diff options
Diffstat (limited to 'drivers/iio/imu')
-rw-r--r-- | drivers/iio/imu/Kconfig | 2 | ||||
-rw-r--r-- | drivers/iio/imu/Makefile | 1 | ||||
-rw-r--r-- | drivers/iio/imu/adis.c | 7 | ||||
-rw-r--r-- | drivers/iio/imu/bmi160/Kconfig | 32 | ||||
-rw-r--r-- | drivers/iio/imu/bmi160/Makefile | 6 | ||||
-rw-r--r-- | drivers/iio/imu/bmi160/bmi160.h | 10 | ||||
-rw-r--r-- | drivers/iio/imu/bmi160/bmi160_core.c | 596 | ||||
-rw-r--r-- | drivers/iio/imu/bmi160/bmi160_i2c.c | 72 | ||||
-rw-r--r-- | drivers/iio/imu/bmi160/bmi160_spi.c | 63 | ||||
-rw-r--r-- | drivers/iio/imu/inv_mpu6050/Kconfig | 10 | ||||
-rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 73 | ||||
-rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 3 | ||||
-rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 16 | ||||
-rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 20 |
14 files changed, 890 insertions, 21 deletions
diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 5e610f7de5aa..1f1ad41ef881 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -25,6 +25,8 @@ config ADIS16480 Say yes here to build support for Analog Devices ADIS16375, ADIS16480, ADIS16485, ADIS16488 inertial sensors. +source "drivers/iio/imu/bmi160/Kconfig" + config KMX61 tristate "Kionix KMX61 6-axis accelerometer and magnetometer" depends on I2C diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index e1e6e3d70e26..c71bcd30dc38 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -13,6 +13,7 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_trigger.o adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o +obj-y += bmi160/ obj-y += inv_mpu6050/ obj-$(CONFIG_KMX61) += kmx61.o diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c index 911255d41c1a..ad6f91d06185 100644 --- a/drivers/iio/imu/adis.c +++ b/drivers/iio/imu/adis.c @@ -324,7 +324,12 @@ static int adis_self_test(struct adis *adis) msleep(adis->data->startup_delay); - return adis_check_status(adis); + ret = adis_check_status(adis); + + if (adis->data->self_test_no_autoclear) + adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00); + + return ret; } /** diff --git a/drivers/iio/imu/bmi160/Kconfig b/drivers/iio/imu/bmi160/Kconfig new file mode 100644 index 000000000000..005c17ccc2b0 --- /dev/null +++ b/drivers/iio/imu/bmi160/Kconfig @@ -0,0 +1,32 @@ +# +# BMI160 IMU driver +# + +config BMI160 + tristate + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + +config BMI160_I2C + tristate "Bosch BMI160 I2C driver" + depends on I2C + select BMI160 + select REGMAP_I2C + help + If you say yes here you get support for BMI160 IMU on I2C with + accelerometer, gyroscope and external BMG160 magnetometer. + + This driver can also be built as a module. If so, the module will be + called bmi160_i2c. + +config BMI160_SPI + tristate "Bosch BMI160 SPI driver" + depends on SPI + select BMI160 + select REGMAP_SPI + help + If you say yes here you get support for BMI160 IMU on SPI with + accelerometer, gyroscope and external BMG160 magnetometer. + + This driver can also be built as a module. If so, the module will be + called bmi160_spi. diff --git a/drivers/iio/imu/bmi160/Makefile b/drivers/iio/imu/bmi160/Makefile new file mode 100644 index 000000000000..10365e493ae2 --- /dev/null +++ b/drivers/iio/imu/bmi160/Makefile @@ -0,0 +1,6 @@ +# +# Makefile for Bosch BMI160 IMU +# +obj-$(CONFIG_BMI160) += bmi160_core.o +obj-$(CONFIG_BMI160_I2C) += bmi160_i2c.o +obj-$(CONFIG_BMI160_SPI) += bmi160_spi.o diff --git a/drivers/iio/imu/bmi160/bmi160.h b/drivers/iio/imu/bmi160/bmi160.h new file mode 100644 index 000000000000..d2ae6ed70271 --- /dev/null +++ b/drivers/iio/imu/bmi160/bmi160.h @@ -0,0 +1,10 @@ +#ifndef BMI160_H_ +#define BMI160_H_ + +extern const struct regmap_config bmi160_regmap_config; + +int bmi160_core_probe(struct device *dev, struct regmap *regmap, + const char *name, bool use_spi); +void bmi160_core_remove(struct device *dev); + +#endif /* BMI160_H_ */ diff --git a/drivers/iio/imu/bmi160/bmi160_core.c b/drivers/iio/imu/bmi160/bmi160_core.c new file mode 100644 index 000000000000..0bf92b06d7d8 --- /dev/null +++ b/drivers/iio/imu/bmi160/bmi160_core.c @@ -0,0 +1,596 @@ +/* + * BMI160 - Bosch IMU (accel, gyro plus external magnetometer) + * + * Copyright (c) 2016, Intel Corporation. + * + * This file is subject to the terms and conditions of version 2 of + * the GNU General Public License. See the file COPYING in the main + * directory of this archive for more details. + * + * IIO core driver for BMI160, with support for I2C/SPI busses + * + * TODO: magnetometer, interrupts, hardware FIFO + */ +#include <linux/module.h> +#include <linux/regmap.h> +#include <linux/acpi.h> +#include <linux/delay.h> + +#include <linux/iio/iio.h> +#include <linux/iio/triggered_buffer.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/buffer.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_DUMMY 0x7F + +#define BMI160_ACCEL_PMU_MIN_USLEEP 3200 +#define BMI160_ACCEL_PMU_MAX_USLEEP 3800 +#define BMI160_GYRO_PMU_MIN_USLEEP 55000 +#define BMI160_GYRO_PMU_MAX_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, \ + }, \ +} + +/* 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 */ +}; + +struct bmi160_data { + struct regmap *regmap; +}; + +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, + }, +}; + +struct bmi160_pmu_time { + unsigned long min; + unsigned long max; +}; + +static struct bmi160_pmu_time bmi160_pmu_time[] = { + [BMI160_ACCEL] = { + .min = BMI160_ACCEL_PMU_MIN_USLEEP, + .max = BMI160_ACCEL_PMU_MAX_USLEEP + }, + [BMI160_GYRO] = { + .min = BMI160_GYRO_PMU_MIN_USLEEP, + .max = 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, 78125}, + {0x02, 1, 5625}, + {0x03, 3, 125}, + {0x04, 6, 25}, + {0x05, 12, 5}, + {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, 0}, + {0x08, 100, 0}, + {0x09, 200, 0}, + {0x0A, 400, 0}, + {0x0B, 8000, 0}, + {0x0C, 1600, 0}, + {0x0D, 3200, 0}, +}; + +struct bmi160_odr_item { + const struct bmi160_odr *tbl; + int num; +}; + +static const struct bmi160_odr_item bmi160_odr_table[] = { + [BMI160_ACCEL] = { + .tbl = bmi160_accel_odr, + .num = ARRAY_SIZE(bmi160_accel_odr), + }, + [BMI160_GYRO] = { + .tbl = bmi160_gyro_odr, + .num = ARRAY_SIZE(bmi160_gyro_odr), + }, +}; + +static const struct iio_chan_spec bmi160_channels[] = { + BMI160_CHANNEL(IIO_ACCEL, X, BMI160_SCAN_ACCEL_X), + BMI160_CHANNEL(IIO_ACCEL, Y, BMI160_SCAN_ACCEL_Y), + BMI160_CHANNEL(IIO_ACCEL, Z, BMI160_SCAN_ACCEL_Z), + BMI160_CHANNEL(IIO_ANGL_VEL, X, BMI160_SCAN_GYRO_X), + BMI160_CHANNEL(IIO_ANGL_VEL, Y, BMI160_SCAN_GYRO_Y), + BMI160_CHANNEL(IIO_ANGL_VEL, Z, BMI160_SCAN_GYRO_Z), + IIO_CHAN_SOFT_TIMESTAMP(BMI160_SCAN_TIMESTAMP), +}; + +static enum bmi160_sensor_type bmi160_to_sensor(enum iio_chan_type