Release 4.11 drivers/iio/imu/bmi160/bmi160_core.c

/*
 * BMI160 - Bosch IMU (accel, gyro plus external magnetometer)
 *
 * Copyright (c) 2016, Intel Corporation.
 *
 * This file is subject to the terms and conditions of version 2 of
 * the GNU General Public License.  See the file COPYING in the main
 * directory of this archive for more details.
 *
 * IIO core driver for BMI160, with support for I2C/SPI busses
 *
 * TODO: magnetometer, interrupts, hardware FIFO
 */
#include <linux/module.h>
#include <linux/regmap.h>
#include <linux/acpi.h>
#include <linux/delay.h>

#include <linux/iio/iio.h>
#include <linux/iio/triggered_buffer.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/iio/buffer.h>
#include <linux/iio/sysfs.h>

#include "bmi160.h"


#define BMI160_REG_CHIP_ID	0x00

#define BMI160_CHIP_ID_VAL	0xD1


#define BMI160_REG_PMU_STATUS	0x03

/* X axis data low byte address, the rest can be obtained using axis offset */

#define BMI160_REG_DATA_MAGN_XOUT_L	0x04

#define BMI160_REG_DATA_GYRO_XOUT_L	0x0C

#define BMI160_REG_DATA_ACCEL_XOUT_L	0x12


#define BMI160_REG_ACCEL_CONFIG		0x40

#define BMI160_ACCEL_CONFIG_ODR_MASK	GENMASK(3, 0)

#define BMI160_ACCEL_CONFIG_BWP_MASK	GENMASK(6, 4)


#define BMI160_REG_ACCEL_RANGE		0x41

#define BMI160_ACCEL_RANGE_2G		0x03

#define BMI160_ACCEL_RANGE_4G		0x05

#define BMI160_ACCEL_RANGE_8G		0x08

#define BMI160_ACCEL_RANGE_16G		0x0C


#define BMI160_REG_GYRO_CONFIG		0x42

#define BMI160_GYRO_CONFIG_ODR_MASK	GENMASK(3, 0)

#define BMI160_GYRO_CONFIG_BWP_MASK	GENMASK(5, 4)


#define BMI160_REG_GYRO_RANGE		0x43

#define BMI160_GYRO_RANGE_2000DPS	0x00

#define BMI160_GYRO_RANGE_1000DPS	0x01

#define BMI160_GYRO_RANGE_500DPS	0x02

#define BMI160_GYRO_RANGE_250DPS	0x03

#define BMI160_GYRO_RANGE_125DPS	0x04


#define BMI160_REG_CMD			0x7E

#define BMI160_CMD_ACCEL_PM_SUSPEND	0x10

#define BMI160_CMD_ACCEL_PM_NORMAL	0x11

#define BMI160_CMD_ACCEL_PM_LOW_POWER	0x12

#define BMI160_CMD_GYRO_PM_SUSPEND	0x14

#define BMI160_CMD_GYRO_PM_NORMAL	0x15

#define BMI160_CMD_GYRO_PM_FAST_STARTUP	0x17

#define BMI160_CMD_SOFTRESET		0xB6


#define BMI160_REG_DUMMY		0x7F


#define BMI160_ACCEL_PMU_MIN_USLEEP	3800

#define BMI160_GYRO_PMU_MIN_USLEEP	80000

#define BMI160_SOFTRESET_USLEEP		1000


#define BMI160_CHANNEL(_type, _axis, _index) {                       \
        .type = _type,                                          \
        .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),                   \
        .scan_index = _index,                                   \
        .scan_type = {                                          \
                .sign = 's',                                    \
                .realbits = 16,                                 \
                .storagebits = 16,                              \
                .endianness = IIO_LE,                           \
        },                                                      \
}

/* scan indexes follow DATA register order */

enum bmi160_scan_axis {
	
BMI160_SCAN_EXT_MAGN_X = 0,
	
BMI160_SCAN_EXT_MAGN_Y,
	
BMI160_SCAN_EXT_MAGN_Z,
	
BMI160_SCAN_RHALL,
	
BMI160_SCAN_GYRO_X,
	
BMI160_SCAN_GYRO_Y,
	
BMI160_SCAN_GYRO_Z,
	
BMI160_SCAN_ACCEL_X,
	
BMI160_SCAN_ACCEL_Y,
	
BMI160_SCAN_ACCEL_Z,
	
BMI160_SCAN_TIMESTAMP,
};


enum bmi160_sensor_type {
	
BMI160_ACCEL	= 0,
	
BMI160_GYRO,
	
BMI160_EXT_MAGN,
	
BMI160_NUM_SENSORS /* must be last */
};


struct bmi160_data {
	
struct regmap *regmap;
};


const struct regmap_config bmi160_regmap_config = {
	.reg_bits = 8,
	.val_bits = 8,
};

