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Mon, 15 Sep 2025 18:12:00 +0200 From: To: , , , , , , , , , , , , , Subject: [PATCH v4 2/2] iio: imu: smi330: Add driver Date: Mon, 15 Sep 2025 18:09:34 +0200 Message-ID: <20250915160934.89208-3-Jianping.Shen@de.bosch.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20250915160934.89208-1-Jianping.Shen@de.bosch.com> References: <20250915160934.89208-1-Jianping.Shen@de.bosch.com> Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Type: text/plain; charset="utf-8" Content-Transfer-Encoding: quoted-printable X-EOPAttributedMessage: 0 X-MS-PublicTrafficType: Email X-MS-TrafficTypeDiagnostic: AM3PEPF00009BA0:EE_|AS4PR10MB5622:EE_ X-MS-Office365-Filtering-Correlation-Id: 780b44b9-72b9-4f3a-0dda-08ddf4729f89 X-MS-Exchange-SenderADCheck: 1 X-MS-Exchange-AntiSpam-Relay: 0 X-Microsoft-Antispam: BCL:0;ARA:13230040|36860700013|376014|1800799024|7416014|82310400026|921020; X-Microsoft-Antispam-Message-Info: =?utf-8?B?bFU3bFJ4ZmN5UnJnb21teVdJNkFhTW50NXJxdTRNVWdxSXIrbHdmN3VRMHo2?= =?utf-8?B?NEJPemViY3BhSE9KVlFFa09LZ1Z3cTJpeGhwalp0ZkVUWXlweGFFODY3eEtO?= =?utf-8?B?SHVBRHdKM0Y4eThtOG5oaUhuT0V0L2tBT3FBejhlYU5qUzFVTDVTOVIyTjFY?= =?utf-8?B?eFYrUm1hR01ZS1o1dXRjWms3ak5sUE51QVFjcVVNUmlMYUh2NkVvR2xXNlFV?= =?utf-8?B?VUNIbWZOUU41MXN0VnRwREhZb3I2U2pQcEdPbDlrUU5udDFYanRNNE93WmFH?= =?utf-8?B?WTMxWFpHekJyOVBibkFldnczYXRwa2xLNlA5K0l3bHRaVWRENThyZXJ3amcy?= =?utf-8?B?dlIxcThET0RudUZqUWdlc3NQWDEzS1h4U1dCYUZRVlczd1dVNkF6YzFIYjB2?= =?utf-8?B?UlJxeFZWNGk1ZjZlWEdJZjBpK0Y3dlIyRTl6blZnMjVhZDgvT1NSRy9UQXZD?= =?utf-8?B?V2taekJleFUxNklaVXErV0hmMGJETTd2VXluMGc5RFU0MDNBZHlUT0VSS3VQ?= =?utf-8?B?MXpLa0V4TktIMUNBM3R2Vm5QOFJGaVYxNktEaTFuNmNpM0w2N25MZHBEN3BZ?= =?utf-8?B?QzI1YVV3MXdaU3Jia1daS2c2SHh0YWszU2EzS2taMGtGWGR1YW9DMTFTQUl6?= =?utf-8?B?Y0FKZTJRMDVEZTIvdUxXRWtGLzRqeGxnNlZKVDNPREpLbGpiaDJOUFBjQjdE?= =?utf-8?B?OXFPbTkrSjNUeWV5Sk9IVW9ZRjg2blNLYngrM2hkS2J6ZVd4M3NBcDNpOTZ0?= =?utf-8?B?ZDJZZERLOC8zcVlBcnZ2a1JncUdhU3kvaCtjakgxUmVyOCszTXlIRm1KQWlV?= =?utf-8?B?cmw1eVNocnB0NGorajBRRi9vY3hxUktkRnZwSVo3ZDc4OXdseS9LTE5PeXpa?= =?utf-8?B?UzlrUnljSzlOY3R3T3pyNUlVdmFUTWdJKzV5bjVMQ3BrSGV4Z3l0NVFoQ0pp?= =?utf-8?B?RXVpemxQWHY0cnJzVitvdEEwOXcvWVY5MGN6QjlSR1RRNWhJQkpnWENZL09v?= =?utf-8?B?U1Fnc2h4NlFPcEJTWUw5MHFLZmRsdDFTMWxxNUhrQ2RKMXBrQVY3U2Y2WjJQ?= =?utf-8?B?YnhsTFZnNmZGamhSa0w1RjhIcVRpMlI3Um1lYnh3YW9JT2YydU5JS1JUZXZt?= =?utf-8?B?VSszYzIrTkZ2bllXYVY1TUhUQ0F6aW5PdW5HempTa2lKUk50blN4Qm9LaEIz?= =?utf-8?B?anlCeXdhLzNxV0laK0RjdDhoaWN5SXBjZVFNRkF0b24wdVcwajhIRGxDczV2?= =?utf-8?B?eXVoRFhKVjg4YkVwaWl0aHdvVmdIdUhXUGhmWDNmbGtxQTVLbjBQRTNGcWw0?= =?utf-8?B?bnFXakxTZFlEWmJWbUlaV09aMzU3VmdCVEtBSnBqNHlHcE1VcnBzOG9Tc3Rq?= =?utf-8?B?dlNFNlBDclBJSEdqYVZDQ0Z4RWErOWFneG1YT2JrL011VnQzeitaU0hBQ21x?= =?utf-8?B?SnNmYjA1SEh2ZGhCbkFwRWZocVgyNnpBaVc3WWx6TTlDQ1QzOUFJOTZWWi9n?= =?utf-8?B?QU9KM3JUS2xvNFdhM0tHZVhUVTgxajJacjliWFlrZ0NPMlZqN0FzcVA3R25p?= =?utf-8?B?YWlIc2sxWnRXT1kxMEtOVE1HcmNiZzNMcUIvbEU5T3U4TVNNOTVzaUNZUUo1?= =?utf-8?B?S2dHSTF6ZjRjUzloZ0xVTGkvYWpwY3dwY1VLTzVtTTh5Yi8veDZ4SjJMVUZn?= =?utf-8?B?bDE5aDZxaVZaTFRtYTU0Y3BIalJNU0tlMWR1TDMrVTZ3WWJicmJWeUpMV2dL?= =?utf-8?B?cjFNSkwxZldVT3p6NTZXN0ZSR2V4L0ZPYTlRa2JqMVRldVU1dEFPUEN6MTNs?= =?utf-8?B?ZlhqT3RsRE1PNEdkeHA2cmdyaG9xNFExNGxzbmNBQml2OFNGMEQ2RTZSR3Rw?= =?utf-8?B?bUxuaEpyUUhEWStIVTBsY1NKYW91N091bmx1VFNGNjRIZVA4bkpkZ1l6VXYr?= =?utf-8?B?cmZURlZjZFBDazNtL25oWkl2cnZHMjVkYm9qTHFHaC80SXI5bFRvZVhsdVNZ?= =?utf-8?B?c1U0bU0zRko0V0dWemY4NStieDFIRmFNM05xWTg4SEVSK2JhQWpyOXhwRzJP?= =?utf-8?B?TjIzL0pyYllLTjBYZytRVDdZdVo1WHpsSDhYQT09?= X-Forefront-Antispam-Report: CIP:139.15.153.205;CTRY:DE;LANG:en;SCL:1;SRV:;IPV:NLI;SFV:NSPM;H:eop.bosch-org.com;PTR:InfoDomainNonexistent;CAT:NONE;SFS:(13230040)(36860700013)(376014)(1800799024)(7416014)(82310400026)(921020);DIR:OUT;SFP:1101; X-OriginatorOrg: de.bosch.com X-MS-Exchange-CrossTenant-OriginalArrivalTime: 15 Sep 2025 16:12:09.5783 (UTC) X-MS-Exchange-CrossTenant-Network-Message-Id: 780b44b9-72b9-4f3a-0dda-08ddf4729f89 X-MS-Exchange-CrossTenant-Id: 0ae51e19-07c8-4e4b-bb6d-648ee58410f4 X-MS-Exchange-CrossTenant-OriginalAttributedTenantConnectingIp: TenantId=0ae51e19-07c8-4e4b-bb6d-648ee58410f4;Ip=[139.15.153.205];Helo=[eop.bosch-org.com] X-MS-Exchange-CrossTenant-AuthSource: AM3PEPF00009BA0.eurprd04.prod.outlook.com X-MS-Exchange-CrossTenant-AuthAs: Anonymous X-MS-Exchange-CrossTenant-FromEntityHeader: HybridOnPrem X-MS-Exchange-Transport-CrossTenantHeadersStamped: AS4PR10MB5622 From: Jianping Shen Add the iio driver for bosch imu smi330. The smi330 is a combined three axis angular rate and three axis acceleration sensor. Signed-off-by: Jianping Shen --- drivers/iio/imu/Kconfig | 1 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/smi330/Kconfig | 