Re: [PATCH v3 2/4] iio: gyro: add device tree support for fxas21002c

Re: [PATCH v3 2/4] iio: gyro: add device tree support for fxas21002c

[Andy Shevchenko]

On Tue, Sep 4, 2018 at 10:06 PM Afonso Bordado <afonsobordado@az8.co> wrote:
>
> This patch adds device tree support for the fxas21002c driver, including
> bindings.
>
> Signed-off-by: Afonso Bordado <afonsobordado@az8.co>

> +#ifdef CONFIG_OF

> +#endif

Please, remove this ifdef...

> +               .of_match_table = of_match_ptr(fxas21002c_of_ids),

...and do not use of_match_ptr() macro.

This prevents to use device on embedded ACPI enabled devices,

>         },
>         .probe          = fxas21002c_probe,
>         .id_table       = fxas21002c_id,
> --
> 2.18.0
>
>


-- 
With Best Regards,
Andy Shevchenko

Re: [PATCH v3 4/4] MAINTAINERS: add entry for fxas21002c gyro driver

[Andy Shevchenko]

On Tue, Sep 4, 2018 at 10:07 PM Afonso Bordado <afonsobordado@az8.co> wrote:
>
> Add entry for fxas21002c gyroscope driver and add myself as
> maintainer of this driver.
>
> Signed-off-by: Afonso Bordado <afonsobordado@az8.co>
> ---
>  MAINTAINERS | 7 +++++++
>  1 file changed, 7 insertions(+)
>
> diff --git a/MAINTAINERS b/MAINTAINERS
> index 2b7b24b145f0..faf5f41b1465 100644
> --- a/MAINTAINERS
> +++ b/MAINTAINERS
> @@ -5838,6 +5838,13 @@ L:       linuxppc-dev@lists.ozlabs.org
>  S:     Maintained
>  F:     drivers/usb/gadget/udc/fsl*
>
> +FREESCALE FXAS21002C
> +M:     Afonso Bordado <afonsobordado@az8.co>
> +L:     linux-iio@vger.kernel.org
> +S:     Maintained
> +F:     drivers/iio/gyro/fxas21002.c
> +F:     Documentation/devicetree/bindings/iio/gyroscope/fsl,fxas21002c.txt
> +

Must be sorted. I bet F followed by U, not otherwise.

>  FREEVXFS FILESYSTEM
>  M:     Christoph Hellwig <hch@infradead.org>
>  W:     ftp://ftp.openlinux.org/pub/people/hch/vxfs
> --
> 2.18.0
>
>


-- 
With Best Regards,
Andy Shevchenko

Re: [PATCH v3 1/4] iio: gyro: add support for fxas21002c

[Andy Shevchenko]

On Tue, Sep 4, 2018 at 10:08 PM Afonso Bordado <afonsobordado@az8.co> wrote:
>
> FXAS21002C is a 3 axis gyroscope with integrated temperature sensor
>
> Signed-off-by: Afonso Bordado <afonsobordado@az8.co>
> ---
>  Changes in v3
>    - Use unsigned int on regmap functions
>    - Remove the export of the regmap config
>    - Fix undefined behaviour on dev_err call
>    - Minor cleanups
>
>  Changes in v2
>    - Use ANSI C Comments
>    - Minor cleanups
>    - More dscriptive devicetree bindings
>
>  drivers/iio/gyro/Kconfig      |  11 +
>  drivers/iio/gyro/Makefile     |   1 +
>  drivers/iio/gyro/fxas21002c.c | 372 ++++++++++++++++++++++++++++++++++
>  3 files changed, 384 insertions(+)
>  create mode 100644 drivers/iio/gyro/fxas21002c.c
>
> diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
> index 3126cf05e6b9..d71e33ea9fa4 100644
> --- a/drivers/iio/gyro/Kconfig
> +++ b/drivers/iio/gyro/Kconfig
> @@ -73,6 +73,17 @@ config BMG160_SPI
>         tristate
>         select REGMAP_SPI
>
> +config FXAS21002C
> +       tristate "Freescale FXAS21002C Gyroscope"
> +       depends on I2C
> +       select REGMAP_I2C
> +       help
> +         Say yes here to build support for the Freescale FXAS21002C Gyroscope
> +         driver connected via I2C.
> +
> +         This driver can also be built as a module. If so, the module
> +         will be called fxas21002c.
> +
>  config HID_SENSOR_GYRO_3D
>         depends on HID_SENSOR_HUB
>         select IIO_BUFFER
> diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
> index 295ec780c4eb..ec3e2aeae92a 100644
> --- a/drivers/iio/gyro/Makefile
> +++ b/drivers/iio/gyro/Makefile
> @@ -12,6 +12,7 @@ obj-$(CONFIG_ADXRS450) += adxrs450.o
>  obj-$(CONFIG_BMG160) += bmg160_core.o
>  obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o
>  obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o
> +obj-$(CONFIG_FXAS21002C) += fxas21002c.o
>
>  obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
>
> diff --git a/drivers/iio/gyro/fxas21002c.c b/drivers/iio/gyro/fxas21002c.c
> new file mode 100644
> index 000000000000..1668e6f3fe11
> --- /dev/null
> +++ b/drivers/iio/gyro/fxas21002c.c
> @@ -0,0 +1,372 @@
> +// SPDX-License-Identifier: GPL-2.0
> +/*
> + * FXAS21002C - Digital Angular Rate Gyroscope driver
> + *
> + * Copyright (c) 2018, Afonso Bordado <afonsobordado@az8.co>
> + *
> + * IIO driver for FXAS21002C (7-bit I2C slave address 0x20 or 0x21).
> + * Datasheet: https://www.nxp.com/docs/en/data-sheet/FXAS21002.pdf
> + * TODO:
> + *        ODR / Scale Support
> + *        Devicetree
> + *        Power management
> + *        GPIO Reset
> + *        Power supplies
> + *        Mount Matrix
> + *        LowPass/HighPass Filters
> + *        Buffers
> + *        Interrupts
> + *        Alarms
> + *        SPI Support
> + */

With this rather long TODO list it sounds like a staging candidate,
though if it allows us to use it in the shape provided by the change,
code looks good
Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com>

