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SubjectRe: [PATCH 2/2] iio: add Bosch BMA180 acceleration sensor driver
On 07/29/13 16:15, Peter Meerwald wrote:
>
> kicking out drivers fast :)
> few comments below; the driver exposes only minimal iio features and
> integrates input subsystem, this doesn't seem right
>
Only taken a very quick look but Peter is quite right. Either
this is very much an input directed driver in which case rip out the
IIO stuff and submit it as an input driver, or it is a multipurpose part
in which case the 'right' way to do it is that bridge driver I keep
failing to bring up to date (anyone else fancy taking it on? I'll probably
get to it, but right now all my available time goes on review so new
features in my hands will take a while!)

There are some other corners that still need doing, but having large
quantities of input calls within an IIO driver is not going anywhere
as it just makes for a maintenance mess.

Actually this driver doesn't support what we would call events in IIO
so the current feature set of that bridge would probably be fine. Note
to use it you'd need full trigger and buffer support under IIO.

Anyhow, up to you whether you want to pitch this to linux-input with
IIO removed or go the IIO and input bridge route (last version
'might' be http://marc.info/?l=linux-iio&m=135167944813803&w=2 .

>>
>> diff --git a/Documentation/devicetree/bindings/iio/accel/bma180.txt b/Documentation/devicetree/bindings/iio/accel/bma180.txt
>> new file mode 100644
>> index 0000000..7c13c84
>> --- /dev/null
>> +++ b/Documentation/devicetree/bindings/iio/accel/bma180.txt
>> @@ -0,0 +1,53 @@
>> +* Bosch BMA180 triaxial acceleration sensor
>> +
>> +http://omapworld.com/BMA180_111_1002839.pdf
>> +
>> +Required properties:
>> +
>> + - compatible : should be "bosch,bma180"
>> + - reg : the I2C address of the sensor
>> +
>> +Optional properties:
>> +
>> + - interrupt-parent : should be the phandle for the interrupt controller
>> +
>> + - interrupts : interrupt mapping for GPIO IRQ, it shuld by configured with
>> + flags IRQ_TYPE_LEVEL_HIGH | IRQ_TYPE_EDGE_RISING
>> +
>> + - range : select the full scale acceleration range
>> + 0 : -1g..+1g
>> + 1 : -1.5g..+1.5g
>> + 2 : -2g..+2g
>> + 3 : -3g..+3g
>> + 4 : -4g..+4g
>> + 5 : -8g..+8g
>> + 6 : -16g..+16g
>> +
>> + - bw : select bandwidth bandwidth
>> + 0 : 10Hz
>> + 1 : 20Hz
>> + 2 : 40Hz
>> + 3 : 75Hz
>> + 4 : 150Hz
>> + 5 : 300Hz
Surely magic numbers should be as unacceptible in device tree files
as anywhere else? It's hardly difficult to use the actual values
for this.

>> + Don't use bandwidth frequency more than 300Hz couse it
>
> because
>
>> + influences the frequency of generating new data interrupts
>> + and i2c reading phase can be longer than pheriod of interrupt
>
> period
>
>> + generation.
>> +
>> + - mode_config : 0 - select low noise mode, 1 - select low power mode
>> +
>> + - fuzz : specifies fuzz value that is used to filter noise from the event stream
>> +
>> +Example:
>> +
>> +bma180@40 {
>> + compatible = "bosch,bma180";
>> + reg = <0x40>;
>> + interrupt-parent = <&gpio6>;
>> + interrupts = <18 (IRQ_TYPE_LEVEL_HIGH | IRQ_TYPE_EDGE_RISING)>;
>> + range = <2>;
>> + bw = <0>;
>> + mode_config = <1>;
>> + fuzz = <555>;
>> +};
>> diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig
>> index 719d83f..61fd29f 100644
>> --- a/drivers/iio/accel/Kconfig
>> +++ b/drivers/iio/accel/Kconfig
>> @@ -3,6 +3,16 @@
>> #
>> menu "Accelerometers"
>>
>> +config BMA180
>> + tristate "Bosch BMA180 3-Axis Accelerometer Driver"
>> + depends on I2C
>> + help
>> + Say Y here if you want to build a driver for the Bosch BMA180
>> + triaxial acceleration sensor.
>> +
>> + To compile this driver as a module, choose M here: the
>> + module will be called bma180.
