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Sun, 20 Oct 2024 18:01:17 -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 1/6] iio: imu: bmi270: Remove unused FREQUENCY / SCALE attributes Date: Sun, 20 Oct 2024 15:00:05 -0700 Message-ID: <20241020220011.212395-2-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 These attributes are not currently wired up, and will always return EINVAL. Fixes: 3ea51548d6b2 ("iio: imu: Add i2c driver for bmi270 imu") Signed-off-by: Justin Weiss --- drivers/iio/imu/bmi270/bmi270_core.c | 4 ---- 1 file changed, 4 deletions(-) diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c index aeda7c4228df..e598c642178f 100644 --- a/drivers/iio/imu/bmi270/bmi270_core.c +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -121,8 +121,6 @@ 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_FREQUENCY), \ } #define BMI270_ANG_VEL_CHANNEL(_axis) { \ @@ -130,8 +128,6 @@ 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_FREQUENCY), \ } static const struct iio_chan_spec bmi270_channels[] = { From patchwork Sun Oct 20 22:00:06 2024 Content-Type: text/plain; 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Sun, 20 Oct 2024 18:01:19 -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 2/6] iio: imu: bmi270: Provide chip info as configuration structure Date: Sun, 20 Oct 2024 15:00:06 -0700 Message-ID: <20241020220011.212395-3-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 Prepare the bmi270 driver to support similar devices like the bmi260. Signed-off-by: Justin Weiss --- drivers/iio/imu/bmi270/bmi270.h | 11 ++++++++++- drivers/iio/imu/bmi270/bmi270_core.c | 18 ++++++++++++++---- drivers/iio/imu/bmi270/bmi270_i2c.c | 11 ++++++++--- drivers/iio/imu/bmi270/bmi270_spi.c | 11 ++++++++--- 4 files changed, 40 insertions(+), 11 deletions(-) diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h index 8ac20ad7ee94..93e5f387607b 100644 --- a/drivers/iio/imu/bmi270/bmi270.h +++ b/drivers/iio/imu/bmi270/bmi270.h @@ -10,10 +10,19 @@ struct device; struct bmi270_data { struct device *dev; struct regmap *regmap; + const struct bmi270_chip_info *chip_info; +}; + +struct bmi270_chip_info { + const char *name; + int chip_id; + const char *fw_name; }; extern const struct regmap_config bmi270_regmap_config; +extern const struct bmi270_chip_info bmi270_chip_info; -int bmi270_core_probe(struct device *dev, struct regmap *regmap); +int bmi270_core_probe(struct device *dev, struct regmap *regmap, + const struct bmi270_chip_info *chip_info); #endif /* BMI270_H_ */ diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c index e598c642178f..5f08d786fa21 100644 --- a/drivers/iio/imu/bmi270/bmi270_core.c +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -66,6 +66,13 @@ enum bmi270_scan { BMI270_SCAN_GYRO_Z, }; +const struct bmi270_chip_info bmi270_chip_info = { + .name = "bmi270", + .chip_id = BMI270_CHIP_ID_VAL, + .fw_name = BMI270_INIT_DATA_FILE, +}; +EXPORT_SYMBOL_NS_GPL(bmi270_chip_info, IIO_BMI270); + static int bmi270_get_data(struct bmi270_data *bmi270_device, int chan_type, int axis, int *val) { @@ -150,7 +157,7 @@ static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device) if (ret) return dev_err_probe(dev, ret, "Failed to read chip id"); - if (chip_id != BMI270_CHIP_ID_VAL) + if (chip_id != bmi270_device->chip_info->chip_id) dev_info(dev, "Unknown chip id 0x%x", chip_id); return 0; @@ -183,7 +190,8 @@ static int bmi270_write_calibration_data(struct bmi270_data *bmi270_device) return dev_err_probe(dev, ret, "Failed to prepare device to load init data"); - ret = request_firmware(&init_data, BMI270_INIT_DATA_FILE, dev); + ret = request_firmware(&init_data, + bmi270_device->chip_info->fw_name, dev); if (ret) return dev_err_probe(dev, ret, "Failed to load init data file"); @@ -270,7 +278,8 @@ static int bmi270_chip_init(struct bmi270_data *bmi270_device) return bmi270_configure_imu(bmi270_device); } -int bmi270_core_probe(struct device *dev, struct regmap *regmap) +int bmi270_core_probe(struct device *dev, struct regmap *regmap, + const struct bmi270_chip_info *chip_info) { int ret; struct bmi270_data *bmi270_device; @@ -283,6 +292,7 @@ int bmi270_core_probe(struct device *dev, struct regmap *regmap) bmi270_device = iio_priv(indio_dev); bmi270_device->dev = dev; bmi270_device->regmap = regmap; + bmi270_device->chip_info = chip_info; ret = bmi270_chip_init(bmi270_device); if (ret) @@ -290,7 +300,7 @@ int bmi270_core_probe(struct device *dev, struct regmap *regmap) indio_dev->channels = bmi270_channels; indio_dev->num_channels = ARRAY_SIZE(bmi270_channels); - indio_dev->name = "bmi270"; + indio_dev->name = chip_info->name; indio_dev->modes = INDIO_DIRECT_MODE; indio_dev->info = &bmi270_info; diff --git a/drivers/iio/imu/bmi270/bmi270_i2c.c b/drivers/iio/imu/bmi270/bmi270_i2c.c index d59161f23f9a..394f27996059 100644 --- a/drivers/iio/imu/bmi270/bmi270_i2c.c +++ b/drivers/iio/imu/bmi270/bmi270_i2c.c @@ -17,22 +17,27 @@ static int bmi270_i2c_probe(struct i2c_client *client) { struct regmap *regmap; struct device *dev = &client->dev; + const struct bmi270_chip_info *chip_info; + + chip_info = i2c_get_match_data(client); + if (!chip_info) + return -ENODEV; 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"); - return bmi270_core_probe(dev, regmap); + return bmi270_core_probe(dev, regmap, chip_info); } static const struct i2c_device_id bmi270_i2c_id[] = { - { "bmi270", 0 }, + { "bmi270", (kernel_ulong_t)&bmi270_chip_info }, { } }; static const struct of_device_id bmi270_of_match[] = { - { .compatible = "bosch,bmi270" }, + { .compatible = "bosch,bmi270", .data = &bmi270_chip_info }, { } }; diff --git a/drivers/iio/imu/bmi270/bmi270_spi.c b/drivers/iio/imu/bmi270/bmi270_spi.c index b53784d4a1f4..7c2062c660d9 100644 --- a/drivers/iio/imu/bmi270/bmi270_spi.c +++ b/drivers/iio/imu/bmi270/bmi270_spi.c @@ -49,6 +49,11 @@ static int bmi270_spi_probe(struct spi_device *spi) { struct regmap *regmap; struct device *dev = &spi->dev; + const struct bmi270_chip_info *chip_info; + + chip_info = spi_get_device_match_data(spi); + if (!chip_info) + return -ENODEV; regmap = devm_regmap_init(dev, &bmi270_regmap_bus, dev, &bmi270_spi_regmap_config); @@ -56,16 +61,16 @@ static int bmi270_spi_probe(struct spi_device *spi) return dev_err_probe(dev, PTR_ERR(regmap), "Failed to init i2c regmap"); - return bmi270_core_probe(dev, regmap); + return bmi270_core_probe(dev, regmap, chip_info); } static const struct spi_device_id bmi270_spi_id[] = { - { "bmi270" }, + { "bmi270", (kernel_ulong_t)&bmi270_chip_info }, { } }; static const struct of_device_id bmi270_of_match[] = { - { .compatible = "bosch,bmi270" }, + { .compatible = "bosch,bmi270", .data = &bmi270_chip_info }, { } }; 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Sun, 20 Oct 2024 18:01:22 -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 3/6] dt-bindings: iio: imu: bmi270: Add Bosch BMI260 Date: Sun, 20 Oct 2024 15:00:07 -0700 Message-ID: <20241020220011.212395-4-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 compatible ID for Bosch BMI260 to BMI270 documentation. Signed-off-by: Justin Weiss --- Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml b/Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml index 792d1483af3c..7b0cde1c9b0a 100644 --- a/Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml +++ b/Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml @@ -18,7 +18,9 @@ description: | properties: compatible: - const: bosch,bmi270 + enum: + - bosch,bmi260 + - bosch,bmi270 reg: maxItems: 1 From patchwork Sun Oct 20 22:00:08 2024 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Justin Weiss X-Patchwork-Id: 13843310 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 3D09E19923A; 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Sun, 20 Oct 2024 18:01:24 -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 4/6] iio: imu: bmi270: Add support for BMI260 Date: Sun, 20 Oct 2024 15:00:08 -0700 Message-ID: <20241020220011.212395-5-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 Adds support for the Bosch BMI260 6-axis IMU to the Bosch BMI270 driver. Setup and operation is nearly identical to the Bosch BMI270, but has a different chip ID and requires different firmware. Firmware is requested and loaded from userspace. Signed-off-by: Justin Weiss --- drivers/iio/imu/bmi270/bmi270.h | 1 + drivers/iio/imu/bmi270/bmi270_core.c | 28 +++++++++++++++++++++++++++- drivers/iio/imu/bmi270/bmi270_i2c.c | 13 +++++++++++++ drivers/iio/imu/bmi270/bmi270_spi.c | 8 ++++++++ 4 files changed, 49 insertions(+), 1 deletion(-) diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h index 93e5f387607b..d8f6d7cf47fc 100644 --- a/drivers/iio/imu/bmi270/bmi270.h +++ b/drivers/iio/imu/bmi270/bmi270.h @@ -20,6 +20,7 @@ struct bmi270_chip_info { }; extern const struct regmap_config bmi270_regmap_config; +extern const struct bmi270_chip_info bmi260_chip_info; extern const struct bmi270_chip_info bmi270_chip_info; int bmi270_core_probe(struct device *dev, struct regmap *regmap, diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c index 5f08d786fa21..24e45d6f0706 100644 --- a/drivers/iio/imu/bmi270/bmi270_core.c +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -11,6 +11,11 @@ #include "bmi270.h" #define BMI270_CHIP_ID_REG 0x00 + +/* Used to prevent sending incompatible firmware to BMI160 devices */ +#define BMI160_CHIP_ID_VAL 0xD1 + +#define BMI260_CHIP_ID_VAL 0x27 #define BMI270_CHIP_ID_VAL 0x24 #define BMI270_CHIP_ID_MSK GENMASK(7, 0) @@ -55,6 +60,7 @@ #define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2) #define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3) +#define BMI260_INIT_DATA_FILE "bmi260-init-data.fw" #define BMI270_INIT_DATA_FILE "bmi270-init-data.fw" enum bmi270_scan { @@ -66,6 +72,13 @@ enum bmi270_scan { BMI270_SCAN_GYRO_Z, }; +const struct bmi270_chip_info bmi260_chip_info = { + .name = "bmi260", + .chip_id = BMI260_CHIP_ID_VAL, + .fw_name = BMI260_INIT_DATA_FILE, +}; +EXPORT_SYMBOL_NS_GPL(bmi260_chip_info, IIO_BMI270); + const struct bmi270_chip_info bmi270_chip_info = { .name = "bmi270", .chip_id = BMI270_CHIP_ID_VAL, @@ -157,8 +170,21 @@ static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device) if (ret) return dev_err_probe(dev, ret, "Failed to read chip id"); + /* + * Some manufacturers use "BMI0160" for both the BMI160 and + * BMI260. If the device is actually a BMI160, the bmi160 + * driver should handle it and this driver should not. + */ + if (chip_id == BMI160_CHIP_ID_VAL) + return -ENODEV; + if (chip_id != bmi270_device->chip_info->chip_id) - dev_info(dev, "Unknown chip id 0x%x", chip_id); + dev_info(dev, "Unexpected chip id 0x%x", chip_id); + + if (chip_id == bmi260_chip_info.chip_id) + bmi270_device->chip_info = &bmi260_chip_info; + else