Add initial i2c support for the Bosch BMI270 6-axis IMU.
Provides raw read access to acceleration and angle velocity measurements
via iio channels. Device configuration requires firmware provided by
Bosch and is requested and load from userspace.
Signed-off-by: Alex Lanzano <lanzano.alex@gmail.com>
---
MAINTAINERS | 7 +
drivers/iio/imu/Kconfig | 1 +
drivers/iio/imu/Makefile | 1 +
drivers/iio/imu/bmi270/Kconfig | 21 +++
drivers/iio/imu/bmi270/Makefile | 6 +
drivers/iio/imu/bmi270/bmi270.h | 62 +++++++
drivers/iio/imu/bmi270/bmi270_core.c | 258 +++++++++++++++++++++++++++
drivers/iio/imu/bmi270/bmi270_i2c.c | 48 +++++
8 files changed, 404 insertions(+)
create mode 100644 drivers/iio/imu/bmi270/Kconfig
create mode 100644 drivers/iio/imu/bmi270/Makefile
create mode 100644 drivers/iio/imu/bmi270/bmi270.h
create mode 100644 drivers/iio/imu/bmi270/bmi270_core.c
create mode 100644 drivers/iio/imu/bmi270/bmi270_i2c.c
diff --git a/MAINTAINERS b/MAINTAINERS
index dd4588838d90..faf109ae60eb 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -3928,6 +3928,13 @@ S: Maintained
F: Documentation/devicetree/bindings/iio/accel/bosch,bma400.yaml
F: drivers/iio/accel/bma400*
+BOSCH SENSORTEC BMI270 IMU IIO DRIVER
+M: Alex Lanzano <lanzano.alex@gmail.com>
+L: linux-iio@vger.kernel.org
+S: Maintained
+F: Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml
+F: drivers/iio/imu/bmi270/
+
BOSCH SENSORTEC BMI323 IMU IIO DRIVER
M: Jagath Jog J <jagathjog1996@gmail.com>
L: linux-iio@vger.kernel.org
diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
index 782fb80e44c2..489dd898830b 100644
--- a/drivers/iio/imu/Kconfig
+++ b/drivers/iio/imu/Kconfig
@@ -53,6 +53,7 @@ config ADIS16480
ADIS16485, ADIS16488 inertial sensors.
source "drivers/iio/imu/bmi160/Kconfig"
+source "drivers/iio/imu/bmi270/Kconfig"
source "drivers/iio/imu/bmi323/Kconfig"
source "drivers/iio/imu/bno055/Kconfig"
diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
index 7e2d7d5c3b7b..79f83ea6f644 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 += bmi270/
obj-y += bmi323/
obj-y += bno055/
diff --git a/drivers/iio/imu/bmi270/Kconfig b/drivers/iio/imu/bmi270/Kconfig
new file mode 100644
index 000000000000..3f7b4ac30f00
--- /dev/null
+++ b/drivers/iio/imu/bmi270/Kconfig
@@ -0,0 +1,21 @@
+# SPDX-License-Identifier: GPL-2.0
+#
+# BMI270 IMU driver
+#
+
+config BMI270
+ tristate
+ select IIO_BUFFER
+
+config BMI270_I2C
+ tristate "Bosch BMI270 I2C driver"
+ depends on I2C
+ select BMI270
+ select REGMAP_I2C
+ help
+ Enable support for the Bosch BMI270 6-Axis IMU connected to I2C
+ interface.
+
+ This driver can also be built as a module. If so, the module will be
+ called bmi270_i2c.
