On 05/08/14 22:57, Srinivas Pandruvada wrote:
> This change implements support for BMG160 Gyro sensor. Although chip
> has several advanced features, this change implements minimum set
> required for using gyro sensor.
>
> Signed-off-by: Srinivas Pandruvada <srinivas.pandruvada@xxxxxxxxxxxxxxx>
One more query. In the write_raw function you always enable then suspend the
device. The enable is safe, but if you have a write to the attributes
whilst operating in triggered / buffered mode will it not disable the
device? It is perfectly permissible to ignore such a write (return -EBUSY)
but I don't think you are doing so.
Otherwise, looks good to me. Nice explanatory comments as well!
> ---
> drivers/iio/gyro/Kconfig | 11 +
> drivers/iio/gyro/Makefile | 1 +
> drivers/iio/gyro/bmg160.c | 1211 +++++++++++++++++++++++++++++++++++++++++++++
> 3 files changed, 1223 insertions(+)
> create mode 100644 drivers/iio/gyro/bmg160.c
>
> diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
> index ac2d69e..d630ae9 100644
> --- a/drivers/iio/gyro/Kconfig
> +++ b/drivers/iio/gyro/Kconfig
> @@ -50,6 +50,17 @@ config ADXRS450
> This driver can also be built as a module. If so, the module
> will be called adxrs450.
>
> +config BMG160
> + tristate "BOSCH BMG160 Gyro Sensor"
> + depends on I2C
> + select IIO_TRIGGERED_BUFFER if IIO_BUFFER
> + help
> + Say yes here to build support for Bosch BMG160 Tri-axis Gyro Sensor
> + driver.
> +
> + This driver can also be built as a module. If so, the module
> + will be called bmg160.
> +
> config HID_SENSOR_GYRO_3D
> depends on HID_SENSOR_HUB
> select IIO_BUFFER
> diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
> index 2f2752a..36a3877 100644
> --- a/drivers/iio/gyro/Makefile
> +++ b/drivers/iio/gyro/Makefile
> @@ -8,6 +8,7 @@ obj-$(CONFIG_ADIS16130) += adis16130.o
> obj-$(CONFIG_ADIS16136) += adis16136.o
> obj-$(CONFIG_ADIS16260) += adis16260.o
> obj-$(CONFIG_ADXRS450) += adxrs450.o
> +obj-$(CONFIG_BMG160) += bmg160.o
>
> obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
>
> diff --git a/drivers/iio/gyro/bmg160.c b/drivers/iio/gyro/bmg160.c
> new file mode 100644
> index 0000000..80f92a6
> --- /dev/null
> +++ b/drivers/iio/gyro/bmg160.c
> @@ -0,0 +1,1211 @@
> +/*
> + * BMG160 Gyro Sensor driver
> + * Copyright (c) 2014, Intel Corporation.
> + *
> + * This program is free software; you can redistribute it and/or modify it
> + * under the terms and conditions of the GNU General Public License,
> + * version 2, as published by the Free Software Foundation.
> + *
> + * This program is distributed in the hope it will be useful, but WITHOUT
> + * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
> + * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
> + * more details.
> + */
> +
> +#include <linux/module.h>
> +#include <linux/i2c.h>
> +#include <linux/interrupt.h>
> +#include <linux/delay.h>
> +#include <linux/slab.h>
> +#include <linux/acpi.h>
> +#include <linux/gpio/consumer.h>
> +#include <linux/pm.h>
> +#include <linux/pm_runtime.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/sysfs.h>
> +#include <linux/iio/buffer.h>
> +#include <linux/iio/trigger.h>
> +#include <linux/iio/events.h>
> +#include <linux/iio/trigger_consumer.h>
> +#include <linux/iio/triggered_buffer.h>
> +
> +#define BMG160_DRV_NAME "bmg160"
> +#define BMG160_IRQ_NAME "bmg160_event"
> +#define BMG160_GPIO_NAME "gpio_int"
> +
> +#define BMG160_REG_CHIP_ID 0x00
> +#define BMG160_CHIP_ID_VAL 0x0F
> +
> +#define BMG160_REG_PMU_LPW 0x11
> +#define BMG160_MODE_NORMAL 0x00
> +#define BMG160_MODE_DEEP_SUSPEND 0x20
> +#define BMG160_MODE_SUSPEND 0x80
> +
> +#define BMG160_REG_RANGE 0x0F
> +
> +#define BMG160_RANGE_2000DPS 0
> +#define BMG160_RANGE_1000DPS 1
> +#define BMG160_RANGE_500DPS 2
> +#define BMG160_RANGE_250DPS 3
> +#define BMG160_RANGE_125DPS 4
> +
> +#define BMG160_REG_PMU_BW 0x10
> +#define BMG160_NO_FILTER 0
> +#define BMG160_DEF_BW 100
> +
> +#define BMG160_REG_INT_MAP_0 0x17
> +#define BMG160_INT_MAP_0_BIT_ANY BIT(1)
> +
> +#define BMG160_REG_INT_MAP_1 0x18
> +#define BMG160_INT_MAP_1_BIT_NEW_DATA BIT(0)
> +
