summaryrefslogtreecommitdiff
path: root/drivers/iio/imu/bmi270/bmi270_core.c
blob: 70db83a202391dbc2303b25017d86427211360ef (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
// SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)

#include <linux/bitfield.h>
#include <linux/firmware.h>
#include <linux/i2c.h>
#include <linux/module.h>
#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>

#include "bmi270.h"

#define BMI270_CHIP_ID_REG				0x00

/* Checked 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)

#define BMI270_ACCEL_X_REG				0x0c
#define BMI270_ANG_VEL_X_REG				0x12

#define BMI270_INTERNAL_STATUS_REG			0x21
#define BMI270_INTERNAL_STATUS_MSG_MSK			GENMASK(3, 0)
#define BMI270_INTERNAL_STATUS_MSG_INIT_OK		0x01

#define BMI270_INTERNAL_STATUS_AXES_REMAP_ERR_MSK	BIT(5)
#define BMI270_INTERNAL_STATUS_ODR_50HZ_ERR_MSK		BIT(6)

#define BMI270_ACC_CONF_REG				0x40
#define BMI270_ACC_CONF_ODR_MSK				GENMASK(3, 0)
#define BMI270_ACC_CONF_ODR_100HZ			0x08
#define BMI270_ACC_CONF_BWP_MSK				GENMASK(6, 4)
#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
#define BMI270_GYR_CONF_BWP_MSK				GENMASK(5, 4)
#define BMI270_GYR_CONF_BWP_NORMAL_MODE			0x02
#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)

#define BMI270_INIT_DATA_REG				0x5e

#define BMI270_PWR_CONF_REG				0x7c
#define BMI270_PWR_CONF_ADV_PWR_SAVE_MSK		BIT(0)
#define BMI270_PWR_CONF_FIFO_WKUP_MSK			BIT(1)
#define BMI270_PWR_CONF_FUP_EN_MSK			BIT(2)

#define BMI270_PWR_CTRL_REG				0x7d
#define BMI270_PWR_CTRL_AUX_EN_MSK			BIT(0)
#define BMI270_PWR_CTRL_GYR_EN_MSK			BIT(1)
#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 {
	BMI270_SCAN_ACCEL_X,
	BMI270_SCAN_ACCEL_Y,
	BMI270_SCAN_ACCEL_Z,
	BMI270_SCAN_GYRO_X,
	BMI270_SCAN_GYRO_Y,
	BMI270_SCAN_GYRO_Z,
	BMI270_SCAN_TIMESTAMP,
};

static const unsigned long bmi270_avail_scan_masks[] = {
	(BIT(BMI270_SCAN_ACCEL_X) |
	 BIT(BMI270_SCAN_ACCEL_Y) |
	 BIT(BMI270_SCAN_ACCEL_Z) |
	 BIT(BMI270_SCAN_GYRO_X) |
	 BIT(BMI270_SCAN_GYRO_Y) |
	 BIT(BMI270_SCAN_GYRO_Z)),
	0
};

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,
	.fw_name = BMI270_INIT_DATA_FILE,
};
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;
	struct iio_dev *indio_dev = pf->indio_dev;
	struct bmi270_data *bmi270_device = iio_priv(indio_dev);
	int ret;

	ret = regmap_bulk_read(bmi270_device->regmap, BMI270_ACCEL_X_REG,
			       &bmi270_device->data.channels,
			       sizeof(bmi270_device->data.channels));

	if (ret)
		goto done;

	iio_push_to_buffers_with_timestamp(indio_dev, &bmi270_device->data,
					   pf->timestamp);
done:
	iio_trigger_notify_done(indio_dev->trig);
	return IRQ_HANDLED;
}

static int bmi270_get_data(struct bmi270_data *bmi270_device,
			   int chan_type, int axis, int *val)
{
	__le16 sample;
	int reg;
	int ret;

	switch (chan_type) {
	case IIO_ACCEL:
		reg = BMI270_ACCEL_X_REG + (axis - IIO_MOD_X) * 2;
		break;
	case IIO_ANGL_VEL:
		reg = BMI270_ANG_VEL_X_REG + (axis - IIO_MOD_X) * 2;
		break;
	default:
		return -EINVAL;
	}

	ret = regmap_bulk_read(bmi270_device->regmap, reg, &sample, sizeof(sample));
	if (ret)
		return ret;