+
diff --git a/drivers/iio/imu/bmi270/Makefile b/drivers/iio/imu/bmi270/Makefile
new file mode 100644
index 000000000000..ab4acaaee6d2
--- /dev/null
+++ b/drivers/iio/imu/bmi270/Makefile
@@ -0,0 +1,6 @@
+# SPDX-License-Identifier: GPL-2.0
+#
+# Makefile for Bosch BMI270 IMU
+#
+obj-$(CONFIG_BMI270) += bmi270_core.o
+obj-$(CONFIG_BMI270_I2C) += bmi270_i2c.o
diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h
new file mode 100644
index 000000000000..4af4098d8e82
--- /dev/null
+++ b/drivers/iio/imu/bmi270/bmi270.h
@@ -0,0 +1,62 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) */
+
+#ifndef BMI270_H_
+#define BMI270_H_
+
+#include <linux/iio/iio.h>
+
+#define BMI270_CHIP_ID_REG 0x00
+#define BMI270_CHIP_ID_VAL 0x24
+#define BMI270_CHIP_ID_MSK GENMASK(7, 0)
+
+#define BMI270_ACCEL_X_REG 0x0c
+#define BMI270_ANG_VEL_X_REG 0x12
+
+#define BMI270_INTERNAL_STATUS_REG 0x21
+#define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0)
+#define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01
+
+#define BMI270_INTERNAL_STATUS_AXES_REMAP_ERR_MSK BIT(5)
+#define BMI270_INTERNAL_STATUS_ODR_50HZ_ERR_MSK BIT(6)
+
+#define BMI270_ACC_CONF_REG 0x40
+#define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0)
+#define BMI270_ACC_CONF_ODR_100HZ 0x08
+#define BMI270_ACC_CONF_BWP_MSK GENMASK(6, 4)
+#define BMI270_ACC_CONF_BWP_NORMAL_MODE 0x02
+#define BMI270_ACC_CONF_FILTER_PERF_MSK BIT(7)
+
+#define BMI270_GYR_CONF_REG 0x42
+#define BMI270_GYR_CONF_ODR_MSK GENMASK(3, 0)
+#define BMI270_GYR_CONF_ODR_200HZ 0x09
+#define BMI270_GYR_CONF_BWP_MSK GENMASK(5, 4)
+#define BMI270_GYR_CONF_BWP_NORMAL_MODE 0x02
+#define BMI270_GYR_CONF_NOISE_PERF_MSK BIT(6)
+#define BMI270_GYR_CONF_FILTER_PERF_MSK BIT(7)
+
+#define BMI270_INIT_CTRL_REG 0x59
+#define BMI270_INIT_CTRL_LOAD_DONE_MSK BIT(0)
+
+#define BMI270_INIT_DATA_REG 0x5e
+
+#define BMI270_PWR_CONF_REG 0x7c
+#define BMI270_PWR_CONF_ADV_PWR_SAVE_MSK BIT(0)
+#define BMI270_PWR_CONF_FIFO_WKUP_MSK BIT(1)
+#define BMI270_PWR_CONF_FUP_EN_MSK BIT(2)
+
+#define BMI270_PWR_CTRL_REG 0x7d
+#define BMI270_PWR_CTRL_AUX_EN_MSK BIT(0)
+#define BMI270_PWR_CTRL_GYR_EN_MSK BIT(1)
+#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
+#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
+
+struct bmi270_data {
+ struct device *dev;
+ struct regmap *regmap;
+};
+
+extern const struct regmap_config bmi270_regmap_config;
+
+int bmi270_core_probe(struct device *dev, struct regmap *regmap);
+
+#endif /* BMI270_H_ */
diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
new file mode 100644
index 000000000000..319e5601d9e7
--- /dev/null
+++ b/drivers/iio/imu/bmi270/bmi270_core.c
@@ -0,0 +1,258 @@
+// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+
+#include <linux/firmware.h>
+#include <linux/i2c.h>
+#include <linux/iio/iio.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/bitfield.h>
+
+#include "bmi270.h"
+
+#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw"
+
+enum bmi270_scan {
+ BMI270_SCAN_ACCEL_X,
+ BMI270_SCAN_ACCEL_Y,
+ BMI270_SCAN_ACCEL_Z,
+ BMI270_SCAN_GYRO_X,
+ BMI270_SCAN_GYRO_Y,
+ BMI270_SCAN_GYRO_Z,
+};
+
+const struct regmap_config bmi270_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+};
+EXPORT_SYMBOL_NS_GPL(bmi270_regmap_config, IIO_BMI270);
+
+static int bmi270_get_data(struct bmi270_data *bmi270_device,
+ int chan_type, int axis, int *val)
+{
+ __le16 sample;
+ int reg;
+ int ret;
+
+ switch (chan_type) {
+ case IIO_ACCEL:
+ reg = BMI270_ACCEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample);
+ break;
+ case IIO_ANGL_VEL:
+ reg = BMI270_ANG_VEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ ret = regmap_bulk_read(bmi270_device->regmap, reg, &sample, sizeof(sample));
+ if (ret)
+ return ret;
+
+ *val = sign_extend32(le16_to_cpu(sample), 15);
+
+ return 0;
+}
+
+static int bmi270_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ int ret;
+ struct bmi270_data *bmi270_device = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = bmi270_get_data(bmi270_device, chan->type, chan->channel2, val);
+ if (ret)
+ return ret;
+
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+}
+
+static const struct iio_info bmi270_info = {
+ .read_raw = bmi270_read_raw,
+};
+
+#define BMI270_ACCEL_CHANNEL(_axis) { \
+ .type = IIO_ACCEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##_axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_FREQUENCY), \
+}
+
+#define BMI270_ANG_VEL_CHANNEL(_axis) { \
+ .type = IIO_ANGL_VEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##_axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_FREQUENCY), \
+}
+
+static const struct iio_chan_spec bmi270_channels[] = {
+ BMI270_ACCEL_CHANNEL(X),
+ BMI270_ACCEL_CHANNEL(Y),
+ BMI270_ACCEL_CHANNEL(Z),
+ BMI270_ANG_VEL_CHANNEL(X),
+ BMI270_ANG_VEL_CHANNEL(Y),
+ BMI270_ANG_VEL_CHANNEL(Z)
+};
+
+static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device)
+{
+ int chip_id;
+ int ret;
+ struct device *dev = bmi270_device->dev;
+ struct regmap *regmap = bmi270_device->regmap;
+
+ ret = regmap_read(regmap, BMI270_CHIP_ID_REG, &chip_id);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to read chip id");
+
+ if (chip_id != BMI270_CHIP_ID_VAL)
+ return dev_err_probe(dev, -ENODEV, "Invalid chip id 0x%x", chip_id);
+
+ return 0;
+}
+
+static int bmi270_write_calibration_data(struct bmi270_data *bmi270_device)
+{
+ int ret;
+ int status = 0;
+ const struct firmware *init_data;
+ struct device *dev = bmi270_device->dev;
+ struct regmap *regmap = bmi270_device->regmap;
+
+ ret = regmap_clear_bits(regmap, BMI270_PWR_CONF_REG, BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to write power configuration");
+
+ /* After disabling advanced power save, all registers are accessible after a 450us delay
+ * This delay is specified in table A of the datasheet.
