KX022A is a 3-axis accelerometer from ROHM/Kionix. The sensor features
include variable ODRs, I2C and SPI control, FIFO/LIFO with watermark IRQ,
tap/motion detection, wake-up & back-to-sleep events, four acceleration
ranges (2, 4, 8 and 16g), and probably some other cool features.
Add support for the basic accelerometer features such as getting the
acceleration data via IIO. (raw reads, triggered buffer [data-ready] or
using the WMI IRQ).
Important things to be added include the double-tap, motion
detection and wake-up as well as the runtime power management.
Signed-off-by: Matti Vaittinen <[email protected]>
---
v4 => v5: Fixes suggested by Andy and Jonathan
- use namespace IIO_KX022A
- styling fixes
- use correct types and assignment instead of memcpy()
- fix variable type 'int' => 'irqreturn_t'
- remove unnecessary udelay() - was a leftover
- request IRQ before allowing user-space to acces it.
- drop warning about unsupported dual IRQs in DT
v3 => v4 fixes suggested by Andy:
- styling changes
- use str_on_off()
- drop check for !dev
- drop adding return value to print printed using dev_err_probe()
- use dev_err_probe() in SPI/I2C drivers too
- fix IRQ thread return value
v2 => v3 Mostly fixes suggested by Andy
- styling issues
- spell-checks
- use namespaces for exported symbols
- drop module param
- document the lock
- change value written when clearing fifo
- drop WARN_ON()
- correctly check the return value from fwnode_irq_get_byname()
- do not emphasize config Y over M
- reorder struct kx022a_data from potential optimization
- IIO_DEVICE_ATTR_RO instead of IIO_DEVICE_ATTR where applicable
- directly include bits.h for BIT()
- use sysfs_emit() for sysfs
- use unique name for IRQ
- convert read_raw() values to CPU endianess
- fix HW-fifo size to 258 bytes
- kx022a-spi, Fix kconfig dependency
- disable irq (to protect timestamp / sample amount calculation) when the
fifo flush is iniriated by user-space
RFCv1 => v2 (mostly based on feedback from Jonathan):
- Fix bunch of typos from the commit message.
- Add missing break; to the kx022a_write_raw()
- Fix SPI driver to use of_match_table
- Fix indentiation in I2C driver
- Drop struct kx022a_trigger
- Drop cross references from Kconfig
- Use /* */ also in file header comments
- Misc minor styling
- Do sensor-reset at probe
- Support both IRQ pins
- Implement read_avail callback
- Use dma aligned buffers for bulk-reads
- Use iio_trigger_poll_chained()
- Use devm consistently
- Drop inclusion of device.h
- Add SPI device ID for module loading
- Add module param for hw fifo / watermark IRQ usage
- Fix io-vdd-supply name to match one in the bindings
---
drivers/iio/accel/Kconfig | 21 +
drivers/iio/accel/Makefile | 3 +
drivers/iio/accel/kionix-kx022a-i2c.c | 51 ++
drivers/iio/accel/kionix-kx022a-spi.c | 58 ++
drivers/iio/accel/kionix-kx022a.c | 1142 +++++++++++++++++++++++++
drivers/iio/accel/kionix-kx022a.h | 82 ++
6 files changed, 1357 insertions(+)
create mode 100644 drivers/iio/accel/kionix-kx022a-i2c.c
create mode 100644 drivers/iio/accel/kionix-kx022a-spi.c
create mode 100644 drivers/iio/accel/kionix-kx022a.c
create mode 100644 drivers/iio/accel/kionix-kx022a.h
diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig
index ffac66db7ac9..b7fd054819d2 100644
--- a/drivers/iio/accel/Kconfig
+++ b/drivers/iio/accel/Kconfig
@@ -409,6 +409,27 @@ config IIO_ST_ACCEL_SPI_3AXIS
To compile this driver as a module, choose M here. The module
will be called st_accel_spi.
+config IIO_KX022A
+ tristate
+
+config IIO_KX022A_SPI
+ tristate "Kionix KX022A tri-axis digital accelerometer"
+ depends on SPI
+ select IIO_KX022A
+ select REGMAP_SPI
+ help
+ Enable support for the Kionix KX022A digital tri-axis
+ accelerometer connected to I2C interface.
+
+config IIO_KX022A_I2C
+ tristate "Kionix KX022A tri-axis digital accelerometer"
+ depends on I2C
+ select IIO_KX022A
+ select REGMAP_I2C
+ help
+ Enable support for the Kionix KX022A digital tri-axis
+ accelerometer connected to I2C interface.
+
config KXSD9
tristate "Kionix KXSD9 Accelerometer Driver"
select IIO_BUFFER
diff --git a/drivers/iio/accel/Makefile b/drivers/iio/accel/Makefile
index 5e45b5fa5ab5..311ead9c3ef1 100644
--- a/drivers/iio/accel/Makefile
+++ b/drivers/iio/accel/Makefile
@@ -40,6 +40,9 @@ obj-$(CONFIG_FXLS8962AF) += fxls8962af-core.o
obj-$(CONFIG_FXLS8962AF_I2C) += fxls8962af-i2c.o
obj-$(CONFIG_FXLS8962AF_SPI) += fxls8962af-spi.o
obj-$(CONFIG_HID_SENSOR_ACCEL_3D) += hid-sensor-accel-3d.o
+obj-$(CONFIG_IIO_KX022A) += kionix-kx022a.o
+obj-$(CONFIG_IIO_KX022A_I2C) += kionix-kx022a-i2c.o
+obj-$(CONFIG_IIO_KX022A_SPI) += kionix-kx022a-spi.o
obj-$(CONFIG_KXCJK1013) += kxcjk-1013.o
obj-$(CONFIG_KXSD9) += kxsd9.o
obj-$(CONFIG_KXSD9_SPI) += kxsd9-spi.o
diff --git a/drivers/iio/accel/kionix-kx022a-i2c.c b/drivers/iio/accel/kionix-kx022a-i2c.c
new file mode 100644
index 000000000000..e6fd02d931b6
--- /dev/null
+++ b/drivers/iio/accel/kionix-kx022a-i2c.c
@@ -0,0 +1,51 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * Copyright (C) 2022 ROHM Semiconductors
+ *
+ * ROHM/KIONIX KX022A accelerometer driver
+ */
+
+#include <linux/i2c.h>
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+
+#include "kionix-kx022a.h"
+
+static int kx022a_i2c_probe(struct i2c_client *i2c)
+{
+ struct device *dev = &i2c->dev;
+ struct regmap *regmap;
+
+ if (!i2c->irq) {
+ dev_err(dev, "No IRQ configured\n");
+ return -EINVAL;
+ }
+
+ regmap = devm_regmap_init_i2c(i2c, &kx022a_regmap);
+ if (IS_ERR(regmap))
+ return dev_err_probe(dev, PTR_ERR(regmap),
+ "Failed to initialize Regmap\n");
+
+ return kx022a_probe_internal(dev);
+}
+
+static const struct of_device_id kx022a_of_match[] = {
+ { .compatible = "kionix,kx022a", },
+ { }
+};
+MODULE_DEVICE_TABLE(of, kx022a_of_match);
+
+static struct i2c_driver kx022a_i2c_driver = {
+ .driver = {
+ .name = "kx022a-i2c",
+ .of_match_table = kx022a_of_match,
+ },
+ .probe_new = kx022a_i2c_probe,
+};
+module_i2c_driver(kx022a_i2c_driver);
+
+MODULE_DESCRIPTION("ROHM/Kionix KX022A accelerometer driver");
+MODULE_AUTHOR("Matti Vaittinen <[email protected]>");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS(IIO_KX022A);
diff --git a/drivers/iio/accel/kionix-kx022a-spi.c b/drivers/iio/accel/kionix-kx022a-spi.c
new file mode 100644
index 000000000000..9cd047f7b346
