*
+ * Tables 3-36 and 3-37: one byte of priv, signed, 1 LSB = 1C.
+ * ABI wants milliC.
+ */
+ *val = raw_val * 1000;
+
+ return IIO_VAL_INT;
+}
+
+static int bno055_read_quaternion(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int size, int *vals, int *val_len,
+ long mask)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ __le16 raw_vals[4];
+ int i, ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ if (size < 4)
+ return -EINVAL;
+ ret = regmap_bulk_read(priv->regmap,
+ BNO055_QUAT_DATA_W_LSB_REG,
+ raw_vals, sizeof(raw_vals));
+ if (ret < 0)
+ return ret;
+ for (i = 0; i < 4; i++)
+ vals[i] = sign_extend32(le16_to_cpu(raw_vals[i]), 15);
+ *val_len = 4;
+ return IIO_VAL_INT_MULTIPLE;
+ case IIO_CHAN_INFO_SCALE:
+ /* Table 3-31: 1 quaternion = 2^14 LSB */
+ if (size < 2)
+ return -EINVAL;
+ vals[0] = 1;
+ vals[1] = 14;
+ return IIO_VAL_FRACTIONAL_LOG2;
+ default:
+ return -EINVAL;
+ }
+}
+
+static bool bno055_is_chan_readable(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG)
+ return true;
+
+ switch (chan->type) {
+ case IIO_GRAVITY:
+ case IIO_ROT:
+ return false;
+ case IIO_ACCEL:
+ if (chan->channel2 == IIO_MOD_LINEAR_X ||
+ chan->channel2 == IIO_MOD_LINEAR_Y ||
+ chan->channel2 == IIO_MOD_LINEAR_Z)
+ return false;
+ return true;
+ default:
+ return true;
+ }
+}
+
+static int _bno055_read_raw_multi(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int size, int *vals, int *val_len,
+ long mask)
+{
+ if (!bno055_is_chan_readable(indio_dev, chan))
+ return -EBUSY;
+
+ switch (chan->type) {
+ case IIO_MAGN:
+ case IIO_ACCEL:
+ case IIO_ANGL_VEL:
+ case IIO_GRAVITY:
+ if (size < 2)
+ return -EINVAL;
+ *val_len = 2;
+ return bno055_read_simple_chan(indio_dev, chan,
+ &vals[0], &vals[1],
+ mask);
+ case IIO_TEMP:
+ *val_len = 1;
+ return bno055_read_temp_chan(indio_dev, &vals[0]);
+ case IIO_ROT:
+ /*
+ * Rotation is exposed as either a quaternion or three
+ * Euler angles.
+ */
+ if (chan->channel2 == IIO_MOD_QUATERNION)
+ return bno055_read_quaternion(indio_dev, chan,
+ size, vals,
+ val_len, mask);
+ if (size < 2)
+ return -EINVAL;
+ *val_len = 2;
+ return bno055_read_simple_chan(indio_dev, chan,
+ &vals[0], &vals[1],
+ mask);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bno055_read_raw_multi(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int size, int *vals, int *val_len,
+ long mask)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ int ret;
+
+ mutex_lock(&priv->lock);
+ ret = _bno055_read_raw_multi(indio_dev, chan, size,
+ vals, val_len, mask);
+ mutex_unlock(&priv->lock);
+ return ret;
+}
+
+static int _bno055_write_raw(struct iio_dev *iio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct bno055_priv *priv = iio_priv(iio_dev);
+
+ switch (chan->type) {
+ case IIO_MAGN:
+ switch (mask) {
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return bno055_set_regmask(priv, val, val2,
+ BNO055_MAG_CONFIG_REG,
+ BNO055_MAG_CONFIG_ODR_MASK,
+ &bno055_mag_odr);
+ default:
+ return -EINVAL;
+ }
+ case IIO_ACCEL:
+ switch (mask) {
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ return bno055_set_regmask(priv, val, val2,
+ BNO055_ACC_CONFIG_REG,
+ BNO055_ACC_CONFIG_LPF_MASK,
+ &bno055_acc_lpf);
+
+ default:
+ return -EINVAL;
+ }
+ case IIO_ANGL_VEL:
+ switch (mask) {
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ return bno055_set_regmask(priv, val, val2,
+ BNO055_GYR_CONFIG_REG,
+ BNO055_GYR_CONFIG_LPF_MASK,
+ &bno055_gyr_lpf);
+ case IIO_CHAN_INFO_SCALE:
+ return bno055_set_regmask(priv, val, val2,
+ BNO055_GYR_CONFIG_REG,
+ BNO055_GYR_CONFIG_RANGE_MASK,
+ &bno055_gyr_scale);
+ default:
+ return -EINVAL;
+ }
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bno055_write_raw(struct iio_dev *iio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct bno055_priv *priv = iio_priv(iio_dev);
+ int ret;
+
+ mutex_lock(&priv->lock);
+ ret = _bno055_write_raw(iio_dev, chan, val, val2, mask);
+ mutex_unlock(&priv->lock);
+
+ return ret;
+}
+
+static ssize_t in_accel_range_raw_available_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+ int len = 0;
+ int i;
+
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG)
+ return sysfs_emit(buf, "%d\n", bno055_acc_range.fusion_vals[0]);
+
+ for (i = 0; i < bno055_acc_range.len; i++)
+ len += sysfs_emit_at(buf, len, "%d ", bno055_acc_range.vals[i]);
+ buf[len - 1] = '\n';
+
+ return len;
+}
+
+static ssize_t fusion_enable_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+
+ return sysfs_emit(buf, "%d\n",
+ priv->operation_mode != BNO055_OPR_MODE_AMG);
+}
+
+static ssize_t fusion_enable_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t len)
+{
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ bool en;
+ int ret;
+
+ if (indio_dev->active_scan_mask &&
+ !bitmap_empty(indio_dev->active_scan_mask, _BNO055_SCAN_MAX))
+ return -EBUSY;
+
+ ret = kstrtobool(buf, &en);
+ if (ret)
+ return -EINVAL;
+
+ if (!en)
+ return bno055_operation_mode_set(priv, BNO055_OPR_MODE_AMG) ?: len;
+
+ /*
+ * Coming from AMG means the FMC was off, just switch to fusion but
+ * don't change anything that doesn't belong to us (i.e let FMC stay off).
+ * Coming from any other fusion mode means we don't need to do anything.
+ */
+ if (priv->operation_mode == BNO055_OPR_MODE_AMG)
+ return bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION_FMC_OFF) ?: len;
+
+ return len;
+}
+
+static ssize_t in_magn_calibration_fast_enable_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+
+ return sysfs_emit(buf, "%d\n",
+ priv->operation_mode == BNO055_OPR_MODE_FUSION);
+}
+
+static ssize_t in_magn_calibration_fast_enable_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t len)
+{
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ int ret;
+
+ if (indio_dev->active_scan_mask &&
+ !bitmap_empty(indio_dev->active_scan_mask, _BNO055_SCAN_MAX))
+ return -EBUSY;
+
+ if (sysfs_streq(buf, "0")) {
+ if (priv->operation_mode == BNO055_OPR_MODE_FUSION) {
+ ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION_FMC_OFF);
+ if (ret)
+ return ret;
+ }
+ } else {
+ if (priv->operation_mode == BNO055_OPR_MODE_AMG)
+ return -EINVAL;
+
+ if (priv->operation_mode != BNO055_OPR_MODE_FUSION) {
+ ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION);
+ if (ret)
+ return ret;
+ }
+ }
+
+ return len;
+}
+
+static ssize_t in_accel_range_raw_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+ int val;
+ int ret;
+
+ ret = bno055_get_regmask(priv, &val, NULL,
+ BNO055_ACC_CONFIG_REG,
+ BNO055_ACC_CONFIG_RANGE_MASK,
+ &bno055_acc_range);
+ if (ret < 0)
+ return ret;
+
+ return sysfs_emit(buf, "%d\n", val);
+}
+
+static ssize_t in_accel_range_raw_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t len)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+ unsigned long val;
+ int ret;
+
+ ret = kstrtoul(buf, 10, &val);
+ if (ret)
+ return ret;
+
+ mutex_lock(&priv->lock);
+ ret = bno055_set_regmask(priv, val, 0,
+ BNO055_ACC_CONFIG_REG,
+ BNO055_ACC_CONFIG_RANGE_MASK,
+ &bno055_acc_range);
+ mutex_unlock(&priv->lock);
+
+ return ret ?: len;
+}
+
+static ssize_t bno055_get_calib_status(struct device *dev, char *buf, int which)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+ int calib;
+ int ret;
+ int val;
+
+ if (priv->operation_mode == BNO055_OPR_MODE_AMG ||
+ (priv->operation_mode == BNO055_OPR_MODE_FUSION_FMC_OFF &&
+ which == BNO055_CALIB_STAT_MAGN_SHIFT)) {
+ calib = 0;
+ } else {
+ mutex_lock(&priv->lock);
+ ret = regmap_read(priv->regmap, BNO055_CALIB_STAT_REG, &val);
+ mutex_unlock(&priv->lock);
+
+ if (ret)
+ return -EIO;
+
+ calib = ((val >> which) & GENMASK(1, 0)) + 1;
+ }
+
+ return sysfs_emit(buf, "%d\n", calib);
+}
+
+static ssize_t serialnumber_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+
+ return sysfs_emit(buf, "%*ph\n", BNO055_UID_LEN, priv->uid);
+}
+
+static ssize_t calibration_data_read(struct file *filp, struct kobject *kobj,
+ struct bin_attribute *bin_attr, char *buf,
+ loff_t pos, size_t count)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(kobj_to_dev(kobj)));
+ u8 data[BNO055_CALDATA_LEN];
+ int ret;
+
+ /*
+ * Calibration data is volatile; reading it in chunks will possibly
+ * results in inconsistent data. We require the user to read the whole
+ * blob in a single chunk
+ */
+ if (count < BNO055_CALDATA_LEN || pos)
+ return -EINVAL;
+
+ mutex_lock(&priv->lock);
+ ret = bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_CONFIG);
+ if (ret)
+ goto exit_unlock;
+
+ ret = regmap_bulk_read(priv->regmap, BNO055_CALDATA_START, data,
+ BNO055_CALDATA_LEN);
+ if (ret)
+ goto exit_unlock;
+
+ ret = bno055_operation_mode_do_set(priv, priv->operation_mode);
+ if (ret)
+ goto exit_unlock;
+
+ memcpy(buf, data, BNO055_CALDATA_LEN);
+
+ ret = BNO055_CALDATA_LEN;
+exit_unlock:
+ mutex_unlock(&priv->lock);
+ return ret;
+}
+
+static ssize_t sys_calibration_auto_status_show(struct device *dev,
+ struct device_attribute *a,
+ char *buf)
+{
+ return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_SYS_SHIFT);
+}
+
+static ssize_t in_accel_calibration_auto_status_show(struct device *dev,
+ struct device_attribute *a,
+ char *buf)
+{
+ return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_ACCEL_SHIFT);
+}
+
+static ssize_t in_gyro_calibration_auto_status_show(struct device *dev,
+ struct device_attribute *a,
+ char *buf)
+{
+ return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_GYRO_SHIFT);
+}
+
+static ssize_t in_magn_calibration_auto_status_show(struct device *dev,
+ struct device_attribute *a,
+ char *buf)
+{
+ return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_MAGN_SHIFT);
+}
+
+static int bno055_debugfs_reg_access(struct iio_dev *iio_dev, unsigned int reg,
+ unsigned int writeval, unsigned int *readval)
+{
+ struct bno055_priv *priv = iio_priv(iio_dev);
+
+ if (readval)
+ return regmap_read(priv->regmap, reg, readval);
+ else
+ return regmap_write(priv->regmap, reg, writeval);
+}
+
+static ssize_t bno055_show_fw_version(struct file *file, char __user *userbuf,
+ size_t count, loff_t *ppos)
+{
+ struct bno055_priv *priv = file->private_data;
+ int rev, ver;
+ char *buf;
+ int ret;
+
+ ret = regmap_read(priv->regmap, BNO055_SW_REV_LSB_REG, &rev);
+ if (ret)
+ return ret;
+
+ ret = regmap_read(priv->regmap, BNO055_SW_REV_MSB_REG, &ver);
+ if (ret)
+ return ret;
+
+ buf = kasprintf(GFP_KERNEL, "ver: 0x%x, rev: 0x%x\n", ver, rev);
+ if (!buf)
+ return -ENOMEM;
+
+ ret = simple_read_from_buffer(userbuf, count, ppos, buf, strlen(buf));
+ kfree(buf);
+
+ return ret;
+}
+
+static const struct file_operations bno055_fw_version_ops = {
+ .open = simple_open,
+ .read = bno055_show_fw_version,
+ .llseek = default_llseek,
+ .owner = THIS_MODULE,
+};
+
+static void bno055_debugfs_remove(void *_priv)
+{
+ struct bno055_priv *priv = _priv;
+
+ debugfs_remove(priv->debugfs);
+ priv->debugfs = NULL;
+}
+
+static void bno055_debugfs_init(struct iio_dev *iio_dev)
+{
+ struct bno055_priv *priv = iio_priv(iio_dev);
+
+ priv->debugfs = debugfs_create_file("firmware_version", 0400,
+ iio_get_debugfs_dentry(iio_dev),
+ priv, &bno055_fw_version_ops);
+ if (!IS_ERR(priv->debugfs))
+ devm_add_action_or_reset(priv->dev, bno055_debugfs_remove,
+ priv);
+ if (IS_ERR_OR_NULL(priv->debugfs))
+ dev_warn(priv->dev, "failed to setup debugfs");
+}
+
+static IIO_DEVICE_ATTR_RW(fusion_enable, 0);
+static IIO_DEVICE_ATTR_RW(in_magn_calibration_fast_enable, 0);
+static IIO_DEVICE_ATTR_RW(in_accel_range_raw, 0);
+
+static IIO_DEVICE_ATTR_RO(in_accel_range_raw_available, 0);
+static IIO_DEVICE_ATTR_RO(sys_calibration_auto_status, 0);
+static IIO_DEVICE_ATTR_RO(in_accel_calibration_auto_status, 0);
+static IIO_DEVICE_ATTR_RO(in_gyro_calibration_auto_status, 0);
+static IIO_DEVICE_ATTR_RO(in_magn_calibration_auto_status, 0);
+static IIO_DEVICE_ATTR_RO(serialnumber, 0);
+
+static struct attribute *bno055_attrs[] = {
+ &iio_dev_attr_in_accel_range_raw_available.dev_attr.attr,
+ &iio_dev_attr_in_accel_range_raw.dev_attr.attr,
+ &iio_dev_attr_fusion_enable.dev_attr.attr,
+ &iio_dev_attr_in_magn_calibration_fast_enable.dev_attr.attr,
+ &iio_dev_attr_sys_calibration_auto_status.dev_attr.attr,
+ &iio_dev_attr_in_accel_calibration_auto_status.dev_attr.attr,
+ &iio_dev_attr_in_gyro_calibration_auto_status.dev_attr.attr,
+ &iio_dev_attr_in_magn_calibration_auto_status.dev_attr.attr,
+ &iio_dev_attr_serialnumber.dev_attr.attr,
+ NULL
+};
+
+static BIN_ATTR_RO(calibration_data, BNO055_CALDATA_LEN);
+
+static struct bin_attribute *bno055_bin_attrs[] = {
+ &bin_attr_calibration_data,
+ NULL
+};
+
+static const struct attribute_group bno055_attrs_group = {
+ .attrs = bno055_attrs,
+ .bin_attrs = bno055_bin_attrs,
+};
+
+static const struct iio_info bno055_info = {
+ .read_raw_multi = bno055_read_raw_multi,
+ .read_avail = bno055_read_avail,
+ .write_raw = bno055_write_raw,
+ .attrs = &bno055_attrs_group,
+ .debugfs_reg_access = bno055_debugfs_reg_access,
+};
+
+/*
+ * Reads len samples from the HW, stores them in buf starting from buf_idx,
+ * and applies mask to cull (skip) unneeded samples.
+ * Updates buf_idx incrementing with the number of stored samples.
+ * Samples from HW are transferred into buf, then in-place copy on buf is
+ * performed in order to cull samples that need to be skipped.
+ * This avoids copies of the first samples until we hit the 1st sample to skip,
+ * and also avoids having an extra bounce buffer.
+ * buf must be able to contain len elements in spite of how many samples we are
+ * going to cull.
+ */
+static int bno055_scan_xfer(struct bno055_priv *priv,
+ int start_ch, int len, unsigned long mask,
+ __le16 *buf, int *buf_idx)
+{
+ const int base = BNO055_ACC_DATA_X_LSB_REG;
+ bool quat_in_read = false;
+ int buf_base = *buf_idx;
+ __le16 *dst, *src;
+ int offs_fixup = 0;
+ int xfer_len = len;
+ int ret;
+ int i, n;
+
+ if (!mask)
+ return 0;
+
+ /*
+ * All channels are made up 1 16-bit sample, except for quaternion that
+ * is made up 4 16-bit values.
+ * For us the quaternion CH is just like 4 regular CHs.
+ * If our read starts past the quaternion make sure to adjust the
+ * starting offset; if the quaternion is contained in our scan then make
+ * sure to adjust the read len.
+ */
+ if (start_ch > BNO055_SCAN_QUATERNION) {
+ start_ch += 3;
+ } else if ((start_ch <= BNO055_SCAN_QUATERNION) &&
+ ((start_ch + len) > BNO055_SCAN_QUATERNION)) {
+ quat_in_read = true;
+ xfer_len += 3;
+ }
+
+ ret = regmap_bulk_read(priv->regmap,
+ base + start_ch * sizeof(__le16),
+ buf + buf_base,
+ xfer_len * sizeof(__le16));
+ if (ret)
+ return ret;
+
+ for_each_set_bit(i, &mask, len) {
+ if (quat_in_read && ((start_ch + i) > BNO055_SCAN_QUATERNION))
+ offs_fixup = 3;
+
+ dst = buf + *buf_idx;
+ src = buf + buf_base + offs_fixup + i;
+
+ n = (start_ch + i == BNO055_SCAN_QUATERNION) ? 4 : 1;
+
+ if (dst != src)
+ memcpy(dst, src, n * sizeof(__le16));
+
+ *buf_idx += n;
+ }
+ return 0;
+}
+
+static irqreturn_t bno055_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *iio_dev = pf->indio_dev;
+ struct bno055_priv *priv = iio_priv(iio_dev);
+ int xfer_start, start, end, prev_end;
+ unsigned long mask;
+ int quat_extra_len;
+ bool first = true;
+ int buf_idx = 0;
+ bool thr_hit;
+ int ret;
+
+ mutex_lock(&priv->lock);
+
+ /*
+ * Walk the bitmap and eventually perform several transfers.
+ * Bitmap ones-fields that are separated by gaps <= xfer_burst_break_thr
+ * will be included in same transfer.
+ * Every time the bitmap contains a gap wider than xfer_burst_break_thr
+ * then we split the transfer, skipping the gap.
+ */
+ for_each_set_bitrange(start, end, iio_dev->active_scan_mask,
+ iio_dev->masklength) {
+ /*
+ * First transfer will start from the beginning of the first
+ * ones-field in the bitmap
+ */
+ if (first) {
+ xfer_start = start;
+ } else {
+ /*
+ * We found the next ones-field; check whether to
+ * include it in * the current transfer or not (i.e.
+ * let's perform the current * transfer and prepare for
+ * another one).
+ */
+
+ /*
+ * In case the zeros-gap contains the quaternion bit,
+ * then its length is actually 4 words instead of 1
+ * (i.e. +3 wrt other channels).
+ */
+ quat_extra_len = ((start > BNO055_SCAN_QUATERNION) &&
+ (prev_end <= BNO055_SCAN_QUATERNION)) ? 3 : 0;
+
+ /* If the gap is wider than xfer_burst_break_thr then.. */
+ thr_hit = (start - prev_end + quat_extra_len) >
+ priv->xfer_burst_break_thr;
+
+ /*
+ * .. transfer all the data up to the gap. Then set the
+ * next transfer start index at right after the gap
+ * (i.e. at the start of this ones-field).
+ */
+ if (thr_hit) {
+ mask = *iio_dev->active_scan_mask >> xfer_start;
+ ret = bno055_scan_xfer(priv, xfer_start,
+ prev_end - xfer_start,
+ mask, priv->buf.chans, &buf_idx);
+ if (ret)
+ goto done;
+ xfer_start = start;
+ }
+ }
+ first = false;
+ prev_end = end;
+ }
+
+ /*
+ * We finished walking the bitmap; no more gaps to check for. Just
+ * perform the current transfer.
+ */
+ mask = *iio_dev->active_scan_mask >> xfer_start;
+ ret = bno055_scan_xfer(priv, xfer_start,
+ prev_end - xfer_start,
+ mask, priv->buf.chans, &buf_idx);
+
+ if (!ret)
+ iio_push_to_buffers_with_timestamp(iio_dev,
+ &priv->buf, pf->timestamp);
+done:
+ mutex_unlock(&priv->lock);
+ iio_trigger_notify_done(iio_dev->trig);
+ return IRQ_HANDLED;
+}
+
+static int bno055_buffer_preenable(struct iio_dev *indio_dev)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ const unsigned long fusion_mask =
+ BIT(BNO055_SCAN_YAW) |
+ BIT(BNO055_SCAN_ROLL) |
+ BIT(BNO055_SCAN_PITCH) |
+ BIT(BNO055_SCAN_QUATERNION) |
+ BIT(BNO055_SCAN_LIA_X) |
+ BIT(BNO055_SCAN_LIA_Y) |
+ BIT(BNO055_SCAN_LIA_Z) |
+ BIT(BNO055_SCAN_GRAVITY_X) |
+ BIT(BNO055_SCAN_GRAVITY_Y) |
+ BIT(BNO055_SCAN_GRAVITY_Z);
+
+ if (priv->operation_mode == BNO055_OPR_MODE_AMG &&
+ bitmap_intersects(indio_dev->active_scan_mask, &fusion_mask,
+ _BNO055_SCAN_MAX))
+ return -EBUSY;
+ return 0;
+}
+
+static const struct iio_buffer_setup_ops bno055_buffer_setup_ops = {
+ .preenable = bno055_buffer_preenable,
+};
+
+int bno055_probe(struct device *dev, struct regmap *regmap,
+ int xfer_burst_break_thr, bool sw_reset)
+{
+ const struct firmware *caldata = NULL;
+ struct bno055_priv *priv;
+ struct iio_dev *iio_dev;
+ char *fw_name_buf;
+ unsigned int val;
+ int rev, ver;
+ int ret;
+
+ iio_dev = devm_iio_device_alloc(dev, sizeof(*priv));
+ if (!iio_dev)
+ return -ENOMEM;
+
+ iio_dev->name = "bno055";
+ priv = iio_priv(iio_dev);
+ mutex_init(&priv->lock);
+ priv->regmap = regmap;
+ priv->dev = dev;
+ priv->xfer_burst_break_thr = xfer_burst_break_thr;
+ priv->sw_reset = sw_reset;
+
+ priv->reset_gpio = devm_gpiod_get_optional(dev, "reset", GPIOD_OUT_LOW);
+ if (IS_ERR(priv->reset_gpio))
+ return dev_err_probe(dev, PTR_ERR(priv->reset_gpio), "Failed to get reset GPIO\n");
+
+ priv->clk = devm_clk_get_optional_enabled(dev, "clk");
+ if (IS_ERR(priv->clk))
+ return dev_err_probe(dev, PTR_ERR(priv->clk), "Failed to get CLK\n");
+
+ if (priv->reset_gpio) {
+ usleep_range(5000, 10000);
+ gpiod_set_value_cansleep(priv->reset_gpio, 1);
+ usleep_range(650000, 750000);
+ } else if (!sw_reset) {
+ dev_warn(dev, "No usable reset method; IMU may be unreliable\n");
+ }
+
+ ret = regmap_read(priv->regmap, BNO055_CHIP_ID_REG, &val);
+ if (ret)
+ return ret;
+
+ if (val != BNO055_CHIP_ID_MAGIC)
+ dev_warn(dev, "Unrecognized chip ID 0x%x\n", val);
+
+ /*
+ * In case we haven't a HW reset pin, we can still reset the chip via
+ * register write. This is probably nonsense in case we can't even
+ * communicate with the chip or the chip isn't the one we expect (i.e.
+ * we don't write to unknown chips), so we perform SW reset only after
+ * chip magic ID check
+ */
+ if (!priv->reset_gpio) {
+ ret = bno055_system_reset(priv);
+ if (ret)
+ return ret;
+ }
+
+ ret = regmap_read(priv->regmap, BNO055_SW_REV_LSB_REG, &rev);
+ if (ret)
+ return ret;
+
+ ret = regmap_read(priv->regmap, BNO055_SW_REV_MSB_REG, &ver);
+ if (ret)
+ return ret;
+
+ /*
+ * The stock FW version contains a bug (see comment at the beginning of
+ * this file) that causes the anglvel scale to be changed depending on
+ * the chip range setting. We workaround this, but we don't know what
+ * other FW versions might do.
+ */
+ if (ver != 0x3 || rev != 0x11)
+ dev_warn(dev, "Untested firmware version. Anglvel scale may not work as expected\n");
+
+ ret = regmap_bulk_read(priv->regmap, BNO055_UID_LOWER_REG,
+ priv->uid, BNO055_UID_LEN);
+ if (ret)
+ return ret;
+
+ /* Sensor calibration data */
+ fw_name_buf = kasprintf(GFP_KERNEL, BNO055_FW_UID_FMT,
+ BNO055_UID_LEN, priv->uid);
+ if (!fw_name_buf)
+ return -ENOMEM;
+
+ ret = request_firmware(&caldata, fw_name_buf, dev);
+ kfree(fw_name_buf);
+ if (ret)
+ ret = request_firmware(&caldata, BNO055_FW_GENERIC_NAME, dev);
+ if (ret) {
+ dev_notice(dev, "Calibration file load failed. See instruction in kernel Documentation/iio/bno055.rst\n");
+ ret = bno055_init(priv, NULL, 0);
+ } else {
+ ret = bno055_init(priv, caldata->data, caldata->size);
+ release_firmware(caldata);
+ }
+ if (ret)
+ return ret;
+
+ priv->operation_mode = BNO055_OPR_MODE_FUSION;
+ ret = bno055_operation_mode_do_set(priv, priv->operation_mode);
+ if (ret)
+ return ret;
+
+ ret = devm_add_action_or_reset(dev, bno055_uninit, priv);
+ if (ret)
+ return ret;
+
+ iio_dev->channels = bno055_channels;
+ iio_dev->num_channels = ARRAY_SIZE(bno055_channels);
+ iio_dev->info = &bno055_info;
+ iio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = devm_iio_triggered_buffer_setup(dev, iio_dev,
+ iio_pollfunc_store_time,
+ bno055_trigger_handler,
+ &bno055_buffer_setup_ops);
+ if (ret)
+ return ret;
+
+ ret = devm_iio_device_register(dev, iio_dev);
+ if (ret)
+ return ret;
+
+ bno055_debugfs_init(iio_dev);
+
+ return 0;
+}
+EXPORT_SYMBOL_NS_GPL(bno055_probe, IIO_BNO055);
+
+MODULE_AUTHOR("Andrea Merello <andrea.merello@iit.it>");
+MODULE_DESCRIPTION("Bosch BNO055 driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/bno055/bno055.h b/drivers/iio/imu/bno055/bno055.h
new file mode 100644
index 000000000..64f9fc95c
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055.h
@@ -0,0 +1,13 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+#ifndef __BNO055_H__
+#define __BNO055_H__
+
+#include <linux/regmap.h>
+#include <linux/types.h>
+
+struct device;
+int bno055_probe(struct device *dev, struct regmap *regmap,
+ int xfer_burst_break_thr, bool sw_reset);
+extern const struct regmap_config bno055_regmap_config;
+
+#endif
diff --git a/drivers/iio/imu/bno055/bno055_i2c.c b/drivers/iio/imu/bno055/bno055_i2c.c
new file mode 100644
index 000000000..c1bbc0fe3
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055_i2c.c
@@ -0,0 +1,57 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Support for I2C-interfaced Bosch BNO055 IMU.
+ *
+ * Copyright (C) 2021-2022 Istituto Italiano di Tecnologia
+ * Electronic Design Laboratory
+ * Written by Andrea Merello <andrea.merello@iit.it>
+ */
+
+#include <linux/i2c.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+
+#include "bno055.h"
+
+#define BNO055_I2C_XFER_BURST_BREAK_THRESHOLD 3
+
+static int bno055_i2c_probe(struct i2c_client *client)
+{
+ struct regmap *regmap;
+
+ regmap = devm_regmap_init_i2c(client, &bno055_regmap_config);
+ if (IS_ERR(regmap))
+ return dev_err_probe(&client->dev, PTR_ERR(regmap),
+ "Unable to init register map");
+
+ return bno055_probe(&client->dev, regmap,
+ BNO055_I2C_XFER_BURST_BREAK_THRESHOLD, true);
+}
+
+static const struct i2c_device_id bno055_i2c_id[] = {
+ {"bno055", 0},
+ { }
+};
+MODULE_DEVICE_TABLE(i2c, bno055_i2c_id);
+
+static const struct of_device_id __maybe_unused bno055_i2c_of_match[] = {
+ { .compatible = "bosch,bno055" },
+ { }
+};
+MODULE_DEVICE_TABLE(of, bno055_i2c_of_match);
+
+static struct i2c_driver bno055_driver = {
+ .driver = {
+ .name = "bno055-i2c",
+ .of_match_table = bno055_i2c_of_match,
+ },
+ .probe_new = bno055_i2c_probe,
+ .id_table = bno055_i2c_id,
+};
+module_i2c_driver(bno055_driver);
+
+MODULE_AUTHOR("Andrea Merello");
+MODULE_DESCRIPTION("Bosch BNO055 I2C interface");
+MODULE_IMPORT_NS(IIO_BNO055);
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/bno055/bno055_ser_core.c b/drivers/iio/imu/bno055/bno055_ser_core.c
new file mode 100644
index 000000000..57728a568
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055_ser_core.c
@@ -0,0 +1,560 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Serial line interface for Bosh BNO055 IMU (via serdev).
+ * This file implements serial communication up to the register read/write
+ * level.
+ *
+ * Copyright (C) 2021-2022 Istituto Italiano di Tecnologia
+ * Electronic Design Laboratory
+ * Written by Andrea Merello <andrea.merello@iit.it>
+ *
+ * This driver is based on
+ * Plantower PMS7003 particulate matter sensor driver
+ * Which is
+ * Copyright (c) Tomasz Duszynski <tduszyns@gmail.com>
+ */
+
+#include <linux/completion.h>
+#include <linux/device.h>
+#include <linux/errno.h>
+#include <linux/jiffies.h>
+#include <linux/kernel.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/mutex.h>
+#include <linux/regmap.h>
+#include <linux/serdev.h>
+
+#include "bno055_ser_trace.h"
+#include "bno055.h"
+
+/*
+ * Register writes cmd have the following format
+ * +------+------+-----+-----+----- ... ----+
+ * | 0xAA | 0xOO | REG | LEN | payload[LEN] |
+ * +------+------+-----+-----+----- ... ----+
+ *
+ * Register write responses have the following format
+ * +------+----------+
+ * | 0xEE | ERROCODE |
+ * +------+----------+
+ *
+ * .. except when writing the SYS_RST bit (i.e. triggering a system reset); in
+ * case the IMU accepts the command, then it resets without responding. We don't
+ * handle this (yet) here (so we inform the common bno055 code not to perform
+ * sw resets - bno055 on serial bus basically requires the hw reset pin).
+ *
+ * Register read have the following format
+ * +------+------+-----+-----+
+ * | 0xAA | 0xO1 | REG | LEN |
+ * +------+------+-----+-----+
+ *
+ * Successful register read response have the following format
+ * +------+-----+----- ... ----+
+ * | 0xBB | LEN | payload[LEN] |
+ * +------+-----+----- ... ----+
+ *
+ * Failed register read response have the following format
+ * +------+--------+
+ * | 0xEE | ERRCODE| (ERRCODE always > 1)
+ * +------+--------+
+ *
+ * Error codes are
+ * 01: OK
+ * 02: read/write FAIL
+ * 04: invalid address
+ * 05: write on RO
+ * 06: wrong start byte
+ * 07: bus overrun
+ * 08: len too high
+ * 09: len too low
+ * 10: bus RX byte timeout (timeout is 30mS)
+ *
+ *
+ * **WORKAROUND ALERT**
+ *
+ * Serial communication seems very fragile: the BNO055 buffer seems to overflow
+ * very easy; BNO055 seems able to sink few bytes, then it needs a brief pause.
+ * On the other hand, it is also picky on timeout: if there is a pause > 30mS in
+ * between two bytes then the transaction fails (IMU internal RX FSM resets).
+ *
+ * BNO055 has been seen also failing to process commands in case we send them
+ * too close each other (or if it is somehow busy?)
+ *
+ * In particular I saw these scenarios:
+ * 1) If we send 2 bytes per time, then the IMU never(?) overflows.
+ * 2) If we send 4 bytes per time (i.e. the full header), then the IMU could
+ * overflow, but it seem to sink all 4 bytes, then it returns error.
+ * 3) If we send more than 4 bytes, the IMU could overflow, and I saw it sending
+ * error after 4 bytes are sent; we have troubles in synchronizing again,
+ * because we are still sending data, and the IMU interprets it as the 1st
+ * byte of a new command.
+ *
+ * While we must avoid case 3, we could send 4 bytes per time and eventually
+ * retry in case of failure; this seemed convenient for reads (which requires
+ * TXing exactly 4 bytes), however it has been seen that, depending by the IMU
+ * settings (e.g. LPF), failures became less or more frequent; in certain IMU
+ * configurations they are very rare, but in certain others we keeps failing
+ * even after like 30 retries.
+ *
+ * So, we just split TXes in [2-bytes + delay] steps, and still keep an eye on
+ * the IMU response; in case it overflows (which is now unlikely), we retry.
+ */
+
+/*
+ * Read operation overhead:
+ * 4 bytes req + 2byte resp hdr.
+ * 6 bytes = 60 bit (considering 1start + 1stop bits).
+ * 60/115200 = ~520uS + about 2500mS delay -> ~3mS
+ * In 3mS we could read back about 34 bytes that means 17 samples, this means
+ * that in case of scattered reads in which the gap is 17 samples or less it is
+ * still convenient to go for a burst.
+ * We have to take into account also IMU response time - IMU seems to be often
+ * reasonably quick to respond, but sometimes it seems to be in some "critical
+ * section" in which it delays handling of serial protocol. Because of this we
+ * round-up to 22, which is the max number of samples, always bursting indeed.
+ */
+#define BNO055_SER_XFER_BURST_BREAK_THRESHOLD 22
+
+struct bno055_ser_priv {
+ enum {
+ CMD_NONE,
+ CMD_READ,
+ CMD_WRITE,
+ } expect_response;
+ int expected_data_len;
+ u8 *response_buf;
+
+ /**
+ * enum cmd_status - represent the status of a command sent to the HW.
+ * @STATUS_CRIT: The command failed: the serial communication failed.
+ * @STATUS_OK: The command executed successfully.
+ * @STATUS_FAIL: The command failed: HW responded with an error.
+ */
+ enum {
+ STATUS_CRIT = -1,
+ STATUS_OK = 0,
+ STATUS_FAIL = 1,
+ } cmd_status;
+
+ /*
+ * Protects all the above fields, which are accessed in behalf of both
+ * the serdev RX callback and the regmap side
+ */
+ struct mutex lock;
+
+ /* Only accessed in serdev RX callback context*/
+ struct {
+ enum {
+ RX_IDLE,
+ RX_START,
+ RX_DATA,
+ } state;
+ int databuf_count;
+ int expected_len;
+ int type;
+ } rx;
+
+ /* Never accessed in behalf of serdev RX callback context */
+ bool cmd_stale;
+
+ struct completion cmd_complete;
+ struct serdev_device *serdev;
+};
+
+static int bno055_ser_send_chunk(struct bno055_ser_priv *priv, const u8 *data, int len)
+{
+ int ret;
+
+ trace_send_chunk(len, data);
+ ret = serdev_device_write(priv->serdev, data, len, msecs_to_jiffies(25));
+ if (ret < 0)
+ return ret;
+
+ if (ret < len)
+ return -EIO;
+
+ return 0;
+}
+
+/*
+ * Send a read or write command.
+ * 'data' can be NULL (used in read case). 'len' parameter is always valid; in
+ * case 'data' is non-NULL then it must match 'data' size.
+ */
+static int bno055_ser_do_send_cmd(struct bno055_ser_priv *priv,
+ bool read, int addr, int len, const u8 *data)
+{
+ u8 hdr[] = {0xAA, read, addr, len};
+ int chunk_len;
+ int ret;
+
+ ret = bno055_ser_send_chunk(priv, hdr, 2);
+ if (ret)
+ goto fail;
+ usleep_range(2000, 3000);
+ ret = bno055_ser_send_chunk(priv, hdr + 2, 2);
+ if (ret)
+ goto fail;
+
+ if (read)
+ return 0;
+
+ while (len) {
+ chunk_len = min(len, 2);
+ usleep_range(2000, 3000);
+ ret = bno055_ser_send_chunk(priv, data, chunk_len);
+ if (ret)
+ goto fail;
+ data += chunk_len;
+ len -= chunk_len;
+ }
+
+ return 0;
+fail:
+ /* waiting more than 30mS should clear the BNO055 internal state */
+ usleep_range(40000, 50000);
+ return ret;
+}
+
+static int bno055_ser_send_cmd(struct bno055_ser_priv *priv,
+ bool read, int addr, int len, const u8 *data)
+{
+ const int retry_max = 5;
+ int retry = retry_max;
+ int ret = 0;
+
+ /*
+ * In case previous command was interrupted we still need to wait it to
+ * complete before we can issue new commands
+ */
+ if (priv->cmd_stale) {
+ ret = wait_for_completion_interruptible_timeout(&priv->cmd_complete,
+ msecs_to_jiffies(100));
+ if (ret == -ERESTARTSYS)
+ return -ERESTARTSYS;
+
+ priv->cmd_stale = false;
+ /* if serial protocol broke, bail out */
+ if (priv->cmd_status == STATUS_CRIT)
+ return -EIO;
+ }
+
+ /*
+ * Try to convince the IMU to cooperate.. as explained in the comments
+ * at the top of this file, the IMU could also refuse the command (i.e.
+ * it is not ready yet); retry in this case.
+ */
+ do {
+ mutex_lock(&priv->lock);
+ priv->expect_response = read ? CMD_READ : CMD_WRITE;
+ reinit_completion(&priv->cmd_complete);
+ mutex_unlock(&priv->lock);
+
+ if (retry != retry_max)
+ trace_cmd_retry(read, addr, retry_max - retry);
+ ret = bno055_ser_do_send_cmd(priv, read, addr, len, data);
+ if (ret)
+ continue;
+
+ ret = wait_for_completion_interruptible_timeout(&priv->cmd_complete,
+ msecs_to_jiffies(100));
+ if (ret == -ERESTARTSYS) {
+ priv->cmd_stale = true;
+ return -ERESTARTSYS;
+ }
+
+ if (!ret)
+ return -ETIMEDOUT;
+
+ if (priv->cmd_status == STATUS_OK)
+ return 0;
+ if (priv->cmd_status == STATUS_CRIT)
+ return -EIO;
+
+ /* loop in case priv->cmd_status == STATUS_FAIL */
+ } while (--retry);
+
+ if (ret < 0)
+ return ret;
+ if (priv->cmd_status == STATUS_FAIL)
+ return -EINVAL;
+ return 0;
+}
+
+static int bno055_ser_write_reg(void *context, const void *_data, size_t count)
+{
+ const u8 *data = _data;
+ struct bno055_ser_priv *priv = context;
+
+ if (count < 2) {
+ dev_err(&priv->serdev->dev, "Invalid write count %zu", count);
+ return -EINVAL;
+ }
+
+ trace_write_reg(data[0], data[1]);
+ return bno055_ser_send_cmd(priv, 0, data[0], count - 1, data + 1);
+}
+
+static int bno055_ser_read_reg(void *context,
+ const void *_reg, size_t reg_size,
+ void *val, size_t val_size)
+{
+ int ret;
+ int reg_addr;
+ const u8 *reg = _reg;
+ struct bno055_ser_priv *priv = context;
+
+ if (val_size > 128) {
+ dev_err(&priv->serdev->dev, "Invalid read valsize %zu", val_size);
+ return -EINVAL;
+ }
+
+ reg_addr = *reg;
+ trace_read_reg(reg_addr, val_size);
+ mutex_lock(&priv->lock);
+ priv->expected_data_len = val_size;
+ priv->response_buf = val;
+ mutex_unlock(&priv->lock);
+
+ ret = bno055_ser_send_cmd(priv, 1, reg_addr, val_size, NULL);
+
+ mutex_lock(&priv->lock);
+ priv->response_buf = NULL;
+ mutex_unlock(&priv->lock);
+
+ return ret;
+}
+
+/*
+ * Handler for received data; this is called from the receiver callback whenever
+ * it got some packet from the serial bus. The status tells us whether the
+ * packet is valid (i.e. header ok && received payload len consistent wrt the
+ * header). It's now our responsibility to check whether this is what we
+ * expected, of whether we got some unexpected, yet valid, packet.
+ */
+static void bno055_ser_handle_rx(struct bno055_ser_priv *priv, int status)
+{
+ mutex_lock(&priv->lock);
+ switch (priv->expect_response) {
+ case CMD_NONE:
+ dev_warn(&priv->serdev->dev, "received unexpected, yet valid, data from sensor");
+ mutex_unlock(&priv->lock);
+ return;
+
+ case CMD_READ:
+ priv->cmd_status = status;
+ if (status == STATUS_OK &&
+ priv->rx.databuf_count != priv->expected_data_len) {
+ /*
+ * If we got here, then the lower layer serial protocol
+ * seems consistent with itself; if we got an unexpected
+ * amount of data then signal it as a non critical error
+ */
+ priv->cmd_status = STATUS_FAIL;
+ dev_warn(&priv->serdev->dev,
+ "received an unexpected amount of, yet valid, data from sensor");
+ }
+ break;
+
+ case CMD_WRITE:
+ priv->cmd_status = status;
+ break;
+ }
+
+ priv->expect_response = CMD_NONE;
+ mutex_unlock(&priv->lock);
+ complete(&priv->cmd_complete);
+}
+
+/*
+ * Serdev receiver FSM. This tracks the serial communication and parse the
+ * header. It pushes packets to bno055_ser_handle_rx(), eventually communicating
+ * failures (i.e. malformed packets).
+ * Ideally it doesn't know anything about upper layer (i.e. if this is the
+ * packet we were really expecting), but since we copies the payload into the
+ * receiver buffer (that is not valid when i.e. we don't expect data), we
+ * snoop a bit in the upper layer..
+ * Also, we assume to RX one pkt per time (i.e. the HW doesn't send anything
+ * unless we require to AND we don't queue more than one request per time).
+ */
+static int bno055_ser_receive_buf(struct serdev_device *serdev,
+ const unsigned char *buf, size_t size)
+{
+ int status;
+ struct bno055_ser_priv *priv = serdev_device_get_drvdata(serdev);
+ int remaining = size;
+
+ if (size == 0)
+ return 0;
+
+ trace_recv(size, buf);
+ switch (priv->rx.state) {
+ case RX_IDLE:
+ /*
+ * New packet.
+ * Check for its 1st byte that identifies the pkt type.
+ */
+ if (buf[0] != 0xEE && buf[0] != 0xBB) {
+ dev_err(&priv->serdev->dev,
+ "Invalid packet start %x", buf[0]);
+ bno055_ser_handle_rx(priv, STATUS_CRIT);
+ break;
+ }
+ priv->rx.type = buf[0];
+ priv->rx.state = RX_START;
+ remaining--;
+ buf++;
+ priv->rx.databuf_count = 0;
+ fallthrough;
+
+ case RX_START:
+ /*
+ * Packet RX in progress, we expect either 1-byte len or 1-byte
+ * status depending by the packet type.
+ */
+ if (remaining == 0)
+ break;
+
+ if (priv->rx.type == 0xEE) {
+ if (remaining > 1) {
+ dev_err(&priv->serdev->dev, "EE pkt. Extra data received");
+ status = STATUS_CRIT;
+ } else {
+ status = (buf[0] == 1) ? STATUS_OK : STATUS_FAIL;
+ }
+ bno055_ser_handle_rx(priv, status);
+ priv->rx.state = RX_IDLE;
+ break;
+
+ } else {
+ /*priv->rx.type == 0xBB */
+ priv->rx.state = RX_DATA;
+ priv->rx.expected_len = buf[0];
+ remaining--;
+ buf++;
+ }
+ fallthrough;
+
+ case RX_DATA:
+ /* Header parsed; now receiving packet data payload */
+ if (remaining == 0)
+ break;
+
+ if (priv->rx.databuf_count + remaining > priv->rx.expected_len) {
+ /*
+ * This is an inconsistency in serial protocol, we lost
+ * sync and we don't know how to handle further data
+ */
+ dev_err(&priv->serdev->dev, "BB pkt. Extra data received");
+ bno055_ser_handle_rx(priv, STATUS_CRIT);
+ priv->rx.state = RX_IDLE;
+ break;
+ }
+
+ mutex_lock(&priv->lock);
+ /*
+ * NULL e.g. when read cmd is stale or when no read cmd is
+ * actually pending.
+ */
+ if (priv->response_buf &&
+ /*
+ * Snoop on the upper layer protocol stuff to make sure not
+ * to write to an invalid memory. Apart for this, let's the
+ * upper layer manage any inconsistency wrt expected data
+ * len (as long as the serial protocol is consistent wrt
+ * itself (i.e. response header is consistent with received
+ * response len.
+ */
+ (priv->rx.databuf_count + remaining <= priv->expected_data_len))
+ memcpy(priv->response_buf + priv->rx.databuf_count,
+ buf, remaining);
+ mutex_unlock(&priv->lock);
+
+ priv->rx.databuf_count += remaining;
+
+ /*
+ * Reached expected len advertised by the IMU for the current
+ * packet. Pass it to the upper layer (for us it is just valid).
+ */
+ if (priv->rx.databuf_count == priv->rx.expected_len) {
+ bno055_ser_handle_rx(priv, STATUS_OK);
+ priv->rx.state = RX_IDLE;
+ }
+ break;
+ }
+
+ return size;
+}
+
+static const struct serdev_device_ops bno055_ser_serdev_ops = {
+ .receive_buf = bno055_ser_receive_buf,
+ .write_wakeup = serdev_device_write_wakeup,
+};
+
+static struct regmap_bus bno055_ser_regmap_bus = {
+ .write = bno055_ser_write_reg,
+ .read = bno055_ser_read_reg,
+};
+
+static int bno055_ser_probe(struct serdev_device *serdev)
+{
+ struct bno055_ser_priv *priv;
+ struct regmap *regmap;
+ int ret;
+
+ priv = devm_kzalloc(&serdev->dev, sizeof(*priv), GFP_KERNEL);
+ if (!priv)
+ return -ENOMEM;
+
+ serdev_device_set_drvdata(serdev, priv);
+ priv->serdev = serdev;
+ mutex_init(&priv->lock);
+ init_completion(&priv->cmd_complete);
+
+ serdev_device_set_client_ops(serdev, &bno055_ser_serdev_ops);
+ ret = devm_serdev_device_open(&serdev->dev, serdev);
+ if (ret)
+ return ret;
+
+ if (serdev_device_set_baudrate(serdev, 115200) != 115200) {
+ dev_err(&serdev->dev, "Cannot set required baud rate");
+ return -EIO;
+ }
+
+ ret = serdev_device_set_parity(serdev, SERDEV_PARITY_NONE);
+ if (ret) {
+ dev_err(&serdev->dev, "Cannot set required parity setting");
+ return ret;
+ }
+ serdev_device_set_flow_control(serdev, false);
+
+ regmap = devm_regmap_init(&serdev->dev, &bno055_ser_regmap_bus,
+ priv, &bno055_regmap_config);
+ if (IS_ERR(regmap))
+ return dev_err_probe(&serdev->dev, PTR_ERR(regmap),
+ "Unable to init register map");
+
+ return bno055_probe(&serdev->dev, regmap,
+ BNO055_SER_XFER_BURST_BREAK_THRESHOLD, false);
+}
+
+static const struct of_device_id bno055_ser_of_match[] = {
+ { .compatible = "bosch,bno055" },
+ { }
+};
+MODULE_DEVICE_TABLE(of, bno055_ser_of_match);
+
+static struct serdev_device_driver bno055_ser_driver = {
+ .driver = {
+ .name = "bno055-ser",
+ .of_match_table = bno055_ser_of_match,
+ },
+ .probe = bno055_ser_probe,
+};
+module_serdev_device_driver(bno055_ser_driver);
+
+MODULE_AUTHOR("Andrea Merello <andrea.merello@iit.it>");
+MODULE_DESCRIPTION("Bosch BNO055 serdev interface");
+MODULE_IMPORT_NS(IIO_BNO055);
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/bno055/bno055_ser_trace.c b/drivers/iio/imu/bno055/bno055_ser_trace.c
new file mode 100644
index 000000000..48397b66d
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055_ser_trace.c
@@ -0,0 +1,14 @@
+//SPDX-License-Identifier: GPL-2.0
+
+/*
+ * bno055_ser Trace Support
+ * Copyright (C) 2022 Istituto Italiano di Tecnologia
+ * Electronic Design Laboratory
+ *
+ * Based on:
+ * Device core Trace Support
+ * Copyright (C) 2021, Intel Corporation
+ */
+
+#define CREATE_TRACE_POINTS
+#include "bno055_ser_trace.h"
diff --git a/drivers/iio/imu/bno055/bno055_ser_trace.h b/drivers/iio/imu/bno055/bno055_ser_trace.h
new file mode 100644
index 000000000..7d9eae166
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055_ser_trace.h
@@ -0,0 +1,104 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+#if !defined(__BNO055_SERDEV_TRACE_H__) || defined(TRACE_HEADER_MULTI_READ)
+#define __BNO055_SERDEV_TRACE_H__
+
+#include <linux/tracepoint.h>
+
+#undef TRACE_SYSTEM
+#define TRACE_SYSTEM bno055_ser
+
+TRACE_EVENT(send_chunk,
+ TP_PROTO(int len, const u8 *data),
+ TP_ARGS(len, data),
+ TP_STRUCT__entry(
+ __field(int, len)
+ __dynamic_array(u8, chunk, len)
+ ),
+ TP_fast_assign(
+ __entry->len = len;
+ memcpy(__get_dynamic_array(chunk),
+ data, __entry->len);
+ ),
+ TP_printk("len: %d, data: = %*ph",
+ __entry->len, __entry->len, __get_dynamic_array(chunk)
+ )
+);
+
+TRACE_EVENT(cmd_retry,
+ TP_PROTO(bool read, int addr, int retry),
+ TP_ARGS(read, addr, retry),
+ TP_STRUCT__entry(
+ __field(bool, read)
+ __field(int, addr)
+ __field(int, retry)
+ ),
+ TP_fast_assign(
+ __entry->read = read;
+ __entry->addr = addr;
+ __entry->retry = retry;
+ ),
+ TP_printk("%s addr 0x%x retry #%d",
+ __entry->read ? "read" : "write",
+ __entry->addr, __entry->retry
+ )
+);
+
+TRACE_EVENT(write_reg,
+ TP_PROTO(u8 addr, u8 value),
+ TP_ARGS(addr, value),
+ TP_STRUCT__entry(
+ __field(u8, addr)
+ __field(u8, value)
+ ),
+ TP_fast_assign(
+ __entry->addr = addr;
+ __entry->value = value;
+ ),
+ TP_printk("reg 0x%x = 0x%x",
+ __entry->addr, __entry->value
+ )
+);
+
+TRACE_EVENT(read_reg,
+ TP_PROTO(int addr, size_t len),
+ TP_ARGS(addr, len),
+ TP_STRUCT__entry(
+ __field(int, addr)
+ __field(size_t, len)
+ ),
+ TP_fast_assign(
+ __entry->addr = addr;
+ __entry->len = len;
+ ),
+ TP_printk("reg 0x%x (len %zu)",
+ __entry->addr, __entry->len
+ )
+);
+
+TRACE_EVENT(recv,
+ TP_PROTO(size_t len, const unsigned char *buf),
+ TP_ARGS(len, buf),
+ TP_STRUCT__entry(
+ __field(size_t, len)
+ __dynamic_array(unsigned char, buf, len)
+ ),
+ TP_fast_assign(
+ __entry->len = len;
+ memcpy(__get_dynamic_array(buf),
+ buf, __entry->len);
+ ),
+ TP_printk("len: %zu, data: = %*ph",
+ __entry->len, (int)__entry->len, __get_dynamic_array(buf)
+ )
+);
+
+#endif /* __BNO055_SERDEV_TRACE_H__ || TRACE_HEADER_MULTI_READ */
+
+#undef TRACE_INCLUDE_PATH
+#define TRACE_INCLUDE_PATH .