if (chip_id == bmi270_chip_info.chip_id) + bmi270_device->chip_info = &bmi270_chip_info; return 0; } diff --git a/drivers/iio/imu/bmi270/bmi270_i2c.c b/drivers/iio/imu/bmi270/bmi270_i2c.c index 394f27996059..3d0d8f3e8b63 100644 --- a/drivers/iio/imu/bmi270/bmi270_i2c.c +++ b/drivers/iio/imu/bmi270/bmi270_i2c.c @@ -32,11 +32,23 @@ static int bmi270_i2c_probe(struct i2c_client *client) } static const struct i2c_device_id bmi270_i2c_id[] = { + { "bmi260", (kernel_ulong_t)&bmi260_chip_info }, { "bmi270", (kernel_ulong_t)&bmi270_chip_info }, { } }; +static const struct acpi_device_id bmi270_acpi_match[] = { + /* OrangePi NEO */ + { "BMI0260", (kernel_ulong_t)&bmi260_chip_info }, + /* GPD Win Mini, Aya Neo AIR Pro, OXP Mini Pro, etc. */ + { "BMI0160", (kernel_ulong_t)&bmi260_chip_info }, + /* GPD Win Max 2 */ + { "10EC5280", (kernel_ulong_t)&bmi260_chip_info }, + { } +}; + static const struct of_device_id bmi270_of_match[] = { + { .compatible = "bosch,bmi260", .data = &bmi260_chip_info }, { .compatible = "bosch,bmi270", .data = &bmi270_chip_info }, { } }; @@ -44,6 +56,7 @@ static const struct of_device_id bmi270_of_match[] = { static struct i2c_driver bmi270_i2c_driver = { .driver = { .name = "bmi270_i2c", + .acpi_match_table = bmi270_acpi_match, .of_match_table = bmi270_of_match, }, .probe = bmi270_i2c_probe, diff --git a/drivers/iio/imu/bmi270/bmi270_spi.c b/drivers/iio/imu/bmi270/bmi270_spi.c index 7c2062c660d9..7f42ed74023b 100644 --- a/drivers/iio/imu/bmi270/bmi270_spi.c +++ b/drivers/iio/imu/bmi270/bmi270_spi.c @@ -65,11 +65,18 @@ static int bmi270_spi_probe(struct spi_device *spi) } static const struct spi_device_id bmi270_spi_id[] = { + { "bmi260", (kernel_ulong_t)&bmi260_chip_info}, { "bmi270", (kernel_ulong_t)&bmi270_chip_info }, { } }; +static const struct acpi_device_id bmi270_acpi_match[] = { + { "BOSC0260", (kernel_ulong_t)&bmi260_chip_info }, + { } +}; + static const struct of_device_id bmi270_of_match[] = { + { .compatible = "bosch,bmi260", .data = &bmi260_chip_info }, { .compatible = "bosch,bmi270", .data = &bmi270_chip_info }, { } }; @@ -77,6 +84,7 @@ static const struct of_device_id bmi270_of_match[] = { static struct spi_driver bmi270_spi_driver = { .driver = { .name = "bmi270", + .acpi_match_table = bmi270_acpi_match, .of_match_table = bmi270_of_match, }, .probe = bmi270_spi_probe, From patchwork Sun Oct 20 22:00:09 2024 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Justin Weiss X-Patchwork-Id: 13843311 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 886D81993BA; Sun, 20 Oct 2024 22:01:29 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=202.12.124.151 ARC-Seal: i=1; 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Sun, 20 Oct 2024 18:01:26 -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 5/6] iio: imu: bmi270: Add triggered buffer for Bosch BMI270 IMU Date: Sun, 20 Oct 2024 15:00:09 -0700 Message-ID: <20241020220011.212395-6-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 Set up a triggered buffer for the accel and angl_vel values. Signed-off-by: Justin Weiss --- drivers/iio/imu/bmi270/Kconfig | 1 + drivers/iio/imu/bmi270/bmi270.h | 9 +++++ drivers/iio/imu/bmi270/bmi270_core.c | 56 ++++++++++++++++++++++++++++ 3 files changed, 66 insertions(+) diff --git a/drivers/iio/imu/bmi270/Kconfig b/drivers/iio/imu/bmi270/Kconfig index 0ffd29794fda..6362acc706da 100644 --- a/drivers/iio/imu/bmi270/Kconfig +++ b/drivers/iio/imu/bmi270/Kconfig @@ -6,6 +6,7 @@ config BMI270 tristate select IIO_BUFFER + select IIO_TRIGGERED_BUFFER config BMI270_I2C tristate "Bosch BMI270 I2C