diff options
| -rw-r--r-- | drivers/iio/gyro/Kconfig | 11 | ||||
| -rw-r--r-- | drivers/iio/gyro/Makefile | 1 | ||||
| -rw-r--r-- | drivers/iio/gyro/bmg160.c | 1211 |
3 files changed, 1223 insertions, 0 deletions
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig index ac2d69e34c8c..d630ae987d0b 100644 --- a/drivers/iio/gyro/Kconfig +++ b/drivers/iio/gyro/Kconfig @@ -50,6 +50,17 @@ config ADXRS450 This driver can also be built as a module. If so, the module will be called adxrs450. +config BMG160 + tristate "BOSCH BMG160 Gyro Sensor" + depends on I2C + select IIO_TRIGGERED_BUFFER if IIO_BUFFER + help + Say yes here to build support for Bosch BMG160 Tri-axis Gyro Sensor + driver. + + This driver can also be built as a module. If so, the module + will be called bmg160. + config HID_SENSOR_GYRO_3D depends on HID_SENSOR_HUB select IIO_BUFFER diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile index 2f2752a4ea83..36a38776f739 100644 --- a/drivers/iio/gyro/Makefile +++ b/drivers/iio/gyro/Makefile @@ -8,6 +8,7 @@ obj-$(CONFIG_ADIS16130) += adis16130.o obj-$(CONFIG_ADIS16136) += adis16136.o obj-$(CONFIG_ADIS16260) += adis16260.o obj-$(CONFIG_ADXRS450) += adxrs450.o +obj-$(CONFIG_BMG160) += bmg160.o obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o diff --git a/drivers/iio/gyro/bmg160.c b/drivers/iio/gyro/bmg160.c new file mode 100644 index 000000000000..80f92a65e020 --- /dev/null +++ b/drivers/iio/gyro/bmg160.c @@ -0,0 +1,1211 @@ +/* + * BMG160 Gyro Sensor driver + * Copyright (c) 2014, Intel Corporation. + * + * This program is free software; you can redistribute it and/or modify it + * under the terms and conditions of the GNU General Public License, + * version 2, as published by the Free Software Foundation. + * + * This program is distributed in the hope it will be useful, but WITHOUT + * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for + * more details. + */ + +#include <linux/module.h> +#include <linux/i2c.h> +#include <linux/interrupt.h> +#include <linux/delay.h> +#include <linux/slab.h> +#include <linux/acpi.h> +#include <linux/gpio/consumer.h> +#include <linux/pm.h> +#include <linux/pm_runtime.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/buffer.h> +#include <linux/iio/trigger.h> +#include <linux/iio/events.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/triggered_buffer.h> + +#define BMG160_DRV_NAME "bmg160" +#define BMG160_IRQ_NAME "bmg160_event" +#define BMG160_GPIO_NAME "gpio_int" + +#define BMG160_REG_CHIP_ID 0x00 +#define BMG160_CHIP_ID_VAL 0x0F + +#define BMG160_REG_PMU_LPW 0x11 +#define BMG160_MODE_NORMAL 0x00 +#define BMG160_MODE_DEEP_SUSPEND 0x20 +#define BMG160_MODE_SUSPEND 0x80 + +#define BMG160_REG_RANGE 0x0F + +#define BMG160_RANGE_2000DPS 0 +#define BMG160_RANGE_1000DPS 1 +#define BMG160_RANGE_500DPS 2 +#define BMG160_RANGE_250DPS 3 +#define BMG160_RANGE_125DPS 4 + +#define BMG160_REG_PMU_BW 0x10 +#define BMG160_NO_FILTER 0 +#define BMG160_DEF_BW 100 + +#define BMG160_REG_INT_MAP_0 0x17 +#define BMG160_INT_MAP_0_BIT_ANY BIT(1) + +#define BMG160_REG_INT_MAP_1 0x18 +#define BMG160_INT_MAP_1_BIT_NEW_DATA BIT(0) + +#define BMG160_REG_INT_RST_LATCH 0x21 +#define BMG160_INT_MODE_LATCH_RESET 0x80 +#define BMG160_INT_MODE_LATCH_INT 0x0F +#define BMG160_INT_MODE_NON_LATCH_INT 0x00 + +#define BMG160_REG_INT_EN_0 0x15 +#define BMG160_DATA_ENABLE_INT BIT(7) + +#define BMG160_REG_XOUT_L 0x02 +#define BMG160_AXIS_TO_REG(axis) (BMG160_REG_XOUT_L + (axis * 2)) + +#define BMG160_REG_SLOPE_THRES 0x1B +#define BMG160_SLOPE_THRES_MASK 0x0F + +#define BMG160_REG_MOTION_INTR 0x1C +#define BMG160_INT_MOTION_X BIT(0) +#define BMG160_INT_MOTION_Y BIT(1) +#define BMG160_INT_MOTION_Z BIT(2) +#define BMG160_ANY_DUR_MASK 0x30 +#define BMG160_ANY_DUR_SHIFT 4 + +#define BMG160_REG_INT_STATUS_2 0x0B +#define BMG160_ANY_MOTION_MASK 0x07 + +#define BMG160_REG_TEMP 0x08 +#define BMG160_TEMP_CENTER_VAL 23 + +#define BMG160_MAX_STARTUP_TIME_MS 