	*val = sign_extend32(le16_to_cpu(sample), 15);

	return 0;
}

static int bmi270_read_raw(struct iio_dev *indio_dev,
			   struct iio_chan_spec const *chan,
			   int *val, int *val2, long mask)
{
	int ret;
	struct bmi270_data *bmi270_device = iio_priv(indio_dev);

	switch (mask) {
	case IIO_CHAN_INFO_RAW:
		ret = bmi270_get_data(bmi270_device, chan->type, chan->channel2, val);
		if (ret)
			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;
	}
}

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) {				\
	.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_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',					\
		.realbits = 16,					\
		.storagebits = 16,				\
		.endianness = IIO_LE,				\
	},	                                                \
}

#define BMI270_ANG_VEL_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),			\
	.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',					\
		.realbits = 16,					\
		.storagebits = 16,				\
		.endianness = IIO_LE,				\
	},	                                                \
}

static const struct iio_chan_spec bmi270_channels[] = {
	BMI270_ACCEL_CHANNEL(X),
	BMI270_ACCEL_CHANNEL(Y),
	BMI270_ACCEL_CHANNEL(Z),
	BMI270_ANG_VEL_CHANNEL(X),
	BMI270_ANG_VEL_CHANNEL(Y),
	BMI270_ANG_VEL_CHANNEL(Z),
	IIO_CHAN_SOFT_TIMESTAMP(BMI270_SCAN_TIMESTAMP),
};

static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device)
{
	int chip_id;
	int ret;
	struct device *dev = bmi270_device->dev;
	struct regmap *regmap = bmi270_device->regmap;

	ret = regmap_read(regmap, BMI270_CHIP_ID_REG, &chip_id);
	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, "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;
}

static int bmi270_write_calibration_data(struct bmi270_data *bmi270_device)
{
	int ret;
	int status = 0;
	const struct firmware *init_data;
	struct device *dev = bmi270_device->dev;
	struct regmap *regmap = bmi270_device->regmap;

	ret = regmap_clear_bits(regmap, BMI270_PWR_CONF_REG,
				BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
	if (ret)
		return dev_err_probe(dev, ret,
				     "Failed to write power configuration");

	/*
	 * After disabling advanced power save, all registers are accessible
	 * after a 450us delay. This delay is specified in table A of the
	 * datasheet.
	 */
	usleep_range(450, 1000);

	ret = regmap_clear_bits(regmap, BMI270_INIT_CTRL_REG,
				BMI270_INIT_CTRL_LOAD_DONE_MSK);
	if (ret)
		return dev_err_probe(dev, ret,
				     "Failed to prepare device to load init data");

	ret = request_firmware(&init_data,
			       bmi270_device->chip_info->fw_name, dev);
	if (ret)
		return dev_err_probe(dev, ret, "Failed to load init data file");

	ret = regmap_bulk_write(regmap, BMI270_INIT_DATA_REG,
				init_data->data, init_data->size);
	release_firmware(init_data);
	if (ret)
		return dev_err_probe(dev, ret, "Failed to write init data");

	ret = regmap_set_bits(regmap, BMI270_INIT_CTRL_REG,
			      BMI270_INIT_CTRL_LOAD_DONE_MSK);
	if (ret)
		return dev_err_probe(dev, ret,
				     "Failed to stop device initialization");