> +
> +#include <linux/i2c.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/sysfs.h>
> +#include <linux/module.h>
> +#include <linux/regmap.h>
> +
> +#define FXAS21002C_DRV_NAME "fxas21002c"
> +
> +#define FXAS21002C_MAX_TRANSITION_TIME_MS 61
> +
> +#define FXAS21002C_CHIP_ID             0xD7
> +
> +#define FXAS21002C_REG_STATUS          0x00
> +#define FXAS21002C_REG_OUT_X_MSB       0x01
> +#define FXAS21002C_REG_OUT_X_LSB       0x02
> +#define FXAS21002C_REG_OUT_Y_MSB       0x03
> +#define FXAS21002C_REG_OUT_Y_LSB       0x04
> +#define FXAS21002C_REG_OUT_Z_MSB       0x05
> +#define FXAS21002C_REG_OUT_Z_LSB       0x06
> +#define FXAS21002C_REG_DR_STATUS       0x07
> +#define FXAS21002C_REG_F_STATUS        0x08
> +#define FXAS21002C_REG_F_SETUP         0x09
> +#define FXAS21002C_REG_F_EVENT         0x0A
> +#define FXAS21002C_REG_INT_SRC_FLAG    0x0B
> +#define FXAS21002C_REG_WHO_AM_I        0x0C
> +#define FXAS21002C_REG_CTRL_REG0       0x0D
> +#define FXAS21002C_REG_RT_CFG          0x0E
> +#define FXAS21002C_REG_RT_SRC          0x0F
> +#define FXAS21002C_REG_RT_THS          0x10
> +#define FXAS21002C_REG_RT_COUNT        0x11
> +#define FXAS21002C_REG_TEMP            0x12
> +
> +#define FXAS21002C_REG_CTRL_REG1       0x13
> +#define FXAS21002C_RST_BIT             BIT(6)
> +#define FXAS21002C_ACTIVE_BIT          BIT(1)
> +#define FXAS21002C_READY_BIT           BIT(0)
> +
> +#define FXAS21002C_REG_CTRL_REG2       0x14
> +#define FXAS21002C_REG_CTRL_REG3       0x15
> +
> +#define FXAS21002C_DEFAULT_ODR_HZ      800
> +
> +/* 0.0625 deg/s */
> +#define FXAS21002C_DEFAULT_SENSITIVITY IIO_DEGREE_TO_RAD(62500)
> +
> +#define FXAS21002C_TEMP_SCALE          1000
> +
> +enum {
> +       ID_FXAS21002C,
> +};
> +
> +enum fxas21002c_operating_mode {
> +       FXAS21002C_OM_BOOT,
> +       FXAS21002C_OM_STANDBY,
> +       FXAS21002C_OM_READY,
> +       FXAS21002C_OM_ACTIVE,
> +};
> +
> +struct fxas21002c_data {
> +       struct i2c_client *client;
> +       struct regmap *regmap;
> +};
> +
> +static const struct regmap_range fxas21002c_writable_ranges[] = {
> +       regmap_reg_range(FXAS21002C_REG_F_SETUP, FXAS21002C_REG_F_SETUP),
> +       regmap_reg_range(FXAS21002C_REG_CTRL_REG0, FXAS21002C_REG_RT_CFG),
> +       regmap_reg_range(FXAS21002C_REG_RT_THS, FXAS21002C_REG_RT_COUNT),
> +       regmap_reg_range(FXAS21002C_REG_CTRL_REG1, FXAS21002C_REG_CTRL_REG3),
> +};
> +
> +static const struct regmap_access_table fxas21002c_writable_table = {
> +       .yes_ranges = fxas21002c_writable_ranges,
> +       .n_yes_ranges = ARRAY_SIZE(fxas21002c_writable_ranges),
> +};
> +
> +static const struct regmap_range fxas21002c_volatile_ranges[] = {
> +       regmap_reg_range(FXAS21002C_REG_STATUS, FXAS21002C_REG_F_STATUS),
> +       regmap_reg_range(FXAS21002C_REG_F_EVENT, FXAS21002C_REG_INT_SRC_FLAG),
> +       regmap_reg_range(FXAS21002C_REG_RT_COUNT, FXAS21002C_REG_CTRL_REG1),
> +};
> +
> +static const struct regmap_access_table fxas21002c_volatile_table = {
> +       .yes_ranges = fxas21002c_volatile_ranges,
> +       .n_yes_ranges = ARRAY_SIZE(fxas21002c_volatile_ranges),
> +};
> +
> +const struct regmap_config fxas21002c_regmap_config = {
> +       .reg_bits = 8,
> +       .val_bits = 8,
> +
> +       .max_register = FXAS21002C_REG_CTRL_REG3,
> +       /* We don't specify a .rd_table because everything is readable */
> +       .wr_table = &fxas21002c_writable_table,
> +       .volatile_table = &fxas21002c_volatile_table,
> +};
> +
> +#define FXAS21002C_GYRO_CHAN(_axis) {                                  \
> +       .type = IIO_ANGL_VEL,                                           \
> +       .modified = 1,                                                  \
> +       .channel2 = IIO_MOD_ ## _axis,                                  \
> +       .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),                   \
> +       .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) |          \
> +                                   BIT(IIO_CHAN_INFO_SAMP_FREQ),       \
> +       .address = FXAS21002C_REG_OUT_ ## _axis ## _MSB,                \
> +}
> +
> +static const struct iio_chan_spec fxas21002c_channels[] = {
> +       {
> +               .type = IIO_TEMP,
> +               .address = FXAS21002C_REG_TEMP,
> +               .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
> +                                     BIT(IIO_CHAN_INFO_SCALE),
> +       },
> +       FXAS21002C_GYRO_CHAN(X),
> +       FXAS21002C_GYRO_CHAN(Y),
> +       FXAS21002C_GYRO_CHAN(Z),
> +       IIO_CHAN_SOFT_TIMESTAMP(3),
> +};
> +
> +static int fxas21002c_set_operating_mode(struct fxas21002c_data *data,
> +                                        enum fxas21002c_operating_mode om)
> +{
> +       int ret;
> +       int mask;
> +
> +       switch (om) {
> +       case FXAS21002C_OM_STANDBY:
> +               mask = 0;
> +               break;
> +       case FXAS21002C_OM_READY:
> +               mask = FXAS21002C_READY_BIT;
> +               break;
> +       case FXAS21002C_OM_ACTIVE:
> +               mask = FXAS21002C_ACTIVE_BIT;
> +               break;
> +
> +       default:
> +               return -EINVAL;
> +       }
> +
> +       ret = regmap_write(data->regmap, FXAS21002C_REG_CTRL_REG1, mask);
> +       if (ret) {
> +               dev_err(&data->client->dev,
> +                       "could not switch operating mode\n");
> +               return ret;
> +       }
> +
> +       msleep(FXAS21002C_MAX_TRANSITION_TIME_MS);
> +
> +       return 0;
> +}
> +
> +static void fxas21002c_standby(void *_data)
> +{
> +       struct fxas21002c_data *data = _data;
> +
> +       fxas21002c_set_operating_mode(data, FXAS21002C_OM_STANDBY);
> +}
> +
> +static int fxas21002c_reset(struct fxas21002c_data *data)
> +{
> +       int ret;
> +
> +       /*
> +        * On issuing a Software Reset command over an I2C interface,
> +        * the device immediately resets and does not send any
> +        * acknowledgment (ACK) of the written byte to the Master.