--- /dev/null
+++ b/drivers/iio/accel/kionix-kx022a-spi.c
@@ -0,0 +1,58 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * Copyright (C) 2022 ROHM Semiconductors
+ *
+ * ROHM/KIONIX KX022A accelerometer driver
+ */
+
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+
+#include "kionix-kx022a.h"
+
+static int kx022a_spi_probe(struct spi_device *spi)
+{
+ struct device *dev = &spi->dev;
+ struct regmap *regmap;
+
+ if (!spi->irq) {
+ dev_err(dev, "No IRQ configured\n");
+ return -EINVAL;
+ }
+
+ regmap = devm_regmap_init_spi(spi, &kx022a_regmap);
+ if (IS_ERR(regmap))
+ return dev_err_probe(dev, PTR_ERR(regmap),
+ "Failed to initialize Regmap\n");
+
+ return kx022a_probe_internal(dev);
+}
+
+static const struct spi_device_id kx022a_id[] = {
+ { "kx022a" },
+ { }
+};
+MODULE_DEVICE_TABLE(spi, kx022a_id);
+
+static const struct of_device_id kx022a_of_match[] = {
+ { .compatible = "kionix,kx022a", },
+ { }
+};
+MODULE_DEVICE_TABLE(of, kx022a_of_match);
+
+static struct spi_driver kx022a_spi_driver = {
+ .driver = {
+ .name = "kx022a-spi",
+ .of_match_table = kx022a_of_match,
+ },
+ .probe = kx022a_spi_probe,
+ .id_table = kx022a_id,
+};
+module_spi_driver(kx022a_spi_driver);
+
+MODULE_DESCRIPTION("ROHM/Kionix kx022A accelerometer driver");
+MODULE_AUTHOR("Matti Vaittinen <[email protected]>");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS(IIO_KX022A);
diff --git a/drivers/iio/accel/kionix-kx022a.c b/drivers/iio/accel/kionix-kx022a.c
new file mode 100644
index 000000000000..50de7f9a1cc7
--- /dev/null
+++ b/drivers/iio/accel/kionix-kx022a.c
@@ -0,0 +1,1142 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * Copyright (C) 2022 ROHM Semiconductors
+ *
+ * ROHM/KIONIX KX022A accelerometer driver
+ */
+
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/mutex.h>
+#include <linux/property.h>
+#include <linux/regmap.h>
+#include <linux/regulator/consumer.h>
+#include <linux/slab.h>
+#include <linux/string_helpers.h>
+#include <linux/units.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#include "kionix-kx022a.h"
+
+/*
+ * The KX022A has FIFO which can store 43 samples of HiRes data from 2
+ * channels. This equals to 43 (samples) * 3 (channels) * 2 (bytes/sample) to
+ * 258 bytes of sample data. The quirk to know is that the amount of bytes in
+ * the FIFO is advertised via 8 bit register (max value 255). The thing to note
+ * is that full 258 bytes of data is indicated using the max value 255.
+ */
+#define KX022A_FIFO_LENGTH 43
+#define KX022A_FIFO_FULL_VALUE 255
+#define KX022A_SOFT_RESET_WAIT_TIME_US (5 * USEC_PER_MSEC)
+#define KX022A_SOFT_RESET_TOTAL_WAIT_TIME_US (500 * USEC_PER_MSEC)
+
+/* 3 axis, 2 bytes of data for each of the axis */
+#define KX022A_FIFO_SAMPLES_SIZE_BYTES 6
+#define KX022A_FIFO_MAX_BYTES \
+ (KX022A_FIFO_LENGTH * KX022A_FIFO_SAMPLES_SIZE_BYTES)
+
+enum {
+ KX022A_STATE_SAMPLE,
+ KX022A_STATE_FIFO,
+};
+
+/* Regmap configs */
+static const struct regmap_range kx022a_volatile_ranges[] = {
+ {
+ .range_min = KX022A_REG_XHP_L,
+ .range_max = KX022A_REG_COTR,
+ }, {
+ .range_min = KX022A_REG_TSCP,
+ .range_max = KX022A_REG_INT_REL,
+ }, {
+ /* The reset bit will be cleared by sensor */
+ .range_min = KX022A_REG_CNTL2,
+ .range_max = KX022A_REG_CNTL2,
+ }, {
+ .range_min = KX022A_REG_BUF_STATUS_1,
+ .range_max = KX022A_REG_BUF_READ,
+ },
+};
+
+static const struct regmap_access_table kx022a_volatile_regs = {
+ .yes_ranges = &kx022a_volatile_ranges[0],
+ .n_yes_ranges = ARRAY_SIZE(kx022a_volatile_ranges),
+};
+
+static const struct regmap_range kx022a_precious_ranges[] = {
+ {
+ .range_min = KX022A_REG_INT_REL,
+ .range_max = KX022A_REG_INT_REL,
+ },
+};
+
+static const struct regmap_access_table kx022a_precious_regs = {
+ .yes_ranges = &kx022a_precious_ranges[0],
+ .n_yes_ranges = ARRAY_SIZE(kx022a_precious_ranges),
+};
+
+/*
+ * The HW does not set WHO_AM_I reg as read-only but we don't want to write it
+ * so we still include it in the read-only ranges.
+ */
+static const struct regmap_range kx022a_read_only_ranges[] = {
+ {
+ .range_min = KX022A_REG_XHP_L,
+ .range_max = KX022A_REG_INT_REL,
+ }, {
+ .range_min = KX022A_REG_BUF_STATUS_1,
+ .range_max = KX022A_REG_BUF_STATUS_2,
+ }, {
+ .range_min = KX022A_REG_BUF_READ,
+ .range_max = KX022A_REG_BUF_READ,
+ },
+};
+
+static const struct regmap_access_table kx022a_ro_regs = {
+ .no_ranges = &kx022a_read_only_ranges[0],
+ .n_no_ranges = ARRAY_SIZE(kx022a_read_only_ranges),
+};
+
+static const struct regmap_range kx022a_write_only_ranges[] = {
+ {
+ .range_min = KX022A_REG_BTS_WUF_TH,
+ .range_max = KX022A_REG_BTS_WUF_TH,
+ }, {
+ .range_min = KX022A_REG_MAN_WAKE,
+ .range_max = KX022A_REG_MAN_WAKE,
+ }, {
+ .range_min = KX022A_REG_SELF_TEST,
+ .range_max = KX022A_REG_SELF_TEST,
+ }, {
+ .range_min = KX022A_REG_BUF_CLEAR,
+ .range_max = KX022A_REG_BUF_CLEAR,
+ },
+};
+
+static const struct regmap_access_table kx022a_wo_regs = {
+ .no_ranges = &kx022a_write_only_ranges[0],
+ .n_no_ranges = ARRAY_SIZE(kx022a_write_only_ranges),
+};
+
+static const struct regmap_range kx022a_noinc_read_ranges[] = {
+ {
+ .range_min = KX022A_REG_BUF_READ,
+ .range_max = KX022A_REG_BUF_READ,
+ },
+};
+
+static const struct regmap_access_table kx022a_nir_regs = {
+ .yes_ranges = &kx022a_noinc_read_ranges[0],
+ .n_yes_ranges = ARRAY_SIZE(kx022a_noinc_read_ranges),
+};
+
+const struct regmap_config kx022a_regmap = {
+ .reg_bits = 8,
+ .val_bits = 8,
+ .volatile_table = &kx022a_volatile_regs,
+ .rd_table = &kx022a_wo_regs,
+ .wr_table = &kx022a_ro_regs,
+ .rd_noinc_table = &kx022a_nir_regs,
+ .precious_table = &kx022a_precious_regs,
+ .max_register = KX022A_MAX_REGISTER,
+ .cache_type = REGCACHE_RBTREE,
+};
+EXPORT_SYMBOL_NS_GPL(kx022a_regmap, IIO_KX022A);
+
+struct kx022a_data {
+ struct regmap *regmap;
+ struct iio_trigger *trig;
+ struct device *dev;
+ struct iio_mount_matrix orientation;
+ int64_t timestamp, old_timestamp;
+
+ int irq;
+ int inc_reg;
+ int ien_reg;
+
+ unsigned int g_range;
+ unsigned int state;
+ unsigned int odr_ns;
+
+ bool trigger_enabled;
+ /*
+ * Prevent toggling the sensor stby/active state (PC1 bit) in the
+ * middle of a configuration, or when the fifo is enabled. Also,
+ * protect the data stored/retrieved from this structure from
+ * concurrent accesses.
