[PATCH v6 0/2] BMI270: Add support for step counter and motion events

[PATCH v6 0/2] BMI270: Add support for step counter and motion events

[Gustavo Silva]

This series adds support for step counter and motion events using
interrupts in the BMI270 driver.

The step counter can be enabled, disabled, and configured with a
watermark, all from userspace.

Any-motion and no-motion events are generated by detecting changes
in acceleration on each axis.

Signed-off-by: Gustavo Silva <gustavograzs@gmail.com>
---
Changes in v6:
- Use IIO_DEVICE_ATTR_RO instead of IIO_DEVICE_ATTR for
  in_accel_value_available.
- Replace ternary operator with !! to fit the statement on a single line
- Change the description of in_accel_<x|y|z>_mag_adaptive_rising_en
  attributes: 'adaptive magnitude' -> 'adaptive threshold'
- Group in_accel_mag_adaptive_rising_value together with similar
  attributes
- Clarify in the description of in_accel_value_available that the values
  apply to all in_accel_* channels
- Link to v5: https://lore.kernel.org/r/20250830115858.21477-1-gustavograzs@gmail.com

Changes in v5:
- BMI270_G_MACRO_M_S_2 -> BMI270_G_MICRO_M_S_2
- Add patch #4: ABI documentation for the exposed sysfs attributes
Link to v4: https://lore.kernel.org/r/20250711-bmi270-events-v4-3-53ec7da35046@gmail.com

Changes in v4:
- Reworked the threshold for the any-motion event so that threshold *
  accel_scale is given in m/s^2, in accordance with the ABI
  Also the range of available values for the threshold is now determined
  dynamically based on the value of the accelerometer scale
- Fixed alignment and styling of some statements and macros
- Simplified the return statement in the bmi270_read_event_config()
  function by returning the boolean expression directly
- Link to v3: https://lore.kernel.org/r/20250616-bmi270-events-v3-0-16e37588604f@gmail.com

Changes in v3:
- Avoid the usage of set_mask_bits() macro on 16-bit integers,
  use the bitwise operators instead
- Fix indentation, alignment and style issues
- Link to v2: https://lore.kernel.org/r/20250605-bmi270-events-v2-0-8b2c07d0c213@gmail.com

Changes in v2:
- Reduce the scope of mutex lock when clearing the step counter
- Change the type of the 'steps_enabled' variable from int to bool
- Add a new DMA safe variable to the device's private data to access the
  feature registers
- Remove unnecessary mutex lock
- Fix a build error found by the kernel test robot by initializing a
  local variable in the `bmi270_update_feature_reg()` function
- Remove dead code in the `bmi270_write_event_config()` function
- Add macro definitions and corresponding datasheet references for
  relevant constants: step counter maximum value, step counter factor,
  and threshold upper limit
- Remove the event bitmask from the device's private data. Read the
  registers directly to retrieve this information instead
- Use IIO_UNMOD_EVENT_CODE instead of IIO_MOD_EVENT_CODE where
  appropriate
- Fix shadowed error codes
- Change motion event to be enabled on a per-axis basis
- Create pseudo channel of type accel_x&y&z for the no-motion event
- Change no-motion event type to IIO_EV_TYPE_ROC
- Link to v1: https://lore.kernel.org/r/20250424-bmi270-events-v1-0-a6c722673e5f@gmail.com

---
Gustavo Silva (2):
  iio: imu: bmi270: add support for motion events
  iio: ABI: document accel and roc event attributes

 Documentation/ABI/testing/sysfs-bus-iio |  40 +++
 drivers/iio/imu/bmi270/bmi270_core.c    | 384 ++++++++++++++++++++++--
 2 files changed, 404 insertions(+), 20 deletions(-)

base-commit: 91812d3843409c235f336f32f1c37ddc790f1e03
--
2.51.0

---
Gustavo Silva (2):
      iio: imu: bmi270: add support for motion events
      iio: ABI: document accelerometer event attributes

