diff options
Diffstat (limited to 'drivers/iio/accel/bmi088-accel-core.c')
| -rw-r--r-- | drivers/iio/accel/bmi088-accel-core.c | 632 |
1 files changed, 632 insertions, 0 deletions
diff --git a/drivers/iio/accel/bmi088-accel-core.c b/drivers/iio/accel/bmi088-accel-core.c new file mode 100644 index 000000000..84edcc78d --- /dev/null +++ b/drivers/iio/accel/bmi088-accel-core.c @@ -0,0 +1,632 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * 3-axis accelerometer driver supporting following Bosch-Sensortec chips: + * - BMI088 + * + * Copyright (c) 2018-2021, Topic Embedded Products + */ + +#include <linux/bitfield.h> +#include <linux/delay.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/interrupt.h> +#include <linux/module.h> +#include <linux/pm.h> +#include <linux/pm_runtime.h> +#include <linux/regmap.h> +#include <linux/slab.h> +#include <asm/unaligned.h> + +#include "bmi088-accel.h" + +#define BMI088_ACCEL_REG_CHIP_ID 0x00 +#define BMI088_ACCEL_REG_ERROR 0x02 + +#define BMI088_ACCEL_REG_INT_STATUS 0x1D +#define BMI088_ACCEL_INT_STATUS_BIT_DRDY BIT(7) + +#define BMI088_ACCEL_REG_RESET 0x7E +#define BMI088_ACCEL_RESET_VAL 0xB6 + +#define BMI088_ACCEL_REG_PWR_CTRL 0x7D +#define BMI088_ACCEL_REG_PWR_CONF 0x7C + +#define BMI088_ACCEL_REG_INT_MAP_DATA 0x58 +#define BMI088_ACCEL_INT_MAP_DATA_BIT_INT1_DRDY BIT(2) +#define BMI088_ACCEL_INT_MAP_DATA_BIT_INT2_FWM BIT(5) + +#define BMI088_ACCEL_REG_INT1_IO_CONF 0x53 +#define BMI088_ACCEL_INT1_IO_CONF_BIT_ENABLE_OUT BIT(3) +#define BMI088_ACCEL_INT1_IO_CONF_BIT_LVL BIT(1) + +#define BMI088_ACCEL_REG_INT2_IO_CONF 0x54 +#define BMI088_ACCEL_INT2_IO_CONF_BIT_ENABLE_OUT BIT(3) +#define BMI088_ACCEL_INT2_IO_CONF_BIT_LVL BIT(1) + +#define BMI088_ACCEL_REG_ACC_CONF 0x40 +#define BMI088_ACCEL_MODE_ODR_MASK 0x0f + +#define BMI088_ACCEL_REG_ACC_RANGE 0x41 +#define BMI088_ACCEL_RANGE_3G 0x00 +#define BMI088_ACCEL_RANGE_6G 0x01 +#define BMI088_ACCEL_RANGE_12G 0x02 +#define BMI088_ACCEL_RANGE_24G 0x03 + +#define BMI088_ACCEL_REG_TEMP 0x22 +#define BMI088_ACCEL_REG_TEMP_SHIFT 5 +#define BMI088_ACCEL_TEMP_UNIT 125 +#define BMI088_ACCEL_TEMP_OFFSET 23000 + +#define BMI088_ACCEL_REG_XOUT_L 0x12 +#define BMI088_ACCEL_AXIS_TO_REG(axis) \ + (BMI088_ACCEL_REG_XOUT_L + (axis * 2)) + +#define BMI088_ACCEL_MAX_STARTUP_TIME_US 1000 +#define BMI088_AUTO_SUSPEND_DELAY_MS 2000 + +#define BMI088_ACCEL_REG_FIFO_STATUS 0x0E +#define BMI088_ACCEL_REG_FIFO_CONFIG0 0x48 +#define BMI088_ACCEL_REG_FIFO_CONFIG1 0x49 +#define BMI088_ACCEL_REG_FIFO_DATA 0x3F +#define BMI088_ACCEL_FIFO_LENGTH 100 + +#define BMI088_ACCEL_FIFO_MODE_FIFO 0x40 +#define BMI088_ACCEL_FIFO_MODE_STREAM 0x80 + +#define BMIO088_ACCEL_ACC_RANGE_MSK GENMASK(1, 0) + +enum bmi088_accel_axis { + AXIS_X, + AXIS_Y, + AXIS_Z, +}; + +static const int bmi088_sample_freqs[] = { + 12, 500000, + 25, 0, + 50, 0, + 100, 0, + 200, 0, + 400, 0, + 800, 0, + 1600, 0, +}; + +/* Available OSR (over sampling rate) sets the 3dB cut-off frequency */ +enum bmi088_osr_modes { + BMI088_ACCEL_MODE_OSR_NORMAL = 0xA, + BMI088_ACCEL_MODE_OSR_2 = 0x9, + BMI088_ACCEL_MODE_OSR_4 = 0x8, +}; + +/* Available ODR (output data rates) in Hz */ +enum bmi088_odr_modes { + BMI088_ACCEL_MODE_ODR_12_5 = 0x5, + BMI088_ACCEL_MODE_ODR_25 = 0x6, + BMI088_ACCEL_MODE_ODR_50 = 0x7, + BMI088_ACCEL_MODE_ODR_100 = 0x8, + BMI088_ACCEL_MODE_ODR_200 = 0x9, + BMI088_ACCEL_MODE_ODR_400 = 0xa, + BMI088_ACCEL_MODE_ODR_800 = 0xb, + BMI088_ACCEL_MODE_ODR_1600 = 0xc, +}; + +struct bmi088_scale_info { + int scale; + u8 reg_range; +}; + +struct bmi088_accel_chip_info { + const char *name; + u8 chip_id; + const struct iio_chan_spec *channels; + int num_channels; + const int scale_table[4][2]; +}; + +struct bmi088_accel_data { + struct regmap *regmap; + const struct bmi088_accel_chip_info *chip_info; + u8 buffer[2] __aligned(IIO_DMA_MINALIGN); /* shared DMA safe buffer */ +}; + +static const struct regmap_range bmi088_volatile_ranges[] = { + /* All registers below 0x40 are volatile, except the CHIP ID. */ + regmap_reg_range(BMI088_ACCEL_REG_ERROR, 0x3f), + /* Mark the RESET as volatile too, it is self-clearing */ + regmap_reg_range(BMI088_ACCEL_REG_RESET, BMI088_ACCEL_REG_RESET), +}; + +static const struct regmap_access_table bmi088_volatile_table = { + .yes_ranges = bmi088_volatile_ranges, + .n_yes_ranges = ARRAY_SIZE(bmi088_volatile_ranges), +}; + +const struct regmap_config bmi088_regmap_conf = { + .reg_bits = 8, + .val_bits = 8, + .max_register = 0x7E, + .volatile_table = &bmi088_volatile_table, + .cache_type = REGCACHE_RBTREE, +}; +EXPORT_SYMBOL_NS_GPL(bmi088_regmap_conf, IIO_BMI088); + +static int bmi088_accel_power_up(struct bmi088_accel_data *data) +{ + int ret; + + /* Enable accelerometer and temperature sensor */ + ret = regmap_write(data->regmap, BMI088_ACCEL_REG_PWR_CTRL, 0x4); + if (ret) + return ret; + + /* Datasheet recommends to wait at least 5ms before communication */ + usleep_range(5000, 6000); + + /* Disable suspend mode */ + ret = regmap_write(data->regmap, BMI088_ACCEL_REG_PWR_CONF, 0x0); + if (ret) + return ret; + + /* Recommended at least 1ms before further communication */ + usleep_range(1000, 1200); + + return 0; +} + +static int bmi088_accel_power_down(struct bmi088_accel_data *data) +{ + int ret; + + /* Enable suspend mode */ + ret = regmap_write(data->regmap, BMI088_ACCEL_REG_PWR_CONF, 0x3); + if (ret) + return ret; + + /* Recommended at least 1ms before further communication */ + usleep_range(1000, 1200); + + /* Disable accelerometer and temperature sensor */ + ret = regmap_write(data->regmap, BMI088_ACCEL_REG_PWR_CTRL, 0x0); + if (ret) + return ret; + + /* Datasheet recommends to wait at least 5ms before communication */ + usleep_range(5000, 6000); + + return 0; +} + +static int bmi088_accel_get_sample_freq(struct bmi088_accel_data *data, + int *val, int *val2) +{ + unsigned int value; + int ret; + + ret = regmap_read(data->regmap, BMI088_ACCEL_REG_ACC_CONF, + &value); + if (ret) + return ret; + + value &= BMI088_ACCEL_MODE_ODR_MASK; + value -= BMI088_ACCEL_MODE_ODR_12_5; + value <<= 1; + + if (value >= ARRAY_SIZE(bmi088_sample_freqs) - 1) + return -EINVAL; + + *val = bmi088_sample_freqs[value]; + *val2 = bmi088_sample_freqs[value + 1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int bmi088_accel_set_sample_freq(struct bmi088_accel_data *data, int val) +{ + unsigned int