39 ++ drivers/iio/imu/smi330/Makefile | 7 + drivers/iio/imu/smi330/smi330.h | 25 + drivers/iio/imu/smi330/smi330_core.c | 919 +++++++++++++++++++++++++++ drivers/iio/imu/smi330/smi330_i2c.c | 133 ++++ drivers/iio/imu/smi330/smi330_spi.c | 85 +++ 8 files changed, 1210 insertions(+) create mode 100644 drivers/iio/imu/smi330/Kconfig create mode 100644 drivers/iio/imu/smi330/Makefile create mode 100644 drivers/iio/imu/smi330/smi330.h create mode 100644 drivers/iio/imu/smi330/smi330_core.c create mode 100644 drivers/iio/imu/smi330/smi330_i2c.c create mode 100644 drivers/iio/imu/smi330/smi330_spi.c diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 15612f0f189..01d21e4034c 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -124,6 +124,7 @@ config SMI240 This driver can also be built as a module. If so, the module will be called smi240. =20 +source "drivers/iio/imu/smi330/Kconfig" source "drivers/iio/imu/st_lsm6dsx/Kconfig" source "drivers/iio/imu/st_lsm9ds0/Kconfig" =20 diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index e901aea498d..25948247df9 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -31,5 +31,6 @@ obj-$(CONFIG_KMX61) +=3D kmx61.o =20 obj-$(CONFIG_SMI240) +=3D smi240.o =20 +obj-y +=3D smi330/ obj-y +=3D st_lsm6dsx/ obj-y +=3D st_lsm9ds0/ diff --git a/drivers/iio/imu/smi330/Kconfig b/drivers/iio/imu/smi330/Kconfig new file mode 100644 index 00000000000..95b06f2317e --- /dev/null +++ b/drivers/iio/imu/smi330/Kconfig @@ -0,0 +1,39 @@ +# SPDX-License-Identifier: GPL-2.0 +# +# SMI330 IMU driver +# + +config SMI330 + tristate "Bosch Sensor SMI330 Inertial Measurement Unit" + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + help + Enable support for the Bosch SMI330 IMU. + + The driver supports different operation modes like polling, + data ready or fifo mode and advanced features like no-motion, + no-motion, any-motion or tilt detection. + +config SMI330_I2C + tristate "Bosch SMI330 I2C driver" + depends on I2C + select SMI330 + select REGMAP_I2C + help + Enable support for the Bosch SMI330 6-Axis IMU connected to I2C + interface. + + This driver can also be built as a module. If so, the module will be + called smi330_i2c. + +config SMI330_SPI + tristate "Bosch SMI330 SPI driver" + depends on SPI + select SMI330 + select REGMAP_SPI + help + Enable support for the Bosch SMI330 6-Axis IMU connected to SPI + interface. + + This driver can also be built as a module. If so, the module will be + called smi330_spi. diff --git a/drivers/iio/imu/smi330/Makefile b/drivers/iio/imu/smi330/Makef= ile new file mode 100644 index 00000000000..c663dcb5a9f --- /dev/null +++ b/drivers/iio/imu/smi330/Makefile @@ -0,0 +1,7 @@ +# SPDX-License-Identifier: GPL-2.0 +# +# Makefile for Bosch SMI330 IMU +# +obj-$(CONFIG_SMI330) +=3D smi330_core.o +obj-$(CONFIG_SMI330_I2C) +=3D smi330_i2c.o +obj-$(CONFIG_SMI330_SPI) +=3D smi330_spi.o diff --git a/drivers/iio/imu/smi330/smi330.h b/drivers/iio/imu/smi330/smi33= 0.h new file mode 100644 index 00000000000..a5c765645aa --- /dev/null +++ b/drivers/iio/imu/smi330/smi330.h @@ -0,0 +1,25 @@ +/* SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0 */ +/* + * Copyright (c) 2025 Robert Bosch GmbH. + */ +#ifndef _SMI330_H +#define _SMI330_H + +#include + +enum { + SMI330_SCAN_ACCEL_X, + SMI330_SCAN_ACCEL_Y, + SMI330_SCAN_ACCEL_Z, + SMI330_SCAN_GYRO_X, + SMI330_SCAN_GYRO_Y, + SMI330_SCAN_GYRO_Z, + SMI330_SCAN_TIMESTAMP, + SMI330_SCAN_LEN =3D SMI330_SCAN_TIMESTAMP, +}; + +extern const struct regmap_config smi330_regmap_config; + +int smi330_core_probe(struct device *dev, struct regmap *regmap); + +#endif /* _SMI330_H */ diff --git a/drivers/iio/imu/smi330/smi330_core.c b/drivers/iio/imu/smi330/= smi330_core.c new file mode 100644 index 00000000000..fdbc251d1f6 --- /dev/null +++ b/drivers/iio/imu/smi330/smi330_core.c @@ -0,0 +1,919 @@ +// SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0 +/* + * Copyright (c) 2025 Robert Bosch GmbH. + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "smi330.h" + +/* Register map */ +#define SMI330_CHIP_ID_REG 0x00 +#define SMI330_ERR_REG 0x01 +#define SMI330_STATUS_REG 0x02 +#define SMI330_ACCEL_X_REG 0x03 +#define SMI330_GYRO_X_REG 0x06 +#define SMI330_TEMP_REG 0x09 +#define SMI330_INT1_STATUS_REG 0x0D +#define SMI330_ACCEL_CFG_REG 0x20 +#define SMI330_GYRO_CFG_REG 0x21 +#define SMI330_IO_INT_CTRL_REG 0x38 +#define SMI330_INT_CONF_REG 0x39 +#define SMI330_INT_MAP1_REG 0x3A +#define SMI330_INT_MAP2_REG 0x3B +#define SMI330_CMD_REG 0x7E + +/* Register mask */ +#define SMI330_CHIP_ID_MASK GENMASK(7, 0) +#define SMI330_ERR_FATAL_MASK BIT(0) +#define SMI330_ERR_ACC_CONF_MASK BIT(5) +#define SMI330_ERR_GYR_CONF_MASK BIT(6) +#define