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-rw-r--r--drivers/iio/imu/bno055/Kconfig27
-rw-r--r--drivers/iio/imu/bno055/Makefile10
-rw-r--r--drivers/iio/imu/bno055/bno055.c1685
-rw-r--r--drivers/iio/imu/bno055/bno055.h13
-rw-r--r--drivers/iio/imu/bno055/bno055_i2c.c57
-rw-r--r--drivers/iio/imu/bno055/bno055_ser_core.c560
-rw-r--r--drivers/iio/imu/bno055/bno055_ser_trace.c14
-rw-r--r--drivers/iio/imu/bno055/bno055_ser_trace.h104
8 files changed, 2470 insertions, 0 deletions
diff --git a/drivers/iio/imu/bno055/Kconfig b/drivers/iio/imu/bno055/Kconfig
new file mode 100644
index 000000000..83e53acfb
--- /dev/null
+++ b/drivers/iio/imu/bno055/Kconfig
@@ -0,0 +1,27 @@
+# SPDX-License-Identifier: GPL-2.0
+
+config BOSCH_BNO055
+ tristate
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+
+config BOSCH_BNO055_SERIAL
+ tristate "Bosch BNO055 attached via UART"
+ depends on SERIAL_DEV_BUS
+ select BOSCH_BNO055
+ help
+ Enable this to support Bosch BNO055 IMUs attached via UART.
+
+ 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
new file mode 100644
index 000000000..98c624730
--- /dev/null
+++ b/drivers/iio/imu/bno055/Makefile
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: GPL-2.0
+
+obj-$(CONFIG_BOSCH_BNO055) += bno055.o
+obj-$(CONFIG_BOSCH_BNO055_SERIAL) += bno055_ser.o
+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.c b/drivers/iio/imu/bno055/bno055.c
new file mode 100644
index 000000000..52744dd98
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055.c
@@ -0,0 +1,1685 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * IIO driver for Bosch BNO055 IMU
+ *
+ * Copyright (C) 2021-2022 Istituto Italiano di Tecnologia
+ * Electronic Design Laboratory
+ * Written by Andrea Merello <andrea.merello@iit.it>
+ *
+ * Portions of this driver are taken from the BNO055 driver patch
+ * from Vlad Dogaru which is Copyright (c) 2016, Intel Corporation.
+ *
+ * This driver is also based on BMI160 driver, which is:
+ * Copyright (c) 2016, Intel Corporation.
+ * Copyright (c) 2019, Martin Kelly.
+ */
+
+#include <linux/bitfield.h>
+#include <linux/bitmap.h>
+#include <linux/clk.h>
+#include <linux/debugfs.h>
+#include <linux/device.h>
+#include <linux/firmware.h>
+#include <linux/gpio/consumer.h>
+#include <linux/module.h>
+#include <linux/mutex.h>
+#include <linux/regmap.h>
+#include <linux/util_macros.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#include "bno055.h"
+
+#define BNO055_FW_UID_FMT "bno055-caldata-%*phN.dat"
+#define BNO055_FW_GENERIC_NAME "bno055-caldata.dat"
+
+/* common registers */
+#define BNO055_PAGESEL_REG 0x7
+
+/* page 0 registers */
+#define BNO055_CHIP_ID_REG 0x0
+#define BNO055_CHIP_ID_MAGIC 0xA0
+#define BNO055_SW_REV_LSB_REG 0x4
+#define BNO055_SW_REV_MSB_REG 0x5
+#define BNO055_ACC_DATA_X_LSB_REG 0x8
+#define BNO055_ACC_DATA_Y_LSB_REG 0xA
+#define BNO055_ACC_DATA_Z_LSB_REG 0xC
+#define BNO055_MAG_DATA_X_LSB_REG 0xE
+#define BNO055_MAG_DATA_Y_LSB_REG 0x10
+#define BNO055_MAG_DATA_Z_LSB_REG 0x12
+#define BNO055_GYR_DATA_X_LSB_REG 0x14
+#define BNO055_GYR_DATA_Y_LSB_REG 0x16
+#define BNO055_GYR_DATA_Z_LSB_REG 0x18
+#define BNO055_EUL_DATA_X_LSB_REG 0x1A
+#define BNO055_EUL_DATA_Y_LSB_REG 0x1C
+#define BNO055_EUL_DATA_Z_LSB_REG 0x1E
+#define BNO055_QUAT_DATA_W_LSB_REG 0x20
+#define BNO055_LIA_DATA_X_LSB_REG 0x28
+#define BNO055_LIA_DATA_Y_LSB_REG 0x2A
+#define BNO055_LIA_DATA_Z_LSB_REG 0x2C
+#define BNO055_GRAVITY_DATA_X_LSB_REG 0x2E
+#define BNO055_GRAVITY_DATA_Y_LSB_REG 0x30
+#define BNO055_GRAVITY_DATA_Z_LSB_REG 0x32
+#define BNO055_SCAN_CH_COUNT ((BNO055_GRAVITY_DATA_Z_LSB_REG - BNO055_ACC_DATA_X_LSB_REG) / 2)
+#define BNO055_TEMP_REG 0x34
+#define BNO055_CALIB_STAT_REG 0x35
+#define BNO055_CALIB_STAT_MAGN_SHIFT 0
+#define BNO055_CALIB_STAT_ACCEL_SHIFT 2
+#define BNO055_CALIB_STAT_GYRO_SHIFT 4
+#define BNO055_CALIB_STAT_SYS_SHIFT 6
+#define BNO055_SYS_ERR_REG 0x3A
+#define BNO055_POWER_MODE_REG 0x3E
+#define BNO055_POWER_MODE_NORMAL 0
+#define BNO055_SYS_TRIGGER_REG 0x3F
+#define BNO055_SYS_TRIGGER_RST_SYS BIT(5)
+#define BNO055_SYS_TRIGGER_CLK_SEL BIT(7)
+#define BNO055_OPR_MODE_REG 0x3D
+#define BNO055_OPR_MODE_CONFIG 0x0
+#define BNO055_OPR_MODE_AMG 0x7
+#define BNO055_OPR_MODE_FUSION_FMC_OFF 0xB
+#define BNO055_OPR_MODE_FUSION 0xC
+#define BNO055_UNIT_SEL_REG 0x3B
+/* Android orientation mode means: pitch value decreases turning clockwise */
+#define BNO055_UNIT_SEL_ANDROID BIT(7)
+#define BNO055_UNIT_SEL_GYR_RPS BIT(1)
+#define BNO055_CALDATA_START 0x55
+#define BNO055_CALDATA_END 0x6A
+#define BNO055_CALDATA_LEN 22
+
+/*
+ * The difference in address between the register that contains the
+ * value and the register that contains the offset. This applies for
+ * accel, gyro and magn channels.
+ */
+#define BNO055_REG_OFFSET_ADDR 0x4D
+
+/* page 1 registers */
+#define BNO055_PG1(x) ((x) | 0x80)
+#define BNO055_ACC_CONFIG_REG BNO055_PG1(0x8)
+#define BNO055_ACC_CONFIG_LPF_MASK GENMASK(4, 2)
+#define BNO055_ACC_CONFIG_RANGE_MASK GENMASK(1, 0)
+#define BNO055_MAG_CONFIG_REG BNO055_PG1(0x9)
+#define BNO055_MAG_CONFIG_HIGHACCURACY 0x18
+#define BNO055_MAG_CONFIG_ODR_MASK GENMASK(2, 0)
+#define BNO055_GYR_CONFIG_REG BNO055_PG1(0xA)
+#define BNO055_GYR_CONFIG_RANGE_MASK GENMASK(2, 0)
+#define BNO055_GYR_CONFIG_LPF_MASK GENMASK(5, 3)
+#define BNO055_GYR_AM_SET_REG BNO055_PG1(0x1F)
+#define BNO055_UID_LOWER_REG BNO055_PG1(0x50)
+#define BNO055_UID_HIGHER_REG BNO055_PG1(0x5F)
+#define BNO055_UID_LEN 16
+
+struct bno055_sysfs_attr {
+ int *vals;
+ int len;
+ int *fusion_vals;
+ int *hw_xlate;
+ int type;
+};
+
+static int bno055_acc_lpf_vals[] = {
+ 7, 810000, 15, 630000, 31, 250000, 62, 500000,
+ 125, 0, 250, 0, 500, 0, 1000, 0,
+};
+
+static struct bno055_sysfs_attr bno055_acc_lpf = {
+ .vals = bno055_acc_lpf_vals,
+ .len = ARRAY_SIZE(bno055_acc_lpf_vals),
+ .fusion_vals = (int[]){62, 500000},
+ .type = IIO_VAL_INT_PLUS_MICRO,
+};
+
+static int bno055_acc_range_vals[] = {
+ /* G: 2, 4, 8, 16 */
+ 1962, 3924, 7848, 15696
+};
+
+static struct bno055_sysfs_attr bno055_acc_range = {
+ .vals = bno055_acc_range_vals,
+ .len = ARRAY_SIZE(bno055_acc_range_vals),
+ .fusion_vals = (int[]){3924}, /* 4G */
+ .type = IIO_VAL_INT,
+};
+
+/*
+ * Theoretically the IMU should return data in a given (i.e. fixed) unit
+ * regardless of the range setting. This happens for the accelerometer, but not
+ * for the gyroscope; the gyroscope range setting affects the scale.
+ * This is probably due to this[0] bug.
+ * For this reason we map the internal range setting onto the standard IIO scale
+ * attribute for gyro.
+ * Since the bug[0] may be fixed in future, we check for the IMU FW version and
+ * eventually warn the user.
+ * Currently we just don't care about "range" attributes for gyro.
