12345678910111213141516171819202122232425262728293031323334353637383940414243444546474849505152535455565758596061626364656667686970717273747576777879808182838485868788899091929394959697989910010110210310410510610710810911011111211311411511611711811912012112212312412512612712812913013113213313413513613713813914014114214314414514614714814915015115215315415515615715815916016116216316416516616716816917017117217317417517617717817918018118218318418518618718818919019119219319419519619719819920020120220320420520620720820921021121221321421521621721821922022122222322422522622722822923023123223323423523623723823924024124224324424524624724824925025125225325425525625725825926026126226326426526626726826927027127227327427527627727827928028128228328428528628728828929029129229329429529629729829930030130230330430530630730830931031131231331431531631731831932032132232332432532632732832933033133233333433533633733833934034134234334434534634734834935035135235335435535635735835936036136236336436536636736836937037137237337437537637737837938038138238338438538638738838939039139239339439539639739839940040140240340440540640740840941041141241341441541641741841942042142242342442542642742842943043143243343443543643743843944044144244344444544644744844945045145245345445545645745845946046146246346446546646746846947047147247347447547647747847948048148248348448548648748848949049149249349449549649749849950050150250350450550650750850951051151251351451551651751851952052152252352452552652752852953053153253353453553653753853954054154254354454554654754854955055155255355455555655755855956056156256356456556656756856957057157257357457557657757857958058158258358458558658758858959059159259359459559659759859960060160260360460560660760860961061161261361461561661761861962062162262362462562662762862963063163263363463563663763863964064164264364464564664764864965065165265365465565665765865966066166266366466566666766866967067167267367467567667767867968068168268368468568668768868969069169269369469569669769869970070170270370470570670770870971071171271371471571671771871972072172272372472572672772872973073173273373473573673773873974074174274374474574674774874975075175275375475575675775875976076176276376476576676776876977077177277377477577677777877978078178278378478578678778878979079179279379479579679779879980080180280380480580680780880981081181281381481581681781881982082182282382482582682782882983083183283383483583683783883984084184284384484584684784884985085185285385485585685785885986086186286386486586686786886987087187287387487587687787887988088188288388488588688788888989089189289389489589689789889990090190290390490590690790890991091191291391491591691791891992092192292392492592692792892993093193293393493593693793893994094194294394494594694794894995095195295395495595695795895996096196296396496596696796896997097197297397497597697797897998098198298398498598698798898999099199299399499599699799899910001001100210031004100510061007100810091010101110121013101410151016101710181019102010211022102310241025102610271028102910301031103210331034103510361037103810391040104110421043104410451046104710481049105010511052105310541055105610571058105910601061106210631064106510661067106810691070107110721073107410751076107710781079108010811082108310841085108610871088108910901091109210931094109510961097109810991100110111021103110411051106110711081109111011111112111311141115111611171118111911201121112211231124112511261127112811291130113111321133113411351136113711381139114011411142114311441145114611471148114911501151115211531154115511561157115811591160116111621163116411651166116711681169117011711172117311741175117611771178117911801181118211831184118511861187118811891190119111921193119411951196119711981199120012011202120312041205120612071208120912101211121212131214121512161217121812191220122112221223122412251226122712281229123012311232123312341235123612371238123912401241124212431244124512461247124812491250125112521253125412551256125712581259126012611262126312641265126612671268126912701271127212731274127512761277127812791280128112821283128412851286 |
- // SPDX-License-Identifier: GPL-2.0-only
- /*
- * BMG160 Gyro Sensor driver
- * Copyright (c) 2014, Intel Corporation.
