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path: root/drivers/iio/imu/bmi270/bmi270_core.c
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Diffstat (limited to 'drivers/iio/imu/bmi270/bmi270_core.c')
-rw-r--r--drivers/iio/imu/bmi270/bmi270_core.c327
1 files changed, 324 insertions, 3 deletions
diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c
index 2e4469f30d53..519f1c9d466d 100644
--- a/drivers/iio/imu/bmi270/bmi270_core.c
+++ b/drivers/iio/imu/bmi270/bmi270_core.c
@@ -8,6 +8,7 @@
#include <linux/regmap.h>
#include <linux/units.h>
+#include <linux/iio/events.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/trigger.h>
@@ -28,9 +29,14 @@
#define BMI270_ACCEL_X_REG 0x0c
#define BMI270_ANG_VEL_X_REG 0x12
+#define BMI270_INT_STATUS_0_REG 0x1c
+#define BMI270_INT_STATUS_0_STEP_CNT_MSK BIT(1)
+
#define BMI270_INT_STATUS_1_REG 0x1d
#define BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK GENMASK(7, 6)
+#define BMI270_SC_OUT_0_REG 0x1e
+
#define BMI270_INTERNAL_STATUS_REG 0x21
#define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0)
#define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01
@@ -39,6 +45,8 @@
#define BMI270_TEMPERATURE_0_REG 0x22
+#define BMI270_FEAT_PAGE_REG 0x2f
+
#define BMI270_ACC_CONF_REG 0x40
#define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0)
#define BMI270_ACC_CONF_ODR_100HZ 0x08
@@ -70,6 +78,10 @@
#define BMI270_INT_LATCH_REG 0x55
#define BMI270_INT_LATCH_REG_MSK BIT(0)
+#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_DATA_REG 0x58
#define BMI270_INT_MAP_DATA_DRDY_INT1_MSK BIT(2)
#define BMI270_INT_MAP_DATA_DRDY_INT2_MSK BIT(6)
@@ -90,10 +102,18 @@
#define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2)
#define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3)
+#define BMI270_STEP_SC26_WTRMRK_MSK GENMASK(9, 0)
+#define BMI270_STEP_SC26_RST_CNT_MSK BIT(10)
+#define BMI270_STEP_SC26_EN_CNT_MSK BIT(12)
+
/* See datasheet section 4.6.14, Temperature Sensor */
#define BMI270_TEMP_OFFSET 11776
#define BMI270_TEMP_SCALE 1953125
+/* See page 90 of datasheet. The step counter "holds implicitly a 20x factor" */
+#define BMI270_STEP_COUNTER_FACTOR 20
+#define BMI270_STEP_COUNTER_MAX 20460
+
#define BMI260_INIT_DATA_FILE "bmi260-init-data.fw"
#define BMI270_INIT_DATA_FILE "bmi270-init-data.fw"
@@ -111,6 +131,7 @@ struct bmi270_data {
struct iio_trigger *trig;
/* Protect device's private data from concurrent access */
struct mutex mutex;
+ bool steps_enabled;
/*
* Where IIO_DMA_MINALIGN may be larger than 8 bytes, align to
@@ -120,6 +141,11 @@ struct bmi270_data {
__le16 channels[6];
aligned_s64 timestamp;
} buffer __aligned(IIO_DMA_MINALIGN);
+ /*
+ * Variable to access feature registers. It can be accessed concurrently
+ * with the 'buffer' variable
+ */
+ __le16 regval __aligned(IIO_DMA_MINALIGN);
};
enum bmi270_scan {
@@ -282,6 +308,137 @@ static const struct bmi270_odr_item bmi270_odr_table[] = {
},
};
+enum bmi270_feature_reg_id {
+ BMI270_SC_26_REG,
+};
+
+struct bmi270_feature_reg {
+ u8 page;
+ u8 addr;
+};
+
+static const struct bmi270_feature_reg bmi270_feature_regs[] = {
+ [BMI270_SC_26_REG] = {
+ .page = 6,
+ .addr = 0x32,
+ },
+};
+
+static int bmi270_write_feature_reg(struct bmi270_data *data,
+ enum bmi270_feature_reg_id id,
+ u16 val)
+{
+ const struct bmi270_feature_reg *reg = &bmi270_feature_regs[id];
+ int ret;
+
+ ret = regmap_write(data->regmap, BMI270_FEAT_PAGE_REG, reg->page);
+ if (ret)
+ return ret;
+
+ data->regval = cpu_to_le16(val);
+ return regmap_bulk_write(data->regmap, reg->addr, &data->regval,
+ sizeof(data->regval));
+}
+
+static int bmi270_read_feature_reg(struct bmi270_data *data,
+ enum bmi270_feature_reg_id id,
+ u16 *val)
+{
+ const struct bmi270_feature_reg *reg = &bmi270_feature_regs[id];
+ int ret;
+
+ ret = regmap_write(data->regmap, BMI270_FEAT_PAGE_REG, reg->page);
+ if (ret)
+ return ret;
+