+#undef TRACE_INCLUDE_FILE
+#define TRACE_INCLUDE_FILE bno055_ser_trace
+
+/* This part must be outside protection */
+#include <trace/define_trace.h>
diff --git a/drivers/iio/imu/fxos8700.h b/drivers/iio/imu/fxos8700.h
new file mode 100644
index 000000000..6dfb8d709
--- /dev/null
+++ b/drivers/iio/imu/fxos8700.h
@@ -0,0 +1,10 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+#ifndef FXOS8700_H_
+#define FXOS8700_H_
+
+extern const struct regmap_config fxos8700_regmap_config;
+
+int fxos8700_core_probe(struct device *dev, struct regmap *regmap,
+ const char *name, bool use_spi);
+
+#endif /* FXOS8700_H_ */
diff --git a/drivers/iio/imu/fxos8700_core.c b/drivers/iio/imu/fxos8700_core.c
new file mode 100644
index 000000000..6d189c4b9
--- /dev/null
+++ b/drivers/iio/imu/fxos8700_core.c
@@ -0,0 +1,715 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * FXOS8700 - NXP IMU (accelerometer plus magnetometer)
+ *
+ * IIO core driver for FXOS8700, with support for I2C/SPI busses
+ *
+ * TODO: Buffer, trigger, and IRQ support
+ */
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/acpi.h>
+#include <linux/bitops.h>
+#include <linux/bitfield.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+
+#include "fxos8700.h"
+
+/* Register Definitions */
+#define FXOS8700_STATUS 0x00
+#define FXOS8700_OUT_X_MSB 0x01
+#define FXOS8700_OUT_X_LSB 0x02
+#define FXOS8700_OUT_Y_MSB 0x03
+#define FXOS8700_OUT_Y_LSB 0x04
+#define FXOS8700_OUT_Z_MSB 0x05
+#define FXOS8700_OUT_Z_LSB 0x06
+#define FXOS8700_F_SETUP 0x09
+#define FXOS8700_TRIG_CFG 0x0a
+#define FXOS8700_SYSMOD 0x0b
+#define FXOS8700_INT_SOURCE 0x0c
+#define FXOS8700_WHO_AM_I 0x0d
+#define FXOS8700_XYZ_DATA_CFG 0x0e
+#define FXOS8700_HP_FILTER_CUTOFF 0x0f
+#define FXOS8700_PL_STATUS 0x10
+#define FXOS8700_PL_CFG 0x11
+#define FXOS8700_PL_COUNT 0x12
+#define FXOS8700_PL_BF_ZCOMP 0x13
+#define FXOS8700_PL_THS_REG 0x14
+#define FXOS8700_A_FFMT_CFG 0x15
+#define FXOS8700_A_FFMT_SRC 0x16
+#define FXOS8700_A_FFMT_THS 0x17
+#define FXOS8700_A_FFMT_COUNT 0x18
+#define FXOS8700_TRANSIENT_CFG 0x1d
+#define FXOS8700_TRANSIENT_SRC 0x1e
+#define FXOS8700_TRANSIENT_THS 0x1f
+#define FXOS8700_TRANSIENT_COUNT 0x20
+#define FXOS8700_PULSE_CFG 0x21
+#define FXOS8700_PULSE_SRC 0x22
+#define FXOS8700_PULSE_THSX 0x23
+#define FXOS8700_PULSE_THSY 0x24
+#define FXOS8700_PULSE_THSZ 0x25
+#define FXOS8700_PULSE_TMLT 0x26
+#define FXOS8700_PULSE_LTCY 0x27
+#define FXOS8700_PULSE_WIND 0x28
+#define FXOS8700_ASLP_COUNT 0x29
+#define FXOS8700_CTRL_REG1 0x2a
+#define FXOS8700_CTRL_REG2 0x2b
+#define FXOS8700_CTRL_REG3 0x2c
+#define FXOS8700_CTRL_REG4 0x2d
+#define FXOS8700_CTRL_REG5 0x2e
+#define FXOS8700_OFF_X 0x2f
+#define FXOS8700_OFF_Y 0x30
+#define FXOS8700_OFF_Z 0x31
+#define FXOS8700_M_DR_STATUS 0x32
+#define FXOS8700_M_OUT_X_MSB 0x33
+#define FXOS8700_M_OUT_X_LSB 0x34
+#define FXOS8700_M_OUT_Y_MSB 0x35
+#define FXOS8700_M_OUT_Y_LSB 0x36
+#define FXOS8700_M_OUT_Z_MSB 0x37
+#define FXOS8700_M_OUT_Z_LSB 0x38
+#define FXOS8700_CMP_X_MSB 0x39
+#define FXOS8700_CMP_X_LSB 0x3a
+#define FXOS8700_CMP_Y_MSB 0x3b
+#define FXOS8700_CMP_Y_LSB 0x3c
+#define FXOS8700_CMP_Z_MSB 0x3d
+#define FXOS8700_CMP_Z_LSB 0x3e
+#define FXOS8700_M_OFF_X_MSB 0x3f
+#define FXOS8700_M_OFF_X_LSB 0x40
+#define FXOS8700_M_OFF_Y_MSB 0x41
+#define FXOS8700_M_OFF_Y_LSB 0x42
+#define FXOS8700_M_OFF_Z_MSB 0x43
+#define FXOS8700_M_OFF_Z_LSB 0x44
+#define FXOS8700_MAX_X_MSB 0x45
+#define FXOS8700_MAX_X_LSB 0x46
+#define FXOS8700_MAX_Y_MSB 0x47
+#define FXOS8700_MAX_Y_LSB 0x48
+#define FXOS8700_MAX_Z_MSB 0x49
+#define FXOS8700_MAX_Z_LSB 0x4a
+#define FXOS8700_MIN_X_MSB 0x4b
+#define FXOS8700_MIN_X_LSB 0x4c
+#define FXOS8700_MIN_Y_MSB 0x4d
+#define FXOS8700_MIN_Y_LSB 0x4e
+#define FXOS8700_MIN_Z_MSB 0x4f
+#define FXOS8700_MIN_Z_LSB 0x50
+#define FXOS8700_TEMP 0x51
+#define FXOS8700_M_THS_CFG 0x52
+#define FXOS8700_M_THS_SRC 0x53
+#define FXOS8700_M_THS_X_MSB 0x54
+#define FXOS8700_M_THS_X_LSB 0x55
+#define FXOS8700_M_THS_Y_MSB 0x56
+#define FXOS8700_M_THS_Y_LSB 0x57
+#define FXOS8700_M_THS_Z_MSB 0x58
+#define FXOS8700_M_THS_Z_LSB 0x59
+#define FXOS8700_M_THS_COUNT 0x5a
+#define FXOS8700_M_CTRL_REG1 0x5b
+#define FXOS8700_M_CTRL_REG2 0x5c
+#define FXOS8700_M_CTRL_REG3 0x5d
+#define FXOS8700_M_INT_SRC 0x5e
+#define FXOS8700_A_VECM_CFG 0x5f
+#define FXOS8700_A_VECM_THS_MSB 0x60
+#define FXOS8700_A_VECM_THS_LSB 0x61
+#define FXOS8700_A_VECM_CNT 0x62
+#define FXOS8700_A_VECM_INITX_MSB 0x63
+#define FXOS8700_A_VECM_INITX_LSB 0x64
+#define FXOS8700_A_VECM_INITY_MSB 0x65
+#define FXOS8700_A_VECM_INITY_LSB 0x66
+#define FXOS8700_A_VECM_INITZ_MSB 0x67
+#define FXOS8700_A_VECM_INITZ_LSB 0x68
+#define FXOS8700_M_VECM_CFG 0x69
+#define FXOS8700_M_VECM_THS_MSB 0x6a
+#define FXOS8700_M_VECM_THS_LSB 0x6b
+#define FXOS8700_M_VECM_CNT 0x6c
+#define FXOS8700_M_VECM_INITX_MSB 0x6d
+#define FXOS8700_M_VECM_INITX_LSB 0x6e
+#define FXOS8700_M_VECM_INITY_MSB 0x6f
+#define FXOS8700_M_VECM_INITY_LSB 0x70
+#define FXOS8700_M_VECM_INITZ_MSB 0x71
+#define FXOS8700_M_VECM_INITZ_LSB 0x72
+#define FXOS8700_A_FFMT_THS_X_MSB 0x73
+#define FXOS8700_A_FFMT_THS_X_LSB 0x74
+#define FXOS8700_A_FFMT_THS_Y_MSB 0x75
+#define FXOS8700_A_FFMT_THS_Y_LSB 0x76
+#define FXOS8700_A_FFMT_THS_Z_MSB 0x77
+#define FXOS8700_A_FFMT_THS_Z_LSB 0x78
+#define FXOS8700_A_TRAN_INIT_MSB 0x79
+#define FXOS8700_A_TRAN_INIT_LSB_X 0x7a
+#define FXOS8700_A_TRAN_INIT_LSB_Y 0x7b
+#define FXOS8700_A_TRAN_INIT_LSB_Z 0x7d
+#define FXOS8700_TM_NVM_LOCK 0x7e
+#define FXOS8700_NVM_DATA0_35 0x80
+#define FXOS8700_NVM_DATA_BNK3 0xa4
+#define FXOS8700_NVM_DATA_BNK2 0xa5
+#define FXOS8700_NVM_DATA_BNK1 0xa6
+#define FXOS8700_NVM_DATA_BNK0 0xa7
+
+/* Bit definitions for FXOS8700_CTRL_REG1 */
+#define FXOS8700_CTRL_ODR_MAX 0x00
+#define FXOS8700_CTRL_ODR_MSK GENMASK(5, 3)
+
+/* Bit definitions for FXOS8700_M_CTRL_REG1 */
+#define FXOS8700_HMS_MASK GENMASK(1, 0)
+#define FXOS8700_OS_MASK GENMASK(4, 2)
+
+/* Bit definitions for FXOS8700_M_CTRL_REG2 */
+#define FXOS8700_MAXMIN_RST BIT(2)
+#define FXOS8700_MAXMIN_DIS_THS BIT(3)
+#define FXOS8700_MAXMIN_DIS BIT(4)
+
+#define FXOS8700_ACTIVE 0x01
+#define FXOS8700_ACTIVE_MIN_USLEEP 4000 /* from table 6 in datasheet */
+
+#define FXOS8700_DEVICE_ID 0xC7
+#define FXOS8700_PRE_DEVICE_ID 0xC4
+#define FXOS8700_DATA_BUF_SIZE 3
+
+struct fxos8700_data {
+ struct regmap *regmap;
+ struct iio_trigger *trig;
+ __be16 buf[FXOS8700_DATA_BUF_SIZE] __aligned(IIO_DMA_MINALIGN);
+};
+
+/* Regmap info */
+static const struct regmap_range read_range[] = {
+ {
+ .range_min = FXOS8700_STATUS,
+ .range_max = FXOS8700_A_FFMT_COUNT,
+ }, {
+ .range_min = FXOS8700_TRANSIENT_CFG,
+ .range_max = FXOS8700_A_FFMT_THS_Z_LSB,
+ },
+};
+
+static const struct regmap_range write_range[] = {
+ {
+ .range_min = FXOS8700_F_SETUP,
+ .range_max = FXOS8700_TRIG_CFG,
+ }, {
+ .range_min = FXOS8700_XYZ_DATA_CFG,
+ .range_max = FXOS8700_HP_FILTER_CUTOFF,
+ }, {
+ .range_min = FXOS8700_PL_CFG,
+ .range_max = FXOS8700_A_FFMT_CFG,
+ }, {
+ .range_min = FXOS8700_A_FFMT_THS,
+ .range_max = FXOS8700_TRANSIENT_CFG,
+ }, {
+ .range_min = FXOS8700_TRANSIENT_THS,
+ .range_max = FXOS8700_PULSE_CFG,
+ }, {
+ .range_min = FXOS8700_PULSE_THSX,
+ .range_max = FXOS8700_OFF_Z,
+ }, {
+ .range_min = FXOS8700_M_OFF_X_MSB,
+ .range_max = FXOS8700_M_OFF_Z_LSB,
+ }, {
+ .range_min = FXOS8700_M_THS_CFG,
+ .range_max = FXOS8700_M_THS_CFG,
+ }, {
+ .range_min = FXOS8700_M_THS_X_MSB,
+ .range_max = FXOS8700_M_CTRL_REG3,
+ }, {
+ .range_min = FXOS8700_A_VECM_CFG,
+ .range_max = FXOS8700_A_FFMT_THS_Z_LSB,
+ },
+};
+
+static const struct regmap_access_table driver_read_table = {
+ .yes_ranges = read_range,
+ .n_yes_ranges = ARRAY_SIZE(read_range),
+};
+
+static const struct regmap_access_table driver_write_table = {
+ .yes_ranges = write_range,
+ .n_yes_ranges = ARRAY_SIZE(write_range),
+};
+
+const struct regmap_config fxos8700_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+ .max_register = FXOS8700_NVM_DATA_BNK0,
+ .rd_table = &driver_read_table,
+ .wr_table = &driver_write_table,
+};
+EXPORT_SYMBOL(fxos8700_regmap_config);
+
+#define FXOS8700_CHANNEL(_type, _axis) { \
+ .type = _type, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##_axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+}
+
+enum fxos8700_accel_scale_bits {
+ MODE_2G = 0,
+ MODE_4G,
+ MODE_8G,
+};
+
+/* scan indexes follow DATA register order */
+enum fxos8700_scan_axis {
+ FXOS8700_SCAN_ACCEL_X = 0,
+ FXOS8700_SCAN_ACCEL_Y,
+ FXOS8700_SCAN_ACCEL_Z,
+ FXOS8700_SCAN_MAGN_X,
+ FXOS8700_SCAN_MAGN_Y,
+ FXOS8700_SCAN_MAGN_Z,
+ FXOS8700_SCAN_RHALL,
+ FXOS8700_SCAN_TIMESTAMP,
+};
+
+enum fxos8700_sensor {
+ FXOS8700_ACCEL = 0,
+ FXOS8700_MAGN,
+ FXOS8700_NUM_SENSORS /* must be last */
+};
+
+enum fxos8700_int_pin {
+ FXOS8700_PIN_INT1,
+ FXOS8700_PIN_INT2
+};
+
+struct fxos8700_scale {
+ u8 bits;
+ int uscale;
+};
+
+struct fxos8700_odr {
+ u8 bits;
+ int odr;
+ int uodr;
+};
+
+static const struct fxos8700_scale fxos8700_accel_scale[] = {
+ { MODE_2G, 244},
+ { MODE_4G, 488},
+ { MODE_8G, 976},
+};
+
+/*
+ * Accellerometer and magnetometer have the same ODR options, set in the
+ * CTRL_REG1 register. ODR is halved when using both sensors at once in
+ * hybrid mode.
+ */
+static const struct fxos8700_odr fxos8700_odr[] = {
+ {0x00, 800, 0},
+ {0x01, 400, 0},
+ {0x02, 200, 0},
+ {0x03, 100, 0},
+ {0x04, 50, 0},
+ {0x05, 12, 500000},
+ {0x06, 6, 250000},
+ {0x07, 1, 562500},
+};
+
+static const struct iio_chan_spec fxos8700_channels[] = {
+ FXOS8700_CHANNEL(IIO_ACCEL, X),
+ FXOS8700_CHANNEL(IIO_ACCEL, Y),
+ FXOS8700_CHANNEL(IIO_ACCEL, Z),
+ FXOS8700_CHANNEL(IIO_MAGN, X),
+ FXOS8700_CHANNEL(IIO_MAGN, Y),
+ FXOS8700_CHANNEL(IIO_MAGN, Z),
+ IIO_CHAN_SOFT_TIMESTAMP(FXOS8700_SCAN_TIMESTAMP),
+};
+
+static enum fxos8700_sensor fxos8700_to_sensor(enum iio_chan_type iio_type)
+{
+ switch (iio_type) {
+ case IIO_ACCEL:
+ return FXOS8700_ACCEL;
+ case IIO_MAGN:
+ return FXOS8700_MAGN;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int fxos8700_set_active_mode(struct fxos8700_data *data,
+ enum fxos8700_sensor t, bool mode)
+{
+ int ret;
+
+ ret = regmap_write(data->regmap, FXOS8700_CTRL_REG1, mode);
+ if (ret)
+ return ret;
+
+ usleep_range(FXOS8700_ACTIVE_MIN_USLEEP,
+ FXOS8700_ACTIVE_MIN_USLEEP + 1000);
+
+ return 0;
+}
+
+static int fxos8700_set_scale(struct fxos8700_data *data,
+ enum fxos8700_sensor t, int uscale)
+{
+ int i, ret, val;
+ bool active_mode;
+ static const int scale_num = ARRAY_SIZE(fxos8700_accel_scale);
+ struct device *dev = regmap_get_device(data->regmap);
+
+ if (t == FXOS8700_MAGN) {
+ dev_err(dev, "Magnetometer scale is locked at 0.001Gs\n");
+ return -EINVAL;
+ }
+
+ /*
+ * When device is in active mode, it failed to set an ACCEL
+ * full-scale range(2g/4g/8g) in FXOS8700_XYZ_DATA_CFG.
+ * This is not align with the datasheet, but it is a fxos8700
+ * chip behavier. Set the device in standby mode before setting
+ * an ACCEL full-scale range.
+ */
+ ret = regmap_read(data->regmap, FXOS8700_CTRL_REG1, &val);
+ if (ret)
+ return ret;
+
+ active_mode = val & FXOS8700_ACTIVE;
+ if (active_mode) {
+ ret = regmap_write(data->regmap, FXOS8700_CTRL_REG1,
+ val & ~FXOS8700_ACTIVE);
+ if (ret)
+ return ret;
+ }
+
+ for (i = 0; i < scale_num; i++)
+ if (fxos8700_accel_scale[i].uscale == uscale)
+ break;
+
+ if (i == scale_num)
+ return -EINVAL;
+
+ ret = regmap_write(data->regmap, FXOS8700_XYZ_DATA_CFG,
+ fxos8700_accel_scale[i].bits);
+ if (ret)
+ return ret;
+ return regmap_write(data->regmap, FXOS8700_CTRL_REG1,
+ active_mode);
+}
+
+static int fxos8700_get_scale(struct fxos8700_data *data,
+ enum fxos8700_sensor t, int *uscale)
+{
+ int i, ret, val;
+ static const int scale_num = ARRAY_SIZE(fxos8700_accel_scale);
+
+ if (t == FXOS8700_MAGN) {
+ *uscale = 1000; /* Magnetometer is locked at 0.001Gs */
+ return 0;
+ }
+
+ ret = regmap_read(data->regmap, FXOS8700_XYZ_DATA_CFG, &val);
+ if (ret)
+ return ret;
+
+ for (i = 0; i < scale_num; i++) {
+ if (fxos8700_accel_scale[i].bits == (val & 0x3)) {
+ *uscale = fxos8700_accel_scale[i].uscale;
+ return 0;
+ }
+ }
+
+ return -EINVAL;
+}
+
+static int fxos8700_get_data(struct fxos8700_data *data, int chan_type,
+ int axis, int *val)
+{
+ u8 base, reg;
+ s16 tmp;
+ int ret;
+
+ /*
+ * Different register base addresses varies with channel types.
+ * This bug hasn't been noticed before because using an enum is
+ * really hard to read. Use an a switch statement to take over that.
+ */
+ switch (chan_type) {
+ case IIO_ACCEL:
+ base = FXOS8700_OUT_X_MSB;
+ break;
+ case IIO_MAGN:
+ base = FXOS8700_M_OUT_X_MSB;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ /* Block read 6 bytes of device output registers to avoid data loss */
+ ret = regmap_bulk_read(data->regmap, base, data->buf,
+ sizeof(data->buf));
+ if (ret)
+ return ret;
+
+ /* Convert axis to buffer index */
+ reg = axis - IIO_MOD_X;
+
+ /*
+ * Convert to native endianness. The accel data and magn data
+ * are signed, so a forced type conversion is needed.
+ */
+ tmp = be16_to_cpu(data->buf[reg]);
+
+ /*
+ * ACCEL output data registers contain the X-axis, Y-axis, and Z-axis
+ * 14-bit left-justified sample data and MAGN output data registers
+ * contain the X-axis, Y-axis, and Z-axis 16-bit sample data. Apply
+ * a signed 2 bits right shift to the readback raw data from ACCEL
+ * output data register and keep that from MAGN sensor as the origin.
+ * Value should be extended to 32 bit.
+ */
+ switch (chan_type) {
+ case IIO_ACCEL:
+ tmp = tmp >> 2;
+ break;
+ case IIO_MAGN:
+ /* Nothing to do */
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ /* Convert to native endianness */
+ *val = sign_extend32(tmp, 15);
+
+ return 0;
+}
+
+static int fxos8700_set_odr(struct fxos8700_data *data, enum fxos8700_sensor t,
+ int odr, int uodr)
+{
+ int i, ret, val;
+ bool active_mode;
+ static const int odr_num = ARRAY_SIZE(fxos8700_odr);
+
+ ret = regmap_read(data->regmap, FXOS8700_CTRL_REG1, &val);
+ if (ret)
+ return ret;
+
+ active_mode = val & FXOS8700_ACTIVE;
+
+ if (active_mode) {
+ /*
+ * The device must be in standby mode to change any of the
+ * other fields within CTRL_REG1
+ */
+ ret = regmap_write(data->regmap, FXOS8700_CTRL_REG1,
+ val & ~FXOS8700_ACTIVE);
+ if (ret)
+ return ret;
+ }
+
+ for (i = 0; i < odr_num; i++)
+ if (fxos8700_odr[i].odr == odr && fxos8700_odr[i].uodr == uodr)
+ break;
+
+ if (i >= odr_num)
+ return -EINVAL;
+
+ val &= ~FXOS8700_CTRL_ODR_MSK;
+ val |= FIELD_PREP(FXOS8700_CTRL_ODR_MSK, fxos8700_odr[i].bits) | FXOS8700_ACTIVE;
+ return regmap_write(data->regmap, FXOS8700_CTRL_REG1, val);
+}
+
+static int fxos8700_get_odr(struct fxos8700_data *data, enum fxos8700_sensor t,
+ int *odr, int *uodr)
+{
+ int i, val, ret;
+ static const int odr_num = ARRAY_SIZE(fxos8700_odr);
+
+ ret = regmap_read(data->regmap, FXOS8700_CTRL_REG1, &val);
+ if (ret)
+ return ret;
+
+ val = FIELD_GET(FXOS8700_CTRL_ODR_MSK, val);
+
+ for (i = 0; i < odr_num; i++)
+ if (val == fxos8700_odr[i].bits)
+ break;
+
+ if (i >= odr_num)
+ return -EINVAL;
+
+ *odr = fxos8700_odr[i].odr;
+ *uodr = fxos8700_odr[i].uodr;
+
+ return 0;
+}
+
+static int fxos8700_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ int ret;
+ struct fxos8700_data *data = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = fxos8700_get_data(data, chan->type, chan->channel2, val);
+ if (ret)
+ return ret;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ *val = 0;
+ ret = fxos8700_get_scale(data, fxos8700_to_sensor(chan->type),
+ val2);
+ return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ ret = fxos8700_get_odr(data, fxos8700_to_sensor(chan->type),
+ val, val2);
+ return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int fxos8700_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct fxos8700_data *data = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ return fxos8700_set_scale(data, fxos8700_to_sensor(chan->type),
+ val2);
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return fxos8700_set_odr(data, fxos8700_to_sensor(chan->type),
+ val, val2);
+ default:
+ return -EINVAL;
+ }
+}
+
+static IIO_CONST_ATTR(in_accel_sampling_frequency_available,
+ "1.5625 6.25 12.5 50 100 200 400 800");
+static IIO_CONST_ATTR(in_magn_sampling_frequency_available,
+ "1.5625 6.25 12.5 50 100 200 400 800");
+static IIO_CONST_ATTR(in_accel_scale_available, "0.000244 0.000488 0.000976");
+static IIO_CONST_ATTR(in_magn_scale_available, "0.001000");
+
+static struct attribute *fxos8700_attrs[] = {
+ &iio_const_attr_in_accel_sampling_frequency_available.dev_attr.attr,
+ &iio_const_attr_in_magn_sampling_frequency_available.dev_attr.attr,
+ &iio_const_attr_in_accel_scale_available.dev_attr.attr,
+ &iio_const_attr_in_magn_scale_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group fxos8700_attrs_group = {
+ .attrs = fxos8700_attrs,
+};
+
+static const struct iio_info fxos8700_info = {
+ .read_raw = fxos8700_read_raw,
+ .write_raw = fxos8700_write_raw,
+ .attrs = &fxos8700_attrs_group,
+};
+
+static int fxos8700_chip_init(struct fxos8700_data *data, bool use_spi)
+{
+ int ret;
+ unsigned int val;
+ struct device *dev = regmap_get_device(data->regmap);
+
+ ret = regmap_read(data->regmap, FXOS8700_WHO_AM_I, &val);
+ if (ret) {
+ dev_err(dev, "Error reading chip id\n");
+ return ret;
+ }
+ if (val != FXOS8700_DEVICE_ID && val != FXOS8700_PRE_DEVICE_ID) {
+ dev_err(dev, "Wrong chip id, got %x expected %x or %x\n",
+ val, FXOS8700_DEVICE_ID, FXOS8700_PRE_DEVICE_ID);
+ return -ENODEV;
+ }
+
+ ret = fxos8700_set_active_mode(data, FXOS8700_ACCEL, true);
+ if (ret)
+ return ret;
+
+ ret = fxos8700_set_active_mode(data, FXOS8700_MAGN, true);
+ if (ret)
+ return ret;
+
+ /*
+ * The device must be in standby mode to change any of the other fields
+ * within CTRL_REG1
+ */
+ ret = regmap_write(data->regmap, FXOS8700_CTRL_REG1, 0x00);
+ if (ret)
+ return ret;
+
+ /* Set max oversample ratio (OSR) and both devices active */
+ ret = regmap_write(data->regmap, FXOS8700_M_CTRL_REG1,
+ FXOS8700_HMS_MASK | FXOS8700_OS_MASK);
+ if (ret)
+ return ret;
+
+ /* Disable and rst min/max measurements & threshold */
+ ret = regmap_write(data->regmap, FXOS8700_M_CTRL_REG2,
+ FXOS8700_MAXMIN_RST | FXOS8700_MAXMIN_DIS_THS |
+ FXOS8700_MAXMIN_DIS);
+ if (ret)
+ return ret;
+
+ /*
+ * Set max full-scale range (+/-8G) for ACCEL sensor in chip
+ * initialization then activate the device.
+ */
+ ret = regmap_write(data->regmap, FXOS8700_XYZ_DATA_CFG, MODE_8G);
+ if (ret)
+ return ret;
+
+ /* Max ODR (800Hz individual or 400Hz hybrid), active mode */
+ return regmap_update_bits(data->regmap, FXOS8700_CTRL_REG1,
+ FXOS8700_CTRL_ODR_MSK | FXOS8700_ACTIVE,
+ FIELD_PREP(FXOS8700_CTRL_ODR_MSK, FXOS8700_CTRL_ODR_MAX) |
+ FXOS8700_ACTIVE);
+}
+
+static void fxos8700_chip_uninit(void *data)
+{
+ struct fxos8700_data *fxos8700_data = data;
+
+ fxos8700_set_active_mode(fxos8700_data, FXOS8700_ACCEL, false);
+ fxos8700_set_active_mode(fxos8700_data, FXOS8700_MAGN, false);
+}
+
+int fxos8700_core_probe(struct device *dev, struct regmap *regmap,
+ const char *name, bool use_spi)
+{
+ struct iio_dev *indio_dev;
+ struct fxos8700_data *data;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ data = iio_priv(indio_dev);
+ dev_set_drvdata(dev, indio_dev);
+ data->regmap = regmap;
+
+ ret = fxos8700_chip_init(data, use_spi);
+ if (ret)
+ return ret;
+
+ ret = devm_add_action_or_reset(dev, fxos8700_chip_uninit, data);
+ if (ret)
+ return ret;
+
+ indio_dev->channels = fxos8700_channels;
+ indio_dev->num_channels = ARRAY_SIZE(fxos8700_channels);
+ indio_dev->name = name ? name : "fxos8700";
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->info = &fxos8700_info;
+
+ return devm_iio_device_register(dev, indio_dev);
+}
+EXPORT_SYMBOL_GPL(fxos8700_core_probe);
+
+MODULE_AUTHOR("Robert Jones <rjones@gateworks.com>");
+MODULE_DESCRIPTION("FXOS8700 6-Axis Acc and Mag Combo Sensor driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/fxos8700_i2c.c b/drivers/iio/imu/fxos8700_i2c.c
new file mode 100644
index 000000000..40a570325
--- /dev/null
+++ b/drivers/iio/imu/fxos8700_i2c.c
@@ -0,0 +1,70 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * FXOS8700 - NXP IMU, I2C bits
+ *
+ * 7-bit I2C slave address determined by SA1 and SA0 logic level
+ * inputs represented in the following table:
+ * SA1 | SA0 | Slave Address
+ * 0 | 0 | 0x1E
+ * 0 | 1 | 0x1D
+ * 1 | 0 | 0x1C
+ * 1 | 1 | 0x1F
+ */
+#include <linux/acpi.h>
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/regmap.h>
+
+#include "fxos8700.h"
+
+static int fxos8700_i2c_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ struct regmap *regmap;
+ const char *name = NULL;
+
+ regmap = devm_regmap_init_i2c(client, &fxos8700_regmap_config);
+ if (IS_ERR(regmap)) {
+ dev_err(&client->dev, "Failed to register i2c regmap %ld\n", PTR_ERR(regmap));
+ return PTR_ERR(regmap);
+ }
+
+ if (id)
+ name = id->name;
+
+ return fxos8700_core_probe(&client->dev, regmap, name, false);
+}
+
+static const struct i2c_device_id fxos8700_i2c_id[] = {
+ {"fxos8700", 0},
+ { }
+};
+MODULE_DEVICE_TABLE(i2c, fxos8700_i2c_id);
+
+static const struct acpi_device_id fxos8700_acpi_match[] = {
+ {"FXOS8700", 0},
+ { }
+};
+MODULE_DEVICE_TABLE(acpi, fxos8700_acpi_match);
+
+static const struct of_device_id fxos8700_of_match[] = {
+ { .compatible = "nxp,fxos8700" },
+ { }
+};
+MODULE_DEVICE_TABLE(of, fxos8700_of_match);
+
+static struct i2c_driver fxos8700_i2c_driver = {
+ .driver = {
+ .name = "fxos8700_i2c",
+ .acpi_match_table = ACPI_PTR(fxos8700_acpi_match),
+ .of_match_table = fxos8700_of_match,
+ },
+ .probe = fxos8700_i2c_probe,
+ .id_table = fxos8700_i2c_id,
+};
+module_i2c_driver(fxos8700_i2c_driver);
+
+MODULE_AUTHOR("Robert Jones <rjones@gateworks.com>");
+MODULE_DESCRIPTION("FXOS8700 I2C driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/fxos8700_spi.c b/drivers/iio/imu/fxos8700_spi.c
new file mode 100644
index 000000000..27e694cce
--- /dev/null
+++ b/drivers/iio/imu/fxos8700_spi.c
@@ -0,0 +1,58 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * FXOS8700 - NXP IMU, SPI bits
+ */
+#include <linux/acpi.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+
+#include "fxos8700.h"
+
+static int fxos8700_spi_probe(struct spi_device *spi)
+{
+ struct regmap *regmap;
+ const struct spi_device_id *id = spi_get_device_id(spi);
+
+ regmap = devm_regmap_init_spi(spi, &fxos8700_regmap_config);
+ if (IS_ERR(regmap)) {
+ dev_err(&spi->dev, "Failed to register spi regmap %ld\n", PTR_ERR(regmap));
+ return PTR_ERR(regmap);
+ }
+
+ return fxos8700_core_probe(&spi->dev, regmap, id->name, true);
+}
+
+static const struct spi_device_id fxos8700_spi_id[] = {
+ {"fxos8700", 0},
+ { }
+};
+MODULE_DEVICE_TABLE(spi, fxos8700_spi_id);
+
+static const struct acpi_device_id fxos8700_acpi_match[] = {
+ {"FXOS8700", 0},
+ { }
+};
+MODULE_DEVICE_TABLE(acpi, fxos8700_acpi_match);
+
+static const struct of_device_id fxos8700_of_match[] = {
+ { .compatible = "nxp,fxos8700" },
+ { }
+};
+MODULE_DEVICE_TABLE(of, fxos8700_of_match);
+
+static struct spi_driver fxos8700_spi_driver = {
+ .probe = fxos8700_spi_probe,
+ .id_table = fxos8700_spi_id,
+ .driver = {
+ .acpi_match_table = ACPI_PTR(fxos8700_acpi_match),
+ .of_match_table = fxos8700_of_match,
+ .name = "fxos8700_spi",
+ },
+};
+module_spi_driver(fxos8700_spi_driver);
+
+MODULE_AUTHOR("Robert Jones <rjones@gateworks.com>");
+MODULE_DESCRIPTION("FXOS8700 SPI driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/inv_icm42600/Kconfig b/drivers/iio/imu/inv_icm42600/Kconfig
new file mode 100644
index 000000000..50cbcfcb6
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/Kconfig
@@ -0,0 +1,29 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+config INV_ICM42600
+ tristate
+ select IIO_BUFFER
+
+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.
diff --git a/drivers/iio/imu/inv_icm42600/Makefile b/drivers/iio/imu/inv_icm42600/Makefile
new file mode 100644
index 000000000..291714d9a
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/Makefile
@@ -0,0 +1,15 @@
+# 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
+inv-icm42600-y += inv_icm42600_timestamp.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
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
new file mode 100644
index 000000000..3d91469be
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
@@ -0,0 +1,396 @@
+/* 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 "inv_icm42600_buffer.h"
+
+enum inv_icm42600_chip {
+ INV_CHIP_INVALID,
+ INV_CHIP_ICM42600,
+ INV_CHIP_ICM42602,
+ INV_CHIP_ICM42605,
+ INV_CHIP_ICM42622,
+ 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,
+};
+
+/* 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,
+};
+
+/* 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;
+};
+
+/* 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_ICM42622 0x46
+
+/* 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
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
new file mode 100644
index 000000000..c3f433ad3
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
@@ -0,0 +1,784 @@
+// 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/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/kfifo_buf.h>
+
+#include "inv_icm42600.h"
+#include "inv_icm42600_temp.h"
+#include "inv_icm42600_buffer.h"
+#include "inv_icm42600_timestamp.h"
+
+#define INV_ICM42600_ACCEL_CHAN(_modifier, _index, _ext_info) \
+ { \
+ .type = IIO_ACCEL, \
+ .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_accel_scan {
+ INV_ICM42600_ACCEL_SCAN_X,
+ INV_ICM42600_ACCEL_SCAN_Y,
+ INV_ICM42600_ACCEL_SCAN_Z,
+ INV_ICM42600_ACCEL_SCAN_TEMP,
+ INV_ICM42600_ACCEL_SCAN_TIMESTAMP,
+};
+
+static const struct iio_chan_spec_ext_info inv_icm42600_accel_ext_infos[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
+ {},
+};
+
+static const struct iio_chan_spec inv_icm42600_accel_channels[] = {
+ INV_ICM42600_ACCEL_CHAN(IIO_MOD_X, INV_ICM42600_ACCEL_SCAN_X,
+ inv_icm42600_accel_ext_infos),
+ INV_ICM42600_ACCEL_CHAN(IIO_MOD_Y, INV_ICM42600_ACCEL_SCAN_Y,
+ inv_icm42600_accel_ext_infos),
+ INV_ICM42600_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42600_ACCEL_SCAN_Z,
+ inv_icm42600_accel_ext_infos),
+ INV_ICM42600_TEMP_CHAN(INV_ICM42600_ACCEL_SCAN_TEMP),
+ IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_ACCEL_SCAN_TIMESTAMP),
+};
+
+/*
+ * IIO buffer data: size must be a power of 2 and timestamp aligned
+ * 16 bytes: 6 bytes acceleration, 2 bytes temperature, 8 bytes timestamp
+ */
+struct inv_icm42600_accel_buffer {
+ struct inv_icm42600_fifo_sensor_data accel;
+ int16_t temp;
+ int64_t timestamp __aligned(8);
+};
+
+#define INV_ICM42600_SCAN_MASK_ACCEL_3AXIS \
+ (BIT(INV_ICM42600_ACCEL_SCAN_X) | \
+ BIT(INV_ICM42600_ACCEL_SCAN_Y) | \
+ BIT(INV_ICM42600_ACCEL_SCAN_Z))
+
+#define INV_ICM42600_SCAN_MASK_TEMP BIT(INV_ICM42600_ACCEL_SCAN_TEMP)
+
+static const unsigned long inv_icm42600_accel_scan_masks[] = {
+ /* 3-axis accel + temperature */
+ INV_ICM42600_SCAN_MASK_ACCEL_3AXIS | INV_ICM42600_SCAN_MASK_TEMP,
+ 0,
+};
+
+/* enable accelerometer sensor and FIFO write */
+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_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+ unsigned int fifo_en = 0;
+ unsigned int sleep_temp = 0;
+ unsigned int sleep_accel = 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_ACCEL_3AXIS) {
+ /* enable accel sensor */
+ conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+ ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_accel);
+ if (ret)
+ goto out_unlock;
+ fifo_en |= INV_ICM42600_SENSOR_ACCEL;
+ }
+
+ /* update data FIFO write */
+ inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
+ ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
+ if (ret)
+ goto out_unlock;
+
+ ret = inv_icm42600_buffer_update_watermark(st);
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ /* sleep maximum required time */
+ if (sleep_accel > sleep_temp)
+ sleep = sleep_accel;
+ else
+ sleep = sleep_temp;
+ if (sleep)
+ msleep(sleep);
+ return ret;
+}
+
+static int inv_icm42600_accel_read_sensor(struct inv_icm42600_state *st,
+ struct iio_chan_spec const *chan,
+ int16_t *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_ACCEL)
+ return -EINVAL;
+
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ reg = INV_ICM42600_REG_ACCEL_DATA_X;
+ break;
+ case IIO_MOD_Y:
+ reg = INV_ICM42600_REG_ACCEL_DATA_Y;
+ break;
+ case IIO_MOD_Z:
+ reg = INV_ICM42600_REG_ACCEL_DATA_Z;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ /* enable accel sensor */
+ conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+ ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
+ if (ret)
+ goto exit;
+
+ /* read accel register data */
+ data = (__be16 *)&st->buffer[0];
+ ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
+ if (ret)
+ goto exit;
+
+ *val = (int16_t)be16_to_cpup(data);
+ if (*val == INV_ICM42600_DATA_INVALID)
+ ret = -EINVAL;
+exit:
+ mutex_unlock(&st->lock);
+ pm_runtime_mark_last_busy(dev);
+ pm_runtime_put_autosuspend(dev);
+ return ret;
+}
+
+/* IIO format int + nano */
+static const int inv_icm42600_accel_scale[] = {
+ /* +/- 16G => 0.004788403 m/s-2 */
+ [2 * INV_ICM42600_ACCEL_FS_16G] = 0,
+ [2 * INV_ICM42600_ACCEL_FS_16G + 1] = 4788403,
+ /* +/- 8G => 0.002394202 m/s-2 */
+ [2 * INV_ICM42600_ACCEL_FS_8G] = 0,
+ [2 * INV_ICM42600_ACCEL_FS_8G + 1] = 2394202,
+ /* +/- 4G => 0.001197101 m/s-2 */
+ [2 * INV_ICM42600_ACCEL_FS_4G] = 0,
+ [2 * INV_ICM42600_ACCEL_FS_4G + 1] = 1197101,
+ /* +/- 2G => 0.000598550 m/s-2 */
+ [2 * INV_ICM42600_ACCEL_FS_2G] = 0,
+ [2 * INV_ICM42600_ACCEL_FS_2G + 1] = 598550,
+};
+
+static int inv_icm42600_accel_read_scale(struct inv_icm42600_state *st,
+ int *val, int *val2)
+{
+ unsigned int idx;
+
+ idx = st->conf.accel.fs;
+
+ *val = inv_icm42600_accel_scale[2 * idx];
+ *val2 = inv_icm42600_accel_scale[2 * idx + 1];
+ return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm42600_accel_write_scale(struct inv_icm42600_state *st,
+ int val, int val2)
+{
+ 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])
+ break;
+ }
+ if (idx >= ARRAY_SIZE(inv_icm42600_accel_scale))
+ return -EINVAL;
+
+ conf.fs = idx / 2;
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
+
+ mutex_unlock(&st->lock);
+ pm_runtime_mark_last_busy(dev);
+ pm_runtime_put_autosuspend(dev);
+
+ return ret;
+}
+
+/* IIO format int + micro */
+static const int inv_icm42600_accel_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_accel_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_accel_read_odr(struct inv_icm42600_state *st,
+ int *val, int *val2)
+{
+ unsigned int odr;
+ unsigned int i;
+
+ odr = st->conf.accel.odr;
+
+ for (i = 0; i < ARRAY_SIZE(inv_icm42600_accel_odr_conv); ++i) {
+ if (inv_icm42600_accel_odr_conv[i] == odr)
+ break;
+ }
+ if (i >= ARRAY_SIZE(inv_icm42600_accel_odr_conv))
+ return -EINVAL;
+
+ *val = inv_icm42600_accel_odr[2 * i];
+ *val2 = inv_icm42600_accel_odr[2 * i + 1];
+
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+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_icm42600_timestamp *ts = 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_odr); idx += 2) {
+ if (val == inv_icm42600_accel_odr[idx] &&
+ val2 == inv_icm42600_accel_odr[idx + 1])
+ break;
+ }
+ if (idx >= ARRAY_SIZE(inv_icm42600_accel_odr))
+ return -EINVAL;
+
+ conf.odr = inv_icm42600_accel_odr_conv[idx / 2];
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ ret = inv_icm42600_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_accel_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_mark_last_busy(dev);
+ pm_runtime_put_autosuspend(dev);
+
+ return ret;
+}
+
+/*
+ * Calibration bias values, IIO range format int + micro.
+ * Value is limited to +/-1g coded on 12 bits signed. Step is 0.5mg.
+ */
+static int inv_icm42600_accel_calibbias[] = {
+ -10, 42010, /* min: -10.042010 m/s² */
+ 0, 4903, /* step: 0.004903 m/s² */
+ 10, 37106, /* max: 10.037106 m/s² */
+};
+
+static int inv_icm42600_accel_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);
+ int64_t val64;
+ int32_t bias;
+ unsigned int reg;
+ int16_t offset;
+ uint8_t data[2];
+ int ret;
+
+ if (chan->type != IIO_ACCEL)
+ return -EINVAL;
+
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ reg = INV_ICM42600_REG_OFFSET_USER4;
+ break;
+ case IIO_MOD_Y:
+ reg = INV_ICM42600_REG_OFFSET_USER6;
+ break;
+ case IIO_MOD_Z:
+ reg = INV_ICM42600_REG_OFFSET_USER7;
+ 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_mark_last_busy(dev);
+ pm_runtime_put_autosuspend(dev);
+ if (ret)
+ return ret;
+
+ /* 12 bits signed value */
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);
+ break;
+ case IIO_MOD_Y:
+ offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
+ break;
+ case IIO_MOD_Z:
+ offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ /*
+ * convert raw offset to g then to m/s²
+ * 12 bits signed raw step 0.5mg to g: 5 / 10000
+ * g to m/s²: 9.806650
+ * result in micro (1000000)
+ * (offset * 5 * 9.806650 * 1000000) / 10000
+ */
+ val64 = (int64_t)offset * 5LL * 9806650LL;
+ /* for rounding, add + or - divisor (10000) divided by 2 */
+ if (val64 >= 0)
+ val64 += 10000LL / 2LL;
+ else
+ val64 -= 10000LL / 2LL;
+ bias = div_s64(val64, 10000L);
+ *val = bias / 1000000L;
+ *val2 = bias % 1000000L;
+
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int inv_icm42600_accel_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);
+ int64_t val64;
+ int32_t min, max;
+ unsigned int reg, regval;
+ int16_t offset;
+ int ret;
+
+ if (chan->type != IIO_ACCEL)
+ return -EINVAL;
+
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ reg = INV_ICM42600_REG_OFFSET_USER4;
+ break;
+ case IIO_MOD_Y:
+ reg = INV_ICM42600_REG_OFFSET_USER6;
+ break;
+ case IIO_MOD_Z:
+ reg = INV_ICM42600_REG_OFFSET_USER7;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ /* inv_icm42600_accel_calibbias: min - step - max in micro */
+ min = inv_icm42600_accel_calibbias[0] * 1000000L +
+ inv_icm42600_accel_calibbias[1];
+ max = inv_icm42600_accel_calibbias[4] * 1000000L +
+ inv_icm42600_accel_calibbias[5];
+ val64 = (int64_t)val * 1000000LL + (int64_t)val2;
+ if (val64 < min || val64 > max)
+ return -EINVAL;
+
+ /*
+ * convert m/s² to g then to raw value
+ * m/s² to g: 1 / 9.806650
+ * g to raw 12 bits signed, step 0.5mg: 10000 / 5
+ * val in micro (1000000)
+ * val * 10000 / (9.806650 * 1000000 * 5)
+ */
+ val64 = val64 * 10000LL;
+ /* for rounding, add + or - divisor (9806650 * 5) divided by 2 */
+ if (val64 >= 0)
+ val64 += 9806650 * 5 / 2;
+ else
+ val64 -= 9806650 * 5 / 2;
+ offset = div_s64(val64, 9806650 * 5);
+
+ /* 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_USER4 register is shared */
+ ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,
+ &regval);
+ if (ret)
+ goto out_unlock;
+ st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
+ st->buffer[1] = offset & 0xFF;
+ break;
+ case IIO_MOD_Y:
+ /* OFFSET_USER7 register is shared */
+ ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER7,
+ &regval);
+ if (ret)
+ goto out_unlock;
+ st->buffer[0] = offset & 0xFF;
+ st->buffer[1] = ((offset & 0xF00) >> 8) | (regval & 0xF0);
+ break;
+ case IIO_MOD_Z:
+ /* OFFSET_USER7 register is shared */
+ ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER7,
+ &regval);
+ if (ret)
+ goto out_unlock;
+ st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
+ st->buffer[1] = offset & 0xFF;
+ 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_accel_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_ACCEL:
+ 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_accel_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_accel_read_scale(st, val, val2);
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return inv_icm42600_accel_read_odr(st, val, val2);
+ case IIO_CHAN_INFO_CALIBBIAS:
+ return inv_icm42600_accel_read_offset(st, chan, val, val2);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42600_accel_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_ACCEL)
+ return -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ *vals = inv_icm42600_accel_scale;
+ *type = IIO_VAL_INT_PLUS_NANO;
+ *length = ARRAY_SIZE(inv_icm42600_accel_scale);
+ return IIO_AVAIL_LIST;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ *vals = inv_icm42600_accel_odr;
+ *type = IIO_VAL_INT_PLUS_MICRO;
+ *length = ARRAY_SIZE(inv_icm42600_accel_odr);
+ return IIO_AVAIL_LIST;
+ case IIO_CHAN_INFO_CALIBBIAS:
+ *vals = inv_icm42600_accel_calibbias;
+ *type = IIO_VAL_INT_PLUS_MICRO;
+ return IIO_AVAIL_RANGE;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42600_accel_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_ACCEL)
+ return -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ ret = iio_device_claim_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ ret = inv_icm42600_accel_write_scale(st, val, val2);
+ iio_device_release_direct_mode(indio_dev);
+ return ret;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return inv_icm42600_accel_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_accel_write_offset(st, chan, val, val2);
+ iio_device_release_direct_mode(indio_dev);
+ return ret;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42600_accel_write_raw_get_fmt(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ long mask)
+{
+ if (chan->type != IIO_ACCEL)
+ 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_MICRO;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42600_accel_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.accel = val;
+ ret = inv_icm42600_buffer_update_watermark(st);
+
+ mutex_unlock(&st->lock);
+
+ return ret;
+}
+
+static int inv_icm42600_accel_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.accel;
+
+ mutex_unlock(&st->lock);
+
+ return ret;
+}
+
+static const struct iio_info inv_icm42600_accel_info = {
+ .read_raw = inv_icm42600_accel_read_raw,
+ .read_avail = inv_icm42600_accel_read_avail,
+ .write_raw = inv_icm42600_accel_write_raw,
+ .write_raw_get_fmt = inv_icm42600_accel_write_raw_get_fmt,
+ .debugfs_reg_access = inv_icm42600_debugfs_reg,
+ .update_scan_mode = inv_icm42600_accel_update_scan_mode,
+ .hwfifo_set_watermark = inv_icm42600_accel_hwfifo_set_watermark,
+ .hwfifo_flush_to_buffer = inv_icm42600_accel_hwfifo_flush,
+};
+
+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_timestamp *ts;
+ struct iio_dev *indio_dev;
+ int ret;
+
+ name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", 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.accel.odr));
+
+ iio_device_set_drvdata(indio_dev, st);
+ indio_dev->name = name;
+ indio_dev->info = &inv_icm42600_accel_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->channels = inv_icm42600_accel_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_accel_channels);
+ indio_dev->available_scan_masks = inv_icm42600_accel_scan_masks;
+
+ 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_accel_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_accel_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 accel data or data is invalid */
+ if (accel == NULL || !inv_icm42600_fifo_is_data_valid(accel))
+ continue;
+
+ /* update odr */
+ if (odr & INV_ICM42600_SENSOR_ACCEL)
+ 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.accel, accel, sizeof(buffer.accel));
+ /* 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;
+}
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
new file mode 100644
index 000000000..32d7f8364
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
@@ -0,0 +1,601 @@
+// 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/iio/iio.h>
+#include <linux/iio/buffer.h>
+
+#include "inv_icm42600.h"
+#include "inv_icm42600_timestamp.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 {
+ uint8_t header;
+ struct inv_icm42600_fifo_sensor_data data;
+ int8_t temp;
+} __packed;
+#define INV_ICM42600_FIFO_1SENSOR_PACKET_SIZE 8
+
+struct inv_icm42600_fifo_2sensors_packet {
+ uint8_t header;
+ struct inv_icm42600_fifo_sensor_data accel;
+ struct inv_icm42600_fifo_sensor_data gyro;
+ int8_t 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 int8_t **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;
+ uint8_t header = *((const uint8_t *)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)
+{
+ uint32_t period_gyro, period_accel, period;
+
+ 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;
+
+ if (period_gyro <= period_accel)
+ period = period_gyro;
+ else
+ period = period_accel;
+
+ st->fifo.period = period;
+}
+
+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;
+ uint32_t period_gyro, period_accel, period;
+ uint32_t 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 (latency_gyro == 0) {
+ watermark = wm_accel;
+ } else if (latency_accel == 0) {
+ watermark = 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);
+ /* use the shortest period */
+ if (period_gyro <= period_accel)
+ period = period_gyro;
+ else
+ period = period_accel;
+ /* all this works because periods are multiple of each others */
+ watermark = latency / period;
+ if (watermark < 1)
+ watermark = 1;
+ }
+
+ /* compute watermark value in bytes */
+ wm_size = watermark * packet_size;
+
+ /* 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_update_bits(st->map, INV_ICM42600_REG_INT_SOURCE0,
+ INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN,
+ 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_timestamp *ts = iio_priv(indio_dev);
+
+ pm_runtime_get_sync(dev);
+
+ mutex_lock(&st->lock);
+ inv_icm42600_timestamp_reset(ts);
+ mutex_unlock(&st->lock);
+
+ 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;
+
+ mutex_lock(&st->lock);
+
+ /* exit if FIFO is already on */
+ if (st->fifo.on) {
+ ret = 0;
+ goto out_on;
+ }
+
+ /* set FIFO threshold interrupt */
+ ret = regmap_update_bits(st->map, INV_ICM42600_REG_INT_SOURCE0,
+ INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN,
+ INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN);
+ if (ret)
+ goto out_unlock;
+
+ /* flush FIFO data */
+ ret = regmap_write(st->map, INV_ICM42600_REG_SIGNAL_PATH_RESET,
+ INV_ICM42600_SIGNAL_PATH_RESET_FIFO_FLUSH);
+ if (ret)
+ goto out_unlock;
+
+ /* set FIFO in streaming mode */
+ ret = regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,
+ INV_ICM42600_FIFO_CONFIG_STREAM);
+ if (ret)
+ goto out_unlock;
+
+ /* 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)
+ goto out_unlock;
+
+out_on:
+ /* increase FIFO on counter */
+ st->fifo.on++;
+out_unlock:
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+static int inv_icm42600_buffer_predisable(struct iio_dev *indio_dev)
+{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ /* exit if there are several sensors using the FIFO */
+ if (st->fifo.on > 1) {
+ ret = 0;
+ goto out_off;
+ }
+
+ /* set FIFO in bypass mode */
+ ret = regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,
+ INV_ICM42600_FIFO_CONFIG_BYPASS);
+ if (ret)
+ goto out_unlock;
+
+ /* flush FIFO data */
+ ret = regmap_write(st->map, INV_ICM42600_REG_SIGNAL_PATH_RESET,
+ INV_ICM42600_SIGNAL_PATH_RESET_FIFO_FLUSH);
+ if (ret)
+ goto out_unlock;
+
+ /* disable FIFO threshold interrupt */
+ ret = regmap_update_bits(st->map, INV_ICM42600_REG_INT_SOURCE0,
+ INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN, 0);
+ if (ret)
+ goto out_unlock;
+
+out_off:
+ /* decrease FIFO on counter */
+ st->fifo.on--;
+out_unlock:
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+static int inv_icm42600_buffer_postdisable(struct iio_dev *indio_dev)
+{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ 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);
+
+ 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
+ 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 */
+ if (sleep_sensor > sleep_temp)
+ sleep = sleep_sensor;
+ else
+ sleep = sleep_temp;
+ if (sleep)
+ msleep(sleep);
+
+ pm_runtime_mark_last_busy(dev);
+ 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 int8_t *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 */
+ if (max == 0)
+ max_count = sizeof(st->fifo.data);
+ else
+ 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_timestamp *ts;
+ int ret;
+
+ if (st->fifo.nb.total == 0)
+ return 0;
+
+ /* handle gyroscope timestamp and FIFO data parsing */
+ ts = iio_priv(st->indio_gyro);
+ inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
+ st->fifo.nb.gyro, st->timestamp.gyro);
+ if (st->fifo.nb.gyro > 0) {
+ ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
+ if (ret)
+ return ret;
+ }
+
+ /* handle accelerometer timestamp and FIFO data parsing */
+ ts = iio_priv(st->indio_accel);
+ inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
+ st->fifo.nb.accel, st->timestamp.accel);
+ if (st->fifo.nb.accel > 0) {
+ 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_timestamp *ts;
+ int64_t 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 = iio_priv(st->indio_gyro);
+ inv_icm42600_timestamp_interrupt(ts, st->fifo.period,
+ st->fifo.nb.total, 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 = iio_priv(st->indio_accel);
+ inv_icm42600_timestamp_interrupt(ts, st->fifo.period,
+ st->fifo.nb.total, 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;
+
+ /*
+ * 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);
+}
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h
new file mode 100644
index 000000000..8b85ee333
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h
@@ -0,0 +1,98 @@
+/* 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;
+ uint32_t period;
+ struct {
+ unsigned int gyro;
+ unsigned int accel;
+ } watermark;
+ size_t count;
+ struct {
+ size_t gyro;
+ size_t accel;
+ size_t total;
+ } nb;
+ uint8_t 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 int16_t 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)
+{
+ int16_t 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 int8_t **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
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
new file mode 100644
index 000000000..ca85fccc9
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
@@ -0,0 +1,786 @@
+// 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"
+#include "inv_icm42600_timestamp.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,
+ },
+};
+
+const struct regmap_config inv_icm42600_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+ .max_register = 0x4FFF,
+ .ranges = inv_icm42600_regmap_ranges,
+ .num_ranges = ARRAY_SIZE(inv_icm42600_regmap_ranges),
+};
+EXPORT_SYMBOL_GPL(inv_icm42600_regmap_config);
+
+struct inv_icm42600_hw {
+ uint8_t 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_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_ICM42622] = {
+ .whoami = INV_ICM42600_WHOAMI_ICM42622,
+ .name = "icm42622",
+ .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;
+}
+
+uint32_t inv_icm42600_odr_to_period(enum inv_icm42600_odr odr)
+{
+ static uint32_t 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;
+
+ /* 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_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);
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ if (readval)
+ ret = regmap_read(st->map, reg, readval);
+ else
+ ret = regmap_write(st->map, reg, writeval);
+
+ mutex_unlock(&st->lock);
+
+ return ret;
+}
+
+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_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG0,
+ INV_ICM42600_INTF_CONFIG0_SENSOR_DATA_ENDIAN,
+ INV_ICM42600_INTF_CONFIG0_SENSOR_DATA_ENDIAN);
+ 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);
+
+ 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_update_bits(st->map, INV_ICM42600_REG_INT_CONFIG1,
+ INV_ICM42600_INT_CONFIG1_ASYNC_RESET, 0);
+ if (ret)
+ return ret;
+
+ return devm_request_threaded_irq(dev, irq, inv_icm42600_irq_timestamp,
+ inv_icm42600_irq_handler, irq_type,
+ "inv_icm42600", st);
+}
+
+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_vdd_reg(void *_data)
+{
+ struct inv_icm42600_state *st = _data;
+ const struct device *dev = regmap_get_device(st->map);
+ int ret;
+
+ ret = regulator_disable(st->vdd_supply);
+ if (ret)
+ dev_err(dev, "failed to disable vdd error %d\n", ret);
+}
+
+static void inv_icm42600_disable_vddio_reg(void *_data)
+{
+ struct inv_icm42600_state *st = _data;
+ const struct device *dev = regmap_get_device(st->map);
+ int ret;
+
+ ret = regulator_disable(st->vddio_supply);
+ if (ret)
+ dev_err(dev, "failed to disable vddio error %d\n", ret);
+}
+
+static void inv_icm42600_disable_pm(void *_data)
+{
+ struct device *dev = _data;
+
+ pm_runtime_put_sync(dev);
+ pm_runtime_disable(dev);
+}
+
+int inv_icm42600_core_probe(struct regmap *regmap, int chip, int irq,
+ inv_icm42600_bus_setup bus_setup)
+{
+ struct device *dev = regmap_get_device(regmap);
+ struct inv_icm42600_state *st;
+ struct irq_data *irq_desc;
+ int 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 irq properties, set trigger falling by default */
+ irq_desc = irq_get_irq_data(irq);
+ if (!irq_desc) {
+ dev_err(dev, "could not find IRQ %d\n", irq);
+ return -EINVAL;
+ }
+
+ irq_type = irqd_get_trigger_type(irq_desc);
+ 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;
+
+ ret = iio_read_mount_matrix(dev, &st->orientation);
+ if (ret) {
+ dev_err(dev, "failed to retrieve mounting matrix %d\n", ret);
+ return ret;
+ }
+
+ st->vdd_supply = devm_regulator_get(dev, "vdd");
+ if (IS_ERR(st->vdd_supply))
+ return PTR_ERR(st->vdd_supply);
+
+ st->vddio_supply = devm_regulator_get(dev, "vddio");
+ if (IS_ERR(st->vddio_supply))
+ return PTR_ERR(st->vddio_supply);
+
+ ret = regulator_enable(st->vdd_supply);
+ if (ret)
+ return ret;
+ msleep(INV_ICM42600_POWER_UP_TIME_MS);
+
+ ret = devm_add_action_or_reset(dev, inv_icm42600_disable_vdd_reg, st);
+ if (ret)
+ return ret;
+
+ 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 = pm_runtime_set_active(dev);
+ if (ret)
+ return ret;
+ pm_runtime_get_noresume(dev);
+ pm_runtime_enable(dev);
+ pm_runtime_set_autosuspend_delay(dev, INV_ICM42600_SUSPEND_DELAY_MS);
+ pm_runtime_use_autosuspend(dev);
+ pm_runtime_put(dev);
+
+ return devm_add_action_or_reset(dev, inv_icm42600_disable_pm, dev);
+}
+EXPORT_SYMBOL_GPL(inv_icm42600_core_probe);
+
+/*
+ * Suspend saves sensors state and turns everything off.
+ * Check first if runtime suspend has not already done the job.
+ */
+static int __maybe_unused inv_icm42600_suspend(struct device *dev)
+{
+ struct inv_icm42600_state *st = dev_get_drvdata(dev);
+ int ret;
+
+ mutex_lock(&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)) {
+ ret = 0;
+ goto out_unlock;
+ }
+
+ /* 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)
+ goto out_unlock;
+ }
+
+ ret = inv_icm42600_set_pwr_mgmt0(st, INV_ICM42600_SENSOR_MODE_OFF,
+ INV_ICM42600_SENSOR_MODE_OFF, false,
+ NULL);
+ if (ret)
+ goto out_unlock;
+
+ regulator_disable(st->vddio_supply);
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+/*
+ * System resume gets the system back on and restores the sensors state.
+ * Manually put runtime power management in system active state.
