Adding upstream version 4.19.249.upstream/4.19.249upstream

Signed-off-by: Daniel Baumann <daniel.baumann@progress-linux.org>

6 files changed, 820 insertions, 0 deletions

diff --git a/drivers/iio/imu/bmi160/Kconfig b/drivers/iio/imu/bmi160/Kconfig
new file mode 100644
index 000000000..005c17ccc
--- /dev/null
+++ b/drivers/iio/imu/bmi160/Kconfig
@@ -0,0 +1,32 @@
+#
+# BMI160 IMU driver
+#
+
+config BMI160
+	tristate
+	select IIO_BUFFER
+	select IIO_TRIGGERED_BUFFER
+
+config BMI160_I2C
+	tristate "Bosch BMI160 I2C driver"
+	depends on I2C
+	select BMI160
+	select REGMAP_I2C
+	help
+	  If you say yes here you get support for BMI160 IMU on I2C with
+	  accelerometer, gyroscope and external BMG160 magnetometer.
+
+	  This driver can also be built as a module. If so, the module will be
+	  called bmi160_i2c.
+
+config BMI160_SPI
+	tristate "Bosch BMI160 SPI driver"
+	depends on SPI
+	select BMI160
+	select REGMAP_SPI
+	help
+	  If you say yes here you get support for BMI160 IMU on SPI with
+	  accelerometer, gyroscope and external BMG160 magnetometer.
+
+	  This driver can also be built as a module. If so, the module will be
+	  called bmi160_spi.
diff --git a/drivers/iio/imu/bmi160/Makefile b/drivers/iio/imu/bmi160/Makefile
new file mode 100644
index 000000000..10365e493
--- /dev/null
+++ b/drivers/iio/imu/bmi160/Makefile
@@ -0,0 +1,6 @@
+#
+# Makefile for Bosch BMI160 IMU
+#
+obj-$(CONFIG_BMI160) += bmi160_core.o
+obj-$(CONFIG_BMI160_I2C) += bmi160_i2c.o
+obj-$(CONFIG_BMI160_SPI) += bmi160_spi.o
diff --git a/drivers/iio/imu/bmi160/bmi160.h b/drivers/iio/imu/bmi160/bmi160.h
new file mode 100644
index 000000000..e7b11e74f
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160.h
@@ -0,0 +1,11 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+#ifndef BMI160_H_
+#define BMI160_H_
+
+extern const struct regmap_config bmi160_regmap_config;
+
+int bmi160_core_probe(struct device *dev, struct regmap *regmap,
+		      const char *name, bool use_spi);
+void bmi160_core_remove(struct device *dev);
+
+#endif  /* BMI160_H_ */
diff --git a/drivers/iio/imu/bmi160/bmi160_core.c b/drivers/iio/imu/bmi160/bmi160_core.c
new file mode 100644
index 000000000..1e413bb23
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160_core.c
@@ -0,0 +1,616 @@
+/*
+ * BMI160 - Bosch IMU (accel, gyro plus external magnetometer)
+ *
+ * Copyright (c) 2016, Intel Corporation.
+ *
+ * This file is subject to the terms and conditions of version 2 of
+ * the GNU General Public License.  See the file COPYING in the main
+ * directory of this archive for more details.
