[PATCH 0/5] iio: gyro: add fxas2100x driver

[PATCH 0/5] iio: gyro: add fxas2100x driver

[Rui Miguel Silva]

Hi,
This series introduce a NXP fxas2100x family tri axis gyroscope driver [0]
It add a core implementaiton plus an i2c and spi.

This device can be found in the warp7 board [1], where it was tested.

---
Cheers,
   Rui

[0]: https://www.nxp.com/docs/en/data-sheet/FXAS21002.pdf
[1]: https://www.element14.com/community/community/designcenter/single-board-computers/warp7/overview

Rui Miguel Silva (5):
  iio: gyro: add DT bindings to fxas2100x
  iio: gyro: fxas2100x: add core driver for fxas2100x gyroscope
  iio: gyro: fxas2100x: add i2c driver
  iio: gyro: fxas2100x: add spi driver
  ARM: dts: imx7s-warp: add fxas2100x gyroscope

 .../bindings/iio/gyroscope/fxas2100x.txt      |  14 +
 arch/arm/boot/dts/imx7s-warp.dts              |   5 +
 drivers/iio/gyro/Kconfig                      |  22 +
 drivers/iio/gyro/Makefile                     |   3 +
 drivers/iio/gyro/fxas2100x.h                  | 149 +++
 drivers/iio/gyro/fxas2100x_core.c             | 930 ++++++++++++++++++
 drivers/iio/gyro/fxas2100x_i2c.c              |  73 ++
 drivers/iio/gyro/fxas2100x_spi.c              |  70 ++
 8 files changed, 1266 insertions(+)
 create mode 100644 Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
 create mode 100644 drivers/iio/gyro/fxas2100x.h
 create mode 100644 drivers/iio/gyro/fxas2100x_core.c
 create mode 100644 drivers/iio/gyro/fxas2100x_i2c.c
 create mode 100644 drivers/iio/gyro/fxas2100x_spi.c

-- 
2.20.1

[PATCH 1/5] iio: gyro: add DT bindings to fxas2100x

[Rui Miguel Silva]

Add device tree bindings for the FXAS2100x gyroscope.

Signed-off-by: Rui Miguel Silva <rui.silva@linaro.org>
---
 .../bindings/iio/gyroscope/fxas2100x.txt           | 14 ++++++++++++++
 1 file changed, 14 insertions(+)
 create mode 100644 Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt

diff --git a/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt b/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
new file mode 100644
index 000000000000..2aeef9aafec4
--- /dev/null
+++ b/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
@@ -0,0 +1,14 @@
+* NXP FXAS2100X Gyroscope device tree bindings
+
+http://www.nxp.com/products/sensors/gyroscopes/3-axis-digital-gyroscope:FXAS21002C
+
+Required properties:
+  - compatible : should be "nxp,fxas2100x"
+  - reg : the I2C address of the sensor
+
+Example:
+
+fxas2100x@20 {
+	compatible = "nxp,fxas2100x"
+	reg = <0x20>;
+};
-- 
2.20.1

Re: [PATCH 1/5] iio: gyro: add DT bindings to fxas2100x

[Fabio Estevam]

Hi Rui,

On Mon, Feb 4, 2019 at 3:25 PM Rui Miguel Silva <rui.silva@linaro.org> wrote:
>
> Add device tree bindings for the FXAS2100x gyroscope.

Please name it after the real part number: FXAS21002.

>
> Signed-off-by: Rui Miguel Silva <rui.silva@linaro.org>
> ---
>  .../bindings/iio/gyroscope/fxas2100x.txt           | 14 ++++++++++++++
>  1 file changed, 14 insertions(+)
>  create mode 100644 Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
>
> diff --git a/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt b/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
> new file mode 100644
> index 000000000000..2aeef9aafec4
> --- /dev/null
> +++ b/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
> @@ -0,0 +1,14 @@
> +* NXP FXAS2100X Gyroscope device tree bindings
> +
> +http://www.nxp.com/products/sensors/gyroscopes/3-axis-digital-gyroscope:FXAS21002C
> +
> +Required properties:
> +  - compatible : should be "nxp,fxas2100x"

We usually don't put x in the end. Better put the real part number
instead: "nxp,fxas21002"


> +  - reg : the I2C address of the sensor

Please describe the VDD and VDDIO regulators as well in the
dt-bindings and also add support for enabling them in the driver.

Re: [PATCH 1/5] iio: gyro: add DT bindings to fxas2100x

[Rui Miguel Silva]

Oi Fabio,
Thanks for the review.

On Mon 04 Feb 2019 at 18:16, Fabio Estevam wrote:
> Hi Rui,
>
> On Mon, Feb 4, 2019 at 3:25 PM Rui Miguel Silva 
> <rui.silva@linaro.org> wrote:
>>
>> Add device tree bindings for the FXAS2100x gyroscope.
>
> Please name it after the real part number: FXAS21002.

Yeah, right now it supports the FXAS21002 but if someone wants to
support for example the FXAS21000 it will be easier and the naming
just there, the main differences are ranges. But as we here are
starting with the FXAS210002, I tend to agree.

>
>>
>> Signed-off-by: Rui Miguel Silva <rui.silva@linaro.org>
>> ---
>>  .../bindings/iio/gyroscope/fxas2100x.txt           | 14 
>>  ++++++++++++++
>>  1 file changed, 14 insertions(+)
>>  create mode 100644 
>>  Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
>>
>> diff --git 
>> a/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt 
>> b/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
>> new file mode 100644
>> index 000000000000..2aeef9aafec4
>> --- /dev/null
>> +++ 
>> b/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
>> @@ -0,0 +1,14 @@
>> +* NXP FXAS2100X Gyroscope device tree bindings
>> +
>> +http://www.nxp.com/products/sensors/gyroscopes/3-axis-digital-gyroscope:FXAS21002C
>> +
>> +Required properties:
>> +  - compatible : should be "nxp,fxas2100x"
>
> We usually don't put x in the end. Better put the real part 
> number
> instead: "nxp,fxas21002"

Yeah, agree.

>
>
>> +  - reg : the I2C address of the sensor
>
> Please describe the VDD and VDDIO regulators as well in the
> dt-bindings and also add support for enabling them in the 
> driver.

Will do.

---
Cheers,
	Rui

Re: [PATCH 1/5] iio: gyro: add DT bindings to fxas2100x

[Rui Miguel Silva]

Oi Fabio,
Thanks for the review.

On Mon 04 Feb 2019 at 18:16, Fabio Estevam wrote:
> Hi Rui,
>
> On Mon, Feb 4, 2019 at 3:25 PM Rui Miguel Silva 
> <rui.silva@linaro.org> wrote:
>>
>> Add device tree bindings for the FXAS2100x gyroscope.
>
> Please name it after the real part number: FXAS21002.

Yeah, right now it supports the FXAS21002 but if someone wants to
support for example the FXAS21000 it will be easier and the naming
just there, the main differences are ranges. But as we here are
starting with the FXAS210002, I tend to agree.

>
>>
>> Signed-off-by: Rui Miguel Silva <rui.silva@linaro.org>
>> ---
>>  .../bindings/iio/gyroscope/fxas2100x.txt           | 14 
>>  ++++++++++++++
>>  1 file changed, 14 insertions(+)
>>  create mode 100644 
>>  Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
>>
>> diff --git 
>> a/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt 
>> b/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
>> new file mode 100644
>> index 000000000000..2aeef9aafec4
>> --- /dev/null
>> +++ 
>> b/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
>> @@ -0,0 +1,14 @@
>> +* NXP FXAS2100X Gyroscope device tree bindings
>> +
>> +http://www.nxp.com/products/sensors/gyroscopes/3-axis-digital-gyroscope:FXAS21002C
>> +
>> +Required properties:
>> +  - compatible : should be "nxp,fxas2100x"
>
> We usually don't put x in the end. Better put the real part 
> number
> instead: "nxp,fxas21002"

Yeah, agree.

>
>
>> +  - reg : the I2C address of the sensor
>
> Please describe the VDD and VDDIO regulators as well in the
> dt-bindings and also add support for enabling them in the 
> driver.

Will do.

