* [PATCH v2 1/3] iio: imu: bmi270: add channel for step counter
2025-06-05 22:05 [PATCH v2 0/3] BMI270: Add support for step counter and motion events Gustavo Silva
@ 2025-06-05 22:05 ` Gustavo Silva
2025-06-06 7:43 ` kernel test robot
2025-06-06 9:14 ` Andy Shevchenko
2025-06-05 22:05 ` [PATCH v2 2/3] iio: imu: bmi270: add step counter watermark event Gustavo Silva
2025-06-05 22:05 ` [PATCH v2 3/3] iio: imu: bmi270: add support for motion events Gustavo Silva
2 siblings, 2 replies; 11+ messages in thread
From: Gustavo Silva @ 2025-06-05 22:05 UTC (permalink / raw)
To: Alex Lanzano, Jonathan Cameron, David Lechner, Nuno Sá,
Andy Shevchenko
Cc: linux-iio, linux-kernel, Gustavo Silva
Add a channel for enabling/disabling the step counter, reading the
number of steps and resetting the counter.
Reviewed-by: Andy Shevchenko <andy@kernel.org>
Signed-off-by: Gustavo Silva <gustavograzs@gmail.com>
---
drivers/iio/imu/bmi270/bmi270_core.c | 138 +++++++++++++++++++++++++++++++++++
1 file changed, 138 insertions(+)
diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
index a86be5af5ccb1f010f2282ee31c47f284c1bcc86..6056f7635c5a6e89b670322adfeae0cb7dc5cd9a 100644
--- a/drivers/iio/imu/bmi270/bmi270_core.c
+++ b/drivers/iio/imu/bmi270/bmi270_core.c
@@ -31,6 +31,8 @@
#define BMI270_INT_STATUS_1_REG 0x1d
#define BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK GENMASK(7, 6)
+#define BMI270_SC_OUT_0_REG 0x1e
+
#define BMI270_INTERNAL_STATUS_REG 0x21
#define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0)
#define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01
@@ -39,6 +41,8 @@
#define BMI270_TEMPERATURE_0_REG 0x22
+#define BMI270_FEAT_PAGE_REG 0x2f
+
#define BMI270_ACC_CONF_REG 0x40
#define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0)
#define BMI270_ACC_CONF_ODR_100HZ 0x08
@@ -90,6 +94,9 @@
#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
+#define BMI270_STEP_SC26_RST_CNT_MSK BIT(10)
+#define BMI270_STEP_SC26_EN_CNT_MSK BIT(12)
+
/* See datasheet section 4.6.14, Temperature Sensor */
#define BMI270_TEMP_OFFSET 11776
#define BMI270_TEMP_SCALE 1953125
@@ -111,6 +118,7 @@ struct bmi270_data {
struct iio_trigger *trig;
/* Protect device's private data from concurrent access */
struct mutex mutex;
+ bool steps_enabled;
/*
* Where IIO_DMA_MINALIGN may be larger than 8 bytes, align to
@@ -120,6 +128,11 @@ struct bmi270_data {
__le16 channels[6];
aligned_s64 timestamp;
} buffer __aligned(IIO_DMA_MINALIGN);
+ /*
+ * Variable to access feature registers. It can be accessed concurrently
+ * with the 'buffer' variable
+ */
+ __le16 regval __aligned(IIO_DMA_MINALIGN);
};
enum bmi270_scan {
@@ -282,6 +295,107 @@ static const struct bmi270_odr_item bmi270_odr_table[] = {
},
};
+enum bmi270_feature_reg_id {
+ BMI270_SC_26_REG,
+};
+
+struct bmi270_feature_reg {
+ u8 page;
+ u8 addr;
+};
+
+static const struct bmi270_feature_reg bmi270_feature_regs[] = {
+ [BMI270_SC_26_REG] = {
+ .page = 6,
+ .addr = 0x32,
+ },
+};
+
+static int bmi270_write_feature_reg(struct bmi270_data *data,
+ enum bmi270_feature_reg_id id,
+ u16 val)
+{
+ const struct bmi270_feature_reg *reg = &bmi270_feature_regs[id];
+ int ret;
+
+ ret = regmap_write(data->regmap, BMI270_FEAT_PAGE_REG, reg->page);
+ if (ret)
+ return ret;
+
+ data->regval = cpu_to_le16(val);
+ return regmap_bulk_write(data->regmap, reg->addr, &data->regval,
+ sizeof(data->regval));
+}
+
+static int bmi270_read_feature_reg(struct bmi270_data *data,
+ enum bmi270_feature_reg_id id,
+ u16 *val)
+{
+ const struct bmi270_feature_reg *reg = &bmi270_feature_regs[id];
+ int ret;
+
+ ret = regmap_write(data->regmap, BMI270_FEAT_PAGE_REG, reg->page);
+ if (ret)
