From patchwork Mon Aug 26 14:05:45 2024 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 8bit X-Patchwork-Submitter: "Shen Jianping (ME-SE/EAD2)" X-Patchwork-Id: 13777954 Received: from EUR05-DB8-obe.outbound.protection.outlook.com (mail-db8eur05on2063.outbound.protection.outlook.com [40.107.20.63]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id 1158918BB92; Mon, 26 Aug 2024 14:06:27 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=fail smtp.client-ip=40.107.20.63 ARC-Seal: i=2; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1724681191; cv=fail; b=Ci8PGiPp7KNCCaBS7qcRKXC7SWSEuO6md2ypcAHnruLwJbDf7JfKkZNGydvKy5JD2N5ETmTmHMQvIy47bge1W0WlUfLnMad5OZNJscp3NMnkKZQopQUtqEdOyiqbYfsivoKV38FHnjBB7COLZmv5F2PbFtL2O08KAMUY2eOH+30= ARC-Message-Signature: i=2; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1724681191; c=relaxed/simple; bh=EQUof6WarfMKyP2OF23bNPGSPOI9GsGO0JUtDhXpJIU=; h=From:To:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version:Content-Type; b=U7/wRotQcIefe1z8APThA5Zduz/Pk/l1KZSMgdfMzfRTfZK9WUDGn4mL5P6v8mrmkWMo8vf+/q64JJSOCY8caRL1gEBnQgEL7U29XYLP3xOuEMS2JLiOpxHoAZYo2Ah6DLJ6STn4GuSDfSeBkbgrhDZmZFb8fr7gx3CzGPdeLjw= ARC-Authentication-Results: i=2; smtp.subspace.kernel.org; dmarc=pass (p=reject dis=none) header.from=de.bosch.com; spf=pass smtp.mailfrom=de.bosch.com; dkim=pass (2048-bit key) header.d=de.bosch.com header.i=@de.bosch.com header.b=kZibLIBL; arc=fail smtp.client-ip=40.107.20.63 Authentication-Results: smtp.subspace.kernel.org; dmarc=pass (p=reject dis=none) header.from=de.bosch.com Authentication-Results: smtp.subspace.kernel.org; spf=pass smtp.mailfrom=de.bosch.com Authentication-Results: smtp.subspace.kernel.org; dkim=pass (2048-bit key) header.d=de.bosch.com header.i=@de.bosch.com header.b="kZibLIBL" ARC-Seal: i=1; a=rsa-sha256; s=arcselector10001; d=microsoft.com; cv=none; b=DeluhqJeAgkiHTmuummq28LZCqanx2FZwR8IWoKdDPxHMoFluDSKD35Yg0Civ3Cu4vJXbJogemyoFsbTSqkdkfInMZ1jwDghHgSBkxSNgt2Ql/ygYYoHgViq5QQhAH2dUC3H2gJ1ChKqGSjcJrRoKmPrpXGMetZDwwWJ3KTmjVmsk5xpACbGwVzneJXuN23TzpKjXphKhB43YFDcggW8wWqUxvXYJQSfZAyuxKTXCgTvQRxbl9AxeuUZ3tf35uMD96AqyP2E6TWLf9mMykWOrR2L+Ne2DlIAxLw5W+3yWH3GhlCCzXOY2FvRR3YroyPxvV28SISBWLej4k2IsadPwA== ARC-Message-Signature: i=1; a=rsa-sha256; c=relaxed/relaxed; d=microsoft.com; s=arcselector10001; h=From:Date:Subject:Message-ID:Content-Type:MIME-Version:X-MS-Exchange-AntiSpam-MessageData-ChunkCount:X-MS-Exchange-AntiSpam-MessageData-0:X-MS-Exchange-AntiSpam-MessageData-1; bh=Hf5FFHKwjQvRACNlaKVLOvUo+koKZFuhp7bevS5+oqs=; b=MQsy6C7HhUP1gsGEFmhEo/zkLAfYMcI+CRfmNvMguUihxf7IyUM5y7+cKMW8z9nQwgyb/pO7r5YpbzuqlCkP1jKyU7bxbyLJEobWG7/3AcPFZUire5SfNmtWrUo2SkqEHmssi8e/dwMudV1qGnJQxWI6FwGtNMuS74th+XBE1Oku5kwIkeLLRkh2/DlRb4FytRRLf10C7P/lGOEgezXtuxHhTba/ajiNT4hweHjEPeBEUveQwE28E7r6Vy9eiE7eNkI+tMBYWnRiUudDBD/RAZJ+kXavD0C4nmkvMxB9zSa3PLmqgJezbyVW3r3XLBpUgmTe42B1l5g4kgNwdOyi9Q== ARC-Authentication-Results: i=1; mx.microsoft.com 1; spf=pass (sender ip is 139.15.153.206) smtp.rcpttodomain=kernel.org