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7#include <linux/module.h>
8#include <linux/interrupt.h>
9#include <linux/delay.h>
10#include <linux/slab.h>
11#include <linux/acpi.h>
12#include <linux/pm.h>
13#include <linux/pm_runtime.h>
14#include <linux/iio/iio.h>
15#include <linux/iio/sysfs.h>
16#include <linux/iio/buffer.h>
17#include <linux/iio/trigger.h>
18#include <linux/iio/events.h>
19#include <linux/iio/trigger_consumer.h>
20#include <linux/iio/triggered_buffer.h>
21#include <linux/regmap.h>
22#include "bmg160.h"
23
24#define BMG160_IRQ_NAME "bmg160_event"
25
26#define BMG160_REG_CHIP_ID 0x00
27#define BMG160_CHIP_ID_VAL 0x0F
28
29#define BMG160_REG_PMU_LPW 0x11
30#define BMG160_MODE_NORMAL 0x00
31#define BMG160_MODE_DEEP_SUSPEND 0x20
32#define BMG160_MODE_SUSPEND 0x80
33
34#define BMG160_REG_RANGE 0x0F
35
36#define BMG160_RANGE_2000DPS 0
37#define BMG160_RANGE_1000DPS 1
38#define BMG160_RANGE_500DPS 2
39#define BMG160_RANGE_250DPS 3
40#define BMG160_RANGE_125DPS 4
41
42#define BMG160_REG_PMU_BW 0x10
43#define BMG160_NO_FILTER 0
44#define BMG160_DEF_BW 100
45#define BMG160_REG_PMU_BW_RES BIT(7)
46
47#define BMG160_GYRO_REG_RESET 0x14
48#define BMG160_GYRO_RESET_VAL 0xb6
49
50#define BMG160_REG_INT_MAP_0 0x17
51#define BMG160_INT_MAP_0_BIT_ANY BIT(1)
52
53#define BMG160_REG_INT_MAP_1 0x18
54#define BMG160_INT_MAP_1_BIT_NEW_DATA BIT(0)
55
56#define BMG160_REG_INT_RST_LATCH 0x21
57#define BMG160_INT_MODE_LATCH_RESET 0x80
58#define BMG160_INT_MODE_LATCH_INT 0x0F
59#define BMG160_INT_MODE_NON_LATCH_INT 0x00
60
61#define BMG160_REG_INT_EN_0 0x15
62#define BMG160_DATA_ENABLE_INT BIT(7)
63
64#define BMG160_REG_INT_EN_1 0x16
65#define BMG160_INT1_BIT_OD BIT(1)
66
67#define BMG160_REG_XOUT_L 0x02
68#define BMG160_AXIS_TO_REG(axis) (BMG160_REG_XOUT_L + (axis * 2))
69
70#define BMG160_REG_SLOPE_THRES 0x1B
71#define BMG160_SLOPE_THRES_MASK 0x0F
72
73#define BMG160_REG_MOTION_INTR 0x1C
74#define BMG160_INT_MOTION_X BIT(0)
75#define BMG160_INT_MOTION_Y BIT(1)
76#define BMG160_INT_MOTION_Z BIT(2)
77#define BMG160_ANY_DUR_MASK 0x30
78#define BMG160_ANY_DUR_SHIFT 4
79
80#define BMG160_REG_INT_STATUS_2 0x0B
81#define BMG160_ANY_MOTION_MASK 0x07
82#define BMG160_ANY_MOTION_BIT_X BIT(0)
83#define BMG160_ANY_MOTION_BIT_Y BIT(1)
84#define BMG160_ANY_MOTION_BIT_Z BIT(2)
85
86#define BMG160_REG_TEMP 0x08
87#define BMG160_TEMP_CENTER_VAL 23
88
89#define BMG160_MAX_STARTUP_TIME_MS 80
90
91#define BMG160_AUTO_SUSPEND_DELAY_MS 2000
92
93struct bmg160_data {
94 struct regmap *regmap;
95 struct iio_trigger *dready_trig;
96 struct iio_trigger *motion_trig;
97 struct iio_mount_matrix orientation;
98 struct mutex mutex;
99 s16 buffer[8];
100 u32 dps_range;
101 int ev_enable_state;
102 int slope_thres;
103 bool dready_trigger_on;
104 bool motion_trigger_on;
105 int irq;
106};
107
108enum bmg160_axis {
109 AXIS_X,
110 AXIS_Y,
111 AXIS_Z,
112 AXIS_MAX,
113};
114
115static const struct {
116 int odr;
117 int filter;
118 int bw_bits;
119} bmg160_samp_freq_table[] = { {100, 32, 0x07},
120 {200, 64, 0x06},
121 {100, 12, 0x05},
122 {200, 23, 0x04},
123 {400, 47, 0x03},
124 {1000, 116, 0x02},
125 {2000, 230, 0x01} };
126
127static const struct {
128 int scale;
129 int dps_range;
130} bmg160_scale_table[] = { { 1065, BMG160_RANGE_2000DPS},
131 { 532, BMG160_RANGE_1000DPS},
132 { 266, BMG160_RANGE_500DPS},
133 { 133, BMG160_RANGE_250DPS},
134 { 66, BMG160_RANGE_125DPS} };
135
136static int bmg160_set_mode(struct bmg160_data *data, u8 mode)
137{
138 struct device *dev = regmap_get_device(data->regmap);
139 int ret;
140
141 ret = regmap_write(data->regmap, BMG160_REG_PMU_LPW, mode);
142 if (ret < 0) {
143 dev_err(dev, "Error writing reg_pmu_lpw\n");
144 return ret;
145 }
146
147 return 0;
148}
149
150static int bmg160_convert_freq_to_bit(int val)
151{
152 int i;
153
154 for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
155 if (bmg160_samp_freq_table[i].odr == val)
156 return bmg160_samp_freq_table[i].bw_bits;
157 }
158
159 return -EINVAL;
160}
161
