![Irina Tirdea](/assets/img/avatar_default.png)
Add support for the BMI055 gyroscope sensor. BMI055 is a package consisting of an acceleration sensor and a gyroscope. This patch adds support for the gyroscope only. Spec downloaded from: http://ae-bst.resource.bosch.com/media/products/dokumente/bmi055/BST-BMI055-DS000-06.pdf The BMI055 gyroscope uses the same register definition as BMG160, but does not specify a temp register. However, the temp register seems to be working in the same way as for BMG160, so this patch does not remove the temp channel for BMI055. Signed-off-by: Irina Tirdea <irina.tirdea@intel.com> Reviewed-by: Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com> Signed-off-by: Jonathan Cameron <jic23@kernel.org>
1229 lines
28 KiB
C
1229 lines
28 KiB
C
/*
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* BMG160 Gyro Sensor driver
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* Copyright (c) 2014, Intel Corporation.
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*
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* This program is free software; you can redistribute it and/or modify it
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* under the terms and conditions of the GNU General Public License,
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* version 2, as published by the Free Software Foundation.
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*
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* This program is distributed in the hope it will be useful, but WITHOUT
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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* more details.
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*/
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#include <linux/module.h>
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#include <linux/i2c.h>
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#include <linux/interrupt.h>
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#include <linux/delay.h>
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#include <linux/slab.h>
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#include <linux/acpi.h>
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#include <linux/gpio/consumer.h>
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#include <linux/pm.h>
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#include <linux/pm_runtime.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/trigger.h>
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#include <linux/iio/events.h>
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#include <linux/iio/trigger_consumer.h>
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#include <linux/iio/triggered_buffer.h>
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#define BMG160_DRV_NAME "bmg160"
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#define BMG160_IRQ_NAME "bmg160_event"
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#define BMG160_GPIO_NAME "gpio_int"
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#define BMG160_REG_CHIP_ID 0x00
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#define BMG160_CHIP_ID_VAL 0x0F
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#define BMG160_REG_PMU_LPW 0x11
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#define BMG160_MODE_NORMAL 0x00
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#define BMG160_MODE_DEEP_SUSPEND 0x20
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#define BMG160_MODE_SUSPEND 0x80
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#define BMG160_REG_RANGE 0x0F
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#define BMG160_RANGE_2000DPS 0
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#define BMG160_RANGE_1000DPS 1
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#define BMG160_RANGE_500DPS 2
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#define BMG160_RANGE_250DPS 3
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#define BMG160_RANGE_125DPS 4
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#define BMG160_REG_PMU_BW 0x10
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#define BMG160_NO_FILTER 0
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#define BMG160_DEF_BW 100
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#define BMG160_REG_INT_MAP_0 0x17
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#define BMG160_INT_MAP_0_BIT_ANY BIT(1)
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#define BMG160_REG_INT_MAP_1 0x18
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#define BMG160_INT_MAP_1_BIT_NEW_DATA BIT(0)
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#define BMG160_REG_INT_RST_LATCH 0x21
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#define BMG160_INT_MODE_LATCH_RESET 0x80
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#define BMG160_INT_MODE_LATCH_INT 0x0F
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#define BMG160_INT_MODE_NON_LATCH_INT 0x00
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#define BMG160_REG_INT_EN_0 0x15
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#define BMG160_DATA_ENABLE_INT BIT(7)
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#define BMG160_REG_XOUT_L 0x02
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#define BMG160_AXIS_TO_REG(axis) (BMG160_REG_XOUT_L + (axis * 2))
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#define BMG160_REG_SLOPE_THRES 0x1B
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#define BMG160_SLOPE_THRES_MASK 0x0F
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#define BMG160_REG_MOTION_INTR 0x1C
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#define BMG160_INT_MOTION_X BIT(0)
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#define BMG160_INT_MOTION_Y BIT(1)
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#define BMG160_INT_MOTION_Z BIT(2)
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#define BMG160_ANY_DUR_MASK 0x30
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#define BMG160_ANY_DUR_SHIFT 4
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#define BMG160_REG_INT_STATUS_2 0x0B
