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15#include <linux/module.h>
16#include <linux/interrupt.h>
17#include <linux/delay.h>
18#include <linux/slab.h>
19#include <linux/acpi.h>
20#include <linux/pm.h>
21#include <linux/pm_runtime.h>
22#include <linux/iio/iio.h>
23#include <linux/iio/sysfs.h>
24#include <linux/iio/buffer.h>
25#include <linux/iio/trigger.h>
26#include <linux/iio/events.h>
27#include <linux/iio/trigger_consumer.h>
28#include <linux/iio/triggered_buffer.h>
29#include <linux/regmap.h>
30#include "bmg160.h"
31
32#define BMG160_IRQ_NAME "bmg160_event"
33
34#define BMG160_REG_CHIP_ID 0x00
35#define BMG160_CHIP_ID_VAL 0x0F
36
37#define BMG160_REG_PMU_LPW 0x11
38#define BMG160_MODE_NORMAL 0x00
39#define BMG160_MODE_DEEP_SUSPEND 0x20
40#define BMG160_MODE_SUSPEND 0x80
41
42#define BMG160_REG_RANGE 0x0F
43
44#define BMG160_RANGE_2000DPS 0
45#define BMG160_RANGE_1000DPS 1
46#define BMG160_RANGE_500DPS 2
47#define BMG160_RANGE_250DPS 3
48#define BMG160_RANGE_125DPS 4
49
50#define BMG160_REG_PMU_BW 0x10
51#define BMG160_NO_FILTER 0
52#define BMG160_DEF_BW 100
53#define BMG160_REG_PMU_BW_RES BIT(7)
54
55#define BMG160_GYRO_REG_RESET 0x14
56#define BMG160_GYRO_RESET_VAL 0xb6
57
58#define BMG160_REG_INT_MAP_0 0x17
59#define BMG160_INT_MAP_0_BIT_ANY BIT(1)
60
61#define BMG160_REG_INT_MAP_1 0x18
62#define BMG160_INT_MAP_1_BIT_NEW_DATA BIT(0)
63
64#define BMG160_REG_INT_RST_LATCH 0x21
65#define BMG160_INT_MODE_LATCH_RESET 0x80
66#define BMG160_INT_MODE_LATCH_INT 0x0F
67#define BMG160_INT_MODE_NON_LATCH_INT 0x00
68
69#define BMG160_REG_INT_EN_0 0x15
70#define BMG160_DATA_ENABLE_INT BIT(7)
71
72#define BMG160_REG_INT_EN_1 0x16
73#define BMG160_INT1_BIT_OD BIT(1)
74
75#define BMG160_REG_XOUT_L 0x02
76#define BMG160_AXIS_TO_REG(axis) (BMG160_REG_XOUT_L + (axis * 2))
77
78#define BMG160_REG_SLOPE_THRES 0x1B
79#define BMG160_SLOPE_THRES_MASK 0x0F
80
81#define BMG160_REG_MOTION_INTR 0x1C
82#define BMG160_INT_MOTION_X BIT(0)
83#define BMG160_INT_MOTION_Y BIT(1)
84#define BMG160_INT_MOTION_Z BIT(2)
85#define BMG160_ANY_DUR_MASK 0x30
86#define BMG160_ANY_DUR_SHIFT 4
87
88#define BMG160_REG_INT_STATUS_2 0x0B
89#define BMG160_ANY_MOTION_MASK 0x07
90#define BMG160_ANY_MOTION_BIT_X BIT(0)
91#define BMG160_ANY_MOTION_BIT_Y BIT(1)
92#define BMG160_ANY_MOTION_BIT_Z BIT(2)
93
94#define BMG160_REG_TEMP 0x08
95#define BMG160_TEMP_CENTER_VAL 23
96
97#define BMG160_MAX_STARTUP_TIME_MS 80
98
99#define BMG160_AUTO_SUSPEND_DELAY_MS 2000
100
101struct bmg160_data {
102 struct regmap *regmap;
103 struct iio_trigger *dready_trig;
104 struct iio_trigger *motion_trig;
105 struct mutex mutex;
106 s16 buffer[8];
107 u32 dps_range;
108 int ev_enable_state;
109 int slope_thres;
110 bool dready_trigger_on;
111 bool motion_trigger_on;
112 int irq;
113};
114
115enum bmg160_axis {
116 AXIS_X,
117 AXIS_Y,
118 AXIS_Z,
119 AXIS_MAX,
120};
121
122static const struct {
123 int odr;
124 int filter;
125 int bw_bits;
126} bmg160_samp_freq_table[] = { {100, 32, 0x07},
127 {200, 64, 0x06},
128 {100, 12, 0x05},
129 {200, 23, 0x04},
130 {400, 47, 0x03},
131 {1000, 116, 0x02},
132 {2000, 230, 0x01} };
133
134static const struct {
135 int scale;
136 int dps_range;
137} bmg160_scale_table[] = { { 1065, BMG160_RANGE_2000DPS},
138 { 532, BMG160_RANGE_1000DPS},
139 { 266, BMG160_RANGE_500DPS},
140 { 133, BMG160_RANGE_250DPS},
141 { 66, BMG160_RANGE_125DPS} };
142
143static int bmg160_set_mode(struct bmg160_data *data, u8 mode)
144{
145 struct device *dev = regmap_get_device(data->regmap);
146 int ret;
147
148 ret = regmap_write(data->regmap, BMG160_REG_PMU_LPW, mode);
149 if (ret < 0) {
150 dev_err(dev, "Error writing reg_pmu_lpw\n");
151 return ret;
152 }
153
154 return 0;
155}
156
157static int bmg160_convert_freq_to_bit(int val)
158{
159 int i;
160
161 for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
162 if (bmg160_samp_freq_table[i].odr == val)
163 return bmg160_samp_freq_table[i].bw_bits;