+ */
+ usleep_range(450, 1000);
+
+ ret = regmap_clear_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to prepare device to load init data");
+
+ ret = request_firmware(&init_data, BMI270_INIT_DATA_FILE, dev);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to load init data file");
+
+ ret = regmap_bulk_write(regmap, BMI270_INIT_DATA_REG,
+ init_data->data, init_data->size);
+ release_firmware(init_data);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to write init data");
+
+ ret = regmap_set_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to stop device initialization");
+
+ /* Wait at least 140ms for the device to complete configuration.
+ * This delay is specified in table C of the datasheet.
+ */
+ usleep_range(140000, 160000);
+
+ ret = regmap_read(regmap, BMI270_INTERNAL_STATUS_REG, &status);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to read internal status");
+
+ if (status != BMI270_INTERNAL_STATUS_MSG_INIT_OK)
+ return dev_err_probe(dev, -ENODEV, "Device failed to initialize");
+
+ return 0;
+}
+
+static int bmi270_configure_imu(struct bmi270_data *bmi270_device)
+{
+ int ret;
+ struct device *dev = bmi270_device->dev;
+ struct regmap *regmap = bmi270_device->regmap;
+
+ ret = regmap_set_bits(regmap, BMI270_PWR_CTRL_REG,
+ BMI270_PWR_CTRL_AUX_EN_MSK |
+ BMI270_PWR_CTRL_GYR_EN_MSK |
+ BMI270_PWR_CTRL_ACCEL_EN_MSK);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to enable accelerometer and gyroscope");
+
+ ret = regmap_set_bits(regmap, BMI270_ACC_CONF_REG,
+ FIELD_PREP(BMI270_ACC_CONF_ODR_MSK,
+ BMI270_ACC_CONF_ODR_100HZ) |
+ FIELD_PREP(BMI270_ACC_CONF_BWP_MSK,
+ BMI270_ACC_CONF_BWP_NORMAL_MODE) |
+ BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to configure accelerometer");
+
+ ret = regmap_set_bits(regmap, BMI270_GYR_CONF_REG,
+ FIELD_PREP(BMI270_GYR_CONF_ODR_MSK,
+ BMI270_GYR_CONF_ODR_200HZ) |
+ FIELD_PREP(BMI270_GYR_CONF_BWP_MSK,
+ BMI270_GYR_CONF_BWP_NORMAL_MODE) |
+ BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to configure gyroscope");
+
+ /* Enable FIFO_WKUP, Disable ADV_PWR_SAVE and FUP_EN */
+ ret = regmap_write(regmap, BMI270_PWR_CONF_REG,
+ BMI270_PWR_CONF_FIFO_WKUP_MSK);
+ if (ret)
+ return dev_err_probe(dev, ret, "Failed to set power configuration");
+
+ return 0;
+}
+
+static int bmi270_chip_init(struct bmi270_data *bmi270_device)
+{
+ int ret;
+
+ ret = bmi270_validate_chip_id(bmi270_device);
+ if (ret)
+ return ret;
+
+ ret = bmi270_write_calibration_data(bmi270_device);
+ if (ret)
+ return ret;
+
+ return bmi270_configure_imu(bmi270_device);
+}
+
+int bmi270_core_probe(struct device *dev, struct regmap *regmap)
+{
+ int ret;
+ struct bmi270_data *bmi270_device;
+ struct iio_dev *indio_dev;
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(struct bmi270_data *));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ bmi270_device = iio_priv(indio_dev);
+ bmi270_device->dev = dev;
+ bmi270_device->regmap = regmap;
+
+ ret = bmi270_chip_init(bmi270_device);
+ if (ret)
+ return ret;
+
+ indio_dev->channels = bmi270_channels;
+ indio_dev->num_channels = ARRAY_SIZE(bmi270_channels);
+ indio_dev->name = "bmi270";
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->info = &bmi270_info;
+
+ return devm_iio_device_register(dev, indio_dev);
+}
+EXPORT_SYMBOL_NS_GPL(bmi270_core_probe, IIO_BMI270);
+
+MODULE_AUTHOR("Alex Lanzano");
+MODULE_DESCRIPTION("BMI270 driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/bmi270/bmi270_i2c.c b/drivers/iio/imu/bmi270/bmi270_i2c.c
new file mode 100644
index 000000000000..f70dee2d8a64
--- /dev/null
+++ b/drivers/iio/imu/bmi270/bmi270_i2c.c
