// SPDX-License-Identifier: GPL-2.0 /* * IIO core driver for Bosch BMI323 6-Axis IMU. * * Copyright (C) 2023, Jagath Jog J <[email protected]> * * Datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi323-ds000.pdf */ #include <linux/bitfield.h> #include <linux/cleanup.h> #include <linux/device.h> #include <linux/interrupt.h> #include <linux/minmax.h> #include <linux/module.h> #include <linux/mutex.h> #include <linux/property.h> #include <linux/regmap.h> #include <linux/regulator/consumer.h> #include <linux/units.h> #include <asm/unaligned.h> #include <linux/iio/buffer.h> #include <linux/iio/events.h> #include <linux/iio/iio.h> #include <linux/iio/sysfs.h> #include <linux/iio/trigger.h> #include <linux/iio/trigger_consumer.h> #include <linux/iio/triggered_buffer.h> #include "bmi323.h" enum bmi323_sensor_type { … }; enum bmi323_opr_mode { … }; enum bmi323_state { … }; enum bmi323_irq_pin { … }; enum bmi323_3db_bw { … }; enum bmi323_scan { … }; struct bmi323_hw { … }; /* * The accelerometer supports +-2G/4G/8G/16G ranges, and the resolution of * each sample is 16 bits, signed. * At +-8G the scale can calculated by * ((8 + 8) * 9.80665 / (2^16 - 1)) * 10^6 = 2394.23819 scale in micro * */ static const int bmi323_accel_scale[][2] = …; static const int bmi323_gyro_scale[][2] = …; static const int bmi323_accel_gyro_avrg[] = …; static const struct bmi323_hw bmi323_hw[2] = …; struct bmi323_data { … }; static const struct iio_mount_matrix * bmi323_get_mount_matrix(const struct iio_dev *idev, const struct iio_chan_spec *chan) { … } static const struct iio_chan_spec_ext_info bmi323_ext_info[] = …; static const struct iio_event_spec bmi323_step_wtrmrk_event = …; static const struct iio_event_spec bmi323_accel_event[] = …; #define BMI323_ACCEL_CHANNEL(_type, _axis, _index) … #define BMI323_GYRO_CHANNEL(_type, _axis, _index) … static const struct iio_chan_spec bmi323_channels[] = …; static const int bmi323_acc_gyro_odr[][2] = …; static const int bmi323_acc_gyro_odrns[] = …; static enum bmi323_sensor_type bmi323_iio_to_sensor(enum iio_chan_type iio_type) { … } static int bmi323_set_mode(struct bmi323_data *data, enum bmi323_sensor_type sensor, enum bmi323_opr_mode mode) { … } /* * When writing data to extended register there must be no communication to * any other register before write transaction is complete. * See datasheet section 6.2 Extended Register Map Description. */ static int bmi323_write_ext_reg(struct bmi323_data *data, unsigned int ext_addr, unsigned int ext_data) { … } /* * When reading data from extended register there must be no communication to * any other register before read transaction is complete. * See datasheet section 6.2 Extended Register Map Description. */ static int bmi323_read_ext_reg(struct bmi323_data *data, unsigned int ext_addr, unsigned int *ext_data) { … } static int bmi323_update_ext_reg(struct bmi323_data *data, unsigned int ext_addr, unsigned int mask, unsigned int ext_data) { … } static int bmi323_get_error_status(struct bmi323_data *data) { … } static int bmi323_feature_engine_events(struct bmi323_data *data, const unsigned int event_mask, bool state) { … } static int bmi323_step_wtrmrk_en(struct bmi323_data *data, int state) { … } static int bmi323_motion_config_reg(enum iio_event_direction dir) { … } static int bmi323_motion_event_en(struct bmi323_data *data, enum iio_event_direction dir, int state) { … } static int bmi323_tap_event_en(struct bmi323_data *data, enum iio_event_direction dir, int state) { … } static ssize_t in_accel_gesture_tap_wait_dur_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t in_accel_gesture_tap_wait_dur_store(struct device *dev, struct device_attribute *attr, const char *buf, size_t len) { … } /* * Maximum duration from first tap within the second tap is expected to happen. * This timeout is applicable only if gesture_tap_wait_timeout is enabled. */ static IIO_DEVICE_ATTR_RW(in_accel_gesture_tap_wait_dur, 0); static ssize_t in_accel_gesture_tap_wait_timeout_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t in_accel_gesture_tap_wait_timeout_store(struct device *dev, struct device_attribute *attr, const char *buf, size_t len) { … } /* Enable/disable gesture confirmation with wait time */ static IIO_DEVICE_ATTR_RW(in_accel_gesture_tap_wait_timeout, 0); static IIO_CONST_ATTR(in_accel_gesture_tap_wait_dur_available, "[0.0 0.04 2.52]"); static IIO_CONST_ATTR(in_accel_gesture_doubletap_tap2_min_delay_available, "[0.005 0.005 0.075]"); static IIO_CONST_ATTR(in_accel_gesture_tap_reset_timeout_available, "[0.04 0.04 0.6]"); static IIO_CONST_ATTR(in_accel_gesture_tap_value_available, "[0.0 0.002 1.99]"); static IIO_CONST_ATTR(in_accel_mag_value_available, "[0.0 