smtp.mailfrom=de.bosch.com; dmarc=pass (p=reject sp=none pct=100) action=none header.from=de.bosch.com; dkim=none (message not signed); arc=none (0) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=de.bosch.com; s=selector2; h=From:Date:Subject:Message-ID:Content-Type:MIME-Version:X-MS-Exchange-SenderADCheck; bh=Hf5FFHKwjQvRACNlaKVLOvUo+koKZFuhp7bevS5+oqs=; b=kZibLIBLS1G4YtHm9wx6Joty5VOooO9f6HlOBZ+sqMwnZ3iiCgtyz6YL9UxTOW3ZMXo9a3o4UnxSj+jtPhqByCRSMj4Pk2itUU8KQuq/6z0baNbt9hcQ8QgV6zp4SizVHMrW8KP+EPvtHUg/2gD8pHthkPkYscYzZGNx55UPAhT+HgCqXKel+IV4/xXnHCAxD4LknOKj22+eP7Az6vPHRKyGrvLBYvA44dhqxp8PAQ5l1v9vycM7nANv1xyKIO5Vk//EWF6MaBP3E8Fr+3vR+LMFiQMQ9E2kHbpmPFdkm6yXDhNlnkXmenEl5U2e3PIM2d7I2M30M9I6s8beJtVfMQ== Received: from AM6PR0502CA0038.eurprd05.prod.outlook.com (2603:10a6:20b:56::15) by PAVPR10MB7140.EURPRD10.PROD.OUTLOOK.COM (2603:10a6:102:312::8) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.20.7897.25; Mon, 26 Aug 2024 14:06:22 +0000 Received: from AM1PEPF000252E1.eurprd07.prod.outlook.com (2603:10a6:20b:56:cafe::9e) by AM6PR0502CA0038.outlook.office365.com (2603:10a6:20b:56::15) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.20.7897.24 via Frontend Transport; Mon, 26 Aug 2024 14:06:22 +0000 X-MS-Exchange-Authentication-Results: spf=pass (sender IP is 139.15.153.206) smtp.mailfrom=de.bosch.com; dkim=none (message not signed) header.d=none;dmarc=pass action=none header.from=de.bosch.com; Received-SPF: Pass (protection.outlook.com: domain of de.bosch.com designates 139.15.153.206 as permitted sender) receiver=protection.outlook.com; client-ip=139.15.153.206; helo=eop.bosch-org.com; pr=C Received: from eop.bosch-org.com (139.15.153.206) by AM1PEPF000252E1.mail.protection.outlook.com (10.167.16.59) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.20.7918.13 via Frontend Transport; Mon, 26 Aug 2024 14:06:22 +0000 Received: from SI-EXCAS2001.de.bosch.com (10.139.217.202) by eop.bosch-org.com (139.15.153.206) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.2.1544.11; Mon, 26 Aug 2024 16:06:07 +0200 Received: from LR-C-0008DVM.rt.de.bosch.com (10.139.217.196) by SI-EXCAS2001.de.bosch.com (10.139.217.202) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.1.2507.39; Mon, 26 Aug 2024 16:06:06 +0200 From: To: , , , , , , , , , , , , , Subject: [PATCH v4 2/2] iio: imu: smi240: imu driver Date: Mon, 26 Aug 2024 16:05:45 +0200 Message-ID: <20240826140545.4085-3-Jianping.Shen@de.bosch.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20240826140545.4085-1-Jianping.Shen@de.bosch.com> References: <20240826140545.4085-1-Jianping.Shen@de.bosch.com> Precedence: bulk X-Mailing-List: linux-iio@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 X-EOPAttributedMessage: 0 X-MS-PublicTrafficType: Email X-MS-TrafficTypeDiagnostic: AM1PEPF000252E1:EE_|PAVPR10MB7140:EE_ X-MS-Office365-Filtering-Correlation-Id: 1f120a29-4499-4ea5-264b-08dcc5d8442d X-MS-Exchange-SenderADCheck: 1 X-MS-Exchange-AntiSpam-Relay: 0 X-Microsoft-Antispam: BCL:0;ARA:13230040|1800799024|82310400026|7416014|376014|36860700013|921020; X-Microsoft-Antispam-Message-Info: =?utf-8?q?tham2/raSmpoYmaRSoJ1/OKbEtKjR/Q?