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iio: imu: Add driver for BMI323 IMU
The Bosch BMI323 is a 6-axis low-power IMU that provide measurements for acceleration, angular rate, and temperature. This sensor includes motion-triggered interrupt features, such as a step counter, tap detection, and activity/inactivity interrupt capabilities. The driver supports various functionalities, including data ready, FIFO data handling, and events such as tap detection, step counting, and activity interrupts. Signed-off-by: Jagath Jog J <jagathjog1996@gmail.com> Link: https://lore.kernel.org/r/20231013034808.8948-3-jagathjog1996@gmail.com Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
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10 changed files with 2628 additions and 0 deletions
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@ -2254,3 +2254,21 @@ Description:
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If a label is defined for this event add that to the event
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specific attributes. This is useful for userspace to be able to
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better identify an individual event.
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What: /sys/.../events/in_accel_gesture_tap_wait_timeout
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KernelVersion: 6.7
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Contact: linux-iio@vger.kernel.org
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Description:
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Enable tap gesture confirmation with timeout.
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What: /sys/.../events/in_accel_gesture_tap_wait_dur
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KernelVersion: 6.7
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Contact: linux-iio@vger.kernel.org
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Description:
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Timeout value in seconds for tap gesture confirmation.
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What: /sys/.../events/in_accel_gesture_tap_wait_dur_available
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KernelVersion: 6.7
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Contact: linux-iio@vger.kernel.org
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Description:
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List of available timeout value for tap gesture confirmation.
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@ -3647,6 +3647,13 @@ S: Maintained
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F: Documentation/devicetree/bindings/iio/accel/bosch,bma400.yaml
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F: drivers/iio/accel/bma400*
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BOSCH SENSORTEC BMI323 IMU IIO DRIVER
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M: Jagath Jog J <jagathjog1996@gmail.com>
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L: linux-iio@vger.kernel.org
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S: Maintained
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F: Documentation/devicetree/bindings/iio/imu/bosch,bma400.yaml
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F: drivers/iio/imu/bmi323/
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BPF JIT for ARM
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M: Russell King <linux@armlinux.org.uk>
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M: Puranjay Mohan <puranjay12@gmail.com>
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@ -53,6 +53,7 @@ config ADIS16480
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ADIS16485, ADIS16488 inertial sensors.
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source "drivers/iio/imu/bmi160/Kconfig"
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source "drivers/iio/imu/bmi323/Kconfig"
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source "drivers/iio/imu/bno055/Kconfig"
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config FXOS8700
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@ -15,6 +15,7 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
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obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
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obj-y += bmi160/
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obj-y += bmi323/
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obj-y += bno055/
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obj-$(CONFIG_FXOS8700) += fxos8700_core.o
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33
drivers/iio/imu/bmi323/Kconfig
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33
drivers/iio/imu/bmi323/Kconfig
Normal file
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@ -0,0 +1,33 @@
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# SPDX-License-Identifier: GPL-2.0
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#
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# BMI323 IMU driver
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#
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config BMI323
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tristate
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select IIO_BUFFER
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select IIO_TRIGGERED_BUFFER
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config BMI323_I2C
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tristate "Bosch BMI323 I2C driver"
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depends on I2C
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select BMI323
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select REGMAP_I2C
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help
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Enable support for the Bosch BMI323 6-Axis IMU connected to I2C
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interface.
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This driver can also be built as a module. If so, the module will be
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called bmi323_i2c.
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config BMI323_SPI
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tristate "Bosch BMI323 SPI driver"
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depends on SPI
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select BMI323
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select REGMAP_SPI
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help
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Enable support for the Bosch BMI323 6-Axis IMU connected to SPI
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interface.
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This driver can also be built as a module. If so, the module will be
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called bmi323_spi.
