| Message ID | 20211028101840.24632-8-andrea.merello@gmail.com (mailing list archive) |
|---|---|
| State | Changes Requested |
| Headers | show |
| Series | Add support for Bosch BNO055 IMU | expand |
On Thu, 28 Oct 2021 12:18:37 +0200 Andrea Merello <andrea.merello@gmail.com> wrote: > This patch adds a core driver for the BNO055 IMU from Bosch. This IMU > can be connected via both serial and I2C busses; separate patches will > add support for them. > > The driver supports "AMG" (Accelerometer, Magnetometer, Gyroscope) mode, > that provides raw data from the said internal sensors, and a couple of > "fusion" modes (i.e. the IMU also do calculations in order to provide > euler angles, quaternions, linear acceleration and gravity measurements). > > In fusion modes the AMG data is still available (with some calibration > refinements done by the IMU), but certain settings such as low pass > filters cut-off frequency and sensors ranges are fixed, while in AMG mode > they can be customized; this is why AMG mode can still be interesting. > > Signed-off-by: Andrea Merello <andrea.merello@iit.it> > --- > drivers/iio/imu/Kconfig | 1 + > drivers/iio/imu/Makefile | 1 + > drivers/iio/imu/bno055/Kconfig | 4 + > drivers/iio/imu/bno055/Makefile | 3 + > drivers/iio/imu/bno055/bno055.c | 1480 +++++++++++++++++++++++++++++++ > drivers/iio/imu/bno055/bno055.h | 12 + > 6 files changed, 1501 insertions(+) > create mode 100644 drivers/iio/imu/bno055/Kconfig > create mode 100644 drivers/iio/imu/bno055/Makefile > create mode 100644 drivers/iio/imu/bno055/bno055.c > create mode 100644 drivers/iio/imu/bno055/bno055.h > ... > diff --git a/drivers/iio/imu/bno055/bno055.c b/drivers/iio/imu/bno055/bno055.c > new file mode 100644 > index 000000000000..c85cb985f0f1 > --- /dev/null > +++ b/drivers/iio/imu/bno055/bno055.c > @@ -0,0 +1,1480 @@ ... > + > +static int bno055_reg_update_bits(struct bno055_priv *priv, unsigned int reg, > + unsigned int mask, unsigned int val) > +{ > + int ret; > + > + ret = regmap_update_bits(priv->regmap, reg, mask, val); > + if (ret && ret != -ERESTARTSYS) { > + dev_err(priv->dev, "Regmap update_bits error. adr: 0x%x, ret: %d", > + reg, ret); This feels like a wrapper that made sense when developing but probably doesn't want to still be here now things are 'working'. > + } > + > + return ret; > +} > + ... > + > +static void bno055_clk_disable(void *arg) Easy to make arg == priv->clk and turn this into a one line function. I'd expect these cleanup functions to be just above where probe() is defined rather than all the way up here. > +{ > + struct bno055_priv *priv = arg; > + > + clk_disable_unprepare(priv->clk); > +} > + ... > + > +static int bno055_get_acc_lpf(struct bno055_priv *priv, int *val, int *val2) > +{ > + const int shift = __ffs(BNO055_ACC_CONFIG_LPF_MASK); > + int hwval, idx; > + int ret; > + > + ret = regmap_read(priv->regmap, BNO055_ACC_CONFIG_REG, &hwval); > + if (ret) > + return ret; > + > + idx = (hwval & BNO055_ACC_CONFIG_LPF_MASK) >> shift; Use FIELD_GET() and FIELD_PREP where possible rather than reinventing them. > + *val = bno055_acc_lpf_vals[idx * 2]; > + *val2 = bno055_acc_lpf_vals[idx * 2 + 1]; > + > + return IIO_VAL_INT_PLUS_MICRO; > +} > + > +static int bno055_set_acc_lpf(struct bno055_priv *priv, int val, int val2) > +{ > + const int shift = __ffs(BNO055_ACC_CONFIG_LPF_MASK); > + int req_val = val * 1000 + val2 / 1000; > + bool first = true; > + int best_delta; > + int best_idx; > + int tbl_val; > + int delta; > + int ret; > + int i; > + > + for (i = 0; i < ARRAY_SIZE(bno055_acc_lpf_vals) / 2; i++) { > + tbl_val = bno055_acc_lpf_vals[i * 2] * 1000 + > + bno055_acc_lpf_vals[i * 2 + 1] / 1000; > + delta = abs(tbl_val - req_val); > + if (first || delta < best_delta) { > + best_delta = delta; > + best_idx = i; > + first = false; > + } > + } > + > + /* > + * The closest value the HW supports is only one in fusion mode, > + * and it is autoselected, so don't do anything, just return OK, > + * as the closest possible value has been (virtually) selected > + */ > + if (priv->operation_mode != BNO055_OPR_MODE_AMG) > + return 0; Can we do this before the big loop above? > + > + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, > + BNO055_OPR_MODE_CONFIG); > + if (ret) > + return ret; > + > + ret = bno055_reg_update_bits(priv, BNO055_ACC_CONFIG_REG, > + BNO055_ACC_CONFIG_LPF_MASK, > + best_idx << shift); > + > + if (ret) > + return ret; > + > + return regmap_write(priv->regmap, BNO055_OPR_MODE_REG, > + BNO055_OPR_MODE_AMG); > +} > + ... > + > +#define bno055_get_mag_odr(p, v) \ > + bno055_get_regmask(p, v, \ > + BNO055_MAG_CONFIG_REG, BNO055_MAG_CONFIG_ODR_MASK, \ > + bno055_mag_odr_vals) I'm not really convinced this is a worthwhile abstraction as these are typically only used once. > + ... > +static int bno055_read_simple_chan(struct iio_dev *indio_dev, > + struct iio_chan_spec const *chan, > + int *val, int *val2, long mask) > +{ > + struct bno055_priv *priv = iio_priv(indio_dev); > + __le16 raw_val; > + int ret; > + > + switch (mask) { > + case IIO_CHAN_INFO_RAW: > + ret = regmap_bulk_read(priv->regmap, chan->address, > + &raw_val, sizeof(raw_val)); > + if (ret < 0) > + return ret; > + *val = (s16)le16_to_cpu(raw_val); > + return IIO_VAL_INT; > + case IIO_CHAN_INFO_OFFSET: > + if (priv->operation_mode != BNO055_OPR_MODE_AMG) { > + *val = 0; > + } else { > + ret = regmap_bulk_read(priv->regmap, > + chan->address + > + BNO055_REG_OFFSET_ADDR, > + &raw_val, sizeof(raw_val)); > + if (ret < 0) > + return ret; > + /* > + * IMU reports sensor offests; IIO wants correction > + * offset, thus we need the 'minus' here. > + */ > + *val = -(s16)le16_to_cpu(raw_val); > + } > + return IIO_VAL_INT; > + case IIO_CHAN_INFO_SCALE: > + *val = 1; > + switch (chan->type) { > + case IIO_GRAVITY: > + /* Table 3-35: 1 m/s^2 = 100 LSB */ > + case IIO_ACCEL: > + /* Table 3-17: 1 m/s^2 = 100 LSB */ > + *val2 = 100; > + break; > + case IIO_MAGN: > + /* > + * Table 3-19: 1 uT = 16 LSB. But we need > + * Gauss: 1G = 0.1 uT. > + */ > + *val2 = 160; > + break; > + case IIO_ANGL_VEL: > + /* Table 3-22: 1 Rps = 900 LSB */ > + *val2 = 900; > + break; > + case IIO_ROT: > + /* Table 3-28: 1 degree = 16 LSB */ > + *val2 = 16; > + break; > + default: > + return -EINVAL; > + } > + return IIO_VAL_FRACTIONAL; > + default: > + return -EINVAL; default in the middle is a bit unusual. move it to the end. > + > + case IIO_CHAN_INFO_SAMP_FREQ: > + if (chan->type != IIO_MAGN) > + return -EINVAL; > + else > + return bno055_get_mag_odr(priv, val); > + > + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: > + switch (chan->type) { > + case IIO_ANGL_VEL: > + return bno055_get_gyr_lpf(priv, val); > + case IIO_ACCEL: > + return bno055_get_acc_lpf(priv, val, val2); > + default: > + return -EINVAL; > + } > + } > +} > + > + > +static int bno055_read_quaternion(struct iio_dev *indio_dev, > + struct iio_chan_spec const *chan, > + int size, int *vals, int *val_len, > + long mask) > +{ > + struct bno055_priv *priv = iio_priv(indio_dev); > + __le16 raw_vals[4]; > + int i, ret; > + > + switch (mask) { > + case IIO_CHAN_INFO_RAW: > + if (size < 4) > + return -EINVAL; > + ret = regmap_bulk_read(priv->regmap, > + BNO055_QUAT_DATA_W_LSB_REG, > + raw_vals, sizeof(raw_vals)); > + if (ret < 0) > + return ret; > + for (i = 0; i < 4; i++) > + vals[i] = (s16)le16_to_cpu(raw_vals[i]); > + *val_len = 4; > + return IIO_VAL_INT_MULTIPLE; > + case IIO_CHAN_INFO_SCALE: > + /* Table 3-31: 1 quaternion = 2^14 LSB */ > + if (size < 2) > + return -EINVAL; > + vals[0] = 1; > + vals[1] = 1 << 14; IIO_VAL_FRACTIONAL_LOG2? > + return IIO_VAL_FRACTIONAL; > + default: > + return -EINVAL; > + } > +} > + ... > + > +static ssize_t bno055_fusion_enable_store(struct device *dev, > + struct device_attribute *attr, > + const char *buf, size_t len) > +{ > + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); > + int ret = 0; > + > + if (sysfs_streq(buf, "0")) { > + ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_AMG); > + } else { > + /* > + * Coming from AMG means the FMC was off, just switch to fusion > + * but don't change anything that doesn't belong to us (i.e let. > + * FMC stay off. > + * Coming from any other fusion mode means we don't need to do > + * anything. > + */ > + if (priv->operation_mode == BNO055_OPR_MODE_AMG) > + ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION_FMC_OFF); > + } > + > + return len ?: len; return ret?: len; might make sense, though my inclination would be to use an explicit if (ret) at the various possible error locations. > +} ... > +static ssize_t bno055_fmc_enable_store(struct device *dev, > + struct device_attribute *attr, > + const char *buf, size_t len) > +{ > + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); > + int ret = 0; > + > + if (sysfs_streq(buf, "0")) { > + if (priv->operation_mode == BNO055_OPR_MODE_FUSION) > + ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION_FMC_OFF); > + } else { > + if (priv->operation_mode == BNO055_OPR_MODE_AMG) > + return -EINVAL; > + } > + > + return len ?: ret; Don't think that will return ret which is what we want if it's set. > +} > + ... > +static ssize_t in_calibration_data_show(struct device *dev, > + struct device_attribute *attr, > + char *buf) > +{ > + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); > + u8 data[BNO055_CALDATA_LEN]; > + int ret; > + > + mutex_lock(&priv->lock); > + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, > + BNO055_OPR_MODE_CONFIG); > + if (ret) > + goto unlock; > + > + ret = regmap_bulk_read(priv->regmap, BNO055_CALDATA_START, data, > + BNO055_CALDATA_LEN); > + if (ret) > + goto unlock; > + > + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, priv->operation_mode); > + mutex_unlock(&priv->lock); > + if (ret) > + return ret; This is a case where I'd move the mutex_unlock after the check so that we have a nice shared error path via the unlock lable. > + > + memcpy(buf, data, BNO055_CALDATA_LEN); > + > + return BNO055_CALDATA_LEN; > +unlock: > + mutex_unlock(&priv->lock); > + return ret; > +} > + ... > +static ssize_t bno055_show_fw_version(struct file *file, char __user *userbuf, > + size_t count, loff_t *ppos) > +{ > + struct bno055_priv *priv = file->private_data; > + int rev, ver; > + char *buf; > + int ret; > + > + ret = regmap_read(priv->regmap, BNO055_SW_REV_LSB_REG, &rev); > + if (ret) > + return ret; > + > + ret = regmap_read(priv->regmap, BNO055_SW_REV_MSB_REG, &ver); > + if (ret) > + return ret; > + > + buf = devm_kasprintf(priv->dev, GFP_KERNEL, "ver: 0x%x, rev: 0x%x\n", > + ver, rev); > + if (!buf) > + return -ENOMEM; > + > + ret = simple_read_from_buffer(userbuf, count, ppos, buf, strlen(buf)); > + devm_kfree(priv->dev, buf); Why use devm managed allocations if you are just going to free it immediately? > + > + return ret; > +} > + ... > +/* > + * Reads len samples from the HW, stores them in buf starting from buf_idx, > + * and applies mask to cull (skip) unneeded