* [PATCH] iio: orientation: Add BNO055 9-axis Absolute Orientation Sensor driver
@ 2016-07-25 23:18 navin patidar
2016-07-26 8:07 ` Peter Meerwald-Stadler
0 siblings, 1 reply; 5+ messages in thread
From: navin patidar @ 2016-07-25 23:18 UTC (permalink / raw)
To: linux-iio, jic23; +Cc: knaack.h, lars, pmeerw, linux-kernel, navin patidar
BNO055 provides the following motion sensors data:
* Gyroscope
* Accelerometer
* Magnetometer
* Absolute Orientation (Quaternion)
Signed-off-by: navin patidar <navin.patidar@gmail.com>
---
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@gmail.com>");
+MODULE_DESCRIPTION("Driver for Bosch Sensortec BNO055 orientation sensor");
+MODULE_LICENSE("GPL v2");
--
1.9.1
^ permalink raw reply related [flat|nested] 5+ messages in thread
* Re: [PATCH] iio: orientation: Add BNO055 9-axis Absolute Orientation Sensor driver
2016-07-25 23:18 [PATCH] iio: orientation: Add BNO055 9-axis Absolute Orientation Sensor driver navin patidar
@ 2016-07-26 8:07 ` Peter Meerwald-Stadler
[not found] ` <CAPV97yfCHWp=+-QT1snUTJKD9rs-uhQTiQs1cwvhhdR2qOkwZA@mail.gmail.com>
0 siblings, 1 reply; 5+ messages in thread
From: Peter Meerwald-Stadler @ 2016-07-26 8:07 UTC (permalink / raw)
To: navin patidar; +Cc: linux-iio, jic23, knaack.h, lars, linux-kernel
> BNO055 provides the following motion sensors data:
>
> * Gyroscope
> * Accelerometer
> * Magnetometer
> * Absolute Orientation (Quaternion)
comments below
> Signed-off-by: navin patidar <navin.patidar@gmail.com>
> ---
> 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@gmail.com>");
> +MODULE_DESCRIPTION("Driver for Bosch Sensortec BNO055 orientation sensor");
> +MODULE_LICENSE("GPL v2");
>
--
Peter Meerwald-Stadler
+43-664-2444418 (mobile)
^ permalink raw reply [flat|nested] 5+ messages in thread
* Re: [PATCH] iio: orientation: Add BNO055 9-axis Absolute Orientation Sensor driver
[not found] ` <CAPV97yfCHWp=+-QT1snUTJKD9rs-uhQTiQs1cwvhhdR2qOkwZA@mail.gmail.com>
@ 2016-07-26 18:46 ` Peter Meerwald-Stadler
2016-07-27 0:22 ` navin patidar
0 siblings, 1 reply; 5+ messages in thread
From: Peter Meerwald-Stadler @ 2016-07-26 18:46 UTC (permalink / raw)
To: navin patidar; +Cc: linux-iio, jic23, knaack.h, lars, linux-kernel, Vlad Dogaru
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@pmeerw.net>
> wrote:
>
> >
> > > BNO055 provides the following motion sensors data:
> > >
> > > * Gyroscope
> > > * Accelerometer
> > > * Magnetometer
> > > * Absolute Orientation (Quaternion)
> >
> > comments below
> >
> > > Signed-off-by: navin patidar <navin.patidar@gmail.com>
> > > ---
> > > 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@gmail.com>");
> > > +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)
^ permalink raw reply [flat|nested] 5+ messages in thread
* Re: [PATCH] iio: orientation: Add BNO055 9-axis Absolute Orientation Sensor driver
2016-07-26 18:46 ` Peter Meerwald-Stadler
@ 2016-07-27 0:22 ` navin patidar
2016-08-15 18:05 ` Jonathan Cameron
0 siblings, 1 reply; 5+ messages in thread
From: navin patidar @ 2016-07-27 0:22 UTC (permalink / raw)
To: Peter Meerwald-Stadler
Cc: linux-iio, jic23, knaack.h, lars, linux-kernel, Vlad Dogaru
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@pmeerw.net> 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@pmeerw.net>
>> wrote:
>>
>> >
>> > > BNO055 provides the following motion sensors data:
>> > >
>> > > * Gyroscope
>> > > * Accelerometer
>> > > * Magnetometer
>> > > * Absolute Orientation (Quaternion)
>> >
>> > comments below
>> >
>> > > Signed-off-by: navin patidar <navin.patidar@gmail.com>
>> > > ---
>> > > 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@gmail.com>");
>> > > +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)
^ permalink raw reply [flat|nested] 5+ messages in thread
* Re: [PATCH] iio: orientation: Add BNO055 9-axis Absolute Orientation Sensor driver
2016-07-27 0:22 ` navin patidar
@ 2016-08-15 18:05 ` Jonathan Cameron
0 siblings, 0 replies; 5+ messages in thread
From: Jonathan Cameron @ 2016-08-15 18:05 UTC (permalink / raw)
To: navin patidar, Peter Meerwald-Stadler
Cc: linux-iio, knaack.h, lars, linux-kernel, Vlad Dogaru
On 27/07/16 01:22, navin patidar wrote:
> 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
You have my utmost sympathies! Sadly this happens to us
all from time to time.
Jonathan
>
> On Tue, Jul 26, 2016 at 11:46 AM, Peter Meerwald-Stadler
> <pmeerw@pmeerw.net> 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@pmeerw.net>
>>> wrote:
>>>
>>>>
>>>>> BNO055 provides the following motion sensors data:
>>>>>
>>>>> * Gyroscope
>>>>> * Accelerometer
>>>>> * Magnetometer
>>>>> * Absolute Orientation (Quaternion)
>>>>
>>>> comments below
>>>>
>>>>> Signed-off-by: navin patidar <navin.patidar@gmail.com>
>>>>> ---
>>>>> 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@gmail.com>");
>>>>> +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)
^ permalink raw reply [flat|nested] 5+ messages in thread
end of thread, other threads:[~2016-08-15 18:05 UTC | newest]
Thread overview: 5+ messages (download: mbox.gz / follow: Atom feed)
-- links below jump to the message on this page --
2016-07-25 23:18 [PATCH] iio: orientation: Add BNO055 9-axis Absolute Orientation Sensor driver navin patidar
2016-07-26 8:07 ` Peter Meerwald-Stadler
[not found] ` <CAPV97yfCHWp=+-QT1snUTJKD9rs-uhQTiQs1cwvhhdR2qOkwZA@mail.gmail.com>
2016-07-26 18:46 ` Peter Meerwald-Stadler
2016-07-27 0:22 ` navin patidar
2016-08-15 18:05 ` Jonathan Cameron
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