Re: [PATCH v8 2/3] iio: (bma400) add driver for the BMA400

Andy Shevchenko
2019-12-20T16:43:37Z

On Fri, Dec 20, 2019 at 6:17 PM Dan Robertson <dan@dlrobertson.com> wrote:
>
> Add a IIO driver for the Bosch BMA400 3-axes ultra-low power accelerometer.
> The driver supports reading from the acceleration and temperature
> registers. The driver also supports reading and configuring the output data
> rate, oversampling ratio, and scale.

Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com>
One comment below.

>
> Signed-off-by: Dan Robertson <dan@dlrobertson.com>
> ---
> MAINTAINERS | 7 +
> drivers/iio/accel/Kconfig | 16 +
> drivers/iio/accel/Makefile | 2 +
> drivers/iio/accel/bma400.h | 95 ++++
> drivers/iio/accel/bma400_core.c | 820 ++++++++++++++++++++++++++++++++
> drivers/iio/accel/bma400_i2c.c | 61 +++
> 6 files changed, 1001 insertions(+)
> create mode 100644 drivers/iio/accel/bma400.h
> create mode 100644 drivers/iio/accel/bma400_core.c
> create mode 100644 drivers/iio/accel/bma400_i2c.c
>
> diff --git a/MAINTAINERS b/MAINTAINERS
> index ec020dc504ca..a5f2cb0de34d 100644
> --- a/MAINTAINERS
> +++ b/MAINTAINERS
> @@ -3047,6 +3047,13 @@ S: Supported
> F: drivers/net/bonding/
> F: include/uapi/linux/if_bonding.h
>
> +BOSCH SENSORTEC BMA400 ACCELEROMETER IIO DRIVER
> +M: Dan Robertson <dan@dlrobertson.com>
> +L: linux-iio@vger.kernel.org
> +S: Maintained
> +F: drivers/iio/accel/bma400*
> +F: Documentation/devicetree/bindings/iio/accel/bosch,bma400.yaml
> +
> BPF (Safe dynamic programs and tools)
> M: Alexei Starovoitov <ast@kernel.org>
> M: Daniel Borkmann <daniel@iogearbox.net>
> diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig
> index d4ef35aeb579..670e60568033 100644
> --- a/drivers/iio/accel/Kconfig
> +++ b/drivers/iio/accel/Kconfig
> @@ -112,6 +112,22 @@ config BMA220
> To compile this driver as a module, choose M here: the
> module will be called bma220_spi.
>
> +config BMA400
> + tristate "Bosch BMA400 3-Axis Accelerometer Driver"
> + select REGMAP
> + select BMA400_I2C if I2C
> + help
> + Say Y here if you want to build a driver for the Bosch BMA400
> + triaxial acceleration sensor.
> +
> + To compile this driver as a module, choose M here: the
> + module will be called bma400_core and you will also get
> + bma400_i2c if I2C is enabled.
> +
> +config BMA400_I2C
> + tristate
> + depends on BMA400
> +
> config BMC150_ACCEL
> tristate "Bosch BMC150 Accelerometer Driver"
> select IIO_BUFFER
> diff --git a/drivers/iio/accel/Makefile b/drivers/iio/accel/Makefile
> index 56bd0215e0d4..3a051cf37f40 100644
> --- a/drivers/iio/accel/Makefile
> +++ b/drivers/iio/accel/Makefile
> @@ -14,6 +14,8 @@ obj-$(CONFIG_ADXL372_I2C) += adxl372_i2c.o
> obj-$(CONFIG_ADXL372_SPI) += adxl372_spi.o
> obj-$(CONFIG_BMA180) += bma180.o
> obj-$(CONFIG_BMA220) += bma220_spi.o
> +obj-$(CONFIG_BMA400) += bma400_core.o
> +obj-$(CONFIG_BMA400_I2C) += bma400_i2c.o
> obj-$(CONFIG_BMC150_ACCEL) += bmc150-accel-core.o
> obj-$(CONFIG_BMC150_ACCEL_I2C) += bmc150-accel-i2c.o
> obj-$(CONFIG_BMC150_ACCEL_SPI) += bmc150-accel-spi.o
> diff --git a/drivers/iio/accel/bma400.h b/drivers/iio/accel/bma400.h
> new file mode 100644
> index 000000000000..15c0e307d2c4
> --- /dev/null
> +++ b/drivers/iio/accel/bma400.h
> @@ -0,0 +1,95 @@
> +/* SPDX-License-Identifier: GPL-2.0-only */
> +/*
> + * Register constants and other forward declarations needed by the bma400
> + * sources.