> +#define BMG160_REG_INT_RST_LATCH 0x21
> +#define BMG160_INT_MODE_LATCH_RESET 0x80
> +#define BMG160_INT_MODE_LATCH_INT 0x0F
> +#define BMG160_INT_MODE_NON_LATCH_INT 0x00
> +
> +#define BMG160_REG_INT_EN_0 0x15
> +#define BMG160_DATA_ENABLE_INT BIT(7)
> +
> +#define BMG160_REG_XOUT_L 0x02
> +#define BMG160_AXIS_TO_REG(axis) (BMG160_REG_XOUT_L + (axis * 2))
> +
> +#define BMG160_REG_SLOPE_THRES 0x1B
> +#define BMG160_SLOPE_THRES_MASK 0x0F
> +
> +#define BMG160_REG_MOTION_INTR 0x1C
> +#define BMG160_INT_MOTION_X BIT(0)
> +#define BMG160_INT_MOTION_Y BIT(1)
> +#define BMG160_INT_MOTION_Z BIT(2)
> +#define BMG160_ANY_DUR_MASK 0x30
> +#define BMG160_ANY_DUR_SHIFT 4
> +
> +#define BMG160_REG_INT_STATUS_2 0x0B
> +#define BMG160_ANY_MOTION_MASK 0x07
> +
> +#define BMG160_REG_TEMP 0x08
> +#define BMG160_TEMP_CENTER_VAL 23
> +
> +#define BMG160_MAX_STARTUP_TIME_MS 80
> +
> +#define BMG160_AUTO_SUSPEND_DELAY_MS 2000
> +
> +struct bmg160_data {
> + struct i2c_client *client;
> + struct iio_trigger *dready_trig;
> + struct iio_trigger *motion_trig;
> + struct mutex mutex;
> + s16 buffer[8];
> + u8 bw_bits;
> + u32 dps_range;
> + int ev_enable_state;
> + int slope_thres;
> + bool dready_trigger_on;
> + bool motion_trigger_on;
> + int64_t timestamp;
> +};
> +
> +enum bmg160_axis {
> + AXIS_X,
> + AXIS_Y,
> + AXIS_Z,
> +};
> +
> +static const struct {
> + int val;
> + int bw_bits;
> +} bmg160_samp_freq_table[] = { {100, 0x07},
> + {200, 0x06},
> + {400, 0x03},
> + {1000, 0x02},
> + {2000, 0x01} };
> +
> +static const struct {
> + int scale;
> + int dps_range;
> +} bmg160_scale_table[] = { { 1065, BMG160_RANGE_2000DPS},
> + { 532, BMG160_RANGE_1000DPS},
> + { 266, BMG160_RANGE_500DPS},
> + { 133, BMG160_RANGE_250DPS},
> + { 66, BMG160_RANGE_125DPS} };
> +
> +static int bmg160_set_mode(struct bmg160_data *data, u8 mode)
> +{
> + int ret;
> +
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_PMU_LPW, mode);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_pmu_lpw\n");
> + return ret;
> + }
> +
> + return 0;
> +}
> +
> +static int bmg160_convert_freq_to_bit(int val)
> +{
> + int i;
> +
> + for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
> + if (bmg160_samp_freq_table[i].val == val)
> + return bmg160_samp_freq_table[i].bw_bits;
> + }
> +
> + return -EINVAL;
> +}
> +
> +static int bmg160_set_bw(struct bmg160_data *data, int val)
> +{
> + int ret;
> + int bw_bits;
> +
> + bw_bits = bmg160_convert_freq_to_bit(val);
> + if (bw_bits < 0)
> + return bw_bits;
> +
> + ret = i2c_smbus_write_byte_data(data->client, BMG160_REG_PMU_BW,
> + bw_bits);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_pmu_bw\n");
> + return ret;
> + }
> +
> + data->bw_bits = bw_bits;
> +
> + return 0;
> +}
> +
> +static int bmg160_chip_init(struct bmg160_data *data)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_CHIP_ID);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_chip_id\n");
> + return ret;
> + }
> +
> + dev_dbg(&data->client->dev, "Chip Id %x\n", ret);
> + if (ret != BMG160_CHIP_ID_VAL) {
> + dev_err(&data->client->dev, "invalid chip %x\n", ret);
> + return -ENODEV;
> + }
> +
> + ret = bmg160_set_mode(data, BMG160_MODE_NORMAL);
> + if (ret < 0)
> + return ret;
> +
> + /* Wait upto 500 ms to be ready after changing mode */
> + usleep_range(500, 1000);
> +
> + /* Set Bandwidth */
> + ret = bmg160_set_bw(data, BMG160_DEF_BW);
> + if (ret < 0)
> + return ret;
> +
> + /* Set Default Range */
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_RANGE,
> + BMG160_RANGE_500DPS);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_range\n");
> + return ret;
> + }
> + data->dps_range = BMG160_RANGE_500DPS;
> +
> + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_SLOPE_THRES);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_slope_thres\n");
> + return ret;
> + }
> + data->slope_thres = ret;
> +
> + /* Set default interrupt mode */
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_RST_LATCH,
> + BMG160_INT_MODE_LATCH_INT |
> + BMG160_INT_MODE_LATCH_RESET);
> + if (ret < 0) {
> + dev_err(&data->client->dev,
> + "Error writing reg_motion_intr\n");