162static int bmg160_set_bw(struct bmg160_data *data, int val)
163{
164 struct device *dev = regmap_get_device(data->regmap);
165 int ret;
166 int bw_bits;
167
168 bw_bits = bmg160_convert_freq_to_bit(val);
169 if (bw_bits < 0)
170 return bw_bits;
171
172 ret = regmap_write(data->regmap, BMG160_REG_PMU_BW, bw_bits);
173 if (ret < 0) {
174 dev_err(dev, "Error writing reg_pmu_bw\n");
175 return ret;
176 }
177
178 return 0;
179}
180
181static int bmg160_get_filter(struct bmg160_data *data, int *val)
182{
183 struct device *dev = regmap_get_device(data->regmap);
184 int ret;
185 int i;
186 unsigned int bw_bits;
187
188 ret = regmap_read(data->regmap, BMG160_REG_PMU_BW, &bw_bits);
189 if (ret < 0) {
190 dev_err(dev, "Error reading reg_pmu_bw\n");
191 return ret;
192 }
193
194
195 bw_bits &= ~BMG160_REG_PMU_BW_RES;
196
197 for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
198 if (bmg160_samp_freq_table[i].bw_bits == bw_bits)
199 break;
200 }
201
202 *val = bmg160_samp_freq_table[i].filter;
203
204 return ret ? ret : IIO_VAL_INT;
205}
206
207
208static int bmg160_set_filter(struct bmg160_data *data, int val)
209{
210 struct device *dev = regmap_get_device(data->regmap);
211 int ret;
212 int i;
213
214 for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
215 if (bmg160_samp_freq_table[i].filter == val)
216 break;
217 }
218
219 ret = regmap_write(data->regmap, BMG160_REG_PMU_BW,
220 bmg160_samp_freq_table[i].bw_bits);
221 if (ret < 0) {
222 dev_err(dev, "Error writing reg_pmu_bw\n");
223 return ret;
224 }
225
226 return 0;
227}
228
229static int bmg160_chip_init(struct bmg160_data *data)
230{
231 struct device *dev = regmap_get_device(data->regmap);
232 int ret;
233 unsigned int val;
234
235
236
237
238
239 regmap_write(data->regmap, BMG160_GYRO_REG_RESET,
240 BMG160_GYRO_RESET_VAL);
241 usleep_range(30000, 30700);
242
243 ret = regmap_read(data->regmap, BMG160_REG_CHIP_ID, &val);
244 if (ret < 0) {
245 dev_err(dev, "Error reading reg_chip_id\n");
246 return ret;
247 }
248
249 dev_dbg(dev, "Chip Id %x\n", val);
250 if (val != BMG160_CHIP_ID_VAL) {
251 dev_err(dev, "invalid chip %x\n", val);
252 return -ENODEV;
253 }
254
255 ret = bmg160_set_mode(data, BMG160_MODE_NORMAL);
256 if (ret < 0)
257 return ret;
258
259
260 usleep_range(500, 1000);
261
262
263 ret = bmg160_set_bw(data, BMG160_DEF_BW);
264 if (ret < 0)
265 return ret;
266
267
268 ret = regmap_write(data->regmap, BMG160_REG_RANGE, BMG160_RANGE_500DPS);
269 if (ret < 0) {
270 dev_err(dev, "Error writing reg_range\n");
271 return ret;
272 }
273 data->dps_range = BMG160_RANGE_500DPS;
274
275 ret = regmap_read(data->regmap, BMG160_REG_SLOPE_THRES, &val);
276 if (ret < 0) {
277 dev_err(dev, "Error reading reg_slope_thres\n");
278 return ret;
279 }
280 data->slope_thres = val;
281
282
283 ret = regmap_update_bits(data->regmap, BMG160_REG_INT_EN_1,
284 BMG160_INT1_BIT_OD, 0);
285 if (ret < 0) {
286 dev_err(dev, "Error updating bits in reg_int_en_1\n");
287 return ret;
288 }
289
290 ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
291 BMG160_INT_MODE_LATCH_INT |
292 BMG160_INT_MODE_LATCH_RESET);
293 if (ret < 0) {
294 dev_err(dev,
295 "Error writing reg_motion_intr\n");
296 return ret;
297 }
298
299 return 0;
300}
301
302static int bmg160_set_power_state(struct bmg160_data *data, bool on)
303{
304#ifdef CONFIG_PM
305 struct device *dev = regmap_get_device(data->regmap);
306 int ret;
307
308 if (on)
309 ret = pm_runtime_get_sync(dev);
310 else {
311 pm_runtime_mark_last_busy(dev);
312 ret = pm_runtime_put_autosuspend(dev);
313 }
314
315 if (ret < 0) {
316 dev_err(dev, "Failed: bmg160_set_power_state for %d\n", on);
317
318 if (on)
319 pm_runtime_put_noidle(dev);
320
321 return ret;
322 }
323#endif
324
325 return 0;
326}
327
328static int bmg160_setup_any_motion_interrupt(struct bmg160_data *data,
329 bool status)
330{
331 struct device *dev = regmap_get_device(data->regmap);
332 int ret;
333
334
335 ret = regmap_update_bits(data->regmap, BMG160_REG_INT_MAP_0,
