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Mon, 23 Sep 2024 14:40:31 +0200 From: To: , , , , , , , , , , , , , Subject: [PATCH v8 2/2] iio: imu: smi240: add driver Date: Mon, 23 Sep 2024 14:40:17 +0200 Message-ID: <20240923124017.43867-3-Jianping.Shen@de.bosch.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20240923124017.43867-1-Jianping.Shen@de.bosch.com> References: <20240923124017.43867-1-Jianping.Shen@de.bosch.com> Precedence: bulk X-Mailing-List: linux-iio@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 X-EOPAttributedMessage: 0 X-MS-PublicTrafficType: Email X-MS-TrafficTypeDiagnostic: AM2PEPF0001C711:EE_|PAVPR10MB6837:EE_ X-MS-Office365-Filtering-Correlation-Id: 105674ed-a37e-4e45-f521-08dcdbccf1ef X-MS-Exchange-SenderADCheck: 1 X-MS-Exchange-AntiSpam-Relay: 0 X-Microsoft-Antispam: BCL:0;ARA:13230040|82310400026|376014|7416014|1800799024|36860700013|921020; X-Microsoft-Antispam-Message-Info: =?utf-8?q?vUxLGH35OMLtfD42IFN5+rIze/59gG7?= =?utf-8?q?xqbC6zIgt7PYXkkvm5VkbdudOxgD8QlhiJXSgPdv2lRwk6BcAHV5jMpuW7pJHU29h?= =?utf-8?q?yoWgu8xW0zS/TyyVCHOwEOnv4I0Vs7OeVnF4C4L2vnnqXTls7TQoCmV3EOtXE++ko?= =?utf-8?q?7V/7kAdjJY1PJYFpxD5r6Sd5bJ4GSZApqwPzL26vdJq0Etm+GETtUqFkOWkEojg6z?= =?utf-8?q?qPU0DPksRGXvNsgsB58KlxH3leDO0PLbtqwWIP2zDn3r6/QvVOjMfSljQVXPP4bjz?= =?utf-8?q?PEGLTgEh1gOTMDL4J9ocJWoeT6xglM5XKktEKdWZ0nv3dU84J30nUSOSmT+dZnQAC?= =?utf-8?q?sIqCkSfCpJvjiDLSMX5ixGobQggJ3qRlOUXmC/mV0pyiQlafCPyNaALOSMRnNSbgY?= =?utf-8?q?ep2xPWMl9gFycx04xV6Kh8rJJpVQI7q0Y1upz/2MnHMUUwOhuM+eiyyeArhko58Tc?= =?utf-8?q?xdutfXOX3CepVU7JyXXw1Qgbl5567VPiQaEgPkU/uwuySUW3+Aouqio7j/m8f97Ho?= =?utf-8?q?ByGHOfCu6y+DkSMq3LvHVympMEwvYmcFrU1c0FYUrpQNtHW1jg8VIVkTafv22n+oE?= =?utf-8?q?cYf7dbSyDp+xiC0NZSdMGHcTOrPnSqpQ82R2iBPNH3Div2at0gabsHK4XPf25VkOc?= =?utf-8?q?qZzuUqvKqvK3IrduOvqD9eEI9COeCW3I8CKF08UF02XVaq+IxDbnV6yD/b160HM4n?= =?utf-8?q?zgHIsQi7VwJuiVd6QBHamvSpiRKLnCPGmsx/Tw/RQAe08DZPMBTSWYa5oEfWBWKHo?= =?utf-8?q?CZPEl5IpWiTg+sQfNB3vZHPyQyou/UkkCy31CvlpfR6pQQgf9MJqV72UyF9kHu5Bp?= =?utf-8?q?CS+wzgjb6lEU/L8ZgIRtfyl80fYLK1HgHbebqrIOen9hsjn+db7dhQe2oT9pJ8rLa?= =?utf-8?q?HcjhRhZL34NVyQb0ULmHQrTRxsmmBpZOiRY9L1csW+vPafntzDhxbm3mBAL8mKOsZ?= =?utf-8?q?bKNyutJZD6qgkCDTD85yEpfUbxLKZDenQQwI+M1FPEhJo0Xm4APO/8EGIrbLtSp9t?= =?utf-8?q?+uh57UNS6SN3qh1vx8cMqMAwSNL1Hq7BW4oWLn0Rh0WPEZJRnRHSSMzSZs0J0xisr?= =?utf-8?q?XA6tQr8yp1Da926YjSFeOn8GxDkbOK5lS34y961gNxNE+yoLPr8SQ2O0p3/QTkRXO?= =?utf-8?q?DBh85imSY79w4gSMbRTmr0RFm3t1HSXiMkwgTNo84DYgjCaaVFGJ37xAs/267AKcx?= =?utf-8?q?nGF2rQOApZfIjGL86kcG1w8DNv0C9VuveP44rDJMr5dr32SkIGWPCArA4ukyOuRYt?= =?utf-8?q?ADCVvBRTWE82+im5tYhZ3JPaAsyc+n5Krac64mkztIbLz073ogB9wtOW6No2IXAZ5?= =?utf-8?q?l/p3lYKouZP1ELCwVPYldI+Yztdh0LeiXgezDh01nUlg1AFlVltiP7hrS39TzbaHY?= =?utf-8?q?RReK5uYPmp0tjwKfMBk8/h0mzwHLDHYfQ=3D=3D?