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>
23 #include <linux/iio/sysfs.h>
27 #define BMI160_REG_CHIP_ID 0x00
28 #define BMI160_CHIP_ID_VAL 0xD1
30 #define BMI160_REG_PMU_STATUS 0x03
32 /* X axis data low byte address, the rest can be obtained using axis offset */
33 #define BMI160_REG_DATA_MAGN_XOUT_L 0x04
34 #define BMI160_REG_DATA_GYRO_XOUT_L 0x0C
35 #define BMI160_REG_DATA_ACCEL_XOUT_L 0x12
37 #define BMI160_REG_ACCEL_CONFIG 0x40
38 #define BMI160_ACCEL_CONFIG_ODR_MASK GENMASK(3, 0)
39 #define BMI160_ACCEL_CONFIG_BWP_MASK GENMASK(6, 4)
41 #define BMI160_REG_ACCEL_RANGE 0x41
42 #define BMI160_ACCEL_RANGE_2G 0x03
43 #define BMI160_ACCEL_RANGE_4G 0x05
44 #define BMI160_ACCEL_RANGE_8G 0x08
45 #define BMI160_ACCEL_RANGE_16G 0x0C
47 #define BMI160_REG_GYRO_CONFIG 0x42
48 #define BMI160_GYRO_CONFIG_ODR_MASK GENMASK(3, 0)
49 #define BMI160_GYRO_CONFIG_BWP_MASK GENMASK(5, 4)
51 #define BMI160_REG_GYRO_RANGE 0x43
52 #define BMI160_GYRO_RANGE_2000DPS 0x00
53 #define BMI160_GYRO_RANGE_1000DPS 0x01
54 #define BMI160_GYRO_RANGE_500DPS 0x02
55 #define BMI160_GYRO_RANGE_250DPS 0x03
56 #define BMI160_GYRO_RANGE_125DPS 0x04
58 #define BMI160_REG_CMD 0x7E
59 #define BMI160_CMD_ACCEL_PM_SUSPEND 0x10
60 #define BMI160_CMD_ACCEL_PM_NORMAL 0x11
61 #define BMI160_CMD_ACCEL_PM_LOW_POWER 0x12
62 #define BMI160_CMD_GYRO_PM_SUSPEND 0x14
63 #define BMI160_CMD_GYRO_PM_NORMAL 0x15
64 #define BMI160_CMD_GYRO_PM_FAST_STARTUP 0x17
65 #define BMI160_CMD_SOFTRESET 0xB6
67 #define BMI160_REG_DUMMY 0x7F
69 #define BMI160_ACCEL_PMU_MIN_USLEEP 3200
70 #define BMI160_ACCEL_PMU_MAX_USLEEP 3800
71 #define BMI160_GYRO_PMU_MIN_USLEEP 55000
72 #define BMI160_GYRO_PMU_MAX_USLEEP 80000
73 #define BMI160_SOFTRESET_USLEEP 1000
75 #define BMI160_CHANNEL(_type, _axis, _index) { \
78 .channel2 = IIO_MOD_##_axis, \
79 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
80 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
81 BIT(IIO_CHAN_INFO_SAMP_FREQ), \
82 .scan_index = _index, \
87 .endianness = IIO_LE, \
91 /* scan indexes follow DATA register order */
92 enum bmi160_scan_axis {
93 BMI160_SCAN_EXT_MAGN_X = 0,
94 BMI160_SCAN_EXT_MAGN_Y,
95 BMI160_SCAN_EXT_MAGN_Z,
103 BMI160_SCAN_TIMESTAMP,
106 enum bmi160_sensor_type {
110 BMI160_NUM_SENSORS /* must be last */
114 struct regmap *regmap;
117 const struct regmap_config bmi160_regmap_config = {
121 EXPORT_SYMBOL(bmi160_regmap_config);
124 u8 data; /* LSB byte register for X-axis */
133 static struct bmi160_regs bmi160_regs[] = {
135 .data = BMI160_REG_DATA_ACCEL_XOUT_L,
136 .config = BMI160_REG_ACCEL_CONFIG,
137 .config_odr_mask = BMI160_ACCEL_CONFIG_ODR_MASK,
138 .config_bwp_mask = BMI160_ACCEL_CONFIG_BWP_MASK,
139 .range = BMI160_REG_ACCEL_RANGE,
140 .pmu_cmd_normal = BMI160_CMD_ACCEL_PM_NORMAL,
141 .pmu_cmd_suspend = BMI160_CMD_ACCEL_PM_SUSPEND,
144 .data = BMI160_REG_DATA_GYRO_XOUT_L,
145 .config = BMI160_REG_GYRO_CONFIG,
146 .config_odr_mask = BMI160_GYRO_CONFIG_ODR_MASK,
147 .config_bwp_mask = BMI160_GYRO_CONFIG_BWP_MASK,
148 .range = BMI160_REG_GYRO_RANGE,
