[PATCH] iio: imu: inv_icm42600: Enable Pedometer Functionality
From: Hardevsinh Palaniya
Date: Tue Oct 15 2024 - 05:21:35 EST
Enables pedometer functionality in the ICM42605 IMU sensor.
The pedometer feature allows for step counting, which is accessible through
a new sysfs entry. Interrupts are triggered when a step event occurs, enabling
step event detection.
Signed-off-by: Hardevsinh Palaniya <hardevsinh.palaniya@xxxxxxxxxxxxxxxxx>
---
drivers/iio/imu/inv_icm42600/inv_icm42600.h | 16 ++
.../iio/imu/inv_icm42600/inv_icm42600_accel.c | 165 ++++++++++++++++++
.../iio/imu/inv_icm42600/inv_icm42600_core.c | 36 +++-
3 files changed, 211 insertions(+), 6 deletions(-)
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
index 3a07e43e4cf1..c3471b73152e 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
@@ -122,6 +122,7 @@ struct inv_icm42600_sensor_conf {
int filter;
};
#define INV_ICM42600_SENSOR_CONF_INIT {-1, -1, -1, -1}
+#define INV_ICM42600_SENSOR_CONF_APEX { 2, 0, 9, 6}
struct inv_icm42600_conf {
struct inv_icm42600_sensor_conf gyro;
@@ -141,6 +142,8 @@ struct inv_icm42600_suspended {
* @chip: chip identifier.
* @name: chip name.
* @map: regmap pointer.
+ * @pedometer_enable status of pedometer function
+ * @pedometer_value status of steps event occurnce
* @vdd_supply: VDD voltage regulator for the chip.
* @vddio_supply: I/O voltage regulator for the chip.
* @orientation: sensor chip orientation relative to main hardware.
@@ -157,6 +160,8 @@ struct inv_icm42600_state {
enum inv_icm42600_chip chip;
const char *name;
struct regmap *map;
+ bool pedometer_enable;
+ bool pedometer_value;
struct regulator *vdd_supply;
struct regulator *vddio_supply;
struct iio_mount_matrix orientation;
@@ -301,6 +306,15 @@ struct inv_icm42600_sensor_state {
#define INV_ICM42600_GYRO_ACCEL_CONFIG0_GYRO_FILT(_f) \
FIELD_PREP(GENMASK(3, 0), (_f))
+/* Pedometer functionality */
+#define INV_ICM42600_REG_APEX_CONFIG0 0x0056
+#define INV_ICM42600_DMP_ODR_50Hz BIT(1)
+#define INV_ICM42600_PED_ENABLE BIT(5)
+#define INV_ICM42600_REG_INT_STATUS3 0x0038
+#define INV_ICM42600_STEP_DET_INT BIT(5)
+#define INV_ICM42600_REG_APEX_DATA 0x0031 // 2 Byte little-endian
+
+
#define INV_ICM42600_REG_TMST_CONFIG 0x0054
#define INV_ICM42600_TMST_CONFIG_MASK GENMASK(4, 0)
#define INV_ICM42600_TMST_CONFIG_TMST_TO_REGS_EN BIT(4)
@@ -373,6 +387,8 @@ struct inv_icm42600_sensor_state {
#define INV_ICM42600_INTF_CONFIG6_I3C_SDR_EN BIT(0)
/* User bank 4 (MSB 0x40) */
+#define INV_ICM42600_REG_INT_SOURCE6 0x404D
+#define INV_ICM42600_STEP_DET_INT1_EN BIT(5)
#define INV_ICM42600_REG_INT_SOURCE8 0x404F
#define INV_ICM42600_INT_SOURCE8_FSYNC_IBI_EN BIT(5)
#define INV_ICM42600_INT_SOURCE8_PLL_RDY_IBI_EN BIT(4)
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
index 56ac19814250..90fe4c9e15ab 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
@@ -160,6 +160,13 @@ static const struct iio_chan_spec_ext_info inv_icm42600_accel_ext_infos[] = {
{},
};
+static const struct iio_event_spec icm42600_step_event = {
+ .type = IIO_EV_TYPE_CHANGE,
+ .dir = IIO_EV_DIR_NONE,
+ .mask_shared_by_type = BIT(IIO_EV_INFO_ENABLE) |
