diff options
Diffstat (limited to 'drivers/iio/imu/bmi323/bmi323_core.c')
-rw-r--r-- | drivers/iio/imu/bmi323/bmi323_core.c | 2139 |
1 files changed, 2139 insertions, 0 deletions
diff --git a/drivers/iio/imu/bmi323/bmi323_core.c b/drivers/iio/imu/bmi323/bmi323_core.c new file mode 100644 index 0000000000..183af48282 --- /dev/null +++ b/drivers/iio/imu/bmi323/bmi323_core.c @@ -0,0 +1,2139 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * IIO core driver for Bosch BMI323 6-Axis IMU. + * + * Copyright (C) 2023, Jagath Jog J <jagathjog1996@gmail.com> + * + * Datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi323-ds000.pdf + */ + +#include <linux/bitfield.h> +#include <linux/cleanup.h> +#include <linux/device.h> +#include <linux/interrupt.h> +#include <linux/minmax.h> +#include <linux/module.h> +#include <linux/mutex.h> +#include <linux/property.h> +#include <linux/regmap.h> +#include <linux/regulator/consumer.h> +#include <linux/units.h> + +#include <asm/unaligned.h> + +#include <linux/iio/buffer.h> +#include <linux/iio/events.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/trigger.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/triggered_buffer.h> + +#include "bmi323.h" + +enum bmi323_sensor_type { + BMI323_ACCEL, + BMI323_GYRO, + BMI323_SENSORS_CNT, +}; + +enum bmi323_opr_mode { + ACC_GYRO_MODE_DISABLE = 0x00, + GYRO_DRIVE_MODE_ENABLED = 0x01, + ACC_GYRO_MODE_DUTYCYCLE = 0x03, + ACC_GYRO_MODE_CONTINOUS = 0x04, + ACC_GYRO_MODE_HIGH_PERF = 0x07, +}; + +enum bmi323_state { + BMI323_IDLE, + BMI323_BUFFER_DRDY_TRIGGERED, + BMI323_BUFFER_FIFO, +}; + +enum bmi323_irq_pin { + BMI323_IRQ_DISABLED, + BMI323_IRQ_INT1, + BMI323_IRQ_INT2, +}; + +enum bmi323_3db_bw { + BMI323_BW_ODR_BY_2, + BMI323_BW_ODR_BY_4, +}; + +enum bmi323_scan { + BMI323_ACCEL_X, + BMI323_ACCEL_Y, + BMI323_ACCEL_Z, + BMI323_GYRO_X, + BMI323_GYRO_Y, + BMI323_GYRO_Z, + BMI323_CHAN_MAX +}; + +struct bmi323_hw { + u8 data; + u8 config; + const int (*scale_table)[2]; + int scale_table_len; +}; + +/* + * The accelerometer supports +-2G/4G/8G/16G ranges, and the resolution of + * each sample is 16 bits, signed. + * At +-8G the scale can calculated by + * ((8 + 8) * 9.80665 / (2^16 - 1)) * 10^6 = 2394.23819 scale in micro + * + */ +static const int bmi323_accel_scale[][2] = { + { 0, 598 }, + { 0, 1197 }, + { 0, 2394 }, + { 0, 4788 }, +}; + +static const int bmi323_gyro_scale[][2] = { + { 0, 66 }, + { 0, 133 }, + { 0, 266 }, + { 0, 532 }, + { 0, 1065 }, +}; + +static const int bmi323_accel_gyro_avrg[] = {0, 2, 4, 8, 16, 32, 64}; + +static const struct bmi323_hw bmi323_hw[2] = { + [BMI323_ACCEL] = { + .data = BMI323_ACCEL_X_REG, + .config = BMI323_ACC_CONF_REG, + .scale_table = bmi323_accel_scale, + .scale_table_len = ARRAY_SIZE(bmi323_accel_scale), + }, + [BMI323_GYRO] = { + .data = BMI323_GYRO_X_REG, + .config = BMI323_GYRO_CONF_REG, + .scale_table = bmi323_gyro_scale, + .scale_table_len = ARRAY_SIZE(bmi323_gyro_scale), + }, +}; + +struct bmi323_data { + struct device *dev; + struct regmap *regmap; + struct iio_mount_matrix orientation; + enum bmi323_irq_pin irq_pin; + struct iio_trigger *trig; + bool drdy_trigger_enabled; + enum bmi323_state state; + s64 fifo_tstamp, old_fifo_tstamp; + u32 odrns[BMI323_SENSORS_CNT]; + u32 odrhz[BMI323_SENSORS_CNT]; + unsigned int feature_events; + + /* + * Lock to protect the members of device's private data from concurrent + * access and also to serialize the access of extended registers. + * See bmi323_write_ext_reg(..) for more info. + */ + struct mutex mutex; + int watermark; + __le16 fifo_buff[BMI323_FIFO_FULL_IN_WORDS] __aligned(IIO_DMA_MINALIGN); + struct { + __le16 channels[BMI323_CHAN_MAX]; + s64 ts __aligned(8); + } buffer; + __le16 steps_count[BMI323_STEP_LEN]; +}; + +static const struct iio_mount_matrix * +bmi323_get_mount_matrix(const struct iio_dev *idev, + const struct iio_chan_spec *chan) +{ + struct bmi323_data *data = iio_priv(idev); + + return &data->orientation; +} + +static const struct iio_chan_spec_ext_info bmi323_ext_info[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, bmi323_get_mount_matrix), + { } +}; + +static const struct iio_event_spec bmi323_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_event_spec bmi323_accel_event[] = { + { + .type = IIO_EV_TYPE_MAG, + .dir = IIO_EV_DIR_FALLING, + .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_PERIOD) | + BIT(IIO_EV_INFO_HYSTERESIS) | + BIT(IIO_EV_INFO_ENABLE), + }, + { + .type = IIO_EV_TYPE_MAG, + .dir = IIO_EV_DIR_RISING, + .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_PERIOD) | + BIT(IIO_EV_INFO_HYSTERESIS) | + BIT(IIO_EV_INFO_ENABLE), + }, + { + .type = IIO_EV_TYPE_GESTURE, + .dir = IIO_EV_DIR_SINGLETAP, + .mask_shared_by_type = BIT(IIO_EV_INFO_ENABLE) | + BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_RESET_TIMEOUT), + }, + { + .type = IIO_EV_TYPE_GESTURE, + .dir = IIO_EV_DIR_DOUBLETAP, + .mask_shared_by_type = BIT(IIO_EV_INFO_ENABLE) | + BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_RESET_TIMEOUT) | + BIT(IIO_EV_INFO_TAP2_MIN_DELAY), + }, +}; + +#define BMI323_ACCEL_CHANNEL(_type, _axis, _index) { \ + .type = _type, \ + .modified = 1, \ + .channel2 = IIO_MOD_##_axis, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO), \ + .info_mask_shared_by_type_available = \ + BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO), \ + .scan_index = _index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_LE, \ + }, \ + .ext_info = bmi323_ext_info, \ + .event_spec = bmi323_accel_event, \ + .num_event_specs = ARRAY_SIZE(bmi323_accel_event), \ +} + +#define BMI323_GYRO_CHANNEL(_type, _axis, _index) { \ + .type = _type, \ + .modified = 1, \ + .channel2 = IIO_MOD_##_axis, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO), \ + .info_mask_shared_by_type_available = \ + BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_OVERSAMPLING_RATIO), \ + .scan_index = _index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_LE, \ + }, \ + .ext_info = bmi323_ext_info, \ +} + +static const struct iio_chan_spec bmi323_channels[] = { + BMI323_ACCEL_CHANNEL(IIO_ACCEL, X, BMI323_ACCEL_X), + BMI323_ACCEL_CHANNEL(IIO_ACCEL, Y, BMI323_ACCEL_Y), + BMI323_ACCEL_CHANNEL(IIO_ACCEL, Z, BMI323_ACCEL_Z), + BMI323_GYRO_CHANNEL(IIO_ANGL_VEL, X, BMI323_GYRO_X), + BMI323_GYRO_CHANNEL(IIO_ANGL_VEL, Y, BMI323_GYRO_Y), + BMI323_GYRO_CHANNEL(IIO_ANGL_VEL, Z, BMI323_GYRO_Z), + { + .type = IIO_TEMP, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_OFFSET) | + BIT(IIO_CHAN_INFO_SCALE), + .scan_index = -1, + }, + { + .type = IIO_STEPS, + .