[v3,2/2] iio: imu: Add i2c driver for bmi270 imu

Message ID	20240909043254.611589-3-lanzano.alex@gmail.com (mailing list archive)
State	Superseded
Headers	show Received: from mail-qk1-f179.google.com (mail-qk1-f179.google.com [209.85.222.179]) (using TLSv1.2 with cipher ECDHE-RSA-AES128-GCM-SHA256 (128/128 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id 2C9FF1662E9; Mon, 9 Sep 2024 04:33:33 +0000 (UTC) From: Alex Lanzano <lanzano.alex@gmail.com> To: Alex Lanzano <lanzano.alex@gmail.com>, Jonathan Cameron <jic23@kernel.org>, Lars-Peter Clausen <lars@metafoo.de>, Rob Herring <robh@kernel.org>, Krzysztof Kozlowski <krzk+dt@kernel.org>, Conor Dooley <conor+dt@kernel.org>, Jagath Jog J <jagathjog1996@gmail.com>, Ramona Gradinariu <ramona.bolboaca13@gmail.com>, Nuno Sa <nuno.sa@analog.com> Cc: skhan@linuxfoundation.org, Jonathan Cameron <Jonathan.Cameron@huawei.com>, linux-iio@vger.kernel.org, devicetree@vger.kernel.org, linux-kernel@vger.kernel.org Subject: [PATCH v3 2/2] iio: imu: Add i2c driver for bmi270 imu Date: Mon, 9 Sep 2024 00:32:24 -0400 Message-ID: <20240909043254.611589-3-lanzano.alex@gmail.com> In-Reply-To: <20240909043254.611589-1-lanzano.alex@gmail.com> References: <20240909043254.611589-1-lanzano.alex@gmail.com> Precedence: bulk MIME-Version: 1.0 Content-Transfer-Encoding: 8bit
Series	Add I2C driver for Bosch BMI270 IMU \| expand [v3,0/2] Add I2C driver for Bosch BMI270 IMU [v3,1/2] dt-bindings: iio: imu: add bmi270 bindings [v3,2/2] iio: imu: Add i2c driver for bmi270 imu

On Tue, Sep 10, 2024 at 06:13:04AM GMT, kernel test robot wrote: > Hi Alex, > > kernel test robot noticed the following build errors: > > [auto build test ERROR on jic23-iio/togreg] > [also build test ERROR on robh/for-next linus/master v6.11-rc7 next-20240909] > [If your patch is applied to the wrong git tree, kindly drop us a note. > And when submitting patch, we suggest to use '--base' as documented in > https://git-scm.com/docs/git-format-patch#_base_tree_information] > > url: https://github.com/intel-lab-lkp/linux/commits/Alex-Lanzano/dt-bindings-iio-imu-add-bmi270-bindings/20240909-123509 > base: https://git.kernel.org/pub/scm/linux/kernel/git/jic23/iio.git togreg > patch link: https://lore.kernel.org/r/20240909043254.611589-3-lanzano.alex%40gmail.com > patch subject: [PATCH v3 2/2] iio: imu: Add i2c driver for bmi270 imu > config: hexagon-allmodconfig (https://download.01.org/0day-ci/archive/20240910/202409100526.LydCADNj-lkp@intel.com/config) > compiler: clang version 20.0.0git (https://github.com/llvm/llvm-project 05f5a91d00b02f4369f46d076411c700755ae041) > reproduce (this is a W=1 build): (https://download.01.org/0day-ci/archive/20240910/202409100526.LydCADNj-lkp@intel.com/reproduce) > > If you fix the issue in a separate patch/commit (i.e. not just a new version of > the same patch/commit), kindly add following tags > | Reported-by: kernel test robot <lkp@intel.com> > | Closes: https://lore.kernel.org/oe-kbuild-all/202409100526.LydCADNj-lkp@intel.com/ > > All errors (new ones prefixed by >>): > > In file included from drivers/iio/imu/bmi270/bmi270_core.c:4: > In file included from include/linux/i2c.h:19: > In file included from