- */
- #include <linux/module.h>
- #include <linux/interrupt.h>
- #include <linux/delay.h>
- #include <linux/slab.h>
- #include <linux/acpi.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>
- #include <linux/regmap.h>
- #include "bmg160.h"
- #define BMG160_IRQ_NAME "bmg160_event"
- #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_PMU_BW_RES BIT(7)
- #define BMG160_GYRO_REG_RESET 0x14
- #define BMG160_GYRO_RESET_VAL 0xb6
- #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_INT_EN_1 0x16
- #define BMG160_INT1_BIT_OD BIT(1)
- #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_ANY_MOTION_BIT_X BIT(0)
- #define BMG160_ANY_MOTION_BIT_Y BIT(1)
- #define BMG160_ANY_MOTION_BIT_Z BIT(2)
- #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 regmap *regmap;
- struct iio_trigger *dready_trig;
- struct iio_trigger *motion_trig;
- struct iio_mount_matrix orientation;
- struct mutex mutex;
- /* Ensure naturally aligned timestamp */
- struct {
- s16 chans[3];
- s64 timestamp __aligned(8);
- } scan;
- u32 dps_range;
- int ev_enable_state;
- int slope_thres;
- bool dready_trigger_on;
- bool motion_trigger_on;
- int irq;
- };
- enum bmg160_axis {
- AXIS_X,
- AXIS_Y,
- AXIS_Z,
- AXIS_MAX,
- };
- static const struct {
- int odr;
- int filter;
- int bw_bits;
- } bmg160_samp_freq_table[] = { {100, 32, 0x07},
- {200, 64, 0x06},
- {100, 12, 0x05},
- {200, 23, 0x04},
- {400, 47, 0x03},
- {1000, 116, 0x02},
- {2000, 230, 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)
- {
- struct device *dev = regmap_get_device(data->regmap);
- int ret;
- ret = regmap_write(data->regmap, BMG160_REG_PMU_LPW, mode);
- if (ret < 0) {
- dev_err(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].odr == val)
- return bmg160_samp_freq_table[i].bw_bits;
- }
- return -EINVAL;
- }
- static int bmg160_set_bw(struct bmg160_data *data, int val)
- {
- struct device *dev = regmap_get_device(data->regmap);
- int ret;
- int bw_bits;
- bw_bits = bmg160_convert_freq_to_bit(val);
- if (bw_bits < 0)
- return bw_bits;
- ret = regmap_write(data->regmap, BMG160_REG_PMU_BW, bw_bits);
- if (ret < 0) {
- dev_err(dev, "Error writing reg_pmu_bw\n");
- return ret;
- }
- return 0;
- }
- static int bmg160_get_filter(struct bmg160_data *data, int *val)
- {
- struct device *dev = regmap_get_device(data->regmap);
- int ret;
- int i;
- unsigned int bw_bits;
- ret = regmap_read(data->regmap, BMG160_REG_PMU_BW, &bw_bits);
- if (ret < 0) {
- dev_err(dev, "Error reading reg_pmu_bw\n");
- return ret;
- }
- /* Ignore the readonly reserved bit. */
- bw_bits &= ~BMG160_REG_PMU_BW_RES;
- for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
- if (bmg160_samp_freq_table[i].bw_bits == bw_bits)
- break;
- }
- *val = bmg160_samp_freq_table[i].filter;
- return ret ? ret : IIO_VAL_INT;
- }
- static int bmg160_set_filter(struct bmg160_data *data, int val)
- {
- struct device *dev = regmap_get_device(data->regmap);
- int ret;
- int i;
- for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
- if (bmg160_samp_freq_table[i].filter == val)
- break;
- }
- ret = regmap_write(data->regmap, BMG160_REG_PMU_BW,
- bmg160_samp_freq_table[i].bw_bits);
- if (ret < 0) {
- dev_err(dev, "Error writing reg_pmu_bw\n");
- return ret;
- }
- return 0;
- }
- static int bmg160_chip_init(struct bmg160_data *data)
- {
- struct device *dev = regmap_get_device(data->regmap);
- int ret;
- unsigned int val;
- /*
- * Reset chip to get it in a known good state. A delay of 30ms after
- * reset is required according to the datasheet.