+ */
+static int __maybe_unused inv_icm42600_resume(struct device *dev)
+{
+ struct inv_icm42600_state *st = dev_get_drvdata(dev);
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ ret = inv_icm42600_enable_regulator_vddio(st);
+ if (ret)
+ goto out_unlock;
+
+ pm_runtime_disable(dev);
+ pm_runtime_set_active(dev);
+ pm_runtime_enable(dev);
+
+ /* restore sensors state */
+ ret = inv_icm42600_set_pwr_mgmt0(st, st->suspended.gyro,
+ st->suspended.accel,
+ st->suspended.temp, NULL);
+ if (ret)
+ goto out_unlock;
+
+ /* restore FIFO data streaming */
+ if (st->fifo.on)
+ ret = regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,
+ INV_ICM42600_FIFO_CONFIG_STREAM);
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+/* Runtime suspend will turn off sensors that are enabled by iio devices. */
+static int __maybe_unused inv_icm42600_runtime_suspend(struct device *dev)
+{
+ struct inv_icm42600_state *st = dev_get_drvdata(dev);
+ int ret;
+
+ mutex_lock(&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)
+ goto error_unlock;
+
+ regulator_disable(st->vddio_supply);
+
+error_unlock:
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+/* Sensors are enabled by iio devices, no need to turn them back on here. */
+static int __maybe_unused inv_icm42600_runtime_resume(struct device *dev)
+{
+ struct inv_icm42600_state *st = dev_get_drvdata(dev);
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ ret = inv_icm42600_enable_regulator_vddio(st);
+
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+const struct dev_pm_ops inv_icm42600_pm_ops = {
+ SET_SYSTEM_SLEEP_PM_OPS(inv_icm42600_suspend, inv_icm42600_resume)
+ SET_RUNTIME_PM_OPS(inv_icm42600_runtime_suspend,
+ inv_icm42600_runtime_resume, NULL)
+};
+EXPORT_SYMBOL_GPL(inv_icm42600_pm_ops);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-426xx device driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
new file mode 100644
index 000000000..9d94a8518
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -0,0 +1,796 @@
+// 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/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/kfifo_buf.h>
+
+#include "inv_icm42600.h"
+#include "inv_icm42600_temp.h"
+#include "inv_icm42600_buffer.h"
+#include "inv_icm42600_timestamp.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;
+ int16_t temp;
+ int64_t timestamp __aligned(8);
+};
+
+#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_timestamp *ts = iio_priv(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 */
+ inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
+ ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
+ if (ret)
+ goto out_unlock;
+
+ ret = inv_icm42600_buffer_update_watermark(st);
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ /* sleep maximum required time */
+ if (sleep_gyro > sleep_temp)
+ sleep = sleep_gyro;
+ else
+ sleep = 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,
+ int16_t *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 = (int16_t)be16_to_cpup(data);
+ if (*val == INV_ICM42600_DATA_INVALID)
+ ret = -EINVAL;
+exit:
+ mutex_unlock(&st->lock);
+ pm_runtime_mark_last_busy(dev);
+ 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 int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
+ int *val, int *val2)
+{
+ unsigned int idx;
+
+ idx = st->conf.gyro.fs;
+
+ *val = inv_icm42600_gyro_scale[2 * idx];
+ *val2 = inv_icm42600_gyro_scale[2 * idx + 1];
+ return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
+ int val, int val2)
+{
+ 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])
+ break;
+ }
+ if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
+ return -EINVAL;
+
+ conf.fs = idx / 2;
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+
+ mutex_unlock(&st->lock);
+ pm_runtime_mark_last_busy(dev);
+ 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_timestamp *ts = 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_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];
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ ret = inv_icm42600_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_mark_last_busy(dev);
+ 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);
+ int64_t val64;
+ int32_t bias;
+ unsigned int reg;
+ int16_t offset;
+ uint8_t 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_mark_last_busy(dev);
+ 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 = (int64_t)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);
+ int64_t val64, min, max;
+ unsigned int reg, regval;
+ int16_t 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 = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL +
+ (int64_t)inv_icm42600_gyro_calibbias[1];
+ max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL +
+ (int64_t)inv_icm42600_gyro_calibbias[5];
+ val64 = (int64_t)val * 1000000000LL + (int64_t)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_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, &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_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;
+}
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
new file mode 100644
index 000000000..d4a692b83
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
@@ -0,0 +1,104 @@
+// 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/mod_devicetable.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_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG4,
+ INV_ICM42600_INTF_CONFIG4_I3C_BUS_ONLY, 0);
+ 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, client->irq,
+ inv_icm42600_i2c_bus_setup);
+}
+
+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,icm42622",
+ .data = (void *)INV_CHIP_ICM42622,
+ },
+ {}
+};
+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 = &inv_icm42600_pm_ops,
+ },
+ .probe_new = inv_icm42600_probe,
+};
+module_i2c_driver(inv_icm42600_driver);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-426xx I2C driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
new file mode 100644
index 000000000..e6305e5fa
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
@@ -0,0 +1,100 @@
+// 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/mod_devicetable.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_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG4,
+ INV_ICM42600_INTF_CONFIG4_I3C_BUS_ONLY, 0);
+ 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;
+
+ regmap = devm_regmap_init_spi(spi, &inv_icm42600_regmap_config);
+ if (IS_ERR(regmap))
+ return PTR_ERR(regmap);
+
+ return inv_icm42600_core_probe(regmap, chip, spi->irq,
+ inv_icm42600_spi_bus_setup);
+}
+
+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,icm42622",
+ .data = (void *)INV_CHIP_ICM42622,
+ },
+ {}
+};
+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 = &inv_icm42600_pm_ops,
+ },
+ .probe = inv_icm42600_probe,
+};
+module_spi_driver(inv_icm42600_driver);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-426xx SPI driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_temp.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_temp.c
new file mode 100644
index 000000000..213cce1c3
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_temp.c
@@ -0,0 +1,84 @@
+// 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, int16_t *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 = (int16_t)be16_to_cpup(raw);
+ if (*temp == INV_ICM42600_DATA_INVALID)
+ ret = -EINVAL;
+
+exit:
+ mutex_unlock(&st->lock);
+ pm_runtime_mark_last_busy(dev);
+ 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);
+ int16_t temp;
+ int ret;
+
+ if (chan->type != IIO_TEMP)
+ return -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = iio_device_claim_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ ret = inv_icm42600_temp_read(st, &temp);
+ iio_device_release_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ *val = temp;
+ return IIO_VAL_INT;
+ /*
+ * T°C = (temp / 132.48) + 25
+ * Tm°C = 1000 * ((temp * 100 / 13248) + 25)
+ * scale: 100000 / 13248 ~= 7.548309
+ * offset: 25000
+ */
+ case IIO_CHAN_INFO_SCALE:
+ *val = 7;
+ *val2 = 548309;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_CHAN_INFO_OFFSET:
+ *val = 25000;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+}
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_temp.h b/drivers/iio/imu/inv_icm42600/inv_icm42600_temp.h
new file mode 100644
index 000000000..394118651
--- /dev/null
+++ b/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
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.c
new file mode 100644
index 000000000..7f2dc41f8
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.c
@@ -0,0 +1,195 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/regmap.h>
+#include <linux/math64.h>
+
+#include "inv_icm42600.h"
+#include "inv_icm42600_timestamp.h"
+
+/* internal chip period is 32kHz, 31250ns */
+#define INV_ICM42600_TIMESTAMP_PERIOD 31250
+/* allow a jitter of +/- 2% */
+#define INV_ICM42600_TIMESTAMP_JITTER 2
+/* compute min and max periods accepted */
+#define INV_ICM42600_TIMESTAMP_MIN_PERIOD(_p) \
+ (((_p) * (100 - INV_ICM42600_TIMESTAMP_JITTER)) / 100)
+#define INV_ICM42600_TIMESTAMP_MAX_PERIOD(_p) \
+ (((_p) * (100 + INV_ICM42600_TIMESTAMP_JITTER)) / 100)
+
+/* Add a new value inside an accumulator and update the estimate value */
+static void inv_update_acc(struct inv_icm42600_timestamp_acc *acc, uint32_t val)
+{
+ uint64_t sum = 0;
+ size_t i;
+
+ acc->values[acc->idx++] = val;
+ if (acc->idx >= ARRAY_SIZE(acc->values))
+ acc->idx = 0;
+
+ /* compute the mean of all stored values, use 0 as empty slot */
+ for (i = 0; i < ARRAY_SIZE(acc->values); ++i) {
+ if (acc->values[i] == 0)
+ break;
+ sum += acc->values[i];
+ }
+
+ acc->val = div_u64(sum, i);
+}
+
+void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
+ uint32_t period)
+{
+ /* initial odr for sensor after reset is 1kHz */
+ const uint32_t default_period = 1000000;
+
+ /* current multiplier and period values after reset */
+ ts->mult = default_period / INV_ICM42600_TIMESTAMP_PERIOD;
+ ts->period = default_period;
+ /* new set multiplier is the one from chip initialization */
+ ts->new_mult = period / INV_ICM42600_TIMESTAMP_PERIOD;
+
+ /* use theoretical value for chip period */
+ inv_update_acc(&ts->chip_period, INV_ICM42600_TIMESTAMP_PERIOD);
+}
+
+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);
+}
+
+int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
+ uint32_t period, bool fifo)
+{
+ /* when FIFO is on, prevent odr change if one is already pending */
+ if (fifo && ts->new_mult != 0)
+ return -EAGAIN;
+
+ ts->new_mult = period / INV_ICM42600_TIMESTAMP_PERIOD;
+
+ return 0;
+}
+
+static bool inv_validate_period(uint32_t period, uint32_t mult)
+{
+ const uint32_t chip_period = INV_ICM42600_TIMESTAMP_PERIOD;
+ uint32_t period_min, period_max;
+
+ /* check that period is acceptable */
+ period_min = INV_ICM42600_TIMESTAMP_MIN_PERIOD(chip_period) * mult;
+ period_max = INV_ICM42600_TIMESTAMP_MAX_PERIOD(chip_period) * mult;
+ if (period > period_min && period < period_max)
+ return true;
+ else
+ return false;
+}
+
+static bool inv_compute_chip_period(struct inv_icm42600_timestamp *ts,
+ uint32_t mult, uint32_t period)
+{
+ uint32_t new_chip_period;
+
+ if (!inv_validate_period(period, mult))
+ return false;
+
+ /* update chip internal period estimation */
+ new_chip_period = period / mult;
+ inv_update_acc(&ts->chip_period, new_chip_period);
+
+ return true;
+}
+
+void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
+ uint32_t fifo_period, size_t fifo_nb,
+ size_t sensor_nb, int64_t timestamp)
+{
+ struct inv_icm42600_timestamp_interval *it;
+ int64_t delta, interval;
+ const uint32_t fifo_mult = fifo_period / INV_ICM42600_TIMESTAMP_PERIOD;
+ uint32_t period = ts->period;
+ int32_t m;
+ bool valid = false;
+
+ if (fifo_nb == 0)
+ return;
+
+ /* update interrupt timestamp and compute chip and sensor periods */
+ it = &ts->it;
+ it->lo = it->up;
+ it->up = timestamp;
+ delta = it->up - it->lo;
+ if (it->lo != 0) {
+ /* compute period: delta time divided by number of samples */
+ period = div_s64(delta, fifo_nb);
+ valid = inv_compute_chip_period(ts, fifo_mult, period);
+ /* update sensor period if chip internal period is updated */
+ if (valid)
+ ts->period = ts->mult * ts->chip_period.val;
+ }
+
+ /* no previous data, compute theoritical value from interrupt */
+ if (ts->timestamp == 0) {
+ /* elapsed time: sensor period * sensor samples number */
+ interval = (int64_t)ts->period * (int64_t)sensor_nb;
+ ts->timestamp = it->up - interval;
+ return;
+ }
+
+ /* if interrupt interval is valid, sync with interrupt timestamp */
+ if (valid) {
+ /* compute measured fifo_period */
+ fifo_period = fifo_mult * ts->chip_period.val;
+ /* delta time between last sample and last interrupt */
+ delta = it->lo - ts->timestamp;
+ /* if there are multiple samples, go back to first one */
+ while (delta >= (fifo_period * 3 / 2))
+ delta -= fifo_period;
+ /* compute maximal adjustment value */
+ m = INV_ICM42600_TIMESTAMP_MAX_PERIOD(ts->period) - ts->period;
+ if (delta > m)
+ delta = m;
+ else if (delta < -m)
+ delta = -m;
+ ts->timestamp += delta;
+ }
+}
+
+void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
+ uint32_t fifo_period, size_t fifo_nb,
+ unsigned int fifo_no)
+{
+ int64_t interval;
+ uint32_t fifo_mult;
+
+ if (ts->new_mult == 0)
+ return;
+
+ /* update to new multiplier and update period */
+ ts->mult = ts->new_mult;
+ ts->new_mult = 0;
+ ts->period = ts->mult * ts->chip_period.val;
+
+ /*
+ * After ODR change the time interval with the previous sample is
+ * undertermined (depends when the change occures). So we compute the
+ * timestamp from the current interrupt using the new FIFO period, the
+ * total number of samples and the current sample numero.
+ */
+ if (ts->timestamp != 0) {
+ /* compute measured fifo period */
+ fifo_mult = fifo_period / INV_ICM42600_TIMESTAMP_PERIOD;
+ fifo_period = fifo_mult * ts->chip_period.val;
+ /* computes time interval between interrupt and this sample */
+ interval = (int64_t)(fifo_nb - fifo_no) * (int64_t)fifo_period;
+ ts->timestamp = ts->it.up - interval;
+ }
+}
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.h b/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.h
new file mode 100644
index 000000000..4e4f331d4
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.h
@@ -0,0 +1,85 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#ifndef INV_ICM42600_TIMESTAMP_H_
+#define INV_ICM42600_TIMESTAMP_H_
+
+#include <linux/kernel.h>
+
+struct inv_icm42600_state;
+
+/**
+ * struct inv_icm42600_timestamp_interval - timestamps interval
+ * @lo: interval lower bound
+ * @up: interval upper bound
+ */
+struct inv_icm42600_timestamp_interval {
+ int64_t lo;
+ int64_t up;
+};
+
+/**
+ * struct inv_icm42600_timestamp_acc - accumulator for computing an estimation
+ * @val: current estimation of the value, the mean of all values
+ * @idx: current index of the next free place in values table
+ * @values: table of all measured values, use for computing the mean
+ */
+struct inv_icm42600_timestamp_acc {
+ uint32_t val;
+ size_t idx;
+ uint32_t values[32];
+};
+
+/**
+ * struct inv_icm42600_timestamp - timestamp management states
+ * @it: interrupts interval timestamps
+ * @timestamp: store last timestamp for computing next data timestamp
+ * @mult: current internal period multiplier
+ * @new_mult: new set internal period multiplier (not yet effective)
+ * @period: measured current period of the sensor
+ * @chip_period: accumulator for computing internal chip period
+ */
+struct inv_icm42600_timestamp {
+ struct inv_icm42600_timestamp_interval it;
+ int64_t timestamp;
+ uint32_t mult;
+ uint32_t new_mult;
+ uint32_t period;
+ struct inv_icm42600_timestamp_acc chip_period;
+};
+
+void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
+ uint32_t period);
+
+int inv_icm42600_timestamp_setup(struct inv_icm42600_state *st);
+
+int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
+ uint32_t period, bool fifo);
+
+void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
+ uint32_t fifo_period, size_t fifo_nb,
+ size_t sensor_nb, int64_t timestamp);
+
+static inline int64_t
+inv_icm42600_timestamp_pop(struct inv_icm42600_timestamp *ts)
+{
+ ts->timestamp += ts->period;
+ return ts->timestamp;
+}
+
+void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
+ uint32_t fifo_period, size_t fifo_nb,
+ unsigned int fifo_no);
+
+static inline void
+inv_icm42600_timestamp_reset(struct inv_icm42600_timestamp *ts)
+{
+ const struct inv_icm42600_timestamp_interval interval_init = {0LL, 0LL};
+
+ ts->it = interval_init;
+ ts->timestamp = 0;
+}
+
+#endif
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
new file mode 100644
index 000000000..3636b1bc9
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -0,0 +1,34 @@
+# SPDX-License-Identifier: GPL-2.0-only
+#
+# inv-mpu6050 drivers for Invensense MPU devices and combos
+#
+
+config INV_MPU6050_IIO
+ tristate
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+
+config INV_MPU6050_I2C
+ tristate "Invensense MPU6050 devices (I2C)"
+ depends on I2C
+ select I2C_MUX
+ select INV_MPU6050_IIO
+ select REGMAP_I2C
+ help
+ This driver supports the Invensense MPU6050/9150,
+ MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20602/ICM20690
+ and IAM20680 motion tracking devices over I2C.
+ This driver can be built as a module. The module will be called
+ inv-mpu6050-i2c.
+
+config INV_MPU6050_SPI
+ tristate "Invensense MPU6050 devices (SPI)"
+ depends on SPI_MASTER
+ select INV_MPU6050_IIO
+ select REGMAP_SPI
+ help
+ This driver supports the Invensense MPU6000,
+ MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20602/ICM20690
+ and IAM20680 motion tracking devices over SPI.
+ This driver can be built as a module. The module will be called
+ inv-mpu6050-spi.
diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
new file mode 100644
index 000000000..c103441a9
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/Makefile
@@ -0,0 +1,14 @@
+# SPDX-License-Identifier: GPL-2.0
+#
+# Makefile for Invensense MPU6050 device.
+#
+
+obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
+inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o \
+ inv_mpu_aux.o inv_mpu_magn.o
+
+obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
+inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o
+
+obj-$(CONFIG_INV_MPU6050_SPI) += inv-mpu6050-spi.o
+inv-mpu6050-spi-y := inv_mpu_spi.o
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c
new file mode 100644
index 000000000..f7bce428d
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c
@@ -0,0 +1,198 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * inv_mpu_acpi: ACPI processing for creating client devices
+ * Copyright (c) 2015, Intel Corporation.
+ */
+
+#ifdef CONFIG_ACPI
+
+#include <linux/kernel.h>
+#include <linux/i2c.h>
+#include <linux/dmi.h>
+#include <linux/acpi.h>
+#include "inv_mpu_iio.h"
+
+enum inv_mpu_product_name {
+ INV_MPU_NOT_MATCHED,
+ INV_MPU_ASUS_T100TA,
+};
+
+static enum inv_mpu_product_name matched_product_name;
+
+static int __init asus_t100_matched(const struct dmi_system_id *d)
+{
+ matched_product_name = INV_MPU_ASUS_T100TA;
+
+ return 0;
+}
+
+static const struct dmi_system_id inv_mpu_dev_list[] = {
+ {
+ .callback = asus_t100_matched,
+ .ident = "Asus Transformer Book T100",
+ .matches = {
+ DMI_MATCH(DMI_SYS_VENDOR, "ASUSTeK COMPUTER INC"),
+ DMI_MATCH(DMI_PRODUCT_NAME, "T100TA"),
+ DMI_MATCH(DMI_PRODUCT_VERSION, "1.0"),
+ },
+ },
+ /* Add more matching tables here..*/
+ {}
+};
+
+static int asus_acpi_get_sensor_info(struct acpi_device *adev,
+ struct i2c_client *client,
+ struct i2c_board_info *info)
+{
+ struct acpi_buffer buffer = {ACPI_ALLOCATE_BUFFER, NULL};
+ int i;
+ acpi_status status;
+ union acpi_object *cpm;
+ int ret;
+
+ status = acpi_evaluate_object(adev->handle, "CNF0", NULL, &buffer);
+ if (ACPI_FAILURE(status))
+ return -ENODEV;
+
+ cpm = buffer.pointer;
+ for (i = 0; i < cpm->package.count; ++i) {
+ union acpi_object *elem;
+ int j;
+
+ elem = &cpm->package.elements[i];
+ for (j = 0; j < elem->package.count; ++j) {
+ union acpi_object *sub_elem;
+
+ sub_elem = &elem->package.elements[j];
+ if (sub_elem->type == ACPI_TYPE_STRING)
+ strscpy(info->type, sub_elem->string.pointer,
+ sizeof(info->type));
+ else if (sub_elem->type == ACPI_TYPE_INTEGER) {
+ if (sub_elem->integer.value != client->addr) {
+ info->addr = sub_elem->integer.value;
+ break; /* Not a MPU6500 primary */
+ }
+ }
+ }
+ }
+ ret = cpm->package.count;
+ kfree(buffer.pointer);
+
+ return ret;
+}
+
+static int acpi_i2c_check_resource(struct acpi_resource *ares, void *data)
+{
+ struct acpi_resource_i2c_serialbus *sb;
+ u32 *addr = data;
+
+ if (i2c_acpi_get_i2c_resource(ares, &sb)) {
+ if (*addr)
+ *addr |= (sb->slave_address << 16);
+ else
+ *addr = sb->slave_address;
+ }
+
+ /* Tell the ACPI core that we already copied this address */
+ return 1;
+}
+
+static int inv_mpu_process_acpi_config(struct i2c_client *client,
+ unsigned short *primary_addr,
+ unsigned short *secondary_addr)
+{
+ struct acpi_device *adev = ACPI_COMPANION(&client->dev);
+ const struct acpi_device_id *id;
+ u32 i2c_addr = 0;
+ LIST_HEAD(resources);
+ int ret;
+
+ id = acpi_match_device(client->dev.driver->acpi_match_table,
+ &client->dev);
+ if (!id)
+ return -ENODEV;
+
+ ret = acpi_dev_get_resources(adev, &resources,
+ acpi_i2c_check_resource, &i2c_addr);
+ if (ret < 0)
+ return ret;
+
+ acpi_dev_free_resource_list(&resources);
+ *primary_addr = i2c_addr & 0x0000ffff;
+ *secondary_addr = (i2c_addr & 0xffff0000) >> 16;
+
+ return 0;
+}
+
+int inv_mpu_acpi_create_mux_client(struct i2c_client *client)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(&client->dev));
+ struct acpi_device *adev = ACPI_COMPANION(&client->dev);
+
+ st->mux_client = NULL;
+ if (adev) {
+ struct i2c_board_info info;
+ struct i2c_client *mux_client;
+ int ret = -1;
+
+ memset(&info, 0, sizeof(info));
+
+ dmi_check_system(inv_mpu_dev_list);
+ switch (matched_product_name) {
+ case INV_MPU_ASUS_T100TA:
+ ret = asus_acpi_get_sensor_info(adev, client,
+ &info);
+ break;
+ /* Add more matched product processing here */
+ default:
+ break;
+ }
+
+ if (ret < 0) {
+ /* No matching DMI, so create device on INV6XX type */
+ unsigned short primary, secondary;
+
+ ret = inv_mpu_process_acpi_config(client, &primary,
+ &secondary);
+ if (!ret && secondary) {
+ char *name;
+
+ info.addr = secondary;
+ strscpy(info.type, dev_name(&adev->dev),
+ sizeof(info.type));
+ name = strchr(info.type, ':');
+ if (name)
+ *name = '\0';
+ strlcat(info.type, "-client",
+ sizeof(info.type));
+ } else
+ return 0; /* no secondary addr, which is OK */
+ }
+ mux_client = i2c_new_client_device(st->muxc->adapter[0], &info);
+ if (IS_ERR(mux_client))
+ return PTR_ERR(mux_client);
+ st->mux_client = mux_client;
+ }
+
+ return 0;
+}
+
+void inv_mpu_acpi_delete_mux_client(struct i2c_client *client)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(&client->dev));
+
+ i2c_unregister_device(st->mux_client);
+}
+#else
+
+#include "inv_mpu_iio.h"
+
+int inv_mpu_acpi_create_mux_client(struct i2c_client *client)
+{
+ return 0;
+}
+
+void inv_mpu_acpi_delete_mux_client(struct i2c_client *client)
+{
+}
+#endif
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
new file mode 100644
index 000000000..7327e5723
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
@@ -0,0 +1,204 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+
+#include "inv_mpu_aux.h"
+#include "inv_mpu_iio.h"
+
+/*
+ * i2c master auxiliary bus transfer function.
+ * Requires the i2c operations to be correctly setup before.
+ */
+static int inv_mpu_i2c_master_xfer(const struct inv_mpu6050_state *st)
+{
+ /* use 50hz frequency for xfer */
+ const unsigned int freq = 50;
+ const unsigned int period_ms = 1000 / freq;
+ uint8_t d;
+ unsigned int user_ctrl;
+ int ret;
+
+ /* set sample rate */
+ d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(freq);
+ ret = regmap_write(st->map, st->reg->sample_rate_div, d);
+ if (ret)
+ return ret;
+
+ /* start i2c master */
+ user_ctrl = st->chip_config.user_ctrl | INV_MPU6050_BIT_I2C_MST_EN;
+ ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
+ if (ret)
+ goto error_restore_rate;
+
+ /* wait for xfer: 1 period + half-period margin */
+ msleep(period_ms + period_ms / 2);
+
+ /* stop i2c master */
+ user_ctrl = st->chip_config.user_ctrl;
+ ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
+ if (ret)
+ goto error_stop_i2c;
+
+ /* restore sample rate */
+ d = st->chip_config.divider;
+ ret = regmap_write(st->map, st->reg->sample_rate_div, d);
+ if (ret)
+ goto error_restore_rate;
+
+ return 0;
+
+error_stop_i2c:
+ regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl);
+error_restore_rate:
+ regmap_write(st->map, st->reg->sample_rate_div, st->chip_config.divider);
+ return ret;
+}
+
+/**
+ * inv_mpu_aux_init() - init i2c auxiliary bus
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+int inv_mpu_aux_init(const struct inv_mpu6050_state *st)
+{
+ unsigned int val;
+ int ret;
+
+ /* configure i2c master */
+ val = INV_MPU6050_BITS_I2C_MST_CLK_400KHZ |
+ INV_MPU6050_BIT_WAIT_FOR_ES;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_MST_CTRL, val);
+ if (ret)
+ return ret;
+
+ /* configure i2c master delay */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, 0);
+ if (ret)
+ return ret;
+
+ val = INV_MPU6050_BIT_I2C_SLV0_DLY_EN |
+ INV_MPU6050_BIT_I2C_SLV1_DLY_EN |
+ INV_MPU6050_BIT_I2C_SLV2_DLY_EN |
+ INV_MPU6050_BIT_I2C_SLV3_DLY_EN |
+ INV_MPU6050_BIT_DELAY_ES_SHADOW;
+ return regmap_write(st->map, INV_MPU6050_REG_I2C_MST_DELAY_CTRL, val);
+}
+
+/**
+ * inv_mpu_aux_read() - read register function for i2c auxiliary bus
+ * @st: driver internal state.
+ * @addr: chip i2c Address
+ * @reg: chip register address
+ * @val: buffer for storing read bytes
+ * @size: number of bytes to read
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+int inv_mpu_aux_read(const struct inv_mpu6050_state *st, uint8_t addr,
+ uint8_t reg, uint8_t *val, size_t size)
+{
+ unsigned int status;
+ int ret;
+
+ if (size > 0x0F)
+ return -EINVAL;
+
+ /* setup i2c SLV0 control: i2c addr, register, enable + size */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0),
+ INV_MPU6050_BIT_I2C_SLV_RNW | addr);
+ if (ret)
+ return ret;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
+ if (ret)
+ return ret;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
+ INV_MPU6050_BIT_SLV_EN | size);
+ if (ret)
+ return ret;
+
+ /* do i2c xfer */
+ ret = inv_mpu_i2c_master_xfer(st);
+ if (ret)
+ goto error_disable_i2c;
+
+ /* disable i2c slave */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
+ if (ret)
+ goto error_disable_i2c;
+
+ /* check i2c status */
+ ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
+ if (ret)
+ return ret;
+ if (status & INV_MPU6050_BIT_I2C_SLV0_NACK)
+ return -EIO;
+
+ /* read data in registers */
+ return regmap_bulk_read(st->map, INV_MPU6050_REG_EXT_SENS_DATA,
+ val, size);
+
+error_disable_i2c:
+ regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
+ return ret;
+}
+
+/**
+ * inv_mpu_aux_write() - write register function for i2c auxiliary bus
+ * @st: driver internal state.
+ * @addr: chip i2c Address
+ * @reg: chip register address
+ * @val: 1 byte value to write
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+int inv_mpu_aux_write(const struct inv_mpu6050_state *st, uint8_t addr,
+ uint8_t reg, uint8_t val)
+{
+ unsigned int status;
+ int ret;
+
+ /* setup i2c SLV0 control: i2c addr, register, value, enable + size */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0), addr);
+ if (ret)
+ return ret;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
+ if (ret)
+ return ret;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(0), val);
+ if (ret)
+ return ret;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
+ INV_MPU6050_BIT_SLV_EN | 1);
+ if (ret)
+ return ret;
+
+ /* do i2c xfer */
+ ret = inv_mpu_i2c_master_xfer(st);
+ if (ret)
+ goto error_disable_i2c;
+
+ /* disable i2c slave */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
+ if (ret)
+ goto error_disable_i2c;
+
+ /* check i2c status */
+ ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
+ if (ret)
+ return ret;
+ if (status & INV_MPU6050_BIT_I2C_SLV0_NACK)
+ return -EIO;
+
+ return 0;
+
+error_disable_i2c:
+ regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
+ return ret;
+}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h
new file mode 100644
index 000000000..b66997545
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h
@@ -0,0 +1,19 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#ifndef INV_MPU_AUX_H_
+#define INV_MPU_AUX_H_
+
+#include "inv_mpu_iio.h"
+
+int inv_mpu_aux_init(const struct inv_mpu6050_state *st);
+
+int inv_mpu_aux_read(const struct inv_mpu6050_state *st, uint8_t addr,
+ uint8_t reg, uint8_t *val, size_t size);
+
+int inv_mpu_aux_write(const struct inv_mpu6050_state *st, uint8_t addr,
+ uint8_t reg, uint8_t val);
+
+#endif /* INV_MPU_AUX_H_ */
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
new file mode 100644
index 000000000..19a1ef535
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -0,0 +1,1778 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+* Copyright (C) 2012 Invensense, Inc.
+*/
+
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/i2c.h>
+#include <linux/err.h>
+#include <linux/delay.h>
+#include <linux/sysfs.h>
+#include <linux/jiffies.h>
+#include <linux/irq.h>
+#include <linux/interrupt.h>
+#include <linux/iio/iio.h>
+#include <linux/acpi.h>
+#include <linux/platform_device.h>
+#include <linux/regulator/consumer.h>
+#include <linux/pm.h>
+#include <linux/pm_runtime.h>
+#include "inv_mpu_iio.h"
+#include "inv_mpu_magn.h"
+
+/*
+ * this is the gyro scale translated from dynamic range plus/minus
+ * {250, 500, 1000, 2000} to rad/s
+ */
+static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
+
+/*
+ * this is the accel scale translated from dynamic range plus/minus
+ * {2, 4, 8, 16} to m/s^2
+ */
+static const int accel_scale[] = {598, 1196, 2392, 4785};
+
+static const struct inv_mpu6050_reg_map reg_set_icm20602 = {
+ .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
+ .lpf = INV_MPU6050_REG_CONFIG,
+ .accel_lpf = INV_MPU6500_REG_ACCEL_CONFIG_2,
+ .user_ctrl = INV_MPU6050_REG_USER_CTRL,
+ .fifo_en = INV_MPU6050_REG_FIFO_EN,
+ .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
+ .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
+ .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
+ .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
+ .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
+ .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
+ .temperature = INV_MPU6050_REG_TEMPERATURE,
+ .int_enable = INV_MPU6050_REG_INT_ENABLE,
+ .int_status = INV_MPU6050_REG_INT_STATUS,
+ .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
+ .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
+ .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
+ .accl_offset = INV_MPU6500_REG_ACCEL_OFFSET,
+ .gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
+ .i2c_if = INV_ICM20602_REG_I2C_IF,
+};
+
+static const struct inv_mpu6050_reg_map reg_set_6500 = {
+ .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
+ .lpf = INV_MPU6050_REG_CONFIG,
+ .accel_lpf = INV_MPU6500_REG_ACCEL_CONFIG_2,
+ .user_ctrl = INV_MPU6050_REG_USER_CTRL,
+ .fifo_en = INV_MPU6050_REG_FIFO_EN,
+ .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
+ .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
+ .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
+ .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
+ .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
+ .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
+ .temperature = INV_MPU6050_REG_TEMPERATURE,
+ .int_enable = INV_MPU6050_REG_INT_ENABLE,
+ .int_status = INV_MPU6050_REG_INT_STATUS,
+ .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
+ .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
+ .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
+ .accl_offset = INV_MPU6500_REG_ACCEL_OFFSET,
+ .gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
+ .i2c_if = 0,
+};
+
+static const struct inv_mpu6050_reg_map reg_set_6050 = {
+ .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
+ .lpf = INV_MPU6050_REG_CONFIG,
+ .user_ctrl = INV_MPU6050_REG_USER_CTRL,
+ .fifo_en = INV_MPU6050_REG_FIFO_EN,
+ .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
+ .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
+ .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
+ .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
+ .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
+ .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
+ .temperature = INV_MPU6050_REG_TEMPERATURE,
+ .int_enable = INV_MPU6050_REG_INT_ENABLE,
+ .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
+ .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
+ .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
+ .accl_offset = INV_MPU6050_REG_ACCEL_OFFSET,
+ .gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
+ .i2c_if = 0,
+};
+
+static const struct inv_mpu6050_chip_config chip_config_6050 = {
+ .clk = INV_CLK_INTERNAL,
+ .fsr = INV_MPU6050_FSR_2000DPS,
+ .lpf = INV_MPU6050_FILTER_20HZ,
+ .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
+ .gyro_en = true,
+ .accl_en = true,
+ .temp_en = true,
+ .magn_en = false,
+ .gyro_fifo_enable = false,
+ .accl_fifo_enable = false,
+ .temp_fifo_enable = false,
+ .magn_fifo_enable = false,
+ .accl_fs = INV_MPU6050_FS_02G,
+ .user_ctrl = 0,
+};
+
+static const struct inv_mpu6050_chip_config chip_config_6500 = {
+ .clk = INV_CLK_PLL,
+ .fsr = INV_MPU6050_FSR_2000DPS,
+ .lpf = INV_MPU6050_FILTER_20HZ,
+ .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
+ .gyro_en = true,
+ .accl_en = true,
+ .temp_en = true,
+ .magn_en = false,
+ .gyro_fifo_enable = false,
+ .accl_fifo_enable = false,
+ .temp_fifo_enable = false,
+ .magn_fifo_enable = false,
+ .accl_fs = INV_MPU6050_FS_02G,
+ .user_ctrl = 0,
+};
+
+/* Indexed by enum inv_devices */
+static const struct inv_mpu6050_hw hw_info[] = {
+ {
+ .whoami = INV_MPU6050_WHOAMI_VALUE,
+ .name = "MPU6050",
+ .reg = &reg_set_6050,
+ .config = &chip_config_6050,
+ .fifo_size = 1024,
+ .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
+ .startup_time = {INV_MPU6050_GYRO_STARTUP_TIME, INV_MPU6050_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_MPU6500_WHOAMI_VALUE,
+ .name = "MPU6500",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 512,
+ .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_MPU6515_WHOAMI_VALUE,
+ .name = "MPU6515",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 512,
+ .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_MPU6880_WHOAMI_VALUE,
+ .name = "MPU6880",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 4096,
+ .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_MPU6000_WHOAMI_VALUE,
+ .name = "MPU6000",
+ .reg = &reg_set_6050,
+ .config = &chip_config_6050,
+ .fifo_size = 1024,
+ .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
+ .startup_time = {INV_MPU6050_GYRO_STARTUP_TIME, INV_MPU6050_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_MPU9150_WHOAMI_VALUE,
+ .name = "MPU9150",
+ .reg = &reg_set_6050,
+ .config = &chip_config_6050,
+ .fifo_size = 1024,
+ .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
+ .startup_time = {INV_MPU6050_GYRO_STARTUP_TIME, INV_MPU6050_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_MPU9250_WHOAMI_VALUE,
+ .name = "MPU9250",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 512,
+ .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_MPU9255_WHOAMI_VALUE,
+ .name = "MPU9255",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 512,
+ .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_ICM20608_WHOAMI_VALUE,
+ .name = "ICM20608",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 512,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_ICM20608D_WHOAMI_VALUE,
+ .name = "ICM20608D",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 512,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_ICM20609_WHOAMI_VALUE,
+ .name = "ICM20609",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 4 * 1024,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_ICM20689_WHOAMI_VALUE,
+ .name = "ICM20689",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 4 * 1024,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_ICM20602_WHOAMI_VALUE,
+ .name = "ICM20602",
+ .reg = &reg_set_icm20602,
+ .config = &chip_config_6500,
+ .fifo_size = 1008,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_ICM20602_GYRO_STARTUP_TIME, INV_ICM20602_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_ICM20690_WHOAMI_VALUE,
+ .name = "ICM20690",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 1024,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_ICM20690_GYRO_STARTUP_TIME, INV_ICM20690_ACCEL_STARTUP_TIME},
+ },
+ {
+ .whoami = INV_IAM20680_WHOAMI_VALUE,
+ .name = "IAM20680",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 512,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
+ },
+};
+
+static int inv_mpu6050_pwr_mgmt_1_write(struct inv_mpu6050_state *st, bool sleep,
+ int clock, int temp_dis)
+{
+ u8 val;
+
+ if (clock < 0)
+ clock = st->chip_config.clk;
+ if (temp_dis < 0)
+ temp_dis = !st->chip_config.temp_en;
+
+ val = clock & INV_MPU6050_BIT_CLK_MASK;
+ if (temp_dis)
+ val |= INV_MPU6050_BIT_TEMP_DIS;
+ if (sleep)
+ val |= INV_MPU6050_BIT_SLEEP;
+
+ dev_dbg(regmap_get_device(st->map), "pwr_mgmt_1: 0x%x\n", val);
+ return regmap_write(st->map, st->reg->pwr_mgmt_1, val);
+}
+
+static int inv_mpu6050_clock_switch(struct inv_mpu6050_state *st,
+ unsigned int clock)
+{
+ int ret;
+
+ switch (st->chip_type) {
+ case INV_MPU6050:
+ case INV_MPU6000:
+ case INV_MPU9150:
+ /* old chips: switch clock manually */
+ ret = inv_mpu6050_pwr_mgmt_1_write(st, false, clock, -1);
+ if (ret)
+ return ret;
+ st->chip_config.clk = clock;
+ break;
+ default:
+ /* automatic clock switching, nothing to do */
+ break;
+ }
+
+ return 0;
+}
+
+int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
+ unsigned int mask)
+{
+ unsigned int sleep;
+ u8 pwr_mgmt2, user_ctrl;
+ int ret;
+
+ /* delete useless requests */
+ if (mask & INV_MPU6050_SENSOR_ACCL && en == st->chip_config.accl_en)
+ mask &= ~INV_MPU6050_SENSOR_ACCL;
+ if (mask & INV_MPU6050_SENSOR_GYRO && en == st->chip_config.gyro_en)
+ mask &= ~INV_MPU6050_SENSOR_GYRO;
+ if (mask & INV_MPU6050_SENSOR_TEMP && en == st->chip_config.temp_en)
+ mask &= ~INV_MPU6050_SENSOR_TEMP;
+ if (mask & INV_MPU6050_SENSOR_MAGN && en == st->chip_config.magn_en)
+ mask &= ~INV_MPU6050_SENSOR_MAGN;
+ if (mask == 0)
+ return 0;
+
+ /* turn on/off temperature sensor */
+ if (mask & INV_MPU6050_SENSOR_TEMP) {
+ ret = inv_mpu6050_pwr_mgmt_1_write(st, false, -1, !en);
+ if (ret)
+ return ret;
+ st->chip_config.temp_en = en;
+ }
+
+ /* update user_crtl for driving magnetometer */
+ if (mask & INV_MPU6050_SENSOR_MAGN) {
+ user_ctrl = st->chip_config.user_ctrl;
+ if (en)
+ user_ctrl |= INV_MPU6050_BIT_I2C_MST_EN;
+ else
+ user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN;
+ ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
+ if (ret)
+ return ret;
+ st->chip_config.user_ctrl = user_ctrl;
+ st->chip_config.magn_en = en;
+ }
+
+ /* manage accel & gyro engines */
+ if (mask & (INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO)) {
+ /* compute power management 2 current value */
+ pwr_mgmt2 = 0;
+ if (!st->chip_config.accl_en)
+ pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
+ if (!st->chip_config.gyro_en)
+ pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;
+
+ /* update to new requested value */
+ if (mask & INV_MPU6050_SENSOR_ACCL) {
+ if (en)
+ pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_ACCL_STBY;
+ else
+ pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
+ }
+ if (mask & INV_MPU6050_SENSOR_GYRO) {
+ if (en)
+ pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_GYRO_STBY;
+ else
+ pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;
+ }
+
+ /* switch clock to internal when turning gyro off */
+ if (mask & INV_MPU6050_SENSOR_GYRO && !en) {
+ ret = inv_mpu6050_clock_switch(st, INV_CLK_INTERNAL);
+ if (ret)
+ return ret;
+ }
+
+ /* update sensors engine */
+ dev_dbg(regmap_get_device(st->map), "pwr_mgmt_2: 0x%x\n",
+ pwr_mgmt2);
+ ret = regmap_write(st->map, st->reg->pwr_mgmt_2, pwr_mgmt2);
+ if (ret)
+ return ret;
+ if (mask & INV_MPU6050_SENSOR_ACCL)
+ st->chip_config.accl_en = en;
+ if (mask & INV_MPU6050_SENSOR_GYRO)
+ st->chip_config.gyro_en = en;
+
+ /* compute required time to have sensors stabilized */
+ sleep = 0;
+ if (en) {
+ if (mask & INV_MPU6050_SENSOR_ACCL) {
+ if (sleep < st->hw->startup_time.accel)
+ sleep = st->hw->startup_time.accel;
+ }
+ if (mask & INV_MPU6050_SENSOR_GYRO) {
+ if (sleep < st->hw->startup_time.gyro)
+ sleep = st->hw->startup_time.gyro;
+ }
+ } else {
+ if (mask & INV_MPU6050_SENSOR_GYRO) {
+ if (sleep < INV_MPU6050_GYRO_DOWN_TIME)
+ sleep = INV_MPU6050_GYRO_DOWN_TIME;
+ }
+ }
+ if (sleep)
+ msleep(sleep);
+
+ /* switch clock to PLL when turning gyro on */
+ if (mask & INV_MPU6050_SENSOR_GYRO && en) {
+ ret = inv_mpu6050_clock_switch(st, INV_CLK_PLL);
+ if (ret)
+ return ret;
+ }
+ }
+
+ return 0;
+}
+
+static int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st,
+ bool power_on)
+{
+ int result;
+
+ result = inv_mpu6050_pwr_mgmt_1_write(st, !power_on, -1, -1);
+ if (result)
+ return result;
+
+ if (power_on)
+ usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
+ INV_MPU6050_REG_UP_TIME_MAX);
+
+ return 0;
+}
+
+static int inv_mpu6050_set_gyro_fsr(struct inv_mpu6050_state *st,
+ enum inv_mpu6050_fsr_e val)
+{
+ unsigned int gyro_shift;
+ u8 data;
+
+ switch (st->chip_type) {
+ case INV_ICM20690:
+ gyro_shift = INV_ICM20690_GYRO_CONFIG_FSR_SHIFT;
+ break;
+ default:
+ gyro_shift = INV_MPU6050_GYRO_CONFIG_FSR_SHIFT;
+ break;
+ }
+
+ data = val << gyro_shift;
+ return regmap_write(st->map, st->reg->gyro_config, data);
+}
+
+/*
+ * inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
+ *
+ * MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope
+ * MPU6500 and above have a dedicated register for accelerometer
+ */
+static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
+ enum inv_mpu6050_filter_e val)
+{
+ int result;
+
+ result = regmap_write(st->map, st->reg->lpf, val);
+ if (result)
+ return result;
+
+ /* set accel lpf */
+ switch (st->chip_type) {
+ case INV_MPU6050:
+ case INV_MPU6000:
+ case INV_MPU9150:
+ /* old chips, nothing to do */
+ return 0;
+ case INV_ICM20689:
+ case INV_ICM20690:
+ /* set FIFO size to maximum value */
+ val |= INV_ICM20689_BITS_FIFO_SIZE_MAX;
+ break;
+ default:
+ break;
+ }
+
+ return regmap_write(st->map, st->reg->accel_lpf, val);
+}
+
+/*
+ * inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
+ *
+ * Initial configuration:
+ * FSR: ± 2000DPS
+ * DLPF: 20Hz
+ * FIFO rate: 50Hz
+ * Clock source: Gyro PLL
+ */
+static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
+{
+ int result;
+ u8 d;
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ result = inv_mpu6050_set_gyro_fsr(st, st->chip_config.fsr);
+ if (result)
+ return result;
+
+ result = inv_mpu6050_set_lpf_regs(st, st->chip_config.lpf);
+ if (result)
+ return result;
+
+ d = st->chip_config.divider;
+ result = regmap_write(st->map, st->reg->sample_rate_div, d);
+ if (result)
+ return result;
+
+ d = (st->chip_config.accl_fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
+ result = regmap_write(st->map, st->reg->accl_config, d);
+ if (result)
+ return result;
+
+ result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
+ if (result)
+ return result;
+
+ /*
+ * Internal chip period is 1ms (1kHz).
+ * Let's use at the beginning the theorical value before measuring
+ * with interrupt timestamps.
+ */
+ st->chip_period = NSEC_PER_MSEC;
+
+ /* magn chip init, noop if not present in the chip */
+ result = inv_mpu_magn_probe(st);
+ if (result)
+ return result;
+
+ return 0;
+}
+
+static int inv_mpu6050_sensor_set(struct inv_mpu6050_state *st, int reg,
+ int axis, int val)
+{
+ int ind, result;
+ __be16 d = cpu_to_be16(val);
+
+ ind = (axis - IIO_MOD_X) * 2;
+ result = regmap_bulk_write(st->map, reg + ind, &d, sizeof(d));
+ if (result)
+ return -EINVAL;
+
+ return 0;
+}
+
+static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
+ int axis, int *val)
+{
+ int ind, result;
+ __be16 d;
+
+ ind = (axis - IIO_MOD_X) * 2;
+ result = regmap_bulk_read(st->map, reg + ind, &d, sizeof(d));
+ if (result)
+ return -EINVAL;
+ *val = (short)be16_to_cpup(&d);
+
+ return IIO_VAL_INT;
+}
+
+static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct device *pdev = regmap_get_device(st->map);
+ unsigned int freq_hz, period_us, min_sleep_us, max_sleep_us;
+ int result;
+ int ret;
+
+ /* compute sample period */
+ freq_hz = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
+ period_us = 1000000 / freq_hz;
+
+ result = pm_runtime_resume_and_get(pdev);
+ if (result)
+ return result;
+
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ if (!st->chip_config.gyro_en) {
+ result = inv_mpu6050_switch_engine(st, true,
+ INV_MPU6050_SENSOR_GYRO);
+ if (result)
+ goto error_power_off;
+ /* need to wait 2 periods to have first valid sample */
+ min_sleep_us = 2 * period_us;
+ max_sleep_us = 2 * (period_us + period_us / 2);
+ usleep_range(min_sleep_us, max_sleep_us);
+ }
+ ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
+ chan->channel2, val);
+ break;
+ case IIO_ACCEL:
+ if (!st->chip_config.accl_en) {
+ result = inv_mpu6050_switch_engine(st, true,
+ INV_MPU6050_SENSOR_ACCL);
+ if (result)
+ goto error_power_off;
+ /* wait 1 period for first sample availability */
+ min_sleep_us = period_us;
+ max_sleep_us = period_us + period_us / 2;
+ usleep_range(min_sleep_us, max_sleep_us);
+ }
+ ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
+ chan->channel2, val);
+ break;
+ case IIO_TEMP:
+ /* temperature sensor work only with accel and/or gyro */
+ if (!st->chip_config.accl_en && !st->chip_config.gyro_en) {
+ result = -EBUSY;
+ goto error_power_off;
+ }
+ if (!st->chip_config.temp_en) {
+ result = inv_mpu6050_switch_engine(st, true,
+ INV_MPU6050_SENSOR_TEMP);
+ if (result)
+ goto error_power_off;
+ /* wait 1 period for first sample availability */
+ min_sleep_us = period_us;
+ max_sleep_us = period_us + period_us / 2;
+ usleep_range(min_sleep_us, max_sleep_us);
+ }
+ ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
+ IIO_MOD_X, val);
+ break;
+ case IIO_MAGN:
+ if (!st->chip_config.magn_en) {
+ result = inv_mpu6050_switch_engine(st, true,
+ INV_MPU6050_SENSOR_MAGN);
+ if (result)
+ goto error_power_off;
+ /* frequency is limited for magnetometer */
+ if (freq_hz > INV_MPU_MAGN_FREQ_HZ_MAX) {
+ freq_hz = INV_MPU_MAGN_FREQ_HZ_MAX;
+ period_us = 1000000 / freq_hz;
+ }
+ /* need to wait 2 periods to have first valid sample */
+ min_sleep_us = 2 * period_us;
+ max_sleep_us = 2 * (period_us + period_us / 2);
+ usleep_range(min_sleep_us, max_sleep_us);
+ }
+ ret = inv_mpu_magn_read(st, chan->channel2, val);
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
+
+ return ret;
+
+error_power_off:
+ pm_runtime_put_autosuspend(pdev);
+ return result;
+}
+
+static int
+inv_mpu6050_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ int ret = 0;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = iio_device_claim_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ mutex_lock(&st->lock);
+ ret = inv_mpu6050_read_channel_data(indio_dev, chan, val);
+ mutex_unlock(&st->lock);
+ iio_device_release_direct_mode(indio_dev);
+ return ret;
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ mutex_lock(&st->lock);
+ *val = 0;
+ *val2 = gyro_scale_6050[st->chip_config.fsr];
+ mutex_unlock(&st->lock);
+
+ return IIO_VAL_INT_PLUS_NANO;
+ case IIO_ACCEL:
+ mutex_lock(&st->lock);
+ *val = 0;
+ *val2 = accel_scale[st->chip_config.accl_fs];
+ mutex_unlock(&st->lock);
+
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_TEMP:
+ *val = st->hw->temp.scale / 1000000;
+ *val2 = st->hw->temp.scale % 1000000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_MAGN:
+ return inv_mpu_magn_get_scale(st, chan, val, val2);
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_OFFSET:
+ switch (chan->type) {
+ case IIO_TEMP:
+ *val = st->hw->temp.offset;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_CALIBBIAS:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ mutex_lock(&st->lock);
+ ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
+ chan->channel2, val);
+ mutex_unlock(&st->lock);
+ return ret;
+ case IIO_ACCEL:
+ mutex_lock(&st->lock);
+ ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
+ chan->channel2, val);
+ mutex_unlock(&st->lock);
+ return ret;
+
+ default:
+ return -EINVAL;
+ }
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val,
+ int val2)
+{
+ int result, i;
+
+ if (val != 0)
+ return -EINVAL;
+
+ for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
+ if (gyro_scale_6050[i] == val2) {
+ result = inv_mpu6050_set_gyro_fsr(st, i);
+ if (result)
+ return result;
+
+ st->chip_config.fsr = i;
+ return 0;
+ }
+ }
+
+ return -EINVAL;
+}
+
+static int inv_write_raw_get_fmt(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, long mask)
+{
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ return IIO_VAL_INT_PLUS_NANO;
+ default:
+ return IIO_VAL_INT_PLUS_MICRO;
+ }
+ default:
+ return IIO_VAL_INT_PLUS_MICRO;
+ }
+
+ return -EINVAL;
+}
+
+static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val,
+ int val2)
+{
+ int result, i;
+ u8 d;
+
+ if (val != 0)
+ return -EINVAL;
+
+ for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
+ if (accel_scale[i] == val2) {
+ d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
+ result = regmap_write(st->map, st->reg->accl_config, d);
+ if (result)
+ return result;
+
+ st->chip_config.accl_fs = i;
+ return 0;
+ }
+ }
+
+ return -EINVAL;
+}
+
+static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct device *pdev = regmap_get_device(st->map);
+ int result;
+
+ /*
+ * we should only update scale when the chip is disabled, i.e.
+ * not running
+ */
+ result = iio_device_claim_direct_mode(indio_dev);
+ if (result)
+ return result;
+
+ mutex_lock(&st->lock);
+ result = pm_runtime_resume_and_get(pdev);
+ if (result)
+ goto error_write_raw_unlock;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ result = inv_mpu6050_write_gyro_scale(st, val, val2);
+ break;
+ case IIO_ACCEL:
+ result = inv_mpu6050_write_accel_scale(st, val, val2);
+ break;
+ default:
+ result = -EINVAL;
+ break;
+ }
+ break;
+ case IIO_CHAN_INFO_CALIBBIAS:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ result = inv_mpu6050_sensor_set(st,
+ st->reg->gyro_offset,
+ chan->channel2, val);
+ break;
+ case IIO_ACCEL:
+ result = inv_mpu6050_sensor_set(st,
+ st->reg->accl_offset,
+ chan->channel2, val);
+ break;
+ default:
+ result = -EINVAL;
+ break;
+ }
+ break;
+ default:
+ result = -EINVAL;
+ break;
+ }
+
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
+error_write_raw_unlock:
+ mutex_unlock(&st->lock);
+ iio_device_release_direct_mode(indio_dev);
+
+ return result;
+}
+
+/*
+ * inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
+ *
+ * Based on the Nyquist principle, the bandwidth of the low
+ * pass filter must not exceed the signal sampling rate divided
+ * by 2, or there would be aliasing.
+ * This function basically search for the correct low pass
+ * parameters based on the fifo rate, e.g, sampling frequency.
+ *
+ * lpf is set automatically when setting sampling rate to avoid any aliases.
+ */
+static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
+{
+ static const int hz[] = {400, 200, 90, 40, 20, 10};
+ static const int d[] = {
+ INV_MPU6050_FILTER_200HZ, INV_MPU6050_FILTER_100HZ,
+ INV_MPU6050_FILTER_45HZ, INV_MPU6050_FILTER_20HZ,
+ INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
+ };
+ int i, result;
+ u8 data;
+
+ data = INV_MPU6050_FILTER_5HZ;
+ for (i = 0; i < ARRAY_SIZE(hz); ++i) {
+ if (rate >= hz[i]) {
+ data = d[i];
+ break;
+ }
+ }
+ result = inv_mpu6050_set_lpf_regs(st, data);
+ if (result)
+ return result;
+ st->chip_config.lpf = data;
+
+ return 0;
+}
+
+/*
+ * inv_mpu6050_fifo_rate_store() - Set fifo rate.
+ */
+static ssize_t
+inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ int fifo_rate;
+ u8 d;
+ int result;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct device *pdev = regmap_get_device(st->map);
+
+ if (kstrtoint(buf, 10, &fifo_rate))
+ return -EINVAL;
+ if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
+ fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
+ return -EINVAL;
+
+ /* compute the chip sample rate divider */
+ d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
+ /* compute back the fifo rate to handle truncation cases */
+ fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d);
+
+ mutex_lock(&st->lock);
+ if (d == st->chip_config.divider) {
+ result = 0;
+ goto fifo_rate_fail_unlock;
+ }
+ result = pm_runtime_resume_and_get(pdev);
+ if (result)
+ goto fifo_rate_fail_unlock;
+
+ result = regmap_write(st->map, st->reg->sample_rate_div, d);
+ if (result)
+ goto fifo_rate_fail_power_off;
+ st->chip_config.divider = d;
+
+ result = inv_mpu6050_set_lpf(st, fifo_rate);
+ if (result)
+ goto fifo_rate_fail_power_off;
+
+ /* update rate for magn, noop if not present in chip */
+ result = inv_mpu_magn_set_rate(st, fifo_rate);
+ if (result)
+ goto fifo_rate_fail_power_off;
+
+ pm_runtime_mark_last_busy(pdev);
+fifo_rate_fail_power_off:
+ pm_runtime_put_autosuspend(pdev);
+fifo_rate_fail_unlock:
+ mutex_unlock(&st->lock);
+ if (result)
+ return result;
+
+ return count;
+}
+
+/*
+ * inv_fifo_rate_show() - Get the current sampling rate.
+ */
+static ssize_t
+inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
+ char *buf)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
+ unsigned fifo_rate;
+
+ mutex_lock(&st->lock);
+ fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
+ mutex_unlock(&st->lock);
+
+ return scnprintf(buf, PAGE_SIZE, "%u\n", fifo_rate);
+}
+
+/*
+ * inv_attr_show() - calling this function will show current
+ * parameters.
+ *
+ * Deprecated in favor of IIO mounting matrix API.
+ *
+ * See inv_get_mount_matrix()
+ */
+static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
+ char *buf)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
+ struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
+ s8 *m;
+
+ switch (this_attr->address) {
+ /*
+ * In MPU6050, the two matrix are the same because gyro and accel
+ * are integrated in one chip
+ */
+ case ATTR_GYRO_MATRIX:
+ case ATTR_ACCL_MATRIX:
+ m = st->plat_data.orientation;
+
+ return scnprintf(buf, PAGE_SIZE,
+ "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
+ m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
+ default:
+ return -EINVAL;
+ }
+}
+
+/**
+ * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
+ * MPU6050 device.
+ * @indio_dev: The IIO device
+ * @trig: The new trigger
+ *
+ * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
+ * device, -EINVAL otherwise.