samples. > + * Updates buf_idx incrementing with the number of stored samples. > + * Samples from HW are transferred into buf, then in-place copy on buf is > + * performed in order to cull samples that need to be skipped. > + * This avoids copies of the first samples until we hit the 1st sample to skip, > + * and also avoids having an extra bounce buffer. > + * buf must be able to contain len elements in spite of how many samples we are > + * going to cull. This is rather complex - I take we can't just fall back to letting the IIO core demux do all the hard work for us? > + */ > +static int bno055_scan_xfer(struct bno055_priv *priv, > + int start_ch, int len, unsigned long mask, > + __le16 *buf, int *buf_idx) > +{ > + const int base = BNO055_ACC_DATA_X_LSB_REG; > + bool quat_in_read = false; > + int buf_base = *buf_idx; > + __le16 *dst, *src; > + int offs_fixup = 0; > + int xfer_len = len; > + int ret; > + int i, n; > + > + /* > + * All chans are made up 1 16-bit sample, except for quaternion that is > + * made up 4 16-bit values. > + * For us the quaternion CH is just like 4 regular CHs. > + * If our read starts past the quaternion make sure to adjust the > + * starting offset; if the quaternion is contained in our scan then make > + * sure to adjust the read len. > + */ > + if (start_ch > BNO055_SCAN_QUATERNION) { > + start_ch += 3; > + } else if ((start_ch <= BNO055_SCAN_QUATERNION) && > + ((start_ch + len) > BNO055_SCAN_QUATERNION)) { > + quat_in_read = true; > + xfer_len += 3; > + } > + > + ret = regmap_bulk_read(priv->regmap, > + base + start_ch * sizeof(__le16), > + buf + buf_base, > + xfer_len * sizeof(__le16)); > + if (ret) > + return ret; > + > + for_each_set_bit(i, &mask, len) { > + if (quat_in_read && ((start_ch + i) > BNO055_SCAN_QUATERNION)) > + offs_fixup = 3; > + > + dst = buf + *buf_idx; > + src = buf + buf_base + offs_fixup + i; > + > + n = (start_ch + i == BNO055_SCAN_QUATERNION) ? 4 : 1; > + > + if (dst != src) > + memcpy(dst, src, n * sizeof(__le16)); > + > + *buf_idx += n; > + } > + return 0; > +} > + > +static irqreturn_t bno055_trigger_handler(int irq, void *p) > +{ > + struct iio_poll_func *pf = p; > + struct iio_dev *iio_dev = pf->indio_dev; > + struct bno055_priv *priv = iio_priv(iio_dev); > + int xfer_start, start, end, prev_end; > + bool xfer_pending = false; > + bool first = true; > + unsigned long mask; > + int buf_idx = 0; > + bool thr_hit; > + int quat; > + int ret; > + > + mutex_lock(&priv->lock); > + for_each_set_bitrange(start, end, iio_dev->active_scan_mask, > + iio_dev->masklength) { I'm not seeing this function in mainline... I guess this series has a dependency I missed? > + if (!xfer_pending) > + xfer_start = start; > + xfer_pending = true; > + > + if (!first) { first == true and we never get in here to set it to false. Perhaps we would benefit from a state machine diagram for this function? In general this function is complex enough to need documentation of what each major part is doing. > + quat = ((start > BNO055_SCAN_QUATERNION) && > + (prev_end <= BNO055_SCAN_QUATERNION)) ? 3 : 0; Having quat == 3 for a variable named quat doesn't seem intuitive. > + thr_hit = (start - prev_end + quat) > > + priv->xfer_burst_break_thr; > + > + if (thr_hit) { > + mask = *iio_dev->active_scan_mask >> xfer_start; > + ret = bno055_scan_xfer(priv, xfer_start, > + prev_end - xfer_start + 1, > + mask, priv->buf.chans, &buf_idx); > + if (ret) > + goto done; > + xfer_pending = false; > + } > + first = false; > + } > + prev_end = end; > + } > + > + if (xfer_pending) { > + mask = *iio_dev->active_scan_mask >> xfer_start; > + ret = bno055_scan_xfer(priv, xfer_start, > + end - xfer_start + 1, > + mask, priv->buf.chans, &buf_idx); > + } > + > + iio_push_to_buffers_with_timestamp(iio_dev, &priv->buf, pf->timestamp); > +done: > + mutex_unlock(&priv->lock); > + iio_trigger_notify_done(iio_dev->trig); > + return IRQ_HANDLED; > +} > + > +int bno055_probe(struct device *dev, struct regmap *regmap, > + int xfer_burst_break_thr) > +{ > + const struct firmware *caldata; > + struct bno055_priv *priv; > + struct iio_dev *iio_dev; > + struct gpio_desc *rst; > + char *fw_name_buf; > + unsigned int val; > + int ret; > + > + iio_dev = devm_iio_device_alloc(dev, sizeof(*priv)); > + if (!iio_dev) > + return -ENOMEM; > + > + iio_dev->name = "bno055"; > + priv = iio_priv(iio_dev); > + mutex_init(&priv->lock); > + priv->regmap = regmap; > + priv->dev = dev; > + priv->xfer_burst_break_thr = xfer_burst_break_thr; blank line here would hep readability a little I think. > + rst = devm_gpiod_get_optional(dev, "reset", GPIOD_OUT_HIGH); > + if (IS_ERR(rst)) > + return dev_err_probe(dev, PTR_ERR(rst), "Failed to get reset GPIO"); > + > + priv->clk = devm_clk_get_optional(dev, "clk"); > + if (IS_ERR(priv->clk)) > + return dev_err_probe(dev, PTR_ERR(priv->clk), "Failed to get CLK"); > + > + ret = clk_prepare_enable(priv->clk); > + if (ret) > + return ret; > + > + ret = devm_add_action_or_reset(dev, bno055_clk_disable, priv); As mentioned above, pass priv->clk into this as we don't need to see anything else in the callback. > + if (ret) > + return ret; > + > + if (rst) { > + usleep_range(5000, 10000); > + gpiod_set_value_cansleep(rst, 0); > + usleep_range(650000, 750000); > + } > + > + ret = regmap_read(priv->regmap, BNO055_CHIP_ID_REG, &val); > + if (ret) > + return ret; > + > + if (val != BNO055_CHIP_ID_MAGIC) { > + dev_err(dev, "Unrecognized chip ID 0x%x", val); > + return -ENODEV; > + } > + > + ret = regmap_bulk_read(priv->regmap, BNO055_UID_LOWER_REG, > + priv->uid, BNO055_UID_LEN); > + if (ret) > + return ret; > + > + /* > + * This has nothing to do with the IMU firmware, this is for sensor > + * calibration data. > + */ > + fw_name_buf = devm_kasprintf(dev, GFP_KERNEL, > + BNO055_FW_UID_NAME, > + BNO055_UID_LEN, priv->uid); > + if (!fw_name_buf) > + return -ENOMEM; > + > + ret = request_firmware(&caldata, fw_name_buf, dev); > + devm_kfree(dev, fw_name_buf); > + if (ret) > + ret = request_firmware(&caldata, BNO055_FW_GENERIC_NAME, dev); > + > + if (ret) { > + dev_notice(dev, "Failed to load calibration data firmware file; this has nothing to do with IMU main firmware.\nYou can calibrate your IMU (look for 'in_autocalibration_status*' files in sysfs) and then copy 'in_calibration_data' to your firmware file"); As the notice has multiple lines, you can break at the \n points without any loss of greppability. It would be good to make this shorter though if we can - I wouldn't way what it isn't for example. Calibration file load failed. Follow instructions in Documentation/ * + write some docs on the calibration procedure. I don't think it is a good plan to give a guide in a kernel log. > + caldata = NULL; I'd hope that is already the case and it definitely looks like it is from a quick look at request_firmware(). I'd consider request_firmware buggy if it did anything else as that would imply it had side effects that weren't cleaned up on error. > + } > + > + ret = bno055_init(priv, caldata); > + if (caldata) > + release_firmware(caldata); > + if (ret) > + return ret; > + > + ret = devm_add_action_or_reset(dev, bno055_uninit, priv); > + if (ret) > + return ret; > + > + iio_dev->channels = bno055_channels; > + iio_dev->num_channels = ARRAY_SIZE(bno055_channels); > + iio_dev->info = &bno055_info; > + iio_dev->modes = INDIO_DIRECT_MODE; > + > + ret = devm_iio_triggered_buffer_setup(dev, iio_dev, > + iio_pollfunc_store_time, > + bno055_trigger_handler, NULL); > + if (ret) > + return ret; > + > + ret = devm_iio_device_register(dev, iio_dev); > + if (ret) > + return ret; > + > + bno055_debugfs_init(iio_dev); > + > + return 0; > +} > +EXPORT_SYMBOL_GPL(bno055_probe); > + ... Thanks, Jonathan
Some inline notes. OK for all the rest. Il giorno gio 28 ott 2021 alle ore 15:27 Jonathan Cameron <jic23@kernel.org> ha scritto: > > On Thu, 28 Oct 2021 12:18:37 +0200 > Andrea Merello <andrea.merello@gmail.com> wrote: > > > This patch adds a core driver for the BNO055 IMU from Bosch. This IMU > > can be connected via both serial and I2C busses; separate patches will > > add support for them. > > > > The driver supports "AMG" (Accelerometer, Magnetometer, Gyroscope) mode, > > that provides raw data from the said internal sensors, and a couple of > > "fusion" modes (i.e. the IMU also do calculations in order to provide > > euler angles, quaternions, linear acceleration and gravity measurements). > > > > In fusion modes the AMG data is still available (with some calibration > > refinements done by the IMU), but certain settings such as low pass > > filters cut-off frequency and sensors ranges are fixed, while in AMG mode > > they can be customized; this is why AMG mode can still be interesting. > > > > Signed-off-by: Andrea Merello <andrea.merello@iit.it> > > --- > > drivers/iio/imu/Kconfig | 1 + > > drivers/iio/imu/Makefile | 1 + > > drivers/iio/imu/bno055/Kconfig | 4 + > > drivers/iio/imu/bno055/Makefile | 3 + > > drivers/iio/imu/bno055/bno055.c | 1480 +++++++++++++++++++++++++++++++ > > drivers/iio/imu/bno055/bno055.h | 12 + > > 6 files changed, 1501 insertions(+) > > create mode 100644 drivers/iio/imu/bno055/Kconfig > > create mode 100644 drivers/iio/imu/bno055/Makefile > > create mode 100644 drivers/iio/imu/bno055/bno055.c > > create mode 100644 drivers/iio/imu/bno055/bno055.h > > > ... > > > diff --git a/drivers/iio/imu/bno055/bno055.c b/drivers/iio/imu/bno055/bno055.c > > new file mode 100644 > > index 000000000000..c85cb985f0f1 > > --- /dev/null > > +++ b/drivers/iio/imu/bno055/bno055.c > > @@ -0,0 +1,1480 @@ > > ... > > > + > > +static int bno055_reg_update_bits(struct bno055_priv *priv, unsigned int reg, > > + unsigned int mask, unsigned int val) > > +{ > > + int ret; > > + > > + ret = regmap_update_bits(priv->regmap, reg, mask, val); > > + if (ret && ret != -ERESTARTSYS) { > > + dev_err(priv->dev, "Regmap update_bits error. adr: 0x%x, ret: %d", > > + reg, ret); > > This feels like a wrapper that made sense when developing but probably doesn't > want to still be here now things are 'working'. > > > + } > > + > > + return ret; > > +} > > + > > ... > > > + > > +static void bno055_clk_disable(void *arg) > > Easy to make arg == priv->clk and turn this into a one line function. > I'd expect these cleanup functions to be just above where probe() is defined rather > than all the way up here. > > > +{ > > + struct bno055_priv *priv = arg; > > + > > + clk_disable_unprepare(priv->clk); > > +} > > + > > ... > > > + > > +static int bno055_get_acc_lpf(struct bno055_priv *priv, int *val, int *val2) > > +{ > > + const int shift = __ffs(BNO055_ACC_CONFIG_LPF_MASK); > > + int hwval, idx; > > + int ret; > > + > > + ret = regmap_read(priv->regmap, BNO055_ACC_CONFIG_REG, &hwval); > > + if (ret) > > + return ret; > > + > > + idx = (hwval & BNO055_ACC_CONFIG_LPF_MASK) >> shift; > > Use FIELD_GET() and FIELD_PREP where possible rather than reinventing them. > > > + *val = bno055_acc_lpf_vals[idx * 