From patchwork Sun Sep 1 20:53:23 2024 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Alex Lanzano X-Patchwork-Id: 13786604 Received: from mail-vk1-f181.google.com (mail-vk1-f181.google.com [209.85.221.181]) (using TLSv1.2 with cipher ECDHE-RSA-AES128-GCM-SHA256 (128/128 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id D7176558BA; Sun, 1 Sep 2024 20:54:26 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=209.85.221.181 ARC-Seal: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1725224069; cv=none; b=afejT/AfFsR1QFk7VbveGTybv5bss7/i46MU6VKrMjEB4CfU0XcPJFw02Hp1r6OmDs4ny620TP9tf3blZNezhR+QFVUCUyFI6Yjn9fps7RnBUNWCFzOA5v03YHBWAUhv4V2AmDGoOGqps5EN6FTV0gLZY/rC/2GODEPlNUuPpqo= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1725224069; c=relaxed/simple; bh=WNzE4K93vihn1kuliBM+l/p1UdrmkNoDHWFCaTLi2dk=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=jH+myBSAbALnsdkSHaPRYo4yOW6x+zq5D8AuUXzuydlXxJOlhtebY1lOxBispGHtWMr8DwHtXh5rL0U9Mzppn9d1zvGvDc3t5655PBqzcyB6NxJPsQCc2viVCnBjjPfd6s2HUOO4ZR3Zh6PL0YOYCWRM16tgNGFoZvp5adht4C8= ARC-Authentication-Results: i=1; smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gmail.com; spf=pass smtp.mailfrom=gmail.com; dkim=pass (2048-bit key) header.d=gmail.com header.i=@gmail.com header.b=VOpXV3CE; arc=none smtp.client-ip=209.85.221.181 Authentication-Results: smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gmail.com Authentication-Results: smtp.subspace.kernel.org; spf=pass smtp.mailfrom=gmail.com Authentication-Results: smtp.subspace.kernel.org; dkim=pass (2048-bit key) header.d=gmail.com header.i=@gmail.com header.b="VOpXV3CE" Received: by mail-vk1-f181.google.com with SMTP id 71dfb90a1353d-4fcf40c9ed3so1370521e0c.2; Sun, 01 Sep 2024 13:54:26 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20230601; t=1725224065; x=1725828865; darn=vger.kernel.org; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:from:to:cc:subject:date :message-id:reply-to; bh=oORM99D8qtvmeHR9Wi2UXcr+FXwZ5BI+zGdd++zYdE0=; b=VOpXV3CEqgjDHUVzGTm0B/wjMjLJjZJvYfW9cvUuGrf+vV91hbl/6WaEwUoYje93xI bMgpASEbl+GRYjGbN6LCSSG6Ks7jyElQjfAMkybn2q0fVd1Vz+lND0zRhay3CUh8neeL 9bx4Z22NSLKzFCVQiMiGV0/JoNgkfsBwRxp7fg8vSUGmcBRV9goTNkxX2ikespGA9aWy 9RN/gQydh+9Pc33cC9mj4VJoiOqlkXQTVxDlLD1t1CahUfDcsorkH/TAfuiN3f2+IGnn E0uJXe6Q/WH4yWzON974dsNz9EauJHqFXdEfrqVjUqSmsV3+XrlFWsMD0kR5IYtChNuo tf2g== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20230601; t=1725224065; x=1725828865; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:x-gm-message-state:from:to:cc :subject:date:message-id:reply-to; bh=oORM99D8qtvmeHR9Wi2UXcr+FXwZ5BI+zGdd++zYdE0=; b=J3As6BR7M2aHezP6OUpQkpdcJ2u9Qf4LlFaaaY5B6YwXsX6vuozKDao2H8CGhAsagP 7gbJ9fwrd0epTZ6ho0JN672JQKBy0y1PQ89E5nNgXGfaqfHc/5ojOwCGG28T9tIzRa12 rNtr4oDq49Tbdkga9Aaya+GYPjQ8SGcruVLGe67v2PjUSer3GM3r6/mwwUTjp03eeieK e+oTxuPQFcwJ3YfEKpj1MODc2kWjt+8/S1YuNswNqDotemBD4553lh0yHtDXVpk/nr+U ZTIlgnZ8NVUWbwRht21y1IEWNiCqc32ulYXvoccYQDd2cDIZVSSr381pjcRt4bZ8sV6u sjkQ== X-Forwarded-Encrypted: i=1; AJvYcCVbRdiF1LxZzTMj5l0CArXfAHGOUriTFLAV9Do+wnWfbZagTjNoajK536FCRHsFV184u1jAjyFIBKtEbjFT@vger.kernel.org, AJvYcCXJ9vVdwyAuctCDGMRPy8JWe1+ctQrI0FwAVsPwcNQXXvNvs5QP8j+oP9BRQbOkajSvHttswOhe+ttG@vger.kernel.org, AJvYcCXSXBAAZB4NPnsydnm0c6LjoRyxdlwcCBpOkDdqcO+kniqRvRGkhb5nfMZjrga2ba0zZkKuTMAEcECV@vger.kernel.org