+ */
+ struct mutex mutex;
+ u8 watermark;
+
+ /* 3 x 16bit accel data + timestamp */
+ __le16 buffer[8] __aligned(IIO_DMA_MINALIGN);
+ struct {
+ __le16 channels[3];
+ s64 ts __aligned(8);
+ } scan;
+};
+
+static const struct iio_mount_matrix *
+kx022a_get_mount_matrix(const struct iio_dev *idev,
+ const struct iio_chan_spec *chan)
+{
+ struct kx022a_data *data = iio_priv(idev);
+
+ return &data->orientation;
+}
+
+enum {
+ AXIS_X,
+ AXIS_Y,
+ AXIS_Z,
+ AXIS_MAX
+};
+
+static const unsigned long kx022a_scan_masks[] = {
+ BIT(AXIS_X) | BIT(AXIS_Y) | BIT(AXIS_Z), 0
+};
+
+static const struct iio_chan_spec_ext_info kx022a_ext_info[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, kx022a_get_mount_matrix),
+ { }
+};
+
+#define KX022A_ACCEL_CHAN(axis, index) \
+{ \
+ .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), \
+ .info_mask_shared_by_type_available = \
+ BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .ext_info = kx022a_ext_info, \
+ .address = KX022A_REG_##axis##OUT_L, \
+ .scan_index = index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ }, \
+}
+
+static const struct iio_chan_spec kx022a_channels[] = {
+ KX022A_ACCEL_CHAN(X, 0),
+ KX022A_ACCEL_CHAN(Y, 1),
+ KX022A_ACCEL_CHAN(Z, 2),
+ IIO_CHAN_SOFT_TIMESTAMP(3),
+};
+
+/*
+ * The sensor HW can support ODR up to 1600 Hz, which is beyond what most of the
+ * Linux CPUs can handle without dropping samples. Also, the low power mode is
+ * not available for higher sample rates. Thus, the driver only supports 200 Hz
+ * and slower ODRs. The slowest is 0.78 Hz.
+ */
+static const int kx022a_accel_samp_freq_table[][2] = {
+ { 0, 780000 },
+ { 1, 563000 },
+ { 3, 125000 },
+ { 6, 250000 },
+ { 12, 500000 },
+ { 25, 0 },
+ { 50, 0 },
+ { 100, 0 },
+ { 200, 0 },
+};
+
+static const unsigned int kx022a_odrs[] = {
+ 1282051282,
+ 639795266,
+ 320 * MEGA,
+ 160 * MEGA,
+ 80 * MEGA,
+ 40 * MEGA,
+ 20 * MEGA,
+ 10 * MEGA,
+ 5 * MEGA,
+};
+
+/*
+ * range is typically +-2G/4G/8G/16G, distributed over the amount of bits.
+ * The scale table can be calculated using
+ * (range / 2^bits) * g = (range / 2^bits) * 9.80665 m/s^2
+ * => KX022A uses 16 bit (HiRes mode - assume the low 8 bits are zeroed
+ * in low-power mode(?) )
+ * => +/-2G => 4 / 2^16 * 9,80665 * 10^6 (to scale to micro)
+ * => +/-2G - 598.550415
+ * +/-4G - 1197.10083
+ * +/-8G - 2394.20166
+ * +/-16G - 4788.40332
+ */
+static const int kx022a_scale_table[][2] = {
+ { 598, 550415 },
+ { 1197, 100830 },
+ { 2394, 201660 },
+ { 4788, 403320 },
+};
+
+static int kx022a_read_avail(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ const int **vals, int *type, int *length,
+ long mask)
+{
+ switch (mask) {
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ *vals = (const int *)kx022a_accel_samp_freq_table;
+ *length = ARRAY_SIZE(kx022a_accel_samp_freq_table) *
+ ARRAY_SIZE(kx022a_accel_samp_freq_table[0]);
+ *type = IIO_VAL_INT_PLUS_MICRO;
+ return IIO_AVAIL_LIST;
+ case IIO_CHAN_INFO_SCALE:
+ *vals = (const int *)kx022a_scale_table;
+ *length = ARRAY_SIZE(kx022a_scale_table) *
+ ARRAY_SIZE(kx022a_scale_table[0]);
+ *type = IIO_VAL_INT_PLUS_MICRO;
+ return IIO_AVAIL_LIST;
+ default:
+ return -EINVAL;
+ }
+}
+
+#define KX022A_DEFAULT_PERIOD_NS (20 * NSEC_PER_MSEC)
+
+static void kx022a_reg2freq(unsigned int val, int *val1, int *val2)
+{
+ *val1 = kx022a_accel_samp_freq_table[val & KX022A_MASK_ODR][0];
+ *val2 = kx022a_accel_samp_freq_table[val & KX022A_MASK_ODR][1];
+}
+
+static void kx022a_reg2scale(unsigned int val, unsigned int *val1,
+ unsigned int *val2)
+{
+ val &= KX022A_MASK_GSEL;
+ val >>= KX022A_GSEL_SHIFT;
+
+ *val1 = kx022a_scale_table[val][0];
+ *val2 = kx022a_scale_table[val][1];
+}
+
+static int kx022a_turn_on_off_unlocked(struct kx022a_data *data, bool on)
+{
+ int ret;
+
+ if (on)
+ ret = regmap_set_bits(data->regmap, KX022A_REG_CNTL,
+ KX022A_MASK_PC1);
+ else
+ ret = regmap_clear_bits(data->regmap, KX022A_REG_CNTL,
+ KX022A_MASK_PC1);
+ if (ret)
+ dev_err(data->dev, "Turn %s fail %d\n", str_on_off(on), ret);
+
+ return ret;
+
+}
+
+static int kx022a_turn_off_lock(struct kx022a_data *data)
+{
+ int ret;
+
+ mutex_lock(&data->mutex);
+ ret = kx022a_turn_on_off_unlocked(data, false);
+ if (ret)
+ mutex_unlock(&data->mutex);
+
+ return ret;
+}
+
+static int kx022a_turn_on_unlock(struct kx022a_data *data)
+{
+ int ret;
+
+ ret = kx022a_turn_on_off_unlocked(data, true);
+ mutex_unlock(&data->mutex);
+
+ return ret;
+}
+
+static int kx022a_write_raw(struct iio_dev *idev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct kx022a_data *data = iio_priv(idev);
+ int ret, n;
+
+ /*
+ * We should not allow changing scale or frequency when FIFO is running
+ * as it will mess the timestamp/scale for samples existing in the
+ * buffer. If this turns out to be an issue we can later change logic
+ * to internally flush the fifo before reconfiguring so the samples in
+ * fifo keep matching the freq/scale settings. (Such setup could cause
+ * issues if users trust the watermark to be reached within known
+ * time-limit).