149 .pmu_cmd_normal = BMI160_CMD_GYRO_PM_NORMAL,
150 .pmu_cmd_suspend = BMI160_CMD_GYRO_PM_SUSPEND,
154 struct bmi160_pmu_time {
159 static struct bmi160_pmu_time bmi160_pmu_time[] = {
161 .min = BMI160_ACCEL_PMU_MIN_USLEEP,
162 .max = BMI160_ACCEL_PMU_MAX_USLEEP
165 .min = BMI160_GYRO_PMU_MIN_USLEEP,
166 .max = BMI160_GYRO_PMU_MIN_USLEEP,
170 struct bmi160_scale {
181 static const struct bmi160_scale bmi160_accel_scale[] = {
182 { BMI160_ACCEL_RANGE_2G, 598},
183 { BMI160_ACCEL_RANGE_4G, 1197},
184 { BMI160_ACCEL_RANGE_8G, 2394},
185 { BMI160_ACCEL_RANGE_16G, 4788},
188 static const struct bmi160_scale bmi160_gyro_scale[] = {
189 { BMI160_GYRO_RANGE_2000DPS, 1065},
190 { BMI160_GYRO_RANGE_1000DPS, 532},
191 { BMI160_GYRO_RANGE_500DPS, 266},
192 { BMI160_GYRO_RANGE_250DPS, 133},
193 { BMI160_GYRO_RANGE_125DPS, 66},
196 struct bmi160_scale_item {
197 const struct bmi160_scale *tbl;
201 static const struct bmi160_scale_item bmi160_scale_table[] = {
203 .tbl = bmi160_accel_scale,
204 .num = ARRAY_SIZE(bmi160_accel_scale),
207 .tbl = bmi160_gyro_scale,
208 .num = ARRAY_SIZE(bmi160_gyro_scale),
212 static const struct bmi160_odr bmi160_accel_odr[] = {
227 static const struct bmi160_odr bmi160_gyro_odr[] = {
238 struct bmi160_odr_item {
239 const struct bmi160_odr *tbl;
243 static const struct bmi160_odr_item bmi160_odr_table[] = {
245 .tbl = bmi160_accel_odr,
246 .num = ARRAY_SIZE(bmi160_accel_odr),
249 .tbl = bmi160_gyro_odr,
250 .num = ARRAY_SIZE(bmi160_gyro_odr),
254 static const struct iio_chan_spec bmi160_channels[] = {
255 BMI160_CHANNEL(IIO_ACCEL, X, BMI160_SCAN_ACCEL_X),
256 BMI160_CHANNEL(IIO_ACCEL, Y, BMI160_SCAN_ACCEL_Y),
257 BMI160_CHANNEL(IIO_ACCEL, Z, BMI160_SCAN_ACCEL_Z),
258 BMI160_CHANNEL(IIO_ANGL_VEL, X, BMI160_SCAN_GYRO_X),
259 BMI160_CHANNEL(IIO_ANGL_VEL, Y, BMI160_SCAN_GYRO_Y),
260 BMI160_CHANNEL(IIO_ANGL_VEL, Z, BMI160_SCAN_GYRO_Z),
261 IIO_CHAN_SOFT_TIMESTAMP(BMI160_SCAN_TIMESTAMP),
264 static enum bmi160_sensor_type bmi160_to_sensor(enum iio_chan_type iio_type)
277 int bmi160_set_mode(struct bmi160_data *data, enum bmi160_sensor_type t,
284 cmd = bmi160_regs[t].pmu_cmd_normal;
286 cmd = bmi160_regs[t].pmu_cmd_suspend;
288 ret = regmap_write(data->regmap, BMI160_REG_CMD, cmd);
292 usleep_range(bmi160_pmu_time[t].min, bmi160_pmu_time[t].max);
298 int bmi160_set_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
303 for (i = 0; i < bmi160_scale_table[t].num; i++)
304 if (bmi160_scale_table[t].tbl[i].uscale == uscale)
307 if (i == bmi160_scale_table[t].num)
310 return regmap_write(data->regmap, bmi160_regs[t].range,
311 bmi160_scale_table[t].tbl[i].bits);
315 int bmi160_get_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
320 ret = regmap_read(data->regmap, bmi160_regs[t].range, &val);
324 for (i = 0; i < bmi160_scale_table[t].num; i++)
325 if (bmi160_scale_table[t].tbl[i].bits == val) {
326 *uscale = bmi160_scale_table[t].tbl[i].uscale;
333 static int bmi160_get_data(struct bmi160_data *data, int chan_type,
339 enum bmi160_sensor_type t = bmi160_to_sensor(chan_type);
