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Mon, 16 Jun 2025 16:53:31 -0700 (PDT) From: Gustavo Silva Date: Mon, 16 Jun 2025 20:53:11 -0300 Subject: [PATCH v3 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: <20250616-bmi270-events-v3-3-16e37588604f@gmail.com> References: <20250616-bmi270-events-v3-0-16e37588604f@gmail.com> In-Reply-To: <20250616-bmi270-events-v3-0-16e37588604f@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, Lothar Rubusch , Gustavo Silva X-Mailer: b4 0.14.2 X-Developer-Signature: v=1; a=ed25519-sha256; t=1750117999; l=15360; i=gustavograzs@gmail.com; s=20250111; h=from:subject:message-id; bh=XWLbUKngwqkA525prCGnTIBOUfc/ESDsAa1TANtVX/g=; b=0+94yqN//yML0YoIjGGxYG8s0wcmZNv5vTNkd3QM/iK/FTwS04EIS6JZ/A4eNlQmE/j3CJfyb gC1NuhZKgZLCW7szImd8UiWD9J1GaDjWgFEBQJp1fsmMUAK9wkWOD5y X-Developer-Key: i=gustavograzs@gmail.com; a=ed25519; pk=g2TFXpo1jMCOCN+rzVoM9NDFNfSMOgVyY0rlyvk4RTM= 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 --- drivers/iio/imu/bmi270/bmi270_core.c | 316 +++++++++++++++++++++++++++++++= ++-- 1 file changed, 306 insertions(+), 10 deletions(-) diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/= bmi270_core.c index 7b632ec5b0108328c216a815535502f0078eb151..e54fb5f7a87f6f88e7eba8f81a1= 5f703e48031b5 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) @@ -106,6 +110,22 @@ #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_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 =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 @@ -309,6 +333,13 @@ 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 @@ -318,6 +349,22 @@ 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, @@ -439,6 +486,95 @@ static int bmi270_step_wtrmrk_en(struct bmi270_data *d= ata, bool state) state)); } =20 +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 =3D bmi270_int_map_reg(data->irq_pin); + if (irq_reg < 0) + return irq_reg; + + guard(mutex)(&data->mutex); + + ret =3D bmi270_read_feature_reg(data, BMI270_ANYMO1_REG, ®val); + if (ret) + return ret; + + switch (chan->channel2) { + case IIO_MOD_X: + axis_msk =3D BMI270_FEAT_MOTION_X_EN_MSK; + axis_field_val =3D FIELD_PREP(BMI270_FEAT_MOTION_X_EN_MSK, state); + axis_en =3D 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 =3D BMI270_FEAT_MOTION_Y_EN_MSK; + axis_field_val =3D FIELD_PREP(BMI270_FEAT_MOTION_Y_EN_MSK, state); + axis_en =3D 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 =3D BMI270_FEAT_MOTION_Z_EN_MSK; + axis_field_val =3D FIELD_PREP(BMI270_FEAT_MOTION_Z_EN_MSK, state); + axis_en =3D FIELD_GET(BMI270_FEAT_MOTION_X_EN_MSK, regval) | + FIELD_GET(BMI270_FEAT_MOTION_Y_EN_MSK, regval); + break; + default: + return -EINVAL; + } + + ret =3D bmi270_update_feature_reg(data, BMI270_ANYMO1_REG, axis_msk, + axis_field_val); + if (ret) + return ret; + + ret =3D 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 =3D bmi270_int_map_reg(data->irq_pin); + if (irq_reg < 0) + return irq_reg; + + guard(mutex)(&data->mutex); + + ret =3D 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 =3D 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 u= scale) { int i; @@ -614,6 +750,20 @@ 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_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, @@ -827,6 +977,20 @@ static int bmi270_read_avail(struct iio_dev *indio_dev, } } =20 +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[] =3D { + &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 =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, @@ -835,6 +999,10 @@ static int bmi270_write_event_config(struct iio_dev *i= ndio_dev, struct bmi270_data *data =3D iio_priv(indio_dev); =20 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: @@ -848,21 +1016,58 @@ static int bmi270_read_event_config(struct iio_dev *= indio_dev, enum iio_event_direction dir) { struct bmi270_data *data =3D iio_priv(indio_dev); - int ret, reg, regval; + bool feat_en, axis_en; + unsigned int regval; + u16 motion_reg; + int ret, reg; =20 guard(mutex)(&data->mutex); =20 + reg =3D bmi270_int_map_reg(data->irq_pin); + if (reg < 0) + return reg; + + ret =3D regmap_read(data->regmap, reg, ®val); + if (ret) + return ret; + switch (chan->type) { case IIO_STEPS: - reg =3D bmi270_int_map_reg(data->irq_pin); - if (reg) - return reg; - - ret =3D 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 =3D bmi270_read_feature_reg(data, BMI270_ANYMO1_REG, + &motion_reg); + if (ret) + return ret; + + feat_en =3D FIELD_GET(BMI270_INT_MAP_FEAT_ANYMOTION_MSK, + regval); + switch (chan->channel2) { + case IIO_MOD_X: + axis_en =3D FIELD_GET(BMI270_FEAT_MOTION_X_EN_MSK, + motion_reg); + break; + case IIO_MOD_Y: + axis_en =3D FIELD_GET(BMI270_FEAT_MOTION_Y_EN_MSK, + motion_reg); + break; + case IIO_MOD_Z: + axis_en =3D 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; } @@ -876,11 +1081,18 @@ static int bmi270_write_event_value(struct iio_dev *= indio_dev, int val, int val2) { struct bmi270_data *data =3D iio_priv(indio_dev); - unsigned int raw; + unsigned int raw, mask, regval; + int reg; =20 guard(mutex)(&data->mutex); =20 switch (type) { + case IIO_EV_TYPE_MAG_ADAPTIVE: + reg =3D BMI270_ANYMO1_REG; + break; + case IIO_EV_TYPE_ROC: + reg =3D BMI270_NOMO1_REG; + break; case IIO_EV_TYPE_CHANGE: if (!in_range(val, 0, BMI270_STEP_COUNTER_MAX + 1)) return -EINVAL; @@ -893,6 +1105,29 @@ static int bmi270_write_event_value(struct iio_dev *i= ndio_dev, default: 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); + mask =3D BMI270_FEAT_MOTION_THRESHOLD_MSK; + regval =3D FIELD_PREP(BMI270_FEAT_MOTION_THRESHOLD_MSK, raw); + return bmi270_update_feature_reg(data, reg, mask, regval); + case IIO_EV_INFO_PERIOD: + if (!in_range(val, 0, BMI270_MOTION_DURAT_MAX + 1)) + return -EINVAL; + + raw =3D BMI270_INT_MICRO_TO_RAW(val, val2, + BMI270_MOTION_DURAT_SCALE); + mask =3D BMI270_FEAT_MOTION_DURATION_MSK; + regval =3D FIELD_PREP(BMI270_FEAT_MOTION_DURATION_MSK, raw); + return bmi270_update_feature_reg(data, reg, mask, regval); + default: + return -EINVAL; + } } =20 static int bmi270_read_event_value(struct iio_dev *indio_dev, @@ -904,12 +1139,18 @@ 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 regval; - int ret; =20 guard(mutex)(&data->mutex); =20 switch (type) { + case IIO_EV_TYPE_MAG_ADAPTIVE: + reg =3D BMI270_ANYMO1_REG; + break; + case IIO_EV_TYPE_ROC: + reg =3D BMI270_NOMO1_REG; + break; case IIO_EV_TYPE_CHANGE: ret =3D bmi270_read_feature_reg(data, BMI270_SC_26_REG, ®val); if (ret) @@ -921,6 +1162,29 @@ static int bmi270_read_event_value(struct iio_dev *in= dio_dev, default: 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, regval); + *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, regval); + *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; + } } =20 static const struct iio_event_spec bmi270_step_wtrmrk_event =3D { @@ -929,6 +1193,20 @@ static const struct iio_event_spec bmi270_step_wtrmrk= _event =3D { .mask_shared_by_type =3D BIT(IIO_EV_INFO_ENABLE) | BIT(IIO_EV_INFO_VALUE), }; =20 +static const struct iio_event_spec bmi270_anymotion_event =3D { + .type =3D IIO_EV_TYPE_MAG_ADAPTIVE, + .dir =3D IIO_EV_DIR_RISING, + .mask_separate =3D BIT(IIO_EV_INFO_ENABLE), + .mask_shared_by_type =3D BIT(IIO_EV_INFO_VALUE) | BIT(IIO_EV_INFO_PERIOD), +}; + +static const struct iio_event_spec bmi270_nomotion_event =3D { + .type =3D IIO_EV_TYPE_ROC, + .dir =3D IIO_EV_DIR_RISING, + .mask_separate =3D BIT(IIO_EV_INFO_ENABLE), + .mask_shared_by_type =3D BIT(IIO_EV_INFO_VALUE) | BIT(IIO_EV_INFO_PERIOD), +}; + static const struct iio_info bmi270_info =3D { .read_raw =3D bmi270_read_raw, .write_raw =3D bmi270_write_raw, @@ -937,6 +1215,7 @@ 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) { \ @@ -956,6 +1235,8 @@ static const struct iio_info bmi270_info =3D { .storagebits =3D 16, \ .endianness =3D IIO_LE, \ }, \ + .event_spec =3D &bmi270_anymotion_event, \ + .num_event_specs =3D 1, \ } =20 #define BMI270_ANG_VEL_CHANNEL(_axis) { \ @@ -1000,6 +1281,14 @@ static const struct iio_chan_spec bmi270_channels[] = =3D { .num_event_specs =3D 1, }, IIO_CHAN_SOFT_TIMESTAMP(BMI270_SCAN_TIMESTAMP), + { + .type =3D IIO_ACCEL, + .modified =3D 1, + .channel2 =3D IIO_MOD_X_AND_Y_AND_Z, + .scan_index =3D -1, /* Fake channel */ + .event_spec =3D &bmi270_nomotion_event, + .num_event_specs =3D 1, + }, }; =20 static int bmi270_int_pin_config(struct bmi270_data *data, @@ -1107,6 +1396,13 @@ static int bmi270_trigger_probe(struct bmi270_data *= data, return dev_err_probe(data->dev, ret, "Trigger registration failed\n"); =20 + /* Disable axes for motion events */ + ret =3D 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 =3D irq_pin; =20 return 0; --=20 2.49.0