Re: [PATCH v3 4/6] iio: imu: bmi270: Add support for BMI260

Justin Weiss
2024-10-22T15:50:47Z

Justin Weiss <justin@justinweiss.com> writes:

> Adds support for the Bosch BMI260 6-axis IMU to the Bosch BMI270
> driver. Setup and operation is nearly identical to the Bosch BMI270,
> but has a different chip ID and requires different firmware.
>
> Firmware is requested and loaded from userspace.
>
> Signed-off-by: Justin Weiss <justin@justinweiss.com>
> ---
> drivers/iio/imu/bmi270/bmi270.h | 1 +
> drivers/iio/imu/bmi270/bmi270_core.c | 28 +++++++++++++++++++++++++++-
> drivers/iio/imu/bmi270/bmi270_i2c.c | 13 +++++++++++++
> drivers/iio/imu/bmi270/bmi270_spi.c | 8 ++++++++
> 4 files changed, 49 insertions(+), 1 deletion(-)
>
> diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h
> index 93e5f387607b..d8f6d7cf47fc 100644
> --- a/drivers/iio/imu/bmi270/bmi270.h
> +++ b/drivers/iio/imu/bmi270/bmi270.h
> @@ -20,6 +20,7 @@ struct bmi270_chip_info {
> };
>
> extern const struct regmap_config bmi270_regmap_config;
> +extern const struct bmi270_chip_info bmi260_chip_info;
> extern const struct bmi270_chip_info bmi270_chip_info;
>
> int bmi270_core_probe(struct device *dev, struct regmap *regmap,
> diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
> index 5f08d786fa21..24e45d6f0706 100644
> --- a/drivers/iio/imu/bmi270/bmi270_core.c
> +++ b/drivers/iio/imu/bmi270/bmi270_core.c
> @@ -11,6 +11,11 @@
> #include "bmi270.h"
>
> #define BMI270_CHIP_ID_REG 0x00
> +
> +/* Used to prevent sending incompatible firmware to BMI160 devices */
> +#define BMI160_CHIP_ID_VAL 0xD1
> +
> +#define BMI260_CHIP_ID_VAL 0x27
> #define BMI270_CHIP_ID_VAL 0x24
> #define BMI270_CHIP_ID_MSK GENMASK(7, 0)
>
> @@ -55,6 +60,7 @@
> #define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
> #define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
>
> +#define BMI260_INIT_DATA_FILE "bmi260-init-data.fw"
> #define BMI270_INIT_DATA_FILE "bmi270-init-data.fw"
>
> enum bmi270_scan {
> @@ -66,6 +72,13 @@ enum bmi270_scan {
> BMI270_SCAN_GYRO_Z,
> };
>
> +const struct bmi270_chip_info bmi260_chip_info = {
> + .name = "bmi260",
> + .chip_id = BMI260_CHIP_ID_VAL,
> + .fw_name = BMI260_INIT_DATA_FILE,
> +};
> +EXPORT_SYMBOL_NS_GPL(bmi260_chip_info, IIO_BMI270);
> +
> const struct bmi270_chip_info bmi270_chip_info = {
> .name = "bmi270",
> .chip_id = BMI270_CHIP_ID_VAL,
> @@ -157,8 +170,21 @@ static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device)
> if (ret)
> return dev_err_probe(dev, ret, "Failed to read chip id");
>
> + /*
> + * Some manufacturers use "BMI0160" for both the BMI160 and
> + * BMI260. If the device is actually a BMI160, the bmi160
> + * driver should handle it and this driver should not.
> + */
> + if (chip_id == BMI160_CHIP_ID_VAL)
> + return -ENODEV;
> +
> if (chip_id != bmi270_device->chip_info->chip_id)
> - dev_info(dev, "Unknown chip id 0x%x", chip_id);
> + dev_info(dev, "Unexpected chip id 0x%x", chip_id);
> +
> + if (chip_id == bmi260_chip_info.chip_id)
> + bmi270_device->chip_info = &bmi260_chip_info;
> + else if (chip_id == bmi270_chip_info.chip_id)
> + bmi270_device->chip_info = &bmi270_chip_info;
>
> return 0;
> }
> diff --git a/drivers/iio/imu/bmi270/bmi270_i2c.c b/drivers/iio/imu/bmi270/bmi270_i2c.c
> index 394f27996059..3d0d8f3e8b63 100644
> --- a/drivers/iio/imu/bmi270/bmi270_i2c.c
> +++ b/drivers/iio/imu/bmi270/bmi270_i2c.c
> @@ -32,11 +32,23 @@ static int bmi270_i2c_probe(struct i2c_client *client)
> }
>
> static const struct i2c_device_id bmi270_i2c_id[] = {
> + { "bmi260", (kernel_ulong_t)&bmi260_chip_info },
> { "bmi270", (kernel_ulong_t)&bmi270_chip_info },
> { }
> };
>