> +        *
> +        * This is documented in table 46 on the datasheet. Due to this
> +        * the write will fail with EREMOTEIO.
> +        */
> +       ret = regmap_write(data->regmap,
> +                          FXAS21002C_REG_CTRL_REG1, FXAS21002C_RST_BIT);
> +
> +       if (ret != -EREMOTEIO) {
> +               dev_err(&data->client->dev, "could not reset device\n");
> +               return ret;
> +       }
> +
> +       regcache_mark_dirty(data->regmap);
> +
> +       /* Wait for device to boot up */
> +       msleep(FXAS21002C_MAX_TRANSITION_TIME_MS);
> +
> +       return 0;
> +}
> +
> +static int fxas21002c_verify_chip(struct fxas21002c_data *data)
> +{
> +       int ret;
> +       unsigned int chip_id;
> +
> +       ret = regmap_read(data->regmap, FXAS21002C_REG_WHO_AM_I, &chip_id);
> +       if (ret) {
> +               dev_err(&data->client->dev, "could not read device id\n");
> +               return ret;
> +       }
> +
> +       if (chip_id != FXAS21002C_CHIP_ID) {
> +               dev_err(&data->client->dev,
> +                       "unsupported chip id %02x\n", chip_id);
> +               return -ENODEV;
> +       }
> +
> +       return 0;
> +}
> +
> +static int fxas21002c_read_oneshot(struct fxas21002c_data *data,
> +                                  struct iio_chan_spec const *chan, int *val)
> +{
> +       int ret;
> +       __be16 bulk_raw;
> +       unsigned int uval;
> +
> +       switch (chan->type) {
> +       case IIO_ANGL_VEL:
> +               ret = regmap_bulk_read(data->regmap, chan->address,
> +                                      &bulk_raw, sizeof(bulk_raw));
> +               if (ret)
> +                       return ret;
> +
> +               *val = sign_extend32(be16_to_cpu(bulk_raw), 15);
> +               return IIO_VAL_INT;
> +       case IIO_TEMP:
> +               ret = regmap_read(data->regmap, chan->address, &uval);
> +               if (ret)
> +                       return ret;
> +
> +               *val = sign_extend32(uval, 7);
> +               return IIO_VAL_INT;
> +       default:
> +               return -EINVAL;
> +       }
> +}
> +
> +static int fxas21002c_read_raw(struct iio_dev *indio_dev,
> +                              struct iio_chan_spec const *chan, int *val,
> +                              int *val2, long mask)
> +{
> +       struct fxas21002c_data *data = iio_priv(indio_dev);
> +
> +       switch (mask) {
> +       case IIO_CHAN_INFO_RAW:
> +               return fxas21002c_read_oneshot(data, chan, val);
> +       case IIO_CHAN_INFO_SCALE:
> +               switch (chan->type) {
> +               case IIO_ANGL_VEL:
> +                       *val = 0;
> +                       *val2 = FXAS21002C_DEFAULT_SENSITIVITY;
> +
> +                       return IIO_VAL_INT_PLUS_MICRO;
> +               case IIO_TEMP:
> +                       *val = FXAS21002C_TEMP_SCALE;
> +
> +                       return IIO_VAL_INT;
> +               default:
> +                       return -EINVAL;
> +               }
> +       case IIO_CHAN_INFO_SAMP_FREQ:
> +               if (chan->type != IIO_ANGL_VEL)
> +                       return -EINVAL;
> +
> +               *val = FXAS21002C_DEFAULT_ODR_HZ;
> +
> +               return IIO_VAL_INT;
> +       }
> +
> +       return -EINVAL;
> +}
> +
> +static const struct iio_info fxas21002c_info = {
> +       .read_raw               = fxas21002c_read_raw,
> +};
> +
> +static int fxas21002c_probe(struct i2c_client *client,
> +                           const struct i2c_device_id *id)
> +{
> +       int ret;
> +       struct iio_dev *indio_dev;
> +       struct fxas21002c_data *data;
> +
> +       indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
> +       if (!indio_dev)
> +               return -ENOMEM;
> +
> +       i2c_set_clientdata(client, indio_dev);
> +       data = iio_priv(indio_dev);
> +       data->client = client;
> +
> +       data->regmap = devm_regmap_init_i2c(client, &fxas21002c_regmap_config);
> +       if (IS_ERR(data->regmap)) {
> +               ret = PTR_ERR(data->regmap);
> +               dev_err(&client->dev,
> +                       "Failed to allocate regmap, err: %d\n", ret);
> +               return ret;
> +       }
> +
> +       indio_dev->dev.parent = &client->dev;
> +       indio_dev->channels = fxas21002c_channels;
> +       indio_dev->num_channels = ARRAY_SIZE(fxas21002c_channels);
> +       indio_dev->name = id->name;
> +       indio_dev->modes = INDIO_DIRECT_MODE;
> +       indio_dev->info = &fxas21002c_info;
> +
> +       ret = fxas21002c_verify_chip(data);
> +       if (ret < 0)
> +               return ret;
> +
> +       ret = fxas21002c_reset(data);
> +       if (ret < 0)
> +               return ret;
> +
> +       ret = fxas21002c_set_operating_mode(data, FXAS21002C_OM_ACTIVE);
> +       if (ret < 0)
> +               return ret;
> +
> +       ret = devm_add_action(&client->dev, fxas21002c_standby, data);
> +       if (ret < 0) {
> +               fxas21002c_standby(data);
> +               dev_err(&client->dev, "failed to add standby action\n");
> +               return ret;
> +       }
> +
> +       ret = iio_device_register(indio_dev);
> +       if (ret < 0)
> +               dev_err(&client->dev, "failed to register iio device\n");
> +
> +       return ret;
> +}
> +
> +static const struct i2c_device_id fxas21002c_id[] = {
> +       {"fxas21002c", ID_FXAS21002C},
> +       {}
> +};
> +
> +MODULE_DEVICE_TABLE(i2c, fxas21002c_id);
> +
> +static struct i2c_driver fxas21002c_driver = {
> +       .driver = {
> +               .name = FXAS21002C_DRV_NAME,
> +       },
> +       .probe          = fxas21002c_probe,
> +       .id_table       = fxas21002c_id,
> +};
> +
> +module_i2c_driver(fxas21002c_driver);
> +
> +MODULE_AUTHOR("Afonso Bordado <afonsobordado@az8.co>");
> +MODULE_DESCRIPTION("FXAS21002C Digital Angular Rate Gyroscope driver");
> +MODULE_LICENSE("GPL v2");
> --
> 2.18.0
>
>


