Linux kernel mirror (for testing)
git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git
kernel
os
linux
iio: imu: bmi270: Add scale and sampling frequency to BMI270 IMU
Add read and write functions and create _available entries.
Signed-off-by: Justin Weiss <justin@justinweiss.com>
Link: https://patch.msgid.link/20241027172029.160134-3-justin@justinweiss.com
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
authored by
Justin Weiss
and committed by
Jonathan Cameron
99e46bbb
eaba902d
+339
+339
drivers/iio/imu/bmi270/bmi270_core.c
+339
drivers/iio/imu/bmi270/bmi270_core.c
···
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7
#include <linux/regmap.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include <linux/iio/triggered_buffer.h>
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#include <linux/iio/trigger_consumer.h>
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···
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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_ACC_CONF_RANGE_REG 0x41
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#define BMI270_ACC_CONF_RANGE_MSK GENMASK(1, 0)
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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_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_GYR_CONF_RANGE_REG 0x43
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#define BMI270_GYR_CONF_RANGE_MSK GENMASK(2, 0)
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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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.fw_name = BMI270_INIT_DATA_FILE,
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};
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EXPORT_SYMBOL_NS_GPL(bmi270_chip_info, IIO_BMI270);
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enum bmi270_sensor_type {
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BMI270_ACCEL = 0,
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BMI270_GYRO,
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};
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struct bmi270_scale {
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int scale;
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int uscale;
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};
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struct bmi270_odr {
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int odr;
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int uodr;
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};
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static const struct bmi270_scale bmi270_accel_scale[] = {
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{ 0, 598 },
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{ 0, 1197 },
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{ 0, 2394 },
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{ 0, 4788 },
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};
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static const struct bmi270_scale bmi270_gyro_scale[] = {
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{ 0, 1065 },
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{ 0, 532 },
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{ 0, 266 },
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{ 0, 133 },
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{ 0, 66 },
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};
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struct bmi270_scale_item {
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const struct bmi270_scale *tbl;
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int num;
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};
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static const struct bmi270_scale_item bmi270_scale_table[] = {
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[BMI270_ACCEL] = {
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.tbl = bmi270_accel_scale,
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.num = ARRAY_SIZE(bmi270_accel_scale),
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},
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[BMI270_GYRO] = {
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.tbl = bmi270_gyro_scale,
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.num = ARRAY_SIZE(bmi270_gyro_scale),
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},
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};
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static const struct bmi270_odr bmi270_accel_odr[] = {
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{ 0, 781250 },
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{ 1, 562500 },
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{ 3, 125000 },
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{ 6, 250000 },
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{ 12, 500000 },
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{ 25, 0 },
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{ 50, 0 },
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{ 100, 0 },
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{ 200, 0 },
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{ 400, 0 },
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{ 800, 0 },
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{ 1600, 0 },
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};
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static const u8 bmi270_accel_odr_vals[] = {
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0x01,
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0x02,
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0x03,
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0x04,
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0x05,
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0x06,
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0x07,
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0x08,
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0x09,
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0x0A,
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0x0B,
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0x0C,
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};
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static const struct bmi270_odr bmi270_gyro_odr[] = {
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{ 25, 0 },
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{ 50, 0 },
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{ 100, 0 },
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{ 200, 0 },
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{ 400, 0 },
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{ 800, 0 },
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{ 1600, 0 },
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{ 3200, 0 },
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};
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static const u8 bmi270_gyro_odr_vals[] = {
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0x06,
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0x07,
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0x08,
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0x09,
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0x0A,
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0x0B,
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0x0C,
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0x0D,
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};
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struct bmi270_odr_item {
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const struct bmi270_odr *tbl;
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const u8 *vals;
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int num;
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};
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static const struct bmi270_odr_item bmi270_odr_table[] = {