+ return ret;
+
+ ret = regmap_bulk_read(data->regmap, reg->addr, &data->regval,
+ sizeof(data->regval));
+ if (ret)
+ return ret;
+
+ *val = le16_to_cpu(data->regval);
+ return 0;
+}
+
+static int bmi270_update_feature_reg(struct bmi270_data *data,
+ enum bmi270_feature_reg_id id,
+ u16 mask, u16 val)
+{
+ u16 regval = 0;
+ int ret;
+
+ ret = bmi270_read_feature_reg(data, id, ®val);
+ if (ret)
+ return ret;
+
+ set_mask_bits(®val, mask, val);
+
+ return bmi270_write_feature_reg(data, id, regval);
+}
+
+static int bmi270_enable_steps(struct bmi270_data *data, int val)
+{
+ int ret;
+
+ guard(mutex)(&data->mutex);
+ if (data->steps_enabled)
+ return 0;
+
+ ret = bmi270_update_feature_reg(data, BMI270_SC_26_REG,
+ BMI270_STEP_SC26_EN_CNT_MSK,
+ FIELD_PREP(BMI270_STEP_SC26_EN_CNT_MSK,
+ val ? 1 : 0));
+ if (ret)
+ return ret;
+
+ data->steps_enabled = true;
+ return 0;
+}
+
+static int bmi270_read_steps(struct bmi270_data *data, int *val)
+{
+ __le16 steps_count;
+ int ret;
+
+ ret = regmap_bulk_read(data->regmap, BMI270_SC_OUT_0_REG, &steps_count,
+ sizeof(steps_count));
+ if (ret)
+ return ret;
+
+ *val = sign_extend32(le16_to_cpu(steps_count), 15);
+ return IIO_VAL_INT;
+}
+
static int bmi270_set_scale(struct bmi270_data *data, int chan_type, int uscale)
{
int i;
@@ -551,6 +665,8 @@ static int bmi270_read_raw(struct iio_dev *indio_dev,
struct bmi270_data *data = iio_priv(indio_dev);
switch (mask) {
+ case IIO_CHAN_INFO_PROCESSED:
+ return bmi270_read_steps(data, val);
case IIO_CHAN_INFO_RAW:
if (!iio_device_claim_direct(indio_dev))
return -EBUSY;
@@ -571,6 +687,9 @@ static int bmi270_read_raw(struct iio_dev *indio_dev,
case IIO_CHAN_INFO_SAMP_FREQ:
ret = bmi270_get_odr(data, chan->type, val, val2);
return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
+ case IIO_CHAN_INFO_ENABLE:
+ *val = data->steps_enabled ? 1 : 0;
+ return IIO_VAL_INT;
default:
return -EINVAL;
}
@@ -596,6 +715,19 @@ static int bmi270_write_raw(struct iio_dev *indio_dev,
ret = bmi270_set_odr(data, chan->type, val, val2);
iio_device_release_direct(indio_dev);
return ret;
+ case IIO_CHAN_INFO_ENABLE:
+ return bmi270_enable_steps(data, val);
+ case IIO_CHAN_INFO_PROCESSED: {
+ if (val || !data->steps_enabled)
+ return -EINVAL;
+
+ guard(mutex)(&data->mutex);
+ /* Clear step counter value */
+ return bmi270_update_feature_reg(data, BMI270_SC_26_REG,
+ BMI270_STEP_SC26_RST_CNT_MSK,
+ FIELD_PREP(BMI270_STEP_SC26_RST_CNT_MSK,
+ 1));
+ }
default:
return -EINVAL;
}
@@ -698,6 +830,12 @@ static const struct iio_chan_spec bmi270_channels[] = {
BIT(IIO_CHAN_INFO_OFFSET),
.scan_index = -1, /* No buffer support */
},
+ {
+ .type = IIO_STEPS,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_ENABLE) |
+ BIT(IIO_CHAN_INFO_PROCESSED),
+ .scan_index = -1, /* No buffer support */
+ },
IIO_CHAN_SOFT_TIMESTAMP(BMI270_SCAN_TIMESTAMP),
};
--
2.49.0
^ permalink raw reply related [flat|nested] 11+ messages in thread* [PATCH v2 2/3] iio: imu: bmi270: add step counter watermark event
2025-06-05 22:05 [PATCH v2 0/3] BMI270: Add support for step counter and motion events Gustavo Silva
2025-06-05 22:05 ` [PATCH v2 1/3] iio: imu: bmi270: add channel for step counter Gustavo Silva
@ 2025-06-05 22:05 ` Gustavo Silva
2025-06-07 15:54 ` Jonathan Cameron
2025-06-05 22:05 ` [PATCH v2 3/3] iio: imu: bmi270: add support for motion events Gustavo Silva
2 siblings, 1 reply; 11+ messages in thread
From: Gustavo Silva @ 2025-06-05 22:05 UTC (permalink / raw)
To: Alex Lanzano, Jonathan Cameron, David Lechner, Nuno Sá,
Andy Shevchenko
Cc: linux-iio, linux-kernel, Gustavo Silva
Add support for generating events when the step counter reaches the
configurable watermark.