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED) | + BIT(IIO_CHAN_INFO_ENABLE), + .scan_index = -1, + .event_spec = &bmi323_step_wtrmrk_event, + .num_event_specs = 1, + + }, + IIO_CHAN_SOFT_TIMESTAMP(BMI323_CHAN_MAX), +}; + +static const int bmi323_acc_gyro_odr[][2] = { + { 0, 781250 }, + { 1, 562500 }, + { 3, 125000 }, + { 6, 250000 }, + { 12, 500000 }, + { 25, 0 }, + { 50, 0 }, + { 100, 0 }, + { 200, 0 }, + { 400, 0 }, + { 800, 0 }, +}; + +static const int bmi323_acc_gyro_odrns[] = { + 1280 * MEGA, + 640 * MEGA, + 320 * MEGA, + 160 * MEGA, + 80 * MEGA, + 40 * MEGA, + 20 * MEGA, + 10 * MEGA, + 5 * MEGA, + 2500 * KILO, + 1250 * KILO, +}; + +static enum bmi323_sensor_type bmi323_iio_to_sensor(enum iio_chan_type iio_type) +{ + switch (iio_type) { + case IIO_ACCEL: + return BMI323_ACCEL; + case IIO_ANGL_VEL: + return BMI323_GYRO; + default: + return -EINVAL; + } +} + +static int bmi323_set_mode(struct bmi323_data *data, + enum bmi323_sensor_type sensor, + enum bmi323_opr_mode mode) +{ + guard(mutex)(&data->mutex); + return regmap_update_bits(data->regmap, bmi323_hw[sensor].config, + BMI323_ACC_GYRO_CONF_MODE_MSK, + FIELD_PREP(BMI323_ACC_GYRO_CONF_MODE_MSK, + mode)); +} + +/* + * When writing data to extended register there must be no communication to + * any other register before write transaction is complete. + * See datasheet section 6.2 Extended Register Map Description. + */ +static int bmi323_write_ext_reg(struct bmi323_data *data, unsigned int ext_addr, + unsigned int ext_data) +{ + int ret, feature_status; + + ret = regmap_read(data->regmap, BMI323_FEAT_DATA_STATUS, + &feature_status); + if (ret) + return ret; + + if (!FIELD_GET(BMI323_FEAT_DATA_TX_RDY_MSK, feature_status)) + return -EBUSY; + + ret = regmap_write(data->regmap, BMI323_FEAT_DATA_ADDR, ext_addr); + if (ret) + return ret; + + return regmap_write(data->regmap, BMI323_FEAT_DATA_TX, ext_data); +} + +/* + * When reading data from extended register there must be no communication to + * any other register before read transaction is complete. + * See datasheet section 6.2 Extended Register Map Description. + */ +static int bmi323_read_ext_reg(struct bmi323_data *data, unsigned int ext_addr, + unsigned int *ext_data) +{ + int ret, feature_status; + + ret = regmap_read(data->regmap, BMI323_FEAT_DATA_STATUS, + &feature_status); + if (ret) + return ret; + + if (!FIELD_GET(BMI323_FEAT_DATA_TX_RDY_MSK, feature_status)) + return -EBUSY; + + ret = regmap_write(data->regmap, BMI323_FEAT_DATA_ADDR, ext_addr); + if (ret) + return ret; + + return regmap_read(data->regmap, BMI323_FEAT_DATA_TX, ext_data); +} + +static int bmi323_update_ext_reg(struct bmi323_data *data, + unsigned int ext_addr, + unsigned int mask, unsigned int ext_data) +{ + unsigned int value; + int ret; + + ret = bmi323_read_ext_reg(data, ext_addr, &value); + if (ret) + return ret; + + set_mask_bits(&value, mask, ext_data); + + return bmi323_write_ext_reg(data, ext_addr, value); +} + +static int bmi323_get_error_status(struct bmi323_data *data) +{ + int error, ret; + + guard(mutex)(&data->mutex); + ret = regmap_read(data->regmap, BMI323_ERR_REG, &error); + if (ret) + return ret; + + if (error) + dev_err(data->dev, "Sensor error 0x%x\n", error); + + return error; +} + +static int bmi323_feature_engine_events(struct bmi323_data *data, + const unsigned int event_mask, + bool state) +{ + unsigned int value; + int ret; + + ret = regmap_read(data->regmap, BMI323_FEAT_IO0_REG, &value); + if (ret) + return ret; + + /* Register must be cleared before changing an active config */ + ret = regmap_write(data->regmap, BMI323_FEAT_IO0_REG, 0); + if (ret) + return ret; + + if (state) + value |= event_mask; + else + value &= ~event_mask; + + ret = regmap_write(data->regmap, BMI323_FEAT_IO0_REG, value); + if (ret) + return ret; + + return regmap_write(data->regmap, BMI323_FEAT_IO_STATUS_REG, + BMI323_FEAT_IO_STATUS_MSK); +} + +static int bmi323_step_wtrmrk_en(struct bmi323_data *data, int state) +{ + enum bmi323_irq_pin step_irq; + int ret; + + guard(mutex)(&data->mutex); + if (!FIELD_GET(BMI323_FEAT_IO0_STP_CNT_MSK, data->feature_events)) + return -EINVAL; + + if (state) + step_irq = data->irq_pin; + else + step_irq = BMI323_IRQ_DISABLED; + + ret = bmi323_update_ext_reg(data, BMI323_STEP_SC1_REG, + BMI323_STEP_SC1_WTRMRK_MSK, + FIELD_PREP(BMI323_STEP_SC1_WTRMRK_MSK, + state ? 1 : 0)); + if (ret) + return ret; + + return regmap_update_bits(data->regmap, BMI323_INT_MAP1_REG, + BMI323_STEP_CNT_MSK, + FIELD_PREP(BMI323_STEP_CNT_MSK, step_irq)); +} + +static int bmi323_motion_config_reg(enum iio_event_direction dir) +{ + switch (dir) { + case IIO_EV_DIR_RISING: + return BMI323_ANYMO1_REG; + case IIO_EV_DIR_FALLING: + return BMI323_NOMO1_REG; + default: + return -EINVAL; + } +} + +static int bmi323_motion_event_en(struct bmi323_data *data, + enum iio_event_direction dir, int state) +{ + unsigned int state_value = state ? BMI323_FEAT_XYZ_MSK : 0; + int config, ret, msk, raw, field_value; + enum bmi323_irq_pin motion_irq; + int irq_msk, irq_field_val; + + if (state) + motion_irq = data->irq_pin; + else + motion_irq = BMI323_IRQ_DISABLED; + + switch (dir) { + case IIO_EV_DIR_RISING: + msk = BMI323_FEAT_IO0_XYZ_MOTION_MSK; + raw = 512; + config = BMI323_ANYMO1_REG; + irq_msk = BMI323_MOTION_MSK; + irq_field_val = FIELD_PREP(BMI323_MOTION_MSK, motion_irq); + field_value = FIELD_PREP(BMI323_FEAT_IO0_XYZ_MOTION_MSK, + state_value); + break; + case IIO_EV_DIR_FALLING: + msk = BMI323_FEAT_IO0_XYZ_NOMOTION_MSK; + raw = 0; + config = BMI323_NOMO1_REG; + irq_msk = BMI323_NOMOTION_MSK; + irq_field_val = FIELD_PREP(BMI323_NOMOTION_MSK, motion_irq); + field_value = FIELD_PREP(BMI323_FEAT_IO0_XYZ_NOMOTION_MSK, + state_value); + break; + default: + return -EINVAL; + } + + guard(mutex)(&data->mutex); + ret = bmi323_feature_engine_events(data, msk, state); + if (ret) + return ret; + + ret = bmi323_update_ext_reg(data, config, + BMI323_MO1_REF_UP_MSK, + FIELD_PREP(BMI323_MO1_REF_UP_MSK, 0)); + if (ret) + return ret; + + /* Set initial value to avoid interrupts while enabling*/ + ret = bmi323_update_ext_reg(data, config, + BMI323_MO1_SLOPE_TH_MSK, + FIELD_PREP(BMI323_MO1_SLOPE_TH_MSK, raw)); + if (ret) + return ret; + + ret = regmap_update_bits(data->regmap, BMI323_INT_MAP1_REG, irq_msk, + irq_field_val); + if (ret) + return ret; + + set_mask_bits(&data->feature_events, msk, field_value); + + return 0; +} + +static int bmi323_tap_event_en(struct bmi323_data *data, + enum iio_event_direction dir, int