164 }
165
166 return -EINVAL;
167}
168
169static int bmg160_set_bw(struct bmg160_data *data, int val)
170{
171 struct device *dev = regmap_get_device(data->regmap);
172 int ret;
173 int bw_bits;
174
175 bw_bits = bmg160_convert_freq_to_bit(val);
176 if (bw_bits < 0)
177 return bw_bits;
178
179 ret = regmap_write(data->regmap, BMG160_REG_PMU_BW, bw_bits);
180 if (ret < 0) {
181 dev_err(dev, "Error writing reg_pmu_bw\n");
182 return ret;
183 }
184
185 return 0;
186}
187
188static int bmg160_get_filter(struct bmg160_data *data, int *val)
189{
190 struct device *dev = regmap_get_device(data->regmap);
191 int ret;
192 int i;
193 unsigned int bw_bits;
194
195 ret = regmap_read(data->regmap, BMG160_REG_PMU_BW, &bw_bits);
196 if (ret < 0) {
197 dev_err(dev, "Error reading reg_pmu_bw\n");
198 return ret;
199 }
200
201
202 bw_bits &= ~BMG160_REG_PMU_BW_RES;
203
204 for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
205 if (bmg160_samp_freq_table[i].bw_bits == bw_bits)
206 break;
207 }
208
209 *val = bmg160_samp_freq_table[i].filter;
210
211 return ret ? ret : IIO_VAL_INT;
212}
213
214
215static int bmg160_set_filter(struct bmg160_data *data, int val)
216{
217 struct device *dev = regmap_get_device(data->regmap);
218 int ret;
219 int i;
220
221 for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
222 if (bmg160_samp_freq_table[i].filter == val)
223 break;
224 }
225
226 ret = regmap_write(data->regmap, BMG160_REG_PMU_BW,
227 bmg160_samp_freq_table[i].bw_bits);
228 if (ret < 0) {
229 dev_err(dev, "Error writing reg_pmu_bw\n");
230 return ret;
231 }
232
233 return 0;
234}
235
236static int bmg160_chip_init(struct bmg160_data *data)
237{
238 struct device *dev = regmap_get_device(data->regmap);
239 int ret;
240 unsigned int val;
241
242
243
244
245
246 regmap_write(data->regmap, BMG160_GYRO_REG_RESET,
247 BMG160_GYRO_RESET_VAL);
248 usleep_range(30000, 30700);
249
250 ret = regmap_read(data->regmap, BMG160_REG_CHIP_ID, &val);
251 if (ret < 0) {
252 dev_err(dev, "Error reading reg_chip_id\n");
253 return ret;
254 }
255
256 dev_dbg(dev, "Chip Id %x\n", val);
257 if (val != BMG160_CHIP_ID_VAL) {
258 dev_err(dev, "invalid chip %x\n", val);
259 return -ENODEV;
260 }
261
262 ret = bmg160_set_mode(data, BMG160_MODE_NORMAL);
263 if (ret < 0)
264 return ret;
265
266
267 usleep_range(500, 1000);
268
269
270 ret = bmg160_set_bw(data, BMG160_DEF_BW);
271 if (ret < 0)
272 return ret;
273
274
275 ret = regmap_write(data->regmap, BMG160_REG_RANGE, BMG160_RANGE_500DPS);
276 if (ret < 0) {
277 dev_err(dev, "Error writing reg_range\n");
278 return ret;
279 }
280 data->dps_range = BMG160_RANGE_500DPS;
281
282 ret = regmap_read(data->regmap, BMG160_REG_SLOPE_THRES, &val);
283 if (ret < 0) {
284 dev_err(dev, "Error reading reg_slope_thres\n");
285 return ret;
286 }
287 data->slope_thres = val;
288
289
290 ret = regmap_update_bits(data->regmap, BMG160_REG_INT_EN_1,
291 BMG160_INT1_BIT_OD, 0);
292 if (ret < 0) {
293 dev_err(dev, "Error updating bits in reg_int_en_1\n");
294 return ret;
295 }
296
297 ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
298 BMG160_INT_MODE_LATCH_INT |
299 BMG160_INT_MODE_LATCH_RESET);
300 if (ret < 0) {
301 dev_err(dev,
302 "Error writing reg_motion_intr\n");
303 return ret;
304 }
305
306 return 0;
307}
308
309static int bmg160_set_power_state(struct bmg160_data *data, bool on)
310{
311#ifdef CONFIG_PM
312 struct device *dev = regmap_get_device(data->regmap);
313 int ret;
314
315 if (on)
316 ret = pm_runtime_get_sync(dev);
317 else {
318 pm_runtime_mark_last_busy(dev);
319 ret = pm_runtime_put_autosuspend(dev);
320 }
321
322 if (ret < 0) {
323 dev_err(dev, "Failed: bmg160_set_power_state for %d\n", on);
324
325 if (on)
326 pm_runtime_put_noidle(dev);
327
328 return ret;
329 }
330#endif
331
332 return 0;
333}
334
335static int bmg160_setup_any_motion_interrupt(struct bmg160_data *data,
336 bool status)
337{
338 struct device *dev = regmap_get_device(data->regmap);
