// SPDX-License-Identifier: GPL-2.0 /* * BMI160 - Bosch IMU (accel, gyro plus external magnetometer) * * Copyright (c) 2016, Intel Corporation. * Copyright (c) 2019, Martin Kelly. * * IIO core driver for BMI160, with support for I2C/SPI busses * * TODO: magnetometer, hardware FIFO */ #include <linux/module.h> #include <linux/regmap.h> #include <linux/delay.h> #include <linux/irq.h> #include <linux/property.h> #include <linux/regulator/consumer.h> #include <linux/iio/iio.h> #include <linux/iio/triggered_buffer.h> #include <linux/iio/trigger_consumer.h> #include <linux/iio/buffer.h> #include <linux/iio/sysfs.h> #include <linux/iio/trigger.h> #include "bmi160.h" #define BMI160_REG_CHIP_ID … #define BMI120_CHIP_ID_VAL … #define BMI160_CHIP_ID_VAL … #define BMI160_REG_PMU_STATUS … /* X axis data low byte address, the rest can be obtained using axis offset */ #define BMI160_REG_DATA_MAGN_XOUT_L … #define BMI160_REG_DATA_GYRO_XOUT_L … #define BMI160_REG_DATA_ACCEL_XOUT_L … #define BMI160_REG_ACCEL_CONFIG … #define BMI160_ACCEL_CONFIG_ODR_MASK … #define BMI160_ACCEL_CONFIG_BWP_MASK … #define BMI160_REG_ACCEL_RANGE … #define BMI160_ACCEL_RANGE_2G … #define BMI160_ACCEL_RANGE_4G … #define BMI160_ACCEL_RANGE_8G … #define BMI160_ACCEL_RANGE_16G … #define BMI160_REG_GYRO_CONFIG … #define BMI160_GYRO_CONFIG_ODR_MASK … #define BMI160_GYRO_CONFIG_BWP_MASK … #define BMI160_REG_GYRO_RANGE … #define BMI160_GYRO_RANGE_2000DPS … #define BMI160_GYRO_RANGE_1000DPS … #define BMI160_GYRO_RANGE_500DPS … #define BMI160_GYRO_RANGE_250DPS … #define BMI160_GYRO_RANGE_125DPS … #define BMI160_REG_CMD … #define BMI160_CMD_ACCEL_PM_SUSPEND … #define BMI160_CMD_ACCEL_PM_NORMAL … #define BMI160_CMD_ACCEL_PM_LOW_POWER … #define BMI160_CMD_GYRO_PM_SUSPEND … #define BMI160_CMD_GYRO_PM_NORMAL … #define BMI160_CMD_GYRO_PM_FAST_STARTUP … #define BMI160_CMD_SOFTRESET … #define BMI160_REG_INT_EN … #define BMI160_DRDY_INT_EN … #define BMI160_REG_INT_OUT_CTRL … #define BMI160_INT_OUT_CTRL_MASK … #define BMI160_INT1_OUT_CTRL_SHIFT … #define BMI160_INT2_OUT_CTRL_SHIFT … #define BMI160_EDGE_TRIGGERED … #define BMI160_ACTIVE_HIGH … #define BMI160_OPEN_DRAIN … #define BMI160_OUTPUT_EN … #define BMI160_REG_INT_LATCH … #define BMI160_INT1_LATCH_MASK … #define BMI160_INT2_LATCH_MASK … /* INT1 and INT2 are in the opposite order as in INT_OUT_CTRL! */ #define BMI160_REG_INT_MAP … #define BMI160_INT1_MAP_DRDY_EN … #define BMI160_INT2_MAP_DRDY_EN … #define BMI160_REG_DUMMY … #define BMI160_NORMAL_WRITE_USLEEP … #define BMI160_SUSPENDED_WRITE_USLEEP … #define BMI160_ACCEL_PMU_MIN_USLEEP … #define BMI160_GYRO_PMU_MIN_USLEEP … #define BMI160_SOFTRESET_USLEEP … #define BMI160_CHANNEL(_type, _axis, _index) … static const u8 bmi_chip_ids[] = …; /* scan indexes follow DATA register order */ enum bmi160_scan_axis { … }; enum bmi160_sensor_type { … }; enum bmi160_int_pin { … }; const struct regmap_config bmi160_regmap_config = …; EXPORT_SYMBOL_NS(…); struct bmi160_regs { … }; static struct bmi160_regs bmi160_regs[] = …; static unsigned long bmi160_pmu_time[] = …; struct bmi160_scale { … }; struct bmi160_odr { … }; static