drivers/iio/imu/inv_icm42600/inv_icm42600.h

   1 /* SPDX-License-Identifier: GPL-2.0-or-later */
   2 /*
   3  * Copyright (C) 2020 Invensense, Inc.
   4  */
   5
   6 #ifndef INV_ICM42600_H_
   7 #define INV_ICM42600_H_
   8
   9 #include <linux/bits.h>
  10 #include <linux/bitfield.h>
  11 #include <linux/regmap.h>
  12 #include <linux/mutex.h>
  13 #include <linux/regulator/consumer.h>
  14 #include <linux/pm.h>
  15 #include <linux/iio/iio.h>
  16
  17 #include "inv_icm42600_buffer.h"
  18
  19 enum inv_icm42600_chip {
  20         INV_CHIP_ICM42600,
  21         INV_CHIP_ICM42602,
  22         INV_CHIP_ICM42605,
  23         INV_CHIP_ICM42622,
  24         INV_CHIP_NB,
  25 };
  26
  27 /* serial bus slew rates */
  28 enum inv_icm42600_slew_rate {
  29         INV_ICM42600_SLEW_RATE_20_60NS,
  30         INV_ICM42600_SLEW_RATE_12_36NS,
  31         INV_ICM42600_SLEW_RATE_6_18NS,
  32         INV_ICM42600_SLEW_RATE_4_12NS,
  33         INV_ICM42600_SLEW_RATE_2_6NS,
  34         INV_ICM42600_SLEW_RATE_INF_2NS,
  35 };
  36
  37 enum inv_icm42600_sensor_mode {
  38         INV_ICM42600_SENSOR_MODE_OFF,
  39         INV_ICM42600_SENSOR_MODE_STANDBY,
  40         INV_ICM42600_SENSOR_MODE_LOW_POWER,
  41         INV_ICM42600_SENSOR_MODE_LOW_NOISE,
  42         INV_ICM42600_SENSOR_MODE_NB,
  43 };
  44
  45 /* gyroscope fullscale values */
  46 enum inv_icm42600_gyro_fs {
  47         INV_ICM42600_GYRO_FS_2000DPS,
  48         INV_ICM42600_GYRO_FS_1000DPS,
  49         INV_ICM42600_GYRO_FS_500DPS,
  50         INV_ICM42600_GYRO_FS_250DPS,
  51         INV_ICM42600_GYRO_FS_125DPS,
  52         INV_ICM42600_GYRO_FS_62_5DPS,
  53         INV_ICM42600_GYRO_FS_31_25DPS,
  54         INV_ICM42600_GYRO_FS_15_625DPS,
  55         INV_ICM42600_GYRO_FS_NB,
  56 };
  57
  58 /* accelerometer fullscale values */
  59 enum inv_icm42600_accel_fs {
  60         INV_ICM42600_ACCEL_FS_16G,
  61         INV_ICM42600_ACCEL_FS_8G,
  62         INV_ICM42600_ACCEL_FS_4G,
  63         INV_ICM42600_ACCEL_FS_2G,
  64         INV_ICM42600_ACCEL_FS_NB,
  65 };
  66
  67 /* ODR suffixed by LN or LP are Low-Noise or Low-Power mode only */
  68 enum inv_icm42600_odr {
  69         INV_ICM42600_ODR_8KHZ_LN = 3,
  70         INV_ICM42600_ODR_4KHZ_LN,
  71         INV_ICM42600_ODR_2KHZ_LN,
  72         INV_ICM42600_ODR_1KHZ_LN,
  73         INV_ICM42600_ODR_200HZ,
  74         INV_ICM42600_ODR_100HZ,
  75         INV_ICM42600_ODR_50HZ,
  76         INV_ICM42600_ODR_25HZ,
  77         INV_ICM42600_ODR_12_5HZ,
  78         INV_ICM42600_ODR_6_25HZ_LP,
  79         INV_ICM42600_ODR_3_125HZ_LP,
  80         INV_ICM42600_ODR_1_5625HZ_LP,
  81         INV_ICM42600_ODR_500HZ,
  82         INV_ICM42600_ODR_NB,
  83 };
  84
  85 enum inv_icm42600_filter {
  86         /* Low-Noise mode sensor data filter (3rd order filter by default) */
  87         INV_ICM42600_FILTER_BW_ODR_DIV_2,
  88
  89         /* Low-Power mode sensor data filter (averaging) */
  90         INV_ICM42600_FILTER_AVG_1X = 1,
  91         INV_ICM42600_FILTER_AVG_16X = 6,
  92 };
  93
  94 struct inv_icm42600_sensor_conf {
  95         int mode;
  96         int fs;
  97         int odr;
  98         int filter;
  99 };
 100 #define INV_ICM42600_SENSOR_CONF_INIT           {-1, -1, -1, -1}
 101
 102 struct inv_icm42600_conf {
 103         struct inv_icm42600_sensor_conf gyro;
 104         struct inv_icm42600_sensor_conf accel;
 105         bool temp_en;
 106 };
 107
 108 struct inv_icm42600_suspended {
 109         enum inv_icm42600_sensor_mode gyro;
 110         enum inv_icm42600_sensor_mode accel;
 111         bool temp;
 112 };
 113
 114 /**
 115  *  struct inv_icm42600_state - driver state variables
 116  *  @lock:              lock for serializing multiple registers access.
