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Thu, 24 Apr 2025 17:15:07 -0700 (PDT) From: Gustavo Silva Date: Thu, 24 Apr 2025 21:14:52 -0300 Subject: [PATCH 3/3] iio: imu: bmi270: add support for motion events Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Type: text/plain; charset="utf-8" Content-Transfer-Encoding: quoted-printable Message-Id: <20250424-bmi270-events-v1-3-a6c722673e5f@gmail.com> References: <20250424-bmi270-events-v1-0-a6c722673e5f@gmail.com> In-Reply-To: <20250424-bmi270-events-v1-0-a6c722673e5f@gmail.com> To: Alex Lanzano , Jonathan Cameron , David Lechner , =?utf-8?q?Nuno_S=C3=A1?= , Andy Shevchenko Cc: linux-iio@vger.kernel.org, linux-kernel@vger.kernel.org, Gustavo Silva X-Mailer: b4 0.14.2 X-Developer-Signature: v=1; a=ed25519-sha256; t=1745540093; l=11166; i=gustavograzs@gmail.com; s=20250111; h=from:subject:message-id; bh=GxkfZBL3+JBHmybeeBC04odAus0uhAxbhMV3diS2clc=; b=ZU/NwnOWvj//PHgf4Q3otjqoUqQSm+YI1HbVKcIZ13l5JIG+j6nYLntOw4rzDf7eEG9dIZeU8 mV8E9sg9QFiCqh/T4r41yOCcvLLg+WVqg2GEgOjq943uh000pTeq80g X-Developer-Key: i=gustavograzs@gmail.com; a=ed25519; pk=g2TFXpo1jMCOCN+rzVoM9NDFNfSMOgVyY0rlyvk4RTM= 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 --- 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..57734f9cf5906aa77b7a14dfba7= 93559a817c1e7 100644 --- a/drivers/iio/imu/bmi270/bmi270_core.c +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -31,6 +31,8 @@ =20 #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) =20 #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) =20 #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) =20 +#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 =20 +#define BMI270_INT_MICRO_TO_RAW(val, val2, scale) ((val) * (scale) + \ + ((val2) * (scale)) / MEGA) +#define BMI270_RAW_TO_MICRO(raw, scale) ((((raw) % (scale)) * MEGA) / scal= e) + #define BMI260_INIT_DATA_FILE "bmi260-init-data.fw" #define BMI270_INIT_DATA_FILE "bmi270-init-data.fw" =20 @@ -301,6 +320,13 @@ static const struct bmi270_odr_item bmi270_odr_table[= ] =3D { }; =20 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, }; =20 @@ -310,6 +336,22 @@ struct bmi270_feature_reg { }; =20 static const struct bmi270_feature_reg bmi270_feature_regs[] =3D { + [BMI270_ANYMO1_REG] =3D { + .page =3D 1, + .addr =3D 0x3c, + }, + [BMI270_ANYMO2_REG] =3D { + .page =3D 1, + .addr =3D 0x3e, + }, + [BMI270_NOMO1_REG] =3D { + .page =3D 2, + .addr =3D 0x30, + }, + [BMI270_NOMO2_REG] =3D { + .page =3D 2, + .addr =3D 0x32, + }, [BMI270_SC_26_REG] =3D { .page =3D 6, .addr =3D 0x32, @@ -426,6 +468,72 @@ static int bmi270_step_wtrmrk_en(struct bmi270_data *d= ata, bool state) =20 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 =3D bmi270_int_map_reg(data->irq_pin); + if (irq_reg < 0) + return -EINVAL; + + switch (dir) { + case IIO_EV_DIR_RISING: + config1 =3D BMI270_ANYMO1_REG; + config2 =3D BMI270_ANYMO2_REG; + irq_msk =3D BMI270_INT_MAP_FEAT_ANYMOTION_MSK; + irq_field_val =3D FIELD_PREP(BMI270_INT_MAP_FEAT_ANYMOTION_MSK, + state); + break; + case IIO_EV_DIR_FALLING: + config1 =3D BMI270_NOMO1_REG; + config2 =3D BMI270_NOMO2_REG; + irq_msk =3D BMI270_INT_MAP_FEAT_NOMOTION_MSK; + irq_field_val =3D FIELD_PREP(BMI270_INT_MAP_FEAT_NOMOTION_MSK, + state); + break; + default: + return -EINVAL; + } + + guard(mutex)(&data->mutex); + ret =3D 