>> +
>> config HID_SENSOR_ACCEL_3D
>> depends on HID_SENSOR_HUB
>> select IIO_BUFFER
>> diff --git a/drivers/iio/accel/Makefile b/drivers/iio/accel/Makefile
>> index 87d8fa2..31a36fa 100644
>> --- a/drivers/iio/accel/Makefile
>> +++ b/drivers/iio/accel/Makefile
>> @@ -12,3 +12,5 @@ obj-$(CONFIG_IIO_ST_ACCEL_I2C_3AXIS) += st_accel_i2c.o
>> obj-$(CONFIG_IIO_ST_ACCEL_SPI_3AXIS) += st_accel_spi.o
>>
>> obj-$(CONFIG_KXSD9) += kxsd9.o
>> +
>> +obj-$(CONFIG_BMA180) += bma180.o
>
> alphabetic order
>
>> diff --git a/drivers/iio/accel/bma180.c b/drivers/iio/accel/bma180.c
>> new file mode 100644
>> index 0000000..9f5341f
>> --- /dev/null
>> +++ b/drivers/iio/accel/bma180.c
>> @@ -0,0 +1,462 @@
>> +/*
>> + * bma180.c - IIO driver for Bosch BMA180 triaxial acceleration sensor
>> + *
>> + * Copyright 2013 Oleksandr Kravchenko <x0199363@ti.com>
>> + *
>> + * This file is subject to the terms and conditions of version 2 of
>> + * the GNU General Public License. See the file COPYING in the main
>> + * directory of this archive for more details.
>> + */
>> +
>> +#include <linux/module.h>
>> +#include <linux/i2c.h>
>> +#include <linux/interrupt.h>
>> +#include <linux/delay.h>
>> +#include <linux/input.h>
>> +#include <linux/of.h>
>> +#include <linux/bitops.h>
>> +#include <linux/iio/iio.h>
>> +#include <linux/iio/sysfs.h>
>> +#include <linux/iio/events.h>
>> +
>> +#define BMA180_DRV_NAME "bma180"
>> +#define BMA180_IRQ_NAME "bma180_event"
>> +
>> +/* Register set */
>> +#define BMA180_CHIP_ID 0x00 /* Need to distinguish BMA180 from other */
>> +#define BMA180_ACC_X_LSB 0x02 /* First of 6 registers of accel data */
>> +#define BMA180_CTRL_REG0 0x0d
>> +#define BMA180_RESET 0x10
>> +#define BMA180_BW_TCS 0x20
>> +#define BMA180_CTRL_REG3 0x21
>> +#define BMA180_TCO_Z 0x30
>> +#define BMA180_OFFSET_LSB1 0x35
>> +
>> +/* Control bits */
>> +#define BMA180_SLEEP BIT(1) /* 1 - chip will sleep */
>> +#define BMA180_DIS_WAKE_UP BIT(0) /* Disable wake up mode */
>> +#define BMA180_EE_W BIT(4) /* Unlock writing to addr. from 0x20 */
>> +#define BMA180_NEW_DATA_INT BIT(1) /* Intr every new accel data is ready */
>> +#define BMA180_SMP_SKIP BIT(0) /* Sample skipping mode */
>
> maybe say which bits belong to which CTRL reg?
>
>> +
>> +/* Bit masks fo registerts bit fields */
>
> typos: fo, registerts
>
>> +#define BMA180_RANGE 0x0e /* Range of accel measurment */
>> +#define BMA180_BW 0xf0 /* Accel measurmend bandwidth */
>
> typo: measurmend
>
>> +#define BMA180_MODE_CONFIG 0x03 /* Config operation modes */
>> +
>> +/* We have write this value in reset register to do soft reset */
>
> have 'to' write
>
>> +#define BMA180_RESET_VAL 0xb6
>> +
>> +/* Chip operation modes */
>> +#define BMA180_LOW_NOISE 0x00
>> +#define BMA180_LOW_POWER 0x03
>> +
>> +struct bma180_data {
>> + struct i2c_client *client;
>> + struct input_dev *input_dev;
>> + struct mutex mutex;
>> + int sleep_state;
>> + int range;
>> + int bw;
>> + int mode;
>> + int fuzz;
>> + int acc_reg[3];
>> +};
>> +
>> +enum bma180_axis {
>> + AXIS_X,
>> + AXIS_Y,
>> + AXIS_Z,
>> +};
>> +
>> +struct bma180_range {
>> + int g_range;
>> + int ratio;
>> +};
>> +
>> +static struct bma180_range bma180_range_table[7] = {
>> + { 1000, 130 },
>> + { 1500, 190 },
>> + { 2000, 250 },
>> + { 3000, 380 },
>> + { 4000, 500 },
>> + { 8000, 990 },
>> + { 16000, 1980 },
>> +};
>> +
>> +static int bma180_get_acc_reg(struct bma180_data *data, enum bma180_axis axis)
>> +{
>> + u8 reg = BMA180_ACC_X_LSB + axis * 2;
>> + int ret;
>> +
>> + if (data->sleep_state)
>> + return -EBUSY;
>> +
>> + ret = i2c_smbus_read_word_data(data->client, reg);
>> + if (ret < 0)
>> + dev_err(&data->client->dev,
>> + "failed to read accel_%c registers\n", 'x' + axis);
>
> just one register, not registers?