state) +{ + enum bmi323_irq_pin tap_irq; + int ret, tap_enabled; + + guard(mutex)(&data->mutex); + + if (data->odrhz[BMI323_ACCEL] < 200) { + dev_err(data->dev, "Invalid accelerometer parameter\n"); + return -EINVAL; + } + + switch (dir) { + case IIO_EV_DIR_SINGLETAP: + ret = bmi323_feature_engine_events(data, + BMI323_FEAT_IO0_S_TAP_MSK, + state); + if (ret) + return ret; + + set_mask_bits(&data->feature_events, BMI323_FEAT_IO0_S_TAP_MSK, + FIELD_PREP(BMI323_FEAT_IO0_S_TAP_MSK, state)); + break; + case IIO_EV_DIR_DOUBLETAP: + ret = bmi323_feature_engine_events(data, + BMI323_FEAT_IO0_D_TAP_MSK, + state); + if (ret) + return ret; + + set_mask_bits(&data->feature_events, BMI323_FEAT_IO0_D_TAP_MSK, + FIELD_PREP(BMI323_FEAT_IO0_D_TAP_MSK, state)); + break; + default: + return -EINVAL; + } + + tap_enabled = FIELD_GET(BMI323_FEAT_IO0_S_TAP_MSK | + BMI323_FEAT_IO0_D_TAP_MSK, + data->feature_events); + + if (tap_enabled) + tap_irq = data->irq_pin; + else + tap_irq = BMI323_IRQ_DISABLED; + + ret = regmap_update_bits(data->regmap, BMI323_INT_MAP2_REG, + BMI323_TAP_MSK, + FIELD_PREP(BMI323_TAP_MSK, tap_irq)); + if (ret) + return ret; + + if (!state) + return 0; + + ret = bmi323_update_ext_reg(data, BMI323_TAP1_REG, + BMI323_TAP1_MAX_PEAKS_MSK, + FIELD_PREP(BMI323_TAP1_MAX_PEAKS_MSK, + 0x04)); + if (ret) + return ret; + + ret = bmi323_update_ext_reg(data, BMI323_TAP1_REG, + BMI323_TAP1_AXIS_SEL_MSK, + FIELD_PREP(BMI323_TAP1_AXIS_SEL_MSK, + BMI323_AXIS_XYZ_MSK)); + if (ret) + return ret; + + return bmi323_update_ext_reg(data, BMI323_TAP1_REG, + BMI323_TAP1_TIMOUT_MSK, + FIELD_PREP(BMI323_TAP1_TIMOUT_MSK, + 0)); +} + +static ssize_t in_accel_gesture_tap_wait_dur_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct bmi323_data *data = iio_priv(indio_dev); + unsigned int reg_value, raw; + int ret, val[2]; + + scoped_guard(mutex, &data->mutex) { + ret = bmi323_read_ext_reg(data, BMI323_TAP2_REG, ®_value); + if (ret) + return ret; + } + + raw = FIELD_GET(BMI323_TAP2_MAX_DUR_MSK, reg_value); + val[0] = raw / BMI323_MAX_GES_DUR_SCALE; + val[1] = BMI323_RAW_TO_MICRO(raw, BMI323_MAX_GES_DUR_SCALE); + + return iio_format_value(buf, IIO_VAL_INT_PLUS_MICRO, ARRAY_SIZE(val), + val); +} + +static ssize_t in_accel_gesture_tap_wait_dur_store(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct bmi323_data *data = iio_priv(indio_dev); + int ret, val_int, val_fract, raw; + + ret = iio_str_to_fixpoint(buf, 100000, &val_int, &val_fract); + if (ret) + return ret; + + raw = BMI323_INT_MICRO_TO_RAW(val_int, val_fract, + BMI323_MAX_GES_DUR_SCALE); + if (!in_range(raw, 0, 64)) + return -EINVAL; + + guard(mutex)(&data->mutex); + ret = bmi323_update_ext_reg(data, BMI323_TAP2_REG, + BMI323_TAP2_MAX_DUR_MSK, + FIELD_PREP(BMI323_TAP2_MAX_DUR_MSK, raw)); + if (ret) + return ret; + + return len; +} + +/* + * Maximum duration from first tap within the second tap is expected to happen. + * This timeout is applicable only if gesture_tap_wait_timeout is enabled. + */ +static IIO_DEVICE_ATTR_RW(in_accel_gesture_tap_wait_dur, 0); + +static ssize_t in_accel_gesture_tap_wait_timeout_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct bmi323_data *data = iio_priv(indio_dev); + unsigned int reg_value, raw; + int ret; + + scoped_guard(mutex, &data->mutex) { + ret = bmi323_read_ext_reg(data, BMI323_TAP1_REG, ®_value); + if (ret) + return ret; + } + + raw = FIELD_GET(BMI323_TAP1_TIMOUT_MSK, reg_value); + + return iio_format_value(buf, IIO_VAL_INT, 1, &raw); +} + +static ssize_t in_accel_gesture_tap_wait_timeout_store(struct device *dev, + struct device_attribute *attr, + const char *buf, + size_t len) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct bmi323_data *data = iio_priv(indio_dev); + bool val; + int ret; + + ret = kstrtobool(buf, &val); + if (ret) + return ret; + + guard(mutex)(&data->mutex); + ret = bmi323_update_ext_reg(data, BMI323_TAP1_REG, + BMI323_TAP1_TIMOUT_MSK, + FIELD_PREP(BMI323_TAP1_TIMOUT_MSK, val)); + if (ret) + return ret; + + return len; +} + +/* Enable/disable gesture confirmation with wait time */ +static IIO_DEVICE_ATTR_RW(in_accel_gesture_tap_wait_timeout, 0); + +static IIO_CONST_ATTR(in_accel_gesture_tap_wait_dur_available, + "[0.0 0.04 2.52]"); + +static IIO_CONST_ATTR(in_accel_gesture_doubletap_tap2_min_delay_available, + "[0.005 0.005 0.075]"); + +static IIO_CONST_ATTR(in_accel_gesture_tap_reset_timeout_available, + "[0.04 0.04 0.6]"); + +static IIO_CONST_ATTR(in_accel_gesture_tap_value_available, "[0.0 0.002 1.99]"); + +static IIO_CONST_ATTR(in_accel_mag_value_available, "[0.0 0.002 7.99]"); + +static IIO_CONST_ATTR(in_accel_mag_period_available, "[0.0 0.02 162.0]"); + +static IIO_CONST_ATTR(in_accel_mag_hysteresis_available, "[0.0 0.002 1.99]"); + +static struct attribute *bmi323_event_attributes[] = { + &iio_const_attr_in_accel_gesture_tap_value_available.dev_attr.attr, + &iio_const_attr_in_accel_gesture_tap_reset_timeout_available.dev_attr.attr, + &iio_const_attr_in_accel_gesture_doubletap_tap2_min_delay_available.dev_attr.attr, + &iio_const_attr_in_accel_gesture_tap_wait_dur_available.dev_attr.attr, + &iio_dev_attr_in_accel_gesture_tap_wait_timeout.dev_attr.attr, + &iio_dev_attr_in_accel_gesture_tap_wait_dur.dev_attr.attr, + &iio_const_attr_in_accel_mag_value_available.dev_attr.attr, + &iio_const_attr_in_accel_mag_period_available.dev_attr.attr, + &iio_const_attr_in_accel_mag_hysteresis_available.dev_attr.attr, + NULL +}; + +static const struct attribute_group bmi323_event_attribute_group = { + .attrs = bmi323_event_attributes, +}; + +static int bmi323_write_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, int state) +{ + struct bmi323_data *data = iio_priv(indio_dev); + + switch (type) { + case IIO_EV_TYPE_MAG: + return bmi323_motion_event_en(data, dir, state); + case IIO_EV_TYPE_GESTURE: + return bmi323_tap_event_en(data, dir, state); + case IIO_EV_TYPE_CHANGE: + return bmi323_step_wtrmrk_en(data, state); + default: + return -EINVAL; + } +} + +static int bmi323_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 bmi323_data *data = iio_priv(indio_dev); + int ret, value, reg_val; + + guard(mutex)(&data->mutex); + + switch (chan->type) { + case IIO_ACCEL: + switch (dir) { + case IIO_EV_DIR_SINGLETAP: + ret = FIELD_GET(BMI323_FEAT_IO0_S_TAP_MSK, + data->feature_events); + break; + case IIO_EV_DIR_DOUBLETAP: + ret = FIELD_GET(BMI323_FEAT_IO0_D_TAP_MSK, + data->feature_events); + break; + case IIO_EV_DIR_RISING: + value = FIELD_GET(BMI323_FEAT_IO0_XYZ_MOTION_MSK, + data->feature_events); + ret = value ? 