2]; > > + *val2 = bno055_acc_lpf_vals[idx * 2 + 1]; > > + > > + return IIO_VAL_INT_PLUS_MICRO; > > +} > > + > > +static int bno055_set_acc_lpf(struct bno055_priv *priv, int val, int val2) > > +{ > > + const int shift = __ffs(BNO055_ACC_CONFIG_LPF_MASK); > > + int req_val = val * 1000 + val2 / 1000; > > + bool first = true; > > + int best_delta; > > + int best_idx; > > + int tbl_val; > > + int delta; > > + int ret; > > + int i; > > + > > + for (i = 0; i < ARRAY_SIZE(bno055_acc_lpf_vals) / 2; i++) { > > + tbl_val = bno055_acc_lpf_vals[i * 2] * 1000 + > > + bno055_acc_lpf_vals[i * 2 + 1] / 1000; > > + delta = abs(tbl_val - req_val); > > + if (first || delta < best_delta) { > > + best_delta = delta; > > + best_idx = i; > > + first = false; > > + } > > + } > > + > > + /* > > + * The closest value the HW supports is only one in fusion mode, > > + * and it is autoselected, so don't do anything, just return OK, > > + * as the closest possible value has been (virtually) selected > > + */ > > + if (priv->operation_mode != BNO055_OPR_MODE_AMG) > > + return 0; > > Can we do this before the big loop above? > > > > + > > + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, > > + BNO055_OPR_MODE_CONFIG); > > + if (ret) > > + return ret; > > + > > + ret = bno055_reg_update_bits(priv, BNO055_ACC_CONFIG_REG, > > + BNO055_ACC_CONFIG_LPF_MASK, > > + best_idx << shift); > > + > > + if (ret) > > + return ret; > > + > > + return regmap_write(priv->regmap, BNO055_OPR_MODE_REG, > > + BNO055_OPR_MODE_AMG); > > +} > > + > > ... > > > + > > +#define bno055_get_mag_odr(p, v) \ > > + bno055_get_regmask(p, v, \ > > + BNO055_MAG_CONFIG_REG, BNO055_MAG_CONFIG_ODR_MASK, \ > > + bno055_mag_odr_vals) > > I'm not really convinced this is a worthwhile abstraction as these are typically > only used once. > > > + > ... > > > +static int bno055_read_simple_chan(struct iio_dev *indio_dev, > > + struct iio_chan_spec const *chan, > > + int *val, int *val2, long mask) > > +{ > > + struct bno055_priv *priv = iio_priv(indio_dev); > > + __le16 raw_val; > > + int ret; > > + > > + switch (mask) { > > + case IIO_CHAN_INFO_RAW: > > + ret = regmap_bulk_read(priv->regmap, chan->address, > > + &raw_val, sizeof(raw_val)); > > + if (ret < 0) > > + return ret; > > + *val = (s16)le16_to_cpu(raw_val); > > + return IIO_VAL_INT; > > + case IIO_CHAN_INFO_OFFSET: > > + if (priv->operation_mode != BNO055_OPR_MODE_AMG) { > > + *val = 0; > > + } else { > > + ret = regmap_bulk_read(priv->regmap, > > + chan->address + > > + BNO055_REG_OFFSET_ADDR, > > + &raw_val, sizeof(raw_val)); > > + if (ret < 0) > > + return ret; > > + /* > > + * IMU reports sensor offests; IIO wants correction > > + * offset, thus we need the 'minus' here. > > + */ > > + *val = -(s16)le16_to_cpu(raw_val); > > + } > > + return IIO_VAL_INT; > > + case IIO_CHAN_INFO_SCALE: > > + *val = 1; > > + switch (chan->type) { > > + case IIO_GRAVITY: > > + /* Table 3-35: 1 m/s^2 = 100 LSB */ > > + case IIO_ACCEL: > > + /* Table 3-17: 1 m/s^2 = 100 LSB */ > > + *val2 = 100; > > + break; > > + case IIO_MAGN: > > + /* > > + * Table 3-19: 1 uT = 16 LSB. But we need > > + * Gauss: 1G = 0.1 uT. > > + */ > > + *val2 = 160; > > + break; > > + case IIO_ANGL_VEL: > > + /* Table 3-22: 1 Rps = 900 LSB */ > > + *val2 = 900; > > + break; > > + case IIO_ROT: > > + /* Table 3-28: 1 degree = 16 LSB */ > > + *val2 = 16; > > + break; > > + default: > > + return -EINVAL; > > + } > > + return IIO_VAL_FRACTIONAL; > > + default: > > + return -EINVAL; > > default in the middle is a bit unusual. move it to the end. > > > + > > + case IIO_CHAN_INFO_SAMP_FREQ: > > + if (chan->type != IIO_MAGN) > > + return -EINVAL; > > + else > > + return bno055_get_mag_odr(priv, val); > > + > > + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: > > + switch (chan->type) { > > + case IIO_ANGL_VEL: > > + return bno055_get_gyr_lpf(priv, val); > > + case IIO_ACCEL: > > + return bno055_get_acc_lpf(priv, val, val2); > > + default: > > + return -EINVAL; > > + } > > + } > > +} > > + > > > > + > > +static int bno055_read_quaternion(struct iio_dev *indio_dev, > > + struct iio_chan_spec const *chan, > > + int size, int *vals, int *val_len, > > + long mask) > > +{ > > + struct bno055_priv *priv = iio_priv(indio_dev); > > + __le16 raw_vals[4]; > > + int i, ret; > > + > > + switch (mask) { > > + case IIO_CHAN_INFO_RAW: > > + if (size < 4) > > + return -EINVAL; > > + ret = regmap_bulk_read(priv->regmap, > > + BNO055_QUAT_DATA_W_LSB_REG, > > + raw_vals, sizeof(raw_vals)); > > + if (ret < 0) > > + return ret; > > + for (i = 0; i < 4; i++) > > + vals[i] = (s16)le16_to_cpu(raw_vals[i]); > > + *val_len = 4; > > + return IIO_VAL_INT_MULTIPLE; > > + case IIO_CHAN_INFO_SCALE: > > + /* Table 3-31: 1 quaternion = 2^14 LSB */ > > + if (size < 2) > > + return -EINVAL; > > + vals[0] = 1; > > + vals[1] = 1 << 14; > > IIO_VAL_FRACTIONAL_LOG2? > > > + return IIO_VAL_FRACTIONAL; > > + default: > > + return -EINVAL; > > + } > > +} > > + > > ... > > > + > > +static ssize_t bno055_fusion_enable_store(struct device *dev, > > + struct device_attribute *attr, > > + const char *buf, size_t len) > > +{ > > + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); > > + int ret = 0; > > + > > + if (sysfs_streq(buf, "0")) { > > + ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_AMG); > > + } else { > > + /* > > + * Coming from AMG means the FMC was off, just switch to fusion > > + * but don't change anything that doesn't belong to us (i.e let. > > + * FMC stay off. > > + * Coming from any other fusion mode means we don't need to do > > + * anything. > > + */ > > + if (priv->operation_mode == BNO055_OPR_MODE_AMG) > > + ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION_FMC_OFF); > > + } > > + > > + return len ?: len; > > return ret?: len; might make sense, though my inclination would be to use an explicit > if (ret) at the various possible error locations. > > > +} > > ... > > > +static ssize_t bno055_fmc_enable_store(struct device *dev, > > + struct device_attribute *attr, > > + const char *buf, size_t len) > > +{ > > + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); > > + int ret = 0; > > + > > + if (sysfs_streq(buf, "0")) { > > + if (priv->operation_mode == BNO055_OPR_MODE_FUSION) > > + ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION_FMC_OFF); > > + } else { > > + if (priv->operation_mode == BNO055_OPR_MODE_AMG) > > + return -EINVAL; > > + } > > + > > + return len ?: ret; > > Don't think that will return ret which is what we want if it's set. > > > +} > > + > > ... > > > +static ssize_t in_calibration_data_show(struct device *dev, > > + struct device_attribute *attr, > > + char *buf) > > +{ > > + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); > > + u8 data[BNO055_CALDATA_LEN]; > > + int ret; > > + > > + mutex_lock(&priv->lock); > > + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, > > + BNO055_OPR_MODE_CONFIG); > > + if (ret) > > + goto unlock; > > + > > + ret = regmap_bulk_read(priv->regmap, BNO055_CALDATA_START, data, > > + BNO055_CALDATA_LEN); > > + if (ret) > > + goto unlock; > > + > > + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, priv->operation_mode); > > + mutex_unlock(&priv->lock); > > + if (ret) > > + return ret; > > This is a case where I'd move the mutex_unlock after the check so that we have > a nice shared error path via the unlock lable. > > > + > > + memcpy(buf, data, BNO055_CALDATA_LEN); > > + > > + return BNO055_CALDATA_LEN; > > +unlock: > > + mutex_unlock(&priv->lock); > > + return ret; > > +} > > + > ... > > > +static ssize_t bno055_show_fw_version(struct file *file, char __user *userbuf, > > + size_t count, loff_t *ppos) > > +{ > > + struct bno055_priv *priv = file->private_data; > > + int rev, ver; > > + char *buf; > > + int ret; > > + > > + ret = regmap_read(priv->regmap, BNO055_SW_REV_LSB_REG, &rev); > > + if (ret) > > + return ret; > > + > > + ret = regmap_read(priv->regmap, BNO055_SW_REV_MSB_REG, &ver); > > + if (ret) > > + return ret; > > + > > + buf = devm_kasprintf(priv->dev, GFP_KERNEL, "ver: 0x%x, rev: 0x%x\n", > > + ver, rev); > > + if (!buf) > > + return -ENOMEM; > > + > > + ret = simple_read_from_buffer(userbuf, count, ppos, buf, strlen(buf)); > > + devm_kfree(priv->dev, buf); > > Why use devm managed allocations if you are just going to free it immediately? > > > + > > + return ret; > > +} > > + > > ... > > > +/* > > + * Reads len samples from the HW, stores them in buf starting from buf_idx, > > + * and applies mask to cull (skip) unneeded samples. > > + * Updates buf_idx incrementing with the number of stored samples. > > + * Samples from HW are transferred into buf, then in-place copy on buf is > > + * performed in order to cull samples that need to be skipped. > > + * This avoids copies of the first samples until we hit the 1st sample to skip, > > + * and also avoids having an extra bounce buffer. > > + * buf must be able to contain len elements in spite of how many samples we are > > + * going to cull. > > This is rather complex - I take we can't just fall back to letting the IIO core > demux do all the hard work for us? Hum. I'm not sure.. I admit that I'm not familiar with the demux thing, but as far as I can see it needs to be initialized once with a list containing all allowed scan masks; IIO core will pick one of them and eventually cull extra samples it contains. Is this right? I would say we may precalculate this list at probe time (depending on the burst break threshold) and populate it with all the possible scan masks in which there are no gaps < than the bust break threshold. But this could be a quite high number of combinations.. This way the IIO layer will only request xfers in which gaps are always > than burst break threshold, which the driver in turn will always split in several xfers. Does this make sense to you? > > + */ > > +static int bno055_scan_xfer(struct bno055_priv *priv, > > + int start_ch, int len, unsigned long mask, > > + __le16 *buf, int *buf_idx) > > +{ > > + const int base = BNO055_ACC_DATA_X_LSB_REG; > > + bool quat_in_read = false; > > + int buf_base = *buf_idx; > > + __le16 *dst, *src; > > + int offs_fixup = 0; > > + int xfer_len = len; > > + int ret; > > + int i, n; > > + > > + /* > > + * All chans are made up 1 16-bit sample, except for quaternion that is > > + * made up 4 16-bit values. > > + * For us the quaternion CH is just like 4 regular CHs. > > + * If our read starts past the quaternion make sure to adjust the > > + * starting offset; if the quaternion is contained in our scan then make > > + * sure to adjust the read len. > > + */ > > + if (start_ch > BNO055_SCAN_QUATERNION) { > > + start_ch += 3; > > + } else if ((start_ch <= BNO055_SCAN_QUATERNION) && > > + ((start_ch + len) > BNO055_SCAN_QUATERNION)) { > > + quat_in_read = true; > > + xfer_len += 3; > > + } > > + > > + ret = regmap_bulk_read(priv->regmap, > > + base + start_ch * sizeof(__le16), > > + buf + buf_base, > > + xfer_len * sizeof(__le16)); > > + if (ret) > > + return ret; > > + > > + for_each_set_bit(i, &mask, len) { > > + if (quat_in_read && ((start_ch + i) > BNO055_SCAN_QUATERNION)) > > + offs_fixup = 3; > > + > > + dst = buf + *buf_idx; > > + src = buf + buf_base + offs_fixup + i; > > + > > + n = (start_ch + i == BNO055_SCAN_QUATERNION) ? 