 117  *  @chip:              chip identifier.
 118  *  @name:              chip name.
 119  *  @map:               regmap pointer.
 120  *  @vdd_supply:        VDD voltage regulator for the chip.
 121  *  @vddio_supply:      I/O voltage regulator for the chip.
 122  *  @orientation:       sensor chip orientation relative to main hardware.
 123  *  @conf:              chip sensors configurations.
 124  *  @suspended:         suspended sensors configuration.
 125  *  @indio_gyro:        gyroscope IIO device.
 126  *  @indio_accel:       accelerometer IIO device.
 127  *  @buffer:            data transfer buffer aligned for DMA.
 128  *  @fifo:              FIFO management structure.
 129  *  @timestamp:         interrupt timestamps.
 130  */
 131 struct inv_icm42600_state {
 132         struct mutex lock;
 133         enum inv_icm42600_chip chip;
 134         const char *name;
 135         struct regmap *map;
 136         struct regulator *vdd_supply;
 137         struct regulator *vddio_supply;
 138         struct iio_mount_matrix orientation;
 139         struct inv_icm42600_conf conf;
 140         struct inv_icm42600_suspended suspended;
 141         struct iio_dev *indio_gyro;
 142         struct iio_dev *indio_accel;
 143         uint8_t buffer[2] ____cacheline_aligned;
 144         struct inv_icm42600_fifo fifo;
 145         struct {
 146                 int64_t gyro;
 147                 int64_t accel;
 148         } timestamp;
 149 };
 150
 151 /* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
 152
 153 /* Bank selection register, available in all banks */
 154 #define INV_ICM42600_REG_BANK_SEL                       0x76
 155 #define INV_ICM42600_BANK_SEL_MASK                      GENMASK(2, 0)
 156
 157 /* User bank 0 (MSB 0x00) */
 158 #define INV_ICM42600_REG_DEVICE_CONFIG                  0x0011
 159 #define INV_ICM42600_DEVICE_CONFIG_SOFT_RESET           BIT(0)
 160
 161 #define INV_ICM42600_REG_DRIVE_CONFIG                   0x0013
 162 #define INV_ICM42600_DRIVE_CONFIG_I2C_MASK              GENMASK(5, 3)
 163 #define INV_ICM42600_DRIVE_CONFIG_I2C(_rate)            \
 164                 FIELD_PREP(INV_ICM42600_DRIVE_CONFIG_I2C_MASK, (_rate))
 165 #define INV_ICM42600_DRIVE_CONFIG_SPI_MASK              GENMASK(2, 0)
 166 #define INV_ICM42600_DRIVE_CONFIG_SPI(_rate)            \
 167                 FIELD_PREP(INV_ICM42600_DRIVE_CONFIG_SPI_MASK, (_rate))
 168
 169 #define INV_ICM42600_REG_INT_CONFIG                     0x0014
 170 #define INV_ICM42600_INT_CONFIG_INT2_LATCHED            BIT(5)
 171 #define INV_ICM42600_INT_CONFIG_INT2_PUSH_PULL          BIT(4)
 172 #define INV_ICM42600_INT_CONFIG_INT2_ACTIVE_HIGH        BIT(3)
 173 #define INV_ICM42600_INT_CONFIG_INT2_ACTIVE_LOW         0x00
 174 #define INV_ICM42600_INT_CONFIG_INT1_LATCHED            BIT(2)
 175 #define INV_ICM42600_INT_CONFIG_INT1_PUSH_PULL          BIT(1)
 176 #define INV_ICM42600_INT_CONFIG_INT1_ACTIVE_HIGH        BIT(0)
 177 #define INV_ICM42600_INT_CONFIG_INT1_ACTIVE_LOW         0x00