-- 
With Best Regards,
Andy Shevchenko

Re: [PATCH v3 3/4] iio: fxas21002c: add ODR/Scale support

[Andy Shevchenko]

On Tue, Sep 4, 2018 at 10:07 PM Afonso Bordado <afonsobordado@az8.co> wrote:
>
> This patch adds support for reading/writing ODR/Scale
>
> We don't support the scale boost modes.

> @@ -44,7 +44,10 @@
>  #define FXAS21002C_REG_F_EVENT         0x0A
>  #define FXAS21002C_REG_INT_SRC_FLAG    0x0B
>  #define FXAS21002C_REG_WHO_AM_I        0x0C
> +
>  #define FXAS21002C_REG_CTRL_REG0       0x0D
> +#define FXAS21002C_SCALE_MASK          GENMASK(1, 0)
> +
>  #define FXAS21002C_REG_RT_CFG          0x0E
>  #define FXAS21002C_REG_RT_SRC          0x0F
>  #define FXAS21002C_REG_RT_THS          0x10

This hunk doesn't belong to this patch.

> +static const int fxas21002c_anglevel_scale_avail[4][2] = {
> +       [FXAS21002C_SCALE_62MDPS] = { 0, IIO_DEGREE_TO_RAD(62500) },
> +       [FXAS21002C_SCALE_31MDPS] = { 0, IIO_DEGREE_TO_RAD(31250) },
> +       [FXAS21002C_SCALE_15MDPS] = { 0, IIO_DEGREE_TO_RAD(15625) },
> +       [FXAS21002C_SCALE_7MDPS]  = { 0, IIO_DEGREE_TO_RAD(7812) },

This is just set of powers of two. No table needed.

> +};

> +static const int fxas21002c_sample_freq_avail[7][2] = {
> +       [FXAS21002C_ODR_800]  = { 800, 0 },
> +       [FXAS21002C_ODR_400]  = { 400, 0 },
> +       [FXAS21002C_ODR_200]  = { 200, 0 },
> +       [FXAS21002C_ODR_100]  = { 100, 0 },
> +       [FXAS21002C_ODR_50]   = { 50, 0 },
> +       [FXAS21002C_ODR_25]   = { 25, 0 },
> +       [FXAS21002C_ODR_12_5] = { 12, 500000 },

Ditto.

> +};


--
With Best Regards,
Andy Shevchenko

[PATCH v3 1/4] iio: gyro: add support for fxas21002c

[Afonso Bordado]

FXAS21002C is a 3 axis gyroscope with integrated temperature sensor

Signed-off-by: Afonso Bordado <afonsobordado@az8.co>
---
 Changes in v3
   - Use unsigned int on regmap functions
   - Remove the export of the regmap config
   - Fix undefined behaviour on dev_err call
   - Minor cleanups

 Changes in v2
   - Use ANSI C Comments
   - Minor cleanups
   - More dscriptive devicetree bindings

 drivers/iio/gyro/Kconfig      |  11 +
 drivers/iio/gyro/Makefile     |   1 +
 drivers/iio/gyro/fxas21002c.c | 372 ++++++++++++++++++++++++++++++++++
 3 files changed, 384 insertions(+)
 create mode 100644 drivers/iio/gyro/fxas21002c.c

diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index 3126cf05e6b9..d71e33ea9fa4 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -73,6 +73,17 @@ config BMG160_SPI
 	tristate
 	select REGMAP_SPI
 
+config FXAS21002C
+	tristate "Freescale FXAS21002C Gyroscope"
+	depends on I2C
+	select REGMAP_I2C
+	help
+	  Say yes here to build support for the Freescale FXAS21002C Gyroscope
+	  driver connected via I2C.
+
+	  This driver can also be built as a module. If so, the module
+	  will be called fxas21002c.
+
 config HID_SENSOR_GYRO_3D
 	depends on HID_SENSOR_HUB
 	select IIO_BUFFER
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
index 295ec780c4eb..ec3e2aeae92a 100644
--- a/drivers/iio/gyro/Makefile
+++ b/drivers/iio/gyro/Makefile
@@ -12,6 +12,7 @@ obj-$(CONFIG_ADXRS450) += adxrs450.o
 obj-$(CONFIG_BMG160) += bmg160_core.o
 obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o
 obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o
+obj-$(CONFIG_FXAS21002C) += fxas21002c.o
 
 obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
 
diff --git a/drivers/iio/gyro/fxas21002c.c b/drivers/iio/gyro/fxas21002c.c
new file mode 100644
index 000000000000..1668e6f3fe11
--- /dev/null
+++ b/drivers/iio/gyro/fxas21002c.c
@@ -0,0 +1,372 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * FXAS21002C - Digital Angular Rate Gyroscope driver
+ *
+ * Copyright (c) 2018, Afonso Bordado <afonsobordado@az8.co>
+ *
+ * IIO driver for FXAS21002C (7-bit I2C slave address 0x20 or 0x21).
+ * Datasheet: https://www.nxp.com/docs/en/data-sheet/FXAS21002.pdf
+ * TODO:
+ *        ODR / Scale Support
+ *        Devicetree
+ *        Power management
+ *        GPIO Reset
+ *        Power supplies
+ *        Mount Matrix
+ *        LowPass/HighPass Filters
+ *        Buffers
+ *        Interrupts
+ *        Alarms
+ *        SPI Support
+ */
+
+#include <linux/i2c.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+
+#define FXAS21002C_DRV_NAME "fxas21002c"
+
+#define FXAS21002C_MAX_TRANSITION_TIME_MS 61
+
+#define FXAS21002C_CHIP_ID             0xD7
+
+#define FXAS21002C_REG_STATUS          0x00
+#define FXAS21002C_REG_OUT_X_MSB       0x01
+#define FXAS21002C_REG_OUT_X_LSB       0x02
+#define FXAS21002C_REG_OUT_Y_MSB       0x03
+#define FXAS21002C_REG_OUT_Y_LSB       0x04
+#define FXAS21002C_REG_OUT_Z_MSB       0x05
+#define FXAS21002C_REG_OUT_Z_LSB       0x06
+#define FXAS21002C_REG_DR_STATUS       0x07
+#define FXAS21002C_REG_F_STATUS        0x08
+#define FXAS21002C_REG_F_SETUP         0x09
+#define FXAS21002C_REG_F_EVENT         0x0A
+#define FXAS21002C_REG_INT_SRC_FLAG    0x0B
+#define FXAS21002C_REG_WHO_AM_I        0x0C
+#define FXAS21002C_REG_CTRL_REG0       0x0D
+#define FXAS21002C_REG_RT_CFG          0x0E
+#define FXAS21002C_REG_RT_SRC          0x0F
+#define FXAS21002C_REG_RT_THS          0x10
+#define FXAS21002C_REG_RT_COUNT        0x11
+#define FXAS21002C_REG_TEMP            0x12
+
+#define FXAS21002C_REG_CTRL_REG1       0x13
+#define FXAS21002C_RST_BIT             BIT(6)
+#define FXAS21002C_ACTIVE_BIT          BIT(1)
+#define FXAS21002C_READY_BIT           BIT(0)
+
+#define FXAS21002C_REG_CTRL_REG2       0x14
+#define FXAS21002C_REG_CTRL_REG3       0x15
+
+#define FXAS21002C_DEFAULT_ODR_HZ      800
+
+/* 0.0625 deg/s */
+#define FXAS21002C_DEFAULT_SENSITIVITY IIO_DEGREE_TO_RAD(62500)
+
+#define FXAS21002C_TEMP_SCALE          1000
+
+enum {
+	ID_FXAS21002C,
+};
+
+enum fxas21002c_operating_mode {
+	FXAS21002C_OM_BOOT,
+	FXAS21002C_OM_STANDBY,
+	FXAS21002C_OM_READY,
+	FXAS21002C_OM_ACTIVE,
+};
+
+struct fxas21002c_data {
+	struct i2c_client *client;
+	struct regmap *regmap;
+};
+
+static const struct regmap_range fxas21002c_writable_ranges[] = {
+	regmap_reg_range(FXAS21002C_REG_F_SETUP, FXAS21002C_REG_F_SETUP),
+	regmap_reg_range(FXAS21002C_REG_CTRL_REG0, FXAS21002C_REG_RT_CFG),
+	regmap_reg_range(FXAS21002C_REG_RT_THS, FXAS21002C_REG_RT_COUNT),
+	regmap_reg_range(FXAS21002C_REG_CTRL_REG1, FXAS21002C_REG_CTRL_REG3),
+};
+
+static const struct regmap_access_table fxas21002c_writable_table = {
+	.yes_ranges = fxas21002c_writable_ranges,
+	.n_yes_ranges = ARRAY_SIZE(fxas21002c_writable_ranges),
+};
+
+static const struct regmap_range fxas21002c_volatile_ranges[] = {
+	regmap_reg_range(FXAS21002C_REG_STATUS, FXAS21002C_REG_F_STATUS),
+	regmap_reg_range(FXAS21002C_REG_F_EVENT, FXAS21002C_REG_INT_SRC_FLAG),
+	regmap_reg_range(FXAS21002C_REG_RT_COUNT, FXAS21002C_REG_CTRL_REG1),
+};
+
+static const struct regmap_access_table fxas21002c_volatile_table = {
+	.yes_ranges = fxas21002c_volatile_ranges,
+	.n_yes_ranges = ARRAY_SIZE(fxas21002c_volatile_ranges),
+};
+
+const struct regmap_config fxas21002c_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+
+	.max_register = FXAS21002C_REG_CTRL_REG3,
+	/* We don't specify a .rd_table because everything is readable */
+	.wr_table = &fxas21002c_writable_table,
+	.volatile_table = &fxas21002c_volatile_table,
+};
+
+#define FXAS21002C_GYRO_CHAN(_axis) {					\
+	.type = IIO_ANGL_VEL,						\
+	.modified = 1,							\
+	.channel2 = IIO_MOD_ ## _axis,					\
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),			\
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) |		\
+				    BIT(IIO_CHAN_INFO_SAMP_FREQ),	\
+	.address = FXAS21002C_REG_OUT_ ## _axis ## _MSB,		\
+}
+
+static const struct iio_chan_spec fxas21002c_channels[] = {
+	{
+		.type = IIO_TEMP,
+		.address = FXAS21002C_REG_TEMP,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+				      BIT(IIO_CHAN_INFO_SCALE),
+	},
+	FXAS21002C_GYRO_CHAN(X),
+	FXAS21002C_GYRO_CHAN(Y),
+	FXAS21002C_GYRO_CHAN(Z),
+	IIO_CHAN_SOFT_TIMESTAMP(3),
+};
+
+static int fxas21002c_set_operating_mode(struct fxas21002c_data *data,
+					 enum fxas21002c_operating_mode om)
+{
+	int ret;
+	int mask;
+
+	switch (om) {
+	case FXAS21002C_OM_STANDBY:
+		mask = 0;
+		break;
+	case FXAS21002C_OM_READY:
+		mask = FXAS21002C_READY_BIT;
+		break;
+	case FXAS21002C_OM_ACTIVE:
+		mask = FXAS21002C_ACTIVE_BIT;
+		break;
+
+	default:
+		return -EINVAL;
+	}
+
+	ret = regmap_write(data->regmap, FXAS21002C_REG_CTRL_REG1, mask);
+	if (ret) {
+		dev_err(&data->client->dev,
+			"could not switch operating mode\n");
+		return ret;
+	}
+
+	msleep(FXAS21002C_MAX_TRANSITION_TIME_MS);
+
+	return 0;
+}
+
+static void fxas21002c_standby(void *_data)
+{
+	struct fxas21002c_data *data = _data;
+
+	fxas21002c_set_operating_mode(data, FXAS21002C_OM_STANDBY);
+}
+
+static int fxas21002c_reset(struct fxas21002c_data *data)
+{
+	int ret;
+
+	/*
+	 * On issuing a Software Reset command over an I2C interface,
+	 * the device immediately resets and does not send any
+	 * acknowledgment (ACK) of the written byte to the Master.
+	 *
+	 * This is documented in table 46 on the datasheet. Due to this
+	 * the write will fail with EREMOTEIO.
+	 */
+	ret = regmap_write(data->regmap,
+			   FXAS21002C_REG_CTRL_REG1, FXAS21002C_RST_BIT);
+
+	if (ret != -EREMOTEIO) {
+		dev_err(&data->client->dev, "could not reset device\n");
+		return ret;
+	}
+
+	regcache_mark_dirty(data->regmap);
+
+	/* Wait for device to boot up */
+	msleep(FXAS21002C_MAX_TRANSITION_TIME_MS);
+
+	return 0;
+}
+
+static int fxas21002c_verify_chip(struct fxas21002c_data *data)
+{
+	int ret;
+	unsigned int chip_id;
+
+	ret = regmap_read(data->regmap, FXAS21002C_REG_WHO_AM_I, &chip_id);
+	if (ret) {
+		dev_err(&data->client->dev, "could not read device id\n");
+		return ret;
+	}
+
+	if (chip_id != FXAS21002C_CHIP_ID) {
+		dev_err(&data->client->dev,
+			"unsupported chip id %02x\n", chip_id);
+		return -ENODEV;
+	}
+
+	return 0;
+}
+
+static int fxas21002c_read_oneshot(struct fxas21002c_data *data,
+				   struct iio_chan_spec const *chan, int *val)
+{
+	int ret;
+	__be16 bulk_raw;
+	unsigned int uval;
+
+	switch (chan->type) {
+	case IIO_ANGL_VEL:
+		ret = regmap_bulk_read(data->regmap, chan->address,
+				       &bulk_raw, sizeof(bulk_raw));
+		if (ret)
+			return ret;
+
+		*val = sign_extend32(be16_to_cpu(bulk_raw), 15);
+		return IIO_VAL_INT;
+	case IIO_TEMP:
+		ret = regmap_read(data->regmap, chan->address, &uval);
+		if (ret)
+			return ret;
+
+		*val = sign_extend32(uval, 7);
+		return IIO_VAL_INT;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int fxas21002c_read_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan, int *val,
+			       int *val2, long mask)
+{
+	struct fxas21002c_data *data = iio_priv(indio_dev);
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		return fxas21002c_read_oneshot(data, chan, val);
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			*val = 0;
+			*val2 = FXAS21002C_DEFAULT_SENSITIVITY;
+
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_TEMP:
+			*val = FXAS21002C_TEMP_SCALE;
+
+			return IIO_VAL_INT;
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		if (chan->type != IIO_ANGL_VEL)
+			return -EINVAL;
+
+		*val = FXAS21002C_DEFAULT_ODR_HZ;
+
+		return IIO_VAL_INT;
+	}
+
+	return -EINVAL;
+}
+
+static const struct iio_info fxas21002c_info = {
+	.read_raw		= fxas21002c_read_raw,
+};
+
+static int fxas21002c_probe(struct i2c_client *client,
+			    const struct i2c_device_id *id)
+{
+	int ret;
+	struct iio_dev *indio_dev;
+	struct fxas21002c_data *data;
+
+	indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
+	if (!indio_dev)
+		return -ENOMEM;
+
+	i2c_set_clientdata(client, indio_dev);
+	data = iio_priv(indio_dev);
+	data->client = client;
+
+	data->regmap = devm_regmap_init_i2c(client, &fxas21002c_regmap_config);
+	if (IS_ERR(data->regmap)) {
+		ret = PTR_ERR(data->regmap);
+		dev_err(&client->dev,
+			"Failed to allocate regmap, err: %d\n", ret);
+		return ret;
+	}
+
+	indio_dev->dev.parent = &client->dev;
+	indio_dev->channels = fxas21002c_channels;
+	indio_dev->num_channels = ARRAY_SIZE(fxas21002c_channels);
+	indio_dev->name = id->name;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->info = &fxas21002c_info;
+
+	ret = fxas21002c_verify_chip(data);
+	if (ret < 0)
+		return ret;
+
+	ret = fxas21002c_reset(data);
+	if (ret < 0)
+		return ret;
+
+	ret = fxas21002c_set_operating_mode(data, FXAS21002C_OM_ACTIVE);
+	if (ret < 0)
+		return ret;
+
+	ret = devm_add_action(&client->dev, fxas21002c_standby, data);
+	if (ret < 0) {
+		fxas21002c_standby(data);
+		dev_err(&client->dev, "failed to add standby action\n");
+		return ret;
+	}
+
+	ret = iio_device_register(indio_dev);
+	if (ret < 0)
+		dev_err(&client->dev, "failed to register iio device\n");
+
+	return ret;
+}
+
+static const struct i2c_device_id fxas21002c_id[] = {
+	{"fxas21002c", ID_FXAS21002C},
+	{}
+};
+
+MODULE_DEVICE_TABLE(i2c, fxas21002c_id);
+
+static struct i2c_driver fxas21002c_driver = {
+	.driver = {
+		.name = FXAS21002C_DRV_NAME,
+	},
+	.probe		= fxas21002c_probe,
+	.id_table	= fxas21002c_id,
+};
+
+module_i2c_driver(fxas21002c_driver);
+
+MODULE_AUTHOR("Afonso Bordado <afonsobordado@az8.co>");
+MODULE_DESCRIPTION("FXAS21002C Digital Angular Rate Gyroscope driver");
+MODULE_LICENSE("GPL v2");
-- 
2.18.0