EXPORT_SYMBOL(bmi160_regmap_config);


struct bmi160_regs {
	
u8 data; /* LSB byte register for X-axis */
	
u8 config;
	
u8 config_odr_mask;
	
u8 config_bwp_mask;
	
u8 range;
	
u8 pmu_cmd_normal;
	
u8 pmu_cmd_suspend;
};


static struct bmi160_regs bmi160_regs[] = {
	[BMI160_ACCEL] = {
		.data	= BMI160_REG_DATA_ACCEL_XOUT_L,
		.config	= BMI160_REG_ACCEL_CONFIG,
		.config_odr_mask = BMI160_ACCEL_CONFIG_ODR_MASK,
		.config_bwp_mask = BMI160_ACCEL_CONFIG_BWP_MASK,
		.range	= BMI160_REG_ACCEL_RANGE,
		.pmu_cmd_normal = BMI160_CMD_ACCEL_PM_NORMAL,
		.pmu_cmd_suspend = BMI160_CMD_ACCEL_PM_SUSPEND,
        },
	[BMI160_GYRO] = {
		.data	= BMI160_REG_DATA_GYRO_XOUT_L,
		.config	= BMI160_REG_GYRO_CONFIG,
		.config_odr_mask = BMI160_GYRO_CONFIG_ODR_MASK,
		.config_bwp_mask = BMI160_GYRO_CONFIG_BWP_MASK,
		.range	= BMI160_REG_GYRO_RANGE,
		.pmu_cmd_normal = BMI160_CMD_GYRO_PM_NORMAL,
		.pmu_cmd_suspend = BMI160_CMD_GYRO_PM_SUSPEND,
        },
};


static unsigned long bmi160_pmu_time[] = {
	[BMI160_ACCEL] = BMI160_ACCEL_PMU_MIN_USLEEP,
	[BMI160_GYRO] = BMI160_GYRO_PMU_MIN_USLEEP,
};


struct bmi160_scale {
	
u8 bits;
	
int uscale;
};


struct bmi160_odr {
	
u8 bits;
	
int odr;
	
int uodr;
};


static const struct bmi160_scale bmi160_accel_scale[] = {
	{ BMI160_ACCEL_RANGE_2G, 598},
	{ BMI160_ACCEL_RANGE_4G, 1197},
	{ BMI160_ACCEL_RANGE_8G, 2394},
	{ BMI160_ACCEL_RANGE_16G, 4788},
};


static const struct bmi160_scale bmi160_gyro_scale[] = {
	{ BMI160_GYRO_RANGE_2000DPS, 1065},
	{ BMI160_GYRO_RANGE_1000DPS, 532},
	{ BMI160_GYRO_RANGE_500DPS, 266},
	{ BMI160_GYRO_RANGE_250DPS, 133},
	{ BMI160_GYRO_RANGE_125DPS, 66},
};


struct bmi160_scale_item {
	
const struct bmi160_scale *tbl;
	
int num;
};


static const struct  bmi160_scale_item bmi160_scale_table[] = {
	[BMI160_ACCEL] = {
		.tbl	= bmi160_accel_scale,
		.num	= ARRAY_SIZE(bmi160_accel_scale),
        },
	[BMI160_GYRO] = {
		.tbl	= bmi160_gyro_scale,
		.num	= ARRAY_SIZE(bmi160_gyro_scale),
        },
};


static const struct bmi160_odr bmi160_accel_odr[] = {
	{0x01, 0, 781250},
	{0x02, 1, 562500},
	{0x03, 3, 125000},
	{0x04, 6, 250000},
	{0x05, 12, 500000},
	{0x06, 25, 0},
	{0x07, 50, 0},
	{0x08, 100, 0},
	{0x09, 200, 0},
	{0x0A, 400, 0},
	{0x0B, 800, 0},
	{0x0C, 1600, 0},
};