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7
drivers/iio/imu/bmi323/Makefile
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7
drivers/iio/imu/bmi323/Makefile
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# SPDX-License-Identifier: GPL-2.0
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#
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# Makefile for Bosch BMI323 IMU
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#
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obj-$(CONFIG_BMI323) += bmi323_core.o
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obj-$(CONFIG_BMI323_I2C) += bmi323_i2c.o
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obj-$(CONFIG_BMI323_SPI) += bmi323_spi.o
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209
drivers/iio/imu/bmi323/bmi323.h
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209
drivers/iio/imu/bmi323/bmi323.h
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@ -0,0 +1,209 @@
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/* SPDX-License-Identifier: GPL-2.0 */
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/*
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* IIO driver for Bosch BMI323 6-Axis IMU
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*
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* Copyright (C) 2023, Jagath Jog J <jagathjog1996@gmail.com>
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*/
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#ifndef _BMI323_H_
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#define _BMI323_H_
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#include <linux/bits.h>
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#include <linux/regmap.h>
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#include <linux/units.h>
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#define BMI323_I2C_DUMMY 2
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#define BMI323_SPI_DUMMY 1
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/* Register map */
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#define BMI323_CHIP_ID_REG 0x00
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#define BMI323_CHIP_ID_VAL 0x0043
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#define BMI323_CHIP_ID_MSK GENMASK(7, 0)
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#define BMI323_ERR_REG 0x01
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#define BMI323_STATUS_REG 0x02
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#define BMI323_STATUS_POR_MSK BIT(0)
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/* Accelero/Gyro/Temp data registers */
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#define BMI323_ACCEL_X_REG 0x03
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#define BMI323_GYRO_X_REG 0x06
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#define BMI323_TEMP_REG 0x09
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#define BMI323_ALL_CHAN_MSK GENMASK(5, 0)
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/* Status registers */
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#define BMI323_STATUS_INT1_REG 0x0D
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#define BMI323_STATUS_INT2_REG 0x0E
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#define BMI323_STATUS_NOMOTION_MSK BIT(0)
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#define BMI323_STATUS_MOTION_MSK BIT(1)
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#define BMI323_STATUS_STP_WTR_MSK BIT(5)
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#define BMI323_STATUS_TAP_MSK BIT(8)
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#define BMI323_STATUS_ERROR_MSK BIT(10)
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#define BMI323_STATUS_TMP_DRDY_MSK BIT(11)
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#define BMI323_STATUS_GYR_DRDY_MSK BIT(12)
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#define BMI323_STATUS_ACC_DRDY_MSK BIT(13)
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#define BMI323_STATUS_ACC_GYR_DRDY_MSK GENMASK(13, 12)
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#define BMI323_STATUS_FIFO_WTRMRK_MSK BIT(14)
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#define BMI323_STATUS_FIFO_FULL_MSK BIT(15)
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/* Feature registers */
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#define BMI323_FEAT_IO0_REG 0x10
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#define BMI323_FEAT_IO0_XYZ_NOMOTION_MSK GENMASK(2, 0)
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#define BMI323_FEAT_IO0_XYZ_MOTION_MSK GENMASK(5, 3)
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#define BMI323_FEAT_XYZ_MSK GENMASK(2, 0)
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#define BMI323_FEAT_IO0_STP_CNT_MSK BIT(9)
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#define BMI323_FEAT_IO0_S_TAP_MSK BIT(12)
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#define BMI323_FEAT_IO0_D_TAP_MSK BIT(13)
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#define BMI323_FEAT_IO1_REG 0x11
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#define BMI323_FEAT_IO1_ERR_MSK GENMASK(3, 0)
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#define BMI323_FEAT_IO2_REG 0x12
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#define BMI323_FEAT_IO_STATUS_REG 0x14
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#define BMI323_FEAT_IO_STATUS_MSK BIT(0)
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#define BMI323_FEAT_ENG_POLL 2000
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#define BMI323_FEAT_ENG_TIMEOUT 10000
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/* FIFO registers */
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#define BMI323_FIFO_FILL_LEVEL_REG 0x15
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#define BMI323_FIFO_DATA_REG 0x16
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/* Accelero/Gyro config registers */
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#define BMI323_ACC_CONF_REG 0x20
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#define BMI323_GYRO_CONF_REG 0x21
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#define BMI323_ACC_GYRO_CONF_MODE_MSK GENMASK(14, 12)
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#define BMI323_ACC_GYRO_CONF_ODR_MSK GENMASK(3, 0)
