On Thu, 12 Sep 2024 17:07:19 -0400
Alex Lanzano <lanzano.alex@xxxxxxxxx> wrote:
> 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>
Hi Alex,
A bunch of fairly minor stuff so I've just tweaked it whilst applying rather
than wasting time on going around again.
I also changed a few line wraps to keep lines a bit shorter.
Where it doesn't hurt readability 80 chars is still my preference for IIO.
The diff of the tweaks I made is as follows. Shout if I messed anything up!
Thanks,
Jonathan
diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h
index 4af4098d8e82..608b29ea58a3 100644
--- a/drivers/iio/imu/bmi270/bmi270.h
+++ b/drivers/iio/imu/bmi270/bmi270.h
@@ -3,53 +3,9 @@
#ifndef BMI270_H_
#define BMI270_H_
-#include <linux/iio/iio.h>
-
-#define BMI270_CHIP_ID_REG 0x00
-#define BMI270_CHIP_ID_VAL 0x24
-#define BMI270_CHIP_ID_MSK GENMASK(7, 0)
-
-#define BMI270_ACCEL_X_REG 0x0c
-#define BMI270_ANG_VEL_X_REG 0x12
-
-#define BMI270_INTERNAL_STATUS_REG 0x21
-#define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0)
-#define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01
-
-#define BMI270_INTERNAL_STATUS_AXES_REMAP_ERR_MSK BIT(5)
-#define BMI270_INTERNAL_STATUS_ODR_50HZ_ERR_MSK BIT(6)
-
-#define BMI270_ACC_CONF_REG 0x40
-#define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0)
-#define BMI270_ACC_CONF_ODR_100HZ 0x08
-#define BMI270_ACC_CONF_BWP_MSK GENMASK(6, 4)
-#define BMI270_ACC_CONF_BWP_NORMAL_MODE 0x02
-#define BMI270_ACC_CONF_FILTER_PERF_MSK BIT(7)
-
-#define BMI270_GYR_CONF_REG 0x42
-#define BMI270_GYR_CONF_ODR_MSK GENMASK(3, 0)
-#define BMI270_GYR_CONF_ODR_200HZ 0x09
-#define BMI270_GYR_CONF_BWP_MSK GENMASK(5, 4)
-#define BMI270_GYR_CONF_BWP_NORMAL_MODE 0x02
-#define BMI270_GYR_CONF_NOISE_PERF_MSK BIT(6)
-#define BMI270_GYR_CONF_FILTER_PERF_MSK BIT(7)
-
-#define BMI270_INIT_CTRL_REG 0x59
-#define BMI270_INIT_CTRL_LOAD_DONE_MSK BIT(0)
-
-#define BMI270_INIT_DATA_REG 0x5e
-
-#define BMI270_PWR_CONF_REG 0x7c
-#define BMI270_PWR_CONF_ADV_PWR_SAVE_MSK BIT(0)
-#define BMI270_PWR_CONF_FIFO_WKUP_MSK BIT(1)
-#define BMI270_PWR_CONF_FUP_EN_MSK BIT(2)
-
-#define BMI270_PWR_CTRL_REG 0x7d
-#define BMI270_PWR_CTRL_AUX_EN_MSK BIT(0)
-#define BMI270_PWR_CTRL_GYR_EN_MSK BIT(1)
-#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
-#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
+#include <linux/regmap.h>
+struct device;
struct bmi270_data {
struct device *dev;
struct regmap *regmap;
iff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
index 319e5601d9e7..8e45343d6472 100644
--- a/drivers/iio/imu/bmi270/bmi270_core.c
+++ b/drivers/iio/imu/bmi270/bmi270_core.c
@@ -1,14 +1,60 @@
// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+#include <linux/bitfield.h>
#include <linux/firmware.h>
#include <linux/i2c.h>
-#include <linux/iio/iio.h>
#include <linux/module.h>
#include <linux/regmap.h>
-#include <linux/bitfield.h>
+
+#include <linux/iio/iio.h>
#include "bmi270.h"
+#define BMI270_CHIP_ID_REG 0x00
+#define BMI270_CHIP_ID_VAL 0x24
+#define BMI270_CHIP_ID_MSK GENMASK(7, 0)
+
+#define BMI270_ACCEL_X_REG 0x0c
+#define BMI270_ANG_VEL_X_REG 0x12
+
+#define BMI270_INTERNAL_STATUS_REG 0x21
+#define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0)
+#define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01
+
+#define BMI270_INTERNAL_STATUS_AXES_REMAP_ERR_MSK BIT(5)
+#define BMI270_INTERNAL_STATUS_ODR_50HZ_ERR_MSK BIT(6)