 178
 179 #define INV_ICM42600_REG_FIFO_CONFIG                    0x0016
 180 #define INV_ICM42600_FIFO_CONFIG_MASK                   GENMASK(7, 6)
 181 #define INV_ICM42600_FIFO_CONFIG_BYPASS                 \
 182                 FIELD_PREP(INV_ICM42600_FIFO_CONFIG_MASK, 0)
 183 #define INV_ICM42600_FIFO_CONFIG_STREAM                 \
 184                 FIELD_PREP(INV_ICM42600_FIFO_CONFIG_MASK, 1)
 185 #define INV_ICM42600_FIFO_CONFIG_STOP_ON_FULL           \
 186                 FIELD_PREP(INV_ICM42600_FIFO_CONFIG_MASK, 2)
 187
 188 /* all sensor data are 16 bits (2 registers wide) in big-endian */
 189 #define INV_ICM42600_REG_TEMP_DATA                      0x001D
 190 #define INV_ICM42600_REG_ACCEL_DATA_X                   0x001F
 191 #define INV_ICM42600_REG_ACCEL_DATA_Y                   0x0021
 192 #define INV_ICM42600_REG_ACCEL_DATA_Z                   0x0023
 193 #define INV_ICM42600_REG_GYRO_DATA_X                    0x0025
 194 #define INV_ICM42600_REG_GYRO_DATA_Y                    0x0027
 195 #define INV_ICM42600_REG_GYRO_DATA_Z                    0x0029
 196 #define INV_ICM42600_DATA_INVALID                       -32768
 197
 198 #define INV_ICM42600_REG_INT_STATUS                     0x002D
 199 #define INV_ICM42600_INT_STATUS_UI_FSYNC                BIT(6)
 200 #define INV_ICM42600_INT_STATUS_PLL_RDY                 BIT(5)
 201 #define INV_ICM42600_INT_STATUS_RESET_DONE              BIT(4)
 202 #define INV_ICM42600_INT_STATUS_DATA_RDY                BIT(3)
 203 #define INV_ICM42600_INT_STATUS_FIFO_THS                BIT(2)
 204 #define INV_ICM42600_INT_STATUS_FIFO_FULL               BIT(1)
 205 #define INV_ICM42600_INT_STATUS_AGC_RDY                 BIT(0)
 206
 207 /*
 208  * FIFO access registers
 209  * FIFO count is 16 bits (2 registers) big-endian
 210  * FIFO data is a continuous read register to read FIFO content
 211  */
 212 #define INV_ICM42600_REG_FIFO_COUNT                     0x002E
 213 #define INV_ICM42600_REG_FIFO_DATA                      0x0030
 214
 215 #define INV_ICM42600_REG_SIGNAL_PATH_RESET              0x004B
 216 #define INV_ICM42600_SIGNAL_PATH_RESET_DMP_INIT_EN      BIT(6)
 217 #define INV_ICM42600_SIGNAL_PATH_RESET_DMP_MEM_RESET    BIT(5)
 218 #define INV_ICM42600_SIGNAL_PATH_RESET_RESET            BIT(3)
 219 #define INV_ICM42600_SIGNAL_PATH_RESET_TMST_STROBE      BIT(2)
 220 #define INV_ICM42600_SIGNAL_PATH_RESET_FIFO_FLUSH       BIT(1)
 221
 222 /* default configuration: all data big-endian and fifo count in bytes */
 223 #define INV_ICM42600_REG_INTF_CONFIG0                   0x004C
 224 #define INV_ICM42600_INTF_CONFIG0_FIFO_HOLD_LAST_DATA   BIT(7)
 225 #define INV_ICM42600_INTF_CONFIG0_FIFO_COUNT_REC        BIT(6)
 226 #define INV_ICM42600_INTF_CONFIG0_FIFO_COUNT_ENDIAN     BIT(5)
 227 #define INV_ICM42600_INTF_CONFIG0_SENSOR_DATA_ENDIAN    BIT(4)
 228 #define INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_MASK      GENMASK(1, 0)
