* [PATCH v1 3/3] iio: imu: smi330: Add driver
2025-05-05 15:16 [PATCH v1 0/3] iio: imu: smi330: add bosch smi330 driver Jianping.Shen
2025-05-05 15:16 ` [PATCH v1 1/3] docs: iio: imu: smi330: Add ABI documentation Jianping.Shen
2025-05-05 15:16 ` [PATCH v1 2/3] dt-bindings: iio: imu: smi330: Add binding Jianping.Shen
@ 2025-05-05 15:16 ` Jianping.Shen
2025-05-09 15:58 ` kernel test robot
2 siblings, 1 reply; 7+ messages in thread
From: Jianping.Shen @ 2025-05-05 15:16 UTC (permalink / raw)
To: jic23, lars, robh, krzk+dt, conor+dt, dima.fedrau,
marcelo.schmitt1, linux-iio, devicetree, linux-kernel,
Jianping.Shen, Christian.Lorenz3, Ulrike.Frauendorf, Kai.Dolde
From: Jianping Shen <Jianping.Shen@de.bosch.com>
Add the iio driver for bosch imu smi330. The smi330 is a combined
three axis angular rate and three axis acceleration sensor.
Signed-off-by: Jianping Shen <Jianping.Shen@de.bosch.com>
---
drivers/iio/imu/Kconfig | 1 +
drivers/iio/imu/Makefile | 1 +
drivers/iio/imu/smi330/Kconfig | 129 ++
drivers/iio/imu/smi330/Makefile | 5 +
drivers/iio/imu/smi330/smi330.h | 351 ++++
drivers/iio/imu/smi330/smi330_core.c | 2608 ++++++++++++++++++++++++++
drivers/iio/imu/smi330/smi330_i2c.c | 140 ++
drivers/iio/imu/smi330/smi330_spi.c | 77 +
8 files changed, 3312 insertions(+)
create mode 100644 drivers/iio/imu/smi330/Kconfig
create mode 100644 drivers/iio/imu/smi330/Makefile
create mode 100644 drivers/iio/imu/smi330/smi330.h
create mode 100644 drivers/iio/imu/smi330/smi330_core.c
create mode 100644 drivers/iio/imu/smi330/smi330_i2c.c
create mode 100644 drivers/iio/imu/smi330/smi330_spi.c
diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
index 15612f0f189..01d21e4034c 100644
--- a/drivers/iio/imu/Kconfig
+++ b/drivers/iio/imu/Kconfig
@@ -124,6 +124,7 @@ config SMI240
This driver can also be built as a module. If so, the module will be
called smi240.
+source "drivers/iio/imu/smi330/Kconfig"
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 e901aea498d..25948247df9 100644
--- a/drivers/iio/imu/Makefile
+++ b/drivers/iio/imu/Makefile
@@ -31,5 +31,6 @@ obj-$(CONFIG_KMX61) += kmx61.o
obj-$(CONFIG_SMI240) += smi240.o
+obj-y += smi330/
obj-y += st_lsm6dsx/
obj-y += st_lsm9ds0/
diff --git a/drivers/iio/imu/smi330/Kconfig b/drivers/iio/imu/smi330/Kconfig
new file mode 100644
index 00000000000..71ef01c66f2
--- /dev/null
+++ b/drivers/iio/imu/smi330/Kconfig
@@ -0,0 +1,129 @@
+# SPDX-License-Identifier: GPL-2.0
+#
+# SMI330 IMU driver
+#
+
+config SMI330
+ tristate "Bosch Sensor SMI330 Inertial Measurement Unit"
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+ help
+ Enable support for the Bosch SMI330 IMU.
+
+ The driver supports different operation modes like polling,
+ data ready or fifo mode and advanced features like no-motion,
+ no-motion, any-motion or tilt detection.
+
+if SMI330
+
+choice
+ prompt "Select communication interface"
+ help
+ Choose communication interface for the sensor.
+
+ Make sure the sensor is connected accordingly.
+ SPI and I2C are not supported at the same time,
+ choose either SPI or I2C to build the driver.
+
+ config SMI330_SPI
+ bool "Enable SPI connection"
+ depends on SPI
+ select REGMAP_SPI
+ help
+ Enables SPI communication interface.
+
+ Make sure the sensor is connected to the SPI bus.
+ To specifiy further parameters like max frequency
+ use the device tree.
+
+ config SMI330_I2C
+ bool "Enable I2C connection"
+ depends on I2C
+ select REGMAP_I2C
+ help
+ Enables I2C communication interface.
+
+ Make sure the sensor is connected to the I2C bus.
+ To specifiy further parameters like the address
+ use the device tree.
+endchoice
+
+choice
+ prompt "Map data interrupt"
+ default SMI330_IRQ_DATA_INT1
+ help
+ Map data interrupt to INT1 or INT2.
+
+ NONE: data interrupt disabled
+ INT1: data interrupt mapped to INT1
+ INT2: data interrupt mapped to INT2
+
+ config SMI330_IRQ_DATA_NONE
+ bool "NONE"
+ help
+ Data interrupt disabled.
+
+ In this mode only polling is possible.
+ To activate data ready of fifo mode choose
+ INT1 or INT2.
+
+ config SMI330_IRQ_DATA_INT1
+ bool "INT1"
+ help
+ Data interrupt mapped to INT1.
+
+ In this mode data ready is the default mode.
+ The interrupt is triggered when new data is available.
+ When fifo watermark is set, fifo mode is activated.
+ The interrupt is triggered when fifo watermark level is reached.
+
+ config SMI330_IRQ_DATA_INT2
+ bool "INT2"
+ help
+ Data interrupt mapped to INT2.
+
+ In this mode data ready is the default mode.
+ The interrupt is triggered when new data is available.
+ When fifo watermark is set, fifo mode is activated.
+ The interrupt is triggered when fifo watermark level is reached.
+endchoice
+
+choice
+ prompt "Map advanced features interrupt"
+ default SMI330_IRQ_ADV_FEAT_NONE
+ help
+ Map advanced features interrupt to INT1 or INT2.
+
+ NONE: advanced features interrupt disabled
+ INT1: advanced features interrupt mapped to INT1
+ INT2: advanced features interrupt mapped to INT2
+
+ config SMI330_IRQ_ADV_FEAT_NONE
+ bool "NONE"
+ help
+ Advanced features interrupt disabled.
+
+ In this mode no-motion, any-motion or tilt detection
+ is disabled.
+ To enable these features choose INT1 or INT2.
+
+ config SMI330_IRQ_ADV_FEAT_INT1
+ bool "INT1"
+ help
+ Advanced features interrupt mapped to INT1.
+
+ In this mode no-motion, any-motion or tilt detection
+ is enabled.
+ The interrupt is triggered when the feature is detected.
+
+ config SMI330_IRQ_ADV_FEAT_INT2
+ bool "INT2"
+ help
+ Advanced features interrupt mapped to INT1.
+
+ In this mode no-motion, any-motion or tilt detection
+ is enabled.
+ The interrupt is triggered when the feature is detected.
+endchoice
+
+endif # SMI330
diff --git a/drivers/iio/imu/smi330/Makefile b/drivers/iio/imu/smi330/Makefile
new file mode 100644
index 00000000000..3dfb98f6345
--- /dev/null
+++ b/drivers/iio/imu/smi330/Makefile
@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: GPL-2.0
+obj-$(CONFIG_SMI330) += smi330.o
+smi330-$(CONFIG_SMI330) := smi330_core.o
+smi330-$(CONFIG_SMI330_I2C) += smi330_i2c.o
+smi330-$(CONFIG_SMI330_SPI) += smi330_spi.o
diff --git a/drivers/iio/imu/smi330/smi330.h b/drivers/iio/imu/smi330/smi330.h
new file mode 100644
index 00000000000..20e72107b0a
--- /dev/null
+++ b/drivers/iio/imu/smi330/smi330.h
@@ -0,0 +1,351 @@
+/* SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0 */
+/*
+ * Copyright (c) 2025 Robert Bosch GmbH.
+ */
+#ifndef _SMI330_H
+#define _SMI330_H
+
+#include <linux/bits.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/mutex.h>
+#include <linux/regmap.h>
+#include <linux/types.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/trigger.h>
+
+#define SMI330_NO_ERROR_MASK (BIT(2) | BIT(0))
+#define SMI330_ST_SUCCESS_MASK GENMASK(6, 0)
+
+#define SMI330_ALL_CHAN_MSK GENMASK(6, 0)
+
+#define SMI330_FIFO_SIZE 2048
+#define SMI330_FIFO_MAX_LENGTH 1024
+#define SMI330_FIFO_MAX_FRAME_LENGTH 8
+
+#define SMI330_CHIP_ID 0x42
+
+#define SMI330_SPI_WR_MASK GENMASK(6, 0)
+#define SMI330_SPI_RD_MASK BIT(7)
+
+#define SMI330_SOFT_RESET_DELAY 2000
+#define SMI330_FEAT_ENG_POLL 10000
+#define SMI330_FEAT_ENG_TIMEOUT 1000000
+
+/* Register map */
+#define SMI330_CHIP_ID_REG U8_C(0x00)
+#define SMI330_ERR_REG U8_C(0x01)
+#define SMI330_STATUS_REG U8_C(0x02)
+#define SMI330_ACCEL_X_REG U8_C(0x03)
+#define SMI330_GYRO_X_REG U8_C(0x06)
+#define SMI330_TEMP_REG U8_C(0x09)
+#define SMI330_INT1_STATUS_REG U8_C(0x0D)
+#define SMI330_FEATURE_IO0_REG U8_C(0x10)
+#define SMI330_FEATURE_IO1_REG U8_C(0x11)
+#define SMI330_FEATURE_IO2_REG U8_C(0x12)
+#define SMI330_FEATURE_IO_STATUS_REG U8_C(0x14)
+#define SMI330_FIFO_FILL_LEVEL_REG U8_C(0x15)
+#define SMI330_FIFO_DATA_REG U8_C(0x16)
+#define SMI330_ACCEL_CFG_REG U8_C(0x20)
+#define SMI330_GYRO_CFG_REG U8_C(0x21)
+#define SMI330_ALT_ACCEL_CFG_REG U8_C(0x28)
+#define SMI330_ALT_GYRO_CFG_REG U8_C(0x29)
+#define SMI330_ALT_CONF_REG U8_C(0x2A)
+#define SMI330_ALT_STATUS_REG U8_C(0x2B)
+#define SMI330_FIFO_WATERMARK_REG U8_C(0x35)
+#define SMI330_FIFO_CONF_REG U8_C(0x36)
+#define SMI330_FIFO_CTRL_REG U8_C(0x37)
+#define SMI330_IO_INT_CTRL_REG U8_C(0x38)
+#define SMI330_INT_CONF_REG U8_C(0x39)
+#define SMI330_INT_MAP1_REG U8_C(0x3A)
+#define SMI330_INT_MAP2_REG U8_C(0x3B)
+#define SMI330_FEATURE_CTRL_REG U8_C(0x40)
+#define SMI330_FEATURE_DATA_ADDR_REG U8_C(0x41)
+#define SMI330_FEATURE_DATA_TX_REG U8_C(0x42)
+#define SMI330_FEATURE_DATA_STATUS_REG U8_C(0x43)
+#define SMI330_CMD_REG U8_C(0x7E)
+#define SMI330_RES_CFG_REG U8_C(0x7F)
+
+/* Register mask */
+#define SMI330_ERR_FATAL_MASK BIT(0)