339 int ret;
340
341
342 ret = regmap_update_bits(data->regmap, BMG160_REG_INT_MAP_0,
343 BMG160_INT_MAP_0_BIT_ANY,
344 (status ? BMG160_INT_MAP_0_BIT_ANY : 0));
345 if (ret < 0) {
346 dev_err(dev, "Error updating bits reg_int_map0\n");
347 return ret;
348 }
349
350
351 if (status) {
352
353 ret = regmap_write(data->regmap, BMG160_REG_SLOPE_THRES,
354 data->slope_thres);
355 if (ret < 0) {
356 dev_err(dev, "Error writing reg_slope_thres\n");
357 return ret;
358 }
359
360 ret = regmap_write(data->regmap, BMG160_REG_MOTION_INTR,
361 BMG160_INT_MOTION_X | BMG160_INT_MOTION_Y |
362 BMG160_INT_MOTION_Z);
363 if (ret < 0) {
364 dev_err(dev, "Error writing reg_motion_intr\n");
365 return ret;
366 }
367
368
369
370
371
372
373 if (!data->dready_trigger_on) {
374 ret = regmap_write(data->regmap,
375 BMG160_REG_INT_RST_LATCH,
376 BMG160_INT_MODE_LATCH_INT |
377 BMG160_INT_MODE_LATCH_RESET);
378 if (ret < 0) {
379 dev_err(dev, "Error writing reg_rst_latch\n");
380 return ret;
381 }
382 }
383
384 ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0,
385 BMG160_DATA_ENABLE_INT);
386
387 } else {
388 ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0, 0);
389 }
390
391 if (ret < 0) {
392 dev_err(dev, "Error writing reg_int_en0\n");
393 return ret;
394 }
395
396 return 0;
397}
398
399static int bmg160_setup_new_data_interrupt(struct bmg160_data *data,
400 bool status)
401{
402 struct device *dev = regmap_get_device(data->regmap);
403 int ret;
404
405
406 ret = regmap_update_bits(data->regmap, BMG160_REG_INT_MAP_1,
407 BMG160_INT_MAP_1_BIT_NEW_DATA,
408 (status ? BMG160_INT_MAP_1_BIT_NEW_DATA : 0));
409 if (ret < 0) {
410 dev_err(dev, "Error updating bits in reg_int_map1\n");
411 return ret;
412 }
413
414 if (status) {
415 ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
416 BMG160_INT_MODE_NON_LATCH_INT |
417 BMG160_INT_MODE_LATCH_RESET);
418 if (ret < 0) {
419 dev_err(dev, "Error writing reg_rst_latch\n");
420 return ret;
421 }
422
423 ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0,
424 BMG160_DATA_ENABLE_INT);
425
426 } else {
427
428 ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
429 BMG160_INT_MODE_LATCH_INT |
430 BMG160_INT_MODE_LATCH_RESET);
431 if (ret < 0) {
432 dev_err(dev, "Error writing reg_rst_latch\n");
433 return ret;
434 }
435
436 ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0, 0);
437 }
438
439 if (ret < 0) {
440 dev_err(dev, "Error writing reg_int_en0\n");
441 return ret;
442 }
443
444 return 0;
445}
446
447static int bmg160_get_bw(struct bmg160_data *data, int *val)
448{
449 struct device *dev = regmap_get_device(data->regmap);
450 int i;
451 unsigned int bw_bits;
452 int ret;
453
454 ret = regmap_read(data->regmap, BMG160_REG_PMU_BW, &bw_bits);
455 if (ret < 0) {
456 dev_err(dev, "Error reading reg_pmu_bw\n");
457 return ret;
458 }
459
460
461 bw_bits &= ~BMG160_REG_PMU_BW_RES;
462
463 for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
464 if (bmg160_samp_freq_table[i].bw_bits == bw_bits) {
465 *val = bmg160_samp_freq_table[i].odr;
466 return IIO_VAL_INT;
467 }
468 }
469
470 return -EINVAL;
471}
472
473static int bmg160_set_scale(struct bmg160_data *data, int val)
474{
475 struct device *dev = regmap_get_device(data->regmap);
476 int ret, i;
477
478 for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) {
479 if (bmg160_scale_table[i].scale == val) {
480 ret = regmap_write(data->regmap, BMG160_REG_RANGE,
481 bmg160_scale_table[i].dps_range);
482 if (ret < 0) {
483 dev_err(dev, "Error writing reg_range\n");
484 return ret;
485 }
486 data->dps_range = bmg160_scale_table[i].dps_range;
487 return 0;
488 }
489 }
490
491 return -EINVAL;
492}
493
494static int bmg160_get_temp(struct bmg160_data *data, int *val)
495{
496 struct device *dev = regmap_get_device(data->regmap);
497 int ret;
498 unsigned int raw_val;
499
500 mutex_lock(&data->mutex);
501 ret = bmg160_set_power_state(data, true);