+
+#define BMI270_ACC_CONF_REG 0x40
+#define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0)
+#define BMI270_ACC_CONF_ODR_100HZ 0x08
+#define BMI270_ACC_CONF_BWP_MSK GENMASK(6, 4)
+#define BMI270_ACC_CONF_BWP_NORMAL_MODE 0x02
+#define BMI270_ACC_CONF_FILTER_PERF_MSK BIT(7)
+
+#define BMI270_GYR_CONF_REG 0x42
+#define BMI270_GYR_CONF_ODR_MSK GENMASK(3, 0)
+#define BMI270_GYR_CONF_ODR_200HZ 0x09
+#define BMI270_GYR_CONF_BWP_MSK GENMASK(5, 4)
+#define BMI270_GYR_CONF_BWP_NORMAL_MODE 0x02
+#define BMI270_GYR_CONF_NOISE_PERF_MSK BIT(6)
+#define BMI270_GYR_CONF_FILTER_PERF_MSK BIT(7)
+
+#define BMI270_INIT_CTRL_REG 0x59
+#define BMI270_INIT_CTRL_LOAD_DONE_MSK BIT(0)
+
+#define BMI270_INIT_DATA_REG 0x5e
+
+#define BMI270_PWR_CONF_REG 0x7c
+#define BMI270_PWR_CONF_ADV_PWR_SAVE_MSK BIT(0)
+#define BMI270_PWR_CONF_FIFO_WKUP_MSK BIT(1)
+#define BMI270_PWR_CONF_FUP_EN_MSK BIT(2)
+
+#define BMI270_PWR_CTRL_REG 0x7d
+#define BMI270_PWR_CTRL_AUX_EN_MSK BIT(0)
+#define BMI270_PWR_CTRL_GYR_EN_MSK BIT(1)
+#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
+#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
+
#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw"
enum bmi270_scan {
@@ -35,10 +81,10 @@ static int bmi270_get_data(struct bmi270_data *bmi270_device,
switch (chan_type) {
case IIO_ACCEL:
- reg = BMI270_ACCEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample);
+ reg = BMI270_ACCEL_X_REG + (axis - IIO_MOD_X) * 2;
break;
case IIO_ANGL_VEL:
- reg = BMI270_ANG_VEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample);
+ reg = BMI270_ANG_VEL_X_REG + (axis - IIO_MOD_X) * 2;
break;
default:
return -EINVAL;
@@ -82,7 +128,7 @@ static const struct iio_info bmi270_info = {
.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_FREQUENCY), \
+ BIT(IIO_CHAN_INFO_FREQUENCY), \
}
#define BMI270_ANG_VEL_CHANNEL(_axis) { \
@@ -91,7 +137,7 @@ static const struct iio_info bmi270_info = {
.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_FREQUENCY), \
+ BIT(IIO_CHAN_INFO_FREQUENCY), \
}
static const struct iio_chan_spec bmi270_channels[] = {
@@ -100,7 +146,7 @@ static const struct iio_chan_spec bmi270_channels[] = {
BMI270_ACCEL_CHANNEL(Z),
BMI270_ANG_VEL_CHANNEL(X),
BMI270_ANG_VEL_CHANNEL(Y),
- BMI270_ANG_VEL_CHANNEL(Z)
+ BMI270_ANG_VEL_CHANNEL(Z),
};
static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device)
@@ -115,7 +161,7 @@ static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device)
return dev_err_probe(dev, ret, "Failed to read chip id");
if (chip_id != BMI270_CHIP_ID_VAL)
- return dev_err_probe(dev, -ENODEV, "Invalid chip id 0x%x", chip_id);
+ dev_info(dev, "Unknown chip id 0x%x", chip_id);
return 0;
}
@@ -128,18 +174,24 @@ static int bmi270_write_calibration_data(struct bmi270_data *bmi270_device)
struct device *dev = bmi270_device->dev;
struct regmap *regmap = bmi270_device->regmap;
- ret = regmap_clear_bits(regmap, BMI270_PWR_CONF_REG, BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
+ ret = regmap_clear_bits(regmap, BMI270_PWR_CONF_REG,
+ BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
if (ret)
- return dev_err_probe(dev, ret, "Failed to write power configuration");
+ return dev_err_probe(dev, ret,
+ "Failed to write power configuration");
- /* After disabling advanced power save, all registers are accessible after a 450us delay
- * This delay is specified in table A of the datasheet.