+#define SMI330_ERR_ACC_CONF_MASK BIT(5)
+#define SMI330_ERR_GYR_CONF_MASK BIT(6)
+#define SMI330_STATUS_POR_MASK BIT(0)
+#define SMI330_INT_STATUS_NOMO_MASK BIT(0)
+#define SMI330_INT_STATUS_ANYMO_MASK BIT(1)
+#define SMI330_INT_STATUS_TILT_MASK BIT(7)
+#define SMI330_INT_STATUS_GYR_DRDY_MASK BIT(12)
+#define SMI330_INT_STATUS_ACC_DRDY_MASK BIT(13)
+#define SMI330_INT_STATUS_FWM_MASK BIT(14)
+#define SMI330_INT_STATUS_FFULL_MASK BIT(15)
+#define SMI330_FEATURE_IO0_NOMO_X_EN_MASK BIT(0)
+#define SMI330_FEATURE_IO0_NOMO_Y_EN_MASK BIT(1)
+#define SMI330_FEATURE_IO0_NOMO_Z_EN_MASK BIT(2)
+#define SMI330_FEATURE_IO0_ANYMO_X_EN_MASK BIT(3)
+#define SMI330_FEATURE_IO0_ANYMO_Y_EN_MASK BIT(4)
+#define SMI330_FEATURE_IO0_ANYMO_Z_EN_MASK BIT(5)
+#define SMI330_FEATURE_IO0_TILT_EN_MASK BIT(11)
+#define SMI330_FEATURE_IO1_ERROR_MASK GENMASK(3, 0)
+#define SMI330_FEATURE_IO1_SC_COMPLETE_MASK BIT(4)
+#define SMI330_FEATURE_IO1_ST_RESULT_MASK BIT(6)
+#define SMI330_FEATURE_IO1_STATE_MASK GENMASK(12, 11)
+#define SMI330_FEATURE_IO_STATUS_MASK BIT(0)
+#define SMI330_FIFO_FILL_LEVEL_MASK GENMASK(10, 0)
+#define SMI330_CFG_MASK GENMASK(15, 0)
+#define SMI330_CFG_ODR_MASK GENMASK(3, 0)
+#define SMI330_CFG_RANGE_MASK GENMASK(6, 4)
+#define SMI330_CFG_BW_MASK BIT(7)
+#define SMI330_CFG_AVG_NUM_MASK GENMASK(10, 8)
+#define SMI330_CFG_MODE_MASK GENMASK(14, 12)
+#define SMI330_ALT_CONF_ACC_EN_MASK BIT(0)
+#define SMI330_ALT_CONF_GYR_EN_MASK BIT(4)
+#define SMI330_ALT_CONF_EN_MASK \
+ (SMI330_ALT_CONF_ACC_EN_MASK | SMI330_ALT_CONF_GYR_EN_MASK)
+#define SMI330_ALT_CONF_RST_CONF_EN_MASK BIT(8)
+#define SMI330_FIFO_WATERMARK_MASK GENMASK(9, 0)
+#define SMI330_FIFO_CONF_MASK GENMASK(11, 9)
+#define SMI330_FIFO_CONF_TEMP_MASK BIT(11)
+#define SMI330_FIFO_CONF_GYR_MASK BIT(10)
+#define SMI330_FIFO_CONF_ACC_MASK BIT(9)
+#define SMI330_FIFO_CTRL_FLUSH_MASK BIT(0)
+#define SMI330_IO_INT_CTRL_INT1_MASK GENMASK(2, 0)
+#define SMI330_IO_INT_CTRL_INT2_MASK GENMASK(10, 8)
+#define SMI330_INT_CONF_LATCH_MASK BIT(0)
+#define SMI330_INT_MAP1_TILT_MASK GENMASK(15, 14)
+#define SMI330_INT_MAP1_ANYMO_MASK GENMASK(3, 2)
+#define SMI330_INT_MAP1_NOMO_MASK GENMASK(1, 0)
+#define SMI330_INT_MAP2_FIFO_FULL_MASK GENMASK(15, 14)
+#define SMI330_INT_MAP2_FIFO_WM_MASK GENMASK(13, 12)
+#define SMI330_INT_MAP2_ACC_DRDY_MASK GENMASK(11, 10)
+#define SMI330_INT_MAP2_GYR_DRDY_MASK GENMASK(9, 8)
+#define SMI330_INT_MAP2_FIFO_MASK \
+ (SMI330_INT_MAP2_FIFO_FULL_MASK | SMI330_INT_MAP2_FIFO_WM_MASK)
+#define SMI330_INT_MAP2_DRDY_MASK \
+ (SMI330_INT_MAP2_ACC_DRDY_MASK | SMI330_INT_MAP2_GYR_DRDY_MASK)
+#define SMI330_FEATURE_DATA_STATUS_TX_READY_MASK BIT(1)
+
+/* Register values */
+#define SMI330_FEATURE_IO2_STARTUP_CONFIG 0x012C
+#define SMI330_IO_INT_CTRL_LVL BIT(0)
+#define SMI330_IO_INT_CTRL_OD BIT(1)
+#define SMI330_IO_INT_CTRL_EN BIT(2)
+#define SMI330_FEATURE_CTRL_ENABLE BIT(0)
+#define SMI330_CMD_SELF_CALIBRATION (BIT(0) | BIT(8))
+#define SMI330_CMD_SELF_TEST BIT(8)
+#define SMI330_CMD_SOFT_RESET 0xDEAF
+
+/* Extended register map */
+#define SMI330_GYRO_SC_ST_VALUES_EX_REG U8_C(0x28)
+#define SMI330_GYRO_SC_SELECT_EX_REG U8_C(0x26)
+#define SMI330_ST_SELECT_EX_REG U8_C(0x25)
+#define SMI330_ST_RESULT_EX_REG U8_C(0x24)
+#define SMI330_ALT_CONF_CHG_EX_REG U8_C(0x23)
+#define SMI330_TILT_2_EX_REG U8_C(0x22)
+#define SMI330_TILT_1_EX_REG U8_C(0x21)
+#define SMI330_NOMO_3_EX_REG U8_C(0x0A)
+#define SMI330_NOMO_2_EX_REG U8_C(0x09)
+#define SMI330_NOMO_1_EX_REG U8_C(0x08)
+#define SMI330_ANYMO_3_EX_REG U8_C(0x07)
+#define SMI330_ANYMO_2_EX_REG U8_C(0x06)
+#define SMI330_ANYMO_1_EX_REG U8_C(0x05)
+
+/* Extended register mask */
+#define SMI330_GYRO_SC_SELECT_ALL_MASK GENMASK(2, 0)
+#define SMI330_ST_SELECT_ACC_GYR_MASK GENMASK(1, 0)
+#define SMI330_ALT_CONF_CHG_USER_MASK GENMASK(7, 4)
+#define SMI330_ALT_CONF_CHG_ALT_MASK GENMASK(3, 0)
+#define SMI330_TILT2_BETA_ACC_MEAN_MASK GENMASK(15, 0)
+#define SMI330_TILT1_MIN_ANGLE_MASK GENMASK(15, 8)
+#define SMI330_TILT1_SEGMENT_SIZE_MASK GENMASK(7, 0)
+#define SMI330_MOTION3_WAIT_TIME_MASK GENMASK(15, 13)
+#define SMI330_MOTION3_DURATION_MASK GENMASK(12, 0)
+#define SMI330_MOTION2_HYSTERESIS_MASK GENMASK(9, 0)
+#define SMI330_MOTION1_ACC_REF_MASK BIT(12)
+#define SMI330_MOTION1_SLOPE_THRES_MASK GENMASK(11, 0)
+
+/* Extended register values */
+#define SMI330_SC_ST_VALUE_0 0x5A2E
+#define SMI330_SC_ST_VALUE_1 0x9219
+#define SMI330_SC_ST_VALUE_2 0x5637
+#define SMI330_SC_ST_VALUE_3 0xFFE8
+#define SMI330_SC_ST_VALUE_4 0xFFEF
+#define SMI330_SC_ST_VALUE_5 0x000D
+#define SMI330_SC_ST_VALUE_6 0x07CA
+#define SMI330_SC_ST_VALUE_7 0xFFCD
+#define SMI330_SC_ST_VALUE_8 0xEF6C
+
+/* T°C = (temp / 512) + 23 */
+#define SMI330_TEMP_OFFSET 11776 /* 23 * 512 */
+#define SMI330_TEMP_SCALE 1953125 /* (1 / 512) * 1e9 */
+
+enum {
+ SMI330_SCAN_ACCEL_X,
+ SMI330_SCAN_ACCEL_Y,
+ SMI330_SCAN_ACCEL_Z,
+ SMI330_SCAN_GYRO_X,
+ SMI330_SCAN_GYRO_Y,
+ SMI330_SCAN_GYRO_Z,
+ SMI330_TEMP_OBJECT,
+ SMI330_SCAN_TIMESTAMP,
+};
+
+enum smi330_accel_range {
+ SMI330_ACCEL_RANGE_2G = U8_C(0x00),
+ SMI330_ACCEL_RANGE_4G = U8_C(0x01),
+ SMI330_ACCEL_RANGE_8G = U8_C(0x02),
+ SMI330_ACCEL_RANGE_16G = U8_C(0x03)
+};
+
+enum smi330_gyro_range {
+ SMI330_GYRO_RANGE_125 = U8_C(0x00),
+ SMI330_GYRO_RANGE_250 = U8_C(0x01),
+ SMI330_GYRO_RANGE_500 = U8_C(0x02)
+};
+
+enum smi330_odr {
+ SMI330_ODR_0_78125_HZ = U8_C(0x01),
+ SMI330_ODR_1_5625_HZ = U8_C(0x02),
+ SMI330_ODR_3_125_HZ = U8_C(0x03),
+ SMI330_ODR_6_25_HZ = U8_C(0x04),
+ SMI330_ODR_12_5_HZ = U8_C(0x05),
+ SMI330_ODR_25_HZ = U8_C(0x06),
+ SMI330_ODR_50_HZ = U8_C(0x07),
+ SMI330_ODR_100_HZ = U8_C(0x08),
+ SMI330_ODR_200_HZ = U8_C(0x09),
+ SMI330_ODR_400_HZ = U8_C(0x0A),
+ SMI330_ODR_800_HZ = U8_C(0x0B),
+ SMI330_ODR_1600_HZ = U8_C(0x0C),
+ SMI330_ODR_3200_HZ = U8_C(0x0D),
+ SMI330_ODR_6400_HZ = U8_C(0x0E)
+};
+
+enum smi330_avg_num {
+ SMI330_AVG_NUM_1 = U8_C(0x00),
+ SMI330_AVG_NUM_2 = U8_C(0x01),
+ SMI330_AVG_NUM_4 = U8_C(0x02),
+ SMI330_AVG_NUM_8 = U8_C(0x03),
+ SMI330_AVG_NUM_16 = U8_C(0x04),
+ SMI330_AVG_NUM_32 = U8_C(0x05),
+ SMI330_AVG_NUM_64 = U8_C(0x06)
+};
+
+enum smi330_mode {
+ SMI330_MODE_SUSPEND = U8_C(0x00),
+ SMI330_MODE_GYRO_DRIVE = U8_C(0x01),
+ SMI330_MODE_LOW_POWER = U8_C(0x03),
+ SMI330_MODE_NORMAL = U8_C(0x04),
+ SMI330_MODE_HIGH_PERF = U8_C(0x07)
+};
+
+enum smi330_bw {
+ SMI330_BW_2 = U8_C(0x00), /* ODR/2 */
+ SMI330_BW_4 = U8_C(0x01) /* ODR/4 */
+};
+
+enum smi330_auto_op_adv_feat {
+ A_NO_MOTION = U8_C(0x01),
+ B_ANY_MOTION = U8_C(0x02),
+ H_TILT_DETECTION = U8_C(0x08)
+};
+
+enum smi330_auto_op_use {
+ SMI330_AUTO_OP_USER_A,
+ SMI330_AUTO_OP_USER_B,
+ SMI330_AUTO_OP_USER_H,
+ SMI330_AUTO_OP_ALT_A,
+ SMI330_AUTO_OP_ALT_B,
+ SMI330_AUTO_OP_ALT_H,
+};
+
+enum smi330_operation_mode {
+ SMI330_IDLE,
+ SMI330_DATA_READY,
+ SMI330_FIFO,
+};
+
+enum smi330_auto_op_setup {
+ SMI330_AUTO_OP_RESET,
+ SMI330_AUTO_OP_SET,
+};
+
+enum smi330_auto_op_mode {
+ SMI330_AUTO_OP_EN_ACC,
+ SMI330_AUTO_OP_EN_GYR,
+ SMI330_AUTO_OP_EN_ALL,
+ SMI330_AUTO_OP_DISABLE,
+};
+
+enum smi330_auto_op_config {
+ SMI330_AUTO_OP_CONFIG_USER,
+ SMI330_AUTO_OP_CONFIG_ALT,
+};
+
+enum smi330_sensor {
+ SMI330_ACCEL,
+ SMI330_GYRO,
+ SMI330_ALT_ACCEL,
+ SMI330_ALT_GYRO,
+};
+
+enum smi330_sensor_conf_select {
+ SMI330_ODR,
+ SMI330_RANGE,
+ SMI330_BW,
+ SMI330_AVG_NUM,
+ SMI330_MODE,
+};
+
+enum smi330_int_out {
+ SMI330_INT_DISABLED,
+ SMI330_INT_1,
+ SMI330_INT_2,
+ SMI330_INT_I3C_IBI,
+};
+
+struct smi330_sysfs_attr {
+ int *reg_vals;
+ int *vals;
+ int len;
+ int type;
+};
+
+struct smi330_cfg {
+ s64 odr_ns;
+ enum smi330_operation_mode op_mode;
+ enum smi330_int_out data_irq;
+ enum smi330_int_out feat_irq;
+};
+
+struct smi330_pwr_savestate {
+ int acc_pwr;
+ int gyr_pwr;
+ int alt_acc_pwr;
+ int alt_gyr_pwr;
+};
+
+struct smi330_data {
+ struct regmap *regmap;
+ struct smi330_cfg cfg;
+ struct smi330_pwr_savestate savestate;
+ s64 current_timestamp;
+ s64 last_timestamp;
+ atomic64_t irq_timestamp;
+ struct mutex lock;
+ struct iio_trigger *trig;
+ s16 fifo[SMI330_FIFO_MAX_LENGTH];
+ /*
+ * 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);
+};
+
+extern const struct dev_pm_ops smi330_pm_ops;
+
+int smi330_core_probe(struct device *dev, struct regmap *regmap);
+
+#endif /* _SMI330_H */
diff --git a/drivers/iio/imu/smi330/smi330_core.c b/drivers/iio/imu/smi330/smi330_core.c
new file mode 100644
index 00000000000..97cc5d36c8f
--- /dev/null
+++ b/drivers/iio/imu/smi330/smi330_core.c
@@ -0,0 +1,2608 @@
+// SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0
+/*
+ * Copyright (c) 2025 Robert Bosch GmbH.