1 : 0; + break; + case IIO_EV_DIR_FALLING: + value = FIELD_GET(BMI323_FEAT_IO0_XYZ_NOMOTION_MSK, + data->feature_events); + ret = value ? 1 : 0; + break; + default: + ret = -EINVAL; + break; + } + return ret; + case IIO_STEPS: + ret = regmap_read(data->regmap, BMI323_INT_MAP1_REG, ®_val); + if (ret) + return ret; + + return FIELD_GET(BMI323_STEP_CNT_MSK, reg_val) ? 1 : 0; + default: + return -EINVAL; + } +} + +static int bmi323_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 bmi323_data *data = iio_priv(indio_dev); + unsigned int raw; + int reg; + + guard(mutex)(&data->mutex); + + switch (type) { + case IIO_EV_TYPE_GESTURE: + switch (info) { + case IIO_EV_INFO_VALUE: + if (!in_range(val, 0, 2)) + return -EINVAL; + + raw = BMI323_INT_MICRO_TO_RAW(val, val2, + BMI323_TAP_THRES_SCALE); + + return bmi323_update_ext_reg(data, BMI323_TAP2_REG, + BMI323_TAP2_THRES_MSK, + FIELD_PREP(BMI323_TAP2_THRES_MSK, + raw)); + case IIO_EV_INFO_RESET_TIMEOUT: + if (val || !in_range(val2, 40000, 560001)) + return -EINVAL; + + raw = BMI323_INT_MICRO_TO_RAW(val, val2, + BMI323_QUITE_TIM_GES_SCALE); + + return bmi323_update_ext_reg(data, BMI323_TAP3_REG, + BMI323_TAP3_QT_AFT_GES_MSK, + FIELD_PREP(BMI323_TAP3_QT_AFT_GES_MSK, + raw)); + case IIO_EV_INFO_TAP2_MIN_DELAY: + if (val || !in_range(val2, 5000, 70001)) + return -EINVAL; + + raw = BMI323_INT_MICRO_TO_RAW(val, val2, + BMI323_DUR_BW_TAP_SCALE); + + return bmi323_update_ext_reg(data, BMI323_TAP3_REG, + BMI323_TAP3_QT_BW_TAP_MSK, + FIELD_PREP(BMI323_TAP3_QT_BW_TAP_MSK, + raw)); + default: + return -EINVAL; + } + case IIO_EV_TYPE_MAG: + reg = bmi323_motion_config_reg(dir); + if (reg < 0) + return -EINVAL; + + switch (info) { + case IIO_EV_INFO_VALUE: + if (!in_range(val, 0, 8)) + return -EINVAL; + + raw = BMI323_INT_MICRO_TO_RAW(val, val2, + BMI323_MOTION_THRES_SCALE); + + return bmi323_update_ext_reg(data, reg, + BMI323_MO1_SLOPE_TH_MSK, + FIELD_PREP(BMI323_MO1_SLOPE_TH_MSK, + raw)); + case IIO_EV_INFO_PERIOD: + if (!in_range(val, 0, 163)) + return -EINVAL; + + raw = BMI323_INT_MICRO_TO_RAW(val, val2, + BMI323_MOTION_DURAT_SCALE); + + return bmi323_update_ext_reg(data, + reg + BMI323_MO3_OFFSET, + BMI323_MO3_DURA_MSK, + FIELD_PREP(BMI323_MO3_DURA_MSK, + raw)); + case IIO_EV_INFO_HYSTERESIS: + if (!in_range(val, 0, 2)) + return -EINVAL; + + raw = BMI323_INT_MICRO_TO_RAW(val, val2, + BMI323_MOTION_HYSTR_SCALE); + + return bmi323_update_ext_reg(data, + reg + BMI323_MO2_OFFSET, + BMI323_MO2_HYSTR_MSK, + FIELD_PREP(BMI323_MO2_HYSTR_MSK, + raw)); + default: + return -EINVAL; + } + case IIO_EV_TYPE_CHANGE: + if (!in_range(val, 0, 20461)) + return -EINVAL; + + raw = val / 20; + return bmi323_update_ext_reg(data, BMI323_STEP_SC1_REG, + BMI323_STEP_SC1_WTRMRK_MSK, + FIELD_PREP(BMI323_STEP_SC1_WTRMRK_MSK, + raw)); + default: + return -EINVAL; + } +} + +static int bmi323_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 bmi323_data *data = iio_priv(indio_dev); + unsigned int raw, reg_value; + int ret, reg; + + guard(mutex)(&data->mutex); + + switch (type) { + case IIO_EV_TYPE_GESTURE: + switch (info) { + case IIO_EV_INFO_VALUE: + ret = bmi323_read_ext_reg(data, BMI323_TAP2_REG, + ®_value); + if (ret) + return ret; + + raw = FIELD_GET(BMI323_TAP2_THRES_MSK, reg_value); + *val = raw / BMI323_TAP_THRES_SCALE; + *val2 = BMI323_RAW_TO_MICRO(raw, BMI323_TAP_THRES_SCALE); + return IIO_VAL_INT_PLUS_MICRO; + case IIO_EV_INFO_RESET_TIMEOUT: + ret = bmi323_read_ext_reg(data, BMI323_TAP3_REG, + ®_value); + if (ret) + return ret; + + raw = FIELD_GET(BMI323_TAP3_QT_AFT_GES_MSK, reg_value); + *val = 0; + *val2 = BMI323_RAW_TO_MICRO(raw, + BMI323_QUITE_TIM_GES_SCALE); + return IIO_VAL_INT_PLUS_MICRO; + case IIO_EV_INFO_TAP2_MIN_DELAY: + ret = bmi323_read_ext_reg(data, BMI323_TAP3_REG, + ®_value); + if (ret) + return ret; + + raw = FIELD_GET(BMI323_TAP3_QT_BW_TAP_MSK, reg_value); + *val = 0; + *val2 = BMI323_RAW_TO_MICRO(raw, + BMI323_DUR_BW_TAP_SCALE); + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + case IIO_EV_TYPE_MAG: + reg = bmi323_motion_config_reg(dir); + if (reg < 0) + return -EINVAL; + + switch (info) { + case IIO_EV_INFO_VALUE: + ret = bmi323_read_ext_reg(data, reg, ®_value); + if (ret) + return ret; + + raw = FIELD_GET(BMI323_MO1_SLOPE_TH_MSK, reg_value); + *val = raw / BMI323_MOTION_THRES_SCALE; + *val2 = BMI323_RAW_TO_MICRO(raw, + BMI323_MOTION_THRES_SCALE); + return IIO_VAL_INT_PLUS_MICRO; + case IIO_EV_INFO_PERIOD: + ret = bmi323_read_ext_reg(data, + reg + BMI323_MO3_OFFSET, + ®_value); + if (ret) + return ret; + + raw = FIELD_GET(BMI323_MO3_DURA_MSK, reg_value); + *val = raw / BMI323_MOTION_DURAT_SCALE; + *val2 = BMI323_RAW_TO_MICRO(raw, + BMI323_MOTION_DURAT_SCALE); + return IIO_VAL_INT_PLUS_MICRO; + case IIO_EV_INFO_HYSTERESIS: + ret = bmi323_read_ext_reg(data, + reg + BMI323_MO2_OFFSET, + ®_value); + if (ret) + return ret; + + raw = FIELD_GET(BMI323_MO2_HYSTR_MSK, reg_value); + *val = raw / BMI323_MOTION_HYSTR_SCALE; + *val2 = BMI323_RAW_TO_MICRO(raw, + BMI323_MOTION_HYSTR_SCALE); + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + case IIO_EV_TYPE_CHANGE: + ret = bmi323_read_ext_reg(data, BMI323_STEP_SC1_REG, + ®_value); + if (ret) + return ret; + + raw = FIELD_GET(BMI323_STEP_SC1_WTRMRK_MSK, reg_value); + *val = raw * 20; + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + +static int __bmi323_fifo_flush(struct iio_dev *indio_dev) +{ + struct bmi323_data *data = iio_priv(indio_dev); + int i, ret, fifo_lvl, frame_count, bit, index; + __le16 *frame, *pchannels; + u64 sample_period; + s64 tstamp; + + guard(mutex)(&data->mutex); + ret = regmap_read(data->regmap, BMI323_FIFO_FILL_LEVEL_REG, &fifo_lvl); + if (ret) + return ret; + + fifo_lvl = min(fifo_lvl, BMI323_FIFO_FULL_IN_WORDS); + + frame_count = fifo_lvl / BMI323_FIFO_FRAME_LENGTH; + if (!frame_count) + return -EINVAL; + + if (fifo_lvl % BMI323_FIFO_FRAME_LENGTH) + dev_warn(data->dev, "Bad FIFO alignment\n"); + + /* + * Approximate timestamps for each of the sample based on the sampling + * frequency, timestamp for last sample and number of samples. + */ + if (data->old_fifo_tstamp) { + sample_period = data->fifo_tstamp - data->old_fifo_tstamp; + do_div(sample_period, frame_count); + } else { + sample_period = data->odrns[BMI323_ACCEL]; + } + + tstamp = data->fifo_tstamp - (frame_count - 1) * sample_period; + + ret = regmap_noinc_read(data->regmap, BMI323_FIFO_DATA_REG, + &data->fifo_buff[0], + fifo_lvl * BMI323_BYTES_PER_SAMPLE); + if (ret) + return ret; + + for (i = 0; i < frame_count; i++) { + frame = &data->fifo_buff[i * BMI323_FIFO_FRAME_LENGTH]; + pchannels = &data->buffer.channels[0]; + + index = 0; + for_each_set_bit(bit, indio_dev->active_scan_mask, + BMI323_CHAN_MAX) + pchannels[index++] = frame[bit]; + + iio_push_to_buffers_with_timestamp(indio_dev, &data->buffer, + tstamp); + + tstamp += sample_period; + } + + return frame_count; +} + +static int bmi323_set_watermark(struct iio_dev *indio_dev, unsigned int val) +{ + struct bmi323_data *data = iio_priv(indio_dev); + + val = min(val, (u32)BMI323_FIFO_FULL_IN_FRAMES); + + guard(mutex)(&data->mutex); + data->watermark = val; + + return 0; +} + +static int bmi323_fifo_disable(struct bmi323_data *data) +{ + int ret; + + guard(mutex)(&data->mutex); + ret = regmap_write(data->regmap, BMI323_FIFO_CONF_REG, 0); + if (ret) + return ret; + + ret = regmap_update_bits(data->regmap, BMI323_INT_MAP2_REG, + BMI323_FIFO_WTRMRK_MSK, + FIELD_PREP(BMI323_FIFO_WTRMRK_MSK, 0)); + if (ret) + return ret; + + data->fifo_tstamp = 0; + data->state = BMI323_IDLE; + + return 0; +} + +static int bmi323_buffer_predisable(struct iio_dev *indio_dev) +{ + struct bmi323_data *data = iio_priv(indio_dev); + + if (iio_device_get_current_mode(indio_dev) == INDIO_BUFFER_TRIGGERED) + return 0; + + return bmi323_fifo_disable(data); +} + +static int bmi323_update_watermark(struct bmi323_data *data) +{ + int wtrmrk; + + wtrmrk = data->watermark * BMI323_FIFO_FRAME_LENGTH; + + return regmap_write(data->regmap, BMI323_FIFO_WTRMRK_REG, wtrmrk); +} + +static int bmi323_fifo_enable(struct bmi323_data *data) +{ + int ret; + + guard(mutex)(&data->mutex); + ret = regmap_update_bits(data->regmap, BMI323_FIFO_CONF_REG, + BMI323_FIFO_CONF_ACC_GYR_EN_MSK, + FIELD_PREP(BMI323_FIFO_CONF_ACC_GYR_EN_MSK, + BMI323_FIFO_ACC_GYR_MSK)); + if (ret) + return ret; + + ret = regmap_update_bits(data->regmap, BMI323_INT_MAP2_REG, + BMI323_FIFO_WTRMRK_MSK, + FIELD_PREP(BMI323_FIFO_WTRMRK_MSK, + data->irq_pin)); + if (ret) + return ret; + + ret = bmi323_update_watermark(data); + if (ret) + return ret; + + ret = regmap_write(data->regmap, BMI323_FIFO_CTRL_REG, + BMI323_FIFO_FLUSH_MSK); + if (ret) + return ret; + + data->state = BMI323_BUFFER_FIFO; + + return 0; +} + +static int bmi323_buffer_preenable(struct iio_dev *indio_dev) +{ + struct bmi323_data *data = iio_priv(indio_dev); + + guard(mutex)(&data->mutex); + /* + * When the ODR of the accelerometer and gyroscope do not match, the + * maximum ODR value between the accelerometer and gyroscope is used + * for FIFO and the signal with lower ODR will insert dummy frame. + * So allow buffer read only when ODR's of accelero and gyro are equal. + * See datasheet section 5.7 "FIFO Data Buffering". + */ + if (data->odrns[BMI323_ACCEL] != data->odrns[BMI323_GYRO]) { + dev_err(data->dev, "Accelero and Gyro ODR doesn't match\n"); + return -EINVAL; + } + + return 0; +} + +static int bmi323_buffer_postenable(struct iio_dev *indio_dev) +{ + struct bmi323_data *data = iio_priv(indio_dev); + + if (iio_device_get_current_mode(indio_dev) == INDIO_BUFFER_TRIGGERED) + return 0; + + return bmi323_fifo_enable(data); +} + +static ssize_t hwfifo_watermark_show(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct bmi323_data *data = iio_priv(indio_dev); + int wm; + + scoped_guard(mutex, &data->mutex) + wm = data->watermark; + + return sysfs_emit(buf, "%d\n", wm); +} +static IIO_DEVICE_ATTR_RO(hwfifo_watermark, 0); + +static ssize_t hwfifo_enabled_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct bmi323_data *data = iio_priv(indio_dev); + bool state; + + scoped_guard(mutex, &data->mutex) + state = data->state == BMI323_BUFFER_FIFO; + + return sysfs_emit(buf, "%d\n", state); +} +static IIO_DEVICE_ATTR_RO(hwfifo_enabled, 0); + +static const struct iio_dev_attr *bmi323_fifo_attributes[] = { + &iio_dev_attr_hwfifo_watermark, + &iio_dev_attr_hwfifo_enabled, + NULL +}; + +static const struct iio_buffer_setup_ops bmi323_buffer_ops = { + .preenable = bmi323_buffer_preenable, + .postenable = bmi323_buffer_postenable, + .predisable = bmi323_buffer_predisable, +}; + +static irqreturn_t bmi323_irq_thread_handler(int irq, void *private) +{ + struct iio_dev *indio_dev = private; + struct bmi323_data *data = iio_priv(indio_dev); + unsigned int status_addr, status, feature_event; + s64 timestamp = iio_get_time_ns(indio_dev); + int ret; + + if (data->irq_pin == BMI323_IRQ_INT1) + status_addr = BMI323_STATUS_INT1_REG; + else + status_addr = BMI323_STATUS_INT2_REG; + + scoped_guard(mutex, &data->mutex) { + ret = regmap_read(data->regmap, status_addr, &status); + if (ret) + return IRQ_NONE; + } + + if (!status || FIELD_GET(BMI323_STATUS_ERROR_MSK, status)) + return IRQ_NONE; + + if (FIELD_GET(BMI323_STATUS_FIFO_WTRMRK_MSK, status)) { + data->old_fifo_tstamp = data->fifo_tstamp; + data->fifo_tstamp = iio_get_time_ns(indio_dev); + ret = __bmi323_fifo_flush(indio_dev); + if (ret < 0) + return IRQ_NONE; + } + + if (FIELD_GET(BMI323_STATUS_ACC_GYR_DRDY_MSK, status)) + iio_trigger_poll_nested(data->trig); + + if (FIELD_GET(BMI323_STATUS_MOTION_MSK, status)) + iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, + IIO_MOD_X_OR_Y_OR_Z, + IIO_EV_TYPE_MAG, + IIO_EV_DIR_RISING), + timestamp); + + if (FIELD_GET(BMI323_STATUS_NOMOTION_MSK, status)) + iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, + IIO_MOD_X_OR_Y_OR_Z, + IIO_EV_TYPE_MAG, + IIO_EV_DIR_FALLING), + timestamp); + + if (FIELD_GET(BMI323_STATUS_STP_WTR_MSK, status)) + iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_STEPS, 0, + IIO_NO_MOD, + IIO_EV_TYPE_CHANGE, + IIO_EV_DIR_NONE), + timestamp); + + if (FIELD_GET(BMI323_STATUS_TAP_MSK, status)) { + scoped_guard(mutex, &data->mutex) { + ret = regmap_read(data->regmap, + BMI323_FEAT_EVNT_EXT_REG, + &feature_event); + if (ret) + return IRQ_NONE; + } + + if (FIELD_GET(BMI323_FEAT_EVNT_EXT_S_MSK, feature_event)) { + iio_push_event(indio_dev, + IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, + IIO_MOD_X_OR_Y_OR_Z, + IIO_EV_TYPE_GESTURE, + IIO_EV_DIR_SINGLETAP), + timestamp); + } + + if (FIELD_GET(BMI323_FEAT_EVNT_EXT_D_MSK, feature_event)) + iio_push_event(indio_dev, + IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, + IIO_MOD_X_OR_Y_OR_Z, + IIO_EV_TYPE_GESTURE, + IIO_EV_DIR_DOUBLETAP), + timestamp); + } + + return IRQ_HANDLED; +} + +static int bmi323_set_drdy_irq(struct bmi323_data *data, + enum bmi323_irq_pin irq_pin) +{ + int ret; + + ret = regmap_update_bits(data->regmap, BMI323_INT_MAP2_REG, + BMI323_GYR_DRDY_MSK, + FIELD_PREP(BMI323_GYR_DRDY_MSK, irq_pin)); + if (ret) + return