iio_type) +{ + switch (iio_type) { + case IIO_ACCEL: + return BMI160_ACCEL; + case IIO_ANGL_VEL: + return BMI160_GYRO; + default: + return -EINVAL; + } +} + +static +int bmi160_set_mode(struct bmi160_data *data, enum bmi160_sensor_type t, + bool mode) +{ + int ret; + u8 cmd; + + if (mode) + cmd = bmi160_regs[t].pmu_cmd_normal; + else + cmd = bmi160_regs[t].pmu_cmd_suspend; + + ret = regmap_write(data->regmap, BMI160_REG_CMD, cmd); + if (ret < 0) + return ret; + + usleep_range(bmi160_pmu_time[t].min, bmi160_pmu_time[t].max); + + return 0; +} + +static +int bmi160_set_scale(struct bmi160_data *data, enum bmi160_sensor_type t, + int uscale) +{ + int i; + + for (i = 0; i < bmi160_scale_table[t].num; i++) + if (bmi160_scale_table[t].tbl[i].uscale == uscale) + break; + + if (i == bmi160_scale_table[t].num) + return -EINVAL; + + return regmap_write(data->regmap, bmi160_regs[t].range, + bmi160_scale_table[t].tbl[i].bits); +} + +static +int bmi160_get_scale(struct bmi160_data *data, enum bmi160_sensor_type t, + int *uscale) +{ + int i, ret, val; + + ret = regmap_read(data->regmap, bmi160_regs[t].range, &val); + if (ret < 0) + return ret; + + for (i = 0; i < bmi160_scale_table[t].num; i++) + if (bmi160_scale_table[t].tbl[i].bits == val) { + *uscale = bmi160_scale_table[t].tbl[i].uscale; + return 0; + } + + return -EINVAL; +} + +static int bmi160_get_data(struct bmi160_data *data, int chan_type, + int axis, int *val) +{ + u8 reg; + int ret; + __le16 sample; + enum bmi160_sensor_type t = bmi160_to_sensor(chan_type); + + reg = bmi160_regs[t].data + (axis - IIO_MOD_X) * sizeof(__le16); + + ret = regmap_bulk_read(data->regmap, reg, &sample, sizeof(__le16)); + if (ret < 0) + return ret; + + *val = sign_extend32(le16_to_cpu(sample), 15); + + return 0; +} + +static +int bmi160_set_odr(struct bmi160_data *data, enum bmi160_sensor_type t, + int odr, int uodr) +{ + int i; + + for (i = 0; i < bmi160_odr_table[t].num; i++) + if (bmi160_odr_table[t].tbl[i].odr == odr && + bmi160_odr_table[t].tbl[i].uodr == uodr) + break; + + if (i >= bmi160_odr_table[t].num) + return -EINVAL; + + return regmap_update_bits(data->regmap, + bmi160_regs[t].config, + bmi160_odr_table[t].tbl[i].bits, + bmi160_regs[t].config_odr_mask); +} + +static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t, + int *odr, int *uodr) +{ + int i, val, ret; + + ret = regmap_read(data->regmap, bmi160_regs[t].config, &val); + if (ret < 0) + return ret; + + val &= bmi160_regs[t].config_odr_mask; + + for (i = 0; i < bmi160_odr_table[t].num; i++) + if (val == bmi160_odr_table[t].tbl[i].bits) + break; + + if (i >= bmi160_odr_table[t].num) + return -EINVAL; + + *odr = bmi160_odr_table[t].tbl[i].odr; + *uodr = bmi160_odr_table[t].tbl[i].uodr; + + return 0; +} + +static irqreturn_t bmi160_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct bmi160_data *data = iio_priv(indio_dev); + s16 buf[16]; /* 3 sens x 3 axis x s16 + 3 x s16 pad + 4 x s16 tstamp */ + int i, ret, j = 0, base = BMI160_REG_DATA_MAGN_XOUT_L; + __le16 sample; + + for_each_set_bit(i, indio_dev->active_scan_mask, + indio_dev->masklength) { + ret = regmap_bulk_read(data->regmap, base + i * sizeof(__le16), + &sample, sizeof(__le16)); + if (ret < 0) + goto done; + buf[j++] = sample; + } + + iio_push_to_buffers_with_timestamp(indio_dev, buf, iio_get_time_ns()); +done: + iio_trigger_notify_done(indio_dev->trig); + return