+ */
+#include <linux/bitfield.h>
+#include <linux/cleanup.h>
+#include <linux/delay.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/module.h>
+#include <linux/mutex.h>
+#include <linux/of_gpio.h>
+#include <linux/of_irq.h>
+#include <linux/regmap.h>
+#include <linux/string.h>
+#include <linux/units.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/events.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#include "smi330.h"
+
+static struct iio_event_spec smi330_accel_events[] = {
+ /* Any-Motion */
+ {
+ .type = IIO_EV_TYPE_ROC,
+ .dir = IIO_EV_DIR_RISING,
+ .mask_shared_by_all =
+ BIT(IIO_EV_INFO_VALUE) | BIT(IIO_EV_INFO_PERIOD) |
+ BIT(IIO_EV_INFO_HYSTERESIS) | BIT(IIO_EV_INFO_TIMEOUT),
+ .mask_separate = BIT(IIO_EV_INFO_ENABLE),
+ },
+ /* No-Motion */
+ {
+ .type = IIO_EV_TYPE_ROC,
+ .dir = IIO_EV_DIR_FALLING,
+ .mask_shared_by_all =
+ BIT(IIO_EV_INFO_VALUE) | BIT(IIO_EV_INFO_PERIOD) |
+ BIT(IIO_EV_INFO_HYSTERESIS) | BIT(IIO_EV_INFO_TIMEOUT),
+ .mask_separate = BIT(IIO_EV_INFO_ENABLE),
+ },
+ /* Tilt-Detection */
+ {
+ .type = IIO_EV_TYPE_CHANGE,
+ .dir = IIO_EV_DIR_EITHER,
+ .mask_shared_by_all = BIT(IIO_EV_INFO_VALUE) |
+ BIT(IIO_EV_INFO_PERIOD) |
+ BIT(IIO_EV_INFO_LOW_PASS_FILTER_3DB),
+ .mask_shared_by_type = BIT(IIO_EV_INFO_ENABLE),
+ },
+};
+
+// clang-format off
+#define SMI330_ACCEL_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_ENABLE) | \
+ BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_type_available = \
+ BIT(IIO_CHAN_INFO_ENABLE) | \
+ BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_dir = \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .info_mask_shared_by_dir_available = \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ }, \
+ .event_spec = smi330_accel_events, \
+ .num_event_specs = ARRAY_SIZE(smi330_accel_events), \
+}
+
+#define SMI330_GYRO_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_ENABLE) | \
+ BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_type_available = \
+ BIT(IIO_CHAN_INFO_ENABLE) | \
+ BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_dir = \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .info_mask_shared_by_dir_available = \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ }, \
+}
+
+#define SMI330_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_LE, \
+ }, \
+}
+
+// clang-format on
+
+static const struct iio_chan_spec smi330_channels[] = {
+ SMI330_ACCEL_CHANNEL(IIO_ACCEL, X, SMI330_SCAN_ACCEL_X),
+ SMI330_ACCEL_CHANNEL(IIO_ACCEL, Y, SMI330_SCAN_ACCEL_Y),
+ SMI330_ACCEL_CHANNEL(IIO_ACCEL, Z, SMI330_SCAN_ACCEL_Z),
+ SMI330_GYRO_CHANNEL(IIO_ANGL_VEL, X, SMI330_SCAN_GYRO_X),
+ SMI330_GYRO_CHANNEL(IIO_ANGL_VEL, Y, SMI330_SCAN_GYRO_Y),
+ SMI330_GYRO_CHANNEL(IIO_ANGL_VEL, Z, SMI330_SCAN_GYRO_Z),
+ SMI330_TEMP_CHANNEL(SMI330_TEMP_OBJECT),
+ IIO_CHAN_SOFT_TIMESTAMP(SMI330_SCAN_TIMESTAMP),
+};
+
+static const struct smi330_sysfs_attr smi330_mode_attr = {
+ .reg_vals = (int[]){ SMI330_MODE_SUSPEND, SMI330_MODE_LOW_POWER,
+ SMI330_MODE_NORMAL, SMI330_MODE_HIGH_PERF },
+ .vals = (int[]){ 0, 3, 4, 7 },
+ .len = 4,
+ .type = IIO_VAL_INT
+};
+
+static const struct smi330_sysfs_attr smi330_mode_alt_gyro_attr = {
+ .reg_vals = (int[]){ SMI330_MODE_SUSPEND, SMI330_MODE_GYRO_DRIVE,
+ SMI330_MODE_LOW_POWER, SMI330_MODE_NORMAL,
+ SMI330_MODE_HIGH_PERF },
+ .vals = (int[]){ 0, 1, 3, 4, 7 },
+ .len = 5,
+ .type = IIO_VAL_INT
+};
+
+static const struct smi330_sysfs_attr smi330_accel_scale_attr = {
+ .reg_vals = (int[]){ SMI330_ACCEL_RANGE_2G, SMI330_ACCEL_RANGE_4G,
+ SMI330_ACCEL_RANGE_8G, SMI330_ACCEL_RANGE_16G },
+ .vals = (int[]){ 0, 61035, 0, 122070, 0, 244140, 0, 488281 },
+ .len = 8,
+ .type = IIO_VAL_INT_PLUS_NANO
+};
+
+static const struct smi330_sysfs_attr smi330_gyro_scale_attr = {
+ .reg_vals = (int[]){ SMI330_GYRO_RANGE_125, SMI330_GYRO_RANGE_250,
+ SMI330_GYRO_RANGE_500 },
+ .vals = (int[]){ 0, 3814697, 0, 7629395, 0, 15258789 },
+ .len = 6,
+ .type = IIO_VAL_INT_PLUS_NANO
+};
+
+static const struct smi330_sysfs_attr smi330_average_attr = {
+ .reg_vals = (int[]){ SMI330_AVG_NUM_1, SMI330_AVG_NUM_2,
+ SMI330_AVG_NUM_4, SMI330_AVG_NUM_8,
+ SMI330_AVG_NUM_16, SMI330_AVG_NUM_32,
+ SMI330_AVG_NUM_64 },
+ .vals = (int[]){ 1, 2, 4, 8, 16, 32, 64 },
+ .len = 7,
+ .type = IIO_VAL_INT
+};
+
+static const struct smi330_sysfs_attr smi330_bandwidth_attr = {
+ .reg_vals = (int[]){ SMI330_BW_2, SMI330_BW_4 },
+ .vals = (int[]){ 2, 4 },
+ .len = 2,
+ .type = IIO_VAL_INT
+};
+
+static const struct smi330_sysfs_attr smi330_odr_attr = {
+ .reg_vals = (int[]){ SMI330_ODR_0_78125_HZ, SMI330_ODR_1_5625_HZ,
+ SMI330_ODR_3_125_HZ, SMI330_ODR_6_25_HZ,
+ SMI330_ODR_12_5_HZ, SMI330_ODR_25_HZ,
+ SMI330_ODR_50_HZ, SMI330_ODR_100_HZ,
+ SMI330_ODR_200_HZ, SMI330_ODR_400_HZ,
+ SMI330_ODR_800_HZ, SMI330_ODR_1600_HZ,
+ SMI330_ODR_3200_HZ, SMI330_ODR_6400_HZ },
+ .vals = (int[]){ 0, 1, 3, 6, 12, 25, 50, 100, 200, 400, 800, 1600, 3200,
+ 6400 },
+ .len = 14,
+ .type = IIO_VAL_INT
+};
+
+static int smi330_dev_init(struct smi330_data *data);
+
+static int smi330_get_regs_dma(u8 reg_addr, int *reg_data,
+ struct smi330_data *data)
+{
+ int ret, status;
+
+ ret = regmap_read(data->regmap, SMI330_FEATURE_DATA_STATUS_REG,
+ &status);
+ if (ret)
+ return ret;
+
+ if (!FIELD_GET(SMI330_FEATURE_DATA_STATUS_TX_READY_MASK, status))
+ return -EBUSY;
+
+ ret = regmap_write(data->regmap, SMI330_FEATURE_DATA_ADDR_REG,
+ reg_addr);
+ if (ret)
+ return ret;
+
+ return regmap_read(data->regmap, SMI330_FEATURE_DATA_TX_REG, reg_data);
+}
+
+static int smi330_set_regs_dma(u8 reg_addr, int reg_data,
+ struct smi330_data *data)
+{
+ int ret, status;
+
+ ret = regmap_read(data->regmap, SMI330_FEATURE_DATA_STATUS_REG,
+ &status);
+ if (ret)
+ return ret;
+
+ if (!FIELD_GET(SMI330_FEATURE_DATA_STATUS_TX_READY_MASK, status))
+ return -EBUSY;
+
+ ret = regmap_write(data->regmap, SMI330_FEATURE_DATA_ADDR_REG,
+ reg_addr);
+ if (ret)
+ return ret;
+
+ return regmap_write(data->regmap, SMI330_FEATURE_DATA_TX_REG, reg_data);
+}
+
+static int smi330_get_sysfs_attr(enum smi330_sensor_conf_select config,
+ enum smi330_sensor sensor,
+ const struct smi330_sysfs_attr **attr)
+{
+ switch (config) {
+ case SMI330_ODR:
+ *attr = &smi330_odr_attr;
+ return 0;
+ case SMI330_RANGE:
+ if (sensor == SMI330_ACCEL)
+ *attr = &smi330_accel_scale_attr;
+ else
+ *attr = &smi330_gyro_scale_attr;
+ return 0;
+ case SMI330_BW:
+ *attr = &smi330_bandwidth_attr;
+ return 0;
+ case SMI330_AVG_NUM:
+ *attr = &smi330_average_attr;
+ return 0;
+ case SMI330_MODE:
+ if (sensor == SMI330_ALT_GYRO)
+ *attr = &smi330_mode_alt_gyro_attr;
+ else
+ *attr = &smi330_mode_attr;
+ return 0;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int smi330_get_odr_ns(enum smi330_odr odr, s64 *odr_ns)
+{
+ switch (odr) {
+ case SMI330_ODR_0_78125_HZ:
+ *odr_ns = 1280000000;
+ break;
+ case SMI330_ODR_1_5625_HZ:
+ *odr_ns = 640000000;
+ break;
+ case SMI330_ODR_3_125_HZ:
+ *odr_ns = 320000000;
+ break;
+ case SMI330_ODR_6_25_HZ:
+ *odr_ns = 160000000;
+ break;
+ case SMI330_ODR_12_5_HZ:
+ *odr_ns = 80000000;
+ break;
+ case SMI330_ODR_25_HZ:
+ *odr_ns = 40000000;
+ break;
+ case SMI330_ODR_50_HZ:
+ *odr_ns = 20000000;
+ break;
+ case SMI330_ODR_100_HZ:
+ *odr_ns = 10000000;
+ break;
+ case SMI330_ODR_200_HZ:
+ *odr_ns = 5000000;
+ break;
+ case SMI330_ODR_400_HZ:
+ *odr_ns = 2500000;
+ break;
+ case SMI330_ODR_800_HZ:
+ *odr_ns = 1250000;
+ break;
+ case SMI330_ODR_1600_HZ:
+ *odr_ns = 625000;
+ break;
+ case SMI330_ODR_3200_HZ:
+ *odr_ns = 312500;
+ break;
+ case SMI330_ODR_6400_HZ:
+ *odr_ns = 156250;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ return 0;
+}
+
+static int smi330_get_avg_num(enum smi330_avg_num avg, int *avg_num)
+{
+ int i;
+
+ for (i = 0; i < smi330_average_attr.len; i++) {
+ if (smi330_average_attr.reg_vals[i] == avg) {
+ *avg_num = smi330_average_attr.vals[i];
+ return 0;
+ }
+ }
+
+ return -EINVAL;
+}
+
+static int smi330_get_config_reg(enum smi330_sensor sensor, int *reg)
+{
+ switch (sensor) {
+ case SMI330_ACCEL:
+ *reg = SMI330_ACCEL_CFG_REG;
+ return 0;
+ case SMI330_GYRO:
+ *reg = SMI330_GYRO_CFG_REG;
+ return 0;
+ case SMI330_ALT_ACCEL:
+ *reg = SMI330_ALT_ACCEL_CFG_REG;
+ return 0;
+ case SMI330_ALT_GYRO:
+ *reg = SMI330_ALT_GYRO_CFG_REG;
+ return 0;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int smi330_validate_sensor_config(enum smi330_mode mode,
+ enum smi330_odr odr,
+ enum smi330_avg_num avg)
+{
+ int ret, avg_num;
+ s64 odr_ns, min_odr_ns, skipped_samples;
+
+ switch (mode) {
+ case SMI330_MODE_LOW_POWER:
+ if (odr > SMI330_ODR_400_HZ)
+ return -EINVAL;
+
+ ret = smi330_get_odr_ns(SMI330_ODR_6400_HZ, &min_odr_ns);
+ if (ret)
+ return ret;
+
+ ret = smi330_get_odr_ns(odr, &odr_ns);
+ if (ret)
+ return ret;
+
+ ret = smi330_get_avg_num(avg, &avg_num);
+ if (ret)
+ return ret;
+
+ skipped_samples = div_s64(odr_ns, min_odr_ns) - avg_num;
+
+ if (skipped_samples <= 0)
+ return -EINVAL;
+ return 0;
+
+ case SMI330_MODE_NORMAL:
+ case SMI330_MODE_HIGH_PERF:
+ if (odr <= SMI330_ODR_6_25_HZ)
+ return -EINVAL;
+ return 0;
+
+ default:
+ return 0;
+ }
+}
+
+static int smi330_get_sensor_config_reg(struct smi330_data *data,
+ enum smi330_sensor sensor, int *cfg)
+{
+ int ret, reg;
+
+ ret = smi330_get_config_reg(sensor, ®);
+ if (ret)
+ return ret;
+
+ return regmap_read(data->regmap, reg, cfg);
+}
+
+static int smi330_get_sensor_config(struct smi330_data *data,
+ enum smi330_sensor sensor,
+ enum smi330_sensor_conf_select config,
+ int *value)
+
+{
+ int ret, reg_val, i;
+ const struct smi330_sysfs_attr *attr;
+
+ ret = smi330_get_sensor_config_reg(data, sensor, ®_val);
+ if (ret)
+ return ret;
+
+ switch (config) {
+ case SMI330_ODR:
+ reg_val = FIELD_GET(SMI330_CFG_ODR_MASK, reg_val);
+ break;
+ case SMI330_RANGE:
+ reg_val = FIELD_GET(SMI330_CFG_RANGE_MASK, reg_val);
+ break;
+ case SMI330_BW:
+ reg_val = FIELD_GET(SMI330_CFG_BW_MASK, reg_val);
+ break;
+ case SMI330_AVG_NUM:
+ reg_val = FIELD_GET(SMI330_CFG_AVG_NUM_MASK, reg_val);
+ break;
+ case SMI330_MODE:
+ reg_val = FIELD_GET(SMI330_CFG_MODE_MASK, reg_val);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ ret = smi330_get_sysfs_attr(config, sensor, &attr);
+ if (ret)
+ return ret;
+
+ if (attr->type == IIO_VAL_INT) {
+ for (i = 0; i < attr->len; i++) {
+ if (attr->reg_vals[i] == reg_val) {
+ *value = attr->vals[i];
+ return 0;
+ }
+ }
+ } else {
+ for (i = 0; i < attr->len / 2; i++) {
+ if (attr->reg_vals[i] == reg_val) {
+ *value = attr->vals[2 * i + 1];
+ return 0;
+ }
+ }
+ }
+
+ return -EINVAL;
+}
+
+static int smi330_set_sensor_config_reg(struct smi330_data *data,
+ enum smi330_sensor sensor, int mask,
+ int val)
+{
+ int ret, reg, cfg, error;
+ enum smi330_mode mode;
+ enum smi330_odr odr;
+ enum smi330_avg_num avg;
+ struct device *dev = regmap_get_device(data->regmap);
+
+ ret = smi330_get_config_reg(sensor, ®);
+ if (ret)
+ return ret;
+
+ ret = regmap_read(data->regmap, reg, &cfg);
+ if (ret)
+ return ret;
+
+ cfg = (val & mask) | (cfg & ~mask);
+
+ mode = FIELD_GET(SMI330_CFG_MODE_MASK, cfg);
+ odr = FIELD_GET(SMI330_CFG_ODR_MASK, cfg);
+ avg = FIELD_GET(SMI330_CFG_AVG_NUM_MASK, cfg);
+
+ ret = smi330_validate_sensor_config(mode, odr, avg);
+ if (ret) {
+ dev_err(dev, "Invalid sensor configuration\n");
+ return ret;
+ }
+
+ ret = regmap_write(data->regmap, reg, cfg);
+ if (ret)
+ return ret;
+
+ ret = regmap_read(data->regmap, SMI330_ERR_REG, &error);
+ if (ret)
+ return ret;
+
+ if (FIELD_GET(SMI330_ERR_ACC_CONF_MASK, error) ||
+ FIELD_GET(SMI330_ERR_GYR_CONF_MASK, error))
+ return -EIO;
+
+ return smi330_get_odr_ns(odr, &data->cfg.odr_ns);
+}
+
+static int smi330_set_sensor_config(struct smi330_data *data,
+ enum smi330_sensor sensor,
+ enum smi330_sensor_conf_select config,
+ int value, bool is_reg_value)
+{
+ int ret, i, reg_value, mask;
+ const struct smi330_sysfs_attr *attr;
+
+ if (is_reg_value) {
+ reg_value = value;
+ } else {
+ ret = smi330_get_sysfs_attr(config, sensor, &attr);
+ if (ret)
+ return ret;
+
+ ret = -EINVAL;