include/linux/regulator/consumer.h:35: > In file included from include/linux/suspend.h:5: > In file included from include/linux/swap.h:9: > In file included from include/linux/memcontrol.h:13: > In file included from include/linux/cgroup.h:25: > In file included from include/linux/kernel_stat.h:8: > In file included from include/linux/interrupt.h:11: > In file included from include/linux/hardirq.h:11: > In file included from ./arch/hexagon/include/generated/asm/hardirq.h:1: > In file included from include/asm-generic/hardirq.h:17: > In file included from include/linux/irq.h:20: > In file included from include/linux/io.h:14: > In file included from arch/hexagon/include/asm/io.h:328: > include/asm-generic/io.h:548:31: warning: performing pointer arithmetic on a null pointer has undefined behavior [-Wnull-pointer-arithmetic] > 548 | val = __raw_readb(PCI_IOBASE + addr); > | ~~~~~~~~~~ ^ > include/asm-generic/io.h:561:61: warning: performing pointer arithmetic on a null pointer has undefined behavior [-Wnull-pointer-arithmetic] > 561 | val = __le16_to_cpu((__le16 __force)__raw_readw(PCI_IOBASE + addr)); > | ~~~~~~~~~~ ^ > include/uapi/linux/byteorder/little_endian.h:37:51: note: expanded from macro '__le16_to_cpu' > 37 | #define __le16_to_cpu(x) ((__force __u16)(__le16)(x)) > | ^ > In file included from drivers/iio/imu/bmi270/bmi270_core.c:4: > In file included from include/linux/i2c.h:19: > In file included from include/linux/regulator/consumer.h:35: > In file included from include/linux/suspend.h:5: > In file included from include/linux/swap.h:9: > In file included from include/linux/memcontrol.h:13: > In file included from include/linux/cgroup.h:25: > In file included from include/linux/kernel_stat.h:8: > In file included from include/linux/interrupt.h:11: > In file included from include/linux/hardirq.h:11: > In file included from ./arch/hexagon/include/generated/asm/hardirq.h:1: > In file included from include/asm-generic/hardirq.h:17: > In file included from include/linux/irq.h:20: > In file included from include/linux/io.h:14: > In file included from arch/hexagon/include/asm/io.h:328: > include/asm-generic/io.h:574:61: warning: performing pointer arithmetic on a null pointer has undefined behavior [-Wnull-pointer-arithmetic] > 574 | val = __le32_to_cpu((__le32 __force)__raw_readl(PCI_IOBASE + addr)); > | ~~~~~~~~~~ ^ > include/uapi/linux/byteorder/little_endian.h:35:51: note: expanded from macro '__le32_to_cpu' > 35 | #define __le32_to_cpu(x) ((__force __u32)(__le32)(x)) > | ^ > In file included from drivers/iio/imu/bmi270/bmi270_core.c:4: > In file included from include/linux/i2c.h:19: > In file included from include/linux/regulator/consumer.h:35: > In file included from include/linux/suspend.h:5: > In file included from include/linux/swap.h:9: > In file included from include/linux/memcontrol.h:13: > In file included from include/linux/cgroup.h:25: > In file included from include/linux/kernel_stat.h:8: > In file included from include/linux/interrupt.h:11: > In file included from include/linux/hardirq.h:11: > In file included from ./arch/hexagon/include/generated/asm/hardirq.h:1: > In file included from include/asm-generic/hardirq.h:17: > In file included from