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Message-Id: <20250616-bmi270-events-v3-3-16e37588604f@gmail.com>
Date: Mon, 16 Jun 2025 20:53:11 -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,
Lothar Rubusch <l.rubusch@...il.com>,
Gustavo Silva <gustavograzs@...il.com>
Subject: [PATCH v3 3/3] iio: imu: bmi270: add support for motion events
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 <gustavograzs@...il.com>
---
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..e54fb5f7a87f6f88e7eba8f81a15f703e48031b5 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)
@@ -106,6 +110,22 @@
#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_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
+#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"
@@ -309,6 +333,13 @@ 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,
};
@@ -318,6 +349,22 @@ 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,
@@ -439,6 +486,95 @@ static int bmi270_step_wtrmrk_en(struct bmi270_data *data, bool state)
state));
}
+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 = bmi270_int_map_reg(data->irq_pin);
+ if (irq_reg < 0)
+ return irq_reg;
+
+ guard(mutex)(&data->mutex);
+
+ ret = bmi270_read_feature_reg(data, BMI270_ANYMO1_REG, ®val);
+ if (ret)
+ return ret;
+
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ axis_msk = BMI270_FEAT_MOTION_X_EN_MSK;
+ axis_field_val = FIELD_PREP(BMI270_FEAT_MOTION_X_EN_MSK, state);
+ axis_en = 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 = BMI270_FEAT_MOTION_Y_EN_MSK;
+ axis_field_val = FIELD_PREP(BMI270_FEAT_MOTION_Y_EN_MSK, state);
+ axis_en = 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 = BMI270_FEAT_MOTION_Z_EN_MSK;
+ axis_field_val = FIELD_PREP(BMI270_FEAT_MOTION_Z_EN_MSK, state);
+ axis_en = FIELD_GET(BMI270_FEAT_MOTION_X_EN_MSK, regval) |
+ FIELD_GET(BMI270_FEAT_MOTION_Y_EN_MSK, regval);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ ret = bmi270_update_feature_reg(data, BMI270_ANYMO1_REG, axis_msk,
+ axis_field_val);
+ if (ret)
+ return ret;
+
+ ret = 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 = bmi270_int_map_reg(data->irq_pin);
+ if (irq_reg < 0)
+ return irq_reg;
+
+ guard(mutex)(&data->mutex);
+
+ ret = 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 = 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 uscale)
{
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);
+ 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,
}
}
+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[] = {
+ &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 = {
+ .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,
@@ -835,6 +999,10 @@ 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_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 = iio_priv(indio_dev);
- int ret, reg, regval;
+ bool feat_en, axis_en;
+ unsigned int regval;
+ u16 motion_reg;
+ int ret, reg;
guard(mutex)(&data->mutex);
+ reg = bmi270_int_map_reg(data->irq_pin);
+ if (reg < 0)
+ return reg;
+
+ ret = regmap_read(data->regmap, reg, ®val);
+ if (ret)
+ return ret;
+
switch (chan->type) {
case IIO_STEPS:
- reg = bmi270_int_map_reg(data->irq_pin);
- if (reg)
- return reg;
-
- ret = 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 = bmi270_read_feature_reg(data, BMI270_ANYMO1_REG,
+ &motion_reg);
+ if (ret)
+ return ret;
+
+ feat_en = FIELD_GET(BMI270_INT_MAP_FEAT_ANYMOTION_MSK,
+ regval);
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ axis_en = FIELD_GET(BMI270_FEAT_MOTION_X_EN_MSK,
+ motion_reg);
+ break;
+ case IIO_MOD_Y:
+ axis_en = FIELD_GET(BMI270_FEAT_MOTION_Y_EN_MSK,
+ motion_reg);
+ break;
+ case IIO_MOD_Z:
+ axis_en = 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 = iio_priv(indio_dev);
- unsigned int raw;
+ unsigned int raw, mask, regval;
+ int reg;
guard(mutex)(&data->mutex);
switch (type) {
+ case IIO_EV_TYPE_MAG_ADAPTIVE:
+ reg = BMI270_ANYMO1_REG;
+ break;
+ case IIO_EV_TYPE_ROC:
+ reg = 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 *indio_dev,
default:
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);
+ mask = BMI270_FEAT_MOTION_THRESHOLD_MSK;
+ regval = 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 = BMI270_INT_MICRO_TO_RAW(val, val2,
+ BMI270_MOTION_DURAT_SCALE);
+ mask = BMI270_FEAT_MOTION_DURATION_MSK;
+ regval = FIELD_PREP(BMI270_FEAT_MOTION_DURATION_MSK, raw);
+ return bmi270_update_feature_reg(data, reg, mask, regval);
+ default:
+ return -EINVAL;
+ }
}
static int bmi270_read_event_value(struct iio_dev *indio_dev,
@@ -904,12 +1139,18 @@ 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 regval;
- int ret;
guard(mutex)(&data->mutex);
switch (type) {
+ case IIO_EV_TYPE_MAG_ADAPTIVE:
+ reg = BMI270_ANYMO1_REG;
+ break;
+ case IIO_EV_TYPE_ROC:
+ reg = BMI270_NOMO1_REG;
+ break;
case IIO_EV_TYPE_CHANGE:
ret = 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 *indio_dev,
default:
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, regval);
+ *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, regval);
+ *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;
+ }
}
static const struct iio_event_spec bmi270_step_wtrmrk_event = {
@@ -929,6 +1193,20 @@ static const struct iio_event_spec bmi270_step_wtrmrk_event = {
.mask_shared_by_type = BIT(IIO_EV_INFO_ENABLE) | BIT(IIO_EV_INFO_VALUE),
};
+static const struct iio_event_spec bmi270_anymotion_event = {
+ .type = IIO_EV_TYPE_MAG_ADAPTIVE,
+ .dir = IIO_EV_DIR_RISING,
+ .mask_separate = BIT(IIO_EV_INFO_ENABLE),
+ .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) | BIT(IIO_EV_INFO_PERIOD),
+};
+
+static const struct iio_event_spec bmi270_nomotion_event = {
+ .type = IIO_EV_TYPE_ROC,
+ .dir = IIO_EV_DIR_RISING,
+ .mask_separate = BIT(IIO_EV_INFO_ENABLE),
+ .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) | BIT(IIO_EV_INFO_PERIOD),
+};
+
static const struct iio_info bmi270_info = {
.read_raw = bmi270_read_raw,
.write_raw = bmi270_write_raw,
@@ -937,6 +1215,7 @@ 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) { \
@@ -956,6 +1235,8 @@ static const struct iio_info bmi270_info = {
.storagebits = 16, \
.endianness = IIO_LE, \
}, \
+ .event_spec = &bmi270_anymotion_event, \
+ .num_event_specs = 1, \
}
#define BMI270_ANG_VEL_CHANNEL(_axis) { \
@@ -1000,6 +1281,14 @@ static const struct iio_chan_spec bmi270_channels[] = {
.num_event_specs = 1,
},
IIO_CHAN_SOFT_TIMESTAMP(BMI270_SCAN_TIMESTAMP),
+ {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X_AND_Y_AND_Z,
+ .scan_index = -1, /* Fake channel */
+ .event_spec = &bmi270_nomotion_event,
+ .num_event_specs = 1,
+ },
};
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");
+ /* Disable axes for motion events */
+ ret = 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 = irq_pin;
return 0;
--
2.49.0
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