+ /*
+ * After disabling advanced power save, all registers are accessible
+ * after a 450us delay. This delay is specified in table A of the
+ * datasheet.
*/
usleep_range(450, 1000);
- ret = regmap_clear_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK);
+ ret = regmap_clear_bits(regmap, BMI270_INIT_CTRL_REG,
+ BMI270_INIT_CTRL_LOAD_DONE_MSK);
if (ret)
- return dev_err_probe(dev, ret, "Failed to prepare device to load init data");
+ 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)
@@ -151,11 +203,14 @@ static int bmi270_write_calibration_data(struct bmi270_data *bmi270_device)
if (ret)
return dev_err_probe(dev, ret, "Failed to write init data");
- ret = regmap_set_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK);
+ ret = regmap_set_bits(regmap, BMI270_INIT_CTRL_REG,
+ BMI270_INIT_CTRL_LOAD_DONE_MSK);
if (ret)
- return dev_err_probe(dev, ret, "Failed to stop device initialization");
+ return dev_err_probe(dev, ret,
+ "Failed to stop device initialization");
- /* Wait at least 140ms for the device to complete configuration.
+ /*
+ * Wait at least 140ms for the device to complete configuration.
* This delay is specified in table C of the datasheet.
*/
usleep_range(140000, 160000);
@@ -231,7 +286,7 @@ int bmi270_core_probe(struct device *dev, struct regmap *regmap)
struct bmi270_data *bmi270_device;
struct iio_dev *indio_dev;
- indio_dev = devm_iio_device_alloc(dev, sizeof(struct bmi270_data *));
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*bmi270_device));
if (!indio_dev)
return -ENOMEM;
> 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..4af4098d8e82
> --- /dev/null
> +++ b/drivers/iio/imu/bmi270/bmi270.h
> @@ -0,0 +1,62 @@
> +/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) */
> +
> +#ifndef BMI270_H_
> +#define BMI270_H_
> +
> +#include <linux/iio/iio.h>
no obvious reason for this. Headers should only include things
they need.
However you do need some forward definitions for
struct device;
and an include of regmap.h for the regmap_config.
> +
> +#define BMI270_CHIP_ID_REG 0x00
> +#define BMI270_CHIP_ID_VAL 0x24
> +#define BMI270_CHIP_ID_MSK GENMASK(7, 0)
> +
> +#define BMI270_ACCEL_X_REG 0x0c
> +#define BMI270_ANG_VEL_X_REG 0x12
> +
> +#define BMI270_INTERNAL_STATUS_REG 0x21
> +#define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0)
> +#define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01
> +
> +#define BMI270_INTERNAL_STATUS_AXES_REMAP_ERR_MSK BIT(5)
> +#define BMI270_INTERNAL_STATUS_ODR_50HZ_ERR_MSK BIT(6)
> +
> +#define BMI270_ACC_CONF_REG 0x40
> +#define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0)
> +#define BMI270_ACC_CONF_ODR_100HZ 0x08
> +#define BMI270_ACC_CONF_BWP_MSK GENMASK(6, 4)
> +#define BMI270_ACC_CONF_BWP_NORMAL_MODE 0x02
> +#define BMI270_ACC_CONF_FILTER_PERF_MSK BIT(7)
> +
> +#define BMI270_GYR_CONF_REG 0x42
> +#define BMI270_GYR_CONF_ODR_MSK GENMASK(3, 0)
> +#define BMI270_GYR_CONF_ODR_200HZ 0x09
> +#define BMI270_GYR_CONF_BWP_MSK GENMASK(5, 4)
> +#define BMI270_GYR_CONF_BWP_NORMAL_MODE 0x02
> +#define BMI270_GYR_CONF_NOISE_PERF_MSK BIT(6)
> +#define BMI270_GYR_CONF_FILTER_PERF_MSK BIT(7)
> +
> +#define BMI270_INIT_CTRL_REG 0x59
> +#define BMI270_INIT_CTRL_LOAD_DONE_MSK BIT(0)
> +
> +#define BMI270_INIT_DATA_REG 0x5e
> +
> +#define BMI270_PWR_CONF_REG 0x7c
> +#define BMI270_PWR_CONF_ADV_PWR_SAVE_MSK BIT(0)
> +#define BMI270_PWR_CONF_FIFO_WKUP_MSK BIT(1)
> +#define BMI270_PWR_CONF_FUP_EN_MSK BIT(2)
> +
> +#define BMI270_PWR_CTRL_REG 0x7d
> +#define BMI270_PWR_CTRL_AUX_EN_MSK BIT(0)
> +#define BMI270_PWR_CTRL_GYR_EN_MSK BIT(1)
> +#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
> +#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
Currently all these defines are just used in the core c file.
