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iio: imu: Add driver for BMI323 IMU

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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:
Jagath Jog J 2023-10-13 09:18:08 +05:30 committed by Jonathan Cameron
parent a0357c08d4
commit 8a636db3aa
10 changed files with 2628 additions and 0 deletions
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18
Documentation/ABI/testing/sysfs-bus-iio
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@ -2254,3 +2254,21 @@ Description:
If a label is defined for this event add that to the event
specific attributes. This is useful for userspace to be able to
better identify an individual event.
What: /sys/.../events/in_accel_gesture_tap_wait_timeout
KernelVersion: 6.7
Contact: linux-iio@vger.kernel.org
Description:
Enable tap gesture confirmation with timeout.
What: /sys/.../events/in_accel_gesture_tap_wait_dur
KernelVersion: 6.7
Contact: linux-iio@vger.kernel.org
Description:
Timeout value in seconds for tap gesture confirmation.
What: /sys/.../events/in_accel_gesture_tap_wait_dur_available
KernelVersion: 6.7
Contact: linux-iio@vger.kernel.org
Description:
List of available timeout value for tap gesture confirmation.

7
MAINTAINERS
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@ -3647,6 +3647,13 @@ S: Maintained
F: Documentation/devicetree/bindings/iio/accel/bosch,bma400.yaml
F: drivers/iio/accel/bma400*
BOSCH SENSORTEC BMI323 IMU IIO DRIVER
M: Jagath Jog J <jagathjog1996@gmail.com>
L: linux-iio@vger.kernel.org
S: Maintained
F: Documentation/devicetree/bindings/iio/imu/bosch,bma400.yaml
F: drivers/iio/imu/bmi323/
BPF JIT for ARM
M: Russell King <linux@armlinux.org.uk>
M: Puranjay Mohan <puranjay12@gmail.com>

1
drivers/iio/imu/Kconfig
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@ -53,6 +53,7 @@ config ADIS16480
ADIS16485, ADIS16488 inertial sensors.
source "drivers/iio/imu/bmi160/Kconfig"
source "drivers/iio/imu/bmi323/Kconfig"
source "drivers/iio/imu/bno055/Kconfig"
config FXOS8700

1
drivers/iio/imu/Makefile
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@ -15,6 +15,7 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
obj-y += bmi160/
obj-y += bmi323/
obj-y += bno055/
obj-$(CONFIG_FXOS8700) += fxos8700_core.o

33
drivers/iio/imu/bmi323/Kconfig Normal file
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@ -0,0 +1,33 @@
# SPDX-License-Identifier: GPL-2.0
#
# BMI323 IMU driver
#
config BMI323
tristate
select IIO_BUFFER
select IIO_TRIGGERED_BUFFER
config BMI323_I2C
tristate "Bosch BMI323 I2C driver"
depends on I2C
select BMI323
select REGMAP_I2C
help
Enable support for the Bosch BMI323 6-Axis IMU connected to I2C
interface.
This driver can also be built as a module. If so, the module will be
called bmi323_i2c.
config BMI323_SPI
tristate "Bosch BMI323 SPI driver"
depends on SPI
select BMI323
select REGMAP_SPI
help
Enable support for the Bosch BMI323 6-Axis IMU connected to SPI
interface.
This driver can also be built as a module. If so, the module will be
called bmi323_spi.

7
drivers/iio/imu/bmi323/Makefile Normal file
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@ -0,0 +1,7 @@
# SPDX-License-Identifier: GPL-2.0
#
# Makefile for Bosch BMI323 IMU
#
obj-$(CONFIG_BMI323) += bmi323_core.o
obj-$(CONFIG_BMI323_I2C) += bmi323_i2c.o
obj-$(CONFIG_BMI323_SPI) += bmi323_spi.o

