milos-linux/drivers/iio/magnetometer/qmc6308.c

// SPDX-License-Identifier: GPL-2.0 OR BSD-2-Clause
/*
 * Support for QST QMC6308 3-Axis Magnetic Sensor on I2C bus.
 *
 * Copyright (C) 2026 Jorijn van der Graaf <jorijnvdgraaf@catcrafts.net>
 *
 * Datasheet available at
 * <https://qstcorp.com/upload/pdf/202202/13-52-15%20QMC6308%20Datasheet%20Rev.%20F(1).pdf>
 */

#include <linux/array_size.h>
#include <linux/bitfield.h>
#include <linux/bits.h>
#include <linux/cleanup.h>
#include <linux/delay.h>
#include <linux/dev_printk.h>
#include <linux/err.h>
#include <linux/i2c.h>
#include <linux/mod_devicetable.h>
#include <linux/module.h>
#include <linux/mutex.h>
#include <linux/pm_runtime.h>
#include <linux/regmap.h>
#include <linux/regulator/consumer.h>
#include <linux/time.h>
#include <linux/types.h>

#include <asm/byteorder.h>

#include <linux/iio/iio.h>

#define QMC6308_REG_ID		0x00
#define QMC6308_REG_X_LSB	0x01
#define QMC6308_REG_STATUS	0x09
#define QMC6308_REG_CTRL1	0x0A
#define QMC6308_REG_CTRL2	0x0B
#define QMC6308_REG_CTRL3	0x0D
#define QMC6308_REG_CTRL4	0x29

#define QMC6308_CHIP_ID		0x80

/* Control register 1 */
#define QMC6308_MODE_MASK	GENMASK(1, 0)
#define QMC6308_ODR_MASK	GENMASK(3, 2)
#define QMC6308_OSR1_MASK	GENMASK(5, 4)
#define QMC6308_OSR2_MASK	GENMASK(7, 6)

#define QMC6308_MODE_SUSPEND	0x00
#define QMC6308_MODE_NORMAL	0x01

#define QMC6308_ODR_10HZ	0x00
#define QMC6308_ODR_50HZ	0x01
#define QMC6308_ODR_100HZ	0x02
#define QMC6308_ODR_200HZ	0x03

#define QMC6308_OSR1_8		0x00
#define QMC6308_OSR1_4		0x01
#define QMC6308_OSR1_2		0x02
#define QMC6308_OSR1_1		0x03

/* Control register 2 */
#define QMC6308_SET_RESET_MASK	GENMASK(1, 0)
#define QMC6308_RNG_MASK	GENMASK(3, 2)
#define QMC6308_SELF_TEST	BIT(6)
#define QMC6308_SOFT_RST	BIT(7)

#define QMC6308_SET_RESET_ON	0x00

#define QMC6308_RNG_30G		0x00
#define QMC6308_RNG_12G		0x01
#define QMC6308_RNG_8G		0x02
#define QMC6308_RNG_2G		0x03

/* Status register */
#define QMC6308_STATUS_DRDY	BIT(0)
#define QMC6308_STATUS_OVFL	BIT(1)

/*
 * Power-on completion time (datasheet Table 7), also used as a
 * conservative bound after soft reset, for which the datasheet
 * gives no figure.
 */
#define QMC6308_POR_US		250

#define QMC6308_AUTOSUSPEND_DELAY_MS	500

struct qmc6308_data {
	struct regmap *regmap;
	/*
	 * Protect data->range/odr/osr.
	 * Protect poll and read during measurement (reading the status
	 * register clears DRDY).
	 */
	struct mutex mutex;
	struct iio_mount_matrix orientation;
	u8 range;
	u8 odr;
	u8 osr;
};

enum qmc6308_axis {
	QMC6308_AXIS_X,
	QMC6308_AXIS_Y,
	QMC6308_AXIS_Z,
};

static const int qmc6308_odr_avail[] = {
	[QMC6308_ODR_10HZ] = 10,
	[QMC6308_ODR_50HZ] = 50,
	[QMC6308_ODR_100HZ] = 100,
	[QMC6308_ODR_200HZ] = 200,
};

static const int qmc6308_osr1_avail[] = {
	[QMC6308_OSR1_8] = 8,
	[QMC6308_OSR1_4] = 4,
	[QMC6308_OSR1_2] = 2,
	[QMC6308_OSR1_1] = 1,
};

