From: Jonathan LoBue <jlobue10@gmail.com>
Date: Sun, 25 Feb 2024 14:43:01 -0800
Subject: [PATCH] iio: imu: bmi323: Implement ACPI method ROTM for mount matrix

Retrieve mount matrix from ACPI ROTM table.

---
 drivers/iio/imu/bmi323/bmi323_core.c | 79 ++++++++++++++++++++++++++--
 1 file changed, 76 insertions(+), 3 deletions(-)

diff --git a/drivers/iio/imu/bmi323/bmi323_core.c b/drivers/iio/imu/bmi323/bmi323_core.c
index 183af482828f..bb9f05183814 100644
--- a/drivers/iio/imu/bmi323/bmi323_core.c
+++ b/drivers/iio/imu/bmi323/bmi323_core.c
@@ -7,6 +7,7 @@
  * Datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi323-ds000.pdf
  */

+#include <linux/acpi.h>
 #include <linux/bitfield.h>
 #include <linux/cleanup.h>
 #include <linux/device.h>
@@ -1997,6 +1998,76 @@ static int bmi323_set_bw(struct bmi323_data *data,
 				  FIELD_PREP(BMI323_ACC_GYRO_CONF_BW_MSK, bw));
 }

+static bool bmi323_acpi_orientation(struct device *dev,
+				 struct iio_mount_matrix *orientation)
+{
+	struct acpi_buffer buffer = { ACPI_ALLOCATE_BUFFER, NULL };
+	struct acpi_device *adev = ACPI_COMPANION(dev);
+	char *str;
+	union acpi_object *obj, *elements;
+	acpi_status status;
+	int i, j, val[3];
+	bool ret = false;
+
+	if (!acpi_has_method(adev->handle, "ROTM"))
+		return false;
+
+	status = acpi_evaluate_object(adev->handle, "ROTM", NULL, &buffer);
+	if (ACPI_FAILURE(status)) {
+		dev_err(dev, "Failed to get ACPI mount matrix: %d\n", status);
+		return false;
+	}
+
+	obj = buffer.pointer;
+	if (obj->type != ACPI_TYPE_PACKAGE || obj->package.count != 3) {
+		dev_err(dev, "Unknown ACPI mount matrix package format\n");
+		goto out_free_buffer;
+	}
+
+	elements = obj->package.elements;
+	for (i = 0; i < 3; i++) {
+		if (elements[i].type != ACPI_TYPE_STRING) {
+			dev_err(dev, "Unknown ACPI mount matrix element format\n");
+			goto out_free_buffer;
+		}
+
+		str = elements[i].string.pointer;
+		if (sscanf(str, "%d %d %d", &val[0], &val[1], &val[2]) != 3) {
+			dev_err(dev, "Incorrect ACPI mount matrix string format\n");
+			goto out_free_buffer;
+		}
+
+		for (j = 0; j < 3; j++) {
+			switch (val[j]) {
+			case -1: str = "-1"; break;
+			case 0:  str = "0";  break;
+			case 1:  str = "1";  break;
+			default:
+				dev_err(dev, "Invalid value in ACPI mount matrix: %d\n", val[j]);
+				goto out_free_buffer;
+			}
+			orientation->rotation[i * 3 + j] = str;
+		}
+	}
+
+	ret = true;
+
+out_free_buffer:
+	kfree(buffer.pointer);
+	return ret;
+}
+
+static bool bmi323_apply_acpi_orientation(struct device *dev,
+					  struct iio_mount_matrix *orientation)
+{
+	struct acpi_device *adev = ACPI_COMPANION(dev);
+
+	if (adev)
+		return bmi323_acpi_orientation(dev, orientation);
+
+	return false;
+}
+
 static int bmi323_init(struct bmi323_data *data)
 {
 	int ret, val;
@@ -2099,9 +2170,11 @@ int bmi323_core_probe(struct device *dev)
 	if (ret)
 		return -EINVAL;

-	ret = iio_read_mount_matrix(dev, &data->orientation);
-	if (ret)
-		return ret;
+	if (!bmi323_apply_acpi_orientation(dev, &data->orientation)) {
+		ret = iio_read_mount_matrix(dev, &data->orientation);
+		if (ret)
+			return ret;
+	}

 	indio_dev->name = "bmi323-imu";
 	indio_dev->info = &bmi323_info;
diff --git a/drivers/iio/imu/bmi323/bmi323_core.c b/drivers/iio/imu/bmi323/bmi323_core.c
index 0bd5ded..ded8596 100644
--- a/drivers/iio/imu/bmi323/bmi323_core.c
+++ b/drivers/iio/imu/bmi323/bmi323_core.c
@@ -285,6 +286,9 @@ static const int bmi323_acc_gyro_odr[][2] = {
 	{ 200, 0 },
 	{ 400, 0 },
 	{ 800, 0 },
+	{ 1600, 0},
+	{ 3200, 0},
+	{ 6400, 0},
 };

 static const int bmi323_acc_gyro_odrns[] = {