---
Cheers,
	Rui

Re: [PATCH 1/5] iio: gyro: add DT bindings to fxas2100x

[Rob Herring]

On Mon, Feb 04, 2019 at 05:00:08PM +0000, Rui Miguel Silva wrote:
> Add device tree bindings for the FXAS2100x gyroscope.
> 
> Signed-off-by: Rui Miguel Silva <rui.silva@linaro.org>
> ---
>  .../bindings/iio/gyroscope/fxas2100x.txt           | 14 ++++++++++++++
>  1 file changed, 14 insertions(+)
>  create mode 100644 Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
> 
> diff --git a/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt b/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
> new file mode 100644
> index 000000000000..2aeef9aafec4
> --- /dev/null
> +++ b/Documentation/devicetree/bindings/iio/gyroscope/fxas2100x.txt
> @@ -0,0 +1,14 @@
> +* NXP FXAS2100X Gyroscope device tree bindings
> +
> +http://www.nxp.com/products/sensors/gyroscopes/3-axis-digital-gyroscope:FXAS21002C
> +
> +Required properties:
> +  - compatible : should be "nxp,fxas2100x"
> +  - reg : the I2C address of the sensor
> +
> +Example:
> +
> +fxas2100x@20 {

gyroscope@20

in addition to what's already been mentioned.

> +	compatible = "nxp,fxas2100x"
> +	reg = <0x20>;
> +};
> -- 
> 2.20.1
> 

[PATCH 2/5] iio: gyro: fxas2100x: add core driver for fxas2100x gyroscope

[Rui Miguel Silva]

This add the core support for the NXP fxas2100x Tri-axis gyroscope, using
the iio subsystem. It supports PM operations, axis reading, temperature, scale
factor of the axis, high pass and low pass filtering, and sampling frequency
selection.

It will have extras modules to support the communication over i2c
and spi.

Signed-off-by: Rui Miguel Silva <rui.silva@linaro.org>
---
 drivers/iio/gyro/Kconfig          |  11 +
 drivers/iio/gyro/Makefile         |   1 +
 drivers/iio/gyro/fxas2100x.h      | 149 +++++
 drivers/iio/gyro/fxas2100x_core.c | 930 ++++++++++++++++++++++++++++++
 4 files changed, 1091 insertions(+)
 create mode 100644 drivers/iio/gyro/fxas2100x.h
 create mode 100644 drivers/iio/gyro/fxas2100x_core.c

diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index 3126cf05e6b9..c168aa63de3b 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -73,6 +73,17 @@ config BMG160_SPI
 	tristate
 	select REGMAP_SPI
 
+config FXAS2100X
+	tristate "NXP FXAS2100X Gyro Sensor"
+	select IIO_BUFFER
+	select IIO_TRIGGERED_BUFFER
+	help
+	  Say yes here to build support for NXP FXAS2100X family Tri-axis Gyro
+	  Sensor driver connected via I2C or SPI.
+
+	  This driver can also be built as a module.  If so, the module
+	  will be called fxas2100x_i2c or fxas2100x_spi.
+
 config HID_SENSOR_GYRO_3D
 	depends on HID_SENSOR_HUB
 	select IIO_BUFFER
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
index 295ec780c4eb..9e2395185a6e 100644
--- a/drivers/iio/gyro/Makefile
+++ b/drivers/iio/gyro/Makefile
@@ -12,6 +12,7 @@ obj-$(CONFIG_ADXRS450) += adxrs450.o
 obj-$(CONFIG_BMG160) += bmg160_core.o
 obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o
 obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o
+obj-$(CONFIG_FXAS2100X) += fxas2100x_core.o
 
 obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
 
diff --git a/drivers/iio/gyro/fxas2100x.h b/drivers/iio/gyro/fxas2100x.h
new file mode 100644
index 000000000000..417445d2bcda
--- /dev/null
+++ b/drivers/iio/gyro/fxas2100x.h
@@ -0,0 +1,149 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Driver for NXP FXAS2100x Gyroscope - Header
+ *
+ * Copyright (C) 2018 Linaro Ltd.
+ *
+ */
+
+#ifndef FXAS2100X_H_
+#define FXAS2100X_H_
+
+#define FXAS2100X_REG_STATUS		0x00
+#define FXAS2100X_REG_OUT_X_MSB		0x01
+#define FXAS2100X_REG_OUT_X_LSB		0x02
+#define FXAS2100X_REG_OUT_Y_MSB		0x03
+#define FXAS2100X_REG_OUT_Y_LSB		0x04
+#define FXAS2100X_REG_OUT_Z_MSB		0x05
+#define FXAS2100X_REG_OUT_Z_LSB		0x06
+#define FXAS2100X_REG_DR_STATUS		0x07
+#define FXAS2100X_REG_F_STATUS		0x08
+#define FXAS2100X_REG_F_SETUP		0x09
+#define FXAS2100X_REG_F_EVENT		0x0A
+#define FXAS2100X_REG_INT_SRC_FLAG	0x0B
+#define FXAS2100X_REG_WHO_AM_I		0x0C
+#define FXAS2100X_REG_CTRL0		0x0D
+#define FXAS2100X_REG_RT_CFG		0x0E
+#define FXAS2100X_REG_RT_SRC		0x0F
+#define FXAS2100X_REG_RT_THS		0x10
+#define FXAS2100X_REG_RT_COUNT		0x11
+#define FXAS2100X_REG_TEMP		0x12
+#define FXAS2100X_REG_CTRL1		0x13
+#define FXAS2100X_REG_CTRL2		0x14
+#define FXAS2100X_REG_CTRL3		0x15
+
+enum fxas2100x_fields {
+	F_DR_STATUS,
+	F_OUT_X_MSB,
+	F_OUT_X_LSB,
+	F_OUT_Y_MSB,
+	F_OUT_Y_LSB,
+	F_OUT_Z_MSB,
+	F_OUT_Z_LSB,
+	/* DR_STATUS */
+	F_ZYX_OW, F_Z_OW, F_Y_OW, F_X_OW, F_ZYX_DR, F_Z_DR, F_Y_DR, F_X_DR,
+	/* F_STATUS */
+	F_OVF, F_WMKF, F_CNT,
+	/* F_SETUP */
+	F_MODE, F_WMRK,
+	/* F_EVENT */
+	F_EVENT, FE_TIME,
+	/* INT_SOURCE_FLAG */
+	F_BOOTEND, F_SRC_FIFO, F_SRC_RT, F_SRC_DRDY,
+	/* WHO_AM_I */
+	F_WHO_AM_I,
+	/* CTRL_REG0 */
+	F_BW, F_SPIW, F_SEL, F_HPF_EN, F_FS,
+	/* RT_CFG */
+	F_ELE, F_ZTEFE, F_YTEFE, F_XTEFE,
+	/* RT_SRC */
+	F_EA, F_ZRT, F_ZRT_POL, F_YRT, F_YRT_POL, F_XRT, F_XRT_POL,
+	/* RT_THS */
+	F_DBCNTM, F_THS,
+	/* RT_COUNT */
+	F_RT_COUNT,
+	/* TEMP */
+	F_TEMP,
+	/* CTRL_REG1 */
+	F_RST, F_ST, F_DR, F_ACTIVE, F_READY,
+	/* CTRL_REG2 */
+	F_INT_CFG_FIFO, F_INT_EN_FIFO, F_INT_CFG_RT, F_INT_EN_RT,
+	F_INT_CFG_DRDY, F_INT_EN_DRDY, F_IPOL, F_PP_OD,
+	/* CTRL_REG3 */
+	F_WRAPTOONE, F_EXTCTRLEN, F_FS_DOUBLE,
+	/* MAX FIELDS */
+	F_MAX_FIELDS,
+};
+
+static const struct reg_field fxas2100x_reg_fields[] = {
+	[F_DR_STATUS]		= REG_FIELD(FXAS2100X_REG_STATUS, 0, 7),
+	[F_OUT_X_MSB]		= REG_FIELD(FXAS2100X_REG_OUT_X_MSB, 0, 7),
+	[F_OUT_X_LSB]		= REG_FIELD(FXAS2100X_REG_OUT_X_LSB, 0, 7),
+	[F_OUT_Y_MSB]		= REG_FIELD(FXAS2100X_REG_OUT_Y_MSB, 0, 7),
+	[F_OUT_Y_LSB]		= REG_FIELD(FXAS2100X_REG_OUT_Y_LSB, 0, 7),
+	[F_OUT_Z_MSB]		= REG_FIELD(FXAS2100X_REG_OUT_Z_MSB, 0, 7),
+	[F_OUT_Z_LSB]		= REG_FIELD(FXAS2100X_REG_OUT_Z_LSB, 0, 7),
+	[F_ZYX_OW]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 7, 7),
+	[F_Z_OW]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 6, 6),
+	[F_Y_OW]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 5, 5),
+	[F_X_OW]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 4, 4),
+	[F_ZYX_DR]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 3, 3),
+	[F_Z_DR]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 2, 2),
+	[F_Y_DR]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 1, 1),
+	[F_X_DR]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 0, 0),
+	[F_OVF]			= REG_FIELD(FXAS2100X_REG_F_STATUS, 7, 7),
+	[F_WMKF]		= REG_FIELD(FXAS2100X_REG_F_STATUS, 6, 6),
+	[F_CNT]			= REG_FIELD(FXAS2100X_REG_F_STATUS, 0, 5),
+	[F_MODE]		= REG_FIELD(FXAS2100X_REG_F_SETUP, 6, 7),
+	[F_WMRK]		= REG_FIELD(FXAS2100X_REG_F_SETUP, 0, 5),
+	[F_EVENT]		= REG_FIELD(FXAS2100X_REG_F_EVENT, 5, 5),
+	[FE_TIME]		= REG_FIELD(FXAS2100X_REG_F_EVENT, 0, 4),
+	[F_BOOTEND]		= REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 3, 3),
+	[F_SRC_FIFO]		= REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 2, 2),
+	[F_SRC_RT]		= REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 1, 1),
+	[F_SRC_DRDY]		= REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 0, 0),
+	[F_WHO_AM_I]		= REG_FIELD(FXAS2100X_REG_WHO_AM_I, 0, 7),
+	[F_BW]			= REG_FIELD(FXAS2100X_REG_CTRL0, 6, 7),
+	[F_SPIW]		= REG_FIELD(FXAS2100X_REG_CTRL0, 5, 5),
+	[F_SEL]			= REG_FIELD(FXAS2100X_REG_CTRL0, 3, 4),
+	[F_HPF_EN]		= REG_FIELD(FXAS2100X_REG_CTRL0, 2, 2),
+	[F_FS]			= REG_FIELD(FXAS2100X_REG_CTRL0, 0, 1),
+	[F_ELE]			= REG_FIELD(FXAS2100X_REG_RT_CFG, 3, 3),
+	[F_ZTEFE]		= REG_FIELD(FXAS2100X_REG_RT_CFG, 2, 2),
+	[F_YTEFE]		= REG_FIELD(FXAS2100X_REG_RT_CFG, 1, 1),
+	[F_XTEFE]		= REG_FIELD(FXAS2100X_REG_RT_CFG, 0, 0),
+	[F_EA]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 6, 6),
+	[F_ZRT]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 5, 5),
+	[F_ZRT_POL]		= REG_FIELD(FXAS2100X_REG_RT_SRC, 4, 4),
+	[F_YRT]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 3, 3),
+	[F_YRT_POL]		= REG_FIELD(FXAS2100X_REG_RT_SRC, 2, 2),
+	[F_XRT]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 1, 1),
+	[F_XRT_POL]		= REG_FIELD(FXAS2100X_REG_RT_SRC, 0, 0),
+	[F_DBCNTM]		= REG_FIELD(FXAS2100X_REG_RT_THS, 7, 7),
+	[F_THS]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 0, 6),
+	[F_RT_COUNT]		= REG_FIELD(FXAS2100X_REG_RT_COUNT, 0, 7),
+	[F_TEMP]		= REG_FIELD(FXAS2100X_REG_TEMP, 0, 7),
+	[F_RST]			= REG_FIELD(FXAS2100X_REG_CTRL1, 6, 6),
+	[F_ST]			= REG_FIELD(FXAS2100X_REG_CTRL1, 5, 5),
+	[F_DR]			= REG_FIELD(FXAS2100X_REG_CTRL1, 2, 4),
+	[F_ACTIVE]		= REG_FIELD(FXAS2100X_REG_CTRL1, 1, 1),
+	[F_READY]		= REG_FIELD(FXAS2100X_REG_CTRL1, 0, 0),
+	[F_INT_CFG_FIFO]	= REG_FIELD(FXAS2100X_REG_CTRL2, 7, 7),
+	[F_INT_EN_FIFO]		= REG_FIELD(FXAS2100X_REG_CTRL2, 6, 6),
+	[F_INT_CFG_RT]		= REG_FIELD(FXAS2100X_REG_CTRL2, 5, 5),
+	[F_INT_EN_RT]		= REG_FIELD(FXAS2100X_REG_CTRL2, 4, 4),
+	[F_INT_CFG_DRDY]	= REG_FIELD(FXAS2100X_REG_CTRL2, 3, 3),
+	[F_INT_EN_DRDY]		= REG_FIELD(FXAS2100X_REG_CTRL2, 2, 2),
+	[F_IPOL]		= REG_FIELD(FXAS2100X_REG_CTRL2, 1, 1),
+	[F_PP_OD]		= REG_FIELD(FXAS2100X_REG_CTRL2, 0, 0),
+	[F_WRAPTOONE]		= REG_FIELD(FXAS2100X_REG_CTRL3, 3, 3),
+	[F_EXTCTRLEN]		= REG_FIELD(FXAS2100X_REG_CTRL3, 2, 2),
+	[F_FS_DOUBLE]		= REG_FIELD(FXAS2100X_REG_CTRL3, 0, 0),
+};
+
+extern const struct dev_pm_ops fxas2100x_pm_ops;
+
+int fxas2100x_core_probe(struct device *dev, struct regmap *regmap, int irq,
+			 const char *name);
+void fxas2100x_core_remove(struct device *dev);
+#endif
diff --git a/drivers/iio/gyro/fxas2100x_core.c b/drivers/iio/gyro/fxas2100x_core.c
new file mode 100644
index 000000000000..1f88760563dd
--- /dev/null
+++ b/drivers/iio/gyro/fxas2100x_core.c
@@ -0,0 +1,930 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Driver for NXP FXAS2100x Gyroscope - Core
+ *
+ * Copyright (C) 2019 Linaro Ltd.
+ *
+ */
+
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/pm.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+
+#include <linux/iio/events.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#include "fxas2100x.h"
+
+#define FXAS21002_CHIP_ID_1	0xD6
+#define FXAS21002_CHIP_ID_2	0xD7