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#define BMG160_ANY_MOTION_MASK 0x07
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#define BMG160_REG_TEMP 0x08
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#define BMG160_TEMP_CENTER_VAL 23
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#define BMG160_MAX_STARTUP_TIME_MS 80
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#define BMG160_AUTO_SUSPEND_DELAY_MS 2000
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struct bmg160_data {
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struct i2c_client *client;
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struct iio_trigger *dready_trig;
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struct iio_trigger *motion_trig;
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struct mutex mutex;
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s16 buffer[8];
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u8 bw_bits;
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u32 dps_range;
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int ev_enable_state;
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int slope_thres;
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bool dready_trigger_on;
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bool motion_trigger_on;
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int64_t timestamp;
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};
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enum bmg160_axis {
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AXIS_X,
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AXIS_Y,
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AXIS_Z,
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};
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static const struct {
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int val;
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int bw_bits;
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} bmg160_samp_freq_table[] = { {100, 0x07},
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{200, 0x06},
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{400, 0x03},
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{1000, 0x02},
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{2000, 0x01} };
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static const struct {
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int scale;
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int dps_range;
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} bmg160_scale_table[] = { { 1065, BMG160_RANGE_2000DPS},
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{ 532, BMG160_RANGE_1000DPS},
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{ 266, BMG160_RANGE_500DPS},
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{ 133, BMG160_RANGE_250DPS},
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{ 66, BMG160_RANGE_125DPS} };
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static int bmg160_set_mode(struct bmg160_data *data, u8 mode)
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{
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int ret;
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_PMU_LPW, mode);
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if (ret < 0) {
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dev_err(&data->client->dev, "Error writing reg_pmu_lpw\n");
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return ret;
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}
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return 0;
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}
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static int bmg160_convert_freq_to_bit(int val)
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{
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int i;
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for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
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if (bmg160_samp_freq_table[i].val == val)
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return bmg160_samp_freq_table[i].bw_bits;
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}
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return -EINVAL;
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}
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static int bmg160_set_bw(struct bmg160_data *data, int val)
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{
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int ret;
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int bw_bits;
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bw_bits = bmg160_convert_freq_to_bit(val);
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if (bw_bits < 0)
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return bw_bits;
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ret = i2c_smbus_write_byte_data(data->client, BMG160_REG_PMU_BW,
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bw_bits);
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if (ret < 0) {
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dev_err(&data->client->dev, "Error writing reg_pmu_bw\n");
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return ret;
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}
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data->bw_bits = bw_bits;
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return 0;
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}
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static int bmg160_chip_init(struct bmg160_data *data)
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{
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int ret;
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ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_CHIP_ID);
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if (ret < 0) {
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dev_err(&data->client->dev, "Error reading reg_chip_id\n");
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return ret;
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}