Reviewed-by: Andy Shevchenko <andy@kernel.org>
Signed-off-by: Gustavo Silva <gustavograzs@gmail.com>
---
drivers/iio/imu/bmi270/bmi270_core.c | 174 ++++++++++++++++++++++++++++++++++-
1 file changed, 171 insertions(+), 3 deletions(-)
diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
index 6056f7635c5a6e89b670322adfeae0cb7dc5cd9a..0798eb1da3ecc3cecaf7d7d47214bb07f4ec294f 100644
--- a/drivers/iio/imu/bmi270/bmi270_core.c
+++ b/drivers/iio/imu/bmi270/bmi270_core.c
@@ -8,6 +8,7 @@
#include <linux/regmap.h>
#include <linux/units.h>
+#include <linux/iio/events.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/trigger.h>
@@ -28,6 +29,9 @@
#define BMI270_ACCEL_X_REG 0x0c
#define BMI270_ANG_VEL_X_REG 0x12
+#define BMI270_INT_STATUS_0_REG 0x1c
+#define BMI270_INT_STATUS_0_STEP_CNT_MSK BIT(1)
+
#define BMI270_INT_STATUS_1_REG 0x1d
#define BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK GENMASK(7, 6)
@@ -74,6 +78,10 @@
#define BMI270_INT_LATCH_REG 0x55
#define BMI270_INT_LATCH_REG_MSK BIT(0)
+#define BMI270_INT1_MAP_FEAT_REG 0x56
+#define BMI270_INT2_MAP_FEAT_REG 0x57
+#define BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK BIT(1)
+
#define BMI270_INT_MAP_DATA_REG 0x58
#define BMI270_INT_MAP_DATA_DRDY_INT1_MSK BIT(2)
#define BMI270_INT_MAP_DATA_DRDY_INT2_MSK BIT(6)
@@ -94,6 +102,7 @@
#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
+#define BMI270_STEP_SC26_WTRMRK_MSK GENMASK(9, 0)
#define BMI270_STEP_SC26_RST_CNT_MSK BIT(10)
#define BMI270_STEP_SC26_EN_CNT_MSK BIT(12)
@@ -101,6 +110,10 @@
#define BMI270_TEMP_OFFSET 11776
#define BMI270_TEMP_SCALE 1953125
+/* See page 90 of datasheet. The step counter "holds implicitly a 20x factor" */
+#define BMI270_STEP_COUNTER_FACTOR 20
+#define BMI270_STEP_COUNTER_MAX 20460
+
#define BMI260_INIT_DATA_FILE "bmi260-init-data.fw"
#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw"
@@ -396,6 +409,40 @@ static int bmi270_read_steps(struct bmi270_data *data, int *val)
return IIO_VAL_INT;
}
+static int bmi270_int_map_reg(enum bmi270_irq_pin pin)
+{
+ switch (pin) {
+ case BMI270_IRQ_INT1:
+ return BMI270_INT1_MAP_FEAT_REG;
+ case BMI270_IRQ_INT2:
+ return BMI270_INT2_MAP_FEAT_REG;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bmi270_step_wtrmrk_en(struct bmi270_data *data, bool state)
+{
+ int ret, reg;
+
+ guard(mutex)(&data->mutex);
+ if (!data->steps_enabled)
+ return -EINVAL;
+
+ reg = bmi270_int_map_reg(data->irq_pin);
+ if (reg < 0)
+ return reg;
+
+ ret = regmap_update_bits(data->regmap, reg,
+ BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK,
+ FIELD_PREP(BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK,
+ state));
+ if (ret)
+ return ret;
+
+ return 0;
+}
+
static int bmi270_set_scale(struct bmi270_data *data, int chan_type, int uscale)
{
int i;
@@ -552,19 +599,31 @@ static irqreturn_t bmi270_irq_thread_handler(int irq, void *private)
{
struct iio_dev *indio_dev = private;
struct bmi270_data *data = iio_priv(indio_dev);
- unsigned int status;
+ unsigned int status0, status1;
+ s64 timestamp = iio_get_time_ns(indio_dev);
int ret;
scoped_guard(mutex, &data->mutex) {
+ ret = regmap_read(data->regmap, BMI270_INT_STATUS_0_REG,
+ &status0);
+ if (ret)
+ return IRQ_NONE;
+
ret = regmap_read(data->regmap, BMI270_INT_STATUS_1_REG,
- &status);
+ &status1);
if (ret)
return IRQ_NONE;
}
- if (FIELD_GET(BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK, status))
+ if (FIELD_GET(BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK, status1))
iio_trigger_poll_nested(data->trig);
+ if (FIELD_GET(BMI270_INT_STATUS_0_STEP_CNT_MSK, status0))
+ iio_push_event(indio_dev, IIO_UNMOD_EVENT_CODE(IIO_STEPS, 0,
+ IIO_EV_TYPE_CHANGE,
+ IIO_EV_DIR_NONE),
+ timestamp);
+
return IRQ_HANDLED;
}
@@ -772,10 +831,117 @@ static int bmi270_read_avail(struct iio_dev *indio_dev,
