This path adds an I2C driver for communicating to a BNO055 IMU via I2C bus
and it enables the BNO055 core driver to work in this scenario.
Signed-off-by: Andrea Merello <andrea.merello@xxxxxx>
---
drivers/iio/imu/bno055/Kconfig | 6 ++++
drivers/iio/imu/bno055/Makefile | 1 +
drivers/iio/imu/bno055/bno055_i2c.c | 54 +++++++++++++++++++++++++++++
3 files changed, 61 insertions(+)
create mode 100644 drivers/iio/imu/bno055/bno055_i2c.c
diff --git a/drivers/iio/imu/bno055/Kconfig b/drivers/iio/imu/bno055/Kconfig
index 941e43f0368d..87200787d548 100644
--- a/drivers/iio/imu/bno055/Kconfig
+++ b/drivers/iio/imu/bno055/Kconfig
@@ -7,3 +7,9 @@ config BOSH_BNO055_SERIAL
tristate "Bosh BNO055 attached via serial bus"
depends on SERIAL_DEV_BUS
select BOSH_BNO055_IIO
+
+config BOSH_BNO055_I2C
+ tristate "Bosh BNO055 attached via I2C bus"
+ depends on I2C
+ select REGMAP_I2C
+ select BOSH_BNO055_IIO
diff --git a/drivers/iio/imu/bno055/Makefile b/drivers/iio/imu/bno055/Makefile
index 7285ade2f4b9..eaf24018cb28 100644
--- a/drivers/iio/imu/bno055/Makefile
+++ b/drivers/iio/imu/bno055/Makefile
@@ -2,3 +2,4 @@
obj-$(CONFIG_BOSH_BNO055_IIO) += bno055.o
obj-$(CONFIG_BOSH_BNO055_SERIAL) += bno055_sl.o
+obj-$(CONFIG_BOSH_BNO055_I2C) += bno055_i2c.o
diff --git a/drivers/iio/imu/bno055/bno055_i2c.c b/drivers/iio/imu/bno055/bno055_i2c.c
new file mode 100644
index 000000000000..eea0daa6a61d
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055_i2c.c
@@ -0,0 +1,54 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * I2C interface for Bosh BNO055 IMU.
+ * This file implements I2C communication up to the register read/write
+ * level.
+ *
+ * Copyright (C) 2021 Istituto Italiano di Tecnologia
+ * Electronic Design Laboratory
+ * Written by Andrea Merello <andrea.merello@xxxxxx>
+ */
+
+#include <linux/i2c.h>
+#include <linux/regmap.h>
+#include <linux/module.h>
+
+#include "bno055.h"
+
+#define BNO055_I2C_XFER_BURST_BREAK_THRESHOLD 3 /* FIXME */
+
+static int bno055_i2c_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ struct regmap *regmap =
+ devm_regmap_init_i2c(client, &bno055_regmap_config);
+
+ if (IS_ERR(regmap)) {
+ dev_err(&client->dev, "Unable to init register map");
+ return PTR_ERR(regmap);
+ }
+
+ return bno055_probe(&client->dev, regmap,
+ BNO055_I2C_XFER_BURST_BREAK_THRESHOLD);
+
+ return 0;
+}
+
+static const struct i2c_device_id bno055_i2c_id[] = {
+ {"bno055", 0},
+ { },
+};
+MODULE_DEVICE_TABLE(i2c, bno055_i2c_id);
+
+static struct i2c_driver bno055_driver = {
+ .driver = {
+ .name = "bno055-i2c",
+ },
+ .probe = bno055_i2c_probe,
+ .id_table = bno055_i2c_id
+};
+module_i2c_driver(bno055_driver);
+
+MODULE_AUTHOR("Andrea Merello");
+MODULE_DESCRIPTION("Bosch BNO055 I2C interface");
+MODULE_LICENSE("GPL v2");
--
2.17.1