> + *
> + * Copyright 2019 Dan Robertson <dan@dlrobertson.com>
> + */
> +
> +#ifndef _BMA400_H_
> +#define _BMA400_H_
> +
> +#include <linux/bits.h>
> +#include <linux/regmap.h>
> +
> +/*
> + * Read-Only Registers
> + */
> +
> +/* Status and ID registers */
> +#define BMA400_CHIP_ID_REG 0x00
> +#define BMA400_ERR_REG 0x02
> +#define BMA400_STATUS_REG 0x03
> +
> +/* Acceleration registers */
> +#define BMA400_X_AXIS_LSB_REG 0x04
> +#define BMA400_X_AXIS_MSB_REG 0x05
> +#define BMA400_Y_AXIS_LSB_REG 0x06
> +#define BMA400_Y_AXIS_MSB_REG 0x07
> +#define BMA400_Z_AXIS_LSB_REG 0x08
> +#define BMA400_Z_AXIS_MSB_REG 0x09
> +
> +/* Sensor time registers */
> +#define BMA400_SENSOR_TIME0 0x0a
> +#define BMA400_SENSOR_TIME1 0x0b
> +#define BMA400_SENSOR_TIME2 0x0c
> +
> +/* Event and interrupt registers */
> +#define BMA400_EVENT_REG 0x0d
> +#define BMA400_INT_STAT0_REG 0x0e
> +#define BMA400_INT_STAT1_REG 0x0f
> +#define BMA400_INT_STAT2_REG 0x10
> +
> +/* Temperature register */
> +#define BMA400_TEMP_DATA_REG 0x11
> +
> +/* FIFO length and data registers */
> +#define BMA400_FIFO_LENGTH0_REG 0x12
> +#define BMA400_FIFO_LENGTH1_REG 0x13
> +#define BMA400_FIFO_DATA_REG 0x14
> +
> +/* Step count registers */
> +#define BMA400_STEP_CNT0_REG 0x15
> +#define BMA400_STEP_CNT1_REG 0x16
> +#define BMA400_STEP_CNT3_REG 0x17
> +#define BMA400_STEP_STAT_REG 0x18
> +
> +/*
> + * Read-write configuration registers
> + */
> +#define BMA400_ACC_CONFIG0_REG 0x19
> +#define BMA400_ACC_CONFIG1_REG 0x1a
> +#define BMA400_ACC_CONFIG2_REG 0x1b
> +#define BMA400_CMD_REG 0x7e
> +
> +/* Chip ID of BMA 400 devices found in the chip ID register. */
> +#define BMA400_ID_REG_VAL 0x90
> +
> +#define BMA400_LP_OSR_SHIFT 5
> +#define BMA400_NP_OSR_SHIFT 4
> +#define BMA400_SCALE_SHIFT 6
> +
> +#define BMA400_TWO_BITS_MASK GENMASK(1, 0)
> +#define BMA400_LP_OSR_MASK GENMASK(6, 5)
> +#define BMA400_NP_OSR_MASK GENMASK(5, 4)
> +#define BMA400_ACC_ODR_MASK GENMASK(3, 0)
> +#define BMA400_ACC_SCALE_MASK GENMASK(7, 6)
> +
> +#define BMA400_ACC_ODR_MIN_RAW 0x05
> +#define BMA400_ACC_ODR_LP_RAW 0x06
> +#define BMA400_ACC_ODR_MAX_RAW 0x0b
> +
> +#define BMA400_ACC_ODR_MAX_HZ 800
> +#define BMA400_ACC_ODR_MIN_WHOLE_HZ 25
> +#define BMA400_ACC_ODR_MIN_HZ 12
> +
> +#define BMA400_SCALE_MIN 38357
> +#define BMA400_SCALE_MAX 306864
> +
> +extern const struct regmap_config bma400_regmap_config;
> +
> +int bma400_probe(struct device *dev, struct regmap *regmap, const char *name);
> +
> +int bma400_remove(struct device *dev);
> +
> +#endif
> diff --git a/drivers/iio/accel/bma400_core.c b/drivers/iio/accel/bma400_core.c
> new file mode 100644
> index 000000000000..e7ba01e79d2c
> --- /dev/null
> +++ b/drivers/iio/accel/bma400_core.c
> @@ -0,0 +1,820 @@
> +// SPDX-License-Identifier: GPL-2.0-only
> +/*
> + * Core IIO driver for Bosch BMA400 triaxial acceleration sensor.
> + *
> + * Copyright 2019 Dan Robertson <dan@dlrobertson.com>
> + *
> + * TODO:
> + * - Support for power management
> + * - Support events and interrupts
> + * - Create channel for step count
> + * - Create channel for sensor time
> + */
> +
> +#include <linux/bitops.h>
> +#include <linux/device.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/sysfs.h>
> +#include <linux/kernel.h>
> +#include <linux/module.h>
> +#include <linux/mutex.h>
> +#include <linux/regmap.h>
> +
> +#include "bma400.h"
> +
> +/*
> + * The G-range selection may be one of 2g, 4g, 8, or 16g. The scale may
> + * be selected with the acc_range bits of the ACC_CONFIG1 register.
