Add support for any-motion/no-motion events based on acceleration slope
on each axis. Threshold and duration can be configured from userspace.
Signed-off-by: Gustavo Silva <gustavograzs@gmail.com>
---
drivers/iio/imu/bmi270/bmi270_core.c | 230 ++++++++++++++++++++++++++++++++++-
1 file changed, 229 insertions(+), 1 deletion(-)
diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
index 07a24ed9a4edabeafd98a746ba09469f9e41c38a..57734f9cf5906aa77b7a14dfba793559a817c1e7 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)
@@ -106,10 +110,25 @@
#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_XYZ_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)
+
+#define BMI270_MOTION_THRES_SCALE GENMASK(10, 0)
+#define BMI270_MOTION_DURAT_SCALE 50
+
/* See datasheet section 4.6.14, Temperature Sensor */
#define BMI270_TEMP_OFFSET 11776
#define BMI270_TEMP_SCALE 1953125
+#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"
@@ -301,6 +320,13 @@ 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,
};
@@ -310,6 +336,22 @@ 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,
@@ -426,6 +468,72 @@ static int bmi270_step_wtrmrk_en(struct bmi270_data *data, bool state)
set_mask_bits(&data->feature_events,
BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK, field_value);
+
+ return 0;
+}
+
+static int bmi270_motion_config_reg(enum iio_event_direction dir)
+{
+ switch (dir) {
+ case IIO_EV_DIR_RISING:
+ return BMI270_ANYMO1_REG;
+ case IIO_EV_DIR_FALLING:
+ return BMI270_NOMO1_REG;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bmi270_motion_event_en(struct bmi270_data *data,
+ enum iio_event_direction dir, bool state)
+{
+ int ret, config1, config2, irq_reg;
+ int irq_msk, irq_field_val;
+
+ irq_reg = bmi270_int_map_reg(data->irq_pin);
+ if (irq_reg < 0)
+ return -EINVAL;
+
+ switch (dir) {
+ case IIO_EV_DIR_RISING:
+ config1 = BMI270_ANYMO1_REG;
+ config2 = BMI270_ANYMO2_REG;
+ irq_msk = BMI270_INT_MAP_FEAT_ANYMOTION_MSK;
+ irq_field_val = FIELD_PREP(BMI270_INT_MAP_FEAT_ANYMOTION_MSK,
+ state);
+ break;
+ case IIO_EV_DIR_FALLING:
+ config1 = BMI270_NOMO1_REG;
+ config2 = BMI270_NOMO2_REG;
+ irq_msk = BMI270_INT_MAP_FEAT_NOMOTION_MSK;
+ irq_field_val = FIELD_PREP(BMI270_INT_MAP_FEAT_NOMOTION_MSK,
+ state);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ guard(mutex)(&data->mutex);
+ ret = bmi270_update_feature_reg(data, config1,
+ BMI270_FEAT_MOTION_XYZ_MSK,
+ FIELD_PREP(BMI270_FEAT_MOTION_XYZ_MSK,
+ state ? BMI270_MOTION_XYZ_MSK : 0));
+ if (ret)
+ return ret;
+
+ ret = bmi270_update_feature_reg(data, config2,
+ BMI270_FEAT_MOTION_ENABLE_MSK,
+ FIELD_PREP(BMI270_FEAT_MOTION_ENABLE_MSK,
+ state));
+ if (ret)
+ return ret;
+
+ ret = regmap_update_bits(data->regmap, irq_reg, irq_msk, irq_field_val);
+ if (ret)
+ return ret;
+
+ set_mask_bits(&data->feature_events, irq_msk, irq_field_val);
+
return 0;
}
@@ -604,6 +712,20 @@ 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,
+ 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_OR_Y_OR_Z,
+ IIO_EV_TYPE_MAG,
+ IIO_EV_DIR_FALLING),
+ timestamp);
+
if (FIELD_GET(BMI270_INT_STATUS_0_STEP_CNT_MSK, status0))
iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_STEPS, 0,
IIO_NO_MOD,
@@ -820,6 +942,20 @@ static int bmi270_read_avail(struct iio_dev *indio_dev,
}
}
+static IIO_CONST_ATTR(in_accel_mag_value_available, "[0.0 0.00049 1.0]");
+
+static IIO_CONST_ATTR(in_accel_mag_period_available, "[0.0 0.02 162.0]");
+
+static struct attribute *bmi270_event_attributes[] = {
+ &iio_const_attr_in_accel_mag_value_available.dev_attr.attr,
+ &iio_const_attr_in_accel_mag_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,
@@ -828,6 +964,8 @@ 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:
+ return bmi270_motion_event_en(data, dir, state);
case IIO_EV_TYPE_CHANGE:
return bmi270_step_wtrmrk_en(data, state);
default:
@@ -847,6 +985,17 @@ static int bmi270_read_event_config(struct iio_dev *indio_dev,