 229 #define INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_SPI_DIS   \
 230                 FIELD_PREP(INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_MASK, 2)
 231 #define INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS   \
 232                 FIELD_PREP(INV_ICM42600_INTF_CONFIG0_UI_SIFS_CFG_MASK, 3)
 233
 234 #define INV_ICM42600_REG_INTF_CONFIG1                   0x004D
 235 #define INV_ICM42600_INTF_CONFIG1_ACCEL_LP_CLK_RC       BIT(3)
 236
 237 #define INV_ICM42600_REG_PWR_MGMT0                      0x004E
 238 #define INV_ICM42600_PWR_MGMT0_TEMP_DIS                 BIT(5)
 239 #define INV_ICM42600_PWR_MGMT0_IDLE                     BIT(4)
 240 #define INV_ICM42600_PWR_MGMT0_GYRO(_mode)              \
 241                 FIELD_PREP(GENMASK(3, 2), (_mode))
 242 #define INV_ICM42600_PWR_MGMT0_ACCEL(_mode)             \
 243                 FIELD_PREP(GENMASK(1, 0), (_mode))
 244
 245 #define INV_ICM42600_REG_GYRO_CONFIG0                   0x004F
 246 #define INV_ICM42600_GYRO_CONFIG0_FS(_fs)               \
 247                 FIELD_PREP(GENMASK(7, 5), (_fs))
 248 #define INV_ICM42600_GYRO_CONFIG0_ODR(_odr)             \
 249                 FIELD_PREP(GENMASK(3, 0), (_odr))
 250
 251 #define INV_ICM42600_REG_ACCEL_CONFIG0                  0x0050
 252 #define INV_ICM42600_ACCEL_CONFIG0_FS(_fs)              \
 253                 FIELD_PREP(GENMASK(7, 5), (_fs))
 254 #define INV_ICM42600_ACCEL_CONFIG0_ODR(_odr)            \
 255                 FIELD_PREP(GENMASK(3, 0), (_odr))
 256
 257 #define INV_ICM42600_REG_GYRO_ACCEL_CONFIG0             0x0052
 258 #define INV_ICM42600_GYRO_ACCEL_CONFIG0_ACCEL_FILT(_f)  \
 259                 FIELD_PREP(GENMASK(7, 4), (_f))
 260 #define INV_ICM42600_GYRO_ACCEL_CONFIG0_GYRO_FILT(_f)   \
 261                 FIELD_PREP(GENMASK(3, 0), (_f))
 262
 263 #define INV_ICM42600_REG_TMST_CONFIG                    0x0054
 264 #define INV_ICM42600_TMST_CONFIG_MASK                   GENMASK(4, 0)
 265 #define INV_ICM42600_TMST_CONFIG_TMST_TO_REGS_EN        BIT(4)
 266 #define INV_ICM42600_TMST_CONFIG_TMST_RES_16US          BIT(3)
 267 #define INV_ICM42600_TMST_CONFIG_TMST_DELTA_EN          BIT(2)
 268 #define INV_ICM42600_TMST_CONFIG_TMST_FSYNC_EN          BIT(1)
 269 #define INV_ICM42600_TMST_CONFIG_TMST_EN                BIT(0)
 270
 271 #define INV_ICM42600_REG_FIFO_CONFIG1                   0x005F
 272 #define INV_ICM42600_FIFO_CONFIG1_RESUME_PARTIAL_RD     BIT(6)
 273 #define INV_ICM42600_FIFO_CONFIG1_WM_GT_TH              BIT(5)
 274 #define INV_ICM42600_FIFO_CONFIG1_TMST_FSYNC_EN         BIT(3)
 275 #define INV_ICM42600_FIFO_CONFIG1_TEMP_EN               BIT(2)
 276 #define INV_ICM42600_FIFO_CONFIG1_GYRO_EN               BIT(1)
 277 #define INV_ICM42600_FIFO_CONFIG1_ACCEL_EN              BIT(0)
 278
 279 /* FIFO watermark is 16 bits (2 registers wide) in little-endian */
 280 #define INV_ICM42600_REG_FIFO_WATERMARK                 0x0060
 281 #define INV_ICM42600_FIFO_WATERMARK_VAL(_wm)            \
