iio: imu: add BNO055 I2C driver

Add an I2C driver for communicating to a BNO055 IMU via I2C bus and enable
the BNO055 core driver to work in this scenario.

Signed-off-by: Andrea Merello <andrea.merello@iit.it>
Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com>
Link: https://lore.kernel.org/r/20220907132205.28021-14-andrea.merello@iit.it
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

diff --git a/drivers/iio/imu/bno055/Kconfig b/drivers/iio/imu/bno055/Kconfig
index b51d63b49ea4e6d8e266d681cc44c875dcb95f22..fa79b1ac4f85b7879f7202d9787eb9253a4a2b90 100644 (file)
--- a/drivers/iio/imu/bno055/Kconfig
+++ b/drivers/iio/imu/bno055/Kconfig
@@ -12,3 +12,14 @@ config BOSCH_BNO055_SERIAL
 
          This driver can also be built as a module. If so, the module will be
          called bno055_sl.
+
+config BOSCH_BNO055_I2C
+       tristate "Bosch BNO055 attached via I2C bus"
+       depends on I2C
+       select REGMAP_I2C
+       select BOSCH_BNO055
+       help
+         Enable this to support Bosch BNO055 IMUs attached via I2C bus.
+
+         This driver can also be built as a module. If so, the module will be
+         called bno055_i2c.

diff --git a/drivers/iio/imu/bno055/Makefile b/drivers/iio/imu/bno055/Makefile
index ef921956378262b7d30f1de8cca77b2a083709b1..98c624730dae4a99a5eadb6affde0a025eb30057 100644 (file)
--- a/drivers/iio/imu/bno055/Makefile
+++ b/drivers/iio/imu/bno055/Makefile
@@ -6,3 +6,5 @@ bno055_ser-y := bno055_ser_core.o
 # define_trace.h needs to know how to find our header
 CFLAGS_bno055_ser_trace.o := -I$(src)
 bno055_ser-$(CONFIG_TRACING) += bno055_ser_trace.o
+
+obj-$(CONFIG_BOSCH_BNO055_I2C) += bno055_i2c.o

diff --git a/drivers/iio/imu/bno055/bno055_i2c.c b/drivers/iio/imu/bno055/bno055_i2c.c
new file mode 100644 (file)
index 0000000..c1bbc0f
--- /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");