/*
 * Sensitivity is 1000/2500/3750/15000 LSB/Gauss for the
 * +-30/12/8/2 Gauss ranges respectively.
 */
static const int qmc6308_scales[][2] = {
	[QMC6308_RNG_30G] = { 0, 1000000 },
	[QMC6308_RNG_12G] = { 0, 400000 },
	[QMC6308_RNG_8G] = { 0, 266667 },
	[QMC6308_RNG_2G] = { 0, 66667 },
};

static int qmc6308_set_mode(struct qmc6308_data *data, unsigned int mode)
{
	return regmap_update_bits(data->regmap, QMC6308_REG_CTRL1,
				  QMC6308_MODE_MASK,
				  FIELD_PREP(QMC6308_MODE_MASK, mode));
}

static int qmc6308_take_measurement(struct iio_dev *indio_dev, int index,
				    int *val)
{
	struct qmc6308_data *data = iio_priv(indio_dev);
	struct regmap *map = data->regmap;
	struct device *dev = regmap_get_device(map);
	unsigned int status;
	__le16 buf[3];
	int ret;

	ret = pm_runtime_resume_and_get(dev);
	if (ret) {
		/* EACCES means a read raced runtime PM disable on suspend */
		if (ret != -EACCES)
			dev_err(dev, "Failed to power on (%d)\n", ret);
		return ret;
	}

	scoped_guard(mutex, &data->mutex) {
		/* 50ms headroom over the slowest ODR (10Hz) */
		ret = regmap_read_poll_timeout(map, QMC6308_REG_STATUS,
					       status,
					       (status & QMC6308_STATUS_DRDY),
					       2 * USEC_PER_MSEC,
					       150 * USEC_PER_MSEC);
		if (ret)
			goto out_rpm_put;

		ret = regmap_bulk_read(map, QMC6308_REG_X_LSB, buf,
				       sizeof(buf));
		if (ret)
			goto out_rpm_put;

		if (status & QMC6308_STATUS_OVFL)
			ret = -ERANGE;
	}

out_rpm_put:
	pm_runtime_put_autosuspend(dev);
	if (ret)
		return ret;

	*val = (s16)le16_to_cpu(buf[index]);

	return 0;
}

static int qmc6308_read_raw(struct iio_dev *indio_dev,
			    const struct iio_chan_spec *chan,
			    int *val, int *val2, long mask)
{
	struct qmc6308_data *data = iio_priv(indio_dev);
	int ret;

	switch (mask) {
	case IIO_CHAN_INFO_RAW:
		ret = qmc6308_take_measurement(indio_dev, chan->address, val);
		if (ret)
			return ret;
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_SCALE: {
		guard(mutex)(&data->mutex);

		*val = qmc6308_scales[data->range][0];
		*val2 = qmc6308_scales[data->range][1];

		return IIO_VAL_INT_PLUS_NANO;
	}
	case IIO_CHAN_INFO_SAMP_FREQ: {
		guard(mutex)(&data->mutex);

		*val = qmc6308_odr_avail[data->odr];

		return IIO_VAL_INT;
	}
	case IIO_CHAN_INFO_OVERSAMPLING_RATIO: {
		guard(mutex)(&data->mutex);

