From patchwork Sat Oct 12 03:54:19 2019 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Dan Robertson X-Patchwork-Id: 11186609 Return-Path: Received: from mail.kernel.org (pdx-korg-mail-1.web.codeaurora.org [172.30.200.123]) by pdx-korg-patchwork-2.web.codeaurora.org (Postfix) with ESMTP id B928314DB for ; Sat, 12 Oct 2019 04:10:07 +0000 (UTC) Received: from vger.kernel.org (vger.kernel.org [209.132.180.67]) by mail.kernel.org (Postfix) with ESMTP id 9A3852089C for ; Sat, 12 Oct 2019 04:10:07 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1728624AbfJLEKH convert rfc822-to-8bit (ORCPT ); Sat, 12 Oct 2019 00:10:07 -0400 Received: from sender4-op-o14.zoho.com ([136.143.188.14]:17423 "EHLO sender4-op-o14.zoho.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1728396AbfJLEKH (ORCPT ); Sat, 12 Oct 2019 00:10:07 -0400 ARC-Seal: i=1; a=rsa-sha256; t=1570853390; cv=none; d=zoho.com; s=zohoarc; b=BiBxH7KhDmOsnDqop5h4o5bbhozBryZ5DZ4MnjiyLqrHcjpXgjtWQdPtJZR2g1k4jAfpVpHSl6qJGGRNVft3a08tdWmLcRklpSHYJBlLt0dKmKJWrlIDiOqBVTbbD/ZIME0vDpbMC3NMEt8zEpmPvXF+tjMse7+UJ9tQOaqDBEY= ARC-Message-Signature: i=1; a=rsa-sha256; c=relaxed/relaxed; d=zoho.com; s=zohoarc; t=1570853390; h=Content-Type:Content-Transfer-Encoding:Cc:Date:From:In-Reply-To:MIME-Version:Message-ID:References:Subject:To; bh=oeTxi5QaruJPoVyBCiNl4Xp3VAv0VaEjwtZzHVJ/nEs=; b=n0eMBkfevNxPQW3wycKS0lDBtWO8s1z4LAclr+L20ghRlbZJwQBL1GAmQWzvbjO8xQu/qsuL1gCdjSM4x7HbVj3kX8si2HPnUU3QyZWWAS3yXkjQED9JKITOvTPJstYJx6HdeX/YzeoEkQSmSJRWtcmMR6zAr7CSndY6vIY1yqA= ARC-Authentication-Results: i=1; mx.zoho.com; dkim=pass header.i=dlrobertson.com; spf=pass smtp.mailfrom=dan@dlrobertson.com; dmarc=pass header.from= header.from= Received: from nessie.verizon.net (pool-100-15-144-194.washdc.fios.verizon.net [100.15.144.194]) by mx.zohomail.com with SMTPS id 157085338873220.028522707521006; Fri, 11 Oct 2019 21:09:48 -0700 (PDT) From: Dan Robertson To: Jonathan Cameron , linux-iio@vger.kernel.org, Peter Meerwald-Stadler Cc: devicetree@vger.kernel.org, Hartmut Knaack , Rob Herring , Mark Rutland , linux-kernel@vger.kernel.org, Dan Robertson Message-ID: <20191012035420.13904-2-dan@dlrobertson.com> Subject: [PATCH v2 1/2] dt-bindings: iio: accel: bma400: add bindings Date: Sat, 12 Oct 2019 03:54:19 +0000 X-Mailer: git-send-email 2.23.0 In-Reply-To: <20191012035420.13904-1-dan@dlrobertson.com> References: <20191012035420.13904-1-dan@dlrobertson.com> MIME-Version: 1.0 X-ZohoMailClient: External Sender: linux-iio-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org Add devicetree binding for the Bosch BMA400 3-axes ultra-low power accelerometer sensor. Signed-off-by: Dan Robertson --- .../devicetree/bindings/iio/accel/bma400.txt | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 Documentation/devicetree/bindings/iio/accel/bma400.txt diff --git a/Documentation/devicetree/bindings/iio/accel/bma400.txt b/Documentation/devicetree/bindings/iio/accel/bma400.txt new file mode 100644 index 000000000000..abba4f104941 --- /dev/null +++ b/Documentation/devicetree/bindings/iio/accel/bma400.txt @@ -0,0 +1,16 @@ + +* Bosch BMA400 triaxial acceleration sensor + +https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMA400-DS000.pdf + +Required properties: + + - compatible : should be "bosch,bma400" + - reg : the I2C address of the sensor + +Example: + +bma400@14 { + compatible = "bosch,bma400"; + reg = <0x14>; +}; From patchwork Sat Oct 12 03:54:20 2019 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Dan Robertson X-Patchwork-Id: 11186611 Return-Path: Received: from mail.kernel.org (pdx-korg-mail-1.web.codeaurora.org [172.30.200.123]) by pdx-korg-patchwork-2.web.codeaurora.org (Postfix) with ESMTP id 85F0C14DB for ; Sat, 12 Oct 2019 04:10:21 +0000 (UTC) Received: from vger.kernel.org (vger.kernel.org [209.132.180.67]) by mail.kernel.org (Postfix) with ESMTP id 425CA2084C for ; Sat, 12 Oct 2019 04:10:21 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1728000AbfJLEKS convert rfc822-to-8bit (ORCPT ); Sat, 12 Oct 2019 00:10:18 -0400 Received: from sender4-op-o14.zoho.com ([136.143.188.14]:17432 "EHLO sender4-op-o14.zoho.