> + return ret;
> + }
> +
> + return 0;
> +}
> +
> +static int bmg160_set_power_state(struct bmg160_data *data, bool on)
> +{
> + int ret;
> +
> + if (on)
> + ret = pm_runtime_get_sync(&data->client->dev);
> + else {
> + pm_runtime_mark_last_busy(&data->client->dev);
> + ret = pm_runtime_put_autosuspend(&data->client->dev);
> + }
> +
> + if (ret < 0) {
> + dev_err(&data->client->dev,
> + "Failed: bmg160_set_power_state for %d\n", on);
> + return ret;
> + }
> +
> + return 0;
> +}
> +
> +static int bmg160_setup_any_motion_interrupt(struct bmg160_data *data,
> + bool status)
> +{
> + int ret;
> +
> + /* Enable/Disable INT_MAP0 mapping */
> + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_INT_MAP_0);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_int_map0\n");
> + return ret;
> + }
> + if (status)
> + ret |= BMG160_INT_MAP_0_BIT_ANY;
> + else
> + ret &= ~BMG160_INT_MAP_0_BIT_ANY;
> +
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_MAP_0,
> + ret);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_int_map0\n");
> + return ret;
> + }
> +
> + /* Enable/Disable slope interrupts */
> + if (status) {
> + /* Update slope thres */
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_SLOPE_THRES,
> + data->slope_thres);
> + if (ret < 0) {
> + dev_err(&data->client->dev,
> + "Error writing reg_slope_thres\n");
> + return ret;
> + }
> +
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_MOTION_INTR,
> + BMG160_INT_MOTION_X |
> + BMG160_INT_MOTION_Y |
> + BMG160_INT_MOTION_Z);
> + if (ret < 0) {
> + dev_err(&data->client->dev,
> + "Error writing reg_motion_intr\n");
> + return ret;
> + }
> +
> + /*
> + * New data interrupt is always non-latched,
> + * which will have higher priority, so no need
> + * to set latched mode, we will be flooded anyway with INTR
> + */
> + if (!data->dready_trigger_on) {
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_RST_LATCH,
> + BMG160_INT_MODE_LATCH_INT |
> + BMG160_INT_MODE_LATCH_RESET);
> + if (ret < 0) {
> + dev_err(&data->client->dev,
> + "Error writing reg_rst_latch\n");
> + return ret;
> + }
> + }
> +
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_EN_0,
> + BMG160_DATA_ENABLE_INT);
> +
> + } else
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_EN_0,
> + 0);
> +
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_int_en0\n");
> + return ret;
> + }
> +
> + return 0;
> +}
> +
> +static int bmg160_setup_new_data_interrupt(struct bmg160_data *data,
> + bool status)
> +{
> + int ret;
> +
> + /* Enable/Disable INT_MAP1 mapping */
> + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_INT_MAP_1);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_int_map1\n");
> + return ret;
> + }
> +
> + if (status)
> + ret |= BMG160_INT_MAP_1_BIT_NEW_DATA;
> + else
> + ret &= ~BMG160_INT_MAP_1_BIT_NEW_DATA;
> +
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_MAP_1,
> + ret);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_int_map1\n");
> + return ret;
> + }
> +
> + if (status) {
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_RST_LATCH,
> + BMG160_INT_MODE_NON_LATCH_INT |
> + BMG160_INT_MODE_LATCH_RESET);
> + if (ret < 0) {
> + dev_err(&data->client->dev,
> + "Error writing reg_rst_latch\n");
> + return ret;
> + }
> +
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_EN_0,
> + BMG160_DATA_ENABLE_INT);
> +
> + } else {
> + /* Restore interrupt mode */
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_RST_LATCH,
> + BMG160_INT_MODE_LATCH_INT |
> + BMG160_INT_MODE_LATCH_RESET);
> + if (ret < 0) {
> + dev_err(&data->client->dev,
> + "Error writing reg_rst_latch\n");
> + return ret;
> + }
> +
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_EN_0,
> + 0);
> + }
> +
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_int_en0\n");
> + return ret;
> + }
> +
> + return 0;
> +}
> +
> +static int bmg160_get_bw(struct bmg160_data *data, int *val)
> +{
> + int i;
> +
> + for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
> + if (bmg160_samp_freq_table[i].bw_bits == data->bw_bits) {
> + *val = bmg160_samp_freq_table[i].val;
> + return IIO_VAL_INT;
> + }
> + }
> +
