[PATCH v9 0/2] iio: imu: smi240: add bosch smi240 driver

[PATCH v9 0/2] iio: imu: smi240: add bosch smi240 driver

[Jianping.Shen]

From: Shen Jianping <Jianping.Shen@de.bosch.com>

Add the iio driver for bosch imu smi240. The smi240 is a combined
three axis angular rate and three axis acceleration sensor module
with a measurement range of +/-300°/s and up to 16g. This driver
provides raw data access for each axis through sysfs, and tiggered
buffer for continuous sampling. A synchronous acc and gyro sampling
can be triggered by setting the capture bit in spi read command.

dt-bindings: 
v1 -> v2
    - Add more detail in description
    - Add maintainer
    - Add vdd and vddio power supply
    - Use generic node name
    - Order the properties according to DTS coding style

v2 -> v3
    - Improve description
    - Improve supply definition
    - Make supply definition as required
    - Add supply definition in example

v3 -> v4
    - No changes

v4 -> v5
    - No changes

v5 -> v6
    - Fix checkpatch findings

v6 -> v7
    - No changes

v7 -> v8
    - No changes

v8 -> v9
    - No changes

imu driver:
v1 -> v2
    - Use regmap for register access
    - Redefine channel for each singel axis
    - Provide triggered buffer
    - Fix findings in Kconfig
    - Remove unimportant functions

v2 -> v3
    - Use enum für capture mode
    - Using spi default init value instead manual init 
    - remove duplicated module declaration
    - Fix code to avoid warning

v3 -> v4
    - Use DMA safe buffer
    - Use channel info instead of custom ABI
    - Fix other findings

v4 -> v5
    - Merge the implementation in one simple file
    - Add channel info for acc/gyro data channel
    - Fix other findings

v5 -> v6
    - Fix checkpatch findings
    - Fix review findings

v6 -> v7
    - Fix offset and scale

v7 -> v8
    - Use memcpy in spi write to keep CPU endian
    - Fix some minor findings

v8 -> v9
    - remove unnecessary cpu_to_le16 for reg value in spi response
    - use REGMAP_ENDIAN_NATIVE in regmap config to avoid regmap to flip the reg value when passing to spi write

Shen Jianping (2):
  dt-bindings: iio: imu: smi240: add Bosch smi240
  iio: imu: smi240: add driver

 .../bindings/iio/imu/bosch,smi240.yaml        |  51 ++
 drivers/iio/imu/Kconfig                       |  14 +
 drivers/iio/imu/Makefile                      |   2 +
 drivers/iio/imu/smi240.c                      | 622 ++++++++++++++++++
 4 files changed, 689 insertions(+)
 create mode 100644 Documentation/devicetree/bindings/iio/imu/bosch,smi240.yaml
 create mode 100644 drivers/iio/imu/smi240.c

-- 
2.34.1

[PATCH v9 1/2] dt-bindings: iio: imu: smi240: add Bosch smi240

[Jianping.Shen]

From: Shen Jianping <Jianping.Shen@de.bosch.com>

add devicetree binding for Bosch imu smi240.
The smi240 is a combined three axis angular rate and
three axis acceleration sensor module.

* The smi240 requires VDD and VDDIO
* Provides only spi interface.

Reviewed-by: Rob Herring (Arm) <robh@kernel.org>
Reviewed-by: Krzysztof Kozlowski <krzysztof.kozlowski@linaro.org>
Reviewed-by: Conor Dooley <conor.dooley@microchip.com>
Signed-off-by: Shen Jianping <Jianping.Shen@de.bosch.com>
---
 .../bindings/iio/imu/bosch,smi240.yaml        | 51 +++++++++++++++++++
 1 file changed, 51 insertions(+)
 create mode 100644 Documentation/devicetree/bindings/iio/imu/bosch,smi240.yaml

