Commit 07d4d0bb authored by Jean-Baptiste Maneyrol's avatar Jean-Baptiste Maneyrol Committed by Jonathan Cameron
Browse files

iio: imu: inv_icm42600: add support of accel low-power mode 



Add ODRs accessible only in low-power mode. Switch automatically to
low-power or low-noise depending on the ODR set.

Add channel attributes "power_mode" and "power_mode_available" for
setting the power mode to use (low-noise or low-power) for ODRs
supporting both mode. Reading "power_mode" when the sensor is on
will return the actual mode and not the requested one. It will be
different when using ODRs not supported by the requested mode.

Use low-power mode by default.

Signed-off-by: default avatarJean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
Link: https://lore.kernel.org/r/20240605195949.766677-3-inv.git-commit@tdk.com


Signed-off-by: default avatarJonathan Cameron <Jonathan.Cameron@huawei.com>
parent 3d4d033a

drivers/iio/imu/inv_icm42600/inv_icm42600.h

+4 −0
Original line number Diff line number Diff line
@@ -177,11 +177,15 @@ struct inv_icm42600_state { 
 * struct inv_icm42600_sensor_state - sensor state variables

 * @scales:		table of scales.

 * @scales_len:		length (nb of items) of the scales table.

 * @power_mode:		sensor requested power mode (for common frequencies)

 * @filter:		sensor filter.

 * @ts:			timestamp module states.

 */

struct inv_icm42600_sensor_state {

	const int *scales;

	size_t scales_len;

	enum inv_icm42600_sensor_mode power_mode;

	enum inv_icm42600_filter filter;

	struct inv_sensors_timestamp ts;

};

drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c

+120 −4
Original line number Diff line number Diff line
@@ -55,8 +55,108 @@ enum inv_icm42600_accel_scan { 
	INV_ICM42600_ACCEL_SCAN_TIMESTAMP,

};



static const char * const inv_icm42600_accel_power_mode_items[] = {

	"low-noise",

	"low-power",

};

static const int inv_icm42600_accel_power_mode_values[] = {

	INV_ICM42600_SENSOR_MODE_LOW_NOISE,

	INV_ICM42600_SENSOR_MODE_LOW_POWER,

};

static const int inv_icm42600_accel_filter_values[] = {

	INV_ICM42600_FILTER_BW_ODR_DIV_2,

	INV_ICM42600_FILTER_AVG_16X,

};



static int inv_icm42600_accel_power_mode_set(struct iio_dev *indio_dev,

					     const struct iio_chan_spec *chan,

					     unsigned int idx)

{

	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);

	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);

	int power_mode, filter;



	if (chan->type != IIO_ACCEL)

		return -EINVAL;



	if (idx >= ARRAY_SIZE(inv_icm42600_accel_power_mode_values))

		return -EINVAL;



	if (iio_buffer_enabled(indio_dev))

		return -EBUSY;



	power_mode = inv_icm42600_accel_power_mode_values[idx];

	filter = inv_icm42600_accel_filter_values[idx];



	guard(mutex)(&st->lock);



	/* prevent change if power mode is not supported by the ODR */

	switch (power_mode) {

	case INV_ICM42600_SENSOR_MODE_LOW_NOISE:

		if (st->conf.accel.odr >= INV_ICM42600_ODR_6_25HZ_LP &&

		    st->conf.accel.odr <= INV_ICM42600_ODR_1_5625HZ_LP)

			return -EPERM;

		break;

	case INV_ICM42600_SENSOR_MODE_LOW_POWER:

	default:

		if (st->conf.accel.odr <= INV_ICM42600_ODR_1KHZ_LN)

			return -EPERM;

		break;

	}



	accel_st->power_mode = power_mode;

	accel_st->filter = filter;



	return 0;

}



static int inv_icm42600_accel_power_mode_get(struct iio_dev *indio_dev,

					     const struct iio_chan_spec *chan)

{

	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;

	int power_mode;



	if (chan->type != IIO_ACCEL)

		return -EINVAL;



	guard(mutex)(&st->lock);



	/* if sensor is on, returns actual power mode and not configured one */

	switch (st->conf.accel.mode) {

	case INV_ICM42600_SENSOR_MODE_LOW_POWER:

	case INV_ICM42600_SENSOR_MODE_LOW_NOISE:

		power_mode = st->conf.accel.mode;

		break;

	default:

		power_mode = accel_st->power_mode;

		break;

	}



	for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_power_mode_values); ++idx) {

		if (power_mode == inv_icm42600_accel_power_mode_values[idx])

			break;

	}

	if (idx >= ARRAY_SIZE(inv_icm42600_accel_power_mode_values))

		return -EINVAL;



	return idx;

}



static const struct iio_enum inv_icm42600_accel_power_mode_enum = {

	.items = inv_icm42600_accel_power_mode_items,

	.num_items = ARRAY_SIZE(inv_icm42600_accel_power_mode_items),

	.set = inv_icm42600_accel_power_mode_set,

	.get = inv_icm42600_accel_power_mode_get,

};