+
+#define FXAS2100X_MODE_STANDBY	0x00
+#define FXAS2100X_MODE_READY	0x01
+#define FXAS2100X_MODE_ACTIVE	0x02
+
+#define FXAS2100X_STANDBY_ACTIVE_TIME_MS	62
+#define FXAS2100X_READY_ACTIVE_TIME_MS		7
+
+#define FXAS2100X_ODR_LIST_MAX		10
+
+#define FXAS2100X_SCALE_FRACTIONAL	32
+#define FXAS2100X_RANGE_LIMIT_DOUBLE	2000
+
+#define FXAS2100X_AXIS_TO_REG(axis)	(FXAS2100X_REG_OUT_X_MSB + ((axis) * 2))
+
+static const int fxas2100x_odr_values[] = {
+	800, 400, 200, 100, 50, 25, 12, 12
+};
+
+/*
+ * This values are taken from the low-pass filter cuttoff frequency calculated
+ * ODR * 0.lpf_values. So, for ODR = 800Hz with a lpf value = 0.32
+ * => LPF cuttof frequency = 800 * 0.32 = 256 Hz
+ */
+static const int fxas2100x_lpf_values[] = {
+	32, 16, 8
+};
+
+/*
+ * This values are taken from the high-pass filter cuttoff frequency calculated
+ * ODR * 0.0hpf_values. So, for ODR = 800Hz with a hpf value = 0.018750
+ * => HPF cuttof frequency = 800 * 0.018750 = 15 Hz
+ */
+static const int fxas2100x_hpf_values[] = {
+	18750, 9625, 4875, 2475
+};
+
+static const int fxas2100x_range_values[] = {
+	4000, 2000, 1000, 500, 250
+};
+
+struct fxas2100x_data {
+	u8 chip_id;
+	u8 mode;
+	u8 prev_mode;
+	struct regmap *regmap;
+	struct regmap_field *regmap_fields[F_MAX_FIELDS];
+	struct iio_trigger *dready_trig;
+	struct mutex lock;		/* protect access */
+	s16 buffer[3];
+	int irq;
+};
+
+enum fxas2100x_channel_index {
+	CHANNEL_SCAN_INDEX_X,
+	CHANNEL_SCAN_INDEX_Y,
+	CHANNEL_SCAN_INDEX_Z,
+	CHANNEL_SCAN_MAX,
+};
+
+static int fxas2100x_odr_hz_from_value(struct fxas2100x_data *data, u8 value)
+{
+	int odr_value_max = ARRAY_SIZE(fxas2100x_odr_values) - 1;
+
+	value = min_t(u8, value, odr_value_max);
+
+	return fxas2100x_odr_values[value];
+}
+
+static int fxas2100x_odr_value_from_hz(struct fxas2100x_data *data,
+				       unsigned int hz)
+{
+	int odr_table_size = ARRAY_SIZE(fxas2100x_odr_values);
+	int i;
+
+	for (i = 0; i < odr_table_size; i++)
+		if (fxas2100x_odr_values[i] == hz)
+			return i;
+
+	return -EINVAL;
+}
+
+static int fxas2100x_lpf_bw_from_value(struct fxas2100x_data *data, u8 value)
+{
+	int lpf_value_max = ARRAY_SIZE(fxas2100x_lpf_values) - 1;
+
+	value = min_t(u8, value, lpf_value_max);
+
+	return fxas2100x_lpf_values[value];
+}
+
+static int fxas2100x_lpf_value_from_bw(struct fxas2100x_data *data,
+				       unsigned int hz)
+{
+	int lpf_table_size = ARRAY_SIZE(fxas2100x_lpf_values);
+	int i;
+
+	for (i = 0; i < lpf_table_size; i++)
+		if (fxas2100x_lpf_values[i] == hz)
+			return i;
+
+	return -EINVAL;
+}
+
+static int fxas2100x_hpf_sel_from_value(struct fxas2100x_data *data, u8 value)
+{
+	int hpf_value_max = ARRAY_SIZE(fxas2100x_hpf_values) - 1;
+
+	value = min_t(u8, value, hpf_value_max);
+
+	return fxas2100x_hpf_values[value];
+}
+
+static int fxas2100x_hpf_value_from_sel(struct fxas2100x_data *data,
+					unsigned int hz)
+{
+	int hpf_table_size = ARRAY_SIZE(fxas2100x_hpf_values);
+	int i;
+
+	for (i = 0; i < hpf_table_size; i++)
+		if (fxas2100x_hpf_values[i] == hz)
+			return i;
+
+	return -EINVAL;
+}
+
+static int fxas2100x_range_fs_from_value(struct fxas2100x_data *data,
+					 u8 value)
+{
+	int range_value_max = ARRAY_SIZE(fxas2100x_range_values) - 1;
+	unsigned int fs_double;
+	int ret;
+
+	/* We need to check if FS_DOUBLE is enabled to offset the value */
+	ret = regmap_field_read(data->regmap_fields[F_FS_DOUBLE], &fs_double);
+	if (ret < 0)
+		return ret;
+
+	value = min_t(u8, value, range_value_max);
+
+	if (!fs_double)
+		value += 1;
+
+	return fxas2100x_range_values[value];
+}
+
+static int fxas2100x_range_value_from_fs(struct fxas2100x_data *data,
+					 unsigned int range)
+{
+	int range_table_size = ARRAY_SIZE(fxas2100x_range_values);
+	bool found = false;
+	int ret;
+	int i;
+
+	for (i = 0; i < range_table_size; i++)
+		if (fxas2100x_range_values[i] == range)
+			found = true;
+	if (!found)
+		return -EINVAL;
+
+	if (range > FXAS2100X_RANGE_LIMIT_DOUBLE)
+		ret = regmap_field_write(data->regmap_fields[F_FS_DOUBLE], 1);
+	else
+		ret = regmap_field_write(data->regmap_fields[F_FS_DOUBLE], 0);
+
+	return i;
+}
+
+static int fxas2100x_mode_get(struct fxas2100x_data *data)
+{
+	unsigned int active;
+	unsigned int ready;
+	int ret;
+
+	ret = regmap_field_read(data->regmap_fields[F_ACTIVE], &active);
+	if (ret < 0)
+		return ret;
+	if (active)
+		return FXAS2100X_MODE_ACTIVE;
+
+	ret = regmap_field_read(data->regmap_fields[F_READY], &ready);
+	if (ret < 0)
+		return ret;
+	if (ready)
+		return FXAS2100X_MODE_READY;
+
+	return FXAS2100X_MODE_STANDBY;
+}
+
+static int fxas2100x_mode_set(struct fxas2100x_data *data, u8 mode)
+{
+	int ret;
+
+	if (mode > FXAS2100X_MODE_ACTIVE)
+		return -EINVAL;
+
+	if (mode == data->mode)
+		return 0;
+
+	if (mode == FXAS2100X_MODE_READY)
+		ret = regmap_field_write(data->regmap_fields[F_READY], 1);
+	else
+		ret = regmap_field_write(data->regmap_fields[F_READY], 0);
+	if (ret < 0)
+		return ret;
+
+	if (mode == FXAS2100X_MODE_ACTIVE)
+		ret = regmap_field_write(data->regmap_fields[F_ACTIVE], 1);
+	else
+		ret = regmap_field_write(data->regmap_fields[F_ACTIVE], 0);
+	if (ret < 0)
+		return ret;
+
+	/* if going to active wait the setup times */
+	if (mode == FXAS2100X_MODE_ACTIVE)
+		if (data->mode == FXAS2100X_MODE_STANDBY)
+			msleep_interruptible(FXAS2100X_STANDBY_ACTIVE_TIME_MS);
+	if (data->mode == FXAS2100X_MODE_READY)
+		msleep_interruptible(FXAS2100X_READY_ACTIVE_TIME_MS);
+
+	data->prev_mode = data->mode;
+	data->mode = mode;
+
+	return ret;
+}
+
+static int fxas2100x_pre_write(struct fxas2100x_data *data)
+{
+	int actual_mode;
+
+	actual_mode = fxas2100x_mode_get(data);
+
+	if (actual_mode < 0)
+		return actual_mode;
+
+	return fxas2100x_mode_set(data, FXAS2100X_MODE_READY);
+}
+
+static int fxas2100x_post_write(struct fxas2100x_data *data)
+{
+	return fxas2100x_mode_set(data, data->prev_mode);
+}
+
+static int  fxas2100x_pm_get(struct fxas2100x_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	int ret;
+
+	ret = pm_runtime_get_sync(dev);
+	if (ret < 0)
+		pm_runtime_put_noidle(dev);
+
+	return ret;
+}
+
+static int  fxas2100x_pm_put(struct fxas2100x_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+
+	pm_runtime_mark_last_busy(dev);
+
+	return pm_runtime_put_autosuspend(dev);
+}
+
+static int fxas2100x_temp_get(struct fxas2100x_data *data, int *val)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	unsigned int temp;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = fxas2100x_pm_get(data);
+	if (ret < 0)
+		goto data_unlock;
+
+	ret = regmap_field_read(data->regmap_fields[F_TEMP], &temp);
+	if (ret < 0) {
+		dev_err(dev, "failed to read temp: %d\n", ret);
+		goto data_unlock;
+	}
+
+	*val = sign_extend32(temp, 7);
+
+	ret = fxas2100x_pm_put(data);
+	if (ret < 0)
+		goto data_unlock;
+
+	ret = IIO_VAL_INT;
+
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas2100x_axis_get(struct fxas2100x_data *data, int index, int *val)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	__be16 axis_be;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = fxas2100x_pm_get(data);