X-Gm-Message-State: AOJu0YzQQnD8D+lejsbCA5WCH2iChqvOh2CUSRozIC5SPvNX+XKhmqUI /ZtfYTo0VP7h3/JMFWrx6YyweaC9Y5J6xMcDZLgpHDzsC7p5uaD6 X-Google-Smtp-Source: AGHT+IG+Dvmq+hEtRSBEcaVTVaFuH2eUI0v6DLuubJCxlw1QGJEJNU64FmplcaTa/A0YMbNh56BC9A== X-Received: by 2002:a05:6122:2013:b0:4ed:52b:dd29 with SMTP id 71dfb90a1353d-4ffe4a5d3bfmr15391409e0c.3.1725224065571; Sun, 01 Sep 2024 13:54:25 -0700 (PDT) Received: from localhost.localdomain (ool-1826d901.dyn.optonline.net. [24.38.217.1]) by smtp.gmail.com with ESMTPSA id d75a77b69052e-45682c9a148sm34148231cf.32.2024.09.01.13.54.24 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Sun, 01 Sep 2024 13:54:25 -0700 (PDT) From: Alex Lanzano To: Alex Lanzano , Jonathan Cameron , Lars-Peter Clausen , Rob Herring , Krzysztof Kozlowski , Conor Dooley , Jagath Jog J , Ramona Gradinariu , Nuno Sa Cc: Jonathan Cameron , linux-iio@vger.kernel.org, devicetree@vger.kernel.org, linux-kernel@vger.kernel.org Subject: [PATCH 1/2] dt-bindings: iio: imu: add bmi270 bindings Date: Sun, 1 Sep 2024 16:53:23 -0400 Message-ID: <20240901205354.3201261-2-lanzano.alex@gmail.com> X-Mailer: git-send-email 2.46.0 In-Reply-To: <20240901205354.3201261-1-lanzano.alex@gmail.com> References: <20240901205354.3201261-1-lanzano.alex@gmail.com> Precedence: bulk X-Mailing-List: linux-iio@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Add device tree bindings for the bmi270 IMU Signed-off-by: Alex Lanzano --- .../bindings/iio/imu/bosch,bmi270.yaml | 80 +++++++++++++++++++ 1 file changed, 80 insertions(+) create mode 100644 Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml diff --git a/Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml b/Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml new file mode 100644 index 000000000000..44534ef36378 --- /dev/null +++ b/Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml @@ -0,0 +1,80 @@ +# SPDX-License-Identifier: (GPL-2.0 OR BSD-2-Clause) +%YAML 1.2 +--- +$id: http://devicetree.org/schemas/iio/imu/bosch,bmi270.yaml# +$schema: http://devicetree.org/meta-schemas/core.yaml# + +title: Bosch BMI270 6-Axis IMU + +maintainers: + - Alex Lanzano + +description: | + BMI270 is a 6-axis inertial measurement unit that can measure acceleration and + angular velocity. The sensor also supports configurable interrupt events such + as motion, step counter, and wrist motion gestures. The sensor can communicate + I2C or SPI. + https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi270/ + +properties: + compatible: + const: bosch,bmi270 + + reg: + maxItems: 1 + + vdd-supply: true + vddio-supply: true + + interrupts: + minItems: 1 + maxItems: 2 + + interrupt-names: + minItems: 1 + maxItems: 2 + items: + enum: + - INT1 + - INT2 + + drive-open-drain: + description: + set if the specified interrupt pin should be configured as + open drain. If not set, defaults to push-pull. + + mount-matrix: + description: + an optional 3x3 mounting rotation matrix. + +required: + - compatible + - reg + +allOf: + - $ref: /schemas/spi/spi-peripheral-props.yaml# + +unevaluatedProperties: false + +examples: + - | + i2c { + #address-cells = <1>; + #size-cells = <0>; + + imu@68 { + compatible = "bosch,bmi270"; + reg = <0x68>; + }; + }; + - | + spi { + #address-cells = <1>; + #size-cells = <0>; + + bmi270@0 { + compatible = "bosch,bmi270"; + reg = <0>; + spi-max-frequency = <10000000>; + }; + }; From patchwork Sun Sep 1 20:53:24 2024 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Alex Lanzano X-Patchwork-Id: 13786605 Received: from mail-qt1-f178.google.com (mail-qt1-f178.google.com [209.85.160.178]) (using TLSv1.2 with cipher ECDHE-RSA-AES128-GCM-SHA256 (128/128 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id 64DB113AA27; Sun, 1 Sep 2024 20:54:37 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=209.85.160.178 ARC-Seal: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1725224079; cv=none; b=iMAYo796ErXZ/cT33h34mK0DeLE6KKdhjZHmCOVKDW+SnGlzQjo4DCA66S8HXSbhWp72hJceK1DHdpddIdekcOHaSxJJJ171l3iatjb8UadhWYWVL3alINME4R9sYC+RSqDvpOTKZUDPEZifApBuZPsW4TwR6fJCF2sDiJIzeHQ= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1725224079; c=relaxed/simple; bh=fgpz/K/du0AWMxjxt4lD0Kuz3y751SnPLrya5tlsQT8=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=NnQCJfNGoeIIBsnu9LjVDHltEHu9s1L5BC7rRzK9EHcvvNRgEIZL0oM6Y97lqFgmLdPBTVWfjWiHuOlU18sOZZXY3hM/LlCj5RP8t9JrmAMUZoRdm9R7Vo7xUv6HpS6YLCQCbz1fLg4zAhRhmH5Vz+fms8wqbCf35hAMJ8xXjaw= ARC-Authentication-Results: i=1; smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gmail.com; spf=pass smtp.mailfrom=gmail.com; dkim=pass (2048-bit key) header.d=gmail.com header.i=@gmail.com header.b=WpuhVWpE; arc=none smtp.client-ip=209.85.160.178 Authentication-Results: smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gmail.com Authentication-Results: smtp.subspace.kernel.org; spf=pass smtp.mailfrom=gmail.com Authentication-Results: smtp.subspace.kernel.org; dkim=pass (2048-bit key) header.d=gmail.com header.i=@gmail.com header.b="WpuhVWpE" Received: by mail-qt1-f178.google.com with SMTP id d75a77b69052e-45685a3b1d8so29263131cf.1; Sun, 01 Sep 2024 13:54:37 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20230601; t=1725224076; x=1725828876; darn=vger.kernel.org; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:from:to:cc:subject:date :message-id:reply-to; bh=8d5ZmyufjPSGkAltJkR0m1wXBlz58+lzT0sISs+lQSg=; b=WpuhVWpEfEgcUWtyaATBs4TOXIPsnzUctZDzBezQTC21frnv8o1U+mBSCTwOJKR6gX lcCNRG62CKjgilNC2iYJDalVfCy+TVM/WX2xLWfY4j+W9KzUp3dNw1FRpECtmknbs0yH bBkpV4C/nieBwybBrDM2mB8N01QN+Wo9EbFVf5t63cTU3h4xZsdifwxvHcwknrQM5Lib EGMXJXK5lrP5lxWp3Bhsy1TE0l+ZdkKnFO9If5mWBaSQPpHF+cR5URiHMyseUYHwDubw Y1Mi0sZ2EqC9ydZz3xxHGtSycBz/mHzGxYINg8UwT6nbF7TlQ5NXcbT0jOGrymX8yVRB uP+A== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20230601; t=1725224076; x=1725828876; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:x-gm-message-state:from:to:cc :subject:date:message-id:reply-to; bh=8d5ZmyufjPSGkAltJkR0m1wXBlz58+lzT0sISs+lQSg=; b=Ag/qOMoPLRne7whZScCbELgcIqxdJB2FpiLXxf9zEjhSdkxoYy/1bUTeSXWP39iAIQ iPXkeC/EWrSa0gfZWxcE4U9GooD3HP3b7FATQqBF67qy0+RySoGlrEL2UPfnzhEBaOTo OfuzRkb61z82KE65FAXCOoOJv6Zi9AHi/My6BXQKs0qQXSsrZJ0pDiS/8mNFzOjaZ4UJ VDhPiePe67fRN51VRrP27Df7A3ixTrw18epAHlOJSn+cuXMzmI92e0yX58mODOcKOPJy jy7b+OzAPs2Gbi6NWNowkHgKu8sM9HedJkN7sG+xeED90D+b/dhxUC4zL8KDCWLL19pe vaUA== X-Forwarded-Encrypted: i=1; AJvYcCULXDAVybb6CjHEefqEFS4PMZ0o1eDvRlcwaJQjoQVDPQ9VzRhsaXKAlVdW0Ok0q4rJf/N1qJQEw8+xMtKO@vger.kernel.org, AJvYcCWNriGqfCAS7GBYVHipVO3DFVF2qeB9O5CB6SQT5yccVMTQEX2dlhn6hzQiNEOoLN16TdMF1vw3zULs@vger.kernel.org, AJvYcCWy9wAs93ufeuU9ItB36l3UhIKd1oGaqCGWHzaijfwlz1lUdzjmE1+xNRNnH6+Q+FxVCY+8WIaLyJ5U@vger.kernel.org