iio: imu: inv_icm42600: add gyroscope IIO device
Add IIO device for gyroscope sensor with data polling interface. Attributes: raw, scale, sampling_frequency, calibbias. Gyroscope in low noise mode. Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Jean-Baptiste Maneyrol
Jonathan Cameron
Родитель
9f9ff91b77
Коммит
a095fadb44
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@ -120,6 +120,8 @@ struct inv_icm42600_suspended {
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* @orientation: sensor chip orientation relative to main hardware.
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* @conf: chip sensors configurations.
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* @suspended: suspended sensors configuration.
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* @indio_gyro: gyroscope IIO device.
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* @buffer: data transfer buffer aligned for DMA.
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*/
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struct inv_icm42600_state {
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struct mutex lock;
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@ -131,6 +133,8 @@ struct inv_icm42600_state {
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struct iio_mount_matrix orientation;
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struct inv_icm42600_conf conf;
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struct inv_icm42600_suspended suspended;
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struct iio_dev *indio_gyro;
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uint8_t buffer[2] ____cacheline_aligned;
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};
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/* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
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@ -369,4 +373,6 @@ int inv_icm42600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
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int inv_icm42600_core_probe(struct regmap *regmap, int chip,
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inv_icm42600_bus_setup bus_setup);
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struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st);
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#endif
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@ -509,6 +509,10 @@ int inv_icm42600_core_probe(struct regmap *regmap, int chip,
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if (ret)
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return ret;
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st->indio_gyro = inv_icm42600_gyro_init(st);
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if (IS_ERR(st->indio_gyro))
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return PTR_ERR(st->indio_gyro);
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/* setup runtime power management */
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ret = pm_runtime_set_active(dev);
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if (ret)
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@ -0,0 +1,603 @@
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// SPDX-License-Identifier: GPL-2.0-or-later
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/*
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* Copyright (C) 2020 Invensense, Inc.
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*/
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#include <linux/kernel.h>
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#include <linux/device.h>
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#include <linux/mutex.h>
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#include <linux/pm_runtime.h>
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#include <linux/regmap.h>
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#include <linux/delay.h>
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#include <linux/math64.h>
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#include <linux/iio/iio.h>
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#include "inv_icm42600.h"
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#define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info) \
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{ \
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.type = IIO_ANGL_VEL, \
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.modified = 1, \
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.channel2 = _modifier, \
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.info_mask_separate = \
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BIT(IIO_CHAN_INFO_RAW) | \
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BIT(IIO_CHAN_INFO_CALIBBIAS), \
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.info_mask_shared_by_type = \
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BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_type_available = \
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BIT(IIO_CHAN_INFO_SCALE) | \
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BIT(IIO_CHAN_INFO_CALIBBIAS), \
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.info_mask_shared_by_all = \
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BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.info_mask_shared_by_all_available = \
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BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.scan_index = _index, \
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.scan_type = { \
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.sign = 's', \
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.realbits = 16, \
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.storagebits = 16, \
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.endianness = IIO_BE, \
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}, \
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.ext_info = _ext_info, \
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}
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enum inv_icm42600_gyro_scan {
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INV_ICM42600_GYRO_SCAN_X,
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INV_ICM42600_GYRO_SCAN_Y,
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INV_ICM42600_GYRO_SCAN_Z,
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};
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static const struct iio_chan_spec_ext_info inv_icm42600_gyro_ext_infos[] = {
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IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
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{},
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};
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static const struct iio_chan_spec inv_icm42600_gyro_channels[] = {
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INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X,
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inv_icm42600_gyro_ext_infos),
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INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y,
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inv_icm42600_gyro_ext_infos),
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INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z,
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inv_icm42600_gyro_ext_infos),
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};
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static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st,
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struct iio_chan_spec const *chan,
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int16_t *val)
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{
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struct device *dev = regmap_get_device(st->map);
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
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unsigned int reg;
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__be16 *data;
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int ret;
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if (chan->type != IIO_ANGL_VEL)
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return -EINVAL;
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switch (chan->channel2) {
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case IIO_MOD_X:
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reg = INV_ICM42600_REG_GYRO_DATA_X;
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break;
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case IIO_MOD_Y:
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reg = INV_ICM42600_REG_GYRO_DATA_Y;
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break;
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case IIO_MOD_Z:
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reg = INV_ICM42600_REG_GYRO_DATA_Z;
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break;
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default:
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return -EINVAL;
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}
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pm_runtime_get_sync(dev);
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mutex_lock(&st->lock);
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/* enable gyro sensor */
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conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
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ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
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if (ret)
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goto exit;
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/* read gyro register data */
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data = (__be16 *)&st->buffer[0];
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ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
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if (ret)
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goto exit;
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*val = (int16_t)be16_to_cpup(data);
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if (*val == INV_ICM42600_DATA_INVALID)