 Documentation/ABI/testing/sysfs-bus-iio |  34 +++
 drivers/iio/imu/bmi270/bmi270_core.c    | 381 ++++++++++++++++++++++++++++++--
 2 files changed, 395 insertions(+), 20 deletions(-)
---
base-commit: 91812d3843409c235f336f32f1c37ddc790f1e03
change-id: 20250915-bmi270-9e71958cff0d

Best regards,
-- 
Gustavo Silva <gustavograzs@gmail.com>

[PATCH v6 1/2] iio: imu: bmi270: add support for motion events

[Gustavo Silva]

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@gmail.com>
---
 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, &regval);
+	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, &regval);
+	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, &regval);
-		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, &regval);
 		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, &regval);
+		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, &regval);
+		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

[PATCH v6 2/2] iio: ABI: document accelerometer event attributes

[Gustavo Silva]

Add ABI documentation for accelerometer event-related sysfs attributes
exposed by the bmi270 driver. These include threshold, period, and
enable controls for adaptive magnitude (any-motion) and rate of change
(no-motion) event detection.

Signed-off-by: Gustavo Silva <gustavograzs@gmail.com>
---
 Documentation/ABI/testing/sysfs-bus-iio | 34 +++++++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio
index 2fb2cea4b19249743398b1ff0b538b03ced0340b..b45d1ba6972848a6024746d7d741146e35a55ebb 100644
--- a/Documentation/ABI/testing/sysfs-bus-iio
+++ b/Documentation/ABI/testing/sysfs-bus-iio
@@ -908,6 +908,7 @@ What:		/sys/.../iio:deviceX/events/in_accel_y_roc_rising_en
 What:		/sys/.../iio:deviceX/events/in_accel_y_roc_falling_en
 What:		/sys/.../iio:deviceX/events/in_accel_z_roc_rising_en
 What:		/sys/.../iio:deviceX/events/in_accel_z_roc_falling_en
+What:		/sys/.../iio:deviceX/events/in_accel_x&y&z_roc_rising_en
 What:		/sys/.../iio:deviceX/events/in_anglvel_x_roc_rising_en
 What:		/sys/.../iio:deviceX/events/in_anglvel_x_roc_falling_en
 What:		/sys/.../iio:deviceX/events/in_anglvel_y_roc_rising_en
@@ -991,6 +992,7 @@ What:		/sys/.../events/in_accel_y_raw_thresh_rising_value
 What:		/sys/.../events/in_accel_y_raw_thresh_falling_value
 What:		/sys/.../events/in_accel_z_raw_thresh_rising_value
 What:		/sys/.../events/in_accel_z_raw_thresh_falling_value
+What:		/sys/.../events/in_accel_mag_adaptive_rising_value
 What:		/sys/.../events/in_anglvel_x_raw_thresh_rising_value
 What:		/sys/.../events/in_anglvel_x_raw_thresh_falling_value
 What:		/sys/.../events/in_anglvel_y_raw_thresh_rising_value
@@ -1129,6 +1131,7 @@ Description:
 		will get activated once in_voltage0_raw goes above 1200 and will become
 		deactivated again once the value falls below 1150.
 
+What:		/sys/.../events/in_accel_roc_rising_value
 What:		/sys/.../events/in_accel_x_raw_roc_rising_value
 What:		/sys/.../events/in_accel_x_raw_roc_falling_value
 What:		/sys/.../events/in_accel_y_raw_roc_rising_value
@@ -1177,6 +1180,7 @@ Description:
 
 What:		/sys/.../events/in_accel_x_thresh_rising_period
 What:		/sys/.../events/in_accel_x_thresh_falling_period
+What:		/sys/.../events/in_accel_roc_rising_period
 What:		/sys/.../events/in_accel_x_roc_rising_period
 What:		/sys/.../events/in_accel_x_roc_falling_period
 What:		/sys/.../events/in_accel_y_thresh_rising_period
@@ -1187,6 +1191,7 @@ What:		/sys/.../events/in_accel_z_thresh_rising_period
 What:		/sys/.../events/in_accel_z_thresh_falling_period
 What:		/sys/.../events/in_accel_z_roc_rising_period
 What:		/sys/.../events/in_accel_z_roc_falling_period
+What:		/sys/.../events/in_accel_mag_adaptive_rising_period
 What:		/sys/.../events/in_anglvel_x_thresh_rising_period
 What:		/sys/.../events/in_anglvel_x_thresh_falling_period
 What:		/sys/.../events/in_anglvel_x_roc_rising_period
@@ -1344,6 +1349,15 @@ Description:
 		number or direction is not specified, applies to all channels of
 		this type.
 