		*val = qmc6308_osr1_avail[data->osr];

		return IIO_VAL_INT;
	}
	default:
		return -EINVAL;
	}
}

static int qmc6308_write_raw(struct iio_dev *indio_dev,
			     const struct iio_chan_spec *chan,
			     int val, int val2, long mask)
{
	struct qmc6308_data *data = iio_priv(indio_dev);
	unsigned int status;
	unsigned int i;
	int ret;

	switch (mask) {
	case IIO_CHAN_INFO_SCALE: {
		if (val != 0)
			return -EINVAL;

		for (i = 0; i < ARRAY_SIZE(qmc6308_scales); i++) {
			if (val2 == qmc6308_scales[i][1])
				break;
		}
		if (i == ARRAY_SIZE(qmc6308_scales))
			return -EINVAL;

		guard(mutex)(&data->mutex);

		ret = regmap_update_bits(data->regmap, QMC6308_REG_CTRL2,
					 QMC6308_RNG_MASK,
					 FIELD_PREP(QMC6308_RNG_MASK, i));
		if (ret)
			return ret;

		data->range = i;

		/*
		 * The data registers still hold (and DRDY still
		 * advertises) a sample converted at the previous range;
		 * discard it so that the next read returns data matching
		 * the new scale.
		 */
		return regmap_read(data->regmap, QMC6308_REG_STATUS,
				   &status);
	}
	case IIO_CHAN_INFO_SAMP_FREQ: {
		for (i = 0; i < ARRAY_SIZE(qmc6308_odr_avail); i++) {
			if (val == qmc6308_odr_avail[i])
				break;
		}
		if (i == ARRAY_SIZE(qmc6308_odr_avail))
			return -EINVAL;

		guard(mutex)(&data->mutex);

		ret = regmap_update_bits(data->regmap, QMC6308_REG_CTRL1,
					 QMC6308_ODR_MASK,
					 FIELD_PREP(QMC6308_ODR_MASK, i));
		if (ret)
			return ret;

		data->odr = i;

		return 0;
	}
	case IIO_CHAN_INFO_OVERSAMPLING_RATIO: {
		for (i = 0; i < ARRAY_SIZE(qmc6308_osr1_avail); i++) {
			if (val == qmc6308_osr1_avail[i])
				break;
		}
		if (i == ARRAY_SIZE(qmc6308_osr1_avail))
			return -EINVAL;

		guard(mutex)(&data->mutex);

		ret = regmap_update_bits(data->regmap, QMC6308_REG_CTRL1,
					 QMC6308_OSR1_MASK,
					 FIELD_PREP(QMC6308_OSR1_MASK, i));
		if (ret)
			return ret;

		data->osr = i;

		return 0;
	}
	default:
		return -EINVAL;
	}
}

static int qmc6308_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 = qmc6308_odr_avail;
		*type = IIO_VAL_INT;
		*length = ARRAY_SIZE(qmc6308_odr_avail);
		return IIO_AVAIL_LIST;
	case IIO_CHAN_INFO_OVERSAMPLING_RATIO:
		*vals = qmc6308_osr1_avail;
		*type = IIO_VAL_INT;
		*length = ARRAY_SIZE(qmc6308_osr1_avail);
		return IIO_AVAIL_LIST;
	case IIO_CHAN_INFO_SCALE:
		*vals = (const int *)qmc6308_scales;
		*type = IIO_VAL_INT_PLUS_NANO;
		*length = ARRAY_SIZE(qmc6308_scales) * 2;
		return IIO_AVAIL_LIST;
	default:
		return -EINVAL;
	}
}

static int qmc6308_write_raw_get_fmt(struct iio_dev *indio_dev,
				     struct iio_chan_spec const *chan,
				     long mask)
{
	switch (mask) {
	case IIO_CHAN_INFO_SCALE:
		return IIO_VAL_INT_PLUS_NANO;
	default:
		return IIO_VAL_INT;
	}
}

static const struct iio_mount_matrix *
qmc6308_get_mount_matrix(const struct iio_dev *indio_dev,
			 const struct iio_chan_spec *chan)
{
	struct qmc6308_data *data = iio_priv(indio_dev);

