diff mbox series

[v7,2/2] iio: accel: Add support for the Bosch-Sensortec BMI088

Message ID 20210121155700.9267-2-mike.looijmans@topic.nl (mailing list archive)
State New
Headers show
Series [v7,1/2] dt-bindings: iio: accel: Add bmi088 accelerometer bindings | expand

Commit Message

Mike Looijmans Jan. 21, 2021, 3:56 p.m. UTC
The BMI088 is a combined module with both accelerometer and gyroscope.
This adds the accelerometer driver support for the SPI interface.
The gyroscope part is already supported by the BMG160 driver.

Signed-off-by: Mike Looijmans <mike.looijmans@topic.nl>

---

Changes in v7:
Change bmi088_accel to bmi088-accel
Order includes alphabetically
Suspend and disable on remove
Make bmi088_regmap_spi_{read|write} static

Changes in v6:
Hope you have good memory - v5 was almost a year ago now
Remove superfluous *val=0
Make sample_frequency selection into read_avail list

Changes in v5:
Add includes and forward defines in header
BIT(7) instead of 0x80
Reset already sets defaults, do not set them again
Remove now unused bmi088_accel_set_bw
Remove unused AXIS_MAX
Use MASK define for ODR setting
Explain buffer use and alignment
Split bmi088_accel_set_power_state into "on" and "off" parts
Cosmetic changes to improve readability

Changes in v4:
Remove unused #include directives
Remove unused #defines for event and irq
Replace (ret < 0) with (ret) for all regmap calls
Consistent checking of IO errors in probe and init
Removed #ifdef CONFIG_PM guard
Use bitops for set_frequency instead of loop with shift
s/__s16/s16/g
Remove excess blank lines
Don't return -EAGAIN in pm_runtime

Changes in v3:
Processed comments from Jonathan Cameron and Lars-Peter Clausen
implement runtime PM (tested by code tracing) and sleep
fix scale and offset factors for accel and temperature and
return raw values instead of pre-scaled ones
Use iio_device_{claim,release}_direct_mode
Remove unused code and structs
Use a cache-aligned buffer for bulk read
Configure and enable caching register values

Changes in v2:
Remove unused typedefs and variables
Fix error return when iio_device_register fails

 drivers/iio/accel/Kconfig             |  18 +
 drivers/iio/accel/Makefile            |   2 +
 drivers/iio/accel/bmi088-accel-core.c | 632 ++++++++++++++++++++++++++
 drivers/iio/accel/bmi088-accel-spi.c  |  83 ++++
 drivers/iio/accel/bmi088-accel.h      |  18 +
 5 files changed, 753 insertions(+)
 create mode 100644 drivers/iio/accel/bmi088-accel-core.c
 create mode 100644 drivers/iio/accel/bmi088-accel-spi.c
 create mode 100644 drivers/iio/accel/bmi088-accel.h

Comments

Jonathan Cameron Jan. 23, 2021, 3:49 p.m. UTC | #1
On Thu, 21 Jan 2021 16:56:59 +0100
Mike Looijmans <mike.looijmans@topic.nl> wrote:

> The BMI088 is a combined module with both accelerometer and gyroscope.
> This adds the accelerometer driver support for the SPI interface.
> The gyroscope part is already supported by the BMG160 driver.
> 
> Signed-off-by: Mike Looijmans <mike.looijmans@topic.nl>
> 

..

> diff --git a/drivers/iio/accel/bmi088-accel-core.c b/drivers/iio/accel/bmi088-accel-core.c
> new file mode 100644
> index 000000000000..d7dc6f3e2fa6
> --- /dev/null
> +++ b/drivers/iio/accel/bmi088-accel-core.c
> @@ -0,0 +1,632 @@
> +// SPDX-License-Identifier: GPL-2.0
> +/*
> + * 3-axis accelerometer driver supporting following Bosch-Sensortec chips:
> + *  - BMI088
> + *
> + * Copyright (c) 2018-2021, Topic Embedded Products
> + */
> +
> +#include <asm/unaligned.h>

Ah.  I forgot to highlight this one.  Oddly convention is
to do alphabetical order, but in groups.  Generic first
(e.g. linux/*.h) and then specific (asm/*) and finally
as you have it, local headers.

Mind you it's not universal in the kernel, but I think this
is one of the more common patterns and it's definitely
preferred in IIO. 

> +#include <linux/acpi.h>
> +#include <linux/delay.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/sysfs.h>
> +#include <linux/interrupt.h>
> +#include <linux/module.h>
> +#include <linux/pm.h>
> +#include <linux/pm_runtime.h>
> +#include <linux/regmap.h>
> +#include <linux/slab.h>
> +
> +#include "bmi088-accel.h"
> +
...