- */
- regmap_write(data->regmap, BMG160_GYRO_REG_RESET,
- BMG160_GYRO_RESET_VAL);
- usleep_range(30000, 30700);
- ret = regmap_read(data->regmap, BMG160_REG_CHIP_ID, &val);
- if (ret < 0) {
- dev_err(dev, "Error reading reg_chip_id\n");
- return ret;
- }
- dev_dbg(dev, "Chip Id %x\n", val);
- if (val != BMG160_CHIP_ID_VAL) {
- dev_err(dev, "invalid chip %x\n", val);
- 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 = regmap_write(data->regmap, BMG160_REG_RANGE, BMG160_RANGE_500DPS);
- if (ret < 0) {
- dev_err(dev, "Error writing reg_range\n");
- return ret;
- }
- data->dps_range = BMG160_RANGE_500DPS;
- ret = regmap_read(data->regmap, BMG160_REG_SLOPE_THRES, &val);
- if (ret < 0) {
- dev_err(dev, "Error reading reg_slope_thres\n");
- return ret;
- }
- data->slope_thres = val;
- /* Set default interrupt mode */
- ret = regmap_update_bits(data->regmap, BMG160_REG_INT_EN_1,
- BMG160_INT1_BIT_OD, 0);
- if (ret < 0) {
- dev_err(dev, "Error updating bits in reg_int_en_1\n");
- return ret;
- }
- ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
- BMG160_INT_MODE_LATCH_INT |
- BMG160_INT_MODE_LATCH_RESET);
- if (ret < 0) {
- dev_err(dev,
- "Error writing reg_motion_intr\n");
- return ret;
- }
- return 0;
- }
- static int bmg160_set_power_state(struct bmg160_data *data, bool on)
- {
- #ifdef CONFIG_PM
- struct device *dev = regmap_get_device(data->regmap);
- int ret;
- if (on)
- ret = pm_runtime_get_sync(dev);
- else {
- pm_runtime_mark_last_busy(dev);
- ret = pm_runtime_put_autosuspend(dev);
- }
- if (ret < 0) {
- dev_err(dev, "Failed: bmg160_set_power_state for %d\n", on);
- if (on)
- pm_runtime_put_noidle(dev);
- return ret;
- }
- #endif
- return 0;
- }
- static int bmg160_setup_any_motion_interrupt(struct bmg160_data *data,
- bool status)
- {
- struct device *dev = regmap_get_device(data->regmap);
- int ret;
- /* Enable/Disable INT_MAP0 mapping */
- ret = regmap_update_bits(data->regmap, BMG160_REG_INT_MAP_0,
- BMG160_INT_MAP_0_BIT_ANY,
- (status ? BMG160_INT_MAP_0_BIT_ANY : 0));
- if (ret < 0) {
- dev_err(dev, "Error updating bits reg_int_map0\n");
- return ret;
- }
- /* Enable/Disable slope interrupts */
- if (status) {
- /* Update slope thres */
- ret = regmap_write(data->regmap, BMG160_REG_SLOPE_THRES,
- data->slope_thres);
- if (ret < 0) {
- dev_err(dev, "Error writing reg_slope_thres\n");
- return ret;
- }
- ret = regmap_write(data->regmap, BMG160_REG_MOTION_INTR,
- BMG160_INT_MOTION_X | BMG160_INT_MOTION_Y |
- BMG160_INT_MOTION_Z);
- if (ret < 0) {
- dev_err(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 = regmap_write(data->regmap,
- BMG160_REG_INT_RST_LATCH,
- BMG160_INT_MODE_LATCH_INT |
- BMG160_INT_MODE_LATCH_RESET);
- if (ret < 0) {
- dev_err(dev, "Error writing reg_rst_latch\n");
- return ret;
- }
- }
- ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0,
- BMG160_DATA_ENABLE_INT);
- } else {
- ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0, 0);
- }
- if (ret < 0) {
- dev_err(dev, "Error writing reg_int_en0\n");
- return ret;
- }
- return 0;
- }
- static int bmg160_setup_new_data_interrupt(struct bmg160_data *data,
- bool status)
- {
- struct device *dev = regmap_get_device(data->regmap);
- int ret;
- /* Enable/Disable INT_MAP1 mapping */
- ret = regmap_update_bits(data->regmap, BMG160_REG_INT_MAP_1,
- BMG160_INT_MAP_1_BIT_NEW_DATA,
- (status ? BMG160_INT_MAP_1_BIT_NEW_DATA : 0));
- if (ret < 0) {
- dev_err(dev, "Error updating bits in reg_int_map1\n");
- return ret;
- }
- if (status) {
- ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
- BMG160_INT_MODE_NON_LATCH_INT |
- BMG160_INT_MODE_LATCH_RESET);
- if (ret < 0) {