[PATCH v3 2/4] iio: gyro: add device tree support for fxas21002c

[Afonso Bordado]

This patch adds device tree support for the fxas21002c driver, including
bindings.

Signed-off-by: Afonso Bordado <afonsobordado@az8.co>
---
 .../bindings/iio/gyroscope/fsl,fxas21002c.txt | 35 +++++++++++++++++++
 drivers/iio/gyro/fxas21002c.c                 | 10 +++++-
 2 files changed, 44 insertions(+), 1 deletion(-)
 create mode 100644 Documentation/devicetree/bindings/iio/gyroscope/fsl,fxas21002c.txt

diff --git a/Documentation/devicetree/bindings/iio/gyroscope/fsl,fxas21002c.txt b/Documentation/devicetree/bindings/iio/gyroscope/fsl,fxas21002c.txt
new file mode 100644
index 000000000000..5f02cfa5ac82
--- /dev/null
+++ b/Documentation/devicetree/bindings/iio/gyroscope/fsl,fxas21002c.txt
@@ -0,0 +1,35 @@
+* Freescale FXAS21002C Digital Angular Rate Gyroscope
+
+Required properties:
+
+  - compatible: must be "fsl,fxas21002c"
+  - reg : the I2C address of the sensor
+
+Optional properties:
+
+  - interrupt-parent	: phandle to the parent interrupt controller.
+			  see interrupt-controller/interrupts.txt
+  - interrupts		: The first interrupt listed must be the one
+			  connected to the INT1 pin, the second interrupt
+			  listed must be the one connected to the INT2 pin.
+			  The interrupts can be triggered on rising or falling
+			  edges alike.
+			  see interrupt-controller/interrupts.txt
+  - vdd-supply 		: The main voltage regulator
+  - iovdd-supply 	: The IO voltage regulator
+			  see regulator/regulator.txt
+  - reset-gpios		: GPIO used to reset the device.
+			  see gpio/gpio.txt.
+  - mount-matrix	: see iio/mount-matrix.txt
+
+Example:
+gyroscope@20 {
+	compatible = "fsl,fxas21002c";
+	reg = <0x20>;
+	reset-gpios = <&gpio0 2 0>;
+	vdd-supply = <&vref>;
+	iovdd-supply = <&vref2>;
+	interrupt-parent = <&foo>;
+	interrupts = <0 IRQ_TYPE_EDGE_RISING>,
+		     <1 (IRQ_TYPE_EDGE_RISING | IRQ_TYPE_EDGE_FALLING)>;
+};
diff --git a/drivers/iio/gyro/fxas21002c.c b/drivers/iio/gyro/fxas21002c.c
index 1668e6f3fe11..18b1f500dd3e 100644
--- a/drivers/iio/gyro/fxas21002c.c
+++ b/drivers/iio/gyro/fxas21002c.c
@@ -8,7 +8,6 @@
  * Datasheet: https://www.nxp.com/docs/en/data-sheet/FXAS21002.pdf
  * TODO:
  *        ODR / Scale Support
- *        Devicetree
  *        Power management
  *        GPIO Reset
  *        Power supplies
@@ -350,6 +349,14 @@ static int fxas21002c_probe(struct i2c_client *client,
 	return ret;
 }
 
+#ifdef CONFIG_OF
+static const struct of_device_id fxas21002c_of_ids[] = {
+	{.compatible = "fsl,fxas21002c"},
+	{}
+};
+MODULE_DEVICE_TABLE(of, fxas21002c_of_ids);
+#endif
+
 static const struct i2c_device_id fxas21002c_id[] = {
 	{"fxas21002c", ID_FXAS21002C},
 	{}
@@ -360,6 +367,7 @@ MODULE_DEVICE_TABLE(i2c, fxas21002c_id);
 static struct i2c_driver fxas21002c_driver = {
 	.driver = {
 		.name = FXAS21002C_DRV_NAME,
+		.of_match_table = of_match_ptr(fxas21002c_of_ids),
 	},
 	.probe		= fxas21002c_probe,
 	.id_table	= fxas21002c_id,
-- 
2.18.0

[PATCH v3 3/4] iio: fxas21002c: add ODR/Scale support

[Afonso Bordado]

This patch adds support for reading/writing ODR/Scale

We don't support the scale boost modes.

