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iio: imu: bmi270: add support for motion events

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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>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Gustavo Silva 2025-09-16 20:38:23 -03:00 committed by Jonathan Cameron
parent 92c7ae3486
commit 3c2a24f7e8
1 changed files with 361 additions and 20 deletions
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381
drivers/iio/imu/bmi270/bmi270_core.c
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@ -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;