+ */
+static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
+ struct iio_trigger *trig)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ if (st->trig != trig)
+ return -EINVAL;
+
+ return 0;
+}
+
+static const struct iio_mount_matrix *
+inv_get_mount_matrix(const struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan)
+{
+ struct inv_mpu6050_state *data = iio_priv(indio_dev);
+ const struct iio_mount_matrix *matrix;
+
+ if (chan->type == IIO_MAGN)
+ matrix = &data->magn_orient;
+ else
+ matrix = &data->orientation;
+
+ return matrix;
+}
+
+static const struct iio_chan_spec_ext_info inv_ext_info[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
+ { }
+};
+
+#define INV_MPU6050_CHAN(_type, _channel2, _index) \
+ { \
+ .type = _type, \
+ .modified = 1, \
+ .channel2 = _channel2, \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+ .ext_info = inv_ext_info, \
+ }
+
+#define INV_MPU6050_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, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
+static const struct iio_chan_spec inv_mpu_channels[] = {
+ IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
+
+ INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
+
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
+
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
+};
+
+#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \
+ (BIT(INV_MPU6050_SCAN_ACCL_X) \
+ | BIT(INV_MPU6050_SCAN_ACCL_Y) \
+ | BIT(INV_MPU6050_SCAN_ACCL_Z))
+
+#define INV_MPU6050_SCAN_MASK_3AXIS_GYRO \
+ (BIT(INV_MPU6050_SCAN_GYRO_X) \
+ | BIT(INV_MPU6050_SCAN_GYRO_Y) \
+ | BIT(INV_MPU6050_SCAN_GYRO_Z))
+
+#define INV_MPU6050_SCAN_MASK_TEMP (BIT(INV_MPU6050_SCAN_TEMP))
+
+static const unsigned long inv_mpu_scan_masks[] = {
+ /* 3-axis accel */
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
+ /* 3-axis gyro */
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
+ /* 6-axis accel + gyro */
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+ | INV_MPU6050_SCAN_MASK_TEMP,
+ 0,
+};
+
+#define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index) \
+ { \
+ .type = IIO_MAGN, \
+ .modified = 1, \
+ .channel2 = _chan2, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_RAW), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = _bits, \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+ .ext_info = inv_ext_info, \
+ }
+
+static const struct iio_chan_spec inv_mpu9150_channels[] = {
+ IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
+
+ INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
+
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
+
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
+
+ /* Magnetometer resolution is 13 bits */
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 13, INV_MPU9X50_SCAN_MAGN_X),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 13, INV_MPU9X50_SCAN_MAGN_Y),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 13, INV_MPU9X50_SCAN_MAGN_Z),
+};
+
+static const struct iio_chan_spec inv_mpu9250_channels[] = {
+ IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
+
+ INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
+
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
+
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
+
+ /* Magnetometer resolution is 16 bits */
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
+};
+
+#define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN \
+ (BIT(INV_MPU9X50_SCAN_MAGN_X) \
+ | BIT(INV_MPU9X50_SCAN_MAGN_Y) \
+ | BIT(INV_MPU9X50_SCAN_MAGN_Z))
+
+static const unsigned long inv_mpu9x50_scan_masks[] = {
+ /* 3-axis accel */
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
+ /* 3-axis gyro */
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
+ /* 3-axis magn */
+ INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
+ INV_MPU9X50_SCAN_MASK_3AXIS_MAGN | INV_MPU6050_SCAN_MASK_TEMP,
+ /* 6-axis accel + gyro */
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+ | INV_MPU6050_SCAN_MASK_TEMP,
+ /* 6-axis accel + magn */
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
+ | INV_MPU6050_SCAN_MASK_TEMP,
+ /* 6-axis gyro + magn */
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
+ | INV_MPU6050_SCAN_MASK_TEMP,
+ /* 9-axis accel + gyro + magn */
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+ | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+ | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
+ | INV_MPU6050_SCAN_MASK_TEMP,
+ 0,
+};
+
+static const unsigned long inv_icm20602_scan_masks[] = {
+ /* 3-axis accel + temp (mandatory) */
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
+ /* 3-axis gyro + temp (mandatory) */
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
+ /* 6-axis accel + gyro + temp (mandatory) */
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+ | INV_MPU6050_SCAN_MASK_TEMP,
+ 0,
+};
+
+/*
+ * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and
+ * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the
+ * low-pass filter. Specifically, each of these sampling rates are about twice
+ * the bandwidth of a corresponding low-pass filter, which should eliminate
+ * aliasing following the Nyquist principle. By picking a frequency different
+ * from these, the user risks aliasing effects.
+ */
+static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
+static IIO_CONST_ATTR(in_anglvel_scale_available,
+ "0.000133090 0.000266181 0.000532362 0.001064724");
+static IIO_CONST_ATTR(in_accel_scale_available,
+ "0.000598 0.001196 0.002392 0.004785");
+static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
+ inv_mpu6050_fifo_rate_store);
+
+/* Deprecated: kept for userspace backward compatibility. */
+static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
+ ATTR_GYRO_MATRIX);
+static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
+ ATTR_ACCL_MATRIX);
+
+static struct attribute *inv_attributes[] = {
+ &iio_dev_attr_in_gyro_matrix.dev_attr.attr, /* deprecated */
+ &iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
+ &iio_dev_attr_sampling_frequency.dev_attr.attr,
+ &iio_const_attr_sampling_frequency_available.dev_attr.attr,
+ &iio_const_attr_in_accel_scale_available.dev_attr.attr,
+ &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group inv_attribute_group = {
+ .attrs = inv_attributes
+};
+
+static int inv_mpu6050_reg_access(struct iio_dev *indio_dev,
+ unsigned int reg,
+ unsigned int writeval,
+ unsigned int *readval)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ int ret;
+
+ mutex_lock(&st->lock);
+ if (readval)
+ ret = regmap_read(st->map, reg, readval);
+ else
+ ret = regmap_write(st->map, reg, writeval);
+ mutex_unlock(&st->lock);
+
+ return ret;
+}
+
+static const struct iio_info mpu_info = {
+ .read_raw = &inv_mpu6050_read_raw,
+ .write_raw = &inv_mpu6050_write_raw,
+ .write_raw_get_fmt = &inv_write_raw_get_fmt,
+ .attrs = &inv_attribute_group,
+ .validate_trigger = inv_mpu6050_validate_trigger,
+ .debugfs_reg_access = &inv_mpu6050_reg_access,
+};
+
+/*
+ * inv_check_and_setup_chip() - check and setup chip.
+ */
+static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
+{
+ int result;
+ unsigned int regval, mask;
+ int i;
+
+ st->hw = &hw_info[st->chip_type];
+ st->reg = hw_info[st->chip_type].reg;
+ memcpy(&st->chip_config, hw_info[st->chip_type].config,
+ sizeof(st->chip_config));
+
+ /* check chip self-identification */
+ result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, &regval);
+ if (result)
+ return result;
+ if (regval != st->hw->whoami) {
+ /* check whoami against all possible values */
+ for (i = 0; i < INV_NUM_PARTS; ++i) {
+ if (regval == hw_info[i].whoami) {
+ dev_warn(regmap_get_device(st->map),
+ "whoami mismatch got 0x%02x (%s) expected 0x%02x (%s)\n",
+ regval, hw_info[i].name,
+ st->hw->whoami, st->hw->name);
+ break;
+ }
+ }
+ if (i >= INV_NUM_PARTS) {
+ dev_err(regmap_get_device(st->map),
+ "invalid whoami 0x%02x expected 0x%02x (%s)\n",
+ regval, st->hw->whoami, st->hw->name);
+ return -ENODEV;
+ }
+ }
+
+ /* reset to make sure previous state are not there */
+ result = regmap_write(st->map, st->reg->pwr_mgmt_1,
+ INV_MPU6050_BIT_H_RESET);
+ if (result)
+ return result;
+ msleep(INV_MPU6050_POWER_UP_TIME);
+ switch (st->chip_type) {
+ case INV_MPU6000:
+ case INV_MPU6500:
+ case INV_MPU6515:
+ case INV_MPU6880:
+ case INV_MPU9250:
+ case INV_MPU9255:
+ /* reset signal path (required for spi connection) */
+ regval = INV_MPU6050_BIT_TEMP_RST | INV_MPU6050_BIT_ACCEL_RST |
+ INV_MPU6050_BIT_GYRO_RST;
+ result = regmap_write(st->map, INV_MPU6050_REG_SIGNAL_PATH_RESET,
+ regval);
+ if (result)
+ return result;
+ msleep(INV_MPU6050_POWER_UP_TIME);
+ break;
+ default:
+ break;
+ }
+
+ /*
+ * Turn power on. After reset, the sleep bit could be on
+ * or off depending on the OTP settings. Turning power on
+ * make it in a definite state as well as making the hardware
+ * state align with the software state
+ */
+ result = inv_mpu6050_set_power_itg(st, true);
+ if (result)
+ return result;
+ mask = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
+ INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
+ result = inv_mpu6050_switch_engine(st, false, mask);
+ if (result)
+ goto error_power_off;
+
+ return 0;
+
+error_power_off:
+ inv_mpu6050_set_power_itg(st, false);
+ return result;
+}
+
+static int inv_mpu_core_enable_regulator_vddio(struct inv_mpu6050_state *st)
+{
+ int result;
+
+ result = regulator_enable(st->vddio_supply);
+ if (result) {
+ dev_err(regmap_get_device(st->map),
+ "Failed to enable vddio regulator: %d\n", result);
+ } else {
+ /* Give the device a little bit of time to start up. */
+ usleep_range(3000, 5000);
+ }
+
+ return result;
+}
+
+static int inv_mpu_core_disable_regulator_vddio(struct inv_mpu6050_state *st)
+{
+ int result;
+
+ result = regulator_disable(st->vddio_supply);
+ if (result)
+ dev_err(regmap_get_device(st->map),
+ "Failed to disable vddio regulator: %d\n", result);
+
+ return result;
+}
+
+static void inv_mpu_core_disable_regulator_action(void *_data)
+{
+ struct inv_mpu6050_state *st = _data;
+ int result;
+
+ result = regulator_disable(st->vdd_supply);
+ if (result)
+ dev_err(regmap_get_device(st->map),
+ "Failed to disable vdd regulator: %d\n", result);
+
+ inv_mpu_core_disable_regulator_vddio(st);
+}
+
+static void inv_mpu_pm_disable(void *data)
+{
+ struct device *dev = data;
+
+ pm_runtime_disable(dev);
+}
+
+int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
+ int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
+{
+ struct inv_mpu6050_state *st;
+ struct iio_dev *indio_dev;
+ struct inv_mpu6050_platform_data *pdata;
+ struct device *dev = regmap_get_device(regmap);
+ int result;
+ struct irq_data *desc;
+ int irq_type;
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ BUILD_BUG_ON(ARRAY_SIZE(hw_info) != INV_NUM_PARTS);
+ if (chip_type < 0 || chip_type >= INV_NUM_PARTS) {
+ dev_err(dev, "Bad invensense chip_type=%d name=%s\n",
+ chip_type, name);
+ return -ENODEV;
+ }
+ st = iio_priv(indio_dev);
+ mutex_init(&st->lock);
+ st->chip_type = chip_type;
+ st->irq = irq;
+ st->map = regmap;
+
+ pdata = dev_get_platdata(dev);
+ if (!pdata) {
+ result = iio_read_mount_matrix(dev, &st->orientation);
+ if (result) {
+ dev_err(dev, "Failed to retrieve mounting matrix %d\n",
+ result);
+ return result;
+ }
+ } else {
+ st->plat_data = *pdata;
+ }
+
+ if (irq > 0) {
+ desc = irq_get_irq_data(irq);
+ if (!desc) {
+ dev_err(dev, "Could not find IRQ %d\n", irq);
+ return -EINVAL;
+ }
+
+ irq_type = irqd_get_trigger_type(desc);
+ if (!irq_type)
+ irq_type = IRQF_TRIGGER_RISING;
+ } else {
+ /* Doesn't really matter, use the default */
+ irq_type = IRQF_TRIGGER_RISING;
+ }
+
+ if (irq_type & IRQF_TRIGGER_RISING) // rising or both-edge
+ st->irq_mask = INV_MPU6050_ACTIVE_HIGH;
+ else if (irq_type == IRQF_TRIGGER_FALLING)
+ st->irq_mask = INV_MPU6050_ACTIVE_LOW;
+ else if (irq_type == IRQF_TRIGGER_HIGH)
+ st->irq_mask = INV_MPU6050_ACTIVE_HIGH |
+ INV_MPU6050_LATCH_INT_EN;
+ else if (irq_type == IRQF_TRIGGER_LOW)
+ st->irq_mask = INV_MPU6050_ACTIVE_LOW |
+ INV_MPU6050_LATCH_INT_EN;
+ else {
+ dev_err(dev, "Invalid interrupt type 0x%x specified\n",
+ irq_type);
+ return -EINVAL;
+ }
+
+ st->vdd_supply = devm_regulator_get(dev, "vdd");
+ if (IS_ERR(st->vdd_supply))
+ return dev_err_probe(dev, PTR_ERR(st->vdd_supply),
+ "Failed to get vdd regulator\n");
+
+ st->vddio_supply = devm_regulator_get(dev, "vddio");
+ if (IS_ERR(st->vddio_supply))
+ return dev_err_probe(dev, PTR_ERR(st->vddio_supply),
+ "Failed to get vddio regulator\n");
+
+ result = regulator_enable(st->vdd_supply);
+ if (result) {
+ dev_err(dev, "Failed to enable vdd regulator: %d\n", result);
+ return result;
+ }
+ msleep(INV_MPU6050_POWER_UP_TIME);
+
+ result = inv_mpu_core_enable_regulator_vddio(st);
+ if (result) {
+ regulator_disable(st->vdd_supply);
+ return result;
+ }
+
+ result = devm_add_action_or_reset(dev, inv_mpu_core_disable_regulator_action,
+ st);
+ if (result) {
+ dev_err(dev, "Failed to setup regulator cleanup action %d\n",
+ result);
+ return result;
+ }
+
+ /* fill magnetometer orientation */
+ result = inv_mpu_magn_set_orient(st);
+ if (result)
+ return result;
+
+ /* power is turned on inside check chip type*/
+ result = inv_check_and_setup_chip(st);
+ if (result)
+ return result;
+
+ result = inv_mpu6050_init_config(indio_dev);
+ if (result) {
+ dev_err(dev, "Could not initialize device.\n");
+ goto error_power_off;
+ }
+
+ dev_set_drvdata(dev, indio_dev);
+ /* name will be NULL when enumerated via ACPI */
+ if (name)
+ indio_dev->name = name;
+ else
+ indio_dev->name = dev_name(dev);
+
+ /* requires parent device set in indio_dev */
+ if (inv_mpu_bus_setup) {
+ result = inv_mpu_bus_setup(indio_dev);
+ if (result)
+ goto error_power_off;
+ }
+
+ /* chip init is done, turning on runtime power management */
+ result = pm_runtime_set_active(dev);
+ if (result)
+ goto error_power_off;
+ pm_runtime_get_noresume(dev);
+ pm_runtime_enable(dev);
+ pm_runtime_set_autosuspend_delay(dev, INV_MPU6050_SUSPEND_DELAY_MS);
+ pm_runtime_use_autosuspend(dev);
+ pm_runtime_put(dev);
+ result = devm_add_action_or_reset(dev, inv_mpu_pm_disable, dev);
+ if (result)
+ return result;
+
+ switch (chip_type) {
+ case INV_MPU9150:
+ indio_dev->channels = inv_mpu9150_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu9150_channels);
+ indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
+ break;
+ case INV_MPU9250:
+ case INV_MPU9255:
+ indio_dev->channels = inv_mpu9250_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
+ indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
+ break;
+ case INV_ICM20602:
+ indio_dev->channels = inv_mpu_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+ indio_dev->available_scan_masks = inv_icm20602_scan_masks;
+ break;
+ default:
+ indio_dev->channels = inv_mpu_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+ indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ break;
+ }
+ /*
+ * Use magnetometer inside the chip only if there is no i2c
+ * auxiliary device in use. Otherwise Going back to 6-axis only.
+ */
+ if (st->magn_disabled) {
+ indio_dev->channels = inv_mpu_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+ indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ }
+
+ indio_dev->info = &mpu_info;
+
+ if (irq > 0) {
+ /*
+ * The driver currently only supports buffered capture with its
+ * own trigger. So no IRQ, no trigger, no buffer
+ */
+ result = devm_iio_triggered_buffer_setup(dev, indio_dev,
+ iio_pollfunc_store_time,
+ inv_mpu6050_read_fifo,
+ NULL);
+ if (result) {
+ dev_err(dev, "configure buffer fail %d\n", result);
+ return result;
+ }
+
+ result = inv_mpu6050_probe_trigger(indio_dev, irq_type);
+ if (result) {
+ dev_err(dev, "trigger probe fail %d\n", result);
+ return result;
+ }
+ }
+
+ result = devm_iio_device_register(dev, indio_dev);
+ if (result) {
+ dev_err(dev, "IIO register fail %d\n", result);
+ return result;
+ }
+
+ return 0;
+
+error_power_off:
+ inv_mpu6050_set_power_itg(st, false);
+ return result;
+}
+EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
+
+static int __maybe_unused inv_mpu_resume(struct device *dev)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ int result;
+
+ mutex_lock(&st->lock);
+ result = inv_mpu_core_enable_regulator_vddio(st);
+ if (result)
+ goto out_unlock;
+
+ result = inv_mpu6050_set_power_itg(st, true);
+ if (result)
+ goto out_unlock;
+
+ pm_runtime_disable(dev);
+ pm_runtime_set_active(dev);
+ pm_runtime_enable(dev);
+
+ result = inv_mpu6050_switch_engine(st, true, st->suspended_sensors);
+ if (result)
+ goto out_unlock;
+
+ if (iio_buffer_enabled(indio_dev))
+ result = inv_mpu6050_prepare_fifo(st, true);
+
+out_unlock:
+ mutex_unlock(&st->lock);
+
+ return result;
+}
+
+static int __maybe_unused inv_mpu_suspend(struct device *dev)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ int result;
+
+ mutex_lock(&st->lock);
+
+ st->suspended_sensors = 0;
+ if (pm_runtime_suspended(dev)) {
+ result = 0;
+ goto out_unlock;
+ }
+
+ if (iio_buffer_enabled(indio_dev)) {
+ result = inv_mpu6050_prepare_fifo(st, false);
+ if (result)
+ goto out_unlock;
+ }
+
+ if (st->chip_config.accl_en)
+ st->suspended_sensors |= INV_MPU6050_SENSOR_ACCL;
+ if (st->chip_config.gyro_en)
+ st->suspended_sensors |= INV_MPU6050_SENSOR_GYRO;
+ if (st->chip_config.temp_en)
+ st->suspended_sensors |= INV_MPU6050_SENSOR_TEMP;
+ if (st->chip_config.magn_en)
+ st->suspended_sensors |= INV_MPU6050_SENSOR_MAGN;
+ result = inv_mpu6050_switch_engine(st, false, st->suspended_sensors);
+ if (result)
+ goto out_unlock;
+
+ result = inv_mpu6050_set_power_itg(st, false);
+ if (result)
+ goto out_unlock;
+
+ inv_mpu_core_disable_regulator_vddio(st);
+out_unlock:
+ mutex_unlock(&st->lock);
+
+ return result;
+}
+
+static int __maybe_unused inv_mpu_runtime_suspend(struct device *dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
+ unsigned int sensors;
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ sensors = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
+ INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
+ ret = inv_mpu6050_switch_engine(st, false, sensors);
+ if (ret)
+ goto out_unlock;
+
+ ret = inv_mpu6050_set_power_itg(st, false);
+ if (ret)
+ goto out_unlock;
+
+ inv_mpu_core_disable_regulator_vddio(st);
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+static int __maybe_unused inv_mpu_runtime_resume(struct device *dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
+ int ret;
+
+ ret = inv_mpu_core_enable_regulator_vddio(st);
+ if (ret)
+ return ret;
+
+ return inv_mpu6050_set_power_itg(st, true);
+}
+
+const struct dev_pm_ops inv_mpu_pmops = {
+ SET_SYSTEM_SLEEP_PM_OPS(inv_mpu_suspend, inv_mpu_resume)
+ SET_RUNTIME_PM_OPS(inv_mpu_runtime_suspend, inv_mpu_runtime_resume, NULL)
+};
+EXPORT_SYMBOL_GPL(inv_mpu_pmops);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("Invensense device MPU6050 driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
new file mode 100644
index 000000000..14255a918
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -0,0 +1,278 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+* Copyright (C) 2012 Invensense, Inc.
+*/
+
+#include <linux/delay.h>
+#include <linux/err.h>
+#include <linux/i2c.h>
+#include <linux/iio/iio.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/property.h>
+
+#include "inv_mpu_iio.h"
+
+static const struct regmap_config inv_mpu_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+};
+
+static int inv_mpu6050_select_bypass(struct i2c_mux_core *muxc, u32 chan_id)
+{
+ return 0;
+}
+
+static bool inv_mpu_i2c_aux_bus(struct device *dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
+
+ switch (st->chip_type) {
+ case INV_ICM20608:
+ case INV_ICM20608D:
+ case INV_ICM20609:
+ case INV_ICM20689:
+ case INV_ICM20602:
+ case INV_IAM20680:
+ /* no i2c auxiliary bus on the chip */
+ return false;
+ case INV_MPU9150:
+ case INV_MPU9250:
+ case INV_MPU9255:
+ if (st->magn_disabled)
+ return true;
+ else
+ return false;
+ default:
+ return true;
+ }
+}
+
+static int inv_mpu_i2c_aux_setup(struct iio_dev *indio_dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct device *dev = indio_dev->dev.parent;
+ struct fwnode_handle *mux_node;
+ int ret;
+
+ /*
+ * MPU9xxx magnetometer support requires to disable i2c auxiliary bus.
+ * To ensure backward compatibility with existing setups, do not disable
+ * i2c auxiliary bus if it used.
+ * Check for i2c-gate node in devicetree and set magnetometer disabled.
+ * Only MPU6500 is supported by ACPI, no need to check.
+ */
+ switch (st->chip_type) {
+ case INV_MPU9150:
+ case INV_MPU9250:
+ case INV_MPU9255:
+ mux_node = device_get_named_child_node(dev, "i2c-gate");
+ if (mux_node != NULL) {
+ st->magn_disabled = true;
+ dev_warn(dev, "disable internal use of magnetometer\n");
+ }
+ fwnode_handle_put(mux_node);
+ break;
+ default:
+ break;
+ }
+
+ /* enable i2c bypass when using i2c auxiliary bus */
+ if (inv_mpu_i2c_aux_bus(dev)) {
+ ret = regmap_write(st->map, st->reg->int_pin_cfg,
+ st->irq_mask | INV_MPU6050_BIT_BYPASS_EN);
+ if (ret)
+ return ret;
+ }
+
+ return 0;
+}
+
+/**
+ * inv_mpu_probe() - probe function.
+ * @client: i2c client.
+ * @id: i2c device id.
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+static int inv_mpu_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ const void *match;
+ struct inv_mpu6050_state *st;
+ int result;
+ enum inv_devices chip_type;
+ struct regmap *regmap;
+ const char *name;
+
+ if (!i2c_check_functionality(client->adapter,
+ I2C_FUNC_SMBUS_I2C_BLOCK))
+ return -EOPNOTSUPP;
+
+ match = device_get_match_data(&client->dev);
+ if (match) {
+ chip_type = (uintptr_t)match;
+ name = client->name;
+ } else if (id) {
+ chip_type = (enum inv_devices)
+ id->driver_data;
+ name = id->name;
+ } else {
+ return -ENOSYS;
+ }
+
+ regmap = devm_regmap_init_i2c(client, &inv_mpu_regmap_config);
+ if (IS_ERR(regmap)) {
+ dev_err(&client->dev, "Failed to register i2c regmap: %pe\n",
+ regmap);
+ return PTR_ERR(regmap);
+ }
+
+ result = inv_mpu_core_probe(regmap, client->irq, name,
+ inv_mpu_i2c_aux_setup, chip_type);
+ if (result < 0)
+ return result;
+
+ st = iio_priv(dev_get_drvdata(&client->dev));
+ if (inv_mpu_i2c_aux_bus(&client->dev)) {
+ /* declare i2c auxiliary bus */
+ st->muxc = i2c_mux_alloc(client->adapter, &client->dev,
+ 1, 0, I2C_MUX_LOCKED | I2C_MUX_GATE,
+ inv_mpu6050_select_bypass, NULL);
+ if (!st->muxc)
+ return -ENOMEM;
+ st->muxc->priv = dev_get_drvdata(&client->dev);
+ result = i2c_mux_add_adapter(st->muxc, 0, 0, 0);
+ if (result)
+ return result;
+ result = inv_mpu_acpi_create_mux_client(client);
+ if (result)
+ goto out_del_mux;
+ }
+
+ return 0;
+
+out_del_mux:
+ i2c_mux_del_adapters(st->muxc);
+ return result;
+}
+
+static void inv_mpu_remove(struct i2c_client *client)
+{
+ struct iio_dev *indio_dev = i2c_get_clientdata(client);
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ if (st->muxc) {
+ inv_mpu_acpi_delete_mux_client(client);
+ i2c_mux_del_adapters(st->muxc);
+ }
+}
+
+/*
+ * device id table is used to identify what device can be
+ * supported by this driver
+ */
+static const struct i2c_device_id inv_mpu_id[] = {
+ {"mpu6050", INV_MPU6050},
+ {"mpu6500", INV_MPU6500},
+ {"mpu6515", INV_MPU6515},
+ {"mpu6880", INV_MPU6880},
+ {"mpu9150", INV_MPU9150},
+ {"mpu9250", INV_MPU9250},
+ {"mpu9255", INV_MPU9255},
+ {"icm20608", INV_ICM20608},
+ {"icm20608d", INV_ICM20608D},
+ {"icm20609", INV_ICM20609},
+ {"icm20689", INV_ICM20689},
+ {"icm20602", INV_ICM20602},
+ {"icm20690", INV_ICM20690},
+ {"iam20680", INV_IAM20680},
+ {}
+};
+
+MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
+
+static const struct of_device_id inv_of_match[] = {
+ {
+ .compatible = "invensense,mpu6050",
+ .data = (void *)INV_MPU6050
+ },
+ {
+ .compatible = "invensense,mpu6500",
+ .data = (void *)INV_MPU6500
+ },
+ {
+ .compatible = "invensense,mpu6515",
+ .data = (void *)INV_MPU6515
+ },
+ {
+ .compatible = "invensense,mpu6880",
+ .data = (void *)INV_MPU6880
+ },
+ {
+ .compatible = "invensense,mpu9150",
+ .data = (void *)INV_MPU9150
+ },
+ {
+ .compatible = "invensense,mpu9250",
+ .data = (void *)INV_MPU9250
+ },
+ {
+ .compatible = "invensense,mpu9255",
+ .data = (void *)INV_MPU9255
+ },
+ {
+ .compatible = "invensense,icm20608",
+ .data = (void *)INV_ICM20608
+ },
+ {
+ .compatible = "invensense,icm20608d",
+ .data = (void *)INV_ICM20608D
+ },
+ {
+ .compatible = "invensense,icm20609",
+ .data = (void *)INV_ICM20609
+ },
+ {
+ .compatible = "invensense,icm20689",
+ .data = (void *)INV_ICM20689
+ },
+ {
+ .compatible = "invensense,icm20602",
+ .data = (void *)INV_ICM20602
+ },
+ {
+ .compatible = "invensense,icm20690",
+ .data = (void *)INV_ICM20690
+ },
+ {
+ .compatible = "invensense,iam20680",
+ .data = (void *)INV_IAM20680
+ },
+ { }
+};
+MODULE_DEVICE_TABLE(of, inv_of_match);
+
+static const struct acpi_device_id inv_acpi_match[] = {
+ {"INVN6500", INV_MPU6500},
+ { },
+};
+MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
+
+static struct i2c_driver inv_mpu_driver = {
+ .probe = inv_mpu_probe,
+ .remove = inv_mpu_remove,
+ .id_table = inv_mpu_id,
+ .driver = {
+ .of_match_table = inv_of_match,
+ .acpi_match_table = inv_acpi_match,
+ .name = "inv-mpu6050-i2c",
+ .pm = &inv_mpu_pmops,
+ },
+};
+
+module_i2c_driver(inv_mpu_driver);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("Invensense device MPU6050 driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
new file mode 100644
index 000000000..94b54c501
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -0,0 +1,474 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+/*
+* Copyright (C) 2012 Invensense, Inc.
+*/
+
+#ifndef INV_MPU_IIO_H_
+#define INV_MPU_IIO_H_
+
+#include <linux/i2c.h>
+#include <linux/i2c-mux.h>
+#include <linux/mutex.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/regmap.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/kfifo_buf.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/platform_data/invensense_mpu6050.h>
+
+/**
+ * struct inv_mpu6050_reg_map - Notable registers.
+ * @sample_rate_div: Divider applied to gyro output rate.
+ * @lpf: Configures internal low pass filter.
+ * @accel_lpf: Configures accelerometer low pass filter.
+ * @user_ctrl: Enables/resets the FIFO.
+ * @fifo_en: Determines which data will appear in FIFO.
+ * @gyro_config: gyro config register.
+ * @accl_config: accel config register
+ * @fifo_count_h: Upper byte of FIFO count.
+ * @fifo_r_w: FIFO register.
+ * @raw_gyro: Address of first gyro register.
+ * @raw_accl: Address of first accel register.
+ * @temperature: temperature register
+ * @int_enable: Interrupt enable register.
+ * @int_status: Interrupt status register.
+ * @pwr_mgmt_1: Controls chip's power state and clock source.
+ * @pwr_mgmt_2: Controls power state of individual sensors.
+ * @int_pin_cfg; Controls interrupt pin configuration.
+ * @accl_offset: Controls the accelerometer calibration offset.
+ * @gyro_offset: Controls the gyroscope calibration offset.
+ * @i2c_if: Controls the i2c interface
+ */
+struct inv_mpu6050_reg_map {
+ u8 sample_rate_div;
+ u8 lpf;
+ u8 accel_lpf;
+ u8 user_ctrl;
+ u8 fifo_en;
+ u8 gyro_config;
+ u8 accl_config;
+ u8 fifo_count_h;
+ u8 fifo_r_w;
+ u8 raw_gyro;
+ u8 raw_accl;
+ u8 temperature;
+ u8 int_enable;
+ u8 int_status;
+ u8 pwr_mgmt_1;
+ u8 pwr_mgmt_2;
+ u8 int_pin_cfg;
+ u8 accl_offset;
+ u8 gyro_offset;
+ u8 i2c_if;
+};
+
+/*device enum */
+enum inv_devices {
+ INV_MPU6050,
+ INV_MPU6500,
+ INV_MPU6515,
+ INV_MPU6880,
+ INV_MPU6000,
+ INV_MPU9150,
+ INV_MPU9250,
+ INV_MPU9255,
+ INV_ICM20608,
+ INV_ICM20608D,
+ INV_ICM20609,
+ INV_ICM20689,
+ INV_ICM20602,
+ INV_ICM20690,
+ INV_IAM20680,
+ INV_NUM_PARTS
+};
+
+/* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer */
+#define INV_MPU6050_SENSOR_ACCL BIT(0)
+#define INV_MPU6050_SENSOR_GYRO BIT(1)
+#define INV_MPU6050_SENSOR_TEMP BIT(2)
+#define INV_MPU6050_SENSOR_MAGN BIT(3)
+
+/**
+ * struct inv_mpu6050_chip_config - Cached chip configuration data.
+ * @clk: selected chip clock
+ * @fsr: Full scale range.
+ * @lpf: Digital low pass filter frequency.
+ * @accl_fs: accel full scale range.
+ * @accl_en: accel engine enabled
+ * @gyro_en: gyro engine enabled
+ * @temp_en: temperature sensor enabled
+ * @magn_en: magn engine (i2c master) enabled
+ * @accl_fifo_enable: enable accel data output
+ * @gyro_fifo_enable: enable gyro data output
+ * @temp_fifo_enable: enable temp data output
+ * @magn_fifo_enable: enable magn data output
+ * @divider: chip sample rate divider (sample rate divider - 1)
+ */
+struct inv_mpu6050_chip_config {
+ unsigned int clk:3;
+ unsigned int fsr:2;
+ unsigned int lpf:3;
+ unsigned int accl_fs:2;
+ unsigned int accl_en:1;
+ unsigned int gyro_en:1;
+ unsigned int temp_en:1;
+ unsigned int magn_en:1;
+ unsigned int accl_fifo_enable:1;
+ unsigned int gyro_fifo_enable:1;
+ unsigned int temp_fifo_enable:1;
+ unsigned int magn_fifo_enable:1;
+ u8 divider;
+ u8 user_ctrl;
+};
+
+/*
+ * Maximum of 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8.
+ * May be less if fewer channels are enabled, as long as the timestamp
+ * remains 8 byte aligned
+ */
+#define INV_MPU6050_OUTPUT_DATA_SIZE 32
+
+/**
+ * struct inv_mpu6050_hw - Other important hardware information.
+ * @whoami: Self identification byte from WHO_AM_I register
+ * @name: name of the chip.
+ * @reg: register map of the chip.
+ * @config: configuration of the chip.
+ * @fifo_size: size of the FIFO in bytes.
+ * @temp: offset and scale to apply to raw temperature.
+ */
+struct inv_mpu6050_hw {
+ u8 whoami;
+ u8 *name;
+ const struct inv_mpu6050_reg_map *reg;
+ const struct inv_mpu6050_chip_config *config;
+ size_t fifo_size;
+ struct {
+ int offset;
+ int scale;
+ } temp;
+ struct {
+ unsigned int accel;
+ unsigned int gyro;
+ } startup_time;
+};
+
+/*
+ * struct inv_mpu6050_state - Driver state variables.
+ * @lock: Chip access lock.
+ * @trig: IIO trigger.
+ * @chip_config: Cached attribute information.
+ * @reg: Map of important registers.
+ * @hw: Other hardware-specific information.
+ * @chip_type: chip type.
+ * @plat_data: platform data (deprecated in favor of @orientation).
+ * @orientation: sensor chip orientation relative to main hardware.
+ * @map regmap pointer.
+ * @irq interrupt number.
+ * @irq_mask the int_pin_cfg mask to configure interrupt type.
+ * @chip_period: chip internal period estimation (~1kHz).
+ * @it_timestamp: timestamp from previous interrupt.
+ * @data_timestamp: timestamp for next data sample.
+ * @vdd_supply: VDD voltage regulator for the chip.
+ * @vddio_supply I/O voltage regulator for the chip.
+ * @magn_disabled: magnetometer disabled for backward compatibility reason.
+ * @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss.
+ * @magn_orient: magnetometer sensor chip orientation if available.
+ * @suspended_sensors: sensors mask of sensors turned off for suspend
+ * @data: dma safe buffer used for bulk reads.
+ */
+struct inv_mpu6050_state {
+ struct mutex lock;
+ struct iio_trigger *trig;
+ struct inv_mpu6050_chip_config chip_config;
+ const struct inv_mpu6050_reg_map *reg;
+ const struct inv_mpu6050_hw *hw;
+ enum inv_devices chip_type;
+ struct i2c_mux_core *muxc;
+ struct i2c_client *mux_client;
+ struct inv_mpu6050_platform_data plat_data;
+ struct iio_mount_matrix orientation;
+ struct regmap *map;
+ int irq;
+ u8 irq_mask;
+ unsigned skip_samples;
+ s64 chip_period;
+ s64 it_timestamp;
+ s64 data_timestamp;
+ struct regulator *vdd_supply;
+ struct regulator *vddio_supply;
+ bool magn_disabled;
+ s32 magn_raw_to_gauss[3];
+ struct iio_mount_matrix magn_orient;
+ unsigned int suspended_sensors;
+ u8 data[INV_MPU6050_OUTPUT_DATA_SIZE] __aligned(IIO_DMA_MINALIGN);
+};
+
+/*register and associated bit definition*/
+#define INV_MPU6050_REG_ACCEL_OFFSET 0x06
+#define INV_MPU6050_REG_GYRO_OFFSET 0x13
+
+#define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19
+#define INV_MPU6050_REG_CONFIG 0x1A
+#define INV_MPU6050_REG_GYRO_CONFIG 0x1B
+#define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
+
+#define INV_MPU6050_REG_FIFO_EN 0x23
+#define INV_MPU6050_BIT_SLAVE_0 0x01
+#define INV_MPU6050_BIT_SLAVE_1 0x02
+#define INV_MPU6050_BIT_SLAVE_2 0x04
+#define INV_MPU6050_BIT_ACCEL_OUT 0x08
+#define INV_MPU6050_BITS_GYRO_OUT 0x70
+#define INV_MPU6050_BIT_TEMP_OUT 0x80
+
+#define INV_MPU6050_REG_I2C_MST_CTRL 0x24
+#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
+#define INV_MPU6050_BIT_I2C_MST_P_NSR 0x10
+#define INV_MPU6050_BIT_SLV3_FIFO_EN 0x20
+#define INV_MPU6050_BIT_WAIT_FOR_ES 0x40
+#define INV_MPU6050_BIT_MULT_MST_EN 0x80
+
+/* control I2C slaves from 0 to 3 */
+#define INV_MPU6050_REG_I2C_SLV_ADDR(_x) (0x25 + 3 * (_x))
+#define INV_MPU6050_BIT_I2C_SLV_RNW 0x80
+
+#define INV_MPU6050_REG_I2C_SLV_REG(_x) (0x26 + 3 * (_x))
+
+#define INV_MPU6050_REG_I2C_SLV_CTRL(_x) (0x27 + 3 * (_x))
+#define INV_MPU6050_BIT_SLV_GRP 0x10
+#define INV_MPU6050_BIT_SLV_REG_DIS 0x20
+#define INV_MPU6050_BIT_SLV_BYTE_SW 0x40
+#define INV_MPU6050_BIT_SLV_EN 0x80
+
+/* I2C master delay register */
+#define INV_MPU6050_REG_I2C_SLV4_CTRL 0x34
+#define INV_MPU6050_BITS_I2C_MST_DLY(_x) ((_x) & 0x1F)
+
+#define INV_MPU6050_REG_I2C_MST_STATUS 0x36
+#define INV_MPU6050_BIT_I2C_SLV0_NACK 0x01
+#define INV_MPU6050_BIT_I2C_SLV1_NACK 0x02
+#define INV_MPU6050_BIT_I2C_SLV2_NACK 0x04
+#define INV_MPU6050_BIT_I2C_SLV3_NACK 0x08
+
+#define INV_MPU6050_REG_INT_ENABLE 0x38
+#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
+#define INV_MPU6050_BIT_DMP_INT_EN 0x02
+
+#define INV_MPU6050_REG_RAW_ACCEL 0x3B
+#define INV_MPU6050_REG_TEMPERATURE 0x41
+#define INV_MPU6050_REG_RAW_GYRO 0x43
+
+#define INV_MPU6050_REG_INT_STATUS 0x3A
+#define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
+#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
+
+#define INV_MPU6050_REG_EXT_SENS_DATA 0x49
+
+/* I2C slaves data output from 0 to 3 */
+#define INV_MPU6050_REG_I2C_SLV_DO(_x) (0x63 + (_x))
+
+#define INV_MPU6050_REG_I2C_MST_DELAY_CTRL 0x67
+#define INV_MPU6050_BIT_I2C_SLV0_DLY_EN 0x01
+#define INV_MPU6050_BIT_I2C_SLV1_DLY_EN 0x02
+#define INV_MPU6050_BIT_I2C_SLV2_DLY_EN 0x04
+#define INV_MPU6050_BIT_I2C_SLV3_DLY_EN 0x08
+#define INV_MPU6050_BIT_DELAY_ES_SHADOW 0x80
+
+#define INV_MPU6050_REG_SIGNAL_PATH_RESET 0x68
+#define INV_MPU6050_BIT_TEMP_RST BIT(0)
+#define INV_MPU6050_BIT_ACCEL_RST BIT(1)
+#define INV_MPU6050_BIT_GYRO_RST BIT(2)
+
+#define INV_MPU6050_REG_USER_CTRL 0x6A
+#define INV_MPU6050_BIT_SIG_COND_RST 0x01
+#define INV_MPU6050_BIT_FIFO_RST 0x04
+#define INV_MPU6050_BIT_DMP_RST 0x08
+#define INV_MPU6050_BIT_I2C_MST_EN 0x20
+#define INV_MPU6050_BIT_FIFO_EN 0x40
+#define INV_MPU6050_BIT_DMP_EN 0x80
+#define INV_MPU6050_BIT_I2C_IF_DIS 0x10
+
+#define INV_MPU6050_REG_PWR_MGMT_1 0x6B
+#define INV_MPU6050_BIT_H_RESET 0x80
+#define INV_MPU6050_BIT_SLEEP 0x40
+#define INV_MPU6050_BIT_TEMP_DIS 0x08
+#define INV_MPU6050_BIT_CLK_MASK 0x7
+
+#define INV_MPU6050_REG_PWR_MGMT_2 0x6C
+#define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
+#define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
+
+/* ICM20602 register */
+#define INV_ICM20602_REG_I2C_IF 0x70
+#define INV_ICM20602_BIT_I2C_IF_DIS 0x40
+
+#define INV_MPU6050_REG_FIFO_COUNT_H 0x72
+#define INV_MPU6050_REG_FIFO_R_W 0x74
+
+#define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
+#define INV_MPU6050_FIFO_COUNT_BYTE 2
+
+/* MPU9X50 9-axis magnetometer */
+#define INV_MPU9X50_BYTES_MAGN 7
+
+/* FIFO temperature sample size */
+#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2
+
+/* mpu6500 registers */
+#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
+#define INV_ICM20689_BITS_FIFO_SIZE_MAX 0xC0
+#define INV_MPU6500_REG_ACCEL_OFFSET 0x77
+
+/* delay time in milliseconds */
+#define INV_MPU6050_POWER_UP_TIME 100
+#define INV_MPU6050_TEMP_UP_TIME 100
+#define INV_MPU6050_ACCEL_STARTUP_TIME 20
+#define INV_MPU6050_GYRO_STARTUP_TIME 60
+#define INV_MPU6050_GYRO_DOWN_TIME 150
+#define INV_MPU6050_SUSPEND_DELAY_MS 2000
+
+#define INV_MPU6500_GYRO_STARTUP_TIME 70
+#define INV_MPU6500_ACCEL_STARTUP_TIME 30
+
+#define INV_ICM20602_GYRO_STARTUP_TIME 100
+#define INV_ICM20602_ACCEL_STARTUP_TIME 20
+
+#define INV_ICM20690_GYRO_STARTUP_TIME 80
+#define INV_ICM20690_ACCEL_STARTUP_TIME 10
+
+
+/* delay time in microseconds */
+#define INV_MPU6050_REG_UP_TIME_MIN 5000
+#define INV_MPU6050_REG_UP_TIME_MAX 10000
+
+#define INV_MPU6050_TEMP_OFFSET 12420
+#define INV_MPU6050_TEMP_SCALE 2941176
+#define INV_MPU6050_MAX_GYRO_FS_PARAM 3
+#define INV_MPU6050_MAX_ACCL_FS_PARAM 3
+#define INV_MPU6050_THREE_AXIS 3
+#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
+#define INV_ICM20690_GYRO_CONFIG_FSR_SHIFT 2
+#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3
+
+#define INV_MPU6500_TEMP_OFFSET 7011
+#define INV_MPU6500_TEMP_SCALE 2995178
+
+#define INV_ICM20608_TEMP_OFFSET 8170
+#define INV_ICM20608_TEMP_SCALE 3059976
+
+#define INV_MPU6050_REG_INT_PIN_CFG 0x37
+#define INV_MPU6050_ACTIVE_HIGH 0x00
+#define INV_MPU6050_ACTIVE_LOW 0x80
+/* enable level triggering */
+#define INV_MPU6050_LATCH_INT_EN 0x20
+#define INV_MPU6050_BIT_BYPASS_EN 0x2
+
+/* Allowed timestamp period jitter in percent */
+#define INV_MPU6050_TS_PERIOD_JITTER 4
+
+/* init parameters */
+#define INV_MPU6050_MAX_FIFO_RATE 1000
+#define INV_MPU6050_MIN_FIFO_RATE 4
+
+/* chip internal frequency: 1KHz */
+#define INV_MPU6050_INTERNAL_FREQ_HZ 1000
+/* return the frequency divider (chip sample rate divider + 1) */
+#define INV_MPU6050_FREQ_DIVIDER(st) \
+ ((st)->chip_config.divider + 1)
+/* chip sample rate divider to fifo rate */
+#define INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate) \
+ ((INV_MPU6050_INTERNAL_FREQ_HZ / (fifo_rate)) - 1)
+#define INV_MPU6050_DIVIDER_TO_FIFO_RATE(divider) \
+ (INV_MPU6050_INTERNAL_FREQ_HZ / ((divider) + 1))
+
+#define INV_MPU6050_REG_WHOAMI 117
+
+#define INV_MPU6000_WHOAMI_VALUE 0x68
+#define INV_MPU6050_WHOAMI_VALUE 0x68
+#define INV_MPU6500_WHOAMI_VALUE 0x70
+#define INV_MPU6880_WHOAMI_VALUE 0x78
+#define INV_MPU9150_WHOAMI_VALUE 0x68
+#define INV_MPU9250_WHOAMI_VALUE 0x71
+#define INV_MPU9255_WHOAMI_VALUE 0x73
+#define INV_MPU6515_WHOAMI_VALUE 0x74
+#define INV_ICM20608_WHOAMI_VALUE 0xAF
+#define INV_ICM20608D_WHOAMI_VALUE 0xAE
+#define INV_ICM20609_WHOAMI_VALUE 0xA6
+#define INV_ICM20689_WHOAMI_VALUE 0x98
+#define INV_ICM20602_WHOAMI_VALUE 0x12
+#define INV_ICM20690_WHOAMI_VALUE 0x20
+#define INV_IAM20680_WHOAMI_VALUE 0xA9
+
+/* scan element definition for generic MPU6xxx devices */
+enum inv_mpu6050_scan {
+ INV_MPU6050_SCAN_ACCL_X,
+ INV_MPU6050_SCAN_ACCL_Y,
+ INV_MPU6050_SCAN_ACCL_Z,
+ INV_MPU6050_SCAN_TEMP,
+ INV_MPU6050_SCAN_GYRO_X,
+ INV_MPU6050_SCAN_GYRO_Y,
+ INV_MPU6050_SCAN_GYRO_Z,
+ INV_MPU6050_SCAN_TIMESTAMP,
+
+ INV_MPU9X50_SCAN_MAGN_X = INV_MPU6050_SCAN_GYRO_Z + 1,
+ INV_MPU9X50_SCAN_MAGN_Y,
+ INV_MPU9X50_SCAN_MAGN_Z,
+ INV_MPU9X50_SCAN_TIMESTAMP,
+};
+
+enum inv_mpu6050_filter_e {
+ INV_MPU6050_FILTER_NOLPF2 = 0,
+ INV_MPU6050_FILTER_200HZ,
+ INV_MPU6050_FILTER_100HZ,
+ INV_MPU6050_FILTER_45HZ,
+ INV_MPU6050_FILTER_20HZ,
+ INV_MPU6050_FILTER_10HZ,
+ INV_MPU6050_FILTER_5HZ,
+ INV_MPU6050_FILTER_NOLPF,
+ NUM_MPU6050_FILTER
+};
+
+/* IIO attribute address */
+enum INV_MPU6050_IIO_ATTR_ADDR {
+ ATTR_GYRO_MATRIX,
+ ATTR_ACCL_MATRIX,
+};
+
+enum inv_mpu6050_accl_fs_e {
+ INV_MPU6050_FS_02G = 0,
+ INV_MPU6050_FS_04G,
+ INV_MPU6050_FS_08G,
+ INV_MPU6050_FS_16G,
+ NUM_ACCL_FSR
+};
+
+enum inv_mpu6050_fsr_e {
+ INV_MPU6050_FSR_250DPS = 0,
+ INV_MPU6050_FSR_500DPS,
+ INV_MPU6050_FSR_1000DPS,
+ INV_MPU6050_FSR_2000DPS,
+ NUM_MPU6050_FSR
+};
+
+enum inv_mpu6050_clock_sel_e {
+ INV_CLK_INTERNAL = 0,
+ INV_CLK_PLL,
+ NUM_CLK
+};
+
+irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
+int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
+int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable);
+int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
+ unsigned int mask);
+int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
+int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
+void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
+int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
+ int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
+extern const struct dev_pm_ops inv_mpu_pmops;
+
+#endif
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
new file mode 100644
index 000000000..6aee6c989
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
@@ -0,0 +1,365 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/string.h>
+
+#include "inv_mpu_aux.h"
+#include "inv_mpu_iio.h"
+#include "inv_mpu_magn.h"
+
+/*
+ * MPU9xxx magnetometer are AKM chips on I2C aux bus
+ * MPU9150 is AK8975
+ * MPU9250 is AK8963
+ */
+#define INV_MPU_MAGN_I2C_ADDR 0x0C
+
+#define INV_MPU_MAGN_REG_WIA 0x00
+#define INV_MPU_MAGN_BITS_WIA 0x48
+
+#define INV_MPU_MAGN_REG_ST1 0x02
+#define INV_MPU_MAGN_BIT_DRDY 0x01
+#define INV_MPU_MAGN_BIT_DOR 0x02
+
+#define INV_MPU_MAGN_REG_DATA 0x03
+
+#define INV_MPU_MAGN_REG_ST2 0x09
+#define INV_MPU_MAGN_BIT_HOFL 0x08
+#define INV_MPU_MAGN_BIT_BITM 0x10
+
+#define INV_MPU_MAGN_REG_CNTL1 0x0A
+#define INV_MPU_MAGN_BITS_MODE_PWDN 0x00
+#define INV_MPU_MAGN_BITS_MODE_SINGLE 0x01
+#define INV_MPU_MAGN_BITS_MODE_FUSE 0x0F
+#define INV_MPU9250_MAGN_BIT_OUTPUT_BIT 0x10
+
+#define INV_MPU9250_MAGN_REG_CNTL2 0x0B
+#define INV_MPU9250_MAGN_BIT_SRST 0x01
+
+#define INV_MPU_MAGN_REG_ASAX 0x10
+#define INV_MPU_MAGN_REG_ASAY 0x11
+#define INV_MPU_MAGN_REG_ASAZ 0x12
+
+static bool inv_magn_supported(const struct inv_mpu6050_state *st)
+{
+ switch (st->chip_type) {
+ case INV_MPU9150:
+ case INV_MPU9250:
+ case INV_MPU9255:
+ return true;
+ default:
+ return false;
+ }
+}
+
+/* init magnetometer chip */
+static int inv_magn_init(struct inv_mpu6050_state *st)
+{
+ uint8_t val;
+ uint8_t asa[3];
+ int32_t sensitivity;
+ int ret;
+
+ /* check whoami */
+ ret = inv_mpu_aux_read(st, INV_MPU_MAGN_I2C_ADDR, INV_MPU_MAGN_REG_WIA,
+ &val, sizeof(val));
+ if (ret)
+ return ret;
+ if (val != INV_MPU_MAGN_BITS_WIA)
+ return -ENODEV;
+
+ /* software reset for MPU925x only */
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
+ INV_MPU9250_MAGN_REG_CNTL2,
+ INV_MPU9250_MAGN_BIT_SRST);
+ if (ret)
+ return ret;
+ break;
+ default:
+ break;
+ }
+
+ /* read fuse ROM data */
+ ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
+ INV_MPU_MAGN_REG_CNTL1,
+ INV_MPU_MAGN_BITS_MODE_FUSE);
+ if (ret)
+ return ret;
+
+ ret = inv_mpu_aux_read(st, INV_MPU_MAGN_I2C_ADDR, INV_MPU_MAGN_REG_ASAX,
+ asa, sizeof(asa));
+ if (ret)
+ return ret;
+
+ /* switch back to power-down */
+ ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
+ INV_MPU_MAGN_REG_CNTL1,
+ INV_MPU_MAGN_BITS_MODE_PWDN);
+ if (ret)
+ return ret;
+
+ /*
+ * Sensor sentivity
+ * 1 uT = 0.01 G and value is in micron (1e6)
+ * sensitvity = x uT * 0.01 * 1e6
+ */
+ switch (st->chip_type) {
+ case INV_MPU9150:
+ /* sensor sensitivity is 0.3 uT */
+ sensitivity = 3000;
+ break;
+ case INV_MPU9250:
+ case INV_MPU9255:
+ /* sensor sensitivity in 16 bits mode: 0.15 uT */
+ sensitivity = 1500;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ /*
+ * Sensitivity adjustement and scale to Gauss
+ *
+ * Hadj = H * (((ASA - 128) * 0.5 / 128) + 1)
+ * Factor simplification:
+ * Hadj = H * ((ASA + 128) / 256)
+ *
+ * raw_to_gauss = Hadj * sensitivity
+ */
+ st->magn_raw_to_gauss[0] = (((int32_t)asa[0] + 128) * sensitivity) / 256;
+ st->magn_raw_to_gauss[1] = (((int32_t)asa[1] + 128) * sensitivity) / 256;
+ st->magn_raw_to_gauss[2] = (((int32_t)asa[2] + 128) * sensitivity) / 256;
+
+ return 0;
+}
+
+/**
+ * inv_mpu_magn_probe() - probe and setup magnetometer chip
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * It is probing the chip and setting up all needed i2c transfers.
+ * Noop if there is no magnetometer in the chip.
+ */
+int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
+{
+ uint8_t val;
+ int ret;
+
+ /* quit if chip is not supported */
+ if (!inv_magn_supported(st))
+ return 0;
+
+ /* configure i2c master aux port */
+ ret = inv_mpu_aux_init(st);
+ if (ret)
+ return ret;
+
+ /* check and init mag chip */
+ ret = inv_magn_init(st);
+ if (ret)
+ return ret;
+
+ /*
+ * configure mpu i2c master accesses
+ * i2c SLV0: read sensor data, 7 bytes data(6)-ST2
+ * Byte swap data to store them in big-endian in impair address groups
+ */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0),
+ INV_MPU6050_BIT_I2C_SLV_RNW | INV_MPU_MAGN_I2C_ADDR);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0),
+ INV_MPU_MAGN_REG_DATA);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
+ INV_MPU6050_BIT_SLV_EN |
+ INV_MPU6050_BIT_SLV_BYTE_SW |
+ INV_MPU6050_BIT_SLV_GRP |
+ INV_MPU9X50_BYTES_MAGN);
+ if (ret)
+ return ret;
+
+ /* i2c SLV1: launch single measurement */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(1),
+ INV_MPU_MAGN_I2C_ADDR);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(1),
+ INV_MPU_MAGN_REG_CNTL1);
+ if (ret)
+ return ret;
+
+ /* add 16 bits mode for MPU925x */
+ val = INV_MPU_MAGN_BITS_MODE_SINGLE;
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ val |= INV_MPU9250_MAGN_BIT_OUTPUT_BIT;
+ break;
+ default:
+ break;
+ }
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(1), val);
+ if (ret)
+ return ret;
+
+ return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(1),
+ INV_MPU6050_BIT_SLV_EN | 1);
+}
+
+/**
+ * inv_mpu_magn_set_rate() - set magnetometer sampling rate
+ * @st: driver internal state
+ * @fifo_rate: mpu set fifo rate
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * Limit sampling frequency to the maximum value supported by the
+ * magnetometer chip. Resulting in duplicated data for higher frequencies.
+ * Noop if there is no magnetometer in the chip.
+ */
+int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate)
+{
+ uint8_t d;
+
+ /* quit if chip is not supported */
+ if (!inv_magn_supported(st))
+ return 0;
+
+ /*
+ * update i2c master delay to limit mag sampling to max frequency
+ * compute fifo_rate divider d: rate = fifo_rate / (d + 1)
+ */
+ if (fifo_rate > INV_MPU_MAGN_FREQ_HZ_MAX)
+ d = fifo_rate / INV_MPU_MAGN_FREQ_HZ_MAX - 1;
+ else
+ d = 0;
+
+ return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, d);
+}
+
+/**
+ * inv_mpu_magn_set_orient() - fill magnetometer mounting matrix
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * Fill magnetometer mounting matrix using the provided chip matrix.
+ */
+int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
+{
+ struct device *dev = regmap_get_device(st->map);
+ const char *orient;
+ char *str;
+ int i;
+
+ /* fill magnetometer orientation */
+ switch (st->chip_type) {
+ case INV_MPU9150:
+ case INV_MPU9250:
+ case INV_MPU9255:
+ /* x <- y */
+ st->magn_orient.rotation[0] = st->orientation.rotation[3];
+ st->magn_orient.rotation[1] = st->orientation.rotation[4];
+ st->magn_orient.rotation[2] = st->orientation.rotation[5];
+ /* y <- x */
+ st->magn_orient.rotation[3] = st->orientation.rotation[0];
+ st->magn_orient.rotation[4] = st->orientation.rotation[1];
+ st->magn_orient.rotation[5] = st->orientation.rotation[2];
+ /* z <- -z */
+ for (i = 6; i < 9; ++i) {
+ orient = st->orientation.rotation[i];
+
+ /*
+ * The value is negated according to one of the following
+ * rules:
+ *
+ * 1) Drop leading minus.
+ * 2) Leave 0 as is.
+ * 3) Add leading minus.