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1726947AbfJLEKR (ORCPT ); Sat, 12 Oct 2019 00:10:17 -0400 ARC-Seal: i=1; a=rsa-sha256; t=1570853394; cv=none; d=zoho.com; s=zohoarc; b=hRRPdZo2FtbirILg5ZyOTuSN+2iWNJw2DKOrYQgnYuYXGNPnwk1nr/cFTCVcD4En6Mxf4v+snG0pF4ZvZ7ddI6w4/Zw5Rsi5Yw+5Wz7ae4liPhbtZf+J1TJ8dcuumK9p8QuMRZbH4blha+FSq3J7+skxlKdRFC+F0NfQwGCrgmI= ARC-Message-Signature: i=1; a=rsa-sha256; c=relaxed/relaxed; d=zoho.com; s=zohoarc; t=1570853394; h=Content-Type:Content-Transfer-Encoding:Cc:Date:From:In-Reply-To:MIME-Version:Message-ID:References:Subject:To; bh=rAovb8UIQpDJ9ZqTd6xki42YqXwXj9nVS6lyLOv6WGU=; b=IkTEc5fdIeYYRHwC2lDQtSIYrp8qGq7afCsDcrgH3PhYmIm1l9yA5QMz4VsO4aXQfR2PtzEk0cmpO9s4/NsRkkoaAaBqyX44eNp1ep/25D2JdvvIdPvm4bFrtDrGXR/9uCJ1k6tvgEQGgRlvVd2/7qpngDhLywn/csgWuJRhQBc= ARC-Authentication-Results: i=1; mx.zoho.com; dkim=pass header.i=dlrobertson.com; spf=pass smtp.mailfrom=dan@dlrobertson.com; dmarc=pass header.from= header.from= Received: from nessie.verizon.net (pool-100-15-144-194.washdc.fios.verizon.net [100.15.144.194]) by mx.zohomail.com with SMTPS id 157085339202531.723943364303068; Fri, 11 Oct 2019 21:09:52 -0700 (PDT) From: Dan Robertson To: Jonathan Cameron , linux-iio@vger.kernel.org, Peter Meerwald-Stadler Cc: devicetree@vger.kernel.org, Hartmut Knaack , Rob Herring , Mark Rutland , linux-kernel@vger.kernel.org, Dan Robertson Message-ID: <20191012035420.13904-3-dan@dlrobertson.com> Subject: [PATCH v2 2/2] iio: (bma400) add driver for the BMA400 Date: Sat, 12 Oct 2019 03:54:20 +0000 X-Mailer: git-send-email 2.23.0 In-Reply-To: <20191012035420.13904-1-dan@dlrobertson.com> References: <20191012035420.13904-1-dan@dlrobertson.com> MIME-Version: 1.0 X-ZohoMailClient: External Sender: linux-iio-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org Add a IIO driver for the Bosch BMA400 3-axes ultra-low power accelerometer. The driver supports reading from the acceleration and temperature registers. The driver also supports reading and configuring the output data rate, oversampling ratio, and scale. Signed-off-by: Dan Robertson --- drivers/iio/accel/Kconfig | 19 + drivers/iio/accel/Makefile | 2 + drivers/iio/accel/bma400.h | 86 ++++ drivers/iio/accel/bma400_core.c | 839 ++++++++++++++++++++++++++++++++ drivers/iio/accel/bma400_i2c.c | 58 +++ 5 files changed, 1004 insertions(+) create mode 100644 drivers/iio/accel/bma400.h create mode 100644 drivers/iio/accel/bma400_core.c create mode 100644 drivers/iio/accel/bma400_i2c.c diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig index 9b9656ce37e6..cca6727e037e 100644 --- a/drivers/iio/accel/Kconfig +++ b/drivers/iio/accel/Kconfig @@ -112,6 +112,25 @@ config BMA220 To compile this driver as a module, choose M here: the module will be called bma220_spi. +config BMA400 + tristate "Bosch BMA400 3-Axis Accelerometer Driver" + depends on I2C + select REGMAP + select BMA400_I2C if (I2C) + help + Say Y here if you want to build a driver for the Bosch BMA400 + triaxial acceleration sensor. + + To compile this driver as a module, choose M here: the + module will be called bma400_core and you will also get + bma400_i2c for I2C + +config BMA400_I2C + tristate + depends on BMA400 + depends on I2C + select REGMAP_I2C + config BMC150_ACCEL tristate "Bosch BMC150 Accelerometer Driver" select IIO_BUFFER diff --git a/drivers/iio/accel/Makefile b/drivers/iio/accel/Makefile index 56bd0215e0d4..3a051cf37f40 100644 --- a/drivers/iio/accel/Makefile +++ b/drivers/iio/accel/Makefile @@ -14,6 +14,8 @@ obj-$(CONFIG_ADXL372_I2C) += adxl372_i2c.o