}
}
+static int bmi270_write_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir, bool state)
+{
+ struct bmi270_data *data = iio_priv(indio_dev);
+
+ switch (type) {
+ case IIO_EV_TYPE_CHANGE:
+ return bmi270_step_wtrmrk_en(data, state);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bmi270_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 bmi270_data *data = iio_priv(indio_dev);
+ int ret, reg, regval;
+
+ guard(mutex)(&data->mutex);
+
+ switch (chan->type) {
+ case IIO_STEPS:
+ reg = bmi270_int_map_reg(data->irq_pin);
+ if (reg)
+ return reg;
+
+ ret = regmap_read(data->regmap, reg, ®val);
+ if (ret)
+ return ret;
+ return FIELD_GET(BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK,
+ regval) ? 1 : 0;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bmi270_write_event_value(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 bmi270_data *data = iio_priv(indio_dev);
+ unsigned int raw;
+
+ guard(mutex)(&data->mutex);
+
+ switch (type) {
+ case IIO_EV_TYPE_CHANGE:
+ if (!in_range(val, 0, BMI270_STEP_COUNTER_MAX + 1))
+ return -EINVAL;
+
+ raw = val / BMI270_STEP_COUNTER_FACTOR;
+ return bmi270_update_feature_reg(data, BMI270_SC_26_REG,
+ BMI270_STEP_SC26_WTRMRK_MSK,
+ FIELD_PREP(BMI270_STEP_SC26_WTRMRK_MSK,
+ raw));
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bmi270_read_event_value(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 bmi270_data *data = iio_priv(indio_dev);
+ unsigned int raw;
+ u16 regval;
+ int ret;
+
+ guard(mutex)(&data->mutex);
+
+ switch (type) {
+ case IIO_EV_TYPE_CHANGE:
+ ret = bmi270_read_feature_reg(data, BMI270_SC_26_REG, ®val);
+ if (ret)
+ return ret;
+
+ raw = FIELD_GET(BMI270_STEP_SC26_WTRMRK_MSK, regval);
+ *val = raw * BMI270_STEP_COUNTER_FACTOR;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+}
+
+static const struct iio_event_spec bmi270_step_wtrmrk_event = {
+ .type = IIO_EV_TYPE_CHANGE,
+ .dir = IIO_EV_DIR_NONE,
+ .mask_shared_by_type = BIT(IIO_EV_INFO_ENABLE) |
+ BIT(IIO_EV_INFO_VALUE),
+};
+
static const struct iio_info bmi270_info = {
.read_raw = bmi270_read_raw,
.write_raw = bmi270_write_raw,
.read_avail = bmi270_read_avail,
+ .write_event_config = bmi270_write_event_config,
+ .read_event_config = bmi270_read_event_config,
+ .write_event_value = bmi270_write_event_value,
+ .read_event_value = bmi270_read_event_value,
};
#define BMI270_ACCEL_CHANNEL(_axis) { \
@@ -835,6 +1001,8 @@ static const struct iio_chan_spec bmi270_channels[] = {
.info_mask_separate = BIT(IIO_CHAN_INFO_ENABLE) |
BIT(IIO_CHAN_INFO_PROCESSED),
.scan_index = -1, /* No buffer support */
+ .event_spec = &bmi270_step_wtrmrk_event,
+ .num_event_specs = 1,
},
IIO_CHAN_SOFT_TIMESTAMP(BMI270_SCAN_TIMESTAMP),
};
--
2.49.0
^ permalink raw reply related [flat|nested] 11+ messages in thread* [PATCH v2 3/3] iio: imu: bmi270: add support for motion events
2025-06-05 22:05 [PATCH v2 0/3] BMI270: Add support for step counter and motion events Gustavo Silva
2025-06-05 22:05 ` [PATCH v2 1/3] iio: imu: bmi270: add channel for step counter Gustavo Silva
2025-06-05 22:05 ` [PATCH v2 2/3] iio: imu: bmi270: add step counter watermark event Gustavo Silva
@ 2025-06-05 22:05 ` Gustavo Silva
2025-06-07 16:02 ` Jonathan Cameron
2 siblings, 1 reply; 11+ messages in thread
From: Gustavo Silva @ 2025-06-05 22:05 UTC (permalink / raw)
To: Alex Lanzano, Jonathan Cameron, David Lechner, Nuno Sá,
Andy Shevchenko
Cc: linux-iio, linux-kernel, Gustavo Silva
Any-motion event can be enabled on a per-axis basis and triggers a
combined event when motion is detected on any axis.
No-motion event is triggered if the rate of change on all axes falls
below a specified threshold for a configurable duration. A fake channel
is used to report this event.
Threshold and duration can be configured from userspace.