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ret = -EINVAL;
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exit:
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mutex_unlock(&st->lock);
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pm_runtime_mark_last_busy(dev);
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pm_runtime_put_autosuspend(dev);
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return ret;
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}
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/* IIO format int + nano */
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static const int inv_icm42600_gyro_scale[] = {
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/* +/- 2000dps => 0.001065264 rad/s */
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[2 * INV_ICM42600_GYRO_FS_2000DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264,
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/* +/- 1000dps => 0.000532632 rad/s */
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[2 * INV_ICM42600_GYRO_FS_1000DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632,
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/* +/- 500dps => 0.000266316 rad/s */
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[2 * INV_ICM42600_GYRO_FS_500DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316,
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/* +/- 250dps => 0.000133158 rad/s */
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[2 * INV_ICM42600_GYRO_FS_250DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158,
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/* +/- 125dps => 0.000066579 rad/s */
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[2 * INV_ICM42600_GYRO_FS_125DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579,
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/* +/- 62.5dps => 0.000033290 rad/s */
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[2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290,
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/* +/- 31.25dps => 0.000016645 rad/s */
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[2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645,
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/* +/- 15.625dps => 0.000008322 rad/s */
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[2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
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[2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
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};
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static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
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int *val, int *val2)
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{
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unsigned int idx;
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idx = st->conf.gyro.fs;
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*val = inv_icm42600_gyro_scale[2 * idx];
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*val2 = inv_icm42600_gyro_scale[2 * idx + 1];
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return IIO_VAL_INT_PLUS_NANO;
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}
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static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
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int val, int val2)
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{
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struct device *dev = regmap_get_device(st->map);
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unsigned int idx;
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
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int ret;
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for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) {
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if (val == inv_icm42600_gyro_scale[idx] &&
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val2 == inv_icm42600_gyro_scale[idx + 1])
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break;
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}
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if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
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return -EINVAL;
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conf.fs = idx / 2;
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pm_runtime_get_sync(dev);
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mutex_lock(&st->lock);
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ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
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mutex_unlock(&st->lock);
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pm_runtime_mark_last_busy(dev);
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pm_runtime_put_autosuspend(dev);
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return ret;
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}
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/* IIO format int + micro */
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static const int inv_icm42600_gyro_odr[] = {
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/* 12.5Hz */
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12, 500000,
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/* 25Hz */
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25, 0,
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/* 50Hz */
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50, 0,
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/* 100Hz */
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100, 0,
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/* 200Hz */
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200, 0,
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/* 1kHz */
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1000, 0,
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/* 2kHz */
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2000, 0,
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/* 4kHz */
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4000, 0,
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};
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static const int inv_icm42600_gyro_odr_conv[] = {
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INV_ICM42600_ODR_12_5HZ,
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INV_ICM42600_ODR_25HZ,
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INV_ICM42600_ODR_50HZ,
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INV_ICM42600_ODR_100HZ,
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INV_ICM42600_ODR_200HZ,
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INV_ICM42600_ODR_1KHZ_LN,
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INV_ICM42600_ODR_2KHZ_LN,
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INV_ICM42600_ODR_4KHZ_LN,
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};
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static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st,
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int *val, int *val2)
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{
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unsigned int odr;
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unsigned int i;
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odr = st->conf.gyro.odr;
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for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) {
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if (inv_icm42600_gyro_odr_conv[i] == odr)
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break;
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}
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if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv))
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return -EINVAL;
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*val = inv_icm42600_gyro_odr[2 * i];
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*val2 = inv_icm42600_gyro_odr[2 * i + 1];
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return IIO_VAL_INT_PLUS_MICRO;
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}
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static int inv_icm42600_gyro_write_odr(struct inv_icm42600_state *st,
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int val, int val2)
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{
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struct device *dev = regmap_get_device(st->map);
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unsigned int idx;
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
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int ret;
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for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) {
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if (val == inv_icm42600_gyro_odr[idx] &&
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val2 == inv_icm42600_gyro_odr[idx + 1])
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break;
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}
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if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr))
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return -EINVAL;
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conf.odr = inv_icm42600_gyro_odr_conv[idx / 2];
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pm_runtime_get_sync(dev);
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mutex_lock(&st->lock);
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ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
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mutex_unlock(&st->lock);
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pm_runtime_mark_last_busy(dev);
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pm_runtime_put_autosuspend(dev);
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return ret;
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}
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/*
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* Calibration bias values, IIO range format int + nano.