> + * NB: This buffer is populated in the device init.
> + */
> +static int bma400_scales[8];
> +
> +/*
> + * See the ACC_CONFIG1 section of the datasheet.
> + * NB: This buffer is populated in the device init.
> + */
> +static int bma400_sample_freqs[14];
> +
> +static const int bma400_osr_range[] = { 0, 1, 3 };
> +
> +/* See the ACC_CONFIG0 section of the datasheet */
> +enum bma400_power_mode {
> + POWER_MODE_SLEEP = 0x00,
> + POWER_MODE_LOW = 0x01,
> + POWER_MODE_NORMAL = 0x02,
> + POWER_MODE_INVALID = 0x03,
> +};
> +
> +struct bma400_sample_freq {
> + int hz;
> + int uhz;
> +};
> +
> +struct bma400_data {
> + struct device *dev;
> + struct regmap *regmap;
> + struct mutex mutex; /* data register lock */
> + struct iio_mount_matrix orientation;
> + enum bma400_power_mode power_mode;
> + struct bma400_sample_freq sample_freq;
> + int oversampling_ratio;
> + int scale;
> +};
> +
> +static bool bma400_is_writable_reg(struct device *dev, unsigned int reg)
> +{
> + switch (reg) {
> + case BMA400_CHIP_ID_REG:
> + case BMA400_ERR_REG:
> + case BMA400_STATUS_REG:
> + case BMA400_X_AXIS_LSB_REG:
> + case BMA400_X_AXIS_MSB_REG:
> + case BMA400_Y_AXIS_LSB_REG:
> + case BMA400_Y_AXIS_MSB_REG:
> + case BMA400_Z_AXIS_LSB_REG:
> + case BMA400_Z_AXIS_MSB_REG:
> + case BMA400_SENSOR_TIME0:
> + case BMA400_SENSOR_TIME1:
> + case BMA400_SENSOR_TIME2:
> + case BMA400_EVENT_REG:
> + case BMA400_INT_STAT0_REG:
> + case BMA400_INT_STAT1_REG:
> + case BMA400_INT_STAT2_REG:
> + case BMA400_TEMP_DATA_REG:
> + case BMA400_FIFO_LENGTH0_REG:
> + case BMA400_FIFO_LENGTH1_REG:
> + case BMA400_FIFO_DATA_REG:
> + case BMA400_STEP_CNT0_REG:
> + case BMA400_STEP_CNT1_REG:
> + case BMA400_STEP_CNT3_REG:
> + case BMA400_STEP_STAT_REG:
> + return false;
> + default:
> + return true;
> + }
> +}
> +
> +static bool bma400_is_volatile_reg(struct device *dev, unsigned int reg)
> +{
> + switch (reg) {
> + case BMA400_ERR_REG:
> + case BMA400_STATUS_REG:
> + case BMA400_X_AXIS_LSB_REG:
> + case BMA400_X_AXIS_MSB_REG:
> + case BMA400_Y_AXIS_LSB_REG:
> + case BMA400_Y_AXIS_MSB_REG:
> + case BMA400_Z_AXIS_LSB_REG:
> + case BMA400_Z_AXIS_MSB_REG:
> + case BMA400_SENSOR_TIME0:
> + case BMA400_SENSOR_TIME1:
> + case BMA400_SENSOR_TIME2:
> + case BMA400_EVENT_REG:
> + case BMA400_INT_STAT0_REG:
> + case BMA400_INT_STAT1_REG:
> + case BMA400_INT_STAT2_REG:
> + case BMA400_TEMP_DATA_REG:
> + case BMA400_FIFO_LENGTH0_REG:
> + case BMA400_FIFO_LENGTH1_REG:
> + case BMA400_FIFO_DATA_REG:
> + case BMA400_STEP_CNT0_REG:
> + case BMA400_STEP_CNT1_REG:
> + case BMA400_STEP_CNT3_REG:
> + case BMA400_STEP_STAT_REG:
> + return true;
> + default:
> + return false;
> + }
> +}
> +
> +const struct regmap_config bma400_regmap_config = {
> + .reg_bits = 8,
> + .val_bits = 8,
> + .max_register = BMA400_CMD_REG,
> + .cache_type = REGCACHE_RBTREE,
> + .writeable_reg = bma400_is_writable_reg,
> + .volatile_reg = bma400_is_volatile_reg,
> +};
> +EXPORT_SYMBOL(bma400_regmap_config);
> +
> +static const struct iio_mount_matrix *
> +bma400_accel_get_mount_matrix(const struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan)
> +{
> + struct bma400_data *data = iio_priv(indio_dev);
> +
> + return &data->orientation;
> +}
> +
