@@ -96,6 +96,20 @@ config KMX61
source "drivers/iio/imu/inv_icm42600/Kconfig"
source "drivers/iio/imu/inv_mpu6050/Kconfig"
+
+config SMI240
+ tristate "Bosch Sensor SMI240 Inertial Measurement Unit"
+ depends on SPI
+ select REGMAP_SPI
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+ help
+ If you say yes here you get support for SMI240 IMU on SPI with
+ accelerometer and gyroscope.
+
+ This driver can also be built as a module. If so, the module will be
+ called smi240.
+
source "drivers/iio/imu/st_lsm6dsx/Kconfig"
source "drivers/iio/imu/st_lsm9ds0/Kconfig"
@@ -27,5 +27,7 @@ obj-y += inv_mpu6050/
obj-$(CONFIG_KMX61) += kmx61.o
+obj-$(CONFIG_SMI240) += smi240.o
+
obj-y += st_lsm6dsx/
obj-y += st_lsm9ds0/
new file mode 100644
@@ -0,0 +1,578 @@
+// SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0
+/*
+ * Copyright (c) 2024 Robert Bosch GmbH.
+ */
+#include <asm/unaligned.h>
+#include <linux/bitfield.h>
+#include <linux/bits.h>
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+#include <linux/units.h>
+
+#define SMI240_CHIP_ID 0x0024
+
+#define SMI240_SOFT_CONFIG_EOC_MASK BIT_MASK(0)
+#define SMI240_SOFT_CONFIG_GYR_BW_MASK BIT_MASK(1)
+#define SMI240_SOFT_CONFIG_ACC_BW_MASK BIT_MASK(2)
+#define SMI240_SOFT_CONFIG_BITE_AUTO_MASK BIT_MASK(3)
+#define SMI240_SOFT_CONFIG_BITE_REP_MASK GENMASK(6, 4)
+
+#define SMI240_CHIP_ID_REG 0x00
+#define SMI240_SOFT_CONFIG_REG 0x0A
+#define SMI240_TEMP_CUR_REG 0x10
+#define SMI240_ACCEL_X_CUR_REG 0x11
+#define SMI240_GYRO_X_CUR_REG 0x14
+#define SMI240_DATA_CAP_FIRST_REG 0x17
+#define SMI240_CMD_REG 0x2F
+
+#define SMI240_SOFT_RESET_CMD 0xB6
+
+#define SMI240_BITE_SEQUENCE_DELAY_US 140000
+#define SMI240_FILTER_FLUSH_DELAY_US 60000
+#define SMI240_DIGITAL_STARTUP_DELAY_US 120000
+#define SMI240_MECH_STARTUP_DELAY_US 100000
+
+#define SMI240_CRC_INIT 0x05
+#define SMI240_CRC_POLY 0x0B
+#define SMI240_BUS_ID 0x00
+
+#define SMI240_SD_BIT_MASK 0x80000000
+#define SMI240_CS_BIT_MASK 0x00000008
+
+#define SMI240_BUS_ID_MASK GENMASK(31, 30)
+#define SMI240_WRITE_ADDR_MASK GENMASK(29, 22)
+#define SMI240_WRITE_BIT_MASK 0x00200000
+#define SMI240_WRITE_DATA_MASK GENMASK(18, 3)
+#define SMI240_CAP_BIT_MASK 0x00100000
+#define SMI240_READ_DATA_MASK GENMASK(19, 4)
+
+/*
+ * T°C = (temp / 256) + 25
+ * Tm°C = 1000 * ((temp * 100 / 25600) + 25)
+ * scale: 100000 / 25600 = 3.906250
+ * offset: 25000
+ */
+#define SMI240_TEMP_OFFSET 25000
+#define SMI240_TEMP_SCALE 3906250
+
+#define SMI240_LOW_BANDWIDTH_HZ 50
+#define SMI240_HIGH_BANDWIDTH_HZ 400
+
+#define SMI240_ACCEL_SCALE 2000
+#define SMI240_GYRO_SCALE 100
+
+#define SMI240_DATA_CHANNEL(_type, _axis, _index) { \
+ .type = _type, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##_axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = \
+ BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_type_available = \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ }, \
+}
+
+#define SMI240_TEMP_CHANNEL(_index) { \
+ .type = IIO_TEMP, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_TEMP_OBJECT, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_OFFSET) | \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ }, \
+}
+
+enum capture_mode { SMI240_CAPTURE_OFF = 0, SMI240_CAPTURE_ON = 1 };
+
+struct smi240_data {
+ struct regmap *regmap;
+ u16 accel_filter_freq;
+ u16 anglvel_filter_freq;
+ u8 bite_reps;
+ enum capture_mode capture;
+ /*
+ * Ensure natural alignment for timestamp if present.