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dev_dbg(&data->client->dev, "Chip Id %x\n", ret);
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if (ret != BMG160_CHIP_ID_VAL) {
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dev_err(&data->client->dev, "invalid chip %x\n", ret);
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return -ENODEV;
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}
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ret = bmg160_set_mode(data, BMG160_MODE_NORMAL);
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if (ret < 0)
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return ret;
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/* Wait upto 500 ms to be ready after changing mode */
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usleep_range(500, 1000);
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/* Set Bandwidth */
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ret = bmg160_set_bw(data, BMG160_DEF_BW);
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if (ret < 0)
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return ret;
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/* Set Default Range */
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_RANGE,
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BMG160_RANGE_500DPS);
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if (ret < 0) {
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dev_err(&data->client->dev, "Error writing reg_range\n");
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return ret;
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}
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data->dps_range = BMG160_RANGE_500DPS;
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ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_SLOPE_THRES);
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if (ret < 0) {
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dev_err(&data->client->dev, "Error reading reg_slope_thres\n");
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return ret;
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}
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data->slope_thres = ret;
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/* Set default interrupt mode */
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_INT_RST_LATCH,
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BMG160_INT_MODE_LATCH_INT |
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BMG160_INT_MODE_LATCH_RESET);
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if (ret < 0) {
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dev_err(&data->client->dev,
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"Error writing reg_motion_intr\n");
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return ret;
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}
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return 0;
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}
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static int bmg160_set_power_state(struct bmg160_data *data, bool on)
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{
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#ifdef CONFIG_PM_RUNTIME
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int ret;
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if (on)
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ret = pm_runtime_get_sync(&data->client->dev);
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else {
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pm_runtime_mark_last_busy(&data->client->dev);
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ret = pm_runtime_put_autosuspend(&data->client->dev);
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}
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if (ret < 0) {
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dev_err(&data->client->dev,
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"Failed: bmg160_set_power_state for %d\n", on);
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return ret;
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}
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#endif
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return 0;
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}
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static int bmg160_setup_any_motion_interrupt(struct bmg160_data *data,
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bool status)
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{
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int ret;
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/* Enable/Disable INT_MAP0 mapping */
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ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_INT_MAP_0);
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if (ret < 0) {
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dev_err(&data->client->dev, "Error reading reg_int_map0\n");
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return ret;
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}
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if (status)
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ret |= BMG160_INT_MAP_0_BIT_ANY;
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else
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ret &= ~BMG160_INT_MAP_0_BIT_ANY;
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_INT_MAP_0,
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ret);
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if (ret < 0) {
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dev_err(&data->client->dev, "Error writing reg_int_map0\n");
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return ret;
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}
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/* Enable/Disable slope interrupts */
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if (status) {
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/* Update slope thres */
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_SLOPE_THRES,