= =?utf-8?q?FFoGyHDhBwe9k2v/Sp9DPXBwBFYdO1OeooJJMEcF7CW3hWws6jD4GIrMSZn8riNaw?= =?utf-8?q?+1kmAm9UJkV1nP+U6RpJuK8g6Be7uEqJueZZ9Ah0g/Ce24bnu/ddVcd+8KdcLgChl?= =?utf-8?q?4AA8MEldULvv/oZw9xtLv9PTYa2DsmO6JVDeTAtvPq456NcHKUHmhJ0+pJVIn0gt+?= =?utf-8?q?XGjt2+XEkAi+dnR8hI/oj845+J413BG3rxVlulJ31dk3OQ6BYC2oChyiKjt++3grk?= =?utf-8?q?JDGQNTDu0cbxB5h26gCwJBiY9lBgnZbWyCoMuCPMDBI2kZT4hCjqGWu2rUzrOA6Ab?= =?utf-8?q?a+nhZ+e8eQGL0/o25UgofYeNTgjBrhZ/o133ajVZ7W1o58B88e0ALKr9IYhKnc7e5?= =?utf-8?q?TnGFj7iE1JtsKW2zxTnfTANmiCO8QhV95k2pCLQTg6of4sqcEHzYsPvcWyWbu8uE9?= =?utf-8?q?KQdQd4MQqFEwXldQVhjFU/ftCh09M3zhOazCZDCTtc/7fimpcN84sCDcTOtOme7ND?= =?utf-8?q?hULzjv1vdFFK0LTBTqx8amnhJaxgoGOz26TZYfDQqPRZZnELGeJNlIbye0+ydq/sC?= =?utf-8?q?59cshWaptg7tNBQbDY+LFAT8y1X4zIcHX9bFD5GO3/ryj4hz+VvfdNuOGFvyHyue7?= =?utf-8?q?yb+64XwNATXj7QM/pvNCtBihN+uYboSZu2QqgnFaUequTaNMNNRT6SNlVJ8Hw+tW/?= =?utf-8?q?KoDySsroHzY1vHLRxQLgsI/1+3EqJTBsFL6C6L5C74Kr+IuOuOz4gBv6BnlOnEwxD?= =?utf-8?q?5WBDO42AZw2SFrKwi0sDyGkdJ9tlglarJbJOqf9Zu3YFjYrJZADJwscLhhzy+6uKZ?= =?utf-8?q?LK0N2tEsLp/N0SPILSDuObHhd4BawflQzImzIzPiQkvr0IKhYGtU1JR95qIct0uw5?= =?utf-8?q?p2ra45GQ8ZDXAEjJp0NYOl0oWPJuZxgZRxpBXJnHaPc3jpJEZ6lcy8Hy5V/Q0wqpH?= =?utf-8?q?w+TygHsB2NFM2kTE6PXCu7qvAa5d2hXFlEDvvCs/HckwpSCzsXnkxCn4RZhpvlqpu?= =?utf-8?q?lLPX0csh3aoUQJ9IGW+1It4JmjBUmUv9hldPgLmOViTk7sl9aLCIUP9AR2c2AsxuV?= =?utf-8?q?qBVqFFkCijvGcTt9nWQ9fAV9wmPyr9i8Nl+JmqNOMBNumOywkfEA3rykTM1FreE3t?= =?utf-8?q?1TXDBLDhH11aFh45lM/XMQ5DAZEsNIm8E3qx0Km5FWvCt+DmzDxOugHYzqbt5mBcr?= =?utf-8?q?9m95/n5T7MMIVM3fgdf3hqpANdnQPKuWSo6pm+jT27clXAZNDewYm9VxgU/iH3Ch4?= =?utf-8?q?esYvuTV8TKXCTj8Y/WJOlG8mgkPwhlGYqMMd7zJNzbv9ZewnhpW9ztvDKOzq07CqM?= =?utf-8?q?9f6X80Ox8mOZvPcTkOMXSusQuxbtjixUA08rVBaJEzUkpmogkZQqxEUgJQrDGzJaU?= =?utf-8?q?9OUwhnn6QkTfjKs362c68qF9UlgnwpxsQ=3D=3D?= X-Forefront-Antispam-Report: CIP:139.15.153.206;CTRY:DE;LANG:en;SCL:1;SRV:;IPV:NLI;SFV:NSPM;H:eop.bosch-org.com;PTR:InfoDomainNonexistent;CAT:NONE;SFS:(13230040)(1800799024)(82310400026)(7416014)(376014)(36860700013)(921020);DIR:OUT;SFP:1101; X-OriginatorOrg: de.bosch.com X-MS-Exchange-CrossTenant-OriginalArrivalTime: 26 Aug 2024 14:06:22.6404 (UTC) X-MS-Exchange-CrossTenant-Network-Message-Id: 1f120a29-4499-4ea5-264b-08dcc5d8442d X-MS-Exchange-CrossTenant-Id: 0ae51e19-07c8-4e4b-bb6d-648ee58410f4 X-MS-Exchange-CrossTenant-OriginalAttributedTenantConnectingIp: TenantId=0ae51e19-07c8-4e4b-bb6d-648ee58410f4;Ip=[139.15.153.206];Helo=[eop.bosch-org.com] X-MS-Exchange-CrossTenant-AuthSource: AM1PEPF000252E1.eurprd07.prod.outlook.com X-MS-Exchange-CrossTenant-AuthAs: Anonymous X-MS-Exchange-CrossTenant-FromEntityHeader: HybridOnPrem X-MS-Exchange-Transport-CrossTenantHeadersStamped: PAVPR10MB7140 From: Shen Jianping This patch adds the iio driver for bosch imu smi240. The smi240 is a combined three axis angular rate and three axis