SMI330_STATUS_POR_MASK BIT(0) +#define SMI330_INT_STATUS_ACC_GYR_DRDY_MASK GENMASK(13, 12) +#define SMI330_CFG_ODR_MASK GENMASK(3, 0) +#define SMI330_CFG_RANGE_MASK GENMASK(6, 4) +#define SMI330_CFG_BW_MASK BIT(7) +#define SMI330_CFG_AVG_NUM_MASK GENMASK(10, 8) +#define SMI330_CFG_MODE_MASK GENMASK(14, 12) +#define SMI330_IO_INT_CTRL_INT1_MASK GENMASK(2, 0) +#define SMI330_IO_INT_CTRL_INT2_MASK GENMASK(10, 8) +#define SMI330_INT_CONF_LATCH_MASK BIT(0) +#define SMI330_INT_MAP2_ACC_DRDY_MASK GENMASK(11, 10) +#define SMI330_INT_MAP2_GYR_DRDY_MASK GENMASK(9, 8) +#define SMI330_INT_MAP2_DRDY_MASK \ + (SMI330_INT_MAP2_ACC_DRDY_MASK | SMI330_INT_MAP2_GYR_DRDY_MASK) + +/* Register values */ +#define SMI330_IO_INT_CTRL_LVL BIT(0) +#define SMI330_IO_INT_CTRL_OD BIT(1) +#define SMI330_IO_INT_CTRL_EN BIT(2) +#define SMI330_CMD_SOFT_RESET 0xDEAF + +/* T=C2=B0C =3D (temp / 512) + 23 */ +#define SMI330_TEMP_OFFSET 11776 /* 23 * 512 */ +#define SMI330_TEMP_SCALE 1953125 /* (1 / 512) * 1e9 */ + +#define SMI330_CHIP_ID 0x42 +#define SMI330_SOFT_RESET_DELAY 2000 + +#define SMI330_ACCEL_CHANNEL(_axis) { \ + .type =3D IIO_ACCEL, \ + .modified =3D 1, \ + .channel2 =3D IIO_MOD_##_axis, \ + .info_mask_separate =3D BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type =3D \ + BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO) | \ + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ + .info_mask_shared_by_type_available =3D \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO) | \ + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ + .info_mask_shared_by_dir_available =3D \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index =3D SMI330_SCAN_ACCEL_##_axis, \ + .scan_type =3D { \ + .sign =3D 's', \ + .realbits =3D 16, \ + .storagebits =3D 16, \ + .endianness =3D IIO_LE, \ + }, \ +} + +#define SMI330_GYRO_CHANNEL(_axis) { \ + .type =3D IIO_ANGL_VEL, \ + .modified =3D 1, \ + .channel2 =3D IIO_MOD_##_axis, \ + .info_mask_separate =3D BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type =3D \ + BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO) | \ + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ + .info_mask_shared_by_type_available =3D \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO) | \ + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ + .info_mask_shared_by_dir_available =3D \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index =3D SMI330_SCAN_GYRO_##_axis, \ + .scan_type =3D { \ + .sign =3D 's', \ + .realbits =3D 16, \ + .storagebits =3D 16, \ + .endianness =3D IIO_LE, \ + }, \ +} + +#define SMI330_TEMP_CHANNEL(_index) { \ + .type =3D IIO_TEMP, \ + .info_mask_separate =3D BIT(IIO_CHAN_INFO_RAW) | \ + BIT(IIO_CHAN_INFO_OFFSET) | \ + BIT(IIO_CHAN_INFO_SCALE), \ + .scan_index =3D _index, \ + .scan_type =3D { \ + .sign =3D 's', \ + .realbits =3D 16, \ + .storagebits =3D 16, \ + .endianness =3D IIO_LE, \ + }, \ +} + +enum smi330_accel_range { + SMI330_ACCEL_RANGE_2G =3D 0x00, + SMI330_ACCEL_RANGE_4G =3D 0x01, + SMI330_ACCEL_RANGE_8G =3D 0x02, + SMI330_ACCEL_RANGE_16G =3D 0x03 +}; + +enum smi330_gyro_range { + SMI330_GYRO_RANGE_125 =3D 0x0, + SMI330_GYRO_RANGE_250 =3D 0x01, + SMI330_GYRO_RANGE_500 =3D 0x02 +}; + +enum smi330_odr { + SMI330_ODR_12_5_HZ =3D 0x05, + SMI330_ODR_25_HZ =3D 0x06, + SMI330_ODR_50_HZ =3D 0x07, + SMI330_ODR_100_HZ =3D 0x08, + SMI330_ODR_200_HZ =3D 0x09, + SMI330_ODR_400_HZ =3D 0x0A, + SMI330_ODR_800_HZ =3D 0x0B, + SMI330_ODR_1600_HZ =3D 0x0C, + SMI330_ODR_3200_HZ =3D 0x0D, + SMI330_ODR_6400_HZ =3D 0x0E +}; + +enum smi330_avg_num { + SMI330_AVG_NUM_1 =3D 0x00, + SMI330_AVG_NUM_2 =3D 0x01, + SMI330_AVG_NUM_4 =3D 0x02, + SMI330_AVG_NUM_8 =3D 0x03, + SMI330_AVG_NUM_16 =3D 0x04, + SMI330_AVG_NUM_32 =3D 0x05, + SMI330_AVG_NUM_64 =3D 0x06 +}; + +enum smi330_mode { + SMI330_MODE_SUSPEND =3D 0x00, + SMI330_MODE_GYRO_DRIVE =3D 0x01, + SMI330_MODE_LOW_POWER =3D 0x03, + SMI330_MODE_NORMAL =3D 0x04, + SMI330_MODE_HIGH_PERF =3D 0x07 +}; + +enum smi330_bw { + SMI330_BW_2 =3D 0x00, /* ODR/2 */ + SMI330_BW_4 =3D 0x01 /* ODR/4 */ +}; + +enum smi330_operation_mode { + SMI330_POLLING, + SMI330_DATA_READY, +}; + +enum smi330_sensor { + SMI330_ACCEL, + SMI330_GYRO, +}; + +enum smi330_sensor_conf_select { + SMI330_ODR, + SMI330_RANGE, + SMI330_BW, + SMI330_AVG_NUM, +}; + +enum smi330_int_out { + SMI330_INT_DISABLED, + SMI330_INT_1, + SMI330_INT_2, +}; + +struct smi330_attributes { + int *reg_vals; + int *vals; + int len; + int type; + int mask; +}; + +struct smi330_cfg { + enum smi330_operation_mode op_mode; + enum smi330_int_out data_irq; +}; + +struct smi330_data { + struct regmap *regmap; + struct smi330_cfg cfg; + struct iio_trigger *trig; + IIO_DECLARE_BUFFER_WITH_TS(__le16, buf, SMI330_SCAN_LEN); +}; + +const struct regmap_config smi330_regmap_config =3D { + .reg_bits =3D 8, + .val_bits =3D 16, + .val_format_endian =3D REGMAP_ENDIAN_LITTLE, +}; +EXPORT_SYMBOL_NS_GPL(smi330_regmap_config, "IIO_SMI330"); + +static const struct iio_chan_spec smi330_channels[] =3D { + SMI330_ACCEL_CHANNEL(X), + SMI330_ACCEL_CHANNEL(Y), + SMI330_ACCEL_CHANNEL(Z), + SMI330_GYRO_CHANNEL(X), + SMI330_GYRO_CHANNEL(Y), + SMI330_GYRO_CHANNEL(Z), + SMI330_TEMP_CHANNEL(-1), /* No buffer support */ + IIO_CHAN_SOFT_TIMESTAMP(SMI330_SCAN_TIMESTAMP), +}; + +static const unsigned long smi330_avail_scan_masks[] =3D { + (BIT(SMI330_SCAN_ACCEL_X) | BIT(SMI330_SCAN_ACCEL_Y) | + BIT(SMI330_SCAN_ACCEL_Z) | BIT(SMI330_SCAN_GYRO_X) | + BIT(SMI330_SCAN_GYRO_Y) | BIT(SMI330_SCAN_GYRO_Z)), + 0 +}; + +static const struct smi330_attributes smi330_accel_scale_attr =3D { + .reg_vals =3D (int[]){ SMI330_ACCEL_RANGE_2G, SMI330_ACCEL_RANGE_4G, + SMI330_ACCEL_RANGE_8G, SMI330_ACCEL_RANGE_16G }, + .vals =3D (int[]){ 0, 61035, 0, 122070, 0, 244140, 0, 488281 }, + .len =3D 8, + .type =3D IIO_VAL_INT_PLUS_NANO, + .mask =3D SMI330_CFG_RANGE_MASK +}; + +static const struct smi330_attributes smi330_gyro_scale_attr =3D { + .reg_vals =3D (int[]){ SMI330_GYRO_RANGE_125, SMI330_GYRO_RANGE_250, + SMI330_GYRO_RANGE_500 }, + .vals =3D (int[]){ 0, 3814697, 0, 7629395, 0, 15258789 }, + .len =3D 6, + .type =3D IIO_VAL_INT_PLUS_NANO, + .mask =3D SMI330_CFG_RANGE_MASK +}; + +static const struct smi330_attributes smi330_average_attr =3D { + .reg_vals =3D (int[]){ SMI330_AVG_NUM_1, SMI330_AVG_NUM_2, + SMI330_AVG_NUM_4, SMI330_AVG_NUM_8, + SMI330_AVG_NUM_16, SMI330_AVG_NUM_32, + SMI330_AVG_NUM_64 }, + .vals =3D (int[]){ 1, 2, 4, 8, 16, 32, 64 }, + .len =3D 7, + .type =3D IIO_VAL_INT, + .mask =3D SMI330_CFG_AVG_NUM_MASK +}; + +static const struct smi330_attributes smi330_bandwidth_attr =3D { + .reg_vals =3D (int[]){ SMI330_BW_2, SMI330_BW_4 }, + .vals =3D (int[]){ 2, 4 }, + .len =3D 2, + .type =3D IIO_VAL_INT, + .mask =3D SMI330_CFG_BW_MASK +}; + +static const struct smi330_attributes smi330_odr_attr =3D { + .reg_vals =3D (int[]){ SMI330_ODR_12_5_HZ, SMI330_ODR_25_HZ, + SMI330_ODR_50_HZ, SMI330_ODR_100_HZ, + SMI330_ODR_200_HZ, SMI330_ODR_400_HZ, + SMI330_ODR_800_HZ, SMI330_ODR_1600_HZ, + SMI330_ODR_3200_HZ, SMI330_ODR_6400_HZ }, + .vals =3D (int[]){ 12, 25, 50, 100, 200, 400, 800, 1600, 3200, 6400 }, + .len =3D 10, + .type =3D IIO_VAL_INT, + .mask =3D SMI330_CFG_ODR_MASK +}; + +static int smi330_get_attributes(enum smi330_sensor_conf_select config, + enum smi330_sensor sensor, + const struct smi330_attributes **attr) +{ + switch (config) { + case SMI330_ODR: + *attr =3D &smi330_odr_attr; + return 0; + case SMI330_RANGE: + if (sensor =3D=3D SMI330_ACCEL) + *attr =3D &smi330_accel_scale_attr; + else + *attr =3D &smi330_gyro_scale_attr; + return 0; + case SMI330_BW: + *attr =3D &smi330_bandwidth_attr; + return 0; + case SMI330_AVG_NUM: + *attr =3D &smi330_average_attr; + return 0; + default: + return -EINVAL; + } +} + +static int smi330_get_config_reg(enum smi330_sensor sensor, int *reg) +{ + switch (sensor) { + case SMI330_ACCEL: + *reg =3D SMI330_ACCEL_CFG_REG; + return 0; + case SMI330_GYRO: + *reg =3D SMI330_GYRO_CFG_REG; + return 0; + default: + return -EINVAL; + } +} + +static int smi330_get_sensor_config(struct smi330_data *data, + enum smi330_sensor sensor, + enum smi330_sensor_conf_select config, + int *value) + +{ + int ret, reg, reg_val, i; + const struct smi330_attributes *attr; + + ret =3D smi330_get_config_reg(sensor, ®); + if (ret) + return ret; + + ret =3D regmap_read(data->regmap, reg, ®_val); + if (ret) + return ret; + + ret =3D smi330_get_attributes(config, sensor, &attr); + if (ret) + return ret; + + /* FIELD_GET is not possible with non-const mask */ + reg_val =3D (reg_val & attr->mask) >> (__builtin_ffs(attr->mask) - 1); + + if (attr->type =3D=3D IIO_VAL_INT) { + for (i =3D 0; i < attr->len; i++) { + if (attr->reg_vals[i] =3D=3D reg_val) { + *value =3D attr->vals[i]; + return 0; + } + } + } else { + for (i =3D 0; i < attr->len / 2; i++) { + if (attr->reg_vals[i] =3D=3D reg_val) { + *value =3D attr->vals[2 * i + 1]; + return 0; + } + } + } + + return -EINVAL; +} + +static int smi330_set_sensor_config(struct smi330_data *data, + enum smi330_sensor sensor, + enum smi330_sensor_conf_select config, + int value) +{ + int ret, i, reg, reg_val, error; + const struct smi330_attributes *attr; + + ret =3D smi330_get_attributes(config, sensor, &attr); + if (ret) + return ret; + + for (i =3D 0; i < attr->len; i++) { + if (attr->vals[i] =3D=3D value) { + if (attr->type =3D=3D IIO_VAL_INT) + reg_val =3D attr->reg_vals[i]; + else + reg_val =3D attr->reg_vals[i / 2]; + break; + } + } + if (i =3D=3D attr->len) + return -EINVAL; + + ret =3D smi330_get_config_reg(sensor, ®); + if (ret) + return ret; + + /* FIELD_PREP is not possible with non-const mask */ + reg_val =3D ((reg_val << (__builtin_ffs(attr->mask) - 1)) & attr->mask); + + ret =3D regmap_update_bits(data->regmap, reg, attr->mask, reg_val); + if (ret) + return ret; + + ret =3D regmap_read(data->regmap, SMI330_ERR_REG, &error); + if (ret) + return ret; + + if (FIELD_GET(SMI330_ERR_ACC_CONF_MASK, error) || + FIELD_GET(SMI330_ERR_GYR_CONF_MASK, error)) + return -EIO; + + return 0; +} + +static int smi330_get_data(struct smi330_data *data, int chan_type, int ax= is, + int *val) +{ + u8 reg; + int ret, sample; + + switch (chan_type) { + case IIO_ACCEL: + reg =3D SMI330_ACCEL_X_REG + (axis - IIO_MOD_X); + break; + case IIO_ANGL_VEL: + reg =3D SMI330_GYRO_X_REG + (axis - IIO_MOD_X); + break; + case IIO_TEMP: + reg =3D SMI330_TEMP_REG; + break; + default: + return -EINVAL; + } + + ret =3D regmap_read(data->regmap, reg, &sample); + if (ret) + return ret; + + *val =3D sign_extend32(sample, 15); + + return 0; +} + +static int smi330_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: + if (chan->type =3D=3D IIO_ACCEL) { + *vals =3D smi330_accel_scale_attr.vals; + *length =3D smi330_accel_scale_attr.len; + *type =3D smi330_accel_scale_attr.type; + } else { + *vals =3D smi330_gyro_scale_attr.vals; + *length =3D smi330_gyro_scale_attr.len; + *type =3D smi330_gyro_scale_attr.type; + } + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + *vals =3D smi330_average_attr.vals; + *length =3D smi330_average_attr.len; + *type =3D smi330_average_attr.type; + *type =3D IIO_VAL_INT; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + *vals =3D smi330_bandwidth_attr.vals; + *length =3D smi330_bandwidth_attr.len; + *type =3D smi330_bandwidth_attr.type; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *vals =3D smi330_odr_attr.vals; + *length =3D smi330_odr_attr.len; + *type =3D smi330_odr_attr.type; + return IIO_AVAIL_LIST; + default: + return -EINVAL; + } + + return -EINVAL; +} + +static int smi330_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int *val, + int *val2, long mask) +{ + int ret; + struct smi330_data *data =3D iio_priv(indio_dev); + enum smi330_sensor sensor; + + /* valid for all channel types */ + switch (mask) { + case IIO_CHAN_INFO_RAW: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret =3D smi330_get_data(data, chan->type, chan->channel2, val); + iio_device_release_direct(indio_dev); + return ret ? ret : IIO_VAL_INT; + default: + break; + } + + switch (chan->type) { + case IIO_ACCEL: + sensor =3D SMI330_ACCEL; + break; + case IIO_ANGL_VEL: + sensor =3D SMI330_GYRO; + break; + case IIO_TEMP: + switch (mask) { + case IIO_CHAN_INFO_SCALE: + *val =3D SMI330_TEMP_SCALE / GIGA; + *val2 =3D SMI330_TEMP_SCALE % GIGA; + return IIO_VAL_INT_PLUS_NANO; + case IIO_CHAN_INFO_OFFSET: + *val =3D SMI330_TEMP_OFFSET; + return IIO_VAL_INT; + default: + return -EINVAL; + } + default: + return -EINVAL; + } + + /* valid for acc and gyro channels */ + switch (mask) { + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + ret =3D smi330_get_sensor_config(data, sensor, SMI330_AVG_NUM, + val); + return ret ? ret : IIO_VAL_INT; + + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + ret =3D smi330_get_sensor_config(data, sensor, SMI330_BW, val); + return ret ? ret : IIO_VAL_INT; + + case IIO_CHAN_INFO_SAMP_FREQ: + ret =3D smi330_get_sensor_config(data, sensor, SMI330_ODR, val); + return ret ? ret : IIO_VAL_INT; + + case IIO_CHAN_INFO_SCALE: + *val =3D 0; + ret =3D smi330_get_sensor_config(data, sensor, SMI330_RANGE, + val2); + return ret ? ret : IIO_VAL_INT_PLUS_NANO; + + default: + return -EINVAL; + } +} + +static int smi330_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int val, int val2, + long mask) +{ + struct smi330_data *data =3D iio_priv(indio_dev); + enum smi330_sensor sensor; + + switch (chan->type) { + case IIO_ACCEL: + sensor =3D SMI330_ACCEL; + break; + case IIO_ANGL_VEL: + sensor =3D SMI330_GYRO; + break; + default: + return -EINVAL; + } + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + return smi330_set_sensor_config(data, sensor, SMI330_RANGE, + val2); + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + return smi330_set_sensor_config(data, sensor, SMI330_AVG_NUM, + val); + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + return smi330_set_sensor_config(data, sensor, SMI330_BW, val); + case IIO_CHAN_INFO_SAMP_FREQ: + return smi330_set_sensor_config(data, sensor, SMI330_ODR, val); + default: + return -EINVAL; + } +} + +static int