diff --git a/Documentation/devicetree/bindings/iio/imu/bosch,smi240.yaml b/Documentation/devicetree/bindings/iio/imu/bosch,smi240.yaml
new file mode 100644
index 00000000000..58f1411728f
--- /dev/null
+++ b/Documentation/devicetree/bindings/iio/imu/bosch,smi240.yaml
@@ -0,0 +1,51 @@
+# SPDX-License-Identifier: (GPL-2.0 OR BSD-2-Clause)
+%YAML 1.2
+---
+$id: http://devicetree.org/schemas/iio/imu/bosch,smi240.yaml#
+$schema: http://devicetree.org/meta-schemas/core.yaml#
+
+title: Bosch smi240 imu
+
+maintainers:
+  - Jianping Shen <Jianping.Shen@de.bosch.com>
+
+description:
+  Inertial Measurement Unit with Accelerometer and Gyroscope
+  with a measurement range of +/-300°/s and up to 16g.
+  https://www.bosch-semiconductors.com/mems-sensors/highly-automated-driving/smi240/
+
+properties:
+  compatible:
+    const: bosch,smi240
+
+  reg:
+    maxItems: 1
+
+  vdd-supply: true
+  vddio-supply: true
+
+required:
+  - compatible
+  - reg
+  - vdd-supply
+  - vddio-supply
+
+allOf:
+  - $ref: /schemas/spi/spi-peripheral-props.yaml#
+
+unevaluatedProperties: false
+
+examples:
+  - |
+    spi {
+        #address-cells = <1>;
+        #size-cells = <0>;
+
+        imu@0 {
+            compatible = "bosch,smi240";
+            reg = <0>;
+            vdd-supply = <&vdd>;
+            vddio-supply = <&vddio>;
+            spi-max-frequency = <10000000>;
+        };
+    };
-- 
2.34.1

[PATCH v9 2/2] iio: imu: smi240: add driver

[Jianping.Shen]

From: Shen Jianping <Jianping.Shen@de.bosch.com>

add the iio driver for bosch imu smi240. The smi240 is a combined
three axis angular rate and three axis acceleration sensor module
with a measurement range of +/-300°/s and up to 16g. A synchronous
acc and gyro sampling can be triggered by setting the capture bit
in spi read command.

Implemented features:
* raw data access for each axis through sysfs
* tiggered buffer for continuous sampling
* synchronous acc and gyro data from tiggered buffer

Signed-off-by: Shen Jianping <Jianping.Shen@de.bosch.com>
---
 drivers/iio/imu/Kconfig  |  14 +
 drivers/iio/imu/Makefile |   2 +
 drivers/iio/imu/smi240.c | 622 +++++++++++++++++++++++++++++++++++++++
 3 files changed, 638 insertions(+)
 create mode 100644 drivers/iio/imu/smi240.c

diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
index 52a155ff325..59d7f3cf8f0 100644
--- a/drivers/iio/imu/Kconfig
+++ b/drivers/iio/imu/Kconfig
@@ -96,6 +96,20 @@ config KMX61
 
 source "drivers/iio/imu/inv_icm42600/Kconfig"
 source "drivers/iio/imu/inv_mpu6050/Kconfig"
+
+config SMI240
+	tristate "Bosch Sensor SMI240 Inertial Measurement Unit"
+	depends on SPI
+	select REGMAP_SPI
+	select IIO_BUFFER
+	select IIO_TRIGGERED_BUFFER
+	help
+	  If you say yes here you get support for SMI240 IMU on SPI with
+	  accelerometer and gyroscope.
+
+	  This driver can also be built as a module. If so, the module will be
+	  called smi240.
+
 source "drivers/iio/imu/st_lsm6dsx/Kconfig"
 source "drivers/iio/imu/st_lsm9ds0/Kconfig"
 
diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
index 7e2d7d5c3b7..ca9c4db7725 100644
--- a/drivers/iio/imu/Makefile
+++ b/drivers/iio/imu/Makefile
@@ -27,5 +27,7 @@ obj-y += inv_mpu6050/
 
