BNO055 provides the following motion sensors data:
* Gyroscope
* Accelerometer
* Magnetometer
* Absolute Orientation (Quaternion)
Signed-off-by: navin patidar <navin.patidar@xxxxxxxxx>
---
drivers/iio/orientation/Kconfig | 10 +
drivers/iio/orientation/Makefile | 1 +
drivers/iio/orientation/bno055.c | 422 +++++++++++++++++++++++++++++++++++++++
3 files changed, 433 insertions(+)
create mode 100644 drivers/iio/orientation/bno055.c
diff --git a/drivers/iio/orientation/Kconfig b/drivers/iio/orientation/Kconfig
index e3aa1e5..9ac21ee 100644
--- a/drivers/iio/orientation/Kconfig
+++ b/drivers/iio/orientation/Kconfig
@@ -28,4 +28,14 @@ config HID_SENSOR_DEVICE_ROTATION
device rotation. The output of a device rotation sensor
is presented using quaternion format.
+config BNO055
+ tristate "BOSCH BNO055 Absolute Orientation"
+ depends on I2C
+ select REGMAP_I2C
+ help
+ Say yes here to build support for BOSCH BNO55 9-axis absolute orientation sensor
+ driver connected via I2C.
+ This driver can also be built as a module. If so, the module
+ will be called bno055.
+
endmenu
diff --git a/drivers/iio/orientation/Makefile b/drivers/iio/orientation/Makefile
index 4734dab..7d00037 100644
--- a/drivers/iio/orientation/Makefile
+++ b/drivers/iio/orientation/Makefile
@@ -5,3 +5,4 @@
# When adding new entries keep the list in alphabetical order
obj-$(CONFIG_HID_SENSOR_INCLINOMETER_3D) += hid-sensor-incl-3d.o
obj-$(CONFIG_HID_SENSOR_DEVICE_ROTATION) += hid-sensor-rotation.o
+obj-$(CONFIG_BNO055) += bno055.o
diff --git a/drivers/iio/orientation/bno055.c b/drivers/iio/orientation/bno055.c
new file mode 100644
index 0000000..48b9e93
--- /dev/null
+++ b/drivers/iio/orientation/bno055.c
@@ -0,0 +1,422 @@
+/*
+ * Copyright (c) 2016 Intel Corporation
+ *
+ * Driver for Bosch Sensortec BNO055 digital motion sensor.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ */
+
+#define pr_fmt(fmt) "bno055: " fmt
+
+#include <linux/module.h>
+#include <linux/i2c.h>
+#include <linux/acpi.h>
+#include <linux/regmap.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+
+
+#define BNO055_CHIP_ID 0xA0
+#define REG_MAG_RADIUS_MSB 0x6A
+
+/* BNO055 configuration registers */
+#define REG_PWR_MODE 0x3E
+#define REG_OPR_MODE 0x3D
+#define REG_UNIT_SEL 0x3B
+#define REG_AXIS_MAP_SIGN 0x42
+#define REG_AXIS_MAP_CONFIG 0x41
+#define REG_UNIT_SEL 0x3B
+#define REG_SYS_TRIGGER 0x3F
+#define BNO055_REG_PAGE_ID 0x07
+#define BNO055_REG_ID 0x00
+
+/* BNO055 status registers */
+#define SYS_STATUS 0x39
+#define INT_STATUS 0x37
+#define CALIB_STATUS 0x35
+
+/* BNO055 data registers */
+
+#define GRV_DATA_Z_MSB 0x33
+#define GRV_DATA_Z_LSB 0x32
+#define GRV_DATA_Y_MSB 0x31
+#define GRV_DATA_Y_LSB 0x30
+#define GRV_DATA_X_MSB 0x2F
+#define GRV_DATA_X_LSB 0x2E
+
+#define LIA_DATA_Z_MSB 0x2D
+#define LIA_DATA_Z_LSB 0x2C
+#define LIA_DATA_Y_MSB 0x2B
+#define LIA_DATA_Y_LSB 0x2A
+#define LIA_DATA_X_MSB 0x29