> +static int bmi088_accel_set_power_state_on(struct bmi088_accel_data *data)

Linus Walleij's query in v6 needs addressing (it crossed with you posting v7 I think)

> +{
> +	struct device *dev = regmap_get_device(data->regmap);
> +	int ret;
> +
> +	ret = pm_runtime_get_sync(dev);
> +	if (ret < 0) {
> +		pm_runtime_put_noidle(dev);
> +		return ret;
> +	}
> +
> +	return 0;
> +}
> +
> +static int bmi088_accel_set_power_state_off(struct bmi088_accel_data *data)
> +{
> +	struct device *dev = regmap_get_device(data->regmap);
> +	int ret;
> +
> +	pm_runtime_mark_last_busy(dev);
> +	ret = pm_runtime_put_autosuspend(dev);
> +
> +	return ret < 0 ? ret : 0;
> +}
> +
> +/*
> + * The register ACC_PWR_CTRL enables and disables the accelerometer and the
> + * temperature sensor.
> + */
> +static int bmi088_accel_enable(struct bmi088_accel_data *data, bool on_off)
> +{
> +	struct device *dev = regmap_get_device(data->regmap);
> +	unsigned int val = on_off ? 0x4 : 0x0;
> +	int ret;
> +
> +	ret = regmap_write(data->regmap, BMI088_ACCEL_REG_PWR_CTRL, val);
> +	if (ret) {
> +		dev_err(dev, "Error writing ACC_PWR_CTRL reg\n");
> +		return ret;
> +	}
> +	/* Datasheet recommends to wait at least 5ms before communication */
> +	usleep_range(5000, 6000);
> +
> +	return 0;
> +}
> +
> +/* In suspend mode, only the accelerometer is powered down. */
> +static int bmi088_accel_set_mode(struct bmi088_accel_data *data,
> +				enum bmi088_power_modes mode)
> +{
> +	struct device *dev = regmap_get_device(data->regmap);
> +	unsigned int val = mode == BMI088_ACCEL_MODE_SUSPEND ? 0x3 : 0x0;
> +	int ret;
> +
> +	ret = regmap_write(data->regmap, BMI088_ACCEL_REG_PWR_CONF, val);
> +	if (ret) {
> +		dev_err(dev, "Error writing ACCEL_PWR_CONF reg\n");
> +		return ret;
> +	}
> +
> +	return 0;
> +}
> +
...

> +int bmi088_accel_core_probe(struct device *dev, struct regmap *regmap,
> +	int irq, const char *name, bool block_supported)
> +{
> +	struct bmi088_accel_data *data;
> +	struct iio_dev *indio_dev;
> +	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 = bmi088_accel_chip_init(data);
> +	if (ret)
> +		return ret;
> +
> +	mutex_init(&data->mutex);
> +
> +	indio_dev->dev.parent = dev;
> +	indio_dev->channels = data->chip_info->channels;
> +	indio_dev->num_channels = data->chip_info->num_channels;
> +	indio_dev->name = name ? name : data->chip_info->name;
> +	indio_dev->available_scan_masks = bmi088_accel_scan_masks;
> +	indio_dev->modes = INDIO_DIRECT_MODE;
> +	indio_dev->info = &bmi088_accel_info;
> +
> +	ret = pm_runtime_set_active(dev);
> +	if (ret)
> +		return ret;
> +
> +	pm_runtime_enable(dev);
> +	pm_runtime_set_autosuspend_delay(dev, BMI088_AUTO_SUSPEND_DELAY_MS);
> +	pm_runtime_use_autosuspend(dev);
> +
> +	ret = iio_device_register(indio_dev);
> +	if (ret)
> +		dev_err(dev, "Unable to register iio device\n");
> +
> +	return ret;
> +}
> +EXPORT_SYMBOL_GPL(bmi088_accel_core_probe);
> +
> +static void bmi088_accel_suspend_impl(struct bmi088_accel_data *data)
> +{
> +	mutex_lock(&data->mutex);
> +	bmi088_accel_set_mode(data, BMI088_ACCEL_MODE_SUSPEND);
> +	bmi088_accel_enable(data, false);
> +	mutex_unlock(&data->mutex);
> +}accel_supsn
> +
> +int bmi088_accel_core_remove(struct device *dev)
> +{
> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
> +	struct bmi088_accel_data *data = iio_priv(indio_dev);
> +
> +	iio_device_unregister(indio_dev);
> +
> +	pm_runtime_disable(dev);
> +	pm_runtime_set_suspended(dev);
> +	pm_runtime_put_noidle(dev);
> +	bmi088_accel_suspend_impl(data);
Sorry, did read your response to v6 review quick enough or I'd have
commented on it there.

Whilst it seems convenient I would rather you didn't use this shared
function.  It obscures what is going on a little so it's not obvious
which elements of probe this is undoing.

the accel_enable is buried in *chip_init() so I'd ideally like to
see an *chip_uninit() that undoes only what was done in chip_init()
(next to it so it's easy to check!)

The set_mode() bit is harder to identify in probe and actually makes
me a bit suspicious.  If we probe the driver and immediately read
I suspect the device may not actually be turned on?
 