obj-$(CONFIG_ADXL372_SPI) += adxl372_spi.o obj-$(CONFIG_BMA180) += bma180.o obj-$(CONFIG_BMA220) += bma220_spi.o +obj-$(CONFIG_BMA400) += bma400_core.o +obj-$(CONFIG_BMA400_I2C) += bma400_i2c.o obj-$(CONFIG_BMC150_ACCEL) += bmc150-accel-core.o obj-$(CONFIG_BMC150_ACCEL_I2C) += bmc150-accel-i2c.o obj-$(CONFIG_BMC150_ACCEL_SPI) += bmc150-accel-spi.o diff --git a/drivers/iio/accel/bma400.h b/drivers/iio/accel/bma400.h new file mode 100644 index 000000000000..fa6e8dd598db --- /dev/null +++ b/drivers/iio/accel/bma400.h @@ -0,0 +1,86 @@ +/* SPDX-License-Identifier: GPL-2.0-only */ +/* + * bma400.h - Register constants and other forward declarations + * needed by the bma400 sources. + * + * Copyright 2019 Dan Robertson + */ + +#include + +/* + * Read-Only Registers + */ + +/* Status and ID registers */ +#define BMA400_CHIP_ID_REG 0x00 +#define BMA400_ERR_REG 0x02 +#define BMA400_STATUS_REG 0x03 + +/* Acceleration registers */ +#define BMA400_X_AXIS_LSB_REG 0x04 +#define BMA400_X_AXIS_MSB_REG 0x05 +#define BMA400_Y_AXIS_LSB_REG 0x06 +#define BMA400_Y_AXIS_MSB_REG 0x07 +#define BMA400_Z_AXIS_LSB_REG 0x08 +#define BMA400_Z_AXIS_MSB_REG 0x09 + +/* Sensor time registers */ +#define BMA400_SENSOR_TIME0 0x0a +#define BMA400_SENSOR_TIME1 0x0b +#define BMA400_SENSOR_TIME2 0x0c + +/* Event and interrupt registers */ +#define BMA400_EVENT_REG 0x0d +#define BMA400_INT_STAT0_REG 0x0e +#define BMA400_INT_STAT1_REG 0x0f +#define BMA400_INT_STAT2_REG 0x10 + +/* Temperature register */ +#define BMA400_TEMP_DATA_REG 0x11 + +/* FIFO length and data registers */ +#define BMA400_FIFO_LENGTH0_REG 0x12 +#define BMA400_FIFO_LENGTH1_REG 0x13 +#define BMA400_FIFO_DATA_REG 0x14 + +/* Step count registers */ +#define BMA400_STEP_CNT0_REG 0x15 +#define BMA400_STEP_CNT1_REG 0x16 +#define BMA400_STEP_CNT3_REG 0x17 +#define BMA400_STEP_STAT_REG 0x18 + +/* + * Read-write configuration registers + */ +#define BMA400_ACC_CONFIG0_REG 0x19 +#define BMA400_ACC_CONFIG1_REG 0x1a +#define BMA400_ACC_CONFIG2_REG 0x1b +#define BMA400_CMD_REG 0x7e + +/* Chip ID of BMA 400 devices found in the chip ID register. */ +#define BMA400_ID_REG_VAL 0x90 + +/* + * Commands accepted by the command register + */ +#define BMA400_SOFTRESET_CMD 0xb6 + +#define BMA400_TWO_BITS_MASK 0x03 +#define BMA400_LP_OSR_MASK 0x60 +#define BMA400_NP_OSR_MASK 0x30 +#define BMA400_CMD_RDY_MASK 0x10 +#define BMA400_ACC_ODR_MASK 0x0f +#define BMA400_ACC_SCALE_MASK 0xc0 + +#define BMA400_LP_OSR_SHIFT 0x05 +#define BMA400_NP_OSR_SHIFT 0x04 +#define BMA400_SCALE_SHIFT 0x06 + +extern const struct regmap_config bma400_regmap_config; + +int bma400_probe(struct device *dev, + struct regmap *regmap, + const char *name); + +int bma400_remove(struct device *dev); diff --git a/drivers/iio/accel/bma400_core.c b/drivers/iio/accel/bma400_core.c new file mode 100644 index 000000000000..5b3cb8919c47 --- /dev/null +++ b/drivers/iio/accel/bma400_core.c @@ -0,0 +1,839 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * bma400_core.c - Core IIO driver for Bosch BMA400 triaxial acceleration + * sensor. Used by bma400-i2c. + * + * Copyright 2019 Dan Robertson + * + * TODO: + * - Support for power management + * - Support events and interrupts + * - Create channel the step count + * - Create channel for sensor time + */ + +#include +#include +#include +#include +#include +#include + +#include "bma400.h" + +/* + * The G-range selection may be one of 2g, 4g, 8, or 16g. The scale may + * be selected with the acc_range bits of the ACC_CONFIG1 register. + */ +static const int bma400_scale_table[] = { + 0, 38344, + 0, 76590, + 0, 153277, + 0, 306457 +}; + +static const int bma400_osr_table[] = { 0, 1, 3 }; + +/* See the ACC_CONFIG1 section of the datasheet */ +static const int bma400_sample_freqs[] = { + 12, 500000, + 25, 0, + 50, 0, + 100, 0, + 200, 0, + 400, 0, + 800, 0, +}; + +/* See the ACC_CONFIG0 