This patch adds IIO driver for Bosch BMA180 triaxial acceleration sensor. http://dlnmh9ip6v2uc.cloudfront.net/datasheets/ Sensors/Accelerometers/BST-BMA180-DS000-07_2.pdf Signed-off-by: Oleksandr Kravchenko <o.v.kravchenko@xxxxxxxxxxxxxxx> --- .../devicetree/bindings/iio/accel/bma180.txt | 24 + drivers/iio/accel/Kconfig | 12 + drivers/iio/accel/Makefile | 2 + drivers/iio/accel/bma180.c | 676 ++++++++++++++++++++ 4 files changed, 714 insertions(+) create mode 100644 Documentation/devicetree/bindings/iio/accel/bma180.txt create mode 100644 drivers/iio/accel/bma180.c diff --git a/Documentation/devicetree/bindings/iio/accel/bma180.txt b/Documentation/devicetree/bindings/iio/accel/bma180.txt new file mode 100644 index 0000000..c593357 --- /dev/null +++ b/Documentation/devicetree/bindings/iio/accel/bma180.txt @@ -0,0 +1,24 @@ +* Bosch BMA180 triaxial acceleration sensor + +http://omapworld.com/BMA180_111_1002839.pdf + +Required properties: + + - compatible : should be "bosch,bma180" + - reg : the I2C address of the sensor + +Optional properties: + + - interrupt-parent : should be the phandle for the interrupt controller + + - interrupts : interrupt mapping for GPIO IRQ, it should by configured with + flags IRQ_TYPE_LEVEL_HIGH | IRQ_TYPE_EDGE_RISING + +Example: + +bma180@40 { + compatible = "bosch,bma180"; + reg = <0x40>; + interrupt-parent = <&gpio6>; + interrupts = <18 (IRQ_TYPE_LEVEL_HIGH | IRQ_TYPE_EDGE_RISING)>; +}; diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig index 719d83f..bd9d581 100644 --- a/drivers/iio/accel/Kconfig +++ b/drivers/iio/accel/Kconfig @@ -3,6 +3,18 @@ # menu "Accelerometers" +config BMA180 + tristate "Bosch BMA180 3-Axis Accelerometer Driver" + depends on I2C + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + help + Say Y here if you want to build a driver for the Bosch BMA180 + triaxial acceleration sensor. + + To compile this driver as a module, choose M here: the + module will be called bma180. + config HID_SENSOR_ACCEL_3D depends on HID_SENSOR_HUB select IIO_BUFFER diff --git a/drivers/iio/accel/Makefile b/drivers/iio/accel/Makefile index 87d8fa2..eb09d72 100644 --- a/drivers/iio/accel/Makefile +++ b/drivers/iio/accel/Makefile @@ -2,6 +2,8 @@ # Makefile for industrial I/O accelerometer drivers # +obj-$(CONFIG_BMA180) += bma180.o + obj-$(CONFIG_HID_SENSOR_ACCEL_3D) += hid-sensor-accel-3d.o obj-$(CONFIG_IIO_ST_ACCEL_3AXIS) += st_accel.o diff --git a/drivers/iio/accel/bma180.c b/drivers/iio/accel/bma180.c new file mode 100644 index 0000000..ae15580 --- /dev/null +++ b/drivers/iio/accel/bma180.c @@ -0,0 +1,676 @@ +/* + * bma180.c - IIO driver for Bosch BMA180 triaxial acceleration sensor + * + * Copyright 2013 Oleksandr Kravchenko <x0199363@xxxxxx> + * + * 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/i2c.h> +#include <linux/interrupt.h> +#include <linux/delay.h> +#include <linux/of.h> +#include <linux/bitops.h> +#include <linux/slab.h> +#include <linux/string.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/buffer.h> +#include <linux/iio/trigger.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/triggered_buffer.h> + +#define BMA180_DRV_NAME "bma180" +#define BMA180_IRQ_NAME "bma180_event" + +/* Register set */ +#define BMA180_CHIP_ID 0x00 /* Need to distinguish BMA180 from other */ +#define BMA180_ACC_X_LSB 0x02 /* First of 6 registers of accel data */ +#define BMA180_CTRL_REG0 0x0d +#define BMA180_RESET 0x10 +#define BMA180_BW_TCS 0x20 +#define BMA180_CTRL_REG3 0x21 +#define BMA180_TCO_Z 0x30 +#define BMA180_OFFSET_LSB1 0x35 + +/* BMA180_CTRL_REG0 bits */ +#define BMA180_DIS_WAKE_UP BIT(0) /* Disable wake up mode */ +#define BMA180_SLEEP BIT(1) /* 1 - chip will