Signed-off-by: Gustavo Silva <gustavograzs@gmail.com>
---
drivers/iio/imu/bmi270/bmi270_core.c | 318 ++++++++++++++++++++++++++++++++++-
1 file changed, 309 insertions(+), 9 deletions(-)
diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
index 0798eb1da3ecc3cecaf7d7d47214bb07f4ec294f..eb0cada50087ccecfd5624a531692873e396deb6 100644
--- a/drivers/iio/imu/bmi270/bmi270_core.c
+++ b/drivers/iio/imu/bmi270/bmi270_core.c
@@ -31,6 +31,8 @@
#define BMI270_INT_STATUS_0_REG 0x1c
#define BMI270_INT_STATUS_0_STEP_CNT_MSK BIT(1)
+#define BMI270_INT_STATUS_0_NOMOTION_MSK BIT(5)
+#define BMI270_INT_STATUS_0_MOTION_MSK BIT(6)
#define BMI270_INT_STATUS_1_REG 0x1d
#define BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK GENMASK(7, 6)
@@ -81,6 +83,8 @@
#define BMI270_INT1_MAP_FEAT_REG 0x56
#define BMI270_INT2_MAP_FEAT_REG 0x57
#define BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK BIT(1)
+#define BMI270_INT_MAP_FEAT_NOMOTION_MSK BIT(5)
+#define BMI270_INT_MAP_FEAT_ANYMOTION_MSK BIT(6)
#define BMI270_INT_MAP_DATA_REG 0x58
#define BMI270_INT_MAP_DATA_DRDY_INT1_MSK BIT(2)
@@ -106,6 +110,22 @@
#define BMI270_STEP_SC26_RST_CNT_MSK BIT(10)
#define BMI270_STEP_SC26_EN_CNT_MSK BIT(12)
+#define BMI270_FEAT_MOTION_DURATION_MSK GENMASK(12, 0)
+#define BMI270_FEAT_MOTION_X_EN_MSK BIT(13)
+#define BMI270_FEAT_MOTION_Y_EN_MSK BIT(14)
+#define BMI270_FEAT_MOTION_Z_EN_MSK BIT(15)
+#define BMI270_FEAT_MOTION_XYZ_EN_MSK GENMASK(15, 13)
+#define BMI270_FEAT_MOTION_THRESHOLD_MSK GENMASK(10, 0)
+#define BMI270_FEAT_MOTION_OUT_CONF_MSK GENMASK(14, 11)
+#define BMI270_FEAT_MOTION_ENABLE_MSK BIT(15)
+
+#define BMI270_MOTION_XYZ_MSK GENMASK(2, 0)
+
+/* See pages 92 and 93 of the datasheet */
+#define BMI270_MOTION_THRES_SCALE GENMASK(10, 0)
+#define BMI270_MOTION_DURAT_SCALE 50
+#define BMI270_MOTION_DURAT_MAX 162
+
/* See datasheet section 4.6.14, Temperature Sensor */
#define BMI270_TEMP_OFFSET 11776
#define BMI270_TEMP_SCALE 1953125
@@ -114,6 +134,10 @@
#define BMI270_STEP_COUNTER_FACTOR 20
#define BMI270_STEP_COUNTER_MAX 20460
+#define BMI270_INT_MICRO_TO_RAW(val, val2, scale) ((val) * (scale) + \
+ ((val2) * (scale)) / MEGA)
+#define BMI270_RAW_TO_MICRO(raw, scale) ((((raw) % (scale)) * MEGA) / scale)
+
#define BMI260_INIT_DATA_FILE "bmi260-init-data.fw"
#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw"
@@ -309,6 +333,13 @@ static const struct bmi270_odr_item bmi270_odr_table[] = {
};
enum bmi270_feature_reg_id {
+ /* Page 1 registers */
+ BMI270_ANYMO1_REG,
+ BMI270_ANYMO2_REG,
+ /* Page 2 registers */
+ BMI270_NOMO1_REG,
+ BMI270_NOMO2_REG,
+ /* Page 6 registers */
BMI270_SC_26_REG,
};
@@ -318,6 +349,22 @@ struct bmi270_feature_reg {
};
static const struct bmi270_feature_reg bmi270_feature_regs[] = {
+ [BMI270_ANYMO1_REG] = {
+ .page = 1,
+ .addr = 0x3c,
+ },
+ [BMI270_ANYMO2_REG] = {
+ .page = 1,
+ .addr = 0x3e,
+ },
+ [BMI270_NOMO1_REG] = {
+ .page = 2,
+ .addr = 0x30,
+ },
+ [BMI270_NOMO2_REG] = {
+ .page = 2,
+ .addr = 0x32,
+ },
[BMI270_SC_26_REG] = {
.page = 6,
.addr = 0x32,
@@ -443,6 +490,95 @@ static int bmi270_step_wtrmrk_en(struct bmi270_data *data, bool state)
return 0;
}
+static int bmi270_anymotion_event_en(struct bmi270_data *data,
+ struct iio_chan_spec const *chan,
+ bool state)
+{
+ u16 axis_msk, axis_field_val, regval;
+ int ret, irq_reg;
+ bool axis_en;
+
+ irq_reg = bmi270_int_map_reg(data->irq_pin);
+ if (irq_reg < 0)
+ return irq_reg;
