// SPDX-License-Identifier: GPL-2.0 /* * IIO driver for Bosch BNO055 IMU * * Copyright (C) 2021-2022 Istituto Italiano di Tecnologia * Electronic Design Laboratory * Written by Andrea Merello <[email protected]> * * Portions of this driver are taken from the BNO055 driver patch * from Vlad Dogaru which is Copyright (c) 2016, Intel Corporation. * * This driver is also based on BMI160 driver, which is: * Copyright (c) 2016, Intel Corporation. * Copyright (c) 2019, Martin Kelly. */ #include <linux/bitfield.h> #include <linux/bitmap.h> #include <linux/clk.h> #include <linux/debugfs.h> #include <linux/device.h> #include <linux/firmware.h> #include <linux/gpio/consumer.h> #include <linux/module.h> #include <linux/mutex.h> #include <linux/regmap.h> #include <linux/util_macros.h> #include <linux/iio/buffer.h> #include <linux/iio/iio.h> #include <linux/iio/sysfs.h> #include <linux/iio/trigger_consumer.h> #include <linux/iio/triggered_buffer.h> #include "bno055.h" #define BNO055_FW_UID_FMT … #define BNO055_FW_GENERIC_NAME … /* common registers */ #define BNO055_PAGESEL_REG … /* page 0 registers */ #define BNO055_CHIP_ID_REG … #define BNO055_CHIP_ID_MAGIC … #define BNO055_SW_REV_LSB_REG … #define BNO055_SW_REV_MSB_REG … #define BNO055_ACC_DATA_X_LSB_REG … #define BNO055_ACC_DATA_Y_LSB_REG … #define BNO055_ACC_DATA_Z_LSB_REG … #define BNO055_MAG_DATA_X_LSB_REG … #define BNO055_MAG_DATA_Y_LSB_REG … #define BNO055_MAG_DATA_Z_LSB_REG … #define BNO055_GYR_DATA_X_LSB_REG … #define BNO055_GYR_DATA_Y_LSB_REG … #define BNO055_GYR_DATA_Z_LSB_REG … #define BNO055_EUL_DATA_X_LSB_REG … #define BNO055_EUL_DATA_Y_LSB_REG … #define BNO055_EUL_DATA_Z_LSB_REG … #define BNO055_QUAT_DATA_W_LSB_REG … #define BNO055_LIA_DATA_X_LSB_REG … #define BNO055_LIA_DATA_Y_LSB_REG … #define BNO055_LIA_DATA_Z_LSB_REG … #define BNO055_GRAVITY_DATA_X_LSB_REG … #define BNO055_GRAVITY_DATA_Y_LSB_REG … #define BNO055_GRAVITY_DATA_Z_LSB_REG … #define BNO055_SCAN_CH_COUNT … #define BNO055_TEMP_REG … #define BNO055_CALIB_STAT_REG … #define BNO055_CALIB_STAT_MAGN_SHIFT … #define BNO055_CALIB_STAT_ACCEL_SHIFT … #define BNO055_CALIB_STAT_GYRO_SHIFT … #define BNO055_CALIB_STAT_SYS_SHIFT … #define BNO055_SYS_ERR_REG … #define BNO055_POWER_MODE_REG … #define BNO055_POWER_MODE_NORMAL … #define BNO055_SYS_TRIGGER_REG … #define BNO055_SYS_TRIGGER_RST_SYS … #define BNO055_SYS_TRIGGER_CLK_SEL … #define BNO055_OPR_MODE_REG … #define BNO055_OPR_MODE_CONFIG … #define BNO055_OPR_MODE_AMG … #define BNO055_OPR_MODE_FUSION_FMC_OFF … #define BNO055_OPR_MODE_FUSION … #define BNO055_UNIT_SEL_REG … /* Android orientation mode means: pitch value decreases turning clockwise */ #define BNO055_UNIT_SEL_ANDROID … #define BNO055_UNIT_SEL_GYR_RPS … #define BNO055_CALDATA_START … #define BNO055_CALDATA_END … #define BNO055_CALDATA_LEN … /* * The difference in address between the register that contains the * value and the register that contains the offset. This applies for * accel, gyro and magn channels. */ #define BNO055_REG_OFFSET_ADDR … /* page 1 registers */ #define BNO055_PG1(x) … #define BNO055_ACC_CONFIG_REG … #define BNO055_ACC_CONFIG_LPF_MASK … #define BNO055_ACC_CONFIG_RANGE_MASK … #define BNO055_MAG_CONFIG_REG … #define BNO055_MAG_CONFIG_HIGHACCURACY … #define BNO055_MAG_CONFIG_ODR_MASK … #define BNO055_GYR_CONFIG_REG … #define BNO055_GYR_CONFIG_RANGE_MASK … #define BNO055_GYR_CONFIG_LPF_MASK … #define BNO055_GYR_AM_SET_REG … #define BNO055_UID_LOWER_REG … #define BNO055_UID_HIGHER_REG … #define BNO055_UID_LEN … struct bno055_sysfs_attr { … }; static int bno055_acc_lpf_vals[] = …; static struct bno055_sysfs_attr bno055_acc_lpf = …; static int bno055_acc_range_vals[] = …; static struct bno055_sysfs_attr bno055_acc_range = …; /* * Theoretically the