341 reg = bmi160_regs[t].data + (axis - IIO_MOD_X) * sizeof(__le16);
343 ret = regmap_bulk_read(data->regmap, reg, &sample, sizeof(__le16));
347 *val = sign_extend32(le16_to_cpu(sample), 15);
353 int bmi160_set_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
358 for (i = 0; i < bmi160_odr_table[t].num; i++)
359 if (bmi160_odr_table[t].tbl[i].odr == odr &&
360 bmi160_odr_table[t].tbl[i].uodr == uodr)
363 if (i >= bmi160_odr_table[t].num)
366 return regmap_update_bits(data->regmap,
367 bmi160_regs[t].config,
368 bmi160_regs[t].config_odr_mask,
369 bmi160_odr_table[t].tbl[i].bits);
372 static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
377 ret = regmap_read(data->regmap, bmi160_regs[t].config, &val);
381 val &= bmi160_regs[t].config_odr_mask;
383 for (i = 0; i < bmi160_odr_table[t].num; i++)
384 if (val == bmi160_odr_table[t].tbl[i].bits)
387 if (i >= bmi160_odr_table[t].num)
390 *odr = bmi160_odr_table[t].tbl[i].odr;
391 *uodr = bmi160_odr_table[t].tbl[i].uodr;
396 static irqreturn_t bmi160_trigger_handler(int irq, void *p)
398 struct iio_poll_func *pf = p;
399 struct iio_dev *indio_dev = pf->indio_dev;
400 struct bmi160_data *data = iio_priv(indio_dev);
401 s16 buf[16]; /* 3 sens x 3 axis x s16 + 3 x s16 pad + 4 x s16 tstamp */
402 int i, ret, j = 0, base = BMI160_REG_DATA_MAGN_XOUT_L;
405 for_each_set_bit(i, indio_dev->active_scan_mask,
406 indio_dev->masklength) {
407 ret = regmap_bulk_read(data->regmap, base + i * sizeof(__le16),
408 &sample, sizeof(__le16));
414 iio_push_to_buffers_with_timestamp(indio_dev, buf,
415 iio_get_time_ns(indio_dev));
417 iio_trigger_notify_done(indio_dev->trig);
421 static int bmi160_read_raw(struct iio_dev *indio_dev,
422 struct iio_chan_spec const *chan,
423 int *val, int *val2, long mask)
426 struct bmi160_data *data = iio_priv(indio_dev);
429 case IIO_CHAN_INFO_RAW:
430 ret = bmi160_get_data(data, chan->type, chan->channel2, val);
434 case IIO_CHAN_INFO_SCALE:
436 ret = bmi160_get_scale(data,
437 bmi160_to_sensor(chan->type), val2);
438 return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
439 case IIO_CHAN_INFO_SAMP_FREQ:
440 ret = bmi160_get_odr(data, bmi160_to_sensor(chan->type),
442 return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
450 static int bmi160_write_raw(struct iio_dev *indio_dev,
451 struct iio_chan_spec const *chan,
452 int val, int val2, long mask)
454 struct bmi160_data *data = iio_priv(indio_dev);
457 case IIO_CHAN_INFO_SCALE:
458 return bmi160_set_scale(data,
459 bmi160_to_sensor(chan->type), val2);
461 case IIO_CHAN_INFO_SAMP_FREQ:
462 return bmi160_set_odr(data, bmi160_to_sensor(chan->type),
472 IIO_CONST_ATTR(in_accel_sampling_frequency_available,
473 "0.78125 1.5625 3.125 6.25 12.5 25 50 100 200 400 800 1600");
475 IIO_CONST_ATTR(in_anglvel_sampling_frequency_available,
476 "25 50 100 200 400 800 1600 3200");
478 IIO_CONST_ATTR(in_accel_scale_available,
479 "0.000598 0.001197 0.002394 0.004788");
481 IIO_CONST_ATTR(in_anglvel_scale_available,
482 "0.001065 0.000532 0.000266 0.000133 0.000066");
484 static struct attribute *bmi160_attrs[] = {