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[BMI270_ACCEL] = {
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.tbl = bmi270_accel_odr,
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.vals = bmi270_accel_odr_vals,
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.num = ARRAY_SIZE(bmi270_accel_odr),
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},
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[BMI270_GYRO] = {
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.tbl = bmi270_gyro_odr,
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.vals = bmi270_gyro_odr_vals,
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.num = ARRAY_SIZE(bmi270_gyro_odr),
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},
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};
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static int bmi270_set_scale(struct bmi270_data *data, int chan_type, int uscale)
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{
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int i;
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int reg, mask;
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struct bmi270_scale_item bmi270_scale_item;
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switch (chan_type) {
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case IIO_ACCEL:
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reg = BMI270_ACC_CONF_RANGE_REG;
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mask = BMI270_ACC_CONF_RANGE_MSK;
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bmi270_scale_item = bmi270_scale_table[BMI270_ACCEL];
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break;
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case IIO_ANGL_VEL:
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reg = BMI270_GYR_CONF_RANGE_REG;
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mask = BMI270_GYR_CONF_RANGE_MSK;
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bmi270_scale_item = bmi270_scale_table[BMI270_GYRO];
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break;
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default:
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return -EINVAL;
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}
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for (i = 0; i < bmi270_scale_item.num; i++) {
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if (bmi270_scale_item.tbl[i].uscale != uscale)
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continue;
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return regmap_update_bits(data->regmap, reg, mask, i);
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}
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return -EINVAL;
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}
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static int bmi270_get_scale(struct bmi270_data *bmi270_device, int chan_type,
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int *uscale)
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{
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int ret;
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unsigned int val;
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struct bmi270_scale_item bmi270_scale_item;
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switch (chan_type) {
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case IIO_ACCEL:
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ret = regmap_read(bmi270_device->regmap,
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BMI270_ACC_CONF_RANGE_REG, &val);
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if (ret)
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return ret;
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val = FIELD_GET(BMI270_ACC_CONF_RANGE_MSK, val);
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bmi270_scale_item = bmi270_scale_table[BMI270_ACCEL];
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break;
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case IIO_ANGL_VEL:
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ret = regmap_read(bmi270_device->regmap,
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BMI270_GYR_CONF_RANGE_REG, &val);
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if (ret)
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return ret;
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val = FIELD_GET(BMI270_GYR_CONF_RANGE_MSK, val);
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bmi270_scale_item = bmi270_scale_table[BMI270_GYRO];
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break;
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default:
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return -EINVAL;
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}
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if (val >= bmi270_scale_item.num)
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return -EINVAL;
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*uscale = bmi270_scale_item.tbl[val].uscale;
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return 0;
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}
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static int bmi270_set_odr(struct bmi270_data *data, int chan_type, int odr,
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int uodr)
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{
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int i;
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int reg, mask;
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struct bmi270_odr_item bmi270_odr_item;
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switch (chan_type) {
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case IIO_ACCEL:
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reg = BMI270_ACC_CONF_REG;
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mask = BMI270_ACC_CONF_ODR_MSK;
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bmi270_odr_item = bmi270_odr_table[BMI270_ACCEL];
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break;
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case IIO_ANGL_VEL:
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reg = BMI270_GYR_CONF_REG;
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mask = BMI270_GYR_CONF_ODR_MSK;
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bmi270_odr_item = bmi270_odr_table[BMI270_GYRO];
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break;
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default:
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return -EINVAL;
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}
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for (i = 0; i < bmi270_odr_item.num; i++) {
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if (bmi270_odr_item.tbl[i].odr != odr ||
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bmi270_odr_item.tbl[i].uodr != uodr)
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continue;
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return regmap_update_bits(data->regmap, reg, mask,
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bmi270_odr_item.vals[i]);
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}
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return -EINVAL;
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}
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static int bmi270_get_odr(struct bmi270_data *data, int chan_type, int *odr,
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int *uodr)
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{
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int i, val, ret;
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struct bmi270_odr_item bmi270_odr_item;
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switch (chan_type) {
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case IIO_ACCEL:
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ret = regmap_read(data->regmap, BMI270_ACC_CONF_REG, &val);