80 + +#define BMG160_AUTO_SUSPEND_DELAY_MS 2000 + +struct bmg160_data { + struct i2c_client *client; + struct iio_trigger *dready_trig; + struct iio_trigger *motion_trig; + struct mutex mutex; + s16 buffer[8]; + u8 bw_bits; + u32 dps_range; + int ev_enable_state; + int slope_thres; + bool dready_trigger_on; + bool motion_trigger_on; + int64_t timestamp; +}; + +enum bmg160_axis { + AXIS_X, + AXIS_Y, + AXIS_Z, +}; + +static const struct { + int val; + int bw_bits; +} bmg160_samp_freq_table[] = { {100, 0x07}, + {200, 0x06}, + {400, 0x03}, + {1000, 0x02}, + {2000, 0x01} }; + +static const struct { + int scale; + int dps_range; +} bmg160_scale_table[] = { { 1065, BMG160_RANGE_2000DPS}, + { 532, BMG160_RANGE_1000DPS}, + { 266, BMG160_RANGE_500DPS}, + { 133, BMG160_RANGE_250DPS}, + { 66, BMG160_RANGE_125DPS} }; + +static int bmg160_set_mode(struct bmg160_data *data, u8 mode) +{ + int ret; + + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_PMU_LPW, mode); + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_pmu_lpw\n"); + return ret; + } + + return 0; +} + +static int bmg160_convert_freq_to_bit(int val) +{ + int i; + + for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) { + if (bmg160_samp_freq_table[i].val == val) + return bmg160_samp_freq_table[i].bw_bits; + } + + return -EINVAL; +} + +static int bmg160_set_bw(struct bmg160_data *data, int val) +{ + int ret; + int bw_bits; + + bw_bits = bmg160_convert_freq_to_bit(val); + if (bw_bits < 0) + return bw_bits; + + ret = i2c_smbus_write_byte_data(data->client, BMG160_REG_PMU_BW, + bw_bits); + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_pmu_bw\n"); + return ret; + } + + data->bw_bits = bw_bits; + + return 0; +} + +static int bmg160_chip_init(struct bmg160_data *data) +{ + int ret; + + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_CHIP_ID); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_chip_id\n"); + return ret; + } + + dev_dbg(&data->client->dev, "Chip Id %x\n", ret); + if (ret != BMG160_CHIP_ID_VAL) { + dev_err(&data->client->dev, "invalid chip %x\n", ret); + return -ENODEV; + } + + ret = bmg160_set_mode(data, BMG160_MODE_NORMAL); + if (ret < 0) + return ret; + + /* Wait upto 500 ms to be ready after changing mode */ + usleep_range(500, 1000); + + /* Set Bandwidth */ + ret = bmg160_set_bw(data, BMG160_DEF_BW); + if (ret < 0) + return ret; + + /* Set Default Range */ + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_RANGE, + BMG160_RANGE_500DPS); + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_range\n"); + return ret; + } + data->dps_range = BMG160_RANGE_500DPS; + + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_SLOPE_THRES); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_slope_thres\n"); + return ret; + } + data->slope_thres = ret; + + /* Set default interrupt mode */ + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) { + dev_err(&data->client->dev, + "Error writing reg_motion_intr\n"); + return ret; + } + + return 0; +} + +static int bmg160_set_power_state(struct bmg160_data *data, bool on) +{ + int ret; + + if (on) + ret = pm_runtime_get_sync(&data->client->dev); + else { + pm_runtime_mark_last_busy(&data->client->dev); + ret = pm_runtime_put_autosuspend(&data->client->dev); + } + + if (ret < 0) { + dev_err(&data->client->dev, + "Failed: bmg160_set_power_state for %d\n", on); + return ret; + } + + return 0; +} + +static int bmg160_setup_any_motion_interrupt(struct bmg160_data *data, + bool status) +{ + int ret; + + /* Enable/Disable INT_MAP0 mapping */ + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_INT_MAP_0); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_int_map0\n"); + return ret; + } + if (status) + ret |= BMG160_INT_MAP_0_BIT_ANY; + else + ret &= ~BMG160_INT_MAP_0_BIT_ANY; + + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_MAP_0, + ret); + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_int_map0\n"); + return