sleep */ +#define BMA180_EE_W BIT(4) /* Unlock writing to addr from 0x20 */ +#define BMA180_RESET_INT BIT(6) /* Reset pending interrupts */ + +/* BMA180_CTRL_REG3 bits */ +#define BMA180_NEW_DATA_INT BIT(1) /* Intr every new accel data is ready */ + +/* BMA180_OFFSET_LSB1 skipping mode bit */ +#define BMA180_SMP_SKIP BIT(0) + +/* Bit masks for registers bit fields */ +#define BMA180_RANGE 0x0e /* Range of measured accel values*/ +#define BMA180_BW 0xf0 /* Accel bandwidth */ +#define BMA180_MODE_CONFIG 0x03 /* Config operation modes */ + +/* We have to write this value in reset register to do soft reset */ +#define BMA180_RESET_VAL 0xb6 + +#define BMA_180_ID_REG_VAL 0x03 + +/* Chip power modes */ +#define BMA180_LOW_NOISE 0x00 +#define BMA180_LOW_POWER 0x03 + +#define BMA180_LOW_NOISE_STR "low_noise" +#define BMA180_LOW_POWER_STR "low_power" + +/* Defaults values */ +#define BMA180_DEF_PMODE 0 +#define BMA180_DEF_BW 20 +#define BMA180_DEF_SCALE 250 + +/* Available values for sysfs */ +#define BMA180_FLP_FREQ_AVAILABLE \ + "10 20 40 75 150 300" +#define BMA180_SCALE_AVAILABLE \ + "0.000130 0.000190 0.000250 0.000380 0.000500 0.000990 0.001980" + +struct bma180_data { + struct i2c_client *client; + struct iio_trigger *trig; + struct mutex mutex; + int sleep_state; + int scale; + int bw; + int pmode; + char *buff; +}; + +enum bma180_axis { + AXIS_X, + AXIS_Y, + AXIS_Z, +}; + +static int bw_table[] = { 10, 20, 40, 75, 150, 300 }; /* Hz */ +static int scale_table[] = { 130, 190, 250, 380, 500, 990, 1980 }; + +static int bma180_get_acc_reg(struct bma180_data *data, enum bma180_axis axis) +{ + u8 reg = BMA180_ACC_X_LSB + axis * 2; + int ret; + + if (data->sleep_state) + return -EBUSY; + + ret = i2c_smbus_read_word_data(data->client, reg); + if (ret < 0) + dev_err(&data->client->dev, + "failed to read accel_%c registers\n", 'x' + axis); + + return ret; +} + +static int bma180_set_bits(struct bma180_data *data, u8 reg, u8 mask, u8 val) +{ + int ret = i2c_smbus_read_byte_data(data->client, reg); + u8 reg_val = (ret & ~mask) | (val << (ffs(mask) - 1)); + + if (ret < 0) + return ret; + + return i2c_smbus_write_byte_data(data->client, reg, reg_val); +} + +static int bma180_reset_intr(struct bma180_data *data) +{ + int ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_RESET_INT, 1); + + if (ret) + dev_err(&data->client->dev, "failed to reset interrupt\n"); + + return ret; +} + +static int bma180_set_new_data_intr_state(struct bma180_data *data, int state) +{ + u8 reg_val = state ? BMA180_NEW_DATA_INT : 0x00; + int ret = i2c_smbus_write_byte_data(data->client, BMA180_CTRL_REG3, + reg_val); + + if (ret) + goto err; + ret = bma180_reset_intr(data); + if (ret) + goto err; + + return 0; + +err: + dev_err(&data->client->dev, + "failed to set new data interrupt state %d\n", state); + return ret; +} + +static int bma180_set_sleep_state(struct bma180_data *data, int state) +{ + int ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_SLEEP, state); + + if (ret) { + dev_err(&data->client->dev, + "failed to set sleep state %d\n", state); + return ret; + } + data->sleep_state = state; + + return 0; +} + +static int bma180_set_ee_writing_state(struct bma180_data *data, int state) +{ + int ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_EE_W, state); + + if (ret) + dev_err(&data->client->dev, + "failed to set ee writing state %d\n", state); + + return ret; +} + +static int bma180_set_bw(struct bma180_data *data, int val) +{ + int ret, i; + + if (data->sleep_state) + return -EBUSY; + + for (i = 0; i < ARRAY_SIZE(bw_table); ++i) { + if (bw_table[i] == val) { + ret = bma180_set_bits(data, + BMA180_BW_TCS, BMA180_BW, i); + if (ret) { + dev_err(&data->client->dev, + "failed to set bandwidth\n"); + return ret; + } + data->bw = val; + return 0; + } + } + + return -EINVAL; +} + +static int bma180_set_scale(struct bma180_data *data, int val) +{ + int ret, i; + + if (data->sleep_state) + return -EBUSY; + + for (i = 0; i < ARRAY_SIZE(scale_table); ++i) + if (scale_table[i] == val) { + ret = bma180_set_bits(data, + BMA180_OFFSET_LSB1, BMA180_RANGE, i); + if (ret) { + dev_err(&data->client->dev, + "failed to set scale\n"); + return ret; + } + data->scale = val; + return 0; + } + + return -EINVAL; +} + +static int bma180_set_pmode(struct bma180_data *data, int mode) +{ + u8 reg_val = mode ? BMA180_LOW_POWER : BMA180_LOW_NOISE; + int ret = bma180_set_bits(data, BMA180_TCO_Z, BMA180_MODE_CONFIG, + reg_val); + + if (ret) { + dev_err(&data->client->dev, "failed to set power mode\n"); + return ret; + } + data->pmode = mode; + + return 0; +} + +static int bma180_soft_reset(struct bma180_data *data) +{ + int ret = i2c_smbus_write_byte_data(data->client, + BMA180_RESET, BMA180_RESET_VAL); + + if (ret) + dev_err(&data->client->dev, "failed to reset the chip\n"); + + return ret; +} + +static int bma180_chip_init(struct bma180_data *data) +{ + /* Try to read chip_id register. It must return 0x03. */ + int ret = i2c_smbus_read_byte_data(data->client, BMA180_CHIP_ID); + + if (ret < 0) + goto err; + if (ret != BMA_180_ID_REG_VAL) { + ret = -ENODEV; + goto err; + } + + ret = bma180_soft_reset(data); + if (ret) + goto err; + /* + * No serial transaction should occur within minimum 10 us + * after soft_reset command + */ + msleep(20); + + ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_DIS_WAKE_UP, 1); + if (ret) + goto err; + ret = bma180_set_ee_writing_state(data, 1); + if (ret) + goto err; + ret = bma180_set_new_data_intr_state(data, 0); + if (ret) + goto err; + ret = bma180_set_bits(data, BMA180_OFFSET_LSB1, BMA180_SMP_SKIP, 1); + if (ret) + goto err; + ret = bma180_set_pmode(data, BMA180_DEF_PMODE); + if (ret) + goto err; + ret = bma180_set_bw(data, BMA180_DEF_BW); + if (ret) + goto err; + ret = bma180_set_scale(data, BMA180_DEF_SCALE); + if (ret) + goto err; + + return 0; + +err: + dev_err(&data->client->dev, "failed to init the chip\n"); + return ret; +} + +static void bma180_chip_disable(struct bma180_data *data) +{ + if (bma180_set_new_data_intr_state(data, 0)) + goto err; + if (bma180_set_ee_writing_state(data, 0)) + goto err; + if (bma180_set_sleep_state(data, 1)) + goto err; + + return; + +err: + dev_err(&data->client->dev, "failed to disable the chip\n"); +} + +static IIO_CONST_ATTR(in_accel_filter_low_pass_3db_frequency_available, + BMA180_FLP_FREQ_AVAILABLE); +static IIO_CONST_ATTR(in_accel_scale_available, BMA180_SCALE_AVAILABLE); + +static struct attribute *bma180_attributes[] = { + &iio_const_attr_in_accel_filter_low_pass_3db_frequency_available.dev_attr.attr, + &iio_const_attr_in_accel_scale_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group bma180_attrs_group = { + .attrs = bma180_attributes, +}; + +static int bma180_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int *val, int *val2, + long mask) +{ + struct bma180_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + mutex_lock(&data->mutex); + if (iio_buffer_enabled(indio_dev)) + ret = -EBUSY; + else + ret = bma180_get_acc_reg(data, chan->scan_index); + mutex_unlock(&data->mutex); + if (ret < 0) + return ret; + *val = (s16)ret >> chan->scan_type.shift; + return IIO_VAL_INT; + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + *val = data->bw; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + *val = 0; + *val2 = data->scale; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static