= X-Forefront-Antispam-Report: CIP:139.15.153.206;CTRY:DE;LANG:en;SCL:1;SRV:;IPV:NLI;SFV:NSPM;H:eop.bosch-org.com;PTR:InfoDomainNonexistent;CAT:NONE;SFS:(13230040)(82310400026)(376014)(7416014)(1800799024)(36860700013)(921020);DIR:OUT;SFP:1101; X-OriginatorOrg: de.bosch.com X-MS-Exchange-CrossTenant-OriginalArrivalTime: 23 Sep 2024 12:40:45.7989 (UTC) X-MS-Exchange-CrossTenant-Network-Message-Id: 105674ed-a37e-4e45-f521-08dcdbccf1ef X-MS-Exchange-CrossTenant-Id: 0ae51e19-07c8-4e4b-bb6d-648ee58410f4 X-MS-Exchange-CrossTenant-OriginalAttributedTenantConnectingIp: TenantId=0ae51e19-07c8-4e4b-bb6d-648ee58410f4;Ip=[139.15.153.206];Helo=[eop.bosch-org.com] X-MS-Exchange-CrossTenant-AuthSource: AM2PEPF0001C711.eurprd05.prod.outlook.com X-MS-Exchange-CrossTenant-AuthAs: Anonymous X-MS-Exchange-CrossTenant-FromEntityHeader: HybridOnPrem X-MS-Exchange-Transport-CrossTenantHeadersStamped: PAVPR10MB6837 From: Shen Jianping add the iio driver for bosch imu smi240. The smi240 is a combined three axis angular rate and three axis acceleration sensor module with a measurement range of +/-300°/s and up to 16g. A synchronous acc and gyro sampling can be triggered by setting the capture bit in spi read command. Implemented features: * raw data access for each axis through sysfs * tiggered buffer for continuous sampling * synchronous acc and gyro data from tiggered buffer Signed-off-by: Shen Jianping --- drivers/iio/imu/Kconfig | 14 + drivers/iio/imu/Makefile | 2 + drivers/iio/imu/smi240.c | 622 +++++++++++++++++++++++++++++++++++++++ 3 files changed, 638 insertions(+) create mode 100644 drivers/iio/imu/smi240.c diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 52a155ff325..59d7f3cf8f0 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -96,6 +96,20 @@ config KMX61 source "drivers/iio/imu/inv_icm42600/Kconfig" source "drivers/iio/imu/inv_mpu6050/Kconfig" + +config SMI240 + tristate "Bosch Sensor SMI240 Inertial Measurement Unit" + depends on SPI + select REGMAP_SPI + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + help + If you say yes here you get support for SMI240 IMU on SPI with + accelerometer and gyroscope. + + This driver can also be built as a module. If so, the module will be + called smi240. + source "drivers/iio/imu/st_lsm6dsx/Kconfig" source "drivers/iio/imu/st_lsm9ds0/Kconfig" diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index 7e2d7d5c3b7..ca9c4db7725 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -27,5 +27,7 @@ obj-y += inv_mpu6050/ obj-$(CONFIG_KMX61) += kmx61.o +obj-$(CONFIG_SMI240) += smi240.o + obj-y += st_lsm6dsx/ obj-y += st_lsm9ds0/ diff --git a/drivers/iio/imu/smi240.c b/drivers/iio/imu/smi240.c new file mode 100644 index 00000000000..5b5b59e2529 --- /dev/null +++ b/drivers/iio/imu/smi240.c @@ -0,0 +1,622 @@ +// SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0 +/* + * Copyright (c) 2024 Robert Bosch GmbH. + */ +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +#define SMI240_CHIP_ID 0x0024 + +#define SMI240_SOFT_CONFIG_EOC_MASK