Hallo Navin, > Thanks for reviewing the patch. I will send the updated patch. I am sorry to have overlooked a previous patch by Vlad Dogaru, see http://comments.gmane.org/gmane.linux.kernel.iio/24643, for the BNO055 there have been a number of issues, it has not been accepted yet I think our policy is first come, first served; I have compared the two patches, maybe you can collaborate on a common proposal? regards, p. > regards, > --navin-patidar > > On Tue, Jul 26, 2016 at 1:07 AM, Peter Meerwald-Stadler <pmeerw@xxxxxxxxxx> > wrote: > > > > > > BNO055 provides the following motion sensors data: > > > > > > * Gyroscope > > > * Accelerometer > > > * Magnetometer > > > * Absolute Orientation (Quaternion) > > > > comments below > > > > > 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. > > > + * > > > > I find it useful to state the 7-bit i2c chip address here > > > > > + */ > > > + > > > +#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> > > > + > > > > drop one newline > > > > > + > > > +#define BNO055_CHIP_ID 0xA0 > > > +#define REG_MAG_RADIUS_MSB 0x6A > > > > please consistently prefix with BNO055_ > > > > > + > > > +/* 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 */ > > > > drop newline > > > > > + > > > +#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 > > > > do we really need all those register #defines? > > they are not used and noone wants to read just the LSB... > > > > > + > > > +#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), \ > > > > in what unit is the data returned; please check with IIO ABI documentation > > I think you will likely need _SCALE for some channels > > > > > + .scan_index = AXIS_##_axis, \ > > > > .scan_index is a continuous counter over ALL channels, not just for one > > channel type > > > > the driver does not support buffered reads, so not scan_type/scan_index is > > needed anyway > > > > > + .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}; > > > > prefix! > > > > > + > > > +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, > > > +}; > > > + > > > > drop newline > > > > > + > > > +static int read_bno055(struct bno055_data *data, int sensor, int axis, > > int *val) > > > > bno055 prefix please > > > > > +{ > > > + int ret; > > > + __le16 raw_val; > > > + int reg; > > > + > > > + reg = SENSOR_AXIS_TO_REG(sensor, axis); > > > > you can use .address in channel spec for that > > > > > + > > > + 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"); > > > > lowercase orientation > > delete space before \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.*/ > > > > comment style, not a proper multi-line comment > > use _SCALE, it is not about 'exact' but correct scaling/unit > > typo: divided > > wording: divided by 16 > > > > > + 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, > > > +}; > > > + > > > > drop newline > > > > > + > > > +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){ > > > > this is private API which needs to be documented > > > > > + 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){ > > > > space before { > > > > > + 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", > > > > two spaces before 'expected' > > > > > + 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){ > > > > space before { > > > > > + dev_err(&client->dev, "failed to register IIO device.\n"); > > > + return ret; > > > + } > > > + > > > + ret = device_create_file(&indio_dev->dev, &dev_attr_calib_status); > > > > needs to be done BEFORE devm_iio_device_register() > > IIO has specific mechanisms to create custom sysfs entries... > > > > > + if (ret){ > > > > space before { > > > > > + dev_err(&client->dev, "failed to create sysfs entry.\n"); > > > + devm_iio_device_unregister(&client->dev, indio_dev); > > > > no need to call devm_iio_device_unregister > > > > > + 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"); > > > > > > > -- > > > > Peter Meerwald-Stadler > > +43-664-2444418 (mobile) > > > -- Peter Meerwald-Stadler +43-664-2444418 (mobile) -- 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