4 : 1; > > + > > + if (dst != src) > > + memcpy(dst, src, n * sizeof(__le16)); > > + > > + *buf_idx += n; > > + } > > + return 0; > > +} > > + > > +static irqreturn_t bno055_trigger_handler(int irq, void *p) > > +{ > > + struct iio_poll_func *pf = p; > > + struct iio_dev *iio_dev = pf->indio_dev; > > + struct bno055_priv *priv = iio_priv(iio_dev); > > + int xfer_start, start, end, prev_end; > > + bool xfer_pending = false; > > + bool first = true; > > + unsigned long mask; > > + int buf_idx = 0; > > + bool thr_hit; > > + int quat; > > + int ret; > > + > > + mutex_lock(&priv->lock); > > + for_each_set_bitrange(start, end, iio_dev->active_scan_mask, > > + iio_dev->masklength) { > > I'm not seeing this function in mainline... I guess this series has a dependency > I missed? I've been pointed to Yuri Norov bitmap series (I mentioned this in the cover letter). Assuming it is close to be merged, I've updated my drv for its API changes, but if you prefer I can revert to the current mainline API. It's a trivial change. > > + if (!xfer_pending) > > + xfer_start = start; > > + xfer_pending = true; > > + > > + if (!first) { > > first == true and we never get in here to set it to false. That's awful. Possibly I've broken this while making changes for V2, and my test program didn't catch it. Maybe it just impacts performances, which, now I realize, I probably didn't rechek :( > Perhaps we would benefit from a state machine diagram for this function? > In general this function is complex enough to need documentation of what > each major part is doing. > > > + quat = ((start > BNO055_SCAN_QUATERNION) && > > + (prev_end <= BNO055_SCAN_QUATERNION)) ? 3 : 0; > > Having quat == 3 for a variable named quat doesn't seem intuitive. > > > + thr_hit = (start - prev_end + quat) > > > + priv->xfer_burst_break_thr; > > + > > + if (thr_hit) { > > + mask = *iio_dev->active_scan_mask >> xfer_start; > > + ret = bno055_scan_xfer(priv, xfer_start, > > + prev_end - xfer_start + 1, > > + mask, priv->buf.chans, &buf_idx); > > + if (ret) > > + goto done; > > + xfer_pending = false; > > + } > > + first = false; > > + } > > + prev_end = end; > > + } > > + > > + if (xfer_pending) { > > + mask = *iio_dev->active_scan_mask >> xfer_start; > > + ret = bno055_scan_xfer(priv, xfer_start, > > + end - xfer_start + 1, > > + mask, priv->buf.chans, &buf_idx); > > + } > > + > > + iio_push_to_buffers_with_timestamp(iio_dev, &priv->buf, pf->timestamp); > > +done: > > + mutex_unlock(&priv->lock); > > + iio_trigger_notify_done(iio_dev->trig); > > + return IRQ_HANDLED; > > +} > > + > > +int bno055_probe(struct device *dev, struct regmap *regmap, > > + int xfer_burst_break_thr) > > +{ > > + const struct firmware *caldata; > > + struct bno055_priv *priv; > > + struct iio_dev *iio_dev; > > + struct gpio_desc *rst; > > + char *fw_name_buf; > > + unsigned int val; > > + int ret; > > + > > + iio_dev = devm_iio_device_alloc(dev, sizeof(*priv)); > > + if (!iio_dev) > > + return -ENOMEM; > > + > > + iio_dev->name = "bno055"; > > + priv = iio_priv(iio_dev); > > + mutex_init(&priv->lock); > > + priv->regmap = regmap; > > + priv->dev = dev; > > + priv->xfer_burst_break_thr = xfer_burst_break_thr; > > blank line here would hep readability a little I think. > > > + rst = devm_gpiod_get_optional(dev, "reset", GPIOD_OUT_HIGH); > > + if (IS_ERR(rst)) > > + return dev_err_probe(dev, PTR_ERR(rst), "Failed to get reset GPIO"); > > + > > + priv->clk = devm_clk_get_optional(dev, "clk"); > > + if (IS_ERR(priv->clk)) > > + return dev_err_probe(dev, PTR_ERR(priv->clk), "Failed to get CLK"); > > + > > + ret = clk_prepare_enable(priv->clk); > > + if (ret) > > + return ret; > > + > > + ret = devm_add_action_or_reset(dev, bno055_clk_disable, priv); > > As mentioned above, pass priv->clk into this as we don't need to see anything > else in the callback. > > > + if (ret) > > + return ret; > > + > > + if (rst) { > > + usleep_range(5000, 10000); > > + gpiod_set_value_cansleep(rst, 0); > > + usleep_range(650000, 750000); > > + } > > + > > + ret = regmap_read(priv->regmap, BNO055_CHIP_ID_REG, &val); > > + if (ret) > > + return ret; > > + > > + if (val != BNO055_CHIP_ID_MAGIC) { > > + dev_err(dev, "Unrecognized chip ID 0x%x", val); > > + return -ENODEV; > > + } > > + > > + ret = regmap_bulk_read(priv->regmap, BNO055_UID_LOWER_REG, > > + priv->uid, BNO055_UID_LEN); > > + if (ret) > > + return ret; > > + > > + /* > > + * This has nothing to do with the IMU firmware, this is for sensor > > + * calibration data. > > + */ > > + fw_name_buf = devm_kasprintf(dev, GFP_KERNEL, > > + BNO055_FW_UID_NAME, > > + BNO055_UID_LEN, priv->uid); > > + if (!fw_name_buf) > > + return -ENOMEM; > > + > > + ret = request_firmware(&caldata, fw_name_buf, dev); > > + devm_kfree(dev, fw_name_buf); > > + if (ret) > > + ret = request_firmware(&caldata, BNO055_FW_GENERIC_NAME, dev); > > + > > + if (ret) { > > + dev_notice(dev, "Failed to load calibration data firmware file; this has nothing to do with IMU main firmware.\nYou can calibrate your IMU (look for 'in_autocalibration_status*' files in sysfs) and then copy 'in_calibration_data' to your firmware file"); > > As the notice has multiple lines, you can break at the \n points without any loss of greppability. > It would be good to make this shorter though if we can - I wouldn't way what it isn't for example. > > Calibration file load failed. > Follow instructions in Documentation/ * > > + write some docs on the calibration procedure. I don't think it is a > good plan to give a guide in a kernel log. > > > + caldata = NULL; > > I'd hope that is already the case and it definitely looks like it is from a quick look > at request_firmware(). I'd consider request_firmware buggy if it did anything else > as that would imply it had side effects that weren't cleaned up on error. > > > + } > > + > > + ret = bno055_init(priv, caldata); > > + if (caldata) > > + release_firmware(caldata); > > + if (ret) > > + return ret; > > + > > + ret = devm_add_action_or_reset(dev, bno055_uninit, priv); > > + if (ret) > > + return ret; > > + > > + iio_dev->channels = bno055_channels; > > + iio_dev->num_channels = ARRAY_SIZE(bno055_channels); > > + iio_dev->info = &bno055_info; > > + iio_dev->modes = INDIO_DIRECT_MODE; > > + > > + ret = devm_iio_triggered_buffer_setup(dev, iio_dev, > > + iio_pollfunc_store_time, > > + bno055_trigger_handler, NULL); > > + if (ret) > > + return ret; > > + > > + ret = devm_iio_device_register(dev, iio_dev); > > + if (ret) > > + return ret; > > + > > + bno055_debugfs_init(iio_dev); > > + > > + return 0; > > +} > > +EXPORT_SYMBOL_GPL(bno055_probe); > > + > ... > > Thanks, > > Jonathan
On Tue, 9 Nov 2021 12:52:14 +0100 Andrea Merello <andrea.merello@gmail.com> wrote: > Some inline notes. OK for all the rest. > > Il giorno gio 28 ott 2021 alle ore 15:27 Jonathan Cameron > <jic23@kernel.org> ha scritto: > > > > On Thu, 28 Oct 2021 12:18:37 +0200 > > Andrea Merello <andrea.merello@gmail.com> wrote: > > > > > This patch adds a core driver for the BNO055 IMU from Bosch. This IMU > > > can be connected via both serial and I2C busses; separate patches will > > > add support for them. > > > > > > The driver supports "AMG" (Accelerometer, Magnetometer, Gyroscope) mode, > > > that provides raw data from the said internal sensors, and a couple of > > > "fusion" modes (i.e. the IMU also do calculations in order to provide > > > euler angles, quaternions, linear acceleration and gravity measurements). > > > > > > In fusion modes the AMG data is still available (with some calibration > > > refinements done by the IMU), but certain settings such as low pass > > > filters cut-off frequency and sensors ranges are fixed, while in AMG mode > > > they can be customized; this is why AMG mode can still be interesting. > > > > > > Signed-off-by: Andrea Merello <andrea.merello@iit.it> Side not. Please crop out bits of the discussion we aren't continuing. Makes it easier to find the relevant parts of the email! Note this is a do as I say rather than do as I do as I don't always remember to do this either. ... > > > > > +/* > > > + * Reads len samples from the HW, stores them in buf starting from buf_idx, > > > + * and applies mask to cull (skip) unneeded samples. > > > + * Updates buf_idx incrementing with the number of stored samples. > > > + * Samples from HW are transferred into buf, then in-place copy on buf is > > > + * performed in order to cull samples that need to be skipped. > > > + * This avoids copies of the first samples until we hit the 1st sample to skip, > > > + * and also avoids having an extra bounce buffer. > > > + * buf must be able to contain len elements in spite of how many samples we are > > > + * going to cull. > > > > This is rather complex - I take we can't just fall back to letting the IIO core > > demux do all the hard work for us? > > Hum. I'm not sure.. I admit that I'm not familiar with the demux > thing, but as far as I can see it needs to be initialized once with a > list containing all allowed scan masks; IIO core will pick one of them > and eventually cull extra samples it contains. Is this right? yup - that's pretty much it. > > I would say we may precalculate this list at probe time (depending on > the burst break threshold) and populate it with all the possible scan > masks in which there are no gaps < than the bust break threshold. But > this could be a quite high number of combinations.. > > This way the IIO layer will only request xfers in which gaps are > always > than burst break threshold, which the driver in turn will > always split in several xfers. > > Does this make sense to you? If it works and ends up simpler than this I'm all for it, but I'll confess you've lost me in the explanation. Whether the approach you are using here ends up more efficient than the one in the demux (which IIRC works by doing an expensive copy map building just once and can then use that to do things like merging copies of neighbouring elements) will be dependent on exact combinations of enabled channels. There is also a usecase question for how much effort it is worth putting in to optimise these paths. In a lot of cases people have put an IMU in because their application needs one so will be grabbing almost all channels all the time. It is unlikely they want a random set of scattered channels. > > > > + */ > > > +static int bno055_scan_xfer(struct bno055_priv *priv, > > > + int start_ch, int len, unsigned long mask, > > > + __le16 *buf, int *buf_idx) > > > +{ > > > + const int base = BNO055_ACC_DATA_X_LSB_REG; > > > + bool quat_in_read = false; > > > + int buf_base = *buf_idx; > > > + __le16 *dst, *src; > > > + int offs_fixup = 0; > > > + int xfer_len = len; > > > + int ret; > > > + int i, n; > > > + > > > + /* > > > + * All chans are made up 1 16-bit sample, except for quaternion that is > > > + * made up 4 16-bit values. > > > + * For us the quaternion CH is just like 4 regular CHs. > > > + * If our read starts past the quaternion make sure to adjust the > > > + * starting offset; if the quaternion is contained in our scan then make > > > + * sure to adjust the read len. > > > + */ > > > + if (start_ch > BNO055_SCAN_QUATERNION) { > > > + start_ch += 3; > > > + } else if ((start_ch <= BNO055_SCAN_QUATERNION) && > > > + ((start_ch + len) > BNO055_SCAN_QUATERNION)) { > > > + quat_in_read = true; > > > + xfer_len += 3; > > > + } > > > + > > > + ret = regmap_bulk_read(priv->regmap, > > > + base + start_ch * sizeof(__le16), > > > + buf + buf_base, > > > + xfer_len * sizeof(__le16)); > > > + if (ret) > > > + return ret; > > > + > > > + for_each_set_bit(i, &mask, len) { > > > + if (quat_in_read && ((start_ch + i) > BNO055_SCAN_QUATERNION)) > > > + offs_fixup = 3; > > > + > > > + dst = buf + *buf_idx; > > > + src = buf + buf_base + offs_fixup + i; > > > + > > > + n = (start_ch + i == BNO055_SCAN_QUATERNION) ? 