section of the datasheet */ +enum bma400_power_mode { + POWER_MODE_SLEEP = 0x00, + POWER_MODE_LOW = 0x01, + POWER_MODE_NORMAL = 0x02, + POWER_MODE_INVALID = 0x03, +}; + +struct bma400_data { + struct device *dev; + struct mutex mutex; /* data register lock */ + struct iio_mount_matrix orientation; + struct regmap *regmap; + enum bma400_power_mode power_mode; + const int *sample_freq; + int oversampling_ratio; + int scale; +}; + +static bool bma400_is_writable_reg(struct device *dev, unsigned int reg) +{ + switch (reg) { + case BMA400_CHIP_ID_REG: + case BMA400_ERR_REG: + case BMA400_STATUS_REG: + case BMA400_X_AXIS_LSB_REG: + case BMA400_X_AXIS_MSB_REG: + case BMA400_Y_AXIS_LSB_REG: + case BMA400_Y_AXIS_MSB_REG: + case BMA400_Z_AXIS_LSB_REG: + case BMA400_Z_AXIS_MSB_REG: + case BMA400_SENSOR_TIME0: + case BMA400_SENSOR_TIME1: + case BMA400_SENSOR_TIME2: + case BMA400_EVENT_REG: + case BMA400_INT_STAT0_REG: + case BMA400_INT_STAT1_REG: + case BMA400_INT_STAT2_REG: + case BMA400_TEMP_DATA_REG: + case BMA400_FIFO_LENGTH0_REG: + case BMA400_FIFO_LENGTH1_REG: + case BMA400_FIFO_DATA_REG: + case BMA400_STEP_CNT0_REG: + case BMA400_STEP_CNT1_REG: + case BMA400_STEP_CNT3_REG: + case BMA400_STEP_STAT_REG: + return false; + default: + return true; + } +} + +static bool bma400_is_volatile_reg(struct device *dev, unsigned int reg) +{ + switch (reg) { + case BMA400_ERR_REG: + case BMA400_STATUS_REG: + case BMA400_X_AXIS_LSB_REG: + case BMA400_X_AXIS_MSB_REG: + case BMA400_Y_AXIS_LSB_REG: + case BMA400_Y_AXIS_MSB_REG: + case BMA400_Z_AXIS_LSB_REG: + case BMA400_Z_AXIS_MSB_REG: + case BMA400_SENSOR_TIME0: + case BMA400_SENSOR_TIME1: + case BMA400_SENSOR_TIME2: + case BMA400_EVENT_REG: + case BMA400_INT_STAT0_REG: + case BMA400_INT_STAT1_REG: + case BMA400_INT_STAT2_REG: + case BMA400_TEMP_DATA_REG: + case BMA400_FIFO_LENGTH0_REG: + case BMA400_FIFO_LENGTH1_REG: + case BMA400_FIFO_DATA_REG: + case BMA400_STEP_CNT0_REG: + case BMA400_STEP_CNT1_REG: + case BMA400_STEP_CNT3_REG: + case BMA400_STEP_STAT_REG: + return true; + default: + return false; + } +} + +const struct regmap_config bma400_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + .max_register = BMA400_CMD_REG, + .cache_type = REGCACHE_RBTREE, + .writeable_reg = bma400_is_writable_reg, + .volatile_reg = bma400_is_volatile_reg, +}; +EXPORT_SYMBOL(bma400_regmap_config); + +static const struct iio_mount_matrix * +bma400_accel_get_mount_matrix(const struct iio_dev *indio_dev, + const struct iio_chan_spec *chan) +{ + struct bma400_data *data = iio_priv(indio_dev); + + return &data->orientation; +} + +static const struct iio_chan_spec_ext_info bma400_ext_info[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, bma400_accel_get_mount_matrix), + { } +}; + +#define BMA400_ACC_CHANNEL(_axis) { \ + .type = IIO_ACCEL, \ + .modified = 1, \ + .channel2 = IIO_MOD_##_axis, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO), \ + .info_mask_shared_by_type_available = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO), \ + .ext_info = bma400_ext_info, \ +} + +static const struct iio_chan_spec bma400_channels[] = { + BMA400_ACC_CHANNEL(X), + BMA400_ACC_CHANNEL(Y), + BMA400_ACC_CHANNEL(Z), + { + .type = IIO_TEMP, + .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ), + }, +}; + +static int bma400_get_temp_reg(struct bma400_data *data, int *val, int *val2) +{ + int ret; + int host_temp; + unsigned int raw_temp; + + if (data->power_mode == POWER_MODE_SLEEP) + return -EBUSY; + + ret = regmap_read(data->regmap, BMA400_TEMP_DATA_REG, &raw_temp); + + if (ret < 0) + return ret; + + host_temp = sign_extend32(raw_temp, 7); + /* + * The formula for the TEMP_DATA register in the datasheet + * is: x * 0.5 + 23 + */ + *val = (host_temp >> 1) + 23; + *val2 = (host_temp & 0x1) * 500000; + return IIO_VAL_INT_PLUS_MICRO; +} + +static int