Date:	Mon, 25 Jul 2016 16:18:15 -0700
From:	navin patidar <navin.patidar@...il.com>
To:	linux-iio@...r.kernel.org, jic23@...nel.org
Cc:	knaack.h@....de, lars@...afoo.de, pmeerw@...erw.net,
	linux-kernel@...r.kernel.org,
	navin patidar <navin.patidar@...il.com>
Subject: [PATCH] iio: orientation: Add BNO055 9-axis Absolute Orientation Sensor driver

BNO055 provides the following motion sensors data:

 * Gyroscope
 * Accelerometer
 * Magnetometer
 * Absolute Orientation (Quaternion)

Signed-off-by: navin patidar <navin.patidar@...il.com>
---
 drivers/iio/orientation/Kconfig  |  10 +
 drivers/iio/orientation/Makefile |   1 +
 drivers/iio/orientation/bno055.c | 422 +++++++++++++++++++++++++++++++++++++++
 3 files changed, 433 insertions(+)
 create mode 100644 drivers/iio/orientation/bno055.c

diff --git a/drivers/iio/orientation/Kconfig b/drivers/iio/orientation/Kconfig
index e3aa1e5..9ac21ee 100644
--- a/drivers/iio/orientation/Kconfig
+++ b/drivers/iio/orientation/Kconfig
@@ -28,4 +28,14 @@ config HID_SENSOR_DEVICE_ROTATION
 	  device rotation. The output of a device rotation sensor
 	  is presented using quaternion format.
 
+config BNO055
+	tristate "BOSCH BNO055 Absolute Orientation"
+	depends on I2C
+	select REGMAP_I2C
+	help
+	  Say yes here to build support for BOSCH BNO55 9-axis absolute orientation sensor
+	  driver connected via I2C.
+	  This driver can also be built as a module. If so, the module
+	  will be called bno055.
+
 endmenu
diff --git a/drivers/iio/orientation/Makefile b/drivers/iio/orientation/Makefile
index 4734dab..7d00037 100644
--- a/drivers/iio/orientation/Makefile
+++ b/drivers/iio/orientation/Makefile
@@ -5,3 +5,4 @@
 # When adding new entries keep the list in alphabetical order
 obj-$(CONFIG_HID_SENSOR_INCLINOMETER_3D) += hid-sensor-incl-3d.o
 obj-$(CONFIG_HID_SENSOR_DEVICE_ROTATION) += hid-sensor-rotation.o
+obj-$(CONFIG_BNO055) += bno055.o
diff --git a/drivers/iio/orientation/bno055.c b/drivers/iio/orientation/bno055.c
new file mode 100644
index 0000000..48b9e93
--- /dev/null
+++ b/drivers/iio/orientation/bno055.c
@@ -0,0 +1,422 @@
+/*
+ * Copyright (c) 2016 Intel Corporation
+ *
+ * Driver for Bosch Sensortec BNO055 digital motion sensor.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ */
+
+#define pr_fmt(fmt) "bno055: " fmt
+
+#include <linux/module.h>
+#include <linux/i2c.h>
+#include <linux/acpi.h>
+#include <linux/regmap.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+
+
+#define BNO055_CHIP_ID		0xA0
+#define REG_MAG_RADIUS_MSB	0x6A
+
+/* BNO055 configuration registers */
+#define REG_PWR_MODE		0x3E
+#define REG_OPR_MODE		0x3D
+#define REG_UNIT_SEL		0x3B
+#define REG_AXIS_MAP_SIGN	0x42
+#define REG_AXIS_MAP_CONFIG	0x41
+#define REG_UNIT_SEL		0x3B
+#define REG_SYS_TRIGGER		0x3F
+#define BNO055_REG_PAGE_ID	0x07
+#define BNO055_REG_ID		0x00
+
+/* BNO055 status registers */
+#define SYS_STATUS		0x39
+#define INT_STATUS		0x37
+#define CALIB_STATUS	0x35
+
+/* BNO055 data registers */
+
+#define GRV_DATA_Z_MSB 0x33
+#define GRV_DATA_Z_LSB 0x32
+#define GRV_DATA_Y_MSB 0x31
+#define GRV_DATA_Y_LSB 0x30