+ */
+ ret = iio_device_claim_direct_mode(idev);
+ if (ret)
+ return ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ n = ARRAY_SIZE(kx022a_accel_samp_freq_table);
+
+ while (n--)
+ if (val == kx022a_accel_samp_freq_table[n][0] &&
+ val2 == kx022a_accel_samp_freq_table[n][1])
+ break;
+ if (n < 0) {
+ ret = -EINVAL;
+ goto unlock_out;
+ }
+ ret = kx022a_turn_off_lock(data);
+ if (ret)
+ break;
+
+ ret = regmap_update_bits(data->regmap,
+ KX022A_REG_ODCNTL,
+ KX022A_MASK_ODR, n);
+ data->odr_ns = kx022a_odrs[n];
+ kx022a_turn_on_unlock(data);
+ break;
+ case IIO_CHAN_INFO_SCALE:
+ n = ARRAY_SIZE(kx022a_scale_table);
+
+ while (n-- > 0)
+ if (val == kx022a_scale_table[n][0] &&
+ val2 == kx022a_scale_table[n][1])
+ break;
+ if (n < 0) {
+ ret = -EINVAL;
+ goto unlock_out;
+ }
+
+ ret = kx022a_turn_off_lock(data);
+ if (ret)
+ break;
+
+ ret = regmap_update_bits(data->regmap, KX022A_REG_CNTL,
+ KX022A_MASK_GSEL,
+ n << KX022A_GSEL_SHIFT);
+ kx022a_turn_on_unlock(data);
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+
+unlock_out:
+ iio_device_release_direct_mode(idev);
+
+ return ret;
+}
+
+static int kx022a_fifo_set_wmi(struct kx022a_data *data)
+{
+ u8 threshold;
+
+ threshold = data->watermark;
+
+ return regmap_update_bits(data->regmap, KX022A_REG_BUF_CNTL1,
+ KX022A_MASK_WM_TH, threshold);
+}
+
+static int kx022a_get_axis(struct kx022a_data *data,
+ struct iio_chan_spec const *chan,
+ int *val)
+{
+ int ret;
+
+ ret = regmap_bulk_read(data->regmap, chan->address, &data->buffer[0],
+ sizeof(__le16));
+ if (ret)
+ return ret;
+
+ *val = le16_to_cpu(data->buffer[0]);
+
+ return IIO_VAL_INT;
+}
+
+static int kx022a_read_raw(struct iio_dev *idev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ struct kx022a_data *data = iio_priv(idev);
+ unsigned int regval;
+ int ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = iio_device_claim_direct_mode(idev);
+ if (ret)
+ return ret;
+
+ mutex_lock(&data->mutex);
+ ret = kx022a_get_axis(data, chan, val);
+ mutex_unlock(&data->mutex);
+
+ iio_device_release_direct_mode(idev);
+
+ return ret;
+
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ ret = regmap_read(data->regmap, KX022A_REG_ODCNTL, ®val);
+ if (ret)
+ return ret;
+
+ if ((regval & KX022A_MASK_ODR) >
+ ARRAY_SIZE(kx022a_accel_samp_freq_table)) {
+ dev_err(data->dev, "Invalid ODR\n");
+ return -EINVAL;
+ }
+
+ kx022a_reg2freq(regval, val, val2);
+
+ return IIO_VAL_INT_PLUS_MICRO;
+
+ case IIO_CHAN_INFO_SCALE:
+ ret = regmap_read(data->regmap, KX022A_REG_CNTL, ®val);
+ if (ret < 0)
+ return ret;
+
+ kx022a_reg2scale(regval, val, val2);
+
+ return IIO_VAL_INT_PLUS_MICRO;
+ }
+
+ return -EINVAL;
+};
+
+static int kx022a_validate_trigger(struct iio_dev *idev,
+ struct iio_trigger *trig)
+{
+ struct kx022a_data *data = iio_priv(idev);
+
+ if (data->trig != trig)
+ return -EINVAL;
+
+ return 0;
+}
+
+static int kx022a_set_watermark(struct iio_dev *idev, unsigned int val)
+{
+ struct kx022a_data *data = iio_priv(idev);
+
+ if (val > KX022A_FIFO_LENGTH)
+ val = KX022A_FIFO_LENGTH;
+
+ mutex_lock(&data->mutex);
+ data->watermark = val;
+ mutex_unlock(&data->mutex);
+
+ return 0;
+}
+
+static ssize_t hwfifo_enabled_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct iio_dev *idev = dev_to_iio_dev(dev);
+ struct kx022a_data *data = iio_priv(idev);
+ bool state;
+
+ mutex_lock(&data->mutex);
+ state = data->state;
+ mutex_unlock(&data->mutex);
+
+ return sysfs_emit(buf, "%d\n", state);
+}
+
+static ssize_t hwfifo_watermark_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct iio_dev *idev = dev_to_iio_dev(dev);
+ struct kx022a_data *data = iio_priv(idev);
+ int wm;
+
+ mutex_lock(&data->mutex);
+ wm = data->watermark;
+ mutex_unlock(&data->mutex);
+
+ return sysfs_emit(buf, "%d\n", wm);
+}
+
+static IIO_DEVICE_ATTR_RO(hwfifo_enabled, 0);
+static IIO_DEVICE_ATTR_RO(hwfifo_watermark, 0);
+
+static const struct attribute *kx022a_fifo_attributes[] = {
+ &iio_dev_attr_hwfifo_watermark.dev_attr.attr,
+ &iio_dev_attr_hwfifo_enabled.dev_attr.attr,
+ NULL
+};
+
+static int kx022a_drop_fifo_contents(struct kx022a_data *data)
+{
+ /*
+ * We must clear the old time-stamp to avoid computing the timestamps
+ * based on samples acquired when buffer was last enabled.
+ *
+ * We don't need to protect the timestamp as long as we are only
+ * called from fifo-disable where we can guarantee the sensor is not
+ * triggering interrupts and where the mutex is locked to prevent the
+ * user-space access.
+ */
+ data->timestamp = 0;
+
+ return regmap_write(data->regmap, KX022A_REG_BUF_CLEAR, 0x0);
+}
+
+static int __kx022a_fifo_flush(struct iio_dev *idev, unsigned int samples,
+ bool irq)
+{
+ struct kx022a_data *data = iio_priv(idev);
+ struct device *dev = regmap_get_device(data->regmap);
+ __le16 buffer[KX022A_FIFO_LENGTH * 3];
+ uint64_t sample_period;
+ int count, fifo_bytes;
+ bool renable = false;
+ int64_t tstamp;
+ int ret, i;
+
+ ret = regmap_read(data->regmap, KX022A_REG_BUF_STATUS_1, &fifo_bytes);
+ if (ret) {
+ dev_err(dev, "Error reading buffer status\n");
+ return ret;
+ }
+
+ /* Let's not overflow if we for some reason get bogus value from i2c */
+ if (fifo_bytes == KX022A_FIFO_FULL_VALUE)
+ fifo_bytes = KX022A_FIFO_MAX_BYTES;
+
+ if (fifo_bytes % KX022A_FIFO_SAMPLES_SIZE_BYTES)
+ dev_warn(data->dev, "Bad FIFO alignment. Data may be corrupt\n");
+
+ count = fifo_bytes / KX022A_FIFO_SAMPLES_SIZE_BYTES;
+ if (!count)
+ return 0;
+
+ /*
+ * If we are being called from IRQ handler we know the stored timestamp
+ * is fairly accurate for the last stored sample. Otherwise, if we are
+ * called as a result of a read operation from userspace and hence
+ * before the watermark interrupt was triggered, take a timestamp
+ * now. We can fall anywhere in between two samples so the error in this
+ * case is at most one sample period.
+ */
+ if (!irq) {
+ /*
+ * We need to have the IRQ disabled or we risk of messing-up
+ * the timestamps. If we are ran from IRQ, then the
+ * IRQF_ONESHOT has us covered - but if we are ran by the
+ * user-space read we need to disable the IRQ to be on a safe
+ * side. We do this usng synchronous disable so that if the
+ * IRQ thread is being ran on other CPU we wait for it to be
+ * finished.
+ */
+ disable_irq(data->irq);
+ renable = true;
+
+ data->old_timestamp = data->timestamp;
+ data->timestamp = iio_get_time_ns(idev);
+ }
+
+ /*
+ * Approximate timestamps for each of the sample based on the sampling
+ * frequency, timestamp for last sample and number of samples.
+ *
+ * We'd better not use the current bandwidth settings to compute the
+ * sample period. The real sample rate varies with the device and
+ * small variation adds when we store a large number of samples.