 obj-$(CONFIG_KMX61) += kmx61.o
 
+obj-$(CONFIG_SMI240) += smi240.o
+
 obj-y += st_lsm6dsx/
 obj-y += st_lsm9ds0/
diff --git a/drivers/iio/imu/smi240.c b/drivers/iio/imu/smi240.c
new file mode 100644
index 00000000000..eb292ebf189
--- /dev/null
+++ b/drivers/iio/imu/smi240.c
@@ -0,0 +1,622 @@
+// SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0
+/*
+ * Copyright (c) 2024 Robert Bosch GmbH.
+ */
+#include <linux/bitfield.h>
+#include <linux/bits.h>
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+#include <linux/units.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#include <asm/unaligned.h>
+
+#define SMI240_CHIP_ID 0x0024
+
+#define SMI240_SOFT_CONFIG_EOC_MASK BIT(0)
+#define SMI240_SOFT_CONFIG_GYR_BW_MASK BIT(1)
+#define SMI240_SOFT_CONFIG_ACC_BW_MASK BIT(2)
+#define SMI240_SOFT_CONFIG_BITE_AUTO_MASK BIT(3)
+#define SMI240_SOFT_CONFIG_BITE_REP_MASK GENMASK(6, 4)
+
+#define SMI240_CHIP_ID_REG 0x00
+#define SMI240_SOFT_CONFIG_REG 0x0A
+#define SMI240_TEMP_CUR_REG 0x10
+#define SMI240_ACCEL_X_CUR_REG 0x11
+#define SMI240_GYRO_X_CUR_REG 0x14
+#define SMI240_DATA_CAP_FIRST_REG 0x17
+#define SMI240_CMD_REG 0x2F
+
+#define SMI240_SOFT_RESET_CMD 0xB6
+
+#define SMI240_BITE_SEQUENCE_DELAY_US 140000
+#define SMI240_FILTER_FLUSH_DELAY_US 60000
+#define SMI240_DIGITAL_STARTUP_DELAY_US 120000
+#define SMI240_MECH_STARTUP_DELAY_US 100000
+
+#define SMI240_BUS_ID 0x00
+#define SMI240_CRC_INIT 0x05
+#define SMI240_CRC_POLY 0x0B
+#define SMI240_CRC_MASK GENMASK(2, 0)
+
+#define SMI240_READ_SD_BIT_MASK BIT(31)
+#define SMI240_READ_DATA_MASK GENMASK(19, 4)
+#define SMI240_READ_CS_BIT_MASK BIT(3)
+
+#define SMI240_WRITE_BUS_ID_MASK GENMASK(31, 30)
+#define SMI240_WRITE_ADDR_MASK GENMASK(29, 22)
+#define SMI240_WRITE_BIT_MASK BIT(21)
+#define SMI240_WRITE_CAP_BIT_MASK BIT(20)
+#define SMI240_WRITE_DATA_MASK GENMASK(18, 3)
+
+/* T°C = (temp / 256) + 25 */
+#define SMI240_TEMP_OFFSET 6400   /* 25 * 256 */
+#define SMI240_TEMP_SCALE 3906250 /* (1 / 256) * 1e9 */
+
+#define SMI240_ACCEL_SCALE 500  /* (1 / 2000) * 1e6 */
+#define SMI240_GYRO_SCALE 10000 /* (1 /  100) * 1e6 */
+
+#define SMI240_LOW_BANDWIDTH_HZ 50
+#define SMI240_HIGH_BANDWIDTH_HZ 400
+
+#define SMI240_BUILT_IN_SELF_TEST_COUNT 3
+
+#define SMI240_DATA_CHANNEL(_type, _axis, _index) {			\
+	.type = _type,							\
+	.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_LOW_PASS_FILTER_3DB_FREQUENCY),	\
+	.info_mask_shared_by_type_available =				\
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),	\
+	.scan_index = _index,						\
+	.scan_type = {							\
+		.sign = 's',						\
+		.realbits = 16,						\
+		.storagebits = 16,					\
+		.endianness = IIO_CPU,					\
+	},								\
+}
+
+#define SMI240_TEMP_CHANNEL(_index) {			\
+	.type = IIO_TEMP,				\
+	.modified = 1,					\
+	.channel2 = IIO_MOD_TEMP_OBJECT,		\
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |	\
+		BIT(IIO_CHAN_INFO_OFFSET) |		\
+		BIT(IIO_CHAN_INFO_SCALE),		\
+	.scan_index = _index,				\
+	.scan_type = {					\
+		.sign = 's',				\
+		.realbits = 16,				\
+		.storagebits = 16,			\
+		.endianness = IIO_CPU,			\
+	},						\
+}
+
+enum capture_mode { SMI240_CAPTURE_OFF = 0, SMI240_CAPTURE_ON = 1 };
+
+struct smi240_data {
+	struct regmap *regmap;