>
>> +
>> + return ret;
>> +}
>> +
>> +static int bma180_set_bits(struct bma180_data *data, u8 reg, u8 mask, u8 val)
>> +{
>> + int ret = i2c_smbus_read_byte_data(data->client, reg);
>> + u8 reg_val = (ret & ~mask) | (val << (ffs(mask) - 1));
>> +
>> + if (ret < 0)
>> + return ret;
>> +
>> + return i2c_smbus_write_byte_data(data->client, reg, reg_val);
>> +}
>> +
>> +static int bma180_set_new_data_intr_state(struct bma180_data *data, int state)
>> +{
>> + u8 reg_val = state ? BMA180_NEW_DATA_INT : 0x00;
>> + int ret = i2c_smbus_write_byte_data(data->client, BMA180_CTRL_REG3,
>> + reg_val);
>> +
>> + if (ret)
>> + dev_err(&data->client->dev,
>> + "failed to set new data interrupt state %d\n", state);
>> +
>> + return ret;
>> +}
>> +
>> +static int bma180_set_sleep_state(struct bma180_data *data, int state)
>> +{
>> + int ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_SLEEP, state);
>> +
>> + if (ret) {
>> + dev_err(&data->client->dev,
>> + "failed to set sleep state %d\n", state);
>> + return ret;
>> + }
>> + data->sleep_state = state;
>> +
>> + return 0;
>> +}
>> +
>> +static int bma180_set_ee_writing_state(struct bma180_data *data, int state)
>> +{
>> + int ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_EE_W, state);
>> +
>> + if (ret)
>> + dev_err(&data->client->dev,
>> + "failed to set ee writing state %d\n", state);
>> +
>> + return ret;
>> +}
>> +
>> +static int bma180_soft_reset(struct bma180_data *data)
>> +{
>> + int ret = i2c_smbus_write_byte_data(data->client,
>> + BMA180_RESET, BMA180_RESET_VAL);
>> +
>> + if (ret)
>> + dev_err(&data->client->dev, "failed to reset the chip\n");
>> +
>> + return ret;
>> +}
>> +
>> +static int bma180_chip_init(struct bma180_data *data)
>> +{
>> + /* Try to read chip_id register. It must return 0x03. */
>> + int ret = i2c_smbus_read_byte_data(data->client, BMA180_CHIP_ID);
>> +
>> + if (ret < 0)
>> + goto err;
>> + if (ret != 0x03) {
>> + ret = -ENODEV;
>> + goto err;
>> + }
>> +
>> + ret = bma180_soft_reset(data);
>> + if (ret)
>> + goto err;
>> + /*
>> + * No serial transaction should occur within minimum 10 μs
>> + * after soft_reset command
>> + */
>> + msleep(20);
>> +
>> + ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_DIS_WAKE_UP, 1);
>> + if (ret)
>> + goto err;
>> + ret = bma180_set_ee_writing_state(data, 1);
>> + if (ret)
>> + goto err;
>> + ret = bma180_set_new_data_intr_state(data, 0);
>> + if (ret)
>> + goto err;
>> + ret = bma180_set_bits(data, BMA180_BW_TCS, BMA180_BW, data->bw);
>> + if (ret)
>> + goto err;
>> + ret = bma180_set_bits(data,
>> + BMA180_OFFSET_LSB1, BMA180_RANGE, data->range);
>> + if (ret)
>> + goto err;
>> + ret = bma180_set_bits(data, BMA180_TCO_Z, BMA180_MODE_CONFIG,
>> + data->mode ? BMA180_LOW_POWER : BMA180_LOW_NOISE);
>> + if (ret)
>> + goto err;
>> + ret = bma180_set_bits(data, BMA180_OFFSET_LSB1, BMA180_SMP_SKIP, 1);
>> + if (ret)
>> + goto err;
>> + ret = bma180_set_new_data_intr_state(data, 1);
>> + if (ret)
>> + goto err;
>> + ret = bma180_set_ee_writing_state(data, 0);
>> + if (ret)
>> + goto err;
>> +
>> + return 0;
>> +
>> +err:
>> + dev_err(&data->client->dev, "failed to init the chip\n");
>> + return ret;
>> +}
>> +
>> +static void bma180_chip_disable(struct bma180_data *data)
>> +{
>> + if (bma180_set_ee_writing_state(data, 1))
>> + goto err;
>> + if (bma180_set_new_data_intr_state(data, 0))
>> + goto err;
