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@xxxxxxxxx> --- MAINTAINERS | 7 + drivers/iio/imu/Kconfig | 1 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/bmi270/Kconfig | 22 ++ drivers/iio/imu/bmi270/Makefile | 6 + drivers/iio/imu/bmi270/bmi270.h | 18 ++ drivers/iio/imu/bmi270/bmi270_core.c | 322 +++++++++++++++++++++++++++ drivers/iio/imu/bmi270/bmi270_i2c.c | 56 +++++ 8 files changed, 433 insertions(+) create mode 100644 drivers/iio/imu/bmi270/Kconfig create mode 100644 drivers/iio/imu/bmi270/Makefile create mode 100644 drivers/iio/imu/bmi270/bmi270.h create mode 100644 drivers/iio/imu/bmi270/bmi270_core.c create mode 100644 drivers/iio/imu/bmi270/bmi270_i2c.c diff --git a/MAINTAINERS b/MAINTAINERS index 417c6751c0dc..3d4a6f52bae6 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -3966,6 +3966,13 @@ S: Maintained F: Documentation/devicetree/bindings/iio/accel/bosch,bma400.yaml F: drivers/iio/accel/bma400* +BOSCH SENSORTEC BMI270 IMU IIO DRIVER +M: Alex Lanzano <lanzano.alex@xxxxxxxxx> +L: linux-iio@xxxxxxxxxxxxxxx +S: Maintained +F: Documentation/devicetree/bindings/iio/imu/bosch,bmi270.yaml +F: drivers/iio/imu/bmi270/ + BOSCH SENSORTEC BMI323 IMU IIO DRIVER M: Jagath Jog J <jagathjog1996@xxxxxxxxx> L: linux-iio@xxxxxxxxxxxxxxx diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 782fb80e44c2..489dd898830b 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -53,6 +53,7 @@ config ADIS16480 ADIS16485, ADIS16488 inertial sensors. source "drivers/iio/imu/bmi160/Kconfig" +source "drivers/iio/imu/bmi270/Kconfig" source "drivers/iio/imu/bmi323/Kconfig" source "drivers/iio/imu/bno055/Kconfig" diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index 7e2d7d5c3b7b..79f83ea6f644 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -15,6 +15,7 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o obj-y += bmi160/ +obj-y += bmi270/ obj-y += bmi323/ obj-y += bno055/ diff --git a/drivers/iio/imu/bmi270/Kconfig b/drivers/iio/imu/bmi270/Kconfig new file mode 100644 index 000000000000..05e13c67db57 --- /dev/null +++ b/drivers/iio/imu/bmi270/Kconfig @@ -0,0 +1,22 @@ +# SPDX-License-Identifier: GPL-2.0 +# +# BMI270 IMU driver +# + +config BMI270 + tristate + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + +config BMI270_I2C + tristate "Bosch BMI270 I2C driver" + depends on I2C + select BMI270 + select REGMAP_I2C + help + Enable support for the Bosch BMI270 6-Axis IMU connected to I2C + interface. + + This driver can also be built as a module. If so, the module will be + called bmi270_i2c. + diff --git a/drivers/iio/imu/bmi270/Makefile b/drivers/iio/imu/bmi270/Makefile new file mode 100644 index 000000000000..ab4acaaee6d2 --- /dev/null +++ b/drivers/iio/imu/bmi270/Makefile @@ -0,0 +1,6 @@ +# SPDX-License-Identifier: GPL-2.0 +# +# Makefile for Bosch BMI270 IMU +# +obj-$(CONFIG_BMI270) += bmi270_core.o +obj-$(CONFIG_BMI270_I2C) += bmi270_i2c.o diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h new file mode 100644 index 000000000000..52e806529748 --- /dev/null +++ b/drivers/iio/imu/bmi270/bmi270.h @@ -0,0 +1,18 @@ +/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) */ + +#ifndef BMI270_H_ +#define BMI270_H_ + +#include <linux/iio/iio.h> + +struct bmi270_data { + struct device *dev; + struct regmap *regmap; +}; + +extern const struct regmap_config bmi270_regmap_config; + +int bmi270_core_probe(struct device *dev, struct regmap *regmap, + const char *name, bool use_spi); + +#endif /* BMI270_H_ */ diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c new file mode 100644 index 000000000000..f8c53e8e35a2 --- /dev/null +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -0,0 +1,322 @@ +// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) + +#include <linux/firmware.h> +#include <linux/i2c.h> +#include <linux/iio/iio.h> +#include <linux/module.h> +#include <linux/regmap.h> + +#include "bmi270.h" + +#define BMI270_CHIP_ID 0x24 +#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw" + +enum bmi270_registers { + BMI270_REG_CHIP_ID = 