+	u16 accel_filter_freq;
+	u16 anglvel_filter_freq;
+	u8 built_in_self_test_count;
+	enum capture_mode capture;
+	/*
+	 * Ensure natural alignment for timestamp if present.
+	 * Channel size: 2 bytes.
+	 * Max length needed: 2 * 3 channels + temp channel + 2 bytes padding + 8 byte ts.
+	 * If fewer channels are enabled, less space may be needed, as
+	 * long as the timestamp is still aligned to 8 bytes.
+	 */
+	s16 buf[12] __aligned(8);
+
+	__be32 spi_buf __aligned(IIO_DMA_MINALIGN);
+};
+
+enum {
+	SMI240_TEMP_OBJECT,
+	SMI240_SCAN_ACCEL_X,
+	SMI240_SCAN_ACCEL_Y,
+	SMI240_SCAN_ACCEL_Z,
+	SMI240_SCAN_GYRO_X,
+	SMI240_SCAN_GYRO_Y,
+	SMI240_SCAN_GYRO_Z,
+	SMI240_SCAN_TIMESTAMP,
+};
+
+static const struct iio_chan_spec smi240_channels[] = {
+	SMI240_TEMP_CHANNEL(SMI240_TEMP_OBJECT),
+	SMI240_DATA_CHANNEL(IIO_ACCEL, X, SMI240_SCAN_ACCEL_X),
+	SMI240_DATA_CHANNEL(IIO_ACCEL, Y, SMI240_SCAN_ACCEL_Y),
+	SMI240_DATA_CHANNEL(IIO_ACCEL, Z, SMI240_SCAN_ACCEL_Z),
+	SMI240_DATA_CHANNEL(IIO_ANGL_VEL, X, SMI240_SCAN_GYRO_X),
+	SMI240_DATA_CHANNEL(IIO_ANGL_VEL, Y, SMI240_SCAN_GYRO_Y),
+	SMI240_DATA_CHANNEL(IIO_ANGL_VEL, Z, SMI240_SCAN_GYRO_Z),
+	IIO_CHAN_SOFT_TIMESTAMP(SMI240_SCAN_TIMESTAMP),
+};
+
+static const int smi240_low_pass_freqs[] = { SMI240_LOW_BANDWIDTH_HZ,
+					     SMI240_HIGH_BANDWIDTH_HZ };
+
+static u8 smi240_crc3(u32 data, u8 init, u8 poly)
+{
+	u8 crc = init;
+	u8 do_xor;
+	s8 i = 31;
+
+	do {
+		do_xor = crc & 0x04;
+		crc <<= 1;
+		crc |= 0x01 & (data >> i);
+		if (do_xor)
+			crc ^= poly;
+
+		crc &= SMI240_CRC_MASK;
+	} while (--i >= 0);
+
+	return crc;
+}
+
+static bool smi240_sensor_data_is_valid(u32 data)
+{
+	if (smi240_crc3(data, SMI240_CRC_INIT, SMI240_CRC_POLY) != 0)
+		return false;
+
+	if (FIELD_GET(SMI240_READ_SD_BIT_MASK, data) &
+	    FIELD_GET(SMI240_READ_CS_BIT_MASK, data))
+		return false;
+
+	return true;
+}
+
+static int smi240_regmap_spi_read(void *context, const void *reg_buf,
+				  size_t reg_size, void *val_buf,
+				  size_t val_size)
+{
+	int ret;
+	u32 request, response;
+	u16 *val = val_buf;
+	struct spi_device *spi = context;
+	struct iio_dev *indio_dev = dev_get_drvdata(&spi->dev);
+	struct smi240_data *iio_priv_data = iio_priv(indio_dev);
+
+	if (reg_size != 1 || val_size != 2)
+		return -EINVAL;
+
+	request = FIELD_PREP(SMI240_WRITE_BUS_ID_MASK, SMI240_BUS_ID);
+	request |= FIELD_PREP(SMI240_WRITE_CAP_BIT_MASK, iio_priv_data->capture);
+	request |= FIELD_PREP(SMI240_WRITE_ADDR_MASK, *(u8 *)reg_buf);
+	request |= smi240_crc3(request, SMI240_CRC_INIT, SMI240_CRC_POLY);
+
+	iio_priv_data->spi_buf = cpu_to_be32(request);
+
+	/*
+	 * SMI240 module consists of a 32Bit Out Of Frame (OOF)
+	 * SPI protocol, where the slave interface responds to
+	 * the Master request in the next frame.
+	 * CS signal must toggle (> 700 ns) between the frames.
+	 */
+	ret = spi_write(spi, &iio_priv_data->spi_buf, sizeof(request));
+	if (ret)
+		return ret;
+
+	ret = spi_read(spi, &iio_priv_data->spi_buf, sizeof(response));
+	if (ret)
+		return ret;
+
+	response = be32_to_cpu(iio_priv_data->spi_buf);
+
+	if (!smi240_sensor_data_is_valid(response))
+		return -EIO;
+
+	*val = FIELD_GET(SMI240_READ_DATA_MASK, response);
+
+	return 0;
+}
+