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if (ret)
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return ret;
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val = FIELD_GET(BMI270_ACC_CONF_ODR_MSK, val);
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bmi270_odr_item = bmi270_odr_table[BMI270_ACCEL];
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break;
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case IIO_ANGL_VEL:
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ret = regmap_read(data->regmap, BMI270_GYR_CONF_REG, &val);
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if (ret)
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return ret;
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val = FIELD_GET(BMI270_GYR_CONF_ODR_MSK, val);
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bmi270_odr_item = bmi270_odr_table[BMI270_GYRO];
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break;
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default:
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return -EINVAL;
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}
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for (i = 0; i < bmi270_odr_item.num; i++) {
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if (val != bmi270_odr_item.vals[i])
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continue;
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*odr = bmi270_odr_item.tbl[i].odr;
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*uodr = bmi270_odr_item.tbl[i].uodr;
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return 0;
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}
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return -EINVAL;
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}
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static irqreturn_t bmi270_trigger_handler(int irq, void *p)
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{
···
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return ret;
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_SCALE:
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*val = 0;
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ret = bmi270_get_scale(bmi270_device, chan->type, val2);
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return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
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case IIO_CHAN_INFO_SAMP_FREQ:
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ret = bmi270_get_odr(bmi270_device, chan->type, val, val2);
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return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
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default:
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return -EINVAL;
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}
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}
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static int bmi270_write_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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struct bmi270_data *data = iio_priv(indio_dev);
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switch (mask) {
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case IIO_CHAN_INFO_SCALE:
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return bmi270_set_scale(data, chan->type, val2);
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case IIO_CHAN_INFO_SAMP_FREQ:
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return bmi270_set_odr(data, chan->type, val, val2);
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default:
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return -EINVAL;
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}
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}
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static int bmi270_read_avail(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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const int **vals, int *type, int *length,
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long mask)
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{
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switch (mask) {
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case IIO_CHAN_INFO_SCALE:
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*type = IIO_VAL_INT_PLUS_MICRO;
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switch (chan->type) {
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case IIO_ANGL_VEL:
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*vals = (const int *)bmi270_gyro_scale;
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*length = ARRAY_SIZE(bmi270_gyro_scale) * 2;
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return IIO_AVAIL_LIST;
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case IIO_ACCEL:
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*vals = (const int *)bmi270_accel_scale;
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*length = ARRAY_SIZE(bmi270_accel_scale) * 2;
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return IIO_AVAIL_LIST;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_SAMP_FREQ:
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*type = IIO_VAL_INT_PLUS_MICRO;
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switch (chan->type) {
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case IIO_ANGL_VEL:
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*vals = (const int *)bmi270_gyro_odr;
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*length = ARRAY_SIZE(bmi270_gyro_odr) * 2;
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return IIO_AVAIL_LIST;
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case IIO_ACCEL:
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*vals = (const int *)bmi270_accel_odr;
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*length = ARRAY_SIZE(bmi270_accel_odr) * 2;
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return IIO_AVAIL_LIST;
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default:
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return -EINVAL;
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}
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213
default:
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214
return -EINVAL;
418
215
}
···
482
155
483
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static const struct iio_info bmi270_info = {
484
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.read_raw = bmi270_read_raw,
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.write_raw = bmi270_write_raw,
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.read_avail = bmi270_read_avail,
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160
};
486
161
487
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#define BMI270_ACCEL_CHANNEL(_axis) { \
···
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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_SAMP_FREQ), \
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.info_mask_shared_by_type_available = \
168
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BIT(IIO_CHAN_INFO_SCALE) | \
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BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.scan_index = BMI270_SCAN_ACCEL_##_axis, \
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.scan_type = { \
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.sign = 's', \
···
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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_SAMP_FREQ), \
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.info_mask_shared_by_type_available = \
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BIT(IIO_CHAN_INFO_SCALE) | \
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BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.scan_index = BMI270_SCAN_GYRO_##_axis, \
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.scan_type = { \
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.sign = 's', \