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#define BMI323_ACC_GYRO_CONF_SCL_MSK GENMASK(6, 4)
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#define BMI323_ACC_GYRO_CONF_BW_MSK BIT(7)
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#define BMI323_ACC_GYRO_CONF_AVG_MSK GENMASK(10, 8)
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/* FIFO registers */
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#define BMI323_FIFO_WTRMRK_REG 0x35
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#define BMI323_FIFO_CONF_REG 0x36
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#define BMI323_FIFO_CONF_STP_FUL_MSK BIT(0)
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#define BMI323_FIFO_CONF_ACC_GYR_EN_MSK GENMASK(10, 9)
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#define BMI323_FIFO_ACC_GYR_MSK GENMASK(1, 0)
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#define BMI323_FIFO_CTRL_REG 0x37
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#define BMI323_FIFO_FLUSH_MSK BIT(0)
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/* Interrupt pin config registers */
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#define BMI323_IO_INT_CTR_REG 0x38
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#define BMI323_IO_INT1_LVL_MSK BIT(0)
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#define BMI323_IO_INT1_OD_MSK BIT(1)
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#define BMI323_IO_INT1_OP_EN_MSK BIT(2)
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#define BMI323_IO_INT1_LVL_OD_OP_MSK GENMASK(2, 0)
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#define BMI323_IO_INT2_LVL_MSK BIT(8)
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#define BMI323_IO_INT2_OD_MSK BIT(9)
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#define BMI323_IO_INT2_OP_EN_MSK BIT(10)
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#define BMI323_IO_INT2_LVL_OD_OP_MSK GENMASK(10, 8)
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#define BMI323_IO_INT_CONF_REG 0x39
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#define BMI323_IO_INT_LTCH_MSK BIT(0)
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#define BMI323_INT_MAP1_REG 0x3A
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#define BMI323_INT_MAP2_REG 0x3B
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#define BMI323_NOMOTION_MSK GENMASK(1, 0)
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#define BMI323_MOTION_MSK GENMASK(3, 2)
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#define BMI323_STEP_CNT_MSK GENMASK(11, 10)
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#define BMI323_TAP_MSK GENMASK(1, 0)
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#define BMI323_TMP_DRDY_MSK GENMASK(7, 6)
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#define BMI323_GYR_DRDY_MSK GENMASK(9, 8)
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#define BMI323_ACC_DRDY_MSK GENMASK(11, 10)
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#define BMI323_FIFO_WTRMRK_MSK GENMASK(13, 12)
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#define BMI323_FIFO_FULL_MSK GENMASK(15, 14)
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/* Feature registers */
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#define BMI323_FEAT_CTRL_REG 0x40
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#define BMI323_FEAT_ENG_EN_MSK BIT(0)
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#define BMI323_FEAT_DATA_ADDR 0x41
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#define BMI323_FEAT_DATA_TX 0x42
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#define BMI323_FEAT_DATA_STATUS 0x43
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#define BMI323_FEAT_DATA_TX_RDY_MSK BIT(1)
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#define BMI323_FEAT_EVNT_EXT_REG 0x47
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#define BMI323_FEAT_EVNT_EXT_S_MSK BIT(3)
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#define BMI323_FEAT_EVNT_EXT_D_MSK BIT(4)
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#define BMI323_CMD_REG 0x7E
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#define BMI323_RST_VAL 0xDEAF
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#define BMI323_CFG_RES_REG 0x7F
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/* Extended registers */
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#define BMI323_GEN_SET1_REG 0x02
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#define BMI323_GEN_SET1_MODE_MSK BIT(0)
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#define BMI323_GEN_HOLD_DUR_MSK GENMASK(4, 1)
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/* Any Motion/No Motion config registers */
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#define BMI323_ANYMO1_REG 0x05
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#define BMI323_NOMO1_REG 0x08
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#define BMI323_MO2_OFFSET 0x01
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#define BMI323_MO3_OFFSET 0x02
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#define BMI323_MO1_REF_UP_MSK BIT(12)
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#define BMI323_MO1_SLOPE_TH_MSK GENMASK(11, 0)
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#define BMI323_MO2_HYSTR_MSK GENMASK(9, 0)
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#define BMI323_MO3_DURA_MSK GENMASK(12, 0)
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/* Step counter config registers */
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#define BMI323_STEP_SC1_REG 0x10
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#define BMI323_STEP_SC1_WTRMRK_MSK GENMASK(9, 0)
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#define BMI323_STEP_SC1_RST_CNT_MSK BIT(10)
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#define BMI323_STEP_SC1_REG 0x10
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#define BMI323_STEP_LEN 2
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/* Tap gesture config registers */
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#define BMI323_TAP1_REG 0x1E
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#define BMI323_TAP1_AXIS_SEL_MSK GENMASK(1, 0)
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#define BMI323_AXIS_XYZ_MSK GENMASK(1, 0)
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#define BMI323_TAP1_TIMOUT_MSK BIT(2)