+ *
+ * [0] https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-Wrong-sensitivity-resolution-in-datasheet/td-p/10266
+ */
+
+/*
+ * dps = hwval * (dps_range/2^15)
+ * rps = hwval * (rps_range/2^15)
+ * = hwval * (dps_range/(2^15 * k))
+ * where k is rad-to-deg factor
+ */
+static int bno055_gyr_scale_vals[] = {
+ 125, 1877467, 250, 1877467, 500, 1877467,
+ 1000, 1877467, 2000, 1877467,
+};
+
+static struct bno055_sysfs_attr bno055_gyr_scale = {
+ .vals = bno055_gyr_scale_vals,
+ .len = ARRAY_SIZE(bno055_gyr_scale_vals),
+ .fusion_vals = (int[]){1, 900},
+ .hw_xlate = (int[]){4, 3, 2, 1, 0},
+ .type = IIO_VAL_FRACTIONAL,
+};
+
+static int bno055_gyr_lpf_vals[] = {12, 23, 32, 47, 64, 116, 230, 523};
+static struct bno055_sysfs_attr bno055_gyr_lpf = {
+ .vals = bno055_gyr_lpf_vals,
+ .len = ARRAY_SIZE(bno055_gyr_lpf_vals),
+ .fusion_vals = (int[]){32},
+ .hw_xlate = (int[]){5, 4, 7, 3, 6, 2, 1, 0},
+ .type = IIO_VAL_INT,
+};
+
+static int bno055_mag_odr_vals[] = {2, 6, 8, 10, 15, 20, 25, 30};
+static struct bno055_sysfs_attr bno055_mag_odr = {
+ .vals = bno055_mag_odr_vals,
+ .len = ARRAY_SIZE(bno055_mag_odr_vals),
+ .fusion_vals = (int[]){20},
+ .type = IIO_VAL_INT,
+};
+
+struct bno055_priv {
+ struct regmap *regmap;
+ struct device *dev;
+ struct clk *clk;
+ int operation_mode;
+ int xfer_burst_break_thr;
+ struct mutex lock;
+ u8 uid[BNO055_UID_LEN];
+ struct gpio_desc *reset_gpio;
+ bool sw_reset;
+ struct {
+ __le16 chans[BNO055_SCAN_CH_COUNT];
+ s64 timestamp __aligned(8);
+ } buf;
+ struct dentry *debugfs;
+};
+
+static bool bno055_regmap_volatile(struct device *dev, unsigned int reg)
+{
+ /* data and status registers */
+ if (reg >= BNO055_ACC_DATA_X_LSB_REG && reg <= BNO055_SYS_ERR_REG)
+ return true;
+
+ /* when in fusion mode, config is updated by chip */
+ if (reg == BNO055_MAG_CONFIG_REG ||
+ reg == BNO055_ACC_CONFIG_REG ||
+ reg == BNO055_GYR_CONFIG_REG)
+ return true;
+
+ /* calibration data may be updated by the IMU */
+ if (reg >= BNO055_CALDATA_START && reg <= BNO055_CALDATA_END)
+ return true;
+
+ return false;
+}
+
+static bool bno055_regmap_readable(struct device *dev, unsigned int reg)
+{
+ /* unnamed PG0 reserved areas */
+ if ((reg < BNO055_PG1(0) && reg > BNO055_CALDATA_END) ||
+ reg == 0x3C)
+ return false;
+
+ /* unnamed PG1 reserved areas */
+ if (reg > BNO055_PG1(BNO055_UID_HIGHER_REG) ||
+ (reg < BNO055_PG1(BNO055_UID_LOWER_REG) && reg > BNO055_PG1(BNO055_GYR_AM_SET_REG)) ||
+ reg == BNO055_PG1(0xE) ||
+ (reg < BNO055_PG1(BNO055_PAGESEL_REG) && reg >= BNO055_PG1(0x0)))
+ return false;
+ return true;
+}
+
+static bool bno055_regmap_writeable(struct device *dev, unsigned int reg)
+{
+ /*
+ * Unreadable registers are indeed reserved; there are no WO regs
+ * (except for a single bit in SYS_TRIGGER register)
+ */
+ if (!bno055_regmap_readable(dev, reg))
+ return false;
+
+ /* data and status registers */
+ if (reg >= BNO055_ACC_DATA_X_LSB_REG && reg <= BNO055_SYS_ERR_REG)
+ return false;
+
+ /* ID areas */
+ if (reg < BNO055_PAGESEL_REG ||
+ (reg <= BNO055_UID_HIGHER_REG && reg >= BNO055_UID_LOWER_REG))
+ return false;
+
+ return true;
+}
+
+static const struct regmap_range_cfg bno055_regmap_ranges[] = {
+ {
+ .range_min = 0,
+ .range_max = 0x7f * 2,
+ .selector_reg = BNO055_PAGESEL_REG,
+ .selector_mask = GENMASK(7, 0),
+ .selector_shift = 0,
+ .window_start = 0,
+ .window_len = 0x80,
+ },
+};
+
+const struct regmap_config bno055_regmap_config = {
+ .name = "bno055",
+ .reg_bits = 8,
+ .val_bits = 8,
+ .ranges = bno055_regmap_ranges,
+ .num_ranges = 1,
+ .volatile_reg = bno055_regmap_volatile,
+ .max_register = 0x80 * 2,
+ .writeable_reg = bno055_regmap_writeable,
+ .readable_reg = bno055_regmap_readable,
+ .cache_type = REGCACHE_RBTREE,
+};
+EXPORT_SYMBOL_NS_GPL(bno055_regmap_config, IIO_BNO055);
+
+/* must be called in configuration mode */
+static int bno055_calibration_load(struct bno055_priv *priv, const u8 *data, int len)
+{
+ if (len != BNO055_CALDATA_LEN) {
+ dev_dbg(priv->dev, "Invalid calibration file size %d (expected %d)",
+ len, BNO055_CALDATA_LEN);
+ return -EINVAL;
+ }
+
+ dev_dbg(priv->dev, "loading cal data: %*ph", BNO055_CALDATA_LEN, data);
+ return regmap_bulk_write(priv->regmap, BNO055_CALDATA_START,
+ data, BNO055_CALDATA_LEN);
+}
+
+static int bno055_operation_mode_do_set(struct bno055_priv *priv,
+ int operation_mode)
+{
+ int ret;
+
+ ret = regmap_write(priv->regmap, BNO055_OPR_MODE_REG,
+ operation_mode);
+ if (ret)
+ return ret;
+
+ /* Following datasheet specifications: sensor takes 7mS up to 19 mS to switch mode */
+ msleep(20);
+
+ return 0;
+}
+
+static int bno055_system_reset(struct bno055_priv *priv)
+{
+ int ret;
+
+ if (priv->reset_gpio) {
+ gpiod_set_value_cansleep(priv->reset_gpio, 0);
+ usleep_range(5000, 10000);
+ gpiod_set_value_cansleep(priv->reset_gpio, 1);
+ } else if (priv->sw_reset) {
+ ret = regmap_write(priv->regmap, BNO055_SYS_TRIGGER_REG,
+ BNO055_SYS_TRIGGER_RST_SYS);
+ if (ret)
+ return ret;
+ } else {
+ return 0;
+ }
+
+ regcache_drop_region(priv->regmap, 0x0, 0xff);
+ usleep_range(650000, 700000);
+
+ return 0;
+}
+
+static int bno055_init(struct bno055_priv *priv, const u8 *caldata, int len)
+{
+ int ret;
+
+ ret = bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_CONFIG);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(priv->regmap, BNO055_POWER_MODE_REG,
+ BNO055_POWER_MODE_NORMAL);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(priv->regmap, BNO055_SYS_TRIGGER_REG,
+ priv->clk ? BNO055_SYS_TRIGGER_CLK_SEL : 0);
+ if (ret)
+ return ret;
+
+ /* use standard SI units */
+ ret = regmap_write(priv->regmap, BNO055_UNIT_SEL_REG,
+ BNO055_UNIT_SEL_ANDROID | BNO055_UNIT_SEL_GYR_RPS);
+ if (ret)
+ return ret;
+
+ if (caldata) {
+ ret = bno055_calibration_load(priv, caldata, len);
+ if (ret)
+ dev_warn(priv->dev, "failed to load calibration data with error %d\n",
+ ret);
+ }
+
+ return 0;
+}
+
+static ssize_t bno055_operation_mode_set(struct bno055_priv *priv,
+ int operation_mode)
+{
+ u8 caldata[BNO055_CALDATA_LEN];
+ int ret;
+
+ mutex_lock(&priv->lock);
+
+ ret = bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_CONFIG);
+ if (ret)
+ goto exit_unlock;
+
+ if (operation_mode == BNO055_OPR_MODE_FUSION ||
+ operation_mode == BNO055_OPR_MODE_FUSION_FMC_OFF) {
+ /* for entering fusion mode, reset the chip to clear the algo state */
+ ret = regmap_bulk_read(priv->regmap, BNO055_CALDATA_START, caldata,
+ BNO055_CALDATA_LEN);
+ if (ret)
+ goto exit_unlock;
+
+ ret = bno055_system_reset(priv);
+ if (ret)
+ goto exit_unlock;
+
+ ret = bno055_init(priv, caldata, BNO055_CALDATA_LEN);
+ if (ret)
+ goto exit_unlock;
+ }
+
+ ret = bno055_operation_mode_do_set(priv, operation_mode);
+ if (ret)
+ goto exit_unlock;
+
+ priv->operation_mode = operation_mode;
+
+exit_unlock:
+ mutex_unlock(&priv->lock);
+ return ret;
+}
+
+static void bno055_uninit(void *arg)
+{
+ struct bno055_priv *priv = arg;
+
+ /* stop the IMU */
+ bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_CONFIG);
+}
+
+#define BNO055_CHANNEL(_type, _axis, _index, _address, _sep, _sh, _avail) { \
+ .address = _address, \
+ .type = _type, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##_axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | (_sep), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | (_sh), \
+ .info_mask_shared_by_type_available = _avail, \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ .repeat = IIO_MOD_##_axis == IIO_MOD_QUATERNION ? 4 : 0, \
+ }, \
+}
+
+/* scan indexes follow DATA register order */
+enum bno055_scan_axis {
+ BNO055_SCAN_ACCEL_X,
+ BNO055_SCAN_ACCEL_Y,
+ BNO055_SCAN_ACCEL_Z,
+ BNO055_SCAN_MAGN_X,
+ BNO055_SCAN_MAGN_Y,
+ BNO055_SCAN_MAGN_Z,
+ BNO055_SCAN_GYRO_X,
+ BNO055_SCAN_GYRO_Y,
+ BNO055_SCAN_GYRO_Z,
+ BNO055_SCAN_YAW,
+ BNO055_SCAN_ROLL,
+ BNO055_SCAN_PITCH,
+ BNO055_SCAN_QUATERNION,
+ BNO055_SCAN_LIA_X,
+ BNO055_SCAN_LIA_Y,
+ BNO055_SCAN_LIA_Z,
+ BNO055_SCAN_GRAVITY_X,
+ BNO055_SCAN_GRAVITY_Y,
+ BNO055_SCAN_GRAVITY_Z,
+ BNO055_SCAN_TIMESTAMP,
+ _BNO055_SCAN_MAX
+};
+
+static const struct iio_chan_spec bno055_channels[] = {
+ /* accelerometer */
+ BNO055_CHANNEL(IIO_ACCEL, X, BNO055_SCAN_ACCEL_X,
+ BNO055_ACC_DATA_X_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)),
+ BNO055_CHANNEL(IIO_ACCEL, Y, BNO055_SCAN_ACCEL_Y,
+ BNO055_ACC_DATA_Y_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)),
+ BNO055_CHANNEL(IIO_ACCEL, Z, BNO055_SCAN_ACCEL_Z,
+ BNO055_ACC_DATA_Z_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY)),
+ /* gyroscope */
+ BNO055_CHANNEL(IIO_ANGL_VEL, X, BNO055_SCAN_GYRO_X,
+ BNO055_GYR_DATA_X_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) |
