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iio: imu: bmi270: Add scale and sampling frequency to BMI270 IMU

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Add read and write functions and create _available entries.

Signed-off-by: Justin Weiss <justin@justinweiss.com>
Link: https://patch.msgid.link/20241027172029.160134-3-justin@justinweiss.com
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Justin Weiss
2024-10-27 10:20:23 -07:00
committed by Jonathan Cameron
parent eaba902d85
commit 99e46bbb13
1 changed files with 339 additions and 0 deletions
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339
drivers/iio/imu/bmi270/bmi270_core.c
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@@ -7,6 +7,7 @@
#include <linux/regmap.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/triggered_buffer.h>
#include <linux/iio/trigger_consumer.h>
@@ -33,6 +34,9 @@
#define BMI270_ACC_CONF_BWP_NORMAL_MODE 0x02
#define BMI270_ACC_CONF_FILTER_PERF_MSK BIT(7)
#define BMI270_ACC_CONF_RANGE_REG 0x41
#define BMI270_ACC_CONF_RANGE_MSK GENMASK(1, 0)
#define BMI270_GYR_CONF_REG 0x42
#define BMI270_GYR_CONF_ODR_MSK GENMASK(3, 0)
#define BMI270_GYR_CONF_ODR_200HZ 0x09
@@ -41,6 +45,9 @@
#define BMI270_GYR_CONF_NOISE_PERF_MSK BIT(6)
#define BMI270_GYR_CONF_FILTER_PERF_MSK BIT(7)
#define BMI270_GYR_CONF_RANGE_REG 0x43
#define BMI270_GYR_CONF_RANGE_MSK GENMASK(2, 0)
#define BMI270_INIT_CTRL_REG 0x59
#define BMI270_INIT_CTRL_LOAD_DONE_MSK BIT(0)
@@ -86,6 +93,264 @@ const struct bmi270_chip_info bmi270_chip_info = {
};
EXPORT_SYMBOL_NS_GPL(bmi270_chip_info, IIO_BMI270);
enum bmi270_sensor_type {
BMI270_ACCEL = 0,
BMI270_GYRO,
};
struct bmi270_scale {
int scale;
int uscale;
};
struct bmi270_odr {
int odr;
int uodr;
};
static const struct bmi270_scale bmi270_accel_scale[] = {
{ 0, 598 },
{ 0, 1197 },
{ 0, 2394 },
{ 0, 4788 },
};
static const struct bmi270_scale bmi270_gyro_scale[] = {
{ 0, 1065 },
{ 0, 532 },
{ 0, 266 },
{ 0, 133 },
{ 0, 66 },
};
struct bmi270_scale_item {
const struct bmi270_scale *tbl;
int num;
};
static const struct bmi270_scale_item bmi270_scale_table[] = {
[BMI270_ACCEL] = {
.tbl = bmi270_accel_scale,
.num = ARRAY_SIZE(bmi270_accel_scale),
},
[BMI270_GYRO] = {
.tbl = bmi270_gyro_scale,
.num = ARRAY_SIZE(bmi270_gyro_scale),
},
};
static const struct bmi270_odr bmi270_accel_odr[] = {
{ 0, 781250 },
{ 1, 562500 },
{ 3, 125000 },
{ 6, 250000 },
{ 12, 500000 },
{ 25, 0 },
{ 50, 0 },
{ 100, 0 },
{ 200, 0 },
{ 400, 0 },
{ 800, 0 },
{ 1600, 0 },
};
static const u8 bmi270_accel_odr_vals[] = {
0x01,
0x02,
0x03,
0x04,
0x05,
0x06,
0x07,
0x08,
0x09,
0x0A,
0x0B,
0x0C,
};
static const struct bmi270_odr bmi270_gyro_odr[] = {
{ 25, 0 },
{ 50, 0 },
{ 100, 0 },
{ 200, 0 },
{ 400, 0 },
{ 800, 0 },
{ 1600, 0 },
{ 3200, 0 },
};
static const u8 bmi270_gyro_odr_vals[] = {
0x06,
0x07,
0x08,
0x09,
0x0A,
0x0B,
0x0C,
0x0D,
};
struct bmi270_odr_item {
const struct bmi270_odr *tbl;
const u8 *vals;