+ */
+ if (orient[0] == '-')
+ str = devm_kstrdup(dev, orient + 1, GFP_KERNEL);
+ else if (!strcmp(orient, "0"))
+ str = devm_kstrdup(dev, orient, GFP_KERNEL);
+ else
+ str = devm_kasprintf(dev, GFP_KERNEL, "-%s", orient);
+ if (!str)
+ return -ENOMEM;
+
+ st->magn_orient.rotation[i] = str;
+ }
+ break;
+ default:
+ st->magn_orient = st->orientation;
+ break;
+ }
+
+ return 0;
+}
+
+/**
+ * inv_mpu_magn_read() - read magnetometer data
+ * @st: driver internal state
+ * @axis: IIO modifier axis value
+ * @val: store corresponding axis value
+ *
+ * Returns 0 on success, a negative error code otherwise
+ */
+int inv_mpu_magn_read(struct inv_mpu6050_state *st, int axis, int *val)
+{
+ unsigned int status;
+ __be16 data;
+ uint8_t addr;
+ int ret;
+
+ /* quit if chip is not supported */
+ if (!inv_magn_supported(st))
+ return -ENODEV;
+
+ /* Mag data: XH,XL,YH,YL,ZH,ZL */
+ switch (axis) {
+ case IIO_MOD_X:
+ addr = 0;
+ break;
+ case IIO_MOD_Y:
+ addr = 2;
+ break;
+ case IIO_MOD_Z:
+ addr = 4;
+ break;
+ default:
+ return -EINVAL;
+ }
+ addr += INV_MPU6050_REG_EXT_SENS_DATA;
+
+ /* check i2c status and read raw data */
+ ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
+ if (ret)
+ return ret;
+
+ if (status & INV_MPU6050_BIT_I2C_SLV0_NACK ||
+ status & INV_MPU6050_BIT_I2C_SLV1_NACK)
+ return -EIO;
+
+ ret = regmap_bulk_read(st->map, addr, &data, sizeof(data));
+ if (ret)
+ return ret;
+
+ *val = (int16_t)be16_to_cpu(data);
+
+ return IIO_VAL_INT;
+}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
new file mode 100644
index 000000000..185c000c6
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
@@ -0,0 +1,39 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#ifndef INV_MPU_MAGN_H_
+#define INV_MPU_MAGN_H_
+
+#include <linux/kernel.h>
+
+#include "inv_mpu_iio.h"
+
+/* Magnetometer maximum frequency */
+#define INV_MPU_MAGN_FREQ_HZ_MAX 50
+
+int inv_mpu_magn_probe(struct inv_mpu6050_state *st);
+
+/**
+ * inv_mpu_magn_get_scale() - get magnetometer scale value
+ * @st: driver internal state
+ *
+ * Returns IIO data format.
+ */
+static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,
+ const struct iio_chan_spec *chan,
+ int *val, int *val2)
+{
+ *val = 0;
+ *val2 = st->magn_raw_to_gauss[chan->address];
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate);
+
+int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st);
+
+int inv_mpu_magn_read(struct inv_mpu6050_state *st, int axis, int *val);
+
+#endif /* INV_MPU_MAGN_H_ */
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
new file mode 100644
index 000000000..45c37525c
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -0,0 +1,208 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+* Copyright (C) 2012 Invensense, Inc.
+*/
+
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/err.h>
+#include <linux/delay.h>
+#include <linux/sysfs.h>
+#include <linux/jiffies.h>
+#include <linux/irq.h>
+#include <linux/interrupt.h>
+#include <linux/poll.h>
+#include <linux/math64.h>
+#include "inv_mpu_iio.h"
+
+/**
+ * inv_mpu6050_update_period() - Update chip internal period estimation
+ *
+ * @st: driver state
+ * @timestamp: the interrupt timestamp
+ * @nb: number of data set in the fifo
+ *
+ * This function uses interrupt timestamps to estimate the chip period and
+ * to choose the data timestamp to come.
+ */
+static void inv_mpu6050_update_period(struct inv_mpu6050_state *st,
+ s64 timestamp, size_t nb)
+{
+ /* Period boundaries for accepting timestamp */
+ const s64 period_min =
+ (NSEC_PER_MSEC * (100 - INV_MPU6050_TS_PERIOD_JITTER)) / 100;
+ const s64 period_max =
+ (NSEC_PER_MSEC * (100 + INV_MPU6050_TS_PERIOD_JITTER)) / 100;
+ const s32 divider = INV_MPU6050_FREQ_DIVIDER(st);
+ s64 delta, interval;
+ bool use_it_timestamp = false;
+
+ if (st->it_timestamp == 0) {
+ /* not initialized, forced to use it_timestamp */
+ use_it_timestamp = true;
+ } else if (nb == 1) {
+ /*
+ * Validate the use of it timestamp by checking if interrupt
+ * has been delayed.
+ * nb > 1 means interrupt was delayed for more than 1 sample,
+ * so it's obviously not good.
+ * Compute the chip period between 2 interrupts for validating.
+ */
+ delta = div_s64(timestamp - st->it_timestamp, divider);
+ if (delta > period_min && delta < period_max) {
+ /* update chip period and use it timestamp */
+ st->chip_period = (st->chip_period + delta) / 2;
+ use_it_timestamp = true;
+ }
+ }
+
+ if (use_it_timestamp) {
+ /*
+ * Manage case of multiple samples in the fifo (nb > 1):
+ * compute timestamp corresponding to the first sample using
+ * estimated chip period.
+ */
+ interval = (nb - 1) * st->chip_period * divider;
+ st->data_timestamp = timestamp - interval;
+ }
+
+ /* save it timestamp */
+ st->it_timestamp = timestamp;
+}
+
+/**
+ * inv_mpu6050_get_timestamp() - Return the current data timestamp
+ *
+ * @st: driver state
+ * @return: current data timestamp
+ *
+ * This function returns the current data timestamp and prepares for next one.
+ */
+static s64 inv_mpu6050_get_timestamp(struct inv_mpu6050_state *st)
+{
+ s64 ts;
+
+ /* return current data timestamp and increment */
+ ts = st->data_timestamp;
+ st->data_timestamp += st->chip_period * INV_MPU6050_FREQ_DIVIDER(st);
+
+ return ts;
+}
+
+static int inv_reset_fifo(struct iio_dev *indio_dev)
+{
+ int result;
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ /* disable fifo and reenable it */
+ inv_mpu6050_prepare_fifo(st, false);
+ result = inv_mpu6050_prepare_fifo(st, true);
+ if (result)
+ goto reset_fifo_fail;
+
+ return 0;
+
+reset_fifo_fail:
+ dev_err(regmap_get_device(st->map), "reset fifo failed %d\n", result);
+ result = regmap_write(st->map, st->reg->int_enable,
+ INV_MPU6050_BIT_DATA_RDY_EN);
+
+ return result;
+}
+
+/*
+ * inv_mpu6050_read_fifo() - Transfer data from hardware FIFO to KFIFO.
+ */
+irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ size_t bytes_per_datum;
+ int result;
+ u16 fifo_count;
+ s64 timestamp;
+ int int_status;
+ size_t i, nb;
+
+ mutex_lock(&st->lock);
+
+ /* ack interrupt and check status */
+ result = regmap_read(st->map, st->reg->int_status, &int_status);
+ if (result) {
+ dev_err(regmap_get_device(st->map),
+ "failed to ack interrupt\n");
+ goto flush_fifo;
+ }
+ if (!(int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT))
+ goto end_session;
+
+ if (!(st->chip_config.accl_fifo_enable |
+ st->chip_config.gyro_fifo_enable |
+ st->chip_config.magn_fifo_enable))
+ goto end_session;
+ bytes_per_datum = 0;
+ if (st->chip_config.accl_fifo_enable)
+ bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
+
+ if (st->chip_config.gyro_fifo_enable)
+ bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
+
+ if (st->chip_config.temp_fifo_enable)
+ bytes_per_datum += INV_MPU6050_BYTES_PER_TEMP_SENSOR;
+
+ if (st->chip_config.magn_fifo_enable)
+ bytes_per_datum += INV_MPU9X50_BYTES_MAGN;
+
+ /*
+ * read fifo_count register to know how many bytes are inside the FIFO
+ * right now
+ */
+ result = regmap_bulk_read(st->map, st->reg->fifo_count_h,
+ st->data, INV_MPU6050_FIFO_COUNT_BYTE);
+ if (result)
+ goto end_session;
+ fifo_count = be16_to_cpup((__be16 *)&st->data[0]);
+
+ /*
+ * Handle fifo overflow by resetting fifo.
+ * Reset if there is only 3 data set free remaining to mitigate
+ * possible delay between reading fifo count and fifo data.
+ */
+ nb = 3 * bytes_per_datum;
+ if (fifo_count >= st->hw->fifo_size - nb) {
+ dev_warn(regmap_get_device(st->map), "fifo overflow reset\n");
+ goto flush_fifo;
+ }
+
+ /* compute and process all complete datum */
+ nb = fifo_count / bytes_per_datum;
+ inv_mpu6050_update_period(st, pf->timestamp, nb);
+ for (i = 0; i < nb; ++i) {
+ result = regmap_noinc_read(st->map, st->reg->fifo_r_w,
+ st->data, bytes_per_datum);
+ if (result)
+ goto flush_fifo;
+ /* skip first samples if needed */
+ if (st->skip_samples) {
+ st->skip_samples--;
+ continue;
+ }
+ timestamp = inv_mpu6050_get_timestamp(st);
+ iio_push_to_buffers_with_timestamp(indio_dev, st->data, timestamp);
+ }
+
+end_session:
+ mutex_unlock(&st->lock);
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+
+flush_fifo:
+ /* Flush HW and SW FIFOs. */
+ inv_reset_fifo(indio_dev);
+ mutex_unlock(&st->lock);
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
new file mode 100644
index 000000000..e6107b0cc
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -0,0 +1,165 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+* Copyright (C) 2015 Intel Corporation Inc.
+*/
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/property.h>
+#include <linux/spi/spi.h>
+#include <linux/regmap.h>
+#include <linux/iio/iio.h>
+#include "inv_mpu_iio.h"
+
+static const struct regmap_config inv_mpu_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+};
+
+static int inv_mpu_i2c_disable(struct iio_dev *indio_dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ int ret = 0;
+
+ if (st->reg->i2c_if) {
+ ret = regmap_write(st->map, st->reg->i2c_if,
+ INV_ICM20602_BIT_I2C_IF_DIS);
+ } else {
+ st->chip_config.user_ctrl |= INV_MPU6050_BIT_I2C_IF_DIS;
+ ret = regmap_write(st->map, st->reg->user_ctrl,
+ st->chip_config.user_ctrl);
+ }
+
+ return ret;
+}
+
+static int inv_mpu_probe(struct spi_device *spi)
+{
+ const void *match;
+ struct regmap *regmap;
+ const struct spi_device_id *spi_id;
+ const char *name = NULL;
+ enum inv_devices chip_type;
+
+ if ((spi_id = spi_get_device_id(spi))) {
+ chip_type = (enum inv_devices)spi_id->driver_data;
+ name = spi_id->name;
+ } else if ((match = device_get_match_data(&spi->dev))) {
+ chip_type = (uintptr_t)match;
+ name = dev_name(&spi->dev);
+ } else {
+ return -ENODEV;
+ }
+
+ regmap = devm_regmap_init_spi(spi, &inv_mpu_regmap_config);
+ if (IS_ERR(regmap)) {
+ dev_err(&spi->dev, "Failed to register spi regmap: %pe\n",
+ regmap);
+ return PTR_ERR(regmap);
+ }
+
+ return inv_mpu_core_probe(regmap, spi->irq, name,
+ inv_mpu_i2c_disable, chip_type);
+}
+
+/*
+ * device id table is used to identify what device can be
+ * supported by this driver
+ */
+static const struct spi_device_id inv_mpu_id[] = {
+ {"mpu6000", INV_MPU6000},
+ {"mpu6500", INV_MPU6500},
+ {"mpu6515", INV_MPU6515},
+ {"mpu6880", INV_MPU6880},
+ {"mpu9250", INV_MPU9250},
+ {"mpu9255", INV_MPU9255},
+ {"icm20608", INV_ICM20608},
+ {"icm20608d", INV_ICM20608D},
+ {"icm20609", INV_ICM20609},
+ {"icm20689", INV_ICM20689},
+ {"icm20602", INV_ICM20602},
+ {"icm20690", INV_ICM20690},
+ {"iam20680", INV_IAM20680},
+ {}
+};
+
+MODULE_DEVICE_TABLE(spi, inv_mpu_id);
+
+static const struct of_device_id inv_of_match[] = {
+ {
+ .compatible = "invensense,mpu6000",
+ .data = (void *)INV_MPU6000
+ },
+ {
+ .compatible = "invensense,mpu6500",
+ .data = (void *)INV_MPU6500
+ },
+ {
+ .compatible = "invensense,mpu6515",
+ .data = (void *)INV_MPU6515
+ },
+ {
+ .compatible = "invensense,mpu6880",
+ .data = (void *)INV_MPU6880
+ },
+ {
+ .compatible = "invensense,mpu9250",
+ .data = (void *)INV_MPU9250
+ },
+ {
+ .compatible = "invensense,mpu9255",
+ .data = (void *)INV_MPU9255
+ },
+ {
+ .compatible = "invensense,icm20608",
+ .data = (void *)INV_ICM20608
+ },
+ {
+ .compatible = "invensense,icm20608d",
+ .data = (void *)INV_ICM20608D
+ },
+ {
+ .compatible = "invensense,icm20609",
+ .data = (void *)INV_ICM20609
+ },
+ {
+ .compatible = "invensense,icm20689",
+ .data = (void *)INV_ICM20689
+ },
+ {
+ .compatible = "invensense,icm20602",
+ .data = (void *)INV_ICM20602
+ },
+ {
+ .compatible = "invensense,icm20690",
+ .data = (void *)INV_ICM20690
+ },
+ {
+ .compatible = "invensense,iam20680",
+ .data = (void *)INV_IAM20680
+ },
+ { }
+};
+MODULE_DEVICE_TABLE(of, inv_of_match);
+
+static const struct acpi_device_id inv_acpi_match[] = {
+ {"INVN6000", INV_MPU6000},
+ { },
+};
+MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
+
+static struct spi_driver inv_mpu_driver = {
+ .probe = inv_mpu_probe,
+ .id_table = inv_mpu_id,
+ .driver = {
+ .of_match_table = inv_of_match,
+ .acpi_match_table = inv_acpi_match,
+ .name = "inv-mpu6000-spi",
+ .pm = &inv_mpu_pmops,
+ },
+};
+
+module_spi_driver(inv_mpu_driver);
+
+MODULE_AUTHOR("Adriana Reus <adriana.reus@intel.com>");
+MODULE_DESCRIPTION("Invensense device MPU6000 driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
new file mode 100644
index 000000000..882546897
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -0,0 +1,251 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+* Copyright (C) 2012 Invensense, Inc.
+*/
+
+#include <linux/pm_runtime.h>
+#include "inv_mpu_iio.h"
+
+static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ unsigned int mask;
+
+ /*
+ * If the MPU6050 is just used as a trigger, then the scan mask
+ * is not allocated so we simply enable the temperature channel
+ * as a dummy and bail out.
+ */
+ if (!indio_dev->active_scan_mask) {
+ st->chip_config.temp_fifo_enable = true;
+ return INV_MPU6050_SENSOR_TEMP;
+ }
+
+ st->chip_config.gyro_fifo_enable =
+ test_bit(INV_MPU6050_SCAN_GYRO_X,
+ indio_dev->active_scan_mask) ||
+ test_bit(INV_MPU6050_SCAN_GYRO_Y,
+ indio_dev->active_scan_mask) ||
+ test_bit(INV_MPU6050_SCAN_GYRO_Z,
+ indio_dev->active_scan_mask);
+
+ st->chip_config.accl_fifo_enable =
+ test_bit(INV_MPU6050_SCAN_ACCL_X,
+ indio_dev->active_scan_mask) ||
+ test_bit(INV_MPU6050_SCAN_ACCL_Y,
+ indio_dev->active_scan_mask) ||
+ test_bit(INV_MPU6050_SCAN_ACCL_Z,
+ indio_dev->active_scan_mask);
+
+ st->chip_config.temp_fifo_enable =
+ test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
+
+ mask = 0;
+ if (st->chip_config.gyro_fifo_enable)
+ mask |= INV_MPU6050_SENSOR_GYRO;
+ if (st->chip_config.accl_fifo_enable)
+ mask |= INV_MPU6050_SENSOR_ACCL;
+ if (st->chip_config.temp_fifo_enable)
+ mask |= INV_MPU6050_SENSOR_TEMP;
+
+ return mask;
+}
+
+static unsigned int inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ unsigned int mask;
+
+ mask = inv_scan_query_mpu6050(indio_dev);
+
+ /* no magnetometer if i2c auxiliary bus is used */
+ if (st->magn_disabled)
+ return mask;
+
+ st->chip_config.magn_fifo_enable =
+ test_bit(INV_MPU9X50_SCAN_MAGN_X,
+ indio_dev->active_scan_mask) ||
+ test_bit(INV_MPU9X50_SCAN_MAGN_Y,
+ indio_dev->active_scan_mask) ||
+ test_bit(INV_MPU9X50_SCAN_MAGN_Z,
+ indio_dev->active_scan_mask);
+ if (st->chip_config.magn_fifo_enable)
+ mask |= INV_MPU6050_SENSOR_MAGN;
+
+ return mask;
+}
+
+static unsigned int inv_scan_query(struct iio_dev *indio_dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ switch (st->chip_type) {
+ case INV_MPU9150:
+ case INV_MPU9250:
+ case INV_MPU9255:
+ return inv_scan_query_mpu9x50(indio_dev);
+ default:
+ return inv_scan_query_mpu6050(indio_dev);
+ }
+}
+
+static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
+{
+ unsigned int skip_samples = 0;
+
+ /* mag first sample is always not ready, skip it */
+ if (st->chip_config.magn_fifo_enable)
+ skip_samples = 1;
+
+ return skip_samples;
+}
+
+int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
+{
+ uint8_t d;
+ int ret;
+
+ if (enable) {
+ st->it_timestamp = 0;
+ /* reset FIFO */
+ d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
+ ret = regmap_write(st->map, st->reg->user_ctrl, d);
+ if (ret)
+ return ret;
+ /* enable sensor output to FIFO */
+ d = 0;
+ if (st->chip_config.gyro_fifo_enable)
+ d |= INV_MPU6050_BITS_GYRO_OUT;
+ if (st->chip_config.accl_fifo_enable)
+ d |= INV_MPU6050_BIT_ACCEL_OUT;
+ if (st->chip_config.temp_fifo_enable)
+ d |= INV_MPU6050_BIT_TEMP_OUT;
+ if (st->chip_config.magn_fifo_enable)
+ d |= INV_MPU6050_BIT_SLAVE_0;
+ ret = regmap_write(st->map, st->reg->fifo_en, d);
+ if (ret)
+ return ret;
+ /* enable FIFO reading */
+ d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_EN;
+ ret = regmap_write(st->map, st->reg->user_ctrl, d);
+ if (ret)
+ return ret;
+ /* enable interrupt */
+ ret = regmap_write(st->map, st->reg->int_enable,
+ INV_MPU6050_BIT_DATA_RDY_EN);
+ } else {
+ ret = regmap_write(st->map, st->reg->int_enable, 0);
+ if (ret)
+ return ret;
+ ret = regmap_write(st->map, st->reg->fifo_en, 0);
+ if (ret)
+ return ret;
+ /* restore user_ctrl for disabling FIFO reading */
+ ret = regmap_write(st->map, st->reg->user_ctrl,
+ st->chip_config.user_ctrl);
+ }
+
+ return ret;
+}
+
+/**
+ * inv_mpu6050_set_enable() - enable chip functions.
+ * @indio_dev: Device driver instance.
+ * @enable: enable/disable
+ */
+static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct device *pdev = regmap_get_device(st->map);
+ unsigned int scan;
+ int result;
+
+ if (enable) {
+ scan = inv_scan_query(indio_dev);
+ result = pm_runtime_resume_and_get(pdev);
+ if (result)
+ return result;
+ /*
+ * In case autosuspend didn't trigger, turn off first not
+ * required sensors.
+ */
+ result = inv_mpu6050_switch_engine(st, false, ~scan);
+ if (result)
+ goto error_power_off;
+ result = inv_mpu6050_switch_engine(st, true, scan);
+ if (result)
+ goto error_power_off;
+ st->skip_samples = inv_compute_skip_samples(st);
+ result = inv_mpu6050_prepare_fifo(st, true);
+ if (result)
+ goto error_power_off;
+ } else {
+ result = inv_mpu6050_prepare_fifo(st, false);
+ if (result)
+ goto error_power_off;
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
+ }
+
+ return 0;
+
+error_power_off:
+ pm_runtime_put_autosuspend(pdev);
+ return result;
+}
+
+/**
+ * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
+ * @trig: Trigger instance
+ * @state: Desired trigger state
+ */
+static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
+ bool state)
+{
+ struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ int result;
+
+ mutex_lock(&st->lock);
+ result = inv_mpu6050_set_enable(indio_dev, state);
+ mutex_unlock(&st->lock);
+
+ return result;
+}
+
+static const struct iio_trigger_ops inv_mpu_trigger_ops = {
+ .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
+};
+
+int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
+{
+ int ret;
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ st->trig = devm_iio_trigger_alloc(&indio_dev->dev,
+ "%s-dev%d",
+ indio_dev->name,
+ iio_device_id(indio_dev));
+ if (!st->trig)
+ return -ENOMEM;
+
+ ret = devm_request_irq(&indio_dev->dev, st->irq,
+ &iio_trigger_generic_data_rdy_poll,
+ irq_type,
+ "inv_mpu",
+ st->trig);
+ if (ret)
+ return ret;
+
+ st->trig->dev.parent = regmap_get_device(st->map);
+ st->trig->ops = &inv_mpu_trigger_ops;
+ iio_trigger_set_drvdata(st->trig, indio_dev);
+
+ ret = devm_iio_trigger_register(&indio_dev->dev, st->trig);
+ if (ret)
+ return ret;
+
+ indio_dev->trig = iio_trigger_get(st->trig);
+
+ return 0;
+}
diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c
new file mode 100644
index 000000000..b10c0dcac
--- /dev/null
+++ b/drivers/iio/imu/kmx61.c
@@ -0,0 +1,1529 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * KMX61 - Kionix 6-axis Accelerometer/Magnetometer
+ *
+ * Copyright (c) 2014, Intel Corporation.
+ *
+ * IIO driver for KMX61 (7-bit I2C slave address 0x0E or 0x0F).
+ */
+
+#include <linux/module.h>
+#include <linux/i2c.h>
+#include <linux/acpi.h>
+#include <linux/interrupt.h>
+#include <linux/pm.h>
+#include <linux/pm_runtime.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/events.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/trigger_consumer.h>
+
+#define KMX61_DRV_NAME "kmx61"
+#define KMX61_IRQ_NAME "kmx61_event"
+
+#define KMX61_REG_WHO_AM_I 0x00
+#define KMX61_REG_INS1 0x01
+#define KMX61_REG_INS2 0x02
+
+/*
+ * three 16-bit accelerometer output registers for X/Y/Z axis
+ * we use only XOUT_L as a base register, all other addresses
+ * can be obtained by applying an offset and are provided here
+ * only for clarity.
+ */
+#define KMX61_ACC_XOUT_L 0x0A
+#define KMX61_ACC_XOUT_H 0x0B
+#define KMX61_ACC_YOUT_L 0x0C
+#define KMX61_ACC_YOUT_H 0x0D
+#define KMX61_ACC_ZOUT_L 0x0E
+#define KMX61_ACC_ZOUT_H 0x0F
+
+/*
+ * one 16-bit temperature output register
+ */
+#define KMX61_TEMP_L 0x10
+#define KMX61_TEMP_H 0x11
+
+/*
+ * three 16-bit magnetometer output registers for X/Y/Z axis
+ */
+#define KMX61_MAG_XOUT_L 0x12
+#define KMX61_MAG_XOUT_H 0x13
+#define KMX61_MAG_YOUT_L 0x14
+#define KMX61_MAG_YOUT_H 0x15
+#define KMX61_MAG_ZOUT_L 0x16
+#define KMX61_MAG_ZOUT_H 0x17
+
+#define KMX61_REG_INL 0x28
+#define KMX61_REG_STBY 0x29
+#define KMX61_REG_CTRL1 0x2A
+#define KMX61_REG_CTRL2 0x2B
+#define KMX61_REG_ODCNTL 0x2C
+#define KMX61_REG_INC1 0x2D
+
+#define KMX61_REG_WUF_THRESH 0x3D
+#define KMX61_REG_WUF_TIMER 0x3E
+
+#define KMX61_ACC_STBY_BIT BIT(0)
+#define KMX61_MAG_STBY_BIT BIT(1)
+#define KMX61_ACT_STBY_BIT BIT(7)
+
+#define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT | KMX61_MAG_STBY_BIT)
+
+#define KMX61_REG_INS1_BIT_WUFS BIT(1)
+
+#define KMX61_REG_INS2_BIT_ZP BIT(0)
+#define KMX61_REG_INS2_BIT_ZN BIT(1)
+#define KMX61_REG_INS2_BIT_YP BIT(2)
+#define KMX61_REG_INS2_BIT_YN BIT(3)
+#define KMX61_REG_INS2_BIT_XP BIT(4)
+#define KMX61_REG_INS2_BIT_XN BIT(5)
+
+#define KMX61_REG_CTRL1_GSEL_MASK 0x03
+
+#define KMX61_REG_CTRL1_BIT_RES BIT(4)
+#define KMX61_REG_CTRL1_BIT_DRDYE BIT(5)
+#define KMX61_REG_CTRL1_BIT_WUFE BIT(6)
+#define KMX61_REG_CTRL1_BIT_BTSE BIT(7)
+
+#define KMX61_REG_INC1_BIT_WUFS BIT(0)
+#define KMX61_REG_INC1_BIT_DRDYM BIT(1)
+#define KMX61_REG_INC1_BIT_DRDYA BIT(2)
+#define KMX61_REG_INC1_BIT_IEN BIT(5)
+
+#define KMX61_ACC_ODR_SHIFT 0
+#define KMX61_MAG_ODR_SHIFT 4
+#define KMX61_ACC_ODR_MASK 0x0F
+#define KMX61_MAG_ODR_MASK 0xF0
+
+#define KMX61_OWUF_MASK 0x7
+
+#define KMX61_DEFAULT_WAKE_THRESH 1
+#define KMX61_DEFAULT_WAKE_DURATION 1
+
+#define KMX61_SLEEP_DELAY_MS 2000
+
+#define KMX61_CHIP_ID 0x12
+
+/* KMX61 devices */
+#define KMX61_ACC 0x01
+#define KMX61_MAG 0x02
+
+struct kmx61_data {
+ struct i2c_client *client;
+
+ /* serialize access to non-atomic ops, e.g set_mode */
+ struct mutex lock;
+
+ /* standby state */
+ bool acc_stby;
+ bool mag_stby;
+
+ /* power state */
+ bool acc_ps;
+ bool mag_ps;
+
+ /* config bits */
+ u8 range;
+ u8 odr_bits;
+ u8 wake_thresh;
+ u8 wake_duration;
+
+ /* accelerometer specific data */
+ struct iio_dev *acc_indio_dev;
+ struct iio_trigger *acc_dready_trig;
+ struct iio_trigger *motion_trig;
+ bool acc_dready_trig_on;
+ bool motion_trig_on;
+ bool ev_enable_state;
+
+ /* magnetometer specific data */
+ struct iio_dev *mag_indio_dev;
+ struct iio_trigger *mag_dready_trig;
+ bool mag_dready_trig_on;
+};
+
+enum kmx61_range {
+ KMX61_RANGE_2G,
+ KMX61_RANGE_4G,
+ KMX61_RANGE_8G,
+};
+
+enum kmx61_axis {
+ KMX61_AXIS_X,
+ KMX61_AXIS_Y,
+ KMX61_AXIS_Z,
+};
+
+static const u16 kmx61_uscale_table[] = {9582, 19163, 38326};
+
+static const struct {
+ int val;
+ int val2;
+} kmx61_samp_freq_table[] = { {12, 500000},
+ {25, 0},
+ {50, 0},
+ {100, 0},
+ {200, 0},
+ {400, 0},
+ {800, 0},
+ {1600, 0},
+ {0, 781000},
+ {1, 563000},
+ {3, 125000},
+ {6, 250000} };
+
+static const struct {
+ int val;
+ int val2;
+ int odr_bits;
+} kmx61_wake_up_odr_table[] = { {0, 781000, 0x00},
+ {1, 563000, 0x01},
+ {3, 125000, 0x02},
+ {6, 250000, 0x03},
+ {12, 500000, 0x04},
+ {25, 0, 0x05},
+ {50, 0, 0x06},
+ {100, 0, 0x06},
+ {200, 0, 0x06},
+ {400, 0, 0x06},
+ {800, 0, 0x06},
+ {1600, 0, 0x06} };
+
+static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326");
+static IIO_CONST_ATTR(magn_scale_available, "0.001465");
+static IIO_CONST_ATTR_SAMP_FREQ_AVAIL(
+ "0.781000 1.563000 3.125000 6.250000 12.500000 25 50 100 200 400 800");
+
+static struct attribute *kmx61_acc_attributes[] = {
+ &iio_const_attr_accel_scale_available.dev_attr.attr,
+ &iio_const_attr_sampling_frequency_available.dev_attr.attr,
+ NULL,
+};
+
+static struct attribute *kmx61_mag_attributes[] = {
+ &iio_const_attr_magn_scale_available.dev_attr.attr,
+ &iio_const_attr_sampling_frequency_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group kmx61_acc_attribute_group = {
+ .attrs = kmx61_acc_attributes,
+};
+
+static const struct attribute_group kmx61_mag_attribute_group = {
+ .attrs = kmx61_mag_attributes,
+};
+
+static const struct iio_event_spec kmx61_event = {
+ .type = IIO_EV_TYPE_THRESH,
+ .dir = IIO_EV_DIR_EITHER,
+ .mask_separate = BIT(IIO_EV_INFO_VALUE) |
+ BIT(IIO_EV_INFO_ENABLE) |
+ BIT(IIO_EV_INFO_PERIOD),
+};
+
+#define KMX61_ACC_CHAN(_axis) { \
+ .type = IIO_ACCEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## _axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = KMX61_ACC, \
+ .scan_index = KMX61_AXIS_ ## _axis, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 12, \
+ .storagebits = 16, \
+ .shift = 4, \
+ .endianness = IIO_LE, \
+ }, \
+ .event_spec = &kmx61_event, \
+ .num_event_specs = 1 \
+}
+
+#define KMX61_MAG_CHAN(_axis) { \
+ .type = IIO_MAGN, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## _axis, \
+ .address = KMX61_MAG, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = KMX61_AXIS_ ## _axis, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 14, \
+ .storagebits = 16, \
+ .shift = 2, \
+ .endianness = IIO_LE, \
+ }, \
+}
+
+static const struct iio_chan_spec kmx61_acc_channels[] = {
+ KMX61_ACC_CHAN(X),
+ KMX61_ACC_CHAN(Y),
+ KMX61_ACC_CHAN(Z),
+};
+
+static const struct iio_chan_spec kmx61_mag_channels[] = {
+ KMX61_MAG_CHAN(X),
+ KMX61_MAG_CHAN(Y),
+ KMX61_MAG_CHAN(Z),
+};
+
+static void kmx61_set_data(struct iio_dev *indio_dev, struct kmx61_data *data)
+{
+ struct kmx61_data **priv = iio_priv(indio_dev);
+
+ *priv = data;
+}
+
+static struct kmx61_data *kmx61_get_data(struct iio_dev *indio_dev)
+{
+ return *(struct kmx61_data **)iio_priv(indio_dev);
+}
+
+static int kmx61_convert_freq_to_bit(int val, int val2)
+{
+ int i;
+
+ for (i = 0; i < ARRAY_SIZE(kmx61_samp_freq_table); i++)
+ if (val == kmx61_samp_freq_table[i].val &&
+ val2 == kmx61_samp_freq_table[i].val2)
+ return i;
+ return -EINVAL;
+}
+
+static int kmx61_convert_wake_up_odr_to_bit(int val, int val2)
+{
+ int i;
+
+ for (i = 0; i < ARRAY_SIZE(kmx61_wake_up_odr_table); ++i)
+ if (kmx61_wake_up_odr_table[i].val == val &&
+ kmx61_wake_up_odr_table[i].val2 == val2)
+ return kmx61_wake_up_odr_table[i].odr_bits;
+ return -EINVAL;
+}
+
+/**
+ * kmx61_set_mode() - set KMX61 device operating mode
+ * @data: kmx61 device private data pointer
+ * @mode: bitmask, indicating operating mode for @device
+ * @device: bitmask, indicating device for which @mode needs to be set
+ * @update: update stby bits stored in device's private @data
+ *
+ * For each sensor (accelerometer/magnetometer) there are two operating modes
+ * STANDBY and OPERATION. Neither accel nor magn can be disabled independently
+ * if they are both enabled. Internal sensors state is saved in acc_stby and
+ * mag_stby members of driver's private @data.
+ */
+static int kmx61_set_mode(struct kmx61_data *data, u8 mode, u8 device,
+ bool update)
+{
+ int ret;
+ int acc_stby = -1, mag_stby = -1;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_stby\n");
+ return ret;
+ }
+ if (device & KMX61_ACC) {
+ if (mode & KMX61_ACC_STBY_BIT) {
+ ret |= KMX61_ACC_STBY_BIT;
+ acc_stby = 1;
+ } else {
+ ret &= ~KMX61_ACC_STBY_BIT;
+ acc_stby = 0;
+ }
+ }
+
+ if (device & KMX61_MAG) {
+ if (mode & KMX61_MAG_STBY_BIT) {
+ ret |= KMX61_MAG_STBY_BIT;
+ mag_stby = 1;
+ } else {
+ ret &= ~KMX61_MAG_STBY_BIT;
+ mag_stby = 0;
+ }
+ }
+
+ if (mode & KMX61_ACT_STBY_BIT)
+ ret |= KMX61_ACT_STBY_BIT;
+
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_STBY, ret);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error writing reg_stby\n");
+ return ret;
+ }
+
+ if (acc_stby != -1 && update)
+ data->acc_stby = acc_stby;
+ if (mag_stby != -1 && update)
+ data->mag_stby = mag_stby;
+
+ return 0;
+}
+
+static int kmx61_get_mode(struct kmx61_data *data, u8 *mode, u8 device)
+{
+ int ret;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_stby\n");
+ return ret;
+ }
+ *mode = 0;
+
+ if (device & KMX61_ACC) {
+ if (ret & KMX61_ACC_STBY_BIT)
+ *mode |= KMX61_ACC_STBY_BIT;
+ else
+ *mode &= ~KMX61_ACC_STBY_BIT;
+ }
+
+ if (device & KMX61_MAG) {
+ if (ret & KMX61_MAG_STBY_BIT)
+ *mode |= KMX61_MAG_STBY_BIT;
+ else
+ *mode &= ~KMX61_MAG_STBY_BIT;
+ }
+
+ return 0;
+}
+
+static int kmx61_set_wake_up_odr(struct kmx61_data *data, int val, int val2)
+{
+ int ret, odr_bits;
+
+ odr_bits = kmx61_convert_wake_up_odr_to_bit(val, val2);
+ if (odr_bits < 0)
+ return odr_bits;
+
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL2,
+ odr_bits);
+ if (ret < 0)
+ dev_err(&data->client->dev, "Error writing reg_ctrl2\n");
+ return ret;
+}
+
+static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device)
+{
+ int ret;
+ u8 mode;
+ int lodr_bits, odr_bits;
+
+ ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG);
+ if (ret < 0)
+ return ret;
+
+ lodr_bits = kmx61_convert_freq_to_bit(val, val2);
+ if (lodr_bits < 0)
+ return lodr_bits;
+
+ /* To change ODR, accel and magn must be in STDBY */
+ ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG,
+ true);
+ if (ret < 0)
+ return ret;
+
+ odr_bits = 0;
+ if (device & KMX61_ACC)
+ odr_bits |= lodr_bits << KMX61_ACC_ODR_SHIFT;
+ if (device & KMX61_MAG)
+ odr_bits |= lodr_bits << KMX61_MAG_ODR_SHIFT;
+
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_ODCNTL,
+ odr_bits);
+ if (ret < 0)
+ return ret;
+
+ data->odr_bits = odr_bits;
+
+ if (device & KMX61_ACC) {
+ ret = kmx61_set_wake_up_odr(data, val, val2);
+ if (ret)
+ return ret;
+ }
+
+ return kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG, true);
+}
+
+static int kmx61_get_odr(struct kmx61_data *data, int *val, int *val2,
+ u8 device)
+{
+ u8 lodr_bits;
+
+ if (device & KMX61_ACC)
+ lodr_bits = (data->odr_bits >> KMX61_ACC_ODR_SHIFT) &
+ KMX61_ACC_ODR_MASK;
+ else if (device & KMX61_MAG)
+ lodr_bits = (data->odr_bits >> KMX61_MAG_ODR_SHIFT) &
+ KMX61_MAG_ODR_MASK;
+ else
+ return -EINVAL;
+
+ if (lodr_bits >= ARRAY_SIZE(kmx61_samp_freq_table))
+ return -EINVAL;
+
+ *val = kmx61_samp_freq_table[lodr_bits].val;
+ *val2 = kmx61_samp_freq_table[lodr_bits].val2;
+
+ return 0;
+}
+
+static int kmx61_set_range(struct kmx61_data *data, u8 range)
+{
+ int ret;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
+ return ret;
+ }
+
+ ret &= ~KMX61_REG_CTRL1_GSEL_MASK;
+ ret |= range & KMX61_REG_CTRL1_GSEL_MASK;
+
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
+ return ret;
+ }
+
+ data->range = range;
+
+ return 0;
+}
+
+static int kmx61_set_scale(struct kmx61_data *data, u16 uscale)
+{
+ int ret, i;
+ u8 mode;
+
+ for (i = 0; i < ARRAY_SIZE(kmx61_uscale_table); i++) {
+ if (kmx61_uscale_table[i] == uscale) {
+ ret = kmx61_get_mode(data, &mode,
+ KMX61_ACC | KMX61_MAG);
+ if (ret < 0)
+ return ret;
+
+ ret = kmx61_set_mode(data, KMX61_ALL_STBY,
+ KMX61_ACC | KMX61_MAG, true);
+ if (ret < 0)
+ return ret;
+
+ ret = kmx61_set_range(data, i);
+ if (ret < 0)
+ return ret;
+
+ return kmx61_set_mode(data, mode,
+ KMX61_ACC | KMX61_MAG, true);
+ }
+ }
+ return -EINVAL;
+}
+
+static int kmx61_chip_init(struct kmx61_data *data)
+{
+ int ret, val, val2;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading who_am_i\n");
+ return ret;
+ }
+
+ if (ret != KMX61_CHIP_ID) {
+ dev_err(&data->client->dev,
+ "Wrong chip id, got %x expected %x\n",
+ ret, KMX61_CHIP_ID);
+ return -EINVAL;
+ }
+
+ /* set accel 12bit, 4g range */
+ ret = kmx61_set_range(data, KMX61_RANGE_4G);
+ if (ret < 0)
+ return ret;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_ODCNTL);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_odcntl\n");
+ return ret;
+ }
+ data->odr_bits = ret;
+
+ /*
+ * set output data rate for wake up (motion detection) function
+ * to match data rate for accelerometer sampling
+ */
+ ret = kmx61_get_odr(data, &val, &val2, KMX61_ACC);
+ if (ret < 0)
+ return ret;
+
+ ret = kmx61_set_wake_up_odr(data, val, val2);
+ if (ret < 0)
+ return ret;
+
+ /* set acc/magn to OPERATION mode */
+ ret = kmx61_set_mode(data, 0, KMX61_ACC | KMX61_MAG, true);
+ if (ret < 0)
+ return ret;
+
+ data->wake_thresh = KMX61_DEFAULT_WAKE_THRESH;
+ data->wake_duration = KMX61_DEFAULT_WAKE_DURATION;
+
+ return 0;
+}
+
+static int kmx61_setup_new_data_interrupt(struct kmx61_data *data,
+ bool status, u8 device)
+{
+ u8 mode;
+ int ret;
+
+ ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG);
+ if (ret < 0)
+ return ret;
+
+ ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG, true);
+ if (ret < 0)
+ return ret;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INC1);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
+ return ret;
+ }
+
+ if (status) {
+ ret |= KMX61_REG_INC1_BIT_IEN;
+ if (device & KMX61_ACC)
+ ret |= KMX61_REG_INC1_BIT_DRDYA;
+ if (device & KMX61_MAG)
+ ret |= KMX61_REG_INC1_BIT_DRDYM;
+ } else {
+ ret &= ~KMX61_REG_INC1_BIT_IEN;
+ if (device & KMX61_ACC)
+ ret &= ~KMX61_REG_INC1_BIT_DRDYA;
+ if (device & KMX61_MAG)
+ ret &= ~KMX61_REG_INC1_BIT_DRDYM;
+ }
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_INC1, ret);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error writing reg_int_ctrl1\n");
+ return ret;
+ }
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
+ return ret;
+ }
+
+ if (status)
+ ret |= KMX61_REG_CTRL1_BIT_DRDYE;
+ else
+ ret &= ~KMX61_REG_CTRL1_BIT_DRDYE;
+
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
+ return ret;
+ }
+
+ return kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG, true);
+}
+
+static int kmx61_chip_update_thresholds(struct kmx61_data *data)
+{
+ int ret;
+
+ ret = i2c_smbus_write_byte_data(data->client,
+ KMX61_REG_WUF_TIMER,
+ data->wake_duration);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Errow writing reg_wuf_timer\n");
+ return ret;
+ }
+
+ ret = i2c_smbus_write_byte_data(data->client,
+ KMX61_REG_WUF_THRESH,
+ data->wake_thresh);
+ if (ret < 0)
+ dev_err(&data->client->dev, "Error writing reg_wuf_thresh\n");
+
+ return ret;
+}
+
+static int kmx61_setup_any_motion_interrupt(struct kmx61_data *data,
+ bool status)
+{
+ u8 mode;
+ int ret;
+
+ ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG);
+ if (ret < 0)
+ return ret;
+
+ ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG, true);
+ if (ret < 0)
+ return ret;
+
+ ret = kmx61_chip_update_thresholds(data);
+ if (ret < 0)
+ return ret;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INC1);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_inc1\n");
+ return ret;
+ }
+ if (status)
+ ret |= (KMX61_REG_INC1_BIT_IEN | KMX61_REG_INC1_BIT_WUFS);
+ else
+ ret &= ~(KMX61_REG_INC1_BIT_IEN | KMX61_REG_INC1_BIT_WUFS);
+
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_INC1, ret);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error writing reg_inc1\n");
+ return ret;
+ }
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
+ return ret;
+ }
+
+ if (status)
+ ret |= KMX61_REG_CTRL1_BIT_WUFE | KMX61_REG_CTRL1_BIT_BTSE;
+ else
+ ret &= ~(KMX61_REG_CTRL1_BIT_WUFE | KMX61_REG_CTRL1_BIT_BTSE);
+
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
+ return ret;
+ }
+ mode |= KMX61_ACT_STBY_BIT;
+ return kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG, true);
+}
+
+/**
+ * kmx61_set_power_state() - set power state for kmx61 @device
+ * @data: kmx61 device private pointer
+ * @on: power state to be set for @device
+ * @device: bitmask indicating device for which @on state needs to be set
+ *
+ * Notice that when ACC power state needs to be set to ON and MAG is in
+ * OPERATION then we know that kmx61_runtime_resume was already called
+ * so we must set ACC OPERATION mode here. The same happens when MAG power
+ * state needs to be set to ON and ACC is in OPERATION.
+ */
+static int kmx61_set_power_state(struct kmx61_data *data, bool on, u8 device)
+{
+#ifdef CONFIG_PM
+ int ret;
+
+ if (device & KMX61_ACC) {
+ if (on && !data->acc_ps && !data->mag_stby) {
+ ret = kmx61_set_mode(data, 0, KMX61_ACC, true);
+ if (ret < 0)
+ return ret;
+ }
+ data->acc_ps = on;
+ }
+ if (device & KMX61_MAG) {
+ if (on && !data->mag_ps && !data->acc_stby) {
+ ret = kmx61_set_mode(data, 0, KMX61_MAG, true);
+ if (ret < 0)
+ return ret;
+ }
+ data->mag_ps = on;
+ }
+
+ if (on) {
+ ret = pm_runtime_resume_and_get(&data->client->dev);
+ } else {
+ pm_runtime_mark_last_busy(&data->client->dev);
+ ret = pm_runtime_put_autosuspend(&data->client->dev);
+ }
+ if (ret < 0) {
+ dev_err(&data->client->dev,
+ "Failed: kmx61_set_power_state for %d, ret %d\n",
+ on, ret);
+
+ return ret;
+ }
+#endif
+ return 0;
+}
+
+static int kmx61_read_measurement(struct kmx61_data *data, u8 base, u8 offset)
+{
+ int ret;
+ u8 reg = base + offset * 2;
+
+ ret = i2c_smbus_read_word_data(data->client, reg);
+ if (ret < 0)
+ dev_err(&data->client->dev, "failed to read reg at %x\n", reg);
+
+ return ret;
+}
+
+static int kmx61_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int *val,
+ int *val2, long mask)
+{
+ int ret;
+ u8 base_reg;
+ struct kmx61_data *data = kmx61_get_data(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ base_reg = KMX61_ACC_XOUT_L;
+ break;
+ case IIO_MAGN:
+ base_reg = KMX61_MAG_XOUT_L;
+ break;
+ default:
+ return -EINVAL;
+ }
+ mutex_lock(&data->lock);
+
+ ret = kmx61_set_power_state(data, true, chan->address);
+ if (ret) {
+ mutex_unlock(&data->lock);
+ return ret;
+ }
+
+ ret = kmx61_read_measurement(data, base_reg, chan->scan_index);
+ if (ret < 0) {
+ kmx61_set_power_state(data, false, chan->address);
+ mutex_unlock(&data->lock);
+ return ret;
+ }
+ *val = sign_extend32(ret >> chan->scan_type.shift,
+ chan->scan_type.realbits - 1);
+ ret = kmx61_set_power_state(data, false, chan->address);
+
+ mutex_unlock(&data->lock);
+ if (ret)
+ return ret;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ *val = 0;
+ *val2 = kmx61_uscale_table[data->range];
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_MAGN:
+ /* 14 bits res, 1465 microGauss per magn count */
+ *val = 0;
+ *val2 = 1465;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ if (chan->type != IIO_ACCEL && chan->type != IIO_MAGN)
+ return -EINVAL;
+
+ mutex_lock(&data->lock);
+ ret = kmx61_get_odr(data, val, val2, chan->address);
+ mutex_unlock(&data->lock);
+ if (ret)
+ return -EINVAL;
+ return IIO_VAL_INT_PLUS_MICRO;
+ }
+ return -EINVAL;
+}
+
+static int kmx61_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int val,
+ int val2, long mask)
+{
+ int ret;
+ struct kmx61_data *data = kmx61_get_data(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ if (chan->type != IIO_ACCEL && chan->type != IIO_MAGN)
+ return -EINVAL;
+
+ mutex_lock(&data->lock);
+ ret = kmx61_set_odr(data, val, val2, chan->address);
+ mutex_unlock(&data->lock);
+ return ret;
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ if (val != 0)
+ return -EINVAL;
+ mutex_lock(&data->lock);
+ ret = kmx61_set_scale(data, val2);
+ mutex_unlock(&data->lock);
+ return ret;
+ default:
+ return -EINVAL;
+ }
+ default:
+ return -EINVAL;
+ }
+}
+
+static int kmx61_read_event(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info,
+ int *val, int *val2)
+{
+ struct kmx61_data *data = kmx61_get_data(indio_dev);
+
+ *val2 = 0;
+ switch (info) {
+ case IIO_EV_INFO_VALUE:
+ *val = data->wake_thresh;
+ return IIO_VAL_INT;
+ case IIO_EV_INFO_PERIOD:
+ *val = data->wake_duration;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int kmx61_write_event(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info,
+ int val, int val2)
+{
+ struct kmx61_data *data = kmx61_get_data(indio_dev);
+
+ if (data->ev_enable_state)
+ return -EBUSY;
+
+ switch (info) {
+ case IIO_EV_INFO_VALUE:
+ data->wake_thresh = val;
+ return IIO_VAL_INT;
+ case IIO_EV_INFO_PERIOD:
+ data->wake_duration = val;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int kmx61_read_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir)
+{
+ struct kmx61_data *data = kmx61_get_data(indio_dev);
+
+ return data->ev_enable_state;
+}
+
+static int kmx61_write_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ int state)
+{
+ struct kmx61_data *data = kmx61_get_data(indio_dev);
+ int ret = 0;
+
+ if (state && data->ev_enable_state)
+ return 0;
+
+ mutex_lock(&data->lock);
+
+ if (!state && data->motion_trig_on) {
+ data->ev_enable_state = false;
+ goto err_unlock;
+ }
+
+ ret = kmx61_set_power_state(data, state, KMX61_ACC);
+ if (ret < 0)
+ goto err_unlock;
+
+ ret = kmx61_setup_any_motion_interrupt(data, state);
+ if (ret < 0) {
+ kmx61_set_power_state(data, false, KMX61_ACC);
+ goto err_unlock;
+ }
+
+ data->ev_enable_state = state;
+
+err_unlock:
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int kmx61_acc_validate_trigger(struct iio_dev *indio_dev,
+ struct iio_trigger *trig)
+{
+ struct kmx61_data *data = kmx61_get_data(indio_dev);
+
+ if (data->acc_dready_trig != trig && data->motion_trig != trig)
+ return -EINVAL;
+
+ return 0;
+}
+
+static int kmx61_mag_validate_trigger(struct iio_dev *indio_dev,
+ struct iio_trigger *trig)
+{
+ struct kmx61_data *data = kmx61_get_data(indio_dev);
+
+ if (data->mag_dready_trig != trig)
+ return -EINVAL;
+
+ return 0;
+}
+
+static const struct iio_info kmx61_acc_info = {
+ .read_raw = kmx61_read_raw,
+ .write_raw = kmx61_write_raw,
+ .attrs = &kmx61_acc_attribute_group,
+ .read_event_value = kmx61_read_event,
+ .write_event_value = kmx61_write_event,
+ .read_event_config = kmx61_read_event_config,
+ .write_event_config = kmx61_write_event_config,
+ .validate_trigger = kmx61_acc_validate_trigger,
+};
+
+static const struct iio_info kmx61_mag_info = {
+ .read_raw = kmx61_read_raw,
+ .write_raw = kmx61_write_raw,
+ .attrs = &kmx61_mag_attribute_group,
+ .validate_trigger = kmx61_mag_validate_trigger,
+};
+
+
+static int kmx61_data_rdy_trigger_set_state(struct iio_trigger *trig,
+ bool state)
+{
+ int ret = 0;
+ u8 device;
+
+ struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+ struct kmx61_data *data = kmx61_get_data(indio_dev);
+
+ mutex_lock(&data->lock);
+
+ if (!state && data->ev_enable_state && data->motion_trig_on) {
+ data->motion_trig_on = false;
+ goto err_unlock;
+ }
+
+ if (data->acc_dready_trig == trig || data->motion_trig == trig)
+ device = KMX61_ACC;
+ else
+ device = KMX61_MAG;
+
+ ret = kmx61_set_power_state(data, state, device);
+ if (ret < 0)
+ goto err_unlock;
+
+ if (data->acc_dready_trig == trig || data->mag_dready_trig == trig)
+ ret = kmx61_setup_new_data_interrupt(data, state, device);
+ else
+ ret = kmx61_setup_any_motion_interrupt(data, state);
+ if (ret < 0) {
+ kmx61_set_power_state(data, false, device);
+ goto err_unlock;
+ }
+
+ if (data->acc_dready_trig == trig)
+ data->acc_dready_trig_on = state;
+ else if (data->mag_dready_trig == trig)
+ data->mag_dready_trig_on = state;
+ else
+ data->motion_trig_on = state;
+err_unlock:
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static void kmx61_trig_reenable(struct iio_trigger *trig)
+{
+ struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+ struct kmx61_data *data = kmx61_get_data(indio_dev);
+ int ret;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INL);
+ if (ret < 0)
+ dev_err(&data->client->dev, "Error reading reg_inl\n");
+}
+
+static const struct iio_trigger_ops kmx61_trigger_ops = {
+ .set_trigger_state = kmx61_data_rdy_trigger_set_state,
+ .reenable = kmx61_trig_reenable,
+};
+
+static irqreturn_t kmx61_event_handler(int irq, void *private)
+{
+ struct kmx61_data *data = private;
+ struct iio_dev *indio_dev = data->acc_indio_dev;
+ int ret;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INS1);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_ins1\n");
+ goto ack_intr;
+ }
+
+ if (ret & KMX61_REG_INS1_BIT_WUFS) {
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INS2);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_ins2\n");
+ goto ack_intr;
+ }
+
+ if (ret & KMX61_REG_INS2_BIT_XN)
+ iio_push_event(indio_dev,
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_X,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_FALLING),
+ 0);
+
+ if (ret & KMX61_REG_INS2_BIT_XP)
+ iio_push_event(indio_dev,
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_X,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_RISING),
+ 0);
+
+ if (ret & KMX61_REG_INS2_BIT_YN)
+ iio_push_event(indio_dev,
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_Y,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_FALLING),
+ 0);
+
+ if (ret & KMX61_REG_INS2_BIT_YP)
+ iio_push_event(indio_dev,
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_Y,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_RISING),
+ 0);
+
+ if (ret & KMX61_REG_INS2_BIT_ZN)
+ iio_push_event(indio_dev,
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_Z,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_FALLING),
+ 0);
+
+ if (ret & KMX61_REG_INS2_BIT_ZP)
+ iio_push_event(indio_dev,
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_Z,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_RISING),
+ 0);
+ }
+
+ack_intr:
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
+ if (ret < 0)
+ dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
+
+ ret |= KMX61_REG_CTRL1_BIT_RES;
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
+ if (ret < 0)
+ dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INL);
+ if (ret < 0)
+ dev_err(&data->client->dev, "Error reading reg_inl\n");
+
+ return IRQ_HANDLED;
+}
+
+static irqreturn_t kmx61_data_rdy_trig_poll(int irq, void *private)
+{
+ struct kmx61_data *data = private;
+
+ if (data->acc_dready_trig_on)
+ iio_trigger_poll(data->acc_dready_trig);
+ if (data->mag_dready_trig_on)
+ iio_trigger_poll(data->mag_dready_trig);
+
+ if (data->motion_trig_on)
+ iio_trigger_poll(data->motion_trig);
+
+ if (data->ev_enable_state)
+ return IRQ_WAKE_THREAD;
+ return IRQ_HANDLED;
+}
+
+static irqreturn_t kmx61_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct kmx61_data *data = kmx61_get_data(indio_dev);
+ int bit, ret, i = 0;
+ u8 base;
+ s16 buffer[8];
+
+ if (indio_dev == data->acc_indio_dev)
+ base = KMX61_ACC_XOUT_L;
+ else
+ base = KMX61_MAG_XOUT_L;
+
+ mutex_lock(&data->lock);
+ for_each_set_bit(bit, indio_dev->active_scan_mask,
+ indio_dev->masklength) {
+ ret = kmx61_read_measurement(data, base, bit);
+ if (ret < 0) {
+ mutex_unlock(&data->lock);
+ goto err;
+ }
+ buffer[i++] = ret;
+ }
+ mutex_unlock(&data->lock);
+
+ iio_push_to_buffers(indio_dev, buffer);
+err:
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+
+static const char *kmx61_match_acpi_device(struct device *dev)
+{
+ const struct acpi_device_id *id;
+
+ id = acpi_match_device(dev->driver->acpi_match_table, dev);
+ if (!id)
+ return NULL;
+ return dev_name(dev);
+}
+
+static struct iio_dev *kmx61_indiodev_setup(struct kmx61_data *data,
+ const struct iio_info *info,
+ const struct iio_chan_spec *chan,
+ int num_channels,
+ const char *name)
+{
+ struct iio_dev *indio_dev;
+
+ indio_dev = devm_iio_device_alloc(&data->client->dev, sizeof(data));
+ if (!indio_dev)
+ return ERR_PTR(-ENOMEM);
+
+ kmx61_set_data(indio_dev, data);
+
+ indio_dev->channels = chan;
+ indio_dev->num_channels = num_channels;
+ indio_dev->name = name;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->info = info;
+
+ return indio_dev;
+}
+
+static struct iio_trigger *kmx61_trigger_setup(struct kmx61_data *data,
+ struct iio_dev *indio_dev,
+ const char *tag)
+{
+ struct iio_trigger *trig;
+ int ret;
+
+ trig = devm_iio_trigger_alloc(&data->client->dev,
+ "%s-%s-dev%d",
+ indio_dev->name,
+ tag,
+ iio_device_id(indio_dev));
+ if (!trig)
+ return ERR_PTR(-ENOMEM);
+
+ trig->ops = &kmx61_trigger_ops;
+ iio_trigger_set_drvdata(trig, indio_dev);
+
+ ret = iio_trigger_register(trig);
+ if (ret)
+ return ERR_PTR(ret);
+
+ return trig;
+}
+
+static int kmx61_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ int ret;
+ struct kmx61_data *data;
+ const char *name = NULL;
+
+ data = devm_kzalloc(&client->dev, sizeof(*data), GFP_KERNEL);
+ if (!data)
+ return -ENOMEM;
+
+ i2c_set_clientdata(client, data);
+ data->client = client;
+
+ mutex_init(&data->lock);
+
+ if (id)
+ name = id->name;
+ else if (ACPI_HANDLE(&client->dev))
+ name = kmx61_match_acpi_device(&client->dev);
+ else
+ return -ENODEV;
+
+ data->acc_indio_dev =
+ kmx61_indiodev_setup(data, &kmx61_acc_info,
+ kmx61_acc_channels,
+ ARRAY_SIZE(kmx61_acc_channels),
+ name);
+ if (IS_ERR(data->acc_indio_dev))
+ return PTR_ERR(data->acc_indio_dev);
+
+ data->mag_indio_dev =
+ kmx61_indiodev_setup(data, &kmx61_mag_info,
+ kmx61_mag_channels,
+ ARRAY_SIZE(kmx61_mag_channels),
+ name);
+ if (IS_ERR(data->mag_indio_dev))
+ return PTR_ERR(data->mag_indio_dev);
+
+ ret = kmx61_chip_init(data);
+ if (ret < 0)
+ return ret;
+
+ if (client->irq > 0) {
+ ret = devm_request_threaded_irq(&client->dev, client->irq,
+ kmx61_data_rdy_trig_poll,
+ kmx61_event_handler,
+ IRQF_TRIGGER_RISING,
+ KMX61_IRQ_NAME,
+ data);
+ if (ret)
+ goto err_chip_uninit;
+
+ data->acc_dready_trig =
+ kmx61_trigger_setup(data, data->acc_indio_dev,
+ "dready");
+ if (IS_ERR(data->acc_dready_trig)) {
+ ret = PTR_ERR(data->acc_dready_trig);
+ goto err_chip_uninit;
+ }
+
+ data->mag_dready_trig =
+ kmx61_trigger_setup(data, data->mag_indio_dev,
+ "dready");
+ if (IS_ERR(data->mag_dready_trig)) {
+ ret = PTR_ERR(data->mag_dready_trig);
+ goto err_trigger_unregister_acc_dready;
+ }
+
+ data->motion_trig =
+ kmx61_trigger_setup(data, data->acc_indio_dev,
+ "any-motion");
+ if (IS_ERR(data->motion_trig)) {
+ ret = PTR_ERR(data->motion_trig);
+ goto err_trigger_unregister_mag_dready;
+ }
+
+ ret = iio_triggered_buffer_setup(data->acc_indio_dev,
+ &iio_pollfunc_store_time,
+ kmx61_trigger_handler,
+ NULL);
+ if (ret < 0) {
+ dev_err(&data->client->dev,
+ "Failed to setup acc triggered buffer\n");
+ goto err_trigger_unregister_motion;
+ }
+
+ ret = iio_triggered_buffer_setup(data->mag_indio_dev,
+ &iio_pollfunc_store_time,
+ kmx61_trigger_handler,
+ NULL);
+ if (ret < 0) {
+ dev_err(&data->client->dev,
+ "Failed to setup mag triggered buffer\n");
+ goto err_buffer_cleanup_acc;
+ }
+ }
+
+ ret = pm_runtime_set_active(&client->dev);
+ if (ret < 0)
+ goto err_buffer_cleanup_mag;
+
+ pm_runtime_enable(&client->dev);
+ pm_runtime_set_autosuspend_delay(&client->dev, KMX61_SLEEP_DELAY_MS);
+ pm_runtime_use_autosuspend(&client->dev);
+
+ ret = iio_device_register(data->acc_indio_dev);
+ if (ret < 0) {
+ dev_err(&client->dev, "Failed to register acc iio device\n");
+ goto err_pm_cleanup;
+ }
+
+ ret = iio_device_register(data->mag_indio_dev);
+ if (ret < 0) {
+ dev_err(&client->dev, "Failed to register mag iio device\n");
+ goto err_iio_unregister_acc;
+ }
+
+ return 0;
+
+err_iio_unregister_acc:
+ iio_device_unregister(data->acc_indio_dev);
+err_pm_cleanup:
+ pm_runtime_dont_use_autosuspend(&client->dev);
+ pm_runtime_disable(&client->dev);
+err_buffer_cleanup_mag:
+ if (client->irq > 0)
+ iio_triggered_buffer_cleanup(data->mag_indio_dev);
+err_buffer_cleanup_acc:
+ if (client->irq > 0)
+ iio_triggered_buffer_cleanup(data->acc_indio_dev);
+err_trigger_unregister_motion:
+ iio_trigger_unregister(data->motion_trig);
+err_trigger_unregister_mag_dready:
+ iio_trigger_unregister(data->mag_dready_trig);
+err_trigger_unregister_acc_dready:
+ iio_trigger_unregister(data->acc_dready_trig);
+err_chip_uninit:
+ kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG, true);
+ return ret;
+}
+
+static void kmx61_remove(struct i2c_client *client)
+{
+ struct kmx61_data *data = i2c_get_clientdata(client);
+
+ iio_device_unregister(data->acc_indio_dev);
+ iio_device_unregister(data->mag_indio_dev);
+
+ pm_runtime_disable(&client->dev);
+ pm_runtime_set_suspended(&client->dev);
+
+ if (client->irq > 0) {
+ iio_triggered_buffer_cleanup(data->acc_indio_dev);
+ iio_triggered_buffer_cleanup(data->mag_indio_dev);
+ iio_trigger_unregister(data->acc_dready_trig);
+ iio_trigger_unregister(data->mag_dready_trig);
+ iio_trigger_unregister(data->motion_trig);
+ }
+
+ mutex_lock(&data->lock);
+ kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG, true);
+ mutex_unlock(&data->lock);
+}
+
+static int kmx61_suspend(struct device *dev)
+{
+ int ret;
+ struct kmx61_data *data = i2c_get_clientdata(to_i2c_client(dev));
+
+ mutex_lock(&data->lock);
+ ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG,
+ false);
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int kmx61_resume(struct device *dev)
+{
+ u8 stby = 0;
+ struct kmx61_data *data = i2c_get_clientdata(to_i2c_client(dev));
+
+ if (data->acc_stby)
+ stby |= KMX61_ACC_STBY_BIT;
+ if (data->mag_stby)
+ stby |= KMX61_MAG_STBY_BIT;
+
+ return kmx61_set_mode(data, stby, KMX61_ACC | KMX61_MAG, true);
+}
+
+static int kmx61_runtime_suspend(struct device *dev)
+{
+ struct kmx61_data *data = i2c_get_clientdata(to_i2c_client(dev));
+ int ret;
+
+ mutex_lock(&data->lock);
+ ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG, true);
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int kmx61_runtime_resume(struct device *dev)
+{
+ struct kmx61_data *data = i2c_get_clientdata(to_i2c_client(dev));
+ u8 stby = 0;
+
+ if (!data->acc_ps)
+ stby |= KMX61_ACC_STBY_BIT;
+ if (!data->mag_ps)
+ stby |= KMX61_MAG_STBY_BIT;
+
+ return kmx61_set_mode(data, stby, KMX61_ACC | KMX61_MAG, true);
+}
+
+static const struct dev_pm_ops kmx61_pm_ops = {
+ SYSTEM_SLEEP_PM_OPS(kmx61_suspend, kmx61_resume)
+ RUNTIME_PM_OPS(kmx61_runtime_suspend, kmx61_runtime_resume, NULL)
+};
+
+static const struct acpi_device_id kmx61_acpi_match[] = {
+ {"KMX61021", 0},
+ {}
+};
+
+MODULE_DEVICE_TABLE(acpi, kmx61_acpi_match);
+
+static const struct i2c_device_id kmx61_id[] = {
+ {"kmx611021", 0},
+ {}
+};
+
+MODULE_DEVICE_TABLE(i2c, kmx61_id);
+
+static struct i2c_driver kmx61_driver = {
+ .driver = {
+ .name = KMX61_DRV_NAME,
+ .acpi_match_table = ACPI_PTR(kmx61_acpi_match),
+ .pm = pm_ptr(&kmx61_pm_ops),
+ },
+ .probe = kmx61_probe,
+ .remove = kmx61_remove,
+ .id_table = kmx61_id,
+};
+
+module_i2c_driver(kmx61_driver);
+
+MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com>");
+MODULE_DESCRIPTION("KMX61 accelerometer/magnetometer driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig
new file mode 100644
index 000000000..2ed2b3f40
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/Kconfig
@@ -0,0 +1,34 @@
+# SPDX-License-Identifier: GPL-2.0-only
+
+config IIO_ST_LSM6DSX
+ tristate "ST_LSM6DSx driver for STM 6-axis IMU MEMS sensors"
+ depends on (I2C || SPI || I3C)
+ select IIO_BUFFER
+ select IIO_KFIFO_BUF
+ select IIO_ST_LSM6DSX_I2C if (I2C)
+ select IIO_ST_LSM6DSX_SPI if (SPI_MASTER)
+ select IIO_ST_LSM6DSX_I3C if (I3C)
+ help
+ Say yes here to build support for STMicroelectronics LSM6DSx imu
+ sensor. Supported devices: lsm6ds3, lsm6ds3h, lsm6dsl, lsm6dsm,
+ ism330dlc, lsm6dso, lsm6dsox, asm330lhh, asm330lhhx, lsm6dsr,
+ lsm6ds3tr-c, ism330dhcx, lsm6dsrx, lsm6ds0, lsm6dsop, lsm6dstx,
+ the accelerometer/gyroscope of lsm9ds1 and lsm6dst.