+static int smi240_regmap_spi_write(void *context, const void *data,
+				   size_t count)
+{
+	u8 reg_addr;
+	u16 reg_data;
+	u32 request;
+	const u8 *data_ptr = data;
+	struct spi_device *spi = context;
+	struct iio_dev *indio_dev = dev_get_drvdata(&spi->dev);
+	struct smi240_data *iio_priv_data = iio_priv(indio_dev);
+
+	if (count < 2)
+		return -EINVAL;
+
+	reg_addr = data_ptr[0];
+	memcpy(&reg_data, &data_ptr[1], sizeof(reg_data));
+
+	request = FIELD_PREP(SMI240_WRITE_BUS_ID_MASK, SMI240_BUS_ID);
+	request |= FIELD_PREP(SMI240_WRITE_BIT_MASK, 1);
+	request |= FIELD_PREP(SMI240_WRITE_ADDR_MASK, reg_addr);
+	request |= FIELD_PREP(SMI240_WRITE_DATA_MASK, reg_data);
+	request |= smi240_crc3(request, SMI240_CRC_INIT, SMI240_CRC_POLY);
+
+	iio_priv_data->spi_buf = cpu_to_be32(request);
+
+	return spi_write(spi, &iio_priv_data->spi_buf, sizeof(request));
+}
+
+static const struct regmap_bus smi240_regmap_bus = {
+	.read = smi240_regmap_spi_read,
+	.write = smi240_regmap_spi_write,
+};
+
+static const struct regmap_config smi240_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 16,
+	.val_format_endian = REGMAP_ENDIAN_NATIVE,
+};
+
+static int smi240_soft_reset(struct smi240_data *data)
+{
+	int ret;
+
+	ret = regmap_write(data->regmap, SMI240_CMD_REG, SMI240_SOFT_RESET_CMD);
+	if (ret)
+		return ret;
+	fsleep(SMI240_DIGITAL_STARTUP_DELAY_US);
+
+	return 0;
+}
+
+static int smi240_soft_config(struct smi240_data *data)
+{
+	int ret;
+	u8 acc_bw, gyr_bw;
+	u16 request;
+
+	switch (data->accel_filter_freq) {
+	case SMI240_LOW_BANDWIDTH_HZ:
+		acc_bw = 0x1;
+		break;
+	case SMI240_HIGH_BANDWIDTH_HZ:
+		acc_bw = 0x0;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	switch (data->anglvel_filter_freq) {
+	case SMI240_LOW_BANDWIDTH_HZ:
+		gyr_bw = 0x1;
+		break;
+	case SMI240_HIGH_BANDWIDTH_HZ:
+		gyr_bw = 0x0;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	request = FIELD_PREP(SMI240_SOFT_CONFIG_EOC_MASK, 1);
+	request |= FIELD_PREP(SMI240_SOFT_CONFIG_GYR_BW_MASK, gyr_bw);
+	request |= FIELD_PREP(SMI240_SOFT_CONFIG_ACC_BW_MASK, acc_bw);
+	request |= FIELD_PREP(SMI240_SOFT_CONFIG_BITE_AUTO_MASK, 1);
+	request |= FIELD_PREP(SMI240_SOFT_CONFIG_BITE_REP_MASK,
+			      data->built_in_self_test_count - 1);
+
+	ret = regmap_write(data->regmap, SMI240_SOFT_CONFIG_REG, request);
+	if (ret)
+		return ret;
+
+	fsleep(SMI240_MECH_STARTUP_DELAY_US +
+	       data->built_in_self_test_count * SMI240_BITE_SEQUENCE_DELAY_US +
+	       SMI240_FILTER_FLUSH_DELAY_US);
+
+	return 0;
+}
+
+static int smi240_get_low_pass_filter_freq(struct smi240_data *data,
+					   int chan_type, int *val)
+{
+	switch (chan_type) {
+	case IIO_ACCEL:
+		*val = data->accel_filter_freq;
+		return 0;
+	case IIO_ANGL_VEL:
+		*val = data->anglvel_filter_freq;
+		return 0;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int smi240_get_data(struct smi240_data *data, int chan_type, int axis,
+			   int *val)
+{
+	u8 reg;
+	int ret, sample;
+
+	switch (chan_type) {
+	case IIO_TEMP:
+		reg = SMI240_TEMP_CUR_REG;
+		break;
+	case IIO_ACCEL:
+		reg = SMI240_ACCEL_X_CUR_REG + (axis - IIO_MOD_X);
+		break;
+	case IIO_ANGL_VEL:
+		reg = SMI240_GYRO_X_CUR_REG + (axis - IIO_MOD_X);
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	ret = regmap_read(data->regmap, reg, &sample);