+#define GRV_DATA_X_MSB 0x2F
+#define GRV_DATA_X_LSB 0x2E
+
+#define LIA_DATA_Z_MSB 0x2D
+#define LIA_DATA_Z_LSB 0x2C
+#define LIA_DATA_Y_MSB 0x2B
+#define LIA_DATA_Y_LSB 0x2A
+#define LIA_DATA_X_MSB 0x29
+#define LIA_DATA_X_LSB 0x28
+
+#define QUA_DATA_Z_MSB 0x27
+#define QUA_DATA_Z_LSB 0x26
+#define QUA_DATA_Y_MSB 0x25
+#define QUA_DATA_Y_LSB 0x24
+#define QUA_DATA_X_MSB 0x23
+#define QUA_DATA_X_LSB 0x22
+#define QUA_DATA_W_MSB 0x21
+#define QUA_DATA_W_LSB 0x20
+
+#define EUL_PITCH_MSB 0x1F
+#define EUL_PITCH_LSB 0x1E
+#define EUL_ROLL_MSB 0x1D
+#define EUL_ROLL_LSB 0x1C
+#define EUL_HEADING_MSB 0x1B
+#define EUL_HEADING_LSB 0x1A
+
+#define GYR_DATA_Z_MSB 0x19
+#define GYR_DATA_Z_LSB 0x18
+#define GYR_DATA_Y_MSB 0x17
+#define GYR_DATA_Y_LSB 0x16
+#define GYR_DATA_X_MSB 0x15
+#define GYR_DATA_X_LSB 0x14
+
+#define MAG_DATA_Z_MSB 0x13
+#define MAG_DATA_Z_LSB 0x12
+#define MAG_DATA_Y_MSB 0x11
+#define MAG_DATA_Y_LSB 0x10
+#define MAG_DATA_X_MSB 0x0F
+#define MAG_DATA_X_LSB 0x0E
+
+#define ACC_DATA_Z_MSB 0x0D
+#define ACC_DATA_Z_LSB 0x0C
+#define ACC_DATA_Y_MSB 0x0B
+#define ACC_DATA_Y_LSB 0x0A
+#define ACC_DATA_X_MSB 0x09
+#define ACC_DATA_X_LSB 0x08
+
+/* operation modes */
+#define FUSION_NDOF_MODE 0x0C
+
+/* power modes */
+#define NORMAL_MODE 0x00
+#define LOW_POWER_MODE BIT(0)
+#define SUSPEND_MODE BIT(1)
+
+#define PROPER_CALIBRATION 0xFF
+
+#define BASE_REG  0x08
+#define SENSOR_AXIS_TO_REG(sensor,axis)	(BASE_REG + (sensor * 6) + (axis * 2))
+
+#define BNO055_CHANNEL(_type, _axis) {					\
+	.type = IIO_##_type,						\
+	.modified = 1,							\
+	.channel2 = IIO_MOD_##_axis,					\
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),			\
+	.scan_index = AXIS_##_axis,					\
+	.scan_type = {							\
+		.sign = 's',						\
+		.realbits = 16,					\
+		.storagebits = 16,					\
+		.endianness = IIO_LE,					\
+	},								\
+}
+
+struct bno055_data {
+	struct i2c_client *client;
+	struct mutex lock;
+	struct regmap *regmap;
+};
+
+enum bno055_axis {
+	AXIS_X,
+	AXIS_Y,
+	AXIS_Z,
+};
+
+enum {ACC=0, MAG=1, GYR=2, EUL=3, QUA=4};
+
+static const struct iio_chan_spec bno055_channels[] = {
+	BNO055_CHANNEL(ANGL_VEL, X),
+	BNO055_CHANNEL(ANGL_VEL, Y),
+	BNO055_CHANNEL(ANGL_VEL, Z),
+	BNO055_CHANNEL(MAGN, X),
+	BNO055_CHANNEL(MAGN, Y),
+	BNO055_CHANNEL(MAGN, Z),
+	BNO055_CHANNEL(ACCEL, X),
+	BNO055_CHANNEL(ACCEL, Y),
+	BNO055_CHANNEL(ACCEL, Z),
+	{
+		.type = IIO_ROT,
+		.modified = 1,
+		.channel2 = IIO_MOD_QUATERNION,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+	}
+};
+
+static bool bno055_is_writeable_reg(struct device *dev, unsigned int reg)
+{
+	switch (reg) {
+	case REG_PWR_MODE:
+	case REG_OPR_MODE:
+	case REG_UNIT_SEL:
+	case REG_AXIS_MAP_SIGN:
+	case REG_AXIS_MAP_CONFIG:
+	case REG_SYS_TRIGGER:
+		return true;
+	default:
+		return false;
+	};
+}
+
+static bool bno055_is_volatile_reg(struct device *dev, unsigned int reg)
+{
+	if ((reg >= ACC_DATA_X_LSB) && (reg <= QUA_DATA_Z_MSB))
+		return true;
+	else
+		return false;
+}
+
+static const struct regmap_config bno055_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+