+ * Channel size: 2 bytes.
+ * Max length needed: 2 * 3 channels + temp channel + 2 bytes padding + 8 byte ts.
+ * If fewer channels are enabled, less space may be needed, as
+ * long as the timestamp is still aligned to 8 bytes.
+ */
+ s16 buf[12] __aligned(8);
+
+ __be32 spi_buf __aligned(IIO_DMA_MINALIGN);
+};
+
+enum {
+ SMI240_TEMP_OBJECT,
+ SMI240_SCAN_ACCEL_X,
+ SMI240_SCAN_ACCEL_Y,
+ SMI240_SCAN_ACCEL_Z,
+ SMI240_SCAN_GYRO_X,
+ SMI240_SCAN_GYRO_Y,
+ SMI240_SCAN_GYRO_Z,
+ SMI240_SCAN_TIMESTAMP,
+};
+
+static const struct iio_chan_spec smi240_channels[] = {
+ SMI240_TEMP_CHANNEL(SMI240_TEMP_OBJECT),
+ SMI240_DATA_CHANNEL(IIO_ACCEL, X, SMI240_SCAN_ACCEL_X),
+ SMI240_DATA_CHANNEL(IIO_ACCEL, Y, SMI240_SCAN_ACCEL_Y),
+ SMI240_DATA_CHANNEL(IIO_ACCEL, Z, SMI240_SCAN_ACCEL_Z),
+ SMI240_DATA_CHANNEL(IIO_ANGL_VEL, X, SMI240_SCAN_GYRO_X),
+ SMI240_DATA_CHANNEL(IIO_ANGL_VEL, Y, SMI240_SCAN_GYRO_Y),
+ SMI240_DATA_CHANNEL(IIO_ANGL_VEL, Z, SMI240_SCAN_GYRO_Z),
+ IIO_CHAN_SOFT_TIMESTAMP(SMI240_SCAN_TIMESTAMP),
+};
+
+static const int smi240_low_pass_freqs[] = { SMI240_LOW_BANDWIDTH_HZ,
+ SMI240_HIGH_BANDWIDTH_HZ };
+
+static u8 smi240_crc3(u32 data, u8 init, u8 poly)
+{
+ u8 crc = init;
+ u8 do_xor;
+ s8 i = 31;
+
+ do {
+ do_xor = crc & 0x04;
+ crc <<= 1;
+ crc |= 0x01 & (data >> i);
+ if (do_xor)
+ crc ^= poly;
+
+ crc &= 0x07;
+ } while (--i >= 0);
+
+ return crc;
+}
+
+static bool smi240_sensor_data_is_valid(u32 data)
+{
+ if (smi240_crc3(data, SMI240_CRC_INIT, SMI240_CRC_POLY) != 0)
+ return false;
+
+ if (FIELD_GET(SMI240_SD_BIT_MASK, data) &
+ FIELD_GET(SMI240_CS_BIT_MASK, data))
+ return false;
+
+ return true;
+}
+
+static int smi240_regmap_spi_read(void *context, const void *reg_buf,
+ size_t reg_size, void *val_buf,
+ size_t val_size)
+{
+ int ret;
+ u32 request, response;
+ struct spi_device *spi = context;
+ struct iio_dev *indio_dev = dev_get_drvdata(&spi->dev);
+ struct smi240_data *iio_priv_data = iio_priv(indio_dev);
+
+ request = FIELD_PREP(SMI240_BUS_ID_MASK, SMI240_BUS_ID);
+ request |= FIELD_PREP(SMI240_CAP_BIT_MASK, iio_priv_data->capture);
+ request |= FIELD_PREP(SMI240_WRITE_ADDR_MASK, *(u8 *)reg_buf);
+ request |= smi240_crc3(request, SMI240_CRC_INIT, SMI240_CRC_POLY);
+
+ iio_priv_data->spi_buf = cpu_to_be32(request);
+
+ /*
+ * SMI240 module consists of a 32Bit Out Of Frame (OOF)
+ * SPI protocol, where the slave interface responds to
+ * the Master request in the next frame.