include/linux/irq.h:20: > In file included from include/linux/io.h:14: > In file included from arch/hexagon/include/asm/io.h:328: > include/asm-generic/io.h:585:33: warning: performing pointer arithmetic on a null pointer has undefined behavior [-Wnull-pointer-arithmetic] > 585 | __raw_writeb(value, PCI_IOBASE + addr); > | ~~~~~~~~~~ ^ > include/asm-generic/io.h:595:59: warning: performing pointer arithmetic on a null pointer has undefined behavior [-Wnull-pointer-arithmetic] > 595 | __raw_writew((u16 __force)cpu_to_le16(value), PCI_IOBASE + addr); > | ~~~~~~~~~~ ^ > include/asm-generic/io.h:605:59: warning: performing pointer arithmetic on a null pointer has undefined behavior [-Wnull-pointer-arithmetic] > 605 | __raw_writel((u32 __force)cpu_to_le32(value), PCI_IOBASE + addr); > | ~~~~~~~~~~ ^ > In file included from drivers/iio/imu/bmi270/bmi270_core.c:4: > In file included from include/linux/i2c.h:19: > In file included from include/linux/regulator/consumer.h:35: > In file included from include/linux/suspend.h:5: > In file included from include/linux/swap.h:9: > In file included from include/linux/memcontrol.h:21: > In file included from include/linux/mm.h:2228: > include/linux/vmstat.h:517:36: warning: arithmetic between different enumeration types ('enum node_stat_item' and 'enum lru_list') [-Wenum-enum-conversion] > 517 | return node_stat_name(NR_LRU_BASE + lru) + 3; // skip "nr_" > | ~~~~~~~~~~~ ^ ~~~ > >> drivers/iio/imu/bmi270/bmi270_core.c:180:10: error: call to undeclared function 'FIELD_PREP'; ISO C99 and later do not support implicit function declarations [-Wimplicit-function-declaration] > 180 | FIELD_PREP(BMI270_ACC_CONF_ODR_MSK, > | ^ > 7 warnings and 1 error generated. > > > vim +/FIELD_PREP +180 drivers/iio/imu/bmi270/bmi270_core.c > > 165 > 166 static int bmi270_configure_imu(struct bmi270_data *bmi270_device) > 167 { > 168 int ret; > 169 struct device *dev = bmi270_device->dev; > 170 struct regmap *regmap = bmi270_device->regmap; > 171 > 172 ret = regmap_set_bits(regmap, BMI270_PWR_CTRL_REG, > 173 BMI270_PWR_CTRL_AUX_EN_MSK | > 174 BMI270_PWR_CTRL_GYR_EN_MSK | > 175 BMI270_PWR_CTRL_ACCEL_EN_MSK); > 176 if (ret) > 177 return dev_err_probe(dev, ret, "Failed to enable accelerometer and gyroscope"); > 178 > 179 ret = regmap_set_bits(regmap, BMI270_ACC_CONF_REG, > > 180 FIELD_PREP(BMI270_ACC_CONF_ODR_MSK, > 181 BMI270_ACC_CONF_ODR_100HZ) | > 182 FIELD_PREP(BMI270_ACC_CONF_BWP_MSK, > 183 BMI270_ACC_CONF_BWP_NORMAL_MODE) | > 184 BMI270_PWR_CONF_ADV_PWR_SAVE_MSK); > 185 if (ret) > 186 return dev_err_probe(dev, ret, "Failed to configure accelerometer"); > 187 > 188 ret = regmap_set_bits(regmap, BMI270_GYR_CONF_REG, > 189 FIELD_PREP(BMI270_GYR_CONF_ODR_MSK, > 190 BMI270_GYR_CONF_ODR_200HZ) | > 191 FIELD_PREP(BMI270_GYR_CONF_BWP_MSK, > 192 BMI270_GYR_CONF_BWP_NORMAL_MODE) | > 193 BMI270_PWR_CONF_ADV_PWR_SAVE_MSK); > 194 if (ret) > 195 return dev_err_probe(dev, ret, "Failed to configure gyroscope"); > 196 > 197 /* Enable FIFO_WKUP, Disable ADV_PWR_SAVE and FUP_EN */ > 198 ret = regmap_write(regmap, BMI270_PWR_CONF_REG, > 199 BMI270_PWR_CONF_FIFO_WKUP_MSK); > 200 if (ret) > 201 return dev_err_probe(dev, ret, "Failed to set power configuration"); > 202 > 203 return 0; > 204 } > 205 > > -- > 0-DAY CI Kernel Test Service > https://github.com/intel/lkp-tests/wiki I am having trouble reproducing this build error on both jic23-iio/togreg and linus/master v6.11.rc7 on an aarch64 box with the same compiler version. Maybe a config option is causing this? However, I will add #include <linux/bitfield.h> to remedy this issue if some edge case is being hit. Best regards, Alex