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data->slope_thres);
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if (ret < 0) {
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dev_err(&data->client->dev,
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"Error writing reg_slope_thres\n");
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return ret;
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}
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_MOTION_INTR,
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BMG160_INT_MOTION_X |
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BMG160_INT_MOTION_Y |
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BMG160_INT_MOTION_Z);
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if (ret < 0) {
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dev_err(&data->client->dev,
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"Error writing reg_motion_intr\n");
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return ret;
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}
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/*
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* New data interrupt is always non-latched,
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* which will have higher priority, so no need
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* to set latched mode, we will be flooded anyway with INTR
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*/
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if (!data->dready_trigger_on) {
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_INT_RST_LATCH,
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BMG160_INT_MODE_LATCH_INT |
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BMG160_INT_MODE_LATCH_RESET);
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if (ret < 0) {
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dev_err(&data->client->dev,
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"Error writing reg_rst_latch\n");
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return ret;
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}
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}
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_INT_EN_0,
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BMG160_DATA_ENABLE_INT);
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} else
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_INT_EN_0,
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0);
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if (ret < 0) {
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dev_err(&data->client->dev, "Error writing reg_int_en0\n");
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return ret;
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}
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return 0;
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}
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static int bmg160_setup_new_data_interrupt(struct bmg160_data *data,
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bool status)
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{
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int ret;
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/* Enable/Disable INT_MAP1 mapping */
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ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_INT_MAP_1);
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if (ret < 0) {
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dev_err(&data->client->dev, "Error reading reg_int_map1\n");
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return ret;
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}
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if (status)
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ret |= BMG160_INT_MAP_1_BIT_NEW_DATA;
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else
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ret &= ~BMG160_INT_MAP_1_BIT_NEW_DATA;
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_INT_MAP_1,
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ret);
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if (ret < 0) {
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dev_err(&data->client->dev, "Error writing reg_int_map1\n");
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return ret;
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}
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if (status) {
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_INT_RST_LATCH,
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BMG160_INT_MODE_NON_LATCH_INT |
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BMG160_INT_MODE_LATCH_RESET);
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if (ret < 0) {
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dev_err(&data->client->dev,
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"Error writing reg_rst_latch\n");
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return ret;
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}
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_INT_EN_0,
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BMG160_DATA_ENABLE_INT);
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} else {
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/* Restore interrupt mode */
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_INT_RST_LATCH,
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BMG160_INT_MODE_LATCH_INT |
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BMG160_INT_MODE_LATCH_RESET);
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if (ret < 0) {
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dev_err(&data->client->dev,
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"Error writing reg_rst_latch\n");
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return ret;
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}
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ret = i2c_smbus_write_byte_data(data->client,
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BMG160_REG_INT_EN_0,
