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");
