From patchwork Wed Sep 25 01:39:41 2019 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Dan Robertson X-Patchwork-Id: 11159925 Return-Path: Received: from mail.kernel.org (pdx-korg-mail-1.web.codeaurora.org [172.30.200.123]) by pdx-korg-patchwork-2.web.codeaurora.org (Postfix) with ESMTP id 650B7112B for ; Wed, 25 Sep 2019 02:10:43 +0000 (UTC) Received: from vger.kernel.org (vger.kernel.org [209.132.180.67]) by mail.kernel.org (Postfix) with ESMTP id 258D4214AF for ; Wed, 25 Sep 2019 02:10:43 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S2633788AbfIYCKm convert rfc822-to-8bit (ORCPT ); Tue, 24 Sep 2019 22:10:42 -0400 Received: from sender4-op-o14.zoho.com ([136.143.188.14]:17432 "EHLO sender4-op-o14.zoho.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S2633737AbfIYCKl (ORCPT ); Tue, 24 Sep 2019 22:10:41 -0400 ARC-Seal: i=1; a=rsa-sha256; t=1569376531; cv=none; d=zoho.com; s=zohoarc; b=b7kr7GYCfGayzdzPsMKtSCZfNcQGEF1ov9o+Z3KrGIh3zKTt56KBeft9mMxPYb9IM/axxleoX2X0M2C5jbaBU2q4QAHpWErW2RNpRF7FZTQTw5t2s9BAsw+5qlGsfF/w/W8HGuJp9kjYZIxY8efYNcnsgbSTy//Hctr84PBd2FU= ARC-Message-Signature: i=1; a=rsa-sha256; c=relaxed/relaxed; d=zoho.com; s=zohoarc; t=1569376531; h=Content-Type:Content-Transfer-Encoding:Cc:Date:From:In-Reply-To:MIME-Version:Message-ID:References:Subject:To:ARC-Authentication-Results; bh=LjRnR04+y/v3hvTAWG4FVmyrW1Iqbbu50hDKkaE6Hi4=; b=c4ddMBYjim2c0korgvCHOol4l1h5WWlEm9R3IcjljSSAWR7rT6WV0OvFMIsQj+Wy6UfnbquJRl4WLV2dE5GumUtdmJUvqQNVKkH0rs28MSGSHLuVyx2FaZ3Rn7rwrouFaIoDMaeABD+gW7aowTQPUMFHq50HfYZDTiSYimRDJe8= ARC-Authentication-Results: i=1; mx.zoho.com; dkim=pass header.i=dlrobertson.com; spf=pass smtp.mailfrom=dan@dlrobertson.com; dmarc=pass header.from= header.from= Received: from nessie.verizon.net (pool-100-15-144-194.washdc.fios.verizon.net [100.15.144.194]) by mx.zohomail.com with SMTPS id 1569376530714544.7479106720255; Tue, 24 Sep 2019 18:55:30 -0700 (PDT) From: Dan Robertson To: Jonathan Cameron , linux-iio@vger.kernel.org Cc: Dan Robertson , linux-kernel@vger.kernel.org Message-ID: <20190925013941.20431-2-dan@dlrobertson.com> Subject: [PATCH 1/1] iio: (bma400) add driver for the BMA400 Date: Wed, 25 Sep 2019 01:39:41 +0000 X-Mailer: git-send-email 2.23.0 In-Reply-To: <20190925013941.20431-1-dan@dlrobertson.com> References: <20190925013941.20431-1-dan@dlrobertson.com> MIME-Version: 1.0 X-ZohoMailClient: External Sender: linux-iio-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org Add a IIO driver for the Bosch BMA400 3-axes ultra-low power accelerometer. The driver supports reading from the acceleration and temperature registers. The driver also supports reading and configuring the output data rate, oversampling ratio, and scale. Signed-off-by: Dan Robertson --- drivers/iio/accel/Kconfig | 19 + drivers/iio/accel/Makefile | 2 + drivers/iio/accel/bma400.h | 74 +++ drivers/iio/accel/bma400_core.c | 862 ++++++++++++++++++++++++++++++++ drivers/iio/accel/bma400_i2c.c | 54 ++ 5 files changed, 1011 insertions(+) create mode 100644 drivers/iio/accel/bma400.h create mode 100644 drivers/iio/accel/bma400_core.c create mode 100644 drivers/iio/accel/bma400_i2c.c diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig index 9b9656ce37e6..cca6727e037e 100644 --- a/drivers/iio/accel/Kconfig +++ b/drivers/iio/accel/Kconfig @@ -112,6 +112,25 @@ config BMA220 To compile this driver as a module, choose M here: the module will be called bma220_spi. +config