+ BIT(IIO_CHAN_INFO_SCALE)),
+ BNO055_CHANNEL(IIO_ANGL_VEL, Y, BNO055_SCAN_GYRO_Y,
+ BNO055_GYR_DATA_Y_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) |
+ BIT(IIO_CHAN_INFO_SCALE)),
+ BNO055_CHANNEL(IIO_ANGL_VEL, Z, BNO055_SCAN_GYRO_Z,
+ BNO055_GYR_DATA_Z_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) |
+ BIT(IIO_CHAN_INFO_SCALE)),
+ /* magnetometer */
+ BNO055_CHANNEL(IIO_MAGN, X, BNO055_SCAN_MAGN_X,
+ BNO055_MAG_DATA_X_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), BIT(IIO_CHAN_INFO_SAMP_FREQ)),
+ BNO055_CHANNEL(IIO_MAGN, Y, BNO055_SCAN_MAGN_Y,
+ BNO055_MAG_DATA_Y_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), BIT(IIO_CHAN_INFO_SAMP_FREQ)),
+ BNO055_CHANNEL(IIO_MAGN, Z, BNO055_SCAN_MAGN_Z,
+ BNO055_MAG_DATA_Z_LSB_REG, BIT(IIO_CHAN_INFO_OFFSET),
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), BIT(IIO_CHAN_INFO_SAMP_FREQ)),
+ /* euler angle */
+ BNO055_CHANNEL(IIO_ROT, YAW, BNO055_SCAN_YAW,
+ BNO055_EUL_DATA_X_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_ROT, ROLL, BNO055_SCAN_ROLL,
+ BNO055_EUL_DATA_Y_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_ROT, PITCH, BNO055_SCAN_PITCH,
+ BNO055_EUL_DATA_Z_LSB_REG, 0, 0, 0),
+ /* quaternion */
+ BNO055_CHANNEL(IIO_ROT, QUATERNION, BNO055_SCAN_QUATERNION,
+ BNO055_QUAT_DATA_W_LSB_REG, 0, 0, 0),
+
+ /* linear acceleration */
+ BNO055_CHANNEL(IIO_ACCEL, LINEAR_X, BNO055_SCAN_LIA_X,
+ BNO055_LIA_DATA_X_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_ACCEL, LINEAR_Y, BNO055_SCAN_LIA_Y,
+ BNO055_LIA_DATA_Y_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_ACCEL, LINEAR_Z, BNO055_SCAN_LIA_Z,
+ BNO055_LIA_DATA_Z_LSB_REG, 0, 0, 0),
+
+ /* gravity vector */
+ BNO055_CHANNEL(IIO_GRAVITY, X, BNO055_SCAN_GRAVITY_X,
+ BNO055_GRAVITY_DATA_X_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_GRAVITY, Y, BNO055_SCAN_GRAVITY_Y,
+ BNO055_GRAVITY_DATA_Y_LSB_REG, 0, 0, 0),
+ BNO055_CHANNEL(IIO_GRAVITY, Z, BNO055_SCAN_GRAVITY_Z,
+ BNO055_GRAVITY_DATA_Z_LSB_REG, 0, 0, 0),
+
+ {
+ .type = IIO_TEMP,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED),
+ .scan_index = -1,
+ },
+ IIO_CHAN_SOFT_TIMESTAMP(BNO055_SCAN_TIMESTAMP),
+};
+
+static int bno055_get_regmask(struct bno055_priv *priv, int *val, int *val2,
+ int reg, int mask, struct bno055_sysfs_attr *attr)
+{
+ const int shift = __ffs(mask);
+ int hwval, idx;
+ int ret;
+ int i;
+
+ ret = regmap_read(priv->regmap, reg, &hwval);
+ if (ret)
+ return ret;
+
+ idx = (hwval & mask) >> shift;
+ if (attr->hw_xlate)
+ for (i = 0; i < attr->len; i++)
+ if (attr->hw_xlate[i] == idx) {
+ idx = i;
+ break;
+ }
+ if (attr->type == IIO_VAL_INT) {
+ *val = attr->vals[idx];
+ } else { /* IIO_VAL_INT_PLUS_MICRO or IIO_VAL_FRACTIONAL */
+ *val = attr->vals[idx * 2];
+ *val2 = attr->vals[idx * 2 + 1];
+ }
+
+ return attr->type;
+}
+
+static int bno055_set_regmask(struct bno055_priv *priv, int val, int val2,
+ int reg, int mask, struct bno055_sysfs_attr *attr)
+{
+ const int shift = __ffs(mask);
+ int best_delta;
+ int req_val;
+ int tbl_val;
+ bool first;
+ int delta;
+ int hwval;
+ int ret;
+ int len;
+ int i;
+
+ /*
+ * The closest value the HW supports is only one in fusion mode,
+ * and it is autoselected, so don't do anything, just return OK,
+ * as the closest possible value has been (virtually) selected
+ */
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG)
+ return 0;
+
+ len = attr->len;
+
+ /*
+ * We always get a request in INT_PLUS_MICRO, but we
+ * take care of the micro part only when we really have
+ * non-integer tables. This prevents 32-bit overflow with
+ * larger integers contained in integer tables.
+ */
+ req_val = val;
+ if (attr->type != IIO_VAL_INT) {
+ len /= 2;
+ req_val = min(val, 2147) * 1000000 + val2;
+ }
+
+ first = true;
+ for (i = 0; i < len; i++) {
+ switch (attr->type) {
+ case IIO_VAL_INT:
+ tbl_val = attr->vals[i];
+ break;
+ case IIO_VAL_INT_PLUS_MICRO:
+ WARN_ON(attr->vals[i * 2] > 2147);
+ tbl_val = attr->vals[i * 2] * 1000000 +
+ attr->vals[i * 2 + 1];
+ break;
+ case IIO_VAL_FRACTIONAL:
+ WARN_ON(attr->vals[i * 2] > 4294);
+ tbl_val = attr->vals[i * 2] * 1000000 /
+ attr->vals[i * 2 + 1];
+ break;
+ default:
+ return -EINVAL;
+ }
+ delta = abs(tbl_val - req_val);
+ if (first || delta < best_delta) {
+ best_delta = delta;
+ hwval = i;
+ first = false;
+ }
+ }
+
+ if (attr->hw_xlate)
+ hwval = attr->hw_xlate[hwval];
+
+ ret = bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_CONFIG);
+ if (ret)
+ return ret;
+
+ ret = regmap_update_bits(priv->regmap, reg, mask, hwval << shift);
+ if (ret)
+ return ret;
+
+ return bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_AMG);
+}
+
+static int bno055_read_simple_chan(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ __le16 raw_val;
+ int ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = regmap_bulk_read(priv->regmap, chan->address,
+ &raw_val, sizeof(raw_val));
+ if (ret < 0)
+ return ret;
+ *val = sign_extend32(le16_to_cpu(raw_val), 15);
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_OFFSET:
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG) {
+ *val = 0;
+ } else {
+ ret = regmap_bulk_read(priv->regmap,
+ chan->address +
+ BNO055_REG_OFFSET_ADDR,
+ &raw_val, sizeof(raw_val));
+ if (ret < 0)
+ return ret;
+ /*
+ * IMU reports sensor offsets; IIO wants correction
+ * offsets, thus we need the 'minus' here.
+ */
+ *val = -sign_extend32(le16_to_cpu(raw_val), 15);
+ }
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ *val = 1;
+ switch (chan->type) {
+ case IIO_GRAVITY:
+ /* Table 3-35: 1 m/s^2 = 100 LSB */
+ case IIO_ACCEL:
+ /* Table 3-17: 1 m/s^2 = 100 LSB */
+ *val2 = 100;
+ break;
+ case IIO_MAGN:
+ /*
+ * Table 3-19: 1 uT = 16 LSB. But we need
+ * Gauss: 1G = 0.1 uT.
+ */
+ *val2 = 160;
+ break;
+ case IIO_ANGL_VEL:
+ /*
+ * Table 3-22: 1 Rps = 900 LSB
+ * .. but this is not exactly true. See comment at the
+ * beginning of this file.
+ */
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG) {
+ *val = bno055_gyr_scale.fusion_vals[0];
+ *val2 = bno055_gyr_scale.fusion_vals[1];
+ return IIO_VAL_FRACTIONAL;
+ }
+
+ return bno055_get_regmask(priv, val, val2,
+ BNO055_GYR_CONFIG_REG,
+ BNO055_GYR_CONFIG_RANGE_MASK,
+ &bno055_gyr_scale);
+ break;
+ case IIO_ROT:
+ /* Table 3-28: 1 degree = 16 LSB */
+ *val2 = 16;
+ break;
+ default:
+ return -EINVAL;
+ }
+ return IIO_VAL_FRACTIONAL;
+
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ if (chan->type != IIO_MAGN)
+ return -EINVAL;
+
+ return bno055_get_regmask(priv, val, val2,
+ BNO055_MAG_CONFIG_REG,
+ BNO055_MAG_CONFIG_ODR_MASK,
+ &bno055_mag_odr);
+
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ return bno055_get_regmask(priv, val, val2,
+ BNO055_GYR_CONFIG_REG,
+ BNO055_GYR_CONFIG_LPF_MASK,
+ &bno055_gyr_lpf);
+ case IIO_ACCEL:
+ return bno055_get_regmask(priv, val, val2,
+ BNO055_ACC_CONFIG_REG,
+ BNO055_ACC_CONFIG_LPF_MASK,
+ &bno055_acc_lpf);
+ default:
+ return -EINVAL;
+ }
+
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bno055_sysfs_attr_avail(struct bno055_priv *priv, struct bno055_sysfs_attr *attr,
+ const int **vals, int *length)
+{
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG) {
+ /* locked when fusion enabled */
+ *vals = attr->fusion_vals;
+ if (attr->type == IIO_VAL_INT)
+ *length = 1;
+ else
+ *length = 2; /* IIO_VAL_INT_PLUS_MICRO or IIO_VAL_FRACTIONAL*/
+ } else {
+ *vals = attr->vals;
+ *length = attr->len;
+ }
+
+ return attr->type;
+}
+
+static int bno055_read_avail(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ const int **vals, int *type, int *length,
+ long mask)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *type = bno055_sysfs_attr_avail(priv, &bno055_gyr_scale,
+ vals, length);
+ return IIO_AVAIL_LIST;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *type = bno055_sysfs_attr_avail(priv, &bno055_gyr_lpf,
+ vals, length);
+ return IIO_AVAIL_LIST;
+ case IIO_ACCEL:
+ *type = bno055_sysfs_attr_avail(priv, &bno055_acc_lpf,
+ vals, length);
+ return IIO_AVAIL_LIST;
+ default:
+ return -EINVAL;
+ }
+
+ break;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ switch (chan->type) {
+ case IIO_MAGN:
+ *type = bno055_sysfs_attr_avail(priv, &bno055_mag_odr,
+ vals, length);
+ return IIO_AVAIL_LIST;
+ default:
+ return -EINVAL;
+ }
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bno055_read_temp_chan(struct iio_dev *indio_dev, int *val)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ unsigned int raw_val;
+ int ret;
+
+ ret = regmap_read(priv->regmap, BNO055_TEMP_REG, &raw_val);
+ if (ret < 0)
+ return ret;
+
+ /*
+ * Tables 3-36 and 3-37: one byte of priv, signed, 1 LSB = 1C.
