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// SPDX-License-Identifier: GPL-2.0
/*
* BMI160 - Bosch IMU (accel, gyro plus external magnetometer)
*
* Copyright (c) 2016, Intel Corporation.
* Copyright (c) 2019, Martin Kelly.
*
* IIO core driver for BMI160, with support for I2C/SPI busses
*
* TODO: magnetometer, hardware FIFO
*/
#include <linux/module.h>
#include <linux/regmap.h>
#include <linux/acpi.h>
#include <linux/delay.h>
#include <linux/irq.h>
#include <linux/of_irq.h>
#include <linux/regulator/consumer.h>
#include <linux/iio/iio.h>
#include <linux/iio/triggered_buffer.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/iio/buffer.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/trigger.h>
#include "bmi160.h"
#define BMI160_REG_CHIP_ID 0x00
#define BMI160_CHIP_ID_VAL 0xD1
#define BMI160_REG_PMU_STATUS 0x03
/* X axis data low byte address, the rest can be obtained using axis offset */
#define BMI160_REG_DATA_MAGN_XOUT_L 0x04
#define BMI160_REG_DATA_GYRO_XOUT_L 0x0C
#define BMI160_REG_DATA_ACCEL_XOUT_L 0x12
#define BMI160_REG_ACCEL_CONFIG 0x40
#define BMI160_ACCEL_CONFIG_ODR_MASK GENMASK(3, 0)
#define BMI160_ACCEL_CONFIG_BWP_MASK GENMASK(6, 4)
#define BMI160_REG_ACCEL_RANGE 0x41
#define BMI160_ACCEL_RANGE_2G 0x03
#define BMI160_ACCEL_RANGE_4G 0x05
#define BMI160_ACCEL_RANGE_8G 0x08
#define BMI160_ACCEL_RANGE_16G 0x0C
#define BMI160_REG_GYRO_CONFIG 0x42
#define BMI160_GYRO_CONFIG_ODR_MASK GENMASK(3, 0)
#define BMI160_GYRO_CONFIG_BWP_MASK GENMASK(5, 4)
#define BMI160_REG_GYRO_RANGE 0x43
#define BMI160_GYRO_RANGE_2000DPS 0x00
#define BMI160_GYRO_RANGE_1000DPS 0x01
#define BMI160_GYRO_RANGE_500DPS 0x02
#define BMI160_GYRO_RANGE_250DPS 0x03
#define BMI160_GYRO_RANGE_125DPS 0x04
#define BMI160_REG_CMD 0x7E
#define BMI160_CMD_ACCEL_PM_SUSPEND 0x10
#define BMI160_CMD_ACCEL_PM_NORMAL 0x11
#define BMI160_CMD_ACCEL_PM_LOW_POWER 0x12
#define BMI160_CMD_GYRO_PM_SUSPEND 0x14
#define BMI160_CMD_GYRO_PM_NORMAL 0x15
#define BMI160_CMD_GYRO_PM_FAST_STARTUP 0x17
#define BMI160_CMD_SOFTRESET 0xB6
#define BMI160_REG_INT_EN 0x51
#define BMI160_DRDY_INT_EN BIT(4)
#define BMI160_REG_INT_OUT_CTRL 0x53
#define BMI160_INT_OUT_CTRL_MASK 0x0f
#define BMI160_INT1_OUT_CTRL_SHIFT 0
#define BMI160_INT2_OUT_CTRL_SHIFT 4
#define BMI160_EDGE_TRIGGERED BIT(0)
#define BMI160_ACTIVE_HIGH BIT(1)
#define BMI160_OPEN_DRAIN BIT(2)
#define BMI160_OUTPUT_EN BIT(3)
#define BMI160_REG_INT_LATCH 0x54
#define BMI160_INT1_LATCH_MASK BIT(4)
#define BMI160_INT2_LATCH_MASK BIT(5)
/* INT1 and INT2 are in the opposite order as in INT_OUT_CTRL! */
#define BMI160_REG_INT_MAP 0x56
#define BMI160_INT1_MAP_DRDY_EN 0x80
#define BMI160_INT2_MAP_DRDY_EN 0x08
#define BMI160_REG_DUMMY 0x7F
#define BMI160_NORMAL_WRITE_USLEEP 2
#define BMI160_SUSPENDED_WRITE_USLEEP 450
#define BMI160_ACCEL_PMU_MIN_USLEEP 3800
#define BMI160_GYRO_PMU_MIN_USLEEP 80000
#define BMI160_SOFTRESET_USLEEP 1000
#define BMI160_CHANNEL(_type, _axis, _index) { \
.type = _type, \
.modified = 1, \
