2 * BMI160 - Bosch IMU (accel, gyro plus external magnetometer)
4 * Copyright (c) 2016, Intel Corporation.
6 * This file is subject to the terms and conditions of version 2 of
7 * the GNU General Public License. See the file COPYING in the main
8 * directory of this archive for more details.
10 * IIO core driver for BMI160, with support for I2C/SPI busses
12 * TODO: magnetometer, interrupts, hardware FIFO
14 #include <linux/module.h>
15 #include <linux/regmap.h>
16 #include <linux/acpi.h>
17 #include <linux/delay.h>
19 #include <linux/iio/iio.h>
20 #include <linux/iio/triggered_buffer.h>
21 #include <linux/iio/trigger_consumer.h>
22 #include <linux/iio/buffer.h>
26 #define BMI160_REG_CHIP_ID 0x00
27 #define BMI160_CHIP_ID_VAL 0xD1
29 #define BMI160_REG_PMU_STATUS 0x03
31 /* X axis data low byte address, the rest can be obtained using axis offset */
32 #define BMI160_REG_DATA_MAGN_XOUT_L 0x04
33 #define BMI160_REG_DATA_GYRO_XOUT_L 0x0C
34 #define BMI160_REG_DATA_ACCEL_XOUT_L 0x12
36 #define BMI160_REG_ACCEL_CONFIG 0x40
37 #define BMI160_ACCEL_CONFIG_ODR_MASK GENMASK(3, 0)
38 #define BMI160_ACCEL_CONFIG_BWP_MASK GENMASK(6, 4)
40 #define BMI160_REG_ACCEL_RANGE 0x41
41 #define BMI160_ACCEL_RANGE_2G 0x03
42 #define BMI160_ACCEL_RANGE_4G 0x05
43 #define BMI160_ACCEL_RANGE_8G 0x08
44 #define BMI160_ACCEL_RANGE_16G 0x0C
46 #define BMI160_REG_GYRO_CONFIG 0x42
47 #define BMI160_GYRO_CONFIG_ODR_MASK GENMASK(3, 0)
48 #define BMI160_GYRO_CONFIG_BWP_MASK GENMASK(5, 4)
50 #define BMI160_REG_GYRO_RANGE 0x43
51 #define BMI160_GYRO_RANGE_2000DPS 0x00
52 #define BMI160_GYRO_RANGE_1000DPS 0x01
53 #define BMI160_GYRO_RANGE_500DPS 0x02
54 #define BMI160_GYRO_RANGE_250DPS 0x03
55 #define BMI160_GYRO_RANGE_125DPS 0x04
57 #define BMI160_REG_CMD 0x7E
58 #define BMI160_CMD_ACCEL_PM_SUSPEND 0x10
59 #define BMI160_CMD_ACCEL_PM_NORMAL 0x11
60 #define BMI160_CMD_ACCEL_PM_LOW_POWER 0x12
61 #define BMI160_CMD_GYRO_PM_SUSPEND 0x14
62 #define BMI160_CMD_GYRO_PM_NORMAL 0x15
63 #define BMI160_CMD_GYRO_PM_FAST_STARTUP 0x17
64 #define BMI160_CMD_SOFTRESET 0xB6
66 #define BMI160_REG_DUMMY 0x7F
68 #define BMI160_ACCEL_PMU_MIN_USLEEP 3200
69 #define BMI160_ACCEL_PMU_MAX_USLEEP 3800
70 #define BMI160_GYRO_PMU_MIN_USLEEP 55000
71 #define BMI160_GYRO_PMU_MAX_USLEEP 80000
72 #define BMI160_SOFTRESET_USLEEP 1000
74 #define BMI160_CHANNEL(_type, _axis, _index) { \
77 .channel2 = IIO_MOD_##_axis, \
78 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
79 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
80 BIT(IIO_CHAN_INFO_SAMP_FREQ), \
81 .scan_index = _index, \
86 .endianness = IIO_LE, \
90 /* scan indexes follow DATA register order */
91 enum bmi160_scan_axis {
92 BMI160_SCAN_EXT_MAGN_X = 0,
93 BMI160_SCAN_EXT_MAGN_Y,
94 BMI160_SCAN_EXT_MAGN_Z,
102 BMI160_SCAN_TIMESTAMP,
105 enum bmi160_sensor_type {
109 BMI160_NUM_SENSORS /* must be last */
113 struct regmap *regmap;
116 const struct regmap_config bmi160_regmap_config = {
120 EXPORT_SYMBOL(bmi160_regmap_config);