+ *
+ * To avoid this issue we compute the actual sample period ourselves
+ * based on the timestamp delta between the last two flush operations.
+ */
+ if (data->old_timestamp) {
+ sample_period = data->timestamp - data->old_timestamp;
+ do_div(sample_period, count);
+ } else {
+ sample_period = data->odr_ns;
+ }
+ tstamp = data->timestamp - (count - 1) * sample_period;
+
+ if (samples && count > samples) {
+ /*
+ * Here we leave some old samples to the buffer. We need to
+ * adjust the timestamp to match the first sample in the buffer
+ * or we will miscalculate the sample_period at next round.
+ */
+ data->timestamp -= (count - samples) * sample_period;
+ count = samples;
+ }
+
+ fifo_bytes = count * KX022A_FIFO_SAMPLES_SIZE_BYTES;
+ ret = regmap_noinc_read(data->regmap, KX022A_REG_BUF_READ,
+ &buffer[0], fifo_bytes);
+ if (ret)
+ goto renable_out;
+
+ for (i = 0; i < count; i++) {
+ __le16 *sam = &buffer[i * 3];
+ __le16 *chs;
+ int bit;
+
+ chs = &data->scan.channels[0];
+ for_each_set_bit(bit, idev->active_scan_mask, AXIS_MAX)
+ chs[bit] = sam[bit];
+
+ iio_push_to_buffers_with_timestamp(idev, &data->scan, tstamp);
+
+ tstamp += sample_period;
+ }
+
+ ret = count;
+
+renable_out:
+ if (renable)
+ enable_irq(data->irq);
+
+ return ret;
+}
+
+static int kx022a_fifo_flush(struct iio_dev *idev, unsigned int samples)
+{
+ struct kx022a_data *data = iio_priv(idev);
+ int ret;
+
+ mutex_lock(&data->mutex);
+ ret = __kx022a_fifo_flush(idev, samples, false);
+ mutex_unlock(&data->mutex);
+
+ return ret;
+}
+
+static const struct iio_info kx022a_info = {
+ .read_raw = &kx022a_read_raw,
+ .write_raw = &kx022a_write_raw,
+ .read_avail = &kx022a_read_avail,
+
+ .validate_trigger = kx022a_validate_trigger,
+ .hwfifo_set_watermark = kx022a_set_watermark,
+ .hwfifo_flush_to_buffer = kx022a_fifo_flush,
+};
+
+static int kx022a_set_drdy_irq(struct kx022a_data *data, bool en)
+{
+ if (en)
+ return regmap_set_bits(data->regmap, KX022A_REG_CNTL,
+ KX022A_MASK_DRDY);
+
+ return regmap_clear_bits(data->regmap, KX022A_REG_CNTL,
+ KX022A_MASK_DRDY);
+}
+
+static int kx022a_prepare_irq_pin(struct kx022a_data *data)
+{
+ /* Enable IRQ1 pin. Set polarity to active low */
+ int mask = KX022A_MASK_IEN | KX022A_MASK_IPOL |
+ KX022A_MASK_ITYP;
+ int val = KX022A_MASK_IEN | KX022A_IPOL_LOW |
+ KX022A_ITYP_LEVEL;
+ int ret;
+
+ ret = regmap_update_bits(data->regmap, data->inc_reg, mask, val);
+ if (ret)
+ return ret;
+
+ /* We enable WMI to IRQ pin only at buffer_enable */
+ mask = KX022A_MASK_INS2_DRDY;
+
+ return regmap_set_bits(data->regmap, data->ien_reg, mask);
+}
+
+static int kx022a_fifo_disable(struct kx022a_data *data)
+{
+ int ret = 0;
+
+ ret = kx022a_turn_off_lock(data);
+ if (ret)
+ return ret;
+
+ ret = regmap_clear_bits(data->regmap, data->ien_reg, KX022A_MASK_WMI);
+ if (ret)
+ goto unlock_out;
+
+ ret = regmap_clear_bits(data->regmap, KX022A_REG_BUF_CNTL2,
+ KX022A_MASK_BUF_EN);
+ if (ret)
+ goto unlock_out;
+
+ data->state &= ~KX022A_STATE_FIFO;
+
+ kx022a_drop_fifo_contents(data);
+
+ return kx022a_turn_on_unlock(data);
+
+unlock_out:
+ mutex_unlock(&data->mutex);
+
+ return ret;
+}
+
+static int kx022a_buffer_predisable(struct iio_dev *idev)
+{
+ struct kx022a_data *data = iio_priv(idev);
+
+ if (iio_device_get_current_mode(idev) == INDIO_BUFFER_TRIGGERED)
+ return 0;
+
+ return kx022a_fifo_disable(data);
+}
+
+static int kx022a_fifo_enable(struct kx022a_data *data)
+{
+ int ret;
+
+ ret = kx022a_turn_off_lock(data);
+ if (ret)
+ return ret;
+
+ /* Update watermark to HW */
+ ret = kx022a_fifo_set_wmi(data);
+ if (ret)
+ goto unlock_out;
+
+ /* Enable buffer */
+ ret = regmap_set_bits(data->regmap, KX022A_REG_BUF_CNTL2,
+ KX022A_MASK_BUF_EN);
+ if (ret)
+ goto unlock_out;
+
+ data->state |= KX022A_STATE_FIFO;
+ ret = regmap_set_bits(data->regmap, data->ien_reg,
+ KX022A_MASK_WMI);
+ if (ret)
+ goto unlock_out;
+
+ return kx022a_turn_on_unlock(data);
+
+unlock_out:
+ mutex_unlock(&data->mutex);
+
+ return ret;
+}
+
+static int kx022a_buffer_postenable(struct iio_dev *idev)
+{
+ struct kx022a_data *data = iio_priv(idev);
+
+ /*
+ * If we use data-ready trigger, then the IRQ masks should be handled by
+ * trigger enable and the hardware buffer is not used but we just update
+ * results to the IIO fifo when data-ready triggers.
+ */
+ if (iio_device_get_current_mode(idev) == INDIO_BUFFER_TRIGGERED)
+ return 0;
+
+ return kx022a_fifo_enable(data);
+}
+
+static const struct iio_buffer_setup_ops kx022a_buffer_ops = {
+ .postenable = kx022a_buffer_postenable,
+ .predisable = kx022a_buffer_predisable,
+};
+
+static irqreturn_t kx022a_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *idev = pf->indio_dev;
+ struct kx022a_data *data = iio_priv(idev);
+ int ret;
+
+ ret = regmap_bulk_read(data->regmap, KX022A_REG_XOUT_L, data->buffer,
+ KX022A_FIFO_SAMPLES_SIZE_BYTES);
+ if (ret < 0)
+ goto err_read;
+
+ iio_push_to_buffers_with_timestamp(idev, data->buffer, pf->timestamp);
+err_read:
+ iio_trigger_notify_done(idev->trig);
+
+ return IRQ_HANDLED;
+}
+
+/* Get timestamps and wake the thread if we need to read data */
+static irqreturn_t kx022a_irq_handler(int irq, void *private)
+{
+ struct iio_dev *idev = private;
+ struct kx022a_data *data = iio_priv(idev);
+
+ data->old_timestamp = data->timestamp;
+ data->timestamp = iio_get_time_ns(idev);
+
+ if (data->state & KX022A_STATE_FIFO || data->trigger_enabled)
+ return IRQ_WAKE_THREAD;
+
+ return IRQ_NONE;
+}
+
+/*
+ * WMI and data-ready IRQs are acked when results are read. If we add
+ * TILT/WAKE or other IRQs - then we may need to implement the acking
+ * (which is racy).