ret; + + return regmap_update_bits(data->regmap, BMI323_INT_MAP2_REG, + BMI323_ACC_DRDY_MSK, + FIELD_PREP(BMI323_ACC_DRDY_MSK, irq_pin)); +} + +static int bmi323_data_rdy_trigger_set_state(struct iio_trigger *trig, + bool state) +{ + struct bmi323_data *data = iio_trigger_get_drvdata(trig); + enum bmi323_irq_pin irq_pin; + + guard(mutex)(&data->mutex); + + if (data->state == BMI323_BUFFER_FIFO) { + dev_warn(data->dev, "Can't set trigger when FIFO enabled\n"); + return -EBUSY; + } + + if (state) { + data->state = BMI323_BUFFER_DRDY_TRIGGERED; + irq_pin = data->irq_pin; + } else { + data->state = BMI323_IDLE; + irq_pin = BMI323_IRQ_DISABLED; + } + + return bmi323_set_drdy_irq(data, irq_pin); +} + +static const struct iio_trigger_ops bmi323_trigger_ops = { + .set_trigger_state = &bmi323_data_rdy_trigger_set_state, +}; + +static irqreturn_t bmi323_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct bmi323_data *data = iio_priv(indio_dev); + int ret, bit, index = 0; + + /* Lock to protect the data->buffer */ + guard(mutex)(&data->mutex); + + if (*indio_dev->active_scan_mask == BMI323_ALL_CHAN_MSK) { + ret = regmap_bulk_read(data->regmap, BMI323_ACCEL_X_REG, + &data->buffer.channels, + ARRAY_SIZE(data->buffer.channels)); + if (ret) + return IRQ_NONE; + } else { + for_each_set_bit(bit, indio_dev->active_scan_mask, + BMI323_CHAN_MAX) { + ret = regmap_raw_read(data->regmap, + BMI323_ACCEL_X_REG + bit, + &data->buffer.channels[index++], + BMI323_BYTES_PER_SAMPLE); + if (ret) + return IRQ_NONE; + } + } + + iio_push_to_buffers_with_timestamp(indio_dev, &data->buffer, + iio_get_time_ns(indio_dev)); + + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static int bmi323_set_average(struct bmi323_data *data, + enum bmi323_sensor_type sensor, int avg) +{ + int raw = ARRAY_SIZE(bmi323_accel_gyro_avrg); + + while (raw--) + if (avg == bmi323_accel_gyro_avrg[raw]) + break; + if (raw < 0) + return -EINVAL; + + guard(mutex)(&data->mutex); + return regmap_update_bits(data->regmap, bmi323_hw[sensor].config, + BMI323_ACC_GYRO_CONF_AVG_MSK, + FIELD_PREP(BMI323_ACC_GYRO_CONF_AVG_MSK, + raw)); +} + +static int bmi323_get_average(struct bmi323_data *data, + enum bmi323_sensor_type sensor, int *avg) +{ + int ret, value, raw; + + scoped_guard(mutex, &data->mutex) { + ret = regmap_read(data->regmap, bmi323_hw[sensor].config, &value); + if (ret) + return ret; + } + + raw = FIELD_GET(BMI323_ACC_GYRO_CONF_AVG_MSK, value); + *avg = bmi323_accel_gyro_avrg[raw]; + + return IIO_VAL_INT; +} + +static int bmi323_enable_steps(struct bmi323_data *data, int val) +{ + int ret; + + guard(mutex)(&data->mutex); + if (data->odrhz[BMI323_ACCEL] < 200) { + dev_err(data->dev, "Invalid accelerometer parameter\n"); + return -EINVAL; + } + + ret = bmi323_feature_engine_events(data, BMI323_FEAT_IO0_STP_CNT_MSK, + val ? 1 : 0); + if (ret) + return ret; + + set_mask_bits(&data->feature_events, BMI323_FEAT_IO0_STP_CNT_MSK, + FIELD_PREP(BMI323_FEAT_IO0_STP_CNT_MSK, val ? 1 : 0)); + + return 0; +} + +static int bmi323_read_steps(struct bmi323_data *data, int *val) +{ + int ret; + + guard(mutex)(&data->mutex); + if (!FIELD_GET(BMI323_FEAT_IO0_STP_CNT_MSK, data->feature_events)) + return -EINVAL; + + ret = regmap_bulk_read(data->regmap, BMI323_FEAT_IO2_REG, + data->steps_count, + ARRAY_SIZE(data->steps_count)); + if (ret) + return ret; + + *val = get_unaligned_le32(data->steps_count); + + return IIO_VAL_INT; +} + +static int bmi323_read_axis(struct bmi323_data *data, + struct iio_chan_spec const *chan, int *val) +{ + enum bmi323_sensor_type sensor; + unsigned int value; + u8 addr; + int ret; + + ret = bmi323_get_error_status(data); + if (ret) + return -EINVAL; + + sensor = bmi323_iio_to_sensor(chan->type); + addr = bmi323_hw[sensor].data + (chan->channel2 - IIO_MOD_X); + + scoped_guard(mutex, &data->mutex) { + ret = regmap_read(data->regmap, addr, &value); + if (ret) + return ret; + } + + *val = sign_extend32(value, chan->scan_type.realbits - 1); + + return IIO_VAL_INT; +} + +static int bmi323_get_temp_data(struct bmi323_data *data, int *val) +{ + unsigned int value; + int ret; + + ret = bmi323_get_error_status(data); + if (ret) + return -EINVAL; + + scoped_guard(mutex, &data->mutex) { + ret = regmap_read(data->regmap, BMI323_TEMP_REG, &value); + if (ret) + return ret; + } + + *val = sign_extend32(value, 15); + + return IIO_VAL_INT; +} + +static int bmi323_get_odr(struct bmi323_data *data, + enum bmi323_sensor_type sensor, int *odr, int *uodr) +{ + int ret, value, odr_raw; + + scoped_guard(mutex, &data->mutex) { + ret = regmap_read(data->regmap, bmi323_hw[sensor].config, &value); + if (ret) + return ret; + } + + odr_raw = FIELD_GET(BMI323_ACC_GYRO_CONF_ODR_MSK, value); + *odr = bmi323_acc_gyro_odr[odr_raw - 1][0]; + *uodr = bmi323_acc_gyro_odr[odr_raw - 1][1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int bmi323_configure_power_mode(struct bmi323_data *data, + enum bmi323_sensor_type sensor, + int odr_index) +{ + enum bmi323_opr_mode mode; + + if (bmi323_acc_gyro_odr[odr_index][0] > 25) + mode = ACC_GYRO_MODE_CONTINOUS; + else + mode = ACC_GYRO_MODE_DUTYCYCLE; + + return bmi323_set_mode(data, sensor, mode); +} + +static int bmi323_set_odr(struct bmi323_data *data, + enum bmi323_sensor_type sensor, int odr, int uodr) +{ + int odr_raw, ret; + + odr_raw = ARRAY_SIZE(bmi323_acc_gyro_odr); + + while (odr_raw--) + if (odr == bmi323_acc_gyro_odr[odr_raw][0] && + uodr == bmi323_acc_gyro_odr[odr_raw][1]) + break; + if (odr_raw < 0) + return -EINVAL; + + ret = bmi323_configure_power_mode(data, sensor, odr_raw); + if (ret) + return -EINVAL; + + guard(mutex)(&data->mutex); + data->odrhz[sensor] = bmi323_acc_gyro_odr[odr_raw][0]; + data->odrns[sensor] = bmi323_acc_gyro_odrns[odr_raw]; + + odr_raw++; + + return regmap_update_bits(data->regmap, bmi323_hw[sensor].config, + BMI323_ACC_GYRO_CONF_ODR_MSK, + FIELD_PREP(BMI323_ACC_GYRO_CONF_ODR_MSK, + odr_raw)); +} + +static int bmi323_get_scale(struct bmi323_data *data, + enum bmi323_sensor_type sensor, int *val2) +{ + int ret, value, scale_raw; + + scoped_guard(mutex, &data->mutex) { + ret = regmap_read(data->regmap, bmi323_hw[sensor].config, + &value); + if (ret) + return ret; + } + + scale_raw = FIELD_GET(BMI323_ACC_GYRO_CONF_SCL_MSK, value); + *val2 = bmi323_hw[sensor].scale_table[scale_raw][1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int bmi323_set_scale(struct bmi323_data *data, + enum bmi323_sensor_type sensor, int val, int val2) +{ + int scale_raw; + + scale_raw = bmi323_hw[sensor].scale_table_len; + + while (scale_raw--) + if (val == bmi323_hw[sensor].scale_table[scale_raw][0] && + val2 == bmi323_hw[sensor].scale_table[scale_raw][1]) + break; + if (scale_raw < 0) + return -EINVAL; + + guard(mutex)(&data->mutex); + return regmap_update_bits(data->regmap, bmi323_hw[sensor].config, + BMI323_ACC_GYRO_CONF_SCL_MSK, + FIELD_PREP(BMI323_ACC_GYRO_CONF_SCL_MSK, + scale_raw)); +} + +static int bmi323_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, int *type, int *length, + long mask) +{ + enum bmi323_sensor_type sensor; + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + *type = IIO_VAL_INT_PLUS_MICRO; + *vals = (const int *)bmi323_acc_gyro_odr; + *length = ARRAY_SIZE(bmi323_acc_gyro_odr) * 2; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SCALE: + sensor = bmi323_iio_to_sensor(chan->type); + *type = IIO_VAL_INT_PLUS_MICRO; + *vals = (const int *)bmi323_hw[sensor].scale_table; + *length = bmi323_hw[sensor].scale_table_len * 2; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + *type = IIO_VAL_INT; + *vals = (const int *)bmi323_accel_gyro_avrg; + *length = ARRAY_SIZE(bmi323_accel_gyro_avrg); + return IIO_AVAIL_LIST; + default: + return -EINVAL; + } +} + +static int bmi323_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int val, + int val2, long mask) +{ + struct bmi323_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + return ret; + + ret = bmi323_set_odr(data, bmi323_iio_to_sensor(chan->type), + val, val2); + iio_device_release_direct_mode(indio_dev); + return ret; + case IIO_CHAN_INFO_SCALE: + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + return ret; + + ret = bmi323_set_scale(data, bmi323_iio_to_sensor(chan->type), + val, val2); + iio_device_release_direct_mode(indio_dev); + return ret; + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + return ret; + + ret = bmi323_set_average(data, bmi323_iio_to_sensor(chan->type), + val); + + iio_device_release_direct_mode(indio_dev); + return ret; + case IIO_CHAN_INFO_ENABLE: + return bmi323_enable_steps(data, val); + case IIO_CHAN_INFO_PROCESSED: + scoped_guard(mutex, &data->mutex) { + if (val || !FIELD_GET(BMI323_FEAT_IO0_STP_CNT_MSK, + data->feature_events)) + return -EINVAL; + + /* Clear step counter value */ + ret = bmi323_update_ext_reg(data, BMI323_STEP_SC1_REG, + BMI323_STEP_SC1_RST_CNT_MSK, + FIELD_PREP(BMI323_STEP_SC1_RST_CNT_MSK, + 1)); + } + return ret; + default: + return -EINVAL; + } +} + +static int bmi323_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int *val, + int *val2, long mask) +{ + struct bmi323_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_PROCESSED: + return bmi323_read_steps(data, val); + case IIO_CHAN_INFO_RAW: + switch (chan->type) { + case IIO_ACCEL: + case IIO_ANGL_VEL: + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + return ret; + + ret = bmi323_read_axis(data, chan, val); + + iio_device_release_direct_mode(indio_dev); + return ret; + case IIO_TEMP: + return bmi323_get_temp_data(data, val); + default: + return -EINVAL; + } + case IIO_CHAN_INFO_SAMP_FREQ: + return bmi323_get_odr(data, bmi323_iio_to_sensor(chan->type), + val, val2); + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_ACCEL: + case IIO_ANGL_VEL: + *val = 0; + return bmi323_get_scale(data, + bmi323_iio_to_sensor(chan->type), + val2); + case IIO_TEMP: + *val = BMI323_TEMP_SCALE / MEGA; + *val2 = BMI323_TEMP_SCALE % MEGA; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_OVERSAMPLING_RATIO: + return bmi323_get_average(data, + bmi323_iio_to_sensor(chan->type), + val); + case IIO_CHAN_INFO_OFFSET: + switch (chan->type) { + case IIO_TEMP: + *val = BMI323_TEMP_OFFSET; + return IIO_VAL_INT; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_ENABLE: + scoped_guard(mutex, &data->mutex) + *val = FIELD_GET(BMI323_FEAT_IO0_STP_CNT_MSK, + data->feature_events); + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + +static const struct iio_info bmi323_info = { + .read_raw = bmi323_read_raw, + .write_raw = bmi323_write_raw, + .read_avail = bmi323_read_avail, + .hwfifo_set_watermark = bmi323_set_watermark, + .write_event_config = bmi323_write_event_config, + .read_event_config = bmi323_read_event_config, + .write_event_value = bmi323_write_event_value, + .read_event_value = bmi323_read_event_value, + .event_attrs = &bmi323_event_attribute_group, +}; + +#define BMI323_SCAN_MASK_ACCEL_3AXIS \ + (BIT(BMI323_ACCEL_X) | BIT(BMI323_ACCEL_Y) | BIT(BMI323_ACCEL_Z)) + +#define BMI323_SCAN_MASK_GYRO_3AXIS \ + (BIT(BMI323_GYRO_X) | BIT(BMI323_GYRO_Y) | BIT(BMI323_GYRO_Z)) + +static const unsigned long bmi323_avail_scan_masks[] = { + /* 3-axis accel */ + BMI323_SCAN_MASK_ACCEL_3AXIS, + /* 3-axis gyro */ + BMI323_SCAN_MASK_GYRO_3AXIS, + /* 3-axis accel + 3-axis gyro */ + BMI323_SCAN_MASK_ACCEL_3AXIS | BMI323_SCAN_MASK_GYRO_3AXIS, + 0 +}; + +static int bmi323_int_pin_config(struct bmi323_data *data, + enum bmi323_irq_pin irq_pin, + bool active_high, bool open_drain, bool latch) +{ + unsigned int mask, field_value; + int ret; + + ret = regmap_update_bits(data->regmap, BMI323_IO_INT_CONF_REG, + BMI323_IO_INT_LTCH_MSK, + FIELD_PREP(BMI323_IO_INT_LTCH_MSK, latch)); + if (ret) + return ret; + + ret = bmi323_update_ext_reg(data, BMI323_GEN_SET1_REG, + BMI323_GEN_HOLD_DUR_MSK, + FIELD_PREP(BMI323_GEN_HOLD_DUR_MSK, 0)); + if (ret) + return ret; + + switch (irq_pin) { + case BMI323_IRQ_INT1: + mask = BMI323_IO_INT1_LVL_OD_OP_MSK; + + field_value = FIELD_PREP(BMI323_IO_INT1_LVL_MSK, active_high) | + FIELD_PREP(BMI323_IO_INT1_OD_MSK, open_drain) | + FIELD_PREP(BMI323_IO_INT1_OP_EN_MSK, 1); + break; + case BMI323_IRQ_INT2: + mask = BMI323_IO_INT2_LVL_OD_OP_MSK; + + field_value = FIELD_PREP(BMI323_IO_INT2_LVL_MSK, active_high) | + FIELD_PREP(BMI323_IO_INT2_OD_MSK, open_drain) | + FIELD_PREP(BMI323_IO_INT2_OP_EN_MSK, 1); + break; + default: + return -EINVAL; + } + + return regmap_update_bits(data->regmap, BMI323_IO_INT_CTR_REG, mask, + field_value); +} + +static int bmi323_trigger_probe(struct bmi323_data *data, + struct iio_dev *indio_dev) +{ + bool open_drain, active_high, latch; + struct fwnode_handle *fwnode; + enum bmi323_irq_pin irq_pin; + int ret, irq, irq_type; + struct irq_data *desc; + + fwnode = dev_fwnode(data->dev); + if (!fwnode) + return -ENODEV; + + irq = fwnode_irq_get_byname(fwnode, "INT1"); + if (irq > 0) { + irq_pin = BMI323_IRQ_INT1; + } else { + irq = fwnode_irq_get_byname(fwnode, "INT2"); + if (irq < 0) + return 0; + + irq_pin = BMI323_IRQ_INT2; + } + + desc = irq_get_irq_data(irq); + if (!desc) + return dev_err_probe(data->dev, -EINVAL, + "Could