+	if (ret < 0)
+		goto data_unlock;
+
+	ret = regmap_bulk_read(data->regmap, FXAS2100X_AXIS_TO_REG(index),
+			       &axis_be, sizeof(axis_be));
+	if (ret < 0) {
+		dev_err(dev, "failed to read axis: %d: %d\n", index, ret);
+		goto data_unlock;
+	}
+
+	*val = sign_extend32(be16_to_cpu(axis_be), 15);
+
+	ret = fxas2100x_pm_put(data);
+	if (ret < 0)
+		goto data_unlock;
+
+	ret = IIO_VAL_INT;
+
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas2100x_odr_get(struct fxas2100x_data *data, int *odr)
+{
+	unsigned int odr_bits;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = regmap_field_read(data->regmap_fields[F_DR], &odr_bits);
+	if (ret < 0)
+		goto data_unlock;
+
+	*odr = fxas2100x_odr_hz_from_value(data, odr_bits);
+
+	ret = IIO_VAL_INT;
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas2100x_odr_set(struct fxas2100x_data *data, int odr)
+{
+	int odr_bits;
+	int ret;
+
+	odr_bits = fxas2100x_odr_value_from_hz(data, odr);
+
+	if (odr_bits < 0)
+		return odr_bits;
+
+	mutex_lock(&data->lock);
+	ret = fxas2100x_pre_write(data);
+	if (ret < 0)
+		goto post_write;
+
+	ret = regmap_field_write(data->regmap_fields[F_DR], odr_bits);
+	if (ret < 0)
+		goto post_write;
+
+post_write:
+	ret = fxas2100x_post_write(data);
+
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas2100x_lpf_get(struct fxas2100x_data *data, int *val2)
+{
+	unsigned int bw_bits;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = regmap_field_read(data->regmap_fields[F_BW], &bw_bits);
+	if (ret < 0)
+		goto data_unlock;
+
+	*val2 = fxas2100x_lpf_bw_from_value(data, bw_bits) * 10000;
+
+	ret = IIO_VAL_INT_PLUS_MICRO;
+
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas2100x_lpf_set(struct fxas2100x_data *data, int bw)
+{
+	int bw_bits;
+	int odr;
+	int ret;
+
+	bw_bits = fxas2100x_lpf_value_from_bw(data, bw);
+
+	if (bw_bits < 0)
+		return bw_bits;
+
+	/*
+	 * From table 33 of the device spec, for ODR = 25Hz and 12.5 value 0.08
+	 * is not allowed and for ODR = 12.5 value 0.16 is also not allowed
+	 */
+	ret = fxas2100x_odr_get(data, &odr);
+	if (ret < 0)
+		return -EINVAL;
+
+	if ((odr == 25 && bw_bits > 0x01) || (odr == 12 && bw_bits > 0))
+		return -EINVAL;
+
+	mutex_lock(&data->lock);
+	ret = fxas2100x_pre_write(data);
+	if (ret < 0)
+		goto post_write;
+
+	ret = regmap_field_write(data->regmap_fields[F_BW], bw_bits);
+	if (ret < 0)
+		goto post_write;
+
+post_write:
+	ret = fxas2100x_post_write(data);
+
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas2100x_hpf_get(struct fxas2100x_data *data, int *val2)
+{
+	unsigned int sel_bits;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = regmap_field_read(data->regmap_fields[F_SEL], &sel_bits);
+	if (ret < 0)
+		goto data_unlock;
+
+	*val2 = fxas2100x_hpf_sel_from_value(data, sel_bits);
+
+	ret = IIO_VAL_INT_PLUS_MICRO;
+
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas2100x_hpf_set(struct fxas2100x_data *data, int sel)
+{
+	int sel_bits;
+	int ret;
+
+	sel_bits = fxas2100x_hpf_value_from_sel(data, sel);
+
+	if (sel_bits < 0)
+		return sel_bits;
+
+	mutex_lock(&data->lock);
+	ret = fxas2100x_pre_write(data);
+	if (ret < 0)
+		goto post_write;
+
+	ret = regmap_field_write(data->regmap_fields[F_SEL], sel_bits);
+	if (ret < 0)
+		goto post_write;
+
+post_write:
+	ret = fxas2100x_post_write(data);
+
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas2100x_scale_get(struct fxas2100x_data *data, int *val)
+{
+	int fs_bits;
+	int scale;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = regmap_field_read(data->regmap_fields[F_FS], &fs_bits);
+	if (ret < 0)
+		goto data_unlock;
+
+	scale = fxas2100x_range_fs_from_value(data, fs_bits);
+
+	*val = scale;
+
+	ret = IIO_VAL_FRACTIONAL;
+
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas2100x_scale_set(struct fxas2100x_data *data, int range)
+{
+	int fs_bits;
+	int ret;
+
+	fs_bits = fxas2100x_range_value_from_fs(data, range);
+
+	if (fs_bits < 0)
+		return fs_bits;
+
+	mutex_lock(&data->lock);
+	ret = fxas2100x_pre_write(data);
+	if (ret < 0)
+		goto post_write;
+
+	ret = regmap_field_write(data->regmap_fields[F_FS], fs_bits);
+	if (ret < 0)
+		goto post_write;
+
+post_write:
+	ret = fxas2100x_post_write(data);
+
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas2100x_read_raw(struct iio_dev *indio_dev,
+			      struct iio_chan_spec const *chan, int *val,
+			      int *val2, long mask)
+{
+	struct fxas2100x_data *data = iio_priv(indio_dev);
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		switch (chan->type) {
+		case IIO_TEMP:
+			return fxas2100x_temp_get(data, val);
+		case IIO_ANGL_VEL:
+			return fxas2100x_axis_get(data, chan->scan_index, val);
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			*val2 = FXAS2100X_SCALE_FRACTIONAL;
+			return fxas2100x_scale_get(data, val);
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		*val = 0;
+		return fxas2100x_lpf_get(data, val2);
+	case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
+		*val = 0;
+		return fxas2100x_hpf_get(data, val2);
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		*val2 = 0;
+		return fxas2100x_odr_get(data, val);
+	default:
+		return -EINVAL;
+	}
+}
+
+static int fxas2100x_write_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan, int val,
+			       int val2, long mask)
+{
+	struct fxas2100x_data *data = iio_priv(indio_dev);
+	int range;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return fxas2100x_odr_set(data, val);
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		val2 = val2 / 10000;
+		return fxas2100x_lpf_set(data, val2);
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			range = (((val * 1000 + val2 / 1000) *
+				  FXAS2100X_SCALE_FRACTIONAL) / 1000);
+			return fxas2100x_scale_set(data, range);
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
+		return fxas2100x_hpf_set(data, val2);
+	default:
+		return -EINVAL;
+	}
+}
+
+static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("12.5 25 50 100 200 400 800");
+
+static IIO_CONST_ATTR(in_anglvel_filter_low_pass_3db_frequency_available,
+		      "0.32 0.16 0.08");
+
+static IIO_CONST_ATTR(in_anglvel_filter_high_pass_3db_frequency_available,
+		      "0.018750 0.009625 0.004875 0.002475");
+
+static IIO_CONST_ATTR(in_anglvel_scale_available,
+		      "125.0 62.5 31.25 15.625 7.8130");
+
+static struct attribute *fxas2100x_attributes[] = {
+	&iio_const_attr_sampling_frequency_available.dev_attr.attr,
+	&iio_const_attr_in_anglvel_filter_low_pass_3db_frequency_available.dev_attr.attr,
+	&iio_const_attr_in_anglvel_filter_high_pass_3db_frequency_available.dev_attr.attr,
+	&iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
+	NULL,
+};
+
+static const struct attribute_group fxas2100x_attrs_group = {
+	.attrs = fxas2100x_attributes,
+};
+
+#define FXAS2100X_CHANNEL(_axis) {					\
+	.type = IIO_ANGL_VEL,						\