> +static const struct iio_chan_spec_ext_info bma400_ext_info[] = {
> + IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, bma400_accel_get_mount_matrix),
> + { }
> +};
> +
> +#define BMA400_ACC_CHANNEL(_axis) { \
> + .type = IIO_ACCEL, \
> + .modified = 1, \
> + .channel2 = IIO_MOD_##_axis, \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
> + BIT(IIO_CHAN_INFO_SCALE) | \
> + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO), \
> + .info_mask_shared_by_type_available = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
> + BIT(IIO_CHAN_INFO_SCALE) | \
> + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO), \
> + .ext_info = bma400_ext_info, \
> +}
> +
> +static const struct iio_chan_spec bma400_channels[] = {
> + BMA400_ACC_CHANNEL(X),
> + BMA400_ACC_CHANNEL(Y),
> + BMA400_ACC_CHANNEL(Z),
> + {
> + .type = IIO_TEMP,
> + .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED),
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ),
> + },
> +};
> +
> +static int bma400_get_temp_reg(struct bma400_data *data, int *val, int *val2)
> +{
> + unsigned int raw_temp;
> + int host_temp;
> + int ret;
> +
> + if (data->power_mode == POWER_MODE_SLEEP)
> + return -EBUSY;
> +
> + ret = regmap_read(data->regmap, BMA400_TEMP_DATA_REG, &raw_temp);
> + if (ret)
> + return ret;
> +
> + host_temp = sign_extend32(raw_temp, 7);
> + /*
> + * The formula for the TEMP_DATA register in the datasheet
> + * is: x * 0.5 + 23
> + */
> + *val = (host_temp >> 1) + 23;
> + *val2 = (host_temp & 0x1) * 500000;
> + return IIO_VAL_INT_PLUS_MICRO;
> +}
> +
> +static int bma400_get_accel_reg(struct bma400_data *data,
> + const struct iio_chan_spec *chan,
> + int *val)
> +{
> + __le16 raw_accel;
> + int lsb_reg;
> + int ret;
> +
> + if (data->power_mode == POWER_MODE_SLEEP)
> + return -EBUSY;
> +
> + switch (chan->channel2) {
> + case IIO_MOD_X:
> + lsb_reg = BMA400_X_AXIS_LSB_REG;
> + break;
> + case IIO_MOD_Y:
> + lsb_reg = BMA400_Y_AXIS_LSB_REG;
> + break;
> + case IIO_MOD_Z:
> + lsb_reg = BMA400_Z_AXIS_LSB_REG;
> + break;
> + default:
> + dev_err(data->dev, "invalid axis channel modifier\n");
> + return -EINVAL;
> + }
> +
> + /* bulk read two registers, with the base being the LSB register */
> + ret = regmap_bulk_read(data->regmap, lsb_reg, &raw_accel,
> + sizeof(raw_accel));
> + if (ret)
> + return ret;
> +
> + *val = sign_extend32(le16_to_cpu(raw_accel), 11);
> + return IIO_VAL_INT;
> +}
> +
> +static void bma400_output_data_rate_from_raw(int raw, unsigned int *val,
> + unsigned int *val2)
> +{
> + *val = BMA400_ACC_ODR_MAX_HZ >> (BMA400_ACC_ODR_MAX_RAW - raw);
> + if (raw > BMA400_ACC_ODR_MIN_RAW)
> + *val2 = 0;
> + else
> + *val2 = 500000;
> +}
> +
> +static int bma400_get_accel_output_data_rate(struct bma400_data *data)
> +{
> + unsigned int val;
> + unsigned int odr;
> + int ret;
> +
> + switch (data->power_mode) {
> + case POWER_MODE_LOW:
> + /*
> + * Runs at a fixed rate in low-power mode. See section 4.3
> + * in the datasheet.
> + */
> + bma400_output_data_rate_from_raw(BMA400_ACC_ODR_LP_RAW,
> + &data->sample_freq.hz,
> + &data->sample_freq.uhz);
> + return 0;
> + case POWER_MODE_NORMAL:
> + /*
> + * In normal mode the ODR can be found in the ACC_CONFIG1
> + * register.
