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Message-Id: <20250424-bmi270-events-v1-3-a6c722673e5f@gmail.com>
Date: Thu, 24 Apr 2025 21:14:52 -0300
From: Gustavo Silva <gustavograzs@...il.com>
To: Alex Lanzano <lanzano.alex@...il.com>,
Jonathan Cameron <jic23@...nel.org>, David Lechner <dlechner@...libre.com>,
Nuno Sá <nuno.sa@...log.com>,
Andy Shevchenko <andy@...nel.org>
Cc: linux-iio@...r.kernel.org, linux-kernel@...r.kernel.org,
Gustavo Silva <gustavograzs@...il.com>
Subject: [PATCH 3/3] iio: imu: bmi270: add support for motion events
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@...il.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) { \
--
2.49.0
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