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),

	IIO_ENUM_AVAILABLE("power_mode", IIO_SHARED_BY_TYPE,

			   &inv_icm42600_accel_power_mode_enum),

	IIO_ENUM("power_mode", IIO_SHARED_BY_TYPE,

		 &inv_icm42600_accel_power_mode_enum),

	{},

};
@@ -120,7 +220,8 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev, 


	if (*scan_mask & INV_ICM42600_SCAN_MASK_ACCEL_3AXIS) {

		/* enable accel sensor */

		conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;

		conf.mode = accel_st->power_mode;

		conf.filter = accel_st->filter;

		ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_accel);

		if (ret)

			goto out_unlock;
@@ -144,10 +245,12 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev, 
	return ret;

}



static int inv_icm42600_accel_read_sensor(struct inv_icm42600_state *st,

static int inv_icm42600_accel_read_sensor(struct iio_dev *indio_dev,

					  struct iio_chan_spec const *chan,

					  int16_t *val)

{

	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);

	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;

	unsigned int reg;
@@ -175,7 +278,8 @@ static int inv_icm42600_accel_read_sensor(struct inv_icm42600_state *st, 
	mutex_lock(&st->lock);



	/* enable accel sensor */

	conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;

	conf.mode = accel_st->power_mode;

	conf.filter = accel_st->filter;

	ret = inv_icm42600_set_accel_conf(st, &conf, NULL);

	if (ret)

		goto exit;
@@ -277,6 +381,12 @@ static int inv_icm42600_accel_write_scale(struct iio_dev *indio_dev, 


/* IIO format int + micro */

static const int inv_icm42600_accel_odr[] = {

	/* 1.5625Hz */

	1, 562500,

	/* 3.125Hz */

	3, 125000,

	/* 6.25Hz */

	6, 250000,

	/* 12.5Hz */

	12, 500000,

	/* 25Hz */
@@ -296,6 +406,9 @@ static const int inv_icm42600_accel_odr[] = { 
};



static const int inv_icm42600_accel_odr_conv[] = {

	INV_ICM42600_ODR_1_5625HZ_LP,

	INV_ICM42600_ODR_3_125HZ_LP,

	INV_ICM42600_ODR_6_25HZ_LP,

	INV_ICM42600_ODR_12_5HZ,

	INV_ICM42600_ODR_25HZ,

	INV_ICM42600_ODR_50HZ,
@@ -581,7 +694,7 @@ static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev, 
		ret = iio_device_claim_direct_mode(indio_dev);

		if (ret)

			return ret;

		ret = inv_icm42600_accel_read_sensor(st, chan, &data);

		ret = inv_icm42600_accel_read_sensor(indio_dev, chan, &data);

		iio_device_release_direct_mode(indio_dev);

		if (ret)

			return ret;
@@ -754,6 +867,9 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st) 
		accel_st->scales_len = ARRAY_SIZE(inv_icm42600_accel_scale);

		break;

	}

	/* low-power by default at init */

	accel_st->power_mode = INV_ICM42600_SENSOR_MODE_LOW_POWER;

	accel_st->filter = INV_ICM42600_FILTER_AVG_16X;



	/*

	 * clock period is 32kHz (31250ns)

drivers/iio/imu/inv_icm42600/inv_icm42600_core.c

+27 −0
Original line number Diff line number Diff line
@@ -292,6 +292,23 @@ int inv_icm42600_set_accel_conf(struct inv_icm42600_state *st, 
	if (conf->filter < 0)

		conf->filter = oldconf->filter;



	/* force power mode against ODR when sensor is on */

	switch (conf->mode) {

	case INV_ICM42600_SENSOR_MODE_LOW_POWER:

	case INV_ICM42600_SENSOR_MODE_LOW_NOISE:

		if (conf->odr <= INV_ICM42600_ODR_1KHZ_LN) {

			conf->mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;

			conf->filter = INV_ICM42600_FILTER_BW_ODR_DIV_2;

		} else if (conf->odr >= INV_ICM42600_ODR_6_25HZ_LP &&

			   conf->odr <= INV_ICM42600_ODR_1_5625HZ_LP) {

			conf->mode = INV_ICM42600_SENSOR_MODE_LOW_POWER;

			conf->filter = INV_ICM42600_FILTER_AVG_16X;

		}

		break;

	default:

		break;

	}



	/* set ACCEL_CONFIG0 register (accel fullscale & odr) */

	if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {

		val = INV_ICM42600_ACCEL_CONFIG0_FS(conf->fs) |
@@ -485,6 +502,16 @@ static int inv_icm42600_setup(struct inv_icm42600_state *st, 
	if (ret)

		return ret;



	/*

	 * Use RC clock for accel low-power to fix glitches when switching

	 * gyro on/off while accel low-power is on.

	 */

	ret = regmap_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG1,

				 INV_ICM42600_INTF_CONFIG1_ACCEL_LP_CLK_RC,

				 INV_ICM42600_INTF_CONFIG1_ACCEL_LP_CLK_RC);

	if (ret)

		return ret;



	return inv_icm42600_set_conf(st, hw->conf);

}