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1/* SPDX-License-Identifier: GPL-2.0 */2/*3 * IIO driver for Bosch BMI323 6-Axis IMU4 *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 216#define BMI323_SPI_DUMMY 117 18/* Register map */19 20#define BMI323_CHIP_ID_REG 0x0021#define BMI323_CHIP_ID_VAL 0x004322#define BMI323_CHIP_ID_MSK GENMASK(7, 0)23#define BMI323_ERR_REG 0x0124#define BMI323_STATUS_REG 0x0225#define BMI323_STATUS_POR_MSK BIT(0)26 27/* Accelero/Gyro/Temp data registers */28#define BMI323_ACCEL_X_REG 0x0329#define BMI323_GYRO_X_REG 0x0630#define BMI323_TEMP_REG 0x0931#define BMI323_ALL_CHAN_MSK GENMASK(5, 0)32 33/* Status registers */34#define BMI323_STATUS_INT1_REG 0x0D35#define BMI323_STATUS_INT2_REG 0x0E36#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 0x1050#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 0x1157#define BMI323_FEAT_IO1_ERR_MSK GENMASK(3, 0)58#define BMI323_FEAT_IO2_REG 0x1259#define BMI323_FEAT_IO_STATUS_REG 0x1460#define BMI323_FEAT_IO_STATUS_MSK BIT(0)61#define BMI323_FEAT_ENG_POLL 200062#define BMI323_FEAT_ENG_TIMEOUT 1000063 64/* FIFO registers */65#define BMI323_FIFO_FILL_LEVEL_REG 0x1566#define BMI323_FIFO_DATA_REG 0x1667 68/* Accelero/Gyro config registers */69#define BMI323_ACC_CONF_REG 0x2070#define BMI323_GYRO_CONF_REG 0x2171#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 0x3579#define BMI323_FIFO_CONF_REG 0x3680#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 0x3784#define BMI323_FIFO_FLUSH_MSK BIT(0)85 86/* Interrupt pin config registers */87#define BMI323_IO_INT_CTR_REG 0x3888#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 0x3997#define BMI323_IO_INT_LTCH_MSK BIT(0)98#define BMI323_INT_MAP1_REG 0x3A99#define BMI323_INT_MAP2_REG 0x3B100#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 0x40112#define BMI323_FEAT_ENG_EN_MSK BIT(0)113#define BMI323_FEAT_DATA_ADDR 0x41114#define BMI323_FEAT_DATA_TX 0x42115#define BMI323_FEAT_DATA_STATUS 0x43116#define BMI323_FEAT_DATA_TX_RDY_MSK BIT(1)117#define BMI323_FEAT_EVNT_EXT_REG 0x47118#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 0x7E122#define BMI323_RST_VAL 0xDEAF123#define BMI323_CFG_RES_REG 0x7F124 125/* Extended registers */126#define BMI323_GEN_SET1_REG 0x02127#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 0x05132#define BMI323_NOMO1_REG 0x08133#define BMI323_MO2_OFFSET 0x01134#define BMI323_MO3_OFFSET 0x02135#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 0x10142#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 0x10145#define BMI323_STEP_LEN 2146 147/* Tap gesture config registers */148#define BMI323_TAP1_REG 0x1E149#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 0x1F155#define BMI323_TAP2_THRES_MSK GENMASK(9, 0)156#define BMI323_TAP2_MAX_DUR_MSK GENMASK(15, 10)157#define BMI323_TAP3_REG 0x20158#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 512163#define BMI323_MOTION_HYSTR_SCALE 512164#define BMI323_MOTION_DURAT_SCALE 50165#define BMI323_TAP_THRES_SCALE 512166#define BMI323_DUR_BW_TAP_SCALE 200167#define BMI323_QUITE_TIM_GES_SCALE 25168#define BMI323_MAX_GES_DUR_SCALE 25169 170/*171 * The formula to calculate temperature in C.172 * See datasheet section 6.1.1, Register Map Overview173 *174 * T_C = (temp_raw / 512) + 23175 */176#define BMI323_TEMP_OFFSET 11776177#define BMI323_TEMP_SCALE 1953125178 179/*180 * The BMI323 features a FIFO with a capacity of 2048 bytes. Each frame181 * 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 of183 * 170 frames.184 *185 * If a watermark interrupt is configured for 170 frames, the interrupt will186 * trigger when the FIFO reaches 169 frames, so limit the maximum watermark187 * 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 Interrupts190 */191#define BMI323_BYTES_PER_SAMPLE 2192#define BMI323_FIFO_LENGTH_IN_BYTES 2048193#define BMI323_FIFO_FRAME_LENGTH 6194#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;208extern const struct dev_pm_ops bmi323_core_pm_ops;209 210#endif211