From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@xxxxxxx>
Add ICM-42686-P chip supporting high FSRs (32G, 4000dps).
Create accel and gyro iio device states with dynamic scales table
set at device init.
Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@xxxxxxx>
---
drivers/iio/imu/inv_icm42600/inv_icm42600.h | 35 ++++++++
.../iio/imu/inv_icm42600/inv_icm42600_accel.c | 75 ++++++++++++-----
.../imu/inv_icm42600/inv_icm42600_buffer.c | 15 ++--
.../iio/imu/inv_icm42600/inv_icm42600_core.c | 20 +++++
.../iio/imu/inv_icm42600/inv_icm42600_gyro.c | 84 ++++++++++++++-----
.../iio/imu/inv_icm42600/inv_icm42600_i2c.c | 3 +
.../iio/imu/inv_icm42600/inv_icm42600_spi.c | 3 +
7 files changed, 192 insertions(+), 43 deletions(-)
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
index 0566340b2660..c4ac91f6bafe 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
@@ -13,6 +13,7 @@
#include <linux/regulator/consumer.h>
#include <linux/pm.h>
#include <linux/iio/iio.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
#include "inv_icm42600_buffer.h"
@@ -21,6 +22,7 @@ enum inv_icm42600_chip {
INV_CHIP_ICM42600,
INV_CHIP_ICM42602,
INV_CHIP_ICM42605,
+ INV_CHIP_ICM42686,
INV_CHIP_ICM42622,
INV_CHIP_ICM42688,
INV_CHIP_ICM42631,
@@ -57,6 +59,17 @@ enum inv_icm42600_gyro_fs {
INV_ICM42600_GYRO_FS_15_625DPS,
INV_ICM42600_GYRO_FS_NB,
};
+enum inv_icm42686_gyro_fs {
+ INV_ICM42686_GYRO_FS_4000DPS,
+ INV_ICM42686_GYRO_FS_2000DPS,
+ INV_ICM42686_GYRO_FS_1000DPS,
+ INV_ICM42686_GYRO_FS_500DPS,
+ INV_ICM42686_GYRO_FS_250DPS,
+ INV_ICM42686_GYRO_FS_125DPS,
+ INV_ICM42686_GYRO_FS_62_5DPS,
+ INV_ICM42686_GYRO_FS_31_25DPS,
+ INV_ICM42686_GYRO_FS_NB,
+};
/* accelerometer fullscale values */
enum inv_icm42600_accel_fs {
@@ -66,6 +79,14 @@ enum inv_icm42600_accel_fs {
INV_ICM42600_ACCEL_FS_2G,
INV_ICM42600_ACCEL_FS_NB,
};
+enum inv_icm42686_accel_fs {
+ INV_ICM42686_ACCEL_FS_32G,
+ INV_ICM42686_ACCEL_FS_16G,
+ INV_ICM42686_ACCEL_FS_8G,
+ INV_ICM42686_ACCEL_FS_4G,
+ INV_ICM42686_ACCEL_FS_2G,
+ INV_ICM42686_ACCEL_FS_NB,
+};
/* ODR suffixed by LN or LP are Low-Noise or Low-Power mode only */
enum inv_icm42600_odr {
@@ -151,6 +172,19 @@ struct inv_icm42600_state {
} timestamp;
};
+
+/**
+ * struct inv_icm42600_sensor_state - sensor state variables
+ * @scales: table of scales.
+ * @scales_len: length (nb of items) of the scales table.
+ * @ts: timestamp module states.
