diff mbox series

[v4,1/5] iio: gyro: add support for fxas21002c

Message ID 20180911150011.31964-1-afonsobordado@az8.co
State New
Headers show
Series [v4,1/5] iio: gyro: add support for fxas21002c | expand

Commit Message

Afonso Bordado Sept. 11, 2018, 3 p.m. UTC
FXAS21002C is a 3 axis gyroscope with integrated temperature sensor

Signed-off-by: Afonso Bordado <afonsobordado@az8.co>
---
 Changes in v4
   - Remove CONFIG_OF ifdefs
   - Remove the use of the of_match_ptr macro
   - Split bindings into a separate patch
   - Remove interrupt-parent from binding documentation
   - Whitespace fixes
   - Remove scale and sample frequency tables
   - Place MAINTAINERS block in correct position

 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 | 378 ++++++++++++++++++++++++++++++++++
 3 files changed, 390 insertions(+)
 create mode 100644 drivers/iio/gyro/fxas21002c.c

Comments

Song Qiang Sept. 11, 2018, 4:17 p.m. UTC | #1
On Tue, Sep 11, 2018 at 04:00:07PM +0100, Afonso Bordado wrote:
> FXAS21002C is a 3 axis gyroscope with integrated temperature sensor
> 
> Signed-off-by: Afonso Bordado <afonsobordado@az8.co>
> ---
>  Changes in v4
>    - Remove CONFIG_OF ifdefs
>    - Remove the use of the of_match_ptr macro
>    - Split bindings into a separate patch
>    - Remove interrupt-parent from binding documentation
>    - Whitespace fixes
>    - Remove scale and sample frequency tables
>    - Place MAINTAINERS block in correct position
> 
>  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 | 378 ++++++++++++++++++++++++++++++++++
>  3 files changed, 390 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..649316c26f5b
> --- /dev/null
> +++ b/drivers/iio/gyro/fxas21002c.c
> @@ -0,0 +1,378 @@
> +// 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
> + *        Scale Boost Mode
> + *        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_SCALE_MASK          GENMASK(1, 0)
> +
> +#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_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 {
> +	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,

Hi Afonso,

Andy shevchenko reviewed my patch and told me that we should place with
probe_new() with probe(), and in the declaration of this struct probe is
commented depracated. And I think you might need to replace it, too.

yours,
Song Qiang

> +	.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
> 
>
Jonathan Cameron Sept. 16, 2018, 11:57 a.m. UTC | #2
On Tue, 11 Sep 2018 16:00:07 +0100
Afonso Bordado <afonsobordado@az8.co> wrote:

> FXAS21002C is a 3 axis gyroscope with integrated temperature sensor
> 
> Signed-off-by: Afonso Bordado <afonsobordado@az8.co>
Hi Afonso,

A few little things in here. I would have cleaned them up when applying
if you didn't already have that issue with division in the later patch
to clean up.  Easier to apply the series in one go.

Thanks,

Jonathan

> ---
>  Changes in v4
>    - Remove CONFIG_OF ifdefs
>    - Remove the use of the of_match_ptr macro
>    - Split bindings into a separate patch
>    - Remove interrupt-parent from binding documentation
>    - Whitespace fixes
>    - Remove scale and sample frequency tables
>    - Place MAINTAINERS block in correct position
> 
>  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 | 378 ++++++++++++++++++++++++++++++++++
>  3 files changed, 390 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..649316c26f5b
> --- /dev/null
> +++ b/drivers/iio/gyro/fxas21002c.c
> @@ -0,0 +1,378 @@
> +// 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
> + *        Scale Boost Mode
> + *        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_SCALE_MASK          GENMASK(1, 0)
> +
> +#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_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 {
> +	ID_FXAS21002C,
Why have this when only one entry?  Just don't provide
an device data until we support multiple parts in the driver.
> +};
> +
> +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),
Timestamp without buffered mode?  It won't do anything so drop it.

> +};
> +
> +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");

I'm not sure how I missed this before but you are using non
managed functions in probe but don't have a remove to unwind them.
Effectively your driver can't be removed.

Easy fix, devm_iio_device_register here.
> +
> +	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");
diff mbox series

Patch

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..649316c26f5b
--- /dev/null
+++ b/drivers/iio/gyro/fxas21002c.c
@@ -0,0 +1,378 @@ 
+// 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
+ *        Scale Boost Mode
+ *        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_SCALE_MASK          GENMASK(1, 0)
+
+#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_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 {
+	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");