+ *
+ * IIO core driver for BMI160, with support for I2C/SPI busses
+ *
+ * TODO: magnetometer, interrupts, hardware FIFO
+ */
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/acpi.h>
+#include <linux/delay.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/sysfs.h>
+
+#include "bmi160.h"
+
+#define BMI160_REG_CHIP_ID	0x00
+#define BMI160_CHIP_ID_VAL	0xD1
+
+#define BMI160_REG_PMU_STATUS	0x03
+
+/* X axis data low byte address, the rest can be obtained using axis offset */
+#define BMI160_REG_DATA_MAGN_XOUT_L	0x04
+#define BMI160_REG_DATA_GYRO_XOUT_L	0x0C
+#define BMI160_REG_DATA_ACCEL_XOUT_L	0x12
+
+#define BMI160_REG_ACCEL_CONFIG		0x40
+#define BMI160_ACCEL_CONFIG_ODR_MASK	GENMASK(3, 0)
+#define BMI160_ACCEL_CONFIG_BWP_MASK	GENMASK(6, 4)
+
+#define BMI160_REG_ACCEL_RANGE		0x41
+#define BMI160_ACCEL_RANGE_2G		0x03
+#define BMI160_ACCEL_RANGE_4G		0x05
+#define BMI160_ACCEL_RANGE_8G		0x08
+#define BMI160_ACCEL_RANGE_16G		0x0C
+
+#define BMI160_REG_GYRO_CONFIG		0x42
+#define BMI160_GYRO_CONFIG_ODR_MASK	GENMASK(3, 0)
+#define BMI160_GYRO_CONFIG_BWP_MASK	GENMASK(5, 4)
+
+#define BMI160_REG_GYRO_RANGE		0x43
+#define BMI160_GYRO_RANGE_2000DPS	0x00
+#define BMI160_GYRO_RANGE_1000DPS	0x01
+#define BMI160_GYRO_RANGE_500DPS	0x02
+#define BMI160_GYRO_RANGE_250DPS	0x03
+#define BMI160_GYRO_RANGE_125DPS	0x04
+
+#define BMI160_REG_CMD			0x7E
+#define BMI160_CMD_ACCEL_PM_SUSPEND	0x10
+#define BMI160_CMD_ACCEL_PM_NORMAL	0x11
+#define BMI160_CMD_ACCEL_PM_LOW_POWER	0x12
+#define BMI160_CMD_GYRO_PM_SUSPEND	0x14
+#define BMI160_CMD_GYRO_PM_NORMAL	0x15
+#define BMI160_CMD_GYRO_PM_FAST_STARTUP	0x17
+#define BMI160_CMD_SOFTRESET		0xB6
+
+#define BMI160_REG_DUMMY		0x7F
+
+#define BMI160_ACCEL_PMU_MIN_USLEEP	3800
+#define BMI160_GYRO_PMU_MIN_USLEEP	80000
+#define BMI160_SOFTRESET_USLEEP		1000
+
+#define BMI160_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_SAMP_FREQ),			\
+	.scan_index = _index,					\
+	.scan_type = {						\
+		.sign = 's',					\
+		.realbits = 16,					\
+		.storagebits = 16,				\
+		.endianness = IIO_LE,				\
+	},							\
+}
+
+/* scan indexes follow DATA register order */
+enum bmi160_scan_axis {
+	BMI160_SCAN_EXT_MAGN_X = 0,
+	BMI160_SCAN_EXT_MAGN_Y,
+	BMI160_SCAN_EXT_MAGN_Z,
+	BMI160_SCAN_RHALL,
+	BMI160_SCAN_GYRO_X,
+	BMI160_SCAN_GYRO_Y,
+	BMI160_SCAN_GYRO_Z,
+	BMI160_SCAN_ACCEL_X,
+	BMI160_SCAN_ACCEL_Y,
+	BMI160_SCAN_ACCEL_Z,
+	BMI160_SCAN_TIMESTAMP,
+};
+
+enum bmi160_sensor_type {
+	BMI160_ACCEL	= 0,
+	BMI160_GYRO,
+	BMI160_EXT_MAGN,
+	BMI160_NUM_SENSORS /* must be last */
+};
+
+struct bmi160_data {
+	struct regmap *regmap;
+	/*
+	 * Ensure natural alignment for timestamp if present.
+	 * Max length needed: 2 * 3 channels + 4 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.
