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_SC1_REG 0x10 145#define BMI323_STEP_LEN 2 146 147/* Tap gesture config registers */ 148#define BMI323_TAP1_REG 0x1E 149#define BMI323_TAP1_AXIS_SEL_MSK GENMASK(1, 0) 150#define BMI323_AXIS_XYZ_MSK GENMASK(1, 0) 151#define BMI323_TAP1_TIMOUT_MSK BIT(2) 152#define BMI323_TAP1_MAX_PEAKS_MSK GENMASK(5, 3) 153#define BMI323_TAP1_MODE_MSK GENMASK(7, 6) 154#define BMI323_TAP2_REG 0x1F 155#define BMI323_TAP2_THRES_MSK GENMASK(9, 0) 156#define BMI323_TAP2_MAX_DUR_MSK GENMASK(15, 10) 157#define BMI323_TAP3_REG 0x20 158#define BMI323_TAP3_QUIET_TIM_MSK GENMASK(15, 12) 159#define BMI323_TAP3_QT_BW_TAP_MSK GENMASK(11, 8) 160#define BMI323_TAP3_QT_AFT_GES_MSK GENMASK(15, 12) 161 162#define BMI323_MOTION_THRES_SCALE 512 163#define BMI323_MOTION_HYSTR_SCALE 512 164#define BMI323_MOTION_DURAT_SCALE 50 165#define BMI323_TAP_THRES_SCALE 512 166#define BMI323_DUR_BW_TAP_SCALE 200 167#define BMI323_QUITE_TIM_GES_SCALE 25 168#define BMI323_MAX_GES_DUR_SCALE 25 169 170/* 171 * The formula to calculate temperature in C. 172 * See datasheet section 6.1.1, Register Map Overview 173 * 174 * T_C = (temp_raw / 512) + 23 175 */ 176#define BMI323_TEMP_OFFSET 11776 177#define BMI323_TEMP_SCALE 1953125 178 179/* 180 * The BMI323 features a FIFO with a capacity of 2048 bytes. Each frame 181 * consists of accelerometer (X, Y, Z) data and gyroscope (X, Y, Z) data, 182 * totaling 6 words or 12 bytes. The FIFO buffer can hold a total of 183 * 170 frames. 184 * 185 * If a watermark interrupt is configured for 170 frames, the interrupt will 186 * trigger when the FIFO reaches 169 frames, so limit the maximum watermark 187 * level to 169 frames. In terms of data, 169 frames would equal 1014 bytes, 188 * which is approximately 2 frames before the FIFO reaches its full capacity. 189 * See datasheet section 5.7.3 FIFO Buffer Interrupts 190 */ 191#define BMI323_BYTES_PER_SAMPLE 2 192#define BMI323_FIFO_LENGTH_IN_BYTES 2048 193#define BMI323_FIFO_FRAME_LENGTH 6 194#define BMI323_FIFO_FULL_IN_FRAMES \ 195 ((BMI323_FIFO_LENGTH_IN_BYTES / \ 196 (BMI323_BYTES_PER_SAMPLE * BMI323_FIFO_FRAME_LENGTH)) - 1) 197#define BMI323_FIFO_FULL_IN_WORDS \ 198 (BMI323_FIFO_FULL_IN_FRAMES * BMI323_FIFO_FRAME_LENGTH) 199 200#define BMI323_INT_MICRO_TO_RAW(val, val2, scale) ((val) * (scale) + \ 201 ((val2) * (scale)) / MEGA) 202 203#define BMI323_RAW_TO_MICRO(raw, scale) ((((raw) % (scale)) * MEGA) / scale) 204 205struct device; 206int bmi323_core_probe(struct device *dev); 207extern const struct regmap_config bmi323_regmap_config; 208 209#endif 210