+
+ To compile this driver as a module, choose M here: the module
+ will be called st_lsm6dsx.
+
+config IIO_ST_LSM6DSX_I2C
+ tristate
+ depends on IIO_ST_LSM6DSX
+ select REGMAP_I2C
+
+config IIO_ST_LSM6DSX_SPI
+ tristate
+ depends on IIO_ST_LSM6DSX
+ select REGMAP_SPI
+
+config IIO_ST_LSM6DSX_I3C
+ tristate
+ depends on IIO_ST_LSM6DSX
+ select REGMAP_I3C
diff --git a/drivers/iio/imu/st_lsm6dsx/Makefile b/drivers/iio/imu/st_lsm6dsx/Makefile
new file mode 100644
index 000000000..57cbcd67d
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/Makefile
@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: GPL-2.0-only
+st_lsm6dsx-y := st_lsm6dsx_core.o st_lsm6dsx_buffer.o \
+ st_lsm6dsx_shub.o
+
+obj-$(CONFIG_IIO_ST_LSM6DSX) += st_lsm6dsx.o
+obj-$(CONFIG_IIO_ST_LSM6DSX_I2C) += st_lsm6dsx_i2c.o
+obj-$(CONFIG_IIO_ST_LSM6DSX_SPI) += st_lsm6dsx_spi.o
+obj-$(CONFIG_IIO_ST_LSM6DSX_I3C) += st_lsm6dsx_i3c.o
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
new file mode 100644
index 000000000..6b57d47be
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -0,0 +1,518 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+/*
+ * STMicroelectronics st_lsm6dsx sensor driver
+ *
+ * Copyright 2016 STMicroelectronics Inc.
+ *
+ * Lorenzo Bianconi <lorenzo.bianconi@st.com>
+ * Denis Ciocca <denis.ciocca@st.com>
+ */
+
+#ifndef ST_LSM6DSX_H
+#define ST_LSM6DSX_H
+
+#include <linux/device.h>
+#include <linux/iio/iio.h>
+#include <linux/regulator/consumer.h>
+
+#define ST_LSM6DS3_DEV_NAME "lsm6ds3"
+#define ST_LSM6DS3H_DEV_NAME "lsm6ds3h"
+#define ST_LSM6DSL_DEV_NAME "lsm6dsl"
+#define ST_LSM6DSM_DEV_NAME "lsm6dsm"
+#define ST_ISM330DLC_DEV_NAME "ism330dlc"
+#define ST_LSM6DSO_DEV_NAME "lsm6dso"
+#define ST_ASM330LHH_DEV_NAME "asm330lhh"
+#define ST_LSM6DSOX_DEV_NAME "lsm6dsox"
+#define ST_LSM6DSR_DEV_NAME "lsm6dsr"
+#define ST_LSM6DS3TRC_DEV_NAME "lsm6ds3tr-c"
+#define ST_ISM330DHCX_DEV_NAME "ism330dhcx"
+#define ST_LSM9DS1_DEV_NAME "lsm9ds1-imu"
+#define ST_LSM6DS0_DEV_NAME "lsm6ds0"
+#define ST_LSM6DSRX_DEV_NAME "lsm6dsrx"
+#define ST_LSM6DST_DEV_NAME "lsm6dst"
+#define ST_LSM6DSOP_DEV_NAME "lsm6dsop"
+#define ST_ASM330LHHX_DEV_NAME "asm330lhhx"
+#define ST_LSM6DSTX_DEV_NAME "lsm6dstx"
+
+enum st_lsm6dsx_hw_id {
+ ST_LSM6DS3_ID,
+ ST_LSM6DS3H_ID,
+ ST_LSM6DSL_ID,
+ ST_LSM6DSM_ID,
+ ST_ISM330DLC_ID,
+ ST_LSM6DSO_ID,
+ ST_ASM330LHH_ID,
+ ST_LSM6DSOX_ID,
+ ST_LSM6DSR_ID,
+ ST_LSM6DS3TRC_ID,
+ ST_ISM330DHCX_ID,
+ ST_LSM9DS1_ID,
+ ST_LSM6DS0_ID,
+ ST_LSM6DSRX_ID,
+ ST_LSM6DST_ID,
+ ST_LSM6DSOP_ID,
+ ST_ASM330LHHX_ID,
+ ST_LSM6DSTX_ID,
+ ST_LSM6DSX_MAX_ID,
+};
+
+#define ST_LSM6DSX_BUFF_SIZE 512
+#define ST_LSM6DSX_CHAN_SIZE 2
+#define ST_LSM6DSX_SAMPLE_SIZE 6
+#define ST_LSM6DSX_TAG_SIZE 1
+#define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \
+ ST_LSM6DSX_TAG_SIZE)
+#define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
+ ST_LSM6DSX_SAMPLE_SIZE)
+#define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
+ * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
+#define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
+
+#define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \
+{ \
+ .type = chan_type, \
+ .address = addr, \
+ .modified = 1, \
+ .channel2 = mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = scan_idx, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ }, \
+ .event_spec = &st_lsm6dsx_event, \
+ .ext_info = st_lsm6dsx_accel_ext_info, \
+ .num_event_specs = 1, \
+}
+
+#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
+{ \
+ .type = chan_type, \
+ .address = addr, \
+ .modified = 1, \
+ .channel2 = mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = scan_idx, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ }, \
+}
+
+struct st_lsm6dsx_reg {
+ u8 addr;
+ u8 mask;
+};
+
+struct st_lsm6dsx_sensor;
+struct st_lsm6dsx_hw;
+
+struct st_lsm6dsx_odr {
+ u32 milli_hz;
+ u8 val;
+};
+
+#define ST_LSM6DSX_ODR_LIST_SIZE 8
+struct st_lsm6dsx_odr_table_entry {
+ struct st_lsm6dsx_reg reg;
+
+ struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
+ int odr_len;
+};
+
+struct st_lsm6dsx_fs {
+ u32 gain;
+ u8 val;
+};
+
+#define ST_LSM6DSX_FS_LIST_SIZE 4
+struct st_lsm6dsx_fs_table_entry {
+ struct st_lsm6dsx_reg reg;
+
+ struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
+ int fs_len;
+};
+
+/**
+ * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
+ * @update_fifo: Update FIFO configuration callback.
+ * @read_fifo: Read FIFO callback.
+ * @fifo_th: FIFO threshold register info (addr + mask).
+ * @fifo_diff: FIFO diff status register info (addr + mask).
+ * @max_size: Sensor max fifo length in FIFO words.
+ * @th_wl: FIFO threshold word length.
+ */
+struct st_lsm6dsx_fifo_ops {
+ int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
+ int (*read_fifo)(struct st_lsm6dsx_hw *hw);
+ struct {
+ u8 addr;
+ u16 mask;
+ } fifo_th;
+ struct {
+ u8 addr;
+ u16 mask;
+ } fifo_diff;
+ u16 max_size;
+ u8 th_wl;
+};
+
+/**
+ * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
+ * @timer_en: Hw timer enable register info (addr + mask).
+ * @hr_timer: Hw timer resolution register info (addr + mask).
+ * @fifo_en: Hw timer FIFO enable register info (addr + mask).
+ * @decimator: Hw timer FIFO decimator register info (addr + mask).
+ * @freq_fine: Difference in % of ODR with respect to the typical.
+ */
+struct st_lsm6dsx_hw_ts_settings {
+ struct st_lsm6dsx_reg timer_en;
+ struct st_lsm6dsx_reg hr_timer;
+ struct st_lsm6dsx_reg fifo_en;
+ struct st_lsm6dsx_reg decimator;
+ u8 freq_fine;
+};
+
+/**
+ * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
+ * @page_mux: register page mux info (addr + mask).
+ * @master_en: master config register info (addr + mask).
+ * @pullup_en: i2c controller pull-up register info (addr + mask).
+ * @aux_sens: aux sensor register info (addr + mask).
+ * @wr_once: write_once register info (addr + mask).
+ * @emb_func: embedded function register info (addr + mask).
+ * @num_ext_dev: max number of slave devices.
+ * @shub_out: sensor hub first output register info.
+ * @slv0_addr: slave0 address in secondary page.
+ * @dw_slv0_addr: slave0 write register address in secondary page.
+ * @batch_en: Enable/disable FIFO batching.
+ * @pause: controller pause value.
+ */
+struct st_lsm6dsx_shub_settings {
+ struct st_lsm6dsx_reg page_mux;
+ struct {
+ bool sec_page;
+ u8 addr;
+ u8 mask;
+ } master_en;
+ struct {
+ bool sec_page;
+ u8 addr;
+ u8 mask;
+ } pullup_en;
+ struct st_lsm6dsx_reg aux_sens;
+ struct st_lsm6dsx_reg wr_once;
+ struct st_lsm6dsx_reg emb_func;
+ u8 num_ext_dev;
+ struct {
+ bool sec_page;
+ u8 addr;
+ } shub_out;
+ u8 slv0_addr;
+ u8 dw_slv0_addr;
+ u8 batch_en;
+ u8 pause;
+};
+
+struct st_lsm6dsx_event_settings {
+ struct st_lsm6dsx_reg enable_reg;
+ struct st_lsm6dsx_reg wakeup_reg;
+ u8 wakeup_src_reg;
+ u8 wakeup_src_status_mask;
+ u8 wakeup_src_z_mask;
+ u8 wakeup_src_y_mask;
+ u8 wakeup_src_x_mask;
+};
+
+enum st_lsm6dsx_ext_sensor_id {
+ ST_LSM6DSX_ID_MAGN,
+};
+
+/**
+ * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
+ * @i2c_addr: I2c slave address list.
+ * @wai: Wai address info.
+ * @id: external sensor id.
+ * @odr_table: Output data rate of the sensor [Hz].
+ * @fs_table: Configured sensor sensitivity table depending on full scale.
+ * @temp_comp: Temperature compensation register info (addr + mask).
+ * @pwr_table: Power on register info (addr + mask).
+ * @off_canc: Offset cancellation register info (addr + mask).
+ * @bdu: Block data update register info (addr + mask).
+ * @out: Output register info.
+ */
+struct st_lsm6dsx_ext_dev_settings {
+ u8 i2c_addr[2];
+ struct {
+ u8 addr;
+ u8 val;
+ } wai;
+ enum st_lsm6dsx_ext_sensor_id id;
+ struct st_lsm6dsx_odr_table_entry odr_table;
+ struct st_lsm6dsx_fs_table_entry fs_table;
+ struct st_lsm6dsx_reg temp_comp;
+ struct {
+ struct st_lsm6dsx_reg reg;
+ u8 off_val;
+ u8 on_val;
+ } pwr_table;
+ struct st_lsm6dsx_reg off_canc;
+ struct st_lsm6dsx_reg bdu;
+ struct {
+ u8 addr;
+ u8 len;
+ } out;
+};
+
+/**
+ * struct st_lsm6dsx_settings - ST IMU sensor settings
+ * @reset: register address for reset.
+ * @boot: register address for boot.
+ * @bdu: register address for Block Data Update.
+ * @id: List of hw id/device name supported by the driver configuration.
+ * @channels: IIO channels supported by the device.
+ * @irq_config: interrupts related registers.
+ * @drdy_mask: register info for data-ready mask (addr + mask).
+ * @odr_table: Hw sensors odr table (Hz + val).
+ * @fs_table: Hw sensors gain table (gain + val).
+ * @decimator: List of decimator register info (addr + mask).
+ * @batch: List of FIFO batching register info (addr + mask).
+ * @fifo_ops: Sensor hw FIFO parameters.
+ * @ts_settings: Hw timer related settings.
+ * @shub_settings: i2c controller related settings.
+ */
+struct st_lsm6dsx_settings {
+ struct st_lsm6dsx_reg reset;
+ struct st_lsm6dsx_reg boot;
+ struct st_lsm6dsx_reg bdu;
+ struct {
+ enum st_lsm6dsx_hw_id hw_id;
+ const char *name;
+ u8 wai;
+ } id[ST_LSM6DSX_MAX_ID];
+ struct {
+ const struct iio_chan_spec *chan;
+ int len;
+ } channels[2];
+ struct {
+ struct st_lsm6dsx_reg irq1;
+ struct st_lsm6dsx_reg irq2;
+ struct st_lsm6dsx_reg irq1_func;
+ struct st_lsm6dsx_reg irq2_func;
+ struct st_lsm6dsx_reg lir;
+ struct st_lsm6dsx_reg clear_on_read;
+ struct st_lsm6dsx_reg hla;
+ struct st_lsm6dsx_reg od;
+ } irq_config;
+ struct st_lsm6dsx_reg drdy_mask;
+ struct st_lsm6dsx_odr_table_entry odr_table[2];
+ struct st_lsm6dsx_fs_table_entry fs_table[2];
+ struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
+ struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
+ struct st_lsm6dsx_fifo_ops fifo_ops;
+ struct st_lsm6dsx_hw_ts_settings ts_settings;
+ struct st_lsm6dsx_shub_settings shub_settings;
+ struct st_lsm6dsx_event_settings event_settings;
+};
+
+enum st_lsm6dsx_sensor_id {
+ ST_LSM6DSX_ID_GYRO,
+ ST_LSM6DSX_ID_ACC,
+ ST_LSM6DSX_ID_EXT0,
+ ST_LSM6DSX_ID_EXT1,
+ ST_LSM6DSX_ID_EXT2,
+ ST_LSM6DSX_ID_MAX,
+};
+
+enum st_lsm6dsx_fifo_mode {
+ ST_LSM6DSX_FIFO_BYPASS = 0x0,
+ ST_LSM6DSX_FIFO_CONT = 0x6,
+};
+
+/**
+ * struct st_lsm6dsx_sensor - ST IMU sensor instance
+ * @name: Sensor name.
+ * @id: Sensor identifier.
+ * @hw: Pointer to instance of struct st_lsm6dsx_hw.
+ * @gain: Configured sensor sensitivity.
+ * @odr: Output data rate of the sensor [Hz].
+ * @watermark: Sensor watermark level.
+ * @decimator: Sensor decimation factor.
+ * @sip: Number of samples in a given pattern.
+ * @ts_ref: Sensor timestamp reference for hw one.
+ * @ext_info: Sensor settings if it is connected to i2c controller
+ */
+struct st_lsm6dsx_sensor {
+ char name[32];
+ enum st_lsm6dsx_sensor_id id;
+ struct st_lsm6dsx_hw *hw;
+
+ u32 gain;
+ u32 odr;
+
+ u16 watermark;
+ u8 decimator;
+ u8 sip;
+ s64 ts_ref;
+
+ struct {
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ u32 slv_odr;
+ u8 addr;
+ } ext_info;
+};
+
+/**
+ * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
+ * @dev: Pointer to instance of struct device (I2C or SPI).
+ * @regmap: Register map of the device.
+ * @regulators: VDD/VDDIO voltage regulators.
+ * @irq: Device interrupt line (I2C or SPI).
+ * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
+ * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
+ * @page_lock: Mutex to prevent concurrent memory page configuration.
+ * @suspend_mask: Suspended sensor bitmask.
+ * @enable_mask: Enabled sensor bitmask.
+ * @fifo_mask: Enabled hw FIFO bitmask.
+ * @ts_gain: Hw timestamp rate after internal calibration.
+ * @ts_sip: Total number of timestamp samples in a given pattern.
+ * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
+ * @buff: Device read buffer.
+ * @irq_routing: pointer to interrupt routing configuration.
+ * @event_threshold: wakeup event threshold.
+ * @enable_event: enabled event bitmask.
+ * @iio_devs: Pointers to acc/gyro iio_dev instances.
+ * @settings: Pointer to the specific sensor settings in use.
+ * @orientation: sensor chip orientation relative to main hardware.
+ * @scan: Temporary buffers used to align data before iio_push_to_buffers()
+ */
+struct st_lsm6dsx_hw {
+ struct device *dev;
+ struct regmap *regmap;
+ struct regulator_bulk_data regulators[2];
+ int irq;
+
+ struct mutex fifo_lock;
+ struct mutex conf_lock;
+ struct mutex page_lock;
+
+ u8 suspend_mask;
+ u8 enable_mask;
+ u8 fifo_mask;
+ s64 ts_gain;
+ u8 ts_sip;
+ u8 sip;
+
+ const struct st_lsm6dsx_reg *irq_routing;
+ u8 event_threshold;
+ u8 enable_event;
+
+ u8 *buff;
+
+ struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
+
+ const struct st_lsm6dsx_settings *settings;
+
+ struct iio_mount_matrix orientation;
+ /* Ensure natural alignment of buffer elements */
+ struct {
+ __le16 channels[3];
+ s64 ts __aligned(8);
+ } scan[3];
+};
+
+static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
+ .type = IIO_EV_TYPE_THRESH,
+ .dir = IIO_EV_DIR_EITHER,
+ .mask_separate = BIT(IIO_EV_INFO_VALUE) |
+ BIT(IIO_EV_INFO_ENABLE)
+};
+
+static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
+ 0x7, 0x0,
+};
+
+extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
+
+int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
+ struct regmap *regmap);
+int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
+ bool enable);
+int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
+int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
+int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
+ u16 watermark);
+int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
+int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
+int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
+int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
+int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
+int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
+int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
+int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
+int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
+
+static inline int
+st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
+ unsigned int mask, unsigned int val)
+{
+ int err;
+
+ mutex_lock(&hw->page_lock);
+ err = regmap_update_bits(hw->regmap, addr, mask, val);
+ mutex_unlock(&hw->page_lock);
+
+ return err;
+}
+
+static inline int
+st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
+ void *val, unsigned int len)
+{
+ int err;
+
+ mutex_lock(&hw->page_lock);
+ err = regmap_bulk_read(hw->regmap, addr, val, len);
+ mutex_unlock(&hw->page_lock);
+
+ return err;
+}
+
+static inline int
+st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
+ unsigned int val)
+{
+ int err;
+
+ mutex_lock(&hw->page_lock);
+ err = regmap_write(hw->regmap, addr, val);
+ mutex_unlock(&hw->page_lock);
+
+ return err;
+}
+
+static inline const struct iio_mount_matrix *
+st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
+ const struct iio_chan_spec *chan)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+
+ return &hw->orientation;
+}
+
+static const
+struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
+ { }
+};
+
+#endif /* ST_LSM6DSX_H */
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
new file mode 100644
index 000000000..e49f2d120
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
@@ -0,0 +1,756 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * STMicroelectronics st_lsm6dsx FIFO buffer library driver
+ *
+ * LSM6DS3/LSM6DS3H/LSM6DSL/LSM6DSM/ISM330DLC/LSM6DS3TR-C:
+ * The FIFO buffer can be configured to store data from gyroscope and
+ * accelerometer. Samples are queued without any tag according to a
+ * specific pattern based on 'FIFO data sets' (6 bytes each):
+ * - 1st data set is reserved for gyroscope data
+ * - 2nd data set is reserved for accelerometer data
+ * The FIFO pattern changes depending on the ODRs and decimation factors
+ * assigned to the FIFO data sets. The first sequence of data stored in FIFO
+ * buffer contains the data of all the enabled FIFO data sets
+ * (e.g. Gx, Gy, Gz, Ax, Ay, Az), then data are repeated depending on the
+ * value of the decimation factor and ODR set for each FIFO data set.
+ *
+ * LSM6DSO/LSM6DSOX/ASM330LHH/ASM330LHHX/LSM6DSR/LSM6DSRX/ISM330DHCX/
+ * LSM6DST/LSM6DSOP/LSM6DSTX:
+ * The FIFO buffer can be configured to store data from gyroscope and
+ * accelerometer. Each sample is queued with a tag (1B) indicating data
+ * source (gyroscope, accelerometer, hw timer).
+ *
+ * FIFO supported modes:
+ * - BYPASS: FIFO disabled
+ * - CONTINUOUS: FIFO enabled. When the buffer is full, the FIFO index
+ * restarts from the beginning and the oldest sample is overwritten
+ *
+ * Copyright 2016 STMicroelectronics Inc.
+ *
+ * Lorenzo Bianconi <lorenzo.bianconi@st.com>
+ * Denis Ciocca <denis.ciocca@st.com>
+ */
+#include <linux/module.h>
+#include <linux/iio/kfifo_buf.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/regmap.h>
+#include <linux/bitfield.h>
+
+#include <linux/platform_data/st_sensors_pdata.h>
+
+#include "st_lsm6dsx.h"
+
+#define ST_LSM6DSX_REG_FIFO_MODE_ADDR 0x0a
+#define ST_LSM6DSX_FIFO_MODE_MASK GENMASK(2, 0)
+#define ST_LSM6DSX_FIFO_ODR_MASK GENMASK(6, 3)
+#define ST_LSM6DSX_FIFO_EMPTY_MASK BIT(12)
+#define ST_LSM6DSX_REG_FIFO_OUTL_ADDR 0x3e
+#define ST_LSM6DSX_REG_FIFO_OUT_TAG_ADDR 0x78
+#define ST_LSM6DSX_REG_TS_RESET_ADDR 0x42
+
+#define ST_LSM6DSX_MAX_FIFO_ODR_VAL 0x08
+
+#define ST_LSM6DSX_TS_RESET_VAL 0xaa
+
+struct st_lsm6dsx_decimator_entry {
+ u8 decimator;
+ u8 val;
+};
+
+enum st_lsm6dsx_fifo_tag {
+ ST_LSM6DSX_GYRO_TAG = 0x01,
+ ST_LSM6DSX_ACC_TAG = 0x02,
+ ST_LSM6DSX_TS_TAG = 0x04,
+ ST_LSM6DSX_EXT0_TAG = 0x0f,
+ ST_LSM6DSX_EXT1_TAG = 0x10,
+ ST_LSM6DSX_EXT2_TAG = 0x11,
+};
+
+static const
+struct st_lsm6dsx_decimator_entry st_lsm6dsx_decimator_table[] = {
+ { 0, 0x0 },
+ { 1, 0x1 },
+ { 2, 0x2 },
+ { 3, 0x3 },
+ { 4, 0x4 },
+ { 8, 0x5 },
+ { 16, 0x6 },
+ { 32, 0x7 },
+};
+
+static int
+st_lsm6dsx_get_decimator_val(struct st_lsm6dsx_sensor *sensor, u32 max_odr)
+{
+ const int max_size = ARRAY_SIZE(st_lsm6dsx_decimator_table);
+ u32 decimator = max_odr / sensor->odr;
+ int i;
+
+ if (decimator > 1)
+ decimator = round_down(decimator, 2);
+
+ for (i = 0; i < max_size; i++) {
+ if (st_lsm6dsx_decimator_table[i].decimator == decimator)
+ break;
+ }
+
+ sensor->decimator = decimator;
+ return i == max_size ? 0 : st_lsm6dsx_decimator_table[i].val;
+}
+
+static void st_lsm6dsx_get_max_min_odr(struct st_lsm6dsx_hw *hw,
+ u32 *max_odr, u32 *min_odr)
+{
+ struct st_lsm6dsx_sensor *sensor;
+ int i;
+
+ *max_odr = 0, *min_odr = ~0;
+ for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
+ if (!hw->iio_devs[i])
+ continue;
+
+ sensor = iio_priv(hw->iio_devs[i]);
+
+ if (!(hw->enable_mask & BIT(sensor->id)))
+ continue;
+
+ *max_odr = max_t(u32, *max_odr, sensor->odr);
+ *min_odr = min_t(u32, *min_odr, sensor->odr);
+ }
+}
+
+static u8 st_lsm6dsx_get_sip(struct st_lsm6dsx_sensor *sensor, u32 min_odr)
+{
+ u8 sip = sensor->odr / min_odr;
+
+ return sip > 1 ? round_down(sip, 2) : sip;
+}
+
+static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw)
+{
+ const struct st_lsm6dsx_reg *ts_dec_reg;
+ struct st_lsm6dsx_sensor *sensor;
+ u16 sip = 0, ts_sip = 0;
+ u32 max_odr, min_odr;
+ int err = 0, i;
+ u8 data;
+
+ st_lsm6dsx_get_max_min_odr(hw, &max_odr, &min_odr);
+
+ for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
+ const struct st_lsm6dsx_reg *dec_reg;
+
+ if (!hw->iio_devs[i])
+ continue;
+
+ sensor = iio_priv(hw->iio_devs[i]);
+ /* update fifo decimators and sample in pattern */
+ if (hw->enable_mask & BIT(sensor->id)) {
+ sensor->sip = st_lsm6dsx_get_sip(sensor, min_odr);
+ data = st_lsm6dsx_get_decimator_val(sensor, max_odr);
+ } else {
+ sensor->sip = 0;
+ data = 0;
+ }
+ ts_sip = max_t(u16, ts_sip, sensor->sip);
+
+ dec_reg = &hw->settings->decimator[sensor->id];
+ if (dec_reg->addr) {
+ int val = ST_LSM6DSX_SHIFT_VAL(data, dec_reg->mask);
+
+ err = st_lsm6dsx_update_bits_locked(hw, dec_reg->addr,
+ dec_reg->mask,
+ val);
+ if (err < 0)
+ return err;
+ }
+ sip += sensor->sip;
+ }
+ hw->sip = sip + ts_sip;
+ hw->ts_sip = ts_sip;
+
+ /*
+ * update hw ts decimator if necessary. Decimator for hw timestamp
+ * is always 1 or 0 in order to have a ts sample for each data
+ * sample in FIFO
+ */
+ ts_dec_reg = &hw->settings->ts_settings.decimator;
+ if (ts_dec_reg->addr) {
+ int val, ts_dec = !!hw->ts_sip;
+
+ val = ST_LSM6DSX_SHIFT_VAL(ts_dec, ts_dec_reg->mask);
+ err = st_lsm6dsx_update_bits_locked(hw, ts_dec_reg->addr,
+ ts_dec_reg->mask, val);
+ }
+ return err;
+}
+
+static int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
+ enum st_lsm6dsx_fifo_mode fifo_mode)
+{
+ unsigned int data;
+
+ data = FIELD_PREP(ST_LSM6DSX_FIFO_MODE_MASK, fifo_mode);
+ return st_lsm6dsx_update_bits_locked(hw, ST_LSM6DSX_REG_FIFO_MODE_ADDR,
+ ST_LSM6DSX_FIFO_MODE_MASK, data);
+}
+
+static int st_lsm6dsx_set_fifo_odr(struct st_lsm6dsx_sensor *sensor,
+ bool enable)
+{
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ const struct st_lsm6dsx_reg *batch_reg;
+ u8 data;
+
+ batch_reg = &hw->settings->batch[sensor->id];
+ if (batch_reg->addr) {
+ int val;
+
+ if (enable) {
+ int err;
+
+ err = st_lsm6dsx_check_odr(sensor, sensor->odr,
+ &data);
+ if (err < 0)
+ return err;
+ } else {
+ data = 0;
+ }
+ val = ST_LSM6DSX_SHIFT_VAL(data, batch_reg->mask);
+ return st_lsm6dsx_update_bits_locked(hw, batch_reg->addr,
+ batch_reg->mask, val);
+ } else {
+ data = hw->enable_mask ? ST_LSM6DSX_MAX_FIFO_ODR_VAL : 0;
+ return st_lsm6dsx_update_bits_locked(hw,
+ ST_LSM6DSX_REG_FIFO_MODE_ADDR,
+ ST_LSM6DSX_FIFO_ODR_MASK,
+ FIELD_PREP(ST_LSM6DSX_FIFO_ODR_MASK,
+ data));
+ }
+}
+
+int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, u16 watermark)
+{
+ u16 fifo_watermark = ~0, cur_watermark, fifo_th_mask;
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ struct st_lsm6dsx_sensor *cur_sensor;
+ int i, err, data;
+ __le16 wdata;
+
+ if (!hw->sip)
+ return 0;
+
+ for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
+ if (!hw->iio_devs[i])
+ continue;
+
+ cur_sensor = iio_priv(hw->iio_devs[i]);
+
+ if (!(hw->enable_mask & BIT(cur_sensor->id)))
+ continue;
+
+ cur_watermark = (cur_sensor == sensor) ? watermark
+ : cur_sensor->watermark;
+
+ fifo_watermark = min_t(u16, fifo_watermark, cur_watermark);
+ }
+
+ fifo_watermark = max_t(u16, fifo_watermark, hw->sip);
+ fifo_watermark = (fifo_watermark / hw->sip) * hw->sip;
+ fifo_watermark = fifo_watermark * hw->settings->fifo_ops.th_wl;
+
+ mutex_lock(&hw->page_lock);
+ err = regmap_read(hw->regmap, hw->settings->fifo_ops.fifo_th.addr + 1,
+ &data);
+ if (err < 0)
+ goto out;
+
+ fifo_th_mask = hw->settings->fifo_ops.fifo_th.mask;
+ fifo_watermark = ((data << 8) & ~fifo_th_mask) |
+ (fifo_watermark & fifo_th_mask);
+
+ wdata = cpu_to_le16(fifo_watermark);
+ err = regmap_bulk_write(hw->regmap,
+ hw->settings->fifo_ops.fifo_th.addr,
+ &wdata, sizeof(wdata));
+out:
+ mutex_unlock(&hw->page_lock);
+ return err;
+}
+
+static int st_lsm6dsx_reset_hw_ts(struct st_lsm6dsx_hw *hw)
+{
+ struct st_lsm6dsx_sensor *sensor;
+ int i, err;
+
+ /* reset hw ts counter */
+ err = st_lsm6dsx_write_locked(hw, ST_LSM6DSX_REG_TS_RESET_ADDR,
+ ST_LSM6DSX_TS_RESET_VAL);
+ if (err < 0)
+ return err;
+
+ for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
+ if (!hw->iio_devs[i])
+ continue;
+
+ sensor = iio_priv(hw->iio_devs[i]);
+ /*
+ * store enable buffer timestamp as reference for
+ * hw timestamp
+ */
+ sensor->ts_ref = iio_get_time_ns(hw->iio_devs[i]);
+ }
+ return 0;
+}
+
+int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw)
+{
+ int err;
+
+ /* reset hw ts counter */
+ err = st_lsm6dsx_reset_hw_ts(hw);
+ if (err < 0)
+ return err;
+
+ return st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT);
+}
+
+/*
+ * Set max bulk read to ST_LSM6DSX_MAX_WORD_LEN/ST_LSM6DSX_MAX_TAGGED_WORD_LEN
+ * in order to avoid a kmalloc for each bus access
+ */
+static inline int st_lsm6dsx_read_block(struct st_lsm6dsx_hw *hw, u8 addr,
+ u8 *data, unsigned int data_len,
+ unsigned int max_word_len)
+{
+ unsigned int word_len, read_len = 0;
+ int err;
+
+ while (read_len < data_len) {
+ word_len = min_t(unsigned int, data_len - read_len,
+ max_word_len);
+ err = st_lsm6dsx_read_locked(hw, addr, data + read_len,
+ word_len);
+ if (err < 0)
+ return err;
+ read_len += word_len;
+ }
+ return 0;
+}
+
+#define ST_LSM6DSX_IIO_BUFF_SIZE (ALIGN(ST_LSM6DSX_SAMPLE_SIZE, \
+ sizeof(s64)) + sizeof(s64))
+/**
+ * st_lsm6dsx_read_fifo() - hw FIFO read routine
+ * @hw: Pointer to instance of struct st_lsm6dsx_hw.
+ *
+ * Read samples from the hw FIFO and push them to IIO buffers.
+ *
+ * Return: Number of bytes read from the FIFO
+ */
+int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
+{
+ struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor, *ext_sensor = NULL;
+ int err, sip, acc_sip, gyro_sip, ts_sip, ext_sip, read_len, offset;
+ u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE;
+ u16 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask;
+ bool reset_ts = false;
+ __le16 fifo_status;
+ s64 ts = 0;
+
+ err = st_lsm6dsx_read_locked(hw,
+ hw->settings->fifo_ops.fifo_diff.addr,
+ &fifo_status, sizeof(fifo_status));
+ if (err < 0) {
+ dev_err(hw->dev, "failed to read fifo status (err=%d)\n",
+ err);
+ return err;
+ }
+
+ if (fifo_status & cpu_to_le16(ST_LSM6DSX_FIFO_EMPTY_MASK))
+ return 0;
+
+ fifo_len = (le16_to_cpu(fifo_status) & fifo_diff_mask) *
+ ST_LSM6DSX_CHAN_SIZE;
+ fifo_len = (fifo_len / pattern_len) * pattern_len;
+
+ acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
+ gyro_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_GYRO]);
+ if (hw->iio_devs[ST_LSM6DSX_ID_EXT0])
+ ext_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_EXT0]);
+
+ for (read_len = 0; read_len < fifo_len; read_len += pattern_len) {
+ err = st_lsm6dsx_read_block(hw, ST_LSM6DSX_REG_FIFO_OUTL_ADDR,
+ hw->buff, pattern_len,
+ ST_LSM6DSX_MAX_WORD_LEN);
+ if (err < 0) {
+ dev_err(hw->dev,
+ "failed to read pattern from fifo (err=%d)\n",
+ err);
+ return err;
+ }
+
+ /*
+ * Data are written to the FIFO with a specific pattern
+ * depending on the configured ODRs. The first sequence of data
+ * stored in FIFO contains the data of all enabled sensors
+ * (e.g. Gx, Gy, Gz, Ax, Ay, Az, Ts), then data are repeated
+ * depending on the value of the decimation factor set for each
+ * sensor.
+ *
+ * Supposing the FIFO is storing data from gyroscope and
+ * accelerometer at different ODRs:
+ * - gyroscope ODR = 208Hz, accelerometer ODR = 104Hz
+ * Since the gyroscope ODR is twice the accelerometer one, the
+ * following pattern is repeated every 9 samples:
+ * - Gx, Gy, Gz, Ax, Ay, Az, Ts, Gx, Gy, Gz, Ts, Gx, ..
+ */
+ ext_sip = ext_sensor ? ext_sensor->sip : 0;
+ gyro_sip = gyro_sensor->sip;
+ acc_sip = acc_sensor->sip;
+ ts_sip = hw->ts_sip;
+ offset = 0;
+ sip = 0;
+
+ while (acc_sip > 0 || gyro_sip > 0 || ext_sip > 0) {
+ if (gyro_sip > 0 && !(sip % gyro_sensor->decimator)) {
+ memcpy(hw->scan[ST_LSM6DSX_ID_GYRO].channels,
+ &hw->buff[offset],
+ sizeof(hw->scan[ST_LSM6DSX_ID_GYRO].channels));
+ offset += sizeof(hw->scan[ST_LSM6DSX_ID_GYRO].channels);
+ }
+ if (acc_sip > 0 && !(sip % acc_sensor->decimator)) {
+ memcpy(hw->scan[ST_LSM6DSX_ID_ACC].channels,
+ &hw->buff[offset],
+ sizeof(hw->scan[ST_LSM6DSX_ID_ACC].channels));
+ offset += sizeof(hw->scan[ST_LSM6DSX_ID_ACC].channels);
+ }
+ if (ext_sip > 0 && !(sip % ext_sensor->decimator)) {
+ memcpy(hw->scan[ST_LSM6DSX_ID_EXT0].channels,
+ &hw->buff[offset],
+ sizeof(hw->scan[ST_LSM6DSX_ID_EXT0].channels));
+ offset += sizeof(hw->scan[ST_LSM6DSX_ID_EXT0].channels);
+ }
+
+ if (ts_sip-- > 0) {
+ u8 data[ST_LSM6DSX_SAMPLE_SIZE];
+
+ memcpy(data, &hw->buff[offset], sizeof(data));
+ /*
+ * hw timestamp is 3B long and it is stored
+ * in FIFO using 6B as 4th FIFO data set
+ * according to this schema:
+ * B0 = ts[15:8], B1 = ts[23:16], B3 = ts[7:0]
+ */
+ ts = data[1] << 16 | data[0] << 8 | data[3];
+ /*
+ * check if hw timestamp engine is going to
+ * reset (the sensor generates an interrupt
+ * to signal the hw timestamp will reset in
+ * 1.638s)
+ */
+ if (!reset_ts && ts >= 0xff0000)
+ reset_ts = true;
+ ts *= hw->ts_gain;
+
+ offset += ST_LSM6DSX_SAMPLE_SIZE;
+ }
+
+ if (gyro_sip > 0 && !(sip % gyro_sensor->decimator)) {
+ iio_push_to_buffers_with_timestamp(
+ hw->iio_devs[ST_LSM6DSX_ID_GYRO],
+ &hw->scan[ST_LSM6DSX_ID_GYRO],
+ gyro_sensor->ts_ref + ts);
+ gyro_sip--;
+ }
+ if (acc_sip > 0 && !(sip % acc_sensor->decimator)) {
+ iio_push_to_buffers_with_timestamp(
+ hw->iio_devs[ST_LSM6DSX_ID_ACC],
+ &hw->scan[ST_LSM6DSX_ID_ACC],
+ acc_sensor->ts_ref + ts);
+ acc_sip--;
+ }
+ if (ext_sip > 0 && !(sip % ext_sensor->decimator)) {
+ iio_push_to_buffers_with_timestamp(
+ hw->iio_devs[ST_LSM6DSX_ID_EXT0],
+ &hw->scan[ST_LSM6DSX_ID_EXT0],
+ ext_sensor->ts_ref + ts);
+ ext_sip--;
+ }
+ sip++;
+ }
+ }
+
+ if (unlikely(reset_ts)) {
+ err = st_lsm6dsx_reset_hw_ts(hw);
+ if (err < 0) {
+ dev_err(hw->dev, "failed to reset hw ts (err=%d)\n",
+ err);
+ return err;
+ }
+ }
+ return read_len;
+}
+
+#define ST_LSM6DSX_INVALID_SAMPLE 0x7ffd
+static int
+st_lsm6dsx_push_tagged_data(struct st_lsm6dsx_hw *hw, u8 tag,
+ u8 *data, s64 ts)
+{
+ s16 val = le16_to_cpu(*(__le16 *)data);
+ struct st_lsm6dsx_sensor *sensor;
+ struct iio_dev *iio_dev;
+
+ /* invalid sample during bootstrap phase */
+ if (val >= ST_LSM6DSX_INVALID_SAMPLE)
+ return -EINVAL;
+
+ /*
+ * EXT_TAG are managed in FIFO fashion so ST_LSM6DSX_EXT0_TAG
+ * corresponds to the first enabled channel, ST_LSM6DSX_EXT1_TAG
+ * to the second one and ST_LSM6DSX_EXT2_TAG to the last enabled
+ * channel
+ */
+ switch (tag) {
+ case ST_LSM6DSX_GYRO_TAG:
+ iio_dev = hw->iio_devs[ST_LSM6DSX_ID_GYRO];
+ break;
+ case ST_LSM6DSX_ACC_TAG:
+ iio_dev = hw->iio_devs[ST_LSM6DSX_ID_ACC];
+ break;
+ case ST_LSM6DSX_EXT0_TAG:
+ if (hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT0))
+ iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT0];
+ else if (hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT1))
+ iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT1];
+ else
+ iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT2];
+ break;
+ case ST_LSM6DSX_EXT1_TAG:
+ if ((hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT0)) &&
+ (hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT1)))
+ iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT1];
+ else
+ iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT2];
+ break;
+ case ST_LSM6DSX_EXT2_TAG:
+ iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT2];
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ sensor = iio_priv(iio_dev);
+ iio_push_to_buffers_with_timestamp(iio_dev, data,
+ ts + sensor->ts_ref);
+
+ return 0;
+}
+
+/**
+ * st_lsm6dsx_read_tagged_fifo() - tagged hw FIFO read routine
+ * @hw: Pointer to instance of struct st_lsm6dsx_hw.
+ *
+ * Read samples from the hw FIFO and push them to IIO buffers.
+ *
+ * Return: Number of bytes read from the FIFO
+ */
+int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw)
+{
+ u16 pattern_len = hw->sip * ST_LSM6DSX_TAGGED_SAMPLE_SIZE;
+ u16 fifo_len, fifo_diff_mask;
+ /*
+ * Alignment needed as this can ultimately be passed to a
+ * call to iio_push_to_buffers_with_timestamp() which
+ * must be passed a buffer that is aligned to 8 bytes so
+ * as to allow insertion of a naturally aligned timestamp.
+ */
+ u8 iio_buff[ST_LSM6DSX_IIO_BUFF_SIZE] __aligned(8);
+ u8 tag;
+ bool reset_ts = false;
+ int i, err, read_len;
+ __le16 fifo_status;
+ s64 ts = 0;
+
+ err = st_lsm6dsx_read_locked(hw,
+ hw->settings->fifo_ops.fifo_diff.addr,
+ &fifo_status, sizeof(fifo_status));
+ if (err < 0) {
+ dev_err(hw->dev, "failed to read fifo status (err=%d)\n",
+ err);
+ return err;
+ }
+
+ fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask;
+ fifo_len = (le16_to_cpu(fifo_status) & fifo_diff_mask) *
+ ST_LSM6DSX_TAGGED_SAMPLE_SIZE;
+ if (!fifo_len)
+ return 0;
+
+ for (read_len = 0; read_len < fifo_len; read_len += pattern_len) {
+ err = st_lsm6dsx_read_block(hw,
+ ST_LSM6DSX_REG_FIFO_OUT_TAG_ADDR,
+ hw->buff, pattern_len,
+ ST_LSM6DSX_MAX_TAGGED_WORD_LEN);
+ if (err < 0) {
+ dev_err(hw->dev,
+ "failed to read pattern from fifo (err=%d)\n",
+ err);
+ return err;
+ }
+
+ for (i = 0; i < pattern_len;
+ i += ST_LSM6DSX_TAGGED_SAMPLE_SIZE) {
+ memcpy(iio_buff, &hw->buff[i + ST_LSM6DSX_TAG_SIZE],
+ ST_LSM6DSX_SAMPLE_SIZE);
+
+ tag = hw->buff[i] >> 3;
+ if (tag == ST_LSM6DSX_TS_TAG) {
+ /*
+ * hw timestamp is 4B long and it is stored
+ * in FIFO according to this schema:
+ * B0 = ts[7:0], B1 = ts[15:8], B2 = ts[23:16],
+ * B3 = ts[31:24]
+ */
+ ts = le32_to_cpu(*((__le32 *)iio_buff));
+ /*
+ * check if hw timestamp engine is going to
+ * reset (the sensor generates an interrupt
+ * to signal the hw timestamp will reset in
+ * 1.638s)
+ */
+ if (!reset_ts && ts >= 0xffff0000)
+ reset_ts = true;
+ ts *= hw->ts_gain;
+ } else {
+ st_lsm6dsx_push_tagged_data(hw, tag, iio_buff,
+ ts);
+ }
+ }
+ }
+
+ if (unlikely(reset_ts)) {
+ err = st_lsm6dsx_reset_hw_ts(hw);
+ if (err < 0)
+ return err;
+ }
+ return read_len;
+}
+
+int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw)
+{
+ int err;
+
+ if (!hw->settings->fifo_ops.read_fifo)
+ return -ENOTSUPP;
+
+ mutex_lock(&hw->fifo_lock);
+
+ hw->settings->fifo_ops.read_fifo(hw);
+ err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_BYPASS);
+
+ mutex_unlock(&hw->fifo_lock);
+
+ return err;
+}
+
+int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable)
+{
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ u8 fifo_mask;
+ int err;
+
+ mutex_lock(&hw->conf_lock);
+
+ if (enable)
+ fifo_mask = hw->fifo_mask | BIT(sensor->id);
+ else
+ fifo_mask = hw->fifo_mask & ~BIT(sensor->id);
+
+ if (hw->fifo_mask) {
+ err = st_lsm6dsx_flush_fifo(hw);
+ if (err < 0)
+ goto out;
+ }
+
+ if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
+ sensor->id == ST_LSM6DSX_ID_EXT1 ||
+ sensor->id == ST_LSM6DSX_ID_EXT2) {
+ err = st_lsm6dsx_shub_set_enable(sensor, enable);
+ if (err < 0)
+ goto out;
+ } else {
+ err = st_lsm6dsx_sensor_set_enable(sensor, enable);
+ if (err < 0)
+ goto out;
+ }
+
+ err = st_lsm6dsx_set_fifo_odr(sensor, enable);
+ if (err < 0)
+ goto out;
+
+ err = st_lsm6dsx_update_decimators(hw);
+ if (err < 0)
+ goto out;
+
+ err = st_lsm6dsx_update_watermark(sensor, sensor->watermark);
+ if (err < 0)
+ goto out;
+
+ if (fifo_mask) {
+ err = st_lsm6dsx_resume_fifo(hw);
+ if (err < 0)
+ goto out;
+ }
+
+ hw->fifo_mask = fifo_mask;
+
+out:
+ mutex_unlock(&hw->conf_lock);
+
+ return err;
+}
+
+static int st_lsm6dsx_buffer_preenable(struct iio_dev *iio_dev)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+
+ if (!hw->settings->fifo_ops.update_fifo)
+ return -ENOTSUPP;
+
+ return hw->settings->fifo_ops.update_fifo(sensor, true);
+}
+
+static int st_lsm6dsx_buffer_postdisable(struct iio_dev *iio_dev)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+
+ if (!hw->settings->fifo_ops.update_fifo)
+ return -ENOTSUPP;
+
+ return hw->settings->fifo_ops.update_fifo(sensor, false);
+}
+
+static const struct iio_buffer_setup_ops st_lsm6dsx_buffer_ops = {
+ .preenable = st_lsm6dsx_buffer_preenable,
+ .postdisable = st_lsm6dsx_buffer_postdisable,
+};
+
+int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw)
+{
+ int i, ret;
+
+ for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
+ if (!hw->iio_devs[i])
+ continue;
+
+ ret = devm_iio_kfifo_buffer_setup(hw->dev, hw->iio_devs[i],
+ &st_lsm6dsx_buffer_ops);
+ if (ret)
+ return ret;
+ }
+
+ return 0;
+}
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
new file mode 100644
index 000000000..f8bbb0057
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -0,0 +1,2380 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * STMicroelectronics st_lsm6dsx sensor driver
+ *
+ * The ST LSM6DSx IMU MEMS series consists of 3D digital accelerometer
+ * and 3D digital gyroscope system-in-package with a digital I2C/SPI serial
+ * interface standard output.
+ * LSM6DSx IMU MEMS series has a dynamic user-selectable full-scale
+ * acceleration range of +-2/+-4/+-8/+-16 g and an angular rate range of
+ * +-125/+-245/+-500/+-1000/+-2000 dps
+ * LSM6DSx series has an integrated First-In-First-Out (FIFO) buffer
+ * allowing dynamic batching of sensor data.
+ * LSM9DSx series is similar but includes an additional magnetometer, handled
+ * by a different driver.
+ *
+ * Supported sensors:
+ * - LSM6DS3:
+ * - Accelerometer/Gyroscope supported ODR [Hz]: 12.5, 26, 52, 104, 208, 416
+ * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
+ * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
+ * - FIFO size: 8KB
+ *
+ * - LSM6DS3H/LSM6DSL/LSM6DSM/ISM330DLC/LSM6DS3TR-C:
+ * - Accelerometer/Gyroscope supported ODR [Hz]: 12.5, 26, 52, 104, 208, 416
+ * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
+ * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
+ * - FIFO size: 4KB
+ *
+ * - LSM6DSO/LSM6DSOX/ASM330LHH/ASM330LHHX/LSM6DSR/ISM330DHCX/LSM6DST/LSM6DSOP/
+ * LSM6DSTX:
+ * - Accelerometer/Gyroscope supported ODR [Hz]: 12.5, 26, 52, 104, 208, 416,
+ * 833
+ * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
+ * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
+ * - FIFO size: 3KB
+ *
+ * - LSM9DS1/LSM6DS0:
+ * - Accelerometer supported ODR [Hz]: 10, 50, 119, 238, 476, 952
+ * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
+ * - Gyroscope supported ODR [Hz]: 15, 60, 119, 238, 476, 952
+ * - Gyroscope supported full-scale [dps]: +-245/+-500/+-2000
+ * - FIFO size: 32
+ *
+ * Copyright 2016 STMicroelectronics Inc.