209
drivers/iio/imu/bmi323/bmi323.h Normal file
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@ -0,0 +1,209 @@
/* SPDX-License-Identifier: GPL-2.0 */
/*
* IIO driver for Bosch BMI323 6-Axis IMU
*
* Copyright (C) 2023, Jagath Jog J <jagathjog1996@gmail.com>
*/
#ifndef _BMI323_H_
#define _BMI323_H_
#include <linux/bits.h>
#include <linux/regmap.h>
#include <linux/units.h>
#define BMI323_I2C_DUMMY 2
#define BMI323_SPI_DUMMY 1
/* Register map */
#define BMI323_CHIP_ID_REG 0x00
#define BMI323_CHIP_ID_VAL 0x0043
#define BMI323_CHIP_ID_MSK GENMASK(7, 0)
#define BMI323_ERR_REG 0x01
#define BMI323_STATUS_REG 0x02
#define BMI323_STATUS_POR_MSK BIT(0)
/* Accelero/Gyro/Temp data registers */
#define BMI323_ACCEL_X_REG 0x03
#define BMI323_GYRO_X_REG 0x06
#define BMI323_TEMP_REG 0x09
#define BMI323_ALL_CHAN_MSK GENMASK(5, 0)
/* Status registers */
#define BMI323_STATUS_INT1_REG 0x0D
#define BMI323_STATUS_INT2_REG 0x0E
#define BMI323_STATUS_NOMOTION_MSK BIT(0)
#define BMI323_STATUS_MOTION_MSK BIT(1)
#define BMI323_STATUS_STP_WTR_MSK BIT(5)
#define BMI323_STATUS_TAP_MSK BIT(8)
#define BMI323_STATUS_ERROR_MSK BIT(10)
#define BMI323_STATUS_TMP_DRDY_MSK BIT(11)
#define BMI323_STATUS_GYR_DRDY_MSK BIT(12)
#define BMI323_STATUS_ACC_DRDY_MSK BIT(13)
#define BMI323_STATUS_ACC_GYR_DRDY_MSK GENMASK(13, 12)
#define BMI323_STATUS_FIFO_WTRMRK_MSK BIT(14)
#define BMI323_STATUS_FIFO_FULL_MSK BIT(15)
/* Feature registers */
#define BMI323_FEAT_IO0_REG 0x10
#define BMI323_FEAT_IO0_XYZ_NOMOTION_MSK GENMASK(2, 0)
#define BMI323_FEAT_IO0_XYZ_MOTION_MSK GENMASK(5, 3)
#define BMI323_FEAT_XYZ_MSK GENMASK(2, 0)
#define BMI323_FEAT_IO0_STP_CNT_MSK BIT(9)
#define BMI323_FEAT_IO0_S_TAP_MSK BIT(12)
#define BMI323_FEAT_IO0_D_TAP_MSK BIT(13)
#define BMI323_FEAT_IO1_REG 0x11
#define BMI323_FEAT_IO1_ERR_MSK GENMASK(3, 0)
#define BMI323_FEAT_IO2_REG 0x12
#define BMI323_FEAT_IO_STATUS_REG 0x14
#define BMI323_FEAT_IO_STATUS_MSK BIT(0)
#define BMI323_FEAT_ENG_POLL 2000
#define BMI323_FEAT_ENG_TIMEOUT 10000
/* FIFO registers */
#define BMI323_FIFO_FILL_LEVEL_REG 0x15
#define BMI323_FIFO_DATA_REG 0x16
/* Accelero/Gyro config registers */
#define BMI323_ACC_CONF_REG 0x20
#define BMI323_GYRO_CONF_REG 0x21
#define BMI323_ACC_GYRO_CONF_MODE_MSK GENMASK(14, 12)
#define BMI323_ACC_GYRO_CONF_ODR_MSK GENMASK(3, 0)
#define BMI323_ACC_GYRO_CONF_SCL_MSK GENMASK(6, 4)
#define BMI323_ACC_GYRO_CONF_BW_MSK BIT(7)
#define BMI323_ACC_GYRO_CONF_AVG_MSK GENMASK(10, 8)
/* FIFO registers */
#define BMI323_FIFO_WTRMRK_REG 0x35
#define BMI323_FIFO_CONF_REG 0x36
#define BMI323_FIFO_CONF_STP_FUL_MSK BIT(0)
#define BMI323_FIFO_CONF_ACC_GYR_EN_MSK GENMASK(10, 9)
#define BMI323_FIFO_ACC_GYR_MSK GENMASK(1, 0)
#define BMI323_FIFO_CTRL_REG 0x37
#define BMI323_FIFO_FLUSH_MSK BIT(0)
/* Interrupt pin config registers */
#define BMI323_IO_INT_CTR_REG 0x38
#define BMI323_IO_INT1_LVL_MSK BIT(0)
#define BMI323_IO_INT1_OD_MSK BIT(1)
#define BMI323_IO_INT1_OP_EN_MSK BIT(2)
#define BMI323_IO_INT1_LVL_OD_OP_MSK GENMASK(2, 0)
#define BMI323_IO_INT2_LVL_MSK BIT(8)
#define BMI323_IO_INT2_OD_MSK BIT(9)
#define BMI323_IO_INT2_OP_EN_MSK BIT(10)
#define BMI323_IO_INT2_LVL_OD_OP_MSK GENMASK(10, 8)
#define BMI323_IO_INT_CONF_REG 0x39
#define BMI323_IO_INT_LTCH_MSK BIT(0)
#define BMI323_INT_MAP1_REG 0x3A
#define BMI323_INT_MAP2_REG 0x3B
#define BMI323_NOMOTION_MSK GENMASK(1, 0)
#define BMI323_MOTION_MSK GENMASK(3, 2)
#define BMI323_STEP_CNT_MSK GENMASK(11, 10)
#define BMI323_TAP_MSK GENMASK(1, 0)
#define BMI323_TMP_DRDY_MSK GENMASK(7, 6)
#define BMI323_GYR_DRDY_MSK GENMASK(9, 8)