+ */
+static irqreturn_t kx022a_irq_thread_handler(int irq, void *private)
+{
+ struct iio_dev *idev = private;
+ struct kx022a_data *data = iio_priv(idev);
+ irqreturn_t ret = IRQ_NONE;
+
+ mutex_lock(&data->mutex);
+
+ if (data->trigger_enabled) {
+ iio_trigger_poll_chained(data->trig);
+ ret = IRQ_HANDLED;
+ }
+
+ if (data->state & KX022A_STATE_FIFO) {
+ int ok;
+
+ ok = __kx022a_fifo_flush(idev, KX022A_FIFO_LENGTH, true);
+ if (ok > 0)
+ ret = IRQ_HANDLED;
+ }
+
+ mutex_unlock(&data->mutex);
+
+ return ret;
+}
+
+static int kx022a_trigger_set_state(struct iio_trigger *trig,
+ bool state)
+{
+ struct kx022a_data *data = iio_trigger_get_drvdata(trig);
+ int ret = 0;
+
+ mutex_lock(&data->mutex);
+
+ if (data->trigger_enabled == state)
+ goto unlock_out;
+
+ if (data->state & KX022A_STATE_FIFO) {
+ dev_warn(data->dev, "Can't set trigger when FIFO enabled\n");
+ ret = -EBUSY;
+ goto unlock_out;
+ }
+
+ ret = kx022a_turn_on_off_unlocked(data, false);
+ if (ret)
+ goto unlock_out;
+
+ data->trigger_enabled = state;
+ ret = kx022a_set_drdy_irq(data, state);
+ if (ret)
+ goto unlock_out;
+
+ ret = kx022a_turn_on_off_unlocked(data, true);
+
+unlock_out:
+ mutex_unlock(&data->mutex);
+
+ return ret;
+}
+
+static const struct iio_trigger_ops kx022a_trigger_ops = {
+ .set_trigger_state = kx022a_trigger_set_state,
+};
+
+static int kx022a_chip_init(struct kx022a_data *data)
+{
+ int ret, val;
+
+ /* Reset the senor */
+ ret = regmap_write(data->regmap, KX022A_REG_CNTL2, KX022A_MASK_SRST);
+ if (ret)
+ return ret;
+
+ /*
+ * I've seen I2C read failures if we poll too fast after the sensor
+ * reset. Slight delay gives I2C block the time to recover.
+ */
+ msleep(1);
+
+ ret = regmap_read_poll_timeout(data->regmap, KX022A_REG_CNTL2, val,
+ !(val & KX022A_MASK_SRST),
+ KX022A_SOFT_RESET_WAIT_TIME_US,
+ KX022A_SOFT_RESET_TOTAL_WAIT_TIME_US);
+ if (ret) {
+ dev_err(data->dev, "Sensor reset %s\n",
+ val & KX022A_MASK_SRST ? "timeout" : "fail#");
+ return ret;
+ }
+
+ ret = regmap_reinit_cache(data->regmap, &kx022a_regmap);
+ if (ret) {
+ dev_err(data->dev, "Failed to reinit reg cache\n");
+ return ret;
+ }
+
+ /* set data res 16bit */
+ ret = regmap_set_bits(data->regmap, KX022A_REG_BUF_CNTL2,
+ KX022A_MASK_BRES16);
+ if (ret) {
+ dev_err(data->dev, "Failed to set data resolution\n");
+ return ret;
+ }
+
+ return kx022a_prepare_irq_pin(data);
+}
+
+int kx022a_probe_internal(struct device *dev)
+{
+ static const char * const regulator_names[] = {"io-vdd", "vdd"};
+ struct iio_trigger *indio_trig;
+ struct fwnode_handle *fwnode;
+ struct kx022a_data *data;
+ struct regmap *regmap;
+ unsigned int chip_id;
+ struct iio_dev *idev;
+ int ret, irq;
+ char *name;
+
+ regmap = dev_get_regmap(dev, NULL);
+ if (!regmap) {
+ dev_err(dev, "no regmap\n");
+ return -EINVAL;
+ }
+
+ fwnode = dev_fwnode(dev);
+ if (!fwnode)
+ return -ENODEV;
+
+ idev = devm_iio_device_alloc(dev, sizeof(*data));
+ if (!idev)
+ return -ENOMEM;
+
+ data = iio_priv(idev);
+
+ /*
+ * VDD is the analog and digital domain voltage supply and
+ * IO_VDD is the digital I/O voltage supply.
+ */
+ ret = devm_regulator_bulk_get_enable(dev, ARRAY_SIZE(regulator_names),
+ regulator_names);
+ if (ret && ret != -ENODEV)
+ return dev_err_probe(dev, ret, "failed to enable regulator\n");
+
+ ret = regmap_read(regmap, KX022A_REG_WHO, &chip_id);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to access sensor\n");
+
+ if (chip_id != KX022A_ID) {
+ dev_err(dev, "unsupported device 0x%x\n", chip_id);
+ return -EINVAL;
+ }
+
+ irq = fwnode_irq_get_byname(fwnode, "INT1");
+ if (irq > 0) {
+ data->inc_reg = KX022A_REG_INC1;
+ data->ien_reg = KX022A_REG_INC4;
+ } else {
+ irq = fwnode_irq_get_byname(fwnode, "INT2");
+ if (irq <= 0)
+ return dev_err_probe(dev, irq, "No suitable IRQ\n");
+
+ data->inc_reg = KX022A_REG_INC5;
+ data->ien_reg = KX022A_REG_INC6;
+ }
+
+ data->regmap = regmap;
+ data->dev = dev;
+ data->irq = irq;
+ data->odr_ns = KX022A_DEFAULT_PERIOD_NS;
+ mutex_init(&data->mutex);
+
+ idev->channels = kx022a_channels;
+ idev->num_channels = ARRAY_SIZE(kx022a_channels);
+ idev->name = "kx022-accel";
+ idev->info = &kx022a_info;
+ idev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE;
+ idev->available_scan_masks = kx022a_scan_masks;
+
+ /* Read the mounting matrix, if present */
+ ret = iio_read_mount_matrix(dev, &data->orientation);
+ if (ret)
+ return ret;
+
+ /* The sensor must be turned off for configuration */
+ ret = kx022a_turn_off_lock(data);
+ if (ret)
+ return ret;
+
+ ret = kx022a_chip_init(data);
+ if (ret) {
+ mutex_unlock(&data->mutex);
+ return ret;
+ }
+
+ ret = kx022a_turn_on_unlock(data);
+ if (ret)
+ return ret;
+
+ ret = devm_iio_triggered_buffer_setup_ext(dev, idev,
+ &iio_pollfunc_store_time,
+ kx022a_trigger_handler,
+ IIO_BUFFER_DIRECTION_IN,
+ &kx022a_buffer_ops,
+ kx022a_fifo_attributes);
+
+ if (ret)
+ return dev_err_probe(data->dev, ret,
+ "iio_triggered_buffer_setup_ext FAIL\n");
+ indio_trig = devm_iio_trigger_alloc(dev, "%sdata-rdy-dev%d", idev->name,
+ iio_device_id(idev));
+ if (!indio_trig)
+ return -ENOMEM;
+
+ data->trig = indio_trig;
+
+ indio_trig->ops = &kx022a_trigger_ops;
+ iio_trigger_set_drvdata(indio_trig, data);
+
+ /*
+ * No need to check for NULL. request_threaded_irq() defaults to
+ * dev_name() should the alloc fail.