+ * CS signal must toggle (> 700 ns) between the frames.
+ */
+ ret = spi_write(spi, &iio_priv_data->spi_buf, sizeof(request));
+ if (ret)
+ return ret;
+
+ ret = spi_read(spi, &iio_priv_data->spi_buf, sizeof(response));
+ if (ret)
+ return ret;
+
+ response = be32_to_cpu(iio_priv_data->spi_buf);
+
+ if (!smi240_sensor_data_is_valid(response))
+ return -EIO;
+
+ response = FIELD_GET(SMI240_READ_DATA_MASK, response);
+ memcpy(val_buf, &response, val_size);
+
+ return 0;
+}
+
+static int smi240_regmap_spi_write(void *context, const void *data,
+ size_t count)
+{
+ u32 request;
+ struct spi_device *spi = context;
+ struct iio_dev *indio_dev = dev_get_drvdata(&spi->dev);
+ struct smi240_data *iio_priv_data = iio_priv(indio_dev);
+ u8 reg_addr = ((u8 *)data)[0];
+ u16 reg_data = get_unaligned_le16(&((u8 *)data)[1]);
+
+ request = FIELD_PREP(SMI240_BUS_ID_MASK, SMI240_BUS_ID);
+ request |= FIELD_PREP(SMI240_WRITE_BIT_MASK, 1);
+ request |= FIELD_PREP(SMI240_WRITE_ADDR_MASK, reg_addr);
+ request |= FIELD_PREP(SMI240_WRITE_DATA_MASK, reg_data);
+ request |= smi240_crc3(request, SMI240_CRC_INIT, SMI240_CRC_POLY);
+
+ iio_priv_data->spi_buf = cpu_to_be32(request);
+
+ return spi_write(spi, &iio_priv_data->spi_buf, sizeof(request));
+}
+
+static const struct regmap_bus smi240_regmap_bus = {
+ .read = smi240_regmap_spi_read,
+ .write = smi240_regmap_spi_write,
+};
+
+static const struct regmap_config smi240_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 16,
+ .val_format_endian = REGMAP_ENDIAN_LITTLE,
+};
+
+static int smi240_soft_reset(struct smi240_data *data)
+{
+ int ret;
+
+ ret = regmap_write(data->regmap, SMI240_CMD_REG, SMI240_SOFT_RESET_CMD);
+ if (ret)
+ return ret;
+ fsleep(SMI240_DIGITAL_STARTUP_DELAY_US);
+
+ return 0;
+}
+
+static int smi240_soft_config(struct smi240_data *data)
+{
+ int ret;
+ u8 acc_bw, gyr_bw;
+ u16 request;
+
+ switch (data->accel_filter_freq) {
+ case SMI240_LOW_BANDWIDTH_HZ:
+ acc_bw = 0x1;
+ break;
+ case SMI240_HIGH_BANDWIDTH_HZ:
+ acc_bw = 0x0;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ switch (data->anglvel_filter_freq) {
+ case SMI240_LOW_BANDWIDTH_HZ:
+ gyr_bw = 0x1;
+ break;
+ case SMI240_HIGH_BANDWIDTH_HZ:
+ gyr_bw = 0x0;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ request = FIELD_PREP(SMI240_SOFT_CONFIG_EOC_MASK, 1);
+ request |= FIELD_PREP(SMI240_SOFT_CONFIG_GYR_BW_MASK, gyr_bw);
+ request |= FIELD_PREP(SMI240_SOFT_CONFIG_ACC_BW_MASK, acc_bw);
+ request |= FIELD_PREP(SMI240_SOFT_CONFIG_BITE_AUTO_MASK, 1);
+ request |= FIELD_PREP(SMI240_SOFT_CONFIG_BITE_REP_MASK,
+ data->bite_reps - 1);
+
+ ret = regmap_write(data->regmap, SMI240_SOFT_CONFIG_REG, request);
+ if (ret)
+ return ret;
+
+ fsleep(SMI240_MECH_STARTUP_DELAY_US +
+ data->bite_reps * SMI240_BITE_SEQUENCE_DELAY_US +
+ SMI240_FILTER_FLUSH_DELAY_US);
+
+ return 0;
+}
+
+static int smi240_get_low_pass_filter_freq(struct smi240_data *data,
+ int chan_type, int *val)
+{
+ switch (chan_type) {
+ case IIO_ACCEL:
+ *val = data->accel_filter_freq;
+ return 0;