> + return -EINVAL;
> +}
> +
> +static int bmg160_set_scale(struct bmg160_data *data, int val)
> +{
> + int ret, i;
> +
> + for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) {
> + if (bmg160_scale_table[i].scale == val) {
> + ret = i2c_smbus_write_byte_data(
> + data->client,
> + BMG160_REG_RANGE,
> + bmg160_scale_table[i].dps_range);
> + if (ret < 0) {
> + dev_err(&data->client->dev,
> + "Error writing reg_range\n");
> + return ret;
> + }
> + data->dps_range = bmg160_scale_table[i].dps_range;
> + return 0;
> + }
> + }
> +
> + return -EINVAL;
> +}
> +
> +static int bmg160_get_temp(struct bmg160_data *data, int *val)
> +{
> + int ret;
> +
> + mutex_lock(&data->mutex);
> + ret = bmg160_set_power_state(data, true);
> + if (ret < 0) {
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> +
> + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_TEMP);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_temp\n");
> + bmg160_set_power_state(data, false);
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> +
> + *val = sign_extend32(ret, 7);
> + ret = bmg160_set_power_state(data, false);
> + mutex_unlock(&data->mutex);
> + if (ret < 0)
> + return ret;
> +
> + return IIO_VAL_INT;
> +}
> +
> +static int bmg160_get_axis(struct bmg160_data *data, int axis, int *val)
> +{
> + int ret;
> +
> + mutex_lock(&data->mutex);
> + ret = bmg160_set_power_state(data, true);
> + if (ret < 0) {
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> +
> + ret = i2c_smbus_read_word_data(data->client, BMG160_AXIS_TO_REG(axis));
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading axis %d\n", axis);
> + bmg160_set_power_state(data, false);
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> +
> + *val = sign_extend32(ret, 15);
> + ret = bmg160_set_power_state(data, false);
> + mutex_unlock(&data->mutex);
> + if (ret < 0)
> + return ret;
> +
> + return IIO_VAL_INT;
> +}
> +
> +static int bmg160_read_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan,
> + int *val, int *val2, long mask)
> +{
> + struct bmg160_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_RAW:
> + switch (chan->type) {
> + case IIO_TEMP:
> + return bmg160_get_temp(data, val);
> + case IIO_ANGL_VEL:
> + if (iio_buffer_enabled(indio_dev))
> + return -EBUSY;
> + else
> + return bmg160_get_axis(data, chan->scan_index,
> + val);
> + default:
> + return -EINVAL;
> + }
> + case IIO_CHAN_INFO_OFFSET:
> + if (chan->type == IIO_TEMP) {
> + *val = BMG160_TEMP_CENTER_VAL;
> + return IIO_VAL_INT;
> + } else
> + return -EINVAL;
> + case IIO_CHAN_INFO_SCALE:
> + *val = 0;
> + switch (chan->type) {
> + case IIO_TEMP:
> + *val2 = 500000;
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_ANGL_VEL:
> + {
> + int i;
> +
> + for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) {
> + if (bmg160_scale_table[i].dps_range ==
> + data->dps_range) {
> + *val2 = bmg160_scale_table[i].scale;
> + return IIO_VAL_INT_PLUS_MICRO;
> + }
> + }
> + return -EINVAL;
> + }
> + default:
> + return -EINVAL;
> + }
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + *val2 = 0;
> + mutex_lock(&data->mutex);
> + ret = bmg160_get_bw(data, val);
> + mutex_unlock(&data->mutex);
> + return ret;
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +static int bmg160_write_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan,
> + int val, int val2, long mask)
> +{
> + struct bmg160_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + mutex_lock(&data->mutex);
> + /*
> + * Section 4.2 of spec
> + * In suspend mode, the only supported operations are reading
> + * registers as well as writing to the (0x14) softreset
> + * register. Since we will be in suspend mode by default, change
> + * mode to power on for other writes.
> + */
> + ret = bmg160_set_power_state(data, true);
> + if (ret < 0) {
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> + ret = bmg160_set_bw(data, val);
> + if (ret < 0) {
> + bmg160_set_power_state(data, false);
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> + ret = bmg160_set_power_state(data, false);
Could this end up disabling the part when in triggered mode?