+#define LIA_DATA_X_LSB 0x28
+
+#define QUA_DATA_Z_MSB 0x27
+#define QUA_DATA_Z_LSB 0x26
+#define QUA_DATA_Y_MSB 0x25
+#define QUA_DATA_Y_LSB 0x24
+#define QUA_DATA_X_MSB 0x23
+#define QUA_DATA_X_LSB 0x22
+#define QUA_DATA_W_MSB 0x21
+#define QUA_DATA_W_LSB 0x20
+
+#define EUL_PITCH_MSB 0x1F
+#define EUL_PITCH_LSB 0x1E
+#define EUL_ROLL_MSB 0x1D
+#define EUL_ROLL_LSB 0x1C
+#define EUL_HEADING_MSB 0x1B
+#define EUL_HEADING_LSB 0x1A
+
+#define GYR_DATA_Z_MSB 0x19
+#define GYR_DATA_Z_LSB 0x18
+#define GYR_DATA_Y_MSB 0x17
+#define GYR_DATA_Y_LSB 0x16
+#define GYR_DATA_X_MSB 0x15
+#define GYR_DATA_X_LSB 0x14
+
+#define MAG_DATA_Z_MSB 0x13
+#define MAG_DATA_Z_LSB 0x12
+#define MAG_DATA_Y_MSB 0x11
+#define MAG_DATA_Y_LSB 0x10
+#define MAG_DATA_X_MSB 0x0F
+#define MAG_DATA_X_LSB 0x0E
+
+#define ACC_DATA_Z_MSB 0x0D
+#define ACC_DATA_Z_LSB 0x0C
+#define ACC_DATA_Y_MSB 0x0B
+#define ACC_DATA_Y_LSB 0x0A
+#define ACC_DATA_X_MSB 0x09
+#define ACC_DATA_X_LSB 0x08
+
+/* operation modes */
+#define FUSION_NDOF_MODE 0x0C
+
+/* power modes */
+#define NORMAL_MODE 0x00
+#define LOW_POWER_MODE BIT(0)
+#define SUSPEND_MODE BIT(1)
+
+#define PROPER_CALIBRATION 0xFF
+
+#define BASE_REG 0x08
+#define SENSOR_AXIS_TO_REG(sensor,axis) (BASE_REG + (sensor * 6) + (axis * 2))
+
+#define BNO055_CHANNEL(_type, _axis) { \
+ .type = IIO_##_type, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##_axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .scan_index = AXIS_##_axis, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ }, \
+}
+
+struct bno055_data {
+ struct i2c_client *client;
+ struct mutex lock;
+ struct regmap *regmap;
+};
+
+enum bno055_axis {
+ AXIS_X,
+ AXIS_Y,
+ AXIS_Z,
+};
+
+enum {ACC=0, MAG=1, GYR=2, EUL=3, QUA=4};
+
+static const struct iio_chan_spec bno055_channels[] = {
+ BNO055_CHANNEL(ANGL_VEL, X),
+ BNO055_CHANNEL(ANGL_VEL, Y),
+ BNO055_CHANNEL(ANGL_VEL, Z),
+ BNO055_CHANNEL(MAGN, X),
+ BNO055_CHANNEL(MAGN, Y),
+ BNO055_CHANNEL(MAGN, Z),
+ BNO055_CHANNEL(ACCEL, X),
+ BNO055_CHANNEL(ACCEL, Y),
+ BNO055_CHANNEL(ACCEL, Z),
+ {
+ .type = IIO_ROT,
+ .modified = 1,
+ .channel2 = IIO_MOD_QUATERNION,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+ }
+};
+
+static bool bno055_is_writeable_reg(struct device *dev, unsigned int reg)
+{
+ switch (reg) {
+ case REG_PWR_MODE:
+ case REG_OPR_MODE:
+ case REG_UNIT_SEL:
+ case REG_AXIS_MAP_SIGN:
+ case REG_AXIS_MAP_CONFIG:
+ case REG_SYS_TRIGGER:
+ return true;
+ default:
+ return false;
+ };
+}
+
+static bool bno055_is_volatile_reg(struct device *dev, unsigned int reg)
+{
+ if ((reg >= ACC_DATA_X_LSB) && (reg <= QUA_DATA_Z_MSB))
+ return true;
+ else
+ return false;
+}
+
+static const struct regmap_config bno055_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+
+ .max_register = REG_MAG_RADIUS_MSB,
+ .cache_type = REGCACHE_RBTREE,
+
+ .writeable_reg = bno055_is_writeable_reg,
+ .volatile_reg = bno055_is_volatile_reg,