+ * ABI wants milliC.
+ */
+ *val = raw_val * 1000;
+
+ return IIO_VAL_INT;
+}
+
+static int bno055_read_quaternion(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int size, int *vals, int *val_len,
+ long mask)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ __le16 raw_vals[4];
+ int i, ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ if (size < 4)
+ return -EINVAL;
+ ret = regmap_bulk_read(priv->regmap,
+ BNO055_QUAT_DATA_W_LSB_REG,
+ raw_vals, sizeof(raw_vals));
+ if (ret < 0)
+ return ret;
+ for (i = 0; i < 4; i++)
+ vals[i] = sign_extend32(le16_to_cpu(raw_vals[i]), 15);
+ *val_len = 4;
+ return IIO_VAL_INT_MULTIPLE;
+ case IIO_CHAN_INFO_SCALE:
+ /* Table 3-31: 1 quaternion = 2^14 LSB */
+ if (size < 2)
+ return -EINVAL;
+ vals[0] = 1;
+ vals[1] = 14;
+ return IIO_VAL_FRACTIONAL_LOG2;
+ default:
+ return -EINVAL;
+ }
+}
+
+static bool bno055_is_chan_readable(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG)
+ return true;
+
+ switch (chan->type) {
+ case IIO_GRAVITY:
+ case IIO_ROT:
+ return false;
+ case IIO_ACCEL:
+ if (chan->channel2 == IIO_MOD_LINEAR_X ||
+ chan->channel2 == IIO_MOD_LINEAR_Y ||
+ chan->channel2 == IIO_MOD_LINEAR_Z)
+ return false;
+ return true;
+ default:
+ return true;
+ }
+}
+
+static int _bno055_read_raw_multi(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int size, int *vals, int *val_len,
+ long mask)
+{
+ if (!bno055_is_chan_readable(indio_dev, chan))
+ return -EBUSY;
+
+ switch (chan->type) {
+ case IIO_MAGN:
+ case IIO_ACCEL:
+ case IIO_ANGL_VEL:
+ case IIO_GRAVITY:
+ if (size < 2)
+ return -EINVAL;
+ *val_len = 2;
+ return bno055_read_simple_chan(indio_dev, chan,
+ &vals[0], &vals[1],
+ mask);
+ case IIO_TEMP:
+ *val_len = 1;
+ return bno055_read_temp_chan(indio_dev, &vals[0]);
+ case IIO_ROT:
+ /*
+ * Rotation is exposed as either a quaternion or three
+ * Euler angles.
+ */
+ if (chan->channel2 == IIO_MOD_QUATERNION)
+ return bno055_read_quaternion(indio_dev, chan,
+ size, vals,
+ val_len, mask);
+ if (size < 2)
+ return -EINVAL;
+ *val_len = 2;
+ return bno055_read_simple_chan(indio_dev, chan,
+ &vals[0], &vals[1],
+ mask);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bno055_read_raw_multi(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int size, int *vals, int *val_len,
+ long mask)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ int ret;
+
+ mutex_lock(&priv->lock);
+ ret = _bno055_read_raw_multi(indio_dev, chan, size,
+ vals, val_len, mask);
+ mutex_unlock(&priv->lock);
+ return ret;
+}
+
+static int _bno055_write_raw(struct iio_dev *iio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct bno055_priv *priv = iio_priv(iio_dev);
+
+ switch (chan->type) {
+ case IIO_MAGN:
+ switch (mask) {
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return bno055_set_regmask(priv, val, val2,
+ BNO055_MAG_CONFIG_REG,
+ BNO055_MAG_CONFIG_ODR_MASK,
+ &bno055_mag_odr);
+ default:
+ return -EINVAL;
+ }
+ case IIO_ACCEL:
+ switch (mask) {
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ return bno055_set_regmask(priv, val, val2,
+ BNO055_ACC_CONFIG_REG,
+ BNO055_ACC_CONFIG_LPF_MASK,
+ &bno055_acc_lpf);
+
+ default:
+ return -EINVAL;
+ }
+ case IIO_ANGL_VEL:
+ switch (mask) {
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ return bno055_set_regmask(priv, val, val2,
+ BNO055_GYR_CONFIG_REG,
+ BNO055_GYR_CONFIG_LPF_MASK,
+ &bno055_gyr_lpf);
+ case IIO_CHAN_INFO_SCALE:
+ return bno055_set_regmask(priv, val, val2,
+ BNO055_GYR_CONFIG_REG,
+ BNO055_GYR_CONFIG_RANGE_MASK,
+ &bno055_gyr_scale);
+ default:
+ return -EINVAL;
+ }
+ default:
+ return -EINVAL;
+ }
+}
+
+static int bno055_write_raw(struct iio_dev *iio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct bno055_priv *priv = iio_priv(iio_dev);
+ int ret;
+
+ mutex_lock(&priv->lock);
+ ret = _bno055_write_raw(iio_dev, chan, val, val2, mask);
+ mutex_unlock(&priv->lock);
+
+ return ret;
+}
+
+static ssize_t in_accel_range_raw_available_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+ int len = 0;
+ int i;
+
+ if (priv->operation_mode != BNO055_OPR_MODE_AMG)
+ return sysfs_emit(buf, "%d\n", bno055_acc_range.fusion_vals[0]);
+
+ for (i = 0; i < bno055_acc_range.len; i++)
+ len += sysfs_emit_at(buf, len, "%d ", bno055_acc_range.vals[i]);
+ buf[len - 1] = '\n';
+
+ return len;
+}
+
+static ssize_t fusion_enable_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+
+ return sysfs_emit(buf, "%d\n",
+ priv->operation_mode != BNO055_OPR_MODE_AMG);
+}
+
+static ssize_t fusion_enable_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t len)
+{
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ bool en;
+ int ret;
+
+ if (indio_dev->active_scan_mask &&
+ !bitmap_empty(indio_dev->active_scan_mask, _BNO055_SCAN_MAX))
+ return -EBUSY;
+
+ ret = kstrtobool(buf, &en);
+ if (ret)
+ return -EINVAL;
+
+ if (!en)
+ return bno055_operation_mode_set(priv, BNO055_OPR_MODE_AMG) ?: len;
+
+ /*
+ * Coming from AMG means the FMC was off, just switch to fusion but
+ * don't change anything that doesn't belong to us (i.e let FMC stay off).
+ * Coming from any other fusion mode means we don't need to do anything.
+ */
+ if (priv->operation_mode == BNO055_OPR_MODE_AMG)
+ return bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION_FMC_OFF) ?: len;
+
+ return len;
+}
+
+static ssize_t in_magn_calibration_fast_enable_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+
+ return sysfs_emit(buf, "%d\n",
+ priv->operation_mode == BNO055_OPR_MODE_FUSION);
+}
+
+static ssize_t in_magn_calibration_fast_enable_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t len)
+{
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ int ret;
+
+ if (indio_dev->active_scan_mask &&
+ !bitmap_empty(indio_dev->active_scan_mask, _BNO055_SCAN_MAX))
+ return -EBUSY;
+
+ if (sysfs_streq(buf, "0")) {
+ if (priv->operation_mode == BNO055_OPR_MODE_FUSION) {
+ ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION_FMC_OFF);
+ if (ret)
+ return ret;
+ }
+ } else {
+ if (priv->operation_mode == BNO055_OPR_MODE_AMG)
+ return -EINVAL;
+
+ if (priv->operation_mode != BNO055_OPR_MODE_FUSION) {
+ ret = bno055_operation_mode_set(priv, BNO055_OPR_MODE_FUSION);
+ if (ret)
+ return ret;
+ }
+ }
+
+ return len;
+}
+
+static ssize_t in_accel_range_raw_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+ int val;
+ int ret;
+
+ ret = bno055_get_regmask(priv, &val, NULL,
+ BNO055_ACC_CONFIG_REG,
+ BNO055_ACC_CONFIG_RANGE_MASK,
+ &bno055_acc_range);
+ if (ret < 0)
+ return ret;
+
+ return sysfs_emit(buf, "%d\n", val);
+}
+
+static ssize_t in_accel_range_raw_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t len)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+ unsigned long val;
+ int ret;
+
+ ret = kstrtoul(buf, 10, &val);
+ if (ret)
+ return ret;
+
+ mutex_lock(&priv->lock);
+ ret = bno055_set_regmask(priv, val, 0,
+ BNO055_ACC_CONFIG_REG,
+ BNO055_ACC_CONFIG_RANGE_MASK,
+ &bno055_acc_range);
+ mutex_unlock(&priv->lock);
+
+ return ret ?: len;
+}
+
+static ssize_t bno055_get_calib_status(struct device *dev, char *buf, int which)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+ int calib;
+ int ret;
+ int val;
+
+ if (priv->operation_mode == BNO055_OPR_MODE_AMG ||
+ (priv->operation_mode == BNO055_OPR_MODE_FUSION_FMC_OFF &&
+ which == BNO055_CALIB_STAT_MAGN_SHIFT)) {
+ calib = 0;
+ } else {
+ mutex_lock(&priv->lock);
+ ret = regmap_read(priv->regmap, BNO055_CALIB_STAT_REG, &val);
+ mutex_unlock(&priv->lock);
+
+ if (ret)
+ return -EIO;
+
+ calib = ((val >> which) & GENMASK(1, 0)) + 1;
+ }
+
+ return sysfs_emit(buf, "%d\n", calib);
+}
+
+static ssize_t serialnumber_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(dev));
+
+ return sysfs_emit(buf, "%*ph\n", BNO055_UID_LEN, priv->uid);
+}
+
+static ssize_t calibration_data_read(struct file *filp, struct kobject *kobj,
+ struct bin_attribute *bin_attr, char *buf,
+ loff_t pos, size_t count)
+{
+ struct bno055_priv *priv = iio_priv(dev_to_iio_dev(kobj_to_dev(kobj)));
+ u8 data[BNO055_CALDATA_LEN];
+ int ret;
+
+ /*
+ * Calibration data is volatile; reading it in chunks will possibly
+ * results in inconsistent data. We require the user to read the whole
+ * blob in a single chunk
+ */
+ if (count < BNO055_CALDATA_LEN || pos)