+
+ guard(mutex)(&data->mutex);
+
+ ret = bmi270_read_feature_reg(data, BMI270_ANYMO1_REG, ®val);
+ if (ret)
+ return ret;
+
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ axis_msk = BMI270_FEAT_MOTION_X_EN_MSK;
+ axis_field_val = FIELD_PREP(BMI270_FEAT_MOTION_X_EN_MSK, state);
+ axis_en = FIELD_GET(BMI270_FEAT_MOTION_Y_EN_MSK, regval) |
+ FIELD_GET(BMI270_FEAT_MOTION_Z_EN_MSK, regval);
+ break;
+ case IIO_MOD_Y:
+ axis_msk = BMI270_FEAT_MOTION_Y_EN_MSK;
+ axis_field_val = FIELD_PREP(BMI270_FEAT_MOTION_Y_EN_MSK, state);
+ axis_en = FIELD_GET(BMI270_FEAT_MOTION_X_EN_MSK, regval) |
+ FIELD_GET(BMI270_FEAT_MOTION_Z_EN_MSK, regval);
+ break;
+ case IIO_MOD_Z:
+ axis_msk = BMI270_FEAT_MOTION_Z_EN_MSK;
+ axis_field_val = FIELD_PREP(BMI270_FEAT_MOTION_Z_EN_MSK, state);
+ axis_en = FIELD_GET(BMI270_FEAT_MOTION_X_EN_MSK, regval) |
+ FIELD_GET(BMI270_FEAT_MOTION_Y_EN_MSK, regval);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ ret = bmi270_update_feature_reg(data, BMI270_ANYMO1_REG, axis_msk,
+ axis_field_val);
+ if (ret)
+ return ret;
+
+ ret = bmi270_update_feature_reg(data, BMI270_ANYMO2_REG,
+ BMI270_FEAT_MOTION_ENABLE_MSK,
+ FIELD_PREP(BMI270_FEAT_MOTION_ENABLE_MSK,
+ state || axis_en));
+ if (ret)
+ return ret;
+
+ return regmap_update_bits(data->regmap, irq_reg,
+ BMI270_INT_MAP_FEAT_ANYMOTION_MSK,
+ FIELD_PREP(BMI270_INT_MAP_FEAT_ANYMOTION_MSK,
+ state || axis_en));
+}
+
+static int bmi270_nomotion_event_en(struct bmi270_data *data, bool state)
+{
+ int ret, irq_reg;
+
+ irq_reg = bmi270_int_map_reg(data->irq_pin);
+ if (irq_reg < 0)
+ return irq_reg;
+
+ guard(mutex)(&data->mutex);
+
+ ret = bmi270_update_feature_reg(data, BMI270_NOMO1_REG,
+ BMI270_FEAT_MOTION_XYZ_EN_MSK,
+ FIELD_PREP(BMI270_FEAT_MOTION_XYZ_EN_MSK,
+ state ? BMI270_MOTION_XYZ_MSK : 0));
+ if (ret)
+ return ret;
+
+ ret = bmi270_update_feature_reg(data, BMI270_NOMO2_REG,
+ BMI270_FEAT_MOTION_ENABLE_MSK,
+ FIELD_PREP(BMI270_FEAT_MOTION_ENABLE_MSK,
+ state));
+ if (ret)
+ return ret;
+
+ return regmap_update_bits(data->regmap, irq_reg,
+ BMI270_INT_MAP_FEAT_NOMOTION_MSK,
+ FIELD_PREP(BMI270_INT_MAP_FEAT_NOMOTION_MSK,
+ state));
+}
+
static int bmi270_set_scale(struct bmi270_data *data, int chan_type, int uscale)
{
int i;
@@ -618,6 +754,20 @@ static irqreturn_t bmi270_irq_thread_handler(int irq, void *private)
if (FIELD_GET(BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK, status1))
iio_trigger_poll_nested(data->trig);
+ if (FIELD_GET(BMI270_INT_STATUS_0_MOTION_MSK, status0))
+ iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ACCEL, 0,
+ IIO_MOD_X_OR_Y_OR_Z,
+ IIO_EV_TYPE_MAG_ADAPTIVE,
+ IIO_EV_DIR_RISING),
+ timestamp);
+
+ if (FIELD_GET(BMI270_INT_STATUS_0_NOMOTION_MSK, status0))
+ iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ACCEL, 0,
+ IIO_MOD_X_AND_Y_AND_Z,
+ IIO_EV_TYPE_ROC,
+ IIO_EV_DIR_RISING),
+ timestamp);
+
if (FIELD_GET(BMI270_INT_STATUS_0_STEP_CNT_MSK, status0))
iio_push_event(indio_dev, IIO_UNMOD_EVENT_CODE(IIO_STEPS, 0,
IIO_EV_TYPE_CHANGE,
@@ -831,6 +981,20 @@ static int bmi270_read_avail(struct iio_dev *indio_dev,
}
}
+static IIO_CONST_ATTR(in_accel_value_available, "[0.0 0.00049 1.0]");
+
+static IIO_CONST_ATTR(in_accel_period_available, "[0.0 0.02 162.0]");
+
+static struct attribute *bmi270_event_attributes[] = {
+ &iio_const_attr_in_accel_value_available.dev_attr.attr,
+ &iio_const_attr_in_accel_period_available.dev_attr.attr,