+ ret = regmap_bulk_read(data->regmap, reg->addr, &data->regval,
+ sizeof(data->regval));
+ if (ret)
+ return ret;
+
+ *val = le16_to_cpu(data->regval);
+ return 0;
+}
+
+static int bmi270_update_feature_reg(struct bmi270_data *data,
+ enum bmi270_feature_reg_id id,
+ u16 mask, u16 val)
+{
+ u16 regval;
+ int ret;
+
+ ret = bmi270_read_feature_reg(data, id, &regval);
+ if (ret)
+ return ret;
+
+ regval = (regval & ~mask) | (val & mask);
+
+ return bmi270_write_feature_reg(data, id, regval);
+}
+
+static int bmi270_enable_steps(struct bmi270_data *data, int val)
+{
+ int ret;
+
+ guard(mutex)(&data->mutex);
+ if (data->steps_enabled)
+ return 0;
+
+ ret = bmi270_update_feature_reg(data, BMI270_SC_26_REG,
+ BMI270_STEP_SC26_EN_CNT_MSK,
+ FIELD_PREP(BMI270_STEP_SC26_EN_CNT_MSK,
+ val ? 1 : 0));
+ if (ret)
+ return ret;
+
+ data->steps_enabled = true;
+ return 0;
+}
+
+static int bmi270_read_steps(struct bmi270_data *data, int *val)
+{
+ __le16 steps_count;
+ int ret;
+
+ ret = regmap_bulk_read(data->regmap, BMI270_SC_OUT_0_REG, &steps_count,
+ sizeof(steps_count));
+ if (ret)
+ return ret;
+
+ *val = sign_extend32(le16_to_cpu(steps_count), 15);
+ return IIO_VAL_INT;
+}
+
+static int bmi270_int_map_reg(enum bmi270_irq_pin pin)
+{
+ switch (pin) {
+ case BMI270_IRQ_INT1:
+ return BMI270_INT1_MAP_FEAT_REG;
+ case BMI270_IRQ_INT2:
+ return BMI270_INT2_MAP_FEAT_REG;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bmi270_step_wtrmrk_en(struct bmi270_data *data, bool state)
+{
+ int reg;
+
+ guard(mutex)(&data->mutex);
+ if (!data->steps_enabled)
+ return -EINVAL;
+
+ reg = bmi270_int_map_reg(data->irq_pin);
+ if (reg < 0)
+ return reg;
+
+ return regmap_update_bits(data->regmap, reg,
+ BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK,
+ FIELD_PREP(BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK,
+ state));
+}
+
static int bmi270_set_scale(struct bmi270_data *data, int chan_type, int uscale)
{
int i;
@@ -438,19 +595,31 @@ static irqreturn_t bmi270_irq_thread_handler(int irq, void *private)
{
struct iio_dev *indio_dev = private;
struct bmi270_data *data = iio_priv(indio_dev);
- unsigned int status;
+ unsigned int status0, status1;
+ s64 timestamp = iio_get_time_ns(indio_dev);
int ret;
scoped_guard(mutex, &data->mutex) {
+ ret = regmap_read(data->regmap, BMI270_INT_STATUS_0_REG,
+ &status0);
+ if (ret)
+ return IRQ_NONE;
+
ret = regmap_read(data->regmap, BMI270_INT_STATUS_1_REG,
- &status);
+ &status1);
if (ret)
return IRQ_NONE;
}
- if (FIELD_GET(BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK, status))
+ 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_STEP_CNT_MSK, status0))
+ iio_push_event(indio_dev, IIO_UNMOD_EVENT_CODE(IIO_STEPS, 0,
+ IIO_EV_TYPE_CHANGE,
+ IIO_EV_DIR_NONE),
+ timestamp);
+
return IRQ_HANDLED;
}
@@ -551,6 +720,8 @@ static int bmi270_read_raw(struct iio_dev *indio_dev,
struct bmi270_data *data = iio_priv(indio_dev);
switch (mask) {
+ case IIO_CHAN_INFO_PROCESSED:
+ return bmi270_read_steps(data, val);
case IIO_CHAN_INFO_RAW:
if (!iio_device_claim_direct(indio_dev))
return -EBUSY;
@@ -571,6 +742,9 @@ static int bmi270_read_raw(struct iio_dev *indio_dev,
case IIO_CHAN_INFO_SAMP_FREQ:
ret = bmi270_get_odr(data, chan->type, val, val2);
return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
+ case IIO_CHAN_INFO_ENABLE:
+ *val = data->steps_enabled ? 1 : 0;
+ return IIO_VAL_INT;
default:
return -EINVAL;
}
@@ -596,6 +770,19 @@ static int bmi270_write_raw(struct iio_dev *indio_dev,
ret = bmi270_set_odr(data, chan->type, val, val2);
iio_device_release_direct(indio_dev);
return ret;
+ case IIO_CHAN_INFO_ENABLE:
+ return bmi270_enable_steps(data, val);
+ case IIO_CHAN_INFO_PROCESSED: {
+ if (val || !data->steps_enabled)
+ return -EINVAL;
+
+ guard(mutex)(&data->mutex);
+ /* Clear step counter value */
+ return bmi270_update_feature_reg(data, BMI270_SC_26_REG,
+ BMI270_STEP_SC26_RST_CNT_MSK,