smi330_write_raw_get_fmt(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, long info) +{ + switch (info) { + case IIO_CHAN_INFO_SCALE: + return IIO_VAL_INT_PLUS_NANO; + default: + return IIO_VAL_INT_PLUS_MICRO; + } +} + +static int smi330_soft_reset(struct smi330_data *data) +{ + int ret, dummy_byte; + + ret =3D regmap_write(data->regmap, SMI330_CMD_REG, SMI330_CMD_SOFT_RESET); + if (ret) + return ret; + fsleep(SMI330_SOFT_RESET_DELAY); + + /* Performing a dummy read after a soft-reset */ + regmap_read(data->regmap, SMI330_CHIP_ID_REG, &dummy_byte); + + return 0; +} + +static irqreturn_t smi330_trigger_handler(int irq, void *p) +{ + int ret; + struct iio_poll_func *pf =3D p; + struct iio_dev *indio_dev =3D pf->indio_dev; + struct smi330_data *data =3D iio_priv(indio_dev); + + ret =3D regmap_bulk_read(data->regmap, SMI330_ACCEL_X_REG, data->buf, + SMI330_SCAN_LEN); + if (ret) + goto out; + + iio_push_to_buffers_with_timestamp(indio_dev, data->buf, pf->timestamp); + +out: + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static irqreturn_t smi330_irq_thread_handler(int irq, void *indio_dev_) +{ + int ret, int_stat; + s16 int_status[2] =3D { 0 }; + struct iio_dev *indio_dev =3D indio_dev_; + struct smi330_data *data =3D iio_priv(indio_dev); + + ret =3D regmap_bulk_read(data->regmap, SMI330_INT1_STATUS_REG, int_status= , 2); + if (ret) + return IRQ_NONE; + + int_stat =3D int_status[0] | int_status[1]; + + if (FIELD_GET(SMI330_INT_STATUS_ACC_GYR_DRDY_MASK, int_stat)) { + indio_dev->pollfunc->timestamp =3D iio_get_time_ns(indio_dev); + iio_trigger_poll_nested(data->trig); + } + + return IRQ_HANDLED; +} + +static int smi330_set_int_pin_config(struct smi330_data *data, + enum smi330_int_out irq_num, + bool active_high, bool open_drain, + bool latch) +{ + int ret, val; + + val =3D active_high ? SMI330_IO_INT_CTRL_LVL : 0; + val |=3D open_drain ? SMI330_IO_INT_CTRL_OD : 0; + val |=3D SMI330_IO_INT_CTRL_EN; + + switch (irq_num) { + case SMI330_INT_1: + val =3D FIELD_PREP(SMI330_IO_INT_CTRL_INT1_MASK, val); + ret =3D regmap_update_bits(data->regmap, SMI330_IO_INT_CTRL_REG, + SMI330_IO_INT_CTRL_INT1_MASK, val); + if (ret) + return ret; + break; + case SMI330_INT_2: + val =3D FIELD_PREP(SMI330_IO_INT_CTRL_INT2_MASK, val); + ret =3D regmap_update_bits(data->regmap, SMI330_IO_INT_CTRL_REG, + SMI330_IO_INT_CTRL_INT2_MASK, val); + if (ret) + return ret; + break; + default: + return -EINVAL; + } + + return regmap_update_bits(data->regmap, SMI330_INT_CONF_REG, + SMI330_INT_CONF_LATCH_MASK, + FIELD_PREP(SMI330_INT_CONF_LATCH_MASK, + latch)); +} + +static int smi330_setup_irq(struct device *dev, struct iio_dev *indio_dev, + int irq, enum smi330_int_out irq_num) +{ + int ret, irq_type; + bool open_drain, active_high, latch; + struct smi330_data *data =3D iio_priv(indio_dev); + struct irq_data *desc; + + desc =3D irq_get_irq_data(irq); + if (!desc) + return -EINVAL; + + irq_type =3D irqd_get_trigger_type(desc); + switch (irq_type) { + case IRQF_TRIGGER_RISING: + latch =3D false; + active_high =3D true; + break; + case IRQF_TRIGGER_HIGH: + latch =3D true; + active_high =3D true; + break; + case IRQF_TRIGGER_FALLING: + latch =3D false; + active_high =3D false; + break; + case IRQF_TRIGGER_LOW: + latch =3D true; + active_high =3D false; + break; + default: + return -EINVAL; + } + + open_drain =3D device_property_read_bool(dev, "drive-open-drain"); + + ret =3D smi330_set_int_pin_config(data, irq_num, active_high, open_drain, + latch); + if (ret) + return ret; + + return devm_request_threaded_irq(dev, irq, NULL, + smi330_irq_thread_handler, + irq_type | IRQF_ONESHOT, + indio_dev->name, indio_dev); +} + +static int smi330_register_irq(struct device *dev, struct iio_dev *indio_d= ev) +{ + int ret, irq; + struct smi330_data *data =3D iio_priv(indio_dev); + struct fwnode_handle *fwnode; + + fwnode =3D dev_fwnode(dev); + if (!fwnode) + return -ENODEV; + + data->cfg.data_irq =3D SMI330_INT_DISABLED; + + irq =3D fwnode_irq_get_byname(fwnode, "INT1"); + if (irq > 0) { + ret =3D smi330_setup_irq(dev, indio_dev, irq, SMI330_INT_1); + if (ret) + return ret; + data->cfg.data_irq =3D SMI330_INT_1; + } else { + irq =3D fwnode_irq_get_byname(fwnode, "INT2"); + if (irq > 0) { + ret =3D smi330_setup_irq(dev, indio_dev, irq, + SMI330_INT_2); + if (ret) + return ret; + data->cfg.data_irq =3D SMI330_INT_2; + } + } + + return 0; +} + +static int smi330_set_drdy_trigger_state(struct iio_trigger *trig, bool en= able) +{ + int val; + struct smi330_data *data =3D iio_trigger_get_drvdata(trig); + + if (enable) + data->cfg.op_mode =3D SMI330_DATA_READY; + else + data->cfg.op_mode =3D SMI330_POLLING; + + val =3D FIELD_PREP(SMI330_INT_MAP2_ACC_DRDY_MASK, + enable ? data->cfg.data_irq : 0); + val |=3D FIELD_PREP(SMI330_INT_MAP2_GYR_DRDY_MASK, + enable ? data->cfg.data_irq : 0); + return regmap_update_bits(data->regmap, SMI330_INT_MAP2_REG, + SMI330_INT_MAP2_DRDY_MASK, val); +} + +static const struct iio_trigger_ops smi330_trigger_ops =3D { + .set_trigger_state =3D &smi330_set_drdy_trigger_state, +}; + +static struct iio_info smi330_info =3D { + .read_avail =3D smi330_read_avail, + .read_raw =3D smi330_read_raw, + .write_raw =3D smi330_write_raw, + .write_raw_get_fmt =3D smi330_write_raw_get_fmt, +}; + +static int smi330_dev_init(struct smi330_data *data) +{ + int ret, chip_id, val, mode; + struct device *dev =3D regmap_get_device(data->regmap); + + ret =3D regmap_read(data->regmap, SMI330_CHIP_ID_REG, &chip_id); + if (ret) + return ret; + + chip_id =3D FIELD_GET(SMI330_CHIP_ID_MASK, chip_id); + if (chip_id !=3D SMI330_CHIP_ID) + dev_info(dev, "Unknown chip id: 0x%04x\n", chip_id); + + ret =3D regmap_read(data->regmap, SMI330_ERR_REG, &val); + if (ret) + return ret; + if (FIELD_GET(SMI330_ERR_FATAL_MASK, val)) + return -ENODEV; + + ret =3D regmap_read(data->regmap, SMI330_STATUS_REG, &val); + if (ret) + return ret; + if (FIELD_GET(SMI330_STATUS_POR_MASK, val) =3D=3D 0) + return -ENODEV; + + mode =3D FIELD_PREP(SMI330_CFG_MODE_MASK, SMI330_MODE_NORMAL); + + ret =3D regmap_update_bits(data->regmap, SMI330_ACCEL_CFG_REG, + SMI330_CFG_MODE_MASK, mode); + if (ret) + return ret; + + return regmap_update_bits(data->regmap, SMI330_GYRO_CFG_REG, + SMI330_CFG_MODE_MASK, mode); +} + +int smi330_core_probe(struct device *dev, struct regmap *regmap) +{ + int ret; + struct iio_dev *indio_dev; + struct smi330_data *data; + + indio_dev =3D devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data =3D iio_priv(indio_dev); + data->regmap =3D regmap; + + ret =3D smi330_soft_reset(data); + if (ret) + return dev_err_probe(dev, ret, "Soft reset failed\n"); + + indio_dev->channels =3D smi330_channels; + indio_dev->num_channels =3D ARRAY_SIZE(smi330_channels); + indio_dev->available_scan_masks =3D smi330_avail_scan_masks; + indio_dev->name =3D "smi330"; + indio_dev->modes =3D INDIO_DIRECT_MODE; + indio_dev->info =3D &smi330_info; + + data->cfg.op_mode =3D SMI330_POLLING; + + ret =3D smi330_dev_init(data); + if (ret) + return dev_err_probe(dev, ret, "Init failed\n"); + + ret =3D smi330_register_irq(dev, indio_dev); + if (ret) + return dev_err_probe(dev, ret, "Register IRQ failed\n"); + + if (data->cfg.data_irq !=3D SMI330_INT_DISABLED) { + data->trig =3D devm_iio_trigger_alloc(dev, "%s-drdy-trigger", + indio_dev->name); + if (!data->trig) + return -ENOMEM; + + data->trig->ops =3D &smi330_trigger_ops; + iio_trigger_set_drvdata(data->trig, data); + + ret =3D devm_iio_trigger_register(dev, data->trig); + if (ret) + return dev_err_probe(dev, ret, + "IIO register trigger failed\n"); + + /* Set default operation mode to data ready. */ + indio_dev->trig =3D iio_trigger_get(data->trig); + } + + ret =3D devm_iio_triggered_buffer_setup(dev, indio_dev, + iio_pollfunc_store_time, + smi330_trigger_handler, NULL); + if (ret) + return dev_err_probe(dev, ret, "IIO buffer setup failed\n"); + + ret =3D devm_iio_device_register(dev, indio_dev); + if (ret) + return dev_err_probe(dev, ret, "Register IIO device failed\n"); + + return 0; +} +EXPORT_SYMBOL_NS_GPL(smi330_core_probe, "IIO_SMI330"); + +MODULE_AUTHOR("Stefan Gutmann "); +MODULE_AUTHOR("Roman Huber "); +MODULE_AUTHOR("Filip Andrei "); +MODULE_AUTHOR("Drimbarean Avram Andrei "); +MODULE_DESCRIPTION("Bosch SMI330 IMU driver"); +MODULE_LICENSE("Dual BSD/GPL"); diff --git a/drivers/iio/imu/smi330/smi330_i2c.c b/drivers/iio/imu/smi330/s= mi330_i2c.c new file mode 100644 index 00000000000..e5f1825beb7 --- /dev/null +++ b/drivers/iio/imu/smi330/smi330_i2c.c @@ -0,0 +1,133 @@ +// SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0 +/* + * Copyright (c) 2025 Robert Bosch GmbH. + */ +#include +#include +#include +#include + +#include "smi330.h" + +#define SMI330_NUM_DUMMY_BYTES 2 +#define SMI330_I2C_MAX_RX_BUFFER_SIZE \ + (SMI330_NUM_DUMMY_BYTES + SMI330_SCAN_LEN * sizeof(s16)) + +struct smi330_i2c_priv { + struct i2c_client *i2c; + u8 rx_buffer[SMI330_I2C_MAX_RX_BUFFER_SIZE]; +}; + +static int smi330_regmap_i2c_read(void *context, const void *reg_buf, + size_t reg_size, void *val_buf, + size_t val_size) +{ + struct smi330_i2c_priv *priv =3D context; + int ret; + + if (SMI330_NUM_DUMMY_BYTES + val_size > SMI330_I2C_MAX_RX_BUFFER_SIZE) + return -EINVAL; + + /* + * SMI330 I2C read frame: + * + * ... + * + * Remark: Slave address is not considered part of the frame in the follo= wing definitions + */ + struct i2c_msg msgs[] =3D { + { + .addr =3D priv->i2c->addr, + .flags =3D priv->i2c->flags, + .len =3D reg_size, + .buf =3D (u8 *)reg_buf, + }, + { + .addr =3D priv->i2c->addr, + .flags =3D priv->i2c->flags | I2C_M_RD, + .len =3D SMI330_NUM_DUMMY_BYTES + val_size, + .buf =3D priv->rx_buffer, + }, + }; + + ret =3D i2c_transfer(priv->i2c->adapter, msgs, ARRAY_SIZE(msgs)); + if (ret < 0) + return ret; + + memcpy(val_buf, priv->rx_buffer + SMI330_NUM_DUMMY_BYTES, val_size); + + return 0; +} + +static int smi330_regmap_i2c_write(void *context, const void *data, + size_t count) +{ + struct smi330_i2c_priv *priv =3D context; + u8 reg; + + /* + * SMI330 I2C write frame: + * ... + * + * Remark: Slave address is not considered part of the frame in the follo= wing definitions + */ + reg =3D *(u8 *)data; + return i2c_smbus_write_i2c_block_data(priv->i2c, reg, + count - sizeof(u8), + data + sizeof(u8)); +} + +static const struct regmap_bus smi330_regmap_bus =3D { + .read =3D smi330_regmap_i2c_read, + .write =3D smi330_regmap_i2c_write, +}; + +static int smi330_i2c_probe(struct i2c_client *i2c) +{ + struct device *dev =3D &i2c->dev; + struct smi330_i2c_priv *priv; + struct regmap *regmap; + + priv =3D devm_kzalloc(dev, sizeof(*priv), GFP_KERNEL); + if (!priv) + return -ENOMEM; + + priv->i2c =3D i2c; + regmap =3D devm_regmap_init(dev, &smi330_regmap_bus, priv, + &smi330_regmap_config); + if (IS_ERR(regmap)) + return dev_err_probe(dev, PTR_ERR(regmap), + "Failed to initialize I2C Regmap\n"); + + return smi330_core_probe(dev, regmap); +} + +static const struct i2c_device_id smi330_i2c_device_id[] =3D { + { .name =3D "smi330" }, + { } +}; +MODULE_DEVICE_TABLE(i2c, smi330_i2c_device_id); + +static const struct of_device_id smi330_of_match[] =3D { + { .compatible =3D "bosch,smi330" }, + { } +}; +MODULE_DEVICE_TABLE(of, smi330_of_match); + +static struct i2c_driver smi330_i2c_driver =3D { + .probe =3D smi330_i2c_probe, + .id_table =3D smi330_i2c_device_id, + .driver =3D { + .of_match_table =3D smi330_of_match, + .name =3D "smi330_i2c", + }, +}; +module_i2c_driver(smi330_i2c_driver); + +MODULE_AUTHOR("Stefan Gutmann "); +MODULE_AUTHOR("Roman Huber "); +MODULE_AUTHOR("Filip Andrei "); +MODULE_AUTHOR("Drimbarean Avram Andrei "); +MODULE_DESCRIPTION("Bosch SMI330 I2C driver"); +MODULE_LICENSE("Dual BSD/GPL"); +MODULE_IMPORT_NS("IIO_SMI330"); diff --git a/drivers/iio/imu/smi330/smi330_spi.c b/drivers/iio/imu/smi330/s= mi330_spi.c new file mode 100644 index 00000000000..a6044e02b45 --- /dev/null +++ b/drivers/iio/imu/smi330/smi330_spi.c @@ -0,0 +1,85 @@ +// SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0 +/* + * Copyright (c) 2025 Robert Bosch GmbH. + */ +#include +#include +#include +#include + +#include "smi330.h" + +static int smi330_regmap_spi_read(void *context, const void *reg_buf, + size_t reg_size, void *val_buf, + size_t val_size) +{ + struct spi_device *spi =3D context; + + /* Insert pad byte for reading */ + u8 reg[] =3D { *(u8 *)reg_buf, 0 }; + + if (reg_size + 1 !=3D ARRAY_SIZE(reg)) { + dev_err(&spi->dev, "Invalid register size %zu\n", reg_size); + return -EINVAL; + } + + return spi_write_then_read(spi, reg, ARRAY_SIZE(reg), val_buf, + val_size); +} + +static int smi330_regmap_spi_write(void *context, const void *data, + size_t count) +{ + struct spi_device *spi =3D context; + + return spi_write(spi, data, count); +} + +static const struct regmap_bus smi330_regmap_bus =3D { + .read =3D smi330_regmap_spi_read, + .write =3D smi330_regmap_spi_write, + .read_flag_mask =3D 0x80, +}; + +static int smi330_spi_probe(struct spi_device *spi) +{ + struct regmap *regmap; + + regmap =3D devm_regmap_init(&spi->dev, &smi330_regmap_bus, &spi->dev, + &smi330_regmap_config); + if (IS_ERR(regmap)) + return dev_err_probe(&spi->dev, PTR_ERR(regmap), + "Failed to initialize SPI Regmap\n"); + + return smi330_core_probe(&spi->dev, regmap); +} + +static const struct spi_device_id smi330_spi_device_id[] =3D { + { .name =3D "smi330" }, + { } +}; +MODULE_DEVICE_TABLE(spi, smi330_spi_device_id); + +static const struct of_device_id smi330_of_match[] =3D { + { .compatible =3D "bosch,smi330" }, + { } +}; +MODULE_DEVICE_TABLE(of, smi330_of_match); + +static struct spi_driver smi330_spi_driver =3D { + .probe =3D smi330_spi_probe, + .id_table =3D smi330_spi_device_id, + .driver =3D { + .of_match_table =3D smi330_of_match, + .name =3D "smi330_spi", + }, +}; +module_spi_driver(smi330_spi_driver); + +MODULE_AUTHOR("Stefan Gutmann "); +MODULE_AUTHOR("Roman Huber "); +MODULE_AUTHOR("Filip Andrei "); +MODULE_AUTHOR("Drimbarean Avram Andrei "); +MODULE_DESCRIPTION("Bosch SMI330 SPI driver"); +MODULE_LICENSE("Dual BSD/GPL"); +MODULE_IMPORT_NS("IIO_SMI330"); --=20 2.34.1