336 BMG160_INT_MAP_0_BIT_ANY,
337 (status ? BMG160_INT_MAP_0_BIT_ANY : 0));
338 if (ret < 0) {
339 dev_err(dev, "Error updating bits reg_int_map0\n");
340 return ret;
341 }
342
343
344 if (status) {
345
346 ret = regmap_write(data->regmap, BMG160_REG_SLOPE_THRES,
347 data->slope_thres);
348 if (ret < 0) {
349 dev_err(dev, "Error writing reg_slope_thres\n");
350 return ret;
351 }
352
353 ret = regmap_write(data->regmap, BMG160_REG_MOTION_INTR,
354 BMG160_INT_MOTION_X | BMG160_INT_MOTION_Y |
355 BMG160_INT_MOTION_Z);
356 if (ret < 0) {
357 dev_err(dev, "Error writing reg_motion_intr\n");
358 return ret;
359 }
360
361
362
363
364
365
366 if (!data->dready_trigger_on) {
367 ret = regmap_write(data->regmap,
368 BMG160_REG_INT_RST_LATCH,
369 BMG160_INT_MODE_LATCH_INT |
370 BMG160_INT_MODE_LATCH_RESET);
371 if (ret < 0) {
372 dev_err(dev, "Error writing reg_rst_latch\n");
373 return ret;
374 }
375 }
376
377 ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0,
378 BMG160_DATA_ENABLE_INT);
379
380 } else {
381 ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0, 0);
382 }
383
384 if (ret < 0) {
385 dev_err(dev, "Error writing reg_int_en0\n");
386 return ret;
387 }
388
389 return 0;
390}
391
392static int bmg160_setup_new_data_interrupt(struct bmg160_data *data,
393 bool status)
394{
395 struct device *dev = regmap_get_device(data->regmap);
396 int ret;
397
398
399 ret = regmap_update_bits(data->regmap, BMG160_REG_INT_MAP_1,
400 BMG160_INT_MAP_1_BIT_NEW_DATA,
401 (status ? BMG160_INT_MAP_1_BIT_NEW_DATA : 0));
402 if (ret < 0) {
403 dev_err(dev, "Error updating bits in reg_int_map1\n");
404 return ret;
405 }
406
407 if (status) {
408 ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
409 BMG160_INT_MODE_NON_LATCH_INT |
410 BMG160_INT_MODE_LATCH_RESET);
411 if (ret < 0) {
412 dev_err(dev, "Error writing reg_rst_latch\n");
413 return ret;
414 }
415
416 ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0,
417 BMG160_DATA_ENABLE_INT);
418
419 } else {
420
421 ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
422 BMG160_INT_MODE_LATCH_INT |
423 BMG160_INT_MODE_LATCH_RESET);
424 if (ret < 0) {
425 dev_err(dev, "Error writing reg_rst_latch\n");
426 return ret;
427 }
428
429 ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0, 0);
430 }
431
432 if (ret < 0) {
433 dev_err(dev, "Error writing reg_int_en0\n");
434 return ret;
435 }
436
437 return 0;
438}
439
440static int bmg160_get_bw(struct bmg160_data *data, int *val)
441{
442 struct device *dev = regmap_get_device(data->regmap);
443 int i;
444 unsigned int bw_bits;
445 int ret;
446
447 ret = regmap_read(data->regmap, BMG160_REG_PMU_BW, &bw_bits);
448 if (ret < 0) {
449 dev_err(dev, "Error reading reg_pmu_bw\n");
450 return ret;
451 }
452
453
454 bw_bits &= ~BMG160_REG_PMU_BW_RES;
455
456 for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
457 if (bmg160_samp_freq_table[i].bw_bits == bw_bits) {
458 *val = bmg160_samp_freq_table[i].odr;
459 return IIO_VAL_INT;
460 }
461 }
462
463 return -EINVAL;
464}
465
466static int bmg160_set_scale(struct bmg160_data *data, int val)
467{
468 struct device *dev = regmap_get_device(data->regmap);
469 int ret, i;
470
471 for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) {
472 if (bmg160_scale_table[i].scale == val) {
473 ret = regmap_write(data->regmap, BMG160_REG_RANGE,
474 bmg160_scale_table[i].dps_range);
475 if (ret < 0) {
476 dev_err(dev, "Error writing reg_range\n");
477 return ret;
478 }
479 data->dps_range = bmg160_scale_table[i].dps_range;
480 return 0;
481 }
482 }
483
484 return -EINVAL;
485}
486
487static int bmg160_get_temp(struct bmg160_data *data, int *val)
488{
489 struct device *dev = regmap_get_device(data->regmap);
490 int ret;
491 unsigned int raw_val;
492
493 mutex_lock(&data->mutex);
494 ret = bmg160_set_power_state(data, true);
495 if (ret < 0) {
496 mutex_unlock(&data->mutex);
497 return ret;
498 }
499
500 ret = regmap_read(data->regmap, BMG160_REG_TEMP, &raw_val);
501 if (ret < 0) {
502 dev_err(dev, "Error reading reg_temp\n");