- dev_err(dev, "Error writing reg_rst_latch\n");
- return ret;
- }
- ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0,
- BMG160_DATA_ENABLE_INT);
- } else {
- /* Restore interrupt mode */
- ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
- BMG160_INT_MODE_LATCH_INT |
- BMG160_INT_MODE_LATCH_RESET);
- if (ret < 0) {
- dev_err(dev, "Error writing reg_rst_latch\n");
- return ret;
- }
- ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0, 0);
- }
- if (ret < 0) {
- dev_err(dev, "Error writing reg_int_en0\n");
- return ret;
- }
- return 0;
- }
- static int bmg160_get_bw(struct bmg160_data *data, int *val)
- {
- struct device *dev = regmap_get_device(data->regmap);
- int i;
- unsigned int bw_bits;
- int ret;
- ret = regmap_read(data->regmap, BMG160_REG_PMU_BW, &bw_bits);
- if (ret < 0) {
- dev_err(dev, "Error reading reg_pmu_bw\n");
- return ret;
- }
- /* Ignore the readonly reserved bit. */
- bw_bits &= ~BMG160_REG_PMU_BW_RES;
- for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
- if (bmg160_samp_freq_table[i].bw_bits == bw_bits) {
- *val = bmg160_samp_freq_table[i].odr;
- return IIO_VAL_INT;
- }
- }
- return -EINVAL;
- }
- static int bmg160_set_scale(struct bmg160_data *data, int val)
- {
- struct device *dev = regmap_get_device(data->regmap);
- int ret, i;
- for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) {
- if (bmg160_scale_table[i].scale == val) {
- ret = regmap_write(data->regmap, BMG160_REG_RANGE,
- bmg160_scale_table[i].dps_range);
- if (ret < 0) {
- dev_err(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)
- {
- struct device *dev = regmap_get_device(data->regmap);
- int ret;
- unsigned int raw_val;
- mutex_lock(&data->mutex);
- ret = bmg160_set_power_state(data, true);
- if (ret < 0) {
- mutex_unlock(&data->mutex);
- return ret;
- }
- ret = regmap_read(data->regmap, BMG160_REG_TEMP, &raw_val);
- if (ret < 0) {
- dev_err(dev, "Error reading reg_temp\n");
- bmg160_set_power_state(data, false);
- mutex_unlock(&data->mutex);
- return ret;
- }
- *val = sign_extend32(raw_val, 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)
- {
- struct device *dev = regmap_get_device(data->regmap);
- int ret;
- __le16 raw_val;
- mutex_lock(&data->mutex);
- ret = bmg160_set_power_state(data, true);
- if (ret < 0) {
- mutex_unlock(&data->mutex);
- return ret;
- }
- ret = regmap_bulk_read(data->regmap, BMG160_AXIS_TO_REG(axis), &raw_val,
- sizeof(raw_val));
- if (ret < 0) {
- dev_err(dev, "Error reading axis %d\n", axis);
- bmg160_set_power_state(data, false);
- mutex_unlock(&data->mutex);
- return ret;
- }
- *val = sign_extend32(le16_to_cpu(raw_val), 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_LOW_PASS_FILTER_3DB_FREQUENCY:
- return bmg160_get_filter(data, val);
- case IIO_CHAN_INFO_SCALE:
- switch (chan->type) {
- case IIO_TEMP:
- *val = 500;
- return IIO_VAL_INT;
- 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) {
- *val = 0;
- *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);
- mutex_unlock(&data->mutex);
- return ret;
- case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
- if (val2)
- return -EINVAL;
- mutex_lock(&data->mutex);
- ret = bmg160_set_power_state(data, true);
- if (ret < 0) {
- bmg160_set_power_state(data, false);
- mutex_unlock(&data->mutex);
- return ret;
- }
- ret = bmg160_set_filter(data, val);
- 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;
- 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
- */
- 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) {
- bmg160_set_power_state(data, false);
- mutex_unlock(&data->mutex);
- return ret;
- }
- data->ev_enable_state = state;
- mutex_unlock(&data->mutex);
- return 0;
