Linux kernel mirror (for testing)
git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git
kernel
os
linux
iio: imu: Add i2c driver for bmi270 imu
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>
Link: https://patch.msgid.link/20240912210749.3080157-3-lanzano.alex@gmail.com
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
authored by
Alex Lanzano
and committed by
Jonathan Cameron
3ea51548
242b6890
+414
+7
MAINTAINERS
+7
MAINTAINERS
···
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F: Documentation/devicetree/bindings/iio/accel/bosch,bma400.yaml
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F: drivers/iio/accel/bma400*
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BOSCH SENSORTEC BMI270 IMU IIO DRIVER
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M: Alex Lanzano <lanzano.alex@gmail.com>
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L: linux-iio@vger.kernel.org
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S: Maintained
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F: Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml
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F: drivers/iio/imu/bmi270/
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BOSCH SENSORTEC BMI323 IMU IIO DRIVER
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M: Jagath Jog J <jagathjog1996@gmail.com>
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L: linux-iio@vger.kernel.org
+1
drivers/iio/imu/Kconfig
+1
drivers/iio/imu/Kconfig
+1
drivers/iio/imu/Makefile
+1
drivers/iio/imu/Makefile
+20
drivers/iio/imu/bmi270/Kconfig
+20
drivers/iio/imu/bmi270/Kconfig
···
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# SPDX-License-Identifier: GPL-2.0
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#
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# BMI270 IMU driver
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#
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config BMI270
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tristate
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select IIO_BUFFER
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config BMI270_I2C
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tristate "Bosch BMI270 I2C driver"
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depends on I2C
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select BMI270
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select REGMAP_I2C
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help
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Enable support for the Bosch BMI270 6-Axis IMU connected to I2C
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interface.
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This driver can also be built as a module. If so, the module will be
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called bmi270_i2c.
+6
drivers/iio/imu/bmi270/Makefile
+6
drivers/iio/imu/bmi270/Makefile
+18
drivers/iio/imu/bmi270/bmi270.h
+18
drivers/iio/imu/bmi270/bmi270.h
···
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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) */
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#ifndef BMI270_H_
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#define BMI270_H_
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#include <linux/regmap.h>
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struct device;
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struct bmi270_data {
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struct device *dev;
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struct regmap *regmap;
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};
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extern const struct regmap_config bmi270_regmap_config;
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int bmi270_core_probe(struct device *dev, struct regmap *regmap);
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#endif /* BMI270_H_ */
+313
drivers/iio/imu/bmi270/bmi270_core.c
+313
drivers/iio/imu/bmi270/bmi270_core.c
···
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// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
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#include <linux/bitfield.h>
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#include <linux/firmware.h>
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#include <linux/i2c.h>
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#include <linux/module.h>
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#include <linux/regmap.h>
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+
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#include <linux/iio/iio.h>
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#include "bmi270.h"
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#define BMI270_CHIP_ID_REG 0x00
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#define BMI270_CHIP_ID_VAL 0x24
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#define BMI270_CHIP_ID_MSK GENMASK(7, 0)
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#define BMI270_ACCEL_X_REG 0x0c
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#define BMI270_ANG_VEL_X_REG 0x12
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#define BMI270_INTERNAL_STATUS_REG 0x21
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#define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0)
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#define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01
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#define BMI270_INTERNAL_STATUS_AXES_REMAP_ERR_MSK BIT(5)
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#define BMI270_INTERNAL_STATUS_ODR_50HZ_ERR_MSK BIT(6)
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#define BMI270_ACC_CONF_REG 0x40
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#define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0)
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#define BMI270_ACC_CONF_ODR_100HZ 0x08
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#define BMI270_ACC_CONF_BWP_MSK GENMASK(6, 4)
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#define BMI270_ACC_CONF_BWP_NORMAL_MODE 0x02
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#define BMI270_ACC_CONF_FILTER_PERF_MSK BIT(7)
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#define BMI270_GYR_CONF_REG 0x42
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#define BMI270_GYR_CONF_ODR_MSK GENMASK(3, 0)
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#define BMI270_GYR_CONF_ODR_200HZ 0x09
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#define BMI270_GYR_CONF_BWP_MSK GENMASK(5, 4)
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#define BMI270_GYR_CONF_BWP_NORMAL_MODE 0x02
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#define BMI270_GYR_CONF_NOISE_PERF_MSK BIT(6)
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#define BMI270_GYR_CONF_FILTER_PERF_MSK BIT(7)
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#define BMI270_INIT_CTRL_REG 0x59
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#define BMI270_INIT_CTRL_LOAD_DONE_MSK BIT(0)
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#define BMI270_INIT_DATA_REG 0x5e
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#define BMI270_PWR_CONF_REG 0x7c
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#define BMI270_PWR_CONF_ADV_PWR_SAVE_MSK BIT(0)
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#define BMI270_PWR_CONF_FIFO_WKUP_MSK BIT(1)
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#define BMI270_PWR_CONF_FUP_EN_MSK BIT(2)
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#define BMI270_PWR_CTRL_REG 0x7d
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#define BMI270_PWR_CTRL_AUX_EN_MSK BIT(0)
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#define BMI270_PWR_CTRL_GYR_EN_MSK BIT(1)
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#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
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#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
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#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw"