static const struct bmi160_odr bmi160_gyro_odr[] = {
	{0x06, 25, 0},
	{0x07, 50, 0},
	{0x08, 100, 0},
	{0x09, 200, 0},
	{0x0A, 400, 0},
	{0x0B, 800, 0},
	{0x0C, 1600, 0},
	{0x0D, 3200, 0},
};


struct bmi160_odr_item {
	
const struct bmi160_odr *tbl;
	
int num;
};


static const struct  bmi160_odr_item bmi160_odr_table[] = {
	[BMI160_ACCEL] = {
		.tbl	= bmi160_accel_odr,
		.num	= ARRAY_SIZE(bmi160_accel_odr),
        },
	[BMI160_GYRO] = {
		.tbl	= bmi160_gyro_odr,
		.num	= ARRAY_SIZE(bmi160_gyro_odr),
        },
};


static const struct iio_chan_spec bmi160_channels[] = {
	BMI160_CHANNEL(IIO_ACCEL, X, BMI160_SCAN_ACCEL_X),
	BMI160_CHANNEL(IIO_ACCEL, Y, BMI160_SCAN_ACCEL_Y),
	BMI160_CHANNEL(IIO_ACCEL, Z, BMI160_SCAN_ACCEL_Z),
	BMI160_CHANNEL(IIO_ANGL_VEL, X, BMI160_SCAN_GYRO_X),
	BMI160_CHANNEL(IIO_ANGL_VEL, Y, BMI160_SCAN_GYRO_Y),
	BMI160_CHANNEL(IIO_ANGL_VEL, Z, BMI160_SCAN_GYRO_Z),
	IIO_CHAN_SOFT_TIMESTAMP(BMI160_SCAN_TIMESTAMP),
};



static enum bmi160_sensor_type bmi160_to_sensor(enum iio_chan_type iio_type)
{
	switch (iio_type) {
	case IIO_ACCEL:
		return BMI160_ACCEL;
	case IIO_ANGL_VEL:
		return BMI160_GYRO;
	default:
		return -EINVAL;
	}
}

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static

int bmi160_set_mode(struct bmi160_data *data, enum bmi160_sensor_type t,
		    bool mode)
{
	int ret;
	u8 cmd;

	if (mode)
		cmd = bmi160_regs[t].pmu_cmd_normal;
	else
		cmd = bmi160_regs[t].pmu_cmd_suspend;

	ret = regmap_write(data->regmap, BMI160_REG_CMD, cmd);
	if (ret < 0)
		return ret;

	usleep_range(bmi160_pmu_time[t], bmi160_pmu_time[t] + 1000);

	return 0;
}

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static

int bmi160_set_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
		     int uscale)
{
	int i;

	for (i = 0; i < bmi160_scale_table[t].num; i++)
		if (bmi160_scale_table[t].tbl[i].uscale == uscale)
			break;

	if (i == bmi160_scale_table[t].num)
		return -EINVAL;

	return regmap_write(data->regmap, bmi160_regs[t].range,
			    bmi160_scale_table[t].tbl[i].bits);
}

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static

int bmi160_get_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
		     int *uscale)
{
	int i, ret, val;

	ret = regmap_read(data->regmap, bmi160_regs[t].range, &val);
	if (ret < 0)
		return ret;

	for (i = 0; i < bmi160_scale_table[t].num; i++)
		if (bmi160_scale_table[t].tbl[i].bits == val) {
			*uscale = bmi160_scale_table[t].tbl[i].uscale;
			return 0;
		}

	return -EINVAL;
}

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static int bmi160_get_data(struct bmi160_data *data, int chan_type,
			   int axis, int *val)
{
	u8 reg;
	int ret;
	__le16 sample;
	enum bmi160_sensor_type t = bmi160_to_sensor(chan_type);

	reg = bmi160_regs[t].data + (axis - IIO_MOD_X) * sizeof(sample);

	ret = regmap_bulk_read(data->regmap, reg, &sample, sizeof(sample));
	if (ret < 0)
		return ret;

	*val = sign_extend32(le16_to_cpu(sample), 15);

	return 0;
}

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static

int bmi160_set_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
		   int odr, int uodr)
{
	int i;

	for (i = 0; i < bmi160_odr_table[t].num; i++)
		if (bmi160_odr_table[t].tbl[i].odr == odr &&
		    bmi160_odr_table[t].tbl[i].uodr == uodr)
			break;

	if (i >= bmi160_odr_table[t].num)
		return -EINVAL;

	return regmap_update_bits(data->regmap,
				  bmi160_regs[t].config,
				  bmi160_regs[t].config_odr_mask,
				  bmi160_odr_table[t].tbl[i].bits);
}