+ BIT(IIO_EV_INFO_VALUE),
+};
+
static const struct iio_chan_spec inv_icm42600_accel_channels[] = {
INV_ICM42600_ACCEL_CHAN(IIO_MOD_X, INV_ICM42600_ACCEL_SCAN_X,
inv_icm42600_accel_ext_infos),
@@ -169,6 +176,14 @@ static const struct iio_chan_spec inv_icm42600_accel_channels[] = {
inv_icm42600_accel_ext_infos),
INV_ICM42600_TEMP_CHAN(INV_ICM42600_ACCEL_SCAN_TEMP),
IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_ACCEL_SCAN_TIMESTAMP),
+ {
+ .type = IIO_STEPS,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED),
+ .scan_index = -1,
+ .event_spec = &icm42600_step_event,
+ .num_event_specs = 1,
+ },
+
};
/*
@@ -668,6 +683,31 @@ static int inv_icm42600_accel_write_offset(struct inv_icm42600_state *st,
return ret;
}
+static int inv_icm42600_steps_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ __le16 steps;
+ int ret;
+
+ if (mask == IIO_CHAN_INFO_PROCESSED) {
+ ret = iio_device_claim_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ ret = regmap_bulk_read(st->map, INV_ICM42600_REG_APEX_DATA, &steps, sizeof(steps));
+ if (ret)
+ return ret;
+ iio_device_release_direct_mode(indio_dev);
+ if (ret)
+ return ret;
+ *val = steps;
+ return IIO_VAL_INT;
+ }
+
+ return -EINVAL;
+}
+
static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val, int *val2, long mask)
@@ -681,6 +721,8 @@ static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev,
break;
case IIO_TEMP:
return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask);
+ case IIO_STEPS:
+ return inv_icm42600_steps_read_raw(indio_dev, chan, val, val2, mask);
default:
return -EINVAL;
}
@@ -824,6 +866,126 @@ static int inv_icm42600_accel_hwfifo_flush(struct iio_dev *indio_dev,
return ret;
}
+/*****************Pedometer Functionality**************/
+static int inv_icm42600_step_en(struct inv_icm42600_state *st, int state)
+{
+ struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_APEX;
+ int ret, value;
+
+ if (state) {
+
+ ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(st->map, INV_ICM42600_REG_APEX_CONFIG0,
+ INV_ICM42600_DMP_ODR_50Hz);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(st->map, INV_ICM42600_REG_SIGNAL_PATH_RESET,
+ INV_ICM42600_SIGNAL_PATH_RESET_DMP_MEM_RESET);
+ if (ret)
+ return ret;
+ msleep(1);
+
+ ret = regmap_write(st->map, INV_ICM42600_REG_SIGNAL_PATH_RESET,
+ INV_ICM42600_SIGNAL_PATH_RESET_DMP_INIT_EN);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(st->map, INV_ICM42600_REG_INT_SOURCE6,
+ INV_ICM42600_STEP_DET_INT1_EN);
+ if (ret)
+ return ret;
+
+ value = INV_ICM42600_DMP_ODR_50Hz | INV_ICM42600_PED_ENABLE;
+ ret = regmap_write(st->map, INV_ICM42600_REG_APEX_CONFIG0, value);
+ if (ret)
+ return ret;
+
+ st->pedometer_enable = true;
+
+ } else {
+
+ ret = regmap_write(st->map, INV_ICM42600_REG_APEX_CONFIG0, 0);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(st->map, INV_ICM42600_REG_INT_SOURCE6, 0);
+ if (ret)
+ return ret;
+
+ st->pedometer_enable = false;
+ }
+
+ return 0;
+}
+
+static int inv_icm42600_write_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir, int state)
+{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ int ret;
+