X-Gm-Message-State: AOJu0YwiATzBg2AJN8paIPvONQVrKSqnS5SpenGp7UU02bkZs1XhtUYG O6ND5+fzOVi6DROfhk6n3SgwZ2Jf2YGN9M2o2/6G5OZMULfJWNE4 X-Google-Smtp-Source: AGHT+IGe+m0ngwWa/9LuNh6QGcoShwtMapdjKC0IK9dQeXveuCulr5ShJkYBeupLe57znXjtFEPKgg== X-Received: by 2002:a05:622a:4ac6:b0:457:c9fe:8eed with SMTP id d75a77b69052e-457c9fe8ffemr60908421cf.29.1725224076241; Sun, 01 Sep 2024 13:54:36 -0700 (PDT) Received: from localhost.localdomain (ool-1826d901.dyn.optonline.net. [24.38.217.1]) by smtp.gmail.com with ESMTPSA id d75a77b69052e-45682c9a148sm34148231cf.32.2024.09.01.13.54.35 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Sun, 01 Sep 2024 13:54:35 -0700 (PDT) From: Alex Lanzano To: Alex Lanzano , Jonathan Cameron , Lars-Peter Clausen , Rob Herring , Krzysztof Kozlowski , Conor Dooley , Jagath Jog J , Ramona Gradinariu , Nuno Sa Cc: Jonathan Cameron , linux-iio@vger.kernel.org, devicetree@vger.kernel.org, linux-kernel@vger.kernel.org Subject: [PATCH 2/2] iio: imu: Add i2c driver for bmi270 imu Date: Sun, 1 Sep 2024 16:53:24 -0400 Message-ID: <20240901205354.3201261-3-lanzano.alex@gmail.com> X-Mailer: git-send-email 2.46.0 In-Reply-To: <20240901205354.3201261-1-lanzano.alex@gmail.com> References: <20240901205354.3201261-1-lanzano.alex@gmail.com> Precedence: bulk X-Mailing-List: linux-iio@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Add initial i2c support for the Bosch BMI270 6-axis IMU. Provides raw read access to acceleration and angle velocity measurements via iio channels. Device configuration requires firmware provided by Bosch and is requested and load from userspace. Signed-off-by: Alex Lanzano --- MAINTAINERS | 7 + drivers/iio/imu/Kconfig | 1 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/bmi270/Kconfig | 22 ++ drivers/iio/imu/bmi270/Makefile | 6 + drivers/iio/imu/bmi270/bmi270.h | 18 ++ drivers/iio/imu/bmi270/bmi270_core.c | 322 +++++++++++++++++++++++++++ drivers/iio/imu/bmi270/bmi270_i2c.c | 56 +++++ 8 files changed, 433 insertions(+) create mode 100644 drivers/iio/imu/bmi270/Kconfig create mode 100644 drivers/iio/imu/bmi270/Makefile create mode 100644 drivers/iio/imu/bmi270/bmi270.h create mode 100644 drivers/iio/imu/bmi270/bmi270_core.c create mode 100644 drivers/iio/imu/bmi270/bmi270_i2c.c diff --git a/MAINTAINERS b/MAINTAINERS index 417c6751c0dc..3d4a6f52bae6 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -3966,6 +3966,13 @@ S: Maintained F: Documentation/devicetree/bindings/iio/accel/bosch,bma400.yaml F: drivers/iio/accel/bma400* +BOSCH SENSORTEC BMI270 IMU IIO DRIVER +M: Alex Lanzano +L: linux-iio@vger.kernel.org +S: Maintained +F: Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml +F: drivers/iio/imu/bmi270/ + BOSCH SENSORTEC BMI323 IMU IIO DRIVER M: Jagath Jog J L: linux-iio@vger.kernel.org diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 782fb80e44c2..489dd898830b 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -53,6 +53,7 @@ config ADIS16480 ADIS16485, ADIS16488 inertial sensors. source "drivers/iio/imu/bmi160/Kconfig" +source "drivers/iio/imu/bmi270/Kconfig" source "drivers/iio/imu/bmi323/Kconfig" source "drivers/iio/imu/bno055/Kconfig" diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index 7e2d7d5c3b7b..79f83ea6f644 