+ NULL
+};
+
+static const struct attribute_group bmi270_event_attribute_group = {
+ .attrs = bmi270_event_attributes,
+};
+
static int bmi270_write_event_config(struct iio_dev *indio_dev,
const struct iio_chan_spec *chan,
enum iio_event_type type,
@@ -839,6 +1003,10 @@ static int bmi270_write_event_config(struct iio_dev *indio_dev,
struct bmi270_data *data = iio_priv(indio_dev);
switch (type) {
+ case IIO_EV_TYPE_MAG_ADAPTIVE:
+ return bmi270_anymotion_event_en(data, chan, state);
+ case IIO_EV_TYPE_ROC:
+ return bmi270_nomotion_event_en(data, state);
case IIO_EV_TYPE_CHANGE:
return bmi270_step_wtrmrk_en(data, state);
default:
@@ -852,21 +1020,58 @@ static int bmi270_read_event_config(struct iio_dev *indio_dev,
enum iio_event_direction dir)
{
struct bmi270_data *data = iio_priv(indio_dev);
- int ret, reg, regval;
+ bool feat_en, axis_en;
+ unsigned int regval;
+ u16 motion_reg;
+ int ret, reg;
guard(mutex)(&data->mutex);
+ reg = bmi270_int_map_reg(data->irq_pin);
+ if (reg < 0)
+ return reg;
+
+ ret = regmap_read(data->regmap, reg, ®val);
+ if (ret)
+ return ret;
+
switch (chan->type) {
case IIO_STEPS:
- reg = bmi270_int_map_reg(data->irq_pin);
- if (reg)
- return reg;
-
- ret = regmap_read(data->regmap, reg, ®val);
- if (ret)
- return ret;
return FIELD_GET(BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK,
regval) ? 1 : 0;
+ case IIO_ACCEL:
+ switch (type) {
+ case IIO_EV_TYPE_ROC:
+ return FIELD_GET(BMI270_INT_MAP_FEAT_NOMOTION_MSK,
+ regval) ? 1 : 0;
+ case IIO_EV_TYPE_MAG_ADAPTIVE:
+ ret = bmi270_read_feature_reg(data, BMI270_ANYMO1_REG,
+ &motion_reg);
+ if (ret)
+ return ret;
+
+ feat_en = FIELD_GET(BMI270_INT_MAP_FEAT_ANYMOTION_MSK,
+ regval);
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ axis_en = FIELD_GET(BMI270_FEAT_MOTION_X_EN_MSK,
+ motion_reg);
+ break;
+ case IIO_MOD_Y:
+ axis_en = FIELD_GET(BMI270_FEAT_MOTION_Y_EN_MSK,
+ motion_reg);
+ break;
+ case IIO_MOD_Z:
+ axis_en = FIELD_GET(BMI270_FEAT_MOTION_Z_EN_MSK,
+ motion_reg);
+ break;
+ default:
+ return -EINVAL;
+ }
+ return (axis_en && feat_en) ? 1 : 0;
+ default:
+ return -EINVAL;
+ }
default:
return -EINVAL;
}
@@ -881,10 +1086,17 @@ static int bmi270_write_event_value(struct iio_dev *indio_dev,
{
struct bmi270_data *data = iio_priv(indio_dev);
unsigned int raw;
+ int reg;
guard(mutex)(&data->mutex);
switch (type) {
+ case IIO_EV_TYPE_MAG_ADAPTIVE:
+ reg = BMI270_ANYMO1_REG;
+ break;
+ case IIO_EV_TYPE_ROC:
+ reg = BMI270_NOMO1_REG;
+ break;
case IIO_EV_TYPE_CHANGE:
if (!in_range(val, 0, BMI270_STEP_COUNTER_MAX + 1))
return -EINVAL;
@@ -897,6 +1109,31 @@ static int bmi270_write_event_value(struct iio_dev *indio_dev,
default:
return -EINVAL;
}
+
+ switch (info) {
+ case IIO_EV_INFO_VALUE:
+ if (!in_range(val, 0, 1))
+ return -EINVAL;
+
+ raw = BMI270_INT_MICRO_TO_RAW(val, val2,
+ BMI270_MOTION_THRES_SCALE);
+ return bmi270_update_feature_reg(data, reg,
+ BMI270_FEAT_MOTION_THRESHOLD_MSK,
+ FIELD_PREP(BMI270_FEAT_MOTION_THRESHOLD_MSK,
+ raw));
+ case IIO_EV_INFO_PERIOD:
+ if (!in_range(val, 0, BMI270_MOTION_DURAT_MAX + 1))
+ return -EINVAL;
+
+ raw = BMI270_INT_MICRO_TO_RAW(val, val2,
+ BMI270_MOTION_DURAT_SCALE);
+ return bmi270_update_feature_reg(data, reg,
+ BMI270_FEAT_MOTION_DURATION_MSK,
+ FIELD_PREP(BMI270_FEAT_MOTION_DURATION_MSK,
+ raw));
+ default:
+ return -EINVAL;
+ }
}
static int bmi270_read_event_value(struct iio_dev *indio_dev,