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static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
			  int *odr, int *uodr)
{
	int i, val, ret;

	ret = regmap_read(data->regmap, bmi160_regs[t].config, &val);
	if (ret < 0)
		return ret;

	val &= bmi160_regs[t].config_odr_mask;

	for (i = 0; i < bmi160_odr_table[t].num; i++)
		if (val == bmi160_odr_table[t].tbl[i].bits)
			break;

	if (i >= bmi160_odr_table[t].num)
		return -EINVAL;

	*odr = bmi160_odr_table[t].tbl[i].odr;
	*uodr = bmi160_odr_table[t].tbl[i].uodr;

	return 0;
}

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static irqreturn_t bmi160_trigger_handler(int irq, void *p)
{
	struct iio_poll_func *pf = p;
	struct iio_dev *indio_dev = pf->indio_dev;
	struct bmi160_data *data = iio_priv(indio_dev);
	__le16 buf[16];
	/* 3 sens x 3 axis x __le16 + 3 x __le16 pad + 4 x __le16 tstamp */
	int i, ret, j = 0, base = BMI160_REG_DATA_MAGN_XOUT_L;
	__le16 sample;

	for_each_set_bit(i, indio_dev->active_scan_mask,
			 indio_dev->masklength) {
		ret = regmap_bulk_read(data->regmap, base + i * sizeof(sample),
				       &sample, sizeof(sample));
		if (ret < 0)
			goto done;
		buf[j++] = sample;
	}

	iio_push_to_buffers_with_timestamp(indio_dev, buf,
					   iio_get_time_ns(indio_dev));
done:
	iio_trigger_notify_done(indio_dev->trig);
	return IRQ_HANDLED;
}

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static int bmi160_read_raw(struct iio_dev *indio_dev,
			   struct iio_chan_spec const *chan,
			   int *val, int *val2, long mask)
{
	int ret;
	struct bmi160_data *data = iio_priv(indio_dev);

	switch (mask) {
	case IIO_CHAN_INFO_RAW:
		ret = bmi160_get_data(data, chan->type, chan->channel2, val);
		if (ret < 0)
			return ret;
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_SCALE:
		*val = 0;
		ret = bmi160_get_scale(data,
				       bmi160_to_sensor(chan->type), val2);
		return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
	case IIO_CHAN_INFO_SAMP_FREQ:
		ret = bmi160_get_odr(data, bmi160_to_sensor(chan->type),
				     val, val2);
		return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
	default:
		return -EINVAL;
	}

	return 0;
}

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static int bmi160_write_raw(struct iio_dev *indio_dev,
			    struct iio_chan_spec const *chan,
			    int val, int val2, long mask)
{
	struct bmi160_data *data = iio_priv(indio_dev);

	switch (mask) {
	case IIO_CHAN_INFO_SCALE:
		return bmi160_set_scale(data,
					bmi160_to_sensor(chan->type), val2);
		break;
	case IIO_CHAN_INFO_SAMP_FREQ:
		return bmi160_set_odr(data, bmi160_to_sensor(chan->type),
				      val, val2);
	default:
		return -EINVAL;
	}

	return 0;
}

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static
IIO_CONST_ATTR(in_accel_sampling_frequency_available,
	       "0.78125 1.5625 3.125 6.25 12.5 25 50 100 200 400 800 1600");
static
IIO_CONST_ATTR(in_anglvel_sampling_frequency_available,
	       "25 50 100 200 400 800 1600 3200");
static
IIO_CONST_ATTR(in_accel_scale_available,
	       "0.000598 0.001197 0.002394 0.004788");
static
IIO_CONST_ATTR(in_anglvel_scale_available,
	       "0.001065 0.000532 0.000266 0.000133 0.000066");


static struct attribute *bmi160_attrs[] = {
	&iio_const_attr_in_accel_sampling_frequency_available.dev_attr.attr,
	&iio_const_attr_in_anglvel_sampling_frequency_available.dev_attr.attr,
	&iio_const_attr_in_accel_scale_available.dev_attr.attr,
	&iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
	NULL,
};


static const struct attribute_group bmi160_attrs_group = {
	.attrs = bmi160_attrs,
};