> + mutex_unlock(&data->mutex);
> + return ret;
> + case IIO_CHAN_INFO_SCALE:
> + if (val)
> + return -EINVAL;
> +
> + mutex_lock(&data->mutex);
> + /* Refer to comments above for the suspend mode ops */
> + ret = bmg160_set_power_state(data, true);
> + if (ret < 0) {
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> + ret = bmg160_set_scale(data, val2);
> + if (ret < 0) {
> + bmg160_set_power_state(data, false);
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> + ret = bmg160_set_power_state(data, false);
> + mutex_unlock(&data->mutex);
> + return ret;
> + default:
> + return -EINVAL;
> + }
> +
> + return -EINVAL;
> +}
> +
> +static int bmg160_read_event(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan,
> + enum iio_event_type type,
> + enum iio_event_direction dir,
> + enum iio_event_info info,
> + int *val, int *val2)
> +{
> + struct bmg160_data *data = iio_priv(indio_dev);
> +
> + *val2 = 0;
> + switch (info) {
> + case IIO_EV_INFO_VALUE:
> + *val = data->slope_thres & BMG160_SLOPE_THRES_MASK;
> + break;
> + default:
> + return -EINVAL;
> + }
> +
> + return IIO_VAL_INT;
> +}
> +
> +static int bmg160_write_event(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan,
> + enum iio_event_type type,
> + enum iio_event_direction dir,
> + enum iio_event_info info,
> + int val, int val2)
> +{
> + struct bmg160_data *data = iio_priv(indio_dev);
> +
> + switch (info) {
> + case IIO_EV_INFO_VALUE:
> + if (data->ev_enable_state)
> + return -EBUSY;
> + data->slope_thres &= ~BMG160_SLOPE_THRES_MASK;
> + data->slope_thres |= (val & BMG160_SLOPE_THRES_MASK);
> + break;
> + default:
> + return -EINVAL;
> + }
> +
> + return 0;
> +}
> +
> +static int bmg160_read_event_config(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan,
> + enum iio_event_type type,
> + enum iio_event_direction dir)
> +{
> +
> + struct bmg160_data *data = iio_priv(indio_dev);
> +
> + return data->ev_enable_state;
> +}
> +
> +static int bmg160_write_event_config(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan,
> + enum iio_event_type type,
> + enum iio_event_direction dir,
> + int state)
> +{
> + struct bmg160_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + if (state && data->ev_enable_state)
> + return 0;
> +
> + mutex_lock(&data->mutex);
> +
> + if (!state && data->motion_trigger_on) {
> + data->ev_enable_state = 0;
> + mutex_unlock(&data->mutex);
> + return 0;
> + }
> + /*
> + * We will expect the enable and disable to do operation in
> + * in reverse order. This will happen here anyway as our
> + * resume operation uses sync mode runtime pm calls, the
> + * suspend operation will be delayed by autosuspend delay
> + * So the disable operation will still happen in reverse of
> + * enable operation. When runtime pm is disabled the mode
> + * is always on so sequence doesn't matter
> + */
Thanks for the detailed comment!
> + ret = bmg160_set_power_state(data, state);
> + if (ret < 0) {
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> +
> + ret = bmg160_setup_any_motion_interrupt(data, state);
> + if (ret < 0) {
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> +
> + data->ev_enable_state = state;
> + mutex_unlock(&data->mutex);
> +
> + return 0;
> +}
> +
> +static int bmg160_validate_trigger(struct iio_dev *indio_dev,
> + struct iio_trigger *trig)
> +{
> + struct bmg160_data *data = iio_priv(indio_dev);
> +
> + if (data->dready_trig != trig && data->motion_trig != trig)
> + return -EINVAL;
> +
> + return 0;
> +}
> +
> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("100 200 400 1000 2000");
> +
> +static IIO_CONST_ATTR(in_anglvel_scale_available,
> + "0.001065 0.000532 0.000266 0.000133 0.000066");
> +
> +static struct attribute *bmg160_attributes[] = {
> + &iio_const_attr_sampling_frequency_available.dev_attr.attr,
> + &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
> + NULL,
> +};
> +
> +static const struct attribute_group bmg160_attrs_group = {
> + .attrs = bmg160_attributes,
> +};
> +
