iio: imu: bmi270: Add scale and sampling frequency to BMI270 IMU

Add read and write functions and create _available entries.

Signed-off-by: Justin Weiss <justin@justinweiss.com>
Link: https://patch.msgid.link/20241027172029.160134-3-justin@justinweiss.com
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
index bcc8a139d8845917db7762baeee0f1dd086cb2d5..601178a2d0b6f8251363a7f7deab7ba9e666156c 100644 (file)
--- a/drivers/iio/imu/bmi270/bmi270_core.c
+++ b/drivers/iio/imu/bmi270/bmi270_core.c
@@ -7,6 +7,7 @@
 #include <linux/regmap.h>
 
 #include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
 #include <linux/iio/triggered_buffer.h>
 #include <linux/iio/trigger_consumer.h>
 
@@ -33,6 +34,9 @@
 #define BMI270_ACC_CONF_BWP_NORMAL_MODE                        0x02
 #define BMI270_ACC_CONF_FILTER_PERF_MSK                        BIT(7)
 
+#define BMI270_ACC_CONF_RANGE_REG                      0x41
+#define BMI270_ACC_CONF_RANGE_MSK                      GENMASK(1, 0)
+
 #define BMI270_GYR_CONF_REG                            0x42
 #define BMI270_GYR_CONF_ODR_MSK                                GENMASK(3, 0)
 #define BMI270_GYR_CONF_ODR_200HZ                      0x09
@@ -41,6 +45,9 @@
 #define BMI270_GYR_CONF_NOISE_PERF_MSK                 BIT(6)
 #define BMI270_GYR_CONF_FILTER_PERF_MSK                        BIT(7)
 
+#define BMI270_GYR_CONF_RANGE_REG                      0x43
+#define BMI270_GYR_CONF_RANGE_MSK                      GENMASK(2, 0)
+
 #define BMI270_INIT_CTRL_REG                           0x59
 #define BMI270_INIT_CTRL_LOAD_DONE_MSK                 BIT(0)
 
@@ -86,6 +93,264 @@ const struct bmi270_chip_info bmi270_chip_info = {
 };
 EXPORT_SYMBOL_NS_GPL(bmi270_chip_info, IIO_BMI270);
 
