| Message ID | 20220907132205.28021-14-andrea.merello@iit.it (mailing list archive) |
|---|---|
| State | Accepted |
| Headers | show |
| Series | Add support for Bosch BNO055 IMU | expand |
On Wed, Sep 7, 2022 at 4:22 PM <andrea.merello@iit.it> wrote: > > From: Andrea Merello <andrea.merello@iit.it> > > Add an I2C driver for communicating to a BNO055 IMU via I2C bus and enable > the BNO055 core driver to work in this scenario. > > Signed-off-by: Andrea Merello <andrea.merello@iit.it> > Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com> Hmm... It has my tag but I have noticed something to improve. ... > +#define BNO055_I2C_XFER_BURST_BREAK_THRESHOLD 3 /* FIXME */ Can we elaborate what to fix and why it can't be fixed right now? ... > +static const struct of_device_id __maybe_unused bno055_i2c_of_match[] = { > + { .compatible = "bosch,bno055" }, > + { }, No comma for the terminator entry. > +}; ... > + .of_match_table = of_match_ptr(bno055_i2c_of_match), No of_match_ptr(). This will disable ACPI support along with potential compiler warning.
> Hmm... It has my tag but I have noticed something to improve. One comment below, OK for the rest. > ... > > > +#define BNO055_I2C_XFER_BURST_BREAK_THRESHOLD 3 /* FIXME */ > > Can we elaborate what to fix and why it can't be fixed right now? Ah, this is a stale comment; I'll drop it..
On Thu, 8 Sep 2022 08:42:01 +0200 Andrea Merello <andrea.merello@gmail.com> wrote: > > Hmm... It has my tag but I have noticed something to improve. > > One comment below, OK for the rest. > > > ... > > > > > +#define BNO055_I2C_XFER_BURST_BREAK_THRESHOLD 3 /* FIXME */ > > > > Can we elaborate what to fix and why it can't be fixed right now? > > Ah, this is a stale comment; I'll drop it.. I fixed up Andy's comments on this patch whilst applying. Thanks, Jonathan
diff --git a/drivers/iio/imu/bno055/Kconfig b/drivers/iio/imu/bno055/Kconfig index b51d63b49ea4..fa79b1ac4f85 100644 --- a/drivers/iio/imu/bno055/Kconfig +++ b/drivers/iio/imu/bno055/Kconfig @@ -12,3 +12,14 @@ config BOSCH_BNO055_SERIAL This driver can also be built as a module. If so, the module will be called bno055_sl. + +config BOSCH_BNO055_I2C + tristate "Bosch BNO055 attached via I2C bus" + depends on I2C + select REGMAP_I2C + select BOSCH_BNO055 + help + Enable this to support Bosch BNO055 IMUs attached via I2C bus. + + This driver can also be built as a module. If so, the module will be + called bno055_i2c. diff --git a/drivers/iio/imu/bno055/Makefile b/drivers/iio/imu/bno055/Makefile index ef9219563782..98c624730dae 100644 --- a/drivers/iio/imu/bno055/Makefile +++ b/drivers/iio/imu/bno055/Makefile @@ -6,3 +6,5 @@ bno055_ser-y := bno055_ser_core.o # define_trace.h needs to know how to find our header CFLAGS_bno055_ser_trace.o := -I$(src) bno055_ser-$(CONFIG_TRACING) += bno055_ser_trace.o + +obj-$(CONFIG_BOSCH_BNO055_I2C) += bno055_i2c.o diff --git a/drivers/iio/imu/bno055/bno055_i2c.c b/drivers/iio/imu/bno055/bno055_i2c.c new file mode 100644 index 000000000000..9bb256fdb0d3 --- /dev/null +++ b/drivers/iio/imu/bno055/bno055_i2c.c @@ -0,0 +1,57 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * Support for I2C-interfaced Bosch BNO055 IMU. + * + * Copyright (C) 2021-2022 Istituto Italiano di Tecnologia + * Electronic Design Laboratory + * Written by Andrea Merello <andrea.merello@iit.it> + */ + +#include <linux/i2c.h> +#include <linux/mod_devicetable.h> +#include <linux/module.h> +#include <linux/regmap.h> + +#include "bno055.h" + +#define BNO055_I2C_XFER_BURST_BREAK_THRESHOLD 3 /* FIXME */ + +static int bno055_i2c_probe(struct i2c_client *client) +{ + struct regmap *regmap; + + regmap = devm_regmap_init_i2c(client, &bno055_regmap_config); + if (IS_ERR(regmap)) + return dev_err_probe(&client->dev, PTR_ERR(regmap), + "Unable to init register map"); + + return bno055_probe(&client->dev, regmap, + BNO055_I2C_XFER_BURST_BREAK_THRESHOLD, true); +} + +static const struct i2c_device_id bno055_i2c_id[] = { + {"bno055", 0}, + { } +}; +MODULE_DEVICE_TABLE(i2c, bno055_i2c_id); + +static const struct of_device_id __maybe_unused bno055_i2c_of_match[] = { + { .compatible = "bosch,bno055" }, + { }, +}; +MODULE_DEVICE_TABLE(of, bno055_i2c_of_match); + +static struct i2c_driver bno055_driver = { + .driver = { + .name = "bno055-i2c", + .of_match_table = of_match_ptr(bno055_i2c_of_match), + }, + .probe_new = bno055_i2c_probe, + .id_table = bno055_i2c_id, +}; +module_i2c_driver(bno055_driver); + +MODULE_AUTHOR("Andrea Merello"); +MODULE_DESCRIPTION("Bosch BNO055 I2C interface"); +MODULE_IMPORT_NS(IIO_BNO055); +MODULE_LICENSE("GPL");