[PATCH 3/3] iio: imu: Add scale and sampling frequency to BMI270 IMU

From: Justin Weiss
Date: Fri Oct 11 2024 - 11:39:19 EST

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In reply to: Justin Weiss: "[PATCH 2/3] iio: imu: Add triggered buffer for Bosch BMI270 IMU"
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Add read and write functions and create _available entries. Use
IIO_CHAN_INFO_SAMP_FREQ instead of IIO_CHAN_INFO_FREQUENCY to match
the BMI160 / BMI323 drivers.

Signed-off-by: Justin Weiss <justin@xxxxxxxxxxxxxxx>
---
drivers/iio/imu/bmi270/bmi270_core.c | 293 ++++++++++++++++++++++++++-
1 file changed, 291 insertions(+), 2 deletions(-)

diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
index f49db5d1bffd..ce7873dc3211 100644
--- a/drivers/iio/imu/bmi270/bmi270_core.c
+++ b/drivers/iio/imu/bmi270/bmi270_core.c
@@ -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>

@@ -34,6 +35,9 @@
#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
@@ -42,6 +46,9 @@
#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)

@@ -85,6 +92,236 @@ 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 {
+ u8 bits;
+ int uscale;
+};
+
+struct bmi270_odr {
+ u8 bits;
+ int odr;
+ int uodr;
+};
+
+static const struct bmi270_scale bmi270_accel_scale[] = {
+ { 0x00, 598},
+ { 0x01, 1197},
+ { 0x02, 2394},
+ { 0x03, 4788},
+};
+
+static const struct bmi270_scale bmi270_gyro_scale[] = {
+ { 0x00, 1065},
+ { 0x01, 532},
+ { 0x02, 266},
+ { 0x03, 133},
+ { 0x04, 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[] = {
+ {0x01, 0, 781250},
+ {0x02, 1, 562500},
+ {0x03, 3, 125000},
+ {0x04, 6, 250000},
+ {0x05, 12, 500000},
+ {0x06, 25, 0},
+ {0x07, 50, 0},
+ {0x08, 100, 0},
+ {0x09, 200, 0},
+ {0x0A, 400, 0},
+ {0x0B, 800, 0},
+ {0x0C, 1600, 0},
+};
+
+static const struct bmi270_odr bmi270_gyro_odr[] = {
+ {0x06, 25, 0},
+ {0x07, 50, 0},
+ {0x08, 100, 0},
+ {0x09, 200, 0},
+ {0x0A, 400, 0},
+ {0x0B, 800, 0},
+ {0x0C, 1600, 0},
+ {0x0D, 3200, 0},
+};
+
+struct bmi270_odr_item {
+ const struct bmi270_odr *tbl;
+ int num;
+};
+
+static const struct bmi270_odr_item bmi270_odr_table[] = {
+ [BMI270_ACCEL] = {
+ .tbl = bmi270_accel_odr,
+ .num = ARRAY_SIZE(bmi270_accel_odr),
+ },
+ [BMI270_GYRO] = {
+ .tbl = bmi270_gyro_odr,
+ .num = ARRAY_SIZE(bmi270_gyro_odr),
+ },
+};
+
+static int bmi270_set_scale(struct bmi270_data *data,
+ int chan_type, int uscale)
+{
+ int i;
+ int reg;
+ struct bmi270_scale_item bmi270_scale_item;
+
+ switch (chan_type) {
+ case IIO_ACCEL:
+ reg = BMI270_ACC_CONF_RANGE_REG;
+ bmi270_scale_item = bmi270_scale_table[BMI270_ACCEL];
+ break;
+ case IIO_ANGL_VEL:
+ reg = BMI270_GYR_CONF_RANGE_REG;
+ 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)
+ break;
+
+ if (i == bmi270_scale_item.num)
+ return -EINVAL;
+
+ return regmap_write(data->regmap, reg,
+ bmi270_scale_item.tbl[i].bits);
+}
+
+static int bmi270_get_scale(struct bmi270_data *bmi270_device,
+ int chan_type, int *uscale)
+{
+ int i, ret, val;
+ int reg;
+ struct bmi270_scale_item bmi270_scale_item;
+
+ switch (chan_type) {
+ case IIO_ACCEL:
+ reg = BMI270_ACC_CONF_RANGE_REG;
+ bmi270_scale_item = bmi270_scale_table[BMI270_ACCEL];
+ break;
+ case IIO_ANGL_VEL:
+ reg = BMI270_GYR_CONF_RANGE_REG;
+ bmi270_scale_item = bmi270_scale_table[BMI270_GYRO];
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ ret = regmap_read(bmi270_device->regmap, reg, &val);
+ if (ret)
+ return ret;
+
+ for (i = 0; i < bmi270_scale_item.num; i++)
+ if (bmi270_scale_item.tbl[i].bits == val) {
+ *uscale = bmi270_scale_item.tbl[i].uscale;
+ return 0;
+ }
+
+ return -EINVAL;
+}
+
+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)
+ break;
+
+ if (i >= bmi270_odr_item.num)
+ return -EINVAL;
+
+ return regmap_update_bits(data->regmap,
+ reg,
+ mask,
+ bmi270_odr_item.tbl[i].bits);
+}
+
+static int bmi270_get_odr(struct bmi270_data *data, int chan_type,
+ int *odr, int *uodr)
+{
+ int i, val, ret;
+ 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;
+ }
+
+ ret = regmap_read(data->regmap, reg, &val);
+ if (ret)
+ return ret;
+
+ val &= mask;
+
+ for (i = 0; i < bmi270_odr_item.num; i++)
+ if (val == bmi270_odr_item.tbl[i].bits)
+ break;
+
+ if (i >= bmi270_odr_item.num)
+ return -EINVAL;
+
+ *odr = bmi270_odr_item.tbl[i].odr;
+ *uodr = bmi270_odr_item.tbl[i].uodr;
+
+ return 0;
+}
+
static irqreturn_t bmi270_trigger_handler(int irq, void *p)
{
struct iio_poll_func *pf = p;
@@ -149,13 +386,65 @@ 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;
+ }
+
+ return 0;
+}
+
+static
+IIO_CONST_ATTR(in_accel_sampling_frequency_available,
+ "0.78125 1.5625 3.125 6.25 12.5 25 50 100 200 400 800 1600");
+static
+IIO_CONST_ATTR(in_anglvel_sampling_frequency_available,
+ "25 50 100 200 400 800 1600 3200");
+static
+IIO_CONST_ATTR(in_accel_scale_available,
+ "0.000598 0.001197 0.002394 0.004788");
+static
+IIO_CONST_ATTR(in_anglvel_scale_available,
+ "0.001065 0.000532 0.000266 0.000133 0.000066");
+
+static struct attribute *bmi270_attrs[] = {
+ &iio_const_attr_in_accel_sampling_frequency_available.dev_attr.attr,
+ &iio_const_attr_in_anglvel_sampling_frequency_available.dev_attr.attr,
+ &iio_const_attr_in_accel_scale_available.dev_attr.attr,
+ &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group bmi270_attrs_group = {
+ .attrs = bmi270_attrs,
+};
+
static const struct iio_info bmi270_info = {
.read_raw = bmi270_read_raw,
+ .write_raw = bmi270_write_raw,
+ .attrs = &bmi270_attrs_group,
};

#define BMI270_ACCEL_CHANNEL(_axis) { \
@@ -164,7 +453,7 @@ 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_SAMP_FREQ), \
.scan_index = BMI270_SCAN_ACCEL_##_axis, \
.scan_type = { \
.sign = 's', \
@@ -180,7 +469,7 @@ 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_SAMP_FREQ), \
.scan_index = BMI270_SCAN_GYRO_##_axis, \
.scan_type = { \
.sign = 's', \
--
2.47.0

Next message: Rafael J. Wysocki: "[GIT PULL] Power management updates for v6.12-rc3"
Previous message: Alexey Klimov: "Re: [PATCH] ASoC: qcom: sdm845: add missing soundwire runtime stream alloc"
In reply to: Justin Weiss: "[PATCH 2/3] iio: imu: Add triggered buffer for Bosch BMI270 IMU"
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