> +
> +	return 0;
> +}
> +EXPORT_SYMBOL_GPL(bmi088_accel_core_remove);
> +
> +/* When going into system sleep, put the chip in power down */
> +static int __maybe_unused bmi088_accel_suspend(struct device *dev)
> +{
> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
> +	struct bmi088_accel_data *data = iio_priv(indio_dev);
> +
> +	bmi088_accel_suspend_impl(data);
> +
> +	return 0;
> +}
> +
> +static int __maybe_unused bmi088_accel_resume(struct device *dev)
> +{
> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
> +	struct bmi088_accel_data *data = iio_priv(indio_dev);
> +
> +	mutex_lock(&data->mutex);
> +	bmi088_accel_enable(data, true);
> +	bmi088_accel_set_mode(data, BMI088_ACCEL_MODE_ACTIVE);
> +	mutex_unlock(&data->mutex);
> +
> +	return 0;
> +}
> +
> +/* For runtime PM put the chip in suspend mode */
> +static int __maybe_unused bmi088_accel_runtime_suspend(struct device *dev)
> +{
> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
> +	struct bmi088_accel_data *data = iio_priv(indio_dev);
> +
> +	return bmi088_accel_set_mode(data, BMI088_ACCEL_MODE_SUSPEND);
> +}
> +
> +static int __maybe_unused bmi088_accel_runtime_resume(struct device *dev)
> +{
> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
> +	struct bmi088_accel_data *data = iio_priv(indio_dev);
> +	int ret;
> +
> +	ret = bmi088_accel_set_mode(data, BMI088_ACCEL_MODE_ACTIVE);
> +	if (ret)
> +		return ret;
> +
> +	usleep_range(BMI088_ACCEL_MAX_STARTUP_TIME_US,
> +		     BMI088_ACCEL_MAX_STARTUP_TIME_US * 2);
> +
> +	return 0;
> +}
> +
> +const struct dev_pm_ops bmi088_accel_pm_ops = {
> +	SET_SYSTEM_SLEEP_PM_OPS(bmi088_accel_suspend, bmi088_accel_resume)
> +	SET_RUNTIME_PM_OPS(bmi088_accel_runtime_suspend,
> +			   bmi088_accel_runtime_resume, NULL)
> +};
> +EXPORT_SYMBOL_GPL(bmi088_accel_pm_ops);
> +
> +MODULE_AUTHOR("Niek van Agt <niek.van.agt@topicproducts.com>");
> +MODULE_LICENSE("GPL v2");
> +MODULE_DESCRIPTION("BMI088 accelerometer driver (core)");

...
diff mbox series

Patch

diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig
index 2e0c62c39155..cceda3cecbcf 100644
--- a/drivers/iio/accel/Kconfig
+++ b/drivers/iio/accel/Kconfig
@@ -157,6 +157,24 @@  config BMC150_ACCEL_SPI
 	tristate
 	select REGMAP_SPI
 
