This patch adds support for reading/writing ODR/Scale We don't support the scale boost modes. Signed-off-by: Afonso Bordado <afonsobordado@xxxxxx> --- drivers/iio/gyro/fxas21002c.c | 162 +++++++++++++++++++++++++++++++--- 1 file changed, 149 insertions(+), 13 deletions(-) diff --git a/drivers/iio/gyro/fxas21002c.c b/drivers/iio/gyro/fxas21002c.c index 6fef210630e0..dc0cb9848386 100644 --- a/drivers/iio/gyro/fxas21002c.c +++ b/drivers/iio/gyro/fxas21002c.c @@ -7,7 +7,7 @@ * IIO driver for FXAS21002C (7-bit I2C slave address 0x20 or 0x21). * Datasheet: https://www.nxp.com/docs/en/data-sheet/FXAS21002.pdf * TODO: - * ODR / Scale Support + * Scale boost mode * Power management * LowPass/HighPass Filters * Buffers @@ -40,7 +40,10 @@ #define FXAS21002C_REG_F_EVENT 0x0A #define FXAS21002C_REG_INT_SRC_FLAG 0x0B #define FXAS21002C_REG_WHO_AM_I 0x0C + #define FXAS21002C_REG_CTRL_REG0 0x0D +#define FXAS21002C_SCALE_MASK (BIT(0) | BIT(1)) + #define FXAS21002C_REG_RT_CFG 0x0E #define FXAS21002C_REG_RT_SRC 0x0F #define FXAS21002C_REG_RT_THS 0x10 @@ -52,13 +55,12 @@ #define FXAS21002C_ACTIVE_BIT BIT(1) #define FXAS21002C_READY_BIT BIT(0) -#define FXAS21002C_REG_CTRL_REG2 0x14 -#define FXAS21002C_REG_CTRL_REG3 0x15 +#define FXAS21002C_ODR_SHIFT 2 +#define FXAS21002C_ODR_MASK (BIT(2) | BIT(3) | BIT(4)) -#define FXAS21002C_DEFAULT_ODR_HZ 800 -// 0.0625 deg/s -#define FXAS21002C_DEFAULT_SENSITIVITY IIO_DEGREE_TO_RAD(62500) +#define FXAS21002C_REG_CTRL_REG2 0x14 +#define FXAS21002C_REG_CTRL_REG3 0x15 enum fxas21002c_id { ID_FXAS21002C, @@ -76,6 +78,40 @@ struct fxas21002c_data { struct regmap *regmap; }; +enum fxas21002c_scale { + FXAS21002C_SCALE_62MDPS, + FXAS21002C_SCALE_31MDPS, + FXAS21002C_SCALE_15MDPS, + FXAS21002C_SCALE_7MDPS, +}; + +static const int fxas21002c_anglevel_scale_avail[4][2] = { + [FXAS21002C_SCALE_62MDPS] = { 0, IIO_DEGREE_TO_RAD(62500) }, + [FXAS21002C_SCALE_31MDPS] = { 0, IIO_DEGREE_TO_RAD(31250) }, + [FXAS21002C_SCALE_15MDPS] = { 0, IIO_DEGREE_TO_RAD(15625) }, + [FXAS21002C_SCALE_7MDPS] = { 0, IIO_DEGREE_TO_RAD(7812) }, +}; + +enum fxas21002c_odr { + FXAS21002C_ODR_800, + FXAS21002C_ODR_400, + FXAS21002C_ODR_200, + FXAS21002C_ODR_100, + FXAS21002C_ODR_50, + FXAS21002C_ODR_25, + FXAS21002C_ODR_12_5, +}; + +static const int fxas21002c_sample_freq_avail[7][2] = { + [FXAS21002C_ODR_800] = { 800, 0 }, + [FXAS21002C_ODR_400] = { 400, 0 }, + [FXAS21002C_ODR_200] = { 200, 0 }, + [FXAS21002C_ODR_100] = { 100, 0 }, + [FXAS21002C_ODR_50] = { 50, 0 }, + [FXAS21002C_ODR_25] = { 25, 0 }, + [FXAS21002C_ODR_12_5] = { 12, 500000 }, +}; + static const struct regmap_range fxas21002c_writable_ranges[] = { regmap_reg_range(FXAS21002C_REG_F_SETUP, FXAS21002C_REG_F_SETUP), regmap_reg_range(FXAS21002C_REG_CTRL_REG0, FXAS21002C_REG_RT_CFG), @@ -242,6 +278,47 @@ static int fxas21002c_read_oneshot(struct fxas21002c_data *data, return IIO_VAL_INT; } +static int fxas21002c_scale_read(struct fxas21002c_data *data, int *val, + int *val2) +{ + int ret; + unsigned int raw; + + ret = regmap_read(data->regmap, FXAS21002C_REG_CTRL_REG0, &raw); + if (ret) + return ret; + + raw &= FXAS21002C_SCALE_MASK; + + *val = fxas21002c_anglevel_scale_avail[raw][0]; + *val2 = fxas21002c_anglevel_scale_avail[raw][1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int fxas21002c_odr_read(struct fxas21002c_data *data, int *val, + int *val2) +{ + int ret; + unsigned int raw; + + ret = regmap_read(data->regmap, FXAS21002C_REG_CTRL_REG1, &raw); + if (ret) + return ret; + + raw = (raw & FXAS21002C_ODR_MASK) >> FXAS21002C_ODR_SHIFT; + + // We don't use this mode but according to the datasheet its + // also a 12.5Hz + if (raw == 7) + raw = FXAS21002C_ODR_12_5; + + *val = fxas21002c_sample_freq_avail[raw][0]; + *val2 = fxas21002c_sample_freq_avail[raw][1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + static int fxas21002c_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val, int *val2, long mask) @@ -255,24 +332,83 @@ static int fxas21002c_read_raw(struct iio_dev *indio_dev, if (chan->type != IIO_ANGL_VEL) return -EINVAL; - *val = 0; - *val2 = FXAS21002C_DEFAULT_SENSITIVITY; - - return IIO_VAL_INT_PLUS_MICRO; + return fxas21002c_scale_read(data, val, val2); case IIO_CHAN_INFO_SAMP_FREQ: if (chan->type != IIO_ANGL_VEL) return -EINVAL; - *val = FXAS21002C_DEFAULT_ODR_HZ; - - return IIO_VAL_INT; + return fxas21002c_odr_read(data, val, val2); } return -EINVAL; } +static int fxas21002c_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int val, + int val2, long mask) +{ + struct fxas21002c_data *data = iio_priv(indio_dev); + int ret = -EINVAL; + int i; + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + for (i = 0; i < ARRAY_SIZE(fxas21002c_sample_freq_avail); i++) { + if (fxas21002c_sample_freq_avail[i][0] == val && + fxas21002c_sample_freq_avail[i][1] == val2) + break; + } + + if (i == ARRAY_SIZE(fxas21002c_sample_freq_avail)) + break; + + ret = regmap_update_bits(data->regmap, FXAS21002C_REG_CTRL_REG1, + FXAS21002C_ODR_MASK, + i << FXAS21002C_ODR_SHIFT); + + break; + case IIO_CHAN_INFO_SCALE: + for (i = 0; i < ARRAY_SIZE(fxas21002c_anglevel_scale_avail); + i++) { + if (fxas21002c_anglevel_scale_avail[i][0] == val && + fxas21002c_anglevel_scale_avail[i][1] == val2) + break; + } + + if (i == ARRAY_SIZE(fxas21002c_anglevel_scale_avail)) + break; + + ret = regmap_update_bits(data->regmap, FXAS21002C_REG_CTRL_REG0, + FXAS21002C_SCALE_MASK, i); + + break; + } + + return ret; +} + +static IIO_CONST_ATTR(anglevel_scale_available, + "0.001090831 " // 62.5 mdps + "0.000545415 " // 31.25 mdps + "0.000272708 " // 15.625 mdps + "0.000136354"); // 7.8125 mdps + +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("800 400 200 100 50 25 12.5"); + +static struct attribute *fxas21002c_attributes[] = { + &iio_const_attr_anglevel_scale_available.dev_attr.attr, + &iio_const_attr_sampling_frequency_available.dev_attr.attr, + NULL +}; + +static const struct attribute_group fxas21002c_attribute_group = { + .attrs = fxas21002c_attributes, +}; + static const struct iio_info fxas21002c_info = { .read_raw = fxas21002c_read_raw, + .write_raw = fxas21002c_write_raw, + .attrs = &fxas21002c_attribute_group, }; static int fxas21002c_probe(struct i2c_client *client, -- 2.18.0