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#define BMI323_TAP1_MAX_PEAKS_MSK GENMASK(5, 3)
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#define BMI323_TAP1_MODE_MSK GENMASK(7, 6)
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#define BMI323_TAP2_REG 0x1F
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#define BMI323_TAP2_THRES_MSK GENMASK(9, 0)
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#define BMI323_TAP2_MAX_DUR_MSK GENMASK(15, 10)
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#define BMI323_TAP3_REG 0x20
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#define BMI323_TAP3_QUIET_TIM_MSK GENMASK(15, 12)
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#define BMI323_TAP3_QT_BW_TAP_MSK GENMASK(11, 8)
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#define BMI323_TAP3_QT_AFT_GES_MSK GENMASK(15, 12)
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#define BMI323_MOTION_THRES_SCALE 512
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#define BMI323_MOTION_HYSTR_SCALE 512
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#define BMI323_MOTION_DURAT_SCALE 50
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#define BMI323_TAP_THRES_SCALE 512
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#define BMI323_DUR_BW_TAP_SCALE 200
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#define BMI323_QUITE_TIM_GES_SCALE 25
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#define BMI323_MAX_GES_DUR_SCALE 25
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/*
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* The formula to calculate temperature in C.
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* See datasheet section 6.1.1, Register Map Overview
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*
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* T_C = (temp_raw / 512) + 23
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*/
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#define BMI323_TEMP_OFFSET 11776
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#define BMI323_TEMP_SCALE 1953125
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/*
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* The BMI323 features a FIFO with a capacity of 2048 bytes. Each frame
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* consists of accelerometer (X, Y, Z) data and gyroscope (X, Y, Z) data,
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* totaling 6 words or 12 bytes. The FIFO buffer can hold a total of
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* 170 frames.
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*
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* If a watermark interrupt is configured for 170 frames, the interrupt will
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* trigger when the FIFO reaches 169 frames, so limit the maximum watermark
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* level to 169 frames. In terms of data, 169 frames would equal 1014 bytes,
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* which is approximately 2 frames before the FIFO reaches its full capacity.
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* See datasheet section 5.7.3 FIFO Buffer Interrupts
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*/
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#define BMI323_BYTES_PER_SAMPLE 2
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#define BMI323_FIFO_LENGTH_IN_BYTES 2048
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#define BMI323_FIFO_FRAME_LENGTH 6
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#define BMI323_FIFO_FULL_IN_FRAMES \
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((BMI323_FIFO_LENGTH_IN_BYTES / \
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(BMI323_BYTES_PER_SAMPLE * BMI323_FIFO_FRAME_LENGTH)) - 1)
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#define BMI323_FIFO_FULL_IN_WORDS \
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(BMI323_FIFO_FULL_IN_FRAMES * BMI323_FIFO_FRAME_LENGTH)
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#define BMI323_INT_MICRO_TO_RAW(val, val2, scale) ((val) * (scale) + \
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((val2) * (scale)) / MEGA)
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#define BMI323_RAW_TO_MICRO(raw, scale) ((((raw) % (scale)) * MEGA) / scale)
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struct device;
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int bmi323_core_probe(struct device *dev);
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extern const struct regmap_config bmi323_regmap_config;
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#endif
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2139
drivers/iio/imu/bmi323/bmi323_core.c
Normal file
2139
drivers/iio/imu/bmi323/bmi323_core.c
Normal file
File diff suppressed because it is too large
Load diff
121
drivers/iio/imu/bmi323/bmi323_i2c.c
Normal file
121
drivers/iio/imu/bmi323/bmi323_i2c.c
Normal file
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// SPDX-License-Identifier: GPL-2.0
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/*
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* I2C driver for Bosch BMI323 6-Axis IMU.
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*
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* Copyright (C) 2023, Jagath Jog J <jagathjog1996@gmail.com>
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*/
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#include <linux/i2c.h>
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#include <linux/mod_devicetable.h>
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#include <linux/module.h>
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#include <linux/regmap.h>
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#include "bmi323.h"
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struct bmi323_i2c_priv {
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struct i2c_client *i2c;
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u8 i2c_rx_buffer[BMI323_FIFO_LENGTH_IN_BYTES + BMI323_I2C_DUMMY];
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};
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/*
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* From BMI323 datasheet section 4: Notes on the Serial Interface Support.