+config BMI088_ACCEL
+	tristate "Bosch BMI088 Accelerometer Driver"
+	depends on SPI
+	select IIO_BUFFER
+	select IIO_TRIGGERED_BUFFER
+	select REGMAP
+	select BMI088_ACCEL_SPI
+	help
+	  Say yes here to build support for the Bosch BMI088 accelerometer.
+
+	  This is a combo module with both accelerometer and gyroscope. This
+	  driver only implements the accelerometer part, which has its own
+	  address and register map. BMG160 provides the gyroscope driver.
+
+config BMI088_ACCEL_SPI
+	tristate
+	select REGMAP_SPI
+
 config DA280
 	tristate "MiraMEMS DA280 3-axis 14-bit digital accelerometer driver"
 	depends on I2C
diff --git a/drivers/iio/accel/Makefile b/drivers/iio/accel/Makefile
index 4f6c1ebe13b0..32cd1342a31a 100644
--- a/drivers/iio/accel/Makefile
+++ b/drivers/iio/accel/Makefile
@@ -20,6 +20,8 @@  obj-$(CONFIG_BMA400_SPI) += bma400_spi.o
 obj-$(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
+obj-$(CONFIG_BMI088_ACCEL) += bmi088-accel-core.o
+obj-$(CONFIG_BMI088_ACCEL_SPI) += bmi088-accel-spi.o
 obj-$(CONFIG_DA280)	+= da280.o
 obj-$(CONFIG_DA311)	+= da311.o
 obj-$(CONFIG_DMARD06)	+= dmard06.o
diff --git a/drivers/iio/accel/bmi088-accel-core.c b/drivers/iio/accel/bmi088-accel-core.c
new file mode 100644
index 000000000000..d7dc6f3e2fa6
--- /dev/null
+++ b/drivers/iio/accel/bmi088-accel-core.c
@@ -0,0 +1,632 @@ 
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * 3-axis accelerometer driver supporting following Bosch-Sensortec chips:
+ *  - BMI088
+ *
+ * Copyright (c) 2018-2021, Topic Embedded Products
+ */
+
+#include <asm/unaligned.h>
+#include <linux/acpi.h>
+#include <linux/delay.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/pm.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/slab.h>
+
+#include "bmi088-accel.h"
+
+#define BMI088_ACCEL_REG_CHIP_ID			0x00
+#define BMI088_ACCEL_REG_ERROR				0x02
+
+#define BMI088_ACCEL_REG_INT_STATUS			0x1D
+#define BMI088_ACCEL_INT_STATUS_BIT_DRDY		BIT(7)
+
+#define BMI088_ACCEL_REG_RESET				0x7E
+#define BMI088_ACCEL_RESET_VAL				0xB6
+
+#define BMI088_ACCEL_REG_PWR_CTRL			0x7D
+#define BMI088_ACCEL_REG_PWR_CONF			0x7C
+
+#define BMI088_ACCEL_REG_INT_MAP_DATA			0x58
+#define BMI088_ACCEL_INT_MAP_DATA_BIT_INT1_DRDY		BIT(2)
+#define BMI088_ACCEL_INT_MAP_DATA_BIT_INT2_FWM		BIT(5)
+
+#define BMI088_ACCEL_REG_INT1_IO_CONF			0x53
+#define BMI088_ACCEL_INT1_IO_CONF_BIT_ENABLE_OUT	BIT(3)
+#define BMI088_ACCEL_INT1_IO_CONF_BIT_LVL		BIT(1)
+
+#define BMI088_ACCEL_REG_INT2_IO_CONF			0x54
+#define BMI088_ACCEL_INT2_IO_CONF_BIT_ENABLE_OUT	BIT(3)
+#define BMI088_ACCEL_INT2_IO_CONF_BIT_LVL		BIT(1)
+
+#define BMI088_ACCEL_REG_ACC_CONF			0x40
+#define BMI088_ACCEL_MODE_ODR_MASK			0x0f
+
+#define BMI088_ACCEL_REG_ACC_RANGE			0x41
+#define BMI088_ACCEL_RANGE_3G				0x00
+#define BMI088_ACCEL_RANGE_6G				0x01
+#define BMI088_ACCEL_RANGE_12G				0x02
+#define BMI088_ACCEL_RANGE_24G				0x03
+
+#define BMI088_ACCEL_REG_TEMP				0x22
+#define BMI088_ACCEL_REG_TEMP_SHIFT			5
+#define BMI088_ACCEL_TEMP_UNIT				125
+#define BMI088_ACCEL_TEMP_OFFSET			23000
+
+#define BMI088_ACCEL_REG_XOUT_L				0x12
+#define BMI088_ACCEL_AXIS_TO_REG(axis) \
+	(BMI088_ACCEL_REG_XOUT_L + (axis * 2))
+
+#define BMI088_ACCEL_MAX_STARTUP_TIME_US		1000
+#define BMI088_AUTO_SUSPEND_DELAY_MS			2000
+
+#define BMI088_ACCEL_REG_FIFO_STATUS			0x0E
+#define BMI088_ACCEL_REG_FIFO_CONFIG0			0x48
+#define BMI088_ACCEL_REG_FIFO_CONFIG1			0x49
+#define BMI088_ACCEL_REG_FIFO_DATA			0x3F
+#define BMI088_ACCEL_FIFO_LENGTH			100
+
+#define BMI088_ACCEL_FIFO_MODE_FIFO			0x40
+#define BMI088_ACCEL_FIFO_MODE_STREAM			0x80
+
+enum bmi088_accel_axis {
+	AXIS_X,
+	AXIS_Y,
+	AXIS_Z,
+};
+
+enum bmi088_power_modes {
+	BMI088_ACCEL_MODE_ACTIVE,
+	BMI088_ACCEL_MODE_SUSPEND,
+};
+
+static const int bmi088_sample_freqs[] = {
+	12, 500000,
+	25, 0,
+	50, 0,
+	100, 0,
+	200, 0,
+	400, 0,
+	800, 0,
+	1600, 0,
+};
+
+/* Available OSR (over sampling rate) sets the 3dB cut-off frequency */
+enum bmi088_osr_modes {
+	BMI088_ACCEL_MODE_OSR_NORMAL = 0xA,