+ FIELD_PREP(BMI270_STEP_SC26_RST_CNT_MSK,
+ 1));
+ }
default:
return -EINVAL;
}
@@ -640,10 +827,116 @@ static int bmi270_read_avail(struct iio_dev *indio_dev,
}
}
+static int bmi270_write_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir, bool state)
+{
+ struct bmi270_data *data = iio_priv(indio_dev);
+
+ switch (type) {
+ case IIO_EV_TYPE_CHANGE:
+ return bmi270_step_wtrmrk_en(data, state);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bmi270_read_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir)
+{
+ struct bmi270_data *data = iio_priv(indio_dev);
+ int ret, reg, regval;
+
+ guard(mutex)(&data->mutex);
+
+ switch (chan->type) {
+ case IIO_STEPS:
+ reg = bmi270_int_map_reg(data->irq_pin);
+ if (reg)
+ return reg;
+
+ 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;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bmi270_write_event_value(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info,
+ int val, int val2)
+{
+ struct bmi270_data *data = iio_priv(indio_dev);
+ unsigned int raw;
+
+ guard(mutex)(&data->mutex);
+
+ switch (type) {
+ case 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));
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bmi270_read_event_value(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info,
+ int *val, int *val2)
+{
+ struct bmi270_data *data = iio_priv(indio_dev);
+ unsigned int raw;
+ u16 regval;
+ int ret;
+
+ guard(mutex)(&data->mutex);
+
+ switch (type) {
+ case IIO_EV_TYPE_CHANGE:
+ ret = bmi270_read_feature_reg(data, BMI270_SC_26_REG, &regval);
+ if (ret)
+ return ret;
+
+ raw = FIELD_GET(BMI270_STEP_SC26_WTRMRK_MSK, regval);
+ *val = raw * BMI270_STEP_COUNTER_FACTOR;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+}
+
+static const struct iio_event_spec bmi270_step_wtrmrk_event = {
+ .type = IIO_EV_TYPE_CHANGE,
+ .dir = IIO_EV_DIR_NONE,
+ .mask_shared_by_type = BIT(IIO_EV_INFO_ENABLE) | BIT(IIO_EV_INFO_VALUE),
+};
+
static const struct iio_info bmi270_info = {
.read_raw = bmi270_read_raw,
.write_raw = bmi270_write_raw,
.read_avail = bmi270_read_avail,
+ .write_event_config = bmi270_write_event_config,
+ .read_event_config = bmi270_read_event_config,
+ .write_event_value = bmi270_write_event_value,
+ .read_event_value = bmi270_read_event_value,
};
#define BMI270_ACCEL_CHANNEL(_axis) { \
@@ -698,6 +991,14 @@ static const struct iio_chan_spec bmi270_channels[] = {
BIT(IIO_CHAN_INFO_OFFSET),
.scan_index = -1, /* No buffer support */
},
+ {
+ .type = IIO_STEPS,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_ENABLE) |
+ BIT(IIO_CHAN_INFO_PROCESSED),
+ .scan_index = -1, /* No buffer support */
+ .event_spec = &bmi270_step_wtrmrk_event,
+ .num_event_specs = 1,
+ },
IIO_CHAN_SOFT_TIMESTAMP(BMI270_SCAN_TIMESTAMP),
};
@@ -982,6 +1283,7 @@ int bmi270_core_probe(struct device *dev, struct regmap *regmap,
indio_dev->available_scan_masks = bmi270_avail_scan_masks;
indio_dev->modes = INDIO_DIRECT_MODE;
indio_dev->info = &bmi270_info;
+ dev_set_drvdata(data->dev, indio_dev);
ret = bmi270_trigger_probe(data, indio_dev);
if (ret)
@@ -997,6 +1299,25 @@ int bmi270_core_probe(struct device *dev, struct regmap *regmap,
}
EXPORT_SYMBOL_NS_GPL(bmi270_core_probe, "IIO_BMI270");
+static int bmi270_core_runtime_suspend(struct device *dev)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+
+ return iio_device_suspend_triggering(indio_dev);
+}
+
+static int bmi270_core_runtime_resume(struct device *dev)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+
+ return iio_device_resume_triggering(indio_dev);
+}
+
+const struct dev_pm_ops bmi270_core_pm_ops = {
+ RUNTIME_PM_OPS(bmi270_core_runtime_suspend, bmi270_core_runtime_resume, NULL)
+};
+EXPORT_SYMBOL_NS_GPL(bmi270_core_pm_ops, "IIO_BMI270");
+
MODULE_AUTHOR("Alex Lanzano");
MODULE_DESCRIPTION("BMI270 driver");
MODULE_LICENSE("GPL");
generated by cgit (git 2.34.1) at 2025-07-30 23:40:01 +0000