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -15,6 +15,7 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o obj-y += bmi160/ +obj-y += bmi270/ obj-y += bmi323/ obj-y += bno055/ diff --git a/drivers/iio/imu/bmi270/Kconfig b/drivers/iio/imu/bmi270/Kconfig new file mode 100644 index 000000000000..05e13c67db57 --- /dev/null +++ b/drivers/iio/imu/bmi270/Kconfig @@ -0,0 +1,22 @@ +# SPDX-License-Identifier: GPL-2.0 +# +# BMI270 IMU driver +# + +config BMI270 + tristate + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + +config BMI270_I2C + tristate "Bosch BMI270 I2C driver" + depends on I2C + select BMI270 + select REGMAP_I2C + help + Enable support for the Bosch BMI270 6-Axis IMU connected to I2C + interface. + + This driver can also be built as a module. If so, the module will be + called bmi270_i2c. + diff --git a/drivers/iio/imu/bmi270/Makefile b/drivers/iio/imu/bmi270/Makefile new file mode 100644 index 000000000000..ab4acaaee6d2 --- /dev/null +++ b/drivers/iio/imu/bmi270/Makefile @@ -0,0 +1,6 @@ +# SPDX-License-Identifier: GPL-2.0 +# +# Makefile for Bosch BMI270 IMU +# +obj-$(CONFIG_BMI270) += bmi270_core.o +obj-$(CONFIG_BMI270_I2C) += bmi270_i2c.o diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h new file mode 100644 index 000000000000..52e806529748 --- /dev/null +++ b/drivers/iio/imu/bmi270/bmi270.h @@ -0,0 +1,18 @@ +/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) */ + +#ifndef BMI270_H_ +#define BMI270_H_ + +#include + +struct bmi270_data { + struct device *dev; + struct regmap *regmap; +}; + +extern const struct regmap_config bmi270_regmap_config; + +int bmi270_core_probe(struct device *dev, struct regmap *regmap, + const char *name, bool use_spi); + +#endif /* BMI270_H_ */ diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c new file mode 100644 index 000000000000..f8c53e8e35a2 --- /dev/null +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -0,0 +1,322 @@ +// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) + +#include +#include +#include +#include +#include + +#include "bmi270.h" + +#define BMI270_CHIP_ID 0x24 +#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw" + +enum bmi270_registers { + BMI270_REG_CHIP_ID = 0x00, + BMI270_REG_INTERNAL_STATUS = 0x21, + BMI270_REG_ACC_CONF = 0x40, + BMI270_REG_GYR_CONF = 0x42, + BMI270_REG_INIT_CTRL = 0x59, + BMI270_REG_INIT_DATA = 0x5e, + BMI270_REG_PWR_CONF = 0x7c, + BMI270_REG_PWR_CTRL = 0x7d, +}; + +enum bmi270_scan { + BMI270_SCAN_ACCEL_X, + BMI270_SCAN_ACCEL_Y, + BMI270_SCAN_ACCEL_Z, + BMI270_SCAN_GYRO_X, + BMI270_SCAN_GYRO_Y, + 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; + + switch (chan_type) { + case IIO_ACCEL: + reg = 0xc + (axis - IIO_MOD_X) * sizeof(sample); + break; + case IIO_ANGL_VEL: + reg = 0x12 + (axis - IIO_MOD_X) * sizeof(sample); + break; + default: + return -EINVAL; + } + + regmap_bulk_read(bmi270_device->regmap, reg, &sample, sizeof(sample)); + *val = sign_extend32(le16_to_cpu(sample), 15); + + return 0; +} + +static int bmi270_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct bmi270_data *bmi270_device = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_RAW: + bmi270_get_data(bmi270_device, chan->type, chan->channel2, val); + return IIO_VAL_INT; + default: + return -EINVAL; + } + + return 