+ for (i = 0; i < attr->len; i++) {
+ if (attr->vals[i] == value) {
+ if (attr->type == IIO_VAL_INT)
+ reg_value = attr->reg_vals[i];
+ else
+ reg_value = attr->reg_vals[i / 2];
+ ret = 0;
+ }
+ }
+ if (ret)
+ return ret;
+ }
+
+ switch (config) {
+ case SMI330_ODR:
+ mask = SMI330_CFG_ODR_MASK;
+ reg_value = FIELD_PREP(mask, reg_value);
+ break;
+ case SMI330_RANGE:
+ mask = SMI330_CFG_RANGE_MASK;
+ reg_value = FIELD_PREP(mask, reg_value);
+ break;
+ case SMI330_BW:
+ mask = SMI330_CFG_BW_MASK;
+ reg_value = FIELD_PREP(mask, reg_value);
+ break;
+ case SMI330_AVG_NUM:
+ mask = SMI330_CFG_AVG_NUM_MASK;
+ reg_value = FIELD_PREP(mask, reg_value);
+ break;
+ case SMI330_MODE:
+ mask = SMI330_CFG_MODE_MASK;
+ reg_value = FIELD_PREP(mask, reg_value);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ return smi330_set_sensor_config_reg(data, sensor, mask, reg_value);
+}
+
+static int smi330_get_data(struct smi330_data *data, int chan_type, int axis,
+ int *val)
+{
+ u8 reg;
+ int ret, sample;
+
+ switch (chan_type) {
+ case IIO_ACCEL:
+ reg = SMI330_ACCEL_X_REG + (axis - IIO_MOD_X);
+ break;
+ case IIO_ANGL_VEL:
+ reg = SMI330_GYRO_X_REG + (axis - IIO_MOD_X);
+ break;
+ case IIO_TEMP:
+ reg = SMI330_TEMP_REG;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ ret = regmap_read(data->regmap, reg, &sample);
+ if (ret)
+ return ret;
+
+ *val = sign_extend32(sample, 15);
+
+ return 0;
+}
+
+static int smi330_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_ENABLE:
+ *vals = smi330_mode_attr.vals;
+ *length = smi330_mode_attr.len;
+ *type = smi330_mode_attr.type;
+ return IIO_AVAIL_LIST;
+ case IIO_CHAN_INFO_SCALE:
+ if (chan->type == IIO_ACCEL) {
+ *vals = smi330_accel_scale_attr.vals;
+ *length = smi330_accel_scale_attr.len;
+ *type = smi330_accel_scale_attr.type;
+ } else {
+ *vals = smi330_gyro_scale_attr.vals;
+ *length = smi330_gyro_scale_attr.len;
+ *type = smi330_gyro_scale_attr.type;
+ }
+ return IIO_AVAIL_LIST;
+ case IIO_CHAN_INFO_OVERSAMPLING_RATIO:
+ *vals = smi330_average_attr.vals;
+ *length = smi330_average_attr.len;
+ *type = smi330_average_attr.type;
+ *type = IIO_VAL_INT;
+ return IIO_AVAIL_LIST;
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ *vals = smi330_bandwidth_attr.vals;
+ *length = smi330_bandwidth_attr.len;
+ *type = smi330_bandwidth_attr.type;
+ return IIO_AVAIL_LIST;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ *vals = smi330_odr_attr.vals;
+ *length = smi330_odr_attr.len;
+ *type = smi330_odr_attr.type;
+ return IIO_AVAIL_LIST;
+ default:
+ return -EINVAL;
+ }
+
+ return -EINVAL;
+}
+
+static int smi330_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int *val,
+ int *val2, long mask)
+{
+ int ret;
+ struct smi330_data *data = iio_priv(indio_dev);
+ enum smi330_sensor sensor;
+
+ /* valid for all channel types */
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ if (!iio_device_claim_direct(indio_dev))
+ return -EBUSY;
+ ret = smi330_get_data(data, chan->type, chan->channel2, val);
+ iio_device_release_direct(indio_dev);
+ return ret ? ret : IIO_VAL_INT;
+ default:
+ break;
+ }
+
+ switch (chan->type) {
+ case IIO_ACCEL:
+ sensor = SMI330_ACCEL;
+ break;
+ case IIO_ANGL_VEL:
+ sensor = SMI330_GYRO;
+ break;
+ case IIO_TEMP:
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ *val = SMI330_TEMP_SCALE / GIGA;
+ *val2 = SMI330_TEMP_SCALE % GIGA;
+ return IIO_VAL_INT_PLUS_NANO;
+ case IIO_CHAN_INFO_OFFSET:
+ *val = SMI330_TEMP_OFFSET;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ default:
+ return -EINVAL;
+ }
+
+ /* valid for acc and gyro channels */
+ switch (mask) {
+ case IIO_CHAN_INFO_ENABLE:
+ ret = smi330_get_sensor_config(data, sensor, SMI330_MODE, val);
+ return ret ? ret : IIO_VAL_INT;
+
+ case IIO_CHAN_INFO_OVERSAMPLING_RATIO:
+ ret = smi330_get_sensor_config(data, sensor, SMI330_AVG_NUM,
+ val);
+ return ret ? ret : IIO_VAL_INT;
+
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ ret = smi330_get_sensor_config(data, sensor, SMI330_BW, val);
+ return ret ? ret : IIO_VAL_INT;
+
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ ret = smi330_get_sensor_config(data, sensor, SMI330_ODR, val);
+ return ret ? ret : IIO_VAL_INT;
+
+ case IIO_CHAN_INFO_SCALE:
+ *val = 0;
+ ret = smi330_get_sensor_config(data, sensor, SMI330_RANGE,
+ val2);
+ return ret ? ret : IIO_VAL_INT_PLUS_NANO;
+
+ default:
+ return -EINVAL;
+ }
+}
+
+static int smi330_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int val, int val2,
+ long mask)
+{
+ int ret;
+ struct smi330_data *data = iio_priv(indio_dev);
+ enum smi330_sensor sensor;
+
+ switch (chan->type) {
+ case IIO_ACCEL:
+ sensor = SMI330_ACCEL;
+ break;
+ case IIO_ANGL_VEL:
+ sensor = SMI330_GYRO;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ switch (mask) {
+ case IIO_CHAN_INFO_ENABLE:
+ ret = smi330_set_sensor_config(data, sensor, SMI330_MODE, val,
+ false);
+ if (ret)
+ return ret;
+
+ if (sensor == SMI330_ACCEL)
+ data->savestate.acc_pwr = val;
+ else
+ data->savestate.gyr_pwr = val;
+ return 0;
+ case IIO_CHAN_INFO_SCALE:
+ return smi330_set_sensor_config(data, sensor, SMI330_RANGE,
+ val2, false);
+ case IIO_CHAN_INFO_OVERSAMPLING_RATIO:
+ return smi330_set_sensor_config(data, sensor, SMI330_AVG_NUM,
+ val, false);
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ return smi330_set_sensor_config(data, sensor, SMI330_BW, val,
+ false);
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ ret = smi330_set_sensor_config(data, SMI330_ACCEL, SMI330_ODR,
+ val, false);
+ if (ret)
+ return ret;
+
+ return smi330_set_sensor_config(data, SMI330_GYRO, SMI330_ODR,
+ val, false);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int smi330_write_raw_get_fmt(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, long info)
+{
+ switch (info) {
+ case IIO_CHAN_INFO_SCALE:
+ return IIO_VAL_INT_PLUS_NANO;
+ default:
+ return IIO_VAL_INT_PLUS_MICRO;
+ }
+}
+
+static u16 smi330_get_fifo_length(struct smi330_data *data)
+{
+ int ret, fill_level;
+
+ ret = regmap_read(data->regmap, SMI330_FIFO_FILL_LEVEL_REG,
+ &fill_level);
+ if (ret)
+ return 0;
+
+ return fill_level & SMI330_FIFO_FILL_LEVEL_MASK;
+}
+
+static int smi330_get_fifo_frame_length(struct iio_dev *indio_dev)
+{
+ int chan;
+ int fifo_frame_length = 0;
+
+ iio_for_each_active_channel(indio_dev, chan) {
+ fifo_frame_length++;
+ }
+
+ return fifo_frame_length;
+}
+
+static int smi330_config_auto_op_mode(struct smi330_data *data,
+ enum smi330_auto_op_mode auto_op_mode)
+{
+ switch (auto_op_mode) {
+ case SMI330_AUTO_OP_EN_ALL:
+ return regmap_update_bits(data->regmap, SMI330_ALT_CONF_REG,
+ SMI330_ALT_CONF_EN_MASK,
+ SMI330_ALT_CONF_EN_MASK);
+ case SMI330_AUTO_OP_EN_ACC:
+ return regmap_update_bits(data->regmap, SMI330_ALT_CONF_REG,
+ SMI330_ALT_CONF_EN_MASK,
+ SMI330_ALT_CONF_ACC_EN_MASK);
+ case SMI330_AUTO_OP_EN_GYR:
+ return regmap_update_bits(data->regmap, SMI330_ALT_CONF_REG,
+ SMI330_ALT_CONF_EN_MASK,
+ SMI330_ALT_CONF_GYR_EN_MASK);
+ case SMI330_AUTO_OP_DISABLE:
+ return regmap_update_bits(data->regmap, SMI330_ALT_CONF_REG,
+ SMI330_ALT_CONF_EN_MASK, 0);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int smi330_auto_op_cond(struct smi330_data *data,
+ enum smi330_auto_op_config auto_op_config,
+ enum smi330_auto_op_adv_feat auto_op_adv_feat)
+{
+ int ret, val, mask;
+
+ ret = smi330_get_regs_dma(SMI330_ALT_CONF_CHG_EX_REG, &val, data);
+ if (ret)
+ return ret;
+
+ switch (auto_op_config) {
+ case SMI330_AUTO_OP_CONFIG_ALT:
+ if (FIELD_GET(SMI330_ALT_CONF_CHG_USER_MASK, val) !=
+ auto_op_adv_feat) {
+ mask = SMI330_ALT_CONF_CHG_ALT_MASK;
+ break;
+ }
+ return -EIO;
+ case SMI330_AUTO_OP_CONFIG_USER:
+ if (FIELD_GET(SMI330_ALT_CONF_CHG_ALT_MASK, val) !=
+ auto_op_adv_feat) {
+ mask = SMI330_ALT_CONF_CHG_USER_MASK;
+ break;
+ }
+ return -EIO;
+ default:
+ return -EINVAL;
+ }
+
+ /* FIELD_PREP is not possible with non-const mask */
+ val = ((auto_op_adv_feat << (__builtin_ffs(mask) - 1)) & mask) |
+ (val & ~mask);
+
+ return smi330_set_regs_dma(SMI330_ALT_CONF_CHG_EX_REG, val, data);
+}
+
+static int smi330_get_st_result(struct smi330_data *data)
+{
+ int ret, st_result, io1_data;
+
+ ret = regmap_read_poll_timeout(
+ data->regmap, SMI330_FEATURE_IO1_REG, io1_data,
+ FIELD_GET(SMI330_FEATURE_IO1_SC_COMPLETE_MASK, io1_data) == 1,
+ SMI330_FEAT_ENG_POLL, SMI330_FEAT_ENG_TIMEOUT);
+ if (ret)
+ return ret;
+
+ if (FIELD_GET(SMI330_FEATURE_IO1_ST_RESULT_MASK, io1_data)) {
+ ret = regmap_write(data->regmap, SMI330_FEATURE_DATA_ADDR_REG,
+ SMI330_ST_RESULT_EX_REG);
+ if (ret)
+ return ret;
+
+ ret = regmap_read(data->regmap, SMI330_FEATURE_DATA_TX_REG,
+ &st_result);
+ if (ret)
+ return ret;
+
+ if (st_result != SMI330_ST_SUCCESS_MASK)
+ return -EIO;
+ } else {
+ return -EIO;
+ }
+
+ return 0;
+}
+
+static int smi330_disable_alt_conf_acc_gyr_mode(struct smi330_data *data)
+{
+ int ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ALT_ACCEL, SMI330_MODE,
+ SMI330_MODE_SUSPEND, true);
+ if (ret)
+ return ret;
+
+ return smi330_set_sensor_config(data, SMI330_ALT_GYRO, SMI330_MODE,
+ SMI330_MODE_SUSPEND, true);
+}
+
+static int smi330_st_precondition(struct smi330_data *data)
+{
+ int mask, acc_cfg;
+
+ mask = SMI330_CFG_MODE_MASK | SMI330_CFG_ODR_MASK;
+
+ acc_cfg = FIELD_PREP(SMI330_CFG_MODE_MASK, SMI330_MODE_NORMAL) |
+ FIELD_PREP(SMI330_CFG_ODR_MASK, SMI330_ODR_100_HZ);
+
+ return smi330_set_sensor_config_reg(data, SMI330_ACCEL, mask, acc_cfg);
+}
+
+static int smi330_trigger_self_test(struct smi330_data *data)
+{
+ int ret;
+
+ ret = smi330_st_precondition(data);
+ if (ret)
+ return ret;
+
+ ret = smi330_disable_alt_conf_acc_gyr_mode(data);
+ if (ret)
+ return ret;
+
+ return regmap_write(data->regmap, SMI330_CMD_REG, SMI330_CMD_SELF_TEST);
+}
+
+static int smi330_set_gyro_filter_coefficients(struct smi330_data *data)
+{
+ int ret;
+ s16 data_array[9];
+
+ data_array[0] = SMI330_SC_ST_VALUE_0;
+ data_array[1] = SMI330_SC_ST_VALUE_1;
+ data_array[2] = SMI330_SC_ST_VALUE_2;
+ data_array[3] = SMI330_SC_ST_VALUE_3;
+ data_array[4] = SMI330_SC_ST_VALUE_4;
+ data_array[5] = SMI330_SC_ST_VALUE_5;
+ data_array[6] = SMI330_SC_ST_VALUE_6;
+ data_array[7] = SMI330_SC_ST_VALUE_7;
+ data_array[8] = SMI330_SC_ST_VALUE_8;
+
+ ret = regmap_write(data->regmap, SMI330_FEATURE_DATA_ADDR_REG,
+ SMI330_GYRO_SC_ST_VALUES_EX_REG);
+ if (ret)
+ return ret;
+
+ return regmap_bulk_write(data->regmap, SMI330_FEATURE_DATA_TX_REG,
+ data_array, ARRAY_SIZE(data_array));
+}
+
+static int smi330_set_self_test_mode(struct smi330_data *data)
+{
+ int ret;
+
+ ret = regmap_write(data->regmap, SMI330_FEATURE_DATA_ADDR_REG,
+ SMI330_ST_SELECT_EX_REG);
+ if (ret)
+ return ret;
+
+ return regmap_write(data->regmap, SMI330_FEATURE_DATA_TX_REG,
+ SMI330_ST_SELECT_ACC_GYR_MASK);
+}
+
+static int smi330_perform_self_test(struct smi330_data *data)
+{
+ int ret, acc_cfg, cfg_restore;
+ s16 data_array[9] = { 0 };
+
+ ret = regmap_write(data->regmap, SMI330_FEATURE_DATA_ADDR_REG,
+ SMI330_GYRO_SC_ST_VALUES_EX_REG);
+ if (ret == 0)
+ ret = regmap_bulk_write(data->regmap,
+ SMI330_FEATURE_DATA_TX_REG, data_array,
+ ARRAY_SIZE(data_array));
+ if (ret == 0)
+ ret = regmap_write(data->regmap, SMI330_FEATURE_DATA_ADDR_REG,
+ SMI330_GYRO_SC_ST_VALUES_EX_REG);
+ if (ret == 0)
+ ret = regmap_bulk_read(data->regmap, SMI330_FEATURE_DATA_TX_REG,
+ data_array, ARRAY_SIZE(data_array));
+
+ if (ret == 0 && (data_array[3] != SMI330_SC_ST_VALUE_3 &&
+ (data_array[0] != SMI330_SC_ST_VALUE_0 ||
+ data_array[1] != SMI330_SC_ST_VALUE_1 ||
+ data_array[2] != SMI330_SC_ST_VALUE_2 ||
+ data_array[4] != SMI330_SC_ST_VALUE_4 ||
+ data_array[5] != SMI330_SC_ST_VALUE_5 ||
+ data_array[6] != SMI330_SC_ST_VALUE_6 ||
+ data_array[7] != SMI330_SC_ST_VALUE_7 ||
+ data_array[8] != SMI330_SC_ST_VALUE_8))) {
+ ret = smi330_set_gyro_filter_coefficients(data);
+ }
+
+ if (ret == 0)
+ ret = smi330_set_self_test_mode(data);
+
+ /*
+ * Save accel configurations in separate variable to
+ * restore configuration independent from other errors.