+	BMI088_ACCEL_MODE_OSR_2 = 0x9,
+	BMI088_ACCEL_MODE_OSR_4 = 0x8,
+};
+
+/* Available ODR (output data rates) in Hz */
+enum bmi088_odr_modes {
+	BMI088_ACCEL_MODE_ODR_12_5 = 0x5,
+	BMI088_ACCEL_MODE_ODR_25 = 0x6,
+	BMI088_ACCEL_MODE_ODR_50 = 0x7,
+	BMI088_ACCEL_MODE_ODR_100 = 0x8,
+	BMI088_ACCEL_MODE_ODR_200 = 0x9,
+	BMI088_ACCEL_MODE_ODR_400 = 0xa,
+	BMI088_ACCEL_MODE_ODR_800 = 0xb,
+	BMI088_ACCEL_MODE_ODR_1600 = 0xc,
+};
+
+struct bmi088_scale_info {
+	int scale;
+	u8 reg_range;
+};
+
+struct bmi088_accel_chip_info {
+	const char *name;
+	u8 chip_id;
+	const struct iio_chan_spec *channels;
+	int num_channels;
+};
+
+struct bmi088_accel_data {
+	struct regmap *regmap;
+	struct mutex mutex;
+	const struct bmi088_accel_chip_info *chip_info;
+	u8 buffer[2] ____cacheline_aligned; /* shared DMA safe buffer */
+};
+
+static const struct regmap_range bmi088_volatile_ranges[] = {
+	/* All registers below 0x40 are volatile, except the CHIP ID. */
+	regmap_reg_range(BMI088_ACCEL_REG_ERROR, 0x3f),
+	/* Mark the RESET as volatile too, it is self-clearing */
+	regmap_reg_range(BMI088_ACCEL_REG_RESET, BMI088_ACCEL_REG_RESET),
+};
+
+static const struct regmap_access_table bmi088_volatile_table = {
+	.yes_ranges	= bmi088_volatile_ranges,
+	.n_yes_ranges	= ARRAY_SIZE(bmi088_volatile_ranges),
+};
+
+const struct regmap_config bmi088_regmap_conf = {
+	.reg_bits = 8,
+	.val_bits = 8,
+	.max_register = 0x7E,
+	.volatile_table = &bmi088_volatile_table,
+	.cache_type = REGCACHE_RBTREE,
+};
+EXPORT_SYMBOL_GPL(bmi088_regmap_conf);
+
+static int bmi088_accel_set_power_state_on(struct bmi088_accel_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	int ret;
+
+	ret = pm_runtime_get_sync(dev);
+	if (ret < 0) {
+		pm_runtime_put_noidle(dev);
+		return ret;
+	}
+
+	return 0;
+}
+
+static int bmi088_accel_set_power_state_off(struct bmi088_accel_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	int ret;
+
+	pm_runtime_mark_last_busy(dev);
+	ret = pm_runtime_put_autosuspend(dev);
+
+	return ret < 0 ? ret : 0;
+}
+
+/*
+ * The register ACC_PWR_CTRL enables and disables the accelerometer and the
+ * temperature sensor.
+ */
+static int bmi088_accel_enable(struct bmi088_accel_data *data, bool on_off)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	unsigned int val = on_off ? 0x4 : 0x0;
+	int ret;
+
+	ret = regmap_write(data->regmap, BMI088_ACCEL_REG_PWR_CTRL, val);
+	if (ret) {
+		dev_err(dev, "Error writing ACC_PWR_CTRL reg\n");
+		return ret;
+	}
+	/* Datasheet recommends to wait at least 5ms before communication */
+	usleep_range(5000, 6000);
+
+	return 0;
+}
+
+/* In suspend mode, only the accelerometer is powered down. */
+static int bmi088_accel_set_mode(struct bmi088_accel_data *data,
+				enum bmi088_power_modes mode)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	unsigned int val = mode == BMI088_ACCEL_MODE_SUSPEND ? 0x3 : 0x0;
+	int ret;
+
+	ret = regmap_write(data->regmap, BMI088_ACCEL_REG_PWR_CONF, val);
+	if (ret) {
+		dev_err(dev, "Error writing ACCEL_PWR_CONF reg\n");
+		return ret;
+	}
+
+	return 0;
+}
+
+static int bmi088_accel_get_sample_freq(struct bmi088_accel_data *data,
+					int *val, int *val2)
+{
+	unsigned int value;
+	int ret;
+
+	ret = regmap_read(data->regmap, BMI088_ACCEL_REG_ACC_CONF,
+			  &value);
+	if (ret)
+		return ret;
+
+	value &= BMI088_ACCEL_MODE_ODR_MASK;
+	value -= BMI088_ACCEL_MODE_ODR_12_5;
+	value <<= 1;
+
+	if (value >= ARRAY_SIZE(bmi088_sample_freqs) - 1)
+		return -EINVAL;
+
+	*val = bmi088_sample_freqs[value];
+	*val2 = bmi088_sample_freqs[value + 1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int bmi088_accel_set_sample_freq(struct bmi088_accel_data *data, int val)
+{
+	unsigned int regval;
+	int index = 0;
+
+	while (index < ARRAY_SIZE(bmi088_sample_freqs) &&
+	       bmi088_sample_freqs[index] != val)
+		index += 2;
+
+	if (index >= ARRAY_SIZE(bmi088_sample_freqs))
+		return -EINVAL;
+
+	regval = (index >> 1) + BMI088_ACCEL_MODE_ODR_12_5;
+
+	return regmap_update_bits(data->regmap, BMI088_ACCEL_REG_ACC_CONF,