+ return -EINVAL;
+
+ mutex_lock(&priv->lock);
+ ret = bno055_operation_mode_do_set(priv, BNO055_OPR_MODE_CONFIG);
+ if (ret)
+ goto exit_unlock;
+
+ ret = regmap_bulk_read(priv->regmap, BNO055_CALDATA_START, data,
+ BNO055_CALDATA_LEN);
+ if (ret)
+ goto exit_unlock;
+
+ ret = bno055_operation_mode_do_set(priv, priv->operation_mode);
+ if (ret)
+ goto exit_unlock;
+
+ memcpy(buf, data, BNO055_CALDATA_LEN);
+
+ ret = BNO055_CALDATA_LEN;
+exit_unlock:
+ mutex_unlock(&priv->lock);
+ return ret;
+}
+
+static ssize_t sys_calibration_auto_status_show(struct device *dev,
+ struct device_attribute *a,
+ char *buf)
+{
+ return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_SYS_SHIFT);
+}
+
+static ssize_t in_accel_calibration_auto_status_show(struct device *dev,
+ struct device_attribute *a,
+ char *buf)
+{
+ return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_ACCEL_SHIFT);
+}
+
+static ssize_t in_gyro_calibration_auto_status_show(struct device *dev,
+ struct device_attribute *a,
+ char *buf)
+{
+ return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_GYRO_SHIFT);
+}
+
+static ssize_t in_magn_calibration_auto_status_show(struct device *dev,
+ struct device_attribute *a,
+ char *buf)
+{
+ return bno055_get_calib_status(dev, buf, BNO055_CALIB_STAT_MAGN_SHIFT);
+}
+
+static int bno055_debugfs_reg_access(struct iio_dev *iio_dev, unsigned int reg,
+ unsigned int writeval, unsigned int *readval)
+{
+ struct bno055_priv *priv = iio_priv(iio_dev);
+
+ if (readval)
+ return regmap_read(priv->regmap, reg, readval);
+ else
+ return regmap_write(priv->regmap, reg, writeval);
+}
+
+static ssize_t bno055_show_fw_version(struct file *file, char __user *userbuf,
+ size_t count, loff_t *ppos)
+{
+ struct bno055_priv *priv = file->private_data;
+ int rev, ver;
+ char *buf;
+ int ret;
+
+ ret = regmap_read(priv->regmap, BNO055_SW_REV_LSB_REG, &rev);
+ if (ret)
+ return ret;
+
+ ret = regmap_read(priv->regmap, BNO055_SW_REV_MSB_REG, &ver);
+ if (ret)
+ return ret;
+
+ buf = kasprintf(GFP_KERNEL, "ver: 0x%x, rev: 0x%x\n", ver, rev);
+ if (!buf)
+ return -ENOMEM;
+
+ ret = simple_read_from_buffer(userbuf, count, ppos, buf, strlen(buf));
+ kfree(buf);
+
+ return ret;
+}
+
+static const struct file_operations bno055_fw_version_ops = {
+ .open = simple_open,
+ .read = bno055_show_fw_version,
+ .llseek = default_llseek,
+ .owner = THIS_MODULE,
+};
+
+static void bno055_debugfs_remove(void *_priv)
+{
+ struct bno055_priv *priv = _priv;
+
+ debugfs_remove(priv->debugfs);
+ priv->debugfs = NULL;
+}
+
+static void bno055_debugfs_init(struct iio_dev *iio_dev)
+{
+ struct bno055_priv *priv = iio_priv(iio_dev);
+
+ priv->debugfs = debugfs_create_file("firmware_version", 0400,
+ iio_get_debugfs_dentry(iio_dev),
+ priv, &bno055_fw_version_ops);
+ if (!IS_ERR(priv->debugfs))
+ devm_add_action_or_reset(priv->dev, bno055_debugfs_remove,
+ priv);
+ if (IS_ERR_OR_NULL(priv->debugfs))
+ dev_warn(priv->dev, "failed to setup debugfs");
+}
+
+static IIO_DEVICE_ATTR_RW(fusion_enable, 0);
+static IIO_DEVICE_ATTR_RW(in_magn_calibration_fast_enable, 0);
+static IIO_DEVICE_ATTR_RW(in_accel_range_raw, 0);
+
+static IIO_DEVICE_ATTR_RO(in_accel_range_raw_available, 0);
+static IIO_DEVICE_ATTR_RO(sys_calibration_auto_status, 0);
+static IIO_DEVICE_ATTR_RO(in_accel_calibration_auto_status, 0);
+static IIO_DEVICE_ATTR_RO(in_gyro_calibration_auto_status, 0);
+static IIO_DEVICE_ATTR_RO(in_magn_calibration_auto_status, 0);
+static IIO_DEVICE_ATTR_RO(serialnumber, 0);
+
+static struct attribute *bno055_attrs[] = {
+ &iio_dev_attr_in_accel_range_raw_available.dev_attr.attr,
+ &iio_dev_attr_in_accel_range_raw.dev_attr.attr,
+ &iio_dev_attr_fusion_enable.dev_attr.attr,
+ &iio_dev_attr_in_magn_calibration_fast_enable.dev_attr.attr,
+ &iio_dev_attr_sys_calibration_auto_status.dev_attr.attr,
+ &iio_dev_attr_in_accel_calibration_auto_status.dev_attr.attr,
+ &iio_dev_attr_in_gyro_calibration_auto_status.dev_attr.attr,
+ &iio_dev_attr_in_magn_calibration_auto_status.dev_attr.attr,
+ &iio_dev_attr_serialnumber.dev_attr.attr,
+ NULL
+};
+
+static BIN_ATTR_RO(calibration_data, BNO055_CALDATA_LEN);
+
+static struct bin_attribute *bno055_bin_attrs[] = {
+ &bin_attr_calibration_data,
+ NULL
+};
+
+static const struct attribute_group bno055_attrs_group = {
+ .attrs = bno055_attrs,
+ .bin_attrs = bno055_bin_attrs,
+};
+
+static const struct iio_info bno055_info = {
+ .read_raw_multi = bno055_read_raw_multi,
+ .read_avail = bno055_read_avail,
+ .write_raw = bno055_write_raw,
+ .attrs = &bno055_attrs_group,
+ .debugfs_reg_access = bno055_debugfs_reg_access,
+};
+
+/*
+ * Reads len samples from the HW, stores them in buf starting from buf_idx,
+ * and applies mask to cull (skip) unneeded samples.
+ * Updates buf_idx incrementing with the number of stored samples.
+ * Samples from HW are transferred into buf, then in-place copy on buf is
+ * performed in order to cull samples that need to be skipped.
+ * This avoids copies of the first samples until we hit the 1st sample to skip,
+ * and also avoids having an extra bounce buffer.
+ * buf must be able to contain len elements in spite of how many samples we are
+ * going to cull.
+ */
+static int bno055_scan_xfer(struct bno055_priv *priv,
+ int start_ch, int len, unsigned long mask,
+ __le16 *buf, int *buf_idx)
+{
+ const int base = BNO055_ACC_DATA_X_LSB_REG;
+ bool quat_in_read = false;
+ int buf_base = *buf_idx;
+ __le16 *dst, *src;
+ int offs_fixup = 0;
+ int xfer_len = len;
+ int ret;
+ int i, n;
+
+ if (!mask)
+ return 0;
+
+ /*
+ * All channels are made up 1 16-bit sample, except for quaternion that
+ * is made up 4 16-bit values.
+ * For us the quaternion CH is just like 4 regular CHs.
+ * If our read starts past the quaternion make sure to adjust the
+ * starting offset; if the quaternion is contained in our scan then make
+ * sure to adjust the read len.
+ */
+ if (start_ch > BNO055_SCAN_QUATERNION) {
+ start_ch += 3;
+ } else if ((start_ch <= BNO055_SCAN_QUATERNION) &&
+ ((start_ch + len) > BNO055_SCAN_QUATERNION)) {
+ quat_in_read = true;
+ xfer_len += 3;
+ }
+
+ ret = regmap_bulk_read(priv->regmap,
+ base + start_ch * sizeof(__le16),
+ buf + buf_base,
+ xfer_len * sizeof(__le16));
+ if (ret)
+ return ret;
+
+ for_each_set_bit(i, &mask, len) {
+ if (quat_in_read && ((start_ch + i) > BNO055_SCAN_QUATERNION))
+ offs_fixup = 3;
+
+ dst = buf + *buf_idx;
+ src = buf + buf_base + offs_fixup + i;
+
+ n = (start_ch + i == BNO055_SCAN_QUATERNION) ? 4 : 1;
+
+ if (dst != src)
+ memcpy(dst, src, n * sizeof(__le16));
+
+ *buf_idx += n;
+ }
+ return 0;
+}
+
+static irqreturn_t bno055_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *iio_dev = pf->indio_dev;
+ struct bno055_priv *priv = iio_priv(iio_dev);
+ int xfer_start, start, end, prev_end;
+ unsigned long mask;
+ int quat_extra_len;
+ bool first = true;
+ int buf_idx = 0;
+ bool thr_hit;
+ int ret;
+
+ mutex_lock(&priv->lock);
+
+ /*
+ * Walk the bitmap and eventually perform several transfers.
+ * Bitmap ones-fields that are separated by gaps <= xfer_burst_break_thr
+ * will be included in same transfer.
+ * Every time the bitmap contains a gap wider than xfer_burst_break_thr
+ * then we split the transfer, skipping the gap.
+ */
+ for_each_set_bitrange(start, end, iio_dev->active_scan_mask,
+ iio_dev->masklength) {
+ /*
+ * First transfer will start from the beginning of the first
+ * ones-field in the bitmap
+ */
+ if (first) {
+ xfer_start = start;
+ } else {
+ /*
+ * We found the next ones-field; check whether to
+ * include it in * the current transfer or not (i.e.
+ * let's perform the current * transfer and prepare for
+ * another one).
+ */
+
+ /*
+ * In case the zeros-gap contains the quaternion bit,
+ * then its length is actually 4 words instead of 1
+ * (i.e. +3 wrt other channels).
+ */
+ quat_extra_len = ((start > BNO055_SCAN_QUATERNION) &&
+ (prev_end <= BNO055_SCAN_QUATERNION)) ? 3 : 0;
+
+ /* If the gap is wider than xfer_burst_break_thr then.. */
+ thr_hit = (start - prev_end + quat_extra_len) >
+ priv->xfer_burst_break_thr;
+
+ /*
+ * .. transfer all the data up to the gap. Then set the
+ * next transfer start index at right after the gap
+ * (i.e. at the start of this ones-field).
