Hi everyone, This is a minimal implementation of a driver for the Bosch Sensortec BNO055, a very interesting accel-gyro-magneto combo. The datasheet is available at https://www.bosch-sensortec.com/bst/products/all_products/bno055 The driver in its present state works, but this is a RFC for a few reasons detailed below: (1) The device has a few possible operating modes. The most simple ones employ a single sensor and power down the other two; the most complex use all 3 for sensor fusion. Changing the mode at runtime would require changing the channels and I'm not sure IIO allows that. So I've opted to choose the mode at probe time, based on a DeviceTree property. Hope that's ok. (2) Fusion modes provide orientation data. This is either relative to the initial position of the sensor, or to magnetic North. There is a modifier, IIO_MOD_NORTH_MAGN, but it occupies the same field as IIO_MOD_QUATERNION and IIO_MOD_{X,Y,Z}, so we can't use both. Therefore there is currently no means of telling from user space whether the orientation is relative to North or to the initial position; one could look at the DeviceTree description to deduce the operating mode, but that's hardly ideal. (3) In fusion modes, the device also exposes linear and gravitational accelerations, but IIO doesn't seem to support this. I can add these channel types if you believe they are useful. Vlad Dogaru (1): iio: imu: add driver for Bosch Sensortec BNO055 drivers/iio/imu/Kconfig | 11 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/bno055.c | 569 +++++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 581 insertions(+) create mode 100644 drivers/iio/imu/bno055.c -- 1.9.1 -- To unsubscribe from this list: send the line "unsubscribe linux-iio" in the body of a message to majordomo@xxxxxxxxxxxxxxx More majordomo info at http://vger.kernel.org/majordomo-info.html