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enum bmi270_scan {
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BMI270_SCAN_ACCEL_X,
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BMI270_SCAN_ACCEL_Y,
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BMI270_SCAN_ACCEL_Z,
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BMI270_SCAN_GYRO_X,
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BMI270_SCAN_GYRO_Y,
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BMI270_SCAN_GYRO_Z,
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};
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const struct regmap_config bmi270_regmap_config = {
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.reg_bits = 8,
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.val_bits = 8,
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};
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EXPORT_SYMBOL_NS_GPL(bmi270_regmap_config, IIO_BMI270);
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static int bmi270_get_data(struct bmi270_data *bmi270_device,
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int chan_type, int axis, int *val)
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{
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__le16 sample;
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int reg;
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int ret;
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switch (chan_type) {
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case IIO_ACCEL:
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reg = BMI270_ACCEL_X_REG + (axis - IIO_MOD_X) * 2;
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break;
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case IIO_ANGL_VEL:
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reg = BMI270_ANG_VEL_X_REG + (axis - IIO_MOD_X) * 2;
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break;
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default:
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return -EINVAL;
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}
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ret = regmap_bulk_read(bmi270_device->regmap, reg, &sample, sizeof(sample));
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if (ret)
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return ret;
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*val = sign_extend32(le16_to_cpu(sample), 15);
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return 0;
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}
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static int bmi270_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val, int *val2, long mask)
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{
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int ret;
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struct bmi270_data *bmi270_device = iio_priv(indio_dev);
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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ret = bmi270_get_data(bmi270_device, chan->type, chan->channel2, val);
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if (ret)
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return ret;
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return IIO_VAL_INT;
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default:
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return -EINVAL;
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}
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}
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static const struct iio_info bmi270_info = {
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.read_raw = bmi270_read_raw,
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};
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#define BMI270_ACCEL_CHANNEL(_axis) { \
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.type = IIO_ACCEL, \
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.modified = 1, \
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.channel2 = IIO_MOD_##_axis, \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
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.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
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BIT(IIO_CHAN_INFO_FREQUENCY), \
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}
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#define BMI270_ANG_VEL_CHANNEL(_axis) { \
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.type = IIO_ANGL_VEL, \
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.modified = 1, \
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.channel2 = IIO_MOD_##_axis, \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
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.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
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BIT(IIO_CHAN_INFO_FREQUENCY), \
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}
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static const struct iio_chan_spec bmi270_channels[] = {
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BMI270_ACCEL_CHANNEL(X),
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BMI270_ACCEL_CHANNEL(Y),
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BMI270_ACCEL_CHANNEL(Z),
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BMI270_ANG_VEL_CHANNEL(X),
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BMI270_ANG_VEL_CHANNEL(Y),
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BMI270_ANG_VEL_CHANNEL(Z),
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};
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static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device)
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{
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int chip_id;
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int ret;
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struct device *dev = bmi270_device->dev;
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struct regmap *regmap = bmi270_device->regmap;
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ret = regmap_read(regmap, BMI270_CHIP_ID_REG, &chip_id);
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if (ret)
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return dev_err_probe(dev, ret, "Failed to read chip id");
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if (chip_id != BMI270_CHIP_ID_VAL)
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dev_info(dev, "Unknown chip id 0x%x", chip_id);
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return 0;
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}
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static int bmi270_write_calibration_data(struct bmi270_data *bmi270_device)
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{
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int ret;
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int status = 0;
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const struct firmware *init_data;
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struct device *dev = bmi270_device->dev;
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struct regmap *regmap = bmi270_device->regmap;
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ret = regmap_clear_bits(regmap, BMI270_PWR_CONF_REG,
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BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
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if (ret)
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return dev_err_probe(dev, ret,
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"Failed to write power configuration");
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/*
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* After disabling advanced power save, all registers are accessible
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* after a 450us delay. This delay is specified in table A of the
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* datasheet.