@@ -908,12 +1145,18 @@ static int bmi270_read_event_value(struct iio_dev *indio_dev,
{
struct bmi270_data *data = iio_priv(indio_dev);
unsigned int raw;
+ int ret, reg;
u16 regval;
- int ret;
guard(mutex)(&data->mutex);
switch (type) {
+ case IIO_EV_TYPE_MAG_ADAPTIVE:
+ reg = BMI270_ANYMO1_REG;
+ break;
+ case IIO_EV_TYPE_ROC:
+ reg = BMI270_NOMO1_REG;
+ break;
case IIO_EV_TYPE_CHANGE:
ret = bmi270_read_feature_reg(data, BMI270_SC_26_REG, ®val);
if (ret)
@@ -925,6 +1168,29 @@ static int bmi270_read_event_value(struct iio_dev *indio_dev,
default:
return -EINVAL;
}
+
+ switch (info) {
+ case IIO_EV_INFO_VALUE:
+ ret = bmi270_read_feature_reg(data, reg, ®val);
+ if (ret)
+ return ret;
+
+ raw = FIELD_GET(BMI270_FEAT_MOTION_THRESHOLD_MSK, regval);
+ *val = raw / BMI270_MOTION_THRES_SCALE;
+ *val2 = BMI270_RAW_TO_MICRO(raw, BMI270_MOTION_THRES_SCALE);
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_EV_INFO_PERIOD:
+ ret = bmi270_read_feature_reg(data, reg, ®val);
+ if (ret)
+ return ret;
+
+ raw = FIELD_GET(BMI270_FEAT_MOTION_DURATION_MSK, regval);
+ *val = raw / BMI270_MOTION_DURAT_SCALE;
+ *val2 = BMI270_RAW_TO_MICRO(raw, BMI270_MOTION_DURAT_SCALE);
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
}
static const struct iio_event_spec bmi270_step_wtrmrk_event = {
@@ -934,6 +1200,22 @@ static const struct iio_event_spec bmi270_step_wtrmrk_event = {
BIT(IIO_EV_INFO_VALUE),
};
+static const struct iio_event_spec bmi270_anymotion_event = {
+ .type = IIO_EV_TYPE_MAG_ADAPTIVE,
+ .dir = IIO_EV_DIR_RISING,
+ .mask_separate = BIT(IIO_EV_INFO_ENABLE),
+ .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) |
+ BIT(IIO_EV_INFO_PERIOD),
+};
+
+static const struct iio_event_spec bmi270_nomotion_event = {
+ .type = IIO_EV_TYPE_ROC,
+ .dir = IIO_EV_DIR_RISING,
+ .mask_separate = BIT(IIO_EV_INFO_ENABLE),
+ .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) |
+ BIT(IIO_EV_INFO_PERIOD),
+};
+
static const struct iio_info bmi270_info = {
.read_raw = bmi270_read_raw,
.write_raw = bmi270_write_raw,
@@ -942,6 +1224,7 @@ static const struct iio_info bmi270_info = {
.read_event_config = bmi270_read_event_config,
.write_event_value = bmi270_write_event_value,
.read_event_value = bmi270_read_event_value,
+ .event_attrs = &bmi270_event_attribute_group,
};
#define BMI270_ACCEL_CHANNEL(_axis) { \
@@ -961,6 +1244,8 @@ static const struct iio_info bmi270_info = {
.storagebits = 16, \
.endianness = IIO_LE, \
}, \
+ .event_spec = &bmi270_anymotion_event, \
+ .num_event_specs = 1, \
}
#define BMI270_ANG_VEL_CHANNEL(_axis) { \
@@ -1005,6 +1290,14 @@ static const struct iio_chan_spec bmi270_channels[] = {
.num_event_specs = 1,
},
IIO_CHAN_SOFT_TIMESTAMP(BMI270_SCAN_TIMESTAMP),
+ {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X_AND_Y_AND_Z,
+ .scan_index = -1, /* Fake channel */
+ .event_spec = &bmi270_nomotion_event,
+ .num_event_specs = 1,
+ },
};
static int bmi270_int_pin_config(struct bmi270_data *data,
@@ -1112,6 +1405,13 @@ static int bmi270_trigger_probe(struct bmi270_data *data,
return dev_err_probe(data->dev, ret,
"Trigger registration failed\n");
+ /* Disable axes for motion events */
+ ret = bmi270_update_feature_reg(data, BMI270_ANYMO1_REG,
+ BMI270_FEAT_MOTION_XYZ_EN_MSK,
+ FIELD_PREP(BMI270_FEAT_MOTION_XYZ_EN_MSK, 0));
+ if (ret)
+ return ret;
+
data->irq_pin = irq_pin;
return 0;
--
2.49.0
^ permalink raw reply related [flat|nested] 11+ messages in thread