+ */
+ if (thr_hit) {
+ mask = *iio_dev->active_scan_mask >> xfer_start;
+ ret = bno055_scan_xfer(priv, xfer_start,
+ prev_end - xfer_start,
+ mask, priv->buf.chans, &buf_idx);
+ if (ret)
+ goto done;
+ xfer_start = start;
+ }
+ }
+ first = false;
+ prev_end = end;
+ }
+
+ /*
+ * We finished walking the bitmap; no more gaps to check for. Just
+ * perform the current transfer.
+ */
+ mask = *iio_dev->active_scan_mask >> xfer_start;
+ ret = bno055_scan_xfer(priv, xfer_start,
+ prev_end - xfer_start,
+ mask, priv->buf.chans, &buf_idx);
+
+ if (!ret)
+ iio_push_to_buffers_with_timestamp(iio_dev,
+ &priv->buf, pf->timestamp);
+done:
+ mutex_unlock(&priv->lock);
+ iio_trigger_notify_done(iio_dev->trig);
+ return IRQ_HANDLED;
+}
+
+static int bno055_buffer_preenable(struct iio_dev *indio_dev)
+{
+ struct bno055_priv *priv = iio_priv(indio_dev);
+ const unsigned long fusion_mask =
+ BIT(BNO055_SCAN_YAW) |
+ BIT(BNO055_SCAN_ROLL) |
+ BIT(BNO055_SCAN_PITCH) |
+ BIT(BNO055_SCAN_QUATERNION) |
+ BIT(BNO055_SCAN_LIA_X) |
+ BIT(BNO055_SCAN_LIA_Y) |
+ BIT(BNO055_SCAN_LIA_Z) |
+ BIT(BNO055_SCAN_GRAVITY_X) |
+ BIT(BNO055_SCAN_GRAVITY_Y) |
+ BIT(BNO055_SCAN_GRAVITY_Z);
+
+ if (priv->operation_mode == BNO055_OPR_MODE_AMG &&
+ bitmap_intersects(indio_dev->active_scan_mask, &fusion_mask,
+ _BNO055_SCAN_MAX))
+ return -EBUSY;
+ return 0;
+}
+
+static const struct iio_buffer_setup_ops bno055_buffer_setup_ops = {
+ .preenable = bno055_buffer_preenable,
+};
+
+int bno055_probe(struct device *dev, struct regmap *regmap,
+ int xfer_burst_break_thr, bool sw_reset)
+{
+ const struct firmware *caldata = NULL;
+ struct bno055_priv *priv;
+ struct iio_dev *iio_dev;
+ char *fw_name_buf;
+ unsigned int val;
+ int rev, ver;
+ int ret;
+
+ iio_dev = devm_iio_device_alloc(dev, sizeof(*priv));
+ if (!iio_dev)
+ return -ENOMEM;
+
+ iio_dev->name = "bno055";
+ priv = iio_priv(iio_dev);
+ mutex_init(&priv->lock);
+ priv->regmap = regmap;
+ priv->dev = dev;
+ priv->xfer_burst_break_thr = xfer_burst_break_thr;
+ priv->sw_reset = sw_reset;
+
+ priv->reset_gpio = devm_gpiod_get_optional(dev, "reset", GPIOD_OUT_LOW);
+ if (IS_ERR(priv->reset_gpio))
+ return dev_err_probe(dev, PTR_ERR(priv->reset_gpio), "Failed to get reset GPIO\n");
+
+ priv->clk = devm_clk_get_optional_enabled(dev, "clk");
+ if (IS_ERR(priv->clk))
+ return dev_err_probe(dev, PTR_ERR(priv->clk), "Failed to get CLK\n");
+
+ if (priv->reset_gpio) {
+ usleep_range(5000, 10000);
+ gpiod_set_value_cansleep(priv->reset_gpio, 1);
+ usleep_range(650000, 750000);
+ } else if (!sw_reset) {
+ dev_warn(dev, "No usable reset method; IMU may be unreliable\n");
+ }
+
+ ret = regmap_read(priv->regmap, BNO055_CHIP_ID_REG, &val);
+ if (ret)
+ return ret;
+
+ if (val != BNO055_CHIP_ID_MAGIC)
+ dev_warn(dev, "Unrecognized chip ID 0x%x\n", val);
+
+ /*
+ * In case we haven't a HW reset pin, we can still reset the chip via
+ * register write. This is probably nonsense in case we can't even
+ * communicate with the chip or the chip isn't the one we expect (i.e.
+ * we don't write to unknown chips), so we perform SW reset only after
+ * chip magic ID check
+ */
+ if (!priv->reset_gpio) {
+ ret = bno055_system_reset(priv);
+ if (ret)
+ return ret;
+ }
+
+ ret = regmap_read(priv->regmap, BNO055_SW_REV_LSB_REG, &rev);
+ if (ret)
+ return ret;
+
+ ret = regmap_read(priv->regmap, BNO055_SW_REV_MSB_REG, &ver);
+ if (ret)
+ return ret;
+
+ /*
+ * The stock FW version contains a bug (see comment at the beginning of
+ * this file) that causes the anglvel scale to be changed depending on
+ * the chip range setting. We workaround this, but we don't know what
+ * other FW versions might do.
+ */
+ if (ver != 0x3 || rev != 0x11)
+ dev_warn(dev, "Untested firmware version. Anglvel scale may not work as expected\n");
+
+ ret = regmap_bulk_read(priv->regmap, BNO055_UID_LOWER_REG,
+ priv->uid, BNO055_UID_LEN);
+ if (ret)
+ return ret;
+
+ /* Sensor calibration data */
+ fw_name_buf = kasprintf(GFP_KERNEL, BNO055_FW_UID_FMT,
+ BNO055_UID_LEN, priv->uid);
+ if (!fw_name_buf)
+ return -ENOMEM;
+
+ ret = request_firmware(&caldata, fw_name_buf, dev);
+ kfree(fw_name_buf);
+ if (ret)
+ ret = request_firmware(&caldata, BNO055_FW_GENERIC_NAME, dev);
+ if (ret) {
+ dev_notice(dev, "Calibration file load failed. See instruction in kernel Documentation/iio/bno055.rst\n");
+ ret = bno055_init(priv, NULL, 0);
+ } else {
+ ret = bno055_init(priv, caldata->data, caldata->size);
+ release_firmware(caldata);
+ }
+ if (ret)
+ return ret;
+
+ priv->operation_mode = BNO055_OPR_MODE_FUSION;
+ ret = bno055_operation_mode_do_set(priv, priv->operation_mode);
+ if (ret)
+ return ret;
+
+ ret = devm_add_action_or_reset(dev, bno055_uninit, priv);
+ if (ret)
+ return ret;
+
+ iio_dev->channels = bno055_channels;
+ iio_dev->num_channels = ARRAY_SIZE(bno055_channels);
+ iio_dev->info = &bno055_info;
+ iio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = devm_iio_triggered_buffer_setup(dev, iio_dev,
+ iio_pollfunc_store_time,
+ bno055_trigger_handler,
+ &bno055_buffer_setup_ops);
+ if (ret)
+ return ret;
+
+ ret = devm_iio_device_register(dev, iio_dev);
+ if (ret)
+ return ret;
+
+ bno055_debugfs_init(iio_dev);
+
+ return 0;
+}
+EXPORT_SYMBOL_NS_GPL(bno055_probe, IIO_BNO055);
+
+MODULE_AUTHOR("Andrea Merello <andrea.merello@iit.it>");
+MODULE_DESCRIPTION("Bosch BNO055 driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/bno055/bno055.h b/drivers/iio/imu/bno055/bno055.h
new file mode 100644
index 000000000..64f9fc95c
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055.h
@@ -0,0 +1,13 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+#ifndef __BNO055_H__
+#define __BNO055_H__
+
+#include <linux/regmap.h>
+#include <linux/types.h>
+
+struct device;
+int bno055_probe(struct device *dev, struct regmap *regmap,
+ int xfer_burst_break_thr, bool sw_reset);
+extern const struct regmap_config bno055_regmap_config;
+
+#endif
diff --git a/drivers/iio/imu/bno055/bno055_i2c.c b/drivers/iio/imu/bno055/bno055_i2c.c
new file mode 100644
index 000000000..c1bbc0fe3
--- /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
+
+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 = 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");
diff --git a/drivers/iio/imu/bno055/bno055_ser_core.c b/drivers/iio/imu/bno055/bno055_ser_core.c
new file mode 100644
index 000000000..57728a568
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055_ser_core.c
@@ -0,0 +1,560 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Serial line interface for Bosh BNO055 IMU (via serdev).
+ * This file implements serial communication up to the register read/write
+ * level.
+ *
+ * Copyright (C) 2021-2022 Istituto Italiano di Tecnologia
+ * Electronic Design Laboratory
+ * Written by Andrea Merello <andrea.merello@iit.it>
+ *
+ * This driver is based on
+ * Plantower PMS7003 particulate matter sensor driver
+ * Which is
+ * Copyright (c) Tomasz Duszynski <tduszyns@gmail.com>
+ */
+
+#include <linux/completion.h>
+#include <linux/device.h>
+#include <linux/errno.h>
+#include <linux/jiffies.h>
+#include <linux/kernel.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/mutex.h>
+#include <linux/regmap.h>
+#include <linux/serdev.h>
+
+#include "bno055_ser_trace.h"
+#include "bno055.h"
+
+/*
+ * Register writes cmd have the following format
+ * +------+------+-----+-----+----- ... ----+
+ * | 0xAA | 0xOO | REG | LEN | payload[LEN] |
+ * +------+------+-----+-----+----- ... ----+
+ *
+ * Register write responses have the following format
+ * +------+----------+
+ * | 0xEE | ERROCODE |
+ * +------+----------+
+ *
+ * .. except when writing the SYS_RST bit (i.e. triggering a system reset); in
+ * case the IMU accepts the command, then it resets without responding. We don't
+ * handle this (yet) here (so we inform the common bno055 code not to perform
+ * sw resets - bno055 on serial bus basically requires the hw reset pin).
+ *
+ * Register read have the following format
+ * +------+------+-----+-----+
+ * | 0xAA | 0xO1 | REG | LEN |
+ * +------+------+-----+-----+
+ *
+ * Successful register read response have the following format
+ * +------+-----+----- ... ----+
+ * | 0xBB | LEN | payload[LEN] |
+ * +------+-----+----- ... ----+
+ *
+ * Failed register read response have the following format
+ * +------+--------+
+ * | 0xEE | ERRCODE| (ERRCODE always > 1)
+ * +------+--------+
+ *
+ * Error codes are
+ * 01: OK
+ * 02: read/write FAIL
+ * 04: invalid address
+ * 05: write on RO
+ * 06: wrong start byte
+ * 07: bus overrun
+ * 08: len too high
+ * 09: len too low
+ * 10: bus RX byte timeout (timeout is 30mS)
+ *
+ *
+ * **WORKAROUND ALERT**
+ *
+ * Serial communication seems very fragile: the BNO055 buffer seems to overflow
+ * very easy; BNO055 seems able to sink few bytes, then it needs a brief pause.