const struct bmi160_scale bmi160_accel_scale[] = …; static const struct bmi160_scale bmi160_gyro_scale[] = …; struct bmi160_scale_item { … }; static const struct bmi160_scale_item bmi160_scale_table[] = …; static const struct bmi160_odr bmi160_accel_odr[] = …; static const struct bmi160_odr bmi160_gyro_odr[] = …; struct bmi160_odr_item { … }; static const struct bmi160_odr_item bmi160_odr_table[] = …; static const struct iio_mount_matrix * bmi160_get_mount_matrix(const struct iio_dev *indio_dev, const struct iio_chan_spec *chan) { … } static const struct iio_chan_spec_ext_info bmi160_ext_info[] = …; static const struct iio_chan_spec bmi160_channels[] = …; static enum bmi160_sensor_type bmi160_to_sensor(enum iio_chan_type iio_type) { … } static int bmi160_set_mode(struct bmi160_data *data, enum bmi160_sensor_type t, bool mode) { … } static int bmi160_set_scale(struct bmi160_data *data, enum bmi160_sensor_type t, int uscale) { … } static int bmi160_get_scale(struct bmi160_data *data, enum bmi160_sensor_type t, int *uscale) { … } static int bmi160_get_data(struct bmi160_data *data, int chan_type, int axis, int *val) { … } static int bmi160_set_odr(struct bmi160_data *data, enum bmi160_sensor_type t, int odr, int uodr) { … } static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t, int *odr, int *uodr) { … } static irqreturn_t bmi160_trigger_handler(int irq, void *p) { … } static int bmi160_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val, int *val2, long mask) { … } static int bmi160_write_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int val, int val2, long mask) { … } 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 *bmi160_attrs[] = …; static const struct attribute_group bmi160_attrs_group = …; static const struct iio_info bmi160_info = …; static int bmi160_write_conf_reg(struct regmap *regmap, unsigned int reg, unsigned int mask, unsigned int bits, unsigned int write_usleep) { … } static int bmi160_config_pin(struct regmap *regmap, enum bmi160_int_pin pin, bool open_drain, u8 irq_mask, unsigned long write_usleep) { … } int bmi160_enable_irq(struct regmap *regmap, bool enable) { … } EXPORT_SYMBOL_NS(…); static int bmi160_get_irq(struct fwnode_handle *fwnode, enum bmi160_int_pin *pin) { … } static int bmi160_config_device_irq(struct iio_dev *indio_dev, int irq_type, enum bmi160_int_pin pin) { … } static int bmi160_setup_irq(struct iio_dev *indio_dev, int irq, enum bmi160_int_pin pin) { … } static int bmi160_check_chip_id(const u8 chip_id) { … } static int bmi160_chip_init(struct bmi160_data *data, bool use_spi) { … } static int bmi160_data_rdy_trigger_set_state(struct iio_trigger *trig, bool enable) { … } static const struct iio_trigger_ops bmi160_trigger_ops = …; int bmi160_probe_trigger(struct iio_dev *indio_dev, int irq, u32 irq_type) { … } static void bmi160_chip_uninit(void *data) { … } int bmi160_core_probe(struct device *dev, struct regmap *regmap, const char *name, bool use_spi) { … } EXPORT_SYMBOL_NS_GPL(…); MODULE_AUTHOR(…) …; MODULE_DESCRIPTION(…) …; MODULE_LICENSE(…) …;
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