4 : 1; > > > + > > > + if (dst != src) > > > + memcpy(dst, src, n * sizeof(__le16)); > > > + > > > + *buf_idx += n; > > > + } > > > + return 0; > > > +} > > > + > > > +static irqreturn_t bno055_trigger_handler(int irq, void *p) > > > +{ > > > + struct iio_poll_func *pf = p; > > > + struct iio_dev *iio_dev = pf->indio_dev; > > > + struct bno055_priv *priv = iio_priv(iio_dev); > > > + int xfer_start, start, end, prev_end; > > > + bool xfer_pending = false; > > > + bool first = true; > > > + unsigned long mask; > > > + int buf_idx = 0; > > > + bool thr_hit; > > > + int quat; > > > + int ret; > > > + > > > + mutex_lock(&priv->lock); > > > + for_each_set_bitrange(start, end, iio_dev->active_scan_mask, > > > + iio_dev->masklength) { > > > > I'm not seeing this function in mainline... I guess this series has a dependency > > I missed? > > I've been pointed to Yuri Norov bitmap series (I mentioned this in the > cover letter). Assuming it is close to be merged, I've updated my drv > for its API changes, but if you prefer I can revert to the current > mainline API. It's a trivial change. Ah. Thanks for pointing that out. I missed the note in the cover letter. Jonathan
diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 001ca2c3ff95..f1d7d4b5e222 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -52,6 +52,7 @@ config ADIS16480 ADIS16485, ADIS16488 inertial sensors. source "drivers/iio/imu/bmi160/Kconfig" +source "drivers/iio/imu/bno055/Kconfig" config FXOS8700 tristate diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index c82748096c77..6eb612034722 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -15,6 +15,7 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o obj-y += bmi160/ +obj-y += bno055/ obj-$(CONFIG_FXOS8700) += fxos8700_core.o obj-$(CONFIG_FXOS8700_I2C) += fxos8700_i2c.o diff --git a/drivers/iio/imu/bno055/Kconfig b/drivers/iio/imu/bno055/Kconfig new file mode 100644 index 000000000000..d197310661af --- /dev/null +++ b/drivers/iio/imu/bno055/Kconfig @@ -0,0 +1,4 @@ +# SPDX-License-Identifier: GPL-2.0 + +config BOSH_BNO055_IIO + tristate diff --git a/drivers/iio/imu/bno055/Makefile b/drivers/iio/imu/bno055/Makefile new file mode 100644 index 000000000000..c55741d0e96f --- /dev/null +++ b/drivers/iio/imu/bno055/Makefile @@ -0,0 +1,3 @@ +# SPDX-License-Identifier: GPL-2.0 + +obj-$(CONFIG_BOSH_BNO055_IIO) += bno055.o diff --git a/drivers/iio/imu/bno055/bno055.c b/drivers/iio/imu/bno055/bno055.c new file mode 100644 index 000000000000..c85cb985f0f1 --- /dev/null +++ b/drivers/iio/imu/bno055/bno055.c @@ -0,0 +1,1480 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * IIO driver for Bosh BNO055 IMU + * + * Copyright (C) 2021 Istituto Italiano di Tecnologia + * Electronic Design Laboratory + * Written by Andrea Merello <andrea.merello@iit.it> + * + * Portions of this driver are taken from the BNO055 driver patch + * from Vlad Dogaru which is Copyright (c) 2016, Intel Corporation. + * + * This driver is also based on BMI160 driver, which is: + * Copyright (c) 2016, Intel Corporation. + * Copyright (c) 2019, Martin Kelly. + */ + +#include <linux/bitmap.h> +#include <linux/clk.h> +#include <linux/debugfs.h> +#include <linux/device.h> +#include <linux/firmware.h> +#include <linux/gpio/consumer.h> +#include <linux/module.h> +#include <linux/mutex.h> +#include <linux/regmap.h> +#include <linux/util_macros.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 "bno055.h" + +#define BNO055_FW_NAME "bno055-caldata" +#define BNO055_FW_EXT ".dat" +#define BNO055_FW_UID_NAME BNO055_FW_NAME "-%*phN" BNO055_FW_EXT +#define BNO055_FW_GENERIC_NAME (BNO055_FW_NAME BNO055_FW_EXT) + +/* common registers */ +#define BNO055_PAGESEL_REG 0x7 + +/* page 0 registers */ +#define BNO055_CHIP_ID_REG 0x0 +#define BNO055_CHIP_ID_MAGIC 0xA0 +#define BNO055_SW_REV_LSB_REG 0x4 +#define BNO055_SW_REV_MSB_REG 0x5 +#define BNO055_ACC_DATA_X_LSB_REG 0x8 +#define BNO055_ACC_DATA_Y_LSB_REG 0xA +#define BNO055_ACC_DATA_Z_LSB_REG 0xC +#define BNO055_MAG_DATA_X_LSB_REG 0xE +#define BNO055_MAG_DATA_Y_LSB_REG 0x10 +#define BNO055_MAG_DATA_Z_LSB_REG 0x12 +#define BNO055_GYR_DATA_X_LSB_REG 0x14 +#define BNO055_GYR_DATA_Y_LSB_REG 0x16 +#define BNO055_GYR_DATA_Z_LSB_REG 0x18 +#define BNO055_EUL_DATA_X_LSB_REG 0x1A +#define BNO055_EUL_DATA_Y_LSB_REG 0x1C +#define BNO055_EUL_DATA_Z_LSB_REG 0x1E +#define BNO055_QUAT_DATA_W_LSB_REG 0x20 +#define BNO055_LIA_DATA_X_LSB_REG 0x28 +#define BNO055_LIA_DATA_Y_LSB_REG 0x2A +#define BNO055_LIA_DATA_Z_LSB_REG 0x2C +#define BNO055_GRAVITY_DATA_X_LSB_REG 0x2E +#define BNO055_GRAVITY_DATA_Y_LSB_REG 0x30 +#define BNO055_GRAVITY_DATA_Z_LSB_REG 0x32 +#define BNO055_SCAN_CH_COUNT ((BNO055_GRAVITY_DATA_Z_LSB_REG - BNO055_ACC_DATA_X_LSB_REG) / 2) +#define BNO055_TEMP_REG 0x34 +#define BNO055_CALIB_STAT_REG 0x35 +#define BNO055_CALIB_STAT_MASK GENMASK(1, 0) +#define BNO055_CALIB_STAT_MAGN_SHIFT 0 +#define BNO055_CALIB_STAT_ACCEL_SHIFT 2 +#define BNO055_CALIB_STAT_GYRO_SHIFT 4 +#define BNO055_CALIB_STAT_SYS_SHIFT 6 +#define BNO055_SYS_ERR_REG 0x3A +#define BNO055_SYS_TRIGGER_REG 0x3F +#define BNO055_SYS_TRIGGER_RST_INT BIT(6) +#define BNO055_SYS_TRIGGER_CLK_SEL BIT(7) +#define BNO055_OPR_MODE_REG 0x3D +#define BNO055_OPR_MODE_CONFIG 0x0 +#define BNO055_OPR_MODE_AMG 0x7 +#define BNO055_OPR_MODE_FUSION_FMC_OFF 0xB +#define BNO055_OPR_MODE_FUSION 0xC +#define BNO055_UNIT_SEL_REG 0x3B +/* Android orientation mode means: pitch value decreases turning clockwise */ +#define BNO055_UNIT_SEL_ANDROID BIT(7) +#define BNO055_CALDATA_START 0x55 +#define BNO055_CALDATA_END 0x6A +#define BNO055_CALDATA_LEN 22 + +/* + * The difference in address between the register that contains the + * value and the register that contains the offset. This applies for + * accel, gyro and magn channels. + */ +#define BNO055_REG_OFFSET_ADDR 0x4D + +/* page 1 registers */ +#define PG1(x) ((x) | 0x80) +#define BNO055_ACC_CONFIG_REG PG1(0x8) +#define BNO055_ACC_CONFIG_LPF_MASK GENMASK(4, 2) +#define BNO055_ACC_CONFIG_RANGE_MASK GENMASK(1, 0) +#define BNO055_MAG_CONFIG_REG PG1(0x9) +#define BNO055_MAG_CONFIG_HIGHACCURACY 0x18 +#define BNO055_MAG_CONFIG_ODR_MASK GENMASK(2, 0) +#define BNO055_GYR_CONFIG_REG PG1(0xA) +#define BNO055_GYR_CONFIG_RANGE_MASK GENMASK(2, 0) +#define BNO055_GYR_CONFIG_LPF_MASK GENMASK(5, 3) +#define BNO055_GYR_AM_SET_REG PG1(0x1F) +#define BNO055_UID_LOWER_REG PG1(0x50) +#define BNO055_UID_HIGHER_REG PG1(0x5F) +#define BNO055_UID_LEN 16 + +static const int bno055_mag_odr_vals[] = {2, 6, 8, 10, 15, 20, 25, 30}; +/* the following one is INT_PLUS_MICRO */ +static const int bno055_acc_lpf_vals[] = {7, 810000, 15, 630000, + 31, 250000, 62, 500000, 125, 0, + 250, 0, 500, 0, 1000, 0}; +static const int bno055_acc_ranges[] = {2, 4, 8, 16}; +static const int bno055_gyr_lpf_vals[] = {523, 230, 116, 47, 23, 12, 64, 32}; +static const int bno055_gyr_ranges[] = {2000, 1000, 500, 250, 125}; + +struct bno055_priv { + struct regmap *regmap; + struct device *dev; + struct clk *clk; + int operation_mode; + int xfer_burst_break_thr; + struct mutex lock; + u8 uid[BNO055_UID_LEN]; + struct { + __le16 chans[BNO055_SCAN_CH_COUNT]; + s64 timestamp __aligned(8); + } buf; +}; + +static bool bno055_regmap_volatile(struct device *dev, unsigned int reg) +{ + /* data and status registers */ + if (reg >= BNO055_ACC_DATA_X_LSB_REG && reg <= BNO055_SYS_ERR_REG) + return true; + + /* when in fusion mode, config is updated by chip */ + if (reg == BNO055_MAG_CONFIG_REG || + reg == BNO055_ACC_CONFIG_REG || + reg == BNO055_GYR_CONFIG_REG) + return true; + + /* calibration data may be updated by the IMU */ + if (reg >= BNO055_CALDATA_START && reg <= BNO055_CALDATA_END) + return true; + return false; +} + +static bool bno055_regmap_readable(struct device *dev, unsigned int reg) +{ + /* unnamed PG0 reserved areas */ + if ((reg < PG1(0) && reg > BNO055_CALDATA_END) || + reg == 0x3C) + return false; + + /* unnamed PG1 reserved areas */ + if (reg > PG1(BNO055_UID_HIGHER_REG) || + (reg < PG1(BNO055_UID_LOWER_REG) && reg > PG1(BNO055_GYR_AM_SET_REG)) || + reg == PG1(0xE) || + (reg < PG1(BNO055_PAGESEL_REG) && reg >= PG1(0x0))) + return false; + return true; +} + +static bool bno055_regmap_writeable(struct device *dev, unsigned int reg) +{ + /* + * Unreadable registers are indeed reserved; there are no WO regs + * (except for a single bit in SYS_TRIGGER register) + */ + if (!bno055_regmap_readable(dev, reg)) + return false; + + /* data and status registers */ + if (reg >= BNO055_ACC_DATA_X_LSB_REG && reg <= BNO055_SYS_ERR_REG) + return false; + + /* IDs areas */ + if (reg < BNO055_PAGESEL_REG || + (reg <= BNO055_UID_HIGHER_REG && reg >= BNO055_UID_LOWER_REG)) + return false; + + return true; +} + +static const struct regmap_range_cfg bno055_regmap_ranges[] = { + { + .range_min = 0, + .range_max = 0x7f * 2, + .selector_reg = BNO055_PAGESEL_REG, + .selector_mask = GENMASK(7, 0), + .selector_shift = 0, + .window_start = 0, + .window_len = 0x80 + }, +}; + +const struct regmap_config bno055_regmap_config = { + .name = "bno055", + .reg_bits = 8, + .val_bits = 8, + .ranges = bno055_regmap_ranges, + .num_ranges = 1, + .volatile_reg = bno055_regmap_volatile, + .max_register = 0x80 * 2, + .writeable_reg = bno055_regmap_writeable, + .readable_reg = bno055_regmap_readable, + .cache_type = REGCACHE_RBTREE, +}; +EXPORT_SYMBOL_GPL(bno055_regmap_config); + +static int bno055_reg_update_bits(struct bno055_priv *priv, unsigned int reg, + unsigned int mask, unsigned int val) +{ + int ret; + + ret = regmap_update_bits(priv->regmap, reg, mask, val); + if (ret && ret != -ERESTARTSYS) { + dev_err(priv->dev, "Regmap update_bits error. adr: 0x%x, ret: %d", + reg, ret); + } + + return ret; +} + +/* must be called in configuration mode */ +int bno055_calibration_load(struct bno055_priv *priv, const struct firmware *fw) +{ + if (fw->size != BNO055_CALDATA_LEN) { + dev_dbg(priv->dev, "Invalid calibration file size %d (expected %d)", + fw->size, BNO055_CALDATA_LEN); + return -EINVAL; + } + + dev_dbg(priv->dev, "loading cal data: %*ph", BNO055_CALDATA_LEN, fw->data); + return regmap_bulk_write(priv->regmap, BNO055_CALDATA_START, + fw->data, BNO055_CALDATA_LEN); +} + +static int bno055_init(struct bno055_priv *priv, const struct firmware *caldata) +{ + int ret; + + ret = regmap_write(priv->regmap, BNO055_SYS_TRIGGER_REG, + (priv->clk ? BNO055_SYS_TRIGGER_CLK_SEL : 0) | + BNO055_SYS_TRIGGER_RST_INT); + if (ret) + return ret; + + msleep(100); + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, + BNO055_OPR_MODE_CONFIG); + if (ret) + return ret; + + /* use standard SI units */ + ret = regmap_write(priv->regmap, BNO055_UNIT_SEL_REG, + BNO055_UNIT_SEL_ANDROID); + if (ret) + return ret; + + if (caldata) { + ret = bno055_calibration_load(priv, caldata); + if (ret) + dev_warn(priv->dev, "failed to load calibration data with error %d", + ret); + } + + priv->operation_mode = BNO055_OPR_MODE_FUSION; + return regmap_write(priv->regmap, BNO055_OPR_MODE_REG, + priv->operation_mode); +} + +static void bno055_uninit(void *arg) +{ + struct bno055_priv *priv = arg; + + /* stop the IMU */ + regmap_write(priv->regmap, BNO055_OPR_MODE_REG, BNO055_OPR_MODE_CONFIG); +} + +static void bno055_clk_disable(void *arg) +{ + struct bno055_priv *priv = arg; + + clk_disable_unprepare(priv->clk); +} + +#define BNO055_CHANNEL(_type, _axis, _index, _address, _sep, _sh, _avail) { \ + .address = _address, \ + .type = _type, \ + .modified = 1, \ + .channel2 = IIO_MOD_##_axis, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | (_sep), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | (_sh), \ + .info_mask_shared_by_type_available = _avail, \ + .scan_index = _index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_LE, \ + .repeat = IIO_MOD_##_axis == IIO_MOD_QUATERNION ? 4 : 0 \ + }, \ +} + +/* scan indexes follow DATA register order */ +enum bmi160_scan_axis { + BNO055_SCAN_ACCEL_X, + BNO055_SCAN_ACCEL_Y, + BNO055_SCAN_ACCEL_Z, + BNO055_SCAN_MAGN_X, + BNO055_SCAN_MAGN_Y, + BNO055_SCAN_MAGN_Z, + BNO055_SCAN_GYRO_X, + BNO055_SCAN_GYRO_Y, + BNO055_SCAN_GYRO_Z, + BNO055_SCAN_YAW, + BNO055_SCAN_ROLL, + BNO055_SCAN_PITCH, + BNO055_SCAN_QUATERNION, + BNO055_SCAN_LIA_X, + BNO055_SCAN_LIA_Y, + BNO055_SCAN_LIA_Z, + BNO055_SCAN_GRAVITY_X, + BNO055_SCAN_GRAVITY_Y, + BNO055_SCAN_GRAVITY_Z, + BNO055_SCAN_TIMESTAMP, +}; + +static const struct iio_chan_spec bno055_channels[] = { + /* accelerometer */ + BNO055_CHANNEL(IIO_ACCEL, X, BNO055_SCAN_ACCEL_X, + BNO055_ACC_DATA_X_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)), + BNO055_CHANNEL(IIO_ACCEL, Y, BNO055_SCAN_ACCEL_Y, + BNO055_ACC_DATA_Y_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)), + BNO055_CHANNEL(IIO_ACCEL, Z, BNO055_SCAN_ACCEL_Z, + BNO055_ACC_DATA_Z_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)), + /* gyroscope */ + BNO055_CHANNEL(IIO_ANGL_VEL, X, BNO055_SCAN_GYRO_X, + BNO055_GYR_DATA_X_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)), + BNO055_CHANNEL(IIO_ANGL_VEL, Y, BNO055_SCAN_GYRO_Y, + BNO055_GYR_DATA_Y_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)), + BNO055_CHANNEL(IIO_ANGL_VEL, Z, BNO055_SCAN_GYRO_Z, + BNO055_GYR_DATA_Z_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)), + /* magnetometer */ + BNO055_CHANNEL(IIO_MAGN, X, BNO055_SCAN_MAGN_X, + BNO055_MAG_DATA_X_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET), + BIT(IIO_CHAN_INFO_SAMP_FREQ), BIT(IIO_CHAN_INFO_SAMP_FREQ)), + BNO055_CHANNEL(IIO_MAGN, Y, BNO055_SCAN_MAGN_Y, + BNO055_MAG_DATA_Y_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET), + BIT(IIO_CHAN_INFO_SAMP_FREQ), BIT(IIO_CHAN_INFO_SAMP_FREQ)), + BNO055_CHANNEL(IIO_MAGN, Z, BNO055_SCAN_MAGN_Z, + BNO055_MAG_DATA_Z_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET), + BIT(IIO_CHAN_INFO_SAMP_FREQ), BIT(IIO_CHAN_INFO_SAMP_FREQ)), + /* euler angle */ + BNO055_CHANNEL(IIO_ROT, YAW, BNO055_SCAN_YAW, + BNO055_EUL_DATA_X_LSB_REG, 0, 0, 0), + BNO055_CHANNEL(IIO_ROT, ROLL, BNO055_SCAN_ROLL, + BNO055_EUL_DATA_Y_LSB_REG, 0, 0, 0), + BNO055_CHANNEL(IIO_ROT, PITCH, BNO055_SCAN_PITCH, + BNO055_EUL_DATA_Z_LSB_REG, 0, 0, 0), + /* quaternion */ + BNO055_CHANNEL(IIO_ROT, QUATERNION, BNO055_SCAN_QUATERNION, + BNO055_QUAT_DATA_W_LSB_REG, 0, 0, 0), + + /* linear acceleration */ + BNO055_CHANNEL(IIO_ACCEL, ACCEL_LINEAR_X, BNO055_SCAN_LIA_X, + BNO055_LIA_DATA_X_LSB_REG, 0, 0, 0), + BNO055_CHANNEL(IIO_ACCEL, ACCEL_LINEAR_Y, BNO055_SCAN_LIA_Y, + BNO055_LIA_DATA_Y_LSB_REG, 0, 0, 0), + BNO055_CHANNEL(IIO_ACCEL, ACCEL_LINEAR_Z, BNO055_SCAN_LIA_Z, + BNO055_LIA_DATA_Z_LSB_REG, 0, 0, 0), + + /* gravity vector */ + BNO055_CHANNEL(IIO_GRAVITY, X, BNO055_SCAN_GRAVITY_X, + BNO055_GRAVITY_DATA_X_LSB_REG, 0, 0, 0), + BNO055_CHANNEL(IIO_GRAVITY, Y, BNO055_SCAN_GRAVITY_Y, + BNO055_GRAVITY_DATA_Y_LSB_REG, 0, 0, 0), + BNO055_CHANNEL(IIO_GRAVITY, Z, BNO055_SCAN_GRAVITY_Z, + BNO055_GRAVITY_DATA_Z_LSB_REG, 0, 0, 0), + + { + .type = IIO_TEMP, + .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED), + .scan_index = -1 + }, + IIO_CHAN_SOFT_TIMESTAMP(BNO055_SCAN_TIMESTAMP), +}; + +static int bno055_get_acc_lpf(struct bno055_priv *priv, int *val, int *val2) +{ + const int shift = __ffs(BNO055_ACC_CONFIG_LPF_MASK); + int hwval, idx; + int ret; + + ret = regmap_read(priv->regmap, BNO055_ACC_CONFIG_REG, &hwval); + if (ret) + return ret; + + idx = (hwval & BNO055_ACC_CONFIG_LPF_MASK) >> shift; + *val = bno055_acc_lpf_vals[idx * 2]; + *val2 = bno055_acc_lpf_vals[idx * 2 + 1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int bno055_set_acc_lpf(struct bno055_priv *priv, int val, int val2) +{ + const int shift = __ffs(BNO055_ACC_CONFIG_LPF_MASK); + int req_val = val * 1000 + val2 / 1000; + bool first = true; + int best_delta; + int best_idx; + int tbl_val; + int delta; + int ret; + int i; + + for (i = 0; i < ARRAY_SIZE(bno055_acc_lpf_vals) / 2; i++) { + tbl_val = bno055_acc_lpf_vals[i * 2] * 1000 + + bno055_acc_lpf_vals[i * 2 + 1] / 1000; + delta = abs(tbl_val - req_val); + if (first || delta < best_delta) { + best_delta = delta; + best_idx = i; + first = false; + } + } + + /* + * The closest value the HW supports is only one in fusion mode, + * and it is autoselected, so don't do anything, just return OK, + * as the closest possible value has been (virtually) selected + */ + if (priv->operation_mode != BNO055_OPR_MODE_AMG) + return 0; + + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, + BNO055_OPR_MODE_CONFIG); + if (ret) + return ret; + + ret = bno055_reg_update_bits(priv, BNO055_ACC_CONFIG_REG, + BNO055_ACC_CONFIG_LPF_MASK, + best_idx << shift); + + if (ret) + return ret; + + return regmap_write(priv->regmap, BNO055_OPR_MODE_REG, + BNO055_OPR_MODE_AMG); +} + +static int bno055_get_regmask(struct bno055_priv *priv, int *val, int reg, + int mask, const int tbl[]) +{ + const int shift = __ffs(mask); + int hwval, idx; + int ret; + + ret = regmap_read(priv->regmap, reg, &hwval); + if (ret) + return ret; + + idx = (hwval & mask) >> shift; + *val = tbl[idx]; + + return IIO_VAL_INT; +} + +static int bno055_set_regmask(struct bno055_priv *priv, int val, int reg, + int mask, const int table[], int table_len) + +{ + int hwval = find_closest_unsorted(val, table, table_len); + const int shift = __ffs(mask); + int ret; + /* + * The closest value the HW supports is only one in fusion mode, + * and it is autoselected, so don't do anything, just return OK, + * as the closest possible value has been (virtually) selected + */ + if (priv->operation_mode != BNO055_OPR_MODE_AMG) + return 0; + + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, + BNO055_OPR_MODE_CONFIG); + if (ret) + return ret; + + ret = bno055_reg_update_bits(priv, reg, mask, hwval << shift); + + if (ret) + return ret; + + return regmap_write(priv->regmap, BNO055_OPR_MODE_REG, + BNO055_OPR_MODE_AMG); +} + +#define bno055_get_mag_odr(p, v) \ + bno055_get_regmask(p, v, \ + BNO055_MAG_CONFIG_REG, BNO055_MAG_CONFIG_ODR_MASK, \ + bno055_mag_odr_vals) + +#define bno055_set_mag_odr(p, v) \ + bno055_set_regmask(p, v, \ + BNO055_MAG_CONFIG_REG, BNO055_MAG_CONFIG_ODR_MASK, \ + bno055_mag_odr_vals, \ + ARRAY_SIZE(bno055_mag_odr_vals)) + +#define bno055_get_acc_range(p, v) \ + bno055_get_regmask(priv, v, \ + BNO055_ACC_CONFIG_REG, BNO055_ACC_CONFIG_RANGE_MASK, \ + bno055_acc_ranges) + +#define bno055_set_acc_range(p, v) \ + bno055_set_regmask(p, v, \ + BNO055_ACC_CONFIG_REG, \ + BNO055_ACC_CONFIG_RANGE_MASK, \ + bno055_acc_ranges, ARRAY_SIZE(bno055_acc_ranges)) + +#define bno055_get_gyr_lpf(p, v) \ + bno055_get_regmask(p, v, \ + BNO055_GYR_CONFIG_REG, BNO055_GYR_CONFIG_LPF_MASK, \ + bno055_gyr_lpf_vals) + +#define bno055_set_gyr_lpf(p, v) \ + bno055_set_regmask(p, v, \ + BNO055_GYR_CONFIG_REG, BNO055_GYR_CONFIG_LPF_MASK, \ + bno055_gyr_lpf_vals, \ + ARRAY_SIZE(bno055_gyr_lpf_vals)) + +#define bno055_get_gyr_range(p, v) \ + bno055_get_regmask(p, v, \ + BNO055_GYR_CONFIG_REG, BNO055_GYR_CONFIG_RANGE_MASK, \ + bno055_gyr_ranges) + +#define bno055_set_gyr_range(p, v) \ + bno055_set_regmask(p, v, \ + BNO055_GYR_CONFIG_REG, \ + BNO055_GYR_CONFIG_RANGE_MASK, \ + bno055_gyr_ranges, ARRAY_SIZE(bno055_gyr_ranges)) + +static int bno055_read_simple_chan(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct bno055_priv *priv = iio_priv(indio_dev); + __le16 raw_val; + int ret; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = regmap_bulk_read(priv->regmap, chan->address, + &raw_val, sizeof(raw_val)); + if (ret < 0) + return ret; + *val = (s16)le16_to_cpu(raw_val); + return IIO_VAL_INT; + case IIO_CHAN_INFO_OFFSET: + if (priv->operation_mode != BNO055_OPR_MODE_AMG) { + *val = 0; + } else { + ret = regmap_bulk_read(priv->regmap, + chan->address + + BNO055_REG_OFFSET_ADDR, + &raw_val, sizeof(raw_val)); + if (ret < 0) + return ret; + /* + * IMU reports sensor offests; IIO wants correction + * offset, thus we need the 'minus' here. + */ + *val = -(s16)le16_to_cpu(raw_val); + } + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + *val = 1; + switch (chan->type) { + case IIO_GRAVITY: + /* Table 3-35: 1 m/s^2 = 100 LSB */ + case IIO_ACCEL: + /* Table 3-17: 1 m/s^2 = 100 LSB */ + *val2 = 100; + break; + case IIO_MAGN: + /* + * Table 3-19: 1 uT = 16 LSB. But we need + * Gauss: 1G = 0.1 uT. + */ + *val2 = 160; + break; + case IIO_ANGL_VEL: + /* Table 3-22: 1 Rps = 900 LSB */ + *val2 = 900; + break; + case IIO_ROT: + /* Table 3-28: 1 degree = 16 LSB */ + *val2 = 16; + break; + default: + return -EINVAL; + } + return IIO_VAL_FRACTIONAL; + default: + return -EINVAL; + + case IIO_CHAN_INFO_SAMP_FREQ: + if (chan->type != IIO_MAGN) + return -EINVAL; + else + return bno055_get_mag_odr(priv, val); + + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + switch (chan->type) { + case IIO_ANGL_VEL: + return bno055_get_gyr_lpf(priv, val); + case IIO_ACCEL: + return