502 if (ret < 0) {
503 mutex_unlock(&data->mutex);
504 return ret;
505 }
506
507 ret = regmap_read(data->regmap, BMG160_REG_TEMP, &raw_val);
508 if (ret < 0) {
509 dev_err(dev, "Error reading reg_temp\n");
510 bmg160_set_power_state(data, false);
511 mutex_unlock(&data->mutex);
512 return ret;
513 }
514
515 *val = sign_extend32(raw_val, 7);
516 ret = bmg160_set_power_state(data, false);
517 mutex_unlock(&data->mutex);
518 if (ret < 0)
519 return ret;
520
521 return IIO_VAL_INT;
522}
523
524static int bmg160_get_axis(struct bmg160_data *data, int axis, int *val)
525{
526 struct device *dev = regmap_get_device(data->regmap);
527 int ret;
528 __le16 raw_val;
529
530 mutex_lock(&data->mutex);
531 ret = bmg160_set_power_state(data, true);
532 if (ret < 0) {
533 mutex_unlock(&data->mutex);
534 return ret;
535 }
536
537 ret = regmap_bulk_read(data->regmap, BMG160_AXIS_TO_REG(axis), &raw_val,
538 sizeof(raw_val));
539 if (ret < 0) {
540 dev_err(dev, "Error reading axis %d\n", axis);
541 bmg160_set_power_state(data, false);
542 mutex_unlock(&data->mutex);
543 return ret;
544 }
545
546 *val = sign_extend32(le16_to_cpu(raw_val), 15);
547 ret = bmg160_set_power_state(data, false);
548 mutex_unlock(&data->mutex);
549 if (ret < 0)
550 return ret;
551
552 return IIO_VAL_INT;
553}
554
555static int bmg160_read_raw(struct iio_dev *indio_dev,
556 struct iio_chan_spec const *chan,
557 int *val, int *val2, long mask)
558{
559 struct bmg160_data *data = iio_priv(indio_dev);
560 int ret;
561
562 switch (mask) {
563 case IIO_CHAN_INFO_RAW:
564 switch (chan->type) {
565 case IIO_TEMP:
566 return bmg160_get_temp(data, val);
567 case IIO_ANGL_VEL:
568 if (iio_buffer_enabled(indio_dev))
569 return -EBUSY;
570 else
571 return bmg160_get_axis(data, chan->scan_index,
572 val);
573 default:
574 return -EINVAL;
575 }
576 case IIO_CHAN_INFO_OFFSET:
577 if (chan->type == IIO_TEMP) {
578 *val = BMG160_TEMP_CENTER_VAL;
579 return IIO_VAL_INT;
580 } else
581 return -EINVAL;
582 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
583 return bmg160_get_filter(data, val);
584 case IIO_CHAN_INFO_SCALE:
585 *val = 0;
586 switch (chan->type) {
587 case IIO_TEMP:
588 *val2 = 500000;
589 return IIO_VAL_INT_PLUS_MICRO;
590 case IIO_ANGL_VEL:
591 {
592 int i;
593
594 for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) {
595 if (bmg160_scale_table[i].dps_range ==
596 data->dps_range) {
597 *val2 = bmg160_scale_table[i].scale;
598 return IIO_VAL_INT_PLUS_MICRO;
599 }
600 }
601 return -EINVAL;
602 }
603 default:
604 return -EINVAL;
605 }
606 case IIO_CHAN_INFO_SAMP_FREQ:
607 *val2 = 0;
608 mutex_lock(&data->mutex);
609 ret = bmg160_get_bw(data, val);
610 mutex_unlock(&data->mutex);
611 return ret;
612 default:
613 return -EINVAL;
614 }
615}
616
617static int bmg160_write_raw(struct iio_dev *indio_dev,
618 struct iio_chan_spec const *chan,
619 int val, int val2, long mask)
620{
621 struct bmg160_data *data = iio_priv(indio_dev);
622 int ret;
623
624 switch (mask) {
625 case IIO_CHAN_INFO_SAMP_FREQ:
626 mutex_lock(&data->mutex);
627
628
629
630
631
632
633
634 ret = bmg160_set_power_state(data, true);
635 if (ret < 0) {
636 mutex_unlock(&data->mutex);
637 return ret;
638 }
639 ret = bmg160_set_bw(data, val);
640 if (ret < 0) {
641 bmg160_set_power_state(data, false);
642 mutex_unlock(&data->mutex);
643 return ret;
644 }
645 ret = bmg160_set_power_state(data, false);
646 mutex_unlock(&data->mutex);
647 return ret;
648 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
649 if (val2)
650 return -EINVAL;
651
652 mutex_lock(&data->mutex);
653 ret = bmg160_set_power_state(data, true);
654 if (ret < 0) {
655 bmg160_set_power_state(data, false);
656 mutex_unlock(&data->mutex);
657 return ret;
658 }
659 ret = bmg160_set_filter(data, val);
660 if (ret < 0) {
661 bmg160_set_power_state(data, false);
662 mutex_unlock(&data->mutex);
663 return ret;
664 }
665 ret = bmg160_set_power_state(data, false);
