210 lines
7.1 KiB
C
210 lines
7.1 KiB
C
/* 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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