IRQ_HANDLED; +} + +static int bmi160_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + int ret; + struct bmi160_data *data = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = bmi160_get_data(data, chan->type, chan->channel2, val); + if (ret < 0) + return ret; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + *val = 0; + ret = bmi160_get_scale(data, + bmi160_to_sensor(chan->type), val2); + return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_SAMP_FREQ: + ret = bmi160_get_odr(data, bmi160_to_sensor(chan->type), + val, val2); + return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + + return 0; +} + +static int bmi160_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct bmi160_data *data = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + return bmi160_set_scale(data, + bmi160_to_sensor(chan->type), val2); + break; + case IIO_CHAN_INFO_SAMP_FREQ: + return bmi160_set_odr(data, bmi160_to_sensor(chan->type), + val, val2); + default: + return -EINVAL; + } + + return 0; +} + +static const struct iio_info bmi160_info = { + .driver_module = THIS_MODULE, + .read_raw = bmi160_read_raw, + .write_raw = bmi160_write_raw, +}; + +static const char *bmi160_match_acpi_device(struct device *dev) +{ + const struct acpi_device_id *id; + + id = acpi_match_device(dev->driver->acpi_match_table, dev); + if (!id) + return NULL; + + return dev_name(dev); +} + +static int bmi160_chip_init(struct bmi160_data *data, bool use_spi) +{ + int ret; + unsigned int val; + struct device *dev = regmap_get_device(data->regmap); + + ret = regmap_write(data->regmap, BMI160_REG_CMD, BMI160_CMD_SOFTRESET); + if (ret < 0) + return ret; + + usleep_range(BMI160_SOFTRESET_USLEEP, BMI160_SOFTRESET_USLEEP + 1); + + /* + * CS rising edge is needed before starting SPI, so do a dummy read + * See Section 3.2.1, page 86 of the datasheet + */ + if (use_spi) { + ret = regmap_read(data->regmap, BMI160_REG_DUMMY, &val); + if (ret < 0) + return ret; + } + + ret = regmap_read(data->regmap, BMI160_REG_CHIP_ID, &val); + if (ret < 0) { + dev_err(dev, "Error reading chip id\n"); + return ret; + } + if (val != BMI160_CHIP_ID_VAL) { + dev_err(dev, "Wrong chip id, got %x expected %x\n", + val, BMI160_CHIP_ID_VAL); + return -ENODEV; + } + + ret = bmi160_set_mode(data, BMI160_ACCEL, true); + if (ret < 0) + return ret; + + ret = bmi160_set_mode(data, BMI160_GYRO, true); + if (ret < 0) + return ret; + + return 0; +} + +static void bmi160_chip_uninit(struct bmi160_data *data) +{ + bmi160_set_mode(data, BMI160_GYRO, false); + bmi160_set_mode(data, BMI160_ACCEL, false); +} + +int bmi160_core_probe(struct device *dev, struct regmap *regmap, + const char *name, bool use_spi) +{ + struct iio_dev *indio_dev; + struct bmi160_data *data; + int ret; + + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + dev_set_drvdata(dev, indio_dev); + data->regmap = regmap; + + ret = bmi160_chip_init(data, use_spi); + if (ret < 0) + return ret; + + if (!name && ACPI_HANDLE(dev)) + name = bmi160_match_acpi_device(dev); + + indio_dev->dev.parent = dev; + indio_dev->channels = bmi160_channels; + indio_dev->num_channels = ARRAY_SIZE(bmi160_channels); + indio_dev->name = name; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &bmi160_info; + + ret = iio_triggered_buffer_setup(indio_dev, NULL, + bmi160_trigger_handler, NULL); + if (ret < 0) + goto