summaryrefslogtreecommitdiff
path: root/drivers/iio/imu
diff options
context:
space:
mode:
Diffstat (limited to 'drivers/iio/imu')
-rw-r--r--drivers/iio/imu/bno055/bno055_ser_trace.c2
-rw-r--r--drivers/iio/imu/fxos8700_core.c111
-rw-r--r--drivers/iio/imu/kmx61.c2
-rw-r--r--drivers/iio/imu/st_lsm6dsx/Kconfig1
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h5
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c12
6 files changed, 101 insertions, 32 deletions
diff --git a/drivers/iio/imu/bno055/bno055_ser_trace.c b/drivers/iio/imu/bno055/bno055_ser_trace.c
index 48397b66daef..ab564186d19c 100644
--- a/drivers/iio/imu/bno055/bno055_ser_trace.c
+++ b/drivers/iio/imu/bno055/bno055_ser_trace.c
@@ -1,4 +1,4 @@
-//SPDX-License-Identifier: GPL-2.0
+// SPDX-License-Identifier: GPL-2.0
/*
* bno055_ser Trace Support
diff --git a/drivers/iio/imu/fxos8700_core.c b/drivers/iio/imu/fxos8700_core.c
index 423cfe526f2a..6d189c4b9ff9 100644
--- a/drivers/iio/imu/fxos8700_core.c
+++ b/drivers/iio/imu/fxos8700_core.c
@@ -10,6 +10,7 @@
#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>
@@ -144,9 +145,8 @@
#define FXOS8700_NVM_DATA_BNK0 0xa7
/* Bit definitions for FXOS8700_CTRL_REG1 */
-#define FXOS8700_CTRL_ODR_MSK 0x38
#define FXOS8700_CTRL_ODR_MAX 0x00
-#define FXOS8700_CTRL_ODR_MIN GENMASK(4, 3)
+#define FXOS8700_CTRL_ODR_MSK GENMASK(5, 3)
/* Bit definitions for FXOS8700_M_CTRL_REG1 */
#define FXOS8700_HMS_MASK GENMASK(1, 0)
@@ -320,7 +320,7 @@ static enum fxos8700_sensor fxos8700_to_sensor(enum iio_chan_type iio_type)
switch (iio_type) {
case IIO_ACCEL:
return FXOS8700_ACCEL;
- case IIO_ANGL_VEL:
+ case IIO_MAGN:
return FXOS8700_MAGN;
default:
return -EINVAL;
@@ -345,15 +345,35 @@ static int fxos8700_set_active_mode(struct fxos8700_data *data,
static int fxos8700_set_scale(struct fxos8700_data *data,
enum fxos8700_sensor t, int uscale)
{
- int i;
+ 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 1200uT\n");
+ 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;
@@ -361,8 +381,12 @@ static int fxos8700_set_scale(struct fxos8700_data *data,
if (i == scale_num)
return -EINVAL;
- return regmap_write(data->regmap, FXOS8700_XYZ_DATA_CFG,
+ 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,
@@ -372,7 +396,7 @@ static int fxos8700_get_scale(struct fxos8700_data *data,
static const int scale_num = ARRAY_SIZE(fxos8700_accel_scale);
if (t == FXOS8700_MAGN) {
- *uscale = 1200; /* Magnetometer is locked at 1200uT */
+ *uscale = 1000; /* Magnetometer is locked at 0.001Gs */
return 0;
}
@@ -394,22 +418,61 @@ static int fxos8700_get_data(struct fxos8700_data *data, int chan_type,
int axis, int *val)
{
u8 base, reg;
+ s16 tmp;
int ret;
- enum fxos8700_sensor type = fxos8700_to_sensor(chan_type);
- base = type ? FXOS8700_OUT_X_MSB : FXOS8700_M_OUT_X_MSB;
+ /*
+ * 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,
- FXOS8700_DATA_BUF_SIZE);
+ 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(be16_to_cpu(data->buf[reg]), 15);
+ *val = sign_extend32(tmp, 15);
return 0;
}
@@ -445,10 +508,9 @@ static int fxos8700_set_odr(struct fxos8700_data *data, enum fxos8700_sensor t,
if (i >= odr_num)
return -EINVAL;
- return regmap_update_bits(data->regmap,
- FXOS8700_CTRL_REG1,
- FXOS8700_CTRL_ODR_MSK + FXOS8700_ACTIVE,
- fxos8700_odr[i].bits << 3 | active_mode);
+ 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,
@@ -461,7 +523,7 @@ static int fxos8700_get_odr(struct fxos8700_data *data, enum fxos8700_sensor t,
if (ret)
return ret;
- val &= FXOS8700_CTRL_ODR_MSK;