The ACPI IDs with device pointers are here:

> +static const struct acpi_device_id bmi270_acpi_match[] = {
> + /* OrangePi NEO */
> + { "BMI0260", (kernel_ulong_t)&bmi260_chip_info },
> + /* GPD Win Mini, Aya Neo AIR Pro, OXP Mini Pro, etc. */
> + { "BMI0160", (kernel_ulong_t)&bmi260_chip_info },
> + /* GPD Win Max 2 */
> + { "10EC5280", (kernel_ulong_t)&bmi260_chip_info },
> + { }
> +};

I pulled DSDT device excerpts for the GPD Win Mini (which uses the
BMI0160 ACPI ID, even though it has a bmi260) and the OrangePi NEO
(which uses the BMI0260 ACPI ID).

I couldn't find a shipping device with a bmi260 using the 10EC5280 ACPI
ID. Some prototype devices with the bmi260 may have used them:
https://lore.kernel.org/all/CAFqHKTm2WRNkcSoBEE=oNbfu_9d9RagQHLydmv6q1=snO_MXyA@mail.gmail.com/

I can remove that ID from this changeset for now.

GPD Win Mini:

Device (BMI2)
{
Name (_ADR, Zero) // _ADR: Address
Name (_HID, "BMI0160") // _HID: Hardware ID
Name (_CID, "BMI0160") // _CID: Compatible ID
Name (_DDN, "Accelerometer") // _DDN: DOS Device Name
Name (_UID, One) // _UID: Unique ID
Method (_CRS, 0, NotSerialized) // _CRS: Current Resource Settings
{
Name (RBUF, ResourceTemplate ()
{
I2cSerialBusV2 (0x0068, ControllerInitiated, 0x00061A80,
AddressingMode7Bit, "\\_SB.I2CB",
0x00, ResourceConsumer, , Exclusive,
)
GpioInt (Edge, ActiveLow, Exclusive, PullDefault, 0x0000,
"\\_SB.GPIO", 0x00, ResourceConsumer, ,
)
{ // Pin list
0x008B
}
})
Return (RBUF) /* \_SB_.I2CB.BMI2._CRS.RBUF */
}

OperationRegion (CMS2, SystemIO, 0x72, 0x02)
Field (CMS2, ByteAcc, NoLock, Preserve)
{
IND2, 8,
DAT2, 8
}

IndexField (IND2, DAT2, ByteAcc, NoLock, Preserve)
{
Offset (0x74),
BACS, 32
}

Method (ROMS, 0, NotSerialized)
{
Name (RBUF, Package (0x03)
{
"0 1 0",
"1 0 0",
"0 0 1"
})
Return (RBUF) /* \_SB_.I2CB.BMI2.ROMS.RBUF */
}

Method (CALS, 1, NotSerialized)
{
Local0 = Arg0
If (((Local0 == Zero) || (Local0 == Ones)))
{
Return (Local0)
}
Else
{
BACS = Local0
}
}

Method (_STA, 0, NotSerialized) // _STA: Status
{
Return (0x0F)
}
}

OrangePi NEO:

Device (BMI2)
{
Name (_ADR, Zero) // _ADR: Address
Name (_HID, "BMI0260") // _HID: Hardware ID
Name (_CID, "BMI0260") // _CID: Compatible ID
Name (_DDN, "Accelerometer") // _DDN: DOS Device Name
Name (_UID, One) // _UID: Unique ID
Method (_CRS, 0, NotSerialized) // _CRS: Current Resource Settings
{
Name (RBUF, ResourceTemplate ()
{
I2cSerialBusV2 (0x0068, ControllerInitiated, 0x00061A80,
AddressingMode7Bit, "\\_SB.I2CB",
0x00, ResourceConsumer, , Exclusive,
)
GpioInt (Edge, ActiveLow, Exclusive, PullDefault, 0x0000,
"\\_SB.GPIO", 0x00, ResourceConsumer, ,
)
{ // Pin list
0x008B
}
})
Return (RBUF) /* \_SB_.I2CB.BMI2._CRS.RBUF */
}

OperationRegion (CMS2, SystemIO, 0x72, 0x02)
Field (CMS2, ByteAcc, NoLock, Preserve)
{
IND2, 8,
DAT2, 8
}

IndexField (IND2, DAT2, ByteAcc, NoLock, Preserve)
{
Offset (0x74),
BACS, 32
}

Method (ROMS, 0, NotSerialized)
{
Name (RBUF, Package (0x03)
{
"0 1 0",
"1 0 0",
"0 0 1"
})
Return (RBUF) /* \_SB_.I2CB.BMI2.ROMS.RBUF */
}

Method (CALS, 1, NotSerialized)
{
Local0 = Arg0
If (((Local0 == Zero) || (Local0 == Ones)))
{
Return (Local0)
}
Else
{
BACS = Local0
}
}

Method (_STA, 0, NotSerialized) // _STA: Status
{
Return (0x0F)
}
}

> +
> static const struct of_device_id bmi270_of_match[] = {
> + { .compatible = "bosch,bmi260", .data = &bmi260_chip_info },
> { .compatible = "bosch,bmi270", .data = &bmi270_chip_info },
> { }
> };
> @@ -44,6 +56,7 @@ static const struct of_device_id bmi270_of_match[] = {
> static struct i2c_driver bmi270_i2c_driver = {
> .driver = {
> .name = "bmi270_i2c",
> + .acpi_match_table = bmi270_acpi_match,
> .of_match_table = bmi270_of_match,
> },
> .probe = bmi270_i2c_probe,
> diff --git a/drivers/iio/imu/bmi270/bmi270_spi.c b/drivers/iio/imu/bmi270/bmi270_spi.c
> index 7c2062c660d9..7f42ed74023b 100644
> --- a/drivers/iio/imu/bmi270/bmi270_spi.c
> +++ b/drivers/iio/imu/bmi270/bmi270_spi.c
> @@ -65,11 +65,18 @@ static int bmi270_spi_probe(struct spi_device *spi)
> }
>
> static const struct spi_device_id bmi270_spi_id[] = {
> + { "bmi260", (kernel_ulong_t)&bmi260_chip_info},
> { "bmi270", (kernel_ulong_t)&bmi270_chip_info },
> { }
> };
>
> +static const struct acpi_device_id bmi270_acpi_match[] = {
> + { "BOSC0260", (kernel_ulong_t)&bmi260_chip_info },
> + { }
> +};
> +

I can't find any evidence of BOSC0260 being used, besides existing in
the Windows driver. As suggested in an earlier review, I added it here
to encourage people looking at this driver in the future to use the
correct ACPI ID.

Thanks,
Justin

> static const struct of_device_id bmi270_of_match[] = {
> + { .compatible = "bosch,bmi260", .data = &bmi260_chip_info },
> { .compatible = "bosch,bmi270", .data = &bmi270_chip_info },
> { }
> };
> @@ -77,6 +84,7 @@ static const struct of_device_id bmi270_of_match[] = {
> static struct spi_driver bmi270_spi_driver = {
> .driver = {
> .name = "bmi270",
> + .acpi_match_table = bmi270_acpi_match,
> .of_match_table = bmi270_of_match,
> },
> .probe = bmi270_spi_probe,