+ *
+ * Lorenzo Bianconi <lorenzo.bianconi@st.com>
+ * Denis Ciocca <denis.ciocca@st.com>
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/delay.h>
+#include <linux/iio/events.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/minmax.h>
+#include <linux/pm.h>
+#include <linux/property.h>
+#include <linux/regmap.h>
+#include <linux/bitfield.h>
+
+#include <linux/platform_data/st_sensors_pdata.h>
+
+#include "st_lsm6dsx.h"
+
+#define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f
+
+#define ST_LSM6DSX_TS_SENSITIVITY 25000UL /* 25us */
+
+static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
+ ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x28, IIO_MOD_X, 0),
+ ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2a, IIO_MOD_Y, 1),
+ ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2c, IIO_MOD_Z, 2),
+ IIO_CHAN_SOFT_TIMESTAMP(3),
+};
+
+static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
+ ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x22, IIO_MOD_X, 0),
+ ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x24, IIO_MOD_Y, 1),
+ ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x26, IIO_MOD_Z, 2),
+ IIO_CHAN_SOFT_TIMESTAMP(3),
+};
+
+static const struct iio_chan_spec st_lsm6ds0_gyro_channels[] = {
+ ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x18, IIO_MOD_X, 0),
+ ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1a, IIO_MOD_Y, 1),
+ ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1c, IIO_MOD_Z, 2),
+ IIO_CHAN_SOFT_TIMESTAMP(3),
+};
+
+static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
+ {
+ .reset = {
+ .addr = 0x22,
+ .mask = BIT(0),
+ },
+ .boot = {
+ .addr = 0x22,
+ .mask = BIT(7),
+ },
+ .bdu = {
+ .addr = 0x22,
+ .mask = BIT(6),
+ },
+ .id = {
+ {
+ .hw_id = ST_LSM9DS1_ID,
+ .name = ST_LSM9DS1_DEV_NAME,
+ .wai = 0x68,
+ }, {
+ .hw_id = ST_LSM6DS0_ID,
+ .name = ST_LSM6DS0_DEV_NAME,
+ .wai = 0x68,
+ },
+ },
+ .channels = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .chan = st_lsm6dsx_acc_channels,
+ .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .chan = st_lsm6ds0_gyro_channels,
+ .len = ARRAY_SIZE(st_lsm6ds0_gyro_channels),
+ },
+ },
+ .odr_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x20,
+ .mask = GENMASK(7, 5),
+ },
+ .odr_avl[0] = { 10000, 0x01 },
+ .odr_avl[1] = { 50000, 0x02 },
+ .odr_avl[2] = { 119000, 0x03 },
+ .odr_avl[3] = { 238000, 0x04 },
+ .odr_avl[4] = { 476000, 0x05 },
+ .odr_avl[5] = { 952000, 0x06 },
+ .odr_len = 6,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(7, 5),
+ },
+ .odr_avl[0] = { 14900, 0x01 },
+ .odr_avl[1] = { 59500, 0x02 },
+ .odr_avl[2] = { 119000, 0x03 },
+ .odr_avl[3] = { 238000, 0x04 },
+ .odr_avl[4] = { 476000, 0x05 },
+ .odr_avl[5] = { 952000, 0x06 },
+ .odr_len = 6,
+ },
+ },
+ .fs_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x20,
+ .mask = GENMASK(4, 3),
+ },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(732000), 0x1 },
+ .fs_len = 4,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(4, 3),
+ },
+
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
+ .fs_len = 3,
+ },
+ },
+ .irq_config = {
+ .irq1 = {
+ .addr = 0x0c,
+ .mask = BIT(3),
+ },
+ .irq2 = {
+ .addr = 0x0d,
+ .mask = BIT(3),
+ },
+ .hla = {
+ .addr = 0x22,
+ .mask = BIT(5),
+ },
+ .od = {
+ .addr = 0x22,
+ .mask = BIT(4),
+ },
+ },
+ .fifo_ops = {
+ .max_size = 32,
+ },
+ },
+ {
+ .reset = {
+ .addr = 0x12,
+ .mask = BIT(0),
+ },
+ .boot = {
+ .addr = 0x12,
+ .mask = BIT(7),
+ },
+ .bdu = {
+ .addr = 0x12,
+ .mask = BIT(6),
+ },
+ .id = {
+ {
+ .hw_id = ST_LSM6DS3_ID,
+ .name = ST_LSM6DS3_DEV_NAME,
+ .wai = 0x69,
+ },
+ },
+ .channels = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .chan = st_lsm6dsx_acc_channels,
+ .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .chan = st_lsm6dsx_gyro_channels,
+ .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
+ },
+ },
+ .odr_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(7, 4),
+ },
+ .odr_avl[0] = { 12500, 0x01 },
+ .odr_avl[1] = { 26000, 0x02 },
+ .odr_avl[2] = { 52000, 0x03 },
+ .odr_avl[3] = { 104000, 0x04 },
+ .odr_avl[4] = { 208000, 0x05 },
+ .odr_avl[5] = { 416000, 0x06 },
+ .odr_len = 6,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x11,
+ .mask = GENMASK(7, 4),
+ },
+ .odr_avl[0] = { 12500, 0x01 },
+ .odr_avl[1] = { 26000, 0x02 },
+ .odr_avl[2] = { 52000, 0x03 },
+ .odr_avl[3] = { 104000, 0x04 },
+ .odr_avl[4] = { 208000, 0x05 },
+ .odr_avl[5] = { 416000, 0x06 },
+ .odr_len = 6,
+ },
+ },
+ .fs_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(3, 2),
+ },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
+ .fs_len = 4,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x11,
+ .mask = GENMASK(3, 2),
+ },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+ .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
+ .fs_len = 4,
+ },
+ },
+ .irq_config = {
+ .irq1 = {
+ .addr = 0x0d,
+ .mask = BIT(3),
+ },
+ .irq2 = {
+ .addr = 0x0e,
+ .mask = BIT(3),
+ },
+ .lir = {
+ .addr = 0x58,
+ .mask = BIT(0),
+ },
+ .irq1_func = {
+ .addr = 0x5e,
+ .mask = BIT(5),
+ },
+ .irq2_func = {
+ .addr = 0x5f,
+ .mask = BIT(5),
+ },
+ .hla = {
+ .addr = 0x12,
+ .mask = BIT(5),
+ },
+ .od = {
+ .addr = 0x12,
+ .mask = BIT(4),
+ },
+ },
+ .decimator = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .addr = 0x08,
+ .mask = GENMASK(2, 0),
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .addr = 0x08,
+ .mask = GENMASK(5, 3),
+ },
+ },
+ .fifo_ops = {
+ .update_fifo = st_lsm6dsx_update_fifo,
+ .read_fifo = st_lsm6dsx_read_fifo,
+ .fifo_th = {
+ .addr = 0x06,
+ .mask = GENMASK(11, 0),
+ },
+ .fifo_diff = {
+ .addr = 0x3a,
+ .mask = GENMASK(11, 0),
+ },
+ .max_size = 1365,
+ .th_wl = 3, /* 1LSB = 2B */
+ },
+ .ts_settings = {
+ .timer_en = {
+ .addr = 0x58,
+ .mask = BIT(7),
+ },
+ .hr_timer = {
+ .addr = 0x5c,
+ .mask = BIT(4),
+ },
+ .fifo_en = {
+ .addr = 0x07,
+ .mask = BIT(7),
+ },
+ .decimator = {
+ .addr = 0x09,
+ .mask = GENMASK(5, 3),
+ },
+ },
+ .event_settings = {
+ .wakeup_reg = {
+ .addr = 0x5B,
+ .mask = GENMASK(5, 0),
+ },
+ .wakeup_src_reg = 0x1b,
+ .wakeup_src_status_mask = BIT(3),
+ .wakeup_src_z_mask = BIT(0),
+ .wakeup_src_y_mask = BIT(1),
+ .wakeup_src_x_mask = BIT(2),
+ },
+ },
+ {
+ .reset = {
+ .addr = 0x12,
+ .mask = BIT(0),
+ },
+ .boot = {
+ .addr = 0x12,
+ .mask = BIT(7),
+ },
+ .bdu = {
+ .addr = 0x12,
+ .mask = BIT(6),
+ },
+ .id = {
+ {
+ .hw_id = ST_LSM6DS3H_ID,
+ .name = ST_LSM6DS3H_DEV_NAME,
+ .wai = 0x69,
+ },
+ },
+ .channels = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .chan = st_lsm6dsx_acc_channels,
+ .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .chan = st_lsm6dsx_gyro_channels,
+ .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
+ },
+ },
+ .odr_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(7, 4),
+ },
+ .odr_avl[0] = { 12500, 0x01 },
+ .odr_avl[1] = { 26000, 0x02 },
+ .odr_avl[2] = { 52000, 0x03 },
+ .odr_avl[3] = { 104000, 0x04 },
+ .odr_avl[4] = { 208000, 0x05 },
+ .odr_avl[5] = { 416000, 0x06 },
+ .odr_len = 6,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x11,
+ .mask = GENMASK(7, 4),
+ },
+ .odr_avl[0] = { 12500, 0x01 },
+ .odr_avl[1] = { 26000, 0x02 },
+ .odr_avl[2] = { 52000, 0x03 },
+ .odr_avl[3] = { 104000, 0x04 },
+ .odr_avl[4] = { 208000, 0x05 },
+ .odr_avl[5] = { 416000, 0x06 },
+ .odr_len = 6,
+ },
+ },
+ .fs_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(3, 2),
+ },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
+ .fs_len = 4,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x11,
+ .mask = GENMASK(3, 2),
+ },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+ .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
+ .fs_len = 4,
+ },
+ },
+ .irq_config = {
+ .irq1 = {
+ .addr = 0x0d,
+ .mask = BIT(3),
+ },
+ .irq2 = {
+ .addr = 0x0e,
+ .mask = BIT(3),
+ },
+ .lir = {
+ .addr = 0x58,
+ .mask = BIT(0),
+ },
+ .irq1_func = {
+ .addr = 0x5e,
+ .mask = BIT(5),
+ },
+ .irq2_func = {
+ .addr = 0x5f,
+ .mask = BIT(5),
+ },
+ .hla = {
+ .addr = 0x12,
+ .mask = BIT(5),
+ },
+ .od = {
+ .addr = 0x12,
+ .mask = BIT(4),
+ },
+ },
+ .decimator = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .addr = 0x08,
+ .mask = GENMASK(2, 0),
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .addr = 0x08,
+ .mask = GENMASK(5, 3),
+ },
+ },
+ .fifo_ops = {
+ .update_fifo = st_lsm6dsx_update_fifo,
+ .read_fifo = st_lsm6dsx_read_fifo,
+ .fifo_th = {
+ .addr = 0x06,
+ .mask = GENMASK(11, 0),
+ },
+ .fifo_diff = {
+ .addr = 0x3a,
+ .mask = GENMASK(11, 0),
+ },
+ .max_size = 682,
+ .th_wl = 3, /* 1LSB = 2B */
+ },
+ .ts_settings = {
+ .timer_en = {
+ .addr = 0x58,
+ .mask = BIT(7),
+ },
+ .hr_timer = {
+ .addr = 0x5c,
+ .mask = BIT(4),
+ },
+ .fifo_en = {
+ .addr = 0x07,
+ .mask = BIT(7),
+ },
+ .decimator = {
+ .addr = 0x09,
+ .mask = GENMASK(5, 3),
+ },
+ },
+ .event_settings = {
+ .wakeup_reg = {
+ .addr = 0x5B,
+ .mask = GENMASK(5, 0),
+ },
+ .wakeup_src_reg = 0x1b,
+ .wakeup_src_status_mask = BIT(3),
+ .wakeup_src_z_mask = BIT(0),
+ .wakeup_src_y_mask = BIT(1),
+ .wakeup_src_x_mask = BIT(2),
+ },
+ },
+ {
+ .reset = {
+ .addr = 0x12,
+ .mask = BIT(0),
+ },
+ .boot = {
+ .addr = 0x12,
+ .mask = BIT(7),
+ },
+ .bdu = {
+ .addr = 0x12,
+ .mask = BIT(6),
+ },
+ .id = {
+ {
+ .hw_id = ST_LSM6DSL_ID,
+ .name = ST_LSM6DSL_DEV_NAME,
+ .wai = 0x6a,
+ }, {
+ .hw_id = ST_LSM6DSM_ID,
+ .name = ST_LSM6DSM_DEV_NAME,
+ .wai = 0x6a,
+ }, {
+ .hw_id = ST_ISM330DLC_ID,
+ .name = ST_ISM330DLC_DEV_NAME,
+ .wai = 0x6a,
+ }, {
+ .hw_id = ST_LSM6DS3TRC_ID,
+ .name = ST_LSM6DS3TRC_DEV_NAME,
+ .wai = 0x6a,
+ },
+ },
+ .channels = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .chan = st_lsm6dsx_acc_channels,
+ .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .chan = st_lsm6dsx_gyro_channels,
+ .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
+ },
+ },
+ .odr_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(7, 4),
+ },
+ .odr_avl[0] = { 12500, 0x01 },
+ .odr_avl[1] = { 26000, 0x02 },
+ .odr_avl[2] = { 52000, 0x03 },
+ .odr_avl[3] = { 104000, 0x04 },
+ .odr_avl[4] = { 208000, 0x05 },
+ .odr_avl[5] = { 416000, 0x06 },
+ .odr_len = 6,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x11,
+ .mask = GENMASK(7, 4),
+ },
+ .odr_avl[0] = { 12500, 0x01 },
+ .odr_avl[1] = { 26000, 0x02 },
+ .odr_avl[2] = { 52000, 0x03 },
+ .odr_avl[3] = { 104000, 0x04 },
+ .odr_avl[4] = { 208000, 0x05 },
+ .odr_avl[5] = { 416000, 0x06 },
+ .odr_len = 6,
+ },
+ },
+ .fs_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(3, 2),
+ },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
+ .fs_len = 4,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x11,
+ .mask = GENMASK(3, 2),
+ },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+ .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
+ .fs_len = 4,
+ },
+ },
+ .irq_config = {
+ .irq1 = {
+ .addr = 0x0d,
+ .mask = BIT(3),
+ },
+ .irq2 = {
+ .addr = 0x0e,
+ .mask = BIT(3),
+ },
+ .lir = {
+ .addr = 0x58,
+ .mask = BIT(0),
+ },
+ .irq1_func = {
+ .addr = 0x5e,
+ .mask = BIT(5),
+ },
+ .irq2_func = {
+ .addr = 0x5f,
+ .mask = BIT(5),
+ },
+ .hla = {
+ .addr = 0x12,
+ .mask = BIT(5),
+ },
+ .od = {
+ .addr = 0x12,
+ .mask = BIT(4),
+ },
+ },
+ .decimator = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .addr = 0x08,
+ .mask = GENMASK(2, 0),
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .addr = 0x08,
+ .mask = GENMASK(5, 3),
+ },
+ [ST_LSM6DSX_ID_EXT0] = {
+ .addr = 0x09,
+ .mask = GENMASK(2, 0),
+ },
+ },
+ .fifo_ops = {
+ .update_fifo = st_lsm6dsx_update_fifo,
+ .read_fifo = st_lsm6dsx_read_fifo,
+ .fifo_th = {
+ .addr = 0x06,
+ .mask = GENMASK(10, 0),
+ },
+ .fifo_diff = {
+ .addr = 0x3a,
+ .mask = GENMASK(10, 0),
+ },
+ .max_size = 682,
+ .th_wl = 3, /* 1LSB = 2B */
+ },
+ .ts_settings = {
+ .timer_en = {
+ .addr = 0x19,
+ .mask = BIT(5),
+ },
+ .hr_timer = {
+ .addr = 0x5c,
+ .mask = BIT(4),
+ },
+ .fifo_en = {
+ .addr = 0x07,
+ .mask = BIT(7),
+ },
+ .decimator = {
+ .addr = 0x09,
+ .mask = GENMASK(5, 3),
+ },
+ },
+ .shub_settings = {
+ .page_mux = {
+ .addr = 0x01,
+ .mask = BIT(7),
+ },
+ .master_en = {
+ .addr = 0x1a,
+ .mask = BIT(0),
+ },
+ .pullup_en = {
+ .addr = 0x1a,
+ .mask = BIT(3),
+ },
+ .aux_sens = {
+ .addr = 0x04,
+ .mask = GENMASK(5, 4),
+ },
+ .wr_once = {
+ .addr = 0x07,
+ .mask = BIT(5),
+ },
+ .emb_func = {
+ .addr = 0x19,
+ .mask = BIT(2),
+ },
+ .num_ext_dev = 1,
+ .shub_out = {
+ .addr = 0x2e,
+ },
+ .slv0_addr = 0x02,
+ .dw_slv0_addr = 0x0e,
+ .pause = 0x7,
+ },
+ .event_settings = {
+ .enable_reg = {
+ .addr = 0x58,
+ .mask = BIT(7),
+ },
+ .wakeup_reg = {
+ .addr = 0x5B,
+ .mask = GENMASK(5, 0),
+ },
+ .wakeup_src_reg = 0x1b,
+ .wakeup_src_status_mask = BIT(3),
+ .wakeup_src_z_mask = BIT(0),
+ .wakeup_src_y_mask = BIT(1),
+ .wakeup_src_x_mask = BIT(2),
+ },
+ },
+ {
+ .reset = {
+ .addr = 0x12,
+ .mask = BIT(0),
+ },
+ .boot = {
+ .addr = 0x12,
+ .mask = BIT(7),
+ },
+ .bdu = {
+ .addr = 0x12,
+ .mask = BIT(6),
+ },
+ .id = {
+ {
+ .hw_id = ST_LSM6DSR_ID,
+ .name = ST_LSM6DSR_DEV_NAME,
+ .wai = 0x6b,
+ }, {
+ .hw_id = ST_ISM330DHCX_ID,
+ .name = ST_ISM330DHCX_DEV_NAME,
+ .wai = 0x6b,
+ }, {
+ .hw_id = ST_LSM6DSRX_ID,
+ .name = ST_LSM6DSRX_DEV_NAME,
+ .wai = 0x6b,
+ }, {
+ .hw_id = ST_LSM6DSO_ID,
+ .name = ST_LSM6DSO_DEV_NAME,
+ .wai = 0x6c,
+ }, {
+ .hw_id = ST_LSM6DSOX_ID,
+ .name = ST_LSM6DSOX_DEV_NAME,
+ .wai = 0x6c,
+ }, {
+ .hw_id = ST_LSM6DST_ID,
+ .name = ST_LSM6DST_DEV_NAME,
+ .wai = 0x6d,
+ }, {
+ .hw_id = ST_ASM330LHHX_ID,
+ .name = ST_ASM330LHHX_DEV_NAME,
+ .wai = 0x6b,
+ }, {
+ .hw_id = ST_LSM6DSTX_ID,
+ .name = ST_LSM6DSTX_DEV_NAME,
+ .wai = 0x6d,
+ },
+ },
+ .channels = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .chan = st_lsm6dsx_acc_channels,
+ .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .chan = st_lsm6dsx_gyro_channels,
+ .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
+ },
+ },
+ .drdy_mask = {
+ .addr = 0x13,
+ .mask = BIT(3),
+ },
+ .odr_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(7, 4),
+ },
+ .odr_avl[0] = { 12500, 0x01 },
+ .odr_avl[1] = { 26000, 0x02 },
+ .odr_avl[2] = { 52000, 0x03 },
+ .odr_avl[3] = { 104000, 0x04 },
+ .odr_avl[4] = { 208000, 0x05 },
+ .odr_avl[5] = { 416000, 0x06 },
+ .odr_avl[6] = { 833000, 0x07 },
+ .odr_len = 7,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x11,
+ .mask = GENMASK(7, 4),
+ },
+ .odr_avl[0] = { 12500, 0x01 },
+ .odr_avl[1] = { 26000, 0x02 },
+ .odr_avl[2] = { 52000, 0x03 },
+ .odr_avl[3] = { 104000, 0x04 },
+ .odr_avl[4] = { 208000, 0x05 },
+ .odr_avl[5] = { 416000, 0x06 },
+ .odr_avl[6] = { 833000, 0x07 },
+ .odr_len = 7,
+ },
+ },
+ .fs_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(3, 2),
+ },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
+ .fs_len = 4,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x11,
+ .mask = GENMASK(3, 2),
+ },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+ .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
+ .fs_len = 4,
+ },
+ },
+ .irq_config = {
+ .irq1 = {
+ .addr = 0x0d,
+ .mask = BIT(3),
+ },
+ .irq2 = {
+ .addr = 0x0e,
+ .mask = BIT(3),
+ },
+ .lir = {
+ .addr = 0x56,
+ .mask = BIT(0),
+ },
+ .clear_on_read = {
+ .addr = 0x56,
+ .mask = BIT(6),
+ },
+ .irq1_func = {
+ .addr = 0x5e,
+ .mask = BIT(5),
+ },
+ .irq2_func = {
+ .addr = 0x5f,
+ .mask = BIT(5),
+ },
+ .hla = {
+ .addr = 0x12,
+ .mask = BIT(5),
+ },
+ .od = {
+ .addr = 0x12,
+ .mask = BIT(4),
+ },
+ },
+ .batch = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .addr = 0x09,
+ .mask = GENMASK(3, 0),
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .addr = 0x09,
+ .mask = GENMASK(7, 4),
+ },
+ },
+ .fifo_ops = {
+ .update_fifo = st_lsm6dsx_update_fifo,
+ .read_fifo = st_lsm6dsx_read_tagged_fifo,
+ .fifo_th = {
+ .addr = 0x07,
+ .mask = GENMASK(8, 0),
+ },
+ .fifo_diff = {
+ .addr = 0x3a,
+ .mask = GENMASK(9, 0),
+ },
+ .max_size = 512,
+ .th_wl = 1,
+ },
+ .ts_settings = {
+ .timer_en = {
+ .addr = 0x19,
+ .mask = BIT(5),
+ },
+ .decimator = {
+ .addr = 0x0a,
+ .mask = GENMASK(7, 6),
+ },
+ .freq_fine = 0x63,
+ },
+ .shub_settings = {
+ .page_mux = {
+ .addr = 0x01,
+ .mask = BIT(6),
+ },
+ .master_en = {
+ .sec_page = true,
+ .addr = 0x14,
+ .mask = BIT(2),
+ },
+ .pullup_en = {
+ .sec_page = true,
+ .addr = 0x14,
+ .mask = BIT(3),
+ },
+ .aux_sens = {
+ .addr = 0x14,
+ .mask = GENMASK(1, 0),
+ },
+ .wr_once = {
+ .addr = 0x14,
+ .mask = BIT(6),
+ },
+ .num_ext_dev = 3,
+ .shub_out = {
+ .sec_page = true,
+ .addr = 0x02,
+ },
+ .slv0_addr = 0x15,
+ .dw_slv0_addr = 0x21,
+ .batch_en = BIT(3),
+ },
+ .event_settings = {
+ .enable_reg = {
+ .addr = 0x58,
+ .mask = BIT(7),
+ },
+ .wakeup_reg = {
+ .addr = 0x5b,
+ .mask = GENMASK(5, 0),
+ },
+ .wakeup_src_reg = 0x1b,
+ .wakeup_src_status_mask = BIT(3),
+ .wakeup_src_z_mask = BIT(0),
+ .wakeup_src_y_mask = BIT(1),
+ .wakeup_src_x_mask = BIT(2),
+ },
+ },
+ {
+ .reset = {
+ .addr = 0x12,
+ .mask = BIT(0),
+ },
+ .boot = {
+ .addr = 0x12,
+ .mask = BIT(7),
+ },
+ .bdu = {
+ .addr = 0x12,
+ .mask = BIT(6),
+ },
+ .id = {
+ {
+ .hw_id = ST_ASM330LHH_ID,
+ .name = ST_ASM330LHH_DEV_NAME,
+ .wai = 0x6b,
+ }, {
+ .hw_id = ST_LSM6DSOP_ID,
+ .name = ST_LSM6DSOP_DEV_NAME,
+ .wai = 0x6c,
+ },
+ },
+ .channels = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .chan = st_lsm6dsx_acc_channels,
+ .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .chan = st_lsm6dsx_gyro_channels,
+ .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
+ },
+ },
+ .drdy_mask = {
+ .addr = 0x13,
+ .mask = BIT(3),
+ },
+ .odr_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(7, 4),
+ },
+ .odr_avl[0] = { 12500, 0x01 },
+ .odr_avl[1] = { 26000, 0x02 },
+ .odr_avl[2] = { 52000, 0x03 },
+ .odr_avl[3] = { 104000, 0x04 },
+ .odr_avl[4] = { 208000, 0x05 },
+ .odr_avl[5] = { 416000, 0x06 },
+ .odr_avl[6] = { 833000, 0x07 },
+ .odr_len = 7,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x11,
+ .mask = GENMASK(7, 4),
+ },
+ .odr_avl[0] = { 12500, 0x01 },
+ .odr_avl[1] = { 26000, 0x02 },
+ .odr_avl[2] = { 52000, 0x03 },
+ .odr_avl[3] = { 104000, 0x04 },
+ .odr_avl[4] = { 208000, 0x05 },
+ .odr_avl[5] = { 416000, 0x06 },
+ .odr_avl[6] = { 833000, 0x07 },
+ .odr_len = 7,
+ },
+ },
+ .fs_table = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .reg = {
+ .addr = 0x10,
+ .mask = GENMASK(3, 2),
+ },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
+ .fs_len = 4,
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .reg = {
+ .addr = 0x11,
+ .mask = GENMASK(3, 2),
+ },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+ .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
+ .fs_len = 4,
+ },
+ },
+ .irq_config = {
+ .irq1 = {
+ .addr = 0x0d,
+ .mask = BIT(3),
+ },
+ .irq2 = {
+ .addr = 0x0e,
+ .mask = BIT(3),
+ },
+ .lir = {
+ .addr = 0x56,
+ .mask = BIT(0),
+ },
+ .clear_on_read = {
+ .addr = 0x56,
+ .mask = BIT(6),
+ },
+ .irq1_func = {
+ .addr = 0x5e,
+ .mask = BIT(5),
+ },
+ .irq2_func = {
+ .addr = 0x5f,
+ .mask = BIT(5),
+ },
+ .hla = {
+ .addr = 0x12,
+ .mask = BIT(5),
+ },
+ .od = {
+ .addr = 0x12,
+ .mask = BIT(4),
+ },
+ },
+ .batch = {
+ [ST_LSM6DSX_ID_ACC] = {
+ .addr = 0x09,
+ .mask = GENMASK(3, 0),
+ },
+ [ST_LSM6DSX_ID_GYRO] = {
+ .addr = 0x09,
+ .mask = GENMASK(7, 4),
+ },
+ },
+ .fifo_ops = {
+ .update_fifo = st_lsm6dsx_update_fifo,
+ .read_fifo = st_lsm6dsx_read_tagged_fifo,
+ .fifo_th = {
+ .addr = 0x07,
+ .mask = GENMASK(8, 0),
+ },
+ .fifo_diff = {
+ .addr = 0x3a,
+ .mask = GENMASK(9, 0),
+ },
+ .max_size = 512,
+ .th_wl = 1,
+ },
+ .ts_settings = {
+ .timer_en = {
+ .addr = 0x19,
+ .mask = BIT(5),
+ },
+ .decimator = {
+ .addr = 0x0a,
+ .mask = GENMASK(7, 6),
+ },
+ .freq_fine = 0x63,
+ },
+ .event_settings = {
+ .enable_reg = {
+ .addr = 0x58,
+ .mask = BIT(7),
+ },
+ .wakeup_reg = {
+ .addr = 0x5B,
+ .mask = GENMASK(5, 0),
+ },
+ .wakeup_src_reg = 0x1b,
+ .wakeup_src_status_mask = BIT(3),
+ .wakeup_src_z_mask = BIT(0),
+ .wakeup_src_y_mask = BIT(1),
+ .wakeup_src_x_mask = BIT(2),
+ },
+ },
+};
+
+int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ unsigned int data;
+ int err;
+
+ hub_settings = &hw->settings->shub_settings;
+ data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->page_mux.mask);
+ err = regmap_update_bits(hw->regmap, hub_settings->page_mux.addr,
+ hub_settings->page_mux.mask, data);
+ usleep_range(100, 150);
+
+ return err;
+}
+
+static int st_lsm6dsx_check_whoami(struct st_lsm6dsx_hw *hw, int id,
+ const char **name)
+{
+ int err, i, j, data;
+
+ for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_sensor_settings); i++) {
+ for (j = 0; j < ST_LSM6DSX_MAX_ID; j++) {
+ if (st_lsm6dsx_sensor_settings[i].id[j].name &&
+ id == st_lsm6dsx_sensor_settings[i].id[j].hw_id)
+ break;
+ }
+ if (j < ST_LSM6DSX_MAX_ID)
+ break;
+ }
+
+ if (i == ARRAY_SIZE(st_lsm6dsx_sensor_settings)) {
+ dev_err(hw->dev, "unsupported hw id [%02x]\n", id);
+ return -ENODEV;
+ }
+
+ err = regmap_read(hw->regmap, ST_LSM6DSX_REG_WHOAMI_ADDR, &data);
+ if (err < 0) {
+ dev_err(hw->dev, "failed to read whoami register\n");
+ return err;
+ }
+
+ if (data != st_lsm6dsx_sensor_settings[i].id[j].wai) {
+ dev_err(hw->dev, "unsupported whoami [%02x]\n", data);
+ return -ENODEV;
+ }
+
+ *name = st_lsm6dsx_sensor_settings[i].id[j].name;
+ hw->settings = &st_lsm6dsx_sensor_settings[i];
+
+ return 0;
+}
+
+static int st_lsm6dsx_set_full_scale(struct st_lsm6dsx_sensor *sensor,
+ u32 gain)
+{
+ const struct st_lsm6dsx_fs_table_entry *fs_table;
+ unsigned int data;
+ int i, err;
+
+ fs_table = &sensor->hw->settings->fs_table[sensor->id];
+ for (i = 0; i < fs_table->fs_len; i++) {
+ if (fs_table->fs_avl[i].gain == gain)
+ break;
+ }
+
+ if (i == fs_table->fs_len)
+ return -EINVAL;
+
+ data = ST_LSM6DSX_SHIFT_VAL(fs_table->fs_avl[i].val,
+ fs_table->reg.mask);
+ err = st_lsm6dsx_update_bits_locked(sensor->hw, fs_table->reg.addr,
+ fs_table->reg.mask, data);
+ if (err < 0)
+ return err;
+
+ sensor->gain = gain;
+
+ return 0;
+}
+
+int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val)
+{
+ const struct st_lsm6dsx_odr_table_entry *odr_table;
+ int i;
+
+ odr_table = &sensor->hw->settings->odr_table[sensor->id];
+ for (i = 0; i < odr_table->odr_len; i++) {
+ /*
+ * ext devices can run at different odr respect to
+ * accel sensor
+ */
+ if (odr_table->odr_avl[i].milli_hz >= odr)
+ break;
+ }
+
+ if (i == odr_table->odr_len)
+ return -EINVAL;
+
+ *val = odr_table->odr_avl[i].val;
+ return odr_table->odr_avl[i].milli_hz;
+}
+
+static int
+st_lsm6dsx_check_odr_dependency(struct st_lsm6dsx_hw *hw, u32 odr,
+ enum st_lsm6dsx_sensor_id id)
+{
+ struct st_lsm6dsx_sensor *ref = iio_priv(hw->iio_devs[id]);
+
+ if (odr > 0) {
+ if (hw->enable_mask & BIT(id))
+ return max_t(u32, ref->odr, odr);
+ else
+ return odr;
+ } else {
+ return (hw->enable_mask & BIT(id)) ? ref->odr : 0;
+ }
+}
+
+static int
+st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u32 req_odr)
+{
+ struct st_lsm6dsx_sensor *ref_sensor = sensor;
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ const struct st_lsm6dsx_reg *reg;
+ unsigned int data;
+ u8 val = 0;
+ int err;
+
+ switch (sensor->id) {
+ case ST_LSM6DSX_ID_GYRO:
+ break;
+ case ST_LSM6DSX_ID_EXT0:
+ case ST_LSM6DSX_ID_EXT1:
+ case ST_LSM6DSX_ID_EXT2:
+ case ST_LSM6DSX_ID_ACC: {
+ u32 odr;
+ int i;
+
+ /*
+ * i2c embedded controller relies on the accelerometer sensor as
+ * bus read/write trigger so we need to enable accel device
+ * at odr = max(accel_odr, ext_odr) in order to properly
+ * communicate with i2c slave devices
+ */
+ ref_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
+ for (i = ST_LSM6DSX_ID_ACC; i < ST_LSM6DSX_ID_MAX; i++) {
+ if (!hw->iio_devs[i] || i == sensor->id)
+ continue;
+
+ odr = st_lsm6dsx_check_odr_dependency(hw, req_odr, i);
+ if (odr != req_odr)
+ /* device already configured */
+ return 0;
+ }
+ break;
+ }
+ default: /* should never occur */
+ return -EINVAL;
+ }
+
+ if (req_odr > 0) {
+ err = st_lsm6dsx_check_odr(ref_sensor, req_odr, &val);
+ if (err < 0)
+ return err;
+ }
+
+ reg = &hw->settings->odr_table[ref_sensor->id].reg;
+ data = ST_LSM6DSX_SHIFT_VAL(val, reg->mask);
+ return st_lsm6dsx_update_bits_locked(hw, reg->addr, reg->mask, data);
+}
+
+static int
+__st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
+ bool enable)
+{
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ u32 odr = enable ? sensor->odr : 0;
+ int err;
+
+ err = st_lsm6dsx_set_odr(sensor, odr);
+ if (err < 0)
+ return err;
+
+ if (enable)
+ hw->enable_mask |= BIT(sensor->id);
+ else
+ hw->enable_mask &= ~BIT(sensor->id);
+
+ return 0;
+}
+
+static int
+st_lsm6dsx_check_events(struct st_lsm6dsx_sensor *sensor, bool enable)
+{
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+
+ if (sensor->id == ST_LSM6DSX_ID_GYRO || enable)
+ return 0;
+
+ return hw->enable_event;
+}
+
+int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
+ bool enable)
+{
+ if (st_lsm6dsx_check_events(sensor, enable))
+ return 0;
+
+ return __st_lsm6dsx_sensor_set_enable(sensor, enable);
+}
+
+static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor,
+ u8 addr, int *val)
+{
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ int err, delay;
+ __le16 data;
+
+ err = st_lsm6dsx_sensor_set_enable(sensor, true);
+ if (err < 0)
+ return err;
+
+ /*
+ * we need to wait for sensor settling time before
+ * reading data in order to avoid corrupted samples
+ */
+ delay = 1000000000 / sensor->odr;
+ usleep_range(3 * delay, 4 * delay);
+
+ err = st_lsm6dsx_read_locked(hw, addr, &data, sizeof(data));
+ if (err < 0)
+ return err;
+
+ if (!hw->enable_event) {
+ err = st_lsm6dsx_sensor_set_enable(sensor, false);
+ if (err < 0)
+ return err;
+ }
+
+ *val = (s16)le16_to_cpu(data);
+
+ return IIO_VAL_INT;
+}
+
+static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev,
+ struct iio_chan_spec const *ch,
+ int *val, int *val2, long mask)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ int ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = iio_device_claim_direct_mode(iio_dev);
+ if (ret)
+ break;
+
+ ret = st_lsm6dsx_read_oneshot(sensor, ch->address, val);
+ iio_device_release_direct_mode(iio_dev);
+ break;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ *val = sensor->odr / 1000;
+ *val2 = (sensor->odr % 1000) * 1000;
+ ret = IIO_VAL_INT_PLUS_MICRO;
+ break;
+ case IIO_CHAN_INFO_SCALE:
+ *val = 0;
+ *val2 = sensor->gain;
+ ret = IIO_VAL_INT_PLUS_NANO;
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+
+ return ret;
+}
+
+static int st_lsm6dsx_write_raw(struct iio_dev *iio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ int err;
+
+ err = iio_device_claim_direct_mode(iio_dev);
+ if (err)
+ return err;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ err = st_lsm6dsx_set_full_scale(sensor, val2);
+ break;
+ case IIO_CHAN_INFO_SAMP_FREQ: {
+ u8 data;
+
+ val = val * 1000 + val2 / 1000;
+ val = st_lsm6dsx_check_odr(sensor, val, &data);
+ if (val < 0)
+ err = val;
+ else
+ sensor->odr = val;
+ break;
+ }
+ default:
+ err = -EINVAL;
+ break;
+ }
+
+ iio_device_release_direct_mode(iio_dev);
+
+ return err;
+}
+
+static int st_lsm6dsx_event_setup(struct st_lsm6dsx_hw *hw, int state)
+{
+ const struct st_lsm6dsx_reg *reg;
+ unsigned int data;
+ int err;
+
+ if (!hw->settings->irq_config.irq1_func.addr)
+ return -ENOTSUPP;
+
+ reg = &hw->settings->event_settings.enable_reg;
+ if (reg->addr) {
+ data = ST_LSM6DSX_SHIFT_VAL(state, reg->mask);
+ err = st_lsm6dsx_update_bits_locked(hw, reg->addr,
+ reg->mask, data);
+ if (err < 0)
+ return err;
+ }
+
+ /* Enable wakeup interrupt */
+ data = ST_LSM6DSX_SHIFT_VAL(state, hw->irq_routing->mask);
+ return st_lsm6dsx_update_bits_locked(hw, hw->irq_routing->addr,
+ hw->irq_routing->mask, data);
+}
+
+static int st_lsm6dsx_read_event(struct iio_dev *iio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info,
+ int *val, int *val2)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+
+ if (type != IIO_EV_TYPE_THRESH)
+ return -EINVAL;
+
+ *val2 = 0;
+ *val = hw->event_threshold;
+
+ return IIO_VAL_INT;
+}
+
+static int
+st_lsm6dsx_write_event(struct iio_dev *iio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info,
+ int val, int val2)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ const struct st_lsm6dsx_reg *reg;
+ unsigned int data;
+ int err;
+
+ if (type != IIO_EV_TYPE_THRESH)
+ return -EINVAL;
+
+ if (val < 0 || val > 31)
+ return -EINVAL;
+
+ reg = &hw->settings->event_settings.wakeup_reg;
+ data = ST_LSM6DSX_SHIFT_VAL(val, reg->mask);
+ err = st_lsm6dsx_update_bits_locked(hw, reg->addr,
+ reg->mask, data);
+ if (err < 0)
+ return -EINVAL;
+
+ hw->event_threshold = val;
+
+ return 0;
+}
+
+static int
+st_lsm6dsx_read_event_config(struct iio_dev *iio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+
+ if (type != IIO_EV_TYPE_THRESH)
+ return -EINVAL;
+
+ return !!(hw->enable_event & BIT(chan->channel2));
+}
+
+static int
+st_lsm6dsx_write_event_config(struct iio_dev *iio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir, int state)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ u8 enable_event;
+ int err;
+
+ if (type != IIO_EV_TYPE_THRESH)
+ return -EINVAL;
+
+ if (state) {
+ enable_event = hw->enable_event | BIT(chan->channel2);
+
+ /* do not enable events if they are already enabled */
+ if (hw->enable_event)
+ goto out;
+ } else {
+ enable_event = hw->enable_event & ~BIT(chan->channel2);
+
+ /* only turn off sensor if no events is enabled */
+ if (enable_event)
+ goto out;
+ }
+
+ /* stop here if no changes have been made */
+ if (hw->enable_event == enable_event)
+ return 0;
+
+ err = st_lsm6dsx_event_setup(hw, state);
+ if (err < 0)
+ return err;
+
+ mutex_lock(&hw->conf_lock);
+ if (enable_event || !(hw->fifo_mask & BIT(sensor->id)))
+ err = __st_lsm6dsx_sensor_set_enable(sensor, state);
+ mutex_unlock(&hw->conf_lock);
+ if (err < 0)
+ return err;
+
+out:
+ hw->enable_event = enable_event;
+
+ return 0;
+}
+
+int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ int err;
+
+ val = clamp_val(val, 1, hw->settings->fifo_ops.max_size);
+
+ mutex_lock(&hw->conf_lock);
+
+ err = st_lsm6dsx_update_watermark(sensor, val);
+
+ mutex_unlock(&hw->conf_lock);
+
+ if (err < 0)
+ return err;
+
+ sensor->watermark = val;
+
+ return 0;
+}
+
+static ssize_t
+st_lsm6dsx_sysfs_sampling_frequency_avail(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(dev_to_iio_dev(dev));
+ const struct st_lsm6dsx_odr_table_entry *odr_table;
+ int i, len = 0;
+
+ odr_table = &sensor->hw->settings->odr_table[sensor->id];
+ for (i = 0; i < odr_table->odr_len; i++)
+ len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%03d ",
+ odr_table->odr_avl[i].milli_hz / 1000,
+ odr_table->odr_avl[i].milli_hz % 1000);
+ buf[len - 1] = '\n';
+
+ return len;
+}
+
+static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(dev_to_iio_dev(dev));
+ const struct st_lsm6dsx_fs_table_entry *fs_table;
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ int i, len = 0;
+
+ fs_table = &hw->settings->fs_table[sensor->id];
+ for (i = 0; i < fs_table->fs_len; i++)
+ len += scnprintf(buf + len, PAGE_SIZE - len, "0.%09u ",
+ fs_table->fs_avl[i].gain);
+ buf[len - 1] = '\n';
+
+ return len;
+}
+
+static int st_lsm6dsx_write_raw_get_fmt(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ long mask)
+{
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ case IIO_ACCEL:
+ return IIO_VAL_INT_PLUS_NANO;
+ default:
+ return IIO_VAL_INT_PLUS_MICRO;
+ }
+ default:
+ return IIO_VAL_INT_PLUS_MICRO;
+ }
+}
+
+static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_sysfs_sampling_frequency_avail);
+static IIO_DEVICE_ATTR(in_accel_scale_available, 0444,
+ st_lsm6dsx_sysfs_scale_avail, NULL, 0);
+static IIO_DEVICE_ATTR(in_anglvel_scale_available, 0444,
+ st_lsm6dsx_sysfs_scale_avail, NULL, 0);
+
+static struct attribute *st_lsm6dsx_acc_attributes[] = {
+ &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
+ &iio_dev_attr_in_accel_scale_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group st_lsm6dsx_acc_attribute_group = {
+ .attrs = st_lsm6dsx_acc_attributes,
+};
+
+static const struct iio_info st_lsm6dsx_acc_info = {
+ .attrs = &st_lsm6dsx_acc_attribute_group,
+ .read_raw = st_lsm6dsx_read_raw,
+ .write_raw = st_lsm6dsx_write_raw,
+ .read_event_value = st_lsm6dsx_read_event,
+ .write_event_value = st_lsm6dsx_write_event,
+ .read_event_config = st_lsm6dsx_read_event_config,
+ .write_event_config = st_lsm6dsx_write_event_config,
+ .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
+ .write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
+};
+
+static struct attribute *st_lsm6dsx_gyro_attributes[] = {
+ &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
+ &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group st_lsm6dsx_gyro_attribute_group = {
+ .attrs = st_lsm6dsx_gyro_attributes,
+};
+
+static const struct iio_info st_lsm6dsx_gyro_info = {
+ .attrs = &st_lsm6dsx_gyro_attribute_group,
+ .read_raw = st_lsm6dsx_read_raw,
+ .write_raw = st_lsm6dsx_write_raw,
+ .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
+ .write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
+};
+
+static int st_lsm6dsx_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin)
+{
+ struct device *dev = hw->dev;
+
+ if (!dev_fwnode(dev))
+ return -EINVAL;
+
+ return device_property_read_u32(dev, "st,drdy-int-pin", drdy_pin);
+}
+
+static int
+st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw,
+ const struct st_lsm6dsx_reg **drdy_reg)
+{
+ int err = 0, drdy_pin;
+
+ if (st_lsm6dsx_get_drdy_pin(hw, &drdy_pin) < 0) {
+ struct st_sensors_platform_data *pdata;
+ struct device *dev = hw->dev;
+
+ pdata = (struct st_sensors_platform_data *)dev->platform_data;
+ drdy_pin = pdata ? pdata->drdy_int_pin : 1;
+ }
+
+ switch (drdy_pin) {
+ case 1:
+ hw->irq_routing = &hw->settings->irq_config.irq1_func;
+ *drdy_reg = &hw->settings->irq_config.irq1;
+ break;
+ case 2:
+ hw->irq_routing = &hw->settings->irq_config.irq2_func;
+ *drdy_reg = &hw->settings->irq_config.irq2;
+ break;
+ default:
+ dev_err(hw->dev, "unsupported data ready pin\n");
+ err = -EINVAL;
+ break;
+ }
+
+ return err;
+}
+
+static int st_lsm6dsx_init_shub(struct st_lsm6dsx_hw *hw)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ struct st_sensors_platform_data *pdata;
+ struct device *dev = hw->dev;
+ unsigned int data;
+ int err = 0;
+
+ hub_settings = &hw->settings->shub_settings;
+
+ pdata = (struct st_sensors_platform_data *)dev->platform_data;
+ if ((dev_fwnode(dev) && device_property_read_bool(dev, "st,pullups")) ||
+ (pdata && pdata->pullups)) {
+ if (hub_settings->pullup_en.sec_page) {
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ return err;
+ }
+
+ data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->pullup_en.mask);
+ err = regmap_update_bits(hw->regmap,
+ hub_settings->pullup_en.addr,
+ hub_settings->pullup_en.mask, data);
+
+ if (hub_settings->pullup_en.sec_page)
+ st_lsm6dsx_set_page(hw, false);
+
+ if (err < 0)
+ return err;
+ }
+
+ if (hub_settings->aux_sens.addr) {
+ /* configure aux sensors */
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ return err;
+
+ data = ST_LSM6DSX_SHIFT_VAL(3, hub_settings->aux_sens.mask);
+ err = regmap_update_bits(hw->regmap,
+ hub_settings->aux_sens.addr,
+ hub_settings->aux_sens.mask, data);
+
+ st_lsm6dsx_set_page(hw, false);
+
+ if (err < 0)
+ return err;
+ }
+
+ if (hub_settings->emb_func.addr) {
+ data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->emb_func.mask);
+ err = regmap_update_bits(hw->regmap,
+ hub_settings->emb_func.addr,
+ hub_settings->emb_func.mask, data);
+ }
+
+ return err;
+}
+
+static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw)
+{
+ const struct st_lsm6dsx_hw_ts_settings *ts_settings;
+ int err, val;
+
+ ts_settings = &hw->settings->ts_settings;
+ /* enable hw timestamp generation if necessary */
+ if (ts_settings->timer_en.addr) {
+ val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->timer_en.mask);
+ err = regmap_update_bits(hw->regmap,
+ ts_settings->timer_en.addr,
+ ts_settings->timer_en.mask, val);
+ if (err < 0)
+ return err;
+ }
+
+ /* enable high resolution for hw ts timer if necessary */
+ if (ts_settings->hr_timer.addr) {
+ val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->hr_timer.mask);
+ err = regmap_update_bits(hw->regmap,
+ ts_settings->hr_timer.addr,
+ ts_settings->hr_timer.mask, val);
+ if (err < 0)
+ return err;
+ }
+
+ /* enable ts queueing in FIFO if necessary */
+ if (ts_settings->fifo_en.addr) {
+ val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->fifo_en.mask);
+ err = regmap_update_bits(hw->regmap,
+ ts_settings->fifo_en.addr,
+ ts_settings->fifo_en.mask, val);
+ if (err < 0)
+ return err;
+ }
+
+ /* calibrate timestamp sensitivity */
+ hw->ts_gain = ST_LSM6DSX_TS_SENSITIVITY;
+ if (ts_settings->freq_fine) {
+ err = regmap_read(hw->regmap, ts_settings->freq_fine, &val);
+ if (err < 0)
+ return err;
+
+ /*
+ * linearize the AN5192 formula:
+ * 1 / (1 + x) ~= 1 - x (Taylor’s Series)
+ * ttrim[s] = 1 / (40000 * (1 + 0.0015 * val))
+ * ttrim[ns] ~= 25000 - 37.5 * val
+ * ttrim[ns] ~= 25000 - (37500 * val) / 1000
+ */
+ hw->ts_gain -= ((s8)val * 37500) / 1000;
+ }
+
+ return 0;
+}
+
+static int st_lsm6dsx_reset_device(struct st_lsm6dsx_hw *hw)
+{
+ const struct st_lsm6dsx_reg *reg;
+ int err;
+
+ /*
+ * flush hw FIFO before device reset in order to avoid
+ * possible races on interrupt line 1. If the first interrupt
+ * line is asserted during hw reset the device will work in
+ * I3C-only mode (if it is supported)
+ */
+ err = st_lsm6dsx_flush_fifo(hw);
+ if (err < 0 && err != -ENOTSUPP)
+ return err;
+
+ /* device sw reset */
+ reg = &hw->settings->reset;
+ err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
+ ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
+ if (err < 0)
+ return err;
+
+ msleep(50);
+
+ /* reload trimming parameter */
+ reg = &hw->settings->boot;
+ err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
+ ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
+ if (err < 0)
+ return err;
+
+ msleep(50);
+
+ return 0;
+}
+
+static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
+{
+ const struct st_lsm6dsx_reg *reg;
+ int err;
+
+ err = st_lsm6dsx_reset_device(hw);
+ if (err < 0)
+ return err;
+
+ /* enable Block Data Update */
+ reg = &hw->settings->bdu;
+ err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
+ ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
+ if (err < 0)
+ return err;
+
+ /* enable FIFO watermak interrupt */
+ err = st_lsm6dsx_get_drdy_reg(hw, &reg);
+ if (err < 0)
+ return err;
+
+ err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
+ ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
+ if (err < 0)
+ return err;
+
+ /* enable Latched interrupts for device events */
+ if (hw->settings->irq_config.lir.addr) {
+ reg = &hw->settings->irq_config.lir;
+ err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
+ ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
+ if (err < 0)
+ return err;
+
+ /* enable clear on read for latched interrupts */
+ if (hw->settings->irq_config.clear_on_read.addr) {
+ reg = &hw->settings->irq_config.clear_on_read;
+ err = regmap_update_bits(hw->regmap,
+ reg->addr, reg->mask,
+ ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
+ if (err < 0)
+ return err;
+ }
+ }
+
+ /* enable drdy-mas if available */
+ if (hw->settings->drdy_mask.addr) {
+ reg = &hw->settings->drdy_mask;
+ err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
+ ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
+ if (err < 0)
+ return err;
+ }
+
+ err = st_lsm6dsx_init_shub(hw);
+ if (err < 0)
+ return err;
+
+ return st_lsm6dsx_init_hw_timer(hw);
+}
+
+static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
+ enum st_lsm6dsx_sensor_id id,
+ const char *name)
+{
+ struct st_lsm6dsx_sensor *sensor;
+ struct iio_dev *iio_dev;
+
+ iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor));
+ if (!iio_dev)
+ return NULL;
+
+ iio_dev->modes = INDIO_DIRECT_MODE;
+ iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks;
+ iio_dev->channels = hw->settings->channels[id].chan;
+ iio_dev->num_channels = hw->settings->channels[id].len;
+
+ sensor = iio_priv(iio_dev);
+ sensor->id = id;
+ sensor->hw = hw;
+ sensor->odr = hw->settings->odr_table[id].odr_avl[0].milli_hz;
+ sensor->gain = hw->settings->fs_table[id].fs_avl[0].gain;
+ sensor->watermark = 1;
+
+ switch (id) {
+ case ST_LSM6DSX_ID_ACC:
+ iio_dev->info = &st_lsm6dsx_acc_info;
+ scnprintf(sensor->name, sizeof(sensor->name), "%s_accel",
+ name);
+ break;
+ case ST_LSM6DSX_ID_GYRO:
+ iio_dev->info = &st_lsm6dsx_gyro_info;
+ scnprintf(sensor->name, sizeof(sensor->name), "%s_gyro",
+ name);
+ break;
+ default:
+ return NULL;
+ }
+ iio_dev->name = sensor->name;
+
+ return iio_dev;
+}
+
+static bool
+st_lsm6dsx_report_motion_event(struct st_lsm6dsx_hw *hw)
+{
+ const struct st_lsm6dsx_event_settings *event_settings;
+ int err, data;
+ s64 timestamp;
+
+ if (!hw->enable_event)
+ return false;
+
+ event_settings = &hw->settings->event_settings;
+ err = st_lsm6dsx_read_locked(hw, event_settings->wakeup_src_reg,
+ &data, sizeof(data));
+ if (err < 0)
+ return false;
+
+ timestamp = iio_get_time_ns(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
+ if ((data & hw->settings->event_settings.wakeup_src_z_mask) &&
+ (hw->enable_event & BIT(IIO_MOD_Z)))
+ iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_Z,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_EITHER),
+ timestamp);
+
+ if ((data & hw->settings->event_settings.wakeup_src_y_mask) &&
+ (hw->enable_event & BIT(IIO_MOD_Y)))
+ iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_Y,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_EITHER),
+ timestamp);
+
+ if ((data & hw->settings->event_settings.wakeup_src_x_mask) &&
+ (hw->enable_event & BIT(IIO_MOD_X)))
+ iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_X,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_EITHER),
+ timestamp);
+
+ return data & event_settings->wakeup_src_status_mask;
+}
+
+static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private)
+{
+ struct st_lsm6dsx_hw *hw = private;
+ int fifo_len = 0, len;
+ bool event;
+
+ event = st_lsm6dsx_report_motion_event(hw);
+
+ if (!hw->settings->fifo_ops.read_fifo)
+ return event ? IRQ_HANDLED : IRQ_NONE;
+
+ /*
+ * If we are using edge IRQs, new samples can arrive while
+ * processing current interrupt since there are no hw
+ * guarantees the irq line stays "low" long enough to properly
+ * detect the new interrupt. In this case the new sample will
+ * be missed.
+ * Polling FIFO status register allow us to read new
+ * samples even if the interrupt arrives while processing
+ * previous data and the timeslot where the line is "low" is
+ * too short to be properly detected.
+ */
+ do {
+ mutex_lock(&hw->fifo_lock);
+ len = hw->settings->fifo_ops.read_fifo(hw);
+ mutex_unlock(&hw->fifo_lock);
+
+ if (len > 0)
+ fifo_len += len;
+ } while (len > 0);
+
+ return fifo_len || event ? IRQ_HANDLED : IRQ_NONE;
+}
+
+static int st_lsm6dsx_irq_setup(struct st_lsm6dsx_hw *hw)
+{
+ struct st_sensors_platform_data *pdata;
+ const struct st_lsm6dsx_reg *reg;
+ struct device *dev = hw->dev;
+ unsigned long irq_type;
+ bool irq_active_low;
+ int err;
+
+ irq_type = irqd_get_trigger_type(irq_get_irq_data(hw->irq));
+
+ switch (irq_type) {
+ case IRQF_TRIGGER_HIGH:
+ case IRQF_TRIGGER_RISING:
+ irq_active_low = false;
+ break;
+ case IRQF_TRIGGER_LOW:
+ case IRQF_TRIGGER_FALLING:
+ irq_active_low = true;
+ break;
+ default:
+ dev_info(hw->dev, "mode %lx unsupported\n", irq_type);
+ return -EINVAL;
+ }
+
+ reg = &hw->settings->irq_config.hla;
+ err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
+ ST_LSM6DSX_SHIFT_VAL(irq_active_low,
+ reg->mask));
+ if (err < 0)
+ return err;
+
+ pdata = (struct st_sensors_platform_data *)dev->platform_data;
+ if ((dev_fwnode(dev) && device_property_read_bool(dev, "drive-open-drain")) ||
+ (pdata && pdata->open_drain)) {
+ reg = &hw->settings->irq_config.od;
+ err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
+ ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
+ if (err < 0)
+ return err;
+
+ irq_type |= IRQF_SHARED;
+ }
+
+ err = devm_request_threaded_irq(hw->dev, hw->irq,
+ NULL,
+ st_lsm6dsx_handler_thread,
+ irq_type | IRQF_ONESHOT,
+ "lsm6dsx", hw);
+ if (err) {
+ dev_err(hw->dev, "failed to request trigger irq %d\n",
+ hw->irq);
+ return err;
+ }
+
+ return 0;
+}
+
+static int st_lsm6dsx_init_regulators(struct device *dev)
+{
+ struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev);
+ int err;
+
+ /* vdd-vddio power regulators */
+ hw->regulators[0].supply = "vdd";
+ hw->regulators[1].supply = "vddio";
+ err = devm_regulator_bulk_get(dev, ARRAY_SIZE(hw->regulators),
+ hw->regulators);
+ if (err)
+ return dev_err_probe(dev, err, "failed to get regulators\n");
+
+ err = regulator_bulk_enable(ARRAY_SIZE(hw->regulators),
+ hw->regulators);
+ if (err) {
+ dev_err(dev, "failed to enable regulators: %d\n", err);
+ return err;
+ }
+
+ msleep(50);
+
+ return 0;
+}
+
+static void st_lsm6dsx_chip_uninit(void *data)
+{
+ struct st_lsm6dsx_hw *hw = data;
+
+ regulator_bulk_disable(ARRAY_SIZE(hw->regulators), hw->regulators);
+}
+
+int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
+ struct regmap *regmap)
+{
+ struct st_sensors_platform_data *pdata = dev->platform_data;
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ struct st_lsm6dsx_hw *hw;
+ const char *name = NULL;
+ int i, err;
+
+ hw = devm_kzalloc(dev, sizeof(*hw), GFP_KERNEL);
+ if (!hw)
+ return -ENOMEM;
+
+ dev_set_drvdata(dev, (void *)hw);
+
+ mutex_init(&hw->fifo_lock);
+ mutex_init(&hw->conf_lock);
+ mutex_init(&hw->page_lock);
+
+ err = st_lsm6dsx_init_regulators(dev);
+ if (err)
+ return err;
+
+ err = devm_add_action_or_reset(dev, st_lsm6dsx_chip_uninit, hw);
+ if (err)
+ return err;
+
+ hw->buff = devm_kzalloc(dev, ST_LSM6DSX_BUFF_SIZE, GFP_KERNEL);
+ if (!hw->buff)
+ return -ENOMEM;
+
+ hw->dev = dev;
+ hw->irq = irq;
+ hw->regmap = regmap;
+
+ err = st_lsm6dsx_check_whoami(hw, hw_id, &name);
+ if (err < 0)
+ return err;
+
+ for (i = 0; i < ST_LSM6DSX_ID_EXT0; i++) {
+ hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name);
+ if (!hw->iio_devs[i])
+ return -ENOMEM;
+ }
+
+ err = st_lsm6dsx_init_device(hw);
+ if (err < 0)
+ return err;
+
+ hub_settings = &hw->settings->shub_settings;
+ if (hub_settings->master_en.addr &&
+ (!dev_fwnode(dev) ||
+ !device_property_read_bool(dev, "st,disable-sensor-hub"))) {
+ err = st_lsm6dsx_shub_probe(hw, name);
+ if (err < 0)
+ return err;
+ }
+
+ if (hw->irq > 0) {
+ err = st_lsm6dsx_irq_setup(hw);
+ if (err < 0)
+ return err;
+
+ err = st_lsm6dsx_fifo_setup(hw);
+ if (err < 0)
+ return err;
+ }
+
+ err = iio_read_mount_matrix(hw->dev, &hw->orientation);
+ if (err)
+ return err;
+
+ for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
+ if (!hw->iio_devs[i])
+ continue;
+
+ err = devm_iio_device_register(hw->dev, hw->iio_devs[i]);
+ if (err)
+ return err;
+ }
+
+ if ((dev_fwnode(dev) && device_property_read_bool(dev, "wakeup-source")) ||
+ (pdata && pdata->wakeup_source))
+ device_init_wakeup(dev, true);
+
+ return 0;
+}
+EXPORT_SYMBOL_NS(st_lsm6dsx_probe, IIO_LSM6DSX);
+
+static int st_lsm6dsx_suspend(struct device *dev)
+{
+ struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev);
+ struct st_lsm6dsx_sensor *sensor;
+ int i, err = 0;
+
+ for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
+ if (!hw->iio_devs[i])
+ continue;
+
+ sensor = iio_priv(hw->iio_devs[i]);
+ if (!(hw->enable_mask & BIT(sensor->id)))
+ continue;
+
+ if (device_may_wakeup(dev) &&
+ sensor->id == ST_LSM6DSX_ID_ACC && hw->enable_event) {
+ /* Enable wake from IRQ */
+ enable_irq_wake(hw->irq);
+ continue;
+ }
+
+ if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
+ sensor->id == ST_LSM6DSX_ID_EXT1 ||
+ sensor->id == ST_LSM6DSX_ID_EXT2)
+ err = st_lsm6dsx_shub_set_enable(sensor, false);
+ else
+ err = st_lsm6dsx_sensor_set_enable(sensor, false);
+ if (err < 0)
+ return err;
+
+ hw->suspend_mask |= BIT(sensor->id);
+ }
+
+ if (hw->fifo_mask)
+ err = st_lsm6dsx_flush_fifo(hw);
+
+ return err;
+}
+
+static int st_lsm6dsx_resume(struct device *dev)
+{
+ struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev);
+ struct st_lsm6dsx_sensor *sensor;
+ int i, err = 0;
+
+ for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
+ if (!hw->iio_devs[i])
+ continue;
+
+ sensor = iio_priv(hw->iio_devs[i]);
+ if (device_may_wakeup(dev) &&
+ sensor->id == ST_LSM6DSX_ID_ACC && hw->enable_event)
+ disable_irq_wake(hw->irq);
+
+ if (!(hw->suspend_mask & BIT(sensor->id)))
+ continue;
+
+ if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
+ sensor->id == ST_LSM6DSX_ID_EXT1 ||
+ sensor->id == ST_LSM6DSX_ID_EXT2)
+ err = st_lsm6dsx_shub_set_enable(sensor, true);
+ else
+ err = st_lsm6dsx_sensor_set_enable(sensor, true);
+ if (err < 0)
+ return err;
+
+ hw->suspend_mask &= ~BIT(sensor->id);
+ }
+
+ if (hw->fifo_mask)
+ err = st_lsm6dsx_resume_fifo(hw);
+
+ return err;
+}
+
+EXPORT_NS_SIMPLE_DEV_PM_OPS(st_lsm6dsx_pm_ops, st_lsm6dsx_suspend,
+ st_lsm6dsx_resume, IIO_LSM6DSX);
+
+MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@st.com>");
+MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
+MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
new file mode 100644
index 000000000..307c8c436
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
@@ -0,0 +1,154 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * STMicroelectronics st_lsm6dsx i2c driver
+ *
+ * Copyright 2016 STMicroelectronics Inc.