+ if(chan->type != IIO_STEPS)
+ return -EINVAL;
+
+ mutex_lock(&st->lock);
+
+ ret = inv_icm42600_step_en(st, state);
+
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+static int inv_icm42600_read_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir)
+{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ int value;
+
+ if (chan->type != IIO_STEPS)
+ return -EINVAL;
+
+ regmap_read(st->map, INV_ICM42600_REG_APEX_CONFIG0, &value);
+
+ if (value & INV_ICM42600_PED_ENABLE)
+ return 1;
+ else
+ return 0;
+}
+
+static int inv_icm42600_read_event_value(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info,
+ int *val, int *val2)
+{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+
+ mutex_lock(&st->lock);
+
+ if (type == IIO_EV_TYPE_CHANGE) {
+ if (st->pedometer_value == true) {
+ *val = 1;
+ st->pedometer_value = false;
+ } else {
+ *val = 0;
+ }
+ mutex_unlock(&st->lock);
+ return IIO_VAL_INT;
+ }
+
+ mutex_unlock(&st->lock);
+ return -EINVAL;
+}
+
static const struct iio_info inv_icm42600_accel_info = {
.read_raw = inv_icm42600_accel_read_raw,
.read_avail = inv_icm42600_accel_read_avail,
@@ -833,6 +995,9 @@ static const struct iio_info inv_icm42600_accel_info = {
.update_scan_mode = inv_icm42600_accel_update_scan_mode,
.hwfifo_set_watermark = inv_icm42600_accel_hwfifo_set_watermark,
.hwfifo_flush_to_buffer = inv_icm42600_accel_hwfifo_flush,
+ .write_event_config = inv_icm42600_write_event_config,
+ .read_event_config = inv_icm42600_read_event_config,
+ .read_event_value = inv_icm42600_read_event_value,
};
struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
index c3924cc6190e..4d78cb5ca396 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
@@ -15,7 +15,8 @@
#include <linux/pm_runtime.h>
#include <linux/property.h>
#include <linux/regmap.h>
-
+#include <linux/iio/events.h>
+#include <linux/of_irq.h>
#include <linux/iio/iio.h>
#include "inv_icm42600.h"
@@ -533,6 +534,19 @@ static irqreturn_t inv_icm42600_irq_handler(int irq, void *_data)
mutex_lock(&st->lock);
+ ret = regmap_read(st->map, INV_ICM42600_REG_INT_STATUS3, &status);
+ if (ret)
+ goto out_unlock;
+
+ if (status & INV_ICM42600_STEP_DET_INT) {
+ iio_push_event(st->indio_accel, IIO_MOD_EVENT_CODE(IIO_STEPS, 0,
+ IIO_NO_MOD,
+ IIO_EV_TYPE_CHANGE,
+ IIO_EV_DIR_NONE),
+ st->timestamp.accel);
+ st->pedometer_value = true;
+ }
+
ret = regmap_read(st->map, INV_ICM42600_REG_INT_STATUS, &status);
if (ret)
goto out_unlock;
@@ -860,12 +876,20 @@ static int inv_icm42600_runtime_suspend(struct device *dev)
mutex_lock(&st->lock);
/* disable all sensors */
- ret = inv_icm42600_set_pwr_mgmt0(st, INV_ICM42600_SENSOR_MODE_OFF,
- INV_ICM42600_SENSOR_MODE_OFF, false,
- NULL);
- if (ret)
- goto error_unlock;
+ if (st->pedometer_enable) {
+ ret = inv_icm42600_set_pwr_mgmt0(st, INV_ICM42600_SENSOR_MODE_OFF,
+ INV_ICM42600_SENSOR_MODE_LOW_POWER,
+ false, NULL);
+ if (ret)
+ goto error_unlock;
+ } else {
+ ret = inv_icm42600_set_pwr_mgmt0(st, INV_ICM42600_SENSOR_MODE_OFF,
+ INV_ICM42600_SENSOR_MODE_OFF,
+ false, NULL);
+ if (ret)
+ goto error_unlock;
+ }
regulator_disable(st->vddio_supply);
error_unlock:
--
2.43.0