+ */
+ name = devm_kasprintf(data->dev, GFP_KERNEL, "%s-kx022a",
+ dev_name(data->dev));
+
+ ret = devm_request_threaded_irq(data->dev, irq, kx022a_irq_handler,
+ &kx022a_irq_thread_handler,
+ IRQF_ONESHOT, name, idev);
+ if (ret)
+ return dev_err_probe(data->dev, ret, "Could not request IRQ\n");
+
+
+ ret = devm_iio_trigger_register(dev, indio_trig);
+ if (ret)
+ return dev_err_probe(data->dev, ret,
+ "Trigger registration failed\n");
+
+ ret = devm_iio_device_register(data->dev, idev);
+ if (ret < 0)
+ return dev_err_probe(dev, ret,
+ "Unable to register iio device\n");
+
+ return ret;
+}
+EXPORT_SYMBOL_NS_GPL(kx022a_probe_internal, IIO_KX022A);
+
+MODULE_DESCRIPTION("ROHM/Kionix KX022A accelerometer driver");
+MODULE_AUTHOR("Matti Vaittinen <[email protected]>");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/accel/kionix-kx022a.h b/drivers/iio/accel/kionix-kx022a.h
new file mode 100644
index 000000000000..12424649d438
--- /dev/null
+++ b/drivers/iio/accel/kionix-kx022a.h
@@ -0,0 +1,82 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2022 ROHM Semiconductors
+ *
+ * ROHM/KIONIX KX022A accelerometer driver
+ */
+
+#ifndef _KX022A_H_
+#define _KX022A_H_
+
+#include <linux/bits.h>
+#include <linux/regmap.h>
+
+#define KX022A_REG_WHO 0x0f
+#define KX022A_ID 0xc8
+
+#define KX022A_REG_CNTL2 0x19
+#define KX022A_MASK_SRST BIT(7)
+#define KX022A_REG_CNTL 0x18
+#define KX022A_MASK_PC1 BIT(7)
+#define KX022A_MASK_RES BIT(6)
+#define KX022A_MASK_DRDY BIT(5)
+#define KX022A_MASK_GSEL GENMASK(4, 3)
+#define KX022A_GSEL_SHIFT 3
+#define KX022A_GSEL_2 0x0
+#define KX022A_GSEL_4 BIT(3)
+#define KX022A_GSEL_8 BIT(4)
+#define KX022A_GSEL_16 GENMASK(4, 3)
+
+#define KX022A_REG_INS2 0x13
+#define KX022A_MASK_INS2_DRDY BIT(4)
+#define KX122_MASK_INS2_WMI BIT(5)
+
+#define KX022A_REG_XHP_L 0x0
+#define KX022A_REG_XOUT_L 0x06
+#define KX022A_REG_YOUT_L 0x08
+#define KX022A_REG_ZOUT_L 0x0a
+#define KX022A_REG_COTR 0x0c
+#define KX022A_REG_TSCP 0x10
+#define KX022A_REG_INT_REL 0x17
+
+#define KX022A_REG_ODCNTL 0x1b
+
+#define KX022A_REG_BTS_WUF_TH 0x31
+#define KX022A_REG_MAN_WAKE 0x2c
+
+#define KX022A_REG_BUF_CNTL1 0x3a
+#define KX022A_MASK_WM_TH GENMASK(6, 0)
+#define KX022A_REG_BUF_CNTL2 0x3b
+#define KX022A_MASK_BUF_EN BIT(7)
+#define KX022A_MASK_BRES16 BIT(6)
+#define KX022A_REG_BUF_STATUS_1 0x3c
+#define KX022A_REG_BUF_STATUS_2 0x3d
+#define KX022A_REG_BUF_CLEAR 0x3e
+#define KX022A_REG_BUF_READ 0x3f
+#define KX022A_MASK_ODR GENMASK(3, 0)
+#define KX022A_ODR_SHIFT 3
+#define KX022A_FIFO_MAX_WMI_TH 41
+
+#define KX022A_REG_INC1 0x1c
+#define KX022A_REG_INC5 0x20
+#define KX022A_REG_INC6 0x21
+#define KX022A_MASK_IEN BIT(5)
+#define KX022A_MASK_IPOL BIT(4)
+#define KX022A_IPOL_LOW 0
+#define KX022A_IPOL_HIGH KX022A_MASK_IPOL1
+#define KX022A_MASK_ITYP BIT(3)
+#define KX022A_ITYP_PULSE KX022A_MASK_ITYP
+#define KX022A_ITYP_LEVEL 0
+
+#define KX022A_REG_INC4 0x1f
+#define KX022A_MASK_WMI BIT(5)
+
+#define KX022A_REG_SELF_TEST 0x60
+#define KX022A_MAX_REGISTER 0x60
+
+struct device;
+
+int kx022a_probe_internal(struct device *dev);
+extern const struct regmap_config kx022a_regmap;
+
+#endif
--
2.37.3
--
Matti Vaittinen, Linux device drivers
ROHM Semiconductors, Finland SWDC
Kiviharjunlenkki 1E
90220 OULU
FINLAND
~~~ "I don't think so," said Rene Descartes. Just then he vanished ~~~
Simon says - in Latin please.
~~~ "non cogito me" dixit Rene Descarte, deinde evanescavit ~~~
Thanks to Simon Glass for the translation =]
On Mon, 24 Oct 2022 15:40:29 +0300
Matti Vaittinen <[email protected]> wrote:
> KX022A is a 3-axis accelerometer from ROHM/Kionix. The sensor features
> include variable ODRs, I2C and SPI control, FIFO/LIFO with watermark IRQ,
> tap/motion detection, wake-up & back-to-sleep events, four acceleration
> ranges (2, 4, 8 and 16g), and probably some other cool features.
>
> Add support for the basic accelerometer features such as getting the
> acceleration data via IIO. (raw reads, triggered buffer [data-ready] or
> using the WMI IRQ).
>
> Important things to be added include the double-tap, motion
> detection and wake-up as well as the runtime power management.
>
> Signed-off-by: Matti Vaittinen <[email protected]>
>
...
> ---
> drivers/iio/accel/Kconfig | 21 +
> drivers/iio/accel/Makefile | 3 +
> drivers/iio/accel/kionix-kx022a-i2c.c | 51 ++
> drivers/iio/accel/kionix-kx022a-spi.c | 58 ++
> drivers/iio/accel/kionix-kx022a.c | 1142 +++++++++++++++++++++++++
> drivers/iio/accel/kionix-kx022a.h | 82 ++
> 6 files changed, 1357 insertions(+)
> create mode 100644 drivers/iio/accel/kionix-kx022a-i2c.c
> create mode 100644 drivers/iio/accel/kionix-kx022a-spi.c
> create mode 100644 drivers/iio/accel/kionix-kx022a.c
> create mode 100644 drivers/iio/accel/kionix-kx022a.h
>
> diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig
> index ffac66db7ac9..b7fd054819d2 100644
> --- a/drivers/iio/accel/Kconfig
> +++ b/drivers/iio/accel/Kconfig
> @@ -409,6 +409,27 @@ config IIO_ST_ACCEL_SPI_3AXIS
> To compile this driver as a module, choose M here. The module
> will be called st_accel_spi.
>
> +config IIO_KX022A
> + tristate
> +
> +config IIO_KX022A_SPI
> + tristate "Kionix KX022A tri-axis digital accelerometer"
Entry should mention SPI / I2C or we have two menu options that are
identical. I'll fix that if nothing else comes up.
> + depends on SPI
> + select IIO_KX022A
> + select REGMAP_SPI
> + help
> + Enable support for the Kionix KX022A digital tri-axis
> + accelerometer connected to I2C interface.
Hi Matti,
On Mon, Oct 24, 2022 at 6:10 PM Matti Vaittinen
<[email protected]> wrote:
>
> KX022A is a 3-axis accelerometer from ROHM/Kionix. The sensor features
> include variable ODRs, I2C and SPI control, FIFO/LIFO with watermark IRQ,
> tap/motion detection, wake-up & back-to-sleep events, four acceleration
> ranges (2, 4, 8 and 16g), and probably some other cool features.
This is a nice driver, and I found it very helpful as a reference.
One question regarding scale please see below.
> + * range is typically +-2G/4G/8G/16G, distributed over the amount of bits.