+ *
+ * Lorenzo Bianconi <lorenzo.bianconi@st.com>
+ * Denis Ciocca <denis.ciocca@st.com>
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/i2c.h>
+#include <linux/slab.h>
+#include <linux/regmap.h>
+
+#include "st_lsm6dsx.h"
+
+static const struct regmap_config st_lsm6dsx_i2c_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+};
+
+static int st_lsm6dsx_i2c_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ int hw_id = id->driver_data;
+ struct regmap *regmap;
+
+ regmap = devm_regmap_init_i2c(client, &st_lsm6dsx_i2c_regmap_config);
+ if (IS_ERR(regmap)) {
+ dev_err(&client->dev, "Failed to register i2c regmap %ld\n", PTR_ERR(regmap));
+ return PTR_ERR(regmap);
+ }
+
+ return st_lsm6dsx_probe(&client->dev, client->irq, hw_id, regmap);
+}
+
+static const struct of_device_id st_lsm6dsx_i2c_of_match[] = {
+ {
+ .compatible = "st,lsm6ds3",
+ .data = (void *)ST_LSM6DS3_ID,
+ },
+ {
+ .compatible = "st,lsm6ds3h",
+ .data = (void *)ST_LSM6DS3H_ID,
+ },
+ {
+ .compatible = "st,lsm6dsl",
+ .data = (void *)ST_LSM6DSL_ID,
+ },
+ {
+ .compatible = "st,lsm6dsm",
+ .data = (void *)ST_LSM6DSM_ID,
+ },
+ {
+ .compatible = "st,ism330dlc",
+ .data = (void *)ST_ISM330DLC_ID,
+ },
+ {
+ .compatible = "st,lsm6dso",
+ .data = (void *)ST_LSM6DSO_ID,
+ },
+ {
+ .compatible = "st,asm330lhh",
+ .data = (void *)ST_ASM330LHH_ID,
+ },
+ {
+ .compatible = "st,lsm6dsox",
+ .data = (void *)ST_LSM6DSOX_ID,
+ },
+ {
+ .compatible = "st,lsm6dsr",
+ .data = (void *)ST_LSM6DSR_ID,
+ },
+ {
+ .compatible = "st,lsm6ds3tr-c",
+ .data = (void *)ST_LSM6DS3TRC_ID,
+ },
+ {
+ .compatible = "st,ism330dhcx",
+ .data = (void *)ST_ISM330DHCX_ID,
+ },
+ {
+ .compatible = "st,lsm9ds1-imu",
+ .data = (void *)ST_LSM9DS1_ID,
+ },
+ {
+ .compatible = "st,lsm6ds0",
+ .data = (void *)ST_LSM6DS0_ID,
+ },
+ {
+ .compatible = "st,lsm6dsrx",
+ .data = (void *)ST_LSM6DSRX_ID,
+ },
+ {
+ .compatible = "st,lsm6dst",
+ .data = (void *)ST_LSM6DST_ID,
+ },
+ {
+ .compatible = "st,lsm6dsop",
+ .data = (void *)ST_LSM6DSOP_ID,
+ },
+ {
+ .compatible = "st,asm330lhhx",
+ .data = (void *)ST_ASM330LHHX_ID,
+ },
+ {
+ .compatible = "st,lsm6dstx",
+ .data = (void *)ST_LSM6DSTX_ID,
+ },
+ {},
+};
+MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match);
+
+static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = {
+ { ST_LSM6DS3_DEV_NAME, ST_LSM6DS3_ID },
+ { ST_LSM6DS3H_DEV_NAME, ST_LSM6DS3H_ID },
+ { ST_LSM6DSL_DEV_NAME, ST_LSM6DSL_ID },
+ { ST_LSM6DSM_DEV_NAME, ST_LSM6DSM_ID },
+ { ST_ISM330DLC_DEV_NAME, ST_ISM330DLC_ID },
+ { ST_LSM6DSO_DEV_NAME, ST_LSM6DSO_ID },
+ { ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
+ { ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
+ { ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
+ { ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_ID },
+ { ST_ISM330DHCX_DEV_NAME, ST_ISM330DHCX_ID },
+ { ST_LSM9DS1_DEV_NAME, ST_LSM9DS1_ID },
+ { ST_LSM6DS0_DEV_NAME, ST_LSM6DS0_ID },
+ { ST_LSM6DSRX_DEV_NAME, ST_LSM6DSRX_ID },
+ { ST_LSM6DST_DEV_NAME, ST_LSM6DST_ID },
+ { ST_LSM6DSOP_DEV_NAME, ST_LSM6DSOP_ID },
+ { ST_ASM330LHHX_DEV_NAME, ST_ASM330LHHX_ID },
+ { ST_LSM6DSTX_DEV_NAME, ST_LSM6DSTX_ID },
+ {},
+};
+MODULE_DEVICE_TABLE(i2c, st_lsm6dsx_i2c_id_table);
+
+static struct i2c_driver st_lsm6dsx_driver = {
+ .driver = {
+ .name = "st_lsm6dsx_i2c",
+ .pm = pm_sleep_ptr(&st_lsm6dsx_pm_ops),
+ .of_match_table = st_lsm6dsx_i2c_of_match,
+ },
+ .probe = st_lsm6dsx_i2c_probe,
+ .id_table = st_lsm6dsx_i2c_id_table,
+};
+module_i2c_driver(st_lsm6dsx_driver);
+
+MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@st.com>");
+MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
+MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx i2c driver");
+MODULE_LICENSE("GPL v2");
+MODULE_IMPORT_NS(IIO_LSM6DSX);
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i3c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i3c.c
new file mode 100644
index 000000000..3b0c8b19c
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i3c.c
@@ -0,0 +1,57 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (c) 2018 Synopsys, Inc. and/or its affiliates.
+ *
+ * Author: Vitor Soares <vitor.soares@synopsys.com>
+ */
+
+#include <linux/kernel.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/i3c/device.h>
+#include <linux/i3c/master.h>
+#include <linux/slab.h>
+#include <linux/regmap.h>
+
+#include "st_lsm6dsx.h"
+
+static const struct i3c_device_id st_lsm6dsx_i3c_ids[] = {
+ I3C_DEVICE(0x0104, 0x006C, (void *)ST_LSM6DSO_ID),
+ I3C_DEVICE(0x0104, 0x006B, (void *)ST_LSM6DSR_ID),
+ { /* sentinel */ },
+};
+MODULE_DEVICE_TABLE(i3c, st_lsm6dsx_i3c_ids);
+
+static int st_lsm6dsx_i3c_probe(struct i3c_device *i3cdev)
+{
+ struct regmap_config st_lsm6dsx_i3c_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+ };
+ const struct i3c_device_id *id = i3c_device_match_id(i3cdev,
+ st_lsm6dsx_i3c_ids);
+ struct regmap *regmap;
+
+ regmap = devm_regmap_init_i3c(i3cdev, &st_lsm6dsx_i3c_regmap_config);
+ if (IS_ERR(regmap)) {
+ dev_err(&i3cdev->dev, "Failed to register i3c regmap %ld\n", PTR_ERR(regmap));
+ return PTR_ERR(regmap);
+ }
+
+ return st_lsm6dsx_probe(&i3cdev->dev, 0, (uintptr_t)id->data, regmap);
+}
+
+static struct i3c_driver st_lsm6dsx_driver = {
+ .driver = {
+ .name = "st_lsm6dsx_i3c",
+ .pm = pm_sleep_ptr(&st_lsm6dsx_pm_ops),
+ },
+ .probe = st_lsm6dsx_i3c_probe,
+ .id_table = st_lsm6dsx_i3c_ids,
+};
+module_i3c_driver(st_lsm6dsx_driver);
+
+MODULE_AUTHOR("Vitor Soares <vitor.soares@synopsys.com>");
+MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx i3c driver");
+MODULE_LICENSE("GPL v2");
+MODULE_IMPORT_NS(IIO_LSM6DSX);
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
new file mode 100644
index 000000000..99562ba85
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
@@ -0,0 +1,919 @@
+/*
+ * STMicroelectronics st_lsm6dsx i2c controller driver
+ *
+ * i2c controller embedded in lsm6dx series can connect up to four
+ * slave devices using accelerometer sensor as trigger for i2c
+ * read/write operations. Current implementation relies on SLV0 channel
+ * for slave configuration and SLV{1,2,3} to read data and push them into
+ * the hw FIFO
+ *
+ * Copyright (C) 2018 Lorenzo Bianconi <lorenzo.bianconi83@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ */
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/bitfield.h>
+
+#include "st_lsm6dsx.h"
+
+#define ST_LSM6DSX_SLV_ADDR(n, base) ((base) + (n) * 3)
+#define ST_LSM6DSX_SLV_SUB_ADDR(n, base) ((base) + 1 + (n) * 3)
+#define ST_LSM6DSX_SLV_CONFIG(n, base) ((base) + 2 + (n) * 3)
+
+#define ST_LS6DSX_READ_OP_MASK GENMASK(2, 0)
+
+static const struct st_lsm6dsx_ext_dev_settings st_lsm6dsx_ext_dev_table[] = {
+ /* LIS2MDL */
+ {
+ .i2c_addr = { 0x1e },
+ .wai = {
+ .addr = 0x4f,
+ .val = 0x40,
+ },
+ .id = ST_LSM6DSX_ID_MAGN,
+ .odr_table = {
+ .reg = {
+ .addr = 0x60,
+ .mask = GENMASK(3, 2),
+ },
+ .odr_avl[0] = { 10000, 0x0 },
+ .odr_avl[1] = { 20000, 0x1 },
+ .odr_avl[2] = { 50000, 0x2 },
+ .odr_avl[3] = { 100000, 0x3 },
+ .odr_len = 4,
+ },
+ .fs_table = {
+ .fs_avl[0] = {
+ .gain = 1500,
+ .val = 0x0,
+ }, /* 1500 uG/LSB */
+ .fs_len = 1,
+ },
+ .temp_comp = {
+ .addr = 0x60,
+ .mask = BIT(7),
+ },
+ .pwr_table = {
+ .reg = {
+ .addr = 0x60,
+ .mask = GENMASK(1, 0),
+ },
+ .off_val = 0x2,
+ .on_val = 0x0,
+ },
+ .off_canc = {
+ .addr = 0x61,
+ .mask = BIT(1),
+ },
+ .bdu = {
+ .addr = 0x62,
+ .mask = BIT(4),
+ },
+ .out = {
+ .addr = 0x68,
+ .len = 6,
+ },
+ },
+ /* LIS3MDL */
+ {
+ .i2c_addr = { 0x1e },
+ .wai = {
+ .addr = 0x0f,
+ .val = 0x3d,
+ },
+ .id = ST_LSM6DSX_ID_MAGN,
+ .odr_table = {
+ .reg = {
+ .addr = 0x20,
+ .mask = GENMASK(4, 2),
+ },
+ .odr_avl[0] = { 1000, 0x0 },
+ .odr_avl[1] = { 2000, 0x1 },
+ .odr_avl[2] = { 3000, 0x2 },
+ .odr_avl[3] = { 5000, 0x3 },
+ .odr_avl[4] = { 10000, 0x4 },
+ .odr_avl[5] = { 20000, 0x5 },
+ .odr_avl[6] = { 40000, 0x6 },
+ .odr_avl[7] = { 80000, 0x7 },
+ .odr_len = 8,
+ },
+ .fs_table = {
+ .reg = {
+ .addr = 0x21,
+ .mask = GENMASK(6, 5),
+ },
+ .fs_avl[0] = {
+ .gain = 146,
+ .val = 0x00,
+ }, /* 4000 uG/LSB */
+ .fs_avl[1] = {
+ .gain = 292,
+ .val = 0x01,
+ }, /* 8000 uG/LSB */
+ .fs_avl[2] = {
+ .gain = 438,
+ .val = 0x02,
+ }, /* 12000 uG/LSB */
+ .fs_avl[3] = {
+ .gain = 584,
+ .val = 0x03,
+ }, /* 16000 uG/LSB */
+ .fs_len = 4,
+ },
+ .pwr_table = {
+ .reg = {
+ .addr = 0x22,
+ .mask = GENMASK(1, 0),
+ },
+ .off_val = 0x2,
+ .on_val = 0x0,
+ },
+ .bdu = {
+ .addr = 0x24,
+ .mask = BIT(6),
+ },
+ .out = {
+ .addr = 0x28,
+ .len = 6,
+ },
+ },
+};
+
+static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw)
+{
+ struct st_lsm6dsx_sensor *sensor;
+ u32 odr, timeout;
+
+ sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
+ odr = (hw->enable_mask & BIT(ST_LSM6DSX_ID_ACC)) ? sensor->odr : 12500;
+ /* set 10ms as minimum timeout for i2c slave configuration */
+ timeout = max_t(u32, 2000000U / odr + 1, 10);
+ msleep(timeout);
+}
+
+/*
+ * st_lsm6dsx_shub_read_output - read i2c controller register
+ *
+ * Read st_lsm6dsx i2c controller register
+ */
+static int
+st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data,
+ int len)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ int err;
+
+ mutex_lock(&hw->page_lock);
+
+ hub_settings = &hw->settings->shub_settings;
+ if (hub_settings->shub_out.sec_page) {
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ goto out;
+ }
+
+ err = regmap_bulk_read(hw->regmap, hub_settings->shub_out.addr,
+ data, len);
+
+ if (hub_settings->shub_out.sec_page)
+ st_lsm6dsx_set_page(hw, false);
+out:
+ mutex_unlock(&hw->page_lock);
+
+ return err;
+}
+
+/*
+ * st_lsm6dsx_shub_write_reg - write i2c controller register
+ *
+ * Write st_lsm6dsx i2c controller register
+ */
+static int st_lsm6dsx_shub_write_reg(struct st_lsm6dsx_hw *hw, u8 addr,
+ u8 *data, int len)
+{
+ int err;
+
+ mutex_lock(&hw->page_lock);
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ goto out;
+
+ err = regmap_bulk_write(hw->regmap, addr, data, len);
+
+ st_lsm6dsx_set_page(hw, false);
+out:
+ mutex_unlock(&hw->page_lock);
+
+ return err;
+}
+
+static int
+st_lsm6dsx_shub_write_reg_with_mask(struct st_lsm6dsx_hw *hw, u8 addr,
+ u8 mask, u8 val)
+{
+ int err;
+
+ mutex_lock(&hw->page_lock);
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ goto out;
+
+ err = regmap_update_bits(hw->regmap, addr, mask, val);
+
+ st_lsm6dsx_set_page(hw, false);
+out:
+ mutex_unlock(&hw->page_lock);
+
+ return err;
+}
+
+static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor,
+ bool enable)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ unsigned int data;
+ int err;
+
+ /* enable acc sensor as trigger */
+ err = st_lsm6dsx_sensor_set_enable(sensor, enable);
+ if (err < 0)
+ return err;
+
+ mutex_lock(&hw->page_lock);
+
+ hub_settings = &hw->settings->shub_settings;
+ if (hub_settings->master_en.sec_page) {
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ goto out;
+ }
+
+ data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->master_en.mask);
+ err = regmap_update_bits(hw->regmap, hub_settings->master_en.addr,
+ hub_settings->master_en.mask, data);
+
+ if (hub_settings->master_en.sec_page)
+ st_lsm6dsx_set_page(hw, false);
+out:
+ mutex_unlock(&hw->page_lock);
+
+ return err;
+}
+
+/*
+ * st_lsm6dsx_shub_read - read data from slave device register
+ *
+ * Read data from slave device register. SLV0 is used for
+ * one-shot read operation
+ */
+static int
+st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
+ u8 *data, int len)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ u8 config[3], slv_addr, slv_config = 0;
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ const struct st_lsm6dsx_reg *aux_sens;
+ int err;
+
+ hub_settings = &hw->settings->shub_settings;
+ slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
+ aux_sens = &hw->settings->shub_settings.aux_sens;
+ /* do not overwrite aux_sens */
+ if (slv_addr + 2 == aux_sens->addr)
+ slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
+
+ config[0] = (sensor->ext_info.addr << 1) | 1;
+ config[1] = addr;
+ config[2] = (len & ST_LS6DSX_READ_OP_MASK) | slv_config;
+
+ err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
+ sizeof(config));
+ if (err < 0)
+ return err;
+
+ err = st_lsm6dsx_shub_master_enable(sensor, true);
+ if (err < 0)
+ return err;
+
+ st_lsm6dsx_shub_wait_complete(hw);
+
+ err = st_lsm6dsx_shub_read_output(hw, data,
+ len & ST_LS6DSX_READ_OP_MASK);
+ if (err < 0)
+ return err;
+
+ st_lsm6dsx_shub_master_enable(sensor, false);
+
+ config[0] = hub_settings->pause;
+ config[1] = 0;
+ config[2] = slv_config;
+ return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
+ sizeof(config));
+}
+
+/*
+ * st_lsm6dsx_shub_write - write data to slave device register
+ *
+ * Write data from slave device register. SLV0 is used for
+ * one-shot write operation
+ */
+static int
+st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr,
+ u8 *data, int len)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ u8 config[2], slv_addr;
+ int err, i;
+
+ hub_settings = &hw->settings->shub_settings;
+ if (hub_settings->wr_once.addr) {
+ unsigned int data;
+
+ data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->wr_once.mask);
+ err = st_lsm6dsx_shub_write_reg_with_mask(hw,
+ hub_settings->wr_once.addr,
+ hub_settings->wr_once.mask,
+ data);
+ if (err < 0)
+ return err;
+ }
+
+ slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
+ config[0] = sensor->ext_info.addr << 1;
+ for (i = 0 ; i < len; i++) {
+ config[1] = addr + i;
+
+ err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
+ sizeof(config));
+ if (err < 0)
+ return err;
+
+ err = st_lsm6dsx_shub_write_reg(hw, hub_settings->dw_slv0_addr,
+ &data[i], 1);
+ if (err < 0)
+ return err;
+
+ err = st_lsm6dsx_shub_master_enable(sensor, true);
+ if (err < 0)
+ return err;
+
+ st_lsm6dsx_shub_wait_complete(hw);
+
+ st_lsm6dsx_shub_master_enable(sensor, false);
+ }
+
+ config[0] = hub_settings->pause;
+ config[1] = 0;
+ return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config));
+}
+
+static int
+st_lsm6dsx_shub_write_with_mask(struct st_lsm6dsx_sensor *sensor,
+ u8 addr, u8 mask, u8 val)
+{
+ int err;
+ u8 data;
+
+ err = st_lsm6dsx_shub_read(sensor, addr, &data, sizeof(data));
+ if (err < 0)
+ return err;
+
+ data = ((data & ~mask) | (val << __ffs(mask) & mask));
+
+ return st_lsm6dsx_shub_write(sensor, addr, &data, sizeof(data));
+}
+
+static int
+st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor,
+ u32 odr, u16 *val)
+{
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ int i;
+
+ settings = sensor->ext_info.settings;
+ for (i = 0; i < settings->odr_table.odr_len; i++) {
+ if (settings->odr_table.odr_avl[i].milli_hz == odr)
+ break;
+ }
+
+ if (i == settings->odr_table.odr_len)
+ return -EINVAL;
+
+ *val = settings->odr_table.odr_avl[i].val;
+ return 0;
+}
+
+static int
+st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u32 odr)
+{
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ u16 val;
+ int err;
+
+ err = st_lsm6dsx_shub_get_odr_val(sensor, odr, &val);
+ if (err < 0)
+ return err;
+
+ settings = sensor->ext_info.settings;
+ return st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->odr_table.reg.addr,
+ settings->odr_table.reg.mask,
+ val);
+}
+
+/* use SLV{1,2,3} for FIFO read operations */
+static int
+st_lsm6dsx_shub_config_channels(struct st_lsm6dsx_sensor *sensor,
+ bool enable)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ u8 config[9] = {}, enable_mask, slv_addr;
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ struct st_lsm6dsx_sensor *cur_sensor;
+ int i, j = 0;
+
+ hub_settings = &hw->settings->shub_settings;
+ if (enable)
+ enable_mask = hw->enable_mask | BIT(sensor->id);
+ else
+ enable_mask = hw->enable_mask & ~BIT(sensor->id);
+
+ for (i = ST_LSM6DSX_ID_EXT0; i <= ST_LSM6DSX_ID_EXT2; i++) {
+ if (!hw->iio_devs[i])
+ continue;
+
+ cur_sensor = iio_priv(hw->iio_devs[i]);
+ if (!(enable_mask & BIT(cur_sensor->id)))
+ continue;
+
+ settings = cur_sensor->ext_info.settings;
+ config[j] = (sensor->ext_info.addr << 1) | 1;
+ config[j + 1] = settings->out.addr;
+ config[j + 2] = (settings->out.len & ST_LS6DSX_READ_OP_MASK) |
+ hub_settings->batch_en;
+ j += 3;
+ }
+
+ slv_addr = ST_LSM6DSX_SLV_ADDR(1, hub_settings->slv0_addr);
+ return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
+ sizeof(config));
+}
+
+int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
+{
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ int err;
+
+ err = st_lsm6dsx_shub_config_channels(sensor, enable);
+ if (err < 0)
+ return err;
+
+ settings = sensor->ext_info.settings;
+ if (enable) {
+ err = st_lsm6dsx_shub_set_odr(sensor,
+ sensor->ext_info.slv_odr);
+ if (err < 0)
+ return err;
+ } else {
+ err = st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->odr_table.reg.addr,
+ settings->odr_table.reg.mask, 0);
+ if (err < 0)
+ return err;
+ }
+
+ if (settings->pwr_table.reg.addr) {
+ u8 val;
+
+ val = enable ? settings->pwr_table.on_val
+ : settings->pwr_table.off_val;
+ err = st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->pwr_table.reg.addr,
+ settings->pwr_table.reg.mask, val);
+ if (err < 0)
+ return err;
+ }
+
+ return st_lsm6dsx_shub_master_enable(sensor, enable);
+}
+
+static int
+st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor,
+ struct iio_chan_spec const *ch,
+ int *val)
+{
+ int err, delay, len;
+ u8 data[4];
+
+ err = st_lsm6dsx_shub_set_enable(sensor, true);
+ if (err < 0)
+ return err;
+
+ delay = 1000000000 / sensor->ext_info.slv_odr;
+ usleep_range(delay, 2 * delay);
+
+ len = min_t(int, sizeof(data), ch->scan_type.realbits >> 3);
+ err = st_lsm6dsx_shub_read(sensor, ch->address, data, len);
+ if (err < 0)
+ return err;
+
+ err = st_lsm6dsx_shub_set_enable(sensor, false);
+ if (err < 0)
+ return err;
+
+ switch (len) {
+ case 2:
+ *val = (s16)le16_to_cpu(*((__le16 *)data));
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ return IIO_VAL_INT;
+}
+
+static int
+st_lsm6dsx_shub_read_raw(struct iio_dev *iio_dev,
+ struct iio_chan_spec const *ch,
+ int *val, int *val2, long mask)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ int ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = iio_device_claim_direct_mode(iio_dev);
+ if (ret)
+ break;
+
+ ret = st_lsm6dsx_shub_read_oneshot(sensor, ch, val);
+ iio_device_release_direct_mode(iio_dev);
+ break;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ *val = sensor->ext_info.slv_odr / 1000;
+ *val2 = (sensor->ext_info.slv_odr % 1000) * 1000;
+ ret = IIO_VAL_INT_PLUS_MICRO;
+ break;
+ case IIO_CHAN_INFO_SCALE:
+ *val = 0;
+ *val2 = sensor->gain;
+ ret = IIO_VAL_INT_PLUS_MICRO;
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+
+ return ret;
+}
+
+static int
+st_lsm6dsx_shub_set_full_scale(struct st_lsm6dsx_sensor *sensor,
+ u32 gain)
+{
+ const struct st_lsm6dsx_fs_table_entry *fs_table;
+ int i, err;
+
+ fs_table = &sensor->ext_info.settings->fs_table;
+ if (!fs_table->reg.addr)
+ return -ENOTSUPP;
+
+ for (i = 0; i < fs_table->fs_len; i++) {
+ if (fs_table->fs_avl[i].gain == gain)
+ break;
+ }
+
+ if (i == fs_table->fs_len)
+ return -EINVAL;
+
+ err = st_lsm6dsx_shub_write_with_mask(sensor, fs_table->reg.addr,
+ fs_table->reg.mask,
+ fs_table->fs_avl[i].val);
+ if (err < 0)
+ return err;
+
+ sensor->gain = gain;
+
+ return 0;
+}
+
+static int
+st_lsm6dsx_shub_write_raw(struct iio_dev *iio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ int err;
+
+ err = iio_device_claim_direct_mode(iio_dev);
+ if (err)
+ return err;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SAMP_FREQ: {
+ u16 data;
+
+ val = val * 1000 + val2 / 1000;
+ err = st_lsm6dsx_shub_get_odr_val(sensor, val, &data);
+ if (!err) {
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ struct st_lsm6dsx_sensor *ref_sensor;
+ u8 odr_val;
+ int odr;
+
+ ref_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
+ odr = st_lsm6dsx_check_odr(ref_sensor, val, &odr_val);
+ if (odr < 0) {
+ err = odr;
+ goto release;
+ }
+
+ sensor->ext_info.slv_odr = val;
+ sensor->odr = odr;
+ }
+ break;
+ }
+ case IIO_CHAN_INFO_SCALE:
+ err = st_lsm6dsx_shub_set_full_scale(sensor, val2);
+ break;
+ default:
+ err = -EINVAL;
+ break;
+ }
+
+release:
+ iio_device_release_direct_mode(iio_dev);
+
+ return err;
+}
+
+static ssize_t
+st_lsm6dsx_shub_sampling_freq_avail(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ int i, len = 0;
+
+ settings = sensor->ext_info.settings;
+ for (i = 0; i < settings->odr_table.odr_len; i++) {
+ u32 val = settings->odr_table.odr_avl[i].milli_hz;
+
+ len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%03d ",
+ val / 1000, val % 1000);
+ }
+ buf[len - 1] = '\n';
+
+ return len;
+}
+
+static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ int i, len = 0;
+
+ settings = sensor->ext_info.settings;
+ for (i = 0; i < settings->fs_table.fs_len; i++)
+ len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
+ settings->fs_table.fs_avl[i].gain);
+ buf[len - 1] = '\n';
+
+ return len;
+}
+
+static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail);
+static IIO_DEVICE_ATTR(in_scale_available, 0444,
+ st_lsm6dsx_shub_scale_avail, NULL, 0);
+static struct attribute *st_lsm6dsx_ext_attributes[] = {
+ &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
+ &iio_dev_attr_in_scale_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group st_lsm6dsx_ext_attribute_group = {
+ .attrs = st_lsm6dsx_ext_attributes,
+};
+
+static const struct iio_info st_lsm6dsx_ext_info = {
+ .attrs = &st_lsm6dsx_ext_attribute_group,
+ .read_raw = st_lsm6dsx_shub_read_raw,
+ .write_raw = st_lsm6dsx_shub_write_raw,
+ .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
+};
+
+static struct iio_dev *
+st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw,
+ enum st_lsm6dsx_sensor_id id,
+ const struct st_lsm6dsx_ext_dev_settings *info,
+ u8 i2c_addr, const char *name)
+{
+ enum st_lsm6dsx_sensor_id ref_id = ST_LSM6DSX_ID_ACC;
+ struct iio_chan_spec *ext_channels;
+ struct st_lsm6dsx_sensor *sensor;
+ struct iio_dev *iio_dev;
+
+ iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor));
+ if (!iio_dev)
+ return NULL;
+
+ iio_dev->modes = INDIO_DIRECT_MODE;
+ iio_dev->info = &st_lsm6dsx_ext_info;
+
+ sensor = iio_priv(iio_dev);
+ sensor->id = id;
+ sensor->hw = hw;
+ sensor->odr = hw->settings->odr_table[ref_id].odr_avl[0].milli_hz;
+ sensor->ext_info.slv_odr = info->odr_table.odr_avl[0].milli_hz;
+ sensor->gain = info->fs_table.fs_avl[0].gain;
+ sensor->ext_info.settings = info;
+ sensor->ext_info.addr = i2c_addr;
+ sensor->watermark = 1;
+
+ switch (info->id) {
+ case ST_LSM6DSX_ID_MAGN: {
+ const struct iio_chan_spec magn_channels[] = {
+ ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr,
+ IIO_MOD_X, 0),
+ ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 2,
+ IIO_MOD_Y, 1),
+ ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 4,
+ IIO_MOD_Z, 2),
+ IIO_CHAN_SOFT_TIMESTAMP(3),
+ };
+
+ ext_channels = devm_kzalloc(hw->dev, sizeof(magn_channels),
+ GFP_KERNEL);
+ if (!ext_channels)
+ return NULL;
+
+ memcpy(ext_channels, magn_channels, sizeof(magn_channels));
+ iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks;
+ iio_dev->channels = ext_channels;
+ iio_dev->num_channels = ARRAY_SIZE(magn_channels);
+
+ scnprintf(sensor->name, sizeof(sensor->name), "%s_magn",
+ name);
+ break;
+ }
+ default:
+ return NULL;
+ }
+ iio_dev->name = sensor->name;
+
+ return iio_dev;
+}
+
+static int st_lsm6dsx_shub_init_device(struct st_lsm6dsx_sensor *sensor)
+{
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ int err;
+
+ settings = sensor->ext_info.settings;
+ if (settings->bdu.addr) {
+ err = st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->bdu.addr,
+ settings->bdu.mask, 1);
+ if (err < 0)
+ return err;
+ }
+
+ if (settings->temp_comp.addr) {
+ err = st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->temp_comp.addr,
+ settings->temp_comp.mask, 1);
+ if (err < 0)
+ return err;
+ }
+
+ if (settings->off_canc.addr) {
+ err = st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->off_canc.addr,
+ settings->off_canc.mask, 1);
+ if (err < 0)
+ return err;
+ }
+
+ return 0;
+}
+
+static int
+st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
+ const struct st_lsm6dsx_ext_dev_settings *settings)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ u8 config[3], data, slv_addr, slv_config = 0;
+ const struct st_lsm6dsx_reg *aux_sens;
+ struct st_lsm6dsx_sensor *sensor;
+ bool found = false;
+ int i, err;
+
+ sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
+ hub_settings = &hw->settings->shub_settings;
+ aux_sens = &hw->settings->shub_settings.aux_sens;
+ slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
+ /* do not overwrite aux_sens */
+ if (slv_addr + 2 == aux_sens->addr)
+ slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
+
+ for (i = 0; i < ARRAY_SIZE(settings->i2c_addr); i++) {
+ if (!settings->i2c_addr[i])
+ continue;
+
+ /* read wai slave register */
+ config[0] = (settings->i2c_addr[i] << 1) | 0x1;
+ config[1] = settings->wai.addr;
+ config[2] = 0x1 | slv_config;
+
+ err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
+ sizeof(config));
+ if (err < 0)
+ return err;
+
+ err = st_lsm6dsx_shub_master_enable(sensor, true);
+ if (err < 0)
+ return err;
+
+ st_lsm6dsx_shub_wait_complete(hw);
+
+ err = st_lsm6dsx_shub_read_output(hw, &data, sizeof(data));
+
+ st_lsm6dsx_shub_master_enable(sensor, false);
+
+ if (err < 0)
+ return err;
+
+ if (data != settings->wai.val)
+ continue;
+
+ *i2c_addr = settings->i2c_addr[i];
+ found = true;
+ break;
+ }
+
+ /* reset SLV0 channel */
+ config[0] = hub_settings->pause;
+ config[1] = 0;
+ config[2] = slv_config;
+ err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
+ sizeof(config));
+ if (err < 0)
+ return err;
+
+ return found ? 0 : -ENODEV;
+}
+
+int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name)
+{
+ enum st_lsm6dsx_sensor_id id = ST_LSM6DSX_ID_EXT0;
+ struct st_lsm6dsx_sensor *sensor;
+ int err, i, num_ext_dev = 0;
+ u8 i2c_addr = 0;
+
+ for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_ext_dev_table); i++) {
+ err = st_lsm6dsx_shub_check_wai(hw, &i2c_addr,
+ &st_lsm6dsx_ext_dev_table[i]);
+ if (err == -ENODEV)
+ continue;
+ else if (err < 0)
+ return err;
+
+ hw->iio_devs[id] = st_lsm6dsx_shub_alloc_iiodev(hw, id,
+ &st_lsm6dsx_ext_dev_table[i],
+ i2c_addr, name);
+ if (!hw->iio_devs[id])
+ return -ENOMEM;
+
+ sensor = iio_priv(hw->iio_devs[id]);
+ err = st_lsm6dsx_shub_init_device(sensor);
+ if (err < 0)
+ return err;
+
+ if (++num_ext_dev >= hw->settings->shub_settings.num_ext_dev)
+ break;
+ id++;
+ }
+
+ return 0;
+}
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
new file mode 100644
index 000000000..6a4eecf4b
--- /dev/null
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
@@ -0,0 +1,154 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * STMicroelectronics st_lsm6dsx spi driver
+ *
+ * Copyright 2016 STMicroelectronics Inc.
+ *
+ * Lorenzo Bianconi <lorenzo.bianconi@st.com>
+ * Denis Ciocca <denis.ciocca@st.com>
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/regmap.h>
+
+#include "st_lsm6dsx.h"
+
+static const struct regmap_config st_lsm6dsx_spi_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+};
+
+static int st_lsm6dsx_spi_probe(struct spi_device *spi)
+{
+ const struct spi_device_id *id = spi_get_device_id(spi);
+ int hw_id = id->driver_data;
+ struct regmap *regmap;
+
+ regmap = devm_regmap_init_spi(spi, &st_lsm6dsx_spi_regmap_config);
+ if (IS_ERR(regmap)) {
+ dev_err(&spi->dev, "Failed to register spi regmap %ld\n", PTR_ERR(regmap));
+ return PTR_ERR(regmap);
+ }
+
+ return st_lsm6dsx_probe(&spi->dev, spi->irq, hw_id, regmap);
+}
+
+static const struct of_device_id st_lsm6dsx_spi_of_match[] = {
+ {
+ .compatible = "st,lsm6ds3",
+ .data = (void *)ST_LSM6DS3_ID,
+ },
+ {
+ .compatible = "st,lsm6ds3h",
+ .data = (void *)ST_LSM6DS3H_ID,
+ },
+ {
+ .compatible = "st,lsm6dsl",
+ .data = (void *)ST_LSM6DSL_ID,
+ },
+ {
+ .compatible = "st,lsm6dsm",
+ .data = (void *)ST_LSM6DSM_ID,
+ },
+ {
+ .compatible = "st,ism330dlc",
+ .data = (void *)ST_ISM330DLC_ID,
+ },
+ {
+ .compatible = "st,lsm6dso",
+ .data = (void *)ST_LSM6DSO_ID,
+ },
+ {
+ .compatible = "st,asm330lhh",
+ .data = (void *)ST_ASM330LHH_ID,
+ },
+ {
+ .compatible = "st,lsm6dsox",
+ .data = (void *)ST_LSM6DSOX_ID,
+ },
+ {
+ .compatible = "st,lsm6dsr",
+ .data = (void *)ST_LSM6DSR_ID,
+ },
+ {
+ .compatible = "st,lsm6ds3tr-c",
+ .data = (void *)ST_LSM6DS3TRC_ID,
+ },
+ {
+ .compatible = "st,ism330dhcx",
+ .data = (void *)ST_ISM330DHCX_ID,
+ },
+ {
+ .compatible = "st,lsm9ds1-imu",
+ .data = (void *)ST_LSM9DS1_ID,
+ },
+ {
+ .compatible = "st,lsm6ds0",
+ .data = (void *)ST_LSM6DS0_ID,
+ },
+ {
+ .compatible = "st,lsm6dsrx",
+ .data = (void *)ST_LSM6DSRX_ID,
+ },
+ {
+ .compatible = "st,lsm6dst",
+ .data = (void *)ST_LSM6DST_ID,
+ },
+ {
+ .compatible = "st,lsm6dsop",
+ .data = (void *)ST_LSM6DSOP_ID,
+ },
+ {
+ .compatible = "st,asm330lhhx",
+ .data = (void *)ST_ASM330LHHX_ID,
+ },
+ {
+ .compatible = "st,lsm6dstx",
+ .data = (void *)ST_LSM6DSTX_ID,
+ },
+ {},
+};
+MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match);
+
+static const struct spi_device_id st_lsm6dsx_spi_id_table[] = {
+ { ST_LSM6DS3_DEV_NAME, ST_LSM6DS3_ID },
+ { ST_LSM6DS3H_DEV_NAME, ST_LSM6DS3H_ID },
+ { ST_LSM6DSL_DEV_NAME, ST_LSM6DSL_ID },
+ { ST_LSM6DSM_DEV_NAME, ST_LSM6DSM_ID },
+ { ST_ISM330DLC_DEV_NAME, ST_ISM330DLC_ID },
+ { ST_LSM6DSO_DEV_NAME, ST_LSM6DSO_ID },
+ { ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
+ { ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
+ { ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
+ { ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_ID },
+ { ST_ISM330DHCX_DEV_NAME, ST_ISM330DHCX_ID },
+ { ST_LSM9DS1_DEV_NAME, ST_LSM9DS1_ID },
+ { ST_LSM6DS0_DEV_NAME, ST_LSM6DS0_ID },
+ { ST_LSM6DSRX_DEV_NAME, ST_LSM6DSRX_ID },
+ { ST_LSM6DST_DEV_NAME, ST_LSM6DST_ID },
+ { ST_LSM6DSOP_DEV_NAME, ST_LSM6DSOP_ID },
+ { ST_ASM330LHHX_DEV_NAME, ST_ASM330LHHX_ID },
+ { ST_LSM6DSTX_DEV_NAME, ST_LSM6DSTX_ID },
+ {},
+};
+MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table);
+
+static struct spi_driver st_lsm6dsx_driver = {
+ .driver = {
+ .name = "st_lsm6dsx_spi",
+ .pm = pm_sleep_ptr(&st_lsm6dsx_pm_ops),
+ .of_match_table = st_lsm6dsx_spi_of_match,
+ },
+ .probe = st_lsm6dsx_spi_probe,
+ .id_table = st_lsm6dsx_spi_id_table,
+};
+module_spi_driver(st_lsm6dsx_driver);
+
+MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@st.com>");
+MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
+MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx spi driver");
+MODULE_LICENSE("GPL v2");
+MODULE_IMPORT_NS(IIO_LSM6DSX);
diff --git a/drivers/iio/imu/st_lsm9ds0/Kconfig b/drivers/iio/imu/st_lsm9ds0/Kconfig
new file mode 100644
index 000000000..d29558ede
--- /dev/null
+++ b/drivers/iio/imu/st_lsm9ds0/Kconfig
@@ -0,0 +1,44 @@
+# SPDX-License-Identifier: GPL-2.0-only
+
+config IIO_ST_LSM9DS0
+ tristate "STMicroelectronics LSM9DS0 IMU driver"
+ depends on (I2C || SPI_MASTER) && SYSFS
+ depends on !SENSORS_LIS3_I2C
+ depends on !SENSORS_LIS3_SPI
+ select IIO_ST_ACCEL_3AXIS
+ select IIO_ST_MAGN_3AXIS
+
+ help
+ Say yes here to build support for STMicroelectronics LSM9DS0 IMU
+ sensor. Supported devices: accelerometer/magnetometer of lsm9ds0.
+
+ To compile this driver as a module, choose M here: the module
+ will be called st_lsm9ds0.
+
+ Also need to enable at least one of I2C and SPI interface drivers
+
+config IIO_ST_LSM9DS0_I2C
+ tristate "STMicroelectronics LSM9DS0 IMU I2C interface"
+ depends on I2C && IIO_ST_LSM9DS0
+ default I2C && IIO_ST_LSM9DS0
+ select IIO_ST_ACCEL_I2C_3AXIS
+ select IIO_ST_MAGN_I2C_3AXIS
+ select REGMAP_I2C
+ help
+ Build support for STMicroelectronics LSM9DS0 IMU I2C interface.
+
+ To compile this driver as a module, choose M here. The module
+ will be called st_lsm9ds0_i2c.
+
+config IIO_ST_LSM9DS0_SPI
+ tristate "STMicroelectronics LSM9DS0 IMU SPI interface"
+ depends on SPI_MASTER && IIO_ST_LSM9DS0
+ default SPI_MASTER && IIO_ST_LSM9DS0
+ select IIO_ST_ACCEL_SPI_3AXIS
+ select IIO_ST_MAGN_SPI_3AXIS
+ select REGMAP_SPI
+ help
+ Build support for STMicroelectronics LSM9DS0 IMU I2C interface.
+
+ To compile this driver as a module, choose M here. The module
+ will be called st_lsm9ds0_spi.
diff --git a/drivers/iio/imu/st_lsm9ds0/Makefile b/drivers/iio/imu/st_lsm9ds0/Makefile
new file mode 100644
index 000000000..488af523f
--- /dev/null
+++ b/drivers/iio/imu/st_lsm9ds0/Makefile
@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: GPL-2.0-only
+obj-$(CONFIG_IIO_ST_LSM9DS0) += st_lsm9ds0.o
+st_lsm9ds0-y := st_lsm9ds0_core.o
+obj-$(CONFIG_IIO_ST_LSM9DS0_I2C) += st_lsm9ds0_i2c.o
+obj-$(CONFIG_IIO_ST_LSM9DS0_SPI) += st_lsm9ds0_spi.o
diff --git a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0.h b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0.h
new file mode 100644
index 000000000..76678cdef
--- /dev/null
+++ b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0.h
@@ -0,0 +1,22 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+// STMicroelectronics LSM9DS0 IMU driver
+
+#ifndef ST_LSM9DS0_H
+#define ST_LSM9DS0_H
+
+struct iio_dev;
+struct regulator;
+
+struct st_lsm9ds0 {
+ struct device *dev;
+ const char *name;
+ int irq;
+ struct iio_dev *accel;
+ struct iio_dev *magn;
+ struct regulator *vdd;
+ struct regulator *vdd_io;
+};
+
+int st_lsm9ds0_probe(struct st_lsm9ds0 *lsm9ds0, struct regmap *regmap);
+
+#endif /* ST_LSM9DS0_H */
diff --git a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c
new file mode 100644
index 000000000..ae7bc8153
--- /dev/null
+++ b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c
@@ -0,0 +1,150 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * STMicroelectronics LSM9DS0 IMU driver
+ *
+ * Copyright (C) 2021, Intel Corporation
+ *
+ * Author: Andy Shevchenko <andriy.shevchenko@linux.intel.com>
+ */
+
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/regulator/consumer.h>
+
+#include <linux/iio/common/st_sensors.h>
+#include <linux/iio/iio.h>
+
+#include "st_lsm9ds0.h"
+
+static int st_lsm9ds0_power_enable(struct device *dev, struct st_lsm9ds0 *lsm9ds0)
+{
+ int ret;
+
+ /* Regulators not mandatory, but if requested we should enable them. */
+ lsm9ds0->vdd = devm_regulator_get(dev, "vdd");
+ if (IS_ERR(lsm9ds0->vdd))
+ return dev_err_probe(dev, PTR_ERR(lsm9ds0->vdd),
+ "unable to get Vdd supply\n");
+
+ ret = regulator_enable(lsm9ds0->vdd);
+ if (ret) {
+ dev_warn(dev, "Failed to enable specified Vdd supply\n");
+ return ret;
+ }
+
+ lsm9ds0->vdd_io = devm_regulator_get(dev, "vddio");
+ if (IS_ERR(lsm9ds0->vdd_io)) {
+ regulator_disable(lsm9ds0->vdd);
+ return dev_err_probe(dev, PTR_ERR(lsm9ds0->vdd_io),
+ "unable to get Vdd_IO supply\n");
+ }
+ ret = regulator_enable(lsm9ds0->vdd_io);
+ if (ret) {
+ dev_warn(dev, "Failed to enable specified Vdd_IO supply\n");
+ regulator_disable(lsm9ds0->vdd);
+ return ret;
+ }
+
+ return 0;
+}
+
+static void st_lsm9ds0_power_disable(void *data)
+{
+ struct st_lsm9ds0 *lsm9ds0 = data;
+
+ regulator_disable(lsm9ds0->vdd_io);
+ regulator_disable(lsm9ds0->vdd);
+}
+
+static int devm_st_lsm9ds0_power_enable(struct st_lsm9ds0 *lsm9ds0)
+{
+ struct device *dev = lsm9ds0->dev;
+ int ret;
+
+ ret = st_lsm9ds0_power_enable(dev, lsm9ds0);
+ if (ret)
+ return ret;
+
+ return devm_add_action_or_reset(dev, st_lsm9ds0_power_disable, lsm9ds0);
+}
+
+static int st_lsm9ds0_probe_accel(struct st_lsm9ds0 *lsm9ds0, struct regmap *regmap)
+{
+ const struct st_sensor_settings *settings;
+ struct device *dev = lsm9ds0->dev;
+ struct st_sensor_data *data;
+
+ settings = st_accel_get_settings(lsm9ds0->name);
+ if (!settings) {
+ dev_err(dev, "device name %s not recognized.\n", lsm9ds0->name);
+ return -ENODEV;
+ }
+
+ lsm9ds0->accel = devm_iio_device_alloc(dev, sizeof(*data));
+ if (!lsm9ds0->accel)
+ return -ENOMEM;
+
+ lsm9ds0->accel->name = lsm9ds0->name;
+
+ data = iio_priv(lsm9ds0->accel);
+ data->sensor_settings = (struct st_sensor_settings *)settings;
+ data->irq = lsm9ds0->irq;
+ data->regmap = regmap;
+ data->vdd = lsm9ds0->vdd;
+ data->vdd_io = lsm9ds0->vdd_io;
+
+ return st_accel_common_probe(lsm9ds0->accel);
+}
+
+static int st_lsm9ds0_probe_magn(struct st_lsm9ds0 *lsm9ds0, struct regmap *regmap)
+{
+ const struct st_sensor_settings *settings;
+ struct device *dev = lsm9ds0->dev;
+ struct st_sensor_data *data;
+
+ settings = st_magn_get_settings(lsm9ds0->name);
+ if (!settings) {
+ dev_err(dev, "device name %s not recognized.\n", lsm9ds0->name);
+ return -ENODEV;
+ }
+
+ lsm9ds0->magn = devm_iio_device_alloc(dev, sizeof(*data));
+ if (!lsm9ds0->magn)
+ return -ENOMEM;
+
+ lsm9ds0->magn->name = lsm9ds0->name;
+
+ data = iio_priv(lsm9ds0->magn);
+ data->sensor_settings = (struct st_sensor_settings *)settings;
+ data->irq = lsm9ds0->irq;
+ data->regmap = regmap;
+ data->vdd = lsm9ds0->vdd;
+ data->vdd_io = lsm9ds0->vdd_io;
+
+ return st_magn_common_probe(lsm9ds0->magn);
+}
+
+int st_lsm9ds0_probe(struct st_lsm9ds0 *lsm9ds0, struct regmap *regmap)
+{
+ int ret;
+
+ ret = devm_st_lsm9ds0_power_enable(lsm9ds0);
+ if (ret)
+ return ret;
+
+ /* Setup accelerometer device */
+ ret = st_lsm9ds0_probe_accel(lsm9ds0, regmap);
+ if (ret)
+ return ret;
+
+ /* Setup magnetometer device */
+ return st_lsm9ds0_probe_magn(lsm9ds0, regmap);
+}
+EXPORT_SYMBOL_NS_GPL(st_lsm9ds0_probe, IIO_ST_SENSORS);
+
+MODULE_AUTHOR("Andy Shevchenko <andriy.shevchenko@linux.intel.com>");
+MODULE_DESCRIPTION("STMicroelectronics LSM9DS0 IMU core driver");
+MODULE_LICENSE("GPL v2");
+MODULE_IMPORT_NS(IIO_ST_SENSORS);
diff --git a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c
new file mode 100644
index 000000000..a90138d8b
--- /dev/null
+++ b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c
@@ -0,0 +1,80 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * STMicroelectronics LSM9DS0 IMU driver
+ *
+ * Copyright (C) 2021, Intel Corporation
+ *
+ * Author: Andy Shevchenko <andriy.shevchenko@linux.intel.com>
+ */
+
+#include <linux/i2c.h>
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/regmap.h>
+
+#include <linux/iio/common/st_sensors_i2c.h>
+
+#include "st_lsm9ds0.h"
+
+static const struct of_device_id st_lsm9ds0_of_match[] = {
+ {
+ .compatible = "st,lsm9ds0-imu",
+ .data = LSM9DS0_IMU_DEV_NAME,
+ },
+ {}
+};
+MODULE_DEVICE_TABLE(of, st_lsm9ds0_of_match);
+
+static const struct i2c_device_id st_lsm9ds0_id_table[] = {
+ { LSM9DS0_IMU_DEV_NAME },
+ {}
+};
+MODULE_DEVICE_TABLE(i2c, st_lsm9ds0_id_table);
+
+static const struct regmap_config st_lsm9ds0_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+ .read_flag_mask = 0x80,
+};
+
+static int st_lsm9ds0_i2c_probe(struct i2c_client *client)
+{
+ const struct regmap_config *config = &st_lsm9ds0_regmap_config;
+ struct device *dev = &client->dev;
+ struct st_lsm9ds0 *lsm9ds0;
+ struct regmap *regmap;
+
+ st_sensors_dev_name_probe(dev, client->name, sizeof(client->name));
+
+ lsm9ds0 = devm_kzalloc(dev, sizeof(*lsm9ds0), GFP_KERNEL);
+ if (!lsm9ds0)
+ return -ENOMEM;
+
+ lsm9ds0->dev = dev;
+ lsm9ds0->name = client->name;
+ lsm9ds0->irq = client->irq;
+
+ regmap = devm_regmap_init_i2c(client, config);
+ if (IS_ERR(regmap))
+ return PTR_ERR(regmap);
+
+ i2c_set_clientdata(client, lsm9ds0);
+
+ return st_lsm9ds0_probe(lsm9ds0, regmap);
+}
+
+static struct i2c_driver st_lsm9ds0_driver = {
+ .driver = {
+ .name = "st-lsm9ds0-i2c",
+ .of_match_table = st_lsm9ds0_of_match,
+ },
+ .probe_new = st_lsm9ds0_i2c_probe,
+ .id_table = st_lsm9ds0_id_table,
+};
+module_i2c_driver(st_lsm9ds0_driver);
+
+MODULE_AUTHOR("Andy Shevchenko <andriy.shevchenko@linux.intel.com>");
+MODULE_DESCRIPTION("STMicroelectronics LSM9DS0 IMU I2C driver");
+MODULE_LICENSE("GPL v2");
+MODULE_IMPORT_NS(IIO_ST_SENSORS);
diff --git a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c
new file mode 100644
index 000000000..b743bf354
--- /dev/null
+++ b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c
@@ -0,0 +1,79 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * STMicroelectronics LSM9DS0 IMU driver
+ *
+ * Copyright (C) 2021, Intel Corporation
+ *
+ * Author: Andy Shevchenko <andriy.shevchenko@linux.intel.com>
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+
+#include <linux/iio/common/st_sensors_spi.h>
+
+#include "st_lsm9ds0.h"
+
+static const struct of_device_id st_lsm9ds0_of_match[] = {
+ {
+ .compatible = "st,lsm9ds0-imu",
+ .data = LSM9DS0_IMU_DEV_NAME,
+ },
+ {}
+};
+MODULE_DEVICE_TABLE(of, st_lsm9ds0_of_match);
+
+static const struct spi_device_id st_lsm9ds0_id_table[] = {
+ { LSM9DS0_IMU_DEV_NAME },
+ {}
+};
+MODULE_DEVICE_TABLE(spi, st_lsm9ds0_id_table);
+
+static const struct regmap_config st_lsm9ds0_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+ .read_flag_mask = 0xc0,
+};
+
+static int st_lsm9ds0_spi_probe(struct spi_device *spi)
+{
+ struct device *dev = &spi->dev;
+ struct st_lsm9ds0 *lsm9ds0;
+ struct regmap *regmap;
+
+ st_sensors_dev_name_probe(dev, spi->modalias, sizeof(spi->modalias));
+
+ lsm9ds0 = devm_kzalloc(dev, sizeof(*lsm9ds0), GFP_KERNEL);
+ if (!lsm9ds0)
+ return -ENOMEM;
+
+ lsm9ds0->dev = dev;
+ lsm9ds0->name = spi->modalias;
+ lsm9ds0->irq = spi->irq;
+
+ regmap = devm_regmap_init_spi(spi, &st_lsm9ds0_regmap_config);
+ if (IS_ERR(regmap))
+ return PTR_ERR(regmap);
+
+ spi_set_drvdata(spi, lsm9ds0);
+
+ return st_lsm9ds0_probe(lsm9ds0, regmap);
+}
+
+static struct spi_driver st_lsm9ds0_driver = {
+ .driver = {
+ .name = "st-lsm9ds0-spi",
+ .of_match_table = st_lsm9ds0_of_match,
+ },
+ .probe = st_lsm9ds0_spi_probe,
+ .id_table = st_lsm9ds0_id_table,
+};
+module_spi_driver(st_lsm9ds0_driver);
+
+MODULE_AUTHOR("Andy Shevchenko <andriy.shevchenko@linux.intel.com>");
+MODULE_DESCRIPTION("STMicroelectronics LSM9DS0 IMU SPI driver");
+MODULE_LICENSE("GPL v2");
+MODULE_IMPORT_NS(IIO_ST_SENSORS);