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0);
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}
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if (ret < 0) {
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dev_err(&data->client->dev, "Error writing reg_int_en0\n");
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return ret;
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}
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return 0;
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}
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static int bmg160_get_bw(struct bmg160_data *data, int *val)
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{
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int i;
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for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) {
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if (bmg160_samp_freq_table[i].bw_bits == data->bw_bits) {
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*val = bmg160_samp_freq_table[i].val;
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return IIO_VAL_INT;
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}
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}
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return -EINVAL;
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}
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static int bmg160_set_scale(struct bmg160_data *data, int val)
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{
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int ret, i;
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for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) {
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if (bmg160_scale_table[i].scale == val) {
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ret = i2c_smbus_write_byte_data(
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data->client,
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BMG160_REG_RANGE,
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bmg160_scale_table[i].dps_range);
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if (ret < 0) {
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dev_err(&data->client->dev,
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"Error writing reg_range\n");
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return ret;
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}
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data->dps_range = bmg160_scale_table[i].dps_range;
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return 0;
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}
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}
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return -EINVAL;
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}
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static int bmg160_get_temp(struct bmg160_data *data, int *val)
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{
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int ret;
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mutex_lock(&data->mutex);
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ret = bmg160_set_power_state(data, true);
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if (ret < 0) {
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mutex_unlock(&data->mutex);
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return ret;
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}
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ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_TEMP);
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if (ret < 0) {
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dev_err(&data->client->dev, "Error reading reg_temp\n");
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bmg160_set_power_state(data, false);
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mutex_unlock(&data->mutex);
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return ret;
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}
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*val = sign_extend32(ret, 7);
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ret = bmg160_set_power_state(data, false);
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mutex_unlock(&data->mutex);
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if (ret < 0)
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return ret;
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return IIO_VAL_INT;
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}
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static int bmg160_get_axis(struct bmg160_data *data, int axis, int *val)
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{
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int ret;
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mutex_lock(&data->mutex);
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ret = bmg160_set_power_state(data, true);
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if (ret < 0) {
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mutex_unlock(&data->mutex);
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return ret;
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}
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ret = i2c_smbus_read_word_data(data->client, BMG160_AXIS_TO_REG(axis));
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if (ret < 0) {
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dev_err(&data->client->dev, "Error reading axis %d\n", axis);
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bmg160_set_power_state(data, false);
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mutex_unlock(&data->mutex);
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return ret;
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}
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*val = sign_extend32(ret, 15);
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ret = bmg160_set_power_state(data, false);
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mutex_unlock(&data->mutex);