+	 */
+	__le16 buf[12] __aligned(8);
+};
+
+const struct regmap_config bmi160_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+};
+EXPORT_SYMBOL(bmi160_regmap_config);
+
+struct bmi160_regs {
+	u8 data; /* LSB byte register for X-axis */
+	u8 config;
+	u8 config_odr_mask;
+	u8 config_bwp_mask;
+	u8 range;
+	u8 pmu_cmd_normal;
+	u8 pmu_cmd_suspend;
+};
+
+static struct bmi160_regs bmi160_regs[] = {
+	[BMI160_ACCEL] = {
+		.data	= BMI160_REG_DATA_ACCEL_XOUT_L,
+		.config	= BMI160_REG_ACCEL_CONFIG,
+		.config_odr_mask = BMI160_ACCEL_CONFIG_ODR_MASK,
+		.config_bwp_mask = BMI160_ACCEL_CONFIG_BWP_MASK,
+		.range	= BMI160_REG_ACCEL_RANGE,
+		.pmu_cmd_normal = BMI160_CMD_ACCEL_PM_NORMAL,
+		.pmu_cmd_suspend = BMI160_CMD_ACCEL_PM_SUSPEND,
+	},
+	[BMI160_GYRO] = {
+		.data	= BMI160_REG_DATA_GYRO_XOUT_L,
+		.config	= BMI160_REG_GYRO_CONFIG,
+		.config_odr_mask = BMI160_GYRO_CONFIG_ODR_MASK,
+		.config_bwp_mask = BMI160_GYRO_CONFIG_BWP_MASK,
+		.range	= BMI160_REG_GYRO_RANGE,
+		.pmu_cmd_normal = BMI160_CMD_GYRO_PM_NORMAL,
+		.pmu_cmd_suspend = BMI160_CMD_GYRO_PM_SUSPEND,
+	},
+};
+
+static unsigned long bmi160_pmu_time[] = {
+	[BMI160_ACCEL] = BMI160_ACCEL_PMU_MIN_USLEEP,
+	[BMI160_GYRO] = BMI160_GYRO_PMU_MIN_USLEEP,
+};
+
+struct bmi160_scale {
+	u8 bits;
+	int uscale;
+};
+
+struct bmi160_odr {
+	u8 bits;
+	int odr;
+	int uodr;
+};
+
+static const struct bmi160_scale bmi160_accel_scale[] = {
+	{ BMI160_ACCEL_RANGE_2G, 598},
+	{ BMI160_ACCEL_RANGE_4G, 1197},
+	{ BMI160_ACCEL_RANGE_8G, 2394},
+	{ BMI160_ACCEL_RANGE_16G, 4788},
+};
+
+static const struct bmi160_scale bmi160_gyro_scale[] = {
+	{ BMI160_GYRO_RANGE_2000DPS, 1065},
+	{ BMI160_GYRO_RANGE_1000DPS, 532},
+	{ BMI160_GYRO_RANGE_500DPS, 266},
+	{ BMI160_GYRO_RANGE_250DPS, 133},
+	{ BMI160_GYRO_RANGE_125DPS, 66},
+};
+
+struct bmi160_scale_item {
+	const struct bmi160_scale *tbl;
+	int num;
+};
+
+static const struct  bmi160_scale_item bmi160_scale_table[] = {
+	[BMI160_ACCEL] = {
+		.tbl	= bmi160_accel_scale,
+		.num	= ARRAY_SIZE(bmi160_accel_scale),
+	},
+	[BMI160_GYRO] = {
+		.tbl	= bmi160_gyro_scale,
+		.num	= ARRAY_SIZE(bmi160_gyro_scale),
+	},
+};
+
+static const struct bmi160_odr bmi160_accel_odr[] = {
+	{0x01, 0, 781250},
+	{0x02, 1, 562500},
+	{0x03, 3, 125000},
+	{0x04, 6, 250000},
+	{0x05, 12, 500000},
+	{0x06, 25, 0},
+	{0x07, 50, 0},
+	{0x08, 100, 0},
+	{0x09, 200, 0},
+	{0x0A, 400, 0},
+	{0x0B, 800, 0},
+	{0x0C, 1600, 0},
+};
+
+static const struct bmi160_odr bmi160_gyro_odr[] = {
+	{0x06, 25, 0},
+	{0x07, 50, 0},
+	{0x08, 100, 0},
+	{0x09, 200, 0},
+	{0x0A, 400, 0},
+	{0x0B, 800, 0},
+	{0x0C, 1600, 0},
+	{0x0D, 3200, 0},
+};
+
+struct bmi160_odr_item {
+	const struct bmi160_odr *tbl;
+	int num;
+};
+
+static const struct  bmi160_odr_item bmi160_odr_table[] = {
+	[BMI160_ACCEL] = {
+		.tbl	= bmi160_accel_odr,
+		.num	= ARRAY_SIZE(bmi160_accel_odr),
+	},
+	[BMI160_GYRO] = {
+		.tbl	= bmi160_gyro_odr,
+		.num	= ARRAY_SIZE(bmi160_gyro_odr),
+	},
+};
+
+static const struct iio_chan_spec bmi160_channels[] = {
+	BMI160_CHANNEL(IIO_ACCEL, X, BMI160_SCAN_ACCEL_X),
+	BMI160_CHANNEL(IIO_ACCEL, Y, BMI160_SCAN_ACCEL_Y),
+	BMI160_CHANNEL(IIO_ACCEL, Z, BMI160_SCAN_ACCEL_Z),