>> + if (bma180_set_ee_writing_state(data, 0))
>> + goto err;
>> + if (bma180_set_sleep_state(data, 1))
>> + goto err;
>> +
>> + return;
>> +
>> +err:
>> + dev_err(&data->client->dev, "failed to disable the chip\n");
>> +}
>> +
>> +static int bma180_read_raw(struct iio_dev *indio_dev,
>> + struct iio_chan_spec const *chan, int *val, int *val2,
>> + long mask)
>> +{
>> + struct bma180_data *data = iio_priv(indio_dev);
>> + long tmp = ((s16)data->acc_reg[chan->channel] >> 2)
>> + * bma180_range_table[data->range].ratio;
>> +
>> + if (data->acc_reg[chan->channel] < 0)
>> + return data->acc_reg[chan->channel];
>> +
>> + *val = tmp / 1000000;
>> + *val2 = (tmp % 1000000);
>> +
>> + return IIO_VAL_INT_PLUS_MICRO;
>> +}
>> +
>> +static const struct iio_info bma180_info = {
>> + .driver_module = THIS_MODULE,
>> + .read_raw = &bma180_read_raw,
>> +};
>> +
>> +static const struct iio_chan_spec bma180_channels[] = {
>> + {
>> + .type = IIO_ACCEL,
>> + .channel = AXIS_X,
>> + .channel2 = IIO_MOD_X,
>> + .indexed = true,
>
> do the channels need to be indexed?
>
>> + .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED),
>> + }, {
>> + .type = IIO_ACCEL,
>> + .channel = AXIS_Y,
>> + .channel2 = IIO_MOD_Y,
>> + .indexed = true,
>> + .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED),
>> + }, {
>> + .type = IIO_ACCEL,
>> + .channel = AXIS_Z,
>> + .channel2 = IIO_MOD_Z,
>> + .indexed = true,
>> + .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED),
>> + },
>> +};
>> +
>> +static irqreturn_t bma180_interrupt_handler(int irq, void *private)
>> +{
>> + struct iio_dev *dev_info = private;
>> + struct bma180_data *data = iio_priv(dev_info);
>> + int i;
>> +
>> + mutex_lock(&data->mutex);
>> + for (i = AXIS_X; i <= AXIS_Z; ++i)
>> + data->acc_reg[i] = bma180_get_acc_reg(data, i);
>> + mutex_unlock(&data->mutex);
>> +
>> + input_report_abs(data->input_dev, ABS_X, data->acc_reg[AXIS_X]);
>> + input_report_abs(data->input_dev, ABS_Y, data->acc_reg[AXIS_Y]);
>> + input_report_abs(data->input_dev, ABS_Z, data->acc_reg[AXIS_Z]);
>
> input subsystem stuff within IIO?
> uhoh...
>
> the driver should probably support more iio features: trigger, scan_mode,
> buffer
>
>> + input_sync(data->input_dev);
>> +
>> + return IRQ_HANDLED;
>> +}
>> +
>> +static int bma180_probe(struct i2c_client *client,
>> + const struct i2c_device_id *id)
>> +{
>> + struct input_dev *input_dev;
>> + struct bma180_data *data;
>> + struct iio_dev *indio_dev;
>> + struct device_node *np = client->dev.of_node;
>> + int i, ret;
>> +
>> + if (!client->irq) {
>> + dev_err(&client->dev, "this driver cann't work without IRQ\n");
>
> can't
>
>> + return -ENODEV;
>> + }
>> +
>> + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
>> + if (!indio_dev)
>> + return -ENOMEM;
>> +
>> + input_dev = input_allocate_device();
>> + if (!input_dev)
>> + return -ENOMEM;
>> +
>> + data = iio_priv(indio_dev);
>> + i2c_set_clientdata(client, indio_dev);
>> + data->client = client;
>> +
>> + of_property_read_u32(np, "bw", &data->bw);
>> + of_property_read_u32(np, "range", &data->range);
>> + of_property_read_u32(np, "mode", &data->mode);
>> + of_property_read_u32(np, "fuzz", &data->fuzz);
>> +
>> + ret = bma180_chip_init(data);
>> + if (ret < 0)
>> + goto err_1;
>> +
>> + mutex_init(&data->mutex);
>> +
>> + indio_dev->dev.parent = &client->dev;
>> + indio_dev->channels = bma180_channels;