diff --git a/MAINTAINERS b/MAINTAINERS index a2184637a5d9..6612d27525b5 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -3928,6 +3928,13 @@ S: Maintained F: Documentation/devicetree/bindings/iio/accel/bosch,bma400.yaml F: drivers/iio/accel/bma400* +BOSCH SENSORTEC BMI270 IMU IIO DRIVER +M: Alex Lanzano <lanzano.alex@gmail.com> +L: linux-iio@vger.kernel.org +S: Maintained +F: Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml +F: drivers/iio/imu/bmi270/ + BOSCH SENSORTEC BMI323 IMU IIO DRIVER M: Jagath Jog J <jagathjog1996@gmail.com> L: linux-iio@vger.kernel.org diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 782fb80e44c2..489dd898830b 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -53,6 +53,7 @@ config ADIS16480 ADIS16485, ADIS16488 inertial sensors. source "drivers/iio/imu/bmi160/Kconfig" +source "drivers/iio/imu/bmi270/Kconfig" source "drivers/iio/imu/bmi323/Kconfig" source "drivers/iio/imu/bno055/Kconfig" diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index 7e2d7d5c3b7b..79f83ea6f644 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -15,6 +15,7 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o obj-y += bmi160/ +obj-y += bmi270/ obj-y += bmi323/ obj-y += bno055/ diff --git a/drivers/iio/imu/bmi270/Kconfig b/drivers/iio/imu/bmi270/Kconfig new file mode 100644 index 000000000000..3f7b4ac30f00 --- /dev/null +++ b/drivers/iio/imu/bmi270/Kconfig @@ -0,0 +1,21 @@ +# SPDX-License-Identifier: GPL-2.0 +# +# BMI270 IMU driver +# + +config BMI270 + tristate + select IIO_BUFFER + +config BMI270_I2C + tristate "Bosch BMI270 I2C driver" + depends on I2C + select BMI270 + select REGMAP_I2C + help + Enable support for the Bosch BMI270 6-Axis IMU connected to I2C + interface. + + This driver can also be built as a module. If so, the module will be + called bmi270_i2c. + diff --git a/drivers/iio/imu/bmi270/Makefile b/drivers/iio/imu/bmi270/Makefile new file mode 100644 index 000000000000..ab4acaaee6d2 --- /dev/null +++ b/drivers/iio/imu/bmi270/Makefile @@ -0,0 +1,6 @@ +# SPDX-License-Identifier: GPL-2.0 +# +# Makefile for Bosch BMI270 IMU +# +obj-$(CONFIG_BMI270) += bmi270_core.o +obj-$(CONFIG_BMI270_I2C) += bmi270_i2c.o diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h new file mode 100644 index 000000000000..4af4098d8e82 --- /dev/null +++ b/drivers/iio/imu/bmi270/bmi270.h @@ -0,0 +1,62 @@ +/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) */ + +#ifndef BMI270_H_ +#define BMI270_H_ + +#include <linux/iio/iio.h> + +#define BMI270_CHIP_ID_REG 0x00 +#define BMI270_CHIP_ID_VAL 0x24 +#define BMI270_CHIP_ID_MSK GENMASK(7, 0) + +#define BMI270_ACCEL_X_REG 0x0c +#define BMI270_ANG_VEL_X_REG 0x12 + +#define BMI270_INTERNAL_STATUS_REG 0x21 +#define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0) +#define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01 + +#define BMI270_INTERNAL_STATUS_AXES_REMAP_ERR_MSK BIT(5) +#define BMI270_INTERNAL_STATUS_ODR_50HZ_ERR_MSK BIT(6) + +#define BMI270_ACC_CONF_REG 0x40 +#define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0) +#define BMI270_ACC_CONF_ODR_100HZ 0x08 +#define BMI270_ACC_CONF_BWP_MSK GENMASK(6, 4) +#define BMI270_ACC_CONF_BWP_NORMAL_MODE 0x02 +#define BMI270_ACC_CONF_FILTER_PERF_MSK BIT(7) + +#define BMI270_GYR_CONF_REG 0x42 +#define BMI270_GYR_CONF_ODR_MSK GENMASK(3, 0) +#define BMI270_GYR_CONF_ODR_200HZ 0x09 +#define BMI270_GYR_CONF_BWP_MSK GENMASK(5, 4) +#define BMI270_GYR_CONF_BWP_NORMAL_MODE 0x02 +#define BMI270_GYR_CONF_NOISE_PERF_MSK BIT(6) +#define BMI270_GYR_CONF_FILTER_PERF_MSK BIT(7) + +#define BMI270_INIT_CTRL_REG 0x59 +#define BMI270_INIT_CTRL_LOAD_DONE_MSK BIT(0) + +#define BMI270_INIT_DATA_REG 0x5e + +#define BMI270_PWR_CONF_REG 0x7c +#define BMI270_PWR_CONF_ADV_PWR_SAVE_MSK BIT(0) +#define BMI270_PWR_CONF_FIFO_WKUP_MSK BIT(1) +#define BMI270_PWR_CONF_FUP_EN_MSK BIT(2) + +#define BMI270_PWR_CTRL_REG 0x7d +#define BMI270_PWR_CTRL_AUX_EN_MSK BIT(0) +#define BMI270_PWR_CTRL_GYR_EN_MSK BIT(1) +#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2) +#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3) + +struct bmi270_data { + struct device *dev; + struct regmap *regmap; +}; + +extern const struct regmap_config bmi270_regmap_config; + +int bmi270_core_probe(struct device *dev, struct regmap *regmap); + +#endif /* BMI270_H_ */ diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c new file mode 100644 index 000000000000..f0f83eb51dd2 --- /dev/null +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -0,0 +1,251 @@ +// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) + +#include <linux/firmware.h> +#include <linux/i2c.h> +#include <linux/iio/iio.h> +#include <linux/module.h> +#include <linux/regmap.h> + +#include "bmi270.h" + +#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw" + +enum bmi270_scan { + BMI270_SCAN_ACCEL_X, + BMI270_SCAN_ACCEL_Y, + BMI270_SCAN_ACCEL_Z, + BMI270_SCAN_GYRO_X, + BMI270_SCAN_GYRO_Y, + BMI270_SCAN_GYRO_Z, +}; + +const struct regmap_config bmi270_regmap_config = { + .reg_bits = 8, + .val_bits = 8, +}; +EXPORT_SYMBOL_NS_GPL(bmi270_regmap_config, IIO_BMI270); + +static int bmi270_get_data(struct bmi270_data *bmi270_device, + int chan_type, int axis, int *val) +{ + __le16 sample; + int reg; + int ret; + + switch (chan_type) { + case IIO_ACCEL: + reg = BMI270_ACCEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample); + break; + case IIO_ANGL_VEL: + reg = BMI270_ANG_VEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample); + break; + default: + return -EINVAL; + } + + ret = regmap_bulk_read(bmi270_device->regmap, reg, &sample, sizeof(sample)); + if (ret) + return ret; + + *val = sign_extend32(le16_to_cpu(sample), 15); + + return 0; +} + +static int bmi270_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + int ret; + struct bmi270_data *bmi270_device = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = bmi270_get_data(bmi270_device, chan->type, chan->channel2, val); + if (ret) + return ret; + + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + +static const struct iio_info bmi270_info = { + .read_raw = bmi270_read_raw, +}; + +#define BMI270_ACCEL_CHANNEL(_axis) { \ + .type = IIO_ACCEL, \ + .