+	.modified = 1,							\
+	.channel2 = IIO_MOD_##_axis,					\
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),			\
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) |		\
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) |	\
+		BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY) |	\
+		BIT(IIO_CHAN_INFO_SAMP_FREQ),				\
+	.scan_index = CHANNEL_SCAN_INDEX_##_axis,			\
+	.scan_type = {							\
+		.sign = 's',						\
+		.realbits = 16,						\
+		.storagebits = 16,					\
+		.endianness = IIO_BE,					\
+	},								\
+}
+
+static const struct iio_chan_spec fxas2100x_channels[] = {
+	{
+		.type = IIO_TEMP,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.scan_index = -1,
+	},
+	FXAS2100X_CHANNEL(X),
+	FXAS2100X_CHANNEL(Y),
+	FXAS2100X_CHANNEL(Z),
+};
+
+static const struct iio_info fxas2100x_info = {
+	.attrs			= &fxas2100x_attrs_group,
+	.read_raw		= &fxas2100x_read_raw,
+	.write_raw		= &fxas2100x_write_raw,
+};
+
+static irqreturn_t fxas2100x_trigger_handler(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct fxas2100x_data *data = iio_priv(indio_dev);
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = regmap_bulk_read(data->regmap, FXAS2100X_REG_OUT_X_MSB,
+			       data->buffer, CHANNEL_SCAN_MAX * 2);
+	mutex_unlock(&data->lock);
+	if (ret < 0)
+		goto notify_done;
+
+	iio_push_to_buffers_with_timestamp(indio_dev, data->buffer,
+					   pf->timestamp);
+
+notify_done:
+	iio_trigger_notify_done(indio_dev->trig);
+
+	return IRQ_HANDLED;
+}
+
+static int fxas2100x_chip_init(struct fxas2100x_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	unsigned int chip_id;
+	int ret;
+
+	ret = regmap_field_read(data->regmap_fields[F_WHO_AM_I], &chip_id);
+	if (ret < 0)
+		return ret;
+
+	if (chip_id != FXAS21002_CHIP_ID_1 && chip_id != FXAS21002_CHIP_ID_2) {
+		dev_err(dev, "chip id %d is not supported\n", chip_id);
+		return -EINVAL;
+	}
+
+	data->chip_id = chip_id;
+
+	ret = fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
+	if (ret < 0)
+		return ret;
+
+	/* Set ODR to 200HZ as default */
+	ret = fxas2100x_odr_set(data, 200);
+	if (ret < 0)
+		dev_err(dev, "failed to set ODR: %d\n", ret);
+
+	return ret;
+}
+
+static int fxas2100x_data_rdy_trigger_set_state(struct iio_trigger *trig,
+						bool state)
+{
+	struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+	struct fxas2100x_data *data = iio_priv(indio_dev);
+
+	return regmap_field_write(data->regmap_fields[F_INT_EN_DRDY], !!state);
+}
+
+static const struct iio_trigger_ops fxas2100x_trigger_ops = {
+	.set_trigger_state = &fxas2100x_data_rdy_trigger_set_state,
+};
+
+static irqreturn_t fxas2100x_data_rdy_trig_poll(int irq, void *private)
+{
+	struct iio_dev *indio_dev = private;
+	struct fxas2100x_data *data = iio_priv(indio_dev);
+
+	iio_trigger_poll(data->dready_trig);
+
+	return IRQ_HANDLED;
+}
+
+static int fxas2100x_trigger_probe(struct fxas2100x_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	int ret;
+
+	if (!data->irq)
+		return 0;
+
+	data->dready_trig = devm_iio_trigger_alloc(dev, "%s-dev%d",
+						   indio_dev->name,
+						   indio_dev->id);
+	if (!data->dready_trig)
+		return -ENOMEM;
+
+	ret = devm_request_irq(dev, data->irq, fxas2100x_data_rdy_trig_poll,
+			       IRQF_TRIGGER_RISING, "fxas2100x_data_ready",
+			       data->dready_trig);
+	if (ret < 0)
+		return ret;
+
+	data->dready_trig->dev.parent = dev;
+	data->dready_trig->ops = &fxas2100x_trigger_ops;
+	iio_trigger_set_drvdata(data->dready_trig, indio_dev);
+
+	ret = devm_iio_trigger_register(dev, data->dready_trig);
+	if (ret)
+		return ret;
+
+	return 0;
+}
+
+int fxas2100x_core_probe(struct device *dev, struct regmap *regmap, int irq,
+			 const char *name)
+{
+	struct fxas2100x_data *data;
+	struct iio_dev *indio_dev;
+	struct regmap_field *f;
+	int i;
+	int ret;
+
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
+	if (!indio_dev)
+		return -ENOMEM;
+
+	data = iio_priv(indio_dev);
+	dev_set_drvdata(dev, indio_dev);
+	data->irq = irq;
+	data->regmap = regmap;
+
+	for (i = 0; i < F_MAX_FIELDS; i++) {
+		f = devm_regmap_field_alloc(dev, data->regmap,
+					    fxas2100x_reg_fields[i]);
+		if (IS_ERR(f)) {
+			dev_err(dev, "failed to alloc regmap field %d: %ld\n",
+				i, PTR_ERR(f));
+			return PTR_ERR(f);
+		}
+		data->regmap_fields[i] = f;
+	}
+
+	mutex_init(&data->lock);
+
+	ret = fxas2100x_chip_init(data);
+	if (ret < 0)
+		return ret;
+
+	indio_dev->dev.parent = dev;
+	indio_dev->channels = fxas2100x_channels;
+	indio_dev->num_channels = ARRAY_SIZE(fxas2100x_channels);
+	indio_dev->name = name;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->info = &fxas2100x_info;
+
+	ret = fxas2100x_trigger_probe(data);
+	if (ret < 0)
+		return ret;
+
+	ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
+					      iio_pollfunc_store_time,
+					      fxas2100x_trigger_handler, NULL);
+	if (ret < 0)
+		return ret;
+
+	ret = pm_runtime_set_active(dev);
+	if (ret)
+		return ret;
+
+	pm_runtime_enable(dev);
+	pm_runtime_set_autosuspend_delay(dev, 2000);
+	pm_runtime_use_autosuspend(dev);
+
+	ret = devm_iio_device_register(dev, indio_dev);
+	if (ret < 0) {
+		dev_err(dev, "unable to register iio device: %d\n", ret);
+		return ret;
+	}
+
+	return 0;
+}
+EXPORT_SYMBOL_GPL(fxas2100x_core_probe);
+
+void fxas2100x_core_remove(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct fxas2100x_data *data = iio_priv(indio_dev);
+
+	pm_runtime_disable(dev);
+	pm_runtime_set_suspended(dev);
+	pm_runtime_put_noidle(dev);
+
+	fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
+}
+EXPORT_SYMBOL_GPL(fxas2100x_core_remove);
+
+#ifdef CONFIG_PM_SLEEP
+static int fxas2100x_suspend(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct fxas2100x_data *data = iio_priv(indio_dev);
+
+	fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
+
+	return 0;
+}
+
+static int fxas2100x_resume(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct fxas2100x_data *data = iio_priv(indio_dev);
+
+	fxas2100x_mode_set(data, data->prev_mode);
+
+	return 0;
+}
+#endif
+
+#ifdef CONFIG_PM
+static int fxas2100x_runtime_suspend(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct fxas2100x_data *data = iio_priv(indio_dev);
+	int ret;
+
+	ret = fxas2100x_mode_set(data, FXAS2100X_MODE_READY);
+	if (ret < 0)
+		return -EAGAIN;
+
+	return 0;
+}
+
+static int fxas2100x_runtime_resume(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct fxas2100x_data *data = iio_priv(indio_dev);
+	int ret;
+
+	ret = fxas2100x_mode_set(data, FXAS2100X_MODE_ACTIVE);
+	if (ret < 0)
+		return -EAGAIN;
+
+	return 0;
+}
+#endif
+
+const struct dev_pm_ops fxas2100x_pm_ops = {
+	SET_SYSTEM_SLEEP_PM_OPS(fxas2100x_suspend, fxas2100x_resume)
+	SET_RUNTIME_PM_OPS(fxas2100x_runtime_suspend,
+			   fxas2100x_runtime_resume, NULL)
+};
+EXPORT_SYMBOL_GPL(fxas2100x_pm_ops);
+
+MODULE_AUTHOR("Rui Miguel Silva <rui.silva@linaro.org>");
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("FXAS2100X Gyro driver");
-- 
2.20.1