driver" diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h index d8f6d7cf47fc..fdfad5784cc5 100644 --- a/drivers/iio/imu/bmi270/bmi270.h +++ b/drivers/iio/imu/bmi270/bmi270.h @@ -11,6 +11,15 @@ struct bmi270_data { struct device *dev; struct regmap *regmap; const struct bmi270_chip_info *chip_info; + + /* + * Where IIO_DMA_MINALIGN may be larger than 8 bytes, align to + * that to ensure a DMA safe buffer. + */ + struct { + __le16 channels[6]; + aligned_s64 timestamp; + } data __aligned(IIO_DMA_MINALIGN); }; struct bmi270_chip_info { diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c index 24e45d6f0706..5b643afae9f7 100644 --- a/drivers/iio/imu/bmi270/bmi270_core.c +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -7,6 +7,8 @@ #include #include +#include +#include #include "bmi270.h" @@ -70,6 +72,17 @@ enum bmi270_scan { BMI270_SCAN_GYRO_X, BMI270_SCAN_GYRO_Y, BMI270_SCAN_GYRO_Z, + BMI270_SCAN_TIMESTAMP, +}; + +static const unsigned long bmi270_avail_scan_masks[] = { + (BIT(BMI270_SCAN_ACCEL_X) | + BIT(BMI270_SCAN_ACCEL_Y) | + BIT(BMI270_SCAN_ACCEL_Z) | + BIT(BMI270_SCAN_GYRO_X) | + BIT(BMI270_SCAN_GYRO_Y) | + BIT(BMI270_SCAN_GYRO_Z)), + 0 }; const struct bmi270_chip_info bmi260_chip_info = { @@ -86,6 +99,27 @@ const struct bmi270_chip_info bmi270_chip_info = { }; EXPORT_SYMBOL_NS_GPL(bmi270_chip_info, IIO_BMI270); +static irqreturn_t bmi270_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct bmi270_data *bmi270_device = iio_priv(indio_dev); + int ret; + + ret = regmap_bulk_read(bmi270_device->regmap, BMI270_ACCEL_X_REG, + &bmi270_device->data.channels, + sizeof(bmi270_device->data.channels)); + + if (ret) + goto done; + + iio_push_to_buffers_with_timestamp(indio_dev, &bmi270_device->data, + pf->timestamp); +done: + iio_trigger_notify_done(indio_dev->trig); + return IRQ_HANDLED; +} + static int bmi270_get_data(struct bmi270_data *bmi270_device, int chan_type, int axis, int *val) { @@ -141,6 +175,13 @@ static const struct iio_info bmi270_info = { .modified = 1, \ .channel2 = IIO_MOD_##_axis, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .scan_index = BMI270_SCAN_ACCEL_##_axis, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_LE \ + }, \ } #define BMI270_ANG_VEL_CHANNEL(_axis) { \ @@ -148,6 +189,13 @@ static const struct iio_info bmi270_info = { .modified = 1, \ .channel2 = IIO_MOD_##_axis, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .scan_index = BMI270_SCAN_GYRO_##_axis, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_LE \ + }, \ } static const struct iio_chan_spec bmi270_channels[] = { @@ -157,6 +205,7 @@ static const struct iio_chan_spec bmi270_channels[] = { BMI270_ANG_VEL_CHANNEL(X), BMI270_ANG_VEL_CHANNEL(Y), BMI270_ANG_VEL_CHANNEL(Z), + IIO_CHAN_SOFT_TIMESTAMP(BMI270_SCAN_TIMESTAMP), }; static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device) @@ -327,9 +376,16 @@ int bmi270_core_probe(struct device *dev, struct regmap *regmap, indio_dev->channels = bmi270_channels; indio_dev->num_channels = ARRAY_SIZE(bmi270_channels); indio_dev->name = chip_info->name; + indio_dev->available_scan_masks = bmi270_avail_scan_masks; indio_dev->modes = INDIO_DIRECT_MODE; indio_dev->info = &bmi270_info; + ret = devm_iio_triggered_buffer_setup(dev, indio_dev, + iio_pollfunc_store_time, + bmi270_trigger_handler, NULL); + if (ret) + return ret; + return devm_iio_device_register(dev, indio_dev); } EXPORT_SYMBOL_NS_GPL(bmi270_core_probe, IIO_BMI270); 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; 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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', \