- }
- static const struct iio_mount_matrix *
- bmg160_get_mount_matrix(const struct iio_dev *indio_dev,
- const struct iio_chan_spec *chan)
- {
- struct bmg160_data *data = iio_priv(indio_dev);
- return &data->orientation;
- }
- static const struct iio_chan_spec_ext_info bmg160_ext_info[] = {
- IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, bmg160_get_mount_matrix),
- { }
- };
- 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_EITHER,
- .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) | \
- BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
- .scan_index = AXIS_##_axis, \
- .scan_type = { \
- .sign = 's', \
- .realbits = 16, \
- .storagebits = 16, \
- .endianness = IIO_LE, \
- }, \
- .ext_info = bmg160_ext_info, \
- .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,
- };
- static const unsigned long bmg160_accel_scan_masks[] = {
- BIT(AXIS_X) | BIT(AXIS_Y) | BIT(AXIS_Z),
- 0};
- 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 ret;
- mutex_lock(&data->mutex);
- ret = regmap_bulk_read(data->regmap, BMG160_REG_XOUT_L,
- data->scan.chans, AXIS_MAX * 2);
- mutex_unlock(&data->mutex);
- if (ret < 0)
- goto err;
- iio_push_to_buffers_with_timestamp(indio_dev, &data->scan,
- pf->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);
- struct device *dev = regmap_get_device(data->regmap);
- 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 = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
- BMG160_INT_MODE_LATCH_INT |
- BMG160_INT_MODE_LATCH_RESET);
- if (ret < 0) {
- dev_err(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) {
- bmg160_set_power_state(data, false);
- 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,
- };
- static irqreturn_t bmg160_event_handler(int irq, void *private)
- {
- struct iio_dev *indio_dev = private;
- struct bmg160_data *data = iio_priv(indio_dev);
- struct device *dev = regmap_get_device(data->regmap);
- int ret;
- int dir;
- unsigned int val;
- ret = regmap_read(data->regmap, BMG160_REG_INT_STATUS_2, &val);
- if (ret < 0) {
- dev_err(dev, "Error reading reg_int_status2\n");
- goto ack_intr_status;
- }
- if (val & 0x08)
- dir = IIO_EV_DIR_RISING;
- else
- dir = IIO_EV_DIR_FALLING;
- if (val & BMG160_ANY_MOTION_BIT_X)
- iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL,
- 0,
- IIO_MOD_X,
- IIO_EV_TYPE_ROC,
- dir),
- iio_get_time_ns(indio_dev));
- if (val & BMG160_ANY_MOTION_BIT_Y)
- iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL,
- 0,
- IIO_MOD_Y,
- IIO_EV_TYPE_ROC,
- dir),
- iio_get_time_ns(indio_dev));
- if (val & BMG160_ANY_MOTION_BIT_Z)
- iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL,
- 0,
- IIO_MOD_Z,
- IIO_EV_TYPE_ROC,
- dir),
- iio_get_time_ns(indio_dev));
- ack_intr_status:
- if (!data->dready_trigger_on) {
- ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
- BMG160_INT_MODE_LATCH_INT |
- BMG160_INT_MODE_LATCH_RESET);
- if (ret < 0)
- dev_err(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);
- 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_buffer_preenable(struct iio_dev *indio_dev)
- {
- struct bmg160_data *data = iio_priv(indio_dev);
- return bmg160_set_power_state(data, true);
- }
- static int bmg160_buffer_postdisable(struct iio_dev *indio_dev)
- {
- struct bmg160_data *data = iio_priv(indio_dev);
- return bmg160_set_power_state(data, false);
- }
- static const struct iio_buffer_setup_ops bmg160_buffer_setup_ops = {
- .preenable = bmg160_buffer_preenable,
- .postdisable = bmg160_buffer_postdisable,
- };
- static const char *bmg160_match_acpi_device(struct device *dev)
- {
- const struct acpi_device_id *id;
- id = acpi_match_device(dev->driver->acpi_match_table, dev);