acceleration sensor module with a measurement range of +/-300°/s and up to 16g. Smi240 does not support interrupt. A synchronous acc and gyro sampling can be triggered by setting the capture bit in spi read command. Implemented features: * raw data access for each axis through sysfs * tiggered buffer for continuous sampling * synchronous acc and gyro data from tiggered buffer Signed-off-by: Shen Jianping --- drivers/iio/imu/Kconfig | 1 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/smi240/Kconfig | 12 + drivers/iio/imu/smi240/Makefile | 7 + drivers/iio/imu/smi240/smi240.h | 35 +++ drivers/iio/imu/smi240/smi240_core.c | 385 +++++++++++++++++++++++++++ drivers/iio/imu/smi240/smi240_spi.c | 172 ++++++++++++ 7 files changed, 613 insertions(+) create mode 100644 drivers/iio/imu/smi240/Kconfig create mode 100644 drivers/iio/imu/smi240/Makefile create mode 100644 drivers/iio/imu/smi240/smi240.h create mode 100644 drivers/iio/imu/smi240/smi240_core.c create mode 100644 drivers/iio/imu/smi240/smi240_spi.c diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 52a155ff325..8808074513d 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -96,6 +96,7 @@ config KMX61 source "drivers/iio/imu/inv_icm42600/Kconfig" source "drivers/iio/imu/inv_mpu6050/Kconfig" +source "drivers/iio/imu/smi240/Kconfig" source "drivers/iio/imu/st_lsm6dsx/Kconfig" source "drivers/iio/imu/st_lsm9ds0/Kconfig" diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index 7e2d7d5c3b7..b6f162ae4ed 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -27,5 +27,6 @@ obj-y += inv_mpu6050/ obj-$(CONFIG_KMX61) += kmx61.o +obj-y += smi240/ obj-y += st_lsm6dsx/ obj-y += st_lsm9ds0/ diff --git a/drivers/iio/imu/smi240/Kconfig b/drivers/iio/imu/smi240/Kconfig new file mode 100644 index 00000000000..b7f3598f6c4 --- /dev/null +++ b/drivers/iio/imu/smi240/Kconfig @@ -0,0 +1,12 @@ +config SMI240 + tristate "Bosch Sensor SMI240 Inertial Measurement Unit" + depends on SPI + select REGMAP_SPI + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + help + If you say yes here you get support for SMI240 IMU on SPI with + accelerometer and gyroscope. + + This driver can also be built as a module. If so, the module will be + called smi240. diff --git a/drivers/iio/imu/smi240/Makefile b/drivers/iio/imu/smi240/Makefile new file mode 100644 index 00000000000..0e5f7db7d78 --- /dev/null +++ b/drivers/iio/imu/smi240/Makefile @@ -0,0 +1,7 @@ +# SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0 +# +# Makefile for Bosch SMI240 +# +obj-$(CONFIG_SMI240) += smi240.o +smi240-objs := smi240_core.o +smi240-objs += smi240_spi.o diff --git a/drivers/iio/imu/smi240/smi240.h b/drivers/iio/imu/smi240/smi240.h new file mode 100644 index 00000000000..b1690793f9b --- /dev/null +++ b/drivers/iio/imu/smi240/smi240.h @@ -0,0 +1,35 @@ +/* SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0 */ +/* + * Copyright (c) 2024 Robert Bosch GmbH. + */ +#ifndef _SMI240_H +#define _SMI240_H + +#include + +struct