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_FREQUENCY), \ +} + +#define BMI270_ANG_VEL_CHANNEL(_axis) { \ + .type = IIO_ANGL_VEL, \ + .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_FREQUENCY), \ +} + +static const struct iio_chan_spec bmi270_channels[] = { + BMI270_ACCEL_CHANNEL(X), + BMI270_ACCEL_CHANNEL(Y), + BMI270_ACCEL_CHANNEL(Z), + BMI270_ANG_VEL_CHANNEL(X), + BMI270_ANG_VEL_CHANNEL(Y), + BMI270_ANG_VEL_CHANNEL(Z) +}; + +static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device) +{ + int chip_id; + int ret; + struct device *dev = bmi270_device->dev; + struct regmap *regmap = bmi270_device->regmap; + + ret = regmap_read(regmap, BMI270_CHIP_ID_REG, &chip_id); + if (ret) + return dev_err_probe(dev, ret, "Failed to read chip id"); + + if (chip_id != BMI270_CHIP_ID_VAL) + return dev_err_probe(dev, -ENODEV, "Invalid chip id 0x%x", chip_id); + + return 0; +} + +static int bmi270_write_calibration_data(struct bmi270_data *bmi270_device) +{ + int ret; + int status = 0; + const struct firmware *init_data; + struct device *dev = bmi270_device->dev; + struct regmap *regmap = bmi270_device->regmap; + + ret = regmap_clear_bits(regmap, BMI270_PWR_CONF_REG, BMI270_PWR_CONF_ADV_PWR_SAVE_MSK); + if (ret) + return dev_err_probe(dev, ret, "Failed to write power configuration"); + + usleep_range(450, 1000); + + ret = regmap_clear_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK); + if (ret) + return dev_err_probe(dev, ret, "Failed to prepare device to load init data"); + + ret = request_firmware(&init_data, BMI270_INIT_DATA_FILE, dev); + if (ret) + return dev_err_probe(dev, ret, "Failed to load init data file"); + + ret = regmap_bulk_write(regmap, BMI270_INIT_DATA_REG, + init_data->data, init_data->size); + release_firmware(init_data); + if (ret) + return dev_err_probe(dev, ret, "Failed to write init data"); + + ret = regmap_set_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK); + if (ret) + return dev_err_probe(dev, ret, "Failed to stop device initialization"); + + usleep_range(20000, 55000); + + ret = regmap_read(regmap, BMI270_INTERNAL_STATUS_REG, &status); + if (ret) + return dev_err_probe(dev, ret, "Failed to read internal status"); + + if (status != BMI270_INTERNAL_STATUS_MSG_INIT_OK) + return dev_err_probe(dev, -ENODEV, "Device failed to initialize"); + + return 0; +} + +static int bmi270_configure_imu(struct bmi270_data *bmi270_device) +{ + int ret; + struct device *dev = bmi270_device->dev; + struct regmap *regmap = bmi270_device->regmap; + + ret = regmap_set_bits(regmap, BMI270_PWR_CTRL_REG, + BMI270_PWR_CTRL_AUX_EN_MSK | + BMI270_PWR_CTRL_GYR_EN_MSK | + BMI270_PWR_CTRL_ACCEL_EN_MSK); + if (ret) + return dev_err_probe(dev, ret, "Failed to enable accelerometer and gyroscope"); + + ret = regmap_set_bits(regmap, BMI270_ACC_CONF_REG, + FIELD_PREP(BMI270_ACC_CONF_ODR_MSK, + BMI270_ACC_CONF_ODR_100HZ) | + FIELD_PREP(BMI270_ACC_CONF_BWP_MSK, + BMI270_ACC_CONF_BWP_NORMAL_MODE) | + BMI270_PWR_CONF_ADV_PWR_SAVE_MSK); + if (ret) + return