	/*
	 * Wait at least 140ms for the device to complete configuration.
	 * This delay is specified in table C of the datasheet.
	 */
	usleep_range(140000, 160000);

	ret = regmap_read(regmap, BMI270_INTERNAL_STATUS_REG, &status);
	if (ret)
		return dev_err_probe(dev, ret, "Failed to read internal status");

	if (status != BMI270_INTERNAL_STATUS_MSG_INIT_OK)
		return dev_err_probe(dev, -ENODEV, "Device failed to initialize");

	return 0;
}

static int bmi270_configure_imu(struct bmi270_data *bmi270_device)
{
	int ret;
	struct device *dev = bmi270_device->dev;
	struct regmap *regmap = bmi270_device->regmap;

	ret = regmap_set_bits(regmap, BMI270_PWR_CTRL_REG,
			      BMI270_PWR_CTRL_AUX_EN_MSK |
			      BMI270_PWR_CTRL_GYR_EN_MSK |
			      BMI270_PWR_CTRL_ACCEL_EN_MSK);
	if (ret)
		return dev_err_probe(dev, ret, "Failed to enable accelerometer and gyroscope");

	ret = regmap_set_bits(regmap, BMI270_ACC_CONF_REG,
			      FIELD_PREP(BMI270_ACC_CONF_ODR_MSK,
					 BMI270_ACC_CONF_ODR_100HZ) |
			      FIELD_PREP(BMI270_ACC_CONF_BWP_MSK,
					 BMI270_ACC_CONF_BWP_NORMAL_MODE) |
			      BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
	if (ret)
		return dev_err_probe(dev, ret, "Failed to configure accelerometer");

	ret = regmap_set_bits(regmap, BMI270_GYR_CONF_REG,
			      FIELD_PREP(BMI270_GYR_CONF_ODR_MSK,
					 BMI270_GYR_CONF_ODR_200HZ) |
			      FIELD_PREP(BMI270_GYR_CONF_BWP_MSK,
					 BMI270_GYR_CONF_BWP_NORMAL_MODE) |
			      BMI270_PWR_CONF_ADV_PWR_SAVE_MSK);
	if (ret)
		return dev_err_probe(dev, ret, "Failed to configure gyroscope");

	/* Enable FIFO_WKUP, Disable ADV_PWR_SAVE and FUP_EN */
	ret = regmap_write(regmap, BMI270_PWR_CONF_REG,
			   BMI270_PWR_CONF_FIFO_WKUP_MSK);
	if (ret)
		return dev_err_probe(dev, ret, "Failed to set power configuration");

	return 0;
}

static int bmi270_chip_init(struct bmi270_data *bmi270_device)
{
	int ret;

	ret = bmi270_validate_chip_id(bmi270_device);
	if (ret)
		return ret;

	ret = bmi270_write_calibration_data(bmi270_device);
	if (ret)
		return ret;

	return bmi270_configure_imu(bmi270_device);
}

int bmi270_core_probe(struct device *dev, struct regmap *regmap,
		      const struct bmi270_chip_info *chip_info)
{
	int ret;
	struct bmi270_data *bmi270_device;
	struct iio_dev *indio_dev;

	indio_dev = devm_iio_device_alloc(dev, sizeof(*bmi270_device));
	if (!indio_dev)
		return -ENOMEM;

	bmi270_device = iio_priv(indio_dev);
	bmi270_device->dev = dev;
	bmi270_device->regmap = regmap;
	bmi270_device->chip_info = chip_info;

	ret = bmi270_chip_init(bmi270_device);
	if (ret)
		return ret;

	indio_dev->channels = bmi270_channels;
	indio_dev->num_channels = ARRAY_SIZE(bmi270_channels);
	indio_dev->name = chip_info->name;
	indio_dev->available_scan_masks = bmi270_avail_scan_masks;
	indio_dev->modes = INDIO_DIRECT_MODE;
	indio_dev->info = &bmi270_info;

	ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
					      iio_pollfunc_store_time,
					      bmi270_trigger_handler, NULL);
	if (ret)
		return ret;

	return devm_iio_device_register(dev, indio_dev);
}
EXPORT_SYMBOL_NS_GPL(bmi270_core_probe, IIO_BMI270);

MODULE_AUTHOR("Alex Lanzano");
MODULE_DESCRIPTION("BMI270 driver");
MODULE_LICENSE("GPL");