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*/
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usleep_range(450, 1000);
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ret = regmap_clear_bits(regmap, BMI270_INIT_CTRL_REG,
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BMI270_INIT_CTRL_LOAD_DONE_MSK);
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if (ret)
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return dev_err_probe(dev, ret,
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"Failed to prepare device to load init data");
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ret = request_firmware(&init_data, BMI270_INIT_DATA_FILE, dev);
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if (ret)
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return dev_err_probe(dev, ret, "Failed to load init data file");
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ret = regmap_bulk_write(regmap, BMI270_INIT_DATA_REG,
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init_data->data, init_data->size);
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release_firmware(init_data);
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if (ret)
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return dev_err_probe(dev, ret, "Failed to write init data");
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ret = regmap_set_bits(regmap, BMI270_INIT_CTRL_REG,
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BMI270_INIT_CTRL_LOAD_DONE_MSK);
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if (ret)
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return dev_err_probe(dev, ret,
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"Failed to stop device initialization");
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/*
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* Wait at least 140ms for the device to complete configuration.
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* This delay is specified in table C of the datasheet.
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*/
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usleep_range(140000, 160000);
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ret = regmap_read(regmap, BMI270_INTERNAL_STATUS_REG, &status);
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if (ret)
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return dev_err_probe(dev, ret, "Failed to read internal status");
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if (status != BMI270_INTERNAL_STATUS_MSG_INIT_OK)
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return dev_err_probe(dev, -ENODEV, "Device failed to initialize");
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return 0;
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}
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static int bmi270_configure_imu(struct bmi270_data *bmi270_device)
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{
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int ret;
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struct device *dev = bmi270_device->dev;
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struct regmap *regmap = bmi270_device->regmap;
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ret = regmap_set_bits(regmap, BMI270_PWR_CTRL_REG,
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BMI270_PWR_CTRL_AUX_EN_MSK |
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BMI270_PWR_CTRL_GYR_EN_MSK |
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BMI270_PWR_CTRL_ACCEL_EN_MSK);
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if (ret)
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return dev_err_probe(dev, ret, "Failed to enable accelerometer and gyroscope");
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ret = regmap_set_bits(regmap, BMI270_ACC_CONF_REG,
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FIELD_PREP(BMI270_ACC_CONF_ODR_MSK,
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BMI270_ACC_CONF_ODR_100HZ) |
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FIELD_PREP(BMI270_ACC_CONF_BWP_MSK,
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BMI270_ACC_CONF_BWP_NORMAL_MODE) |
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BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
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if (ret)
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return dev_err_probe(dev, ret, "Failed to configure accelerometer");
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ret = regmap_set_bits(regmap, BMI270_GYR_CONF_REG,
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FIELD_PREP(BMI270_GYR_CONF_ODR_MSK,
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BMI270_GYR_CONF_ODR_200HZ) |
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FIELD_PREP(BMI270_GYR_CONF_BWP_MSK,
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BMI270_GYR_CONF_BWP_NORMAL_MODE) |
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BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
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if (ret)
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return dev_err_probe(dev, ret, "Failed to configure gyroscope");
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/* Enable FIFO_WKUP, Disable ADV_PWR_SAVE and FUP_EN */
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ret = regmap_write(regmap, BMI270_PWR_CONF_REG,
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BMI270_PWR_CONF_FIFO_WKUP_MSK);
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if (ret)
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return dev_err_probe(dev, ret, "Failed to set power configuration");
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return 0;
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}
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static int bmi270_chip_init(struct bmi270_data *bmi270_device)
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{
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int ret;
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+
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ret = bmi270_validate_chip_id(bmi270_device);