regval; + int index = 0; + + while (index < ARRAY_SIZE(bmi088_sample_freqs) && + bmi088_sample_freqs[index] != val) + index += 2; + + if (index >= ARRAY_SIZE(bmi088_sample_freqs)) + return -EINVAL; + + regval = (index >> 1) + BMI088_ACCEL_MODE_ODR_12_5; + + return regmap_update_bits(data->regmap, BMI088_ACCEL_REG_ACC_CONF, + BMI088_ACCEL_MODE_ODR_MASK, regval); +} + +static int bmi088_accel_set_scale(struct bmi088_accel_data *data, int val, int val2) +{ + unsigned int i; + + for (i = 0; i < 4; i++) + if (val == data->chip_info->scale_table[i][0] && + val2 == data->chip_info->scale_table[i][1]) + break; + + if (i == 4) + return -EINVAL; + + return regmap_write(data->regmap, BMI088_ACCEL_REG_ACC_RANGE, i); +} + +static int bmi088_accel_get_temp(struct bmi088_accel_data *data, int *val) +{ + int ret; + s16 temp; + + ret = regmap_bulk_read(data->regmap, BMI088_ACCEL_REG_TEMP, + &data->buffer, sizeof(__be16)); + if (ret) + return ret; + + /* data->buffer is cacheline aligned */ + temp = be16_to_cpu(*(__be16 *)data->buffer); + + *val = temp >> BMI088_ACCEL_REG_TEMP_SHIFT; + + return IIO_VAL_INT; +} + +static int bmi088_accel_get_axis(struct bmi088_accel_data *data, + struct iio_chan_spec const *chan, + int *val) +{ + int ret; + s16 raw_val; + + ret = regmap_bulk_read(data->regmap, + BMI088_ACCEL_AXIS_TO_REG(chan->scan_index), + data->buffer, sizeof(__le16)); + if (ret) + return ret; + + raw_val = le16_to_cpu(*(__le16 *)data->buffer); + *val = raw_val; + + return IIO_VAL_INT; +} + +static int bmi088_accel_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct bmi088_accel_data *data = iio_priv(indio_dev); + struct device *dev = regmap_get_device(data->regmap); + int ret; + int reg; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + switch (chan->type) { + case IIO_TEMP: + ret = pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + ret = bmi088_accel_get_temp(data, val); + goto out_read_raw_pm_put; + case IIO_ACCEL: + ret = pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + goto out_read_raw_pm_put; + + ret = bmi088_accel_get_axis(data, chan, val); + iio_device_release_direct_mode(indio_dev); + if (!ret) + ret = IIO_VAL_INT; + + goto out_read_raw_pm_put; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_OFFSET: + switch (chan->type) { + case IIO_TEMP: + /* Offset applies before scale */ + *val = BMI088_ACCEL_TEMP_OFFSET/BMI088_ACCEL_TEMP_UNIT; + return IIO_VAL_INT; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_TEMP: + /* 0.125 degrees per LSB */ + *val = BMI088_ACCEL_TEMP_UNIT; + return IIO_VAL_INT; + case IIO_ACCEL: + ret = pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + ret = regmap_read(data->regmap, + BMI088_ACCEL_REG_ACC_RANGE, ®); + if (ret) + goto out_read_raw_pm_put; + + reg = FIELD_GET(BMIO088_ACCEL_ACC_RANGE_MSK, reg); + *val = data->chip_info->scale_table[reg][0]; + *val2 = data->chip_info->scale_table[reg][1]; + ret = IIO_VAL_INT_PLUS_MICRO; + + goto out_read_raw_pm_put; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_SAMP_FREQ: + ret = pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + ret = bmi088_accel_get_sample_freq(data, val, val2); + goto out_read_raw_pm_put; + default: + break; + } + + return -EINVAL; + +out_read_raw_pm_put: + pm_runtime_mark_last_busy(dev); + pm_runtime_put_autosuspend(dev); + + return ret; +} + +static int bmi088_accel_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, int *type, int *length, + long mask) +{ + struct bmi088_accel_data *data = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + *vals = (const int *)data->chip_info->scale_table; + *length = 8; + *type = IIO_VAL_INT_PLUS_MICRO; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *type = IIO_VAL_INT_PLUS_MICRO; + *vals = bmi088_sample_freqs; + *length = ARRAY_SIZE(bmi088_sample_freqs); + return IIO_AVAIL_LIST; + default: + return -EINVAL; + } +} + +static int bmi088_accel_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct bmi088_accel_data *data = iio_priv(indio_dev); + struct device *dev = regmap_get_device(data->regmap); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + ret = pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + ret = bmi088_accel_set_scale(data, val, val2); + pm_runtime_mark_last_busy(dev); + pm_runtime_put_autosuspend(dev); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + ret = pm_runtime_resume_and_get(dev); + if (ret) + return ret; + + ret = bmi088_accel_set_sample_freq(data, val); + pm_runtime_mark_last_busy(dev); + pm_runtime_put_autosuspend(dev); + return ret; + default: + return -EINVAL; + } +} + +#define BMI088_ACCEL_CHANNEL(_axis) { \ + .type = IIO_ACCEL, \ + .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_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_SCALE), \ + .scan_index = AXIS_##_axis, \ +} + +static const struct iio_chan_spec bmi088_accel_channels[] = { + { + .type = IIO_TEMP, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_OFFSET), + .scan_index = -1, + }, + BMI088_ACCEL_CHANNEL(X), + BMI088_ACCEL_CHANNEL(Y), + BMI088_ACCEL_CHANNEL(Z), + IIO_CHAN_SOFT_TIMESTAMP(3), +}; + +static const struct bmi088_accel_chip_info bmi088_accel_chip_info_tbl[] = { + [BOSCH_BMI085] = { + .name = "bmi085-accel", + .chip_id = 0x1F, + .channels = bmi088_accel_channels, + .num_channels = ARRAY_SIZE(bmi088_accel_channels), + .scale_table = {{0, 598}, {0, 1196}, {0, 2393}, {0, 4785}}, + }, + [BOSCH_BMI088] = { + .name = "bmi088-accel", + .chip_id = 0x1E, + .channels = bmi088_accel_channels, + .num_channels = ARRAY_SIZE(bmi088_accel_channels), + .scale_table = {{0, 897}, {0, 1794}, {0, 3589}, {0, 7178}}, + }, + [BOSCH_BMI090L] = { + .name = "bmi090l-accel", + .chip_id = 0x1A, + .channels = bmi088_accel_channels, + .num_channels = ARRAY_SIZE(bmi088_accel_channels), + .scale_table = {{0, 897}, {0, 1794}, {0, 3589}, {0, 7178}}, + }, +}; + +static const struct iio_info bmi088_accel_info = { + .read_raw = bmi088_accel_read_raw, + .write_raw = bmi088_accel_write_raw, + .read_avail = bmi088_accel_read_avail, +}; + +static const unsigned long bmi088_accel_scan_masks[] = { + BIT(AXIS_X) | BIT(AXIS_Y) | BIT(AXIS_Z), + 0 +}; + +static int bmi088_accel_chip_init(struct bmi088_accel_data *data, enum bmi_device_type type) +{ + struct device *dev = regmap_get_device(data->regmap); + int ret, i; + unsigned int val; + + if (type >= BOSCH_UNKNOWN) + return -ENODEV; + + /* Do a dummy read to enable SPI interface, won't harm I2C */ + regmap_read(data->regmap, BMI088_ACCEL_REG_INT_STATUS, &val); + + /* + * Reset chip to get it in a known good state. A delay of 1ms after + * reset is required according to the data sheet + */ + ret = regmap_write(data->regmap, BMI088_ACCEL_REG_RESET, + BMI088_ACCEL_RESET_VAL); + if (ret) + return ret; + + usleep_range(1000, 2000); + + /* Do a dummy read again after a reset to enable the SPI interface */ + regmap_read(data->regmap, BMI088_ACCEL_REG_INT_STATUS, &val); + + /* Read chip ID */ + ret = regmap_read(data->regmap, BMI088_ACCEL_REG_CHIP_ID, &val); + if (ret) { + dev_err(dev, "Error: Reading chip id\n"); + return ret; + } + + /* Validate chip ID */ + for (i = 0; i < ARRAY_SIZE(bmi088_accel_chip_info_tbl); i++) + if (bmi088_accel_chip_info_tbl[i].chip_id == val) + break; + + if (i == ARRAY_SIZE(bmi088_accel_chip_info_tbl)) + data->chip_info = &bmi088_accel_chip_info_tbl[type]; + else + data->chip_info = &bmi088_accel_chip_info_tbl[i]; + + if (i != type) + dev_warn(dev, "unexpected chip id 0x%X\n", val); + + return 0; +} + +int bmi088_accel_core_probe(struct device *dev, struct regmap *regmap, + int irq, enum bmi_device_type type) +{ + struct bmi088_accel_data *data; + struct iio_dev *indio_dev; + 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 = bmi088_accel_chip_init(data, type); + if (ret) + return ret; + + indio_dev->channels = data->chip_info->channels; + indio_dev->num_channels = data->chip_info->num_channels; + indio_dev->name = data->chip_info->name; + indio_dev->available_scan_masks = bmi088_accel_scan_masks; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &bmi088_accel_info; + + /* Enable runtime PM */ + pm_runtime_get_noresume(dev); + pm_runtime_set_suspended(dev); + pm_runtime_enable(dev); + /* We need ~6ms to startup, so set the delay to 6 seconds */ + pm_runtime_set_autosuspend_delay(dev, 6000); + pm_runtime_use_autosuspend(dev); + pm_runtime_put(dev); + + ret = iio_device_register(indio_dev); + if (ret) + dev_err(dev, "Unable to register iio device\n"); + + return ret; +} +EXPORT_SYMBOL_NS_GPL(bmi088_accel_core_probe, IIO_BMI088); + + +void bmi088_accel_core_remove(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct bmi088_accel_data *data = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + + pm_runtime_disable(dev); + pm_runtime_set_suspended(dev); + bmi088_accel_power_down(data); +} +EXPORT_SYMBOL_NS_GPL(bmi088_accel_core_remove, IIO_BMI088); + +static int bmi088_accel_runtime_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct bmi088_accel_data *data = iio_priv(indio_dev); + + return bmi088_accel_power_down(data); +} + +static int bmi088_accel_runtime_resume(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct bmi088_accel_data *data = iio_priv(indio_dev); + + return bmi088_accel_power_up(data); +} + +EXPORT_NS_GPL_RUNTIME_DEV_PM_OPS(bmi088_accel_pm_ops, + bmi088_accel_runtime_suspend, + bmi088_accel_runtime_resume, NULL, + IIO_BMI088); + +MODULE_AUTHOR("Niek van Agt <niek.van.agt@topicproducts.com>"); +MODULE_LICENSE("GPL v2"); +MODULE_DESCRIPTION("BMI088 accelerometer driver (core)"); |