+};
+
+
+static int read_bno055(struct bno055_data *data, int sensor, int axis, int *val)
+{
+ int ret;
+ __le16 raw_val;
+ int reg;
+
+ reg = SENSOR_AXIS_TO_REG(sensor, axis);
+
+ ret = regmap_bulk_read(data->regmap, reg, &raw_val,
+ sizeof(raw_val));
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading axis %d\n", axis);
+ return ret;
+ }
+
+ *val = sign_extend32(le16_to_cpu(raw_val), 15);
+ return IIO_VAL_INT;
+}
+
+/* Read raw quaternion values W,X,Y and Z.
+ * Raw values needs to be divied by the 16384 to get the exact quaternion values.
+ */
+
+static int read_rot(struct bno055_data *data, int *vals, int *val_len)
+{
+ int ret, i;
+ __le16 raw_val[4];
+
+ ret = regmap_bulk_read(data->regmap, QUA_DATA_W_LSB, &raw_val,
+ sizeof(raw_val));
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading Orientation \n");
+ return ret;
+ }
+
+ for (i = 0; i < 4; ++i)
+ vals[i] = sign_extend32(le16_to_cpu(raw_val[i]), 15);
+
+ *val_len = 4;
+ return IIO_VAL_INT_MULTIPLE;
+}
+
+static int bno055_read_raw_multi(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int size,
+ int *val, int *val2, long mask)
+{
+ int ret = -EINVAL;
+ struct bno055_data *data = iio_priv(indio_dev);
+
+ mutex_lock(&data->lock);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ switch (chan->type) {
+ case IIO_ROT:
+ ret = read_rot(data, val, val2);
+ break;
+ case IIO_ANGL_VEL:
+ /* Gyroscope unit degrees per second */
+ /* Raw value needs to be divied by the 16 to get the exact value.*/
+ ret = read_bno055(data, GYR, chan->scan_index, val);
+ break;
+ case IIO_ACCEL:
+ /* Accelerometer Unit m/s2 */
+ /* Raw value needs to be divied by the 100 to get the exact value.*/
+ ret = read_bno055(data, ACC, chan->scan_index, val);
+ break;
+ case IIO_MAGN:
+ /* Magnetometer Unit microTesla */
+ /* Raw value needs to be divied by the 16 to get the exact value. */
+ ret = read_bno055(data, MAG, chan->scan_index, val);
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+ break;
+
+ default:
+ ret = -EINVAL;
+ break;
+ }
+
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static const struct iio_info bno055_info = {
+ .driver_module = THIS_MODULE,
+ .read_raw_multi = &bno055_read_raw_multi,
+};
+
+
+static int bno055_chip_init(struct bno055_data *data)
+{
+ int ret;
+
+ ret = regmap_write(data->regmap, REG_PWR_MODE,
+ NORMAL_MODE);
+ if (ret < 0) {
+ dev_err(&data->client->dev,
+ "failed to write power mode register\n");
+ return ret;
+ }
+
+ ret = regmap_write(data->regmap, REG_OPR_MODE,
+ FUSION_NDOF_MODE);
+ if (ret < 0)
+ dev_err(&data->client->dev,
+ "failed to write operation mode register\n");
+
+ return ret;
+}
+
+static ssize_t show_calibration_status(struct device *dev, struct device_attribute *attr,
+ char *buf){
+ struct bno055_data *data;
+ int ret;
+ unsigned int calib_stat;
+
+ data = dev->driver_data;
+
+ ret = regmap_read(data->regmap, CALIB_STATUS, &calib_stat);