485 &iio_const_attr_in_accel_sampling_frequency_available.dev_attr.attr,
486 &iio_const_attr_in_anglvel_sampling_frequency_available.dev_attr.attr,
487 &iio_const_attr_in_accel_scale_available.dev_attr.attr,
488 &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
492 static const struct attribute_group bmi160_attrs_group = {
493 .attrs = bmi160_attrs,
496 static const struct iio_info bmi160_info = {
497 .driver_module = THIS_MODULE,
498 .read_raw = bmi160_read_raw,
499 .write_raw = bmi160_write_raw,
500 .attrs = &bmi160_attrs_group,
503 static const char *bmi160_match_acpi_device(struct device *dev)
505 const struct acpi_device_id *id;
507 id = acpi_match_device(dev->driver->acpi_match_table, dev);
511 return dev_name(dev);
514 static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
518 struct device *dev = regmap_get_device(data->regmap);
520 ret = regmap_write(data->regmap, BMI160_REG_CMD, BMI160_CMD_SOFTRESET);
524 usleep_range(BMI160_SOFTRESET_USLEEP, BMI160_SOFTRESET_USLEEP + 1);
527 * CS rising edge is needed before starting SPI, so do a dummy read
528 * See Section 3.2.1, page 86 of the datasheet
531 ret = regmap_read(data->regmap, BMI160_REG_DUMMY, &val);
536 ret = regmap_read(data->regmap, BMI160_REG_CHIP_ID, &val);
538 dev_err(dev, "Error reading chip id\n");
541 if (val != BMI160_CHIP_ID_VAL) {
542 dev_err(dev, "Wrong chip id, got %x expected %x\n",
543 val, BMI160_CHIP_ID_VAL);
547 ret = bmi160_set_mode(data, BMI160_ACCEL, true);
551 ret = bmi160_set_mode(data, BMI160_GYRO, true);
558 static void bmi160_chip_uninit(struct bmi160_data *data)
560 bmi160_set_mode(data, BMI160_GYRO, false);
561 bmi160_set_mode(data, BMI160_ACCEL, false);
564 int bmi160_core_probe(struct device *dev, struct regmap *regmap,
565 const char *name, bool use_spi)
567 struct iio_dev *indio_dev;
568 struct bmi160_data *data;
571 indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
575 data = iio_priv(indio_dev);
576 dev_set_drvdata(dev, indio_dev);
577 data->regmap = regmap;
579 ret = bmi160_chip_init(data, use_spi);
583 if (!name && ACPI_HANDLE(dev))
584 name = bmi160_match_acpi_device(dev);
586 indio_dev->dev.parent = dev;
587 indio_dev->channels = bmi160_channels;
588 indio_dev->num_channels = ARRAY_SIZE(bmi160_channels);
589 indio_dev->name = name;
590 indio_dev->modes = INDIO_DIRECT_MODE;
591 indio_dev->info = &bmi160_info;
593 ret = iio_triggered_buffer_setup(indio_dev, NULL,
594 bmi160_trigger_handler, NULL);
598 ret = iio_device_register(indio_dev);
604 iio_triggered_buffer_cleanup(indio_dev);
606 bmi160_chip_uninit(data);
609 EXPORT_SYMBOL_GPL(bmi160_core_probe);
611 void bmi160_core_remove(struct device *dev)
613 struct iio_dev *indio_dev = dev_get_drvdata(dev);
614 struct bmi160_data *data = iio_priv(indio_dev);
616 iio_device_unregister(indio_dev);
617 iio_triggered_buffer_cleanup(indio_dev);
618 bmi160_chip_uninit(data);
620 EXPORT_SYMBOL_GPL(bmi160_core_remove);
622 MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com");
623 MODULE_DESCRIPTION("Bosch BMI160 driver");
624 MODULE_LICENSE("GPL v2");