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* Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps.
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*/
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static int inv_icm42600_gyro_calibbias[] = {
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-1, 117010721, /* min: -1.117010721 rad/s */
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0, 545415, /* step: 0.000545415 rad/s */
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1, 116465306, /* max: 1.116465306 rad/s */
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};
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static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st,
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struct iio_chan_spec const *chan,
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int *val, int *val2)
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{
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struct device *dev = regmap_get_device(st->map);
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int64_t val64;
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int32_t bias;
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unsigned int reg;
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int16_t offset;
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uint8_t data[2];
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int ret;
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if (chan->type != IIO_ANGL_VEL)
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return -EINVAL;
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switch (chan->channel2) {
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case IIO_MOD_X:
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reg = INV_ICM42600_REG_OFFSET_USER0;
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break;
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case IIO_MOD_Y:
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reg = INV_ICM42600_REG_OFFSET_USER1;
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break;
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case IIO_MOD_Z:
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reg = INV_ICM42600_REG_OFFSET_USER3;
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break;
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default:
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return -EINVAL;
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}
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pm_runtime_get_sync(dev);
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mutex_lock(&st->lock);
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ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data));
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memcpy(data, st->buffer, sizeof(data));
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mutex_unlock(&st->lock);
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pm_runtime_mark_last_busy(dev);
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pm_runtime_put_autosuspend(dev);
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if (ret)
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return ret;
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/* 12 bits signed value */
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switch (chan->channel2) {
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case IIO_MOD_X:
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offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
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break;
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case IIO_MOD_Y:
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offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);
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break;
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case IIO_MOD_Z:
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offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
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break;
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default:
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return -EINVAL;
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}
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/*
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* convert raw offset to dps then to rad/s
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* 12 bits signed raw max 64 to dps: 64 / 2048
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* dps to rad: Pi / 180
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* result in nano (1000000000)
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* (offset * 64 * Pi * 1000000000) / (2048 * 180)