+	BMI160_CHANNEL(IIO_ANGL_VEL, X, BMI160_SCAN_GYRO_X),
+	BMI160_CHANNEL(IIO_ANGL_VEL, Y, BMI160_SCAN_GYRO_Y),
+	BMI160_CHANNEL(IIO_ANGL_VEL, Z, BMI160_SCAN_GYRO_Z),
+	IIO_CHAN_SOFT_TIMESTAMP(BMI160_SCAN_TIMESTAMP),
+};
+
+static enum bmi160_sensor_type bmi160_to_sensor(enum iio_chan_type iio_type)
+{
+	switch (iio_type) {
+	case IIO_ACCEL:
+		return BMI160_ACCEL;
+	case IIO_ANGL_VEL:
+		return BMI160_GYRO;
+	default:
+		return -EINVAL;
+	}
+}
+
+static
+int bmi160_set_mode(struct bmi160_data *data, enum bmi160_sensor_type t,
+		    bool mode)
+{
+	int ret;
+	u8 cmd;
+
+	if (mode)
+		cmd = bmi160_regs[t].pmu_cmd_normal;
+	else
+		cmd = bmi160_regs[t].pmu_cmd_suspend;
+
+	ret = regmap_write(data->regmap, BMI160_REG_CMD, cmd);
+	if (ret < 0)
+		return ret;
+
+	usleep_range(bmi160_pmu_time[t], bmi160_pmu_time[t] + 1000);
+
+	return 0;
+}
+
+static
+int bmi160_set_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
+		     int uscale)
+{
+	int i;
+
+	for (i = 0; i < bmi160_scale_table[t].num; i++)
+		if (bmi160_scale_table[t].tbl[i].uscale == uscale)
+			break;
+
+	if (i == bmi160_scale_table[t].num)
+		return -EINVAL;
+
+	return regmap_write(data->regmap, bmi160_regs[t].range,
+			    bmi160_scale_table[t].tbl[i].bits);
+}
+
+static
+int bmi160_get_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
+		     int *uscale)
+{
+	int i, ret, val;
+
+	ret = regmap_read(data->regmap, bmi160_regs[t].range, &val);
+	if (ret < 0)
+		return ret;
+
+	for (i = 0; i < bmi160_scale_table[t].num; i++)
+		if (bmi160_scale_table[t].tbl[i].bits == val) {
+			*uscale = bmi160_scale_table[t].tbl[i].uscale;
+			return 0;
+		}
+
+	return -EINVAL;
+}
+
+static int bmi160_get_data(struct bmi160_data *data, int chan_type,
+			   int axis, int *val)
+{
+	u8 reg;
+	int ret;
+	__le16 sample;
+	enum bmi160_sensor_type t = bmi160_to_sensor(chan_type);
+
+	reg = bmi160_regs[t].data + (axis - IIO_MOD_X) * sizeof(sample);
+
+	ret = regmap_bulk_read(data->regmap, reg, &sample, sizeof(sample));
+	if (ret < 0)
+		return ret;
+
+	*val = sign_extend32(le16_to_cpu(sample), 15);
+
+	return 0;
+}
+
+static
+int bmi160_set_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
+		   int odr, int uodr)
+{
+	int i;
+
+	for (i = 0; i < bmi160_odr_table[t].num; i++)
+		if (bmi160_odr_table[t].tbl[i].odr == odr &&
+		    bmi160_odr_table[t].tbl[i].uodr == uodr)
+			break;
+
+	if (i >= bmi160_odr_table[t].num)
+		return -EINVAL;
+
+	return regmap_update_bits(data->regmap,
+				  bmi160_regs[t].config,
+				  bmi160_regs[t].config_odr_mask,
+				  bmi160_odr_table[t].tbl[i].bits);
+}
+
+static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
+			  int *odr, int *uodr)
+{
+	int i, val, ret;
+
+	ret = regmap_read(data->regmap, bmi160_regs[t].config, &val);
+	if (ret < 0)
+		return ret;
+
+	val &= bmi160_regs[t].config_odr_mask;
+
+	for (i = 0; i < bmi160_odr_table[t].num; i++)
+		if (val == bmi160_odr_table[t].tbl[i].bits)
+			break;
+
+	if (i >= bmi160_odr_table[t].num)
+		return -EINVAL;
+
+	*odr = bmi160_odr_table[t].tbl[i].odr;
+	*uodr = bmi160_odr_table[t].tbl[i].uodr;
+
+	return 0;
+}
+