@@ -0,0 +1,48 @@
+// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+
+#include <linux/module.h>
+#include <linux/i2c.h>
+#include <linux/iio/iio.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/regmap.h>
+
+#include "bmi270.h"
+
+static int bmi270_i2c_probe(struct i2c_client *client)
+{
+ struct regmap *regmap;
+ struct device *dev = &client->dev;
+
+ regmap = devm_regmap_init_i2c(client, &bmi270_regmap_config);
+ if (IS_ERR(regmap))
+ return dev_err_probe(dev, PTR_ERR(regmap),
+ "Failed to init i2c regmap");
+
+ return bmi270_core_probe(dev, regmap);
+}
+
+static const struct i2c_device_id bmi270_i2c_id[] = {
+ { "bmi270", 0 },
+ { }
+};
+
+static const struct of_device_id bmi270_of_match[] = {
+ { .compatible = "bosch,bmi270" },
+ { }
+};
+
+static struct i2c_driver bmi270_i2c_driver = {
+ .driver = {
+ .name = "bmi270_i2c",
+ .of_match_table = bmi270_of_match,
+ },
+ .probe = bmi270_i2c_probe,
+ .id_table = bmi270_i2c_id,
+};
+module_i2c_driver(bmi270_i2c_driver);
+
+MODULE_AUTHOR("Alex Lanzano");
+MODULE_DESCRIPTION("BMI270 driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS(IIO_BMI270);
--
2.46.0On Thu, 12 Sep 2024 17:07:19 -0400
Alex Lanzano <lanzano.alex@gmail.com> wrote:
> Add initial i2c support for the Bosch BMI270 6-axis IMU.
> Provides raw read access to acceleration and angle velocity measurements
> via iio channels. Device configuration requires firmware provided by
> Bosch and is requested and load from userspace.
>
> Signed-off-by: Alex Lanzano <lanzano.alex@gmail.com>
Hi Alex,
A bunch of fairly minor stuff so I've just tweaked it whilst applying rather
than wasting time on going around again.
I also changed a few line wraps to keep lines a bit shorter.
Where it doesn't hurt readability 80 chars is still my preference for IIO.
The diff of the tweaks I made is as follows. Shout if I messed anything up!
Thanks,
Jonathan
diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h
index 4af4098d8e82..608b29ea58a3 100644
--- a/drivers/iio/imu/bmi270/bmi270.h
+++ b/drivers/iio/imu/bmi270/bmi270.h
@@ -3,53 +3,9 @@
#ifndef BMI270_H_
#define BMI270_H_
-#include <linux/iio/iio.h>
-
-#define BMI270_CHIP_ID_REG 0x00
-#define BMI270_CHIP_ID_VAL 0x24
-#define BMI270_CHIP_ID_MSK GENMASK(7, 0)
-
-#define BMI270_ACCEL_X_REG 0x0c
-#define BMI270_ANG_VEL_X_REG 0x12
-
-#define BMI270_INTERNAL_STATUS_REG 0x21
-#define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0)
-#define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01
-
-#define BMI270_INTERNAL_STATUS_AXES_REMAP_ERR_MSK BIT(5)
-#define BMI270_INTERNAL_STATUS_ODR_50HZ_ERR_MSK BIT(6)
-
-#define BMI270_ACC_CONF_REG 0x40
-#define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0)
-#define BMI270_ACC_CONF_ODR_100HZ 0x08
-#define BMI270_ACC_CONF_BWP_MSK GENMASK(6, 4)
-#define BMI270_ACC_CONF_BWP_NORMAL_MODE 0x02
-#define BMI270_ACC_CONF_FILTER_PERF_MSK BIT(7)
-
-#define BMI270_GYR_CONF_REG 0x42
-#define BMI270_GYR_CONF_ODR_MSK GENMASK(3, 0)
-#define BMI270_GYR_CONF_ODR_200HZ 0x09
-#define BMI270_GYR_CONF_BWP_MSK GENMASK(5, 4)
-#define BMI270_GYR_CONF_BWP_NORMAL_MODE 0x02
-#define BMI270_GYR_CONF_NOISE_PERF_MSK BIT(6)
-#define BMI270_GYR_CONF_FILTER_PERF_MSK BIT(7)
-
-#define BMI270_INIT_CTRL_REG 0x59
-#define BMI270_INIT_CTRL_LOAD_DONE_MSK BIT(0)
-
-#define BMI270_INIT_DATA_REG 0x5e
-
-#define BMI270_PWR_CONF_REG 0x7c
-#define BMI270_PWR_CONF_ADV_PWR_SAVE_MSK BIT(0)
-#define BMI270_PWR_CONF_FIFO_WKUP_MSK BIT(1)
-#define BMI270_PWR_CONF_FUP_EN_MSK BIT(2)
-
-#define BMI270_PWR_CTRL_REG 0x7d
-#define BMI270_PWR_CTRL_AUX_EN_MSK BIT(0)
-#define BMI270_PWR_CTRL_GYR_EN_MSK BIT(1)