+				  BMI088_ACCEL_MODE_ODR_MASK, regval);
+}
+
+static int bmi088_accel_get_temp(struct bmi088_accel_data *data, int *val)
+{
+	int ret;
+	s16 temp;
+
+	mutex_lock(&data->mutex);
+
+	ret = regmap_bulk_read(data->regmap, BMI088_ACCEL_REG_TEMP,
+			       &data->buffer, sizeof(__be16));
+	/* data->buffer is cacheline aligned */
+	temp = be16_to_cpu(*(__be16 *)data->buffer);
+
+	mutex_unlock(&data->mutex);
+
+	if (ret)
+		return ret;
+
+	*val = temp >> BMI088_ACCEL_REG_TEMP_SHIFT;
+
+	return IIO_VAL_INT;
+}
+
+static int bmi088_accel_get_axis(struct bmi088_accel_data *data,
+				 struct iio_chan_spec const *chan,
+				 int *val)
+{
+	int ret;
+	s16 raw_val;
+
+	mutex_lock(&data->mutex);
+
+	ret = bmi088_accel_set_power_state_on(data);
+	if (ret)
+		return ret;
+
+	ret = regmap_bulk_read(data->regmap,
+			       BMI088_ACCEL_AXIS_TO_REG(chan->scan_index),
+			       data->buffer, sizeof(__le16));
+	raw_val = le16_to_cpu(*(__le16 *)data->buffer);
+
+	bmi088_accel_set_power_state_off(data);
+
+	mutex_unlock(&data->mutex);
+
+	if (ret)
+		return ret;
+
+	*val = raw_val;
+
+	return IIO_VAL_INT;
+}
+
+static int bmi088_accel_read_raw(struct iio_dev *indio_dev,
+				 struct iio_chan_spec const *chan,
+				 int *val, int *val2, long mask)
+{
+	struct bmi088_accel_data *data = iio_priv(indio_dev);
+	int ret;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		switch (chan->type) {
+		case IIO_TEMP:
+			return bmi088_accel_get_temp(data, val);
+		case IIO_ACCEL:
+			ret = iio_device_claim_direct_mode(indio_dev);
+			if (ret)
+				return ret;
+
+			ret = bmi088_accel_get_axis(data, chan, val);
+			iio_device_release_direct_mode(indio_dev);
+			if (ret)
+				return ret;
+
+			return IIO_VAL_INT;
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_OFFSET:
+		switch (chan->type) {
+		case IIO_TEMP:
+			/* Offset applies before scale */
+			*val = BMI088_ACCEL_TEMP_OFFSET/BMI088_ACCEL_TEMP_UNIT;
+			return IIO_VAL_INT;
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_TEMP:
+			/* 0.125 degrees per LSB */
+			*val = BMI088_ACCEL_TEMP_UNIT;
+			return IIO_VAL_INT;
+		case IIO_ACCEL:
+			ret = regmap_read(data->regmap,
+					  BMI088_ACCEL_REG_ACC_RANGE, val);
+			if (ret)
+				return ret;
+
+			*val2 = 15 - (*val & 0x3);
+			*val = 3 * 980;
+
+			return IIO_VAL_FRACTIONAL_LOG2;
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		mutex_lock(&data->mutex);
+		ret = bmi088_accel_get_sample_freq(data, val, val2);
+		mutex_unlock(&data->mutex);
+		return ret;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int bmi088_accel_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:
+		*type = IIO_VAL_INT_PLUS_MICRO;
+		*vals = bmi088_sample_freqs;
+		*length = ARRAY_SIZE(bmi088_sample_freqs);
+		return IIO_AVAIL_LIST;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int bmi088_accel_write_raw(struct iio_dev *indio_dev,
+				  struct iio_chan_spec const *chan,
+				  int val, int val2, long mask)
+{
+	struct bmi088_accel_data *data = iio_priv(indio_dev);
+	int ret;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		mutex_lock(&data->mutex);
+		ret = bmi088_accel_set_sample_freq(data, val);
+		mutex_unlock(&data->mutex);
+		return ret;
+	default:
+		return -EINVAL;
+	}
+}
+
+#define BMI088_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_SAMP_FREQ), \
+	.info_mask_shared_by_type_available = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.scan_index = AXIS_##_axis, \
+}
+
+static const struct iio_chan_spec bmi088_accel_channels[] = {
+	{
+		.type = IIO_TEMP,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+				      BIT(IIO_CHAN_INFO_SCALE) |
+				      BIT(IIO_CHAN_INFO_OFFSET),
+		.scan_index = -1,
+	},
+	BMI088_ACCEL_CHANNEL(X),
+	BMI088_ACCEL_CHANNEL(Y),
+	BMI088_ACCEL_CHANNEL(Z),
+	IIO_CHAN_SOFT_TIMESTAMP(3),
+};
+
+static const struct bmi088_accel_chip_info bmi088_accel_chip_info_tbl[] = {
+	[0] = {
+		.name = "bmi088a",
+		.chip_id = 0x1E,
+		.channels = bmi088_accel_channels,
