1/* SPDX-License-Identifier: GPL-2.0 */
2/*
3 * IIO driver for Bosch BMI323 6-Axis IMU
4 *
5 * Copyright (C) 2023, Jagath Jog J <jagathjog1996@gmail.com>
6 */
7
8#ifndef _BMI323_H_
9#define _BMI323_H_
10
11#include <linux/bits.h>
12#include <linux/regmap.h>
13#include <linux/units.h>
14
15#define BMI323_I2C_DUMMY 2
16#define BMI323_SPI_DUMMY 1
17
18/* Register map */
19
20#define BMI323_CHIP_ID_REG 0x00
21#define BMI323_CHIP_ID_VAL 0x0043
22#define BMI323_CHIP_ID_MSK GENMASK(7, 0)
23#define BMI323_ERR_REG 0x01
24#define BMI323_STATUS_REG 0x02
25#define BMI323_STATUS_POR_MSK BIT(0)
26
27/* Accelero/Gyro/Temp data registers */
28#define BMI323_ACCEL_X_REG 0x03
29#define BMI323_GYRO_X_REG 0x06
30#define BMI323_TEMP_REG 0x09
31#define BMI323_ALL_CHAN_MSK GENMASK(5, 0)
32
33/* Status registers */
34#define BMI323_STATUS_INT1_REG 0x0D
35#define BMI323_STATUS_INT2_REG 0x0E
36#define BMI323_STATUS_NOMOTION_MSK BIT(0)
37#define BMI323_STATUS_MOTION_MSK BIT(1)
38#define BMI323_STATUS_STP_WTR_MSK BIT(5)
39#define BMI323_STATUS_TAP_MSK BIT(8)
40#define BMI323_STATUS_ERROR_MSK BIT(10)
41#define BMI323_STATUS_TMP_DRDY_MSK BIT(11)
42#define BMI323_STATUS_GYR_DRDY_MSK BIT(12)
43#define BMI323_STATUS_ACC_DRDY_MSK BIT(13)
44#define BMI323_STATUS_ACC_GYR_DRDY_MSK GENMASK(13, 12)
45#define BMI323_STATUS_FIFO_WTRMRK_MSK BIT(14)
46#define BMI323_STATUS_FIFO_FULL_MSK BIT(15)
47
48/* Feature registers */
49#define BMI323_FEAT_IO0_REG 0x10
50#define BMI323_FEAT_IO0_XYZ_NOMOTION_MSK GENMASK(2, 0)
51#define BMI323_FEAT_IO0_XYZ_MOTION_MSK GENMASK(5, 3)
52#define BMI323_FEAT_XYZ_MSK GENMASK(2, 0)
53#define BMI323_FEAT_IO0_STP_CNT_MSK BIT(9)
54#define BMI323_FEAT_IO0_S_TAP_MSK BIT(12)
55#define BMI323_FEAT_IO0_D_TAP_MSK BIT(13)
56#define BMI323_FEAT_IO1_REG 0x11
57#define BMI323_FEAT_IO1_ERR_MSK GENMASK(3, 0)
58#define BMI323_FEAT_IO2_REG 0x12
59#define BMI323_FEAT_IO_STATUS_REG 0x14
60#define BMI323_FEAT_IO_STATUS_MSK BIT(0)
61#define BMI323_FEAT_ENG_POLL 2000
62#define BMI323_FEAT_ENG_TIMEOUT 10000
63
64/* FIFO registers */
65#define BMI323_FIFO_FILL_LEVEL_REG 0x15
66#define BMI323_FIFO_DATA_REG 0x16
67
68/* Accelero/Gyro config registers */
69#define BMI323_ACC_CONF_REG 0x20
70#define BMI323_GYRO_CONF_REG 0x21
71#define BMI323_ACC_GYRO_CONF_MODE_MSK GENMASK(14, 12)
72#define BMI323_ACC_GYRO_CONF_ODR_MSK GENMASK(3, 0)
73#define BMI323_ACC_GYRO_CONF_SCL_MSK GENMASK(6, 4)
74#define BMI323_ACC_GYRO_CONF_BW_MSK BIT(7)
75#define BMI323_ACC_GYRO_CONF_AVG_MSK GENMASK(10, 8)
76
77/* FIFO registers */
78#define BMI323_FIFO_WTRMRK_REG 0x35