-#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
-#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
+#include <linux/regmap.h>
+struct device;
struct bmi270_data {
struct device *dev;
struct regmap *regmap;
iff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
index 319e5601d9e7..8e45343d6472 100644
--- a/drivers/iio/imu/bmi270/bmi270_core.c
+++ b/drivers/iio/imu/bmi270/bmi270_core.c
@@ -1,14 +1,60 @@
// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+#include <linux/bitfield.h>
#include <linux/firmware.h>
#include <linux/i2c.h>
-#include <linux/iio/iio.h>
#include <linux/module.h>
#include <linux/regmap.h>
-#include <linux/bitfield.h>
+
+#include <linux/iio/iio.h>
#include "bmi270.h"
+#define BMI270_CHIP_ID_REG 0x00
+#define BMI270_CHIP_ID_VAL 0x24
+#define BMI270_CHIP_ID_MSK GENMASK(7, 0)
+
+#define BMI270_ACCEL_X_REG 0x0c
+#define BMI270_ANG_VEL_X_REG 0x12
+
+#define BMI270_INTERNAL_STATUS_REG 0x21
+#define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0)
+#define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01
+
+#define BMI270_INTERNAL_STATUS_AXES_REMAP_ERR_MSK BIT(5)
+#define BMI270_INTERNAL_STATUS_ODR_50HZ_ERR_MSK BIT(6)
+
+#define BMI270_ACC_CONF_REG 0x40
+#define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0)
+#define BMI270_ACC_CONF_ODR_100HZ 0x08
+#define BMI270_ACC_CONF_BWP_MSK GENMASK(6, 4)
+#define BMI270_ACC_CONF_BWP_NORMAL_MODE 0x02
+#define BMI270_ACC_CONF_FILTER_PERF_MSK BIT(7)
+
+#define BMI270_GYR_CONF_REG 0x42
+#define BMI270_GYR_CONF_ODR_MSK GENMASK(3, 0)
+#define BMI270_GYR_CONF_ODR_200HZ 0x09
+#define BMI270_GYR_CONF_BWP_MSK GENMASK(5, 4)
+#define BMI270_GYR_CONF_BWP_NORMAL_MODE 0x02
+#define BMI270_GYR_CONF_NOISE_PERF_MSK BIT(6)
+#define BMI270_GYR_CONF_FILTER_PERF_MSK BIT(7)
+
+#define BMI270_INIT_CTRL_REG 0x59
+#define BMI270_INIT_CTRL_LOAD_DONE_MSK BIT(0)
+
+#define BMI270_INIT_DATA_REG 0x5e
+
+#define BMI270_PWR_CONF_REG 0x7c
+#define BMI270_PWR_CONF_ADV_PWR_SAVE_MSK BIT(0)
+#define BMI270_PWR_CONF_FIFO_WKUP_MSK BIT(1)
+#define BMI270_PWR_CONF_FUP_EN_MSK BIT(2)
+
+#define BMI270_PWR_CTRL_REG 0x7d
+#define BMI270_PWR_CTRL_AUX_EN_MSK BIT(0)
+#define BMI270_PWR_CTRL_GYR_EN_MSK BIT(1)
+#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
+#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
+
#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw"
enum bmi270_scan {
@@ -35,10 +81,10 @@ static int bmi270_get_data(struct bmi270_data *bmi270_device,
switch (chan_type) {
case IIO_ACCEL:
- reg = BMI270_ACCEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample);
+ reg = BMI270_ACCEL_X_REG + (axis - IIO_MOD_X) * 2;
break;
case IIO_ANGL_VEL:
- reg = BMI270_ANG_VEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample);
+ reg = BMI270_ANG_VEL_X_REG + (axis - IIO_MOD_X) * 2;
break;
default:
return -EINVAL;
@@ -82,7 +128,7 @@ static const struct iio_info bmi270_info = {
.channel2 = IIO_MOD_##_axis, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
- BIT(IIO_CHAN_INFO_FREQUENCY), \
+ BIT(IIO_CHAN_INFO_FREQUENCY), \
}
#define BMI270_ANG_VEL_CHANNEL(_axis) { \
@@ -91,7 +137,7 @@ static const struct iio_info bmi270_info = {
.channel2 = IIO_MOD_##_axis, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
- BIT(IIO_CHAN_INFO_FREQUENCY), \
+ BIT(IIO_CHAN_INFO_FREQUENCY), \
}
static const struct iio_chan_spec bmi270_channels[] = {
@@ -100,7 +146,7 @@ static const struct iio_chan_spec bmi270_channels[] = {
BMI270_ACCEL_CHANNEL(Z),
BMI270_ANG_VEL_CHANNEL(X),
BMI270_ANG_VEL_CHANNEL(Y),
- BMI270_ANG_VEL_CHANNEL(Z)
+ BMI270_ANG_VEL_CHANNEL(Z),
};