+What:		/sys/.../iio:deviceX/events/in_accel_x_mag_adaptive_rising_en
+What:		/sys/.../iio:deviceX/events/in_accel_y_mag_adaptive_rising_en
+What:		/sys/.../iio:deviceX/events/in_accel_z_mag_adaptive_rising_en
+KernelVersion:	2.6.37
+Contact:	linux-iio@vger.kernel.org
+Description:
+		Similar to in_accel_x_thresh[_rising|_falling]_en, but here the
+		magnitude of the channel is compared to the adaptive threshold.
+
 What:		/sys/.../iio:deviceX/events/in_accel_mag_referenced_en
 What:		/sys/.../iio:deviceX/events/in_accel_mag_referenced_rising_en
 What:		/sys/.../iio:deviceX/events/in_accel_mag_referenced_falling_en
@@ -2386,3 +2400,23 @@ Description:
 		Value representing the user's attention to the system expressed
 		in units as percentage. This usually means if the user is
 		looking at the screen or not.
+
+What:		/sys/.../events/in_accel_value_available
+KernelVersion:	6.18
+Contact:	linux-iio@vger.kernel.org
+Description:
+		List of available threshold values for acceleration event
+		generation. Applies to all event types on in_accel channels.
+		Units after application of scale and offset are m/s^2.
+		Expressed as:
+
+		- a range specified as "[min step max]"
+
+What:		/sys/.../events/in_accel_period_available
+KernelVersion:	6.18
+Contact:	linux-iio@vger.kernel.org
+Description:
+		List of available periods for accelerometer event detection in
+		seconds, expressed as:
+
+		- a range specified as "[min step max]"

-- 
2.51.0

Re: [PATCH v6 2/2] iio: ABI: document accelerometer event attributes

[Andy Shevchenko]

On Tue, Sep 16, 2025 at 08:38:24PM -0300, Gustavo Silva wrote:
> Add ABI documentation for accelerometer event-related sysfs attributes
> exposed by the bmi270 driver. These include threshold, period, and
> enable controls for adaptive magnitude (any-motion) and rate of change
> (no-motion) event detection.

...

> What:		/sys/.../iio:deviceX/events/in_accel_y_roc_rising_en

>  What:		/sys/.../iio:deviceX/events/in_accel_y_roc_falling_en
>  What:		/sys/.../iio:deviceX/events/in_accel_z_roc_rising_en
>  What:		/sys/.../iio:deviceX/events/in_accel_z_roc_falling_en
> +What:		/sys/.../iio:deviceX/events/in_accel_x&y&z_roc_rising_en
>  What:		/sys/.../iio:deviceX/events/in_anglvel_x_roc_rising_en
>  What:		/sys/.../iio:deviceX/events/in_anglvel_x_roc_falling_en
>  What:		/sys/.../iio:deviceX/events/in_anglvel_y_roc_rising_en

> What:		/sys/.../events/in_accel_y_raw_thresh_rising_value

>  What:		/sys/.../events/in_accel_y_raw_thresh_falling_value
>  What:		/sys/.../events/in_accel_z_raw_thresh_rising_value
>  What:		/sys/.../events/in_accel_z_raw_thresh_falling_value
> +What:		/sys/.../events/in_accel_mag_adaptive_rising_value
>  What:		/sys/.../events/in_anglvel_x_raw_thresh_rising_value
>  What:		/sys/.../events/in_anglvel_x_raw_thresh_falling_value
>  What:		/sys/.../events/in_anglvel_y_raw_thresh_rising_value