+ */
+struct inv_icm42600_sensor_state {
+ const int *scales;
+ size_t scales_len;
+ struct inv_sensors_timestamp ts;
+};
+
/* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
/* Bank selection register, available in all banks */
@@ -304,6 +338,7 @@ struct inv_icm42600_state {
#define INV_ICM42600_WHOAMI_ICM42600 0x40
#define INV_ICM42600_WHOAMI_ICM42602 0x41
#define INV_ICM42600_WHOAMI_ICM42605 0x42
+#define INV_ICM42600_WHOAMI_ICM42686 0x44
#define INV_ICM42600_WHOAMI_ICM42622 0x46
#define INV_ICM42600_WHOAMI_ICM42688 0x47
#define INV_ICM42600_WHOAMI_ICM42631 0x5C
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
index f67bd5a39beb..83d8504ebfff 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
@@ -99,7 +99,8 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
const unsigned long *scan_mask)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &accel_st->ts;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
unsigned int fifo_en = 0;
unsigned int sleep_temp = 0;
@@ -210,33 +211,54 @@ static const int inv_icm42600_accel_scale[] = {
[2 * INV_ICM42600_ACCEL_FS_2G] = 0,
[2 * INV_ICM42600_ACCEL_FS_2G + 1] = 598550,
};
+static const int inv_icm42686_accel_scale[] = {
+ /* +/- 32G => 0.009576807 m/s-2 */
+ [2 * INV_ICM42686_ACCEL_FS_32G] = 0,
+ [2 * INV_ICM42686_ACCEL_FS_32G + 1] = 9576807,
+ /* +/- 16G => 0.004788403 m/s-2 */
+ [2 * INV_ICM42686_ACCEL_FS_16G] = 0,
+ [2 * INV_ICM42686_ACCEL_FS_16G + 1] = 4788403,
+ /* +/- 8G => 0.002394202 m/s-2 */
+ [2 * INV_ICM42686_ACCEL_FS_8G] = 0,
+ [2 * INV_ICM42686_ACCEL_FS_8G + 1] = 2394202,
+ /* +/- 4G => 0.001197101 m/s-2 */
+ [2 * INV_ICM42686_ACCEL_FS_4G] = 0,
+ [2 * INV_ICM42686_ACCEL_FS_4G + 1] = 1197101,
+ /* +/- 2G => 0.000598550 m/s-2 */
+ [2 * INV_ICM42686_ACCEL_FS_2G] = 0,
+ [2 * INV_ICM42686_ACCEL_FS_2G + 1] = 598550,
+};
-static int inv_icm42600_accel_read_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_accel_read_scale(struct iio_dev *indio_dev,
int *val, int *val2)
{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
unsigned int idx;
idx = st->conf.accel.fs;
- *val = inv_icm42600_accel_scale[2 * idx];
- *val2 = inv_icm42600_accel_scale[2 * idx + 1];
+ *val = accel_st->scales[2 * idx];
+ *val2 = accel_st->scales[2 * idx + 1];
return IIO_VAL_INT_PLUS_NANO;
}
-static int inv_icm42600_accel_write_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_accel_write_scale(struct iio_dev *indio_dev,
int val, int val2)
{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
int ret;
- for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_scale); idx += 2) {
- if (val == inv_icm42600_accel_scale[idx] &&
- val2 == inv_icm42600_accel_scale[idx + 1])
+ for (idx = 0; idx < accel_st->scales_len; idx += 2) {
+ if (val == accel_st->scales[idx] &&
+ val2 == accel_st->scales[idx + 1])
break;
}
- if (idx >= ARRAY_SIZE(inv_icm42600_accel_scale))
+ if (idx >= accel_st->scales_len)
return -EINVAL;
conf.fs = idx / 2;
@@ -309,7 +331,8 @@ static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev,
int val, int val2)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &accel_st->ts;
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
@@ -565,7 +588,7 @@ static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev,
*val = data;
return IIO_VAL_INT;
case IIO_CHAN_INFO_SCALE:
- return inv_icm42600_accel_read_scale(st, val, val2);
+ return inv_icm42600_accel_read_scale(indio_dev, val, val2);
case IIO_CHAN_INFO_SAMP_FREQ:
return inv_icm42600_accel_read_odr(st, val, val2);
case IIO_CHAN_INFO_CALIBBIAS:
@@ -580,14 +603,16 @@ static int inv_icm42600_accel_read_avail(struct iio_dev *indio_dev,
const int **vals,
int *type, int *length, long mask)
{
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+
if (chan->type != IIO_ACCEL)
return -EINVAL;
switch (mask) {
case IIO_CHAN_INFO_SCALE:
- *vals = inv_icm42600_accel_scale;
+ *vals = accel_st->scales;
*type = IIO_VAL_INT_PLUS_NANO;
- *length = ARRAY_SIZE(inv_icm42600_accel_scale);
+ *length = accel_st->scales_len;