 282                 cpu_to_le16((_wm) & GENMASK(11, 0))
 283 /* FIFO is 2048 bytes, let 12 samples for reading latency */
 284 #define INV_ICM42600_FIFO_WATERMARK_MAX                 (2048 - 12 * 16)
 285
 286 #define INV_ICM42600_REG_INT_CONFIG1                    0x0064
 287 #define INV_ICM42600_INT_CONFIG1_TPULSE_DURATION        BIT(6)
 288 #define INV_ICM42600_INT_CONFIG1_TDEASSERT_DISABLE      BIT(5)
 289 #define INV_ICM42600_INT_CONFIG1_ASYNC_RESET            BIT(4)
 290
 291 #define INV_ICM42600_REG_INT_SOURCE0                    0x0065
 292 #define INV_ICM42600_INT_SOURCE0_UI_FSYNC_INT1_EN       BIT(6)
 293 #define INV_ICM42600_INT_SOURCE0_PLL_RDY_INT1_EN        BIT(5)
 294 #define INV_ICM42600_INT_SOURCE0_RESET_DONE_INT1_EN     BIT(4)
 295 #define INV_ICM42600_INT_SOURCE0_UI_DRDY_INT1_EN        BIT(3)
 296 #define INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN       BIT(2)
 297 #define INV_ICM42600_INT_SOURCE0_FIFO_FULL_INT1_EN      BIT(1)
 298 #define INV_ICM42600_INT_SOURCE0_UI_AGC_RDY_INT1_EN     BIT(0)
 299
 300 #define INV_ICM42600_REG_WHOAMI                         0x0075
 301 #define INV_ICM42600_WHOAMI_ICM42600                    0x40
 302 #define INV_ICM42600_WHOAMI_ICM42602                    0x41
 303 #define INV_ICM42600_WHOAMI_ICM42605                    0x42
 304 #define INV_ICM42600_WHOAMI_ICM42622                    0x46
 305
 306 /* User bank 1 (MSB 0x10) */
 307 #define INV_ICM42600_REG_SENSOR_CONFIG0                 0x1003
 308 #define INV_ICM42600_SENSOR_CONFIG0_ZG_DISABLE          BIT(5)
 309 #define INV_ICM42600_SENSOR_CONFIG0_YG_DISABLE          BIT(4)
 310 #define INV_ICM42600_SENSOR_CONFIG0_XG_DISABLE          BIT(3)
 311 #define INV_ICM42600_SENSOR_CONFIG0_ZA_DISABLE          BIT(2)
 312 #define INV_ICM42600_SENSOR_CONFIG0_YA_DISABLE          BIT(1)
 313 #define INV_ICM42600_SENSOR_CONFIG0_XA_DISABLE          BIT(0)
 314
 315 /* Timestamp value is 20 bits (3 registers) in little-endian */
 316 #define INV_ICM42600_REG_TMSTVAL                        0x1062
 317 #define INV_ICM42600_TMSTVAL_MASK                       GENMASK(19, 0)
 318
 319 #define INV_ICM42600_REG_INTF_CONFIG4                   0x107A
 320 #define INV_ICM42600_INTF_CONFIG4_I3C_BUS_ONLY          BIT(6)
 321 #define INV_ICM42600_INTF_CONFIG4_SPI_AP_4WIRE          BIT(1)
 322
 323 #define INV_ICM42600_REG_INTF_CONFIG6                   0x107C
 324 #define INV_ICM42600_INTF_CONFIG6_MASK                  GENMASK(4, 0)
 325 #define INV_ICM42600_INTF_CONFIG6_I3C_EN                BIT(4)
 326 #define INV_ICM42600_INTF_CONFIG6_I3C_IBI_BYTE_EN       BIT(3)
 327 #define INV_ICM42600_INTF_CONFIG6_I3C_IBI_EN            BIT(2)
 328 #define INV_ICM42600_INTF_CONFIG6_I3C_DDR_EN            BIT(1)
 329 #define INV_ICM42600_INTF_CONFIG6_I3C_SDR_EN            BIT(0)
 330
 331 /* User bank 4 (MSB 0x40) */
 332 #define INV_ICM42600_REG_INT_SOURCE8                    0x404F
 333 #define INV_ICM42600_INT_SOURCE8_FSYNC_IBI_EN           BIT(5)
 334 #define INV_ICM42600_INT_SOURCE8_PLL_RDY_IBI_EN         BIT(4)