> + * The scale table can be calculated using
> + * (range / 2^bits) * g = (range / 2^bits) * 9.80665 m/s^2
> + * => KX022A uses 16 bit (HiRes mode - assume the low 8 bits are zeroed
> + * in low-power mode(?) )
> + * => +/-2G => 4 / 2^16 * 9,80665 * 10^6 (to scale to micro)
> + * => +/-2G - 598.550415
> + * +/-4G - 1197.10083
> + * +/-8G - 2394.20166
> + * +/-16G - 4788.40332
> + */
> +static const int kx022a_scale_table[][2] = {
> + { 598, 550415 },
> + { 1197, 100830 },
> + { 2394, 201660 },
> + { 4788, 403320 },
> +};
Given that the integer part is non-zero, and
IIO_VAL_INT_PLUS_MICRO is returned for read_scale,
As raw value will never be fractional how does this
correspond to a reading of 9.8 m/s² for the Z-axis?
> +
> +static int kx022a_read_avail(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan,
> + const int **vals, int *type, int *length,
> + long mask)
> +{
> + switch (mask) {
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + *vals = (const int *)kx022a_accel_samp_freq_table;
> + *length = ARRAY_SIZE(kx022a_accel_samp_freq_table) *
> + ARRAY_SIZE(kx022a_accel_samp_freq_table[0]);
> + *type = IIO_VAL_INT_PLUS_MICRO;
> + return IIO_AVAIL_LIST;
> + case IIO_CHAN_INFO_SCALE:
> + *vals = (const int *)kx022a_scale_table;
> + *length = ARRAY_SIZE(kx022a_scale_table) *
> + ARRAY_SIZE(kx022a_scale_table[0]);
> + *type = IIO_VAL_INT_PLUS_MICRO;
> + return IIO_AVAIL_LIST;
> + default:
> + return -EINVAL;
> + }
> +}
Regards
Jagath
On Wed, 18 Oct 2023 01:37:12 +0530
Jagath Jog J <[email protected]> wrote:
> Hi Matti,
>
> On Mon, Oct 24, 2022 at 6:10 PM Matti Vaittinen
> <[email protected]> wrote:
> >
> > KX022A is a 3-axis accelerometer from ROHM/Kionix. The sensor features
> > include variable ODRs, I2C and SPI control, FIFO/LIFO with watermark IRQ,
> > tap/motion detection, wake-up & back-to-sleep events, four acceleration
> > ranges (2, 4, 8 and 16g), and probably some other cool features.
>
> This is a nice driver, and I found it very helpful as a reference.
> One question regarding scale please see below.
>
> > + * range is typically +-2G/4G/8G/16G, distributed over the amount of bits.
> > + * The scale table can be calculated using
> > + * (range / 2^bits) * g = (range / 2^bits) * 9.80665 m/s^2
> > + * => KX022A uses 16 bit (HiRes mode - assume the low 8 bits are zeroed
> > + * in low-power mode(?) )
> > + * => +/-2G => 4 / 2^16 * 9,80665 * 10^6 (to scale to micro)
> > + * => +/-2G - 598.550415
> > + * +/-4G - 1197.10083
> > + * +/-8G - 2394.20166
> > + * +/-16G - 4788.40332
> > + */
> > +static const int kx022a_scale_table[][2] = {
> > + { 598, 550415 },
> > + { 1197, 100830 },
> > + { 2394, 201660 },
> > + { 4788, 403320 },
> > +};
>
> Given that the integer part is non-zero, and
> IIO_VAL_INT_PLUS_MICRO is returned for read_scale,
> As raw value will never be fractional how does this
> correspond to a reading of 9.8 m/s² for the Z-axis?
Definitely suspicious as should be in m/s^2 for an acceleration and
it should be
9.8*16/2^bits
So I think these are out by a factor of 10^6
>
> > +
> > +static int kx022a_read_avail(struct iio_dev *indio_dev,
> > + struct iio_chan_spec const *chan,
> > + const int **vals, int *type, int *length,
> > + long mask)
> > +{
> > + switch (mask) {
> > + case IIO_CHAN_INFO_SAMP_FREQ:
> > + *vals = (const int *)kx022a_accel_samp_freq_table;
> > + *length = ARRAY_SIZE(kx022a_accel_samp_freq_table) *
> > + ARRAY_SIZE(kx022a_accel_samp_freq_table[0]);
> > + *type = IIO_VAL_INT_PLUS_MICRO;
> > + return IIO_AVAIL_LIST;
> > + case IIO_CHAN_INFO_SCALE:
> > + *vals = (const int *)kx022a_scale_table;
> > + *length = ARRAY_SIZE(kx022a_scale_table) *
> > + ARRAY_SIZE(kx022a_scale_table[0]);
> > + *type = IIO_VAL_INT_PLUS_MICRO;
> > + return IIO_AVAIL_LIST;
> > + default:
> > + return -EINVAL;
> > + }
> > +}
>
> Regards
> Jagath
On 10/18/23 22:34, Jonathan Cameron wrote:
> On Wed, 18 Oct 2023 01:37:12 +0530
> Jagath Jog J <[email protected]> wrote:
Hi Jagath - and thanks!
>> Hi Matti,
>>
>> On Mon, Oct 24, 2022 at 6:10 PM Matti Vaittinen
>> <[email protected]> wrote:
>>>
>>> KX022A is a 3-axis accelerometer from ROHM/Kionix. The sensor features
>>> include variable ODRs, I2C and SPI control, FIFO/LIFO with watermark IRQ,
>>> tap/motion detection, wake-up & back-to-sleep events, four acceleration
>>> ranges (2, 4, 8 and 16g), and probably some other cool features.
>>
>> This is a nice driver, and I found it very helpful as a reference.
>> One question regarding scale please see below.
>>
>>> + * range is typically +-2G/4G/8G/16G, distributed over the amount of bits.
>>> + * The scale table can be calculated using
>>> + * (range / 2^bits) * g = (range / 2^bits) * 9.80665 m/s^2
>>> + * => KX022A uses 16 bit (HiRes mode - assume the low 8 bits are zeroed
>>> + * in low-power mode(?) )
>>> + * => +/-2G => 4 / 2^16 * 9,80665 * 10^6 (to scale to micro)
>>> + * => +/-2G - 598.550415
>>> + * +/-4G - 1197.10083
>>> + * +/-8G - 2394.20166
>>> + * +/-16G - 4788.40332
>>> + */
>>> +static const int kx022a_scale_table[][2] = {
>>> + { 598, 550415 },
>>> + { 1197, 100830 },
>>> + { 2394, 201660 },
>>> + { 4788, 403320 },
>>> +};
>>
>> Given that the integer part is non-zero, and
>> IIO_VAL_INT_PLUS_MICRO is returned for read_scale,
>> As raw value will never be fractional how does this
>> correspond to a reading of 9.8 m/s² for the Z-axis?
>
> Definitely suspicious as should be in m/s^2 for an acceleration and
> it should be
>
> 9.8*16/2^bits
>
> So I think these are out by a factor of 10^6
I think you are right. Looks like I misinterpreted the meaning of
IIO_VAL_INT_PLUS_MICRO when I took my first tour in the IIO with this
driver. The comment above the scale table does support that assumption
... 10^6 would match such a brainfart. (This is my first thought. I will
take better look at this later today and see if I can come up with a fix
if no-one else has sent a patch already).
I CC'd Mehdi who has also been working on this driver.
Regarding the KX022A - I am not aware of upstream users of this IC
(yet). May be you're the first lucky one :) Hence, I am tempted to just
fixing the driver - but it's Jonathan who will take the splatters when
**** hits the fan - so it's his call to decide whether we can still fix
this. _If_ there are users who have adapted to this buggy scale (users I
am not aware of) then fix will break their apps. Mehdi, do you know any
users of this upstream driver?
I will ping the HQ guy who has contacts to those who might be using the
driver in a downstream repository and ask him to inform potential users.
It'd be very nice to get this fixed.
Sorry and thanks!
Yours,
-- Matti
--
Matti Vaittinen
Linux kernel developer at ROHM Semiconductors
Oulu Finland
~~ When things go utterly wrong vim users can always type :help! ~~