bno055_get_acc_lpf(priv, val, val2); + default: + return -EINVAL; + } + } +} + +static int bno055_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, int *type, int *length, + long mask) +{ + struct bno055_priv *priv = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + switch (chan->type) { + case IIO_ANGL_VEL: + if (priv->operation_mode != BNO055_OPR_MODE_AMG) { + /* locked on 32 */ + *vals = bno055_gyr_lpf_vals + 7; + *length = 1; + } else { + *vals = bno055_gyr_lpf_vals; + *length = ARRAY_SIZE(bno055_gyr_lpf_vals); + } + *type = IIO_VAL_INT; + return IIO_AVAIL_LIST; + default: + return -EINVAL; + case IIO_ACCEL: + if (priv->operation_mode != BNO055_OPR_MODE_AMG) { + /* locked on 62.5Hz */ + *vals = bno055_acc_lpf_vals + 6; + *length = 2; + } else { + *vals = bno055_acc_lpf_vals; + *length = ARRAY_SIZE(bno055_acc_lpf_vals); + } + *type = IIO_VAL_INT_PLUS_MICRO; + return IIO_AVAIL_LIST; + } + break; + case IIO_CHAN_INFO_SAMP_FREQ: + switch (chan->type) { + case IIO_MAGN: + if (priv->operation_mode != BNO055_OPR_MODE_AMG) { + /* locked on 20Hz */ + *vals = bno055_mag_odr_vals + 5; + *length = 1; + } else { + *vals = bno055_mag_odr_vals; + *length = ARRAY_SIZE(bno055_mag_odr_vals); + } + *type = IIO_VAL_INT; + return IIO_AVAIL_LIST; + default: + return -EINVAL; + } + default: + return -EINVAL; + } +} + +static int bno055_read_temp_chan(struct iio_dev *indio_dev, int *val) +{ + struct bno055_priv *priv = iio_priv(indio_dev); + unsigned int raw_val; + int ret; + + ret = regmap_read(priv->regmap, BNO055_TEMP_REG, &raw_val); + if (ret < 0) + return ret; + + /* + * Tables 3-36 and 3-37: one byte of priv, signed, 1 LSB = 1C. + * ABI wants milliC. + */ + *val = raw_val * 1000; + + return IIO_VAL_INT; +} + +static int bno055_read_quaternion(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int size, int *vals, int *val_len, + long mask) +{ + struct bno055_priv *priv = iio_priv(indio_dev); + __le16 raw_vals[4]; + int i, ret; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + if (size < 4) + return -EINVAL; + ret = regmap_bulk_read(priv->regmap, + BNO055_QUAT_DATA_W_LSB_REG, + raw_vals, sizeof(raw_vals)); + if (ret < 0) + return ret; + for (i = 0; i < 4; i++) + vals[i] = (s16)le16_to_cpu(raw_vals[i]); + *val_len = 4; + return IIO_VAL_INT_MULTIPLE; + case IIO_CHAN_INFO_SCALE: + /* Table 3-31: 1 quaternion = 2^14 LSB */ + if (size < 2) + return -EINVAL; + vals[0] = 1; + vals[1] = 1 << 14; + return IIO_VAL_FRACTIONAL; + default: + return -EINVAL; + } +} + +static int _bno055_read_raw_multi(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int size, int *vals, int *val_len, + long mask) +{ + switch (chan->type) { + case IIO_MAGN: + case IIO_ACCEL: + case IIO_ANGL_VEL: + case IIO_GRAVITY: + if (size < 2) + return -EINVAL; + *val_len = 2; + return bno055_read_simple_chan(indio_dev, chan, + &vals[0], &vals[1], + mask); + case IIO_TEMP: + *val_len = 1; + return bno055_read_temp_chan(indio_dev, &vals[0]); + case IIO_ROT: + /* + * Rotation is exposed as either a quaternion or three + * Euler angles. + */ + if (chan->channel2 == IIO_MOD_QUATERNION) + return bno055_read_quaternion(indio_dev, chan, + size, vals, + val_len, mask); + if (size < 2) + return -EINVAL; + *val_len = 2; + return bno055_read_simple_chan(indio_dev, chan, + &vals[0], &vals[1], + mask); + default: + return -EINVAL; + } +} + +static int bno055_read_raw_multi(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int size, int *vals, int *val_len, + long mask) +{ + struct bno055_priv *priv = iio_priv(indio_dev); + int ret; + + mutex_lock(&priv->lock); + ret = _bno055_read_raw_multi(indio_dev, chan, size, + vals, val_len, mask); + mutex_unlock(&priv->lock); + return ret; +} + +static int _bno055_write_raw(struct iio_dev *iio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct bno055_priv *priv = iio_priv(iio_dev); + + switch (chan->type) { + case IIO_MAGN: + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + return bno055_set_mag_odr(priv, val); + + default: + return -EINVAL; + } + case IIO_ACCEL: + switch (mask) { + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + return bno055_set_acc_lpf(priv, val, val2); + + default: + return -EINVAL; + } + case IIO_ANGL_VEL: + switch (mask) { + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + return bno055_set_gyr_lpf(priv, val); + + default: + return -EINVAL; + } + default: + return -EINVAL; + } +} + +static int bno055_write_raw(struct iio_dev *iio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct bno055_priv *priv = iio_priv(iio_dev); + int ret; + + mutex_lock(&priv->lock); + ret = _bno055_write_raw(iio_dev, chan, val, val2, mask); + mutex_unlock(&priv->lock); + + return ret; +} + +static ssize_t in_accel_range_available_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + + return sysfs_emit(buf, "%s\n", + priv->operation_mode != BNO055_OPR_MODE_AMG ? "4" : + "2 4 8 16"); +} + +static ssize_t in_anglvel_range_available_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + + return sysfs_emit(buf, "%s\n", + (priv->operation_mode != BNO055_OPR_MODE_AMG) ? "2000" : + "125 250 500 1000 2000"); +} + +static ssize_t bno055_operation_mode_set(struct bno055_priv *priv, + int operation_mode) +{ + int ret; + + mutex_lock(&priv->lock); + priv->operation_mode = operation_mode; + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, + BNO055_OPR_MODE_CONFIG); + if (ret) { + mutex_unlock(&priv->lock); + return ret; + } + + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, priv->operation_mode); + mutex_unlock(&priv->lock); + + return ret; +} + +static ssize_t bno055_fusion_enable_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + + return sysfs_emit(buf, "%d\n", + priv->operation_mode != BNO055_OPR_MODE_AMG); +} + +static ssize_t bno055_fusion_enable_store(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + int ret = 0; + + if (sysfs_streq(buf, "0")) { + ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_AMG); + } else { + /* + * Coming from AMG means the FMC was off, just switch to fusion + * but don't change anything that doesn't belong to us (i.e let. + * FMC stay off. + * Coming from any other fusion mode means we don't need to do + * anything. + */ + if (priv->operation_mode == BNO055_OPR_MODE_AMG) + ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION_FMC_OFF); + } + + return len ?: len; +} + +static ssize_t bno055_fmc_enable_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + + return sysfs_emit(buf, "%d\n", + priv->operation_mode == BNO055_OPR_MODE_FUSION); +} + +static ssize_t bno055_fmc_enable_store(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + int ret = 0; + + if (sysfs_streq(buf, "0")) { + if (priv->operation_mode == BNO055_OPR_MODE_FUSION) + ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION_FMC_OFF); + } else { + if (priv->operation_mode == BNO055_OPR_MODE_AMG) + return -EINVAL; + } + + return len ?: ret; +} + +static ssize_t bno055_in_accel_range_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + int val; + int ret; + + ret = bno055_get_acc_range(priv, &val); + if (ret < 0) + return ret; + + return sysfs_emit(buf, "%d\n", val); +} + +static ssize_t bno055_in_accel_range_store(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + unsigned long val; + int ret; + + ret = kstrtoul(buf, 10, &val); + if (ret) + return ret; + + mutex_lock(&priv->lock); + ret = bno055_set_acc_range(priv, val); + mutex_unlock(&priv->lock); + + return ret ?: len; +} + +static ssize_t bno055_in_gyr_range_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + int val; + int ret; + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + + ret = bno055_get_gyr_range(priv, &val); + if (ret < 0) + return ret; + + return sysfs_emit(buf, "%d\n", val); +} + +static ssize_t bno055_in_gyr_range_store(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + unsigned long val; + int ret; + + ret = kstrtoul(buf, 10, &val); + if (ret) + return ret; + + mutex_lock(&priv->lock); + ret = bno055_set_gyr_range(priv, val); + mutex_unlock(&priv->lock); + + return ret ?: len; +} + +static ssize_t bno055_get_calib_status(struct device *dev, char *buf, int which) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + static const char * const calib_status[] = { + "bad", "barely enough", "fair", "good" }; + const char *calib_str; + int ret; + int val; + + if (priv->operation_mode == BNO055_OPR_MODE_AMG || + (priv->operation_mode == BNO055_OPR_MODE_FUSION_FMC_OFF && + which == BNO055_CALIB_STAT_MAGN_SHIFT)) { + calib_str = "idle"; + } else { + mutex_lock(&priv->lock); + ret = regmap_read(priv->regmap, BNO055_CALIB_STAT_REG, &val); + mutex_unlock(&priv->lock); + + if (ret) + return -EIO; + + val = (val >> which) & BNO055_CALIB_STAT_MASK; + calib_str = calib_status[val]; + } + + return sysfs_emit(buf, "%s\n", calib_str); +} + +static ssize_t unique_id_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + + return sysfs_emit(buf, "%*ph\n", BNO055_UID_LEN, priv->uid); +} + +static ssize_t in_calibration_data_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev)); + u8 data[BNO055_CALDATA_LEN]; + int ret; + + mutex_lock(&priv->lock); + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, + BNO055_OPR_MODE_CONFIG); + if (ret) + goto unlock; + + ret = regmap_bulk_read(priv->regmap, BNO055_CALDATA_START, data, + BNO055_CALDATA_LEN); + if (ret) + goto unlock; + + ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG, priv->operation_mode); + mutex_unlock(&priv->lock); + if (ret) + return ret; + + memcpy(buf, data, BNO055_CALDATA_LEN); + + return BNO055_CALDATA_LEN; +unlock: + mutex_unlock(&priv->lock); + return ret; +} + +static ssize_t in_autocalibration_status_sys_show(struct device *dev, + struct device_attribute *a, + char *buf) +{ + return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_SYS_SHIFT); +} + +static ssize_t in_autocalibration_status_accel_show(struct device *dev, + struct device_attribute *a, + char *buf) +{ + return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_ACCEL_SHIFT); +} + +static ssize_t in_autocalibration_status_gyro_show(struct device *dev, + struct device_attribute *a, + char *buf) +{ + return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_GYRO_SHIFT); +} + +static ssize_t in_autocalibration_status_magn_show(struct device *dev, + struct device_attribute *a, + char *buf) +{ + return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_MAGN_SHIFT); +} + +#ifdef CONFIG_DEBUG_FS +int bno055_debugfs_reg_access(struct iio_dev *iio_dev, unsigned int reg, + unsigned int writeval, unsigned int *readval) +{ + struct bno055_priv *priv = iio_priv(iio_dev); + + if (readval) + return regmap_read(priv->regmap, reg, readval); + else + return regmap_write(priv->regmap, reg, writeval); +} + +static ssize_t bno055_show_fw_version(struct file *file, char __user *userbuf, + size_t count, loff_t *ppos) +{ + struct bno055_priv *priv = file->private_data; + int rev, ver; + char *buf; + int ret; + + ret = regmap_read(priv->regmap, BNO055_SW_REV_LSB_REG, &rev); + if (ret) + return ret; + + ret = regmap_read(priv->regmap, BNO055_SW_REV_MSB_REG, &ver); + if (ret) + return ret; + + buf = devm_kasprintf(priv->dev, GFP_KERNEL, "ver: 0x%x, rev: 0x%x\n", + ver, rev); + if (!buf) + return -ENOMEM; + + ret = simple_read_from_buffer(userbuf, count, ppos, buf, strlen(buf)); + devm_kfree(priv->dev, buf); + + return ret; +} + +static const struct file_operations bno055_fw_version_ops = { + .open = simple_open, + .read = bno055_show_fw_version, + .llseek = default_llseek, + .owner = THIS_MODULE, +}; + +static void bno055_debugfs_init(struct iio_dev *iio_dev) +{ + struct bno055_priv *priv = iio_priv(iio_dev); + + debugfs_create_file("firmware_version", 0400, + iio_get_debugfs_dentry(iio_dev), priv, + &bno055_fw_version_ops); +} +#else +static void bno055_debugfs_init(struct iio_dev *iio_dev) +{ +} + +int bno055_debugfs_reg_access(struct iio_dev *iio_dev, unsigned int reg, + unsigned int writeval, unsigned int *readval) +{ + return 0; +} +#endif + +static IIO_DEVICE_ATTR(fusion_enable, 0644, + bno055_fusion_enable_show, + bno055_fusion_enable_store, 0); + +static IIO_DEVICE_ATTR(fast_magnetometer_calibration_enable, 0644, + bno055_fmc_enable_show, + bno055_fmc_enable_store, 0); + +static IIO_DEVICE_ATTR(in_accel_range, 0644, + bno055_in_accel_range_show, + bno055_in_accel_range_store, 0); + +static IIO_DEVICE_ATTR_RO(in_accel_range_available, 0); + +static IIO_DEVICE_ATTR(in_anglvel_range, 0644, + bno055_in_gyr_range_show, + bno055_in_gyr_range_store, 0); + +static IIO_DEVICE_ATTR_RO(in_anglvel_range_available, 0); + +static IIO_DEVICE_ATTR_RO(in_autocalibration_status_sys, 0); +static IIO_DEVICE_ATTR_RO(in_autocalibration_status_accel, 0); +static IIO_DEVICE_ATTR_RO(in_autocalibration_status_gyro, 0); +static IIO_DEVICE_ATTR_RO(in_autocalibration_status_magn, 0); +static IIO_DEVICE_ATTR_RO(in_calibration_data, 0); + +static IIO_DEVICE_ATTR_RO(unique_id, 0); + +static struct attribute *bno055_attrs[] = { + &iio_dev_attr_in_accel_range_available.dev_attr.attr, + &iio_dev_attr_in_accel_range.dev_attr.attr, + &iio_dev_attr_in_anglvel_range_available.dev_attr.attr, + &iio_dev_attr_in_anglvel_range.dev_attr.attr, + &iio_dev_attr_fusion_enable.dev_attr.attr, + &iio_dev_attr_fast_magnetometer_calibration_enable.dev_attr.attr, + &iio_dev_attr_in_autocalibration_status_sys.dev_attr.attr, + &iio_dev_attr_in_autocalibration_status_accel.dev_attr.attr, + &iio_dev_attr_in_autocalibration_status_gyro.dev_attr.attr, + &iio_dev_attr_in_autocalibration_status_magn.dev_attr.attr, + &iio_dev_attr_in_calibration_data.dev_attr.attr, + &iio_dev_attr_unique_id.dev_attr.attr, + NULL +}; + +static const struct attribute_group bno055_attrs_group = { + .attrs = bno055_attrs, +}; + +static const struct iio_info bno055_info = { + .read_raw_multi = bno055_read_raw_multi, + .read_avail = bno055_read_avail, + .write_raw = bno055_write_raw, + .attrs = &bno055_attrs_group, + .debugfs_reg_access = bno055_debugfs_reg_access, +}; + +/* + * Reads len samples from the HW, stores them in buf starting from buf_idx, + * and applies mask to cull (skip) unneeded samples. + * Updates buf_idx incrementing with the number of stored samples. + * Samples from HW are transferred into buf, then in-place copy on buf is + * performed in order to cull samples that need to be skipped. + * This avoids copies of the first samples until we hit the 1st sample to skip, + * and also avoids having an extra bounce buffer. + * buf must be able to contain len elements in spite of how many samples we are + * going to cull. + */ +static int bno055_scan_xfer(struct bno055_priv *priv, + int start_ch, int len, unsigned long mask, + __le16 *buf, int *buf_idx) +{ + const int base = BNO055_ACC_DATA_X_LSB_REG; + bool quat_in_read = false; + int buf_base = *buf_idx; + __le16 *dst, *src; + int offs_fixup = 0; + int xfer_len = len; + int ret; + int i, n; + + /* + * All chans are made up 1 16-bit sample, except for quaternion that is + * made up 4 16-bit values. + * For us the quaternion CH is just like 4 regular CHs. + * If our read starts past the quaternion make sure to adjust the + * starting offset; if the quaternion is contained in our scan then make + * sure to adjust the read len. + */ + if (start_ch > BNO055_SCAN_QUATERNION) { + start_ch += 3; + } else if ((start_ch <= BNO055_SCAN_QUATERNION) && + ((start_ch + len) > BNO055_SCAN_QUATERNION)) { + quat_in_read = true; + xfer_len += 3; + } + + ret = regmap_bulk_read(priv->regmap, + base + start_ch * sizeof(__le16), + buf + buf_base, + xfer_len * sizeof(__le16)); + if (ret) + return ret; + + for_each_set_bit(i, &mask, len) { + if (quat_in_read && ((start_ch + i) > BNO055_SCAN_QUATERNION)) + offs_fixup = 3; + + dst = buf + *buf_idx; + src = buf + buf_base + offs_fixup + i; + + n = (start_ch + i == BNO055_SCAN_QUATERNION) ? 4 : 1; + + if (dst != src) + memcpy(dst, src, n * sizeof(__le16)); + + *buf_idx += n; + } + return 0; +} + +static irqreturn_t bno055_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *iio_dev = pf->indio_dev; + struct bno055_priv *priv = iio_priv(iio_dev); + int xfer_start, start, end, prev_end; + bool xfer_pending = false; + bool first = true; + unsigned long mask; + int buf_idx = 0; + bool thr_hit; + int quat; + int ret; + + mutex_lock(&priv->lock); + for_each_set_bitrange(start, end, iio_dev->active_scan_mask, + iio_dev->masklength) { + if (!xfer_pending) + xfer_start = start; + xfer_pending = true; + + if (!first) { + quat = ((start > BNO055_SCAN_QUATERNION) && + (prev_end <= BNO055_SCAN_QUATERNION)) ? 3 : 0; + thr_hit = (start - prev_end + quat) > + priv->xfer_burst_break_thr; + + if (thr_hit) { + mask = *iio_dev->active_scan_mask >> xfer_start; + ret = bno055_scan_xfer(priv, xfer_start, + prev_end - xfer_start + 1, + mask, priv->buf.chans, &buf_idx); + if (ret) + goto done; + xfer_pending = false; + } + first = false; + } + prev_end = end; + } + + if (xfer_pending) { + mask = *iio_dev->active_scan_mask >> xfer_start; + ret = bno055_scan_xfer(priv, xfer_start, + end - xfer_start + 1, + mask, priv->buf.chans, &buf_idx); + } + + iio_push_to_buffers_with_timestamp(iio_dev, &priv->buf, pf->timestamp); +done: + mutex_unlock(&priv->lock); + iio_trigger_notify_done(iio_dev->trig); + return IRQ_HANDLED; +} + +int bno055_probe(struct device *dev, struct regmap *regmap, + int xfer_burst_break_thr) +{ + const struct firmware *caldata; + struct bno055_priv *priv; + struct iio_dev *iio_dev; + struct gpio_desc *rst; + char *fw_name_buf; + unsigned int val; + int ret; + + iio_dev = devm_iio_device_alloc(dev, sizeof(*priv)); + if (!iio_dev) + return -ENOMEM; + + iio_dev->name = "bno055"; + priv = iio_priv(iio_dev); + mutex_init(&priv->lock); + priv->regmap = regmap; + priv->dev = dev; + priv->xfer_burst_break_thr = xfer_burst_break_thr; + rst = devm_gpiod_get_optional(dev, "reset", GPIOD_OUT_HIGH); + if (IS_ERR(rst)) + return dev_err_probe(dev, PTR_ERR(rst), "Failed to get reset GPIO"); + + priv->clk = devm_clk_get_optional(dev, "clk"); + if (IS_ERR(priv->clk)) + return dev_err_probe(dev, PTR_ERR(priv->clk), "Failed to get CLK"); + + ret = clk_prepare_enable(priv->clk); + if (ret) + return ret; + + ret = devm_add_action_or_reset(dev, bno055_clk_disable, priv); + if (ret) + return ret; + + if (rst) { + usleep_range(5000, 10000); + gpiod_set_value_cansleep(rst, 0); + usleep_range(650000, 750000); + } + + ret = regmap_read(priv->regmap, BNO055_CHIP_ID_REG, &val); + if (ret) + return ret; + + if (val != BNO055_CHIP_ID_MAGIC) { + dev_err(dev, "Unrecognized chip ID 0x%x", val); + return -ENODEV; + } + + ret = regmap_bulk_read(priv->regmap, BNO055_UID_LOWER_REG, + priv->uid, BNO055_UID_LEN); + if (ret) + return ret; + + /* + * This has nothing to do with the IMU firmware, this is for sensor + * calibration data. + */ + fw_name_buf = devm_kasprintf(dev, GFP_KERNEL, + BNO055_FW_UID_NAME, + BNO055_UID_LEN, priv->uid); + if (!fw_name_buf) + return -ENOMEM; + + ret = request_firmware(&caldata, fw_name_buf, dev); + devm_kfree(dev, fw_name_buf); + if (ret) + ret = request_firmware(&caldata, BNO055_FW_GENERIC_NAME, dev); + + if (ret) { + dev_notice(dev, "Failed to load calibration data firmware file; this has nothing to do with IMU main firmware.\nYou can calibrate your IMU (look for 'in_autocalibration_status*' files in sysfs) and then copy 'in_calibration_data' to your firmware file"); + caldata = NULL; + } + + ret = bno055_init(priv, caldata); + if (caldata) + release_firmware(caldata); + if (ret) + return ret; + + ret = devm_add_action_or_reset(dev, bno055_uninit, priv); + if (ret) + return ret; + + iio_dev->channels = bno055_channels; + iio_dev->num_channels = ARRAY_SIZE(bno055_channels); + iio_dev->info = &bno055_info; + iio_dev->modes = INDIO_DIRECT_MODE; + + ret = devm_iio_triggered_buffer_setup(dev, iio_dev, + iio_pollfunc_store_time, + bno055_trigger_handler, NULL); + if (ret) + return ret; + + ret = devm_iio_device_register(dev, iio_dev); + if (ret) + return ret; + + bno055_debugfs_init(iio_dev); + + return 0; +} +EXPORT_SYMBOL_GPL(bno055_probe); + +MODULE_AUTHOR("Andrea Merello <andrea.merello@iit.it>"); +MODULE_DESCRIPTION("Bosch BNO055 driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/imu/bno055/bno055.h b/drivers/iio/imu/bno055/bno055.h new file mode 100644 index 000000000000..7ad8da1ffbf0 --- /dev/null +++ b/drivers/iio/imu/bno055/bno055.h @@ -0,0 +1,12 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +#ifndef __BNO055_H__ +#define __BNO055_H__ + +#include <linux/regmap.h> + +struct device; +int bno055_probe(struct device *dev, struct regmap *regmap, + int xfer_burst_break_thr); +extern const struct regmap_config bno055_regmap_config; + +#endif
This patch adds a core driver for the BNO055 IMU from Bosch. This IMU can be connected via both serial and I2C busses; separate patches will add support for them. The driver supports "AMG" (Accelerometer, Magnetometer, Gyroscope) mode, that provides raw data from the said internal sensors, and a couple of "fusion" modes (i.e. the IMU also do calculations in order to provide euler angles, quaternions, linear acceleration and gravity measurements). In fusion modes the AMG data is still available (with some calibration refinements done by the IMU), but certain settings such as low pass filters cut-off frequency and sensors ranges are fixed, while in AMG mode they can be customized; this is why AMG mode can still be interesting. Signed-off-by: Andrea Merello <andrea.merello@iit.it> --- drivers/iio/imu/Kconfig | 1 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/bno055/Kconfig | 4 + drivers/iio/imu/bno055/Makefile | 3 + drivers/iio/imu/bno055/bno055.c | 1480 +++++++++++++++++++++++++++++++ drivers/iio/imu/bno055/bno055.h | 12 + 6 files changed, 1501 insertions(+) create mode 100644 drivers/iio/imu/bno055/Kconfig create mode 100644 drivers/iio/imu/bno055/Makefile create mode 100644 drivers/iio/imu/bno055/bno055.c create mode 100644 drivers/iio/imu/bno055/bno055.h