+		.num_channels = ARRAY_SIZE(bmi088_accel_channels),
+	},
+};
+
+static const struct iio_info bmi088_accel_info = {
+	.read_raw	= bmi088_accel_read_raw,
+	.write_raw	= bmi088_accel_write_raw,
+	.read_avail	= bmi088_accel_read_avail,
+};
+
+static const unsigned long bmi088_accel_scan_masks[] = {
+	BIT(AXIS_X) | BIT(AXIS_Y) | BIT(AXIS_Z),
+	0
+};
+
+static int bmi088_accel_chip_init(struct bmi088_accel_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	int ret, i;
+	unsigned int val;
+
+	/* Do a dummy read to enable SPI interface, won't harm I2C */
+	regmap_read(data->regmap, BMI088_ACCEL_REG_INT_STATUS, &val);
+
+	/*
+	 * Reset chip to get it in a known good state. A delay of 1ms after
+	 * reset is required according to the data sheet
+	 */
+	ret = regmap_write(data->regmap, BMI088_ACCEL_REG_RESET,
+			   BMI088_ACCEL_RESET_VAL);
+	if (ret)
+		return ret;
+
+	usleep_range(1000, 2000);
+
+	/* Do a dummy read again after a reset to enable the SPI interface */
+	regmap_read(data->regmap, BMI088_ACCEL_REG_INT_STATUS, &val);
+
+	/* Read chip ID */
+	ret = regmap_read(data->regmap, BMI088_ACCEL_REG_CHIP_ID, &val);
+	if (ret) {
+		dev_err(dev, "Error: Reading chip id\n");
+		return ret;
+	}
+
+	/* Validate chip ID */
+	for (i = 0; i < ARRAY_SIZE(bmi088_accel_chip_info_tbl); i++) {
+		if (bmi088_accel_chip_info_tbl[i].chip_id == val) {
+			data->chip_info = &bmi088_accel_chip_info_tbl[i];
+			break;
+		}
+	}
+	if (i == ARRAY_SIZE(bmi088_accel_chip_info_tbl)) {
+		dev_err(dev, "Invalid chip %x\n", val);
+		return -ENODEV;
+	}
+
+	/* Enable accelerometer after reset */
+	return bmi088_accel_enable(data, true);
+}
+
+int bmi088_accel_core_probe(struct device *dev, struct regmap *regmap,
+	int irq, const char *name, bool block_supported)
+{
+	struct bmi088_accel_data *data;
+	struct iio_dev *indio_dev;
+	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 = bmi088_accel_chip_init(data);
+	if (ret)
+		return ret;
+
+	mutex_init(&data->mutex);
+
+	indio_dev->dev.parent = dev;
+	indio_dev->channels = data->chip_info->channels;
+	indio_dev->num_channels = data->chip_info->num_channels;
+	indio_dev->name = name ? name : data->chip_info->name;
+	indio_dev->available_scan_masks = bmi088_accel_scan_masks;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->info = &bmi088_accel_info;
+
+	ret = pm_runtime_set_active(dev);
+	if (ret)
+		return ret;
+
+	pm_runtime_enable(dev);
+	pm_runtime_set_autosuspend_delay(dev, BMI088_AUTO_SUSPEND_DELAY_MS);
+	pm_runtime_use_autosuspend(dev);
+
+	ret = iio_device_register(indio_dev);
+	if (ret)
+		dev_err(dev, "Unable to register iio device\n");
+
+	return ret;
+}
+EXPORT_SYMBOL_GPL(bmi088_accel_core_probe);
+
+static void bmi088_accel_suspend_impl(struct bmi088_accel_data *data)
+{
+	mutex_lock(&data->mutex);
+	bmi088_accel_set_mode(data, BMI088_ACCEL_MODE_SUSPEND);
+	bmi088_accel_enable(data, false);
+	mutex_unlock(&data->mutex);
+}
+
+int bmi088_accel_core_remove(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct bmi088_accel_data *data = iio_priv(indio_dev);
+
+	iio_device_unregister(indio_dev);
+
+	pm_runtime_disable(dev);
+	pm_runtime_set_suspended(dev);
+	pm_runtime_put_noidle(dev);
+	bmi088_accel_suspend_impl(data);
+
+	return 0;
+}
+EXPORT_SYMBOL_GPL(bmi088_accel_core_remove);
+
+/* When going into system sleep, put the chip in power down */
+static int __maybe_unused bmi088_accel_suspend(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct bmi088_accel_data *data = iio_priv(indio_dev);
+
+	bmi088_accel_suspend_impl(data);
+
+	return 0;
+}
+
+static int __maybe_unused bmi088_accel_resume(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct bmi088_accel_data *data = iio_priv(indio_dev);
+
+	mutex_lock(&data->mutex);
+	bmi088_accel_enable(data, true);
+	bmi088_accel_set_mode(data, BMI088_ACCEL_MODE_ACTIVE);
+	mutex_unlock(&data->mutex);
+
+	return 0;
+}
+
+/* For runtime PM put the chip in suspend mode */
+static int __maybe_unused bmi088_accel_runtime_suspend(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct bmi088_accel_data *data = iio_priv(indio_dev);