+enum bmi270_sensor_type {
+       BMI270_ACCEL    = 0,
+       BMI270_GYRO,
+};
+
+struct bmi270_scale {
+       int scale;
+       int uscale;
+};
+
+struct bmi270_odr {
+       int odr;
+       int uodr;
+};
+
+static const struct bmi270_scale bmi270_accel_scale[] = {
+       { 0, 598 },
+       { 0, 1197 },
+       { 0, 2394 },
+       { 0, 4788 },
+};
+
+static const struct bmi270_scale bmi270_gyro_scale[] = {
+       { 0, 1065 },
+       { 0, 532 },
+       { 0, 266 },
+       { 0, 133 },
+       { 0, 66 },
+};
+
+struct bmi270_scale_item {
+       const struct bmi270_scale *tbl;
+       int num;
+};
+
+static const struct bmi270_scale_item bmi270_scale_table[] = {
+       [BMI270_ACCEL] = {
+               .tbl    = bmi270_accel_scale,
+               .num    = ARRAY_SIZE(bmi270_accel_scale),
+       },
+       [BMI270_GYRO] = {
+               .tbl    = bmi270_gyro_scale,
+               .num    = ARRAY_SIZE(bmi270_gyro_scale),
+       },
+};
+
+static const struct bmi270_odr bmi270_accel_odr[] = {
+       { 0, 781250 },
+       { 1, 562500 },
+       { 3, 125000 },
+       { 6, 250000 },
+       { 12, 500000 },
+       { 25, 0 },
+       { 50, 0 },
+       { 100, 0 },
+       { 200, 0 },
+       { 400, 0 },
+       { 800, 0 },
+       { 1600, 0 },
+};
+
+static const u8 bmi270_accel_odr_vals[] = {
+       0x01,
+       0x02,
+       0x03,
+       0x04,
+       0x05,
+       0x06,
+       0x07,
+       0x08,
+       0x09,
+       0x0A,
+       0x0B,
+       0x0C,
+};
+
+static const struct bmi270_odr bmi270_gyro_odr[] = {
+       { 25, 0 },
+       { 50, 0 },
+       { 100, 0 },
+       { 200, 0 },
+       { 400, 0 },
+       { 800, 0 },
+       { 1600, 0 },
+       { 3200, 0 },
+};
+
+static const u8 bmi270_gyro_odr_vals[] = {
+       0x06,
+       0x07,
+       0x08,
+       0x09,
+       0x0A,
+       0x0B,
+       0x0C,
+       0x0D,
+};
+
+struct bmi270_odr_item {
+       const struct bmi270_odr *tbl;
+       const u8 *vals;
+       int num;
+};
+
+static const struct  bmi270_odr_item bmi270_odr_table[] = {
+       [BMI270_ACCEL] = {
+               .tbl    = bmi270_accel_odr,
+               .vals   = bmi270_accel_odr_vals,
+               .num    = ARRAY_SIZE(bmi270_accel_odr),
+       },
+       [BMI270_GYRO] = {
+               .tbl    = bmi270_gyro_odr,
+               .vals   = bmi270_gyro_odr_vals,
+               .num    = ARRAY_SIZE(bmi270_gyro_odr),
+       },
+};
+
+static int bmi270_set_scale(struct bmi270_data *data, int chan_type, int uscale)
+{
+       int i;
+       int reg, mask;
+       struct bmi270_scale_item bmi270_scale_item;
+
+       switch (chan_type) {
+       case IIO_ACCEL:
+               reg = BMI270_ACC_CONF_RANGE_REG;
+               mask = BMI270_ACC_CONF_RANGE_MSK;
+               bmi270_scale_item = bmi270_scale_table[BMI270_ACCEL];
+               break;
+       case IIO_ANGL_VEL:
+               reg = BMI270_GYR_CONF_RANGE_REG;
+               mask = BMI270_GYR_CONF_RANGE_MSK;
+               bmi270_scale_item = bmi270_scale_table[BMI270_GYRO];
+               break;
+       default:
+               return -EINVAL;
+       }
+
+       for (i = 0; i < bmi270_scale_item.num; i++) {
+               if (bmi270_scale_item.tbl[i].uscale != uscale)
+                       continue;
+
+               return regmap_update_bits(data->regmap, reg, mask, i);
+       }
+
+       return -EINVAL;
+}
+
+static int bmi270_get_scale(struct bmi270_data *bmi270_device, int chan_type,
+                           int *uscale)
+{
+       int ret;
+       unsigned int val;
+       struct bmi270_scale_item bmi270_scale_item;
+
+       switch (chan_type) {
+       case IIO_ACCEL:
+               ret = regmap_read(bmi270_device->regmap,
+                                 BMI270_ACC_CONF_RANGE_REG, &val);
+               if (ret)
+                       return ret;
+
+               val = FIELD_GET(BMI270_ACC_CONF_RANGE_MSK, val);
+               bmi270_scale_item = bmi270_scale_table[BMI270_ACCEL];
+               break;
+       case IIO_ANGL_VEL:
+               ret = regmap_read(bmi270_device->regmap,
+                                 BMI270_GYR_CONF_RANGE_REG, &val);
+               if (ret)
+                       return ret;
+
+               val = FIELD_GET(BMI270_GYR_CONF_RANGE_MSK, val);
+               bmi270_scale_item = bmi270_scale_table[BMI270_GYRO];
+               break;
+       default:
+               return -EINVAL;
+       }
+
+       if (val >= bmi270_scale_item.num)
+               return -EINVAL;
+
+       *uscale = bmi270_scale_item.tbl[val].uscale;
+       return 0;
+}
+
+static int bmi270_set_odr(struct bmi270_data *data, int chan_type, int odr,
+                         int uodr)
+{
+       int i;
+       int reg, mask;
+       struct bmi270_odr_item bmi270_odr_item;
+
+       switch (chan_type) {
+       case IIO_ACCEL:
+               reg = BMI270_ACC_CONF_REG;
+               mask = BMI270_ACC_CONF_ODR_MSK;
+               bmi270_odr_item = bmi270_odr_table[BMI270_ACCEL];
+               break;
+       case IIO_ANGL_VEL:
+               reg = BMI270_GYR_CONF_REG;
+               mask = BMI270_GYR_CONF_ODR_MSK;
+               bmi270_odr_item = bmi270_odr_table[BMI270_GYRO];
+               break;
+       default:
+               return -EINVAL;
+       }
+
+       for (i = 0; i < bmi270_odr_item.num; i++) {
+               if (bmi270_odr_item.tbl[i].odr != odr ||
+                   bmi270_odr_item.tbl[i].uodr != uodr)
+                       continue;
+
+               return regmap_update_bits(data->regmap, reg, mask,
+                                         bmi270_odr_item.vals[i]);
+       }
+
+       return -EINVAL;
+}
+
+static int bmi270_get_odr(struct bmi270_data *data, int chan_type, int *odr,
+                         int *uodr)
+{
+       int i, val, ret;
+       struct bmi270_odr_item bmi270_odr_item;
+
+       switch (chan_type) {
+       case IIO_ACCEL:
+               ret = regmap_read(data->regmap, BMI270_ACC_CONF_REG, &val);
+               if (ret)
+                       return ret;
+
+               val = FIELD_GET(BMI270_ACC_CONF_ODR_MSK, val);
+               bmi270_odr_item = bmi270_odr_table[BMI270_ACCEL];
+               break;
+       case IIO_ANGL_VEL:
+               ret = regmap_read(data->regmap, BMI270_GYR_CONF_REG, &val);
+               if (ret)
+                       return ret;
+
+               val = FIELD_GET(BMI270_GYR_CONF_ODR_MSK, val);
+               bmi270_odr_item = bmi270_odr_table[BMI270_GYRO];
+               break;
+       default:
+               return -EINVAL;
+       }
+
+       for (i = 0; i < bmi270_odr_item.num; i++) {
+               if (val != bmi270_odr_item.vals[i])
+                       continue;
+
+               *odr = bmi270_odr_item.tbl[i].odr;
+               *uodr = bmi270_odr_item.tbl[i].uodr;
+               return 0;
+       }
+
+       return -EINVAL;
+}
+
 static irqreturn_t bmi270_trigger_handler(int irq, void *p)
 {
        struct iio_poll_func *pf = p;
@@ -148,6 +413,68 @@ static int bmi270_read_raw(struct iio_dev *indio_dev,
                        return ret;
 