0.002 7.99]"); static IIO_CONST_ATTR(in_accel_mag_period_available, "[0.0 0.02 162.0]"); static IIO_CONST_ATTR(in_accel_mag_hysteresis_available, "[0.0 0.002 1.99]"); static struct attribute *bmi323_event_attributes[] = …; static const struct attribute_group bmi323_event_attribute_group = …; static int bmi323_write_event_config(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, enum iio_event_type type, enum iio_event_direction dir, int state) { … } static int bmi323_read_event_config(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, enum iio_event_type type, enum iio_event_direction dir) { … } static int bmi323_write_event_value(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, enum iio_event_type type, enum iio_event_direction dir, enum iio_event_info info, int val, int val2) { … } static int bmi323_read_event_value(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, enum iio_event_type type, enum iio_event_direction dir, enum iio_event_info info, int *val, int *val2) { … } static int __bmi323_fifo_flush(struct iio_dev *indio_dev) { … } static int bmi323_set_watermark(struct iio_dev *indio_dev, unsigned int val) { … } static int bmi323_fifo_disable(struct bmi323_data *data) { … } static int bmi323_buffer_predisable(struct iio_dev *indio_dev) { … } static int bmi323_update_watermark(struct bmi323_data *data) { … } static int bmi323_fifo_enable(struct bmi323_data *data) { … } static int bmi323_buffer_preenable(struct iio_dev *indio_dev) { … } static int bmi323_buffer_postenable(struct iio_dev *indio_dev) { … } static ssize_t hwfifo_watermark_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static IIO_DEVICE_ATTR_RO(hwfifo_watermark, 0); static ssize_t hwfifo_enabled_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static IIO_DEVICE_ATTR_RO(hwfifo_enabled, 0); static const struct iio_dev_attr *bmi323_fifo_attributes[] = …; static const struct iio_buffer_setup_ops bmi323_buffer_ops = …; static irqreturn_t bmi323_irq_thread_handler(int irq, void *private) { … } static int bmi323_set_drdy_irq(struct bmi323_data *data, enum bmi323_irq_pin irq_pin) { … } static int bmi323_data_rdy_trigger_set_state(struct iio_trigger *trig, bool state) { … } static const struct iio_trigger_ops bmi323_trigger_ops = …; static irqreturn_t bmi323_trigger_handler(int irq, void *p) { … } static int bmi323_set_average(struct bmi323_data *data, enum bmi323_sensor_type sensor, int avg) { … } static int bmi323_get_average(struct bmi323_data *data, enum bmi323_sensor_type sensor, int *avg) { … } static int bmi323_enable_steps(struct bmi323_data *data, int val) { … } static int bmi323_read_steps(struct bmi323_data *data, int *val) { … } static int bmi323_read_axis(struct bmi323_data *data, struct iio_chan_spec const *chan, int *val) { … } static int bmi323_get_temp_data(struct bmi323_data *data, int *val) { … } static int bmi323_get_odr(struct bmi323_data *data, enum bmi323_sensor_type sensor, int *odr, int *uodr) { … } static int bmi323_configure_power_mode(struct bmi323_data *data, enum bmi323_sensor_type sensor, int odr_index) { … } static int bmi323_set_odr(struct bmi323_data *data, enum bmi323_sensor_type sensor, int odr, int uodr) { … } static int bmi323_get_scale(struct bmi323_data *data, enum bmi323_sensor_type sensor, int *val2) { … } static int bmi323_set_scale(struct bmi323_data *data, enum bmi323_sensor_type sensor, int val, int val2) { … } static int bmi323_read_avail(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, const int **vals, int *type, int *length, long mask) { … } static int bmi323_write_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int val, int val2, long mask) { … } static int bmi323_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val, int *val2, long mask) { … } static const struct iio_info bmi323_info = …; #define BMI323_SCAN_MASK_ACCEL_3AXIS … #define BMI323_SCAN_MASK_GYRO_3AXIS … static const unsigned long bmi323_avail_scan_masks[] = …; static int bmi323_int_pin_config(struct bmi323_data *data, enum bmi323_irq_pin irq_pin, bool active_high, bool open_drain, bool latch) { … } static int bmi323_trigger_probe(struct bmi323_data *data, struct iio_dev *indio_dev) { … } static int bmi323_feature_engine_enable(struct bmi323_data *data, bool en) { … } static void bmi323_disable(void *data_ptr) { … } static int bmi323_set_bw(struct bmi323_data *data, enum bmi323_sensor_type sensor, enum bmi323_3db_bw bw) { … } static int bmi323_init(struct bmi323_data *data) { … } int bmi323_core_probe(struct device *dev) { … } EXPORT_SYMBOL_NS_GPL(…); MODULE_DESCRIPTION(…) …; MODULE_AUTHOR(…) …; MODULE_LICENSE(…) …;
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