From patchwork Sun Oct 20 22:00:10 2024 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Justin Weiss X-Patchwork-Id: 13843312 Received: from fout-b8-smtp.messagingengine.com (fout-b8-smtp.messagingengine.com [202.12.124.151]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id D317E199E93; Sun, 20 Oct 2024 22:01:31 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=202.12.124.151 ARC-Seal: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1729461694; cv=none; b=rJWr7HjgjQ/reqZcniVqJyurENHKRpsd2jKdSxJmRBdPBarMP9/cny/ZTQbhevgyEIOVScL77WT4HCTqRfwXuztjYn7FcrP+6lREvzgvBWehl3DinsndpLw6pmxFGfxH47NyITX6UKplTpu61mGjapva08fDFH8C//H7YjQEbes= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1729461694; c=relaxed/simple; bh=vF8PoZLcemoW7ocQiITA/5LyeyPnNKnsKzS6bvQdmFY=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=U6yDxtOp/rXV1GULMoC0eRdVOgEF9z5K/9puoNk8BpgW+qlrPnBlhA2XtOI8NvucbuEF+bdFA/QDKLlSdafdxQaRkUO1F45XGRrfl8IsaXGZg/cUsHp1lL8vWBPpjsyDAgy2EaiC5ixSzJRJwcwYibuFPBol1x520vqeJnYDhI0= ARC-Authentication-Results: i=1; smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=justinweiss.com; spf=pass smtp.mailfrom=justinweiss.com; dkim=pass (2048-bit key) header.d=justinweiss.com header.i=@justinweiss.com header.b=DGdEmU5T; dkim=pass (2048-bit key) header.d=messagingengine.com header.i=@messagingengine.com header.b=J6+OP/Rt; arc=none smtp.client-ip=202.12.124.151 Authentication-Results: smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=justinweiss.com Authentication-Results: smtp.subspace.kernel.org; spf=pass smtp.mailfrom=justinweiss.com Authentication-Results: smtp.subspace.kernel.org; dkim=pass (2048-bit key) header.d=justinweiss.com header.i=@justinweiss.com header.b="DGdEmU5T"; dkim=pass (2048-bit key) header.d=messagingengine.com header.i=@messagingengine.com header.b="J6+OP/Rt" Received: from phl-compute-01.internal (phl-compute-01.phl.internal [10.202.2.41]) by mailfout.stl.internal (Postfix) with ESMTP id E4B3311400A8; Sun, 20 Oct 2024 18:01:30 -0400 (EDT) Received: from phl-mailfrontend-01 ([10.202.2.162]) by phl-compute-01.internal (MEProxy); Sun, 20 Oct 2024 18:01:31 -0400 DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=justinweiss.com; h=cc:cc:content-transfer-encoding:content-type:date:date:from :from:in-reply-to:in-reply-to:message-id:mime-version:references :reply-to:subject:subject:to:to; s=fm2; t=1729461690; x= 1729548090; bh=p4bxuKiyW+ioXAqeVJXHXrTilmJtksg0SLU1JDE3quM=; b=D GdEmU5Tj0RjUAmXvcX3BVjQG58R53p3LDGkT/jD1XLehUSQo2d2W6jSbMRYJjhmN aPXIegFFyzpEG+QJQLJFK8Niw+LamE7XXR18K2RZVp+ZINURQZMwaScCQ9cnDUxN 8YbZOE3Q/CZcXjaJifhxhZXCjZ30aH3jkXt22uE+vrh8puHHWaCggk/MLmP0DaW0 gGV8/CGAKlDJJO0kDNaqf5PeZIWic4HWluxf08CKaifI0xNXeKFWzdkm8Y2bAXh/ Wr96+Yafm3kbafK7EywXjsMmBz3y8QMuOTU7WQarvv3/FeqHIp/3mGM3H5c5qxup y8RV+geNmDBSO8oISYX4Q== DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d= messagingengine.com; h=cc:cc:content-transfer-encoding :content-type:date:date:feedback-id:feedback-id:from:from :in-reply-to:in-reply-to:message-id:mime-version:references :reply-to:subject:subject:to:to:x-me-proxy:x-me-proxy :x-me-sender:x-me-sender:x-sasl-enc; s=fm3; t=1729461690; x= 1729548090; bh=p4bxuKiyW+ioXAqeVJXHXrTilmJtksg0SLU1JDE3quM=; b=J 6+OP/RtPXYvhM3CZ1oUeOSXEptqoZpS9TznVbzwTti4lCfJYGVdz5pMf7cEgi6W8 vODq2gYau+sg3msTgjh68OVOf9Zj/tz6Hp2SyXddnznPnewzMZGJU68HAcCdSQsx 7Udq6zgyqzVR00qy7YaXJDDrEJht4ncjbvKD/tCcwBqGe+Fv1Cc2/ynp6SVwGPIy XOyY+5hBJq1fGf6+X86WSgcWAvvCvgK4pgYSnOSPm0GzDHc2NXi2J5VqS+DTcxB1 IP+sktGh9IP+Kn61qqs/MTBHhBFoLuxKlhmGC0TpVk5uDq5cYFH3G4Srpyufcg9C 7fwsTZJsBrhUO0A0jl23w== X-ME-Sender: X-ME-Received: X-ME-Proxy-Cause: gggruggvucftvghtrhhoucdtuddrgeeftddrvdehkedgtdeiucetufdoteggodetrfdotf fvucfrrhhofhhilhgvmecuhfgrshhtofgrihhlpdggtfgfnhhsuhgsshgtrhhisggvpdfu rfetoffkrfgpnffqhgenuceurghilhhouhhtmecufedttdenucesvcftvggtihhpihgvnh htshculddquddttddmnecujfgurhephffvvefufffkofgjfhgggfestdekredtredttden ucfhrhhomheplfhushhtihhnucghvghishhsuceojhhushhtihhnsehjuhhsthhinhifvg hishhsrdgtohhmqeenucggtffrrghtthgvrhhnpeeiffdtvdfgtddvieetffduhfejtdef teelkefgteekgeegffduiefhudeiveejkeenucevlhhushhtvghrufhiiigvpedtnecurf grrhgrmhepmhgrihhlfhhrohhmpehjuhhsthhinhesjhhushhtihhnfigvihhsshdrtgho mhdpnhgspghrtghpthhtohepuddvpdhmohguvgepshhmthhpohhuthdprhgtphhtthhope hlrghniigrnhhordgrlhgvgiesghhmrghilhdrtghomhdprhgtphhtthhopehjihgtvdef sehkvghrnhgvlhdrohhrghdprhgtphhtthhopehlrghrshesmhgvthgrfhhoohdruggvpd hrtghpthhtoheprhhosghhsehkvghrnhgvlhdrohhrghdprhgtphhtthhopehkrhiikhdo ughtsehkvghrnhgvlhdrohhrghdprhgtphhtthhopegtohhnohhrodgutheskhgvrhhnvg hlrdhorhhgpdhrtghpthhtohepjhhushhtihhnsehjuhhsthhinhifvghishhsrdgtohhm pdhrtghpthhtoheplhhinhhugidqihhiohesvhhgvghrrdhkvghrnhgvlhdrohhrghdprh gtphhtthhopeguvghvihgtvghtrhgvvgesvhhgvghrrdhkvghrnhgvlhdrohhrgh X-ME-Proxy: Feedback-ID: icf614246:Fastmail Received: by mail.messagingengine.com (Postfix) with ESMTPA; Sun, 20 Oct 2024 18:01:29 -0400 (EDT) From: Justin Weiss To: Alex Lanzano , Jonathan Cameron , Lars-Peter Clausen , Rob Herring , Krzysztof Kozlowski , Conor Dooley Cc: Justin Weiss , linux-iio@vger.kernel.org, devicetree@vger.kernel.org, linux-kernel@vger.kernel.org, "Derek J . Clark" , =?utf-8?q?Philip_M=C3=BCller?= Subject: [PATCH v3 6/6] iio: imu: bmi270: Add scale and sampling frequency to BMI270 IMU Date: Sun, 20 Oct 2024 15:00:10 -0700 Message-ID: <20241020220011.212395-7-justin@justinweiss.com> X-Mailer: git-send-email 2.47.0 In-Reply-To: <20241020220011.212395-1-justin@justinweiss.com> References: <20241020220011.212395-1-justin@justinweiss.com> Precedence: bulk X-Mailing-List: linux-iio@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Add read and write functions and create _available entries. Signed-off-by: Justin Weiss --- drivers/iio/imu/bmi270/bmi270_core.c | 340 +++++++++++++++++++++++++++ 1 file changed, 340 insertions(+) diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c index 5b643afae9f7..3e1e698c4af0 100644 --- a/drivers/iio/imu/bmi270/bmi270_core.c +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -7,6 +7,7 @@ #include #include +#include #include #include @@ -38,6 +39,9 @@ #define BMI270_ACC_CONF_BWP_NORMAL_MODE 0x02 #define BMI270_ACC_CONF_FILTER_PERF_MSK BIT(7) +#define BMI270_ACC_CONF_RANGE_REG 0x41 +#define BMI270_ACC_CONF_RANGE_MSK GENMASK(1, 0) + #define BMI270_GYR_CONF_REG 0x42 #define BMI270_GYR_CONF_ODR_MSK GENMASK(3, 0) #define BMI270_GYR_CONF_ODR_200HZ 0x09 @@ -46,6 +50,9 @@ #define BMI270_GYR_CONF_NOISE_PERF_MSK BIT(6) #define BMI270_GYR_CONF_FILTER_PERF_MSK BIT(7) +#define BMI270_GYR_CONF_RANGE_REG 0x43 +#define BMI270_GYR_CONF_RANGE_MSK GENMASK(2, 0) + #define BMI270_INIT_CTRL_REG 0x59 #define BMI270_INIT_CTRL_LOAD_DONE_MSK BIT(0) @@ -99,6 +106,265 @@ const struct bmi270_chip_info bmi270_chip_info = { }; EXPORT_SYMBOL_NS_GPL(bmi270_chip_info, IIO_BMI270); +enum bmi270_sensor_type { + BMI270_ACCEL = 0, + BMI270_GYRO, +}; + +struct bmi270_scale { + int scale; + int uscale; +}; + +struct bmi270_odr { + int odr; + int uodr; +}; + +static const struct bmi270_scale bmi270_accel_scale[] = { + { 0, 598 }, + { 0, 1197 }, + { 0, 2394 }, + { 0, 4788 }, +}; + +static const struct bmi270_scale bmi270_gyro_scale[] = { + { 0, 1065 }, + { 0, 532 }, + { 0, 266 }, + { 0, 133 }, + { 0, 66 }, +}; + +struct bmi270_scale_item { + const struct bmi270_scale *tbl; + int num; +}; + +static const struct bmi270_scale_item bmi270_scale_table[] = { + [BMI270_ACCEL] = { + .tbl = bmi270_accel_scale, + .num = ARRAY_SIZE(bmi270_accel_scale), + }, + [BMI270_GYRO] = { + .tbl = bmi270_gyro_scale, + .num = ARRAY_SIZE(bmi270_gyro_scale), + }, +}; + +static const struct bmi270_odr bmi270_accel_odr[] = { + { 0, 781250 }, + { 1, 562500 }, + { 3, 125000 }, + { 6, 250000 }, + { 12, 500000 }, + { 25, 0 }, + { 50, 0 }, + { 100, 0 }, + { 200, 0 }, + { 400, 0 }, + { 800, 0 }, + { 1600, 0 }, +}; + +static const u8 bmi270_accel_odr_vals[] = { + 0x01, + 0x02, + 0x03, + 0x04, + 0x05, + 0x06, + 0x07, + 0x08, + 0x09, + 0x0A, + 0x0B, + 0x0C, +}; + +static const struct bmi270_odr bmi270_gyro_odr[] = { + { 25, 0 }, + { 50, 0 }, + { 100, 0 }, + { 200, 0 }, + { 400, 0 }, + { 800, 0 }, + { 1600, 0 }, + { 3200, 0 }, +}; + +static const u8 bmi270_gyro_odr_vals[] = { + 0x06, + 0x07, + 0x08, + 0x09, + 0x0A, + 0x0B, + 0x0C, + 0x0D, +}; + +struct bmi270_odr_item { + const struct bmi270_odr *tbl; + const u8 *vals; + int num; +}; + +static const struct bmi270_odr_item bmi270_odr_table[] = { + [BMI270_ACCEL] = { + .tbl = bmi270_accel_odr, + .vals = bmi270_accel_odr_vals, + .num = ARRAY_SIZE(bmi270_accel_odr), + }, + [BMI270_GYRO] = { + .tbl = bmi270_gyro_odr, + .vals = bmi270_gyro_odr_vals, + .num = ARRAY_SIZE(bmi270_gyro_odr), + }, +}; + +static int bmi270_set_scale(struct bmi270_data *data, + int chan_type, int uscale) +{ + int i; + int reg, mask; + struct bmi270_scale_item bmi270_scale_item; + + switch (chan_type) { + case IIO_ACCEL: + reg = BMI270_ACC_CONF_RANGE_REG; + mask = BMI270_ACC_CONF_RANGE_MSK; + bmi270_scale_item = bmi270_scale_table[BMI270_ACCEL]; + break; + case IIO_ANGL_VEL: + reg = BMI270_GYR_CONF_RANGE_REG; + mask = BMI270_GYR_CONF_RANGE_MSK; + bmi270_scale_item = bmi270_scale_table[BMI270_GYRO]; + break; + default: + return -EINVAL; + } + + for (i = 0; i < bmi270_scale_item.num; i++) { + if (bmi270_scale_item.tbl[i].uscale != uscale) + continue; + + return regmap_update_bits(data->regmap, reg, mask, i); + } + + return -EINVAL; +} + +static int bmi270_get_scale(struct bmi270_data *bmi270_device, + int chan_type, int *uscale) +{ + int ret; + unsigned int val; + struct bmi270_scale_item bmi270_scale_item; + + switch (chan_type) { + case IIO_ACCEL: + ret = regmap_read(bmi270_device->regmap, + BMI270_ACC_CONF_RANGE_REG, &val); + if (ret) + return ret; + + val = FIELD_GET(BMI270_ACC_CONF_RANGE_MSK, val); + bmi270_scale_item = bmi270_scale_table[BMI270_ACCEL]; + break; + case IIO_ANGL_VEL: + ret = regmap_read(bmi270_device->regmap, + BMI270_GYR_CONF_RANGE_REG, &val); + if (ret) + return ret; + + val = FIELD_GET(BMI270_GYR_CONF_RANGE_MSK, val); + bmi270_scale_item = bmi270_scale_table[BMI270_GYRO]; + break; + default: + return -EINVAL; + } + + if (val >= bmi270_scale_item.num) + return -EINVAL; + + *uscale = bmi270_scale_item.tbl[val].uscale; + return 0; +} + +static int bmi270_set_odr(struct bmi270_data *data, int chan_type, + int odr, int uodr) +{ + int i; + int reg, mask; + struct bmi270_odr_item bmi270_odr_item; + + switch (chan_type) { + case IIO_ACCEL: + reg = BMI270_ACC_CONF_REG; + mask = BMI270_ACC_CONF_ODR_MSK; + bmi270_odr_item = bmi270_odr_table[BMI270_ACCEL]; + break; + case IIO_ANGL_VEL: + reg = BMI270_GYR_CONF_REG; + mask = BMI270_GYR_CONF_ODR_MSK; + bmi270_odr_item = bmi270_odr_table[BMI270_GYRO]; + break; + default: + return -EINVAL; + } + + for (i = 0; i < bmi270_odr_item.num; i++) { + if (bmi270_odr_item.tbl[i].odr != odr || + bmi270_odr_item.tbl[i].uodr != uodr) + continue; + + return regmap_update_bits(data->regmap, reg, mask, + bmi270_odr_item.vals[i]); + } + + return -EINVAL; +} + +static int bmi270_get_odr(struct bmi270_data *data, int chan_type, + int *odr, int *uodr) +{ + int i, val, ret; + struct bmi270_odr_item bmi270_odr_item; + + switch (chan_type) { + case IIO_ACCEL: + ret = regmap_read(data->regmap, BMI270_ACC_CONF_REG, &val); + if (ret) + return ret; + + val = FIELD_GET(BMI270_ACC_CONF_ODR_MSK, val); + bmi270_odr_item = bmi270_odr_table[BMI270_ACCEL]; + break; + case IIO_ANGL_VEL: + ret = regmap_read(data->regmap, BMI270_GYR_CONF_REG, &val); + if (ret) + return ret; + + val = FIELD_GET(BMI270_GYR_CONF_ODR_MSK, val); + bmi270_odr_item = bmi270_odr_table[BMI270_GYRO]; + break; + default: + return -EINVAL; + } + + for (i = 0; i < bmi270_odr_item.num; i++) { + if (val != bmi270_odr_item.vals[i]) + continue; + + *odr = bmi270_odr_item.tbl[i].odr; + *uodr = bmi270_odr_item.tbl[i].uodr; + return 0; + } + + return -EINVAL; +} + static irqreturn_t bmi270_trigger_handler(int irq, void *p) { struct iio_poll_func *pf = p; @@ -161,6 +427,68 @@ static int bmi270_read_raw(struct iio_dev *indio_dev, return ret; return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + *val = 0; + ret = bmi270_get_scale(bmi270_device, chan->type, val2); + return ret ? ret : IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_SAMP_FREQ: + ret = bmi270_get_odr(bmi270_device, chan->type, val, val2); + return ret ? ret : IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static int bmi270_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct bmi270_data *data = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + return bmi270_set_scale(data, chan->type, val2); + case IIO_CHAN_INFO_SAMP_FREQ: + return bmi270_set_odr(data, chan->type, val, val2); + default: + return -EINVAL; + } +} + +static int bmi270_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_SCALE: + *type = IIO_VAL_INT_PLUS_MICRO; + switch (chan->type) { + case IIO_ANGL_VEL: + *vals = (const int *)bmi270_gyro_scale; + *length = ARRAY_SIZE(bmi270_gyro_scale) * 2; + return IIO_AVAIL_LIST; + case IIO_ACCEL: + *vals = (const int *)bmi270_accel_scale; + *length = ARRAY_SIZE(bmi270_accel_scale) * 2; + return IIO_AVAIL_LIST; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_SAMP_FREQ: + *type = IIO_VAL_INT_PLUS_MICRO; + switch (chan->type) { + case IIO_ANGL_VEL: + *vals = (const int *)bmi270_gyro_odr; + *length = ARRAY_SIZE(bmi270_gyro_odr) * 2; + return IIO_AVAIL_LIST; + case IIO_ACCEL: + *vals = (const int *)bmi270_accel_odr; + *length = ARRAY_SIZE(bmi270_accel_odr) * 2; + return IIO_AVAIL_LIST; + default: + return -EINVAL; + } default: return -EINVAL; } @@ -168,6 +496,8 @@ static int bmi270_read_raw(struct iio_dev *indio_dev, static const struct iio_info bmi270_info = { .read_raw = bmi270_read_raw, + .write_raw = bmi270_write_raw, + .read_avail = bmi270_read_avail, }; #define BMI270_ACCEL_CHANNEL(_axis) { \ @@ -175,6 +505,11 @@ static const struct iio_info bmi270_info = { .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_SCALE) | \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .scan_index = BMI270_SCAN_ACCEL_##_axis, \ .scan_type = { \ .sign = 's', \ @@ -189,6 +524,11 @@ static const struct iio_info bmi270_info = { .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_SCALE) | \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .scan_index = BMI270_SCAN_GYRO_##_axis, \ .scan_type = { \ .sign = 's', \