bma400_get_accel_reg(struct bma400_data *data, + const struct iio_chan_spec *chan, + int *val) +{ + int ret; + int lsb_reg; + __le16 raw_accel; + + if (data->power_mode == POWER_MODE_SLEEP) + return -EBUSY; + + switch (chan->channel2) { + case IIO_MOD_X: + lsb_reg = BMA400_X_AXIS_LSB_REG; + break; + case IIO_MOD_Y: + lsb_reg = BMA400_Y_AXIS_LSB_REG; + break; + case IIO_MOD_Z: + lsb_reg = BMA400_Z_AXIS_LSB_REG; + break; + default: + dev_err(data->dev, "invalid axis channel modifier"); + return -EINVAL; + } + + /* bulk read two registers, with the base being the LSB register */ + ret = regmap_bulk_read(data->regmap, lsb_reg, &raw_accel, + sizeof(raw_accel)); + if (ret < 0) + return ret; + + *val = sign_extend32(le16_to_cpu(raw_accel), 11); + return IIO_VAL_INT; +} + +static int bma400_ready_for_cmd(struct bma400_data *data) +{ + unsigned int val; + int ret = regmap_read(data->regmap, BMA400_STATUS_REG, &val); + + if (ret < 0) + return 0; + + return (val & BMA400_CMD_RDY_MASK) ? 1 : 0; +} + +static int bma400_softreset(struct bma400_data *data) +{ + int ret; + + if (!bma400_ready_for_cmd(data)) + return -EAGAIN; + + ret = regmap_write(data->regmap, BMA400_CMD_REG, + BMA400_SOFTRESET_CMD); + if (ret < 0) + return ret; + + /* a softreset restores registers to their defaults */ + data->power_mode = POWER_MODE_SLEEP; + data->sample_freq = NULL; + data->oversampling_ratio = -1; + data->scale = bma400_scale_table[1]; + return 0; +} + +static int bma400_get_accel_output_data_rate(struct bma400_data *data) +{ + int ret; + unsigned int val; + unsigned int odr; + int idx; + + switch (data->power_mode) { + case POWER_MODE_LOW: + /* + * Runs at a fixed rate in low-power mode. See section 4.3 + * in the datasheet. + */ + data->sample_freq = &bma400_sample_freqs[2]; + return 0; + case POWER_MODE_NORMAL: + /* + * In normal mode the ODR can be found in the ACC_CONFIG1 + * register. + */ + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, &val); + if (ret < 0) { + data->sample_freq = NULL; + return ret; + } + + odr = (val & BMA400_ACC_ODR_MASK); + if (odr < 0x05) { + dev_err(data->dev, "invalid ODR=%x", odr); + data->sample_freq = NULL; + return -EINVAL; + } + + idx = (odr - 0x05) * 2; + + if (idx + 1 >= ARRAY_SIZE(bma400_sample_freqs)) { + dev_err(data->dev, "sample freq index is too high"); + return -EINVAL; + } + + data->sample_freq = &bma400_sample_freqs[idx]; + return 0; + default: + data->sample_freq = NULL; + return 0; + } +} + +static int bma400_get_accel_output_data_rate_idx(struct bma400_data *data, + int hz, int uhz) +{ + int i; + + for (i = 0; i + 1 < ARRAY_SIZE(bma400_sample_freqs); i += 2) { + if (bma400_sample_freqs[i] == hz && + bma400_sample_freqs[i + 1] == uhz) + return i; + } + + return -EINVAL; +} + +static int bma400_set_accel_output_data_rate(struct bma400_data *data, + int hz, int uhz) +{ + int ret; + unsigned int odr; + unsigned int val; + int idx; + + idx = bma400_get_accel_output_data_rate_idx(data, hz, uhz); + + if (idx < 0) + return idx; + + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, &val); + + if (ret < 0) + return ret; + + /* preserve the range and normal mode osr */ + odr = (~BMA400_ACC_ODR_MASK & val) | (idx / 2 + 0x5); + + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG1_REG, odr); + if (ret < 0) + return ret; + + data->sample_freq = &bma400_sample_freqs[idx]; + return 0; + +} + +static int bma400_get_accel_oversampling_ratio(struct bma400_data *data) +{ + unsigned int val; + unsigned int osr; + int ret; + + /* + * The oversampling ratio is stored in a different register + * based on the power-mode. In normal mode the OSR is stored + * in ACC_CONFIG1. In low-power mode it is stored in + * ACC_CONFIG0. + */ + switch (data->power_mode) { + case POWER_MODE_LOW: + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG0_REG, &val); + if (ret < 