666 mutex_unlock(&data->mutex);
667 return ret;
668 case IIO_CHAN_INFO_SCALE:
669 if (val)
670 return -EINVAL;
671
672 mutex_lock(&data->mutex);
673
674 ret = bmg160_set_power_state(data, true);
675 if (ret < 0) {
676 mutex_unlock(&data->mutex);
677 return ret;
678 }
679 ret = bmg160_set_scale(data, val2);
680 if (ret < 0) {
681 bmg160_set_power_state(data, false);
682 mutex_unlock(&data->mutex);
683 return ret;
684 }
685 ret = bmg160_set_power_state(data, false);
686 mutex_unlock(&data->mutex);
687 return ret;
688 default:
689 return -EINVAL;
690 }
691
692 return -EINVAL;
693}
694
695static int bmg160_read_event(struct iio_dev *indio_dev,
696 const struct iio_chan_spec *chan,
697 enum iio_event_type type,
698 enum iio_event_direction dir,
699 enum iio_event_info info,
700 int *val, int *val2)
701{
702 struct bmg160_data *data = iio_priv(indio_dev);
703
704 *val2 = 0;
705 switch (info) {
706 case IIO_EV_INFO_VALUE:
707 *val = data->slope_thres & BMG160_SLOPE_THRES_MASK;
708 break;
709 default:
710 return -EINVAL;
711 }
712
713 return IIO_VAL_INT;
714}
715
716static int bmg160_write_event(struct iio_dev *indio_dev,
717 const struct iio_chan_spec *chan,
718 enum iio_event_type type,
719 enum iio_event_direction dir,
720 enum iio_event_info info,
721 int val, int val2)
722{
723 struct bmg160_data *data = iio_priv(indio_dev);
724
725 switch (info) {
726 case IIO_EV_INFO_VALUE:
727 if (data->ev_enable_state)
728 return -EBUSY;
729 data->slope_thres &= ~BMG160_SLOPE_THRES_MASK;
730 data->slope_thres |= (val & BMG160_SLOPE_THRES_MASK);
731 break;
732 default:
733 return -EINVAL;
734 }
735
736 return 0;
737}
738
739static int bmg160_read_event_config(struct iio_dev *indio_dev,
740 const struct iio_chan_spec *chan,
741 enum iio_event_type type,
742 enum iio_event_direction dir)
743{
744
745 struct bmg160_data *data = iio_priv(indio_dev);
746
747 return data->ev_enable_state;
748}
749
750static int bmg160_write_event_config(struct iio_dev *indio_dev,
751 const struct iio_chan_spec *chan,
752 enum iio_event_type type,
753 enum iio_event_direction dir,
754 int state)
755{
756 struct bmg160_data *data = iio_priv(indio_dev);
757 int ret;
758
759 if (state && data->ev_enable_state)
760 return 0;
761
762 mutex_lock(&data->mutex);
763
764 if (!state && data->motion_trigger_on) {
765 data->ev_enable_state = 0;
766 mutex_unlock(&data->mutex);
767 return 0;
768 }
769
770
771
772
773
774
775
776
777
778 ret = bmg160_set_power_state(data, state);
779 if (ret < 0) {
780 mutex_unlock(&data->mutex);
781 return ret;
782 }
783
784 ret = bmg160_setup_any_motion_interrupt(data, state);
785 if (ret < 0) {
786 bmg160_set_power_state(data, false);
787 mutex_unlock(&data->mutex);
788 return ret;
789 }
790
791 data->ev_enable_state = state;
792 mutex_unlock(&data->mutex);
793
794 return 0;
795}
796
797static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("100 200 400 1000 2000");
798
799static IIO_CONST_ATTR(in_anglvel_scale_available,
800 "0.001065 0.000532 0.000266 0.000133 0.000066");
801
802static struct attribute *bmg160_attributes[] = {
803 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
804 &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
805 NULL,
806};
807
808static const struct attribute_group bmg160_attrs_group = {
809 .attrs = bmg160_attributes,
810};
811
812static const struct iio_event_spec bmg160_event = {
813 .type = IIO_EV_TYPE_ROC,
814 .dir = IIO_EV_DIR_EITHER,
815 .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) |
816 BIT(IIO_EV_INFO_ENABLE)
817};
818
819#define BMG160_CHANNEL(_axis) { \
820 .type = IIO_ANGL_VEL, \
821 .modified = 1, \
822 .channel2 = IIO_MOD_##_axis, \
823 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
824 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
825 BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
826 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
827 .scan_index = AXIS_##_axis, \