static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device)
@@ -115,7 +161,7 @@ static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device)
return dev_err_probe(dev, ret, "Failed to read chip id");
if (chip_id != BMI270_CHIP_ID_VAL)
- return dev_err_probe(dev, -ENODEV, "Invalid chip id 0x%x", chip_id);
+ dev_info(dev, "Unknown chip id 0x%x", chip_id);
return 0;
}
@@ -128,18 +174,24 @@ static int bmi270_write_calibration_data(struct bmi270_data *bmi270_device)
struct device *dev = bmi270_device->dev;
struct regmap *regmap = bmi270_device->regmap;
- ret = regmap_clear_bits(regmap, BMI270_PWR_CONF_REG, BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
+ ret = regmap_clear_bits(regmap, BMI270_PWR_CONF_REG,
+ BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
if (ret)
- return dev_err_probe(dev, ret, "Failed to write power configuration");
+ return dev_err_probe(dev, ret,
+ "Failed to write power configuration");
- /* After disabling advanced power save, all registers are accessible after a 450us delay
- * This delay is specified in table A of the datasheet.
+ /*
+ * After disabling advanced power save, all registers are accessible
+ * after a 450us delay. This delay is specified in table A of the
+ * datasheet.
*/
usleep_range(450, 1000);
- ret = regmap_clear_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK);
+ ret = regmap_clear_bits(regmap, BMI270_INIT_CTRL_REG,
+ BMI270_INIT_CTRL_LOAD_DONE_MSK);
if (ret)
- return dev_err_probe(dev, ret, "Failed to prepare device to load init data");
+ return dev_err_probe(dev, ret,
+ "Failed to prepare device to load init data");
ret = request_firmware(&init_data, BMI270_INIT_DATA_FILE, dev);
if (ret)
@@ -151,11 +203,14 @@ static int bmi270_write_calibration_data(struct bmi270_data *bmi270_device)
if (ret)
return dev_err_probe(dev, ret, "Failed to write init data");
- ret = regmap_set_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK);
+ ret = regmap_set_bits(regmap, BMI270_INIT_CTRL_REG,
+ BMI270_INIT_CTRL_LOAD_DONE_MSK);
if (ret)
- return dev_err_probe(dev, ret, "Failed to stop device initialization");
+ return dev_err_probe(dev, ret,
+ "Failed to stop device initialization");
- /* Wait at least 140ms for the device to complete configuration.
+ /*
+ * Wait at least 140ms for the device to complete configuration.
* This delay is specified in table C of the datasheet.
*/
usleep_range(140000, 160000);
@@ -231,7 +286,7 @@ int bmi270_core_probe(struct device *dev, struct regmap *regmap)
struct bmi270_data *bmi270_device;
struct iio_dev *indio_dev;
- indio_dev = devm_iio_device_alloc(dev, sizeof(struct bmi270_data *));
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*bmi270_device));
if (!indio_dev)
return -ENOMEM;
> diff --git a/drivers/iio/imu/bmi270/Makefile b/drivers/iio/imu/bmi270/Makefile
> new file mode 100644
> index 000000000000..ab4acaaee6d2
> --- /dev/null
> +++ b/drivers/iio/imu/bmi270/Makefile
> @@ -0,0 +1,6 @@
> +# SPDX-License-Identifier: GPL-2.0
> +#
> +# Makefile for Bosch BMI270 IMU
> +#
> +obj-$(CONFIG_BMI270) += bmi270_core.o
> +obj-$(CONFIG_BMI270_I2C) += bmi270_i2c.o
> diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h
> new file mode 100644
> index 000000000000..4af4098d8e82
> --- /dev/null
> +++ b/drivers/iio/imu/bmi270/bmi270.h
> @@ -0,0 +1,62 @@
> +/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) */
> +
> +#ifndef BMI270_H_
> +#define BMI270_H_
> +
> +#include <linux/iio/iio.h>
no obvious reason for this. Headers should only include things
they need.
However you do need some forward definitions for
struct device;
and an include of regmap.h for the regmap_config.