+static irqreturn_t bmi160_trigger_handler(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct bmi160_data *data = iio_priv(indio_dev);
+	int i, ret, j = 0, base = BMI160_REG_DATA_MAGN_XOUT_L;
+	__le16 sample;
+
+	for_each_set_bit(i, indio_dev->active_scan_mask,
+			 indio_dev->masklength) {
+		ret = regmap_bulk_read(data->regmap, base + i * sizeof(sample),
+				       &sample, sizeof(sample));
+		if (ret < 0)
+			goto done;
+		data->buf[j++] = sample;
+	}
+
+	iio_push_to_buffers_with_timestamp(indio_dev, data->buf,
+					   iio_get_time_ns(indio_dev));
+done:
+	iio_trigger_notify_done(indio_dev->trig);
+	return IRQ_HANDLED;
+}
+
+static int bmi160_read_raw(struct iio_dev *indio_dev,
+			   struct iio_chan_spec const *chan,
+			   int *val, int *val2, long mask)
+{
+	int ret;
+	struct bmi160_data *data = iio_priv(indio_dev);
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		ret = bmi160_get_data(data, chan->type, chan->channel2, val);
+		if (ret < 0)
+			return ret;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_SCALE:
+		*val = 0;
+		ret = bmi160_get_scale(data,
+				       bmi160_to_sensor(chan->type), val2);
+		return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		ret = bmi160_get_odr(data, bmi160_to_sensor(chan->type),
+				     val, val2);
+		return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
+	default:
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static int bmi160_write_raw(struct iio_dev *indio_dev,
+			    struct iio_chan_spec const *chan,
+			    int val, int val2, long mask)
+{
+	struct bmi160_data *data = iio_priv(indio_dev);
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		return bmi160_set_scale(data,
+					bmi160_to_sensor(chan->type), val2);
+		break;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return bmi160_set_odr(data, bmi160_to_sensor(chan->type),
+				      val, val2);
+	default:
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static
+IIO_CONST_ATTR(in_accel_sampling_frequency_available,
+	       "0.78125 1.5625 3.125 6.25 12.5 25 50 100 200 400 800 1600");
+static
+IIO_CONST_ATTR(in_anglvel_sampling_frequency_available,
+	       "25 50 100 200 400 800 1600 3200");
+static
+IIO_CONST_ATTR(in_accel_scale_available,
+	       "0.000598 0.001197 0.002394 0.004788");
+static
+IIO_CONST_ATTR(in_anglvel_scale_available,
+	       "0.001065 0.000532 0.000266 0.000133 0.000066");
+
+static struct attribute *bmi160_attrs[] = {
+	&iio_const_attr_in_accel_sampling_frequency_available.dev_attr.attr,
+	&iio_const_attr_in_anglvel_sampling_frequency_available.dev_attr.attr,
+	&iio_const_attr_in_accel_scale_available.dev_attr.attr,
+	&iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
+	NULL,
+};
+
+static const struct attribute_group bmi160_attrs_group = {
+	.attrs = bmi160_attrs,
+};
+
+static const struct iio_info bmi160_info = {
+	.read_raw = bmi160_read_raw,
+	.write_raw = bmi160_write_raw,
+	.attrs = &bmi160_attrs_group,
+};
+
+static const char *bmi160_match_acpi_device(struct device *dev)
+{
+	const struct acpi_device_id *id;
+
+	id = acpi_match_device(dev->driver->acpi_match_table, dev);
+	if (!id)
+		return NULL;
+
+	return dev_name(dev);
+}
+
+static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