ret; + } + + /* Enable/Disable slope interrupts */ + if (status) { + /* Update slope thres */ + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_SLOPE_THRES, + data->slope_thres); + if (ret < 0) { + dev_err(&data->client->dev, + "Error writing reg_slope_thres\n"); + return ret; + } + + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_MOTION_INTR, + BMG160_INT_MOTION_X | + BMG160_INT_MOTION_Y | + BMG160_INT_MOTION_Z); + if (ret < 0) { + dev_err(&data->client->dev, + "Error writing reg_motion_intr\n"); + return ret; + } + + /* + * New data interrupt is always non-latched, + * which will have higher priority, so no need + * to set latched mode, we will be flooded anyway with INTR + */ + if (!data->dready_trigger_on) { + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) { + dev_err(&data->client->dev, + "Error writing reg_rst_latch\n"); + return ret; + } + } + + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_EN_0, + BMG160_DATA_ENABLE_INT); + + } else + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_EN_0, + 0); + + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_int_en0\n"); + return ret; + } + + return 0; +} + +static int bmg160_setup_new_data_interrupt(struct bmg160_data *data, + bool status) +{ + int ret; + + /* Enable/Disable INT_MAP1 mapping */ + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_INT_MAP_1); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_int_map1\n"); + return ret; + } + + if (status) + ret |= BMG160_INT_MAP_1_BIT_NEW_DATA; + else + ret &= ~BMG160_INT_MAP_1_BIT_NEW_DATA; + + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_MAP_1, + ret); + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_int_map1\n"); + return ret; + } + + if (status) { + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_NON_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) { + dev_err(&data->client->dev, + "Error writing reg_rst_latch\n"); + return ret; + } + + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_EN_0, + BMG160_DATA_ENABLE_INT); + + } else { + /* Restore interrupt mode */ + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) { + dev_err(&data->client->dev, + "Error writing reg_rst_latch\n"); + return ret; + } + + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_EN_0, + 0); + } + + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_int_en0\n"); + return ret; + } + + return 0; +} + +static int bmg160_get_bw(struct bmg160_data *data, int *val) +{ + int i; + + for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) { + if (bmg160_samp_freq_table[i].bw_bits == data->bw_bits) { + *val = bmg160_samp_freq_table[i].val; + return IIO_VAL_INT; + } + } + + return -EINVAL; +} + +static int bmg160_set_scale(struct bmg160_data *data, int val) +{ + int ret, i; + + for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) { + if (bmg160_scale_table[i].scale == val) { + ret = i2c_smbus_write_byte_data( + data->client, + BMG160_REG_RANGE, + bmg160_scale_table[i].dps_range); + if (ret < 0) { + dev_err(&data->client->dev, + "Error writing reg_range\n"); + return ret; + } + data->dps_range = bmg160_scale_table[i].dps_range; + return 0; + } + } + + return -EINVAL; +} + +static int bmg160_get_temp(struct bmg160_data *data, int *val) +{ + int ret; + + mutex_lock(&data->mutex); + ret = bmg160_set_power_state(data, true); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_TEMP); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_temp\n"); + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + + *val = sign_extend32(ret, 7); + ret = bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + if (ret < 0) + return ret; + + return IIO_VAL_INT; +} + +static int bmg160_get_axis(struct bmg160_data *data, int axis, int *val) +{ + int ret; + + mutex_lock(&data->mutex); + ret = bmg160_set_power_state(data, true); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + + ret = i2c_smbus_read_word_data(data->client, BMG160_AXIS_TO_REG(axis)); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading axis %d\n", axis); + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + + *val = sign_extend32(ret, 15); + ret = bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + if (ret < 0) + return ret; + + return IIO_VAL_INT; +} + +static int bmg160_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + switch (chan->type) { + case IIO_TEMP: + return bmg160_get_temp(data, val); + case IIO_ANGL_VEL: + if (iio_buffer_enabled(indio_dev)) + return -EBUSY; + else + return bmg160_get_axis(data, chan->scan_index, + val); + default: + return -EINVAL; + } + case IIO_CHAN_INFO_OFFSET: + if (chan->type == IIO_TEMP) { + *val = BMG160_TEMP_CENTER_VAL; + return IIO_VAL_INT; + } else + return -EINVAL; + case IIO_CHAN_INFO_SCALE: + *val = 0; + switch (chan->type) { + case IIO_TEMP: + *val2 = 500000; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_ANGL_VEL: + { + int i; + + for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) { + if (bmg160_scale_table[i].dps_range == + data->dps_range) { + *val2 = bmg160_scale_table[i].scale; + return IIO_VAL_INT_PLUS_MICRO; + } + } + return -EINVAL; + } + default: + return -EINVAL; + } + case IIO_CHAN_INFO_SAMP_FREQ: + *val2 = 0; + mutex_lock(&data->mutex); + ret = bmg160_get_bw(data, val); + mutex_unlock(&data->mutex); + return ret; + default: + return -EINVAL; + } +} + +static int bmg160_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + mutex_lock(&data->mutex); + /* + * Section 4.2 of spec + * In suspend mode, the only supported operations are reading + * registers as well as writing to the (0x14) softreset + * register. Since we will be in suspend mode by default, change + * mode to power on for other writes. + */ + ret = bmg160_set_power_state(data, true); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + ret = bmg160_set_bw(data, val); + if (ret < 0) { + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + ret = bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_SCALE: + if (val) + return -EINVAL; + + mutex_lock(&data->mutex); + /* Refer to comments above for the suspend mode ops */ + ret = bmg160_set_power_state(data, true); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + ret = bmg160_set_scale(data, val2); + if (ret < 0) { + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + ret = bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + default: + return -EINVAL; + } + + return -EINVAL; +} + +static int bmg160_read_event(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) +{ + struct bmg160_data *data = iio_priv(indio_dev); + + *val2 = 0; + switch (info) { + case IIO_EV_INFO_VALUE: + *val = data->slope_thres & BMG160_SLOPE_THRES_MASK; + break; + default: + return -EINVAL; + } + + return IIO_VAL_INT; +} + +static int bmg160_write_event(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) +{ + struct bmg160_data *data = iio_priv(indio_dev); + + switch (info) { + case IIO_EV_INFO_VALUE: + if (data->ev_enable_state) + return -EBUSY; + data->slope_thres &= ~BMG160_SLOPE_THRES_MASK; + data->slope_thres |= (val & BMG160_SLOPE_THRES_MASK); + break; + default: + return -EINVAL; + } + + return 0; +} + +static int bmg160_read_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir) +{ + + struct bmg160_data *data = iio_priv(indio_dev); + + return data->ev_enable_state; +} + +static int bmg160_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) +{ + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + if (state && data->ev_enable_state) + return 0; + + mutex_lock(&data->mutex); + + if (!state && data->motion_trigger_on) { + data->ev_enable_state = 0; + mutex_unlock(&data->mutex); + return 0; + } + /* + * We will expect the enable and disable to do operation in + * in reverse order. This will happen here anyway as our + * resume operation uses sync mode runtime pm calls, the + * suspend operation will be delayed by autosuspend delay + * So the disable