> +
> +#define BMI270_CHIP_ID_REG 0x00
> +#define BMI270_CHIP_ID_VAL 0x24
> +#define BMI270_CHIP_ID_MSK GENMASK(7, 0)
> +
> +#define BMI270_ACCEL_X_REG 0x0c
> +#define BMI270_ANG_VEL_X_REG 0x12
> +
> +#define BMI270_INTERNAL_STATUS_REG 0x21
> +#define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0)
> +#define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01
> +
> +#define BMI270_INTERNAL_STATUS_AXES_REMAP_ERR_MSK BIT(5)
> +#define BMI270_INTERNAL_STATUS_ODR_50HZ_ERR_MSK BIT(6)
> +
> +#define BMI270_ACC_CONF_REG 0x40
> +#define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0)
> +#define BMI270_ACC_CONF_ODR_100HZ 0x08
> +#define BMI270_ACC_CONF_BWP_MSK GENMASK(6, 4)
> +#define BMI270_ACC_CONF_BWP_NORMAL_MODE 0x02
> +#define BMI270_ACC_CONF_FILTER_PERF_MSK BIT(7)
> +
> +#define BMI270_GYR_CONF_REG 0x42
> +#define BMI270_GYR_CONF_ODR_MSK GENMASK(3, 0)
> +#define BMI270_GYR_CONF_ODR_200HZ 0x09
> +#define BMI270_GYR_CONF_BWP_MSK GENMASK(5, 4)
> +#define BMI270_GYR_CONF_BWP_NORMAL_MODE 0x02
> +#define BMI270_GYR_CONF_NOISE_PERF_MSK BIT(6)
> +#define BMI270_GYR_CONF_FILTER_PERF_MSK BIT(7)
> +
> +#define BMI270_INIT_CTRL_REG 0x59
> +#define BMI270_INIT_CTRL_LOAD_DONE_MSK BIT(0)
> +
> +#define BMI270_INIT_DATA_REG 0x5e
> +
> +#define BMI270_PWR_CONF_REG 0x7c
> +#define BMI270_PWR_CONF_ADV_PWR_SAVE_MSK BIT(0)
> +#define BMI270_PWR_CONF_FIFO_WKUP_MSK BIT(1)
> +#define BMI270_PWR_CONF_FUP_EN_MSK BIT(2)
> +
> +#define BMI270_PWR_CTRL_REG 0x7d
> +#define BMI270_PWR_CTRL_AUX_EN_MSK BIT(0)
> +#define BMI270_PWR_CTRL_GYR_EN_MSK BIT(1)
> +#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
> +#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
Currently all these defines are just used in the core c file.
So I'd move them there for now. We can drag them back into the header
if the spi bus driver needs them.
> +
> +struct bmi270_data {
> + struct device *dev;
> + struct regmap *regmap;
> +};
> +
> +extern const struct regmap_config bmi270_regmap_config;
> +
> +int bmi270_core_probe(struct device *dev, struct regmap *regmap);
> +
> +#endif /* BMI270_H_ */
> diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
> new file mode 100644
> index 000000000000..319e5601d9e7
> --- /dev/null
> +++ b/drivers/iio/imu/bmi270/bmi270_core.c
> @@ -0,0 +1,258 @@
> +// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
> +
> +#include <linux/firmware.h>
> +#include <linux/i2c.h>
> +#include <linux/iio/iio.h>
> +#include <linux/module.h>
> +#include <linux/regmap.h>
> +#include <linux/bitfield.h>
> +
> +#include "bmi270.h"
> +
> +#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw"
> +
> +enum bmi270_scan {
> + BMI270_SCAN_ACCEL_X,
> + BMI270_SCAN_ACCEL_Y,
> + BMI270_SCAN_ACCEL_Z,
> + BMI270_SCAN_GYRO_X,
> + BMI270_SCAN_GYRO_Y,
> + BMI270_SCAN_GYRO_Z,
> +};
> +
> +const struct regmap_config bmi270_regmap_config = {
> + .reg_bits = 8,
> + .val_bits = 8,
> +};
> +EXPORT_SYMBOL_NS_GPL(bmi270_regmap_config, IIO_BMI270);
> +
> +static int bmi270_get_data(struct bmi270_data *bmi270_device,
> + int chan_type, int axis, int *val)
> +{
> + __le16 sample;
> + int reg;
> + int ret;
> +
> + switch (chan_type) {
> + case IIO_ACCEL:
> + reg = BMI270_ACCEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample);
> + break;
> + case IIO_ANGL_VEL:
> + reg = BMI270_ANG_VEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample);
This only works because they are 1 byte registers which isn't obvious here
So I don't think sizeof(sample) is very useful vs 2.
> + break;
> + default:
> + return -EINVAL;
> + }
> +
> + ret = regmap_bulk_read(bmi270_device->regmap, reg, &sample, sizeof(sample));
> + if (ret)
> + return ret;
> +
> + *val = sign_extend32(le16_to_cpu(sample), 15);
> +
> + return 0;
> +}
> +
> +
> +#define BMI270_ACCEL_CHANNEL(_axis) { \
> + .type = IIO_ACCEL, \
> + .modified = 1, \
> + .channel2 = IIO_MOD_##_axis, \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
> + BIT(IIO_CHAN_INFO_FREQUENCY), \
Probably good to indent this last item by one more tab to help
with reability.