	return &data->orientation;
}

static const struct iio_chan_spec_ext_info qmc6308_ext_info[] = {
	IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, qmc6308_get_mount_matrix),
	{ }
};

static const struct iio_info qmc6308_info = {
	.read_raw = qmc6308_read_raw,
	.write_raw = qmc6308_write_raw,
	.read_avail = qmc6308_read_avail,
	.write_raw_get_fmt = qmc6308_write_raw_get_fmt,
};

static int qmc6308_init(struct qmc6308_data *data)
{
	struct regmap *map = data->regmap;
	unsigned int reg;
	int ret;

	ret = regmap_read(map, QMC6308_REG_ID, &reg);
	if (ret)
		return ret;

	/* Allow unknown IDs so that fallback compatibles work */
	if (reg != QMC6308_CHIP_ID)
		dev_warn(regmap_get_device(map),
			 "Unknown chip id: 0x%02x, continuing\n", reg);

	/* The SOFT_RST bit is not auto-cleared and must be written back 0 */
	ret = regmap_write(map, QMC6308_REG_CTRL2, QMC6308_SOFT_RST);
	if (ret)
		return ret;

	fsleep(QMC6308_POR_US);

	data->range = QMC6308_RNG_30G;

	ret = regmap_write(map, QMC6308_REG_CTRL2,
			   FIELD_PREP(QMC6308_SET_RESET_MASK,
				      QMC6308_SET_RESET_ON) |
			   FIELD_PREP(QMC6308_RNG_MASK, data->range));
	if (ret)
		return ret;

	data->odr = QMC6308_ODR_50HZ;
	data->osr = QMC6308_OSR1_8;

	return regmap_write(map, QMC6308_REG_CTRL1,
			    FIELD_PREP(QMC6308_MODE_MASK,
				       QMC6308_MODE_NORMAL) |
			    FIELD_PREP(QMC6308_ODR_MASK, data->odr) |
			    FIELD_PREP(QMC6308_OSR1_MASK, data->osr));
}

static void qmc6308_power_down_action(void *priv)
{
	struct qmc6308_data *data = priv;

	if (!pm_runtime_status_suspended(regmap_get_device(data->regmap)))
		qmc6308_set_mode(data, QMC6308_MODE_SUSPEND);
}

static bool qmc6308_volatile_reg(struct device *dev, unsigned int reg)
{
	return reg >= QMC6308_REG_X_LSB && reg <= QMC6308_REG_STATUS;
}

static bool qmc6308_writable_reg(struct device *dev, unsigned int reg)
{
	switch (reg) {
	case QMC6308_REG_CTRL1:
	case QMC6308_REG_CTRL2:
	case QMC6308_REG_CTRL3:
	case QMC6308_REG_CTRL4:
		return true;
	default:
		return false;
	}
}

static const struct regmap_config qmc6308_regmap_config = {
	.reg_bits = 8,
	.val_bits = 8,
	.max_register = QMC6308_REG_CTRL4,
	.cache_type = REGCACHE_MAPLE,
	.volatile_reg = qmc6308_volatile_reg,
	.writeable_reg = qmc6308_writable_reg,
};

#define QMC6308_CHANNEL(_axis)                                 \
	{                                                      \
		.type = IIO_MAGN,                              \
		.modified = 1,                                 \
		.channel2 = IIO_MOD_##_axis,                   \
		.address = QMC6308_AXIS_##_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) |         \
			BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO), \
		.info_mask_shared_by_type_available =          \
			BIT(IIO_CHAN_INFO_SCALE) |             \
			BIT(IIO_CHAN_INFO_SAMP_FREQ) |         \
			BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO), \
		.ext_info = qmc6308_ext_info,                  \
	}

static const struct iio_chan_spec qmc6308_channels[] = {
	QMC6308_CHANNEL(X),
	QMC6308_CHANNEL(Y),
	QMC6308_CHANNEL(Z),
};