#define BMI323_ACC_DRDY_MSK GENMASK(11, 10)
#define BMI323_FIFO_WTRMRK_MSK GENMASK(13, 12)
#define BMI323_FIFO_FULL_MSK GENMASK(15, 14)
/* Feature registers */
#define BMI323_FEAT_CTRL_REG 0x40
#define BMI323_FEAT_ENG_EN_MSK BIT(0)
#define BMI323_FEAT_DATA_ADDR 0x41
#define BMI323_FEAT_DATA_TX 0x42
#define BMI323_FEAT_DATA_STATUS 0x43
#define BMI323_FEAT_DATA_TX_RDY_MSK BIT(1)
#define BMI323_FEAT_EVNT_EXT_REG 0x47
#define BMI323_FEAT_EVNT_EXT_S_MSK BIT(3)
#define BMI323_FEAT_EVNT_EXT_D_MSK BIT(4)
#define BMI323_CMD_REG 0x7E
#define BMI323_RST_VAL 0xDEAF
#define BMI323_CFG_RES_REG 0x7F
/* Extended registers */
#define BMI323_GEN_SET1_REG 0x02
#define BMI323_GEN_SET1_MODE_MSK BIT(0)
#define BMI323_GEN_HOLD_DUR_MSK GENMASK(4, 1)
/* Any Motion/No Motion config registers */
#define BMI323_ANYMO1_REG 0x05
#define BMI323_NOMO1_REG 0x08
#define BMI323_MO2_OFFSET 0x01
#define BMI323_MO3_OFFSET 0x02
#define BMI323_MO1_REF_UP_MSK BIT(12)
#define BMI323_MO1_SLOPE_TH_MSK GENMASK(11, 0)
#define BMI323_MO2_HYSTR_MSK GENMASK(9, 0)
#define BMI323_MO3_DURA_MSK GENMASK(12, 0)
/* Step counter config registers */
#define BMI323_STEP_SC1_REG 0x10
#define BMI323_STEP_SC1_WTRMRK_MSK GENMASK(9, 0)
#define BMI323_STEP_SC1_RST_CNT_MSK BIT(10)
#define BMI323_STEP_SC1_REG 0x10
#define BMI323_STEP_LEN 2
/* Tap gesture config registers */
#define BMI323_TAP1_REG 0x1E
#define BMI323_TAP1_AXIS_SEL_MSK GENMASK(1, 0)
#define BMI323_AXIS_XYZ_MSK GENMASK(1, 0)
#define BMI323_TAP1_TIMOUT_MSK BIT(2)
#define BMI323_TAP1_MAX_PEAKS_MSK GENMASK(5, 3)
#define BMI323_TAP1_MODE_MSK GENMASK(7, 6)
#define BMI323_TAP2_REG 0x1F
#define BMI323_TAP2_THRES_MSK GENMASK(9, 0)
#define BMI323_TAP2_MAX_DUR_MSK GENMASK(15, 10)
#define BMI323_TAP3_REG 0x20
#define BMI323_TAP3_QUIET_TIM_MSK GENMASK(15, 12)
#define BMI323_TAP3_QT_BW_TAP_MSK GENMASK(11, 8)
#define BMI323_TAP3_QT_AFT_GES_MSK GENMASK(15, 12)
#define BMI323_MOTION_THRES_SCALE 512
#define BMI323_MOTION_HYSTR_SCALE 512
#define BMI323_MOTION_DURAT_SCALE 50
#define BMI323_TAP_THRES_SCALE 512
#define BMI323_DUR_BW_TAP_SCALE 200
#define BMI323_QUITE_TIM_GES_SCALE 25
#define BMI323_MAX_GES_DUR_SCALE 25
/*
* The formula to calculate temperature in C.
* See datasheet section 6.1.1, Register Map Overview
*
* T_C = (temp_raw / 512) + 23
*/
#define BMI323_TEMP_OFFSET 11776
#define BMI323_TEMP_SCALE 1953125
/*
* The BMI323 features a FIFO with a capacity of 2048 bytes. Each frame
* consists of accelerometer (X, Y, Z) data and gyroscope (X, Y, Z) data,
* totaling 6 words or 12 bytes. The FIFO buffer can hold a total of
* 170 frames.
*
* If a watermark interrupt is configured for 170 frames, the interrupt will
* trigger when the FIFO reaches 169 frames, so limit the maximum watermark
* level to 169 frames. In terms of data, 169 frames would equal 1014 bytes,
* which is approximately 2 frames before the FIFO reaches its full capacity.
* See datasheet section 5.7.3 FIFO Buffer Interrupts
*/
#define BMI323_BYTES_PER_SAMPLE 2
#define BMI323_FIFO_LENGTH_IN_BYTES 2048
#define BMI323_FIFO_FRAME_LENGTH 6
#define BMI323_FIFO_FULL_IN_FRAMES \
((BMI323_FIFO_LENGTH_IN_BYTES / \
(BMI323_BYTES_PER_SAMPLE * BMI323_FIFO_FRAME_LENGTH)) - 1)
#define BMI323_FIFO_FULL_IN_WORDS \
(BMI323_FIFO_FULL_IN_FRAMES * BMI323_FIFO_FRAME_LENGTH)
#define BMI323_INT_MICRO_TO_RAW(val, val2, scale) ((val) * (scale) + \
((val2) * (scale)) / MEGA)
#define BMI323_RAW_TO_MICRO(raw, scale) ((((raw) % (scale)) * MEGA) / scale)
struct device;
int bmi323_core_probe(struct device *dev);
extern const struct regmap_config bmi323_regmap_config;
#endif