guard(mutex)(&data->mutex);
switch (chan->type) {
+ case IIO_ACCEL:
+ switch (dir) {
+ case IIO_EV_DIR_RISING:
+ return FIELD_GET(BMI270_INT_MAP_FEAT_ANYMOTION_MSK,
+ data->feature_events) ? 1 : 0;
+ case IIO_EV_DIR_FALLING:
+ return FIELD_GET(BMI270_INT_MAP_FEAT_NOMOTION_MSK,
+ data->feature_events) ? 1 : 0;
+ default:
+ return -EINVAL;
+ }
case IIO_STEPS:
return FIELD_GET(BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK,
data->feature_events) ? 1 : 0;
@@ -864,10 +1013,42 @@ 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:
+ reg = bmi270_motion_config_reg(dir);
+ if (reg < 0)
+ 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, 163))
+ 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;
+ }
case IIO_EV_TYPE_CHANGE:
if (!in_range(val, 0, 20461))
return -EINVAL;
@@ -891,12 +1072,39 @@ 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 reg_val;
- int ret;
guard(mutex)(&data->mutex);
switch (type) {
+ case IIO_EV_TYPE_MAG:
+ reg = bmi270_motion_config_reg(dir);
+ if (reg < 0)
+ 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, reg_val);
+ *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, reg_val);
+ *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;
+ }
case IIO_EV_TYPE_CHANGE:
ret = bmi270_read_feature_reg(data, BMI270_SC_26_REG, ®_val);
if (ret)
@@ -917,6 +1125,23 @@ static const struct iio_event_spec bmi270_step_wtrmrk_event = {
BIT(IIO_EV_INFO_VALUE),
};
+static const struct iio_event_spec bmi270_accel_event[] = {
+ {
+ .type = IIO_EV_TYPE_MAG,
+ .dir = IIO_EV_DIR_FALLING,
+ .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) |
+ BIT(IIO_EV_INFO_PERIOD) |
+ BIT(IIO_EV_INFO_ENABLE),
+ },
+ {
+ .type = IIO_EV_TYPE_MAG,
+ .dir = IIO_EV_DIR_RISING,
+ .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) |
+ BIT(IIO_EV_INFO_PERIOD) |
+ BIT(IIO_EV_INFO_ENABLE),
+ },
+};
+
static const struct iio_info bmi270_info = {
.read_raw = bmi270_read_raw,
.write_raw = bmi270_write_raw,
@@ -925,6 +1150,7 @@ 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) { \
@@ -944,6 +1170,8 @@ static const struct iio_info bmi270_info = {
.storagebits = 16, \
.endianness = IIO_LE, \
}, \
+ .event_spec = bmi270_accel_event, \
+ .num_event_specs = ARRAY_SIZE(bmi270_accel_event), \
}
#define BMI270_ANG_VEL_CHANNEL(_axis) { \
--
2.49.0On Thu, 24 Apr 2025 21:14:52 -0300
Gustavo Silva <gustavograzs@gmail.com> wrote:
> Add support for any-motion/no-motion events based on acceleration slope
> on each axis. Threshold and duration can be configured from userspace.
Hi Gustavo,
These events are a bit of a pain (as Lothar +CC has been discovering recently).
The detection of activity / motion is the (slightly) easier one, though here it sounds
like an adaptive threshold event. Despite wording it has nothing to do with the
slope that I can tell as no reference to dividing by number of samples / time
or similar. It's just a difference from an estimate of a last state that was interesting
(where there was considered to be motion)
So I think this is best described as an adaptive threshold? But on a magnitude...
Similar to,
in_accel_x|y|z_adaptive_thresh_rising_*
so we probably need to define
in_accel_x|y|z_adaptive_mag_rising_*
Though it has separate channel enables so
in_accel_x_adaptive_mag_rising_*
etc and report an or event as we don't know which axis tripped it (as you
did in this patch).
So no-motion. The challenge Lothar ran into recently was how we make it
clear what is going on wrt to x&y&z and with separate enables. We concluded
in the end there was little use for a no motion type detector if we didn't
enable it on all axes. Otherwise we have to do x&y, x&z an y&z event channels
and event codes just to describe what is enabled.
This time it does seem to be rate of change, so you need a 'pseudo' (made
up additional) channel for x&y&z and then have
in_accel_x&y&z_roc_rising
I can't figure out where deta_t is coming from however so the scaling
of that is non obvious.