123 u8 data; /* LSB byte register for X-axis */
132 static struct bmi160_regs bmi160_regs[] = {
134 .data = BMI160_REG_DATA_ACCEL_XOUT_L,
135 .config = BMI160_REG_ACCEL_CONFIG,
136 .config_odr_mask = BMI160_ACCEL_CONFIG_ODR_MASK,
137 .config_bwp_mask = BMI160_ACCEL_CONFIG_BWP_MASK,
138 .range = BMI160_REG_ACCEL_RANGE,
139 .pmu_cmd_normal = BMI160_CMD_ACCEL_PM_NORMAL,
140 .pmu_cmd_suspend = BMI160_CMD_ACCEL_PM_SUSPEND,
143 .data = BMI160_REG_DATA_GYRO_XOUT_L,
144 .config = BMI160_REG_GYRO_CONFIG,
145 .config_odr_mask = BMI160_GYRO_CONFIG_ODR_MASK,
146 .config_bwp_mask = BMI160_GYRO_CONFIG_BWP_MASK,
147 .range = BMI160_REG_GYRO_RANGE,
148 .pmu_cmd_normal = BMI160_CMD_GYRO_PM_NORMAL,
149 .pmu_cmd_suspend = BMI160_CMD_GYRO_PM_SUSPEND,
153 struct bmi160_pmu_time {
158 static struct bmi160_pmu_time bmi160_pmu_time[] = {
160 .min = BMI160_ACCEL_PMU_MIN_USLEEP,
161 .max = BMI160_ACCEL_PMU_MAX_USLEEP
164 .min = BMI160_GYRO_PMU_MIN_USLEEP,
165 .max = BMI160_GYRO_PMU_MIN_USLEEP,
169 struct bmi160_scale {
180 static const struct bmi160_scale bmi160_accel_scale[] = {
181 { BMI160_ACCEL_RANGE_2G, 598},
182 { BMI160_ACCEL_RANGE_4G, 1197},
183 { BMI160_ACCEL_RANGE_8G, 2394},
184 { BMI160_ACCEL_RANGE_16G, 4788},
187 static const struct bmi160_scale bmi160_gyro_scale[] = {
188 { BMI160_GYRO_RANGE_2000DPS, 1065},
189 { BMI160_GYRO_RANGE_1000DPS, 532},
190 { BMI160_GYRO_RANGE_500DPS, 266},
191 { BMI160_GYRO_RANGE_250DPS, 133},
192 { BMI160_GYRO_RANGE_125DPS, 66},
195 struct bmi160_scale_item {
196 const struct bmi160_scale *tbl;
200 static const struct bmi160_scale_item bmi160_scale_table[] = {
202 .tbl = bmi160_accel_scale,
203 .num = ARRAY_SIZE(bmi160_accel_scale),
206 .tbl = bmi160_gyro_scale,
207 .num = ARRAY_SIZE(bmi160_gyro_scale),
211 static const struct bmi160_odr bmi160_accel_odr[] = {
226 static const struct bmi160_odr bmi160_gyro_odr[] = {
237 struct bmi160_odr_item {
238 const struct bmi160_odr *tbl;
242 static const struct bmi160_odr_item bmi160_odr_table[] = {
244 .tbl = bmi160_accel_odr,
245 .num = ARRAY_SIZE(bmi160_accel_odr),
248 .tbl = bmi160_gyro_odr,
249 .num = ARRAY_SIZE(bmi160_gyro_odr),
253 static const struct iio_chan_spec bmi160_channels[] = {
254 BMI160_CHANNEL(IIO_ACCEL, X, BMI160_SCAN_ACCEL_X),
255 BMI160_CHANNEL(IIO_ACCEL, Y, BMI160_SCAN_ACCEL_Y),
256 BMI160_CHANNEL(IIO_ACCEL, Z, BMI160_SCAN_ACCEL_Z),
257 BMI160_CHANNEL(IIO_ANGL_VEL, X, BMI160_SCAN_GYRO_X),
258 BMI160_CHANNEL(IIO_ANGL_VEL, Y, BMI160_SCAN_GYRO_Y),
259 BMI160_CHANNEL(IIO_ANGL_VEL, Z, BMI160_SCAN_GYRO_Z),
260 IIO_CHAN_SOFT_TIMESTAMP(BMI160_SCAN_TIMESTAMP),
263 static enum bmi160_sensor_type bmi160_to_sensor(enum iio_chan_type iio_type)
276 int bmi160_set_mode(struct bmi160_data *data, enum bmi160_sensor_type t,
283 cmd = bmi160_regs[t].pmu_cmd_normal;
285 cmd = bmi160_regs[t].pmu_cmd_suspend;
287 ret = regmap_write(data->regmap, BMI160_REG_CMD, cmd);
291 usleep_range(bmi160_pmu_time[t].min, bmi160_pmu_time[t].max);
297 int bmi160_set_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