return IIO_AVAIL_LIST;
case IIO_CHAN_INFO_SAMP_FREQ:
*vals = inv_icm42600_accel_odr;
@@ -618,7 +643,7 @@ static int inv_icm42600_accel_write_raw(struct iio_dev *indio_dev,
ret = iio_device_claim_direct_mode(indio_dev);
if (ret)
return ret;
- ret = inv_icm42600_accel_write_scale(st, val, val2);
+ ret = inv_icm42600_accel_write_scale(indio_dev, val, val2);
iio_device_release_direct_mode(indio_dev);
return ret;
case IIO_CHAN_INFO_SAMP_FREQ:
@@ -705,8 +730,8 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
{
struct device *dev = regmap_get_device(st->map);
const char *name;
+ struct inv_icm42600_sensor_state *accel_st;
struct inv_sensors_timestamp_chip ts_chip;
- struct inv_sensors_timestamp *ts;
struct iio_dev *indio_dev;
int ret;
@@ -714,9 +739,21 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
if (!name)
return ERR_PTR(-ENOMEM);
- indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st));
if (!indio_dev)
return ERR_PTR(-ENOMEM);
+ accel_st = iio_priv(indio_dev);
+
+ switch (st->chip) {
+ case INV_CHIP_ICM42686:
+ accel_st->scales = inv_icm42686_accel_scale;
+ accel_st->scales_len = ARRAY_SIZE(inv_icm42686_accel_scale);
+ break;
+ default:
+ accel_st->scales = inv_icm42600_accel_scale;
+ accel_st->scales_len = ARRAY_SIZE(inv_icm42600_accel_scale);
+ break;
+ }
/*
* clock period is 32kHz (31250ns)
@@ -725,8 +762,7 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
ts_chip.clock_period = 31250;
ts_chip.jitter = 20;
ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
- ts = iio_priv(indio_dev);
- inv_sensors_timestamp_init(ts, &ts_chip);
+ inv_sensors_timestamp_init(&accel_st->ts, &ts_chip);
iio_device_set_drvdata(indio_dev, st);
indio_dev->name = name;
@@ -751,7 +787,8 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &accel_st->ts;
ssize_t i, size;
unsigned int no;
const void *accel, *gyro, *timestamp;
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
index b52f328fd26c..cfb4a41ab7c1 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
@@ -276,7 +276,8 @@ static int inv_icm42600_buffer_preenable(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
struct device *dev = regmap_get_device(st->map);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *sensor_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &sensor_st->ts;
pm_runtime_get_sync(dev);
@@ -502,6 +503,8 @@ int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st,
int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
{
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel);
struct inv_sensors_timestamp *ts;
int ret;
@@ -509,7 +512,7 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
return 0;
/* handle gyroscope timestamp and FIFO data parsing */
- ts = iio_priv(st->indio_gyro);
+ ts = &gyro_st->ts;
inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
st->fifo.nb.gyro, st->timestamp.gyro);
if (st->fifo.nb.gyro > 0) {
@@ -519,7 +522,7 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
}
/* handle accelerometer timestamp and FIFO data parsing */
- ts = iio_priv(st->indio_accel);
+ ts = &accel_st->ts;
inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
st->fifo.nb.accel, st->timestamp.accel);
if (st->fifo.nb.accel > 0) {
@@ -534,6 +537,8 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
unsigned int count)
{
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel);
struct inv_sensors_timestamp *ts;
int64_t gyro_ts, accel_ts;
int ret;
@@ -549,7 +554,7 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
return 0;
if (st->fifo.nb.gyro > 0) {
- ts = iio_priv(st->indio_gyro);
+ ts = &gyro_st->ts;
inv_sensors_timestamp_interrupt(ts, st->fifo.period,
st->fifo.nb.total, st->fifo.nb.gyro,
gyro_ts);
@@ -559,7 +564,7 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
}
if (st->fifo.nb.accel > 0) {
- ts = iio_priv(st->indio_accel);
+ ts = &accel_st->ts;
inv_sensors_timestamp_interrupt(ts, st->fifo.period,
st->fifo.nb.total, st->fifo.nb.accel,
accel_ts);
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