+ * On the other hand, it is also picky on timeout: if there is a pause > 30mS in
+ * between two bytes then the transaction fails (IMU internal RX FSM resets).
+ *
+ * BNO055 has been seen also failing to process commands in case we send them
+ * too close each other (or if it is somehow busy?)
+ *
+ * In particular I saw these scenarios:
+ * 1) If we send 2 bytes per time, then the IMU never(?) overflows.
+ * 2) If we send 4 bytes per time (i.e. the full header), then the IMU could
+ * overflow, but it seem to sink all 4 bytes, then it returns error.
+ * 3) If we send more than 4 bytes, the IMU could overflow, and I saw it sending
+ * error after 4 bytes are sent; we have troubles in synchronizing again,
+ * because we are still sending data, and the IMU interprets it as the 1st
+ * byte of a new command.
+ *
+ * While we must avoid case 3, we could send 4 bytes per time and eventually
+ * retry in case of failure; this seemed convenient for reads (which requires
+ * TXing exactly 4 bytes), however it has been seen that, depending by the IMU
+ * settings (e.g. LPF), failures became less or more frequent; in certain IMU
+ * configurations they are very rare, but in certain others we keeps failing
+ * even after like 30 retries.
+ *
+ * So, we just split TXes in [2-bytes + delay] steps, and still keep an eye on
+ * the IMU response; in case it overflows (which is now unlikely), we retry.
+ */
+
+/*
+ * Read operation overhead:
+ * 4 bytes req + 2byte resp hdr.
+ * 6 bytes = 60 bit (considering 1start + 1stop bits).
+ * 60/115200 = ~520uS + about 2500mS delay -> ~3mS
+ * In 3mS we could read back about 34 bytes that means 17 samples, this means
+ * that in case of scattered reads in which the gap is 17 samples or less it is
+ * still convenient to go for a burst.
+ * We have to take into account also IMU response time - IMU seems to be often
+ * reasonably quick to respond, but sometimes it seems to be in some "critical
+ * section" in which it delays handling of serial protocol. Because of this we
+ * round-up to 22, which is the max number of samples, always bursting indeed.
+ */
+#define BNO055_SER_XFER_BURST_BREAK_THRESHOLD 22
+
+struct bno055_ser_priv {
+ enum {
+ CMD_NONE,
+ CMD_READ,
+ CMD_WRITE,
+ } expect_response;
+ int expected_data_len;
+ u8 *response_buf;
+
+ /**
+ * enum cmd_status - represent the status of a command sent to the HW.
+ * @STATUS_CRIT: The command failed: the serial communication failed.
+ * @STATUS_OK: The command executed successfully.
+ * @STATUS_FAIL: The command failed: HW responded with an error.
+ */
+ enum {
+ STATUS_CRIT = -1,
+ STATUS_OK = 0,
+ STATUS_FAIL = 1,
+ } cmd_status;
+
+ /*
+ * Protects all the above fields, which are accessed in behalf of both
+ * the serdev RX callback and the regmap side
+ */
+ struct mutex lock;
+
+ /* Only accessed in serdev RX callback context*/
+ struct {
+ enum {
+ RX_IDLE,
+ RX_START,
+ RX_DATA,
+ } state;
+ int databuf_count;
+ int expected_len;
+ int type;
+ } rx;
+
+ /* Never accessed in behalf of serdev RX callback context */
+ bool cmd_stale;
+
+ struct completion cmd_complete;
+ struct serdev_device *serdev;
+};
+
+static int bno055_ser_send_chunk(struct bno055_ser_priv *priv, const u8 *data, int len)
+{
+ int ret;
+
+ trace_send_chunk(len, data);
+ ret = serdev_device_write(priv->serdev, data, len, msecs_to_jiffies(25));
+ if (ret < 0)
+ return ret;
+
+ if (ret < len)
+ return -EIO;
+
+ return 0;
+}
+
+/*
+ * Send a read or write command.
+ * 'data' can be NULL (used in read case). 'len' parameter is always valid; in
+ * case 'data' is non-NULL then it must match 'data' size.
+ */
+static int bno055_ser_do_send_cmd(struct bno055_ser_priv *priv,
+ bool read, int addr, int len, const u8 *data)
+{
+ u8 hdr[] = {0xAA, read, addr, len};
+ int chunk_len;
+ int ret;
+
+ ret = bno055_ser_send_chunk(priv, hdr, 2);
+ if (ret)
+ goto fail;
+ usleep_range(2000, 3000);
+ ret = bno055_ser_send_chunk(priv, hdr + 2, 2);
+ if (ret)
+ goto fail;
+
+ if (read)
+ return 0;
+
+ while (len) {
+ chunk_len = min(len, 2);
+ usleep_range(2000, 3000);
+ ret = bno055_ser_send_chunk(priv, data, chunk_len);
+ if (ret)
+ goto fail;
+ data += chunk_len;
+ len -= chunk_len;
+ }
+
+ return 0;
+fail:
+ /* waiting more than 30mS should clear the BNO055 internal state */
+ usleep_range(40000, 50000);
+ return ret;
+}
+
+static int bno055_ser_send_cmd(struct bno055_ser_priv *priv,
+ bool read, int addr, int len, const u8 *data)
+{
+ const int retry_max = 5;
+ int retry = retry_max;
+ int ret = 0;
+
+ /*
+ * In case previous command was interrupted we still need to wait it to
+ * complete before we can issue new commands
+ */
+ if (priv->cmd_stale) {
+ ret = wait_for_completion_interruptible_timeout(&priv->cmd_complete,
+ msecs_to_jiffies(100));
+ if (ret == -ERESTARTSYS)
+ return -ERESTARTSYS;
+
+ priv->cmd_stale = false;
+ /* if serial protocol broke, bail out */
+ if (priv->cmd_status == STATUS_CRIT)
+ return -EIO;
+ }
+
+ /*
+ * Try to convince the IMU to cooperate.. as explained in the comments
+ * at the top of this file, the IMU could also refuse the command (i.e.
+ * it is not ready yet); retry in this case.
+ */
+ do {
+ mutex_lock(&priv->lock);
+ priv->expect_response = read ? CMD_READ : CMD_WRITE;
+ reinit_completion(&priv->cmd_complete);
+ mutex_unlock(&priv->lock);
+
+ if (retry != retry_max)
+ trace_cmd_retry(read, addr, retry_max - retry);
+ ret = bno055_ser_do_send_cmd(priv, read, addr, len, data);
+ if (ret)
+ continue;
+
+ ret = wait_for_completion_interruptible_timeout(&priv->cmd_complete,
+ msecs_to_jiffies(100));
+ if (ret == -ERESTARTSYS) {
+ priv->cmd_stale = true;
+ return -ERESTARTSYS;
+ }
+
+ if (!ret)
+ return -ETIMEDOUT;
+
+ if (priv->cmd_status == STATUS_OK)
+ return 0;
+ if (priv->cmd_status == STATUS_CRIT)
+ return -EIO;
+
+ /* loop in case priv->cmd_status == STATUS_FAIL */
+ } while (--retry);
+
+ if (ret < 0)
+ return ret;
+ if (priv->cmd_status == STATUS_FAIL)
+ return -EINVAL;
+ return 0;
+}
+
+static int bno055_ser_write_reg(void *context, const void *_data, size_t count)
+{
+ const u8 *data = _data;
+ struct bno055_ser_priv *priv = context;
+
+ if (count < 2) {
+ dev_err(&priv->serdev->dev, "Invalid write count %zu", count);
+ return -EINVAL;
+ }
+
+ trace_write_reg(data[0], data[1]);
+ return bno055_ser_send_cmd(priv, 0, data[0], count - 1, data + 1);
+}
+
+static int bno055_ser_read_reg(void *context,
+ const void *_reg, size_t reg_size,
+ void *val, size_t val_size)
+{
+ int ret;
+ int reg_addr;
+ const u8 *reg = _reg;
+ struct bno055_ser_priv *priv = context;
+
+ if (val_size > 128) {
+ dev_err(&priv->serdev->dev, "Invalid read valsize %zu", val_size);
+ return -EINVAL;
+ }
+
+ reg_addr = *reg;
+ trace_read_reg(reg_addr, val_size);
+ mutex_lock(&priv->lock);
+ priv->expected_data_len = val_size;
+ priv->response_buf = val;
+ mutex_unlock(&priv->lock);
+
+ ret = bno055_ser_send_cmd(priv, 1, reg_addr, val_size, NULL);
+
+ mutex_lock(&priv->lock);
+ priv->response_buf = NULL;
+ mutex_unlock(&priv->lock);
+
+ return ret;
+}
+
+/*
+ * Handler for received data; this is called from the receiver callback whenever
+ * it got some packet from the serial bus. The status tells us whether the
+ * packet is valid (i.e. header ok && received payload len consistent wrt the
+ * header). It's now our responsibility to check whether this is what we
+ * expected, of whether we got some unexpected, yet valid, packet.
+ */
+static void bno055_ser_handle_rx(struct bno055_ser_priv *priv, int status)
+{
+ mutex_lock(&priv->lock);
+ switch (priv->expect_response) {
+ case CMD_NONE:
+ dev_warn(&priv->serdev->dev, "received unexpected, yet valid, data from sensor");
+ mutex_unlock(&priv->lock);
+ return;
+
+ case CMD_READ:
+ priv->cmd_status = status;
+ if (status == STATUS_OK &&
+ priv->rx.databuf_count != priv->expected_data_len) {
+ /*
+ * If we got here, then the lower layer serial protocol
+ * seems consistent with itself; if we got an unexpected
+ * amount of data then signal it as a non critical error
+ */
+ priv->cmd_status = STATUS_FAIL;
+ dev_warn(&priv->serdev->dev,
+ "received an unexpected amount of, yet valid, data from sensor");
+ }
+ break;
+
+ case CMD_WRITE:
+ priv->cmd_status = status;
+ break;
+ }
+
+ priv->expect_response = CMD_NONE;
+ mutex_unlock(&priv->lock);
+ complete(&priv->cmd_complete);
+}
+
+/*
+ * Serdev receiver FSM. This tracks the serial communication and parse the
+ * header. It pushes packets to bno055_ser_handle_rx(), eventually communicating
+ * failures (i.e. malformed packets).
+ * Ideally it doesn't know anything about upper layer (i.e. if this is the
+ * packet we were really expecting), but since we copies the payload into the
+ * receiver buffer (that is not valid when i.e. we don't expect data), we
+ * snoop a bit in the upper layer..