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 =3D bmi270_update_feature_reg(data, config2, + BMI270_FEAT_MOTION_ENABLE_MSK, + FIELD_PREP(BMI270_FEAT_MOTION_ENABLE_MSK, + state)); + if (ret) + return ret; + + ret =3D 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; } =20 @@ -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); =20 + 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, } } =20 +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[] =3D { + &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 =3D { + .attrs =3D 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 *in= dio_dev, struct bmi270_data *data =3D iio_priv(indio_dev); =20 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 *in= dio_dev, guard(mutex)(&data->mutex); =20 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 =3D iio_priv(indio_dev); unsigned int raw; + int reg; =20 guard(mutex)(&data->mutex); =20 switch (type) { + case IIO_EV_TYPE_MAG: + reg =3D 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 =3D 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 =3D 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 *i= ndio_dev, { struct bmi270_data *data =3D iio_priv(indio_dev); unsigned int raw; + int ret, reg; u16 reg_val; - int ret; =20 guard(mutex)(&data->mutex); =20 switch (type) { + case IIO_EV_TYPE_MAG: + reg =3D bmi270_motion_config_reg(dir); + if (reg < 0) + return -EINVAL; + + switch (info) { + case IIO_EV_INFO_VALUE: + ret =3D bmi270_read_feature_reg(data, reg, ®_val); + if (ret) + return ret; + + raw =3D FIELD_GET(BMI270_FEAT_MOTION_THRESHOLD_MSK, reg_val); + *val =3D raw / BMI270_MOTION_THRES_SCALE; + *val2 =3D BMI270_RAW_TO_MICRO(raw, BMI270_MOTION_THRES_SCALE); + return IIO_VAL_INT_PLUS_MICRO; + case IIO_EV_INFO_PERIOD: + ret =3D bmi270_read_feature_reg(data, reg, ®_val); + if (ret) + return ret; + + raw =3D FIELD_GET(BMI270_FEAT_MOTION_DURATION_MSK, reg_val); + *val =3D raw / BMI270_MOTION_DURAT_SCALE; + *val2 =3D BMI270_RAW_TO_MICRO(raw, BMI270_MOTION_DURAT_SCALE); + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } case IIO_EV_TYPE_CHANGE: ret =3D 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 =3D { BIT(IIO_EV_INFO_VALUE), }; =20 +static const struct iio_event_spec bmi270_accel_event[] =3D { + { + .type =3D IIO_EV_TYPE_MAG, + .dir =3D IIO_EV_DIR_FALLING, + .mask_shared_by_type =3D BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_PERIOD) | + BIT(IIO_EV_INFO_ENABLE), + }, + { + .type =3D IIO_EV_TYPE_MAG, + .dir =3D IIO_EV_DIR_RISING, + .mask_shared_by_type =3D BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_PERIOD) | + BIT(IIO_EV_INFO_ENABLE), + }, +}; + static const struct iio_info bmi270_info =3D { .read_raw =3D bmi270_read_raw, .write_raw =3D bmi270_write_raw, @@ -925,6 +1150,7 @@ static const struct iio_info bmi270_info =3D { .read_event_config =3D bmi270_read_event_config, .write_event_value =3D bmi270_write_event_value, .read_event_value =3D bmi270_read_event_value, + .event_attrs =3D &bmi270_event_attribute_group, }; =20 #define BMI270_ACCEL_CHANNEL(_axis) { \ @@ -944,6 +1170,8 @@ static const struct iio_info bmi270_info =3D { .storagebits =3D 16, \ .endianness =3D IIO_LE, \ }, \ + .event_spec =3D bmi270_accel_event, \ + .num_event_specs =3D ARRAY_SIZE(bmi270_accel_event), \ } =20 #define BMI270_ANG_VEL_CHANNEL(_axis) { \ --=20 2.49.0