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* Each I2C register read operation requires to read two dummy bytes before
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* the actual payload.
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*/
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static int bmi323_regmap_i2c_read(void *context, const void *reg_buf,
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size_t reg_size, void *val_buf,
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size_t val_size)
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{
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struct bmi323_i2c_priv *priv = context;
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struct i2c_msg msgs[2];
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int ret;
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msgs[0].addr = priv->i2c->addr;
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msgs[0].flags = priv->i2c->flags;
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msgs[0].len = reg_size;
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msgs[0].buf = (u8 *)reg_buf;
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msgs[1].addr = priv->i2c->addr;
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msgs[1].len = val_size + BMI323_I2C_DUMMY;
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msgs[1].buf = priv->i2c_rx_buffer;
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msgs[1].flags = priv->i2c->flags | I2C_M_RD;
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ret = i2c_transfer(priv->i2c->adapter, msgs, ARRAY_SIZE(msgs));
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if (ret < 0)
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return -EIO;
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memcpy(val_buf, priv->i2c_rx_buffer + BMI323_I2C_DUMMY, val_size);
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return 0;
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}
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static int bmi323_regmap_i2c_write(void *context, const void *data,
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size_t count)
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{
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struct bmi323_i2c_priv *priv = context;
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u8 reg;
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reg = *(u8 *)data;
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return i2c_smbus_write_i2c_block_data(priv->i2c, reg,
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count - sizeof(u8),
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data + sizeof(u8));
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}
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static struct regmap_bus bmi323_regmap_bus = {
|
||||
.read = bmi323_regmap_i2c_read,
|
||||
.write = bmi323_regmap_i2c_write,
|
||||
};
|
||||
|
||||
const struct regmap_config bmi323_i2c_regmap_config = {
|
||||
.reg_bits = 8,
|
||||
.val_bits = 16,
|
||||
.max_register = BMI323_CFG_RES_REG,
|
||||
.val_format_endian = REGMAP_ENDIAN_LITTLE,
|
||||
};
|
||||
|
||||
static int bmi323_i2c_probe(struct i2c_client *i2c)
|
||||
{
|
||||
struct device *dev = &i2c->dev;
|
||||
struct bmi323_i2c_priv *priv;
|
||||
struct regmap *regmap;
|
||||
|
||||
priv = devm_kzalloc(dev, sizeof(*priv), GFP_KERNEL);
|
||||
if (!priv)
|
||||
return -ENOMEM;
|
||||
|
||||
priv->i2c = i2c;
|
||||
regmap = devm_regmap_init(dev, &bmi323_regmap_bus, priv,
|
||||
&bmi323_i2c_regmap_config);
|
||||
if (IS_ERR(regmap))
|
||||
return dev_err_probe(dev, PTR_ERR(regmap),
|
||||
"Failed to initialize I2C Regmap\n");
|
||||
|
||||
return bmi323_core_probe(dev);
|
||||
}
|
||||
|
||||
static const struct i2c_device_id bmi323_i2c_ids[] = {
|
||||
{ "bmi323" },
|
||||
{ }
|
||||
};
|
||||
MODULE_DEVICE_TABLE(i2c, bmi323_i2c_ids);
|
||||
|
||||
static const struct of_device_id bmi323_of_i2c_match[] = {
|
||||
{ .compatible = "bosch,bmi323" },
|
||||
{ }
|
||||
};
|
||||
MODULE_DEVICE_TABLE(of, bmi323_of_i2c_match);
|
||||
|
||||
static struct i2c_driver bmi323_i2c_driver = {
|
||||
.driver = {
|
||||
.name = "bmi323",
|
||||
.of_match_table = bmi323_of_i2c_match,
|
||||
},
|
||||
.probe = bmi323_i2c_probe,
|
||||
.id_table = bmi323_i2c_ids,
|
||||
};
|
||||
module_i2c_driver(bmi323_i2c_driver);
|
||||
|
||||
MODULE_DESCRIPTION("Bosch BMI323 IMU driver");
|
||||
MODULE_AUTHOR("Jagath Jog J <jagathjog1996@gmail.com>");
|
||||
MODULE_LICENSE("GPL");
|
||||
MODULE_IMPORT_NS(IIO_BMI323);
|
92
drivers/iio/imu/bmi323/bmi323_spi.c
Normal file
92
drivers/iio/imu/bmi323/bmi323_spi.c
Normal file
|
@ -0,0 +1,92 @@
|
|||
// SPDX-License-Identifier: GPL-2.0
|
||||
/*
|
||||
* SPI driver for Bosch BMI323 6-Axis IMU.