+
+	return bmi088_accel_set_mode(data, BMI088_ACCEL_MODE_SUSPEND);
+}
+
+static int __maybe_unused bmi088_accel_runtime_resume(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct bmi088_accel_data *data = iio_priv(indio_dev);
+	int ret;
+
+	ret = bmi088_accel_set_mode(data, BMI088_ACCEL_MODE_ACTIVE);
+	if (ret)
+		return ret;
+
+	usleep_range(BMI088_ACCEL_MAX_STARTUP_TIME_US,
+		     BMI088_ACCEL_MAX_STARTUP_TIME_US * 2);
+
+	return 0;
+}
+
+const struct dev_pm_ops bmi088_accel_pm_ops = {
+	SET_SYSTEM_SLEEP_PM_OPS(bmi088_accel_suspend, bmi088_accel_resume)
+	SET_RUNTIME_PM_OPS(bmi088_accel_runtime_suspend,
+			   bmi088_accel_runtime_resume, NULL)
+};
+EXPORT_SYMBOL_GPL(bmi088_accel_pm_ops);
+
+MODULE_AUTHOR("Niek van Agt <niek.van.agt@topicproducts.com>");
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("BMI088 accelerometer driver (core)");
diff --git a/drivers/iio/accel/bmi088-accel-spi.c b/drivers/iio/accel/bmi088-accel-spi.c
new file mode 100644
index 000000000000..dd1e3f6cf211
--- /dev/null
+++ b/drivers/iio/accel/bmi088-accel-spi.c
@@ -0,0 +1,83 @@ 
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * 3-axis accelerometer driver supporting following Bosch-Sensortec chips:
+ *  - BMI088
+ *
+ * Copyright (c) 2018-2020, Topic Embedded Products
+ */
+
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/slab.h>
+#include <linux/spi/spi.h>
+
+#include "bmi088-accel.h"
+
+static int bmi088_regmap_spi_write(void *context, const void *data, size_t count)
+{
+	struct spi_device *spi = context;
+
+	/* Write register is same as generic SPI */
+	return spi_write(spi, data, count);
+}
+
+static int bmi088_regmap_spi_read(void *context, const void *reg,
+				size_t reg_size, void *val, size_t val_size)
+{
+	struct spi_device *spi = context;
+	u8 addr[2];
+
+	addr[0] = *(u8 *)reg;
+	addr[0] |= BIT(7); /* Set RW = '1' */
+	addr[1] = 0; /* Read requires a dummy byte transfer */
+
+	return spi_write_then_read(spi, addr, sizeof(addr), val, val_size);
+}
+
+static struct regmap_bus bmi088_regmap_bus = {
+	.write = bmi088_regmap_spi_write,
+	.read = bmi088_regmap_spi_read,
+};
+
+static int bmi088_accel_probe(struct spi_device *spi)
+{
+	struct regmap *regmap;
+	const struct spi_device_id *id = spi_get_device_id(spi);
+
+	regmap = devm_regmap_init(&spi->dev, &bmi088_regmap_bus,
+			spi, &bmi088_regmap_conf);
+
+	if (IS_ERR(regmap)) {
+		dev_err(&spi->dev, "Failed to initialize spi regmap\n");
+		return PTR_ERR(regmap);
+	}
+
+	return bmi088_accel_core_probe(&spi->dev, regmap, spi->irq, id->name,
+				       true);
+}
+
+static int bmi088_accel_remove(struct spi_device *spi)
+{
+	return bmi088_accel_core_remove(&spi->dev);
+}
+
+static const struct spi_device_id bmi088_accel_id[] = {
+	{"bmi088-accel", },
+	{}
+};
+MODULE_DEVICE_TABLE(spi, bmi088_accel_id);
+
+static struct spi_driver bmi088_accel_driver = {
+	.driver = {
+		.name	= "bmi088_accel_spi",
+		.pm	= &bmi088_accel_pm_ops,
+	},
+	.probe		= bmi088_accel_probe,
+	.remove		= bmi088_accel_remove,
+	.id_table	= bmi088_accel_id,
+};
+module_spi_driver(bmi088_accel_driver);
+
+MODULE_AUTHOR("Niek van Agt <niek.van.agt@topicproducts.com>");
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("BMI088 accelerometer driver (SPI)");
diff --git a/drivers/iio/accel/bmi088-accel.h b/drivers/iio/accel/bmi088-accel.h
new file mode 100644
index 000000000000..5c25f16b672c
--- /dev/null
+++ b/drivers/iio/accel/bmi088-accel.h
@@ -0,0 +1,18 @@ 
+/* SPDX-License-Identifier: GPL-2.0 */
+#ifndef BMI088_ACCEL_H
+#define BMI088_ACCEL_H
+
+#include <linux/pm.h>
+#include <linux/regmap.h>
+#include <linux/types.h>
+
+struct device;
+
+extern const struct regmap_config bmi088_regmap_conf;
+extern const struct dev_pm_ops bmi088_accel_pm_ops;
+
+int bmi088_accel_core_probe(struct device *dev, struct regmap *regmap, int irq,
+			    const char *name, bool block_supported);
+int bmi088_accel_core_remove(struct device *dev);
+
+#endif /* BMI088_ACCEL_H */