503 bmg160_set_power_state(data, false);
504 mutex_unlock(&data->mutex);
505 return ret;
506 }
507
508 *val = sign_extend32(raw_val, 7);
509 ret = bmg160_set_power_state(data, false);
510 mutex_unlock(&data->mutex);
511 if (ret < 0)
512 return ret;
513
514 return IIO_VAL_INT;
515}
516
517static int bmg160_get_axis(struct bmg160_data *data, int axis, int *val)
518{
519 struct device *dev = regmap_get_device(data->regmap);
520 int ret;
521 __le16 raw_val;
522
523 mutex_lock(&data->mutex);
524 ret = bmg160_set_power_state(data, true);
525 if (ret < 0) {
526 mutex_unlock(&data->mutex);
527 return ret;
528 }
529
530 ret = regmap_bulk_read(data->regmap, BMG160_AXIS_TO_REG(axis), &raw_val,
531 sizeof(raw_val));
532 if (ret < 0) {
533 dev_err(dev, "Error reading axis %d\n", axis);
534 bmg160_set_power_state(data, false);
535 mutex_unlock(&data->mutex);
536 return ret;
537 }
538
539 *val = sign_extend32(le16_to_cpu(raw_val), 15);
540 ret = bmg160_set_power_state(data, false);
541 mutex_unlock(&data->mutex);
542 if (ret < 0)
543 return ret;
544
545 return IIO_VAL_INT;
546}
547
548static int bmg160_read_raw(struct iio_dev *indio_dev,
549 struct iio_chan_spec const *chan,
550 int *val, int *val2, long mask)
551{
552 struct bmg160_data *data = iio_priv(indio_dev);
553 int ret;
554
555 switch (mask) {
556 case IIO_CHAN_INFO_RAW:
557 switch (chan->type) {
558 case IIO_TEMP:
559 return bmg160_get_temp(data, val);
560 case IIO_ANGL_VEL:
561 if (iio_buffer_enabled(indio_dev))
562 return -EBUSY;
563 else
564 return bmg160_get_axis(data, chan->scan_index,
565 val);
566 default:
567 return -EINVAL;
568 }
569 case IIO_CHAN_INFO_OFFSET:
570 if (chan->type == IIO_TEMP) {
571 *val = BMG160_TEMP_CENTER_VAL;
572 return IIO_VAL_INT;
573 } else
574 return -EINVAL;
575 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
576 return bmg160_get_filter(data, val);
577 case IIO_CHAN_INFO_SCALE:
578 switch (chan->type) {
579 case IIO_TEMP:
580 *val = 500;
581 return IIO_VAL_INT;
582 case IIO_ANGL_VEL:
583 {
584 int i;
585
586 for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) {
587 if (bmg160_scale_table[i].dps_range ==
588 data->dps_range) {
589 *val = 0;
590 *val2 = bmg160_scale_table[i].scale;
591 return IIO_VAL_INT_PLUS_MICRO;
592 }
593 }
594 return -EINVAL;
595 }
596 default:
597 return -EINVAL;
598 }
599 case IIO_CHAN_INFO_SAMP_FREQ:
600 *val2 = 0;
601 mutex_lock(&data->mutex);
602 ret = bmg160_get_bw(data, val);
603 mutex_unlock(&data->mutex);
604 return ret;
605 default:
606 return -EINVAL;
607 }
608}
609
610static int bmg160_write_raw(struct iio_dev *indio_dev,
611 struct iio_chan_spec const *chan,
612 int val, int val2, long mask)
613{
614 struct bmg160_data *data = iio_priv(indio_dev);
615 int ret;
616
617 switch (mask) {
618 case IIO_CHAN_INFO_SAMP_FREQ:
619 mutex_lock(&data->mutex);
620
621
622
623
624
625
626
627 ret = bmg160_set_power_state(data, true);
628 if (ret < 0) {
629 mutex_unlock(&data->mutex);
630 return ret;
631 }
632 ret = bmg160_set_bw(data, val);
633 if (ret < 0) {
634 bmg160_set_power_state(data, false);
635 mutex_unlock(&data->mutex);
636 return ret;
637 }
638 ret = bmg160_set_power_state(data, false);
639 mutex_unlock(&data->mutex);
640 return ret;
641 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
642 if (val2)
643 return -EINVAL;
644
645 mutex_lock(&data->mutex);
646 ret = bmg160_set_power_state(data, true);
647 if (ret < 0) {
648 bmg160_set_power_state(data, false);
649 mutex_unlock(&data->mutex);
650 return ret;
651 }
652 ret = bmg160_set_filter(data, val);
653 if (ret < 0) {
654 bmg160_set_power_state(data, false);
655 mutex_unlock(&data->mutex);
656 return ret;
657 }
658 ret = bmg160_set_power_state(data, false);
659 mutex_unlock(&data->mutex);
660 return ret;
661 case IIO_CHAN_INFO_SCALE:
662 if (val)
663 return -EINVAL;
664
665 mutex_lock(&data->mutex);
666
667 ret = bmg160_set_power_state(data, true);
668 if (ret < 0) {
669 mutex_unlock(&data->mutex);
670 return ret;
671 }