2139
drivers/iio/imu/bmi323/bmi323_core.c Normal file
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121
drivers/iio/imu/bmi323/bmi323_i2c.c Normal file
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@ -0,0 +1,121 @@
// SPDX-License-Identifier: GPL-2.0
/*
* I2C driver for Bosch BMI323 6-Axis IMU.
*
* Copyright (C) 2023, Jagath Jog J <jagathjog1996@gmail.com>
*/
#include <linux/i2c.h>
#include <linux/mod_devicetable.h>
#include <linux/module.h>
#include <linux/regmap.h>
#include "bmi323.h"
struct bmi323_i2c_priv {
struct i2c_client *i2c;
u8 i2c_rx_buffer[BMI323_FIFO_LENGTH_IN_BYTES + BMI323_I2C_DUMMY];
};
/*
* From BMI323 datasheet section 4: Notes on the Serial Interface Support.
* Each I2C register read operation requires to read two dummy bytes before
* the actual payload.
*/
static int bmi323_regmap_i2c_read(void *context, const void *reg_buf,
size_t reg_size, void *val_buf,
size_t val_size)
{
struct bmi323_i2c_priv *priv = context;
struct i2c_msg msgs[2];
int ret;
msgs[0].addr = priv->i2c->addr;
msgs[0].flags = priv->i2c->flags;
msgs[0].len = reg_size;
msgs[0].buf = (u8 *)reg_buf;
msgs[1].addr = priv->i2c->addr;
msgs[1].len = val_size + BMI323_I2C_DUMMY;
msgs[1].buf = priv->i2c_rx_buffer;
msgs[1].flags = priv->i2c->flags | I2C_M_RD;
ret = i2c_transfer(priv->i2c->adapter, msgs, ARRAY_SIZE(msgs));
if (ret < 0)
return -EIO;
memcpy(val_buf, priv->i2c_rx_buffer + BMI323_I2C_DUMMY, val_size);
return 0;
}
static int bmi323_regmap_i2c_write(void *context, const void *data,
size_t count)
{
struct bmi323_i2c_priv *priv = context;
u8 reg;
reg = *(u8 *)data;
return i2c_smbus_write_i2c_block_data(priv->i2c, reg,
count - sizeof(u8),
data + sizeof(u8));
}
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);

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drivers/iio/imu/bmi323/bmi323_spi.c Normal file
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@ -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);