+ */
+ cfg_restore =
+ smi330_get_sensor_config_reg(data, SMI330_ACCEL, &acc_cfg);
+ ret = cfg_restore;
+
+ if (ret == 0)
+ ret = smi330_trigger_self_test(data);
+
+ if (ret == 0)
+ ret = smi330_get_st_result(data);
+
+ if (cfg_restore == 0)
+ /* Restore accel configurations */
+ ret = smi330_set_sensor_config_reg(data, SMI330_ACCEL,
+ SMI330_CFG_MASK, acc_cfg);
+
+ return ret;
+}
+
+static int smi330_self_calib_select(struct smi330_data *data)
+{
+ int ret;
+
+ ret = regmap_write(data->regmap, SMI330_FEATURE_DATA_ADDR_REG,
+ SMI330_GYRO_SC_SELECT_EX_REG);
+ if (ret)
+ return ret;
+
+ return regmap_write(data->regmap, SMI330_FEATURE_DATA_TX_REG,
+ SMI330_GYRO_SC_SELECT_ALL_MASK);
+}
+
+static int smi330_self_calib_preconfig(struct smi330_data *data)
+{
+ int ret, acc_cfg;
+ int mask = SMI330_CFG_MODE_MASK | SMI330_CFG_ODR_MASK;
+
+ acc_cfg = FIELD_PREP(SMI330_CFG_MODE_MASK, SMI330_MODE_HIGH_PERF) |
+ FIELD_PREP(SMI330_CFG_ODR_MASK, SMI330_ODR_100_HZ);
+
+ ret = smi330_set_sensor_config_reg(data, SMI330_ACCEL, mask, acc_cfg);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ALT_ACCEL, SMI330_MODE,
+ SMI330_MODE_SUSPEND, true);
+ if (ret)
+ return ret;
+
+ return smi330_set_sensor_config(data, SMI330_ALT_GYRO, SMI330_MODE,
+ SMI330_MODE_SUSPEND, true);
+}
+
+static void smi330_self_calib_restore_config(struct smi330_data *data,
+ int accel_config,
+ int accel_alt_config,
+ int gyro_alt_config)
+{
+ smi330_set_sensor_config_reg(data, SMI330_ACCEL, SMI330_CFG_MASK,
+ accel_config);
+
+ smi330_set_sensor_config_reg(data, SMI330_ALT_ACCEL, SMI330_CFG_MASK,
+ accel_alt_config);
+
+ smi330_set_sensor_config_reg(data, SMI330_ALT_GYRO, SMI330_CFG_MASK,
+ gyro_alt_config);
+}
+
+static int smi330_self_calibration(struct smi330_data *data,
+ struct iio_dev *indio_dev)
+{
+ int ret, io1_data, acc_cfg, acc_alt_cfg, gyr_alt_cfg;
+
+ ret = regmap_read(data->regmap, SMI330_FEATURE_IO1_REG, &io1_data);
+ if (ret)
+ return ret;
+
+ if (FIELD_GET(SMI330_FEATURE_IO1_STATE_MASK, io1_data))
+ return -EBUSY;
+
+ ret = smi330_self_calib_select(data);
+ if (ret)
+ return ret;
+
+ ret = smi330_get_sensor_config_reg(data, SMI330_ACCEL, &acc_cfg);
+ if (ret)
+ return ret;
+
+ ret = smi330_get_sensor_config_reg(data, SMI330_ALT_ACCEL,
+ &acc_alt_cfg);
+ if (ret)
+ return ret;
+
+ ret = smi330_get_sensor_config_reg(data, SMI330_ALT_GYRO, &gyr_alt_cfg);
+ if (ret)
+ return ret;
+
+ ret = smi330_self_calib_preconfig(data);
+ if (ret)
+ goto out;
+
+ ret = regmap_write(data->regmap, SMI330_CMD_REG,
+ SMI330_CMD_SELF_CALIBRATION);
+ if (ret)
+ goto out;
+
+ ret = regmap_read_poll_timeout(
+ data->regmap, SMI330_FEATURE_IO1_REG, io1_data,
+ FIELD_GET(SMI330_FEATURE_IO1_SC_COMPLETE_MASK, io1_data) == 1,
+ SMI330_FEAT_ENG_POLL, SMI330_FEAT_ENG_TIMEOUT);
+
+out:
+ smi330_self_calib_restore_config(data, acc_cfg, acc_alt_cfg,
+ gyr_alt_cfg);
+ return ret;
+}
+
+static int smi330_enable_feature_engine(struct smi330_data *data)
+{
+ int ret, io1;
+
+ ret = regmap_write(data->regmap, SMI330_FEATURE_IO2_REG,
+ SMI330_FEATURE_IO2_STARTUP_CONFIG);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(data->regmap, SMI330_FEATURE_IO_STATUS_REG,
+ SMI330_FEATURE_IO_STATUS_MASK);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(data->regmap, SMI330_FEATURE_CTRL_REG,
+ SMI330_FEATURE_CTRL_ENABLE);
+ if (ret)
+ return ret;
+
+ return regmap_read_poll_timeout(data->regmap, SMI330_FEATURE_IO1_REG,
+ io1,
+ FIELD_GET(SMI330_FEATURE_IO1_ERROR_MASK,
+ io1) == 1,
+ SMI330_FEAT_ENG_POLL,
+ SMI330_FEAT_ENG_TIMEOUT);
+}
+
+static int smi330_enable_adv_feat(struct smi330_data *data, int mask, int val)
+{
+ int ret, io_status;
+
+ /* update advanced feature config */
+ ret = regmap_update_bits(data->regmap, SMI330_FEATURE_IO0_REG, mask,
+ val);
+ if (ret)
+ return ret;
+
+ /* sync settings */
+ io_status = FIELD_PREP(SMI330_FEATURE_IO_STATUS_MASK, 1);
+ ret = regmap_write(data->regmap, SMI330_FEATURE_IO_STATUS_REG,
+ io_status);
+ return ret;
+}
+
+static int smi330_soft_reset(struct smi330_data *data)
+{
+ int ret, dummy_byte;
+
+ ret = regmap_write(data->regmap, SMI330_CMD_REG, SMI330_CMD_SOFT_RESET);
+ if (ret)
+ return ret;
+ fsleep(SMI330_SOFT_RESET_DELAY);
+
+ /* Performing a dummy read after a soft-reset */
+ regmap_read(data->regmap, SMI330_CHIP_ID_REG, &dummy_byte);
+ if (ret)
+ return ret;
+
+ if (data->cfg.feat_irq != SMI330_INT_DISABLED)
+ ret = smi330_enable_feature_engine(data);
+
+ return ret;
+}
+
+static int smi330_fifo_handler(struct iio_dev *indio_dev)
+{
+ int ret, index, chan, i, fifo_frame_length, fifo_length, frame_count;
+ struct smi330_data *data = iio_priv(indio_dev);
+ s16 *iio_buffer_iter = data->buf;
+ s16 *fifo_iter = data->fifo;
+ s64 tsamp = data->cfg.odr_ns;
+ s64 timestamp;
+
+ /* Ignore if buffer disabled */
+ if (!iio_buffer_enabled(indio_dev))
+ return 0;
+
+ fifo_frame_length = smi330_get_fifo_frame_length(indio_dev);
+ fifo_length = smi330_get_fifo_length(data);
+ frame_count = fifo_length / fifo_frame_length;
+
+ if (data->last_timestamp != 0 && frame_count != 0)
+ tsamp = div_s64(data->current_timestamp - data->last_timestamp,
+ frame_count);
+
+ ret = regmap_noinc_read(data->regmap, SMI330_FIFO_DATA_REG, data->fifo,
+ fifo_length * sizeof(s16));
+ if (ret)
+ return ret;
+
+ for (i = 0; i < frame_count; i++) {
+ index = 0;
+ fifo_iter = &data->fifo[i * fifo_frame_length];
+
+ iio_for_each_active_channel(indio_dev, chan) {
+ iio_buffer_iter[index++] = fifo_iter[chan];
+ }
+ timestamp =
+ data->current_timestamp - tsamp * (frame_count - i - 1);
+ iio_push_to_buffers_with_timestamp(indio_dev, data->buf,
+ timestamp);
+ }
+
+ data->last_timestamp = data->current_timestamp;
+
+ return 0;
+}
+
+static irqreturn_t smi330_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct smi330_data *data = iio_priv(indio_dev);
+ struct device *dev = regmap_get_device(data->regmap);
+ int ret, sample, chan;
+ int i = 0;
+
+ /* Ignore if buffer disabled */
+ if (!iio_buffer_enabled(indio_dev))
+ return 0;
+
+ if (data->cfg.op_mode == SMI330_FIFO) {
+ dev_warn(dev, "Can't use trigger when FIFO enabled\n");
+ return -EBUSY;
+ }
+
+ if (data->cfg.op_mode == SMI330_IDLE)
+ data->current_timestamp = iio_get_time_ns(indio_dev);
+
+ if (*indio_dev->active_scan_mask == SMI330_ALL_CHAN_MSK) {
+ ret = regmap_bulk_read(data->regmap, SMI330_ACCEL_X_REG,
+ data->buf, ARRAY_SIZE(smi330_channels));
+ if (ret)
+ goto out;
+ } else {
+ iio_for_each_active_channel(indio_dev, chan) {
+ ret = regmap_read(data->regmap,
+ SMI330_ACCEL_X_REG + chan, &sample);
+ if (ret)
+ goto out;
+ data->buf[i++] = sample;
+ }
+ }
+
+ iio_push_to_buffers_with_timestamp(indio_dev, data->buf,
+ data->current_timestamp);
+
+out:
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+
+static irqreturn_t smi330_irq_thread_handler(int irq, void *indio_dev_)
+{
+ int ret, int_stat;
+ s16 int_status[2] = { 0 };
+ struct iio_dev *indio_dev = indio_dev_;
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ guard(mutex)(&data->lock);
+
+ data->current_timestamp = atomic64_read(&data->irq_timestamp);
+
+ ret = regmap_bulk_read(data->regmap, SMI330_INT1_STATUS_REG, int_status,
+ 2);
+ if (ret)
+ return IRQ_NONE;
+
+ int_stat = int_status[0] | int_status[1];
+
+ if (FIELD_GET(SMI330_INT_STATUS_FWM_MASK, int_stat) ||
+ FIELD_GET(SMI330_INT_STATUS_FFULL_MASK, int_stat)) {
+ ret = smi330_fifo_handler(indio_dev);
+ if (ret)
+ return IRQ_NONE;
+ }
+
+ if (FIELD_GET(SMI330_INT_STATUS_ACC_DRDY_MASK, int_stat) ||
+ FIELD_GET(SMI330_INT_STATUS_GYR_DRDY_MASK, int_stat)) {
+ iio_trigger_poll_nested(data->trig);
+ }
+
+ if (FIELD_GET(SMI330_INT_STATUS_ANYMO_MASK, int_stat)) {
+ iio_push_event(indio_dev,
+ IIO_MOD_EVENT_CODE(IIO_ACCEL, 0,
+ IIO_MOD_X_OR_Y_OR_Z,
+ IIO_EV_TYPE_ROC,
+ IIO_EV_DIR_RISING),
+ data->current_timestamp);
+ }
+
+ if (FIELD_GET(SMI330_INT_STATUS_NOMO_MASK, int_stat)) {
+ iio_push_event(indio_dev,
+ IIO_MOD_EVENT_CODE(IIO_ACCEL, 0,
+ IIO_MOD_X_OR_Y_OR_Z,
+ IIO_EV_TYPE_ROC,
+ IIO_EV_DIR_FALLING),
+ data->current_timestamp);
+ }
+
+ if (FIELD_GET(SMI330_INT_STATUS_TILT_MASK, int_stat)) {
+ iio_push_event(indio_dev,
+ IIO_MOD_EVENT_CODE(IIO_ACCEL, 0,
+ IIO_MOD_X_OR_Y_OR_Z,
+ IIO_EV_TYPE_CHANGE,
+ IIO_EV_DIR_EITHER),
+ data->current_timestamp);
+ }
+
+ return IRQ_HANDLED;
+}
+
+static irqreturn_t smi330_irq_handler(int irq, void *p)
+{
+ struct iio_dev *indio_dev = p;
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ atomic64_set(&data->irq_timestamp, iio_get_time_ns(indio_dev));
+
+ return IRQ_WAKE_THREAD;
+}
+
+static int smi330_set_int_pin_config(struct smi330_data *data,
+ enum smi330_int_out irq_num,
+ bool active_high, bool open_drain,
+ bool latch)
+{
+ int ret, mask, val;
+
+ val = active_high ? SMI330_IO_INT_CTRL_LVL : 0;
+ val |= open_drain ? SMI330_IO_INT_CTRL_OD : 0;
+ val |= SMI330_IO_INT_CTRL_EN;
+
+ switch (irq_num) {
+ case SMI330_INT_1:
+ mask = SMI330_IO_INT_CTRL_INT1_MASK;
+ val = FIELD_PREP(mask, val);
+ break;
+ case SMI330_INT_2:
+ mask = SMI330_IO_INT_CTRL_INT2_MASK;
+ val = FIELD_PREP(mask, val);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ ret = regmap_update_bits(data->regmap, SMI330_IO_INT_CTRL_REG, mask,
+ val);
+ if (ret)
+ return ret;
+
+ return regmap_update_bits(data->regmap, SMI330_INT_CONF_REG,
+ SMI330_INT_CONF_LATCH_MASK,
+ FIELD_PREP(SMI330_INT_CONF_LATCH_MASK,
+ latch));
+}
+
+static int smi330_setup_irq(struct device *dev, struct iio_dev *indio_dev,
+ int irq, enum smi330_int_out irq_num)
+{
+ int ret, irq_type;
+ bool open_drain, active_high, latch;
+ struct smi330_data *data = iio_priv(indio_dev);
+ struct irq_data *desc;
+ struct fwnode_handle *fwnode;
+
+ desc = irq_get_irq_data(irq);
+ if (!desc)
+ return -EINVAL;
+
+ irq_type = irqd_get_trigger_type(desc);
+ switch (irq_type) {
+ case IRQF_TRIGGER_RISING:
+ latch = false;
+ active_high = true;
+ break;
+ case IRQF_TRIGGER_HIGH:
+ latch = true;
+ active_high = true;
+ break;
+ case IRQF_TRIGGER_FALLING:
+ latch = false;
+ active_high = false;
+ break;
+ case IRQF_TRIGGER_LOW:
+ latch = true;
+ active_high = false;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ fwnode = dev_fwnode(dev);
+ if (!fwnode)
+ return -ENODEV;
+
+ open_drain = fwnode_property_read_bool(fwnode, "drive-open-drain");
+
+ ret = smi330_set_int_pin_config(data, irq_num, active_high, open_drain,
+ latch);
+ if (ret)
+ return ret;
+
+ return devm_request_threaded_irq(dev, irq, smi330_irq_handler,
+ smi330_irq_thread_handler, irq_type,
+ indio_dev->name, indio_dev);
+}
+
+static int smi330_register_irq(struct device *dev, struct iio_dev *indio_dev)
+{
+ int ret, irq;
+ struct smi330_data *data = iio_priv(indio_dev);
+ struct smi330_cfg *cfg = &data->cfg;
+ struct fwnode_handle *fwnode;
+
+ fwnode = dev_fwnode(dev);
+ if (!fwnode)
+ return -ENODEV;
+