828 .scan_type = { \
829 .sign = 's', \
830 .realbits = 16, \
831 .storagebits = 16, \
832 .endianness = IIO_LE, \
833 }, \
834 .event_spec = &bmg160_event, \
835 .num_event_specs = 1 \
836}
837
838static const struct iio_chan_spec bmg160_channels[] = {
839 {
840 .type = IIO_TEMP,
841 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
842 BIT(IIO_CHAN_INFO_SCALE) |
843 BIT(IIO_CHAN_INFO_OFFSET),
844 .scan_index = -1,
845 },
846 BMG160_CHANNEL(X),
847 BMG160_CHANNEL(Y),
848 BMG160_CHANNEL(Z),
849 IIO_CHAN_SOFT_TIMESTAMP(3),
850};
851
852static const struct iio_info bmg160_info = {
853 .attrs = &bmg160_attrs_group,
854 .read_raw = bmg160_read_raw,
855 .write_raw = bmg160_write_raw,
856 .read_event_value = bmg160_read_event,
857 .write_event_value = bmg160_write_event,
858 .write_event_config = bmg160_write_event_config,
859 .read_event_config = bmg160_read_event_config,
860};
861
862static const unsigned long bmg160_accel_scan_masks[] = {
863 BIT(AXIS_X) | BIT(AXIS_Y) | BIT(AXIS_Z),
864 0};
865
866static irqreturn_t bmg160_trigger_handler(int irq, void *p)
867{
868 struct iio_poll_func *pf = p;
869 struct iio_dev *indio_dev = pf->indio_dev;
870 struct bmg160_data *data = iio_priv(indio_dev);
871 int ret;
872
873 mutex_lock(&data->mutex);
874 ret = regmap_bulk_read(data->regmap, BMG160_REG_XOUT_L,
875 data->buffer, AXIS_MAX * 2);
876 mutex_unlock(&data->mutex);
877 if (ret < 0)
878 goto err;
879
880 iio_push_to_buffers_with_timestamp(indio_dev, data->buffer,
881 pf->timestamp);
882err:
883 iio_trigger_notify_done(indio_dev->trig);
884
885 return IRQ_HANDLED;
886}
887
888static int bmg160_trig_try_reen(struct iio_trigger *trig)
889{
890 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
891 struct bmg160_data *data = iio_priv(indio_dev);
892 struct device *dev = regmap_get_device(data->regmap);
893 int ret;
894
895
896 if (data->dready_trigger_on)
897 return 0;
898
899
900 ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
901 BMG160_INT_MODE_LATCH_INT |
902 BMG160_INT_MODE_LATCH_RESET);
903 if (ret < 0) {
904 dev_err(dev, "Error writing reg_rst_latch\n");
905 return ret;
906 }
907
908 return 0;
909}
910
911static int bmg160_data_rdy_trigger_set_state(struct iio_trigger *trig,
912 bool state)
913{
914 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
915 struct bmg160_data *data = iio_priv(indio_dev);
916 int ret;
917
918 mutex_lock(&data->mutex);
919
920 if (!state && data->ev_enable_state && data->motion_trigger_on) {
921 data->motion_trigger_on = false;
922 mutex_unlock(&data->mutex);
923 return 0;
924 }
925
926
927
928
929
930 ret = bmg160_set_power_state(data, state);
931 if (ret < 0) {
932 mutex_unlock(&data->mutex);
933 return ret;
934 }
935 if (data->motion_trig == trig)
936 ret = bmg160_setup_any_motion_interrupt(data, state);
937 else
938 ret = bmg160_setup_new_data_interrupt(data, state);
939 if (ret < 0) {
940 bmg160_set_power_state(data, false);
941 mutex_unlock(&data->mutex);
942 return ret;
943 }
944 if (data->motion_trig == trig)
945 data->motion_trigger_on = state;
946 else
947 data->dready_trigger_on = state;
948
949 mutex_unlock(&data->mutex);
950
951 return 0;
952}
953
954static const struct iio_trigger_ops bmg160_trigger_ops = {
955 .set_trigger_state = bmg160_data_rdy_trigger_set_state,
956 .try_reenable = bmg160_trig_try_reen,
957};
958
959static irqreturn_t bmg160_event_handler(int irq, void *private)
960{
961 struct iio_dev *indio_dev = private;
962 struct bmg160_data *data = iio_priv(indio_dev);
963 struct device *dev = regmap_get_device(data->regmap);
964 int ret;
965 int dir;
966 unsigned int val;
967
968 ret = regmap_read(data->regmap, BMG160_REG_INT_STATUS_2, &val);
969 if (ret < 0) {
970 dev_err(dev, "Error reading reg_int_status2\n");
971 goto ack_intr_status;
972 }
973
974 if (val & 0x08)
975 dir = IIO_EV_DIR_RISING;
976 else
977 dir = IIO_EV_DIR_FALLING;
978
979 if (val & BMG160_ANY_MOTION_BIT_X)