+{
+	int ret;
+	unsigned int val;
+	struct device *dev = regmap_get_device(data->regmap);
+
+	ret = regmap_write(data->regmap, BMI160_REG_CMD, BMI160_CMD_SOFTRESET);
+	if (ret < 0)
+		return ret;
+
+	usleep_range(BMI160_SOFTRESET_USLEEP, BMI160_SOFTRESET_USLEEP + 1);
+
+	/*
+	 * CS rising edge is needed before starting SPI, so do a dummy read
+	 * See Section 3.2.1, page 86 of the datasheet
+	 */
+	if (use_spi) {
+		ret = regmap_read(data->regmap, BMI160_REG_DUMMY, &val);
+		if (ret < 0)
+			return ret;
+	}
+
+	ret = regmap_read(data->regmap, BMI160_REG_CHIP_ID, &val);
+	if (ret < 0) {
+		dev_err(dev, "Error reading chip id\n");
+		return ret;
+	}
+	if (val != BMI160_CHIP_ID_VAL) {
+		dev_err(dev, "Wrong chip id, got %x expected %x\n",
+			val, BMI160_CHIP_ID_VAL);
+		return -ENODEV;
+	}
+
+	ret = bmi160_set_mode(data, BMI160_ACCEL, true);
+	if (ret < 0)
+		return ret;
+
+	ret = bmi160_set_mode(data, BMI160_GYRO, true);
+	if (ret < 0)
+		return ret;
+
+	return 0;
+}
+
+static void bmi160_chip_uninit(struct bmi160_data *data)
+{
+	bmi160_set_mode(data, BMI160_GYRO, false);
+	bmi160_set_mode(data, BMI160_ACCEL, false);
+}
+
+int bmi160_core_probe(struct device *dev, struct regmap *regmap,
+		      const char *name, bool use_spi)
+{
+	struct iio_dev *indio_dev;
+	struct bmi160_data *data;
+	int ret;
+
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
+	if (!indio_dev)
+		return -ENOMEM;
+
+	data = iio_priv(indio_dev);
+	dev_set_drvdata(dev, indio_dev);
+	data->regmap = regmap;
+
+	ret = bmi160_chip_init(data, use_spi);
+	if (ret < 0)
+		return ret;
+
+	if (!name && ACPI_HANDLE(dev))
+		name = bmi160_match_acpi_device(dev);
+
+	indio_dev->dev.parent = dev;
+	indio_dev->channels = bmi160_channels;
+	indio_dev->num_channels = ARRAY_SIZE(bmi160_channels);
+	indio_dev->name = name;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->info = &bmi160_info;
+
+	ret = iio_triggered_buffer_setup(indio_dev, NULL,
+					 bmi160_trigger_handler, NULL);
+	if (ret < 0)
+		goto uninit;
+
+	ret = iio_device_register(indio_dev);
+	if (ret < 0)
+		goto buffer_cleanup;
+
+	return 0;
+buffer_cleanup:
+	iio_triggered_buffer_cleanup(indio_dev);
+uninit:
+	bmi160_chip_uninit(data);
+	return ret;
+}
+EXPORT_SYMBOL_GPL(bmi160_core_probe);
+
+void bmi160_core_remove(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct bmi160_data *data = iio_priv(indio_dev);
+
+	iio_device_unregister(indio_dev);
+	iio_triggered_buffer_cleanup(indio_dev);
+	bmi160_chip_uninit(data);
+}
+EXPORT_SYMBOL_GPL(bmi160_core_remove);
+
+MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com");
+MODULE_DESCRIPTION("Bosch BMI160 driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/bmi160/bmi160_i2c.c b/drivers/iio/imu/bmi160/bmi160_i2c.c
new file mode 100644
index 000000000..155a31f72
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160_i2c.c
@@ -0,0 +1,82 @@
+/*
+ * BMI160 - Bosch IMU, I2C bits
+ *
+ * Copyright (c) 2016, Intel Corporation.
+ *
+ * This file is subject to the terms and conditions of version 2 of
+ * the GNU General Public License.  See the file COPYING in the main
+ * directory of this archive for more details.