+
+ if (ret){
+ dev_err(dev, "Failed to read calibration status.\n");
+ return ret;
+ }
+
+ if (calib_stat != PROPER_CALIBRATION)
+ dev_info(dev, "bad calibration. expected %x got %x\n",
+ PROPER_CALIBRATION, calib_stat);
+
+ return scnprintf(buf, PAGE_SIZE, "0x%x\n", calib_stat);
+}
+
+static DEVICE_ATTR(calib_status, 0444, show_calibration_status, NULL);
+
+static int bno055_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ int ret;
+ struct iio_dev *indio_dev;
+ struct bno055_data *data;
+ unsigned int chip_id;
+
+ indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ data = iio_priv(indio_dev);
+ mutex_init(&data->lock);
+ data->client = client;
+
+ indio_dev->dev.parent = &client->dev;
+ indio_dev->name = id->name;
+ indio_dev->channels = bno055_channels;
+ indio_dev->num_channels = ARRAY_SIZE(bno055_channels);
+ indio_dev->info = &bno055_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ data->regmap = devm_regmap_init_i2c(client, &bno055_regmap_config);
+ if (IS_ERR(data->regmap)) {
+ dev_err(&client->dev, "Failed to allocate register map.\n");
+ return PTR_ERR(data->regmap);
+ }
+
+ indio_dev->dev.driver_data = data;
+ i2c_set_clientdata(client, indio_dev);
+
+ ret = regmap_read(data->regmap, BNO055_REG_ID, &chip_id);
+ if (ret < 0)
+ return ret;
+ if (chip_id != BNO055_CHIP_ID) {
+ dev_err(&client->dev, "bad chip id. expected %x got %x\n",
+ BNO055_CHIP_ID, chip_id);
+ return -EINVAL;
+ }
+
+ ret = bno055_chip_init(data);
+ if (ret < 0)
+ return ret;
+
+ ret = devm_iio_device_register(&client->dev, indio_dev);
+ if (ret){
+ dev_err(&client->dev, "failed to register IIO device.\n");
+ return ret;
+ }
+
+ ret = device_create_file(&indio_dev->dev, &dev_attr_calib_status);
+ if (ret){
+ dev_err(&client->dev, "failed to create sysfs entry.\n");
+ devm_iio_device_unregister(&client->dev, indio_dev);
+ return ret;
+ }
+
+ return ret;
+}
+
+static int bno055_remove(struct i2c_client *client)
+{
+ struct iio_dev *indio_dev = i2c_get_clientdata(client);
+
+ device_remove_file(&indio_dev->dev, &dev_attr_calib_status);
+ devm_iio_device_unregister(&client->dev, indio_dev);
+ return 0;
+}
+
+static const struct acpi_device_id bno055_acpi_match[] = {
+ {"bno055", 0},
+ { },
+};
+MODULE_DEVICE_TABLE(acpi, bno055_acpi_match);
+
+static const struct i2c_device_id bno055_id[] = {
+ {"bno055", 0},
+ { },
+};
+MODULE_DEVICE_TABLE(i2c, bno055_id);
+
+static struct i2c_driver bno055_driver = {
+ .driver = {
+ .name = "bno055",
+ .acpi_match_table = ACPI_PTR(bno055_acpi_match),
+ },
+ .probe = bno055_probe,
+ .remove = bno055_remove,
+ .id_table = bno055_id,
+};
+module_i2c_driver(bno055_driver);
+
+MODULE_AUTHOR("navin patidar <navin.patidar@xxxxxxxxx>");
+MODULE_DESCRIPTION("Driver for Bosch Sensortec BNO055 orientation sensor");
+MODULE_LICENSE("GPL v2");
--
1.9.1
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