BMA400 + tristate "Bosch BMA400 3-Axis Accelerometer Driver" + depends on I2C + select REGMAP + select BMA400_I2C if (I2C) + help + Say Y here if you want to build a driver for the Bosch BMA400 + triaxial acceleration sensor. + + To compile this driver as a module, choose M here: the + module will be called bma400_core and you will also get + bma400_i2c for I2C + +config BMA400_I2C + tristate + depends on BMA400 + depends on I2C + select REGMAP_I2C + config BMC150_ACCEL tristate "Bosch BMC150 Accelerometer Driver" select IIO_BUFFER diff --git a/drivers/iio/accel/Makefile b/drivers/iio/accel/Makefile index 56bd0215e0d4..3a051cf37f40 100644 --- a/drivers/iio/accel/Makefile +++ b/drivers/iio/accel/Makefile @@ -14,6 +14,8 @@ obj-$(CONFIG_ADXL372_I2C) += adxl372_i2c.o obj-$(CONFIG_ADXL372_SPI) += adxl372_spi.o obj-$(CONFIG_BMA180) += bma180.o obj-$(CONFIG_BMA220) += bma220_spi.o +obj-$(CONFIG_BMA400) += bma400_core.o +obj-$(CONFIG_BMA400_I2C) += bma400_i2c.o obj-$(CONFIG_BMC150_ACCEL) += bmc150-accel-core.o obj-$(CONFIG_BMC150_ACCEL_I2C) += bmc150-accel-i2c.o obj-$(CONFIG_BMC150_ACCEL_SPI) += bmc150-accel-spi.o diff --git a/drivers/iio/accel/bma400.h b/drivers/iio/accel/bma400.h new file mode 100644 index 000000000000..7fa92bc457f6 --- /dev/null +++ b/drivers/iio/accel/bma400.h @@ -0,0 +1,74 @@ +/* SPDX-License-Identifier: GPL-2.0-only */ +/* + * bma400.h - Register constants and other forward declarations + * needed by the bma400 sources. + * + * Copyright 2019 Dan Robertson + * + */ + +#include + +/* + * Read-Only Registers + */ + +/* Status and ID registers */ +#define BMA400_CHIP_ID_REG 0x00 +#define BMA400_ERR_REG 0x02 +#define BMA400_STATUS_REG 0x03 + +/* Acceleration registers */ +#define BMA400_X_AXIS_LSB_REG 0x04 +#define BMA400_X_AXIS_MSB_REG 0x05 +#define BMA400_Y_AXIS_LSB_REG 0x06 +#define BMA400_Y_AXIS_MSB_REG 0x07 +#define BMA400_Z_AXIS_LSB_REG 0x08 +#define BMA400_Z_AXIS_MSB_REG 0x09 + +/* Sensort time registers */ +#define BMA400_SENSOR_TIME0 0x0a +#define BMA400_SENSOR_TIME1 0x0b +#define BMA400_SENSOR_TIME2 0x0c + +/* Event and interrupt registers */ +#define BMA400_EVENT_REG 0x0d +#define BMA400_INT_STAT0_REG 0x0e +#define BMA400_INT_STAT1_REG 0x0f +#define BMA400_INT_STAT2_REG 0x10 + +/* Temperature register */ +#define BMA400_TEMP_DATA_REG 0x11 + +/* FIFO length and data registers */ +#define BMA400_FIFO_LENGTH0_REG 0x12 +#define BMA400_FIFO_LENGTH1_REG 0x13 +#define BMA400_FIFO_DATA_REG 0x14 + +/* Step count registers */ +#define BMA400_STEP_CNT0_REG 0x15 +#define BMA400_STEP_CNT1_REG 0x16 +#define BMA400_STEP_CNT3_REG 0x17 +#define BMA400_STEP_STAT_REG 0x18 + +/* + * Read-write configuration registers + */ +#define BMA400_ACC_CONFIG0_REG 0x19 +#define BMA400_ACC_CONFIG1_REG 0x1a +#define BMA400_ACC_CONFIG2_REG 0x1b +#define BMA400_CMD_REG 0x7e + +/* Chip ID of BMA 400 devices found in the chip ID register. */ +#define BMA400_ID_REG_VAL 0x90 + +/* The softreset command */ +#define BMA400_SOFTRESET_CMD 0xb6 + +extern const struct regmap_config bma400_regmap_config; + +int bma400_probe(struct device *dev, + struct regmap *regmap, + const char *name); + +int bma400_remove(struct device *dev); diff --git a/drivers/iio/accel/bma400_core.c b/drivers/iio/accel/bma400_core.c new file mode 100644 index 000000000000..55fe2f220c30 --- /dev/null +++ b/drivers/iio/accel/bma400_core.c @@ -0,0 +1,862 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * bma400-core.c - Core IIO driver for Bosch BMA400 triaxial acceleration + * sensor. Used by bma400-i2c. + * + * Copyright 2019 Dan Robertson + * + * TODO: + * - Support for power management + * - Support events and interrupts + * - Create channel the step count + * - Create channel for sensor time + */ + +#include +#include +#include +#include +#include +#include + +#include "bma400.h" + +/* + * The G-range selection may be one of 2g, 4g, 8, or 16g. The scale may + * be selected with the acc_range bits of the ACC_CONFIG1 register. + */ +const int bma400_scale_table[] = { 38344, 76590, 153277, 306457 }; + +struct bma400_sample_freq { + int hz; + int micro_hz; +}; + +/* See the ACC_CONFIG1 section of the datasheet */ +const struct bma400_sample_freq bma400_sample_freqs[] = { + { .hz = 12, .micro_hz = 500000 }, + { .hz = 25, .micro_hz = 0 }, + { .hz = 50, .micro_hz = 0 }, + { .hz = 100, .micro_hz = 0 }, + { .hz = 200, .micro_hz = 0 }, + { .hz = 400, .micro_hz = 0 }, + { .hz = 800, .micro_hz = 0 }, +}; + +/* See the ACC_CONFIG0 section of the datasheet */ +enum bma400_power_mode { + POWER_MODE_SLEEP = 0x00, + POWER_MODE_LOW = 0x01, + POWER_MODE_NORMAL = 0x02, + POWER_MODE_INVALID = 0x03, +}; + +struct bma400_data { + struct device *dev; + struct mutex mutex; /* data register lock */ + struct iio_mount_matrix orientation; + struct regmap *regmap; + enum bma400_power_mode power_mode; + const struct bma400_sample_freq *sample_freq; + int oversampling_ratio; + int scale; +}; + +static bool bma400_is_writable_reg(struct device *dev, unsigned int reg) +{ + switch (reg) { + case BMA400_CHIP_ID_REG: + case BMA400_ERR_REG: + case BMA400_STATUS_REG: + case BMA400_X_AXIS_LSB_REG: + case BMA400_X_AXIS_MSB_REG: + case BMA400_Y_AXIS_LSB_REG: + case BMA400_Y_AXIS_MSB_REG: + case BMA400_Z_AXIS_LSB_REG: + case BMA400_Z_AXIS_MSB_REG: + case BMA400_SENSOR_TIME0: + case BMA400_SENSOR_TIME1: + case BMA400_SENSOR_TIME2: + case BMA400_EVENT_REG: + case BMA400_INT_STAT0_REG: + case BMA400_INT_STAT1_REG: + case BMA400_INT_STAT2_REG: + case BMA400_TEMP_DATA_REG: + case BMA400_FIFO_LENGTH0_REG: + case BMA400_FIFO_LENGTH1_REG: + case BMA400_FIFO_DATA_REG: + case BMA400_STEP_CNT0_REG: + case BMA400_STEP_CNT1_REG: + case BMA400_STEP_CNT3_REG: + case BMA400_STEP_STAT_REG: + return false; + default: + return true; + } +} + +static bool bma400_is_volatile_reg(struct device *dev, unsigned int reg) +{ + switch (reg) { + case BMA400_ERR_REG: + case BMA400_STATUS_REG: + case BMA400_X_AXIS_LSB_REG: + case BMA400_X_AXIS_MSB_REG: + case BMA400_Y_AXIS_LSB_REG: + case BMA400_Y_AXIS_MSB_REG: + case BMA400_Z_AXIS_LSB_REG: + case BMA400_Z_AXIS_MSB_REG: + case BMA400_SENSOR_TIME0: + case BMA400_SENSOR_TIME1: + case BMA400_SENSOR_TIME2: + case BMA400_EVENT_REG: + case BMA400_INT_STAT0_REG: + case BMA400_INT_STAT1_REG: + case BMA400_INT_STAT2_REG: + case BMA400_TEMP_DATA_REG: + case BMA400_FIFO_LENGTH0_REG: + case BMA400_FIFO_LENGTH1_REG: + case BMA400_FIFO_DATA_REG: + case BMA400_STEP_CNT0_REG: + case BMA400_STEP_CNT1_REG: + case BMA400_STEP_CNT3_REG: + case BMA400_STEP_STAT_REG: + return true; + default: + return false; + } +} + +const struct regmap_config bma400_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + .max_register = BMA400_CMD_REG, + .cache_type = REGCACHE_RBTREE, + .writeable_reg = bma400_is_writable_reg, + .volatile_reg = bma400_is_volatile_reg, +}; +EXPORT_SYMBOL(bma400_regmap_config); + +static