.channel2 = IIO_MOD_##_axis, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.scan_index = _index, \
.scan_type = { \
.sign = 's', \
.realbits = 16, \
.storagebits = 16, \
.endianness = IIO_LE, \
}, \
.ext_info = bmi160_ext_info, \
}
/* scan indexes follow DATA register order */
enum bmi160_scan_axis {
BMI160_SCAN_EXT_MAGN_X = 0,
BMI160_SCAN_EXT_MAGN_Y,
BMI160_SCAN_EXT_MAGN_Z,
BMI160_SCAN_RHALL,
BMI160_SCAN_GYRO_X,
BMI160_SCAN_GYRO_Y,
BMI160_SCAN_GYRO_Z,
BMI160_SCAN_ACCEL_X,
BMI160_SCAN_ACCEL_Y,
BMI160_SCAN_ACCEL_Z,
BMI160_SCAN_TIMESTAMP,
};
enum bmi160_sensor_type {
BMI160_ACCEL = 0,
BMI160_GYRO,
BMI160_EXT_MAGN,
BMI160_NUM_SENSORS /* must be last */
};
enum bmi160_int_pin {
BMI160_PIN_INT1,
BMI160_PIN_INT2
};
const struct regmap_config bmi160_regmap_config = {
.reg_bits = 8,
.val_bits = 8,
};
EXPORT_SYMBOL(bmi160_regmap_config);
struct bmi160_regs {
u8 data; /* LSB byte register for X-axis */
u8 config;
u8 config_odr_mask;
u8 config_bwp_mask;
u8 range;
u8 pmu_cmd_normal;
u8 pmu_cmd_suspend;
};
static struct bmi160_regs bmi160_regs[] = {
[BMI160_ACCEL] = {
.data = BMI160_REG_DATA_ACCEL_XOUT_L,
.config = BMI160_REG_ACCEL_CONFIG,
.config_odr_mask = BMI160_ACCEL_CONFIG_ODR_MASK,
.config_bwp_mask = BMI160_ACCEL_CONFIG_BWP_MASK,
.range = BMI160_REG_ACCEL_RANGE,
.pmu_cmd_normal = BMI160_CMD_ACCEL_PM_NORMAL,
.pmu_cmd_suspend = BMI160_CMD_ACCEL_PM_SUSPEND,
},
[BMI160_GYRO] = {
.data = BMI160_REG_DATA_GYRO_XOUT_L,
.config = BMI160_REG_GYRO_CONFIG,
.config_odr_mask = BMI160_GYRO_CONFIG_ODR_MASK,
.config_bwp_mask = BMI160_GYRO_CONFIG_BWP_MASK,
.range = BMI160_REG_GYRO_RANGE,
.pmu_cmd_normal = BMI160_CMD_GYRO_PM_NORMAL,
.pmu_cmd_suspend = BMI160_CMD_GYRO_PM_SUSPEND,
},
};
static unsigned long bmi160_pmu_time[] = {
[BMI160_ACCEL] = BMI160_ACCEL_PMU_MIN_USLEEP,
[BMI160_GYRO] = BMI160_GYRO_PMU_MIN_USLEEP,
};
struct bmi160_scale {
u8 bits;
int uscale;
};
struct bmi160_odr {
u8 bits;
int odr;
int uodr;
};
static const struct bmi160_scale bmi160_accel_scale[] = {
{ BMI160_ACCEL_RANGE_2G, 598},
{ BMI160_ACCEL_RANGE_4G, 1197},
{ BMI160_ACCEL_RANGE_8G, 2394},
{ BMI160_ACCEL_RANGE_16G, 4788},
};
static const struct bmi160_scale bmi160_gyro_scale[] = {
{ BMI160_GYRO_RANGE_2000DPS, 1065},
{ BMI160_GYRO_RANGE_1000DPS, 532},
{ BMI160_GYRO_RANGE_500DPS, 266},
{ BMI160_GYRO_RANGE_250DPS, 133},
{ BMI160_GYRO_RANGE_125DPS, 66},
};
struct bmi160_scale_item {
const struct bmi160_scale *tbl;
int num;
};
static const struct bmi160_scale_item bmi160_scale_table[] = {
[BMI160_ACCEL] = {
.tbl = bmi160_accel_scale,
.num = ARRAY_SIZE(bmi160_accel_scale),
},
[BMI160_GYRO] = {
.tbl = bmi160_gyro_scale,
.num = ARRAY_SIZE(bmi160_gyro_scale),
},
};
static const struct bmi160_odr bmi160_accel_odr[] = {
{0x01, 0, 781250},
{0x02, 1, 562500},
{0x03, 3, 125000},
{0x04, 6, 250000},
{0x05, 12, 500000},
{0x06, 25, 0},
{0x07, 50, 0},
{0x08, 100, 0},
{0x09, 200, 0},
{0x0A, 400, 0},
{0x0B, 800, 0},
{0x0C, 1600, 0},
};
static const struct bmi160_odr bmi160_gyro_odr[] = {
{0x06, 25, 0},
{0x07, 50,
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