index 82e0a2e2ad70..42316fb72674 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
@@ -65,6 +65,21 @@ static const struct inv_icm42600_conf inv_icm42600_default_conf = {
},
.temp_en = false,
};
+static const struct inv_icm42600_conf inv_icm42686_default_conf = {
+ .gyro = {
+ .mode = INV_ICM42600_SENSOR_MODE_OFF,
+ .fs = INV_ICM42686_GYRO_FS_4000DPS,
+ .odr = INV_ICM42600_ODR_50HZ,
+ .filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
+ },
+ .accel = {
+ .mode = INV_ICM42600_SENSOR_MODE_OFF,
+ .fs = INV_ICM42686_ACCEL_FS_32G,
+ .odr = INV_ICM42600_ODR_50HZ,
+ .filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
+ },
+ .temp_en = false,
+};
static const struct inv_icm42600_hw inv_icm42600_hw[INV_CHIP_NB] = {
[INV_CHIP_ICM42600] = {
@@ -82,6 +97,11 @@ static const struct inv_icm42600_hw inv_icm42600_hw[INV_CHIP_NB] = {
.name = "icm42605",
.conf = &inv_icm42600_default_conf,
},
+ [INV_CHIP_ICM42686] = {
+ .whoami = INV_ICM42600_WHOAMI_ICM42686,
+ .name = "icm42686",
+ .conf = &inv_icm42686_default_conf,
+ },
[INV_CHIP_ICM42622] = {
.whoami = INV_ICM42600_WHOAMI_ICM42622,
.name = "icm42622",
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
index 3df0a715e885..e6f8de80128c 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -99,7 +99,8 @@ static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
const unsigned long *scan_mask)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &gyro_st->ts;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
unsigned int fifo_en = 0;
unsigned int sleep_gyro = 0;
@@ -222,33 +223,63 @@ static const int inv_icm42600_gyro_scale[] = {
[2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
[2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
};
+static const int inv_icm42686_gyro_scale[] = {
+ /* +/- 4000dps => 0.002130529 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_4000DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_4000DPS + 1] = 2130529,
+ /* +/- 2000dps => 0.001065264 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_2000DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_2000DPS + 1] = 1065264,
+ /* +/- 1000dps => 0.000532632 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_1000DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_1000DPS + 1] = 532632,
+ /* +/- 500dps => 0.000266316 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_500DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_500DPS + 1] = 266316,
+ /* +/- 250dps => 0.000133158 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_250DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_250DPS + 1] = 133158,
+ /* +/- 125dps => 0.000066579 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_125DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_125DPS + 1] = 66579,
+ /* +/- 62.5dps => 0.000033290 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_62_5DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_62_5DPS + 1] = 33290,
+ /* +/- 31.25dps => 0.000016645 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_31_25DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_31_25DPS + 1] = 16645,
+};
-static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_gyro_read_scale(struct iio_dev *indio_dev,
int *val, int *val2)
{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
unsigned int idx;
idx = st->conf.gyro.fs;
- *val = inv_icm42600_gyro_scale[2 * idx];
- *val2 = inv_icm42600_gyro_scale[2 * idx + 1];
+ *val = gyro_st->scales[2 * idx];
+ *val2 = gyro_st->scales[2 * idx + 1];
return IIO_VAL_INT_PLUS_NANO;
}
-static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_gyro_write_scale(struct iio_dev *indio_dev,
int val, int val2)
{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
int ret;
- for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) {
- if (val == inv_icm42600_gyro_scale[idx] &&
- val2 == inv_icm42600_gyro_scale[idx + 1])
+ for (idx = 0; idx < gyro_st->scales_len; idx += 2) {
+ if (val == gyro_st->scales[idx] &&