int num;
};
static const struct bmi270_odr_item bmi270_odr_table[] = {
[BMI270_ACCEL] = {
.tbl = bmi270_accel_odr,
.vals = bmi270_accel_odr_vals,
.num = ARRAY_SIZE(bmi270_accel_odr),
},
[BMI270_GYRO] = {
.tbl = bmi270_gyro_odr,
.vals = bmi270_gyro_odr_vals,
.num = ARRAY_SIZE(bmi270_gyro_odr),
},
};
static int bmi270_set_scale(struct bmi270_data *data, int chan_type, int uscale)
{
int i;
int reg, mask;
struct bmi270_scale_item bmi270_scale_item;
switch (chan_type) {
case IIO_ACCEL:
reg = BMI270_ACC_CONF_RANGE_REG;
mask = BMI270_ACC_CONF_RANGE_MSK;
bmi270_scale_item = bmi270_scale_table[BMI270_ACCEL];
break;
case IIO_ANGL_VEL:
reg = BMI270_GYR_CONF_RANGE_REG;
mask = BMI270_GYR_CONF_RANGE_MSK;
bmi270_scale_item = bmi270_scale_table[BMI270_GYRO];
break;
default:
return -EINVAL;
}
for (i = 0; i < bmi270_scale_item.num; i++) {
if (bmi270_scale_item.tbl[i].uscale != uscale)
continue;
return regmap_update_bits(data->regmap, reg, mask, i);
}
return -EINVAL;
}
static int bmi270_get_scale(struct bmi270_data *bmi270_device, int chan_type,
int *uscale)
{
int ret;
unsigned int val;
struct bmi270_scale_item bmi270_scale_item;
switch (chan_type) {
case IIO_ACCEL:
ret = regmap_read(bmi270_device->regmap,
BMI270_ACC_CONF_RANGE_REG, &val);
if (ret)
return ret;
val = FIELD_GET(BMI270_ACC_CONF_RANGE_MSK, val);
bmi270_scale_item = bmi270_scale_table[BMI270_ACCEL];
break;
case IIO_ANGL_VEL:
ret = regmap_read(bmi270_device->regmap,
BMI270_GYR_CONF_RANGE_REG, &val);
if (ret)
return ret;
val = FIELD_GET(BMI270_GYR_CONF_RANGE_MSK, val);
bmi270_scale_item = bmi270_scale_table[BMI270_GYRO];
break;
default:
return -EINVAL;
}
if (val >= bmi270_scale_item.num)
return -EINVAL;
*uscale = bmi270_scale_item.tbl[val].uscale;
return 0;
}
static int bmi270_set_odr(struct bmi270_data *data, int chan_type, int odr,
int uodr)
{
int i;
int reg, mask;
struct bmi270_odr_item bmi270_odr_item;
switch (chan_type) {
case IIO_ACCEL:
reg = BMI270_ACC_CONF_REG;
mask = BMI270_ACC_CONF_ODR_MSK;
bmi270_odr_item = bmi270_odr_table[BMI270_ACCEL];
break;
case IIO_ANGL_VEL:
reg = BMI270_GYR_CONF_REG;
mask = BMI270_GYR_CONF_ODR_MSK;
bmi270_odr_item = bmi270_odr_table[BMI270_GYRO];
break;
default:
return -EINVAL;
}
for (i = 0; i < bmi270_odr_item.num; i++) {
if (bmi270_odr_item.tbl[i].odr != odr ||
bmi270_odr_item.tbl[i].uodr != uodr)
continue;
return regmap_update_bits(data->regmap, reg, mask,
bmi270_odr_item.vals[i]);
}
return -EINVAL;
}
static int bmi270_get_odr(struct bmi270_data *data, int chan_type, int *odr,
int *uodr)
{
int i, val, ret;
struct bmi270_odr_item bmi270_odr_item;
switch (chan_type) {
case IIO_ACCEL:
ret = regmap_read(data->regmap, BMI270_ACC_CONF_REG, &val);
if (ret)
return ret;
val = FIELD_GET(BMI270_ACC_CONF_ODR_MSK, val);
bmi270_odr_item = bmi270_odr_table[BMI270_ACCEL];
break;
case IIO_ANGL_VEL:
ret = regmap_read(data->regmap, BMI270_GYR_CONF_REG, &val);
if (ret)
return ret;
val = FIELD_GET(BMI270_GYR_CONF_ODR_MSK, val);