> + */
> + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, &val);
> + if (ret)
> + goto error;
> +
> + odr = val & BMA400_ACC_ODR_MASK;
> + if (odr < BMA400_ACC_ODR_MIN_RAW ||
> + odr > BMA400_ACC_ODR_MAX_RAW) {
> + ret = -EINVAL;
> + goto error;
> + }
> +
> + bma400_output_data_rate_from_raw(odr, &data->sample_freq.hz,
> + &data->sample_freq.uhz);
> + return 0;
> + case POWER_MODE_SLEEP:
> + data->sample_freq.hz = 0;
> + data->sample_freq.uhz = 0;
> + return 0;
> + default:
> + ret = 0;
> + goto error;
> + }
> +error:
> + data->sample_freq.hz = -1;
> + data->sample_freq.uhz = -1;
> + return ret;
> +}
> +
> +static int bma400_set_accel_output_data_rate(struct bma400_data *data,
> + int hz, int uhz)
> +{
> + unsigned int idx;
> + unsigned int odr;
> + unsigned int val;
> + int ret;
> +
> + if (hz >= BMA400_ACC_ODR_MIN_WHOLE_HZ) {
> + if (uhz || hz > BMA400_ACC_ODR_MAX_HZ)
> + return -EINVAL;
> +
> + idx = __ffs(hz);
> +
> + if (hz >> idx != BMA400_ACC_ODR_MIN_WHOLE_HZ)

Yeah, as I said it works if and only if the MIN_WHOLE_HZ % 2 == 1,
i.e. odd number.
Luckily the constant is 25.

Perhaps it needs a comment somewhere.

> + return -EINVAL;
> +
> + idx += BMA400_ACC_ODR_MIN_RAW + 1;
> + } else if (hz == BMA400_ACC_ODR_MIN_HZ && uhz == 500000) {
> + idx = BMA400_ACC_ODR_MIN_RAW;
> + } else {
> + return -EINVAL;
> + }
> +
> + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, &val);
> + if (ret)
> + return ret;
> +
> + /* preserve the range and normal mode osr */
> + odr = (~BMA400_ACC_ODR_MASK & val) | idx;
> +
> + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG1_REG, odr);
> + if (ret)
> + return ret;
> +
> + bma400_output_data_rate_from_raw(idx, &data->sample_freq.hz,
> + &data->sample_freq.uhz);
> + return 0;
> +}
> +
> +static int bma400_get_accel_oversampling_ratio(struct bma400_data *data)
> +{
> + unsigned int val;
> + unsigned int osr;
> + int ret;
> +
> + /*
> + * The oversampling ratio is stored in a different register
> + * based on the power-mode. In normal mode the OSR is stored
> + * in ACC_CONFIG1. In low-power mode it is stored in
> + * ACC_CONFIG0.
> + */
> + switch (data->power_mode) {
> + case POWER_MODE_LOW:
> + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG0_REG, &val);
> + if (ret) {
> + data->oversampling_ratio = -1;
> + return ret;
> + }
> +
> + osr = (val & BMA400_LP_OSR_MASK) >> BMA400_LP_OSR_SHIFT;
> +
> + data->oversampling_ratio = osr;
> + return 0;
> + case POWER_MODE_NORMAL:
> + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, &val);
> + if (ret) {
> + data->oversampling_ratio = -1;
> + return ret;
> + }
> +
> + osr = (val & BMA400_NP_OSR_MASK) >> BMA400_NP_OSR_SHIFT;
> +
> + data->oversampling_ratio = osr;
> + return 0;
> + case POWER_MODE_SLEEP:
> + data->oversampling_ratio = 0;
> + return 0;
> + default:
> + data->oversampling_ratio = -1;
> + return -EINVAL;
> + }
> +}
> +
> +static int bma400_set_accel_oversampling_ratio(struct bma400_data *data,
> + int val)
> +{
> + unsigned int acc_config;
> + int ret;
> +
> + if (val & ~BMA400_TWO_BITS_MASK)
> + return -EINVAL;
> +
> + /*
> + * The oversampling ratio is stored in a different register
> + * based on the power-mode.
> + */
> + switch (data->power_mode) {
> + case POWER_MODE_LOW:
> + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG0_REG,
> + &acc_config);
> + if (ret)
> + return ret;
> +
> + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG0_REG,
> + (acc_config & ~BMA400_LP_OSR_MASK) |
> + (val << BMA400_LP_OSR_SHIFT));
> + if (ret) {
> + dev_err(data->dev, "Failed to write out OSR\n");
> + return ret;
> + }
> +
> + data->oversampling_ratio = val;
> + return 0;
> + case POWER_MODE_NORMAL:
> + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG,
> + &acc_config);
> + if (ret)
> + return ret;
> +
> + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG1_REG,
> + (acc_config & ~BMA400_NP_OSR_MASK) |
> + (val << BMA400_NP_OSR_SHIFT));
> + if (ret) {
> + dev_err(data->dev, "Failed to write out OSR\n");
> + return ret;
> + }
> +
> + data->oversampling_ratio = val;
> + return 0;
> + default:
> + return -EINVAL;
> + }
> + return ret;
> +}
> +
> +int bma400_accel_scale_to_raw(struct bma400_data *data, unsigned int val)
> +{
> + int raw;
> +
> + if (val == 0)
> + return -EINVAL;
> +
> + raw = __ffs(val);
> +
> + if (val >> raw != BMA400_SCALE_MIN)

Ditto.