Signed-off-by: Afonso Bordado <afonsobordado@az8.co>
---
 drivers/iio/gyro/fxas21002c.c | 161 +++++++++++++++++++++++++++++++---
 1 file changed, 148 insertions(+), 13 deletions(-)

diff --git a/drivers/iio/gyro/fxas21002c.c b/drivers/iio/gyro/fxas21002c.c
index 18b1f500dd3e..7efef3156fa0 100644
--- a/drivers/iio/gyro/fxas21002c.c
+++ b/drivers/iio/gyro/fxas21002c.c
@@ -7,7 +7,7 @@
  * IIO driver for FXAS21002C (7-bit I2C slave address 0x20 or 0x21).
  * Datasheet: https://www.nxp.com/docs/en/data-sheet/FXAS21002.pdf
  * TODO:
- *        ODR / Scale Support
+ *        Scale boost mode
  *        Power management
  *        GPIO Reset
  *        Power supplies
@@ -44,7 +44,10 @@
 #define FXAS21002C_REG_F_EVENT         0x0A
 #define FXAS21002C_REG_INT_SRC_FLAG    0x0B
 #define FXAS21002C_REG_WHO_AM_I        0x0C
+
 #define FXAS21002C_REG_CTRL_REG0       0x0D
+#define FXAS21002C_SCALE_MASK          GENMASK(1, 0)
+
 #define FXAS21002C_REG_RT_CFG          0x0E
 #define FXAS21002C_REG_RT_SRC          0x0F
 #define FXAS21002C_REG_RT_THS          0x10
@@ -56,14 +59,12 @@
 #define FXAS21002C_ACTIVE_BIT          BIT(1)
 #define FXAS21002C_READY_BIT           BIT(0)
 
+#define FXAS21002C_ODR_SHIFT           2
+#define FXAS21002C_ODR_MASK            GENMASK(4, 2)
+
 #define FXAS21002C_REG_CTRL_REG2       0x14
 #define FXAS21002C_REG_CTRL_REG3       0x15
 
-#define FXAS21002C_DEFAULT_ODR_HZ      800
-
-/* 0.0625 deg/s */
-#define FXAS21002C_DEFAULT_SENSITIVITY IIO_DEGREE_TO_RAD(62500)
-
 #define FXAS21002C_TEMP_SCALE          1000
 
 enum {
@@ -82,6 +83,40 @@ struct fxas21002c_data {
 	struct regmap *regmap;
 };
 
+enum fxas21002c_scale {
+	FXAS21002C_SCALE_62MDPS,
+	FXAS21002C_SCALE_31MDPS,
+	FXAS21002C_SCALE_15MDPS,
+	FXAS21002C_SCALE_7MDPS,
+};
+
+static const int fxas21002c_anglevel_scale_avail[4][2] = {
+	[FXAS21002C_SCALE_62MDPS] = { 0, IIO_DEGREE_TO_RAD(62500) },
+	[FXAS21002C_SCALE_31MDPS] = { 0, IIO_DEGREE_TO_RAD(31250) },
+	[FXAS21002C_SCALE_15MDPS] = { 0, IIO_DEGREE_TO_RAD(15625) },
+	[FXAS21002C_SCALE_7MDPS]  = { 0, IIO_DEGREE_TO_RAD(7812) },
+};
+
+enum fxas21002c_odr {
+	FXAS21002C_ODR_800,
+	FXAS21002C_ODR_400,
+	FXAS21002C_ODR_200,
+	FXAS21002C_ODR_100,
+	FXAS21002C_ODR_50,
+	FXAS21002C_ODR_25,
+	FXAS21002C_ODR_12_5,
+};
+
+static const int fxas21002c_sample_freq_avail[7][2] = {
+	[FXAS21002C_ODR_800]  = { 800, 0 },
+	[FXAS21002C_ODR_400]  = { 400, 0 },
+	[FXAS21002C_ODR_200]  = { 200, 0 },
+	[FXAS21002C_ODR_100]  = { 100, 0 },
+	[FXAS21002C_ODR_50]   = { 50, 0 },
+	[FXAS21002C_ODR_25]   = { 25, 0 },
+	[FXAS21002C_ODR_12_5] = { 12, 500000 },
+};
+
 static const struct regmap_range fxas21002c_writable_ranges[] = {
 	regmap_reg_range(FXAS21002C_REG_F_SETUP, FXAS21002C_REG_F_SETUP),
 	regmap_reg_range(FXAS21002C_REG_CTRL_REG0, FXAS21002C_REG_RT_CFG),
@@ -254,6 +289,49 @@ static int fxas21002c_read_oneshot(struct fxas21002c_data *data,
 	}
 }
 
+static int fxas21002c_scale_read(struct fxas21002c_data *data, int *val,
+				 int *val2)
+{
+	int ret;
+	unsigned int raw;
+
+	ret = regmap_read(data->regmap, FXAS21002C_REG_CTRL_REG0, &raw);
+	if (ret)
+		return ret;
+
+	raw &= FXAS21002C_SCALE_MASK;
+
+	*val = fxas21002c_anglevel_scale_avail[raw][0];
+	*val2 = fxas21002c_anglevel_scale_avail[raw][1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int fxas21002c_odr_read(struct fxas21002c_data *data, int *val,
+			       int *val2)
+{
+	int ret;
+	unsigned int raw;
+
+	ret = regmap_read(data->regmap, FXAS21002C_REG_CTRL_REG1, &raw);
+	if (ret)
+		return ret;
+
+	raw = (raw & FXAS21002C_ODR_MASK) >> FXAS21002C_ODR_SHIFT;
+
+	/*
+	 * We don't use this mode but according to the datasheet its
+	 * also a 12.5Hz
+	 */
+	if (raw == 7)
+		raw = FXAS21002C_ODR_12_5;
+
+	*val = fxas21002c_sample_freq_avail[raw][0];
+	*val2 = fxas21002c_sample_freq_avail[raw][1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
 static int fxas21002c_read_raw(struct iio_dev *indio_dev,
 			       struct iio_chan_spec const *chan, int *val,
 			       int *val2, long mask)
@@ -266,10 +344,7 @@ static int fxas21002c_read_raw(struct iio_dev *indio_dev,
 	case IIO_CHAN_INFO_SCALE:
 		switch (chan->type) {
 		case IIO_ANGL_VEL:
-			*val = 0;
-			*val2 = FXAS21002C_DEFAULT_SENSITIVITY;
-
-			return IIO_VAL_INT_PLUS_MICRO;
+			return fxas21002c_scale_read(data, val, val2);
 		case IIO_TEMP:
 			*val = FXAS21002C_TEMP_SCALE;
 
@@ -281,16 +356,76 @@ static int fxas21002c_read_raw(struct iio_dev *indio_dev,
 		if (chan->type != IIO_ANGL_VEL)
 			return -EINVAL;
 
-		*val = FXAS21002C_DEFAULT_ODR_HZ;
-
-		return IIO_VAL_INT;
+		return fxas21002c_odr_read(data, val, val2);
 	}
 
