This path adds an I2C driver for communicating to a BNO055 IMU via I2C
bus and it enables the BNO055 core driver to work in this scenario.
Signed-off-by: Andrea Merello <[email protected]>
---
drivers/iio/imu/bno055/Kconfig | 11 +++++++
drivers/iio/imu/bno055/Makefile | 1 +
drivers/iio/imu/bno055/bno055_i2c.c | 50 +++++++++++++++++++++++++++++
3 files changed, 62 insertions(+)
create mode 100644 drivers/iio/imu/bno055/bno055_i2c.c
diff --git a/drivers/iio/imu/bno055/Kconfig b/drivers/iio/imu/bno055/Kconfig
index 8a83639ad2a9..3693a408e270 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_IIO
+ help
+ Enable this to support Bosch BNO055 IMUs attached via I2C bus.
+
+ This driver can also be built as a module. If so, the module will be
+ called bno055_i2c.
diff --git a/drivers/iio/imu/bno055/Makefile b/drivers/iio/imu/bno055/Makefile
index 416f0ff96de5..2fe2b0857903 100644
--- a/drivers/iio/imu/bno055/Makefile
+++ b/drivers/iio/imu/bno055/Makefile
@@ -2,3 +2,4 @@
obj-$(CONFIG_BOSCH_BNO055_IIO) += bno055.o
obj-$(CONFIG_BOSCH_BNO055_SERIAL) += bno055_sl.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..9900e2a4d905
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055_i2c.c
@@ -0,0 +1,50 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Support for I2C-interfaced Bosch BNO055 IMU.
+ *
+ * Copyright (C) 2021 Istituto Italiano di Tecnologia
+ * Electronic Design Laboratory
+ * Written by Andrea Merello <[email protected]>
+ */
+
+#include <linux/i2c.h>
+#include <linux/regmap.h>
+#include <linux/module.h>
+
+#include "bno055.h"
+
+#define BNO055_I2C_XFER_BURST_BREAK_THRESHOLD 3 /* FIXME */
+
+static int bno055_i2c_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ struct regmap *regmap =
+ devm_regmap_init_i2c(client, &bno055_regmap_config);
+
+ if (IS_ERR(regmap)) {
+ dev_err(&client->dev, "Unable to init register map");
+ return PTR_ERR(regmap);
+ }
+
+ 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 struct i2c_driver bno055_driver = {
+ .driver = {
+ .name = "bno055-i2c",
+ },
+ .probe = bno055_i2c_probe,
+ .id_table = bno055_i2c_id
+};
+module_i2c_driver(bno055_driver);
+
+MODULE_AUTHOR("Andrea Merello");
+MODULE_DESCRIPTION("Bosch BNO055 I2C interface");
+MODULE_LICENSE("GPL v2");
--
2.17.1
On Thu, 17 Feb 2022 17:27:09 +0100
Andrea Merello <[email protected]> wrote:
> This path adds an I2C driver for communicating to a BNO055 IMU via I2C
> bus and it enables the BNO055 core driver to work in this scenario.
>
> Signed-off-by: Andrea Merello <[email protected]>
Minor comment inline to add an of_device_id table.
Isn't i2c so much nicer than serial? :)
Thanks,
Jonathan
> ---
> drivers/iio/imu/bno055/Kconfig | 11 +++++++
> drivers/iio/imu/bno055/Makefile | 1 +
> drivers/iio/imu/bno055/bno055_i2c.c | 50 +++++++++++++++++++++++++++++
> 3 files changed, 62 insertions(+)
> create mode 100644 drivers/iio/imu/bno055/bno055_i2c.c
>
> diff --git a/drivers/iio/imu/bno055/Kconfig b/drivers/iio/imu/bno055/Kconfig
> index 8a83639ad2a9..3693a408e270 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_IIO
> + help
> + Enable this to support Bosch BNO055 IMUs attached via I2C bus.
> +
> + This driver can also be built as a module. If so, the module will be
> + called bno055_i2c.
> diff --git a/drivers/iio/imu/bno055/Makefile b/drivers/iio/imu/bno055/Makefile
> index 416f0ff96de5..2fe2b0857903 100644
> --- a/drivers/iio/imu/bno055/Makefile
> +++ b/drivers/iio/imu/bno055/Makefile
> @@ -2,3 +2,4 @@
>
> obj-$(CONFIG_BOSCH_BNO055_IIO) += bno055.o
> obj-$(CONFIG_BOSCH_BNO055_SERIAL) += bno055_sl.o
> +obj-$(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..9900e2a4d905
> --- /dev/null
> +++ b/drivers/iio/imu/bno055/bno055_i2c.c
> @@ -0,0 +1,50 @@
> +// SPDX-License-Identifier: GPL-2.0
> +/*
> + * Support for I2C-interfaced Bosch BNO055 IMU.
> + *
> + * Copyright (C) 2021 Istituto Italiano di Tecnologia
> + * Electronic Design Laboratory
> + * Written by Andrea Merello <[email protected]>
> + */
> +
> +#include <linux/i2c.h>
> +#include <linux/regmap.h>
> +#include <linux/module.h>
> +
> +#include "bno055.h"
> +
> +#define BNO055_I2C_XFER_BURST_BREAK_THRESHOLD 3 /* FIXME */
> +
> +static int bno055_i2c_probe(struct i2c_client *client,
> + const struct i2c_device_id *id)
> +{
> + struct regmap *regmap =
> + devm_regmap_init_i2c(client, &bno055_regmap_config);
> +
> + if (IS_ERR(regmap)) {
> + dev_err(&client->dev, "Unable to init register map");
> + return PTR_ERR(regmap);
> + }
> +
> + 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);
No of_device_id table? Whilst the fallback path that
usese the i2c_device_id will mostly work, it leaves us in theory
more susceptible to naming clashes and is generally not as nice.
Hence definitely prefer it if we have an of_device_id table as well
as the i2c_device_id one.
> +
> +static struct i2c_driver bno055_driver = {
> + .driver = {
> + .name = "bno055-i2c",
> + },
> + .probe = bno055_i2c_probe,
> + .id_table = bno055_i2c_id
> +};
> +module_i2c_driver(bno055_driver);
> +
> +MODULE_AUTHOR("Andrea Merello");
> +MODULE_DESCRIPTION("Bosch BNO055 I2C interface");
> +MODULE_LICENSE("GPL v2");
On Thu, Feb 17, 2022 at 5:27 PM Andrea Merello <[email protected]> wrote:
>
> This path adds an I2C driver for communicating to a BNO055 IMU via I2C
> bus and it enables the BNO055 core driver to work in this scenario.
...
> +#include <linux/i2c.h>
> +#include <linux/regmap.h>
> +#include <linux/module.h>
Keep it sorted?
...
> +static int bno055_i2c_probe(struct i2c_client *client,
> + const struct i2c_device_id *id)
You may switch it to use ->probe_new() (you may leave I2C ID table for
possibility to instantiate this via user space).
...
> + struct regmap *regmap =
> + devm_regmap_init_i2c(client, &bno055_regmap_config);
Please, split the definition and assignment.
> + if (IS_ERR(regmap)) {
> + dev_err(&client->dev, "Unable to init register map");
> + return PTR_ERR(regmap);
return dev_err_probe(...);
...
> + .probe = bno055_i2c_probe,
> + .id_table = bno055_i2c_id
Missed comma.
--
With Best Regards,
Andy Shevchenko