+ case IIO_ANGL_VEL:
+ *val = data->anglvel_filter_freq;
+ return 0;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int smi240_get_data(struct smi240_data *data, int chan_type, int axis,
+ int *val)
+{
+ u8 reg;
+ int ret, sample;
+
+ if (chan_type == IIO_TEMP)
+ reg = SMI240_TEMP_CUR_REG;
+ else if (chan_type == IIO_ACCEL)
+ reg = SMI240_ACCEL_X_CUR_REG + (axis - IIO_MOD_X);
+ else if (chan_type == IIO_ANGL_VEL)
+ reg = SMI240_GYRO_X_CUR_REG + (axis - IIO_MOD_X);
+ else
+ return -EINVAL;
+
+ ret = regmap_read(data->regmap, reg, &sample);
+ if (ret)
+ return ret;
+
+ *val = sign_extend32(sample, 15);
+
+ return 0;
+}
+
+static irqreturn_t smi240_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct smi240_data *data = iio_priv(indio_dev);
+ int ret, chan, i = 0;
+
+ data->capture = SMI240_CAPTURE_ON;
+
+ for_each_set_bit(chan, indio_dev->active_scan_mask,
+ indio_dev->masklength) {
+ ret = regmap_read(data->regmap,
+ SMI240_DATA_CAP_FIRST_REG + chan,
+ (int *)&data->buf[i]);
+ data->capture = SMI240_CAPTURE_OFF;
+ if (ret)
+ goto out;
+ i++;
+ }
+
+ iio_push_to_buffers_with_timestamp(indio_dev, data->buf, pf->timestamp);
+
+out:
+ iio_trigger_notify_done(indio_dev->trig);
+ return IRQ_HANDLED;
+}
+
+static int smi240_read_avail(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, const int **vals,
+ int *type, int *length, long mask)
+{
+ switch (mask) {
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ *vals = smi240_low_pass_freqs;
+ *length = ARRAY_SIZE(smi240_low_pass_freqs);
+ *type = IIO_VAL_INT;
+ return IIO_AVAIL_LIST;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int smi240_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int *val,
+ int *val2, long mask)
+{
+ int ret;
+ struct smi240_data *data = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ if (iio_buffer_enabled(indio_dev))
+ return -EBUSY;
+ ret = smi240_get_data(data, chan->type, chan->channel2, val);
+ if (ret)
+ return ret;
+ return IIO_VAL_INT;
+
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ ret = smi240_get_low_pass_filter_freq(data, chan->type, val);
+ if (ret)
+ return ret;
+ return IIO_VAL_INT;
+
+ case IIO_CHAN_INFO_SCALE:
+ if (chan->type == IIO_TEMP) {
+ *val = SMI240_TEMP_SCALE / MEGA;
+ *val2 = SMI240_TEMP_SCALE % MEGA;
+ return IIO_VAL_INT_PLUS_MICRO;
+ } else if (chan->type == IIO_ACCEL) {
+ *val = SMI240_ACCEL_SCALE;
+ return IIO_VAL_INT;
+ } else if (chan->type == IIO_ANGL_VEL) {
+ *val = SMI240_GYRO_SCALE;
+ return IIO_VAL_INT;
+ } else
+ return -EINVAL;
+
+ case IIO_CHAN_INFO_OFFSET:
+ if (chan->type == IIO_TEMP) {
+ *val = SMI240_TEMP_OFFSET;
+ return IIO_VAL_INT;
+ } else
+ return -EINVAL;
+
+ default:
+ return -EINVAL;
+ }
+}
+
+static int smi240_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int val, int val2,
+ long mask)
+{
+ int ret, i;
+ struct smi240_data *data = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ for (i = 0; i < ARRAY_SIZE(smi240_low_pass_freqs); i++) {
+ if (val == smi240_low_pass_freqs[i])
+ break;
+ }