+ *
+ * 7-bit I2C slave address is:
+ *      - 0x68 if SDO is pulled to GND
+ *      - 0x69 if SDO is pulled to VDDIO
+ */
+#include <linux/acpi.h>
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/of.h>
+#include <linux/regmap.h>
+
+#include "bmi160.h"
+
+static int bmi160_i2c_probe(struct i2c_client *client,
+			    const struct i2c_device_id *id)
+{
+	struct regmap *regmap;
+	const char *name = NULL;
+
+	regmap = devm_regmap_init_i2c(client, &bmi160_regmap_config);
+	if (IS_ERR(regmap)) {
+		dev_err(&client->dev, "Failed to register i2c regmap %d\n",
+			(int)PTR_ERR(regmap));
+		return PTR_ERR(regmap);
+	}
+
+	if (id)
+		name = id->name;
+
+	return bmi160_core_probe(&client->dev, regmap, name, false);
+}
+
+static int bmi160_i2c_remove(struct i2c_client *client)
+{
+	bmi160_core_remove(&client->dev);
+
+	return 0;
+}
+
+static const struct i2c_device_id bmi160_i2c_id[] = {
+	{"bmi160", 0},
+	{}
+};
+MODULE_DEVICE_TABLE(i2c, bmi160_i2c_id);
+
+static const struct acpi_device_id bmi160_acpi_match[] = {
+	{"BMI0160", 0},
+	{ },
+};
+MODULE_DEVICE_TABLE(acpi, bmi160_acpi_match);
+
+#ifdef CONFIG_OF
+static const struct of_device_id bmi160_of_match[] = {
+	{ .compatible = "bosch,bmi160" },
+	{ },
+};
+MODULE_DEVICE_TABLE(of, bmi160_of_match);
+#endif
+
+static struct i2c_driver bmi160_i2c_driver = {
+	.driver = {
+		.name			= "bmi160_i2c",
+		.acpi_match_table	= ACPI_PTR(bmi160_acpi_match),
+		.of_match_table		= of_match_ptr(bmi160_of_match),
+	},
+	.probe		= bmi160_i2c_probe,
+	.remove		= bmi160_i2c_remove,
+	.id_table	= bmi160_i2c_id,
+};
+module_i2c_driver(bmi160_i2c_driver);
+
+MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com>");
+MODULE_DESCRIPTION("BMI160 I2C driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/bmi160/bmi160_spi.c b/drivers/iio/imu/bmi160/bmi160_spi.c
new file mode 100644
index 000000000..d34dfdfd1
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160_spi.c
@@ -0,0 +1,73 @@
+/*
+ * BMI160 - Bosch IMU, SPI bits
+ *
+ * Copyright (c) 2016, Intel Corporation.
+ *
+ * This file is subject to the terms and conditions of version 2 of
+ * the GNU General Public License.  See the file COPYING in the main
+ * directory of this archive for more details.
+ */
+#include <linux/acpi.h>
+#include <linux/module.h>
+#include <linux/of.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+
+#include "bmi160.h"
+
+static int bmi160_spi_probe(struct spi_device *spi)
+{
+	struct regmap *regmap;
+	const struct spi_device_id *id = spi_get_device_id(spi);
+
+	regmap = devm_regmap_init_spi(spi, &bmi160_regmap_config);
+	if (IS_ERR(regmap)) {
+		dev_err(&spi->dev, "Failed to register spi regmap %d\n",
+			(int)PTR_ERR(regmap));
+		return PTR_ERR(regmap);
+	}
+	return bmi160_core_probe(&spi->dev, regmap, id->name, true);
+}
+
+static int bmi160_spi_remove(struct spi_device *spi)
+{
+	bmi160_core_remove(&spi->dev);
+
+	return 0;
+}
+
+static const struct spi_device_id bmi160_spi_id[] = {
+	{"bmi160", 0},
+	{}
+};
+MODULE_DEVICE_TABLE(spi, bmi160_spi_id);
+
+static const struct acpi_device_id bmi160_acpi_match[] = {
+	{"BMI0160", 0},
+	{ },
+};
+MODULE_DEVICE_TABLE(acpi, bmi160_acpi_match);
+
+#ifdef CONFIG_OF
+static const struct of_device_id bmi160_of_match[] = {
+	{ .compatible = "bosch,bmi160" },
+	{ },
+};
+MODULE_DEVICE_TABLE(of, bmi160_of_match);
+#endif
+
+static struct spi_driver bmi160_spi_driver = {
+	.probe		= bmi160_spi_probe,
+	.remove		= bmi160_spi_remove,
+	.id_table	= bmi160_spi_id,
+	.driver = {
+		.acpi_match_table	= ACPI_PTR(bmi160_acpi_match),
+		.of_match_table		= of_match_ptr(bmi160_of_match),
+		.name			= "bmi160_spi",
+	},
+};
+module_spi_driver(bmi160_spi_driver);
+
+MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com");
+MODULE_DESCRIPTION("Bosch BMI160 SPI driver");
+MODULE_LICENSE("GPL v2");