302 for (i = 0; i < bmi160_scale_table[t].num; i++)
303 if (bmi160_scale_table[t].tbl[i].uscale == uscale)
306 if (i == bmi160_scale_table[t].num)
309 return regmap_write(data->regmap, bmi160_regs[t].range,
310 bmi160_scale_table[t].tbl[i].bits);
314 int bmi160_get_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
319 ret = regmap_read(data->regmap, bmi160_regs[t].range, &val);
323 for (i = 0; i < bmi160_scale_table[t].num; i++)
324 if (bmi160_scale_table[t].tbl[i].bits == val) {
325 *uscale = bmi160_scale_table[t].tbl[i].uscale;
332 static int bmi160_get_data(struct bmi160_data *data, int chan_type,
338 enum bmi160_sensor_type t = bmi160_to_sensor(chan_type);
340 reg = bmi160_regs[t].data + (axis - IIO_MOD_X) * sizeof(__le16);
342 ret = regmap_bulk_read(data->regmap, reg, &sample, sizeof(__le16));
346 *val = sign_extend32(le16_to_cpu(sample), 15);
352 int bmi160_set_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
357 for (i = 0; i < bmi160_odr_table[t].num; i++)
358 if (bmi160_odr_table[t].tbl[i].odr == odr &&
359 bmi160_odr_table[t].tbl[i].uodr == uodr)
362 if (i >= bmi160_odr_table[t].num)
365 return regmap_update_bits(data->regmap,
366 bmi160_regs[t].config,
367 bmi160_odr_table[t].tbl[i].bits,
368 bmi160_regs[t].config_odr_mask);
371 static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
376 ret = regmap_read(data->regmap, bmi160_regs[t].config, &val);
380 val &= bmi160_regs[t].config_odr_mask;
382 for (i = 0; i < bmi160_odr_table[t].num; i++)
383 if (val == bmi160_odr_table[t].tbl[i].bits)
386 if (i >= bmi160_odr_table[t].num)
389 *odr = bmi160_odr_table[t].tbl[i].odr;
390 *uodr = bmi160_odr_table[t].tbl[i].uodr;
395 static irqreturn_t bmi160_trigger_handler(int irq, void *p)
397 struct iio_poll_func *pf = p;
398 struct iio_dev *indio_dev = pf->indio_dev;
399 struct bmi160_data *data = iio_priv(indio_dev);
400 s16 buf[16]; /* 3 sens x 3 axis x s16 + 3 x s16 pad + 4 x s16 tstamp */
401 int i, ret, j = 0, base = BMI160_REG_DATA_MAGN_XOUT_L;
404 for_each_set_bit(i, indio_dev->active_scan_mask,
405 indio_dev->masklength) {
406 ret = regmap_bulk_read(data->regmap, base + i * sizeof(__le16),
407 &sample, sizeof(__le16));
413 iio_push_to_buffers_with_timestamp(indio_dev, buf, iio_get_time_ns());
415 iio_trigger_notify_done(indio_dev->trig);
419 static int bmi160_read_raw(struct iio_dev *indio_dev,
420 struct iio_chan_spec const *chan,
421 int *val, int *val2, long mask)
424 struct bmi160_data *data = iio_priv(indio_dev);
427 case IIO_CHAN_INFO_RAW:
428 ret = bmi160_get_data(data, chan->type, chan->channel2, val);
432 case IIO_CHAN_INFO_SCALE:
434 ret = bmi160_get_scale(data,
435 bmi160_to_sensor(chan->type), val2);
436 return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
437 case IIO_CHAN_INFO_SAMP_FREQ:
438 ret = bmi160_get_odr(data, bmi160_to_sensor(chan->type),
440 return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
448 static int bmi160_write_raw(struct iio_dev *indio_dev,