Luckily it's 38357.

> + return -EINVAL;
> +
> + return raw;
> +}
> +
> +static int bma400_get_accel_scale(struct bma400_data *data)
> +{
> + unsigned int raw_scale;
> + unsigned int val;
> + int ret;
> +
> + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, &val);
> + if (ret)
> + return ret;
> +
> + raw_scale = (val & BMA400_ACC_SCALE_MASK) >> BMA400_SCALE_SHIFT;
> + if (raw_scale > BMA400_TWO_BITS_MASK)
> + return -EINVAL;
> +
> + data->scale = BMA400_SCALE_MIN << raw_scale;
> +
> + return 0;
> +}
> +
> +static int bma400_set_accel_scale(struct bma400_data *data, unsigned int val)
> +{
> + unsigned int acc_config;
> + int raw;
> + int ret;
> +
> + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG1_REG, &acc_config);
> + if (ret)
> + return ret;
> +
> + raw = bma400_accel_scale_to_raw(data, val);
> + if (raw < 0)
> + return raw;
> +
> + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG1_REG,
> + (acc_config & ~BMA400_ACC_SCALE_MASK) |
> + (raw << BMA400_SCALE_SHIFT));
> + if (ret)
> + return ret;
> +
> + data->scale = val;
> + return 0;
> +}
> +
> +static int bma400_get_power_mode(struct bma400_data *data)
> +{
> + unsigned int val;
> + int ret;
> +
> + ret = regmap_read(data->regmap, BMA400_STATUS_REG, &val);
> + if (ret) {
> + dev_err(data->dev, "Failed to read status register\n");
> + return ret;
> + }
> +
> + data->power_mode = (val >> 1) & BMA400_TWO_BITS_MASK;
> + return 0;
> +}
> +
> +static int bma400_set_power_mode(struct bma400_data *data,
> + enum bma400_power_mode mode)
> +{
> + unsigned int val;
> + int ret;
> +
> + ret = regmap_read(data->regmap, BMA400_ACC_CONFIG0_REG, &val);
> + if (ret)
> + return ret;
> +
> + if (data->power_mode == mode)
> + return 0;
> +
> + if (mode == POWER_MODE_INVALID)
> + return -EINVAL;
> +
> + /* Preserve the low-power oversample ratio etc */
> + ret = regmap_write(data->regmap, BMA400_ACC_CONFIG0_REG,
> + mode | (val & ~BMA400_TWO_BITS_MASK));
> + if (ret) {
> + dev_err(data->dev, "Failed to write to power-mode\n");
> + return ret;
> + }
> +
> + data->power_mode = mode;
> +
> + /*
> + * Update our cached osr and odr based on the new
> + * power-mode.
> + */
> + bma400_get_accel_output_data_rate(data);
> + bma400_get_accel_oversampling_ratio(data);
> + return 0;
> +}
> +
> +static void bma400_init_tables(void)
> +{
> + int raw;
> + int i;
> +
> + for (i = 0; i + 1 < ARRAY_SIZE(bma400_sample_freqs); i += 2) {
> + raw = (i / 2) + 5;
> + bma400_output_data_rate_from_raw(raw, &bma400_sample_freqs[i],
> + &bma400_sample_freqs[i + 1]);
> + }
> +
> + for (i = 0; i + 1 < ARRAY_SIZE(bma400_scales); i += 2) {
> + raw = i / 2;
> + bma400_scales[i] = 0;
> + bma400_scales[i + 1] = BMA400_SCALE_MIN << raw;
> + }
> +}
> +
> +static int bma400_init(struct bma400_data *data)
> +{
> + unsigned int val;
> + int ret;
> +
> + /* Try to read chip_id register. It must return 0x90. */
> + ret = regmap_read(data->regmap, BMA400_CHIP_ID_REG, &val);
> + if (ret) {
> + dev_err(data->dev, "Failed to read chip id register\n");
> + goto out;
> + }
> +
> + if (val != BMA400_ID_REG_VAL) {
> + dev_err(data->dev, "Chip ID mismatch\n");
> + ret = -ENODEV;
> + goto out;
> + }
> +
> + ret = bma400_get_power_mode(data);
> + if (ret) {
> + dev_err(data->dev, "Failed to get the initial power-mode\n");
> + goto out;
> + }
> +
> + if (data->power_mode != POWER_MODE_NORMAL) {
> + ret = bma400_set_power_mode(data, POWER_MODE_NORMAL);
> + if (ret) {
> + dev_err(data->dev, "Failed to wake up the device\n");
> + goto out;
> + }
> + /*
> + * TODO: The datasheet waits 1500us here in the example, but
> + * lists 2/ODR as the wakeup time.