0; +} + +static const struct iio_info bmi270_info = { + .read_raw = bmi270_read_raw, +}; + +static const struct iio_chan_spec bmi270_channels[] = { + { + .type = IIO_ACCEL, + .modified = 1, + .channel2 = IIO_MOD_X, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_ACCEL_X, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + }, + { + .type = IIO_ACCEL, + .modified = 1, + .channel2 = IIO_MOD_Y, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_ACCEL_Y, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + }, + { + .type = IIO_ACCEL, + .modified = 1, + .channel2 = IIO_MOD_Z, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_ACCEL_Z, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + }, + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_X, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_GYRO_X, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + }, + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_Y, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_GYRO_Y, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + + }, + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_Z, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_GYRO_Z, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + }, +}; + +static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device) +{ + int chip_id; + int ret; + struct device *dev = bmi270_device->dev; + struct regmap *regmap = bmi270_device->regmap; + + ret = regmap_read(regmap, BMI270_REG_CHIP_ID, &chip_id); + if (ret) + return dev_err_probe(dev, ret, "Failed to read chip id"); + + if (chip_id != BMI270_CHIP_ID) + return dev_err_probe(dev, -ENODEV, "Invalid chip id"); + + return 0; +} + +static int bmi270_write_init_data(struct bmi270_data *bmi270_device) +{ + int pwr_conf = 0; + int ret; + int status = 0; + const struct firmware *init_data; + struct device *dev = bmi270_device->dev; + struct regmap *regmap = bmi270_device->regmap; + + ret = regmap_read(regmap, BMI270_REG_PWR_CONF, &pwr_conf); + if (ret) + return dev_err_probe(dev, ret, "Failed to read power configuration"); + + pwr_conf &= 0xfffffffe; + ret = regmap_write(regmap, BMI270_REG_PWR_CONF, pwr_conf); + if (ret) + return dev_err_probe(dev, ret, "Failed to write power configuration"); + + usleep_range(450, 1000); + + ret = regmap_write(regmap, BMI270_REG_INIT_CTRL, 0x0); + if (ret) + return dev_err_probe(dev, ret, "Failed to prepare device to load init data"); + + ret = request_firmware(&init_data, BMI270_INIT_DATA_FILE, dev); + if (ret) + return dev_err_probe(dev, ret, "Failed to load init data file"); + + ret = regmap_bulk_write(regmap, BMI270_REG_INIT_DATA, + init_data->data, init_data->size); + release_firmware(init_data); + if (ret) + return dev_err_probe(dev, ret, "Failed to write init data"); + + ret = regmap_write(regmap, BMI270_REG_INIT_CTRL, 0x1); + if (ret) + return dev_err_probe(dev, ret, "Failed to stop device initialization"); + + usleep_range(20000, 55000); + + ret = regmap_read(regmap, BMI270_REG_INTERNAL_STATUS, &status); + if (ret) + return dev_err_probe(dev, ret, "Failed to read internal status"); + + if (status != 1) + return dev_err_probe(dev, -ENODEV, "Device failed to initialize"); + + return 0; +} + +static int bmi270_configure_imu(struct bmi270_data *bmi270_device) +{ + int ret; + struct device *dev = bmi270_device->dev; + struct regmap *regmap = bmi270_device->regmap; + + ret = regmap_write(regmap, BMI270_REG_PWR_CTRL, 0x0e); + if (ret) + return dev_err_probe(dev, ret, "Failed to enable accelerometer and gyroscope"); + + ret = regmap_write(regmap, BMI270_REG_ACC_CONF, 0xa8); + if (ret) + return dev_err_probe(dev, ret, "Failed to configure accelerometer"); + + ret = regmap_write(regmap, BMI270_REG_GYR_CONF, 0xa9); + if (ret) + return dev_err_probe(dev, ret, "Failed to configure gyroscope"); + + ret = regmap_write(regmap, BMI270_REG_PWR_CONF, 0x02); + if (ret) + return dev_err_probe(dev, ret, "Failed to set power configuration"); + + return 0; +} + +static int bmi270_chip_init(struct bmi270_data *bmi270_device) +{ + int ret; + + ret = bmi270_validate_chip_id(bmi270_device); + if (ret) + return ret; + + ret = bmi270_write_init_data(bmi270_device); + if (ret) + return ret; + + ret = bmi270_configure_imu(bmi270_device); + if (ret) + return ret; + + return 0; +} + +int bmi270_core_probe(struct device *dev, struct regmap *regmap, + const char *name, bool use_spi) +{ + int ret; + struct bmi270_data *bmi270_device; + struct iio_dev *indio_dev; + + indio_dev = devm_iio_device_alloc(dev, sizeof(struct bmi270_data *)); + if (!indio_dev) + return -ENOMEM; + + bmi270_device = iio_priv(indio_dev); + bmi270_device->dev = dev; + bmi270_device->regmap = regmap; + + dev_set_drvdata(dev, indio_dev); + + ret = bmi270_chip_init(bmi270_device); + if (ret) + return ret; + + indio_dev->channels = bmi270_channels; + indio_dev->num_channels = ARRAY_SIZE(bmi270_channels); + indio_dev->name = name; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &bmi270_info; + + return devm_iio_device_register(dev, indio_dev); +} +EXPORT_SYMBOL_NS_GPL(bmi270_core_probe, IIO_BMI270); + +MODULE_AUTHOR("Alex Lanzano"); +MODULE_DESCRIPTION("BMI270 driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/imu/bmi270/bmi270_i2c.c b/drivers/iio/imu/bmi270/bmi270_i2c.c new file mode 100644 index 000000000000..2a18c3af92d2 --- /dev/null +++ b/drivers/iio/imu/bmi270/bmi270_i2c.c @@ -0,0 +1,56 @@ +// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) + +#include +#include +#include +#include +#include + +#include "bmi270.h" + +static int bmi270_i2c_probe(struct i2c_client *client) +{ + const char *name; + struct regmap *regmap; + struct device *dev = &client->dev; + const struct i2c_device_id *id; + + regmap = devm_regmap_init_i2c(client, &bmi270_regmap_config); + if (IS_ERR(regmap)) { + return dev_err_probe(dev, PTR_ERR(regmap), + "Failed to init i2c regmap"); + } + + id = i2c_client_get_device_id(client); + if (id) + name = id->name; + else + name = dev_name(dev); + + return bmi270_core_probe(dev, regmap, name, false); +} + +static const struct i2c_device_id bmi270_i2c_id[] = { + {"bmi270", 0}, + {} +}; + +static const struct of_device_id bmi270_of_match[] = { + {.compatible = "bosch,bmi270"}, + {}, +}; + +static struct i2c_driver bmi270_i2c_driver = { + .driver = { + .name = "bmi270_i2c", + .of_match_table = bmi270_of_match, + }, + .probe = bmi270_i2c_probe, + .id_table = bmi270_i2c_id, +}; +module_i2c_driver(bmi270_i2c_driver); + +MODULE_AUTHOR("Alex Lanzano"); +MODULE_DESCRIPTION("BMI270 driver"); +MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS(IIO_BMI270);