980 iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL,
981 0,
982 IIO_MOD_X,
983 IIO_EV_TYPE_ROC,
984 dir),
985 iio_get_time_ns(indio_dev));
986 if (val & BMG160_ANY_MOTION_BIT_Y)
987 iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL,
988 0,
989 IIO_MOD_Y,
990 IIO_EV_TYPE_ROC,
991 dir),
992 iio_get_time_ns(indio_dev));
993 if (val & BMG160_ANY_MOTION_BIT_Z)
994 iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL,
995 0,
996 IIO_MOD_Z,
997 IIO_EV_TYPE_ROC,
998 dir),
999 iio_get_time_ns(indio_dev));
1000
1001ack_intr_status:
1002 if (!data->dready_trigger_on) {
1003 ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
1004 BMG160_INT_MODE_LATCH_INT |
1005 BMG160_INT_MODE_LATCH_RESET);
1006 if (ret < 0)
1007 dev_err(dev, "Error writing reg_rst_latch\n");
1008 }
1009
1010 return IRQ_HANDLED;
1011}
1012
1013static irqreturn_t bmg160_data_rdy_trig_poll(int irq, void *private)
1014{
1015 struct iio_dev *indio_dev = private;
1016 struct bmg160_data *data = iio_priv(indio_dev);
1017
1018 if (data->dready_trigger_on)
1019 iio_trigger_poll(data->dready_trig);
1020 else if (data->motion_trigger_on)
1021 iio_trigger_poll(data->motion_trig);
1022
1023 if (data->ev_enable_state)
1024 return IRQ_WAKE_THREAD;
1025 else
1026 return IRQ_HANDLED;
1027
1028}
1029
1030static int bmg160_buffer_preenable(struct iio_dev *indio_dev)
1031{
1032 struct bmg160_data *data = iio_priv(indio_dev);
1033
1034 return bmg160_set_power_state(data, true);
1035}
1036
1037static int bmg160_buffer_postdisable(struct iio_dev *indio_dev)
1038{
1039 struct bmg160_data *data = iio_priv(indio_dev);
1040
1041 return bmg160_set_power_state(data, false);
1042}
1043
1044static const struct iio_buffer_setup_ops bmg160_buffer_setup_ops = {
1045 .preenable = bmg160_buffer_preenable,
1046 .postenable = iio_triggered_buffer_postenable,
1047 .predisable = iio_triggered_buffer_predisable,
1048 .postdisable = bmg160_buffer_postdisable,
1049};
1050
1051static const char *bmg160_match_acpi_device(struct device *dev)
1052{
1053 const struct acpi_device_id *id;
1054
1055 id = acpi_match_device(dev->driver->acpi_match_table, dev);
1056 if (!id)
1057 return NULL;
1058
1059 return dev_name(dev);
1060}
1061
1062int bmg160_core_probe(struct device *dev, struct regmap *regmap, int irq,
1063 const char *name)
1064{
1065 struct bmg160_data *data;
1066 struct iio_dev *indio_dev;
1067 int ret;
1068
1069 indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
1070 if (!indio_dev)
1071 return -ENOMEM;
1072
1073 data = iio_priv(indio_dev);
1074 dev_set_drvdata(dev, indio_dev);
1075 data->irq = irq;
1076 data->regmap = regmap;
1077
1078 ret = bmg160_chip_init(data);
1079 if (ret < 0)
1080 return ret;
1081
1082 mutex_init(&data->mutex);
1083
1084 if (ACPI_HANDLE(dev))
1085 name = bmg160_match_acpi_device(dev);
1086
1087 indio_dev->dev.parent = dev;
1088 indio_dev->channels = bmg160_channels;
1089 indio_dev->num_channels = ARRAY_SIZE(bmg160_channels);
1090 indio_dev->name = name;
1091 indio_dev->available_scan_masks = bmg160_accel_scan_masks;
1092 indio_dev->modes = INDIO_DIRECT_MODE;
1093 indio_dev->info = &bmg160_info;
1094
1095 if (data->irq > 0) {
1096 ret = devm_request_threaded_irq(dev,
1097 data->irq,
1098 bmg160_data_rdy_trig_poll,
1099 bmg160_event_handler,
1100 IRQF_TRIGGER_RISING,
1101 BMG160_IRQ_NAME,
1102 indio_dev);
1103 if (ret)
1104 return ret;
1105
1106 data->dready_trig = devm_iio_trigger_alloc(dev,
1107 "%s-dev%d",
1108 indio_dev->name,
1109 indio_dev->id);
1110 if (!data->dready_trig)
1111 return -ENOMEM;
1112
1113 data->motion_trig = devm_iio_trigger_alloc(dev,
1114 "%s-any-motion-dev%d",
1115 indio_dev->name,
1116 indio_dev->id);
1117 if (!data->motion_trig)
1118 return -ENOMEM;
1119
1120 data->dready_trig->dev.parent = dev;
1121 data->dready_trig->ops = &bmg160_trigger_ops;
1122 iio_trigger_set_drvdata(data->dready_trig, indio_dev);
1123 ret = iio_trigger_register(data->dready_trig);
1124 if (ret)
1125 return ret;