> + */
> + usleep_range(1500, 2000);
> + }
> +
> + bma400_init_tables();
> +
> + ret = bma400_get_accel_output_data_rate(data);
> + if (ret)
> + goto out;
> +
> + ret = bma400_get_accel_oversampling_ratio(data);
> + if (ret)
> + goto out;
> +
> + ret = bma400_get_accel_scale(data);
> + if (ret)
> + goto out;
> +
> + /*
> + * Once the interrupt engine is supported we might use the
> + * data_src_reg, but for now ensure this is set to the
> + * variable ODR filter selectable by the sample frequency
> + * channel.
> + */
> + return regmap_write(data->regmap, BMA400_ACC_CONFIG2_REG, 0x00);
> +
> +out:
> + return ret;
> +}
> +
> +static int bma400_read_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan, int *val,
> + int *val2, long mask)
> +{
> + struct bma400_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_PROCESSED:
> + mutex_lock(&data->mutex);
> + ret = bma400_get_temp_reg(data, val, val2);
> + mutex_unlock(&data->mutex);
> + return ret;
> + case IIO_CHAN_INFO_RAW:
> + mutex_lock(&data->mutex);
> + ret = bma400_get_accel_reg(data, chan, val);
> + mutex_unlock(&data->mutex);
> + return ret;
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + switch (chan->type) {
> + case IIO_ACCEL:
> + if (data->sample_freq.hz < 0)
> + return -EINVAL;
> +
> + *val = data->sample_freq.hz;
> + *val2 = data->sample_freq.uhz;
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_TEMP:
> + /*
> + * Runs at a fixed sampling frequency. See Section 4.4
> + * of the datasheet.
> + */
> + *val = 6;
> + *val2 = 250000;
> + return IIO_VAL_INT_PLUS_MICRO;
> + default:
> + return -EINVAL;
> + }
> + case IIO_CHAN_INFO_SCALE:
> + *val = 0;
> + *val2 = data->scale;
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_CHAN_INFO_OVERSAMPLING_RATIO:
> + /*
> + * TODO: We could avoid this logic and returning -EINVAL here if
> + * we set both the low-power and normal mode OSR registers when
> + * we configure the device.
> + */
> + if (data->oversampling_ratio < 0)
> + return -EINVAL;
> +
> + *val = data->oversampling_ratio;
> + return IIO_VAL_INT;
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +static int bma400_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_SCALE:
> + *type = IIO_VAL_INT_PLUS_MICRO;
> + *vals = bma400_scales;
> + *length = ARRAY_SIZE(bma400_scales);
> + return IIO_AVAIL_LIST;
> + case IIO_CHAN_INFO_OVERSAMPLING_RATIO:
> + *type = IIO_VAL_INT;
> + *vals = bma400_osr_range;
> + *length = ARRAY_SIZE(bma400_osr_range);
> + return IIO_AVAIL_RANGE;
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + *type = IIO_VAL_INT_PLUS_MICRO;
> + *vals = bma400_sample_freqs;
> + *length = ARRAY_SIZE(bma400_sample_freqs);
> + return IIO_AVAIL_LIST;
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +static int bma400_write_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan, int val, int val2,
> + long mask)
> +{
> + struct bma400_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + /*
> + * The sample frequency is readonly for the temperature
> + * register and a fixed value in low-power mode.