> +static const struct iio_event_spec bmg160_event = {
> + .type = IIO_EV_TYPE_ROC,
> + .dir = IIO_EV_DIR_RISING | IIO_EV_DIR_FALLING,
> + .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) |
> + BIT(IIO_EV_INFO_ENABLE)
> +};
> +
> +#define BMG160_CHANNEL(_axis) { \
> + .type = IIO_ANGL_VEL, \
> + .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 = AXIS_##_axis, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = 16, \
> + .storagebits = 16, \
> + }, \
> + .event_spec = &bmg160_event, \
> + .num_event_specs = 1 \
> +}
> +
> +static const struct iio_chan_spec bmg160_channels[] = {
> + {
> + .type = IIO_TEMP,
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
> + BIT(IIO_CHAN_INFO_SCALE) |
> + BIT(IIO_CHAN_INFO_OFFSET),
> + .scan_index = -1,
> + },
> + BMG160_CHANNEL(X),
> + BMG160_CHANNEL(Y),
> + BMG160_CHANNEL(Z),
> + IIO_CHAN_SOFT_TIMESTAMP(3),
> +};
> +
> +static const struct iio_info bmg160_info = {
> + .attrs = &bmg160_attrs_group,
> + .read_raw = bmg160_read_raw,
> + .write_raw = bmg160_write_raw,
> + .read_event_value = bmg160_read_event,
> + .write_event_value = bmg160_write_event,
> + .write_event_config = bmg160_write_event_config,
> + .read_event_config = bmg160_read_event_config,
> + .validate_trigger = bmg160_validate_trigger,
> + .driver_module = THIS_MODULE,
> +};
> +
> +static irqreturn_t bmg160_trigger_handler(int irq, void *p)
> +{
> + struct iio_poll_func *pf = p;
> + struct iio_dev *indio_dev = pf->indio_dev;
> + struct bmg160_data *data = iio_priv(indio_dev);
> + int bit, ret, i = 0;
> +
> + mutex_lock(&data->mutex);
> + for_each_set_bit(bit, indio_dev->buffer->scan_mask,
> + indio_dev->masklength) {
> + ret = i2c_smbus_read_word_data(data->client,
> + BMG160_AXIS_TO_REG(bit));
> + if (ret < 0) {
> + mutex_unlock(&data->mutex);
> + goto err;
> + }
> + data->buffer[i++] = ret;
> + }
> + mutex_unlock(&data->mutex);
> +
> + iio_push_to_buffers_with_timestamp(indio_dev, data->buffer,
> + data->timestamp);
> +err:
> + iio_trigger_notify_done(indio_dev->trig);
> +
> + return IRQ_HANDLED;
> +}
> +
> +static int bmg160_trig_try_reen(struct iio_trigger *trig)
> +{
> + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
> + struct bmg160_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + /* new data interrupts don't need ack */
> + if (data->dready_trigger_on)
> + return 0;
> +
> + /* Set latched mode interrupt and clear any latched interrupt */
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_RST_LATCH,
> + BMG160_INT_MODE_LATCH_INT |
> + BMG160_INT_MODE_LATCH_RESET);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_rst_latch\n");
> + return ret;
> + }
> +
> + return 0;
> +}
> +
> +static int bmg160_data_rdy_trigger_set_state(struct iio_trigger *trig,
> + bool state)
> +{
> + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
> + struct bmg160_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + mutex_lock(&data->mutex);
> +
> + if (!state && data->ev_enable_state && data->motion_trigger_on) {
> + data->motion_trigger_on = false;
> + mutex_unlock(&data->mutex);
> + return 0;
> + }
> +
> + /*
> + * Refer to comment in bmg160_write_event_config for
> + * enable/disable operation order
> + */
> + ret = bmg160_set_power_state(data, state);
> + if (ret < 0) {
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> + if (data->motion_trig == trig)
> + ret = bmg160_setup_any_motion_interrupt(data, state);
> + else
> + ret = bmg160_setup_new_data_interrupt(data, state);
> + if (ret < 0) {
> + mutex_unlock(&data->mutex);
> + return ret;
> + }
> + if (data->motion_trig == trig)
> + data->motion_trigger_on = state;
> + else
> + data->dready_trigger_on = state;
> +
> + mutex_unlock(&data->mutex);
> +
> + return 0;
> +}
> +
> +static const struct iio_trigger_ops bmg160_trigger_ops = {
> + .set_trigger_state = bmg160_data_rdy_trigger_set_state,
> + .try_reenable = bmg160_trig_try_reen,
> + .owner = THIS_MODULE,
> +};
> +
> +static irqreturn_t bmg160_event_handler(int irq, void *private)