So I'd move them there for now. We can drag them back into the header
if the spi bus driver needs them.
> +
> +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);
> +
> +#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..319e5601d9e7
> --- /dev/null
> +++ b/drivers/iio/imu/bmi270/bmi270_core.c
> @@ -0,0 +1,258 @@
> +// 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 <linux/bitfield.h>
> +
> +#include "bmi270.h"
> +
> +#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw"
> +
> +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;
> + int ret;
> +
> + switch (chan_type) {
> + case IIO_ACCEL:
> + reg = BMI270_ACCEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample);
> + break;
> + case IIO_ANGL_VEL:
> + reg = BMI270_ANG_VEL_X_REG + (axis - IIO_MOD_X) * sizeof(sample);
This only works because they are 1 byte registers which isn't obvious here
So I don't think sizeof(sample) is very useful vs 2.
> + break;
> + default:
> + return -EINVAL;
> + }
> +
> + ret = regmap_bulk_read(bmi270_device->regmap, reg, &sample, sizeof(sample));
> + if (ret)
> + return ret;
> +
> + *val = sign_extend32(le16_to_cpu(sample), 15);
> +
> + return 0;
> +}
> +
> +
> +#define BMI270_ACCEL_CHANNEL(_axis) { \
> + .type = IIO_ACCEL, \
> + .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_FREQUENCY), \
Probably good to indent this last item by one more tab to help
with reability.
> +}
> +
> +#define BMI270_ANG_VEL_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_FREQUENCY), \
> +}
> +./v4_20240912_lanzano_alex_add_i2c_driver_for_bosch_bmi270_imu.mbx
> +static const struct iio_chan_spec bmi270_channels[] = {
> + BMI270_ACCEL_CHANNEL(X),
> + BMI270_ACCEL_CHANNEL(Y),
> + BMI270_ACCEL_CHANNEL(Z),
> + BMI270_ANG_VEL_CHANNEL(X),
> + BMI270_ANG_VEL_CHANNEL(Y),
> + BMI270_ANG_VEL_CHANNEL(Z)
Add a trailing comma as we may well have additional channels in future
that come after this.
> +};
> +
> +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_CHIP_ID_REG, &chip_id);
> + if (ret)
> + return dev_err_probe(dev, ret, "Failed to read chip id");
> +
> + if (chip_id != BMI270_CHIP_ID_VAL)
> + return dev_err_probe(dev, -ENODEV, "Invalid chip id 0x%x", chip_id);
A failure to match on a ID register should not result in a failure to probe.
The reason for this is Device tree fallback compatibles.
Those allow for a future device that is compatible (it may have a superset of
features) with this part to use a dt-binding that includes the compatible
for this one despite having a different ID register value.
As such this should print an information message to say it's an unknown
device ID but return success.
> +
> + return 0;
> +}
> +
> +static int bmi270_write_calibration_data(struct bmi270_data *bmi270_device)
> +{
> + int ret;
> + int status = 0;
> + const struct firmware *init_data;
> + struct device *dev = bmi270_device->dev;
> + struct regmap *regmap = bmi270_device->regmap;
> +
> + ret = regmap_clear_bits(regmap, BMI270_PWR_CONF_REG, BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
> + if (ret)
> + return dev_err_probe(dev, ret, "Failed to write power configuration");
> +
> + /* After disabling advanced power save, all registers are accessible after a 450us delay
All IIO multiline comments are
/*
* After...
> + * This delay is specified in table A of the datasheet.
> + */
> + usleep_range(450, 1000);
> +
> + ret = regmap_clear_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK);
> + 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_INIT_DATA_REG,
> + 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_set_bits(regmap, BMI270_INIT_CTRL_REG, BMI270_INIT_CTRL_LOAD_DONE_MSK);
> + if (ret)
> + return dev_err_probe(dev, ret, "Failed to stop device initialization");
> +
> + /* Wait at least 140ms for the device to complete configuration.
> + * This delay is specified in table C of the datasheet.
> + */
> + usleep_range(140000, 160000);
> +
> + ret = regmap_read(regmap, BMI270_INTERNAL_STATUS_REG, &status);
> + if (ret)
> + return dev_err_probe(dev, ret, "Failed to read internal status");
> +
> + if (status != BMI270_INTERNAL_STATUS_MSG_INIT_OK)
> + return dev_err_probe(dev, -ENODEV, "Device failed to initialize");
> +
> + return 0;
> +}