+
+ if (i == ARRAY_SIZE(smi240_low_pass_freqs))
+ return -EINVAL;
+
+ switch (chan->type) {
+ case IIO_ACCEL:
+ data->accel_filter_freq = val;
+ break;
+ case IIO_ANGL_VEL:
+ data->anglvel_filter_freq = val;
+ break;
+ default:
+ return -EINVAL;
+ }
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ /* Write access to soft config is locked until hard/soft reset */
+ ret = smi240_soft_reset(data);
+ if (ret)
+ return ret;
+
+ return smi240_soft_config(data);
+}
+
+static int smi240_init(struct smi240_data *data)
+{
+ data->accel_filter_freq = SMI240_HIGH_BANDWIDTH_HZ;
+ data->anglvel_filter_freq = SMI240_HIGH_BANDWIDTH_HZ;
+ data->bite_reps = 3;
+
+ return smi240_soft_config(data);
+}
+
+static const struct iio_info smi240_info = {
+ .read_avail = smi240_read_avail,
+ .read_raw = smi240_read_raw,
+ .write_raw = smi240_write_raw,
+};
+
+static int smi240_probe(struct spi_device *spi)
+{
+ struct device *dev;
+ struct iio_dev *indio_dev;
+ struct regmap *regmap;
+ struct smi240_data *data;
+ int ret, response;
+
+ dev = &spi->dev;
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ regmap = devm_regmap_init(dev, &smi240_regmap_bus, dev,
+ &smi240_regmap_config);
+ if (IS_ERR(regmap))
+ return dev_err_probe(dev, PTR_ERR(regmap),
+ "Failed to initialize SPI Regmap\n");
+
+ data = iio_priv(indio_dev);
+ dev_set_drvdata(dev, indio_dev);
+ data->regmap = regmap;
+ data->capture = SMI240_CAPTURE_OFF;
+
+ ret = regmap_read(data->regmap, SMI240_CHIP_ID_REG, &response);
+ if (ret)
+ return dev_err_probe(dev, ret, "Read chip id failed\n");
+
+ if (response != SMI240_CHIP_ID)
+ dev_info(dev, "Unknown chip id: 0x%04x\n", response);
+
+ ret = smi240_init(data);
+ if (ret)
+ return dev_err_probe(dev, ret,
+ "Device initialization failed\n");
+
+ indio_dev->channels = smi240_channels;
+ indio_dev->num_channels = ARRAY_SIZE(smi240_channels);
+ indio_dev->name = "smi240";
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->info = &smi240_info;
+
+ ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
+ iio_pollfunc_store_time,
+ smi240_trigger_handler, NULL);
+ if (ret)
+ return dev_err_probe(dev, ret,
+ "Setup triggered buffer failed\n");
+
+ ret = devm_iio_device_register(dev, indio_dev);
+ if (ret)
+ return dev_err_probe(dev, ret, "Register IIO device failed\n");
+
+ return 0;
+}
+
+static const struct spi_device_id smi240_spi_id[] = { { "smi240", 0 }, {} };
+MODULE_DEVICE_TABLE(spi, smi240_spi_id);
+
+static const struct of_device_id smi240_of_match[] = {
+ { .compatible = "bosch,smi240" },
+ {}
+};
+MODULE_DEVICE_TABLE(of, smi240_of_match);
+
+static struct spi_driver smi240_spi_driver = {
+ .probe = smi240_probe,
+ .id_table = smi240_spi_id,
+ .driver = {
+ .of_match_table = smi240_of_match,
+ .name = "smi240",
+ },
+};
+module_spi_driver(smi240_spi_driver);
+
+MODULE_AUTHOR("Markus Lochmann <markus.lochmann@de.bosch.com>");
+MODULE_AUTHOR("Stefan Gutmann <stefan.gutmann@de.bosch.com>");
+MODULE_DESCRIPTION("Bosch SMI240 SPI driver");
+MODULE_LICENSE("Dual BSD/GPL");