uninit; + + ret = iio_device_register(indio_dev); + if (ret < 0) + goto buffer_cleanup; + + return 0; +buffer_cleanup: + iio_triggered_buffer_cleanup(indio_dev); +uninit: + bmi160_chip_uninit(data); + return ret; +} +EXPORT_SYMBOL_GPL(bmi160_core_probe); + +void bmi160_core_remove(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct bmi160_data *data = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + iio_triggered_buffer_cleanup(indio_dev); + bmi160_chip_uninit(data); +} +EXPORT_SYMBOL_GPL(bmi160_core_remove); + +MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com"); +MODULE_DESCRIPTION("Bosch BMI160 driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/imu/bmi160/bmi160_i2c.c b/drivers/iio/imu/bmi160/bmi160_i2c.c new file mode 100644 index 000000000000..07a179d8fb48 --- /dev/null +++ b/drivers/iio/imu/bmi160/bmi160_i2c.c @@ -0,0 +1,72 @@ +/* + * BMI160 - Bosch IMU, I2C bits + * + * Copyright (c) 2016, Intel Corporation. + * + * This file is subject to the terms and conditions of version 2 of + * the GNU General Public License. See the file COPYING in the main + * directory of this archive for more details. + * + * 7-bit I2C slave address is: + * - 0x68 if SDO is pulled to GND + * - 0x69 if SDO is pulled to VDDIO + */ +#include <linux/module.h> +#include <linux/i2c.h> +#include <linux/regmap.h> +#include <linux/acpi.h> + +#include "bmi160.h" + +static int bmi160_i2c_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct regmap *regmap; + const char *name = NULL; + + regmap = devm_regmap_init_i2c(client, &bmi160_regmap_config); + if (IS_ERR(regmap)) { + dev_err(&client->dev, "Failed to register i2c regmap %d\n", + (int)PTR_ERR(regmap)); + return PTR_ERR(regmap); + } + + if (id) + name = id->name; + + return bmi160_core_probe(&client->dev, regmap, name, false); +} + +static int bmi160_i2c_remove(struct i2c_client *client) +{ + bmi160_core_remove(&client->dev); + + return 0; +} + +static const struct i2c_device_id bmi160_i2c_id[] = { + {"bmi160", 0}, + {} +}; +MODULE_DEVICE_TABLE(i2c, bmi160_i2c_id); + +static const struct acpi_device_id bmi160_acpi_match[] = { + {"BMI0160", 0}, + { }, +}; +MODULE_DEVICE_TABLE(acpi, bmi160_acpi_match); + +static struct i2c_driver bmi160_i2c_driver = { + .driver = { + .name = "bmi160_i2c", + .acpi_match_table = ACPI_PTR(bmi160_acpi_match), + }, + .probe = bmi160_i2c_probe, + .remove = bmi160_i2c_remove, + .id_table = bmi160_i2c_id, +}; +module_i2c_driver(bmi160_i2c_driver); + +MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com>"); +MODULE_DESCRIPTION("BMI160 I2C driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/imu/bmi160/bmi160_spi.c b/drivers/iio/imu/bmi160/bmi160_spi.c new file mode 100644 index 000000000000..1ec8b12bd984 --- /dev/null +++ b/drivers/iio/imu/bmi160/bmi160_spi.c @@ -0,0 +1,63 @@ +/* + * BMI160 - Bosch IMU, SPI bits + * + * Copyright (c) 2016, Intel Corporation. + * + * This file is subject to the terms and conditions of version 2 of + * the GNU General Public License. See the file COPYING in the main + * directory of this archive for more details. + */ +#include <linux/module.h> +#include <linux/spi/spi.h> +#include <linux/regmap.h> +#include <linux/acpi.h> + +#include "bmi160.h" + +static int bmi160_spi_probe(struct spi_device *spi) +{ + struct regmap *regmap; + const struct spi_device_id *id = spi_get_device_id(spi); + + regmap = devm_regmap_init_spi(spi, &bmi160_regmap_config); + if (IS_ERR(regmap)) { + dev_err(&spi->dev, "Failed to register spi regmap %d\n", + (int)PTR_ERR(regmap)); + return PTR_ERR(regmap); + } + return bmi160_core_probe(&spi->dev, regmap, id->name, true); +} + +static int bmi160_spi_remove(struct spi_device *spi) +{ + bmi160_core_remove(&spi->dev); + + return 0; +} + +static const struct spi_device_id bmi160_spi_id[] = { + {"bmi160", 0}, + {} +}; +MODULE_DEVICE_TABLE(spi, bmi160_spi_id); + +static const struct acpi_device_id bmi160_acpi_match[] = { + {"BMI0160", 0}, + { }, +}; +MODULE_DEVICE_TABLE(acpi, bmi160_acpi_match); + +static struct spi_driver bmi160_spi_driver = { + .probe = bmi160_spi_probe, + .remove = bmi160_spi_remove, + .id_table = bmi160_spi_id, + .driver = { + .acpi_match_table = ACPI_PTR(bmi160_acpi_match), + .name = "bmi160_spi", + }, +}; +module_spi_driver(bmi160_spi_driver); + +MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com"); +MODULE_DESCRIPTION("Bosch BMI160 SPI driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig index 847455a2d6bb..f756feecfa4c 100644 --- a/drivers/iio/imu/inv_mpu6050/Kconfig +++ b/drivers/iio/imu/inv_mpu6050/Kconfig @@ -13,10 +13,8 @@ config INV_MPU6050_I2C select INV_MPU6050_IIO select REGMAP_I2C help - This driver supports the Invensense MPU6050 devices. - This driver can also support MPU6500 in MPU6050 compatibility mode - and also in MPU6500 mode with some limitations. - It is a gyroscope/accelerometer combo device. + This driver supports the Invensense MPU6050/6500/9150 motion tracking + devices over I2C. This driver can be built as a module. The module will be called inv-mpu6050-i2c. @@ -26,7 +24,7 @@ config INV_MPU6050_SPI select INV_MPU6050_IIO select REGMAP_SPI help - This driver supports the Invensense MPU6050 devices. - It is a gyroscope/accelerometer combo device. + This driver supports the Invensense MPU6000/6500/9150 motion tracking + devices over SPI. This driver can be built as a module. The module will be called inv-mpu6050-spi. diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index d192953e9a38..b269b375ca34 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -88,16 +88,29 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = { .accl_fs = INV_MPU6050_FS_02G, }; +/* Indexed by enum inv_devices */ static const struct inv_mpu6050_hw hw_info[] = { { - .num_reg = 117, + .whoami = INV_MPU6050_WHOAMI_VALUE, + .name = "MPU6050", + .reg = ®_set_6050, + .config = &chip_config_6050, + }, + { + .whoami = INV_MPU6500_WHOAMI_VALUE, .name = "MPU6500", .reg = ®_set_6500, .config = &chip_config_6050, }, { - .num_reg = 117, - .name = "MPU6050", + .whoami = INV_MPU6000_WHOAMI_VALUE, + .name = "MPU6000", + .reg = ®_set_6050, + .config = &chip_config_6050, + }, + { + .whoami = INV_MPU9150_WHOAMI_VALUE, + .name = "MPU9150", .reg = ®_set_6050, .config = &chip_config_6050, }, @@ -600,6 +613,10 @@ inv_fifo_rate_show(struct device *dev, struct device_attribute *attr, /** * inv_attr_show() - calling this function will show current * parameters. + * + * Deprecated in favor of IIO mounting matrix API. + * + * See inv_get_mount_matrix() */ static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr, char *buf) @@ -644,6 +661,18 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev, return 0; } +static const struct iio_mount_matrix * +inv_get_mount_matrix(const