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Fri, 18 Oct 2024 15:52:55 +0200 From: To: , , , , , , , , , , , , , Subject: [PATCH v9 1/2] dt-bindings: iio: imu: smi240: add Bosch smi240 Date: Fri, 18 Oct 2024 15:52:33 +0200 Message-ID: <20241018135234.5446-2-Jianping.Shen@de.bosch.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20241018135234.5446-1-Jianping.Shen@de.bosch.com> References: <20241018135234.5446-1-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: AM4PEPF00027A63:EE_|DB8PR10MB3910:EE_ X-MS-Office365-Filtering-Correlation-Id: 1b22832e-bd25-4463-7c62-08dcef7c2be9 X-MS-Exchange-SenderADCheck: 1 X-MS-Exchange-AntiSpam-Relay: 0 X-Microsoft-Antispam: BCL:0;ARA:13230040|36860700013|7416014|376014|82310400026|1800799024|921020; X-Microsoft-Antispam-Message-Info: =?utf-8?q?flad48W6osAVomH7sIXEUYivcIBoFq6?= =?utf-8?q?/0xnhN7iDajNHAJo97c66Dd5a7teD7mzuNtt0B+bwDGAoqoVXIEFbqyXRcaNPcV6n?= =?utf-8?q?cG5lPVvTxu4u7ZqUNjM5fC+CaUWMaqGHAPeF2t5Xulo5Yjn1A6eIIRTofNEfJEAGH?= =?utf-8?q?yFw1LvuFEhDv+KVDKPdfDBtr5wTNkGSX0BJvbOq1cQu+05leszKbFPretMfDVIIU0?= =?utf-8?q?GLhWRwrPNAXcOMhYqk1HJK70+ZLH5HrdH/KlVSja7OQYQ8+Y6XNG4XOGkdC+uk4jM?= =?utf-8?q?MH2IQ1RHeT3V1rchjewodFbCI+TPcYr1tGR7jz5yrdNyRBrbpvvVJ7AzrZFyl01fg?= =?utf-8?q?nrrCKrF0XzQJliG3V4jJsx9WW8sJb6+SEwM4dY4vyN8WjMLKIPEWu7cGM9Eqsgqkx?= =?utf-8?q?Cn+kwPZOHH6+hyifSYRPvbbukCImMid2AhcJ1CVKjClMMvrlVsJvSUk2bY4hNbgF2?= =?utf-8?q?aEVRv/rxLZjLbRFW2IwJVmn408a4N3rmfCsrZjWUm+YV0dv6GEbpfkk6ZatG5osTS?= =?utf-8?q?qF0Yg3CA4/Pa0dOTuIS90G08r/atbkK6qkFHeOlydPqlyw6JzoxcPVhLs96Y8vEhV?= =?utf-8?q?LPEu9dC5cIOoikSQ9L5pUTbBnh6ZbVkIrkBjsxCNjxJlFXrBGHiq8lNASHR4RV3pC?= =?utf-8?q?ZPtgmk2pwGc8FHUyFcx2Udmu6ke6vM1surDucWtkxyO08MOmscPbT7fFtvE/1yk/J?= =?utf-8?q?kZ0aOhL5DxYiUtF+/h0Cik8VOHUIS8GvkBRpeQ5Vzg9aoXfKbUJQkn4yBG3le8BQW?= =?utf-8?q?pY3Xr56U01Q/yxUBi/F26GRlhXeZtqgs8roUI3E+UhAJwFjPT5095NwbgEJkomlnS?= =?utf-8?q?s9wlY3f54WS1XBa4c31TKyRvK05JfZIUQ3kU5Y2REHwNCkH0SYIzWpe2156COJeXf?= =?utf-8?q?iqCOFazSY01yz4034wJ4fX9STZwOLVZ5/w/PUwxKciF5+BHFPpWZg04tqs84B4rda?= =?utf-8?q?YOmQul3PnjRt4qwMI7Jv4HBjsVyn2c6Dm/w/UTNXRaPGWvNVcQdZTvL+71iwkFaNb?= =?utf-8?q?f2sy9Bi2H53eSreHrbhzElb1MDV3rrf4Vmc2I9ORQRPMLSl/wYS0nmXybGnfxhwjN?= =?utf-8?q?fMm3kXC3KIL0ehROhSQjnMBURcDNEc59kJ1TZj3kpOC+67NjI7S8yQsDupwSCVSNn?= =?utf-8?q?L0wq6kKblAxVt7Wp95RtlYG5GaIdzbMl9SZd2Vn6sfiFBqcZHpIpJl1mZSEJF/Sxy?= =?utf-8?q?MhYjmV8PzrMdGcDeR4MrvfPIOm+9hBzSiV7Y95/g77CxfpOhrYVKvIRHazfTF6PE+?= =?utf-8?q?88vu6xAjc4jogFza5czjwoBpWaDpfqgEDcv+JfzqzQMYxxADeeIzLQEAIju+Dmm8j?= =?utf-8?q?xUkSdx6vctj2?