672 ret = bmg160_set_scale(data, val2);
673 if (ret < 0) {
674 bmg160_set_power_state(data, false);
675 mutex_unlock(&data->mutex);
676 return ret;
677 }
678 ret = bmg160_set_power_state(data, false);
679 mutex_unlock(&data->mutex);
680 return ret;
681 default:
682 return -EINVAL;
683 }
684
685 return -EINVAL;
686}
687
688static int bmg160_read_event(struct iio_dev *indio_dev,
689 const struct iio_chan_spec *chan,
690 enum iio_event_type type,
691 enum iio_event_direction dir,
692 enum iio_event_info info,
693 int *val, int *val2)
694{
695 struct bmg160_data *data = iio_priv(indio_dev);
696
697 *val2 = 0;
698 switch (info) {
699 case IIO_EV_INFO_VALUE:
700 *val = data->slope_thres & BMG160_SLOPE_THRES_MASK;
701 break;
702 default:
703 return -EINVAL;
704 }
705
706 return IIO_VAL_INT;
707}
708
709static int bmg160_write_event(struct iio_dev *indio_dev,
710 const struct iio_chan_spec *chan,
711 enum iio_event_type type,
712 enum iio_event_direction dir,
713 enum iio_event_info info,
714 int val, int val2)
715{
716 struct bmg160_data *data = iio_priv(indio_dev);
717
718 switch (info) {
719 case IIO_EV_INFO_VALUE:
720 if (data->ev_enable_state)
721 return -EBUSY;
722 data->slope_thres &= ~BMG160_SLOPE_THRES_MASK;
723 data->slope_thres |= (val & BMG160_SLOPE_THRES_MASK);
724 break;
725 default:
726 return -EINVAL;
727 }
728
729 return 0;
730}
731
732static int bmg160_read_event_config(struct iio_dev *indio_dev,
733 const struct iio_chan_spec *chan,
734 enum iio_event_type type,
735 enum iio_event_direction dir)
736{
737
738 struct bmg160_data *data = iio_priv(indio_dev);
739
740 return data->ev_enable_state;
741}
742
743static int bmg160_write_event_config(struct iio_dev *indio_dev,
744 const struct iio_chan_spec *chan,
745 enum iio_event_type type,
746 enum iio_event_direction dir,
747 int state)
748{
749 struct bmg160_data *data = iio_priv(indio_dev);
750 int ret;
751
752 if (state && data->ev_enable_state)
753 return 0;
754
755 mutex_lock(&data->mutex);
756
757 if (!state && data->motion_trigger_on) {
758 data->ev_enable_state = 0;
759 mutex_unlock(&data->mutex);
760 return 0;
761 }
762
763
764
765
766
767
768
769
770
771 ret = bmg160_set_power_state(data, state);
772 if (ret < 0) {
773 mutex_unlock(&data->mutex);
774 return ret;
775 }
776
777 ret = bmg160_setup_any_motion_interrupt(data, state);
778 if (ret < 0) {
779 bmg160_set_power_state(data, false);
780 mutex_unlock(&data->mutex);
781 return ret;
782 }
783
784 data->ev_enable_state = state;
785 mutex_unlock(&data->mutex);
786
787 return 0;
788}
789
790static const struct iio_mount_matrix *
791bmg160_get_mount_matrix(const struct iio_dev *indio_dev,
792 const struct iio_chan_spec *chan)
793{
794 struct bmg160_data *data = iio_priv(indio_dev);
795
796 return &data->orientation;
797}
798
799static const struct iio_chan_spec_ext_info bmg160_ext_info[] = {
800 IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, bmg160_get_mount_matrix),
801 { }
802};
803
804static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("100 200 400 1000 2000");
805
806static IIO_CONST_ATTR(in_anglvel_scale_available,
807 "0.001065 0.000532 0.000266 0.000133 0.000066");
808
809static struct attribute *bmg160_attributes[] = {
810 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
811 &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
812 NULL,
813};
814
815static const struct attribute_group bmg160_attrs_group = {
816 .attrs = bmg160_attributes,
817};
818
819static const struct iio_event_spec bmg160_event = {
820 .type = IIO_EV_TYPE_ROC,
821 .dir = IIO_EV_DIR_EITHER,
822 .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) |
823 BIT(IIO_EV_INFO_ENABLE)
824};
825
826#define BMG160_CHANNEL(_axis) { \
827 .type = IIO_ANGL_VEL, \
828 .modified = 1, \
829 .channel2 = IIO_MOD_##_axis, \
830 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
831 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
832 BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
833 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