IMU should return data in a given (i.e. fixed) unit * regardless of the range setting. This happens for the accelerometer, but not * for the gyroscope; the gyroscope range setting affects the scale. * This is probably due to this[0] bug. * For this reason we map the internal range setting onto the standard IIO scale * attribute for gyro. * Since the bug[0] may be fixed in future, we check for the IMU FW version and * eventually warn the user. * Currently we just don't care about "range" attributes for gyro. * * [0] https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-Wrong-sensitivity-resolution-in-datasheet/td-p/10266 */ /* * dps = hwval * (dps_range/2^15) * rps = hwval * (rps_range/2^15) * = hwval * (dps_range/(2^15 * k)) * where k is rad-to-deg factor */ static int bno055_gyr_scale_vals[] = …; static struct bno055_sysfs_attr bno055_gyr_scale = …; static int bno055_gyr_lpf_vals[] = …; static struct bno055_sysfs_attr bno055_gyr_lpf = …; static int bno055_mag_odr_vals[] = …; static struct bno055_sysfs_attr bno055_mag_odr = …; struct bno055_priv { … }; static bool bno055_regmap_volatile(struct device *dev, unsigned int reg) { … } static bool bno055_regmap_readable(struct device *dev, unsigned int reg) { … } static bool bno055_regmap_writeable(struct device *dev, unsigned int reg) { … } static const struct regmap_range_cfg bno055_regmap_ranges[] = …; const struct regmap_config bno055_regmap_config = …; EXPORT_SYMBOL_NS_GPL(…); /* must be called in configuration mode */ static int bno055_calibration_load(struct bno055_priv *priv, const u8 *data, int len) { … } static int bno055_operation_mode_do_set(struct bno055_priv *priv, int operation_mode) { … } static int bno055_system_reset(struct bno055_priv *priv) { … } static int bno055_init(struct bno055_priv *priv, const u8 *caldata, int len) { … } static ssize_t bno055_operation_mode_set(struct bno055_priv *priv, int operation_mode) { … } static void bno055_uninit(void *arg) { … } #define BNO055_CHANNEL(_type, _axis, _index, _address, _sep, _sh, _avail) … /* scan indexes follow DATA register order */ enum bno055_scan_axis { … }; static const struct iio_chan_spec bno055_channels[] = …; static int bno055_get_regmask(struct bno055_priv *priv, int *val, int *val2, int reg, int mask, struct bno055_sysfs_attr *attr) { … } static int bno055_set_regmask(struct bno055_priv *priv, int val, int val2, int reg, int mask, struct bno055_sysfs_attr *attr) { … } static int bno055_read_simple_chan(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val, int *val2, long mask) { … } static int bno055_sysfs_attr_avail(struct bno055_priv *priv, struct bno055_sysfs_attr *attr, const int **vals, int *length) { … } static int bno055_read_avail(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, const int **vals, int *type, int *length, long mask) { … } static int bno055_read_temp_chan(struct iio_dev *indio_dev, int *val) { … } static int bno055_read_quaternion(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int size, int *vals, int *val_len, long mask) { … } static bool bno055_is_chan_readable(struct iio_dev *indio_dev, struct iio_chan_spec const *chan) { … } static int _bno055_read_raw_multi(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int size, int *vals, int *val_len, long mask) { … } static int bno055_read_raw_multi(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int size, int *vals, int *val_len, long mask) { … } static int _bno055_write_raw(struct iio_dev *iio_dev, struct iio_chan_spec const *chan, int val, int val2, long mask) { … } static int bno055_write_raw(struct iio_dev *iio_dev, struct iio_chan_spec const *chan, int val, int val2, long mask) { … } static ssize_t in_accel_range_raw_available_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t