Oh, I didn't know that Vlad already have submitted a patch for BNO055. My patch doesn't do any thing new so please drop my patch. regards, --navin-patidar On Tue, Jul 26, 2016 at 11:46 AM, Peter Meerwald-Stadler <pmeerw@xxxxxxxxxx> wrote: > 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