+ val2 == gyro_st->scales[idx + 1])
break;
}
- if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
+ if (idx >= gyro_st->scales_len)
return -EINVAL;
conf.fs = idx / 2;
@@ -321,7 +352,8 @@ static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
int val, int val2)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &gyro_st->ts;
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
@@ -576,7 +608,7 @@ static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
*val = data;
return IIO_VAL_INT;
case IIO_CHAN_INFO_SCALE:
- return inv_icm42600_gyro_read_scale(st, val, val2);
+ return inv_icm42600_gyro_read_scale(indio_dev, val, val2);
case IIO_CHAN_INFO_SAMP_FREQ:
return inv_icm42600_gyro_read_odr(st, val, val2);
case IIO_CHAN_INFO_CALIBBIAS:
@@ -591,14 +623,16 @@ static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
const int **vals,
int *type, int *length, long mask)
{
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+
if (chan->type != IIO_ANGL_VEL)
return -EINVAL;
switch (mask) {
case IIO_CHAN_INFO_SCALE:
- *vals = inv_icm42600_gyro_scale;
+ *vals = gyro_st->scales;
*type = IIO_VAL_INT_PLUS_NANO;
- *length = ARRAY_SIZE(inv_icm42600_gyro_scale);
+ *length = gyro_st->scales_len;
return IIO_AVAIL_LIST;
case IIO_CHAN_INFO_SAMP_FREQ:
*vals = inv_icm42600_gyro_odr;
@@ -629,7 +663,7 @@ static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
ret = iio_device_claim_direct_mode(indio_dev);
if (ret)
return ret;
- ret = inv_icm42600_gyro_write_scale(st, val, val2);
+ ret = inv_icm42600_gyro_write_scale(indio_dev, val, val2);
iio_device_release_direct_mode(indio_dev);
return ret;
case IIO_CHAN_INFO_SAMP_FREQ:
@@ -716,8 +750,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
{
struct device *dev = regmap_get_device(st->map);
const char *name;
+ struct inv_icm42600_sensor_state *gyro_st;
struct inv_sensors_timestamp_chip ts_chip;
- struct inv_sensors_timestamp *ts;
struct iio_dev *indio_dev;
int ret;
@@ -725,9 +759,21 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
if (!name)
return ERR_PTR(-ENOMEM);
- indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st));
if (!indio_dev)
return ERR_PTR(-ENOMEM);
+ gyro_st = iio_priv(indio_dev);
+
+ switch (st->chip) {
+ case INV_CHIP_ICM42686:
+ gyro_st->scales = inv_icm42686_gyro_scale;
+ gyro_st->scales_len = ARRAY_SIZE(inv_icm42686_gyro_scale);
+ break;
+ default:
+ gyro_st->scales = inv_icm42600_gyro_scale;
+ gyro_st->scales_len = ARRAY_SIZE(inv_icm42600_gyro_scale);
+ break;
+ }
/*
* clock period is 32kHz (31250ns)
@@ -736,8 +782,7 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
ts_chip.clock_period = 31250;
ts_chip.jitter = 20;
ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
- ts = iio_priv(indio_dev);
- inv_sensors_timestamp_init(ts, &ts_chip);
+ inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip);
iio_device_set_drvdata(indio_dev, st);
indio_dev->name = name;
@@ -763,7 +808,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &gyro_st->ts;
ssize_t i, size;
unsigned int no;
const void *accel, *gyro, *timestamp;
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
index ebb28f84ba98..8d33504d770f 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
@@ -81,6 +81,9 @@ static const struct of_device_id inv_icm42600_of_matches[] = {
}, {
.compatible = "invensense,icm42605",
.data = (void *)INV_CHIP_ICM42605,
+ }, {
+ .compatible = "invensense,icm42686",
+ .data = (void *)INV_CHIP_ICM42686,
}, {
.compatible = "invensense,icm42622",
.data = (void *)INV_CHIP_ICM42622,
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
index 50217a10e0bb..cc2bf1799a46 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
@@ -77,6 +77,9 @@ static const struct of_device_id inv_icm42600_of_matches[] = {
}, {
.compatible = "invensense,icm42605",
.data = (void *)INV_CHIP_ICM42605,
+ }, {
+ .compatible = "invensense,icm42686",
+ .data = (void *)INV_CHIP_ICM42686,
}, {
.compatible = "invensense,icm42622",
.data = (void *)INV_CHIP_ICM42622,
--
2.34.1