1126
1127 data->motion_trig->dev.parent = dev;
1128 data->motion_trig->ops = &bmg160_trigger_ops;
1129 iio_trigger_set_drvdata(data->motion_trig, indio_dev);
1130 ret = iio_trigger_register(data->motion_trig);
1131 if (ret) {
1132 data->motion_trig = NULL;
1133 goto err_trigger_unregister;
1134 }
1135 }
1136
1137 ret = iio_triggered_buffer_setup(indio_dev,
1138 iio_pollfunc_store_time,
1139 bmg160_trigger_handler,
1140 &bmg160_buffer_setup_ops);
1141 if (ret < 0) {
1142 dev_err(dev,
1143 "iio triggered buffer setup failed\n");
1144 goto err_trigger_unregister;
1145 }
1146
1147 ret = pm_runtime_set_active(dev);
1148 if (ret)
1149 goto err_buffer_cleanup;
1150
1151 pm_runtime_enable(dev);
1152 pm_runtime_set_autosuspend_delay(dev,
1153 BMG160_AUTO_SUSPEND_DELAY_MS);
1154 pm_runtime_use_autosuspend(dev);
1155
1156 ret = iio_device_register(indio_dev);
1157 if (ret < 0) {
1158 dev_err(dev, "unable to register iio device\n");
1159 goto err_buffer_cleanup;
1160 }
1161
1162 return 0;
1163
1164err_buffer_cleanup:
1165 iio_triggered_buffer_cleanup(indio_dev);
1166err_trigger_unregister:
1167 if (data->dready_trig)
1168 iio_trigger_unregister(data->dready_trig);
1169 if (data->motion_trig)
1170 iio_trigger_unregister(data->motion_trig);
1171
1172 return ret;
1173}
1174EXPORT_SYMBOL_GPL(bmg160_core_probe);
1175
1176void bmg160_core_remove(struct device *dev)
1177{
1178 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1179 struct bmg160_data *data = iio_priv(indio_dev);
1180
1181 iio_device_unregister(indio_dev);
1182
1183 pm_runtime_disable(dev);
1184 pm_runtime_set_suspended(dev);
1185 pm_runtime_put_noidle(dev);
1186
1187 iio_triggered_buffer_cleanup(indio_dev);
1188
1189 if (data->dready_trig) {
1190 iio_trigger_unregister(data->dready_trig);
1191 iio_trigger_unregister(data->motion_trig);
1192 }
1193
1194 mutex_lock(&data->mutex);
1195 bmg160_set_mode(data, BMG160_MODE_DEEP_SUSPEND);
1196 mutex_unlock(&data->mutex);
1197}
1198EXPORT_SYMBOL_GPL(bmg160_core_remove);
1199
1200#ifdef CONFIG_PM_SLEEP
1201static int bmg160_suspend(struct device *dev)
1202{
1203 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1204 struct bmg160_data *data = iio_priv(indio_dev);
1205
1206 mutex_lock(&data->mutex);
1207 bmg160_set_mode(data, BMG160_MODE_SUSPEND);
1208 mutex_unlock(&data->mutex);
1209
1210 return 0;
1211}
1212
1213static int bmg160_resume(struct device *dev)
1214{
1215 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1216 struct bmg160_data *data = iio_priv(indio_dev);
1217
1218 mutex_lock(&data->mutex);
1219 if (data->dready_trigger_on || data->motion_trigger_on ||
1220 data->ev_enable_state)
1221 bmg160_set_mode(data, BMG160_MODE_NORMAL);
1222 mutex_unlock(&data->mutex);
1223
1224 return 0;
1225}
1226#endif
1227
1228#ifdef CONFIG_PM
1229static int bmg160_runtime_suspend(struct device *dev)
1230{
1231 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1232 struct bmg160_data *data = iio_priv(indio_dev);
1233 int ret;
1234
1235 ret = bmg160_set_mode(data, BMG160_MODE_SUSPEND);
1236 if (ret < 0) {
1237 dev_err(dev, "set mode failed\n");
1238 return -EAGAIN;
1239 }
1240
1241 return 0;
1242}
1243
1244static int bmg160_runtime_resume(struct device *dev)
1245{
1246 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1247 struct bmg160_data *data = iio_priv(indio_dev);
1248 int ret;
1249
1250 ret = bmg160_set_mode(data, BMG160_MODE_NORMAL);
1251 if (ret < 0)
1252 return ret;
1253
1254 msleep_interruptible(BMG160_MAX_STARTUP_TIME_MS);
1255
1256 return 0;
1257}
1258#endif
1259
1260const struct dev_pm_ops bmg160_pm_ops = {
1261 SET_SYSTEM_SLEEP_PM_OPS(bmg160_suspend, bmg160_resume)
1262 SET_RUNTIME_PM_OPS(bmg160_runtime_suspend,
1263 bmg160_runtime_resume, NULL)
1264};
1265EXPORT_SYMBOL_GPL(bmg160_pm_ops);
1266
1267MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com>");
1268MODULE_LICENSE("GPL v2");
1269MODULE_DESCRIPTION("BMG160 Gyro driver");
1270