 335 #define INV_ICM42600_INT_SOURCE8_UI_DRDY_IBI_EN         BIT(3)
 336 #define INV_ICM42600_INT_SOURCE8_FIFO_THS_IBI_EN        BIT(2)
 337 #define INV_ICM42600_INT_SOURCE8_FIFO_FULL_IBI_EN       BIT(1)
 338 #define INV_ICM42600_INT_SOURCE8_AGC_RDY_IBI_EN         BIT(0)
 339
 340 #define INV_ICM42600_REG_OFFSET_USER0                   0x4077
 341 #define INV_ICM42600_REG_OFFSET_USER1                   0x4078
 342 #define INV_ICM42600_REG_OFFSET_USER2                   0x4079
 343 #define INV_ICM42600_REG_OFFSET_USER3                   0x407A
 344 #define INV_ICM42600_REG_OFFSET_USER4                   0x407B
 345 #define INV_ICM42600_REG_OFFSET_USER5                   0x407C
 346 #define INV_ICM42600_REG_OFFSET_USER6                   0x407D
 347 #define INV_ICM42600_REG_OFFSET_USER7                   0x407E
 348 #define INV_ICM42600_REG_OFFSET_USER8                   0x407F
 349
 350 /* Sleep times required by the driver */
 351 #define INV_ICM42600_POWER_UP_TIME_MS           100
 352 #define INV_ICM42600_RESET_TIME_MS              1
 353 #define INV_ICM42600_ACCEL_STARTUP_TIME_MS      20
 354 #define INV_ICM42600_GYRO_STARTUP_TIME_MS       60
 355 #define INV_ICM42600_GYRO_STOP_TIME_MS          150
 356 #define INV_ICM42600_TEMP_STARTUP_TIME_MS       14
 357 #define INV_ICM42600_SUSPEND_DELAY_MS           2000
 358
 359 typedef int (*inv_icm42600_bus_setup)(struct inv_icm42600_state *);
 360
 361 extern const struct regmap_config inv_icm42600_regmap_config;
 362 extern const struct dev_pm_ops inv_icm42600_pm_ops;
 363
 364 const struct iio_mount_matrix *
 365 inv_icm42600_get_mount_matrix(const struct iio_dev *indio_dev,
 366                               const struct iio_chan_spec *chan);
 367
 368 uint32_t inv_icm42600_odr_to_period(enum inv_icm42600_odr odr);
 369
 370 int inv_icm42600_set_accel_conf(struct inv_icm42600_state *st,
 371                                 struct inv_icm42600_sensor_conf *conf,
 372                                 unsigned int *sleep_ms);
 373
 374 int inv_icm42600_set_gyro_conf(struct inv_icm42600_state *st,
 375                                struct inv_icm42600_sensor_conf *conf,
 376                                unsigned int *sleep_ms);
 377
 378 int inv_icm42600_set_temp_conf(struct inv_icm42600_state *st, bool enable,
 379                                unsigned int *sleep_ms);
 380
 381 int inv_icm42600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 382                              unsigned int writeval, unsigned int *readval);
 383
 384 int inv_icm42600_core_probe(struct regmap *regmap, int chip, int irq,
 385                             inv_icm42600_bus_setup bus_setup);
 386
 387 struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st);
 388
 389 int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev);
 390
 391 struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st);
 392
 393 int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev);
 394
 395 #endif