+	if (ret)
+		return ret;
+
+	*val = sign_extend32(sample, 15);
+
+	return 0;
+}
+
+static irqreturn_t smi240_trigger_handler(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct smi240_data *data = iio_priv(indio_dev);
+	int base = SMI240_DATA_CAP_FIRST_REG, i = 0;
+	int ret, chan, sample;
+
+	data->capture = SMI240_CAPTURE_ON;
+
+	iio_for_each_active_channel(indio_dev, chan) {
+		ret = regmap_read(data->regmap, base + chan, &sample);
+		data->capture = SMI240_CAPTURE_OFF;
+		if (ret)
+			goto out;
+		data->buf[i++] = sample;
+	}
+
+	iio_push_to_buffers_with_timestamp(indio_dev, data->buf, pf->timestamp);
+
+out:
+	iio_trigger_notify_done(indio_dev->trig);
+	return IRQ_HANDLED;
+}
+
+static int smi240_read_avail(struct iio_dev *indio_dev,
+			     struct iio_chan_spec const *chan, const int **vals,
+			     int *type, int *length, long mask)
+{
+	switch (mask) {
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		*vals = smi240_low_pass_freqs;
+		*length = ARRAY_SIZE(smi240_low_pass_freqs);
+		*type = IIO_VAL_INT;
+		return IIO_AVAIL_LIST;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int smi240_read_raw(struct iio_dev *indio_dev,
+			   struct iio_chan_spec const *chan, int *val,
+			   int *val2, long mask)
+{
+	int ret;
+	struct smi240_data *data = iio_priv(indio_dev);
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		ret = iio_device_claim_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		ret = smi240_get_data(data, chan->type, chan->channel2, val);
+		iio_device_release_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		return IIO_VAL_INT;
+
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		ret = smi240_get_low_pass_filter_freq(data, chan->type, val);
+		if (ret)
+			return ret;
+		return IIO_VAL_INT;
+
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_TEMP:
+			*val = SMI240_TEMP_SCALE / GIGA;
+			*val2 = SMI240_TEMP_SCALE % GIGA;
+			return IIO_VAL_INT_PLUS_NANO;
+		case IIO_ACCEL:
+			*val = 0;
+			*val2 = SMI240_ACCEL_SCALE;
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_ANGL_VEL:
+			*val = 0;
+			*val2 = SMI240_GYRO_SCALE;
+			return IIO_VAL_INT_PLUS_MICRO;
+		default:
+			return -EINVAL;
+		}
+
+	case IIO_CHAN_INFO_OFFSET:
+		if (chan->type == IIO_TEMP) {
+			*val = SMI240_TEMP_OFFSET;
+			return IIO_VAL_INT;
+		} else {
+			return -EINVAL;
+		}
+
+	default:
+		return -EINVAL;
+	}
+}
+
+static int smi240_write_raw(struct iio_dev *indio_dev,
+			    struct iio_chan_spec const *chan, int val, int val2,
+			    long mask)
+{
+	int ret, i;
+	struct smi240_data *data = iio_priv(indio_dev);
+
+	switch (mask) {
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		for (i = 0; i < ARRAY_SIZE(smi240_low_pass_freqs); i++) {
+			if (val == smi240_low_pass_freqs[i])
+				break;
+		}
+
+		if (i == ARRAY_SIZE(smi240_low_pass_freqs))
+			return -EINVAL;
+
+		switch (chan->type) {
+		case IIO_ACCEL:
+			data->accel_filter_freq = val;
+			break;
+		case IIO_ANGL_VEL:
+			data->anglvel_filter_freq = val;
+			break;
+		default:
+			return -EINVAL;
+		}
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	/* Write access to soft config is locked until hard/soft reset */
+	ret = smi240_soft_reset(data);