> +{
> + struct iio_dev *indio_dev = private;
> + struct bmg160_data *data = iio_priv(indio_dev);
> + int ret;
> + int dir;
> +
> + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_INT_STATUS_2);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_int_status2\n");
> + goto ack_intr_status;
> + }
> +
> + if (ret & 0x08)
> + dir = IIO_EV_DIR_RISING;
> + else
> + dir = IIO_EV_DIR_FALLING;
> +
> + if (ret & BMG160_ANY_MOTION_MASK)
> + iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL,
> + 0,
> + IIO_MOD_X_OR_Y_OR_Z,
> + IIO_EV_TYPE_ROC,
> + dir),
> + data->timestamp);
> +
> +ack_intr_status:
> + if (!data->dready_trigger_on) {
> + ret = i2c_smbus_write_byte_data(data->client,
> + BMG160_REG_INT_RST_LATCH,
> + BMG160_INT_MODE_LATCH_INT |
> + BMG160_INT_MODE_LATCH_RESET);
> + if (ret < 0)
> + dev_err(&data->client->dev,
> + "Error writing reg_rst_latch\n");
> + }
> +
> + return IRQ_HANDLED;
> +}
> +
> +static irqreturn_t bmg160_data_rdy_trig_poll(int irq, void *private)
> +{
> + struct iio_dev *indio_dev = private;
> + struct bmg160_data *data = iio_priv(indio_dev);
> +
> + data->timestamp = iio_get_time_ns();
> +
> + if (data->dready_trigger_on)
> + iio_trigger_poll(data->dready_trig);
> + else if (data->motion_trigger_on)
> + iio_trigger_poll(data->motion_trig);
> +
> + if (data->ev_enable_state)
> + return IRQ_WAKE_THREAD;
> + else
> + return IRQ_HANDLED;
> +
> +}
> +
> +static int bmg160_acpi_gpio_probe(struct i2c_client *client,
> + struct bmg160_data *data)
> +{
> + const struct acpi_device_id *id;
> + struct device *dev;
> + struct gpio_desc *gpio;
> + int ret;
> +
> + if (!client)
> + return -EINVAL;
> +
> + dev = &client->dev;
> + if (!ACPI_HANDLE(dev))
> + return -ENODEV;
> +
> + id = acpi_match_device(dev->driver->acpi_match_table, dev);
> + if (!id)
> + return -ENODEV;
> +
> + /* data ready gpio interrupt pin */
> + gpio = devm_gpiod_get_index(dev, BMG160_GPIO_NAME, 0);
> + if (IS_ERR(gpio)) {
> + dev_err(dev, "acpi gpio get index failed\n");
> + return PTR_ERR(gpio);
> + }
> +
> + ret = gpiod_direction_input(gpio);
> + if (ret)
> + return ret;
> +
> + ret = gpiod_to_irq(gpio);
> +
> + dev_dbg(dev, "GPIO resource, no:%d irq:%d\n", desc_to_gpio(gpio), ret);
> +
> + return ret;
> +}
> +
> +static int bmg160_probe(struct i2c_client *client,
> + const struct i2c_device_id *id)
> +{
> + struct bmg160_data *data;
> + struct iio_dev *indio_dev;
> + 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 = bmg160_chip_init(data);
> + if (ret < 0)
> + return ret;
> +
> + mutex_init(&data->mutex);
> +
> + indio_dev->dev.parent = &client->dev;
> + indio_dev->channels = bmg160_channels;
> + indio_dev->num_channels = ARRAY_SIZE(bmg160_channels);
> + indio_dev->name = BMG160_DRV_NAME;
> + indio_dev->modes = INDIO_DIRECT_MODE;
> + indio_dev->info = &bmg160_info;
> +
> + if (client->irq <= 0)
> + client->irq = bmg160_acpi_gpio_probe(client, data);
> +
> + if (client->irq > 0) {
> + ret = devm_request_threaded_irq(&client->dev,
> + client->irq,
> + bmg160_data_rdy_trig_poll,
> + bmg160_event_handler,
> + IRQF_TRIGGER_RISING,
> + BMG160_IRQ_NAME,
> + indio_dev);
> + if (ret)
> + return ret;
> +
> + data->dready_trig = devm_iio_trigger_alloc(&client->dev,
> + "%s-dev%d",
> + indio_dev->name,
> + indio_dev->id);
> + if (!data->dready_trig)
> + return -ENOMEM;
> +
> + data->motion_trig = devm_iio_trigger_alloc(&client->dev,
> + "%s-any-motion-dev%d",
> + indio_dev->name,
> + indio_dev->id);
> + if (!data->motion_trig)
> + return -ENOMEM;
> +
> + data->dready_trig->dev.parent = &client->dev;
> + data->dready_trig->ops = &bmg160_trigger_ops;
> + iio_trigger_set_drvdata(data->dready_trig, indio_dev);
> + ret = iio_trigger_register(data->dready_trig);
> + if (ret)
> + return ret;
> +
> + data->motion_trig->dev.parent = &client->dev;
> + data->motion_trig->ops = &bmg160_trigger_ops;
> + iio_trigger_set_drvdata(data->motion_trig, indio_dev);
> + ret = iio_trigger_register(data->motion_trig);
> + if (ret) {