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if (ret < 0)
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return ret;
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|
|
return IIO_VAL_INT;
|
|
}
|
|
|
|
static int bmg160_read_raw(struct iio_dev *indio_dev,
|
|
struct iio_chan_spec const *chan,
|
|
int *val, int *val2, long mask)
|
|
{
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
int ret;
|
|
|
|
switch (mask) {
|
|
case IIO_CHAN_INFO_RAW:
|
|
switch (chan->type) {
|
|
case IIO_TEMP:
|
|
return bmg160_get_temp(data, val);
|
|
case IIO_ANGL_VEL:
|
|
if (iio_buffer_enabled(indio_dev))
|
|
return -EBUSY;
|
|
else
|
|
return bmg160_get_axis(data, chan->scan_index,
|
|
val);
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
case IIO_CHAN_INFO_OFFSET:
|
|
if (chan->type == IIO_TEMP) {
|
|
*val = BMG160_TEMP_CENTER_VAL;
|
|
return IIO_VAL_INT;
|
|
} else
|
|
return -EINVAL;
|
|
case IIO_CHAN_INFO_SCALE:
|
|
*val = 0;
|
|
switch (chan->type) {
|
|
case IIO_TEMP:
|
|
*val2 = 500000;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_ANGL_VEL:
|
|
{
|
|
int i;
|
|
|
|
for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) {
|
|
if (bmg160_scale_table[i].dps_range ==
|
|
data->dps_range) {
|
|
*val2 = bmg160_scale_table[i].scale;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
}
|
|
}
|
|
return -EINVAL;
|
|
}
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
case IIO_CHAN_INFO_SAMP_FREQ:
|
|
*val2 = 0;
|
|
mutex_lock(&data->mutex);
|
|
ret = bmg160_get_bw(data, val);
|
|
mutex_unlock(&data->mutex);
|
|
return ret;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
}
|
|
|
|
static int bmg160_write_raw(struct iio_dev *indio_dev,
|
|
struct iio_chan_spec const *chan,
|
|
int val, int val2, long mask)
|
|
{
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
int ret;
|
|
|
|
switch (mask) {
|
|
case IIO_CHAN_INFO_SAMP_FREQ:
|
|
mutex_lock(&data->mutex);
|
|
/*
|
|
* Section 4.2 of spec
|
|
* In suspend mode, the only supported operations are reading
|
|
* registers as well as writing to the (0x14) softreset
|
|
* register. Since we will be in suspend mode by default, change
|
|
* mode to power on for other writes.
|
|
*/
|
|
ret = bmg160_set_power_state(data, true);
|
|
if (ret < 0) {
|
|
mutex_unlock(&data->mutex);
|
|
return ret;
|
|
}
|
|
ret = bmg160_set_bw(data, val);
|
|
if (ret < 0) {
|
|
bmg160_set_power_state(data, false);
|
|
mutex_unlock(&data->mutex);
|
|
return ret;
|
|
}
|
|
ret = bmg160_set_power_state(data, false);
|
|
mutex_unlock(&data->mutex);
|
|
return ret;
|
|
case IIO_CHAN_INFO_SCALE:
|
|
if (val)
|
|
return -EINVAL;
|
|
|
|
mutex_lock(&data->mutex);
|
|
/* Refer to comments above for the suspend mode ops */
|
|
ret = bmg160_set_power_state(data, true);
|
|
if (ret < 0) {
|
|
mutex_unlock(&data->mutex);
|
|
return ret;
|
|
}
|
|
ret = bmg160_set_scale(data, val2);
|
|
if (ret < 0) {
|
|
bmg160_set_power_state(data, false);
|
|
mutex_unlock(&data->mutex);
|
|
return ret;
|
|
}
|
|
ret = bmg160_set_power_state(data, false);
|
|
mutex_unlock(&data->mutex);
|
|
return ret;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
|
|
return -EINVAL;
|
|
}
|
|
|
|
static int bmg160_read_event(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)
|
|
{
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
|
|
*val2 = 0;
|
|
switch (info) {
|
|
case IIO_EV_INFO_VALUE:
|
|
*val = data->slope_thres & BMG160_SLOPE_THRES_MASK;
|
|
break;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
|
|
return IIO_VAL_INT;
|
|
}
|
|
|
|
static int bmg160_write_event(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)
|
|
{
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
|
|
switch (info) {
|
|
case IIO_EV_INFO_VALUE:
|
|
if (data->ev_enable_state)
|
|
return -EBUSY;
|
|
data->slope_thres &= ~BMG160_SLOPE_THRES_MASK;
|
|
data->slope_thres |= (val & BMG160_SLOPE_THRES_MASK);
|
|
break;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int bmg160_read_event_config(struct iio_dev *indio_dev,
|
|
const struct iio_chan_spec *chan,
|
|
enum iio_event_type type,
|
|
enum iio_event_direction dir)
|
|
{
|
|
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
|
|
return data->ev_enable_state;
|
|
}
|
|
|
|
static int bmg160_write_event_config(struct iio_dev *indio_dev,
|
|
const struct iio_chan_spec *chan,
|
|
enum iio_event_type type,
|
|
enum iio_event_direction dir,
|
|
int state)
|
|
{
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
int ret;
|
|
|
|
if (state && data->ev_enable_state)
|
|
return 0;
|
|
|
|
mutex_lock(&data->mutex);
|
|
|
|
if (!state && data->motion_trigger_on) {
|
|
data->ev_enable_state = 0;
|
|
mutex_unlock(&data->mutex);
|
|
return 0;
|
|
}
|
|
/*
|
|
* We will expect the enable and disable to do operation in
|
|
* in reverse order. This will happen here anyway as our
|
|
* resume operation uses sync mode runtime pm calls, the
|
|
* suspend operation will be delayed by autosuspend delay
|
|
* So the disable operation will still happen in reverse of
|
|
* enable operation. When runtime pm is disabled the mode
|
|
* is always on so sequence doesn't matter
|
|
*/
|
|
ret = bmg160_set_power_state(data, state);
|
|
if (ret < 0) {
|
|
mutex_unlock(&data->mutex);
|
|
return ret;
|
|
}
|
|
|
|
ret = bmg160_setup_any_motion_interrupt(data, state);
|
|
if (ret < 0) {
|
|
mutex_unlock(&data->mutex);
|
|
return ret;
|
|
}
|
|
|
|
data->ev_enable_state = state;
|
|
mutex_unlock(&data->mutex);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int bmg160_validate_trigger(struct iio_dev *indio_dev,
|
|
struct iio_trigger *trig)
|
|
{
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
|
|
if (data->dready_trig != trig && data->motion_trig != trig)
|
|
return -EINVAL;
|
|
|
|
return 0;
|
|
}
|
|
|
|
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("100 200 400 1000 2000");
|
|
|
|
static IIO_CONST_ATTR(in_anglvel_scale_available,
|
|
"0.001065 0.000532 0.000266 0.000133 0.000066");
|
|
|
|
static struct attribute *bmg160_attributes[] = {
|
|
&iio_const_attr_sampling_frequency_available.dev_attr.attr,
|
|
&iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
|
|
NULL,
|
|
};
|
|
|
|
static const struct attribute_group bmg160_attrs_group = {
|
|
.attrs = bmg160_attributes,