Re: [PATCH 2/5] iio: gyro: fxas2100x: add core driver for fxas2100x gyroscope

[Peter Meerwald-Stadler]

On Mon, 4 Feb 2019, Rui Miguel Silva wrote:

Hello,

please find some comments below

regards, p.

> This add the core support for the NXP fxas2100x Tri-axis gyroscope, using

adds

> the iio subsystem. It supports PM operations, axis reading, temperature, scale
> factor of the axis, high pass and low pass filtering, and sampling frequency
> selection.
> 
> It will have extras modules to support the communication over i2c
> and spi.
> 
> Signed-off-by: Rui Miguel Silva <rui.silva@linaro.org>
> ---
>  drivers/iio/gyro/Kconfig          |  11 +
>  drivers/iio/gyro/Makefile         |   1 +
>  drivers/iio/gyro/fxas2100x.h      | 149 +++++
>  drivers/iio/gyro/fxas2100x_core.c | 930 ++++++++++++++++++++++++++++++
>  4 files changed, 1091 insertions(+)
>  create mode 100644 drivers/iio/gyro/fxas2100x.h
>  create mode 100644 drivers/iio/gyro/fxas2100x_core.c
> 
> diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
> index 3126cf05e6b9..c168aa63de3b 100644
> --- a/drivers/iio/gyro/Kconfig
> +++ b/drivers/iio/gyro/Kconfig
> @@ -73,6 +73,17 @@ config BMG160_SPI
>  	tristate
>  	select REGMAP_SPI
>  
> +config FXAS2100X
> +	tristate "NXP FXAS2100X Gyro Sensor"
> +	select IIO_BUFFER
> +	select IIO_TRIGGERED_BUFFER
> +	help
> +	  Say yes here to build support for NXP FXAS2100X family Tri-axis Gyro
> +	  Sensor driver connected via I2C or SPI.
> +
> +	  This driver can also be built as a module.  If so, the module
> +	  will be called fxas2100x_i2c or fxas2100x_spi.
> +
>  config HID_SENSOR_GYRO_3D
>  	depends on HID_SENSOR_HUB
>  	select IIO_BUFFER
> diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
> index 295ec780c4eb..9e2395185a6e 100644
> --- a/drivers/iio/gyro/Makefile
> +++ b/drivers/iio/gyro/Makefile
> @@ -12,6 +12,7 @@ obj-$(CONFIG_ADXRS450) += adxrs450.o
>  obj-$(CONFIG_BMG160) += bmg160_core.o
>  obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o
>  obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o
> +obj-$(CONFIG_FXAS2100X) += fxas2100x_core.o
>  
>  obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
>  
> diff --git a/drivers/iio/gyro/fxas2100x.h b/drivers/iio/gyro/fxas2100x.h
> new file mode 100644
> index 000000000000..417445d2bcda
> --- /dev/null
> +++ b/drivers/iio/gyro/fxas2100x.h
> @@ -0,0 +1,149 @@
> +/* SPDX-License-Identifier: GPL-2.0 */
> +/*
> + * Driver for NXP FXAS2100x Gyroscope - Header
> + *
> + * Copyright (C) 2018 Linaro Ltd.

the other files are (C) 2019

> + *
> + */
> +
> +#ifndef FXAS2100X_H_
> +#define FXAS2100X_H_
> +
> +#define FXAS2100X_REG_STATUS		0x00
> +#define FXAS2100X_REG_OUT_X_MSB		0x01
> +#define FXAS2100X_REG_OUT_X_LSB		0x02
> +#define FXAS2100X_REG_OUT_Y_MSB		0x03
> +#define FXAS2100X_REG_OUT_Y_LSB		0x04
> +#define FXAS2100X_REG_OUT_Z_MSB		0x05
> +#define FXAS2100X_REG_OUT_Z_LSB		0x06
> +#define FXAS2100X_REG_DR_STATUS		0x07
> +#define FXAS2100X_REG_F_STATUS		0x08
> +#define FXAS2100X_REG_F_SETUP		0x09
> +#define FXAS2100X_REG_F_EVENT		0x0A
> +#define FXAS2100X_REG_INT_SRC_FLAG	0x0B
> +#define FXAS2100X_REG_WHO_AM_I		0x0C
> +#define FXAS2100X_REG_CTRL0		0x0D
> +#define FXAS2100X_REG_RT_CFG		0x0E
> +#define FXAS2100X_REG_RT_SRC		0x0F
> +#define FXAS2100X_REG_RT_THS		0x10
> +#define FXAS2100X_REG_RT_COUNT		0x11
> +#define FXAS2100X_REG_TEMP		0x12
> +#define FXAS2100X_REG_CTRL1		0x13
> +#define FXAS2100X_REG_CTRL2		0x14
> +#define FXAS2100X_REG_CTRL3		0x15
> +
> +enum fxas2100x_fields {
> +	F_DR_STATUS,
> +	F_OUT_X_MSB,
> +	F_OUT_X_LSB,
> +	F_OUT_Y_MSB,
> +	F_OUT_Y_LSB,
> +	F_OUT_Z_MSB,
> +	F_OUT_Z_LSB,
> +	/* DR_STATUS */
> +	F_ZYX_OW, F_Z_OW, F_Y_OW, F_X_OW, F_ZYX_DR, F_Z_DR, F_Y_DR, F_X_DR,
> +	/* F_STATUS */
> +	F_OVF, F_WMKF, F_CNT,
> +	/* F_SETUP */
> +	F_MODE, F_WMRK,
> +	/* F_EVENT */
> +	F_EVENT, FE_TIME,
> +	/* INT_SOURCE_FLAG */
> +	F_BOOTEND, F_SRC_FIFO, F_SRC_RT, F_SRC_DRDY,
> +	/* WHO_AM_I */
> +	F_WHO_AM_I,
> +	/* CTRL_REG0 */
> +	F_BW, F_SPIW, F_SEL, F_HPF_EN, F_FS,
> +	/* RT_CFG */
> +	F_ELE, F_ZTEFE, F_YTEFE, F_XTEFE,
> +	/* RT_SRC */
> +	F_EA, F_ZRT, F_ZRT_POL, F_YRT, F_YRT_POL, F_XRT, F_XRT_POL,
> +	/* RT_THS */
> +	F_DBCNTM, F_THS,
> +	/* RT_COUNT */
> +	F_RT_COUNT,
> +	/* TEMP */
> +	F_TEMP,
> +	/* CTRL_REG1 */
> +	F_RST, F_ST, F_DR, F_ACTIVE, F_READY,
> +	/* CTRL_REG2 */
> +	F_INT_CFG_FIFO, F_INT_EN_FIFO, F_INT_CFG_RT, F_INT_EN_RT,
> +	F_INT_CFG_DRDY, F_INT_EN_DRDY, F_IPOL, F_PP_OD,
> +	/* CTRL_REG3 */
> +	F_WRAPTOONE, F_EXTCTRLEN, F_FS_DOUBLE,
> +	/* MAX FIELDS */
> +	F_MAX_FIELDS,
> +};
> +
> +static const struct reg_field fxas2100x_reg_fields[] = {

where des reg_field come from?
ideally, a .h file should #include all the stuff it needs

