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[24.38.217.1]) by smtp.gmail.com with ESMTPSA id d75a77b69052e-45c9f33bcb0sm10544501cf.74.2024.09.27.11.37.35 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Fri, 27 Sep 2024 11:37:37 -0700 (PDT) From: Alex Lanzano To: Alex Lanzano , Jonathan Cameron , Lars-Peter Clausen Cc: linux-kernel-mentees@lists.linuxfoundation.org, skhan@linuxfoundation.org, linux-kernel@vger.kernel.org, linux-iio@vger.kernel.org Subject: [PATCH] iio: imu: bmi270: Add spi driver for bmi270 imu Date: Fri, 27 Sep 2024 14:37:10 -0400 Message-ID: <20240927183717.3613601-1-lanzano.alex@gmail.com> X-Mailer: git-send-email 2.46.2 Precedence: bulk X-Mailing-List: linux-iio@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Implement SPI driver for the Bosch BMI270 6-axis IMU. Provide raw read write access to acceleration and angle velocity measurements via the SPI interface on the device. Signed-off-by: Alex Lanzano --- drivers/iio/imu/bmi270/Kconfig | 12 ++++ drivers/iio/imu/bmi270/Makefile | 1 + drivers/iio/imu/bmi270/bmi270.h | 2 + drivers/iio/imu/bmi270/bmi270_core.c | 13 ++-- drivers/iio/imu/bmi270/bmi270_i2c.c | 7 ++- drivers/iio/imu/bmi270/bmi270_spi.c | 89 ++++++++++++++++++++++++++++ 6 files changed, 114 insertions(+), 10 deletions(-) create mode 100644 drivers/iio/imu/bmi270/bmi270_spi.c diff --git a/drivers/iio/imu/bmi270/Kconfig b/drivers/iio/imu/bmi270/Kconfig index a8db44187286..0ffd29794fda 100644 --- a/drivers/iio/imu/bmi270/Kconfig +++ b/drivers/iio/imu/bmi270/Kconfig @@ -18,3 +18,15 @@ config BMI270_I2C This driver can also be built as a module. If so, the module will be called bmi270_i2c. + +config BMI270_SPI + tristate "Bosch BMI270 SPI driver" + depends on SPI + select BMI270 + select REGMAP_SPI + help + Enable support for the Bosch BMI270 6-Axis IMU connected to SPI + interface. + + This driver can also be built as a module. If so, the module will be + called bmi270_spi. diff --git a/drivers/iio/imu/bmi270/Makefile b/drivers/iio/imu/bmi270/Makefile index ab4acaaee6d2..d96c96fc3d83 100644 --- a/drivers/iio/imu/bmi270/Makefile +++ b/drivers/iio/imu/bmi270/Makefile @@ -4,3 +4,4 @@ # obj-$(CONFIG_BMI270) += bmi270_core.o obj-$(CONFIG_BMI270_I2C) += bmi270_i2c.o +obj-$(CONFIG_BMI270_SPI) += bmi270_spi.o diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h index 608b29ea58a3..8950e6234203 100644 --- a/drivers/iio/imu/bmi270/bmi270.h +++ b/drivers/iio/imu/bmi270/bmi270.h @@ -4,11 +4,13 @@ #define BMI270_H_ #include +#include struct device; struct bmi270_data { struct device *dev; struct regmap *regmap; + __le16 sample __aligned(IIO_DMA_MINALIGN); }; extern const struct regmap_config bmi270_regmap_config; diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c index 8e45343d6472..4decdad791d9 100644 --- a/drivers/iio/imu/bmi270/bmi270_core.c +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -66,16 +66,9 @@ enum bmi270_scan { 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; @@ -90,11 +83,13 @@ static int bmi270_get_data(struct bmi270_data *bmi270_device, return -EINVAL; } - ret = regmap_bulk_read(bmi270_device->regmap, reg, &sample, sizeof(sample)); + ret = regmap_bulk_read(bmi270_device->regmap, reg, + &bmi270_device->sample, + sizeof(bmi270_device->sample)); if (ret) return ret; - *val = sign_extend32(le16_to_cpu(sample), 15); + *val = sign_extend32(le16_to_cpu(bmi270_device->sample), 15); return 0; } diff --git a/drivers/iio/imu/bmi270/bmi270_i2c.c b/drivers/iio/imu/bmi270/bmi270_i2c.c index f70dee2d8a64..ce8279ae90cd 100644 --- a/drivers/iio/imu/bmi270/bmi270_i2c.c +++ b/drivers/iio/imu/bmi270/bmi270_i2c.c @@ -9,12 +9,17 @@ #include "bmi270.h" +const struct regmap_config bmi270_i2c_regmap_config = { + .reg_bits = 8, + .val_bits = 8, +}; + 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); + regmap = devm_regmap_init_i2c(client, &bmi270_i2c_regmap_config); if (IS_ERR(regmap)) return dev_err_probe(dev, PTR_ERR(regmap), "Failed to init i2c regmap"); diff --git a/drivers/iio/imu/bmi270/bmi270_spi.c b/drivers/iio/imu/bmi270/bmi270_spi.c new file mode 100644 index 000000000000..906b9b852a09 --- /dev/null +++ b/drivers/iio/imu/bmi270/bmi270_spi.c @@ -0,0 +1,89 @@ +// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) + +#include +#include +#include +#include +#include +#include + +#include "bmi270.h" + +/* + * The following two functions are taken from the BMI323 spi driver code. + * In section 6.4 of the BMI270 data it specifies that after a read + * operation the first data byte from the device is a dummy byte + */ +static int bmi270_regmap_spi_read(void *context, const void *reg_buf, + size_t reg_size, void *val_buf, + size_t val_size) +{ + struct spi_device *spi = context; + + return spi_write_then_read(spi, reg_buf, reg_size, val_buf, val_size); +} + +static int bmi270_regmap_spi_write(void *context, const void *data, + size_t count) +{ + struct spi_device *spi = context; + u8 *data_buff = (u8 *)data; + + /* + * Remove the extra pad byte since its only needed for the read + * operation + */ + data_buff[1] = data_buff[0]; + return spi_write(spi, data_buff + 1, count - 1); +} + +static const struct regmap_bus bmi270_regmap_bus = { + .read = bmi270_regmap_spi_read, + .write = bmi270_regmap_spi_write, +}; + +const struct regmap_config bmi270_spi_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + .pad_bits = 8, + .read_flag_mask = BIT(7), +}; + +static int bmi270_spi_probe(struct spi_device *spi) +{ + struct regmap *regmap; + struct device *dev = &spi->dev; + + regmap = devm_regmap_init(dev, &bmi270_regmap_bus, dev, + &bmi270_spi_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 spi_device_id bmi270_spi_id[] = { + { "bmi270" }, + { } +}; + +static const struct of_device_id bmi270_of_match[] = { + { .compatible = "bosch,bmi270" }, + { } +}; + +static struct spi_driver bmi270_spi_driver = { + .driver = { + .name = "bmi270", + .of_match_table = bmi270_of_match, + }, + .probe = bmi270_spi_probe, + .id_table = bmi270_spi_id, +}; +module_spi_driver(bmi270_spi_driver); + +MODULE_AUTHOR("Alex Lanzano"); +MODULE_DESCRIPTION("BMI270 driver"); +MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS(IIO_BMI270);