+	.max_register = REG_MAG_RADIUS_MSB,
+	.cache_type = REGCACHE_RBTREE,
+
+	.writeable_reg = bno055_is_writeable_reg,
+	.volatile_reg = bno055_is_volatile_reg,
+};
+
+
+static int read_bno055(struct bno055_data *data, int sensor, int axis, int *val)
+{
+	int ret;
+	__le16 raw_val;
+	int reg;
+
+	reg = SENSOR_AXIS_TO_REG(sensor, axis);
+
+	ret = regmap_bulk_read(data->regmap, reg, &raw_val,
+			       sizeof(raw_val));
+	if (ret < 0) {
+		dev_err(&data->client->dev, "Error reading axis %d\n", axis);
+		return ret;
+	}
+
+	*val = sign_extend32(le16_to_cpu(raw_val), 15);
+	return IIO_VAL_INT;
+}
+
+/* Read raw quaternion values W,X,Y and Z.
+ * Raw values needs to be divied by the 16384 to get the exact quaternion values.
+ */
+
+static int read_rot(struct bno055_data *data, int *vals, int *val_len)
+{
+	int ret, i;
+	__le16 raw_val[4];
+
+	ret = regmap_bulk_read(data->regmap, QUA_DATA_W_LSB, &raw_val,
+			       sizeof(raw_val));
+	if (ret < 0) {
+		dev_err(&data->client->dev, "Error reading Orientation \n");
+		return ret;
+	}
+
+	for (i = 0; i < 4; ++i)
+		vals[i] = sign_extend32(le16_to_cpu(raw_val[i]), 15);
+
+	*val_len =  4;
+	return IIO_VAL_INT_MULTIPLE;
+}
+
+static int bno055_read_raw_multi(struct iio_dev *indio_dev,
+			   struct iio_chan_spec const *chan, int size,
+			   int *val, int *val2, long mask)
+{
+	int ret = -EINVAL;
+	struct bno055_data *data = iio_priv(indio_dev);
+
+	mutex_lock(&data->lock);
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		switch (chan->type) {
+		case IIO_ROT:
+			ret = read_rot(data, val, val2);
+			break;
+		case IIO_ANGL_VEL:
+			/* Gyroscope unit degrees per second */
+			/* Raw value needs to be divied by the 16 to get the exact value.*/
+			ret = read_bno055(data, GYR, chan->scan_index, val);
+			break;
+		case IIO_ACCEL:
+			/* Accelerometer Unit m/s2 */
+			/* Raw value needs to be divied by the 100 to get the exact value.*/
+			ret = read_bno055(data, ACC, chan->scan_index, val);
+			break;
+		case IIO_MAGN:
+			/* Magnetometer Unit microTesla */
+			/* Raw value needs to be divied by the 16 to get the exact value. */
+			ret = read_bno055(data, MAG, chan->scan_index, val);
+			break;
+		default:
+			ret = -EINVAL;
+			break;
+		}
+		break;
+
+	default:
+		ret = -EINVAL;
+		break;
+	}
+
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static const struct iio_info bno055_info = {
+	.driver_module = THIS_MODULE,
+	.read_raw_multi = &bno055_read_raw_multi,
+};
+
+
+static int bno055_chip_init(struct bno055_data *data)
+{
+	int ret;
+
+	ret = regmap_write(data->regmap, REG_PWR_MODE,
+				 NORMAL_MODE);
+	if (ret < 0) {
+		dev_err(&data->client->dev,
+			"failed to write power mode register\n");
+		return ret;
+	}
+
+	ret = regmap_write(data->regmap, REG_OPR_MODE,
+				 FUSION_NDOF_MODE);
+	if (ret < 0)
+		dev_err(&data->client->dev,
+			"failed to write operation mode register\n");
+
+	return ret;
+}
+
+static ssize_t show_calibration_status(struct device *dev, struct device_attribute *attr,
+                char *buf){
+	struct bno055_data *data;
+	int ret;