fusion_enable_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t fusion_enable_store(struct device *dev, struct device_attribute *attr, const char *buf, size_t len) { … } static ssize_t in_magn_calibration_fast_enable_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t in_magn_calibration_fast_enable_store(struct device *dev, struct device_attribute *attr, const char *buf, size_t len) { … } static ssize_t in_accel_range_raw_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t in_accel_range_raw_store(struct device *dev, struct device_attribute *attr, const char *buf, size_t len) { … } static ssize_t bno055_get_calib_status(struct device *dev, char *buf, int which) { … } static ssize_t serialnumber_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t calibration_data_read(struct file *filp, struct kobject *kobj, struct bin_attribute *bin_attr, char *buf, loff_t pos, size_t count) { … } static ssize_t sys_calibration_auto_status_show(struct device *dev, struct device_attribute *a, char *buf) { … } static ssize_t in_accel_calibration_auto_status_show(struct device *dev, struct device_attribute *a, char *buf) { … } static ssize_t in_gyro_calibration_auto_status_show(struct device *dev, struct device_attribute *a, char *buf) { … } static ssize_t in_magn_calibration_auto_status_show(struct device *dev, struct device_attribute *a, char *buf) { … } static int bno055_debugfs_reg_access(struct iio_dev *iio_dev, unsigned int reg, unsigned int writeval, unsigned int *readval) { … } static ssize_t bno055_show_fw_version(struct file *file, char __user *userbuf, size_t count, loff_t *ppos) { … } static const struct file_operations bno055_fw_version_ops = …; static void bno055_debugfs_remove(void *_priv) { … } static void bno055_debugfs_init(struct iio_dev *iio_dev) { … } static IIO_DEVICE_ATTR_RW(fusion_enable, 0); static IIO_DEVICE_ATTR_RW(in_magn_calibration_fast_enable, 0); static IIO_DEVICE_ATTR_RW(in_accel_range_raw, 0); static IIO_DEVICE_ATTR_RO(in_accel_range_raw_available, 0); static IIO_DEVICE_ATTR_RO(sys_calibration_auto_status, 0); static IIO_DEVICE_ATTR_RO(in_accel_calibration_auto_status, 0); static IIO_DEVICE_ATTR_RO(in_gyro_calibration_auto_status, 0); static IIO_DEVICE_ATTR_RO(in_magn_calibration_auto_status, 0); static IIO_DEVICE_ATTR_RO(serialnumber, 0); static struct attribute *bno055_attrs[] = …; static BIN_ATTR_RO(calibration_data, BNO055_CALDATA_LEN); static struct bin_attribute *bno055_bin_attrs[] = …; static const struct attribute_group bno055_attrs_group = …; static const struct iio_info bno055_info = …; /* * Reads len samples from the HW, stores them in buf starting from buf_idx, * and applies mask to cull (skip) unneeded samples. * Updates buf_idx incrementing with the number of stored samples. * Samples from HW are transferred into buf, then in-place copy on buf is * performed in order to cull samples that need to be skipped. * This avoids copies of the first samples until we hit the 1st sample to skip, * and also avoids having an extra bounce buffer. * buf must be able to contain len elements in spite of how many samples we are * going to cull. */ static int bno055_scan_xfer(struct bno055_priv *priv, int start_ch, int len, unsigned long mask, __le16 *buf, int *buf_idx) { … } static irqreturn_t bno055_trigger_handler(int irq, void *p) { … } static int bno055_buffer_preenable(struct iio_dev *indio_dev) { … } static const struct iio_buffer_setup_ops bno055_buffer_setup_ops = …; int bno055_probe(struct device *dev, struct regmap *regmap, int xfer_burst_break_thr, bool sw_reset) { … } EXPORT_SYMBOL_NS_GPL(…); MODULE_AUTHOR(…) …; MODULE_DESCRIPTION(…) …; MODULE_LICENSE(…) …;
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