BIT(0) +#define SMI240_SOFT_CONFIG_GYR_BW_MASK BIT(1) +#define SMI240_SOFT_CONFIG_ACC_BW_MASK BIT(2) +#define SMI240_SOFT_CONFIG_BITE_AUTO_MASK BIT(3) +#define SMI240_SOFT_CONFIG_BITE_REP_MASK GENMASK(6, 4) + +#define SMI240_CHIP_ID_REG 0x00 +#define SMI240_SOFT_CONFIG_REG 0x0A +#define SMI240_TEMP_CUR_REG 0x10 +#define SMI240_ACCEL_X_CUR_REG 0x11 +#define SMI240_GYRO_X_CUR_REG 0x14 +#define SMI240_DATA_CAP_FIRST_REG 0x17 +#define SMI240_CMD_REG 0x2F + +#define SMI240_SOFT_RESET_CMD 0xB6 + +#define SMI240_BITE_SEQUENCE_DELAY_US 140000 +#define SMI240_FILTER_FLUSH_DELAY_US 60000 +#define SMI240_DIGITAL_STARTUP_DELAY_US 120000 +#define SMI240_MECH_STARTUP_DELAY_US 100000 + +#define SMI240_BUS_ID 0x00 +#define SMI240_CRC_INIT 0x05 +#define SMI240_CRC_POLY 0x0B +#define SMI240_CRC_MASK GENMASK(2, 0) + +#define SMI240_READ_SD_BIT_MASK BIT(31) +#define SMI240_READ_DATA_MASK GENMASK(19, 4) +#define SMI240_READ_CS_BIT_MASK BIT(3) + +#define SMI240_WRITE_BUS_ID_MASK GENMASK(31, 30) +#define SMI240_WRITE_ADDR_MASK GENMASK(29, 22) +#define SMI240_WRITE_BIT_MASK BIT(21) +#define SMI240_WRITE_CAP_BIT_MASK BIT(20) +#define SMI240_WRITE_DATA_MASK GENMASK(18, 3) + +/* T°C = (temp / 256) + 25 */ +#define SMI240_TEMP_OFFSET 6400 /* 25 * 256 */ +#define SMI240_TEMP_SCALE 3906250 /* (1 / 256) * 1e9 */ + +#define SMI240_ACCEL_SCALE 500 /* (1 / 2000) * 1e6 */ +#define SMI240_GYRO_SCALE 10000 /* (1 / 100) * 1e6 */ + +#define SMI240_LOW_BANDWIDTH_HZ 50 +#define SMI240_HIGH_BANDWIDTH_HZ 400 + +#define SMI240_BUILT_IN_SELF_TEST_COUNT 3 + +#define SMI240_DATA_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_LOW_PASS_FILTER_3DB_FREQUENCY), \ + .info_mask_shared_by_type_available = \ + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ + .scan_index = _index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_CPU, \ + }, \ +} + +#define SMI240_TEMP_CHANNEL(_index) { \ + .type = IIO_TEMP, \ + .modified = 1, \ + .channel2 = IIO_MOD_TEMP_OBJECT, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ + BIT(IIO_CHAN_INFO_OFFSET) | \ + BIT(IIO_CHAN_INFO_SCALE), \ + .scan_index = _index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_CPU, \ + }, \ +} + +enum capture_mode { SMI240_CAPTURE_OFF = 0, SMI240_CAPTURE_ON = 1 }; + +struct smi240_data { + struct regmap *regmap; + u16 accel_filter_freq; + u16 anglvel_filter_freq; + u8 built_in_self_test_count; + enum capture_mode capture; + /* + * Ensure natural alignment for timestamp if present. + * Channel size: 2 bytes. + * Max length needed: 2 * 3 channels + temp channel + 2 bytes padding + 8 byte ts. + * If fewer channels are enabled, less space may be needed, as + * long as the timestamp is still aligned to 8 bytes. + */ + s16 buf[12] __aligned(8); + + __be32 spi_buf __aligned(IIO_DMA_MINALIGN); +}; + +enum { + SMI240_TEMP_OBJECT, + SMI240_SCAN_ACCEL_X, + SMI240_SCAN_ACCEL_Y, + SMI240_SCAN_ACCEL_Z, + SMI240_SCAN_GYRO_X, + SMI240_SCAN_GYRO_Y, + SMI240_SCAN_GYRO_Z, + SMI240_SCAN_TIMESTAMP, +}; + +static