                return IIO_VAL_INT;
+       case IIO_CHAN_INFO_SCALE:
+               *val = 0;
+               ret = bmi270_get_scale(bmi270_device, chan->type, val2);
+               return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
+       case IIO_CHAN_INFO_SAMP_FREQ:
+               ret = bmi270_get_odr(bmi270_device, chan->type, val, val2);
+               return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
+       default:
+               return -EINVAL;
+       }
+}
+
+static int bmi270_write_raw(struct iio_dev *indio_dev,
+                           struct iio_chan_spec const *chan,
+                           int val, int val2, long mask)
+{
+       struct bmi270_data *data = iio_priv(indio_dev);
+
+       switch (mask) {
+       case IIO_CHAN_INFO_SCALE:
+               return bmi270_set_scale(data, chan->type, val2);
+       case IIO_CHAN_INFO_SAMP_FREQ:
+               return bmi270_set_odr(data, chan->type, val, val2);
+       default:
+               return -EINVAL;
+       }
+}
+
+static int bmi270_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;
+               switch (chan->type) {
+               case IIO_ANGL_VEL:
+                       *vals = (const int *)bmi270_gyro_scale;
+                       *length = ARRAY_SIZE(bmi270_gyro_scale) * 2;
+                       return IIO_AVAIL_LIST;
+               case IIO_ACCEL:
+                       *vals = (const int *)bmi270_accel_scale;
+                       *length = ARRAY_SIZE(bmi270_accel_scale) * 2;
+                       return IIO_AVAIL_LIST;
+               default:
+                       return -EINVAL;
+               }
+       case IIO_CHAN_INFO_SAMP_FREQ:
+               *type = IIO_VAL_INT_PLUS_MICRO;
+               switch (chan->type) {
+               case IIO_ANGL_VEL:
+                       *vals = (const int *)bmi270_gyro_odr;
+                       *length = ARRAY_SIZE(bmi270_gyro_odr) * 2;
+                       return IIO_AVAIL_LIST;
+               case IIO_ACCEL:
+                       *vals = (const int *)bmi270_accel_odr;
+                       *length = ARRAY_SIZE(bmi270_accel_odr) * 2;
+                       return IIO_AVAIL_LIST;
+               default:
+                       return -EINVAL;
+               }
        default:
                return -EINVAL;
        }
@@ -155,6 +482,8 @@ static int bmi270_read_raw(struct iio_dev *indio_dev,
 
 static const struct iio_info bmi270_info = {
        .read_raw = bmi270_read_raw,
+       .write_raw = bmi270_write_raw,
+       .read_avail = bmi270_read_avail,
 };
 
 #define BMI270_ACCEL_CHANNEL(_axis) {                          \
@@ -162,6 +491,11 @@ static const struct iio_info bmi270_info = {
        .modified = 1,                                          \
        .channel2 = IIO_MOD_##_axis,                            \
        .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),           \
+       .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) |  \
+               BIT(IIO_CHAN_INFO_SAMP_FREQ),                   \
+       .info_mask_shared_by_type_available =                   \
+               BIT(IIO_CHAN_INFO_SCALE) |                      \
+               BIT(IIO_CHAN_INFO_SAMP_FREQ),                   \
        .scan_index = BMI270_SCAN_ACCEL_##_axis,                \
        .scan_type = {                                          \
                .sign = 's',                                    \
@@ -176,6 +510,11 @@ static const struct iio_info bmi270_info = {
        .modified = 1,                                          \
        .channel2 = IIO_MOD_##_axis,                            \
        .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),           \
+       .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) |  \
+               BIT(IIO_CHAN_INFO_SAMP_FREQ),                   \
+       .info_mask_shared_by_type_available =                   \
+               BIT(IIO_CHAN_INFO_SCALE) |                      \
+               BIT(IIO_CHAN_INFO_SAMP_FREQ),                   \
        .scan_index = BMI270_SCAN_GYRO_##_axis,                 \
        .scan_type = {                                          \
                .sign = 's',                                    \