struct iio_dev *indio_dev, + const struct iio_chan_spec *chan) +{ + return &((struct inv_mpu6050_state *)iio_priv(indio_dev))->orientation; +} + +static const struct iio_chan_spec_ext_info inv_ext_info[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix), + { }, +}; + #define INV_MPU6050_CHAN(_type, _channel2, _index) \ { \ .type = _type, \ @@ -660,6 +689,7 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev, .shift = 0, \ .endianness = IIO_BE, \ }, \ + .ext_info = inv_ext_info, \ } static const struct iio_chan_spec inv_mpu_channels[] = { @@ -692,14 +722,16 @@ static IIO_CONST_ATTR(in_accel_scale_available, "0.000598 0.001196 0.002392 0.004785"); static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show, inv_mpu6050_fifo_rate_store); + +/* Deprecated: kept for userspace backward compatibility. */ static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL, ATTR_GYRO_MATRIX); static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL, ATTR_ACCL_MATRIX); static struct attribute *inv_attributes[] = { - &iio_dev_attr_in_gyro_matrix.dev_attr.attr, - &iio_dev_attr_in_accel_matrix.dev_attr.attr, + &iio_dev_attr_in_gyro_matrix.dev_attr.attr, /* deprecated */ + &iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */ &iio_dev_attr_sampling_frequency.dev_attr.attr, &iio_const_attr_sampling_frequency_available.dev_attr.attr, &iio_const_attr_in_accel_scale_available.dev_attr.attr, @@ -726,6 +758,7 @@ static const struct iio_info mpu_info = { static int inv_check_and_setup_chip(struct inv_mpu6050_state *st) { int result; + unsigned int regval; st->hw = &hw_info[st->chip_type]; st->reg = hw_info[st->chip_type].reg; @@ -736,6 +769,17 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st) if (result) return result; msleep(INV_MPU6050_POWER_UP_TIME); + + /* check chip self-identification */ + result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, ®val); + if (result) + return result; + if (regval != st->hw->whoami) { + dev_warn(regmap_get_device(st->map), + "whoami mismatch got %#02x expected %#02hhx for %s\n", + regval, st->hw->whoami, st->hw->name); + } + /* * toggle power state. After reset, the sleep bit could be on * or off depending on the OTP settings. Toggling power would @@ -774,14 +818,31 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, if (!indio_dev) return -ENOMEM; + BUILD_BUG_ON(ARRAY_SIZE(hw_info) != INV_NUM_PARTS); + if (chip_type < 0 || chip_type >= INV_NUM_PARTS) { + dev_err(dev, "Bad invensense chip_type=%d name=%s\n", + chip_type, name); + return -ENODEV; + } st = iio_priv(indio_dev); st->chip_type = chip_type; st->powerup_count = 0; st->irq = irq; st->map = regmap; + pdata = dev_get_platdata(dev); - if (pdata) + if (!pdata) { + result = of_iio_read_mount_matrix(dev, "mount-matrix", + &st->orientation); + if (result) { + dev_err(dev, "Failed to retrieve mounting matrix %d\n", + result); + return result; + } + } else { st->plat_data = *pdata; + } + /* power is turned on inside check chip type*/ result = inv_check_and_setup_chip(st); if (result) diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c index 5ee4e0dc093e..1a424a6561de 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c @@ -202,13 +202,14 @@ static int inv_mpu_remove(struct i2c_client *client) static const struct i2c_device_id inv_mpu_id[] = { {"mpu6050", INV_MPU6050}, {"mpu6500", INV_MPU6500}, + {"mpu9150", INV_MPU9150}, {} }; MODULE_DEVICE_TABLE(i2c, inv_mpu_id); static