+	if (ret)
+		return ret;
+
+	return smi240_soft_config(data);
+}
+
+static int smi240_write_raw_get_fmt(struct iio_dev *indio_dev,
+				    struct iio_chan_spec const *chan, long info)
+{
+	switch (info) {
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_TEMP:
+			return IIO_VAL_INT_PLUS_NANO;
+		default:
+			return IIO_VAL_INT_PLUS_MICRO;
+		}
+	default:
+		return IIO_VAL_INT_PLUS_MICRO;
+	}
+}
+
+static int smi240_init(struct smi240_data *data)
+{
+	int ret;
+
+	data->accel_filter_freq = SMI240_HIGH_BANDWIDTH_HZ;
+	data->anglvel_filter_freq = SMI240_HIGH_BANDWIDTH_HZ;
+	data->built_in_self_test_count = SMI240_BUILT_IN_SELF_TEST_COUNT;
+
+	ret = smi240_soft_reset(data);
+	if (ret)
+		return ret;
+
+	return smi240_soft_config(data);
+}
+
+static const struct iio_info smi240_info = {
+	.read_avail = smi240_read_avail,
+	.read_raw = smi240_read_raw,
+	.write_raw = smi240_write_raw,
+	.write_raw_get_fmt = smi240_write_raw_get_fmt,
+};
+
+static int smi240_probe(struct spi_device *spi)
+{
+	struct device *dev = &spi->dev;
+	struct iio_dev *indio_dev;
+	struct regmap *regmap;
+	struct smi240_data *data;
+	int ret, response;
+
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
+	if (!indio_dev)
+		return -ENOMEM;
+
+	regmap = devm_regmap_init(dev, &smi240_regmap_bus, dev,
+				  &smi240_regmap_config);
+	if (IS_ERR(regmap))
+		return dev_err_probe(dev, PTR_ERR(regmap),
+				     "Failed to initialize SPI Regmap\n");
+
+	data = iio_priv(indio_dev);
+	dev_set_drvdata(dev, indio_dev);
+	data->regmap = regmap;
+	data->capture = SMI240_CAPTURE_OFF;
+
+	ret = regmap_read(data->regmap, SMI240_CHIP_ID_REG, &response);
+	if (ret)
+		return dev_err_probe(dev, ret, "Read chip id failed\n");
+
+	if (response != SMI240_CHIP_ID)
+		dev_info(dev, "Unknown chip id: 0x%04x\n", response);
+
+	ret = smi240_init(data);
+	if (ret)
+		return dev_err_probe(dev, ret,
+				     "Device initialization failed\n");
+
+	indio_dev->channels = smi240_channels;
+	indio_dev->num_channels = ARRAY_SIZE(smi240_channels);
+	indio_dev->name = "smi240";
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->info = &smi240_info;
+
+	ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
+					      iio_pollfunc_store_time,
+					      smi240_trigger_handler, NULL);
+	if (ret)
+		return dev_err_probe(dev, ret,
+				     "Setup triggered buffer failed\n");
+
+	ret = devm_iio_device_register(dev, indio_dev);
+	if (ret)
+		return dev_err_probe(dev, ret, "Register IIO device failed\n");
+
+	return 0;
+}
+
+static const struct spi_device_id smi240_spi_id[] = {
+	{ "smi240" },
+	{ }
+};
+MODULE_DEVICE_TABLE(spi, smi240_spi_id);
+
+static const struct of_device_id smi240_of_match[] = {
+	{ .compatible = "bosch,smi240" },
+	{ }
+};
+MODULE_DEVICE_TABLE(of, smi240_of_match);
+
+static struct spi_driver smi240_spi_driver = {
+	.probe = smi240_probe,
+	.id_table = smi240_spi_id,
+	.driver = {
+		.of_match_table = smi240_of_match,
+		.name = "smi240",
+	},
+};
+module_spi_driver(smi240_spi_driver);
+
+MODULE_AUTHOR("Markus Lochmann <markus.lochmann@de.bosch.com>");
+MODULE_AUTHOR("Stefan Gutmann <stefan.gutmann@de.bosch.com>");
+MODULE_DESCRIPTION("Bosch SMI240 SPI driver");
+MODULE_LICENSE("Dual BSD/GPL");
-- 
2.34.1