- if (!id)
- return NULL;
- return dev_name(dev);
- }
- int bmg160_core_probe(struct device *dev, struct regmap *regmap, int irq,
- const char *name)
- {
- struct bmg160_data *data;
- struct iio_dev *indio_dev;
- int ret;
- indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
- if (!indio_dev)
- return -ENOMEM;
- data = iio_priv(indio_dev);
- dev_set_drvdata(dev, indio_dev);
- data->irq = irq;
- data->regmap = regmap;
- ret = iio_read_mount_matrix(dev, "mount-matrix",
- &data->orientation);
- if (ret)
- return ret;
- ret = bmg160_chip_init(data);
- if (ret < 0)
- return ret;
- mutex_init(&data->mutex);
- if (ACPI_HANDLE(dev))
- name = bmg160_match_acpi_device(dev);
- indio_dev->channels = bmg160_channels;
- indio_dev->num_channels = ARRAY_SIZE(bmg160_channels);
- indio_dev->name = name;
- indio_dev->available_scan_masks = bmg160_accel_scan_masks;
- indio_dev->modes = INDIO_DIRECT_MODE;
- indio_dev->info = &bmg160_info;
- if (data->irq > 0) {
- ret = devm_request_threaded_irq(dev,
- data->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(dev,
- "%s-dev%d",
- indio_dev->name,
- indio_dev->id);
- if (!data->dready_trig)
- return -ENOMEM;
- data->motion_trig = devm_iio_trigger_alloc(dev,
- "%s-any-motion-dev%d",
- indio_dev->name,
- indio_dev->id);
- if (!data->motion_trig)
- return -ENOMEM;
- data->dready_trig->dev.parent = 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 = 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,
- iio_pollfunc_store_time,
- bmg160_trigger_handler,
- &bmg160_buffer_setup_ops);
- if (ret < 0) {
- dev_err(dev,
- "iio triggered buffer setup failed\n");
- goto err_trigger_unregister;
- }
- ret = pm_runtime_set_active(dev);
- if (ret)
- goto err_buffer_cleanup;
- pm_runtime_enable(dev);
- pm_runtime_set_autosuspend_delay(dev,
- BMG160_AUTO_SUSPEND_DELAY_MS);
- pm_runtime_use_autosuspend(dev);
- ret = iio_device_register(indio_dev);
- if (ret < 0) {
- dev_err(dev, "unable to register iio device\n");
- goto err_pm_cleanup;
- }
- return 0;
- err_pm_cleanup:
- pm_runtime_dont_use_autosuspend(dev);
- pm_runtime_disable(dev);
- err_buffer_cleanup:
- 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;
- }
- EXPORT_SYMBOL_GPL(bmg160_core_probe);
- void bmg160_core_remove(struct device *dev)
- {
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
- struct bmg160_data *data = iio_priv(indio_dev);
- iio_device_unregister(indio_dev);
- pm_runtime_disable(dev);
- pm_runtime_set_suspended(dev);
- pm_runtime_put_noidle(dev);
- iio_triggered_buffer_cleanup(indio_dev);
- if (data->dready_trig) {
- 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);
- }
- EXPORT_SYMBOL_GPL(bmg160_core_remove);
- #ifdef CONFIG_PM_SLEEP
- static int bmg160_suspend(struct device *dev)
- {
- struct iio_dev *indio_dev = dev_get_drvdata(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 = dev_get_drvdata(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
- static int bmg160_runtime_suspend(struct device *dev)
- {
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
- struct bmg160_data *data = iio_priv(indio_dev);
- int ret;
- ret = bmg160_set_mode(data, BMG160_MODE_SUSPEND);
- if (ret < 0) {
- dev_err(dev, "set mode failed\n");
- return -EAGAIN;
- }
- return 0;
- }
- static int bmg160_runtime_resume(struct device *dev)
- {
- struct iio_dev *indio_dev = dev_get_drvdata(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
- 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)
- };
- EXPORT_SYMBOL_GPL(bmg160_pm_ops);
- MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com>");
- MODULE_LICENSE("GPL v2");
- MODULE_DESCRIPTION("BMG160 Gyro driver");
|