const struct iio_chan_spec smi240_channels[] = { + SMI240_TEMP_CHANNEL(SMI240_TEMP_OBJECT), + SMI240_DATA_CHANNEL(IIO_ACCEL, X, SMI240_SCAN_ACCEL_X), + SMI240_DATA_CHANNEL(IIO_ACCEL, Y, SMI240_SCAN_ACCEL_Y), + SMI240_DATA_CHANNEL(IIO_ACCEL, Z, SMI240_SCAN_ACCEL_Z), + SMI240_DATA_CHANNEL(IIO_ANGL_VEL, X, SMI240_SCAN_GYRO_X), + SMI240_DATA_CHANNEL(IIO_ANGL_VEL, Y, SMI240_SCAN_GYRO_Y), + SMI240_DATA_CHANNEL(IIO_ANGL_VEL, Z, SMI240_SCAN_GYRO_Z), + IIO_CHAN_SOFT_TIMESTAMP(SMI240_SCAN_TIMESTAMP), +}; + +static const int smi240_low_pass_freqs[] = { SMI240_LOW_BANDWIDTH_HZ, + SMI240_HIGH_BANDWIDTH_HZ }; + +static u8 smi240_crc3(u32 data, u8 init, u8 poly) +{ + u8 crc = init; + u8 do_xor; + s8 i = 31; + + do { + do_xor = crc & 0x04; + crc <<= 1; + crc |= 0x01 & (data >> i); + if (do_xor) + crc ^= poly; + + crc &= SMI240_CRC_MASK; + } while (--i >= 0); + + return crc; +} + +static bool smi240_sensor_data_is_valid(u32 data) +{ + if (smi240_crc3(data, SMI240_CRC_INIT, SMI240_CRC_POLY) != 0) + return false; + + if (FIELD_GET(SMI240_READ_SD_BIT_MASK, data) & + FIELD_GET(SMI240_READ_CS_BIT_MASK, data)) + return false; + + return true; +} + +static int smi240_regmap_spi_read(void *context, const void *reg_buf, + size_t reg_size, void *val_buf, + size_t val_size) +{ + int ret; + u32 request, response; + u16 *val = val_buf; + struct spi_device *spi = context; + struct iio_dev *indio_dev = dev_get_drvdata(&spi->dev); + struct smi240_data *iio_priv_data = iio_priv(indio_dev); + + if (reg_size != 1 || val_size != 2) + return -EINVAL; + + request = FIELD_PREP(SMI240_WRITE_BUS_ID_MASK, SMI240_BUS_ID); + request |= FIELD_PREP(SMI240_WRITE_CAP_BIT_MASK, iio_priv_data->capture); + request |= FIELD_PREP(SMI240_WRITE_ADDR_MASK, *(u8 *)reg_buf); + request |= smi240_crc3(request, SMI240_CRC_INIT, SMI240_CRC_POLY); + + iio_priv_data->spi_buf = cpu_to_be32(request); + + /* + * SMI240 module consists of a 32Bit Out Of Frame (OOF) + * SPI protocol, where the slave interface responds to + * the Master request in the next frame. + * CS signal must toggle (> 700 ns) between the frames. + */ + ret = spi_write(spi, &iio_priv_data->spi_buf, sizeof(request)); + if (ret) + return ret; + + ret = spi_read(spi, &iio_priv_data->spi_buf, sizeof(response)); + if (ret) + return ret; + + response = be32_to_cpu(iio_priv_data->spi_buf); + + if (!smi240_sensor_data_is_valid(response)) + return -EIO; + + *val = cpu_to_le16(FIELD_GET(SMI240_READ_DATA_MASK, response)); + + return 0; +} + +static int smi240_regmap_spi_write(void *context, const void *data, + size_t count) +{ + u8 reg_addr; + u16 reg_data; + u32 request; + const u8 *data_ptr = data; + struct spi_device *spi = context; + struct iio_dev *indio_dev = dev_get_drvdata(&spi->dev); + struct smi240_data *iio_priv_data = iio_priv(indio_dev); + + if (count < 2) + return -EINVAL; + + reg_addr = data_ptr[0]; + memcpy(®_data, &data_ptr[1], sizeof(reg_data)); + + request = FIELD_PREP(SMI240_WRITE_BUS_ID_MASK, SMI240_BUS_ID); + request |= FIELD_PREP(SMI240_WRITE_BIT_MASK, 1); + request |= FIELD_PREP(SMI240_WRITE_ADDR_MASK, reg_addr); + request |= FIELD_PREP(SMI240_WRITE_DATA_MASK, reg_data); + request |= smi240_crc3(request, SMI240_CRC_INIT, SMI240_CRC_POLY); + + iio_priv_data->spi_buf = cpu_to_be32(request); + + return spi_write(spi, &iio_priv_data->spi_buf, sizeof(request)); +} + +static const struct regmap_bus smi240_regmap_bus = { + .read = smi240_regmap_spi_read, + .write = smi240_regmap_spi_write, +}; + +static const struct regmap_config smi240_regmap_config = { + .reg_bits = 8, + .val_bits = 16, + .val_format_endian = REGMAP_ENDIAN_LITTLE, +}; + +static int smi240_soft_reset(struct smi240_data *data) +{ + int ret; + + ret = regmap_write(data->regmap, SMI240_CMD_REG, SMI240_SOFT_RESET_CMD); + if (ret) + return ret; + fsleep(SMI240_DIGITAL_STARTUP_DELAY_US); + + return 0; +} + +static int smi240_soft_config(struct smi240_data *data) +{ + int ret; + u8 acc_bw, gyr_bw; + u16 request; + + switch (data->accel_filter_freq) { + case SMI240_LOW_BANDWIDTH_HZ: + acc_bw = 0x1; + break; + case SMI240_HIGH_BANDWIDTH_HZ: + acc_bw = 0x0; + break; + default: + return -EINVAL; + } + + switch (data->anglvel_filter_freq) { + case SMI240_LOW_BANDWIDTH_HZ: + gyr_bw = 0x1; + break; + case SMI240_HIGH_BANDWIDTH_HZ: + gyr_bw = 0x0; + break; + default: + return -EINVAL; + } + + request = FIELD_PREP(SMI240_SOFT_CONFIG_EOC_MASK, 1); + request |= FIELD_PREP(SMI240_SOFT_CONFIG_GYR_BW_MASK, gyr_bw); + request |= FIELD_PREP(SMI240_SOFT_CONFIG_ACC_BW_MASK, acc_bw); + request |= FIELD_PREP(SMI240_SOFT_CONFIG_BITE_AUTO_MASK, 1); + request |= FIELD_PREP(SMI240_SOFT_CONFIG_BITE_REP_MASK, + data->built_in_self_test_count - 1); + + ret = regmap_write(data->regmap, SMI240_SOFT_CONFIG_REG, request); + if (ret) + return ret; + + fsleep(SMI240_MECH_STARTUP_DELAY_US + + data->built_in_self_test_count * SMI240_BITE_SEQUENCE_DELAY_US + + SMI240_FILTER_FLUSH_DELAY_US); + + return 0; +} + +static int smi240_get_low_pass_filter_freq(struct smi240_data *data, + int chan_type, int *val) +{ + switch (chan_type) { + case IIO_ACCEL: + *val = data->accel_filter_freq; + return 0; + case IIO_ANGL_VEL: + *val = data->anglvel_filter_freq; + return 0; + default: + return -EINVAL; + } +} + +static int smi240_get_data(struct smi240_data *data, int chan_type, int axis, + int *val) +{ + u8 reg; + int ret, sample; + + switch (chan_type) { + case IIO_TEMP: + reg = SMI240_TEMP_CUR_REG; + break; + case IIO_ACCEL: + reg = SMI240_ACCEL_X_CUR_REG + (axis - IIO_MOD_X); + break; + case IIO_ANGL_VEL: + reg = SMI240_GYRO_X_CUR_REG + (axis - IIO_MOD_X); + break; + default: + return -EINVAL; + } + + ret = regmap_read(data->regmap, reg, &sample); + if (ret) + return ret; + + *val = sign_extend32(sample, 15); + + return 0; +} + +static irqreturn_t smi240_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct smi240_data *data = iio_priv(indio_dev); + int base = SMI240_DATA_CAP_FIRST_REG, i = 0; + int ret, chan, sample; + + data->capture = SMI240_CAPTURE_ON; + + iio_for_each_active_channel(indio_dev, chan) { + ret = regmap_read(data->regmap, base + chan, &sample); + data->capture = SMI240_CAPTURE_OFF; + if (ret) + goto out; + data->buf[i++] = sample; + } + + iio_push_to_buffers_with_timestamp(indio_dev, data->buf, pf->timestamp); + +out: + iio_trigger_notify_done(indio_dev->trig); + return IRQ_HANDLED; +} + +static int smi240_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_LOW_PASS_FILTER_3DB_FREQUENCY: + *vals = smi240_low_pass_freqs; + *length = ARRAY_SIZE(smi240_low_pass_freqs); + *type = IIO_VAL_INT; + return IIO_AVAIL_LIST; + default: + return -EINVAL; + } +} + +static int smi240_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int *val, + int *val2, long mask) +{ + int ret; + struct smi240_data *data = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + return ret; + ret = smi240_get_data(data, chan->type, chan->channel2, val); + iio_device_release_direct_mode(indio_dev); + if (ret) + return ret; + return IIO_VAL_INT; + + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + ret = smi240_get_low_pass_filter_freq(data, chan->type, val); + if (ret) + return ret; + return IIO_VAL_INT; + + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_TEMP: + *val = SMI240_TEMP_SCALE / GIGA; + *val2 = SMI240_TEMP_SCALE % GIGA; + return IIO_VAL_INT_PLUS_NANO; + case IIO_ACCEL: + *val = 0; + *val2 = SMI240_ACCEL_SCALE; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_ANGL_VEL: + *val = 0; + *val2 = SMI240_GYRO_SCALE; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + + case IIO_CHAN_INFO_OFFSET: + if (chan->type == IIO_TEMP) { + *val = SMI240_TEMP_OFFSET; + return IIO_VAL_INT; + } else { + return -EINVAL; + } + + default: + return -EINVAL; + } +} + +static int smi240_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int val, int val2, + long mask) +{ + int ret, i; + struct smi240_data *data = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + for (i = 0; i < ARRAY_SIZE(smi240_low_pass_freqs); i++) { + if (val == smi240_low_pass_freqs[i]) + break; + } + + if (i == ARRAY_SIZE(smi240_low_pass_freqs)) + return -EINVAL; + + switch (chan->type) { + case IIO_ACCEL: + data->accel_filter_freq = val; + break; + case IIO_ANGL_VEL: + data->anglvel_filter_freq = val; + break; + default: + return -EINVAL; + } + break; + default: + return -EINVAL; + } + + /* Write access to soft config is locked until hard/soft reset */ + ret = smi240_soft_reset(data); + if (ret) + return ret; + + return smi240_soft_config(data); +} + +static int smi240_write_raw_get_fmt(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, long