449 struct iio_chan_spec const *chan,
450 int val, int val2, long mask)
452 struct bmi160_data *data = iio_priv(indio_dev);
455 case IIO_CHAN_INFO_SCALE:
456 return bmi160_set_scale(data,
457 bmi160_to_sensor(chan->type), val2);
459 case IIO_CHAN_INFO_SAMP_FREQ:
460 return bmi160_set_odr(data, bmi160_to_sensor(chan->type),
469 static const struct iio_info bmi160_info = {
470 .driver_module = THIS_MODULE,
471 .read_raw = bmi160_read_raw,
472 .write_raw = bmi160_write_raw,
475 static const char *bmi160_match_acpi_device(struct device *dev)
477 const struct acpi_device_id *id;
479 id = acpi_match_device(dev->driver->acpi_match_table, dev);
483 return dev_name(dev);
486 static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
490 struct device *dev = regmap_get_device(data->regmap);
492 ret = regmap_write(data->regmap, BMI160_REG_CMD, BMI160_CMD_SOFTRESET);
496 usleep_range(BMI160_SOFTRESET_USLEEP, BMI160_SOFTRESET_USLEEP + 1);
499 * CS rising edge is needed before starting SPI, so do a dummy read
500 * See Section 3.2.1, page 86 of the datasheet
503 ret = regmap_read(data->regmap, BMI160_REG_DUMMY, &val);
508 ret = regmap_read(data->regmap, BMI160_REG_CHIP_ID, &val);
510 dev_err(dev, "Error reading chip id\n");
513 if (val != BMI160_CHIP_ID_VAL) {
514 dev_err(dev, "Wrong chip id, got %x expected %x\n",
515 val, BMI160_CHIP_ID_VAL);
519 ret = bmi160_set_mode(data, BMI160_ACCEL, true);
523 ret = bmi160_set_mode(data, BMI160_GYRO, true);
530 static void bmi160_chip_uninit(struct bmi160_data *data)
532 bmi160_set_mode(data, BMI160_GYRO, false);
533 bmi160_set_mode(data, BMI160_ACCEL, false);
536 int bmi160_core_probe(struct device *dev, struct regmap *regmap,
537 const char *name, bool use_spi)
539 struct iio_dev *indio_dev;
540 struct bmi160_data *data;
543 indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
547 data = iio_priv(indio_dev);
548 dev_set_drvdata(dev, indio_dev);
549 data->regmap = regmap;
551 ret = bmi160_chip_init(data, use_spi);
555 if (!name && ACPI_HANDLE(dev))
556 name = bmi160_match_acpi_device(dev);
558 indio_dev->dev.parent = dev;
559 indio_dev->channels = bmi160_channels;
560 indio_dev->num_channels = ARRAY_SIZE(bmi160_channels);
561 indio_dev->name = name;
562 indio_dev->modes = INDIO_DIRECT_MODE;
563 indio_dev->info = &bmi160_info;
565 ret = iio_triggered_buffer_setup(indio_dev, NULL,
566 bmi160_trigger_handler, NULL);
570 ret = iio_device_register(indio_dev);
576 iio_triggered_buffer_cleanup(indio_dev);
578 bmi160_chip_uninit(data);
581 EXPORT_SYMBOL_GPL(bmi160_core_probe);
583 void bmi160_core_remove(struct device *dev)
585 struct iio_dev *indio_dev = dev_get_drvdata(dev);
586 struct bmi160_data *data = iio_priv(indio_dev);
588 iio_device_unregister(indio_dev);
589 iio_triggered_buffer_cleanup(indio_dev);
590 bmi160_chip_uninit(data);
592 EXPORT_SYMBOL_GPL(bmi160_core_remove);
594 MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com");
595 MODULE_DESCRIPTION("Bosch BMI160 driver");
596 MODULE_LICENSE("GPL v2");