+ irq = fwnode_irq_get_byname(fwnode, "INT1");
+ if (irq > 0) {
+ ret = smi330_setup_irq(dev, indio_dev, irq, SMI330_INT_1);
+ if (ret)
+ return ret;
+ } else if (cfg->data_irq == SMI330_INT_1 ||
+ cfg->feat_irq == SMI330_INT_1) {
+ return -ENODEV;
+ }
+
+ irq = fwnode_irq_get_byname(fwnode, "INT2");
+ if (irq > 0) {
+ ret = smi330_setup_irq(dev, indio_dev, irq, SMI330_INT_2);
+ if (ret)
+ return ret;
+ } else if (cfg->data_irq == SMI330_INT_2 ||
+ cfg->feat_irq == SMI330_INT_2) {
+ return -ENODEV;
+ }
+
+ return 0;
+}
+
+static int smi330_hw_fifo_enable(struct iio_dev *indio_dev)
+{
+ int ret, cfg, chan;
+ int val = 0;
+ enum smi330_mode acc_mode = SMI330_MODE_SUSPEND;
+ enum smi330_mode gyr_mode = SMI330_MODE_SUSPEND;
+ struct smi330_data *data = iio_priv(indio_dev);
+ struct device *dev = regmap_get_device(data->regmap);
+
+ data->last_timestamp = 0;
+
+ ret = smi330_get_sensor_config_reg(data, SMI330_ACCEL, &cfg);
+ if (ret)
+ return ret;
+
+ acc_mode = FIELD_GET(SMI330_CFG_MODE_MASK, cfg);
+ ret = smi330_get_sensor_config_reg(data, SMI330_GYRO, &cfg);
+ if (ret)
+ return ret;
+
+ gyr_mode = FIELD_GET(SMI330_CFG_MODE_MASK, cfg);
+
+ if (acc_mode == SMI330_MODE_LOW_POWER ||
+ gyr_mode == SMI330_MODE_LOW_POWER) {
+ dev_warn(dev, "Fifo can't be enabled in low power mode");
+ return -EINVAL;
+ }
+
+ iio_for_each_active_channel(indio_dev, chan) {
+ switch (chan) {
+ case SMI330_SCAN_ACCEL_X:
+ case SMI330_SCAN_ACCEL_Y:
+ case SMI330_SCAN_ACCEL_Z:
+ val |= FIELD_PREP(SMI330_FIFO_CONF_ACC_MASK, 1);
+ break;
+ case SMI330_SCAN_GYRO_X:
+ case SMI330_SCAN_GYRO_Y:
+ case SMI330_SCAN_GYRO_Z:
+ val |= FIELD_PREP(SMI330_FIFO_CONF_GYR_MASK, 1);
+ break;
+ case SMI330_TEMP_OBJECT:
+ val |= FIELD_PREP(SMI330_FIFO_CONF_TEMP_MASK, 1);
+ break;
+ default:
+ break;
+ }
+ }
+
+ ret = regmap_update_bits(data->regmap, SMI330_FIFO_CONF_REG,
+ SMI330_FIFO_CONF_MASK, val);
+ if (ret)
+ return ret;
+
+ val = FIELD_PREP(SMI330_INT_MAP2_FIFO_WM_MASK, data->cfg.data_irq) |
+ FIELD_PREP(SMI330_INT_MAP2_FIFO_FULL_MASK, data->cfg.data_irq);
+ ret = regmap_update_bits(data->regmap, SMI330_INT_MAP2_REG,
+ SMI330_INT_MAP2_FIFO_MASK, val);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(data->regmap, SMI330_FIFO_CTRL_REG,
+ SMI330_FIFO_CTRL_FLUSH_MASK);
+ if (ret)
+ return ret;
+
+ data->cfg.op_mode = SMI330_FIFO;
+
+ return 0;
+}
+
+static int smi330_hw_fifo_disable(struct iio_dev *indio_dev)
+{
+ int ret;
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = regmap_update_bits(data->regmap, SMI330_FIFO_CONF_REG,
+ SMI330_FIFO_CONF_MASK, 0);
+ if (ret)
+ return ret;
+
+ ret = regmap_update_bits(data->regmap, SMI330_INT_MAP2_REG,
+ SMI330_INT_MAP2_FIFO_MASK, 0);
+ if (ret)
+ return ret;
+
+ data->cfg.op_mode = SMI330_IDLE;
+
+ return 0;
+}
+
+static int smi330_hwfifo_set_watermark(struct iio_dev *indio_dev,
+ unsigned int val)
+{
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ unsigned int fifo_frame_length =
+ smi330_get_fifo_frame_length(indio_dev);
+ unsigned int abs_max_wm = (SMI330_FIFO_MAX_LENGTH - 1);
+ unsigned int max_wm = abs_max_wm - 3 * max(fifo_frame_length, 3u);
+ unsigned int watermark = min(fifo_frame_length * val, max_wm);
+
+ return regmap_write(data->regmap, SMI330_FIFO_WATERMARK_REG, watermark);
+}
+
+static int smi330_buffer_postenable(struct iio_dev *indio_dev)
+{
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ if (iio_device_get_current_mode(indio_dev) == INDIO_BUFFER_TRIGGERED)
+ return 0;
+
+ if (data->cfg.data_irq != SMI330_INT_DISABLED)
+ return smi330_hw_fifo_enable(indio_dev);
+
+ return 0;
+}
+
+static int smi330_buffer_predisable(struct iio_dev *indio_dev)
+{
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ /* Don't break the current interrupt thread handler */
+ mutex_lock(&data->lock);
+
+ if (iio_device_get_current_mode(indio_dev) == INDIO_BUFFER_TRIGGERED)
+ return 0;
+
+ if (data->cfg.data_irq != SMI330_INT_DISABLED)
+ return smi330_hw_fifo_disable(indio_dev);
+
+ return 0;
+}
+
+static int smi330_buffer_postdisable(struct iio_dev *indio_dev)
+{
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ mutex_unlock(&data->lock);
+
+ return 0;
+}
+
+static int smi330_set_drdy_trigger_state(struct iio_trigger *trig, bool enable)
+{
+ int val;
+ struct smi330_data *data = iio_trigger_get_drvdata(trig);
+ struct device *dev = regmap_get_device(data->regmap);
+
+ if (data->cfg.op_mode == SMI330_FIFO) {
+ dev_warn(dev, "Can't set trigger when FIFO enabled\n");
+ return -EBUSY;
+ }
+
+ if (enable)
+ data->cfg.op_mode = SMI330_DATA_READY;
+ else
+ data->cfg.op_mode = SMI330_IDLE;
+
+ val = FIELD_PREP(SMI330_INT_MAP2_ACC_DRDY_MASK,
+ enable ? data->cfg.data_irq : 0);
+ val |= FIELD_PREP(SMI330_INT_MAP2_GYR_DRDY_MASK,
+ enable ? data->cfg.data_irq : 0);
+ return regmap_update_bits(data->regmap, SMI330_INT_MAP2_REG,
+ SMI330_INT_MAP2_DRDY_MASK, val);
+}
+
+static int smi330_read_odr_reg_value(struct smi330_data *data,
+ enum smi330_odr *odr)
+{
+ int ret, cfg, acc_odr, gyr_odr;
+
+ ret = smi330_get_sensor_config_reg(data, SMI330_ACCEL, &cfg);
+ if (ret)
+ return ret;
+ acc_odr = FIELD_GET(SMI330_CFG_ODR_MASK, cfg);
+
+ ret = smi330_get_sensor_config_reg(data, SMI330_GYRO, &cfg);
+ if (ret)
+ return ret;
+ gyr_odr = FIELD_GET(SMI330_CFG_ODR_MASK, cfg);
+
+ if (acc_odr == gyr_odr)
+ *odr = acc_odr;
+ else
+ return -EINVAL;
+
+ return 0;
+}
+
+static ssize_t alt_odr_show(struct device *dev, struct device_attribute *attr,
+ char *buf)
+{
+ int ret, acc_odr, gyr_odr;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = smi330_get_sensor_config(data, SMI330_ALT_ACCEL, SMI330_ODR,
+ &acc_odr);
+ if (ret)
+ return ret;
+
+ ret = smi330_get_sensor_config(data, SMI330_ALT_GYRO, SMI330_ODR,
+ &gyr_odr);
+ if (ret)
+ return ret;
+
+ if (acc_odr == gyr_odr)
+ return snprintf(buf, PAGE_SIZE, "%d\n", acc_odr);
+
+ return snprintf(buf, PAGE_SIZE,
+ "ODR read failed, potential ACC and GYRO mismatch\n");
+}
+
+static ssize_t alt_status_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ int ret, status;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = regmap_read(data->regmap, SMI330_ALT_STATUS_REG, &status);
+ if (ret)
+ return ret;
+
+ return snprintf(buf, PAGE_SIZE, "0x%x\n", status);
+}
+
+static ssize_t alt_acc_mode_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ int ret, mode;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = smi330_get_sensor_config(data, SMI330_ALT_ACCEL, SMI330_MODE,
+ &mode);
+ if (ret)
+ return ret;
+
+ return snprintf(buf, PAGE_SIZE, "%d\n", mode);
+}
+
+static ssize_t alt_acc_avg_num_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ int ret, avg_num;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = smi330_get_sensor_config(data, SMI330_ALT_ACCEL, SMI330_AVG_NUM,
+ &avg_num);
+ if (ret)
+ return ret;
+
+ return snprintf(buf, PAGE_SIZE, "%d\n", avg_num);
+}
+
+static ssize_t alt_gyr_mode_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ int ret, mode;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = smi330_get_sensor_config(data, SMI330_ALT_GYRO, SMI330_MODE,
+ &mode);
+ if (ret)
+ return ret;
+
+ return snprintf(buf, PAGE_SIZE, "%d\n", mode);
+}
+
+static ssize_t alt_gyr_avg_num_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ int ret, avg_num;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = smi330_get_sensor_config(data, SMI330_ALT_GYRO, SMI330_AVG_NUM,
+ &avg_num);
+ if (ret)
+ return ret;
+
+ return snprintf(buf, PAGE_SIZE, "%d\n", avg_num);
+}
+
+static ssize_t hwfifo_watermark_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ int ret, watermark;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = regmap_read(data->regmap, SMI330_FIFO_WATERMARK_REG, &watermark);
+ if (ret)
+ return ret;
+
+ return snprintf(buf, PAGE_SIZE, "%ld\n",
+ watermark & SMI330_FIFO_WATERMARK_MASK);
+}
+
+static ssize_t hwfifo_watermark_min_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ return snprintf(buf, PAGE_SIZE, "%d\n", 1);
+}
+
+static ssize_t hwfifo_watermark_max_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ return snprintf(buf, PAGE_SIZE, "%d\n", SMI330_FIFO_MAX_LENGTH - 1);
+}
+
+static ssize_t hwfifo_fill_level_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+ int fill_level = smi330_get_fifo_length(data);
+
+ return snprintf(buf, PAGE_SIZE, "%d\n", fill_level);
+}
+
+static ssize_t hwfifo_enabled_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ if (data->cfg.op_mode == SMI330_FIFO)
+ return sprintf(buf, "1\n");
+ else
+ return sprintf(buf, "0\n");
+}
+
+static ssize_t control_auto_op_mode_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+ u16 op_mode;
+
+ ret = kstrtou16(buf, 10, &op_mode);
+ if (ret)
+ return ret;
+
+ if (op_mode != SMI330_AUTO_OP_EN_ACC &&
+ op_mode != SMI330_AUTO_OP_EN_GYR &&
+ op_mode != SMI330_AUTO_OP_EN_ALL &&
+ op_mode != SMI330_AUTO_OP_DISABLE) {
+ return -EINVAL;
+ }
+
+ ret = smi330_config_auto_op_mode(data, op_mode);
+ if (ret)
+ return ret;
+
+ return count;
+}
+
+static ssize_t config_user_overwrite_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+ u16 user_overwrite;
+
+ ret = kstrtou16(buf, 10, &user_overwrite);
+ if (ret)
+ return ret;
+
+ if (user_overwrite != SMI330_AUTO_OP_RESET &&
+ user_overwrite != SMI330_AUTO_OP_SET) {
+ return -EINVAL;
+ }
+
+ ret = regmap_update_bits(data->regmap, SMI330_ALT_CONF_REG,
+ SMI330_ALT_CONF_RST_CONF_EN_MASK,
+ FIELD_PREP(SMI330_ALT_CONF_RST_CONF_EN_MASK,
+ user_overwrite));
+ if (ret)
+ return ret;
+
+ return count;
+}
+
+static ssize_t set_auto_op_mode_cond_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+ u16 option;
+
+ ret = kstrtou16(buf, 10, &option);
+ if (ret)
+ return ret;
+
+ switch (option) {
+ case SMI330_AUTO_OP_USER_A:
+ ret = smi330_auto_op_cond(data, SMI330_AUTO_OP_CONFIG_USER,
+ A_NO_MOTION);
+ break;
+
+ case SMI330_AUTO_OP_USER_B:
+ ret = smi330_auto_op_cond(data, SMI330_AUTO_OP_CONFIG_USER,
+ B_ANY_MOTION);
+ break;
+
+ case SMI330_AUTO_OP_USER_H:
+ ret = smi330_auto_op_cond(data, SMI330_AUTO_OP_CONFIG_USER,
+ H_TILT_DETECTION);
+ break;
+
+ case SMI330_AUTO_OP_ALT_A:
+ ret = smi330_auto_op_cond(data, SMI330_AUTO_OP_CONFIG_ALT,
+ A_NO_MOTION);
+ break;
+
+ case SMI330_AUTO_OP_ALT_B:
+ ret = smi330_auto_op_cond(data, SMI330_AUTO_OP_CONFIG_ALT,
+ B_ANY_MOTION);
+ break;
+
+ case SMI330_AUTO_OP_ALT_H:
+ ret = smi330_auto_op_cond(data, SMI330_AUTO_OP_CONFIG_ALT,
+ H_TILT_DETECTION);
+ break;
+
+ default:
+ return -EINVAL;
+ }
+
+ if (ret)
+ return ret;
+
+ return count;
+}
+
+static ssize_t alt_odr_store(struct device *dev, struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+ u16 odr;
+
+ ret = kstrtou16(buf, 10, &odr);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ALT_ACCEL, SMI330_ODR, odr,
+ false);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ALT_GYRO, SMI330_ODR, odr,