79#define BMI323_FIFO_CONF_REG 0x36
80#define BMI323_FIFO_CONF_STP_FUL_MSK BIT(0)
81#define BMI323_FIFO_CONF_ACC_GYR_EN_MSK GENMASK(10, 9)
82#define BMI323_FIFO_ACC_GYR_MSK GENMASK(1, 0)
83#define BMI323_FIFO_CTRL_REG 0x37
84#define BMI323_FIFO_FLUSH_MSK BIT(0)
85
86/* Interrupt pin config registers */
87#define BMI323_IO_INT_CTR_REG 0x38
88#define BMI323_IO_INT1_LVL_MSK BIT(0)
89#define BMI323_IO_INT1_OD_MSK BIT(1)
90#define BMI323_IO_INT1_OP_EN_MSK BIT(2)
91#define BMI323_IO_INT1_LVL_OD_OP_MSK GENMASK(2, 0)
92#define BMI323_IO_INT2_LVL_MSK BIT(8)
93#define BMI323_IO_INT2_OD_MSK BIT(9)
94#define BMI323_IO_INT2_OP_EN_MSK BIT(10)
95#define BMI323_IO_INT2_LVL_OD_OP_MSK GENMASK(10, 8)
96#define BMI323_IO_INT_CONF_REG 0x39
97#define BMI323_IO_INT_LTCH_MSK BIT(0)
98#define BMI323_INT_MAP1_REG 0x3A
99#define BMI323_INT_MAP2_REG 0x3B
100#define BMI323_NOMOTION_MSK GENMASK(1, 0)
101#define BMI323_MOTION_MSK GENMASK(3, 2)
102#define BMI323_STEP_CNT_MSK GENMASK(11, 10)
103#define BMI323_TAP_MSK GENMASK(1, 0)
104#define BMI323_TMP_DRDY_MSK GENMASK(7, 6)
105#define BMI323_GYR_DRDY_MSK GENMASK(9, 8)
106#define BMI323_ACC_DRDY_MSK GENMASK(11, 10)
107#define BMI323_FIFO_WTRMRK_MSK GENMASK(13, 12)
108#define BMI323_FIFO_FULL_MSK GENMASK(15, 14)
109
110/* Feature registers */
111#define BMI323_FEAT_CTRL_REG 0x40
112#define BMI323_FEAT_ENG_EN_MSK BIT(0)
113#define BMI323_FEAT_DATA_ADDR 0x41
114#define BMI323_FEAT_DATA_TX 0x42
115#define BMI323_FEAT_DATA_STATUS 0x43
116#define BMI323_FEAT_DATA_TX_RDY_MSK BIT(1)
117#define BMI323_FEAT_EVNT_EXT_REG 0x47
118#define BMI323_FEAT_EVNT_EXT_S_MSK BIT(3)
119#define BMI323_FEAT_EVNT_EXT_D_MSK BIT(4)
120
121#define BMI323_CMD_REG 0x7E
122#define BMI323_RST_VAL 0xDEAF
123#define BMI323_CFG_RES_REG 0x7F
124
125/* Extended registers */
126#define BMI323_GEN_SET1_REG 0x02
127#define BMI323_GEN_SET1_MODE_MSK BIT(0)
128#define BMI323_GEN_HOLD_DUR_MSK GENMASK(4, 1)
129
130/* Any Motion/No Motion config registers */
131#define BMI323_ANYMO1_REG 0x05
132#define BMI323_NOMO1_REG 0x08
133#define BMI323_MO2_OFFSET 0x01
134#define BMI323_MO3_OFFSET 0x02
135#define BMI323_MO1_REF_UP_MSK BIT(12)
136#define BMI323_MO1_SLOPE_TH_MSK GENMASK(11, 0)
137#define BMI323_MO2_HYSTR_MSK GENMASK(9, 0)
138#define BMI323_MO3_DURA_MSK GENMASK(12, 0)
139
140/* Step counter config registers */
141#define BMI323_STEP_SC1_REG 0x10
142#define BMI323_STEP_SC1_WTRMRK_MSK GENMASK(9, 0)
143#define BMI323_STEP_SC1_RST_CNT_MSK BIT(10)
144#define BMI323_STEP_LEN 2
145
146/* Tap gesture config registers */