0x00, + BMI270_REG_INTERNAL_STATUS = 0x21, + BMI270_REG_ACC_CONF = 0x40, + BMI270_REG_GYR_CONF = 0x42, + BMI270_REG_INIT_CTRL = 0x59, + BMI270_REG_INIT_DATA = 0x5e, + BMI270_REG_PWR_CONF = 0x7c, + BMI270_REG_PWR_CTRL = 0x7d, +}; + +enum bmi270_scan { + BMI270_SCAN_ACCEL_X, + BMI270_SCAN_ACCEL_Y, + BMI270_SCAN_ACCEL_Z, + BMI270_SCAN_GYRO_X, + BMI270_SCAN_GYRO_Y, + BMI270_SCAN_GYRO_Z, +}; + +const struct regmap_config bmi270_regmap_config = { + .reg_bits = 8, + .val_bits = 8, +}; +EXPORT_SYMBOL_NS_GPL(bmi270_regmap_config, IIO_BMI270); + +static int bmi270_get_data(struct bmi270_data *bmi270_device, + int chan_type, int axis, int *val) +{ + __le16 sample; + int reg; + + switch (chan_type) { + case IIO_ACCEL: + reg = 0xc + (axis - IIO_MOD_X) * sizeof(sample); + break; + case IIO_ANGL_VEL: + reg = 0x12 + (axis - IIO_MOD_X) * sizeof(sample); + break; + default: + return -EINVAL; + } + + regmap_bulk_read(bmi270_device->regmap, reg, &sample, sizeof(sample)); + *val = sign_extend32(le16_to_cpu(sample), 15); + + return 0; +} + +static int bmi270_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct bmi270_data *bmi270_device = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_RAW: + bmi270_get_data(bmi270_device, chan->type, chan->channel2, val); + return IIO_VAL_INT; + default: + return -EINVAL; + } + + return 0; +} + +static const struct iio_info bmi270_info = { + .read_raw = bmi270_read_raw, +}; + +static const struct iio_chan_spec bmi270_channels[] = { + { + .type = IIO_ACCEL, + .modified = 1, + .channel2 = IIO_MOD_X, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_ACCEL_X, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + }, + { + .type = IIO_ACCEL, + .modified = 1, + .channel2 = IIO_MOD_Y, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_ACCEL_Y, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + }, + { + .type = IIO_ACCEL, + .modified = 1, + .channel2 = IIO_MOD_Z, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_ACCEL_Z, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + }, + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_X, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_GYRO_X, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + }, + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_Y, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_GYRO_Y, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + + }, + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_Z, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_FREQUENCY), + .scan_index = BMI270_SCAN_GYRO_Z, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_LE, + }, + }, +}; + +static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device) +{ + int chip_id; + int ret; + struct device *dev = bmi270_device->dev; + struct regmap *regmap = bmi270_device->regmap; + + ret = regmap_read(regmap, BMI270_REG_CHIP_ID, &chip_id); + if (ret) + return dev_err_probe(dev, ret, "Failed to read chip id"); + + if (chip_id != BMI270_CHIP_ID) + return dev_err_probe(dev, -ENODEV, "Invalid chip id"); + + return 0; +} + +static int bmi270_write_init_data(struct bmi270_data *bmi270_device) +{ + int pwr_conf = 0; + int ret; + int status = 0; + const struct firmware *init_data; + struct device *dev = bmi270_device->dev; + struct regmap *regmap = bmi270_device->regmap; + + ret = regmap_read(regmap, BMI270_REG_PWR_CONF, &pwr_conf); + if (ret) + return dev_err_probe(dev, ret, "Failed to read power configuration"); + + pwr_conf &= 0xfffffffe; + ret = regmap_write(regmap, BMI270_REG_PWR_CONF, pwr_conf); + if (ret) + return dev_err_probe(dev, ret, "Failed to write power configuration"); + + usleep_range(450, 1000); + + ret = regmap_write(regmap, BMI270_REG_INIT_CTRL, 0x0); + if (ret) + return dev_err_probe(dev, ret, "Failed to prepare device to load init data"); + + ret = request_firmware(&init_data, BMI270_INIT_DATA_FILE, dev); + if (ret) + return dev_err_probe(dev, ret, "Failed to load init data file"); + + ret = regmap_bulk_write(regmap, BMI270_REG_INIT_DATA, + init_data->data, init_data->size); + release_firmware(init_data); + if (ret) + return dev_err_probe(dev, ret, "Failed to write init data"); + + ret = regmap_write(regmap, BMI270_REG_INIT_CTRL, 0x1); + if (ret) + return dev_err_probe(dev, ret, "Failed to stop device initialization"); + + usleep_range(20000, 55000); + + ret = regmap_read(regmap, BMI270_REG_INTERNAL_STATUS, &status); + if (ret) + return dev_err_probe(dev, ret, "Failed to read internal status"); + + if (status != 1) + return dev_err_probe(dev, -ENODEV, "Device failed to initialize"); + + return 0; +} + +static int bmi270_configure_imu(struct bmi270_data *bmi270_device) +{ + int ret; + struct device *dev = bmi270_device->dev; + struct regmap *regmap = bmi270_device->regmap; + + ret = regmap_write(regmap, BMI270_REG_PWR_CTRL, 0x0e); + if (ret) + return dev_err_probe(dev, ret, "Failed to enable accelerometer and gyroscope"); + + ret = regmap_write(regmap, BMI270_REG_ACC_CONF, 0xa8); + if (ret) + return dev_err_probe(dev, ret, "Failed to configure accelerometer"); + + ret = regmap_write(regmap, BMI270_REG_GYR_CONF, 0xa9); + if (ret) + return dev_err_probe(dev, ret, "Failed to configure gyroscope"); + + ret = regmap_write(regmap, BMI270_REG_PWR_CONF, 0x02); + if (ret) + return dev_err_probe(dev, ret, "Failed to set power configuration"); + + return 0; +} + +static int bmi270_chip_init(struct bmi270_data *bmi270_device) +{ + int ret; + + ret = bmi270_validate_chip_id(bmi270_device); + if (ret) + return ret; + + ret = bmi270_write_init_data(bmi270_device); + if (ret) + return ret; + + ret = bmi270_configure_imu(bmi270_device); + if (ret) + return ret; + + return 0; +} + +int bmi270_core_probe(struct device *dev, struct regmap *regmap, + const char *name, bool use_spi) +{ + int ret; + struct bmi270_data *bmi270_device; + struct iio_dev *indio_dev; + + indio_dev = devm_iio_device_alloc(dev, sizeof(struct bmi270_data *)); + if (!indio_dev) + return -ENOMEM; + + bmi270_device = iio_priv(indio_dev); + bmi270_device->dev = dev; + bmi270_device->regmap = regmap; + + dev_set_drvdata(dev, indio_dev); + + ret = bmi270_chip_init(bmi270_device); + if (ret) + return ret; + + indio_dev->channels = bmi270_channels; + indio_dev->num_channels = ARRAY_SIZE(bmi270_channels); + indio_dev->name = name; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &bmi270_info; + + return devm_iio_device_register(dev, indio_dev); +} +EXPORT_SYMBOL_NS_GPL(bmi270_core_probe, IIO_BMI270); + +MODULE_AUTHOR("Alex Lanzano"); +MODULE_DESCRIPTION("BMI270 driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/imu/bmi270/bmi270_i2c.c b/drivers/iio/imu/bmi270/bmi270_i2c.c new file mode 100644 index 000000000000..2a18c3af92d2 --- /dev/null +++ b/drivers/iio/imu/bmi270/bmi270_i2c.c @@ -0,0 +1,56 @@ +// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) + +#include <linux/module.h> +#include <linux/i2c.h> +#include <linux/iio/iio.h> +#include <linux/module.h> +#include <linux/regmap.h> + +#include "bmi270.h" + +static int bmi270_i2c_probe(struct i2c_client *client) +{ + const char *name; + struct regmap *regmap; + struct device *dev = &client->dev; + const struct i2c_device_id *id; + + regmap = devm_regmap_init_i2c(client, &bmi270_regmap_config); + if (IS_ERR(regmap)) { + return dev_err_probe(dev, PTR_ERR(regmap), + "Failed to init i2c regmap"); + } + + id = i2c_client_get_device_id(client); + if (id) + name = id->name; + else + name = dev_name(dev); + + return bmi270_core_probe(dev, regmap, name, false); +} + +static const struct i2c_device_id bmi270_i2c_id[] = { + {"bmi270", 0}, + {} +}; + +static const struct of_device_id bmi270_of_match[] = { + {.compatible = "bosch,bmi270"}, + {}, +}; + +static struct i2c_driver bmi270_i2c_driver = { + .driver = { + .name = "bmi270_i2c", + .of_match_table = bmi270_of_match, + }, + .probe = bmi270_i2c_probe, + .id_table = bmi270_i2c_id, +}; +module_i2c_driver(bmi270_i2c_driver); + +MODULE_AUTHOR("Alex Lanzano"); +MODULE_DESCRIPTION("BMI270 driver"); +MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS(IIO_BMI270); -- 2.46.0