info) +{ + switch (info) { + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_TEMP: + return IIO_VAL_INT_PLUS_NANO; + default: + return IIO_VAL_INT_PLUS_MICRO; + } + default: + return IIO_VAL_INT_PLUS_MICRO; + } +} + +static int smi240_init(struct smi240_data *data) +{ + int ret; + + data->accel_filter_freq = SMI240_HIGH_BANDWIDTH_HZ; + data->anglvel_filter_freq = SMI240_HIGH_BANDWIDTH_HZ; + data->built_in_self_test_count = SMI240_BUILT_IN_SELF_TEST_COUNT; + + ret = smi240_soft_reset(data); + if (ret) + return ret; + + return smi240_soft_config(data); +} + +static const struct iio_info smi240_info = { + .read_avail = smi240_read_avail, + .read_raw = smi240_read_raw, + .write_raw = smi240_write_raw, + .write_raw_get_fmt = smi240_write_raw_get_fmt, +}; + +static int smi240_probe(struct spi_device *spi) +{ + struct device *dev = &spi->dev; + struct iio_dev *indio_dev; + struct regmap *regmap; + struct smi240_data *data; + int ret, response; + + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + regmap = devm_regmap_init(dev, &smi240_regmap_bus, dev, + &smi240_regmap_config); + if (IS_ERR(regmap)) + return dev_err_probe(dev, PTR_ERR(regmap), + "Failed to initialize SPI Regmap\n"); + + data = iio_priv(indio_dev); + dev_set_drvdata(dev, indio_dev); + data->regmap = regmap; + data->capture = SMI240_CAPTURE_OFF; + + ret = regmap_read(data->regmap, SMI240_CHIP_ID_REG, &response); + if (ret) + return dev_err_probe(dev, ret, "Read chip id failed\n"); + + if (response != SMI240_CHIP_ID) + dev_info(dev, "Unknown chip id: 0x%04x\n", response); + + ret = smi240_init(data); + if (ret) + return dev_err_probe(dev, ret, + "Device initialization failed\n"); + + indio_dev->channels = smi240_channels; + indio_dev->num_channels = ARRAY_SIZE(smi240_channels); + indio_dev->name = "smi240"; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &smi240_info; + + ret = devm_iio_triggered_buffer_setup(dev, indio_dev, + iio_pollfunc_store_time, + smi240_trigger_handler, NULL); + if (ret) + return dev_err_probe(dev, ret, + "Setup triggered buffer failed\n"); + + ret = devm_iio_device_register(dev, indio_dev); + if (ret) + return dev_err_probe(dev, ret, "Register IIO device failed\n"); + + return 0; +} + +static const struct spi_device_id smi240_spi_id[] = { + { "smi240" }, + { } +}; +MODULE_DEVICE_TABLE(spi, smi240_spi_id); + +static const struct of_device_id smi240_of_match[] = { + { .compatible = "bosch,smi240" }, + { } +}; +MODULE_DEVICE_TABLE(of, smi240_of_match); + +static struct spi_driver smi240_spi_driver = { + .probe = smi240_probe, + .id_table = smi240_spi_id, + .driver = { + .of_match_table = smi240_of_match, + .name = "smi240", + }, +}; +module_spi_driver(smi240_spi_driver); + +MODULE_AUTHOR("Markus Lochmann "); +MODULE_AUTHOR("Stefan Gutmann "); +MODULE_DESCRIPTION("Bosch SMI240 SPI driver"); +MODULE_LICENSE("Dual BSD/GPL");