Given that means you need some significant changes in how this looks I haven't
reviewed the code in detail this time.
I was discussing with Lothar the other day that we need better documentation
for how to map from datasheet descriptions of events to actual events.
How different devices detect 'motion/nomotion' seems to vary a lot, so it
will need a fairly complex description.
Jonathan
>
> Signed-off-by: Gustavo Silva <gustavograzs@gmail.com>
> ---
> drivers/iio/imu/bmi270/bmi270_core.c | 230 ++++++++++++++++++++++++++++++++++-
> 1 file changed, 229 insertions(+), 1 deletion(-)
>
> diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
> index 07a24ed9a4edabeafd98a746ba09469f9e41c38a..57734f9cf5906aa77b7a14dfba793559a817c1e7 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)
> @@ -106,10 +110,25 @@
> #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_XYZ_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)
> +
> +#define BMI270_MOTION_THRES_SCALE GENMASK(10, 0)
> +#define BMI270_MOTION_DURAT_SCALE 50
> +
> /* See datasheet section 4.6.14, Temperature Sensor */
> #define BMI270_TEMP_OFFSET 11776
> #define BMI270_TEMP_SCALE 1953125
>
> +#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"
>
> @@ -301,6 +320,13 @@ 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,
> };
>
> @@ -310,6 +336,22 @@ 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,
> @@ -426,6 +468,72 @@ static int bmi270_step_wtrmrk_en(struct bmi270_data *data, bool state)
>
> set_mask_bits(&data->feature_events,
> BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK, field_value);
> +
> + return 0;
> +}
> +
> +static int bmi270_motion_config_reg(enum iio_event_direction dir)
> +{
> + switch (dir) {
> + case IIO_EV_DIR_RISING:
> + return BMI270_ANYMO1_REG;
> + case IIO_EV_DIR_FALLING:
> + return BMI270_NOMO1_REG;
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +static int bmi270_motion_event_en(struct bmi270_data *data,
> + enum iio_event_direction dir, bool state)
> +{
> + int ret, config1, config2, irq_reg;
> + int irq_msk, irq_field_val;
> +
> + irq_reg = bmi270_int_map_reg(data->irq_pin);
> + if (irq_reg < 0)
> + return -EINVAL;
> +
> + switch (dir) {
> + case IIO_EV_DIR_RISING:
> + config1 = BMI270_ANYMO1_REG;
> + config2 = BMI270_ANYMO2_REG;
> + irq_msk = BMI270_INT_MAP_FEAT_ANYMOTION_MSK;
> + irq_field_val = FIELD_PREP(BMI270_INT_MAP_FEAT_ANYMOTION_MSK,
> + state);
> + break;
> + case IIO_EV_DIR_FALLING:
> + config1 = BMI270_NOMO1_REG;
> + config2 = BMI270_NOMO2_REG;
> + irq_msk = BMI270_INT_MAP_FEAT_NOMOTION_MSK;
> + irq_field_val = FIELD_PREP(BMI270_INT_MAP_FEAT_NOMOTION_MSK,
> + state);
> + break;
> + default:
> + return -EINVAL;
> + }
> +
> + guard(mutex)(&data->mutex);
> + ret = bmi270_update_feature_reg(data, config1,
> + BMI270_FEAT_MOTION_XYZ_MSK,
> + FIELD_PREP(BMI270_FEAT_MOTION_XYZ_MSK,
> + state ? BMI270_MOTION_XYZ_MSK : 0));
> + if (ret)
> + return ret;
> +
> + ret = bmi270_update_feature_reg(data, config2,
> + BMI270_FEAT_MOTION_ENABLE_MSK,
> + FIELD_PREP(BMI270_FEAT_MOTION_ENABLE_MSK,
> + state));
> + if (ret)
> + return ret;
> +
> + ret = regmap_update_bits(data->regmap, irq_reg, irq_msk, irq_field_val);
> + if (ret)
> + return ret;
> +
> + set_mask_bits(&data->feature_events, irq_msk, irq_field_val);
> +
> return 0;
> }
>
> @@ -604,6 +712,20 @@ 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,
> + 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,
No motion tends to be X_AND_Y_AND_Z.
Which we tend to need to represent as a separate 'pseudo' channel so that we
can have in_accel_x&y&z_mag_falling or similar.