834 .scan_index = AXIS_##_axis, \
835 .scan_type = { \
836 .sign = 's', \
837 .realbits = 16, \
838 .storagebits = 16, \
839 .endianness = IIO_LE, \
840 }, \
841 .ext_info = bmg160_ext_info, \
842 .event_spec = &bmg160_event, \
843 .num_event_specs = 1 \
844}
845
846static const struct iio_chan_spec bmg160_channels[] = {
847 {
848 .type = IIO_TEMP,
849 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
850 BIT(IIO_CHAN_INFO_SCALE) |
851 BIT(IIO_CHAN_INFO_OFFSET),
852 .scan_index = -1,
853 },
854 BMG160_CHANNEL(X),
855 BMG160_CHANNEL(Y),
856 BMG160_CHANNEL(Z),
857 IIO_CHAN_SOFT_TIMESTAMP(3),
858};
859
860static const struct iio_info bmg160_info = {
861 .attrs = &bmg160_attrs_group,
862 .read_raw = bmg160_read_raw,
863 .write_raw = bmg160_write_raw,
864 .read_event_value = bmg160_read_event,
865 .write_event_value = bmg160_write_event,
866 .write_event_config = bmg160_write_event_config,
867 .read_event_config = bmg160_read_event_config,
868};
869
870static const unsigned long bmg160_accel_scan_masks[] = {
871 BIT(AXIS_X) | BIT(AXIS_Y) | BIT(AXIS_Z),
872 0};
873
874static irqreturn_t bmg160_trigger_handler(int irq, void *p)
875{
876 struct iio_poll_func *pf = p;
877 struct iio_dev *indio_dev = pf->indio_dev;
878 struct bmg160_data *data = iio_priv(indio_dev);
879 int ret;
880
881 mutex_lock(&data->mutex);
882 ret = regmap_bulk_read(data->regmap, BMG160_REG_XOUT_L,
883 data->buffer, AXIS_MAX * 2);
884 mutex_unlock(&data->mutex);
885 if (ret < 0)
886 goto err;
887
888 iio_push_to_buffers_with_timestamp(indio_dev, data->buffer,
889 pf->timestamp);
890err:
891 iio_trigger_notify_done(indio_dev->trig);
892
893 return IRQ_HANDLED;
894}
895
896static int bmg160_trig_try_reen(struct iio_trigger *trig)
897{
898 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
899 struct bmg160_data *data = iio_priv(indio_dev);
900 struct device *dev = regmap_get_device(data->regmap);
901 int ret;
902
903
904 if (data->dready_trigger_on)
905 return 0;
906
907
908 ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
909 BMG160_INT_MODE_LATCH_INT |
910 BMG160_INT_MODE_LATCH_RESET);
911 if (ret < 0) {
912 dev_err(dev, "Error writing reg_rst_latch\n");
913 return ret;
914 }
915
916 return 0;
917}
918
919static int bmg160_data_rdy_trigger_set_state(struct iio_trigger *trig,
920 bool state)
921{
922 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
923 struct bmg160_data *data = iio_priv(indio_dev);
924 int ret;
925
926 mutex_lock(&data->mutex);
927
928 if (!state && data->ev_enable_state && data->motion_trigger_on) {
929 data->motion_trigger_on = false;
930 mutex_unlock(&data->mutex);
931 return 0;
932 }
933
934
935
936
937
938 ret = bmg160_set_power_state(data, state);
939 if (ret < 0) {
940 mutex_unlock(&data->mutex);
941 return ret;
942 }
943 if (data->motion_trig == trig)
944 ret = bmg160_setup_any_motion_interrupt(data, state);
945 else
946 ret = bmg160_setup_new_data_interrupt(data, state);
947 if (ret < 0) {
948 bmg160_set_power_state(data, false);
949 mutex_unlock(&data->mutex);
950 return ret;
951 }
952 if (data->motion_trig == trig)
953 data->motion_trigger_on = state;
954 else
955 data->dready_trigger_on = state;
956
957 mutex_unlock(&data->mutex);
958
959 return 0;
960}
961
962static const struct iio_trigger_ops bmg160_trigger_ops = {
963 .set_trigger_state = bmg160_data_rdy_trigger_set_state,
964 .try_reenable = bmg160_trig_try_reen,
965};
966
967static irqreturn_t bmg160_event_handler(int irq, void *private)
968{
969 struct iio_dev *indio_dev = private;
970 struct bmg160_data *data = iio_priv(indio_dev);
971 struct device *dev = regmap_get_device(data->regmap);
972 int ret;
973 int dir;
974 unsigned int val;
975
976 ret = regmap_read(data->regmap, BMG160_REG_INT_STATUS_2, &val);
977 if (ret < 0) {
978 dev_err(dev, "Error reading reg_int_status2\n");
979 goto ack_intr_status;
980 }
981
982 if (val & 0x08)
983 dir = IIO_EV_DIR_RISING;
984 else
985 dir = IIO_EV_DIR_FALLING;
986
987 if (val & BMG160_ANY_MOTION_BIT_X)