+ * Also, we assume to RX one pkt per time (i.e. the HW doesn't send anything
+ * unless we require to AND we don't queue more than one request per time).
+ */
+static int bno055_ser_receive_buf(struct serdev_device *serdev,
+ const unsigned char *buf, size_t size)
+{
+ int status;
+ struct bno055_ser_priv *priv = serdev_device_get_drvdata(serdev);
+ int remaining = size;
+
+ if (size == 0)
+ return 0;
+
+ trace_recv(size, buf);
+ switch (priv->rx.state) {
+ case RX_IDLE:
+ /*
+ * New packet.
+ * Check for its 1st byte that identifies the pkt type.
+ */
+ if (buf[0] != 0xEE && buf[0] != 0xBB) {
+ dev_err(&priv->serdev->dev,
+ "Invalid packet start %x", buf[0]);
+ bno055_ser_handle_rx(priv, STATUS_CRIT);
+ break;
+ }
+ priv->rx.type = buf[0];
+ priv->rx.state = RX_START;
+ remaining--;
+ buf++;
+ priv->rx.databuf_count = 0;
+ fallthrough;
+
+ case RX_START:
+ /*
+ * Packet RX in progress, we expect either 1-byte len or 1-byte
+ * status depending by the packet type.
+ */
+ if (remaining == 0)
+ break;
+
+ if (priv->rx.type == 0xEE) {
+ if (remaining > 1) {
+ dev_err(&priv->serdev->dev, "EE pkt. Extra data received");
+ status = STATUS_CRIT;
+ } else {
+ status = (buf[0] == 1) ? STATUS_OK : STATUS_FAIL;
+ }
+ bno055_ser_handle_rx(priv, status);
+ priv->rx.state = RX_IDLE;
+ break;
+
+ } else {
+ /*priv->rx.type == 0xBB */
+ priv->rx.state = RX_DATA;
+ priv->rx.expected_len = buf[0];
+ remaining--;
+ buf++;
+ }
+ fallthrough;
+
+ case RX_DATA:
+ /* Header parsed; now receiving packet data payload */
+ if (remaining == 0)
+ break;
+
+ if (priv->rx.databuf_count + remaining > priv->rx.expected_len) {
+ /*
+ * This is an inconsistency in serial protocol, we lost
+ * sync and we don't know how to handle further data
+ */
+ dev_err(&priv->serdev->dev, "BB pkt. Extra data received");
+ bno055_ser_handle_rx(priv, STATUS_CRIT);
+ priv->rx.state = RX_IDLE;
+ break;
+ }
+
+ mutex_lock(&priv->lock);
+ /*
+ * NULL e.g. when read cmd is stale or when no read cmd is
+ * actually pending.
+ */
+ if (priv->response_buf &&
+ /*
+ * Snoop on the upper layer protocol stuff to make sure not
+ * to write to an invalid memory. Apart for this, let's the
+ * upper layer manage any inconsistency wrt expected data
+ * len (as long as the serial protocol is consistent wrt
+ * itself (i.e. response header is consistent with received
+ * response len.
+ */
+ (priv->rx.databuf_count + remaining <= priv->expected_data_len))
+ memcpy(priv->response_buf + priv->rx.databuf_count,
+ buf, remaining);
+ mutex_unlock(&priv->lock);
+
+ priv->rx.databuf_count += remaining;
+
+ /*
+ * Reached expected len advertised by the IMU for the current
+ * packet. Pass it to the upper layer (for us it is just valid).
+ */
+ if (priv->rx.databuf_count == priv->rx.expected_len) {
+ bno055_ser_handle_rx(priv, STATUS_OK);
+ priv->rx.state = RX_IDLE;
+ }
+ break;
+ }
+
+ return size;
+}
+
+static const struct serdev_device_ops bno055_ser_serdev_ops = {
+ .receive_buf = bno055_ser_receive_buf,
+ .write_wakeup = serdev_device_write_wakeup,
+};
+
+static struct regmap_bus bno055_ser_regmap_bus = {
+ .write = bno055_ser_write_reg,
+ .read = bno055_ser_read_reg,
+};
+
+static int bno055_ser_probe(struct serdev_device *serdev)
+{
+ struct bno055_ser_priv *priv;
+ struct regmap *regmap;
+ int ret;
+
+ priv = devm_kzalloc(&serdev->dev, sizeof(*priv), GFP_KERNEL);
+ if (!priv)
+ return -ENOMEM;
+
+ serdev_device_set_drvdata(serdev, priv);
+ priv->serdev = serdev;
+ mutex_init(&priv->lock);
+ init_completion(&priv->cmd_complete);
+
+ serdev_device_set_client_ops(serdev, &bno055_ser_serdev_ops);
+ ret = devm_serdev_device_open(&serdev->dev, serdev);
+ if (ret)
+ return ret;
+
+ if (serdev_device_set_baudrate(serdev, 115200) != 115200) {
+ dev_err(&serdev->dev, "Cannot set required baud rate");
+ return -EIO;
+ }
+
+ ret = serdev_device_set_parity(serdev, SERDEV_PARITY_NONE);
+ if (ret) {
+ dev_err(&serdev->dev, "Cannot set required parity setting");
+ return ret;
+ }
+ serdev_device_set_flow_control(serdev, false);
+
+ regmap = devm_regmap_init(&serdev->dev, &bno055_ser_regmap_bus,
+ priv, &bno055_regmap_config);
+ if (IS_ERR(regmap))
+ return dev_err_probe(&serdev->dev, PTR_ERR(regmap),
+ "Unable to init register map");
+
+ return bno055_probe(&serdev->dev, regmap,
+ BNO055_SER_XFER_BURST_BREAK_THRESHOLD, false);
+}
+
+static const struct of_device_id bno055_ser_of_match[] = {
+ { .compatible = "bosch,bno055" },
+ { }
+};
+MODULE_DEVICE_TABLE(of, bno055_ser_of_match);
+
+static struct serdev_device_driver bno055_ser_driver = {
+ .driver = {
+ .name = "bno055-ser",
+ .of_match_table = bno055_ser_of_match,
+ },
+ .probe = bno055_ser_probe,
+};
+module_serdev_device_driver(bno055_ser_driver);
+
+MODULE_AUTHOR("Andrea Merello <andrea.merello@iit.it>");
+MODULE_DESCRIPTION("Bosch BNO055 serdev interface");
+MODULE_IMPORT_NS(IIO_BNO055);
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/bno055/bno055_ser_trace.c b/drivers/iio/imu/bno055/bno055_ser_trace.c
new file mode 100644
index 000000000..48397b66d
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055_ser_trace.c
@@ -0,0 +1,14 @@
+//SPDX-License-Identifier: GPL-2.0
+
+/*
+ * bno055_ser Trace Support
+ * Copyright (C) 2022 Istituto Italiano di Tecnologia
+ * Electronic Design Laboratory
+ *
+ * Based on:
+ * Device core Trace Support
+ * Copyright (C) 2021, Intel Corporation
+ */
+
+#define CREATE_TRACE_POINTS
+#include "bno055_ser_trace.h"
diff --git a/drivers/iio/imu/bno055/bno055_ser_trace.h b/drivers/iio/imu/bno055/bno055_ser_trace.h
new file mode 100644
index 000000000..7d9eae166
--- /dev/null
+++ b/drivers/iio/imu/bno055/bno055_ser_trace.h
@@ -0,0 +1,104 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+#if !defined(__BNO055_SERDEV_TRACE_H__) || defined(TRACE_HEADER_MULTI_READ)
+#define __BNO055_SERDEV_TRACE_H__
+
+#include <linux/tracepoint.h>
+
+#undef TRACE_SYSTEM
+#define TRACE_SYSTEM bno055_ser
+
+TRACE_EVENT(send_chunk,
+ TP_PROTO(int len, const u8 *data),
+ TP_ARGS(len, data),
+ TP_STRUCT__entry(
+ __field(int, len)
+ __dynamic_array(u8, chunk, len)
+ ),
+ TP_fast_assign(
+ __entry->len = len;
+ memcpy(__get_dynamic_array(chunk),
+ data, __entry->len);
+ ),
+ TP_printk("len: %d, data: = %*ph",
+ __entry->len, __entry->len, __get_dynamic_array(chunk)
+ )
+);
+
+TRACE_EVENT(cmd_retry,
+ TP_PROTO(bool read, int addr, int retry),
+ TP_ARGS(read, addr, retry),
+ TP_STRUCT__entry(
+ __field(bool, read)
+ __field(int, addr)
+ __field(int, retry)
+ ),
+ TP_fast_assign(
+ __entry->read = read;
+ __entry->addr = addr;
+ __entry->retry = retry;
+ ),
+ TP_printk("%s addr 0x%x retry #%d",
+ __entry->read ? "read" : "write",
+ __entry->addr, __entry->retry
+ )
+);
+
+TRACE_EVENT(write_reg,
+ TP_PROTO(u8 addr, u8 value),
+ TP_ARGS(addr, value),
+ TP_STRUCT__entry(
+ __field(u8, addr)
+ __field(u8, value)
+ ),
+ TP_fast_assign(
+ __entry->addr = addr;
+ __entry->value = value;
+ ),
+ TP_printk("reg 0x%x = 0x%x",
+ __entry->addr, __entry->value
+ )
+);
+
+TRACE_EVENT(read_reg,
+ TP_PROTO(int addr, size_t len),
+ TP_ARGS(addr, len),
+ TP_STRUCT__entry(
+ __field(int, addr)
+ __field(size_t, len)
+ ),
+ TP_fast_assign(
+ __entry->addr = addr;
+ __entry->len = len;
+ ),
+ TP_printk("reg 0x%x (len %zu)",
+ __entry->addr, __entry->len
+ )
+);
+
+TRACE_EVENT(recv,
+ TP_PROTO(size_t len, const unsigned char *buf),
+ TP_ARGS(len, buf),
+ TP_STRUCT__entry(
+ __field(size_t, len)
+ __dynamic_array(unsigned char, buf, len)
+ ),
+ TP_fast_assign(
+ __entry->len = len;
+ memcpy(__get_dynamic_array(buf),
+ buf, __entry->len);
+ ),
+ TP_printk("len: %zu, data: = %*ph",
+ __entry->len, (int)__entry->len, __get_dynamic_array(buf)
+ )
+);
+
+#endif /* __BNO055_SERDEV_TRACE_H__ || TRACE_HEADER_MULTI_READ */
+
+#undef TRACE_INCLUDE_PATH
+#define TRACE_INCLUDE_PATH .
+#undef TRACE_INCLUDE_FILE
+#define TRACE_INCLUDE_FILE bno055_ser_trace
+
+/* This part must be outside protection */
+#include <trace/define_trace.h>
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-03 06:48:55 +0000