static const struct iio_info bmi160_info = {
	.driver_module = THIS_MODULE,
	.read_raw = bmi160_read_raw,
	.write_raw = bmi160_write_raw,
	.attrs = &bmi160_attrs_group,
};



static const char *bmi160_match_acpi_device(struct device *dev)
{
	const struct acpi_device_id *id;

	id = acpi_match_device(dev->driver->acpi_match_table, dev);
	if (!id)
		return NULL;

	return dev_name(dev);
}

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static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
{
	int ret;
	unsigned int val;
	struct device *dev = regmap_get_device(data->regmap);

	ret = regmap_write(data->regmap, BMI160_REG_CMD, BMI160_CMD_SOFTRESET);
	if (ret < 0)
		return ret;

	usleep_range(BMI160_SOFTRESET_USLEEP, BMI160_SOFTRESET_USLEEP + 1);

	/*
         * CS rising edge is needed before starting SPI, so do a dummy read
         * See Section 3.2.1, page 86 of the datasheet
         */
	if (use_spi) {
		ret = regmap_read(data->regmap, BMI160_REG_DUMMY, &val);
		if (ret < 0)
			return ret;
	}

	ret = regmap_read(data->regmap, BMI160_REG_CHIP_ID, &val);
	if (ret < 0) {
		dev_err(dev, "Error reading chip id\n");
		return ret;
	}
	if (val != BMI160_CHIP_ID_VAL) {
		dev_err(dev, "Wrong chip id, got %x expected %x\n",
			val, BMI160_CHIP_ID_VAL);
		return -ENODEV;
	}

	ret = bmi160_set_mode(data, BMI160_ACCEL, true);
	if (ret < 0)
		return ret;

	ret = bmi160_set_mode(data, BMI160_GYRO, true);
	if (ret < 0)
		return ret;

	return 0;
}

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static void bmi160_chip_uninit(struct bmi160_data *data)
{
	bmi160_set_mode(data, BMI160_GYRO, false);
	bmi160_set_mode(data, BMI160_ACCEL, false);
}

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int bmi160_core_probe(struct device *dev, struct regmap *regmap,
		      const char *name, bool use_spi)
{
	struct iio_dev *indio_dev;
	struct bmi160_data *data;
	int ret;

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

	data = iio_priv(indio_dev);
	dev_set_drvdata(dev, indio_dev);
	data->regmap = regmap;

	ret = bmi160_chip_init(data, use_spi);
	if (ret < 0)
		return ret;

	if (!name && ACPI_HANDLE(dev))
		name = bmi160_match_acpi_device(dev);

	indio_dev->dev.parent = dev;
	indio_dev->channels = bmi160_channels;
	indio_dev->num_channels = ARRAY_SIZE(bmi160_channels);
	indio_dev->name = name;
	indio_dev->modes = INDIO_DIRECT_MODE;
	indio_dev->info = &bmi160_info;

	ret = iio_triggered_buffer_setup(indio_dev, NULL,
					 bmi160_trigger_handler, NULL);
	if (ret < 0)
		goto uninit;

	ret = iio_device_register(indio_dev);
	if (ret < 0)
		goto buffer_cleanup;

	return 0;
buffer_cleanup:
	iio_triggered_buffer_cleanup(indio_dev);
uninit:
	bmi160_chip_uninit(data);
	return ret;
}
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EXPORT_SYMBOL_GPL(bmi160_core_probe);



void bmi160_core_remove(struct device *dev)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct bmi160_data *data = iio_priv(indio_dev);

	iio_device_unregister(indio_dev);
	iio_triggered_buffer_cleanup(indio_dev);
	bmi160_chip_uninit(data);
}
Contributors
Person
Tokens
Prop
Commits
CommitProp
Daniel Baluta
45
100.00%
1
100.00%
Total
45
100.00%
1
100.00%


EXPORT_SYMBOL_GPL(bmi160_core_remove);

MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com");
MODULE_DESCRIPTION("Bosch BMI160 driver");
MODULE_LICENSE("GPL v2");
Overall Contributors
Person
Tokens
Prop
Commits
CommitProp
Daniel Baluta
2595
99.50%
4
50.00%
Alison Schofield
4
0.15%
1
12.50%
Marcin Niestroj
4
0.15%
1
12.50%
Grégor Boirie
3
0.12%
1
12.50%
sayli karnik
2
0.08%
1
12.50%
Total
2608
100.00%
8
100.00%
Directory: drivers/iio/imu/bmi160

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