988 iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL,
989 0,
990 IIO_MOD_X,
991 IIO_EV_TYPE_ROC,
992 dir),
993 iio_get_time_ns(indio_dev));
994 if (val & BMG160_ANY_MOTION_BIT_Y)
995 iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL,
996 0,
997 IIO_MOD_Y,
998 IIO_EV_TYPE_ROC,
999 dir),
1000 iio_get_time_ns(indio_dev));
1001 if (val & BMG160_ANY_MOTION_BIT_Z)
1002 iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL,
1003 0,
1004 IIO_MOD_Z,
1005 IIO_EV_TYPE_ROC,
1006 dir),
1007 iio_get_time_ns(indio_dev));
1008
1009ack_intr_status:
1010 if (!data->dready_trigger_on) {
1011 ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH,
1012 BMG160_INT_MODE_LATCH_INT |
1013 BMG160_INT_MODE_LATCH_RESET);
1014 if (ret < 0)
1015 dev_err(dev, "Error writing reg_rst_latch\n");
1016 }
1017
1018 return IRQ_HANDLED;
1019}
1020
1021static irqreturn_t bmg160_data_rdy_trig_poll(int irq, void *private)
1022{
1023 struct iio_dev *indio_dev = private;
1024 struct bmg160_data *data = iio_priv(indio_dev);
1025
1026 if (data->dready_trigger_on)
1027 iio_trigger_poll(data->dready_trig);
1028 else if (data->motion_trigger_on)
1029 iio_trigger_poll(data->motion_trig);
1030
1031 if (data->ev_enable_state)
1032 return IRQ_WAKE_THREAD;
1033 else
1034 return IRQ_HANDLED;
1035
1036}
1037
1038static int bmg160_buffer_preenable(struct iio_dev *indio_dev)
1039{
1040 struct bmg160_data *data = iio_priv(indio_dev);
1041
1042 return bmg160_set_power_state(data, true);
1043}
1044
1045static int bmg160_buffer_postdisable(struct iio_dev *indio_dev)
1046{
1047 struct bmg160_data *data = iio_priv(indio_dev);
1048
1049 return bmg160_set_power_state(data, false);
1050}
1051
1052static const struct iio_buffer_setup_ops bmg160_buffer_setup_ops = {
1053 .preenable = bmg160_buffer_preenable,
1054 .postenable = iio_triggered_buffer_postenable,
1055 .predisable = iio_triggered_buffer_predisable,
1056 .postdisable = bmg160_buffer_postdisable,
1057};
1058
1059static const char *bmg160_match_acpi_device(struct device *dev)
1060{
1061 const struct acpi_device_id *id;
1062
1063 id = acpi_match_device(dev->driver->acpi_match_table, dev);
1064 if (!id)
1065 return NULL;
1066
1067 return dev_name(dev);
1068}
1069
1070int bmg160_core_probe(struct device *dev, struct regmap *regmap, int irq,
1071 const char *name)
1072{
1073 struct bmg160_data *data;
1074 struct iio_dev *indio_dev;
1075 int ret;
1076
1077 indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
1078 if (!indio_dev)
1079 return -ENOMEM;
1080
1081 data = iio_priv(indio_dev);
1082 dev_set_drvdata(dev, indio_dev);
1083 data->irq = irq;
1084 data->regmap = regmap;
1085
1086 ret = iio_read_mount_matrix(dev, "mount-matrix",
1087 &data->orientation);
1088 if (ret)
1089 return ret;
1090
1091 ret = bmg160_chip_init(data);
1092 if (ret < 0)
1093 return ret;
1094
1095 mutex_init(&data->mutex);
1096
1097 if (ACPI_HANDLE(dev))
1098 name = bmg160_match_acpi_device(dev);
1099
1100 indio_dev->dev.parent = dev;
1101 indio_dev->channels = bmg160_channels;
1102 indio_dev->num_channels = ARRAY_SIZE(bmg160_channels);
1103 indio_dev->name = name;
1104 indio_dev->available_scan_masks = bmg160_accel_scan_masks;
1105 indio_dev->modes = INDIO_DIRECT_MODE;
1106 indio_dev->info = &bmg160_info;
1107
1108 if (data->irq > 0) {
1109 ret = devm_request_threaded_irq(dev,
1110 data->irq,
1111 bmg160_data_rdy_trig_poll,
1112 bmg160_event_handler,
1113 IRQF_TRIGGER_RISING,
1114 BMG160_IRQ_NAME,
1115 indio_dev);
1116 if (ret)
1117 return ret;
1118
1119 data->dready_trig = devm_iio_trigger_alloc(dev,
1120 "%s-dev%d",
1121 indio_dev->name,
1122 indio_dev->id);
1123 if (!data->dready_trig)
1124 return -ENOMEM;
1125
1126 data->motion_trig = devm_iio_trigger_alloc(dev,
1127 "%s-any-motion-dev%d",
1128 indio_dev->name,
1129 indio_dev->id);
1130 if (!data->motion_trig)
1131 return -ENOMEM;
1132
1133 data->dready_trig->dev.parent = dev;
1134 data->dready_trig->ops = &bmg160_trigger_ops;
1135 iio_trigger_set_drvdata(data->dready_trig, indio_dev);