>> + indio_dev->num_channels = ARRAY_SIZE(bma180_channels);
>> + indio_dev->name = BMA180_DRV_NAME;
>> + indio_dev->modes = INDIO_DIRECT_MODE;
>> + indio_dev->info = &bma180_info;
>> +
>> + input_dev->name = BMA180_DRV_NAME;
>> + input_dev->id.bustype = BUS_I2C;
>> + __set_bit(EV_ABS, input_dev->evbit);
>> + for (i = ABS_X; i <= ABS_Z; ++i)
>> + input_set_abs_params(input_dev, i,
>> + -bma180_range_table[data->range].g_range,
>> + bma180_range_table[data->range].g_range,
>> + data->fuzz, 0);
>> + input_dev->dev.parent = &client->dev;
>> + input_set_drvdata(input_dev, data);
>> +
>> + data->input_dev = input_dev;
>> +
>> + ret = devm_request_threaded_irq(&client->dev, client->irq,
>> + NULL, bma180_interrupt_handler, IRQF_ONESHOT,
>> + BMA180_IRQ_NAME, indio_dev);
>> + if (ret < 0) {
>> + dev_err(&client->dev, "irq request error %d\n", -ret);
>> + goto err_1;
>> + }
>> +
>> + ret = input_register_device(input_dev);
>> + if (ret) {
>> + dev_err(&client->dev, "unable to register input device\n");
>> + goto err_1;
>> + }
>> +
>> +
>
> extra newline
>
>> + ret = iio_device_register(indio_dev);
>> + if (ret < 0) {
>> + dev_err(&client->dev, "unable to register iio device\n");
>> + goto err_2;
>> + }
>> +
>> + return 0;
>> +
>> +err_2:
>> + input_unregister_device(input_dev);
>> +err_1:
>> + input_free_device(input_dev);
>> +
>> + bma180_chip_disable(data);
>> +
>> + return ret;
>> +}
>> +
>> +static int bma180_remove(struct i2c_client *client)
>> +{
>> + struct iio_dev *indio_dev = i2c_get_clientdata(client);
>> + struct bma180_data *data = iio_priv(indio_dev);
>> +
>> + iio_device_unregister(indio_dev);
>> + input_unregister_device(data->input_dev);
>> +
>> + mutex_lock(&data->mutex);
>> + bma180_chip_disable(data);
>> + mutex_unlock(&data->mutex);
>> +
>> + return 0;
>> +}
>> +
>> +#ifdef CONFIG_PM_SLEEP
>> +static int bma180_suspend(struct device *dev)
>> +{
>> + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
>> + struct bma180_data *data = iio_priv(indio_dev);
>> + int ret;
>> +
>> + mutex_lock(&data->mutex);
>> + ret = bma180_set_sleep_state(data, 1);
>> + mutex_unlock(&data->mutex);
>> +
>> + return ret;
>> +}
>> +
>> +static int bma180_resume(struct device *dev)
>> +{
>> + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
>> + struct bma180_data *data = iio_priv(indio_dev);
>> + int ret;
>> +
>> + mutex_lock(&data->mutex);
>> + ret = bma180_set_sleep_state(data, 0);
>> + mutex_unlock(&data->mutex);
>> +
>> + return ret;
>> +}
>> +
>> +static SIMPLE_DEV_PM_OPS(bma180_pm_ops, bma180_suspend, bma180_resume);
>> +#define BMA180_PM_OPS (&bma180_pm_ops)
>> +#else
>> +#define BMA180_PM_OPS NULL
>> +#endif
>> +
>> +static struct i2c_device_id bma180_id[] = {
>> + { BMA180_DRV_NAME, 0 },
>> + { }
>> +};
>> +
>> +MODULE_DEVICE_TABLE(i2c, bma180_id);
>> +
>> +static struct i2c_driver bma180_driver = {
>> + .driver = {
>> + .name = BMA180_DRV_NAME,
>> + .owner = THIS_MODULE,
>> + .pm = BMA180_PM_OPS,
>> + },
>> + .probe = bma180_probe,
>> + .remove = bma180_remove,
>> + .id_table = bma180_id,
>> +};
>> +
>> +module_i2c_driver(bma180_driver);
>> +
>> +MODULE_AUTHOR("Kravchenko Oleksandr <x0199363@ti.com>");
>> +MODULE_AUTHOR("Texas Instruments, Inc.");
>> +MODULE_DESCRIPTION("Bosch BMA180 triaxial acceleration sensor");
>> +MODULE_LICENSE("GPL");
>>
>
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