+ val = FIELD_GET(FXOS8700_CTRL_ODR_MSK, val);
for (i = 0; i < odr_num; i++)
if (val == fxos8700_odr[i].bits)
@@ -526,7 +588,7 @@ static IIO_CONST_ATTR(in_accel_sampling_frequency_available,
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, "0.000001200");
+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,
@@ -592,14 +654,19 @@ static int fxos8700_chip_init(struct fxos8700_data *data, bool use_spi)
if (ret)
return ret;
- /* Max ODR (800Hz individual or 400Hz hybrid), active mode */
- ret = regmap_write(data->regmap, FXOS8700_CTRL_REG1,
- FXOS8700_CTRL_ODR_MAX | FXOS8700_ACTIVE);
+ /*
+ * 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;
- /* Set for max full-scale range (+/-8G) */
- return regmap_write(data->regmap, FXOS8700_XYZ_DATA_CFG, MODE_8G);
+ /* 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)
diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c
index e692dfeeda44..53ba020fa5d0 100644
--- a/drivers/iio/imu/kmx61.c
+++ b/drivers/iio/imu/kmx61.c
@@ -649,7 +649,7 @@ static int kmx61_chip_update_thresholds(struct kmx61_data *data)
KMX61_REG_WUF_TIMER,
data->wake_duration);
if (ret < 0) {
- dev_err(&data->client->dev, "Errow writing reg_wuf_timer\n");
+ dev_err(&data->client->dev, "Error writing reg_wuf_timer\n");
return ret;
}
diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig
index f6660847fb58..8c16cdacf2f2 100644
--- a/drivers/iio/imu/st_lsm6dsx/Kconfig
+++ b/drivers/iio/imu/st_lsm6dsx/Kconfig
@@ -4,6 +4,7 @@ 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_TRIGGERED_BUFFER
select IIO_KFIFO_BUF
select IIO_ST_LSM6DSX_I2C if (I2C)
select IIO_ST_LSM6DSX_SPI if (SPI_MASTER)
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index 5b6f195748fc..499fcf8875b4 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -93,7 +93,7 @@ enum st_lsm6dsx_hw_id {
.endianness = IIO_LE, \
}, \
.event_spec = &st_lsm6dsx_event, \
- .ext_info = st_lsm6dsx_accel_ext_info, \
+ .ext_info = st_lsm6dsx_ext_info, \
.num_event_specs = 1, \
}
@@ -113,6 +113,7 @@ enum st_lsm6dsx_hw_id {
.storagebits = 16, \
.endianness = IIO_LE, \
}, \
+ .ext_info = st_lsm6dsx_ext_info, \
}
struct st_lsm6dsx_reg {
@@ -528,7 +529,7 @@ st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
}
static const
-struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = {
+struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_ext_info[] = {
IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
{ }
};
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
index f2b64b4956a3..c1b444520d2a 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
@@ -704,18 +704,18 @@ static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev,
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[] = {
+static struct attribute *st_lsm6dsx_shub_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 attribute_group st_lsm6dsx_shub_attribute_group = {
+ .attrs = st_lsm6dsx_shub_attributes,
};
-static const struct iio_info st_lsm6dsx_ext_info = {
- .attrs = &st_lsm6dsx_ext_attribute_group,
+static const struct iio_info st_lsm6dsx_shub_info = {
+ .attrs = &st_lsm6dsx_shub_attribute_group,
.read_raw = st_lsm6dsx_shub_read_raw,
.write_raw = st_lsm6dsx_shub_write_raw,
.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
@@ -737,7 +737,7 @@ st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw,
return NULL;
iio_dev->modes = INDIO_DIRECT_MODE;
- iio_dev->info = &st_lsm6dsx_ext_info;
+ iio_dev->info = &st_lsm6dsx_shub_info;
sensor = iio_priv(iio_dev);
sensor->id = id;
generated by cgit v1.2.3 (git 2.46.0) at 2025-07-31 01:37:23 +0000