> +}
> +
> +#define BMI270_ANG_VEL_CHANNEL(_axis) { \
> + .type = IIO_ANGL_VEL, \
> + .modified = 1, \
> + .channel2 = IIO_MOD_##_axis, \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
> + BIT(IIO_CHAN_INFO_FREQUENCY), \
> +}
> +./v4_20240912_lanzano_alex_add_i2c_driver_for_bosch_bmi270_imu.mbx
> +static const struct iio_chan_spec bmi270_channels[] = {
> + BMI270_ACCEL_CHANNEL(X),
> + BMI270_ACCEL_CHANNEL(Y),
> + BMI270_ACCEL_CHANNEL(Z),
> + BMI270_ANG_VEL_CHANNEL(X),
> + BMI270_ANG_VEL_CHANNEL(Y),
> + BMI270_ANG_VEL_CHANNEL(Z)
Add a trailing comma as we may well have additional channels in future
that come after this.
> +};
> +
> +static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device)
> +{
> + int chip_id;
> + int ret;
> + struct device *dev = bmi270_device->dev;
> + struct regmap *regmap = bmi270_device->regmap;
> +
> + ret = regmap_read(regmap, BMI270_CHIP_ID_REG, &chip_id);
> + if (ret)
> + return dev_err_probe(dev, ret, "Failed to read chip id");
> +
> + if (chip_id != BMI270_CHIP_ID_VAL)
> + return dev_err_probe(dev, -ENODEV, "Invalid chip id 0x%x", chip_id);
A failure to match on a ID register should not result in a failure to probe.
The reason for this is Device tree fallback compatibles.
Those allow for a future device that is compatible (it may have a superset of
features) with this part to use a dt-binding that includes the compatible
for this one despite having a different ID register value.
As such this should print an information message to say it's an unknown
device ID but return success.
> +
> + return 0;
> +}
> +
> +static int bmi270_write_calibration_data(struct bmi270_data *bmi270_device)
> +{
> + int ret;
> + int status = 0;
> + const struct firmware *init_data;
> + struct device *dev = bmi270_device->dev;
> + struct regmap *regmap = bmi270_device->regmap;
> +
> + ret = regmap_clear_bits(regmap, BMI270_PWR_CONF_REG, BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
> + if (ret)
> + return dev_err_probe(dev, ret, "Failed to write power configuration");
> +
> + /* After disabling advanced power save, all registers are accessible after a 450us delay
All IIO multiline comments are
/*
* After...
> + * This delay is specified in table A of the datasheet.
> + */
> + usleep_range(450, 1000);
> +
> + ret = regmap_clear_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK);
> + if (ret)
> + return dev_err_probe(dev, ret, "Failed to prepare device to load init data");
> +
> + ret = request_firmware(&init_data, BMI270_INIT_DATA_FILE, dev);
> + if (ret)
> + return dev_err_probe(dev, ret, "Failed to load init data file");
> +
> + ret = regmap_bulk_write(regmap, BMI270_INIT_DATA_REG,
> + init_data->data, init_data->size);
> + release_firmware(init_data);
> + if (ret)
> + return dev_err_probe(dev, ret, "Failed to write init data");
> +
> + ret = regmap_set_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK);
> + if (ret)
> + return dev_err_probe(dev, ret, "Failed to stop device initialization");
> +
> + /* Wait at least 140ms for the device to complete configuration.
> + * This delay is specified in table C of the datasheet.
> + */
> + usleep_range(140000, 160000);
> +
> + ret = regmap_read(regmap, BMI270_INTERNAL_STATUS_REG, &status);
> + if (ret)
> + return dev_err_probe(dev, ret, "Failed to read internal status");
> +
> + if (status != BMI270_INTERNAL_STATUS_MSG_INIT_OK)
> + return dev_err_probe(dev, -ENODEV, "Device failed to initialize");
> +
> + return 0;
> +}
On Sat, Sep 14, 2024 at 02:27:34PM GMT, Jonathan Cameron wrote: > On Thu, 12 Sep 2024 17:07:19 -0400 > Alex Lanzano <lanzano.alex@gmail.com> wrote: > > > Add initial i2c support for the Bosch BMI270 6-axis IMU. > > Provides raw read access to acceleration and angle velocity measurements > > via iio channels. Device configuration requires firmware provided by > > Bosch and is requested and load from userspace. > > > > Signed-off-by: Alex Lanzano <lanzano.alex@gmail.com> > > Hi Alex, > > A bunch of fairly minor stuff so I've just tweaked it whilst applying rather > than wasting time on going around again. > > I also changed a few line wraps to keep lines a bit shorter. > Where it doesn't hurt readability 80 chars is still my preference for IIO. > > The diff of the tweaks I made is as follows. Shout if I messed anything up! > Looks good! I agree with all the changes. Thanks again for the review and cleaning it up for me.
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