> + */
> + if (chan->type != IIO_ACCEL)
> + return -EINVAL;
> +
> + mutex_lock(&data->mutex);
> + ret = bma400_set_accel_output_data_rate(data, val, val2);
> + mutex_unlock(&data->mutex);
> + return ret;
> + case IIO_CHAN_INFO_SCALE:
> + if (val != 0 || val2 > BMA400_SCALE_MAX)
> + return -EINVAL;
> +
> + mutex_lock(&data->mutex);
> + ret = bma400_set_accel_scale(data, val2);
> + mutex_unlock(&data->mutex);
> + return ret;
> + case IIO_CHAN_INFO_OVERSAMPLING_RATIO:
> + mutex_lock(&data->mutex);
> + ret = bma400_set_accel_oversampling_ratio(data, val);
> + mutex_unlock(&data->mutex);
> + return ret;
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +static int bma400_write_raw_get_fmt(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan,
> + long mask)
> +{
> + switch (mask) {
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_CHAN_INFO_SCALE:
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_CHAN_INFO_OVERSAMPLING_RATIO:
> + return IIO_VAL_INT;
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +static const struct iio_info bma400_info = {
> + .read_raw = bma400_read_raw,
> + .read_avail = bma400_read_avail,
> + .write_raw = bma400_write_raw,
> + .write_raw_get_fmt = bma400_write_raw_get_fmt,
> +};
> +
> +int bma400_probe(struct device *dev, struct regmap *regmap, const char *name)
> +{
> + struct iio_dev *indio_dev;
> + struct bma400_data *data;
> + int ret;
> +
> + indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
> + if (!indio_dev)
> + return -ENOMEM;
> +
> + data = iio_priv(indio_dev);
> + data->regmap = regmap;
> + data->dev = dev;
> +
> + ret = bma400_init(data);
> + if (ret)
> + return ret;
> +
> + ret = iio_read_mount_matrix(dev, "mount-matrix", &data->orientation);
> + if (ret)
> + return ret;
> +
> + mutex_init(&data->mutex);
> + indio_dev->dev.parent = dev;
> + indio_dev->name = name;
> + indio_dev->info = &bma400_info;
> + indio_dev->channels = bma400_channels;
> + indio_dev->num_channels = ARRAY_SIZE(bma400_channels);
> + indio_dev->modes = INDIO_DIRECT_MODE;
> +
> + dev_set_drvdata(dev, indio_dev);
> +
> + return iio_device_register(indio_dev);
> +}
> +EXPORT_SYMBOL(bma400_probe);
> +
> +int bma400_remove(struct device *dev)
> +{
> + struct iio_dev *indio_dev = dev_get_drvdata(dev);
> + struct bma400_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + mutex_lock(&data->mutex);
> + ret = bma400_set_power_mode(data, POWER_MODE_SLEEP);
> + mutex_unlock(&data->mutex);
> +
> + iio_device_unregister(indio_dev);
> +
> + return ret;
> +}
> +EXPORT_SYMBOL(bma400_remove);
> +
> +MODULE_AUTHOR("Dan Robertson <dan@dlrobertson.com>");
> +MODULE_DESCRIPTION("Bosch BMA400 triaxial acceleration sensor core");
> +MODULE_LICENSE("GPL");
> diff --git a/drivers/iio/accel/bma400_i2c.c b/drivers/iio/accel/bma400_i2c.c
> new file mode 100644
> index 000000000000..9dcb7cc9996e
> --- /dev/null
> +++ b/drivers/iio/accel/bma400_i2c.c
> @@ -0,0 +1,61 @@
> +// SPDX-License-Identifier: GPL-2.0-only
> +/*
> + * I2C IIO driver for Bosch BMA400 triaxial acceleration sensor.
> + *
> + * Copyright 2019 Dan Robertson <dan@dlrobertson.com>
> + *
> + * I2C address is either 0x14 or 0x15 depending on SDO
> + */
> +#include <linux/i2c.h>
> +#include <linux/mod_devicetable.h>
> +#include <linux/module.h>
> +#include <linux/regmap.h>
> +
> +#include "bma400.h"
> +
> +static int bma400_i2c_probe(struct i2c_client *client,
> + const struct i2c_device_id *id)
> +{
> + struct regmap *regmap;
> +
> + regmap = devm_regmap_init_i2c(client, &bma400_regmap_config);
> + if (IS_ERR(regmap)) {
> + dev_err(&client->dev, "failed to create regmap\n");
> + return PTR_ERR(regmap);
> + }
> +
> + return bma400_probe(&client->dev, regmap, id->name);
> +}
> +
> +static int bma400_i2c_remove(struct i2c_client *client)
> +{
> + return bma400_remove(&client->dev);
> +}
> +
> +static const struct i2c_device_id bma400_i2c_ids[] = {
> + { "bma400", 0 },
> + { }
> +};
> +MODULE_DEVICE_TABLE(i2c, bma400_i2c_ids);
> +
> +static const struct of_device_id bma400_of_i2c_match[] = {
> + { .compatible = "bosch,bma400" },
> + { }
> +};
> +MODULE_DEVICE_TABLE(of, bma400_of_i2c_match);
> +
> +static struct i2c_driver bma400_i2c_driver = {
> + .driver = {
> + .name = "bma400",
> + .of_match_table = bma400_of_i2c_match,
> + },
> + .probe = bma400_i2c_probe,
> + .remove = bma400_i2c_remove,
> + .id_table = bma400_i2c_ids,
> +};
> +
> +module_i2c_driver(bma400_i2c_driver);
> +
> +MODULE_AUTHOR("Dan Robertson <dan@dlrobertson.com>");
> +MODULE_DESCRIPTION("Bosch BMA400 triaxial acceleration sensor (I2C)");
> +MODULE_LICENSE("GPL");
>
>

--
With Best Regards,
Andy Shevchenko