int bma180_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int val, int val2, long mask) +{ + struct bma180_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (val) + return -EINVAL; + mutex_lock(&data->mutex); + ret = bma180_set_scale(data, val2); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + mutex_lock(&data->mutex); + ret = bma180_set_bw(data, val); + mutex_unlock(&data->mutex); + return ret; + default: + return -EINVAL; + } +} + +static int bma180_update_scan_mode(struct iio_dev *indio_dev, + const unsigned long *scan_mask) +{ + struct bma180_data *data = iio_priv(indio_dev); + + if (data->buff) + devm_kfree(&indio_dev->dev, data->buff); + data->buff = devm_kzalloc(&indio_dev->dev, + indio_dev->scan_bytes, GFP_KERNEL); + if (!data->buff) + return -ENOMEM; + + return 0; +} + +static const struct iio_info bma180_info = { + .attrs = &bma180_attrs_group, + .read_raw = bma180_read_raw, + .write_raw = bma180_write_raw, + .update_scan_mode = bma180_update_scan_mode, + .driver_module = THIS_MODULE, +}; + +static const char * const bma180_power_modes[] = { + BMA180_LOW_NOISE_STR, + BMA180_LOW_POWER_STR, +}; + +static int bma180_get_power_mode(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan) +{ + struct bma180_data *data = iio_priv(indio_dev); + + return data->pmode; +} + +static int bma180_set_power_mode(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, unsigned int mode) +{ + struct bma180_data *data = iio_priv(indio_dev); + int ret; + + mutex_lock(&data->mutex); + ret = bma180_set_pmode(data, mode); + mutex_unlock(&data->mutex); + + return ret; +} + +static const struct iio_enum bma180_power_mode_enum = { + .items = bma180_power_modes, + .num_items = ARRAY_SIZE(bma180_power_modes), + .get = bma180_get_power_mode, + .set = bma180_set_power_mode, +}; + +static const struct iio_chan_spec_ext_info bma180_ext_info[] = { + IIO_ENUM("power_mode", false, &bma180_power_mode_enum), + IIO_ENUM_AVAILABLE("power_mode", &bma180_power_mode_enum), + { }, +}; + +#define BMA180_CHANNEL(_index) { \ + .type = IIO_ACCEL, \ + .indexed = 1, \ + .channel = (_index), \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ + .scan_index = (_index), \ + .scan_type = IIO_ST('s', 14, 16, 2), \ + .ext_info = bma180_ext_info, \ +} + +static const struct iio_chan_spec bma180_channels[] = { + BMA180_CHANNEL(AXIS_X), + BMA180_CHANNEL(AXIS_Y), + BMA180_CHANNEL(AXIS_Z), + IIO_CHAN_SOFT_TIMESTAMP(4), +}; + +static irqreturn_t bma180_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct bma180_data *data = iio_priv(indio_dev); + int bit, ret, i = 0; + + mutex_lock(&data->mutex); + if (indio_dev->scan_timestamp) { + ret = indio_dev->scan_bytes / sizeof(s64) - 1; + ((s64 *)data->buff)[ret] = iio_get_time_ns(); + } + + for_each_set_bit(bit, indio_dev->buffer->scan_mask, + indio_dev->masklength) { + ret = bma180_get_acc_reg(data, bit); + if (ret < 0) { + mutex_unlock(&data->mutex); + goto err; + } + ((s16 *)data->buff)[i++] = ret; + } + mutex_unlock(&data->mutex); + + iio_push_to_buffers(indio_dev, (u8 *)data->buff); +err: + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static int bma180_data_rdy_trigger_set_state(struct iio_trigger *trig, + bool state) +{ + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + struct bma180_data *data = iio_priv(indio_dev); + + return bma180_set_new_data_intr_state(data, state); +} + +static int bma180_trig_try_reen(struct iio_trigger *trig) +{ + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + struct bma180_data *data = iio_priv(indio_dev); + + return bma180_reset_intr(data); +} + +static const struct iio_trigger_ops bma180_trigger_ops = { + .set_trigger_state = bma180_data_rdy_trigger_set_state, + .try_reenable = bma180_trig_try_reen, + .owner = THIS_MODULE, +}; + +static int bma180_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct bma180_data *data; + struct iio_dev *indio_dev; + struct iio_trigger *trig; + int ret; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + i2c_set_clientdata(client, indio_dev); + data->client = client; + + ret = bma180_chip_init(data); + if (ret < 0) + goto err_chip_disable; + + mutex_init(&data->mutex); + + indio_dev->dev.parent = &client->dev; + indio_dev->channels = bma180_channels; + indio_dev->num_channels = ARRAY_SIZE(bma180_channels); + indio_dev->name = BMA180_DRV_NAME; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &bma180_info; + + trig = iio_trigger_alloc("%s-dev%d", indio_dev->name, indio_dev->id); + if (!trig) { + ret = -ENOMEM; + goto err_chip_disable; + } + + ret = devm_request_irq(&client->dev, client->irq, + iio_trigger_generic_data_rdy_poll, + IRQF_TRIGGER_RISING, BMA180_IRQ_NAME, trig); + if (ret) { + dev_err(&client->dev, "unable to request IRQ\n"); + goto err_trigger_free; + } + + trig->dev.parent = &client->dev; + trig->ops = &bma180_trigger_ops; + iio_trigger_set_drvdata(trig, indio_dev); + data->trig = trig; + indio_dev->trig = trig; + + ret = iio_trigger_register(trig); + if (ret) + goto err_trigger_free; + + ret = iio_triggered_buffer_setup(indio_dev, NULL, + bma180_trigger_handler, NULL); + if (ret < 0) { + dev_err(&client->dev, "unable to setup iio triggered buffer\n"); + goto err_trigger_unregister; + } + + ret = iio_device_register(indio_dev); + if (ret < 0) { + dev_err(&client->dev, "unable to register iio device\n"); + goto err_buffer_cleanup; + } + + return 0; + +err_buffer_cleanup: + iio_triggered_buffer_cleanup(indio_dev); +err_trigger_unregister: + iio_trigger_unregister(trig); +err_trigger_free: + iio_trigger_free(trig); +err_chip_disable: + bma180_chip_disable(data); + + return ret; +} + +static int bma180_remove(struct i2c_client *client) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(client); + struct bma180_data *data = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + iio_triggered_buffer_cleanup(indio_dev); + iio_trigger_unregister(data->trig); + iio_trigger_free(data->trig); + + mutex_lock(&data->mutex); + bma180_chip_disable(data); + mutex_unlock(&data->mutex); + + return 0; +} + +#ifdef CONFIG_PM_SLEEP +static int bma180_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct bma180_data *data = iio_priv(indio_dev); + int ret; + + mutex_lock(&data->mutex); + ret = bma180_set_sleep_state(data, 1); + mutex_unlock(&data->mutex); + + return ret; +} + +static int bma180_resume(struct device *dev) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct bma180_data *data = iio_priv(indio_dev); + int ret; + + mutex_lock(&data->mutex); + ret = bma180_set_sleep_state(data, 0); + mutex_unlock(&data->mutex); + + return ret; +} + +static SIMPLE_DEV_PM_OPS(bma180_pm_ops, bma180_suspend, bma180_resume); +#define BMA180_PM_OPS (&bma180_pm_ops) +#else +#define BMA180_PM_OPS NULL +#endif + +static struct i2c_device_id bma180_id[] = { + { BMA180_DRV_NAME, 0 }, + { } +}; + +MODULE_DEVICE_TABLE(i2c, bma180_id); + +static struct i2c_driver bma180_driver = { + .driver = { + .name = BMA180_DRV_NAME, + .owner = THIS_MODULE, + .pm = BMA180_PM_OPS, + }, + .probe = bma180_probe, + .remove = bma180_remove, + .id_table = bma180_id, +}; + +module_i2c_driver(bma180_driver); + +MODULE_AUTHOR("Kravchenko Oleksandr <x0199363@xxxxxx>"); +MODULE_AUTHOR("Texas Instruments, Inc."); +MODULE_DESCRIPTION("Bosch BMA180 triaxial acceleration sensor"); +MODULE_LICENSE("GPL"); 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