const struct acpi_device_id inv_acpi_match[] = { - {"INVN6500", 0}, + {"INVN6500", INV_MPU6500}, { }, }; diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h index e302a49703bf..47ca25b94a73 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h @@ -68,6 +68,7 @@ enum inv_devices { INV_MPU6050, INV_MPU6500, INV_MPU6000, + INV_MPU9150, INV_NUM_PARTS }; @@ -93,13 +94,13 @@ struct inv_mpu6050_chip_config { /** * struct inv_mpu6050_hw - Other important hardware information. - * @num_reg: Number of registers on device. + * @whoami: Self identification byte from WHO_AM_I register * @name: name of the chip. * @reg: register map of the chip. * @config: configuration of the chip. */ struct inv_mpu6050_hw { - u8 num_reg; + u8 whoami; u8 *name; const struct inv_mpu6050_reg_map *reg; const struct inv_mpu6050_chip_config *config; @@ -114,7 +115,8 @@ struct inv_mpu6050_hw { * @hw: Other hardware-specific information. * @chip_type: chip type. * @time_stamp_lock: spin lock to time stamp. - * @plat_data: platform data. + * @plat_data: platform data (deprecated in favor of @orientation). + * @orientation: sensor chip orientation relative to main hardware. * @timestamps: kfifo queue to store time stamp. * @map regmap pointer. * @irq interrupt number. @@ -131,6 +133,7 @@ struct inv_mpu6050_state { struct i2c_client *mux_client; unsigned int powerup_count; struct inv_mpu6050_platform_data plat_data; + struct iio_mount_matrix orientation; DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE); struct regmap *map; int irq; @@ -215,6 +218,13 @@ struct inv_mpu6050_state { #define INV_MPU6050_MIN_FIFO_RATE 4 #define INV_MPU6050_ONE_K_HZ 1000 +#define INV_MPU6050_REG_WHOAMI 117 + +#define INV_MPU6000_WHOAMI_VALUE 0x68 +#define INV_MPU6050_WHOAMI_VALUE 0x68 +#define INV_MPU6500_WHOAMI_VALUE 0x70 +#define INV_MPU9150_WHOAMI_VALUE 0x68 + /* scan element definition */ enum inv_mpu6050_scan { INV_MPU6050_SCAN_ACCL_X, diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c index 7bcb8d839f05..190a4a51c830 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c @@ -44,9 +44,19 @@ static int inv_mpu_i2c_disable(struct iio_dev *indio_dev) static int inv_mpu_probe(struct spi_device *spi) { struct regmap *regmap; - const struct spi_device_id *id = spi_get_device_id(spi); - const char *name = id ? id->name : NULL; - const int chip_type = id ? id->driver_data : 0; + const struct spi_device_id *spi_id; + const struct acpi_device_id *acpi_id; + const char *name = NULL; + enum inv_devices chip_type; + + if ((spi_id = spi_get_device_id(spi))) { + chip_type = (enum inv_devices)spi_id->driver_data; + name = spi_id->name; + } else if ((acpi_id = acpi_match_device(spi->dev.driver->acpi_match_table, &spi->dev))) { + chip_type = (enum inv_devices)acpi_id->driver_data; + } else { + return -ENODEV; + } regmap = devm_regmap_init_spi(spi, &inv_mpu_regmap_config); if (IS_ERR(regmap)) { @@ -70,13 +80,15 @@ static int inv_mpu_remove(struct spi_device *spi) */ static const struct spi_device_id inv_mpu_id[] = { {"mpu6000", INV_MPU6000}, + {"mpu6500", INV_MPU6500}, + {"mpu9150", INV_MPU9150}, {} }; MODULE_DEVICE_TABLE(spi, inv_mpu_id); static const struct acpi_device_id inv_acpi_match[] = { - {"INVN6000", 0}, + {"INVN6000", INV_MPU6000}, { }, }; MODULE_DEVICE_TABLE(acpi, inv_acpi_match); |