> + IIO_MOD_X_OR_Y_OR_Z,
> + IIO_EV_TYPE_MAG,
> + IIO_EV_DIR_FALLING),
> + timestamp);
> +
> if (FIELD_GET(BMI270_INT_STATUS_0_STEP_CNT_MSK, status0))
> iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_STEPS, 0,
> IIO_NO_MOD,
> @@ -820,6 +942,20 @@ static int bmi270_read_avail(struct iio_dev *indio_dev,
> }
> }
>
> +static IIO_CONST_ATTR(in_accel_mag_value_available, "[0.0 0.00049 1.0]");
> +
> +static IIO_CONST_ATTR(in_accel_mag_period_available, "[0.0 0.02 162.0]");
> +
> +static struct attribute *bmi270_event_attributes[] = {
> + &iio_const_attr_in_accel_mag_value_available.dev_attr.attr,
> + &iio_const_attr_in_accel_mag_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,
> @@ -828,6 +964,8 @@ 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:
> + return bmi270_motion_event_en(data, dir, state);
> case IIO_EV_TYPE_CHANGE:
> return bmi270_step_wtrmrk_en(data, state);
> default:
> @@ -847,6 +985,17 @@ static int bmi270_read_event_config(struct iio_dev *indio_dev,
> guard(mutex)(&data->mutex);
>
> switch (chan->type) {
> + case IIO_ACCEL:
> + switch (dir) {
> + case IIO_EV_DIR_RISING:
> + return FIELD_GET(BMI270_INT_MAP_FEAT_ANYMOTION_MSK,
> + data->feature_events) ? 1 : 0;
> + case IIO_EV_DIR_FALLING:
> + return FIELD_GET(BMI270_INT_MAP_FEAT_NOMOTION_MSK,
> + data->feature_events) ? 1 : 0;
> + default:
> + return -EINVAL;
> + }
> case IIO_STEPS:
> return FIELD_GET(BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK,
> data->feature_events) ? 1 : 0;
> @@ -864,10 +1013,42 @@ 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:
> + reg = bmi270_motion_config_reg(dir);
> + if (reg < 0)
> + 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, 163))
> + 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;
> + }
> case IIO_EV_TYPE_CHANGE:
> if (!in_range(val, 0, 20461))
> return -EINVAL;
> @@ -891,12 +1072,39 @@ 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 reg_val;
> - int ret;
>
> guard(mutex)(&data->mutex);
>
> switch (type) {
> + case IIO_EV_TYPE_MAG:
> + reg = bmi270_motion_config_reg(dir);
> + if (reg < 0)
> + 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, reg_val);
> + *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, reg_val);
> + *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;
> + }
> case IIO_EV_TYPE_CHANGE:
> ret = bmi270_read_feature_reg(data, BMI270_SC_26_REG, ®_val);
> if (ret)
> @@ -917,6 +1125,23 @@ static const struct iio_event_spec bmi270_step_wtrmrk_event = {
> BIT(IIO_EV_INFO_VALUE),
> };
>
On Fri, Apr 25, 2025 at 3:15 AM Gustavo Silva <gustavograzs@gmail.com> wrote: > > Add support for any-motion/no-motion events based on acceleration slope > on each axis. Threshold and duration can be configured from userspace. I'm wondering if you are using --histogram diff algo when preparing the patches. If not, please do so for the next version. ... > + irq_reg = bmi270_int_map_reg(data->irq_pin); > + if (irq_reg < 0) > + return -EINVAL; Why is the error code shadowed? ... > + case IIO_EV_INFO_PERIOD: > + if (!in_range(val, 0, 163)) 162 + 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)); ... > + case IIO_EV_TYPE_MAG: > + reg = bmi270_motion_config_reg(dir); > + if (reg < 0) > + return -EINVAL; Shadowed error code, why? -- With Best Regards, Andy Shevchenko
On Fri, Apr 25, 2025 at 08:25:00AM +0300, Andy Shevchenko wrote: > On Fri, Apr 25, 2025 at 3:15 AM Gustavo Silva <gustavograzs@gmail.com> wrote: > > > > Add support for any-motion/no-motion events based on acceleration slope > > on each axis. Threshold and duration can be configured from userspace. > > I'm wondering if you are using --histogram diff algo when preparing > the patches. If not, please do so for the next version. > Yeah, I am indeed using the histogram algorithm. > ... > > > + irq_reg = bmi270_int_map_reg(data->irq_pin); > > + if (irq_reg < 0) > > + return -EINVAL; > > Why is the error code shadowed? > I might have forgotten to update this line. Will fix it in v2. > ... > > > + case IIO_EV_INFO_PERIOD: > > + if (!in_range(val, 0, 163)) > > 162 + 1 > Ack. > > + 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)); > > ... > > > + case IIO_EV_TYPE_MAG: > > + reg = bmi270_motion_config_reg(dir); > > + if (reg < 0) > > + return -EINVAL; > > Shadowed error code, why? > Same as above. Will fix in v2. > -- > With Best Regards, > Andy Shevchenko
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