static int qmc6308_probe(struct i2c_client *client)
{
	struct device *dev = &client->dev;
	struct qmc6308_data *data;
	struct iio_dev *indio_dev;
	struct regmap *map;
	int ret;

	indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
	if (!indio_dev)
		return -ENOMEM;

	i2c_set_clientdata(client, indio_dev);

	map = devm_regmap_init_i2c(client, &qmc6308_regmap_config);
	if (IS_ERR(map))
		return dev_err_probe(dev, PTR_ERR(map),
				     "regmap initialization failed\n");

	ret = devm_regulator_get_enable(dev, "vdd");
	if (ret)
		return dev_err_probe(dev, ret,
				     "Failed to enable VDD regulator\n");

	fsleep(QMC6308_POR_US);

	data = iio_priv(indio_dev);
	data->regmap = map;

	ret = devm_mutex_init(dev, &data->mutex);
	if (ret)
		return ret;

	ret = iio_read_mount_matrix(dev, &data->orientation);
	if (ret)
		return dev_err_probe(dev, ret,
				     "Failed to read mount matrix\n");

	indio_dev->name = "qmc6308";
	indio_dev->info = &qmc6308_info;
	indio_dev->channels = qmc6308_channels;
	indio_dev->num_channels = ARRAY_SIZE(qmc6308_channels);
	indio_dev->modes = INDIO_DIRECT_MODE;

	ret = qmc6308_init(data);
	if (ret)
		return dev_err_probe(dev, ret, "qmc6308 init failed\n");

	pm_runtime_set_active(dev);

	ret = devm_add_action_or_reset(dev, qmc6308_power_down_action, data);
	if (ret)
		return ret;

	pm_runtime_get_noresume(dev);
	pm_runtime_use_autosuspend(dev);
	pm_runtime_set_autosuspend_delay(dev, QMC6308_AUTOSUSPEND_DELAY_MS);
	ret = devm_pm_runtime_enable(dev);
	if (ret)
		return ret;

	pm_runtime_put_autosuspend(dev);

	return devm_iio_device_register(dev, indio_dev);
}

static int qmc6308_runtime_suspend(struct device *dev)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct qmc6308_data *data = iio_priv(indio_dev);

	return qmc6308_set_mode(data, QMC6308_MODE_SUSPEND);
}

static int qmc6308_runtime_resume(struct device *dev)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct qmc6308_data *data = iio_priv(indio_dev);
	unsigned int status;
	int ret;

	ret = qmc6308_set_mode(data, QMC6308_MODE_NORMAL);
	if (ret)
		return ret;

	/*
	 * DRDY may still be set for a sample converted before the last
	 * suspend; clear it so the next read waits for fresh data.
	 */
	return regmap_read(data->regmap, QMC6308_REG_STATUS, &status);
}

static DEFINE_RUNTIME_DEV_PM_OPS(qmc6308_pm_ops, qmc6308_runtime_suspend,
				 qmc6308_runtime_resume, NULL);

static const struct of_device_id qmc6308_match[] = {
	{ .compatible = "qstcorp,qmc6308" },
	{ }
};
MODULE_DEVICE_TABLE(of, qmc6308_match);

static const struct i2c_device_id qmc6308_id[] = {
	{ .name = "qmc6308" },
	{ }
};
MODULE_DEVICE_TABLE(i2c, qmc6308_id);

static struct i2c_driver qmc6308_driver = {
	.driver = {
		.name = "qmc6308",
		.of_match_table = qmc6308_match,
		.pm = pm_ptr(&qmc6308_pm_ops),
	},
	.id_table = qmc6308_id,
	.probe = qmc6308_probe,
};
module_i2c_driver(qmc6308_driver);

MODULE_DESCRIPTION("QST QMC6308 3-Axis Magnetic Sensor driver");
MODULE_AUTHOR("Jorijn van der Graaf <jorijnvdgraaf@catcrafts.net>");
MODULE_LICENSE("Dual BSD/GPL");