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*/
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val64 = (int64_t)offset * 64LL * 3141592653LL;
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/* for rounding, add + or - divisor (2048 * 180) divided by 2 */
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if (val64 >= 0)
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val64 += 2048 * 180 / 2;
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else
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val64 -= 2048 * 180 / 2;
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bias = div_s64(val64, 2048 * 180);
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*val = bias / 1000000000L;
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*val2 = bias % 1000000000L;
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return IIO_VAL_INT_PLUS_NANO;
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}
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static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st,
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struct iio_chan_spec const *chan,
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int val, int val2)
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{
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struct device *dev = regmap_get_device(st->map);
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int64_t val64, min, max;
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unsigned int reg, regval;
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int16_t offset;
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int ret;
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if (chan->type != IIO_ANGL_VEL)
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return -EINVAL;
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switch (chan->channel2) {
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case IIO_MOD_X:
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reg = INV_ICM42600_REG_OFFSET_USER0;
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break;
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case IIO_MOD_Y:
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reg = INV_ICM42600_REG_OFFSET_USER1;
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break;
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case IIO_MOD_Z:
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reg = INV_ICM42600_REG_OFFSET_USER3;
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break;
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default:
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return -EINVAL;
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}
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/* inv_icm42600_gyro_calibbias: min - step - max in nano */
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min = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL +
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(int64_t)inv_icm42600_gyro_calibbias[1];
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max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL +
|
||||
(int64_t)inv_icm42600_gyro_calibbias[5];
|
||||
val64 = (int64_t)val * 1000000000LL + (int64_t)val2;
|
||||
if (val64 < min || val64 > max)
|
||||
return -EINVAL;
|
||||
|
||||
/*
|
||||
* convert rad/s to dps then to raw value
|
||||
* rad to dps: 180 / Pi
|
||||
* dps to raw 12 bits signed, max 64: 2048 / 64
|
||||
* val in nano (1000000000)
|
||||
* val * 180 * 2048 / (Pi * 1000000000 * 64)
|
||||
*/
|
||||
val64 = val64 * 180LL * 2048LL;
|
||||
/* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */
|
||||
if (val64 >= 0)
|
||||
val64 += 3141592653LL * 64LL / 2LL;
|
||||
else
|
||||
val64 -= 3141592653LL * 64LL / 2LL;
|
||||
offset = div64_s64(val64, 3141592653LL * 64LL);
|
||||
|
||||
/* clamp value limited to 12 bits signed */
|
||||
if (offset < -2048)
|
||||
offset = -2048;
|
||||
else if (offset > 2047)
|
||||
offset = 2047;
|
||||
|
||||
pm_runtime_get_sync(dev);
|
||||
mutex_lock(&st->lock);
|
||||
|
||||
switch (chan->channel2) {
|
||||
case IIO_MOD_X:
|
||||
/* OFFSET_USER1 register is shared */
|
||||
ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
|
||||
®val);
|
||||
if (ret)
|
||||
goto out_unlock;
|
||||
st->buffer[0] = offset & 0xFF;
|
||||
st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
|
||||
break;
|
||||
case IIO_MOD_Y:
|
||||
/* OFFSET_USER1 register is shared */
|
||||
ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
|
||||
®val);
|
||||
if (ret)
|
||||
goto out_unlock;
|
||||
st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
|
||||
st->buffer[1] = offset & 0xFF;
|
||||
break;
|
||||
case IIO_MOD_Z:
|
||||
/* OFFSET_USER4 register is shared */
|
||||
ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,
|
||||
®val);
|
||||
if (ret)
|
||||
goto out_unlock;
|
||||
st->buffer[0] = offset & 0xFF;
|
||||
st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
|
||||
break;
|
||||
default:
|
||||
ret = -EINVAL;
|
||||
goto out_unlock;
|
||||
}
|
||||
|
||||
ret = regmap_bulk_write(st->map, reg, st->buffer, 2);
|
||||
|
||||
out_unlock:
|
||||
mutex_unlock(&st->lock);
|
||||
pm_runtime_mark_last_busy(dev);
|
||||
pm_runtime_put_autosuspend(dev);
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int inv_icm42600_gyro_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);
|
||||
int16_t data;
|
||||
int ret;
|
||||
|
||||
if (chan->type != IIO_ANGL_VEL)
|
||||
return -EINVAL;
|
||||
|
||||
switch (mask) {
|
||||
case IIO_CHAN_INFO_RAW:
|
||||
ret = iio_device_claim_direct_mode(indio_dev);
|
||||
if (ret)
|
||||
return ret;
|
||||
ret = inv_icm42600_gyro_read_sensor(st, chan, &data);
|
||||
iio_device_release_direct_mode(indio_dev);
|
||||
if (ret)
|
||||
return ret;
|
||||
*val = data;
|
||||
return IIO_VAL_INT;
|
||||
case IIO_CHAN_INFO_SCALE:
|
||||
return inv_icm42600_gyro_read_scale(st, val, val2);
|
||||
case IIO_CHAN_INFO_SAMP_FREQ:
|
||||
return inv_icm42600_gyro_read_odr(st, val, val2);
|
||||
case IIO_CHAN_INFO_CALIBBIAS:
|
||||
return inv_icm42600_gyro_read_offset(st, chan, val, val2);
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
|
||||
struct iio_chan_spec const *chan,
|
||||
const int **vals,
|
||||
int *type, int *length, long mask)
|
||||
{
|
||||
if (chan->type != IIO_ANGL_VEL)
|
||||
return -EINVAL;
|
||||
|
||||
switch (mask) {
|
||||
case IIO_CHAN_INFO_SCALE:
|
||||
*vals = inv_icm42600_gyro_scale;
|
||||
*type = IIO_VAL_INT_PLUS_NANO;
|
||||
*length = ARRAY_SIZE(inv_icm42600_gyro_scale);
|
||||
return IIO_AVAIL_LIST;
|
||||
case IIO_CHAN_INFO_SAMP_FREQ:
|
||||
*vals = inv_icm42600_gyro_odr;
|
||||
*type = IIO_VAL_INT_PLUS_MICRO;
|
||||
*length = ARRAY_SIZE(inv_icm42600_gyro_odr);
|
||||
return IIO_AVAIL_LIST;
|
||||
case IIO_CHAN_INFO_CALIBBIAS:
|
||||
*vals = inv_icm42600_gyro_calibbias;
|
||||
*type = IIO_VAL_INT_PLUS_NANO;
|
||||
return IIO_AVAIL_RANGE;
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
static int inv_icm42600_gyro_write_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);
|
||||
int ret;
|
||||
|
||||
if (chan->type != IIO_ANGL_VEL)
|
||||
return -EINVAL;
|
||||
|
||||
switch (mask) {
|
||||
case IIO_CHAN_INFO_SCALE:
|
||||
ret = iio_device_claim_direct_mode(indio_dev);
|
||||
if (ret)
|
||||
return ret;
|
||||
ret = inv_icm42600_gyro_write_scale(st, val, val2);
|
||||
iio_device_release_direct_mode(indio_dev);
|
||||
return ret;
|
||||
case IIO_CHAN_INFO_SAMP_FREQ:
|
||||
return inv_icm42600_gyro_write_odr(st, val, val2);
|
||||
case IIO_CHAN_INFO_CALIBBIAS:
|
||||
ret = iio_device_claim_direct_mode(indio_dev);
|
||||
if (ret)
|
||||
return ret;
|
||||
ret = inv_icm42600_gyro_write_offset(st, chan, val, val2);
|
||||
iio_device_release_direct_mode(indio_dev);
|
||||
return ret;
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,
|
||||
struct iio_chan_spec const *chan,
|
||||
long mask)
|
||||
{
|
||||
if (chan->type != IIO_ANGL_VEL)
|
||||
return -EINVAL;
|
||||
|
||||
switch (mask) {
|
||||
case IIO_CHAN_INFO_SCALE:
|
||||
return IIO_VAL_INT_PLUS_NANO;
|
||||
case IIO_CHAN_INFO_SAMP_FREQ:
|
||||
return IIO_VAL_INT_PLUS_MICRO;
|
||||
case IIO_CHAN_INFO_CALIBBIAS:
|
||||
return IIO_VAL_INT_PLUS_NANO;
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
static const struct iio_info inv_icm42600_gyro_info = {
|
||||
.read_raw = inv_icm42600_gyro_read_raw,
|
||||
.read_avail = inv_icm42600_gyro_read_avail,
|
||||
.write_raw = inv_icm42600_gyro_write_raw,
|
||||
.write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt,
|
||||
.debugfs_reg_access = inv_icm42600_debugfs_reg,
|
||||
};
|
||||
|
||||
struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
|
||||
{
|
||||
struct device *dev = regmap_get_device(st->map);
|
||||
const char *name;
|
||||
struct iio_dev *indio_dev;
|
||||
int ret;
|
||||
|
||||
name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);
|
||||
if (!name)
|
||||
return ERR_PTR(-ENOMEM);
|
||||
|
||||
indio_dev = devm_iio_device_alloc(dev, 0);
|
||||
if (!indio_dev)
|
||||
return ERR_PTR(-ENOMEM);
|
||||
|
||||
iio_device_set_drvdata(indio_dev, st);
|
||||
indio_dev->name = name;
|
||||
indio_dev->info = &inv_icm42600_gyro_info;
|
||||
indio_dev->modes = INDIO_DIRECT_MODE;
|
||||
indio_dev->channels = inv_icm42600_gyro_channels;
|
||||
indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels);
|
||||
|
||||
ret = devm_iio_device_register(dev, indio_dev);
|
||||
if (ret)
|
||||
return ERR_PTR(ret);
|
||||
|
||||
return indio_dev;
|
||||
}
|
||||
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