dev_err_probe(dev, ret, "Failed to configure accelerometer"); + + ret = regmap_set_bits(regmap, BMI270_GYR_CONF_REG, + FIELD_PREP(BMI270_GYR_CONF_ODR_MSK, + BMI270_GYR_CONF_ODR_200HZ) | + FIELD_PREP(BMI270_GYR_CONF_BWP_MSK, + BMI270_GYR_CONF_BWP_NORMAL_MODE) | + BMI270_PWR_CONF_ADV_PWR_SAVE_MSK); + if (ret) + return dev_err_probe(dev, ret, "Failed to configure gyroscope"); + + /* Enable FIFO_WKUP, Disable ADV_PWR_SAVE and FUP_EN */ + ret = regmap_write(regmap, BMI270_PWR_CONF_REG, + BMI270_PWR_CONF_FIFO_WKUP_MSK); + if (ret) + return dev_err_probe(dev, ret, "Failed to set power configuration"); + + return 0; +} + +static int bmi270_chip_init(struct bmi270_data *bmi270_device) +{ + int ret; + + ret = bmi270_validate_chip_id(bmi270_device); + if (ret) + return ret; + + ret = bmi270_write_calibration_data(bmi270_device); + if (ret) + return ret; + + return bmi270_configure_imu(bmi270_device); +} + +int bmi270_core_probe(struct device *dev, struct regmap *regmap) +{ + int ret; + struct bmi270_data *bmi270_device; + struct iio_dev *indio_dev; + + indio_dev = devm_iio_device_alloc(dev, sizeof(struct bmi270_data *)); + if (!indio_dev) + return -ENOMEM; + + bmi270_device = iio_priv(indio_dev); + bmi270_device->dev = dev; + bmi270_device->regmap = regmap; + + ret = bmi270_chip_init(bmi270_device); + if (ret) + return ret; + + indio_dev->channels = bmi270_channels; + indio_dev->num_channels = ARRAY_SIZE(bmi270_channels); + indio_dev->name = "bmi270"; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &bmi270_info; + + return devm_iio_device_register(dev, indio_dev); +} +EXPORT_SYMBOL_NS_GPL(bmi270_core_probe, IIO_BMI270); + +MODULE_AUTHOR("Alex Lanzano"); +MODULE_DESCRIPTION("BMI270 driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/imu/bmi270/bmi270_i2c.c b/drivers/iio/imu/bmi270/bmi270_i2c.c new file mode 100644 index 000000000000..f70dee2d8a64 --- /dev/null +++ b/drivers/iio/imu/bmi270/bmi270_i2c.c @@ -0,0 +1,48 @@ +// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) + +#include <linux/module.h> +#include <linux/i2c.h> +#include <linux/iio/iio.h> +#include <linux/module.h> +#include <linux/mod_devicetable.h> +#include <linux/regmap.h> + +#include "bmi270.h" + +static int bmi270_i2c_probe(struct i2c_client *client) +{ + struct regmap *regmap; + struct device *dev = &client->dev; + + regmap = devm_regmap_init_i2c(client, &bmi270_regmap_config); + if (IS_ERR(regmap)) + return dev_err_probe(dev, PTR_ERR(regmap), + "Failed to init i2c regmap"); + + return bmi270_core_probe(dev, regmap); +} + +static const struct i2c_device_id bmi270_i2c_id[] = { + { "bmi270", 0 }, + { } +}; + +static const struct of_device_id bmi270_of_match[] = { + { .compatible = "bosch,bmi270" }, + { } +}; + +static struct i2c_driver bmi270_i2c_driver = { + .driver = { + .name = "bmi270_i2c", + .of_match_table = bmi270_of_match, + }, + .probe = bmi270_i2c_probe, + .id_table = bmi270_i2c_id, +}; +module_i2c_driver(bmi270_i2c_driver); + +MODULE_AUTHOR("Alex Lanzano"); +MODULE_DESCRIPTION("BMI270 driver"); +MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS(IIO_BMI270);

[v3,2/2] iio: imu: Add i2c driver for bmi270 imu

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