> +What:		/sys/.../events/in_accel_roc_rising_value
>  What:		/sys/.../events/in_accel_x_raw_roc_rising_value
>  What:		/sys/.../events/in_accel_x_raw_roc_falling_value
>  What:		/sys/.../events/in_accel_y_raw_roc_rising_value

>  What:		/sys/.../events/in_accel_x_thresh_rising_period
>  What:		/sys/.../events/in_accel_x_thresh_falling_period
> +What:		/sys/.../events/in_accel_roc_rising_period
>  What:		/sys/.../events/in_accel_x_roc_rising_period
>  What:		/sys/.../events/in_accel_x_roc_falling_period
>  What:		/sys/.../events/in_accel_y_thresh_rising_period

With the given context (above and below) I'm not sure this is the best place of
putting an attribute in the list. Perhaps something below will not disrupt the
xyz structure (like mag cases)?

> What:		/sys/.../events/in_accel_z_thresh_rising_period

>  What:		/sys/.../events/in_accel_z_thresh_falling_period
>  What:		/sys/.../events/in_accel_z_roc_rising_period
>  What:		/sys/.../events/in_accel_z_roc_falling_period
> +What:		/sys/.../events/in_accel_mag_adaptive_rising_period
>  What:		/sys/.../events/in_anglvel_x_thresh_rising_period
>  What:		/sys/.../events/in_anglvel_x_thresh_falling_period
>  What:		/sys/.../events/in_anglvel_x_roc_rising_period

-- 
With Best Regards,
Andy Shevchenko

Re: [PATCH v6 2/2] iio: ABI: document accelerometer event attributes

[Jonathan Cameron]

On Wed, 17 Sep 2025 11:47:30 +0300
Andy Shevchenko <andriy.shevchenko@intel.com> wrote:

> On Tue, Sep 16, 2025 at 08:38:24PM -0300, Gustavo Silva wrote:
> > Add ABI documentation for accelerometer event-related sysfs attributes
> > exposed by the bmi270 driver. These include threshold, period, and
> > enable controls for adaptive magnitude (any-motion) and rate of change
> > (no-motion) event detection.  
> 
> ...
> 
> > What:		/sys/.../iio:deviceX/events/in_accel_y_roc_rising_en  
> 
> >  What:		/sys/.../iio:deviceX/events/in_accel_y_roc_falling_en
> >  What:		/sys/.../iio:deviceX/events/in_accel_z_roc_rising_en
> >  What:		/sys/.../iio:deviceX/events/in_accel_z_roc_falling_en
> > +What:		/sys/.../iio:deviceX/events/in_accel_x&y&z_roc_rising_en
> >  What:		/sys/.../iio:deviceX/events/in_anglvel_x_roc_rising_en
> >  What:		/sys/.../iio:deviceX/events/in_anglvel_x_roc_falling_en
> >  What:		/sys/.../iio:deviceX/events/in_anglvel_y_roc_rising_en  
> 
> > What:		/sys/.../events/in_accel_y_raw_thresh_rising_value  
> 
> >  What:		/sys/.../events/in_accel_y_raw_thresh_falling_value
> >  What:		/sys/.../events/in_accel_z_raw_thresh_rising_value
> >  What:		/sys/.../events/in_accel_z_raw_thresh_falling_value
> > +What:		/sys/.../events/in_accel_mag_adaptive_rising_value
> >  What:		/sys/.../events/in_anglvel_x_raw_thresh_rising_value
> >  What:		/sys/.../events/in_anglvel_x_raw_thresh_falling_value
> >  What:		/sys/.../events/in_anglvel_y_raw_thresh_rising_value  
> 
> > +What:		/sys/.../events/in_accel_roc_rising_value
> >  What:		/sys/.../events/in_accel_x_raw_roc_rising_value
> >  What:		/sys/.../events/in_accel_x_raw_roc_falling_value
> >  What:		/sys/.../events/in_accel_y_raw_roc_rising_value  
> 
> >  What:		/sys/.../events/in_accel_x_thresh_rising_period
> >  What:		/sys/.../events/in_accel_x_thresh_falling_period
> > +What:		/sys/.../events/in_accel_roc_rising_period
> >  What:		/sys/.../events/in_accel_x_roc_rising_period
> >  What:		/sys/.../events/in_accel_x_roc_falling_period
> >  What:		/sys/.../events/in_accel_y_thresh_rising_period  
> 
> With the given context (above and below) I'm not sure this is the best place of
> putting an attribute in the list. Perhaps something below will not disrupt the
> xyz structure (like mag cases)?