+ false);
+ if (ret)
+ return ret;
+
+ return count;
+}
+
+static ssize_t alt_acc_mode_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+ u16 mode;
+
+ ret = kstrtou16(buf, 10, &mode);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ALT_ACCEL, SMI330_MODE,
+ mode, false);
+ if (ret)
+ return ret;
+
+ data->savestate.alt_acc_pwr = mode;
+
+ return count;
+}
+
+static ssize_t alt_acc_avg_num_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+ u16 avg_num;
+
+ ret = kstrtou16(buf, 10, &avg_num);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ALT_ACCEL, SMI330_AVG_NUM,
+ avg_num, false);
+ if (ret)
+ return ret;
+
+ return count;
+}
+
+static ssize_t alt_gyr_mode_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+ u16 mode;
+
+ ret = kstrtou16(buf, 10, &mode);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ALT_GYRO, SMI330_MODE, mode,
+ false);
+ if (ret)
+ return ret;
+
+ data->savestate.alt_gyr_pwr = mode;
+
+ return count;
+}
+
+static ssize_t alt_gyr_avg_num_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+ u16 avg_num;
+
+ ret = kstrtou16(buf, 10, &avg_num);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ALT_GYRO, SMI330_AVG_NUM,
+ avg_num, false);
+ if (ret)
+ return ret;
+
+ return count;
+}
+
+static ssize_t self_test_store(struct device *dev,
+ struct device_attribute *attr, const char *buf,
+ size_t count)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = smi330_perform_self_test(data);
+ if (ret)
+ return ret;
+
+ return count;
+}
+
+static ssize_t self_cal_store(struct device *dev, struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = smi330_self_calibration(data, indio_dev);
+ if (ret)
+ return ret;
+
+ return count;
+}
+
+static ssize_t soft_reset_store(struct device *dev,
+ struct device_attribute *attr, const char *buf,
+ size_t count)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = smi330_soft_reset(data);
+ if (ret)
+ return ret;
+
+ ret = smi330_dev_init(data);
+ if (ret)
+ return ret;
+
+ return count;
+}
+
+static int smi330_read_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir)
+{
+ int ret, cfg;
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = regmap_read(data->regmap, SMI330_FEATURE_IO0_REG, &cfg);
+ if (ret)
+ return ret;
+
+ switch (type) {
+ case IIO_EV_TYPE_ROC:
+ if (dir == IIO_EV_DIR_RISING) {
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ return FIELD_GET(SMI330_FEATURE_IO0_ANYMO_X_EN_MASK,
+ cfg);
+ case IIO_MOD_Y:
+ return FIELD_GET(SMI330_FEATURE_IO0_ANYMO_Y_EN_MASK,
+ cfg);
+ case IIO_MOD_Z:
+ return FIELD_GET(SMI330_FEATURE_IO0_ANYMO_Z_EN_MASK,
+ cfg);
+ default:
+ return 0;
+ }
+ }
+ if (dir == IIO_EV_DIR_FALLING) {
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ return FIELD_GET(SMI330_FEATURE_IO0_NOMO_X_EN_MASK,
+ cfg);
+ case IIO_MOD_Y:
+ return FIELD_GET(SMI330_FEATURE_IO0_NOMO_Y_EN_MASK,
+ cfg);
+ case IIO_MOD_Z:
+ return FIELD_GET(SMI330_FEATURE_IO0_NOMO_Z_EN_MASK,
+ cfg);
+ default:
+ return 0;
+ }
+ }
+ return 0;
+ case IIO_EV_TYPE_CHANGE:
+ if (dir == IIO_EV_DIR_EITHER)
+ return FIELD_GET(SMI330_FEATURE_IO0_TILT_EN_MASK, cfg);
+ return 0;
+ default:
+ return 0;
+ }
+}
+
+static int smi330_write_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir, bool state)
+{
+ int ret, int_mask, int_val, en_mask, en_val;
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ switch (type) {
+ case IIO_EV_TYPE_ROC:
+ if (dir == IIO_EV_DIR_RISING) {
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ en_mask = SMI330_FEATURE_IO0_ANYMO_X_EN_MASK;
+ en_val = FIELD_PREP(en_mask, state);
+ break;
+ case IIO_MOD_Y:
+ en_mask = SMI330_FEATURE_IO0_ANYMO_Y_EN_MASK;
+ en_val = FIELD_PREP(en_mask, state);
+ break;
+ case IIO_MOD_Z:
+ en_mask = SMI330_FEATURE_IO0_ANYMO_Z_EN_MASK;
+ en_val = FIELD_PREP(en_mask, state);
+ break;
+ default:
+ break;
+ }
+ int_mask = SMI330_INT_MAP1_ANYMO_MASK;
+ int_val = FIELD_PREP(int_mask, data->cfg.feat_irq);
+ break;
+ } else if (dir == IIO_EV_DIR_FALLING) {
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ en_mask = SMI330_FEATURE_IO0_NOMO_X_EN_MASK;
+ en_val = FIELD_PREP(en_mask, state);
+ break;
+ case IIO_MOD_Y:
+ en_mask = SMI330_FEATURE_IO0_NOMO_Y_EN_MASK;
+ en_val = FIELD_PREP(en_mask, state);
+ break;
+ case IIO_MOD_Z:
+ en_mask = SMI330_FEATURE_IO0_NOMO_Z_EN_MASK;
+ en_val = FIELD_PREP(en_mask, state);
+ break;
+ default:
+ break;
+ }
+ int_mask = SMI330_INT_MAP1_NOMO_MASK;
+ int_val = FIELD_PREP(int_mask, data->cfg.feat_irq);
+ break;
+ }
+ return -EINVAL;
+ case IIO_EV_TYPE_CHANGE:
+ if (dir == IIO_EV_DIR_EITHER) {
+ en_mask = SMI330_FEATURE_IO0_TILT_EN_MASK;
+ en_val = FIELD_PREP(en_mask, state);
+ int_mask = SMI330_INT_MAP1_TILT_MASK;
+ int_val = FIELD_PREP(int_mask, data->cfg.feat_irq);
+ break;
+ }
+ return -EINVAL;
+ default:
+ return -EINVAL;
+ }
+
+ ret = smi330_enable_adv_feat(data, en_mask, en_val);
+ if (ret)
+ return ret;
+
+ return regmap_update_bits(data->regmap, SMI330_INT_MAP1_REG, int_mask,
+ int_val);
+}
+
+static int smi330_get_event_reg_mask(enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info, int *reg,
+ int *mask)
+{
+ switch (type) {
+ case IIO_EV_TYPE_ROC:
+ if (dir == IIO_EV_DIR_RISING) {
+ switch (info) {
+ case IIO_EV_INFO_PERIOD:
+ *reg = SMI330_ANYMO_3_EX_REG;
+ *mask = SMI330_MOTION3_DURATION_MASK;
+ return 0;
+ case IIO_EV_INFO_VALUE:
+ *reg = SMI330_ANYMO_1_EX_REG;
+ *mask = SMI330_MOTION1_SLOPE_THRES_MASK;
+ return 0;
+ case IIO_EV_INFO_HYSTERESIS:
+ *reg = SMI330_ANYMO_2_EX_REG;
+ *mask = SMI330_MOTION2_HYSTERESIS_MASK;
+ return 0;
+ case IIO_EV_INFO_TIMEOUT:
+ *reg = SMI330_ANYMO_3_EX_REG;
+ *mask = SMI330_MOTION3_WAIT_TIME_MASK;
+ return 0;
+ default:
+ return -EINVAL;
+ }
+ } else if (dir == IIO_EV_DIR_FALLING) {
+ switch (info) {
+ case IIO_EV_INFO_PERIOD:
+ *reg = SMI330_NOMO_3_EX_REG;
+ *mask = SMI330_MOTION3_DURATION_MASK;
+ return 0;
+ case IIO_EV_INFO_VALUE:
+ *reg = SMI330_NOMO_1_EX_REG;
+ *mask = SMI330_MOTION1_SLOPE_THRES_MASK;
+ return 0;
+ case IIO_EV_INFO_HYSTERESIS:
+ *reg = SMI330_NOMO_2_EX_REG;
+ *mask = SMI330_MOTION2_HYSTERESIS_MASK;
+ return 0;
+ case IIO_EV_INFO_TIMEOUT:
+ *reg = SMI330_NOMO_3_EX_REG;
+ *mask = SMI330_MOTION3_WAIT_TIME_MASK;
+ return 0;
+ default:
+ return -EINVAL;
+ }
+ } else {
+ return -EINVAL;
+ }
+ case IIO_EV_TYPE_CHANGE:
+ if (dir == IIO_EV_DIR_EITHER) {
+ switch (info) {
+ case IIO_EV_INFO_VALUE:
+ *reg = SMI330_TILT_1_EX_REG;
+ *mask = SMI330_TILT1_MIN_ANGLE_MASK;
+ return 0;
+ case IIO_EV_INFO_PERIOD:
+ *reg = SMI330_TILT_1_EX_REG;
+ *mask = SMI330_TILT1_SEGMENT_SIZE_MASK;
+ return 0;
+ case IIO_EV_INFO_LOW_PASS_FILTER_3DB:
+ *reg = SMI330_TILT_2_EX_REG;
+ *mask = SMI330_TILT2_BETA_ACC_MEAN_MASK;
+ return 0;
+ default:
+ return -EINVAL;
+ }
+ } else {
+ return -EINVAL;
+ }
+ default:
+ return -EINVAL;
+ }
+
+ return 0;
+}
+
+static int smi330_read_event_value(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)
+{
+ int ret, reg, mask, config;
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = smi330_get_event_reg_mask(type, dir, info, ®, &mask);
+ if (ret)
+ return ret;
+
+ ret = smi330_get_regs_dma(reg, &config, data);
+ if (ret)
+ return ret;
+
+ /* FIELD_GET is not possible with non-const mask */
+ *val = ((config) & (mask)) >> (__builtin_ffs(mask) - 1);
+
+ return IIO_VAL_INT;
+}
+
+static int smi330_write_event_value(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)
+{
+ int ret, reg, mask, config;
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = smi330_get_event_reg_mask(type, dir, info, ®, &mask);
+ if (ret)
+ return ret;
+
+ ret = smi330_get_regs_dma(reg, &config, data);
+ if (ret)
+ return ret;
+
+ /* FIELD_PREP is not possible with non-const mask */
+ config = ((val << (__builtin_ffs(mask) - 1)) & mask) | (config & ~mask);
+
+ return smi330_set_regs_dma(reg, config, data);
+}
+
+static int smi330_suspend(struct device *dev)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = iio_device_suspend_triggering(indio_dev);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ACCEL, SMI330_MODE,
+ SMI330_MODE_SUSPEND, true);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_GYRO, SMI330_MODE,
+ SMI330_MODE_SUSPEND, true);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ALT_ACCEL, SMI330_MODE,
+ SMI330_MODE_SUSPEND, true);
+ if (ret)
+ return ret;
+
+ return smi330_set_sensor_config(data, SMI330_ALT_GYRO, SMI330_MODE,
+ SMI330_MODE_SUSPEND, true);
+}
+
+static int smi330_resume(struct device *dev)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct smi330_data *data = iio_priv(indio_dev);
+
+ ret = smi330_set_sensor_config(data, SMI330_ACCEL, SMI330_MODE,
+ data->savestate.acc_pwr, true);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_GYRO, SMI330_MODE,
+ data->savestate.gyr_pwr, true);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ALT_ACCEL, SMI330_MODE,
+ data->savestate.alt_acc_pwr, true);
+ if (ret)
+ return ret;
+
+ ret = smi330_set_sensor_config(data, SMI330_ALT_GYRO, SMI330_MODE,
+ data->savestate.alt_gyr_pwr, true);
+ if (ret)
+ return ret;
+
+ if (data->cfg.op_mode == SMI330_FIFO) {
+ ret = regmap_write(data->regmap, SMI330_FIFO_CTRL_REG,
+ SMI330_FIFO_CTRL_FLUSH_MASK);
+ if (ret)
+ return ret;
+ }
+
+ return iio_device_resume_triggering(indio_dev);
+}
+
+DEFINE_SIMPLE_DEV_PM_OPS(smi330_pm_ops, smi330_suspend, smi330_resume);
+
+static IIO_DEVICE_ATTR_WO(control_auto_op_mode, 0);
+static IIO_DEVICE_ATTR_WO(set_auto_op_mode_cond, 0);
+static IIO_DEVICE_ATTR_WO(config_user_overwrite, 0);
+
+static IIO_DEVICE_ATTR_WO(self_test, 0);
+static IIO_DEVICE_ATTR_WO(self_cal, 0);
+static IIO_DEVICE_ATTR_WO(soft_reset, 0);
+
+static IIO_DEVICE_ATTR_RW(alt_acc_mode, 0);
+static IIO_DEVICE_ATTR_RW(alt_acc_avg_num, 0);
+static IIO_DEVICE_ATTR_RW(alt_gyr_mode, 0);
+static IIO_DEVICE_ATTR_RW(alt_gyr_avg_num, 0);
+static IIO_DEVICE_ATTR_RW(alt_odr, 0);
+static IIO_DEVICE_ATTR_RO(alt_status, 0);
+
+static struct attribute *smi330_event_attributes[] = {
+ &iio_dev_attr_control_auto_op_mode.dev_attr.attr,
+ &iio_dev_attr_set_auto_op_mode_cond.dev_attr.attr,
+ &iio_dev_attr_config_user_overwrite.dev_attr.attr,
+ &iio_dev_attr_self_test.dev_attr.attr,
+ &iio_dev_attr_self_cal.dev_attr.attr,
+ &iio_dev_attr_soft_reset.dev_attr.attr,
+ &iio_dev_attr_alt_acc_mode.dev_attr.attr,
+ &iio_dev_attr_alt_acc_avg_num.dev_attr.attr,
+ &iio_dev_attr_alt_gyr_mode.dev_attr.attr,
+ &iio_dev_attr_alt_gyr_avg_num.dev_attr.attr,
+ &iio_dev_attr_alt_odr.dev_attr.attr,
+ &iio_dev_attr_alt_status.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group smi330_event_attribute_group = {
+ .attrs = smi330_event_attributes,
+};
+
+static IIO_DEVICE_ATTR_RO(hwfifo_watermark_min, 0);
+static IIO_DEVICE_ATTR_RO(hwfifo_watermark_max, 0);
+static IIO_DEVICE_ATTR_RO(hwfifo_watermark, 0);
+static IIO_DEVICE_ATTR_RO(hwfifo_enabled, 0);