+	unsigned int calib_stat;
+
+	data = dev->driver_data;
+
+	ret = regmap_read(data->regmap, CALIB_STATUS, &calib_stat);
+
+	if (ret){
+		dev_err(dev, "Failed to read calibration status.\n");
+		return ret;
+	}
+
+	if (calib_stat != PROPER_CALIBRATION)
+		dev_info(dev, "bad calibration.  expected %x got %x\n",
+			PROPER_CALIBRATION, calib_stat);
+
+	return scnprintf(buf, PAGE_SIZE, "0x%x\n", calib_stat);
+}
+
+static DEVICE_ATTR(calib_status, 0444, show_calibration_status, NULL);
+
+static int bno055_probe(struct i2c_client *client,
+			const struct i2c_device_id *id)
+{
+	int ret;
+	struct iio_dev *indio_dev;
+	struct bno055_data *data;
+	unsigned int chip_id;
+
+	indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
+	if (!indio_dev)
+		return -ENOMEM;
+
+	data = iio_priv(indio_dev);
+	mutex_init(&data->lock);
+	data->client = client;
+
+	indio_dev->dev.parent = &client->dev;
+	indio_dev->name = id->name;
+	indio_dev->channels = bno055_channels;
+	indio_dev->num_channels = ARRAY_SIZE(bno055_channels);
+	indio_dev->info = &bno055_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	data->regmap = devm_regmap_init_i2c(client, &bno055_regmap_config);
+	if (IS_ERR(data->regmap)) {
+		dev_err(&client->dev, "Failed to allocate register map.\n");
+		return PTR_ERR(data->regmap);
+	}
+
+	indio_dev->dev.driver_data = data;
+	i2c_set_clientdata(client, indio_dev);
+
+	ret = regmap_read(data->regmap, BNO055_REG_ID, &chip_id);
+	if (ret < 0)
+		return ret;
+	if (chip_id != BNO055_CHIP_ID) {
+		dev_err(&client->dev, "bad chip id.  expected %x got %x\n",
+			BNO055_CHIP_ID, chip_id);
+		return -EINVAL;
+	}
+
+	ret = bno055_chip_init(data);
+	if (ret < 0)
+		return ret;
+
+	ret = devm_iio_device_register(&client->dev, indio_dev);
+	if (ret){
+		dev_err(&client->dev, "failed to register IIO device.\n");
+		return ret;
+	}
+
+	ret = device_create_file(&indio_dev->dev, &dev_attr_calib_status);
+	if (ret){
+		dev_err(&client->dev, "failed to create sysfs entry.\n");
+		devm_iio_device_unregister(&client->dev, indio_dev);
+		return ret;
+	}
+
+   return ret;
+}
+
+static int bno055_remove(struct i2c_client *client)
+{
+	struct iio_dev *indio_dev = i2c_get_clientdata(client);
+
+	device_remove_file(&indio_dev->dev, &dev_attr_calib_status);
+	devm_iio_device_unregister(&client->dev, indio_dev);
+	return 0;
+}
+
+static const struct acpi_device_id bno055_acpi_match[] = {
+	{"bno055", 0},
+	{ },
+};
+MODULE_DEVICE_TABLE(acpi, bno055_acpi_match);
+
+static const struct i2c_device_id bno055_id[] = {
+	{"bno055", 0},
+	{ },
+};
+MODULE_DEVICE_TABLE(i2c, bno055_id);
+
+static struct i2c_driver bno055_driver = {
+	.driver = {
+		.name	= "bno055",
+		.acpi_match_table = ACPI_PTR(bno055_acpi_match),
+	},
+	.probe		= bno055_probe,
+	.remove		= bno055_remove,
+	.id_table	= bno055_id,
+};
+module_i2c_driver(bno055_driver);
+
+MODULE_AUTHOR("navin patidar <navin.patidar@...il.com>");
+MODULE_DESCRIPTION("Driver for Bosch Sensortec BNO055 orientation sensor");
+MODULE_LICENSE("GPL v2");
-- 
1.9.1

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