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Tue, 16 Sep 2025 16:36:58 -0700 (PDT) From: Gustavo Silva Date: Tue, 16 Sep 2025 20:38:23 -0300 Subject: [PATCH v6 1/2] 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: 7bit Message-Id: <20250916-bmi270-v6-1-6acd8d26a862@gmail.com> References: <20250916-bmi270-v6-0-6acd8d26a862@gmail.com> In-Reply-To: <20250916-bmi270-v6-0-6acd8d26a862@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=1758065905; l=17419; i=gustavograzs@gmail.com; s=20250915; h=from:subject:message-id; bh=M1s1m3iq89uxSoc78wmRurFmWQynoYBHcX0VWF9o798=; b=P31oahiP9Aft1LnwCO1UdpWEIr9ls5wFSqV/DLz7nIKN/3/d8vN8hzyiH6REx8t24Ft55Pfsu rIVAwYvINbWA8NgfSvN+lrTASeyIV0xuw9uu7GpP8fL1ybeofOr0AZ+ X-Developer-Key: i=gustavograzs@gmail.com; a=ed25519; pk=kYkFqZEIlab+1AaYMvpqhTQxwPXcJiTXdMaBQbfORrg= 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 | 381 +++++++++++++++++++++++++++++++++-- 1 file changed, 361 insertions(+), 20 deletions(-) diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c index 519f1c9d466dceb301b53efee905f1b8fc4468c0..2ad230788532c5bed1f18a4933b661e0807121f9 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 +110,25 @@ #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_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 +#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 +337,13 @@ 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 +353,22 @@ 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 +490,121 @@ static int bmi270_step_wtrmrk_en(struct bmi270_data *data, bool state) state)); } +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 = 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; @@ -479,8 +645,6 @@ static int bmi270_get_scale(struct bmi270_data *data, int chan_type, int *scale, unsigned int val; struct bmi270_scale_item bmi270_scale_item; - guard(mutex)(&data->mutex); - switch (chan_type) { case IIO_ACCEL: ret = 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); + 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 +1005,39 @@ static int bmi270_read_avail(struct iio_dev *indio_dev, } } +static ssize_t in_accel_value_available_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct bmi270_data *data = iio_priv(indio_dev); + int ret, scale, uscale; + unsigned int step, max; + + ret = bmi270_get_scale(data, IIO_ACCEL, &scale, &uscale); + if (ret) + return ret; + + max = BMI270_G_MICRO_M_S_2 / uscale; + step = max / BMI270_MOTION_THRES_FULL_SCALE; + + return sysfs_emit(buf, "[0 %u %u]\n", step, max); +} + +static IIO_DEVICE_ATTR_RO(in_accel_value_available, 0); + +static IIO_CONST_ATTR(in_accel_period_available, "[0.0 0.02 162.0]"); + +static struct attribute *bmi270_event_attributes[] = { + &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 = { + .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 +1046,10 @@ 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 +1063,55 @@ static int bmi270_read_event_config(struct iio_dev *indio_dev, enum iio_event_direction dir) { struct bmi270_data *data = iio_priv(indio_dev); + bool feat_en, axis_en; int ret, reg, regval; + u16 motion_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; + return !!FIELD_GET(BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK, regval); + case IIO_ACCEL: + switch (type) { + case IIO_EV_TYPE_ROC: + return !!FIELD_GET(BMI270_INT_MAP_FEAT_NOMOTION_MSK, regval); + case IIO_EV_TYPE_MAG_ADAPTIVE: + ret = bmi270_read_feature_reg(data, BMI270_ANYMO1_REG, + &motion_reg); + if (ret) + return ret; - 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; + 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; + default: + return -EINVAL; + } default: return -EINVAL; } @@ -876,20 +1125,50 @@ 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 ret, reg, scale, uscale; + u64 tmp; guard(mutex)(&data->mutex); - switch (type) { - case IIO_EV_TYPE_CHANGE: + if (type == IIO_EV_TYPE_CHANGE) { if (!in_range(val, 0, BMI270_STEP_COUNTER_MAX + 1)) return -EINVAL; raw = 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 = BMI270_STEP_SC26_WTRMRK_MSK; + regval = FIELD_PREP(BMI270_STEP_SC26_WTRMRK_MSK, raw); + return bmi270_update_feature_reg(data, BMI270_SC_26_REG, mask, + regval); + } + + reg = bmi270_motion_reg(type, info); + if (reg < 0) + return reg; + + switch (info) { + case IIO_EV_INFO_VALUE: + ret = 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 = (u64)val * BMI270_MOTION_THRES_FULL_SCALE * uscale; + raw = DIV_ROUND_CLOSEST_ULL(tmp, BMI270_G_MICRO_M_S_2); + 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; } @@ -903,14 +1182,14 @@ static int bmi270_read_event_value(struct iio_dev *indio_dev, int *val, int *val2) { struct bmi270_data *data = iio_priv(indio_dev); + int ret, reg, scale, uscale; unsigned int raw; u16 regval; - int ret; + u64 tmp; guard(mutex)(&data->mutex); - switch (type) { - case IIO_EV_TYPE_CHANGE: + if (type == IIO_EV_TYPE_CHANGE) { ret = bmi270_read_feature_reg(data, BMI270_SC_26_REG, ®val); if (ret) return ret; @@ -918,6 +1197,36 @@ static int bmi270_read_event_value(struct iio_dev *indio_dev, raw = FIELD_GET(BMI270_STEP_SC26_WTRMRK_MSK, regval); *val = raw * BMI270_STEP_COUNTER_FACTOR; return IIO_VAL_INT; + } + + reg = bmi270_motion_reg(type, info); + if (reg < 0) + return reg; + + switch (info) { + case IIO_EV_INFO_VALUE: + ret = bmi270_read_feature_reg(data, reg, ®val); + if (ret) + return ret; + + ret = bmi270_get_scale(data, IIO_ACCEL, &scale, &uscale); + if (ret) + return ret; + + raw = FIELD_GET(BMI270_FEAT_MOTION_THRESHOLD_MSK, regval); + tmp = (u64)raw * BMI270_G_MICRO_M_S_2; + *val = DIV_ROUND_CLOSEST_ULL(tmp, + BMI270_MOTION_THRES_FULL_SCALE * uscale); + return IIO_VAL_INT; + 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; } @@ -929,6 +1238,20 @@ 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 +1260,7 @@ 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 +1280,8 @@ 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 +1326,14 @@ 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 +1441,13 @@ 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; -- 2.51.0