const struct iio_mount_matrix * +bma400_accel_get_mount_matrix(const struct iio_dev *indio_dev, + const struct iio_chan_spec *chan) +{ + struct bma400_data *data = iio_priv(indio_dev); + + return &data->orientation; +} + +static const struct iio_chan_spec_ext_info bma400_ext_info[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, bma400_accel_get_mount_matrix), + { } +}; + +#define BMA400_ACC_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_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO), \ + .ext_info = bma400_ext_info \ +} + +static const struct iio_chan_spec bma400_channels[] = { + BMA400_ACC_CHANNEL(X), + BMA400_ACC_CHANNEL(Y), + BMA400_ACC_CHANNEL(Z), + { + .type = IIO_TEMP, + .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ), + }, +}; + +static int bma400_get_temp_reg(struct bma400_data *data, int *val, int *val2) +{ + int ret; + int host_temp; + unsigned int raw_temp; + + if (data->power_mode == POWER_MODE_SLEEP) + return -EBUSY; + + ret = regmap_read(data->regmap, BMA400_TEMP_DATA_REG, &raw_temp); + + if (!ret) { + host_temp = sign_extend32(raw_temp, 7); + /* + * The formula for the TEMP_DATA register in the datasheet + * is: x * 0.5 + 23 + */ + *val = (host_temp >> 1) + 23; + *val2 = (host_temp & 0x1) * 500000; + ret = IIO_VAL_INT_PLUS_MICRO; + } + return ret; +} + +static int bma400_get_accel_reg(struct bma400_data *data, + const struct iio_chan_spec *chan, + int *val) +{ + int ret; + u16 lsb_reg; + __le16 raw_accel = 0; + + if (data->power_mode == POWER_MODE_SLEEP) + return -EBUSY; + + switch (chan->channel2) { + case IIO_MOD_X: + lsb_reg = BMA400_X_AXIS_LSB_REG; + break; + case IIO_MOD_Y: + lsb_reg = BMA400_Y_AXIS_LSB_REG; + break; + case IIO_MOD_Z: + lsb_reg = BMA400_Z_AXIS_LSB_REG; + break; + default: + dev_err(data->dev, "invalid axis channel modifier"); + return -EINVAL; + } + + /* bulk read two registers, with the base being the LSB register */ + ret = regmap_bulk_read(data->regmap, lsb_reg, &raw_accel, 2); + if (!ret) { + *val = sign_extend32(le16_to_cpu(raw_accel), 11); + ret = IIO_VAL_INT; + } + + return ret; +} + +static int bma400_ready_for_cmd(struct bma400_data *data) +{ + unsigned int val; + int ret = regmap_read(data->regmap, BMA400_STATUS_REG, &val); + + if (ret < 0 || !(val & 0x10)) + return 0; + + return 1; +} + +static int bma400_softreset(struct bma400_data *data) +{ + int ret; + + if (!bma400_ready_for_cmd(data)) + return -EAGAIN; + + ret = regmap_write(data->regmap, BMA400_CMD_REG, + BMA400_SOFTRESET_CMD); + if (!ret) { + /* a softreset restores registers to their defaults */ + data->power_mode = POWER_MODE_SLEEP; + data->sample_freq = NULL; + data->oversampling_ratio = -1; + data->scale = bma400_scale_table[0]; + } + return ret; +} + +static int bma400_get_acc_config0_reg(struct bma400_data *data) +{ + int ret; + unsigned int val; + + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG0_REG, + &val); + if (ret < 0) { + dev_err(data->dev, "Failed read acc_config0"); + return ret; + } + + return val; +} + +static int bma400_get_acc_config1_reg(struct bma400_data *data) +{ + int ret; + unsigned int val; + + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, + &val); + if (ret < 0) { + dev_err(data->dev, "Failed read acc_config1"); + return ret; + } + + return val; +} + +static int bma400_get_accel_output_data_rate(struct bma400_data *data) +{ + int acc_config1; + unsigned int odr; + int idx; + + switch (data->power_mode) { + case POWER_MODE_LOW: + /* + * Runs at a fixed rate in low-power mode. See section 4.3 + * in the datasheet. + */ + data->sample_freq = &bma400_sample_freqs[1]; + return 0; + case POWER_MODE_NORMAL: + /* + * In normal mode the ODR can be found in the ACC_CONFIG1 + * register. + */ + acc_config1 = bma400_get_acc_config1_reg(data); + if (acc_config1 < 0) { + data->sample_freq = NULL; + return acc_config1; + } + + odr = (acc_config1 & 0x0f); + if (odr < 0x05 || odr > 0x0b) { + dev_err(data->dev, "invalid ODR=%x", odr); + data->sample_freq = NULL; + return -EINVAL; + } + idx = odr - 0x05; + + data->sample_freq = &bma400_sample_freqs[idx]; + return 0; + default: + data->sample_freq = NULL; + return 0; + } +} + +static int bma400_get_accel_output_data_rate_idx(struct bma400_data *data, + int hz, int uhz) +{ + int i; + const struct bma400_sample_freq *sample_freq; + + for (i = 0; i < ARRAY_SIZE(bma400_sample_freqs); ++i) { + sample_freq = &bma400_sample_freqs[i]; + if (sample_freq->hz == hz && + sample_freq->micro_hz == uhz) + return i; + } + + return -EINVAL; +} + +static int bma400_set_accel_output_data_rate(struct bma400_data *data, + int hz, int uhz) +{ + int acc_config1; + unsigned int odr; + int idx; + int ret; + + idx = bma400_get_accel_output_data_rate_idx(data, hz, uhz); + + if (idx < 0) + return idx; + + acc_config1 = bma400_get_acc_config1_reg(data); + + if (acc_config1 < 0) + return acc_config1; + + /* preserve the range and normal mode osr */ + odr = (0xf0 & acc_config1) | (idx + 0x5); + + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG1_REG, odr); + if (!ret) + data->sample_freq = &bma400_sample_freqs[idx]; + + return ret; +} + +static int bma400_get_accel_oversampling_ratio(struct bma400_data *data) +{ + int acc_config; + + /* + * The oversampling ratio is stored in a different register + * based on the power-mode. In normal mode the OSR is stored + * in ACC_CONFIG1. In low-power mode it is stored in + * ACC_CONFIG0. + */ + switch (data->power_mode) { + case POWER_MODE_LOW: + acc_config = bma400_get_acc_config0_reg(data); + if (acc_config < 0) { + data->oversampling_ratio = -1; + return acc_config; + } + + data->oversampling_ratio = (acc_config & 0x60) >> 5; + return 0; + case POWER_MODE_NORMAL: + acc_config = bma400_get_acc_config1_reg(data); + if (acc_config < 0) { + data->oversampling_ratio = -1; + return acc_config; + } + + data->oversampling_ratio = (acc_config & 0x30) >> 4; + return 0; + default: + data->oversampling_ratio = -1; + return 0; + } +} + +static int bma400_set_accel_oversampling_ratio(struct bma400_data *data, + int val) +{ + int ret; + int acc_config; + + /* The oversampling ratio is a two bit field */ + if (val & ~0x3) + return -EINVAL; + + /* The oversampling ratio is stored in a different register + * based on the power-mode. + */ + switch (data->power_mode) { + case POWER_MODE_LOW: + acc_config = bma400_get_acc_config0_reg(data); + if (acc_config < 0) + return acc_config; + + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG0_REG, + (acc_config & 0x9f) | (val << 5)); + if (ret < 0) + dev_err(data->dev, "Failed to write out OSR"); + else + data->oversampling_ratio = val; + break; + case POWER_MODE_NORMAL: + acc_config = bma400_get_acc_config1_reg(data); + if (acc_config < 0) + return acc_config; + + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG1_REG, + (acc_config & 0xcf) | (val << 4)); + if (ret < 