not find IRQ %d\n", irq); + + irq_type = irqd_get_trigger_type(desc); + switch (irq_type) { + case IRQF_TRIGGER_RISING: + latch = false; + active_high = true; + break; + case IRQF_TRIGGER_HIGH: + latch = true; + active_high = true; + break; + case IRQF_TRIGGER_FALLING: + latch = false; + active_high = false; + break; + case IRQF_TRIGGER_LOW: + latch = true; + active_high = false; + break; + default: + return dev_err_probe(data->dev, -EINVAL, + "Invalid interrupt type 0x%x specified\n", + irq_type); + } + + open_drain = fwnode_property_read_bool(fwnode, "drive-open-drain"); + + ret = bmi323_int_pin_config(data, irq_pin, active_high, open_drain, + latch); + if (ret) + return dev_err_probe(data->dev, ret, + "Failed to configure irq line\n"); + + data->trig = devm_iio_trigger_alloc(data->dev, "%s-trig-%d", + indio_dev->name, irq_pin); + if (!data->trig) + return -ENOMEM; + + data->trig->ops = &bmi323_trigger_ops; + iio_trigger_set_drvdata(data->trig, data); + + ret = devm_request_threaded_irq(data->dev, irq, NULL, + bmi323_irq_thread_handler, + IRQF_ONESHOT, "bmi323-int", indio_dev); + if (ret) + return dev_err_probe(data->dev, ret, "Failed to request IRQ\n"); + + ret = devm_iio_trigger_register(data->dev, data->trig); + if (ret) + return dev_err_probe(data->dev, ret, + "Trigger registration failed\n"); + + data->irq_pin = irq_pin; + + return 0; +} + +static int bmi323_feature_engine_enable(struct bmi323_data *data, bool en) +{ + unsigned int feature_status; + int ret; + + if (!en) + return regmap_write(data->regmap, BMI323_FEAT_CTRL_REG, 0); + + ret = regmap_write(data->regmap, BMI323_FEAT_IO2_REG, 0x012c); + if (ret) + return ret; + + ret = regmap_write(data->regmap, BMI323_FEAT_IO_STATUS_REG, + BMI323_FEAT_IO_STATUS_MSK); + if (ret) + return ret; + + ret = regmap_write(data->regmap, BMI323_FEAT_CTRL_REG, + BMI323_FEAT_ENG_EN_MSK); + if (ret) + return ret; + + /* + * It takes around 4 msec to enable the Feature engine, so check + * the status of the feature engine every 2 msec for a maximum + * of 5 trials. + */ + ret = regmap_read_poll_timeout(data->regmap, BMI323_FEAT_IO1_REG, + feature_status, + FIELD_GET(BMI323_FEAT_IO1_ERR_MSK, + feature_status) == 1, + BMI323_FEAT_ENG_POLL, + BMI323_FEAT_ENG_TIMEOUT); + if (ret) + return dev_err_probe(data->dev, -EINVAL, + "Failed to enable feature engine\n"); + + return 0; +} + +static void bmi323_disable(void *data_ptr) +{ + struct bmi323_data *data = data_ptr; + + bmi323_set_mode(data, BMI323_ACCEL, ACC_GYRO_MODE_DISABLE); + bmi323_set_mode(data, BMI323_GYRO, ACC_GYRO_MODE_DISABLE); +} + +static int bmi323_set_bw(struct bmi323_data *data, + enum bmi323_sensor_type sensor, enum bmi323_3db_bw bw) +{ + return regmap_update_bits(data->regmap, bmi323_hw[sensor].config, + BMI323_ACC_GYRO_CONF_BW_MSK, + FIELD_PREP(BMI323_ACC_GYRO_CONF_BW_MSK, bw)); +} + +static int bmi323_init(struct bmi323_data *data) +{ + int ret, val; + + /* + * Perform soft reset to make sure the device is in a known state after + * start up. A delay of 1.5 ms is required after reset. + * See datasheet section 5.17 "Soft Reset". + */ + ret = regmap_write(data->regmap, BMI323_CMD_REG, BMI323_RST_VAL); + if (ret) + return ret; + + usleep_range(1500, 2000); + + /* + * Dummy read is required to enable SPI interface after reset. + * See datasheet section 7.2.1 "Protocol Selection". + */ + regmap_read(data->regmap, BMI323_CHIP_ID_REG, &val); + + ret = regmap_read(data->regmap, BMI323_STATUS_REG, &val); + if (ret) + return ret; + + if (!FIELD_GET(BMI323_STATUS_POR_MSK, val)) + return dev_err_probe(data->dev, -EINVAL, + "Sensor initialization error\n"); + + ret = regmap_read(data->regmap, BMI323_CHIP_ID_REG, &val); + if (ret) + return ret; + + if (FIELD_GET(BMI323_CHIP_ID_MSK, val) != BMI323_CHIP_ID_VAL) + return dev_err_probe(data->dev, -EINVAL, "Chip ID mismatch\n"); + + ret = bmi323_feature_engine_enable(data, true); + if (ret) + return ret; + + ret = regmap_read(data->regmap, BMI323_ERR_REG, &val); + if (ret) + return ret; + + if (val) + return dev_err_probe(data->dev, -EINVAL, + "Sensor power error = 0x%x\n", val); + + /* + * Set the Bandwidth coefficient which defines the 3 dB cutoff + * frequency in relation to the ODR. + */ + ret = bmi323_set_bw(data, BMI323_ACCEL, BMI323_BW_ODR_BY_2); + if (ret) + return ret; + + ret = bmi323_set_bw(data, BMI323_GYRO, BMI323_BW_ODR_BY_2); + if (ret) + return ret; + + ret = bmi323_set_odr(data, BMI323_ACCEL, 25, 0); + if (ret) + return ret; + + ret = bmi323_set_odr(data, BMI323_GYRO, 25, 0); + if (ret) + return ret; + + return devm_add_action_or_reset(data->dev, bmi323_disable, data); +} + +int bmi323_core_probe(struct device *dev) +{ + static const char * const regulator_names[] = { "vdd", "vddio" }; + struct iio_dev *indio_dev; + struct bmi323_data *data; + struct regmap *regmap; + int ret; + + regmap = dev_get_regmap(dev, NULL); + if (!regmap) + return dev_err_probe(dev, -ENODEV, "Failed to get regmap\n"); + + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return dev_err_probe(dev, -ENOMEM, + "Failed to allocate device\n"); + + ret = devm_regulator_bulk_get_enable(dev, ARRAY_SIZE(regulator_names), + regulator_names); + if (ret) + return dev_err_probe(dev, ret, "Failed to enable regulators\n"); + + data = iio_priv(indio_dev); + data->dev = dev; + data->regmap = regmap; + mutex_init(&data->mutex); + + ret = bmi323_init(data); + if (ret) + return -EINVAL; + + ret = iio_read_mount_matrix(dev, &data->orientation); + if (ret) + return ret; + + indio_dev->name = "bmi323-imu"; + indio_dev->info = &bmi323_info; + indio_dev->channels = bmi323_channels; + indio_dev->num_channels = ARRAY_SIZE(bmi323_channels); + indio_dev->available_scan_masks = bmi323_avail_scan_masks; + indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE; + dev_set_drvdata(data->dev, indio_dev); + + ret = bmi323_trigger_probe(data, indio_dev); + if (ret) + return -EINVAL; + + ret = devm_iio_triggered_buffer_setup_ext(data->dev, indio_dev, + &iio_pollfunc_store_time, + bmi323_trigger_handler, + IIO_BUFFER_DIRECTION_IN, + &bmi323_buffer_ops, + bmi323_fifo_attributes); + if (ret) + return dev_err_probe(data->dev, ret, + "Failed to setup trigger buffer\n"); + + ret = devm_iio_device_register(data->dev, indio_dev); + if (ret) + return dev_err_probe(data->dev, ret, + "Unable to register iio device\n"); + + return 0; +} +EXPORT_SYMBOL_NS_GPL(bmi323_core_probe, IIO_BMI323); + +MODULE_DESCRIPTION("Bosch BMI323 IMU driver"); +MODULE_AUTHOR("Jagath Jog J <jagathjog1996@gmail.com>"); +MODULE_LICENSE("GPL"); |