Re: [PATCH v9 0/2] iio: imu: smi240: add bosch smi240 driver

[Jonathan Cameron]

On Fri, 18 Oct 2024 15:52:32 +0200
<Jianping.Shen@de.bosch.com> wrote:

> From: Shen Jianping <Jianping.Shen@de.bosch.com>
> 
> Add the iio driver for bosch imu smi240. The smi240 is a combined
> three axis angular rate and three axis acceleration sensor module
> with a measurement range of +/-300°/s and up to 16g. This driver
> provides raw data access for each axis through sysfs, and tiggered
> buffer for continuous sampling. A synchronous acc and gyro sampling
> can be triggered by setting the capture bit in spi read command.
> 
Applied to the togreg branch of iio.git and pushed out as testing
for 0-day to take a first look at it.

Minor tweak needed due to the unaligned.h header moving to linux/

Thanks,

Jonathan

> dt-bindings: 
> v1 -> v2
>     - Add more detail in description
>     - Add maintainer
>     - Add vdd and vddio power supply
>     - Use generic node name
>     - Order the properties according to DTS coding style
> 
> v2 -> v3
>     - Improve description
>     - Improve supply definition
>     - Make supply definition as required
>     - Add supply definition in example
> 
> v3 -> v4
>     - No changes
> 
> v4 -> v5
>     - No changes
> 
> v5 -> v6
>     - Fix checkpatch findings
> 
> v6 -> v7
>     - No changes
> 
> v7 -> v8
>     - No changes
> 
> v8 -> v9
>     - No changes
> 
> imu driver:
> v1 -> v2
>     - Use regmap for register access
>     - Redefine channel for each singel axis
>     - Provide triggered buffer
>     - Fix findings in Kconfig
>     - Remove unimportant functions
> 
> v2 -> v3
>     - Use enum für capture mode
>     - Using spi default init value instead manual init 
>     - remove duplicated module declaration
>     - Fix code to avoid warning
> 
> v3 -> v4
>     - Use DMA safe buffer
>     - Use channel info instead of custom ABI
>     - Fix other findings
> 
> v4 -> v5
>     - Merge the implementation in one simple file
>     - Add channel info for acc/gyro data channel
>     - Fix other findings
> 
> v5 -> v6
>     - Fix checkpatch findings
>     - Fix review findings
> 
> v6 -> v7
>     - Fix offset and scale
> 
> v7 -> v8
>     - Use memcpy in spi write to keep CPU endian
>     - Fix some minor findings
> 
> v8 -> v9
>     - remove unnecessary cpu_to_le16 for reg value in spi response
>     - use REGMAP_ENDIAN_NATIVE in regmap config to avoid regmap to flip the reg value when passing to spi write
> 
> Shen Jianping (2):
>   dt-bindings: iio: imu: smi240: add Bosch smi240
>   iio: imu: smi240: add driver
> 
>  .../bindings/iio/imu/bosch,smi240.yaml        |  51 ++
>  drivers/iio/imu/Kconfig                       |  14 +
>  drivers/iio/imu/Makefile                      |   2 +
>  drivers/iio/imu/smi240.c                      | 622 ++++++++++++++++++
>  4 files changed, 689 insertions(+)
>  create mode 100644 Documentation/devicetree/bindings/iio/imu/bosch,smi240.yaml
>  create mode 100644 drivers/iio/imu/smi240.c
>