0) + dev_err(data->dev, "Failed to write out OSR"); + else + data->oversampling_ratio = val; + break; + default: + return -EINVAL; + } + return ret; +} + +static int bma400_get_accel_scale(struct bma400_data *data) +{ + int idx; + int acc_config1 = bma400_get_acc_config1_reg(data); + + if (acc_config1 < 0) + return acc_config1; + + idx = (acc_config1 & 0xc0) >> 6; + if (idx < ARRAY_SIZE(bma400_scale_table)) { + data->scale = bma400_scale_table[idx]; + return 0; + } + return -EINVAL; +} + +static int bma400_get_accel_scale_idx(struct bma400_data *data, int val) +{ + int i; + + for (i = 0; i < ARRAY_SIZE(bma400_scale_table); ++i) { + if (bma400_scale_table[i] == val) + return i; + } + return -EINVAL; +} + +static int bma400_set_accel_scale(struct bma400_data *data, unsigned int val) +{ + int ret; + int idx; + int acc_config1 = bma400_get_acc_config1_reg(data); + + if (acc_config1 < 0) + return acc_config1; + + idx = bma400_get_accel_scale_idx(data, val); + + if (idx < 0) + return idx; + + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG1_REG, + (acc_config1 & 0x3f) | (idx << 6)); + if (ret < 0) + return ret; + + data->scale = val; + return 0; +} + +static int bma400_get_power_mode(struct bma400_data *data) +{ + int ret; + unsigned int val; + + ret = regmap_read(data->regmap, BMA400_STATUS_REG, &val); + if (ret < 0) { + dev_err(data->dev, "Failed to read status register"); + return ret; + } + + data->power_mode = (val >> 1) & 0x03; + return 0; +} + +static int bma400_set_power_mode(struct bma400_data *data, + enum bma400_power_mode mode) +{ + int ret; + + ret = bma400_get_acc_config0_reg(data); + + if (ret < 0) + return ret; + + if (data->power_mode == mode) + return 0; + + if (mode == POWER_MODE_INVALID) + return -EINVAL; + + /* Preserve the low-power oversample ratio etc */ + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG0_REG, + mode | (ret & 0xfc)); + + if (ret < 0) { + dev_err(data->dev, "Failed to write to power-mode"); + return ret; + } + + /* Update our cached power-mode */ + data->power_mode = mode; + + /* + * Update our cached osr and odr based on the new + * power-mode. + */ + bma400_get_accel_output_data_rate(data); + bma400_get_accel_oversampling_ratio(data); + + return 0; +} + +static int bma400_init(struct bma400_data *data) +{ + int ret; + unsigned int val; + + /* Try to read chip_id register. It must return 0x90. */ + ret = regmap_read(data->regmap, BMA400_CHIP_ID_REG, &val); + + if (ret < 0) { + dev_err(data->dev, "Failed to read chip id register: %x!", ret); + return ret; + } else if (val != BMA400_ID_REG_VAL) { + dev_err(data->dev, "CHIP ID MISMATCH: %x!", ret); + return -ENODEV; + } + + ret = bma400_get_power_mode(data); + if (ret < 0) { + dev_err(data->dev, "Failed to get the initial power-mode!"); + return ret; + } + + if (data->power_mode != POWER_MODE_NORMAL) { + ret = bma400_set_power_mode(data, POWER_MODE_NORMAL); + if (ret < 0) { + dev_err(data->dev, "Failed to wake up the device!"); + return ret; + } + /* + * TODO: The datasheet waits 1500us here in the example, but + * lists 2/ODR as the wakeup time. + */ + usleep_range(1500, 20000); + } + + ret = bma400_get_accel_output_data_rate(data); + if (ret < 0) + return ret; + + ret = bma400_get_accel_oversampling_ratio(data); + if (ret < 0) + return ret; + + ret = bma400_get_accel_scale(data); + if (ret < 0) + return ret; + + /* + * Once the interrupt engine is supported we might use