= 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)(36860700013)(7416014)(376014)(82310400026)(1800799024)(921020);DIR:OUT;SFP:1101; X-OriginatorOrg: de.bosch.com X-MS-Exchange-CrossTenant-OriginalArrivalTime: 18 Oct 2024 13:52:57.0847 (UTC) X-MS-Exchange-CrossTenant-Network-Message-Id: 1b22832e-bd25-4463-7c62-08dcef7c2be9 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: AM4PEPF00027A63.eurprd04.prod.outlook.com X-MS-Exchange-CrossTenant-AuthAs: Anonymous X-MS-Exchange-CrossTenant-FromEntityHeader: HybridOnPrem X-MS-Exchange-Transport-CrossTenantHeadersStamped: DB8PR10MB3910 From: Shen Jianping add devicetree binding for Bosch imu smi240. The smi240 is a combined three axis angular rate and three axis acceleration sensor module. * The smi240 requires VDD and VDDIO * Provides only spi interface. Reviewed-by: Rob Herring (Arm) Reviewed-by: Krzysztof Kozlowski Reviewed-by: Conor Dooley Signed-off-by: Shen Jianping --- .../bindings/iio/imu/bosch,smi240.yaml | 51 +++++++++++++++++++ 1 file changed, 51 insertions(+) create mode 100644 Documentation/devicetree/bindings/iio/imu/bosch,smi240.yaml diff --git a/Documentation/devicetree/bindings/iio/imu/bosch,smi240.yaml b/Documentation/devicetree/bindings/iio/imu/bosch,smi240.yaml new file mode 100644 index 00000000000..58f1411728f --- /dev/null +++ b/Documentation/devicetree/bindings/iio/imu/bosch,smi240.yaml @@ -0,0 +1,51 @@ +# SPDX-License-Identifier: (GPL-2.0 OR BSD-2-Clause) +%YAML 1.2 +--- +$id: http://devicetree.org/schemas/iio/imu/bosch,smi240.yaml# +$schema: http://devicetree.org/meta-schemas/core.yaml# + +title: Bosch smi240 imu + +maintainers: + - Jianping Shen + +description: + Inertial Measurement Unit with Accelerometer and Gyroscope + with a measurement range of +/-300°/s and up to 16g. + https://www.bosch-semiconductors.com/mems-sensors/highly-automated-driving/smi240/ + +properties: + compatible: + const: bosch,smi240 + + reg: + maxItems: 1 + + vdd-supply: true + vddio-supply: true + +required: + - compatible + - reg + - vdd-supply + - vddio-supply + +allOf: + - $ref: /schemas/spi/spi-peripheral-props.yaml# + +unevaluatedProperties: false + +examples: + - | + spi { + #address-cells = <1>; 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X-OriginatorOrg: de.bosch.com X-MS-Exchange-CrossTenant-OriginalArrivalTime: 18 Oct 2024 13:52:57.5691 (UTC) X-MS-Exchange-CrossTenant-Network-Message-Id: 4be7b914-39b2-4abf-653b-08dcef7c2c33 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: AM4PEPF00027A63.eurprd04.prod.outlook.com X-MS-Exchange-CrossTenant-AuthAs: Anonymous X-MS-Exchange-CrossTenant-FromEntityHeader: HybridOnPrem X-MS-Exchange-Transport-CrossTenantHeadersStamped: DUZPR10MB8049 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..eb292ebf189 --- /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 = 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_NATIVE, +}; + +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");