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-rw-r--r--drivers/iio/imu/bmi160/Kconfig32
-rw-r--r--drivers/iio/imu/bmi160/Makefile6
-rw-r--r--drivers/iio/imu/bmi160/bmi160.h11
-rw-r--r--drivers/iio/imu/bmi160/bmi160_core.c616
-rw-r--r--drivers/iio/imu/bmi160/bmi160_i2c.c82
-rw-r--r--drivers/iio/imu/bmi160/bmi160_spi.c73
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");
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-24 11:21:38 +0000