regmap; +struct device; + +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); +}; + +int smi240_core_probe(struct device *dev, struct regmap *regmap); + +#endif /* _SMI240_H */ diff --git a/drivers/iio/imu/smi240/smi240_core.c b/drivers/iio/imu/smi240/smi240_core.c new file mode 100644 index 00000000000..fc0226af843 --- /dev/null +++ b/drivers/iio/imu/smi240/smi240_core.c @@ -0,0 +1,385 @@ +// SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0 +/* + * Copyright (c) 2024 Robert Bosch GmbH. + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "smi240.h" + +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, +}; + +#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_LOW_BANDWIDTH_HZ 50 +#define SMI240_HIGH_BANDWIDTH_HZ 400 + +#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_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, \ + }, \ + } + +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 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; + + /* + * T°C = (temp / 256) + 25 + * Tm°C = 1000 * ((temp * 100 / 25600) + 25) + * scale: 100000 / 25600 = 3.906250 + * offset: 25000 + */ + case IIO_CHAN_INFO_SCALE: + *val = 3; + *val2 = 906250; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_OFFSET: + *val = 25000; + return IIO_VAL_INT; + + 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, +}; + +int smi240_core_probe(struct device *dev, struct regmap *regmap) +{ + struct iio_dev *indio_dev; + struct smi240_data *data; + int ret, response; + + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + dev_set_drvdata(dev, indio_dev); + data->regmap = regmap; + 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; +} diff --git a/drivers/iio/imu/smi240/smi240_spi.c b/drivers/iio/imu/smi240/smi240_spi.c new file mode 100644 index 00000000000..d308f6407da --- /dev/null +++ b/drivers/iio/imu/smi240/smi240_spi.c @@ -0,0 +1,172 @@ +// SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0 +/* + * Copyright (c) 2024 Robert Bosch GmbH. + */ +#include +#include +#include +#include +#include +#include +#include +#include + +#include "smi240.h" + +#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_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) + +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 = SMI240_BUS_ID << 30; + 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 = SMI240_BUS_ID << 30; + 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_spi_probe(struct spi_device *spi) +{ + struct regmap *regmap; + + regmap = devm_regmap_init(&spi->dev, &smi240_regmap_bus, &spi->dev, + &smi240_regmap_config); + if (IS_ERR(regmap)) + return dev_err_probe(&spi->dev, PTR_ERR(regmap), + "Failed to initialize SPI Regmap\n"); + + return smi240_core_probe(&spi->dev, regmap); +} + +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_spi_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 "); +MODULE_AUTHOR("Stefan Gutmann "); +MODULE_DESCRIPTION("Bosch SMI240 SPI driver"); +MODULE_LICENSE("Dual BSD/GPL");