operation will still happen in reverse of + * enable operation. When runtime pm is disabled the mode + * is always on so sequence doesn't matter + */ + ret = bmg160_set_power_state(data, state); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + + ret = bmg160_setup_any_motion_interrupt(data, state); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + + data->ev_enable_state = state; + mutex_unlock(&data->mutex); + + return 0; +} + +static int bmg160_validate_trigger(struct iio_dev *indio_dev, + struct iio_trigger *trig) +{ + struct bmg160_data *data = iio_priv(indio_dev); + + if (data->dready_trig != trig && data->motion_trig != trig) + return -EINVAL; + + return 0; +} + +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("100 200 400 1000 2000"); + +static IIO_CONST_ATTR(in_anglvel_scale_available, + "0.001065 0.000532 0.000266 0.000133 0.000066"); + +static struct attribute *bmg160_attributes[] = { + &iio_const_attr_sampling_frequency_available.dev_attr.attr, + &iio_const_attr_in_anglvel_scale_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group bmg160_attrs_group = { + .attrs = bmg160_attributes, +}; + +static const struct iio_event_spec bmg160_event = { + .type = IIO_EV_TYPE_ROC, + .dir = IIO_EV_DIR_RISING | IIO_EV_DIR_FALLING, + .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_ENABLE) +}; + +#define BMG160_CHANNEL(_axis) { \ + .type = IIO_ANGL_VEL, \ + .modified = 1, \ + .channel2 = IIO_MOD_##_axis, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index = AXIS_##_axis, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + }, \ + .event_spec = &bmg160_event, \ + .num_event_specs = 1 \ +} + +static const struct iio_chan_spec bmg160_channels[] = { + { + .type = IIO_TEMP, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_OFFSET), + .scan_index = -1, + }, + BMG160_CHANNEL(X), + BMG160_CHANNEL(Y), + BMG160_CHANNEL(Z), + IIO_CHAN_SOFT_TIMESTAMP(3), +}; + +static const struct iio_info bmg160_info = { + .attrs = &bmg160_attrs_group, + .read_raw = bmg160_read_raw, + .write_raw = bmg160_write_raw, + .read_event_value = bmg160_read_event, + .write_event_value = bmg160_write_event, + .write_event_config = bmg160_write_event_config, + .read_event_config = bmg160_read_event_config, + .validate_trigger = bmg160_validate_trigger, + .driver_module = THIS_MODULE, +}; + +static irqreturn_t bmg160_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct bmg160_data *data = iio_priv(indio_dev); + int bit, ret, i = 0; + + mutex_lock(&data->mutex); + for_each_set_bit(bit, indio_dev->buffer->scan_mask, + indio_dev->masklength) { + ret = i2c_smbus_read_word_data(data->client, + BMG160_AXIS_TO_REG(bit)); + if (ret < 0) { + mutex_unlock(&data->mutex); + goto err; + } + data->buffer[i++] = ret; + } + mutex_unlock(&data->mutex); + + iio_push_to_buffers_with_timestamp(indio_dev, data->buffer, + data->timestamp); +err: + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static int bmg160_trig_try_reen(struct iio_trigger *trig) +{ + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + /* new data interrupts don't need ack */ + if (data->dready_trigger_on) + return 0; + + /* Set latched mode interrupt and clear any latched interrupt */ + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_rst_latch\n"); + return ret; + } + + return 0; +} + +static int bmg160_data_rdy_trigger_set_state(struct iio_trigger *trig, + bool state) +{ + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + mutex_lock(&data->mutex); + + if (!state && data->ev_enable_state && data->motion_trigger_on) { + data->motion_trigger_on = false; + mutex_unlock(&data->mutex); + return 0; + } + + /* + * Refer to comment in bmg160_write_event_config for + * enable/disable operation order + */ + ret = bmg160_set_power_state(data, state); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + if (data->motion_trig == trig) + ret = bmg160_setup_any_motion_interrupt(data, state); + else + ret = bmg160_setup_new_data_interrupt(data, state); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + if (data->motion_trig == trig) + data->motion_trigger_on = state; + else + data->dready_trigger_on = state; + + mutex_unlock(&data->mutex); + + return 0; +} + +static const struct iio_trigger_ops bmg160_trigger_ops = { + .set_trigger_state = bmg160_data_rdy_trigger_set_state, + .try_reenable = bmg160_trig_try_reen, + .owner = THIS_MODULE, +}; + +static irqreturn_t bmg160_event_handler(int irq, void *private) +{ + struct iio_dev *indio_dev = private; + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + int dir; + + ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_INT_STATUS_2); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_int_status2\n"); + goto ack_intr_status; + } + + if (ret & 0x08) + dir = IIO_EV_DIR_RISING; + else + dir = IIO_EV_DIR_FALLING; + + if (ret & BMG160_ANY_MOTION_MASK) + iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL, + 0, + IIO_MOD_X_OR_Y_OR_Z, + IIO_EV_TYPE_ROC, + dir), + data->timestamp); + +ack_intr_status: + if (!data->dready_trigger_on) { + ret = i2c_smbus_write_byte_data(data->client, + BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) + dev_err(&data->client->dev, + "Error writing reg_rst_latch\n"); + } + + return IRQ_HANDLED; +} + +static irqreturn_t bmg160_data_rdy_trig_poll(int irq, void *private) +{ + struct iio_dev *indio_dev = private; + struct bmg160_data *data = iio_priv(indio_dev); + + data->timestamp = iio_get_time_ns(); + + if (data->dready_trigger_on) + iio_trigger_poll(data->dready_trig); + else if (data->motion_trigger_on) + iio_trigger_poll(data->motion_trig); + + if (data->ev_enable_state) + return IRQ_WAKE_THREAD; + else + return IRQ_HANDLED; + +} + +static int bmg160_acpi_gpio_probe(struct i2c_client *client, + struct bmg160_data *data) +{ + const struct acpi_device_id *id; + struct device *dev; + struct gpio_desc *gpio; + int ret; + + if (!client) + return -EINVAL; + + dev = &client->dev; + if (!ACPI_HANDLE(dev)) + return -ENODEV; + + id = acpi_match_device(dev->driver->acpi_match_table, dev); + if (!id) + return -ENODEV; + + /* data ready gpio interrupt pin */ + gpio = devm_gpiod_get_index(dev, BMG160_GPIO_NAME, 0); + if (IS_ERR(gpio)) { + dev_err(dev, "acpi gpio get index failed\n"); + return PTR_ERR(gpio); + } + + ret = gpiod_direction_input(gpio); + if (ret) + return ret; + + ret = gpiod_to_irq(gpio); + + dev_dbg(dev, "GPIO resource, no:%d irq:%d\n", desc_to_gpio(gpio), ret); + + return ret; +} + +static int bmg160_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct bmg160_data *data; + struct iio_dev *indio_dev; + int ret; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + i2c_set_clientdata(client, indio_dev); + data->client = client; + + ret = bmg160_chip_init(data); + if (ret < 0) + return ret; + + mutex_init(&data->mutex); + + indio_dev->dev.parent = &client->dev; + indio_dev->channels = bmg160_channels; + indio_dev->num_channels = ARRAY_SIZE(bmg160_channels); + indio_dev->name = BMG160_DRV_NAME; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &bmg160_info; + + if (client->irq <= 0) + client->irq = bmg160_acpi_gpio_probe(client, data); + + if (client->irq > 0) { + ret = devm_request_threaded_irq(&client->dev, + client->irq, + bmg160_data_rdy_trig_poll, + bmg160_event_handler, + IRQF_TRIGGER_RISING, + BMG160_IRQ_NAME, + indio_dev); + if (ret) + return ret; + + data->dready_trig = devm_iio_trigger_alloc(&client->dev, + "%s-dev%d", + indio_dev->name, + indio_dev->id); + if (!data->dready_trig) + return -ENOMEM; + + data->motion_trig = devm_iio_trigger_alloc(&client->dev, + "%s-any-motion-dev%d", + indio_dev->name, + indio_dev->id); + if (!data->motion_trig) + return -ENOMEM; + + data->dready_trig->dev.parent = &client->dev; + data->dready_trig->ops = &bmg160_trigger_ops; + iio_trigger_set_drvdata(data->dready_trig, indio_dev); + ret = iio_trigger_register(data->dready_trig); + if (ret) + return ret; + + data->motion_trig->dev.parent = &client->dev; + data->motion_trig->ops = &bmg160_trigger_ops; + iio_trigger_set_drvdata(data->motion_trig, indio_dev); + ret = iio_trigger_register(data->motion_trig); + if (ret) { + data->motion_trig = NULL; + goto err_trigger_unregister; + } + + ret = iio_triggered_buffer_setup(indio_dev, + NULL, + bmg160_trigger_handler, + NULL); + if (ret < 0) { + dev_err(&client->dev, + "iio triggered buffer setup failed\n"); + goto err_trigger_unregister; + } + } + + ret = iio_device_register(indio_dev); + if (ret < 0) { + dev_err(&client->dev, "unable to register iio device\n"); + goto err_buffer_cleanup; + } + + ret = pm_runtime_set_active(&client->dev); + if (ret) + goto err_iio_unregister; + + pm_runtime_enable(&client->dev); + pm_runtime_set_autosuspend_delay(&client->dev, + BMG160_AUTO_SUSPEND_DELAY_MS); + pm_runtime_use_autosuspend(&client->dev); + + return 0; + +err_iio_unregister: + iio_device_unregister(indio_dev); +err_buffer_cleanup: + if (data->dready_trig) + iio_triggered_buffer_cleanup(indio_dev); +err_trigger_unregister: + if (data->dready_trig) + iio_trigger_unregister(data->dready_trig); + if (data->motion_trig) + iio_trigger_unregister(data->motion_trig); + + return ret; +} + +static int bmg160_remove(struct i2c_client *client) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(client); + struct bmg160_data *data = iio_priv(indio_dev); + + pm_runtime_disable(&client->dev); + pm_runtime_set_suspended(&client->dev); + pm_runtime_put_noidle(&client->dev); + + iio_device_unregister(indio_dev); + + if (data->dready_trig) { + iio_triggered_buffer_cleanup(indio_dev); + iio_trigger_unregister(data->dready_trig); + iio_trigger_unregister(data->motion_trig); + } + + mutex_lock(&data->mutex); + bmg160_set_mode(data, BMG160_MODE_DEEP_SUSPEND); + mutex_unlock(&data->mutex); + + return 0; +} + +#ifdef CONFIG_PM_SLEEP +static int bmg160_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev)); + struct bmg160_data *data = iio_priv(indio_dev); + + mutex_lock(&data->mutex); + bmg160_set_mode(data, BMG160_MODE_SUSPEND); + mutex_unlock(&data->mutex); + + return 0; +} + +static int bmg160_resume(struct device *dev) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev)); + struct bmg160_data *data = iio_priv(indio_dev); + + mutex_lock(&data->mutex); + if (data->dready_trigger_on || data->motion_trigger_on || + data->ev_enable_state) + bmg160_set_mode(data, BMG160_MODE_NORMAL); + mutex_unlock(&data->mutex); + + return 0; +} +#endif + +#ifdef CONFIG_PM_RUNTIME +static int bmg160_runtime_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev)); + struct bmg160_data *data = iio_priv(indio_dev); + + return bmg160_set_mode(data, BMG160_MODE_SUSPEND); +} + +static int bmg160_runtime_resume(struct device *dev) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev)); + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + ret = bmg160_set_mode(data, BMG160_MODE_NORMAL); + if (ret < 0) + return ret; + + msleep_interruptible(BMG160_MAX_STARTUP_TIME_MS); + + return 0; +} +#endif + +static const struct dev_pm_ops bmg160_pm_ops = { + SET_SYSTEM_SLEEP_PM_OPS(bmg160_suspend, bmg160_resume) + SET_RUNTIME_PM_OPS(bmg160_runtime_suspend, + bmg160_runtime_resume, NULL) +}; + +static const struct acpi_device_id bmg160_acpi_match[] = { + {"BMG0160", 0}, + { }, +}; +MODULE_DEVICE_TABLE(acpi, bmg160_acpi_match); + +static const struct i2c_device_id bmg160_id[] = { + {"bmg160", 0}, + {} +}; + +MODULE_DEVICE_TABLE(i2c, bmg160_id); + +static struct i2c_driver bmg160_driver = { + .driver = { + .name = BMG160_DRV_NAME, + .acpi_match_table = ACPI_PTR(bmg160_acpi_match), + .pm = &bmg160_pm_ops, + }, + .probe = bmg160_probe, + .remove = bmg160_remove, + .id_table = bmg160_id, +}; +module_i2c_driver(bmg160_driver); + +MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com>"); +MODULE_LICENSE("GPL v2"); +MODULE_DESCRIPTION("BMG160 Gyro driver"); |