|
|
};
|
|
|
|
static const struct iio_event_spec bmg160_event = {
|
|
.type = IIO_EV_TYPE_ROC,
|
|
.dir = IIO_EV_DIR_RISING | IIO_EV_DIR_FALLING,
|
|
.mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) |
|
|
BIT(IIO_EV_INFO_ENABLE)
|
|
};
|
|
|
|
#define BMG160_CHANNEL(_axis) { \
|
|
.type = IIO_ANGL_VEL, \
|
|
.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), \
|
|
.scan_index = AXIS_##_axis, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = 16, \
|
|
.storagebits = 16, \
|
|
}, \
|
|
.event_spec = &bmg160_event, \
|
|
.num_event_specs = 1 \
|
|
}
|
|
|
|
static const struct iio_chan_spec bmg160_channels[] = {
|
|
{
|
|
.type = IIO_TEMP,
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
|
|
BIT(IIO_CHAN_INFO_SCALE) |
|
|
BIT(IIO_CHAN_INFO_OFFSET),
|
|
.scan_index = -1,
|
|
},
|
|
BMG160_CHANNEL(X),
|
|
BMG160_CHANNEL(Y),
|
|
BMG160_CHANNEL(Z),
|
|
IIO_CHAN_SOFT_TIMESTAMP(3),
|
|
};
|
|
|
|
static const struct iio_info bmg160_info = {
|
|
.attrs = &bmg160_attrs_group,
|
|
.read_raw = bmg160_read_raw,
|
|
.write_raw = bmg160_write_raw,
|
|
.read_event_value = bmg160_read_event,
|
|
.write_event_value = bmg160_write_event,
|
|
.write_event_config = bmg160_write_event_config,
|
|
.read_event_config = bmg160_read_event_config,
|
|
.validate_trigger = bmg160_validate_trigger,
|
|
.driver_module = THIS_MODULE,
|
|
};
|
|
|
|
static irqreturn_t bmg160_trigger_handler(int irq, void *p)
|
|
{
|
|
struct iio_poll_func *pf = p;
|
|
struct iio_dev *indio_dev = pf->indio_dev;
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
int bit, ret, i = 0;
|
|
|
|
mutex_lock(&data->mutex);
|
|
for_each_set_bit(bit, indio_dev->buffer->scan_mask,
|
|
indio_dev->masklength) {
|
|
ret = i2c_smbus_read_word_data(data->client,
|
|
BMG160_AXIS_TO_REG(bit));
|
|
if (ret < 0) {
|
|
mutex_unlock(&data->mutex);
|
|
goto err;
|
|
}
|
|
data->buffer[i++] = ret;
|
|
}
|
|
mutex_unlock(&data->mutex);
|
|
|
|
iio_push_to_buffers_with_timestamp(indio_dev, data->buffer,
|
|
data->timestamp);
|
|
err:
|
|
iio_trigger_notify_done(indio_dev->trig);
|
|
|
|
return IRQ_HANDLED;
|
|
}
|
|
|
|
static int bmg160_trig_try_reen(struct iio_trigger *trig)
|
|
{
|
|
struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
int ret;
|
|
|
|
/* new data interrupts don't need ack */
|
|
if (data->dready_trigger_on)
|
|
return 0;
|
|
|
|
/* Set latched mode interrupt and clear any latched interrupt */
|
|
ret = i2c_smbus_write_byte_data(data->client,
|
|
BMG160_REG_INT_RST_LATCH,
|
|
BMG160_INT_MODE_LATCH_INT |
|
|
BMG160_INT_MODE_LATCH_RESET);
|
|
if (ret < 0) {
|
|
dev_err(&data->client->dev, "Error writing reg_rst_latch\n");
|
|
return ret;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int bmg160_data_rdy_trigger_set_state(struct iio_trigger *trig,
|
|
bool state)
|
|
{
|
|
struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
int ret;
|
|
|
|
mutex_lock(&data->mutex);
|
|
|
|
if (!state && data->ev_enable_state && data->motion_trigger_on) {
|
|
data->motion_trigger_on = false;
|
|
mutex_unlock(&data->mutex);
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* Refer to comment in bmg160_write_event_config for
|
|
* enable/disable operation order
|
|
*/
|
|
ret = bmg160_set_power_state(data, state);
|
|
if (ret < 0) {
|
|
mutex_unlock(&data->mutex);
|
|
return ret;
|
|
}
|
|
if (data->motion_trig == trig)
|
|
ret = bmg160_setup_any_motion_interrupt(data, state);
|
|
else
|
|
ret = bmg160_setup_new_data_interrupt(data, state);
|
|
if (ret < 0) {
|
|
mutex_unlock(&data->mutex);
|
|
return ret;
|
|
}
|
|
if (data->motion_trig == trig)
|
|
data->motion_trigger_on = state;
|
|
else
|
|
data->dready_trigger_on = state;
|
|
|
|
mutex_unlock(&data->mutex);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static const struct iio_trigger_ops bmg160_trigger_ops = {
|
|
.set_trigger_state = bmg160_data_rdy_trigger_set_state,
|
|
.try_reenable = bmg160_trig_try_reen,
|
|
.owner = THIS_MODULE,
|
|
};
|
|
|
|
static irqreturn_t bmg160_event_handler(int irq, void *private)
|
|
{
|
|
struct iio_dev *indio_dev = private;
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
int ret;
|
|
int dir;
|
|
|
|
ret = i2c_smbus_read_byte_data(data->client, BMG160_REG_INT_STATUS_2);
|
|
if (ret < 0) {
|
|
dev_err(&data->client->dev, "Error reading reg_int_status2\n");
|
|
goto ack_intr_status;
|
|
}
|
|
|
|
if (ret & 0x08)
|
|
dir = IIO_EV_DIR_RISING;
|
|
else
|
|
dir = IIO_EV_DIR_FALLING;
|
|
|
|
if (ret & BMG160_ANY_MOTION_MASK)
|
|
iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL,
|
|
0,
|
|
IIO_MOD_X_OR_Y_OR_Z,
|
|
IIO_EV_TYPE_ROC,
|
|
dir),
|
|
data->timestamp);
|
|
|
|
ack_intr_status:
|
|
if (!data->dready_trigger_on) {
|
|
ret = i2c_smbus_write_byte_data(data->client,
|
|
BMG160_REG_INT_RST_LATCH,
|
|
BMG160_INT_MODE_LATCH_INT |
|
|
BMG160_INT_MODE_LATCH_RESET);
|
|
if (ret < 0)
|
|
dev_err(&data->client->dev,
|
|
"Error writing reg_rst_latch\n");
|
|
}
|
|
|
|
return IRQ_HANDLED;
|
|
}
|
|
|
|
static irqreturn_t bmg160_data_rdy_trig_poll(int irq, void *private)
|
|
{
|
|
struct iio_dev *indio_dev = private;
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
|
|
data->timestamp = iio_get_time_ns();
|
|
|
|
if (data->dready_trigger_on)
|
|
iio_trigger_poll(data->dready_trig);
|
|
else if (data->motion_trigger_on)
|
|
iio_trigger_poll(data->motion_trig);
|
|
|
|
if (data->ev_enable_state)
|
|
return IRQ_WAKE_THREAD;
|
|
else
|
|
return IRQ_HANDLED;
|
|
|
|
}
|
|
|
|
static int bmg160_gpio_probe(struct i2c_client *client,
|
|
struct bmg160_data *data)
|
|
|
|
{
|
|
struct device *dev;
|
|
struct gpio_desc *gpio;
|
|
int ret;
|
|
|
|
if (!client)
|
|
return -EINVAL;
|
|
|
|
dev = &client->dev;
|
|
|
|
/* data ready gpio interrupt pin */
|
|
gpio = devm_gpiod_get_index(dev, BMG160_GPIO_NAME, 0);
|
|
if (IS_ERR(gpio)) {
|
|
dev_err(dev, "acpi gpio get index failed\n");
|
|
return PTR_ERR(gpio);
|
|
}
|
|
|
|
ret = gpiod_direction_input(gpio);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = gpiod_to_irq(gpio);
|
|
|
|
dev_dbg(dev, "GPIO resource, no:%d irq:%d\n", desc_to_gpio(gpio), ret);
|
|
|
|
return ret;
|
|
}
|
|
|
|
static const char *bmg160_match_acpi_device(struct device *dev)
|
|
{
|
|
const struct acpi_device_id *id;
|
|
|
|