273
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if (ret)
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return ret;
275
+
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ret = bmi270_write_calibration_data(bmi270_device);
277
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if (ret)
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return ret;
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return bmi270_configure_imu(bmi270_device);
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}
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int bmi270_core_probe(struct device *dev, struct regmap *regmap)
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{
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int ret;
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struct bmi270_data *bmi270_device;
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struct iio_dev *indio_dev;
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indio_dev = devm_iio_device_alloc(dev, sizeof(*bmi270_device));
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if (!indio_dev)
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return -ENOMEM;
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bmi270_device = iio_priv(indio_dev);
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bmi270_device->dev = dev;
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bmi270_device->regmap = regmap;
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ret = bmi270_chip_init(bmi270_device);
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if (ret)
299
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return ret;
300
+
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indio_dev->channels = bmi270_channels;
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indio_dev->num_channels = ARRAY_SIZE(bmi270_channels);
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indio_dev->name = "bmi270";
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indio_dev->modes = INDIO_DIRECT_MODE;
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indio_dev->info = &bmi270_info;
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+
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return devm_iio_device_register(dev, indio_dev);
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}
309
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EXPORT_SYMBOL_NS_GPL(bmi270_core_probe, IIO_BMI270);
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MODULE_AUTHOR("Alex Lanzano");
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MODULE_DESCRIPTION("BMI270 driver");
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MODULE_LICENSE("GPL");
+48
drivers/iio/imu/bmi270/bmi270_i2c.c
+48
drivers/iio/imu/bmi270/bmi270_i2c.c
···
1
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// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
2
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3
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#include <linux/module.h>
4
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#include <linux/i2c.h>
5
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#include <linux/iio/iio.h>
6
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#include <linux/module.h>
7
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#include <linux/mod_devicetable.h>
8
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#include <linux/regmap.h>
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10
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#include "bmi270.h"
11
+
12
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static int bmi270_i2c_probe(struct i2c_client *client)
13
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{
14
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struct regmap *regmap;
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struct device *dev = &client->dev;
16
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17
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regmap = devm_regmap_init_i2c(client, &bmi270_regmap_config);
18
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if (IS_ERR(regmap))
19
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return dev_err_probe(dev, PTR_ERR(regmap),
20
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"Failed to init i2c regmap");
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22
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return bmi270_core_probe(dev, regmap);
23
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}
24
+
25
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static const struct i2c_device_id bmi270_i2c_id[] = {
26
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{ "bmi270", 0 },
27
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{ }
28
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};
29
+
30
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static const struct of_device_id bmi270_of_match[] = {
31
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{ .compatible = "bosch,bmi270" },
32
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{ }
33
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};
34
+
35
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static struct i2c_driver bmi270_i2c_driver = {
36
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.driver = {
37
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.name = "bmi270_i2c",
38
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.of_match_table = bmi270_of_match,
39
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},
40
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.probe = bmi270_i2c_probe,
41
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.id_table = bmi270_i2c_id,
42
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};
43
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module_i2c_driver(bmi270_i2c_driver);
44
+
45
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MODULE_AUTHOR("Alex Lanzano");
46
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MODULE_DESCRIPTION("BMI270 driver");
47
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MODULE_LICENSE("GPL");
48
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MODULE_IMPORT_NS(IIO_BMI270);