 	return -EINVAL;
 }
 
+static int fxas21002c_write_raw(struct iio_dev *indio_dev,
+				struct iio_chan_spec const *chan, int val,
+				int val2, long mask)
+{
+	struct fxas21002c_data *data = iio_priv(indio_dev);
+	int ret = -EINVAL;
+	int i;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		for (i = 0; i < ARRAY_SIZE(fxas21002c_sample_freq_avail); i++) {
+			if (fxas21002c_sample_freq_avail[i][0] == val &&
+			    fxas21002c_sample_freq_avail[i][1] == val2)
+				break;
+		}
+
+		if (i == ARRAY_SIZE(fxas21002c_sample_freq_avail))
+			break;
+
+		return regmap_update_bits(data->regmap,
+					  FXAS21002C_REG_CTRL_REG1,
+					  FXAS21002C_ODR_MASK,
+					  i << FXAS21002C_ODR_SHIFT);
+	case IIO_CHAN_INFO_SCALE:
+		for (i = 0; i < ARRAY_SIZE(fxas21002c_anglevel_scale_avail);
+		     i++) {
+			if (fxas21002c_anglevel_scale_avail[i][0] == val &&
+			    fxas21002c_anglevel_scale_avail[i][1] == val2)
+				break;
+		}
+
+		if (i == ARRAY_SIZE(fxas21002c_anglevel_scale_avail))
+			break;
+
+		return regmap_update_bits(data->regmap,
+					  FXAS21002C_REG_CTRL_REG0,
+					  FXAS21002C_SCALE_MASK, i);
+	}
+
+	return ret;
+}
+
+static IIO_CONST_ATTR(anglevel_scale_available,
+		      "0.001090831 "  /* 62.5    mdps */
+		      "0.000545415 "  /* 31.25   mdps */
+		      "0.000272708 "  /* 15.625  mdps */
+		      "0.000136354"); /*  7.8125 mdps */
+
+static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("800 400 200 100 50 25 12.5");
+
+static struct attribute *fxas21002c_attributes[] = {
+	&iio_const_attr_anglevel_scale_available.dev_attr.attr,
+	&iio_const_attr_sampling_frequency_available.dev_attr.attr,
+	NULL
+};
+
+static const struct attribute_group fxas21002c_attribute_group = {
+	.attrs = fxas21002c_attributes,
+};
+
 static const struct iio_info fxas21002c_info = {
 	.read_raw		= fxas21002c_read_raw,
+	.write_raw              = fxas21002c_write_raw,
+	.attrs                  = &fxas21002c_attribute_group,
 };
 
 static int fxas21002c_probe(struct i2c_client *client,
-- 
2.18.0

[PATCH v3 4/4] MAINTAINERS: add entry for fxas21002c gyro driver

[Afonso Bordado]

Add entry for fxas21002c gyroscope driver and add myself as
maintainer of this driver.

Signed-off-by: Afonso Bordado <afonsobordado@az8.co>
---
 MAINTAINERS | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/MAINTAINERS b/MAINTAINERS
index 2b7b24b145f0..faf5f41b1465 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -5838,6 +5838,13 @@ L:	linuxppc-dev@lists.ozlabs.org
 S:	Maintained
 F:	drivers/usb/gadget/udc/fsl*
 
+FREESCALE FXAS21002C
+M:	Afonso Bordado <afonsobordado@az8.co>
+L:	linux-iio@vger.kernel.org
+S:	Maintained
+F:	drivers/iio/gyro/fxas21002.c
+F:	Documentation/devicetree/bindings/iio/gyroscope/fsl,fxas21002c.txt
+
 FREEVXFS FILESYSTEM
 M:	Christoph Hellwig <hch@infradead.org>
 W:	ftp://ftp.openlinux.org/pub/people/hch/vxfs
-- 
2.18.0

Re: [PATCH v3 2/4] iio: gyro: add device tree support for fxas21002c

[Rob Herring]

On Tue, Sep 04, 2018 at 09:04:32PM +0100, Afonso Bordado wrote:
> This patch adds device tree support for the fxas21002c driver, including
> bindings.
> 
> Signed-off-by: Afonso Bordado <afonsobordado@az8.co>
> ---
>  .../bindings/iio/gyroscope/fsl,fxas21002c.txt | 35 +++++++++++++++++++

Please split bindings to separate patch.

>  drivers/iio/gyro/fxas21002c.c                 | 10 +++++-
>  2 files changed, 44 insertions(+), 1 deletion(-)
>  create mode 100644 Documentation/devicetree/bindings/iio/gyroscope/fsl,fxas21002c.txt
> 
> diff --git a/Documentation/devicetree/bindings/iio/gyroscope/fsl,fxas21002c.txt b/Documentation/devicetree/bindings/iio/gyroscope/fsl,fxas21002c.txt
> new file mode 100644
> index 000000000000..5f02cfa5ac82
> --- /dev/null
> +++ b/Documentation/devicetree/bindings/iio/gyroscope/fsl,fxas21002c.txt
> @@ -0,0 +1,35 @@
> +* Freescale FXAS21002C Digital Angular Rate Gyroscope
> +
> +Required properties:
> +
> +  - compatible: must be "fsl,fxas21002c"
> +  - reg : the I2C address of the sensor
> +
> +Optional properties:
> +
> +  - interrupt-parent	: phandle to the parent interrupt controller.
> +			  see interrupt-controller/interrupts.txt

This is implied, so drop it.

> +  - interrupts		: The first interrupt listed must be the one
> +			  connected to the INT1 pin, the second interrupt
> +			  listed must be the one connected to the INT2 pin.
> +			  The interrupts can be triggered on rising or falling
> +			  edges alike.
> +			  see interrupt-controller/interrupts.txt
> +  - vdd-supply 		: The main voltage regulator
> +  - iovdd-supply 	: The IO voltage regulator

Some space before tab on these 2 lines.

> +			  see regulator/regulator.txt
> +  - reset-gpios		: GPIO used to reset the device.
> +			  see gpio/gpio.txt.
> +  - mount-matrix	: see iio/mount-matrix.txt
> +
> +Example:
> +gyroscope@20 {
> +	compatible = "fsl,fxas21002c";
> +	reg = <0x20>;
> +	reset-gpios = <&gpio0 2 0>;
> +	vdd-supply = <&vref>;
> +	iovdd-supply = <&vref2>;
> +	interrupt-parent = <&foo>;
> +	interrupts = <0 IRQ_TYPE_EDGE_RISING>,
> +		     <1 (IRQ_TYPE_EDGE_RISING | IRQ_TYPE_EDGE_FALLING)>;
> +};
> diff --git a/drivers/iio/gyro/fxas21002c.c b/drivers/iio/gyro/fxas21002c.c
> index 1668e6f3fe11..18b1f500dd3e 100644
> --- a/drivers/iio/gyro/fxas21002c.c
> +++ b/drivers/iio/gyro/fxas21002c.c
> @@ -8,7 +8,6 @@
>   * Datasheet: https://www.nxp.com/docs/en/data-sheet/FXAS21002.pdf
>   * TODO:
>   *        ODR / Scale Support
> - *        Devicetree
>   *        Power management
>   *        GPIO Reset
>   *        Power supplies
> @@ -350,6 +349,14 @@ static int fxas21002c_probe(struct i2c_client *client,
>  	return ret;
>  }
>  
> +#ifdef CONFIG_OF
> +static const struct of_device_id fxas21002c_of_ids[] = {
> +	{.compatible = "fsl,fxas21002c"},
> +	{}
> +};
> +MODULE_DEVICE_TABLE(of, fxas21002c_of_ids);
> +#endif
> +
>  static const struct i2c_device_id fxas21002c_id[] = {
>  	{"fxas21002c", ID_FXAS21002C},
>  	{}
> @@ -360,6 +367,7 @@ MODULE_DEVICE_TABLE(i2c, fxas21002c_id);
>  static struct i2c_driver fxas21002c_driver = {
>  	.driver = {
>  		.name = FXAS21002C_DRV_NAME,
> +		.of_match_table = of_match_ptr(fxas21002c_of_ids),
>  	},
>  	.probe		= fxas21002c_probe,
>  	.id_table	= fxas21002c_id,
> -- 
> 2.18.0
> 
>