From: Andrea Merello <andrea.merello@xxxxxx>
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 | 11 ++++++
drivers/iio/imu/bno055/Makefile | 1 +
drivers/iio/imu/bno055/bno055_i2c.c | 56 +++++++++++++++++++++++++++++
3 files changed, 68 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 5a1a574c9770..38b461646c02 100644
--- a/drivers/iio/imu/bno055/Kconfig
+++ b/drivers/iio/imu/bno055/Kconfig
@@ -18,3 +18,14 @@ config BOSCH_BNO055_SERDEV_TRACING
depends on EVENT_TRACING && BOSCH_BNO055_SERIAL
help
Enable this to enable trace events for the BNO055 serdev driver.
+
+config BOSCH_BNO055_I2C
+ tristate "Bosch BNO055 attached via I2C bus"
+ depends on I2C
+ select REGMAP_I2C
+ select BOSCH_BNO055_IIO
+ help
+ Enable this to support Bosch BNO055 IMUs attached via I2C bus.
+
+ This driver can also be built as a module. If so, the module will be
+ called bno055_i2c.
diff --git a/drivers/iio/imu/bno055/Makefile b/drivers/iio/imu/bno055/Makefile
index 20128b1a1afc..20f911aad94b 100644
--- a/drivers/iio/imu/bno055/Makefile
+++ b/drivers/iio/imu/bno055/Makefile
@@ -2,5 +2,6 @@
obj-$(CONFIG_BOSCH_BNO055_IIO) += bno055.o
obj-$(CONFIG_BOSCH_BNO055_SERIAL) += bno055_ser.o
+obj-$(CONFIG_BOSCH_BNO055_I2C) += bno055_i2c.o
CFLAGS_bno055_ser.o := -I$(src)
diff --git a/drivers/iio/imu/bno055/bno055_i2c.c b/drivers/iio/imu/bno055/bno055_i2c.c
new file mode 100644
index 000000000000..d59bb4e661be
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055_i2c.c
@@ -0,0 +1,56 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Support for I2C-interfaced Bosch BNO055 IMU.
+ *
+ * Copyright (C) 2021-2022 Istituto Italiano di Tecnologia
+ * Electronic Design Laboratory
+ * Written by Andrea Merello <andrea.merello@xxxxxx>
+ */
+
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+
+#include "bno055.h"
+
+#define BNO055_I2C_XFER_BURST_BREAK_THRESHOLD 3 /* FIXME */
+
+static int bno055_i2c_probe(struct i2c_client *client)
+{
+ struct regmap *regmap;
+
+ regmap = devm_regmap_init_i2c(client, &bno055_regmap_config);
+ if (IS_ERR(regmap))
+ return dev_err_probe(&client->dev, PTR_ERR(regmap),
+ "Unable to init register map");
+
+ return bno055_probe(&client->dev, regmap,
+ BNO055_I2C_XFER_BURST_BREAK_THRESHOLD, true);
+}
+
+static const struct i2c_device_id bno055_i2c_id[] = {
+ {"bno055", 0},
+ { }
+};
+MODULE_DEVICE_TABLE(i2c, bno055_i2c_id);
+
+static const struct of_device_id __maybe_unused bno055_i2c_of_match[] = {
+ { .compatible = "bosch,bno055" },
+ { },
+};
+MODULE_DEVICE_TABLE(of, bno055_i2c_of_match);
+
+static struct i2c_driver bno055_driver = {
+ .driver = {
+ .name = "bno055-i2c",
+ .of_match_table = of_match_ptr(bno055_i2c_of_match),
+ },
+ .probe_new = bno055_i2c_probe,
+ .id_table = bno055_i2c_id,
+};
+module_i2c_driver(bno055_driver);
+
+MODULE_AUTHOR("Andrea Merello");
+MODULE_DESCRIPTION("Bosch BNO055 I2C interface");
+MODULE_IMPORT_NS(IIO_BNO055);
+MODULE_LICENSE("GPL");
--
2.17.1