> + data->motion_trig = NULL;
> + goto err_trigger_unregister;
> + }
> +
> + ret = iio_triggered_buffer_setup(indio_dev,
> + NULL,
> + bmg160_trigger_handler,
> + NULL);
> + if (ret < 0) {
> + dev_err(&client->dev,
> + "iio triggered buffer setup failed\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;
> + }
> +
> + ret = pm_runtime_set_active(&client->dev);
> + if (ret)
> + goto err_iio_unregister;
> +
> + pm_runtime_enable(&client->dev);
> + pm_runtime_set_autosuspend_delay(&client->dev,
> + BMG160_AUTO_SUSPEND_DELAY_MS);
> + pm_runtime_use_autosuspend(&client->dev);
> +
> + return 0;
> +
> +err_iio_unregister:
> + iio_device_unregister(indio_dev);
> +err_buffer_cleanup:
> + if (data->dready_trig)
> + iio_triggered_buffer_cleanup(indio_dev);
> +err_trigger_unregister:
> + if (data->dready_trig)
> + iio_trigger_unregister(data->dready_trig);
> + if (data->motion_trig)
> + iio_trigger_unregister(data->motion_trig);
> +
> + return ret;
> +}
> +
> +static int bmg160_remove(struct i2c_client *client)
> +{
> + struct iio_dev *indio_dev = i2c_get_clientdata(client);
> + struct bmg160_data *data = iio_priv(indio_dev);
> +
> + pm_runtime_disable(&client->dev);
> + pm_runtime_set_suspended(&client->dev);
> + pm_runtime_put_noidle(&client->dev);
> +
> + iio_device_unregister(indio_dev);
> +
> + if (data->dready_trig) {
> + iio_triggered_buffer_cleanup(indio_dev);
> + iio_trigger_unregister(data->dready_trig);
> + iio_trigger_unregister(data->motion_trig);
> + }
> +
> + mutex_lock(&data->mutex);
> + bmg160_set_mode(data, BMG160_MODE_DEEP_SUSPEND);
> + mutex_unlock(&data->mutex);
> +
> + return 0;
> +}
> +
> +#ifdef CONFIG_PM_SLEEP
> +static int bmg160_suspend(struct device *dev)
> +{
> + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
> + struct bmg160_data *data = iio_priv(indio_dev);
> +
> + mutex_lock(&data->mutex);
> + bmg160_set_mode(data, BMG160_MODE_SUSPEND);
> + mutex_unlock(&data->mutex);
> +
> + return 0;
> +}
> +
> +static int bmg160_resume(struct device *dev)
> +{
> + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
> + struct bmg160_data *data = iio_priv(indio_dev);
> +
> + mutex_lock(&data->mutex);
> + if (data->dready_trigger_on || data->motion_trigger_on ||
> + data->ev_enable_state)
> + bmg160_set_mode(data, BMG160_MODE_NORMAL);
> + mutex_unlock(&data->mutex);
> +
> + return 0;
> +}
> +#endif
> +
> +#ifdef CONFIG_PM_RUNTIME
> +static int bmg160_runtime_suspend(struct device *dev)
> +{
> + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
> + struct bmg160_data *data = iio_priv(indio_dev);
> +
> + return bmg160_set_mode(data, BMG160_MODE_SUSPEND);
> +}
> +
> +static int bmg160_runtime_resume(struct device *dev)
> +{
> + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
> + struct bmg160_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + ret = bmg160_set_mode(data, BMG160_MODE_NORMAL);
> + if (ret < 0)
> + return ret;
> +
> + msleep_interruptible(BMG160_MAX_STARTUP_TIME_MS);
> +
> + return 0;
> +}
> +#endif
> +
> +static const struct dev_pm_ops bmg160_pm_ops = {
> + SET_SYSTEM_SLEEP_PM_OPS(bmg160_suspend, bmg160_resume)
> + SET_RUNTIME_PM_OPS(bmg160_runtime_suspend,
> + bmg160_runtime_resume, NULL)
> +};
> +
> +static const struct acpi_device_id bmg160_acpi_match[] = {
> + {"BMG0160", 0},
> + { },
> +};
> +MODULE_DEVICE_TABLE(acpi, bmg160_acpi_match);
> +
> +static const struct i2c_device_id bmg160_id[] = {
> + {"bmg160", 0},
> + {}
> +};
> +
> +MODULE_DEVICE_TABLE(i2c, bmg160_id);
> +
> +static struct i2c_driver bmg160_driver = {
> + .driver = {
> + .name = BMG160_DRV_NAME,
> + .acpi_match_table = ACPI_PTR(bmg160_acpi_match),
> + .pm = &bmg160_pm_ops,
> + },
> + .probe = bmg160_probe,
> + .remove = bmg160_remove,
> + .id_table = bmg160_id,
> +};
> +module_i2c_driver(bmg160_driver);
> +
> +MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@xxxxxxxxxxxxxxx>");
> +MODULE_LICENSE("GPL v2");
> +MODULE_DESCRIPTION("BMG160 Gyro driver");
>
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