bmi270_odr_item = bmi270_odr_table[BMI270_GYRO];
break;
default:
return -EINVAL;
}
for (i = 0; i < bmi270_odr_item.num; i++) {
if (val != bmi270_odr_item.vals[i])
continue;
*odr = bmi270_odr_item.tbl[i].odr;
*uodr = bmi270_odr_item.tbl[i].uodr;
return 0;
}
return -EINVAL;
}
static irqreturn_t bmi270_trigger_handler(int irq, void *p)
{
struct iio_poll_func *pf = p;
@@ -148,6 +413,68 @@ static int bmi270_read_raw(struct iio_dev *indio_dev,
return ret;
return IIO_VAL_INT;
case IIO_CHAN_INFO_SCALE:
*val = 0;
ret = bmi270_get_scale(bmi270_device, chan->type, val2);
return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
case IIO_CHAN_INFO_SAMP_FREQ:
ret = bmi270_get_odr(bmi270_device, chan->type, val, val2);
return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
}
static int bmi270_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int val, int val2, long mask)
{
struct bmi270_data *data = iio_priv(indio_dev);
switch (mask) {
case IIO_CHAN_INFO_SCALE:
return bmi270_set_scale(data, chan->type, val2);
case IIO_CHAN_INFO_SAMP_FREQ:
return bmi270_set_odr(data, chan->type, val, val2);
default:
return -EINVAL;
}
}
static int bmi270_read_avail(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
const int **vals, int *type, int *length,
long mask)
{
switch (mask) {
case IIO_CHAN_INFO_SCALE:
*type = IIO_VAL_INT_PLUS_MICRO;
switch (chan->type) {
case IIO_ANGL_VEL:
*vals = (const int *)bmi270_gyro_scale;
*length = ARRAY_SIZE(bmi270_gyro_scale) * 2;
return IIO_AVAIL_LIST;
case IIO_ACCEL:
*vals = (const int *)bmi270_accel_scale;
*length = ARRAY_SIZE(bmi270_accel_scale) * 2;
return IIO_AVAIL_LIST;
default:
return -EINVAL;
}
case IIO_CHAN_INFO_SAMP_FREQ:
*type = IIO_VAL_INT_PLUS_MICRO;
switch (chan->type) {
case IIO_ANGL_VEL:
*vals = (const int *)bmi270_gyro_odr;
*length = ARRAY_SIZE(bmi270_gyro_odr) * 2;
return IIO_AVAIL_LIST;
case IIO_ACCEL:
*vals = (const int *)bmi270_accel_odr;
*length = ARRAY_SIZE(bmi270_accel_odr) * 2;
return IIO_AVAIL_LIST;
default:
return -EINVAL;
}
default:
return -EINVAL;
}
@@ -155,6 +482,8 @@ static int bmi270_read_raw(struct iio_dev *indio_dev,
static const struct iio_info bmi270_info = {
.read_raw = bmi270_read_raw,
.write_raw = bmi270_write_raw,
.read_avail = bmi270_read_avail,
};
#define BMI270_ACCEL_CHANNEL(_axis) { \
@@ -162,6 +491,11 @@ static const struct iio_info bmi270_info = {
.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), \
.info_mask_shared_by_type_available = \
BIT(IIO_CHAN_INFO_SCALE) | \
BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.scan_index = BMI270_SCAN_ACCEL_##_axis, \
.scan_type = { \
.sign = 's', \
@@ -176,6 +510,11 @@ static const struct iio_info bmi270_info = {
.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), \
.info_mask_shared_by_type_available = \
BIT(IIO_CHAN_INFO_SCALE) | \
BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.scan_index = BMI270_SCAN_GYRO_##_axis, \
.scan_type = { \
.sign = 's', \