+static IIO_DEVICE_ATTR_RO(hwfifo_fill_level, 0);
+
+static const struct iio_dev_attr *smi330_fifo_attributes[] = {
+ &iio_dev_attr_hwfifo_watermark_min, &iio_dev_attr_hwfifo_watermark_max,
+ &iio_dev_attr_hwfifo_watermark, &iio_dev_attr_hwfifo_enabled,
+ &iio_dev_attr_hwfifo_fill_level, NULL,
+};
+
+static const struct iio_buffer_setup_ops smi330_buffer_ops = {
+ .postenable = smi330_buffer_postenable,
+ .predisable = smi330_buffer_predisable,
+ .postdisable = smi330_buffer_postdisable,
+};
+
+static const struct iio_trigger_ops smi330_trigger_ops = {
+ .set_trigger_state = &smi330_set_drdy_trigger_state,
+};
+
+static struct iio_info smi330_info = {
+ .read_event_config = smi330_read_event_config,
+ .read_event_value = smi330_read_event_value,
+ .write_event_config = smi330_write_event_config,
+ .write_event_value = smi330_write_event_value,
+ .read_avail = smi330_read_avail,
+ .read_raw = smi330_read_raw,
+ .write_raw = smi330_write_raw,
+ .write_raw_get_fmt = smi330_write_raw_get_fmt,
+ .hwfifo_set_watermark = smi330_hwfifo_set_watermark,
+};
+
+static int smi330_dev_init(struct smi330_data *data)
+{
+ int ret, chip_id, val;
+ enum smi330_odr odr;
+ struct device *dev = regmap_get_device(data->regmap);
+ struct smi330_cfg *cfg = &data->cfg;
+
+ ret = regmap_read(data->regmap, SMI330_CHIP_ID_REG, &chip_id);
+ if (ret)
+ return ret;
+
+ chip_id &= 0x00FF;
+
+ if (chip_id != SMI330_CHIP_ID)
+ dev_info(dev, "Unknown chip id: 0x%04x\n", chip_id);
+
+ ret = regmap_read(data->regmap, SMI330_ERR_REG, &val);
+ if (ret || FIELD_GET(SMI330_ERR_FATAL_MASK, val))
+ return -ENODEV;
+
+ ret = regmap_read(data->regmap, SMI330_STATUS_REG, &val);
+ if (ret || FIELD_GET(SMI330_STATUS_POR_MASK, val) == 0)
+ return -ENODEV;
+
+ ret = smi330_read_odr_reg_value(data, &odr);
+ if (ret)
+ return ret;
+
+ ret = smi330_get_odr_ns(odr, &cfg->odr_ns);
+ return ret;
+}
+
+int smi330_core_probe(struct device *dev, struct regmap *regmap)
+{
+ int ret;
+ struct iio_dev *indio_dev;
+ struct smi330_data *data;
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ data = iio_priv(indio_dev);
+ dev_set_drvdata(dev, indio_dev);
+ data->regmap = regmap;
+ mutex_init(&data->lock);
+
+ if (IS_ENABLED(CONFIG_SMI330_IRQ_DATA_INT1))
+ data->cfg.data_irq = SMI330_INT_1;
+ else if (IS_ENABLED(CONFIG_SMI330_IRQ_DATA_INT2))
+ data->cfg.data_irq = SMI330_INT_2;
+ else
+ data->cfg.data_irq = SMI330_INT_DISABLED;
+
+ if (IS_ENABLED(CONFIG_SMI330_IRQ_ADV_FEAT_INT1))
+ data->cfg.feat_irq = SMI330_INT_1;
+ else if (IS_ENABLED(CONFIG_SMI330_IRQ_ADV_FEAT_INT2))
+ data->cfg.feat_irq = SMI330_INT_2;
+ else
+ data->cfg.feat_irq = SMI330_INT_DISABLED;
+
+ ret = smi330_soft_reset(data);
+ if (ret)
+ return dev_err_probe(dev, ret, "Soft reset failed\n");
+
+ indio_dev->channels = smi330_channels;
+ indio_dev->num_channels = ARRAY_SIZE(smi330_channels);
+ indio_dev->name = "smi330";
+ indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE;
+ indio_dev->info = &smi330_info;
+
+ data->cfg.op_mode = SMI330_IDLE;
+ data->savestate.acc_pwr = SMI330_MODE_SUSPEND;
+ data->savestate.gyr_pwr = SMI330_MODE_SUSPEND;
+ data->savestate.alt_acc_pwr = SMI330_MODE_SUSPEND;
+ data->savestate.alt_gyr_pwr = SMI330_MODE_SUSPEND;
+
+ ret = smi330_dev_init(data);
+ if (ret)
+ return dev_err_probe(dev, ret, "Init failed\n");
+
+ if (data->cfg.data_irq != SMI330_INT_DISABLED) {
+ ret = smi330_register_irq(dev, indio_dev);
+ if (ret)
+ return dev_err_probe(
+ dev, ret,
+ "Register IRQ failed - check Kconfig and devicetree\n");
+
+ data->trig = devm_iio_trigger_alloc(dev, "%s-drdy-trigger",
+ indio_dev->name);
+ if (!data->trig)
+ return -ENOMEM;
+
+ data->trig->ops = &smi330_trigger_ops;
+ iio_trigger_set_drvdata(data->trig, data);
+
+ ret = devm_iio_trigger_register(dev, data->trig);
+ if (ret)
+ return dev_err_probe(dev, ret,
+ "IIO register trigger failed\n");
+
+ /*
+ * Set default operation mode to data ready,
+ * remove the trigger if you want to use HW fifo.
+ */
+ indio_dev->trig = iio_trigger_get(data->trig);
+ }
+
+ ret = devm_iio_triggered_buffer_setup_ext(dev, indio_dev,
+ iio_pollfunc_store_time,
+ smi330_trigger_handler,
+ IIO_BUFFER_DIRECTION_IN,
+ &smi330_buffer_ops,
+ smi330_fifo_attributes);
+ if (ret)
+ return dev_err_probe(dev, ret, "IIO buffer setup failed\n");
+
+ if (data->cfg.feat_irq != SMI330_INT_DISABLED)
+ smi330_info.event_attrs = &smi330_event_attribute_group;
+
+ ret = devm_iio_device_register(dev, indio_dev);
+ if (ret)
+ return dev_err_probe(dev, ret, "Register IIO device failed\n");
+
+ return 0;
+}
+
+MODULE_AUTHOR("Roman Huber <roman.huber@de.bosch.com>");
+MODULE_AUTHOR("Stefan Gutmann <stefan.gutmann@de.bosch.com>");
+MODULE_DESCRIPTION("Bosch SMI330 driver");
+MODULE_LICENSE("Dual BSD/GPL");
diff --git a/drivers/iio/imu/smi330/smi330_i2c.c b/drivers/iio/imu/smi330/smi330_i2c.c
new file mode 100644
index 00000000000..42bfc01389b
--- /dev/null
+++ b/drivers/iio/imu/smi330/smi330_i2c.c
@@ -0,0 +1,140 @@
+// SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0
+/*
+ * Copyright (c) 2025 Robert Bosch GmbH.
+ */
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/of.h>
+#include <linux/regmap.h>
+
+#include "smi330.h"
+
+#define I2C_XFER_MAX_RETRY 10
+#define I2C_WRITE_DELAY_TIME 10
+
+#define NUM_DUMMY_BYTES 2
+#define SMI330_I2C_MAX_RX_BUFFER_SIZE (NUM_DUMMY_BYTES + SMI330_FIFO_SIZE)
+
+struct smi330_i2c_priv {
+ struct i2c_client *i2c;
+ u8 rx_buffer[SMI330_I2C_MAX_RX_BUFFER_SIZE] __aligned(IIO_DMA_MINALIGN);
+};
+
+static int smi330_regmap_i2c_read(void *context, const void *reg_buf,
+ size_t reg_size, void *val_buf,
+ size_t val_size)
+{
+ struct smi330_i2c_priv *priv = context;
+ int ret, retry;
+
+ /*
+ * SMI330 I2C read frame:
+ * <Slave address[6:0], RnW> <x, Register address[6:0]>
+ * <Slave address[6:0], RnW> <Dummy[7:0]> <Dummy[7:0]> <Data_0[7:0]> <Data_1[15:8]>...
+ * <Data_N[7:0]> <Data_N[15:8]>
+ * Remark: Slave address is not considered part of the frame in the following definitions
+ */
+ struct i2c_msg msgs[] = {
+ {
+ .addr = priv->i2c->addr,
+ .flags = priv->i2c->flags,
+ .len = reg_size,
+ .buf = (u8 *)reg_buf,
+ },
+ {
+ .addr = priv->i2c->addr,
+ .flags = priv->i2c->flags | I2C_M_RD,
+ .len = NUM_DUMMY_BYTES + val_size,
+ .buf = priv->rx_buffer,
+ },
+ };
+
+ for (retry = 0; retry < I2C_XFER_MAX_RETRY; retry++) {
+ ret = i2c_transfer(priv->i2c->adapter, msgs, ARRAY_SIZE(msgs));
+ if (ret > 0)
+ break;
+
+ usleep_range(I2C_WRITE_DELAY_TIME * 1000,
+ I2C_WRITE_DELAY_TIME * 1000);
+ }
+
+ if (retry >= I2C_XFER_MAX_RETRY) {
+ dev_err(&priv->i2c->adapter->dev, "Xfer error");
+ return -EIO;
+ }
+
+ memcpy(val_buf, priv->rx_buffer + NUM_DUMMY_BYTES, val_size);
+
+ return 0;
+}
+
+static int smi330_regmap_i2c_write(void *context, const void *data,
+ size_t count)
+{
+ struct smi330_i2c_priv *priv = context;
+ u8 reg;
+
+ /*
+ * SMI330 I2C write frame:
+ * <Slave address[6:0], RnW> <x, Register address[6:0]> <Data_0[7:0]> <Data_1[15:8]>...
+ * <Data_N[7:0]> <Data_N[15:8]>
+ * Remark: Slave address is not considered part of the frame in the following definitions
+ */
+ reg = *(u8 *)data;
+ return i2c_smbus_write_i2c_block_data(priv->i2c, reg,
+ count - sizeof(u8),
+ data + sizeof(u8));
+}
+
+static const struct regmap_bus smi330_regmap_bus = {
+ .read = smi330_regmap_i2c_read,
+ .write = smi330_regmap_i2c_write,
+};
+
+static const struct regmap_config smi330_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 16,
+ .val_format_endian = REGMAP_ENDIAN_LITTLE,
+};
+
+static int smi330_i2c_probe(struct i2c_client *i2c)
+{
+ struct device *dev = &i2c->dev;
+ struct smi330_i2c_priv *priv;
+ struct regmap *regmap;
+
+ priv = devm_kzalloc(dev, sizeof(*priv), GFP_KERNEL);
+ if (!priv)
+ return -ENOMEM;
+
+ priv->i2c = i2c;
+ regmap = devm_regmap_init(dev, &smi330_regmap_bus, priv,
+ &smi330_regmap_config);
+ if (IS_ERR(regmap))
+ return dev_err_probe(dev, PTR_ERR(regmap),
+ "Failed to initialize I2C Regmap\n");
+
+ return smi330_core_probe(dev, regmap);
+}
+
+static const struct i2c_device_id smi330_i2c_device_id[] = {
+ { .name = "smi330" },
+ { }
+};
+MODULE_DEVICE_TABLE(i2c, smi330_i2c_device_id);
+
+static const struct of_device_id smi330_of_match[] = {
+ { .compatible = "bosch,smi330" },
+ { }
+};
+MODULE_DEVICE_TABLE(of, smi330_of_match);
+
+static struct i2c_driver smi330_i2c_driver = {
+ .probe = smi330_i2c_probe,
+ .id_table = smi330_i2c_device_id,
+ .driver = { .of_match_table = smi330_of_match,
+ .name = "smi330_i2c",
+ .pm = pm_sleep_ptr(&smi330_pm_ops),
+ },
+};
+module_i2c_driver(smi330_i2c_driver);
diff --git a/drivers/iio/imu/smi330/smi330_spi.c b/drivers/iio/imu/smi330/smi330_spi.c
new file mode 100644
index 00000000000..833732ae281
--- /dev/null
+++ b/drivers/iio/imu/smi330/smi330_spi.c
@@ -0,0 +1,77 @@
+// SPDX-License-Identifier: BSD-3-Clause OR GPL-2.0
+/*
+ * Copyright (c) 2025 Robert Bosch GmbH.
+ */
+#include <linux/module.h>
+#include <linux/of.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+
+#include "smi330.h"
+
+static int smi330_regmap_spi_read(void *context, const void *reg_buf,
+ size_t reg_size, void *val_buf,
+ size_t val_size)
+{
+ struct spi_device *spi = context;
+
+ return spi_write_then_read(spi, reg_buf, reg_size, val_buf, val_size);
+}
+
+static int smi330_regmap_spi_write(void *context, const void *data,
+ size_t count)
+{
+ struct spi_device *spi = context;
+ u8 *data_buff = (u8 *)data;
+
+ data_buff[1] = data_buff[0];
+ return spi_write(spi, data_buff + 1, count - 1);
+}
+
+static const struct regmap_bus smi330_regmap_bus = {
+ .read = smi330_regmap_spi_read,
+ .write = smi330_regmap_spi_write,
+ .read_flag_mask = 0x80,
+};
+
+static const struct regmap_config smi330_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 16,
+ .pad_bits = 8,
+ .val_format_endian = REGMAP_ENDIAN_LITTLE,
+};
+
+static int smi330_spi_probe(struct spi_device *spi)
+{
+ struct regmap *regmap;
+
+ regmap = devm_regmap_init(&spi->dev, &smi330_regmap_bus, &spi->dev,
+ &smi330_regmap_config);
+ if (IS_ERR(regmap))
+ return dev_err_probe(&spi->dev, PTR_ERR(regmap),
+ "Failed to initialize SPI Regmap\n");
+
+ return smi330_core_probe(&spi->dev, regmap);
+}
+
+static const struct spi_device_id smi330_spi_device_id[] = {
+ { .name = "smi330" },
+ { }
+};
+MODULE_DEVICE_TABLE(spi, smi330_spi_device_id);
+
+static const struct of_device_id smi330_of_match[] = {
+ { .compatible = "bosch,smi330" },
+ { }
+};
+MODULE_DEVICE_TABLE(of, smi330_of_match);
+
+static struct spi_driver smi330_spi_driver = {
+ .probe = smi330_spi_probe,
+ .id_table = smi330_spi_device_id,
+ .driver = { .of_match_table = smi330_of_match,
+ .name = "smi330_spi",
+ .pm = pm_sleep_ptr(&smi330_pm_ops),
+ },
+};
+module_spi_driver(smi330_spi_driver);
--
2.34.1
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