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Sat, 30 Aug 2025 04:58:21 -0700 (PDT) From: Gustavo Silva To: lanzano.alex@gmail.com, jic23@kernel.org, dlechner@baylibre.com, nuno.sa@analog.com, andy@kernel.org Cc: Gustavo Silva , linux-iio@vger.kernel.org, linux-kernel@vger.kernel.org Subject: [PATCH v5 3/4] iio: imu: bmi270: add support for motion events Date: Sat, 30 Aug 2025 08:58:56 -0300 Message-ID: <20250830115858.21477-2-gustavograzs@gmail.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20250830115858.21477-1-gustavograzs@gmail.com> References: <20250830115858.21477-1-gustavograzs@gmail.com> Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: quoted-printable Content-Type: text/plain; charset="utf-8" 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 | 384 +++++++++++++++++++++++++-- 1 file changed, 364 insertions(+), 20 deletions(-) diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/= bmi270_core.c index 519f1c9d466d..714754160c2b 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 +110,25 @@ #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_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_FULL_SCALE GENMASK(10, 0) +#define BMI270_MOTION_DURAT_SCALE 50 +#define BMI270_MOTION_DURAT_MAX 162 + +/* 9.81 * 1000000 m/s^2 */ +#define BMI270_G_MICRO_M_S_2 9810000 + /* See datasheet section 4.6.14, Temperature Sensor */ #define BMI270_TEMP_OFFSET 11776 #define BMI270_TEMP_SCALE 1953125 @@ -114,6 +137,11 @@ #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) / scale) + #define BMI260_INIT_DATA_FILE "bmi260-init-data.fw" #define BMI270_INIT_DATA_FILE "bmi270-init-data.fw" =20 @@ -309,6 +337,13 @@ 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 +353,22 @@ 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 +490,121 @@ static int bmi270_step_wtrmrk_en(struct bmi270_data *= data, bool state) state)); } =20 +static int bmi270_motion_reg(enum iio_event_type type, enum iio_event_info= info) +{ + switch (info) { + case IIO_EV_INFO_PERIOD: + switch (type) { + case IIO_EV_TYPE_MAG_ADAPTIVE: + return BMI270_ANYMO1_REG; + case IIO_EV_TYPE_ROC: + return BMI270_NOMO1_REG; + default: + return -EINVAL; + } + case IIO_EV_INFO_VALUE: + switch (type) { + case IIO_EV_TYPE_MAG_ADAPTIVE: + return BMI270_ANYMO2_REG; + case IIO_EV_TYPE_ROC: + return BMI270_NOMO2_REG; + default: + return -EINVAL; + } + default: + return -EINVAL; + } +} + +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; @@ -479,8 +645,6 @@ static int bmi270_get_scale(struct bmi270_data *data, i= nt chan_type, int *scale, unsigned int val; struct bmi270_scale_item bmi270_scale_item; =20 - guard(mutex)(&data->mutex); - switch (chan_type) { case IIO_ACCEL: ret =3D regmap_read(data->regmap, BMI270_ACC_CONF_RANGE_REG, &val); @@ -614,6 +778,20 @@ 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 +1005,40 @@ static int bmi270_read_avail(struct iio_dev *indio_de= v, } } =20 +static ssize_t bmi270_show_accel_value_avail(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev =3D dev_to_iio_dev(dev); + struct bmi270_data *data =3D iio_priv(indio_dev); + int ret, scale, uscale; + unsigned int step, max; + + ret =3D bmi270_get_scale(data, IIO_ACCEL, &scale, &uscale); + if (ret) + return ret; + + max =3D BMI270_G_MICRO_M_S_2 / uscale; + step =3D max / BMI270_MOTION_THRES_FULL_SCALE; + + return sysfs_emit(buf, "[0 %u %u]\n", step, max); +} + +static IIO_DEVICE_ATTR(in_accel_value_available, 0444, + bmi270_show_accel_value_avail, NULL, 0); + +static IIO_CONST_ATTR(in_accel_period_available, "[0.0 0.02 162.0]"); + +static struct attribute *bmi270_event_attributes[] =3D { + &iio_dev_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 +1047,10 @@ static int bmi270_write_event_config(struct iio_dev *= indio_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 +1064,57 @@ 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); + bool feat_en, axis_en; int ret, reg, regval; + u16 motion_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; + 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; =20 - 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; + 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; + default: + return -EINVAL; + } default: return -EINVAL; } @@ -876,20 +1128,50 @@ 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 ret, reg, scale, uscale; + u64 tmp; =20 guard(mutex)(&data->mutex); =20 - switch (type) { - case IIO_EV_TYPE_CHANGE: + if (type =3D=3D IIO_EV_TYPE_CHANGE) { if (!in_range(val, 0, BMI270_STEP_COUNTER_MAX + 1)) return -EINVAL; =20 raw =3D 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)); + mask =3D BMI270_STEP_SC26_WTRMRK_MSK; + regval =3D FIELD_PREP(BMI270_STEP_SC26_WTRMRK_MSK, raw); + return bmi270_update_feature_reg(data, BMI270_SC_26_REG, mask, + regval); + } + + reg =3D bmi270_motion_reg(type, info); + if (reg < 0) + return reg; + + switch (info) { + case IIO_EV_INFO_VALUE: + ret =3D bmi270_get_scale(data, IIO_ACCEL, &scale, &uscale); + if (ret) + return ret; + + if (!in_range(val, 0, (BMI270_G_MICRO_M_S_2 / uscale) + 1)) + return -EINVAL; + + tmp =3D (u64)val * BMI270_MOTION_THRES_FULL_SCALE * uscale; + raw =3D DIV_ROUND_CLOSEST_ULL(tmp, BMI270_G_MICRO_M_S_2); + 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; } @@ -903,14 +1185,14 @@ static int bmi270_read_event_value(struct iio_dev *i= ndio_dev, int *val, int *val2) { struct bmi270_data *data =3D iio_priv(indio_dev); + int ret, reg, scale, uscale; unsigned int raw; u16 regval; - int ret; + u64 tmp; =20 guard(mutex)(&data->mutex); =20 - switch (type) { - case IIO_EV_TYPE_CHANGE: + if (type =3D=3D IIO_EV_TYPE_CHANGE) { ret =3D bmi270_read_feature_reg(data, BMI270_SC_26_REG, ®val); if (ret) return ret; @@ -918,6 +1200,36 @@ static int bmi270_read_event_value(struct iio_dev *in= dio_dev, raw =3D FIELD_GET(BMI270_STEP_SC26_WTRMRK_MSK, regval); *val =3D raw * BMI270_STEP_COUNTER_FACTOR; return IIO_VAL_INT; + } + + reg =3D bmi270_motion_reg(type, info); + if (reg < 0) + return reg; + + switch (info) { + case IIO_EV_INFO_VALUE: + ret =3D bmi270_read_feature_reg(data, reg, ®val); + if (ret) + return ret; + + ret =3D bmi270_get_scale(data, IIO_ACCEL, &scale, &uscale); + if (ret) + return ret; + + raw =3D FIELD_GET(BMI270_FEAT_MOTION_THRESHOLD_MSK, regval); + tmp =3D (u64)raw * BMI270_G_MICRO_M_S_2; + *val =3D DIV_ROUND_CLOSEST_ULL(tmp, + BMI270_MOTION_THRES_FULL_SCALE * uscale); + return IIO_VAL_INT; + 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; } @@ -929,6 +1241,20 @@ 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 +1263,7 @@ 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 +1283,8 @@ 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 +1329,14 @@ 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 +1444,13 @@ 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 2.51.0