0) { + data->oversampling_ratio = -1; + return ret; + } + + osr = (val & BMA400_LP_OSR_MASK) >> BMA400_LP_OSR_SHIFT; + + data->oversampling_ratio = osr; + return 0; + case POWER_MODE_NORMAL: + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, &val); + if (ret < 0) { + data->oversampling_ratio = -1; + return ret; + } + + osr = (val & BMA400_NP_OSR_MASK) >> BMA400_NP_OSR_SHIFT; + + data->oversampling_ratio = osr; + return 0; + default: + data->oversampling_ratio = -1; + return 0; + } +} + +static int bma400_set_accel_oversampling_ratio(struct bma400_data *data, + int val) +{ + int ret; + unsigned int acc_config; + + if (val & ~BMA400_TWO_BITS_MASK) + return -EINVAL; + + /* + * The oversampling ratio is stored in a different register + * based on the power-mode. + */ + switch (data->power_mode) { + case POWER_MODE_LOW: + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG0_REG, + &acc_config); + if (acc_config < 0) + return acc_config; + + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG0_REG, + (acc_config & ~BMA400_LP_OSR_MASK) | + (val << BMA400_LP_OSR_SHIFT)); + if (ret < 0) { + dev_err(data->dev, "Failed to write out OSR"); + return ret; + } + + data->oversampling_ratio = val; + return 0; + case POWER_MODE_NORMAL: + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, + &acc_config); + if (ret < 0) + return ret; + + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG1_REG, + (acc_config & ~BMA400_NP_OSR_MASK) | + (val << BMA400_NP_OSR_SHIFT)); + if (ret < 0) { + dev_err(data->dev, "Failed to write out OSR"); + return ret; + } + + data->oversampling_ratio = val; + return 0; + default: + return -EINVAL; + } + return ret; +} + +static int bma400_get_accel_scale(struct bma400_data *data) +{ + int idx; + int ret; + unsigned int val; + + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, &val); + if (ret < 0) + return ret; + + idx = (((val & BMA400_ACC_SCALE_MASK) >> BMA400_SCALE_SHIFT) * 2) + 1; + if (idx >= ARRAY_SIZE(bma400_scale_table)) + return -EINVAL; + + data->scale = bma400_scale_table[idx]; + + return 0; +} + +static int bma400_get_accel_scale_idx(struct bma400_data *data, int val) +{ + int i; + + for (i = 1; i < ARRAY_SIZE(bma400_scale_table); i += 2) { + if (bma400_scale_table[i] == val) + return i - 1; + } + return -EINVAL; +} + +static int bma400_set_accel_scale(struct bma400_data *data, unsigned int val) +{ + int ret; + int idx; + unsigned int acc_config; + + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, &acc_config); + if (ret < 0) + return ret; + + idx = bma400_get_accel_scale_idx(data, val) / 2; + + if (idx < 0) + return idx; + + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG1_REG, + (acc_config & ~BMA400_ACC_SCALE_MASK) | + (idx << BMA400_SCALE_SHIFT)); + if (ret < 0) + return ret; + + data->scale = val; + return 0; +} + +static int bma400_get_power_mode(struct bma400_data *data) +{ + int ret; + unsigned int val; + + ret = regmap_read(data->regmap, BMA400_STATUS_REG, &val); + if (ret < 0) { + dev_err(data->dev, "Failed to read status register"); + return ret; + } + + data->power_mode = (val >> 1) & BMA400_TWO_BITS_MASK; + + return 0; +} + +static int bma400_set_power_mode(struct bma400_data *data, + enum bma400_power_mode mode) +{ + int ret; + unsigned int val; + + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG0_REG, &val); + if (ret < 0) + return ret; + + if (data->power_mode == mode) + return 0; + + if (mode == POWER_MODE_INVALID) + return -EINVAL; + + /* Preserve the low-power oversample ratio etc */ + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG0_REG, + mode | (val & ~BMA400_TWO_BITS_MASK)); + + if (ret < 0) { + dev_err(data->dev, "Failed to write to power-mode"); + return ret; + } + + data->power_mode = mode; + + /* + * Update our cached osr and odr based on the new + * power-mode. + */ + bma400_get_accel_output_data_rate(data); + bma400_get_accel_oversampling_ratio(data); + + return 0; +} + +static int bma400_init(struct bma400_data *data) +{ + int ret; + unsigned int val; + + /* Try to read chip_id register. It must return 0x90. */ + ret = regmap_read(data->regmap, BMA400_CHIP_ID_REG, &val); + + if (ret < 0) { + dev_err(data->dev, "Failed to read chip id register: %x!", ret); + return ret; + } else if (val != BMA400_ID_REG_VAL) { + dev_err(data->dev, "CHIP ID MISMATCH: %x!", ret); + return -ENODEV; + } + + ret = bma400_get_power_mode(data); + if (ret < 0) { + dev_err(data->dev, "Failed to get the initial power-mode!"); + return ret; + } + + if (data->power_mode != POWER_MODE_NORMAL) { + ret = bma400_set_power_mode(data, POWER_MODE_NORMAL); + if (ret < 0) { + dev_err(data->dev, "Failed to wake up the device!"); + return ret; + } + /* + * TODO: The datasheet waits 1500us here in the example, but + * lists 2/ODR as the wakeup time. + */ + usleep_range(1500, 20000); + } + + ret = bma400_get_accel_output_data_rate(data); + if (ret < 0) + return ret; + + ret = bma400_get_accel_oversampling_ratio(data); + if (ret < 0) + return ret; + + ret = bma400_get_accel_scale(data); + if (ret < 0) + return ret; + + /* + * Once the interrupt engine is supported we might use the + * data_src_reg, but for now ensure this is set to the + * variable ODR filter selectable by the sample frequency + * channel. + */ + return regmap_write(data->regmap, BMA400_ACC_CONFIG2_REG, 0x00); +} + +static struct attribute *bma400_attributes[] = { + NULL, +}; + +static const struct attribute_group bma400_attrs_group = { + .attrs = bma400_attributes, +}; + +static int bma400_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int *val, + int *val2, long mask) +{ + struct bma400_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_PROCESSED: + mutex_lock(&data->mutex); + ret = bma400_get_temp_reg(data, val, val2); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_RAW: + mutex_lock(&data->mutex); + ret = bma400_get_accel_reg(data, chan, val); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + switch (chan->type) { + case IIO_ACCEL: + if (!data->sample_freq) + return -EINVAL; + + *val = data->sample_freq[0]; + *val2 = data->sample_freq[1]; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_TEMP: + /* + * Runs at a fixed sampling frequency. See Section 4.4 + * of the datasheet. + */ + *val = 6; + *val2 = 250000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_SCALE: + *val = 0; + *val2 = data->scale; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + /* + * TODO: We could avoid this logic and returning -EINVAL here if + * we set both the low-power and normal mode OSR registers when + * we configure the device. + */ + if (data->oversampling_ratio < 0) + return -EINVAL; + + *val = data->oversampling_ratio; + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + +static int bma400_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_SCALE: + *type = IIO_VAL_INT_PLUS_MICRO; + *vals = bma400_scale_table; + *length = ARRAY_SIZE(bma400_scale_table); + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + *type = IIO_VAL_INT; + *vals = bma400_osr_table; + *length = ARRAY_SIZE(bma400_osr_table); + return IIO_AVAIL_RANGE; + case IIO_CHAN_INFO_SAMP_FREQ: + *type = IIO_VAL_INT_PLUS_MICRO; + *vals = bma400_sample_freqs; + *length = ARRAY_SIZE(bma400_sample_freqs); + return IIO_AVAIL_LIST; + default: + return -EINVAL; + } +} + +static int bma400_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int val, int val2, + long mask) +{ + int ret; + struct bma400_data *data = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + /* + * The sample frequency is readonly for the temperature + * register and a fixed value in low-power mode. + */ + if (chan->type != IIO_ACCEL) + return -EINVAL; + + mutex_lock(&data->mutex); + ret = bma400_set_accel_output_data_rate(data, val, val2); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_SCALE: + if (val != 0) + return -EINVAL; + + mutex_lock(&data->mutex); + ret = bma400_set_accel_scale(data, val2); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + mutex_lock(&data->mutex); + ret = bma400_set_accel_oversampling_ratio(data, val); + mutex_unlock(&data->mutex); + return ret; + default: + return -EINVAL; + } +} + +static int bma400_write_raw_get_fmt(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + long mask) +{ + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_SCALE: + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + +static const struct iio_info bma400_info = { + .attrs = &bma400_attrs_group, + .read_raw = bma400_read_raw, + .read_avail = bma400_read_avail, + .write_raw = bma400_write_raw, + .write_raw_get_fmt = bma400_write_raw_get_fmt, +}; + +int bma400_probe(struct device *dev, + struct regmap *regmap, + const char *name) +{ + int ret; + struct bma400_data *data; + struct iio_dev *indio_dev; + + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + data->regmap = regmap; + data->dev = dev; + + ret = bma400_init(data); + if (ret < 0) + return ret; + + ret = iio_read_mount_matrix(dev, "mount-matrix", &data->orientation); + if (ret) + return ret; + + mutex_init(&data->mutex); + indio_dev->dev.parent = dev; + indio_dev->name = name; + indio_dev->info = &bma400_info; + indio_dev->channels = bma400_channels; + indio_dev->num_channels = ARRAY_SIZE(bma400_channels); + indio_dev->modes = INDIO_DIRECT_MODE; + + dev_set_drvdata(dev, indio_dev); + + return iio_device_register(indio_dev); +} +EXPORT_SYMBOL(bma400_probe); + +int bma400_remove(struct device *dev) +{ + int ret; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct bma400_data *data = iio_priv(indio_dev); + + mutex_lock(&data->mutex); + ret = bma400_softreset(data); + if (ret < 0) { + /* + * If the softreset failed, try to put the device in + * sleep mode, but still report the error. + */ + dev_err(data->dev, "Failed to reset the device"); + bma400_set_power_mode(data, POWER_MODE_SLEEP); + } + mutex_unlock(&data->mutex); + + iio_device_unregister(indio_dev); + + return ret; +} +EXPORT_SYMBOL(bma400_remove); + +MODULE_AUTHOR("Dan Robertson "); +MODULE_DESCRIPTION("Bosch BMA400 triaxial acceleration sensor"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/accel/bma400_i2c.c b/drivers/iio/accel/bma400_i2c.c new file mode 100644 index 000000000000..9d3a4a089a0a --- /dev/null +++ b/drivers/iio/accel/bma400_i2c.c @@ -0,0 +1,58 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * bma400_i2c.c - I2C IIO driver for Bosch BMA400 triaxial acceleration sensor. + * + * Copyright 2019 Dan Robertson + * + * I2C address is either 0x14 or 0x15 depending on SDO + */ +#include +#include +#include +#include + +#include "bma400.h" + +static int bma400_i2c_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct regmap *regmap; + + regmap = devm_regmap_init_i2c(client, + &bma400_regmap_config); + + return bma400_probe(&client->dev, regmap, id->name); +} + +static int bma400_i2c_remove(struct i2c_client *client) +{ + return bma400_remove(&client->dev); +} + +static const struct i2c_device_id bma400_i2c_ids[] = { + { "bma400", 0 }, + { } +}; +MODULE_DEVICE_TABLE(i2c, bma400_i2c_ids); + +static const struct of_device_id bma400_of_match[] = { + { .compatible = "bosch,bma400" }, + { } +}; +MODULE_DEVICE_TABLE(of, bma400_of_match); + +static struct i2c_driver bma400_i2c_driver = { + .driver = { + .name = "bma400", + .of_match_table = bma400_of_match, + }, + .probe = bma400_i2c_probe, + .remove = bma400_i2c_remove, + .id_table = bma400_i2c_ids, +}; + +module_i2c_driver(bma400_i2c_driver); + +MODULE_AUTHOR("Dan Robertson "); +MODULE_DESCRIPTION("Bosch BMA400 triaxial acceleration sensor"); +MODULE_LICENSE("GPL");