the + * data_src_reg, but for now ensure this is set to the + * variable ODR filter selectable by the sample frequency + * channel. + */ + return regmap_write(data->regmap, BMA400_ACC_CONFIG2_REG, 0x00); +} + +static ssize_t bma400_show_samp_freq_avail(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + int i; + int len = 0; + const struct bma400_sample_freq *sample_freq; + + for (i = 0; i < ARRAY_SIZE(bma400_sample_freqs); ++i) { + sample_freq = &bma400_sample_freqs[i]; + len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%06d ", + sample_freq->hz, sample_freq->micro_hz); + } + + buf[len - 1] = '\n'; + + return len; +} + +static ssize_t bma400_show_scale_avail(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + int i; + int len = 0; + + for (i = 0; i < ARRAY_SIZE(bma400_scale_table); ++i) + len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06d ", + bma400_scale_table[i]); + + buf[len - 1] = '\n'; + + return len; +} + +static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(bma400_show_samp_freq_avail); + +static IIO_DEVICE_ATTR(in_accel_scale_available, 0444, + bma400_show_scale_avail, NULL, 0); + +static struct attribute *bma400_attributes[] = { + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, + &iio_dev_attr_in_accel_scale_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group bma400_attrs_group = { + .attrs = bma400_attributes, +}; + +static int bma400_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int *val, + int *val2, long mask) +{ + struct bma400_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_PROCESSED: + mutex_lock(&data->mutex); + ret = bma400_get_temp_reg(data, val, val2); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_RAW: + mutex_lock(&data->mutex); + ret = bma400_get_accel_reg(data, chan, val); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + switch (chan->type) { + case IIO_ACCEL: + if (!data->sample_freq) + return -EINVAL; + + *val = data->sample_freq->hz; + if (!data->sample_freq->micro_hz) + return IIO_VAL_INT; + + *val2 = data->sample_freq->micro_hz; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_TEMP: + /* + * Runs at a fixed sampling frequency. See Section 4.4 + * of the datasheet. + */ + *val = 6; + *val2 = 250000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_SCALE: + *val = 0; + *val2 = data->scale; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + /* + * TODO: We could avoid this logic and returning -EINVAL here if + * we set both the low-power and normal mode OSR registers when + * we configure the device. + */ + if (data->oversampling_ratio < 0) + return -EINVAL; + + *val = data->oversampling_ratio; + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + +static int bma400_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int val, int val2, + long mask) +{ + int ret; + struct bma400_data *data = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + /* + * The sample frequency is readonly for the temperature + * register and a fixed value in low-power mode. + */ + if (chan->type != IIO_ACCEL) + return -EINVAL; + + mutex_lock(&data->mutex); + ret = bma400_set_accel_output_data_rate(data, val, val2); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_SCALE: + if (val != 0) + return -EINVAL; + + mutex_lock(&data->mutex); + ret = bma400_set_accel_scale(data, val2); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + mutex_lock(&data->mutex); + ret = bma400_set_accel_oversampling_ratio(data, val); + mutex_unlock(&data->mutex); + return ret; + default: + return -EINVAL; + } +} + +static int bma400_write_raw_get_fmt(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + long mask) +{ + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_SCALE: + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + +static const struct iio_info bma400_info = { + .attrs = &bma400_attrs_group, + .read_raw = bma400_read_raw, + .write_raw = bma400_write_raw, + .write_raw_get_fmt = bma400_write_raw_get_fmt, +}; + +int bma400_probe(struct device *dev, + struct regmap *regmap, + const char *name) +{ + int ret; + struct bma400_data *data; + struct iio_dev *indio_dev; + + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + data->regmap = regmap; + data->dev = dev; + + ret = bma400_init(data); + if (ret < 0) + return ret; + + ret = iio_read_mount_matrix(dev, "mount-matrix", + &data->orientation); + if (ret) + return ret; + + mutex_init(&data->mutex); + indio_dev->dev.parent = dev; + indio_dev->name = name; + indio_dev->info = &bma400_info; + indio_dev->channels = bma400_channels; + indio_dev->num_channels = ARRAY_SIZE(bma400_channels); + indio_dev->modes = INDIO_DIRECT_MODE; + + dev_set_drvdata(dev, indio_dev); + + ret = iio_device_register(indio_dev); + if (ret < 0) { + dev_err(dev, "unable to register iio device\n"); + return ret; + } + + return 0; +} +EXPORT_SYMBOL(bma400_probe); + +int bma400_remove(struct device *dev) +{ + int ret; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct bma400_data *data = iio_priv(indio_dev); + + mutex_lock(&data->mutex); + ret = bma400_softreset(data); + if (ret < 0) { + /* + * If the softreset failed, try to put the device in + * sleep mode, but still report the error. + */ + dev_err(data->dev, "Failed to reset the device"); + bma400_set_power_mode(data, POWER_MODE_SLEEP); + } + mutex_unlock(&data->mutex); + + iio_device_unregister(indio_dev); + + return ret; +} +EXPORT_SYMBOL(bma400_remove); + +MODULE_AUTHOR("Dan Robertson "); +MODULE_DESCRIPTION("Bosch BMA400 triaxial acceleration sensor"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/accel/bma400_i2c.c b/drivers/iio/accel/bma400_i2c.c new file mode 100644 index 000000000000..227012a32e13 --- /dev/null +++ b/drivers/iio/accel/bma400_i2c.c @@ -0,0 +1,54 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * bma400-i2c.c - I2C IIO driver for Bosch BMA400 triaxial acceleration sensor. + * + * Copyright 2019 Dan Robertson + * + * I2C address is either 0x14 or 0x15 depending on SDO + * + */ +#include +#include +#include +#include +#include + +#include "bma400.h" + +static int bma400_i2c_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct regmap *regmap; + + regmap = devm_regmap_init_i2c(client, + &bma400_regmap_config); + + return bma400_probe(&client->dev, regmap, id->name); +} + +static int bma400_i2c_remove(struct i2c_client *client) +{ + return bma400_remove(&client->dev); +} + +static const struct i2c_device_id bma400_i2c_ids[] = { + { "bma400", 0 }, + { } +}; + +MODULE_DEVICE_TABLE(i2c, bma400_i2c_ids); + +static struct i2c_driver bma400_i2c_driver = { + .driver = { + .name = "bma400", + }, + .probe = bma400_i2c_probe, + .remove = bma400_i2c_remove, + .id_table = bma400_i2c_ids, +}; + +module_i2c_driver(bma400_i2c_driver); + +MODULE_AUTHOR("Dan Robertson "); +MODULE_DESCRIPTION("Bosch BMA400 triaxial acceleration sensor"); +MODULE_LICENSE("GPL");