|
||||
*
|
||||
* Copyright (C) 2023, Jagath Jog J <jagathjog1996@gmail.com>
|
||||
*/
|
||||
|
||||
#include <linux/mod_devicetable.h>
|
||||
#include <linux/module.h>
|
||||
#include <linux/regmap.h>
|
||||
#include <linux/spi/spi.h>
|
||||
|
||||
#include "bmi323.h"
|
||||
|
||||
/*
|
||||
* From BMI323 datasheet section 4: Notes on the Serial Interface Support.
|
||||
* Each SPI register read operation requires to read one dummy byte before
|
||||
* the actual payload.
|
||||
*/
|
||||
static int bmi323_regmap_spi_read(void *context, const void *reg_buf,
|
||||
size_t reg_size, void *val_buf,
|
||||
size_t val_size)
|
||||
{
|
||||
struct spi_device *spi = context;
|
||||
|
||||
return spi_write_then_read(spi, reg_buf, reg_size, val_buf, val_size);
|
||||
}
|
||||
|
||||
static int bmi323_regmap_spi_write(void *context, const void *data,
|
||||
size_t count)
|
||||
{
|
||||
struct spi_device *spi = context;
|
||||
u8 *data_buff = (u8 *)data;
|
||||
|
||||
data_buff[1] = data_buff[0];
|
||||
return spi_write(spi, data_buff + 1, count - 1);
|
||||
}
|
||||
|
||||
static struct regmap_bus bmi323_regmap_bus = {
|
||||
.read = bmi323_regmap_spi_read,
|
||||
.write = bmi323_regmap_spi_write,
|
||||
};
|
||||
|
||||
const struct regmap_config bmi323_spi_regmap_config = {
|
||||
.reg_bits = 8,
|
||||
.val_bits = 16,
|
||||
.pad_bits = 8,
|
||||
.read_flag_mask = BIT(7),
|
||||
.max_register = BMI323_CFG_RES_REG,
|
||||
.val_format_endian = REGMAP_ENDIAN_LITTLE,
|
||||
};
|
||||
|
||||
static int bmi323_spi_probe(struct spi_device *spi)
|
||||
{
|
||||
struct device *dev = &spi->dev;
|
||||
struct regmap *regmap;
|
||||
|
||||
regmap = devm_regmap_init(dev, &bmi323_regmap_bus, dev,
|
||||
&bmi323_spi_regmap_config);
|
||||
if (IS_ERR(regmap))
|
||||
return dev_err_probe(dev, PTR_ERR(regmap),
|
||||
"Failed to initialize SPI Regmap\n");
|
||||
|
||||
return bmi323_core_probe(dev);
|
||||
}
|
||||
|
||||
static const struct spi_device_id bmi323_spi_ids[] = {
|
||||
{ "bmi323" },
|
||||
{ }
|
||||
};
|
||||
MODULE_DEVICE_TABLE(spi, bmi323_spi_ids);
|
||||
|
||||
static const struct of_device_id bmi323_of_spi_match[] = {
|
||||
{ .compatible = "bosch,bmi323" },
|
||||
{ }
|
||||
};
|
||||
MODULE_DEVICE_TABLE(of, bmi323_of_spi_match);
|
||||
|
||||
static struct spi_driver bmi323_spi_driver = {
|
||||
.driver = {
|
||||
.name = "bmi323",
|
||||
.of_match_table = bmi323_of_spi_match,
|
||||
},
|
||||
.probe = bmi323_spi_probe,
|
||||
.id_table = bmi323_spi_ids,
|
||||
};
|
||||
module_spi_driver(bmi323_spi_driver);
|
||||
|
||||
MODULE_DESCRIPTION("Bosch BMI323 IMU driver");
|
||||
MODULE_AUTHOR("Jagath Jog J <jagathjog1996@gmail.com>");
|
||||
MODULE_LICENSE("GPL");
|
||||
MODULE_IMPORT_NS(IIO_BMI323);
|
Loading…
Reference in a new issue