id = acpi_match_device(dev->driver->acpi_match_table, dev);
|
|
if (!id)
|
|
return NULL;
|
|
|
|
return dev_name(dev);
|
|
}
|
|
|
|
static int bmg160_probe(struct i2c_client *client,
|
|
const struct i2c_device_id *id)
|
|
{
|
|
struct bmg160_data *data;
|
|
struct iio_dev *indio_dev;
|
|
int ret;
|
|
const char *name = NULL;
|
|
|
|
indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
|
|
if (!indio_dev)
|
|
return -ENOMEM;
|
|
|
|
data = iio_priv(indio_dev);
|
|
i2c_set_clientdata(client, indio_dev);
|
|
data->client = client;
|
|
|
|
ret = bmg160_chip_init(data);
|
|
if (ret < 0)
|
|
return ret;
|
|
|
|
mutex_init(&data->mutex);
|
|
|
|
if (id)
|
|
name = id->name;
|
|
|
|
if (ACPI_HANDLE(&client->dev))
|
|
name = bmg160_match_acpi_device(&client->dev);
|
|
|
|
indio_dev->dev.parent = &client->dev;
|
|
indio_dev->channels = bmg160_channels;
|
|
indio_dev->num_channels = ARRAY_SIZE(bmg160_channels);
|
|
indio_dev->name = name;
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
|
indio_dev->info = &bmg160_info;
|
|
|
|
if (client->irq <= 0)
|
|
client->irq = bmg160_gpio_probe(client, data);
|
|
|
|
if (client->irq > 0) {
|
|
ret = devm_request_threaded_irq(&client->dev,
|
|
client->irq,
|
|
bmg160_data_rdy_trig_poll,
|
|
bmg160_event_handler,
|
|
IRQF_TRIGGER_RISING,
|
|
BMG160_IRQ_NAME,
|
|
indio_dev);
|
|
if (ret)
|
|
return ret;
|
|
|
|
data->dready_trig = devm_iio_trigger_alloc(&client->dev,
|
|
"%s-dev%d",
|
|
indio_dev->name,
|
|
indio_dev->id);
|
|
if (!data->dready_trig)
|
|
return -ENOMEM;
|
|
|
|
data->motion_trig = devm_iio_trigger_alloc(&client->dev,
|
|
"%s-any-motion-dev%d",
|
|
indio_dev->name,
|
|
indio_dev->id);
|
|
if (!data->motion_trig)
|
|
return -ENOMEM;
|
|
|
|
data->dready_trig->dev.parent = &client->dev;
|
|
data->dready_trig->ops = &bmg160_trigger_ops;
|
|
iio_trigger_set_drvdata(data->dready_trig, indio_dev);
|
|
ret = iio_trigger_register(data->dready_trig);
|
|
if (ret)
|
|
return ret;
|
|
|
|
data->motion_trig->dev.parent = &client->dev;
|
|
data->motion_trig->ops = &bmg160_trigger_ops;
|
|
iio_trigger_set_drvdata(data->motion_trig, indio_dev);
|
|
ret = iio_trigger_register(data->motion_trig);
|
|
if (ret) {
|
|
data->motion_trig = NULL;
|
|
goto err_trigger_unregister;
|
|
}
|
|
|
|
ret = iio_triggered_buffer_setup(indio_dev,
|
|
NULL,
|
|
bmg160_trigger_handler,
|
|
NULL);
|
|
if (ret < 0) {
|
|
dev_err(&client->dev,
|
|
"iio triggered buffer setup failed\n");
|
|
goto err_trigger_unregister;
|
|
}
|
|
}
|
|
|
|
ret = iio_device_register(indio_dev);
|
|
if (ret < 0) {
|
|
dev_err(&client->dev, "unable to register iio device\n");
|
|
goto err_buffer_cleanup;
|
|
}
|
|
|
|
ret = pm_runtime_set_active(&client->dev);
|
|
if (ret)
|
|
goto err_iio_unregister;
|
|
|
|
pm_runtime_enable(&client->dev);
|
|
pm_runtime_set_autosuspend_delay(&client->dev,
|
|
BMG160_AUTO_SUSPEND_DELAY_MS);
|
|
pm_runtime_use_autosuspend(&client->dev);
|
|
|
|
return 0;
|
|
|
|
err_iio_unregister:
|
|
iio_device_unregister(indio_dev);
|
|
err_buffer_cleanup:
|
|
if (data->dready_trig)
|
|
iio_triggered_buffer_cleanup(indio_dev);
|
|
err_trigger_unregister:
|
|
if (data->dready_trig)
|
|
iio_trigger_unregister(data->dready_trig);
|
|
if (data->motion_trig)
|
|
iio_trigger_unregister(data->motion_trig);
|
|
|
|
return ret;
|
|
}
|
|
|
|
static int bmg160_remove(struct i2c_client *client)
|
|
{
|
|
struct iio_dev *indio_dev = i2c_get_clientdata(client);
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
|
|
pm_runtime_disable(&client->dev);
|
|
pm_runtime_set_suspended(&client->dev);
|
|
pm_runtime_put_noidle(&client->dev);
|
|
|
|
iio_device_unregister(indio_dev);
|
|
|
|
if (data->dready_trig) {
|
|
iio_triggered_buffer_cleanup(indio_dev);
|
|
iio_trigger_unregister(data->dready_trig);
|
|
iio_trigger_unregister(data->motion_trig);
|
|
}
|
|
|
|
mutex_lock(&data->mutex);
|
|
bmg160_set_mode(data, BMG160_MODE_DEEP_SUSPEND);
|
|
mutex_unlock(&data->mutex);
|
|
|
|
return 0;
|
|
}
|
|
|
|
#ifdef CONFIG_PM_SLEEP
|
|
static int bmg160_suspend(struct device *dev)
|
|
{
|
|
struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
|
|
mutex_lock(&data->mutex);
|
|
bmg160_set_mode(data, BMG160_MODE_SUSPEND);
|
|
mutex_unlock(&data->mutex);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int bmg160_resume(struct device *dev)
|
|
{
|
|
struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
|
|
mutex_lock(&data->mutex);
|
|
if (data->dready_trigger_on || data->motion_trigger_on ||
|
|
data->ev_enable_state)
|
|
bmg160_set_mode(data, BMG160_MODE_NORMAL);
|
|
mutex_unlock(&data->mutex);
|
|
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
#ifdef CONFIG_PM_RUNTIME
|
|
static int bmg160_runtime_suspend(struct device *dev)
|
|
{
|
|
struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
|
|
return bmg160_set_mode(data, BMG160_MODE_SUSPEND);
|
|
}
|
|
|
|
static int bmg160_runtime_resume(struct device *dev)
|
|
{
|
|
struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
|
|
struct bmg160_data *data = iio_priv(indio_dev);
|
|
int ret;
|
|
|
|
ret = bmg160_set_mode(data, BMG160_MODE_NORMAL);
|
|
if (ret < 0)
|
|
return ret;
|
|
|
|
msleep_interruptible(BMG160_MAX_STARTUP_TIME_MS);
|
|
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
static const struct dev_pm_ops bmg160_pm_ops = {
|
|
SET_SYSTEM_SLEEP_PM_OPS(bmg160_suspend, bmg160_resume)
|
|
SET_RUNTIME_PM_OPS(bmg160_runtime_suspend,
|
|
bmg160_runtime_resume, NULL)
|
|
};
|
|
|
|
static const struct acpi_device_id bmg160_acpi_match[] = {
|
|
{"BMG0160", 0},
|
|
{"BMI055B", 0},
|
|
{},
|
|
};
|
|
|
|
MODULE_DEVICE_TABLE(acpi, bmg160_acpi_match);
|
|
|
|
static const struct i2c_device_id bmg160_id[] = {
|
|
{"bmg160", 0},
|
|
{"bmi055_gyro", 0},
|
|
{}
|
|
};
|
|
|
|
MODULE_DEVICE_TABLE(i2c, bmg160_id);
|
|
|
|
static struct i2c_driver bmg160_driver = {
|
|
.driver = {
|
|
.name = BMG160_DRV_NAME,
|
|
.acpi_match_table = ACPI_PTR(bmg160_acpi_match),
|
|
.pm = &bmg160_pm_ops,
|
|
},
|
|
.probe = bmg160_probe,
|
|
.remove = bmg160_remove,
|
|
.id_table = bmg160_id,
|
|
};
|
|
module_i2c_driver(bmg160_driver);
|
|
|
|
MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com>");
|
|
MODULE_LICENSE("GPL v2");
|
|
MODULE_DESCRIPTION("BMG160 Gyro driver");
|