1136 ret = iio_trigger_register(data->dready_trig);
1137 if (ret)
1138 return ret;
1139
1140 data->motion_trig->dev.parent = dev;
1141 data->motion_trig->ops = &bmg160_trigger_ops;
1142 iio_trigger_set_drvdata(data->motion_trig, indio_dev);
1143 ret = iio_trigger_register(data->motion_trig);
1144 if (ret) {
1145 data->motion_trig = NULL;
1146 goto err_trigger_unregister;
1147 }
1148 }
1149
1150 ret = iio_triggered_buffer_setup(indio_dev,
1151 iio_pollfunc_store_time,
1152 bmg160_trigger_handler,
1153 &bmg160_buffer_setup_ops);
1154 if (ret < 0) {
1155 dev_err(dev,
1156 "iio triggered buffer setup failed\n");
1157 goto err_trigger_unregister;
1158 }
1159
1160 ret = pm_runtime_set_active(dev);
1161 if (ret)
1162 goto err_buffer_cleanup;
1163
1164 pm_runtime_enable(dev);
1165 pm_runtime_set_autosuspend_delay(dev,
1166 BMG160_AUTO_SUSPEND_DELAY_MS);
1167 pm_runtime_use_autosuspend(dev);
1168
1169 ret = iio_device_register(indio_dev);
1170 if (ret < 0) {
1171 dev_err(dev, "unable to register iio device\n");
1172 goto err_buffer_cleanup;
1173 }
1174
1175 return 0;
1176
1177err_buffer_cleanup:
1178 iio_triggered_buffer_cleanup(indio_dev);
1179err_trigger_unregister:
1180 if (data->dready_trig)
1181 iio_trigger_unregister(data->dready_trig);
1182 if (data->motion_trig)
1183 iio_trigger_unregister(data->motion_trig);
1184
1185 return ret;
1186}
1187EXPORT_SYMBOL_GPL(bmg160_core_probe);
1188
1189void bmg160_core_remove(struct device *dev)
1190{
1191 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1192 struct bmg160_data *data = iio_priv(indio_dev);
1193
1194 iio_device_unregister(indio_dev);
1195
1196 pm_runtime_disable(dev);
1197 pm_runtime_set_suspended(dev);
1198 pm_runtime_put_noidle(dev);
1199
1200 iio_triggered_buffer_cleanup(indio_dev);
1201
1202 if (data->dready_trig) {
1203 iio_trigger_unregister(data->dready_trig);
1204 iio_trigger_unregister(data->motion_trig);
1205 }
1206
1207 mutex_lock(&data->mutex);
1208 bmg160_set_mode(data, BMG160_MODE_DEEP_SUSPEND);
1209 mutex_unlock(&data->mutex);
1210}
1211EXPORT_SYMBOL_GPL(bmg160_core_remove);
1212
1213#ifdef CONFIG_PM_SLEEP
1214static int bmg160_suspend(struct device *dev)
1215{
1216 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1217 struct bmg160_data *data = iio_priv(indio_dev);
1218
1219 mutex_lock(&data->mutex);
1220 bmg160_set_mode(data, BMG160_MODE_SUSPEND);
1221 mutex_unlock(&data->mutex);
1222
1223 return 0;
1224}
1225
1226static int bmg160_resume(struct device *dev)
1227{
1228 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1229 struct bmg160_data *data = iio_priv(indio_dev);
1230
1231 mutex_lock(&data->mutex);
1232 if (data->dready_trigger_on || data->motion_trigger_on ||
1233 data->ev_enable_state)
1234 bmg160_set_mode(data, BMG160_MODE_NORMAL);
1235 mutex_unlock(&data->mutex);
1236
1237 return 0;
1238}
1239#endif
1240
1241#ifdef CONFIG_PM
1242static int bmg160_runtime_suspend(struct device *dev)
1243{
1244 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1245 struct bmg160_data *data = iio_priv(indio_dev);
1246 int ret;
1247
1248 ret = bmg160_set_mode(data, BMG160_MODE_SUSPEND);
1249 if (ret < 0) {
1250 dev_err(dev, "set mode failed\n");
1251 return -EAGAIN;
1252 }
1253
1254 return 0;
1255}
1256
1257static int bmg160_runtime_resume(struct device *dev)
1258{
1259 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1260 struct bmg160_data *data = iio_priv(indio_dev);
1261 int ret;
1262
1263 ret = bmg160_set_mode(data, BMG160_MODE_NORMAL);
1264 if (ret < 0)
1265 return ret;
1266
1267 msleep_interruptible(BMG160_MAX_STARTUP_TIME_MS);
1268
1269 return 0;
1270}
1271#endif
1272
1273const struct dev_pm_ops bmg160_pm_ops = {
1274 SET_SYSTEM_SLEEP_PM_OPS(bmg160_suspend, bmg160_resume)
1275 SET_RUNTIME_PM_OPS(bmg160_runtime_suspend,
1276 bmg160_runtime_resume, NULL)
1277};
1278EXPORT_SYMBOL_GPL(bmg160_pm_ops);
1279
1280MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com>");
1281MODULE_LICENSE("GPL v2");
1282MODULE_DESCRIPTION("BMG160 Gyro driver");
1283