I took a look at the broader context and it was a bit tricky but I think this
is the best we can do to maintain current ordering (which is fuzzily defined at best).

At some point that whole doc needs a rethink wrt to how we break the different blocks
up and order the elements within them.

With this change, series applied to the testing branch of iio.git.
That will be rebased on rc1 once available and then become the togreg branch.

thanks,

Jonathan



diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio
index 89b4740dcfa1..352ab7b8476c 100644
--- a/Documentation/ABI/testing/sysfs-bus-iio
+++ b/Documentation/ABI/testing/sysfs-bus-iio
@@ -926,6 +926,7 @@ What:               /sys/.../iio:deviceX/events/in_accel_y_roc_rising_en
 What:          /sys/.../iio:deviceX/events/in_accel_y_roc_falling_en
 What:          /sys/.../iio:deviceX/events/in_accel_z_roc_rising_en
 What:          /sys/.../iio:deviceX/events/in_accel_z_roc_falling_en
+What:          /sys/.../iio:deviceX/events/in_accel_x&y&z_roc_rising_en
 What:          /sys/.../iio:deviceX/events/in_anglvel_x_roc_rising_en
 What:          /sys/.../iio:deviceX/events/in_anglvel_x_roc_falling_en
 What:          /sys/.../iio:deviceX/events/in_anglvel_y_roc_rising_en
@@ -1001,6 +1002,7 @@ Description:
                to the raw signal, allowing slow tracking to resume and the
                adaptive threshold event detection to function as expected.
 
+What:          /sys/.../events/in_accel_mag_adaptive_rising_value
 What:          /sys/.../events/in_accel_thresh_rising_value
 What:          /sys/.../events/in_accel_thresh_falling_value
 What:          /sys/.../events/in_accel_x_raw_thresh_rising_value
@@ -1147,6 +1149,7 @@ Description:
                will get activated once in_voltage0_raw goes above 1200 and will become
                deactivated again once the value falls below 1150.
 
+What:          /sys/.../events/in_accel_roc_rising_value
 What:          /sys/.../events/in_accel_x_raw_roc_rising_value
 What:          /sys/.../events/in_accel_x_raw_roc_falling_value
 What:          /sys/.../events/in_accel_y_raw_roc_rising_value
@@ -1193,6 +1196,8 @@ Description:
                value is in raw device units or in processed units (as _raw
                and _input do on sysfs direct channel read attributes).
 
+What:          /sys/.../events/in_accel_mag_adaptive_rising_period
+What:          /sys/.../events/in_accel_roc_rising_period
 What:          /sys/.../events/in_accel_x_thresh_rising_period
 What:          /sys/.../events/in_accel_x_thresh_falling_period
 What:          /sys/.../events/in_accel_x_roc_rising_period
@@ -1362,6 +1367,15 @@ Description:
                number or direction is not specified, applies to all channels of
                this type.
 
+What:          /sys/.../iio:deviceX/events/in_accel_x_mag_adaptive_rising_en

t

> 
> > What:		/sys/.../events/in_accel_z_thresh_rising_period  
> 
> >  What:		/sys/.../events/in_accel_z_thresh_falling_period
> >  What:		/sys/.../events/in_accel_z_roc_rising_period
> >  What:		/sys/.../events/in_accel_z_roc_falling_period
> > +What:		/sys/.../events/in_accel_mag_adaptive_rising_period
> >  What:		/sys/.../events/in_anglvel_x_thresh_rising_period
> >  What:		/sys/.../events/in_anglvel_x_thresh_falling_period
> >  What:		/sys/.../events/in_anglvel_x_roc_rising_period  
>