147#define BMI323_TAP1_REG 0x1E
148#define BMI323_TAP1_AXIS_SEL_MSK GENMASK(1, 0)
149#define BMI323_AXIS_XYZ_MSK GENMASK(1, 0)
150#define BMI323_TAP1_TIMOUT_MSK BIT(2)
151#define BMI323_TAP1_MAX_PEAKS_MSK GENMASK(5, 3)
152#define BMI323_TAP1_MODE_MSK GENMASK(7, 6)
153#define BMI323_TAP2_REG 0x1F
154#define BMI323_TAP2_THRES_MSK GENMASK(9, 0)
155#define BMI323_TAP2_MAX_DUR_MSK GENMASK(15, 10)
156#define BMI323_TAP3_REG 0x20
157#define BMI323_TAP3_QUIET_TIM_MSK GENMASK(15, 12)
158#define BMI323_TAP3_QT_BW_TAP_MSK GENMASK(11, 8)
159#define BMI323_TAP3_QT_AFT_GES_MSK GENMASK(15, 12)
160
161#define BMI323_MOTION_THRES_SCALE 512
162#define BMI323_MOTION_HYSTR_SCALE 512
163#define BMI323_MOTION_DURAT_SCALE 50
164#define BMI323_TAP_THRES_SCALE 512
165#define BMI323_DUR_BW_TAP_SCALE 200
166#define BMI323_QUITE_TIM_GES_SCALE 25
167#define BMI323_MAX_GES_DUR_SCALE 25
168
169/*
170 * The formula to calculate temperature in C.
171 * See datasheet section 6.1.1, Register Map Overview
172 *
173 * T_C = (temp_raw / 512) + 23
174 */
175#define BMI323_TEMP_OFFSET 11776
176#define BMI323_TEMP_SCALE 1953125
177
178/*
179 * The BMI323 features a FIFO with a capacity of 2048 bytes. Each frame
180 * consists of accelerometer (X, Y, Z) data and gyroscope (X, Y, Z) data,
181 * totaling 6 words or 12 bytes. The FIFO buffer can hold a total of
182 * 170 frames.
183 *
184 * If a watermark interrupt is configured for 170 frames, the interrupt will
185 * trigger when the FIFO reaches 169 frames, so limit the maximum watermark
186 * level to 169 frames. In terms of data, 169 frames would equal 1014 bytes,
187 * which is approximately 2 frames before the FIFO reaches its full capacity.
188 * See datasheet section 5.7.3 FIFO Buffer Interrupts
189 */
190#define BMI323_BYTES_PER_SAMPLE 2
191#define BMI323_FIFO_LENGTH_IN_BYTES 2048
192#define BMI323_FIFO_FRAME_LENGTH 6
193#define BMI323_FIFO_FULL_IN_FRAMES \
194 ((BMI323_FIFO_LENGTH_IN_BYTES / \
195 (BMI323_BYTES_PER_SAMPLE * BMI323_FIFO_FRAME_LENGTH)) - 1)
196#define BMI323_FIFO_FULL_IN_WORDS \
197 (BMI323_FIFO_FULL_IN_FRAMES * BMI323_FIFO_FRAME_LENGTH)
198
199#define BMI323_INT_MICRO_TO_RAW(val, val2, scale) ((val) * (scale) + \
200 ((val2) * (scale)) / MEGA)
201
202#define BMI323_RAW_TO_MICRO(raw, scale) ((((raw) % (scale)) * MEGA) / scale)
203
204struct device;
205int bmi323_core_probe(struct device *dev);
206extern const struct regmap_config bmi323_regmap_config;
207extern const struct dev_pm_ops bmi323_core_pm_ops;
208
209#endif
210

source code of linux/drivers/iio/imu/bmi323/bmi323.h