> +	[F_DR_STATUS]		= REG_FIELD(FXAS2100X_REG_STATUS, 0, 7),
> +	[F_OUT_X_MSB]		= REG_FIELD(FXAS2100X_REG_OUT_X_MSB, 0, 7),
> +	[F_OUT_X_LSB]		= REG_FIELD(FXAS2100X_REG_OUT_X_LSB, 0, 7),
> +	[F_OUT_Y_MSB]		= REG_FIELD(FXAS2100X_REG_OUT_Y_MSB, 0, 7),
> +	[F_OUT_Y_LSB]		= REG_FIELD(FXAS2100X_REG_OUT_Y_LSB, 0, 7),
> +	[F_OUT_Z_MSB]		= REG_FIELD(FXAS2100X_REG_OUT_Z_MSB, 0, 7),
> +	[F_OUT_Z_LSB]		= REG_FIELD(FXAS2100X_REG_OUT_Z_LSB, 0, 7),
> +	[F_ZYX_OW]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 7, 7),
> +	[F_Z_OW]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 6, 6),
> +	[F_Y_OW]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 5, 5),
> +	[F_X_OW]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 4, 4),
> +	[F_ZYX_DR]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 3, 3),
> +	[F_Z_DR]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 2, 2),
> +	[F_Y_DR]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 1, 1),
> +	[F_X_DR]		= REG_FIELD(FXAS2100X_REG_DR_STATUS, 0, 0),
> +	[F_OVF]			= REG_FIELD(FXAS2100X_REG_F_STATUS, 7, 7),
> +	[F_WMKF]		= REG_FIELD(FXAS2100X_REG_F_STATUS, 6, 6),
> +	[F_CNT]			= REG_FIELD(FXAS2100X_REG_F_STATUS, 0, 5),
> +	[F_MODE]		= REG_FIELD(FXAS2100X_REG_F_SETUP, 6, 7),
> +	[F_WMRK]		= REG_FIELD(FXAS2100X_REG_F_SETUP, 0, 5),
> +	[F_EVENT]		= REG_FIELD(FXAS2100X_REG_F_EVENT, 5, 5),
> +	[FE_TIME]		= REG_FIELD(FXAS2100X_REG_F_EVENT, 0, 4),
> +	[F_BOOTEND]		= REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 3, 3),
> +	[F_SRC_FIFO]		= REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 2, 2),
> +	[F_SRC_RT]		= REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 1, 1),
> +	[F_SRC_DRDY]		= REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 0, 0),
> +	[F_WHO_AM_I]		= REG_FIELD(FXAS2100X_REG_WHO_AM_I, 0, 7),
> +	[F_BW]			= REG_FIELD(FXAS2100X_REG_CTRL0, 6, 7),
> +	[F_SPIW]		= REG_FIELD(FXAS2100X_REG_CTRL0, 5, 5),
> +	[F_SEL]			= REG_FIELD(FXAS2100X_REG_CTRL0, 3, 4),
> +	[F_HPF_EN]		= REG_FIELD(FXAS2100X_REG_CTRL0, 2, 2),
> +	[F_FS]			= REG_FIELD(FXAS2100X_REG_CTRL0, 0, 1),
> +	[F_ELE]			= REG_FIELD(FXAS2100X_REG_RT_CFG, 3, 3),
> +	[F_ZTEFE]		= REG_FIELD(FXAS2100X_REG_RT_CFG, 2, 2),
> +	[F_YTEFE]		= REG_FIELD(FXAS2100X_REG_RT_CFG, 1, 1),
> +	[F_XTEFE]		= REG_FIELD(FXAS2100X_REG_RT_CFG, 0, 0),
> +	[F_EA]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 6, 6),
> +	[F_ZRT]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 5, 5),
> +	[F_ZRT_POL]		= REG_FIELD(FXAS2100X_REG_RT_SRC, 4, 4),
> +	[F_YRT]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 3, 3),
> +	[F_YRT_POL]		= REG_FIELD(FXAS2100X_REG_RT_SRC, 2, 2),
> +	[F_XRT]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 1, 1),
> +	[F_XRT_POL]		= REG_FIELD(FXAS2100X_REG_RT_SRC, 0, 0),
> +	[F_DBCNTM]		= REG_FIELD(FXAS2100X_REG_RT_THS, 7, 7),
> +	[F_THS]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 0, 6),
> +	[F_RT_COUNT]		= REG_FIELD(FXAS2100X_REG_RT_COUNT, 0, 7),
> +	[F_TEMP]		= REG_FIELD(FXAS2100X_REG_TEMP, 0, 7),
> +	[F_RST]			= REG_FIELD(FXAS2100X_REG_CTRL1, 6, 6),
> +	[F_ST]			= REG_FIELD(FXAS2100X_REG_CTRL1, 5, 5),
> +	[F_DR]			= REG_FIELD(FXAS2100X_REG_CTRL1, 2, 4),
> +	[F_ACTIVE]		= REG_FIELD(FXAS2100X_REG_CTRL1, 1, 1),
> +	[F_READY]		= REG_FIELD(FXAS2100X_REG_CTRL1, 0, 0),
> +	[F_INT_CFG_FIFO]	= REG_FIELD(FXAS2100X_REG_CTRL2, 7, 7),
> +	[F_INT_EN_FIFO]		= REG_FIELD(FXAS2100X_REG_CTRL2, 6, 6),
> +	[F_INT_CFG_RT]		= REG_FIELD(FXAS2100X_REG_CTRL2, 5, 5),
> +	[F_INT_EN_RT]		= REG_FIELD(FXAS2100X_REG_CTRL2, 4, 4),
> +	[F_INT_CFG_DRDY]	= REG_FIELD(FXAS2100X_REG_CTRL2, 3, 3),
> +	[F_INT_EN_DRDY]		= REG_FIELD(FXAS2100X_REG_CTRL2, 2, 2),
> +	[F_IPOL]		= REG_FIELD(FXAS2100X_REG_CTRL2, 1, 1),
> +	[F_PP_OD]		= REG_FIELD(FXAS2100X_REG_CTRL2, 0, 0),
> +	[F_WRAPTOONE]		= REG_FIELD(FXAS2100X_REG_CTRL3, 3, 3),
> +	[F_EXTCTRLEN]		= REG_FIELD(FXAS2100X_REG_CTRL3, 2, 2),
> +	[F_FS_DOUBLE]		= REG_FIELD(FXAS2100X_REG_CTRL3, 0, 0),
> +};
> +
> +extern const struct dev_pm_ops fxas2100x_pm_ops;
> +
> +int fxas2100x_core_probe(struct device *dev, struct regmap *regmap, int irq,
> +			 const char *name);
> +void fxas2100x_core_remove(struct device *dev);
> +#endif
> diff --git a/drivers/iio/gyro/fxas2100x_core.c b/drivers/iio/gyro/fxas2100x_core.c
> new file mode 100644
> index 000000000000..1f88760563dd
> --- /dev/null
> +++ b/drivers/iio/gyro/fxas2100x_core.c
> @@ -0,0 +1,930 @@
> +// SPDX-License-Identifier: GPL-2.0
> +/*
> + * Driver for NXP FXAS2100x Gyroscope - Core
> + *
> + * Copyright (C) 2019 Linaro Ltd.
> + *
> + */
> +
> +#include <linux/interrupt.h>
> +#include <linux/module.h>
> +#include <linux/pm.h>
> +#include <linux/pm_runtime.h>
> +#include <linux/regmap.h>
> +
> +#include <linux/iio/events.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/buffer.h>
> +#include <linux/iio/sysfs.h>
> +#include <linux/iio/trigger.h>
> +#include <linux/iio/trigger_consumer.h>
> +#include <linux/iio/triggered_buffer.h>
> +
> +#include "fxas2100x.h"
> +
> +#define FXAS21002_CHIP_ID_1	0xD6
> +#define FXAS21002_CHIP_ID_2	0xD7
> +
> +#define FXAS2100X_MODE_STANDBY	0x00
> +#define FXAS2100X_MODE_READY	0x01
> +#define FXAS2100X_MODE_ACTIVE	0x02
> +
> +#define FXAS2100X_STANDBY_ACTIVE_TIME_MS	62
> +#define FXAS2100X_READY_ACTIVE_TIME_MS		7
> +
> +#define FXAS2100X_ODR_LIST_MAX		10
> +
> +#define FXAS2100X_SCALE_FRACTIONAL	32
> +#define FXAS2100X_RANGE_LIMIT_DOUBLE	2000
> +
> +#define FXAS2100X_AXIS_TO_REG(axis)	(FXAS2100X_REG_OUT_X_MSB + ((axis) * 2))
> +
> +static const int fxas2100x_odr_values[] = {
> +	800, 400, 200, 100, 50, 25, 12, 12
> +};
> +
> +/*
> + * This values are taken from the low-pass filter cuttoff frequency calculated

These
cutoff

> + * ODR * 0.lpf_values. So, for ODR = 800Hz with a lpf value = 0.32
> + * => LPF cuttof frequency = 800 * 0.32 = 256 Hz

cutoff

> + */
> +static const int fxas2100x_lpf_values[] = {
> +	32, 16, 8
> +};
> +
> +/*
> + * This values are taken from the high-pass filter cuttoff frequency calculated

These
cutoff

> + * ODR * 0.0hpf_values. So, for ODR = 800Hz with a hpf value = 0.018750
> + * => HPF cuttof frequency = 800 * 0.018750 = 15 Hz

cutoff

> + */
> +static const int fxas2100x_hpf_values[] = {
> +	18750, 9625, 4875, 2475
> +};
> +
> +static const int fxas2100x_range_values[] = {
> +	4000, 2000, 1000, 500, 250
> +};
> +
> +struct fxas2100x_data {
> +	u8 chip_id;
> +	u8 mode;
> +	u8 prev_mode;
> +	struct regmap *regmap;
> +	struct regmap_field *regmap_fields[F_MAX_FIELDS];
> +	struct iio_trigger *dready_trig;
> +	struct mutex lock;		/* protect access */

the commend it not very useful; protect what?

> +	s16 buffer[3];
> +	int irq;
> +};
> +
> +enum fxas2100x_channel_index {
> +	CHANNEL_SCAN_INDEX_X,
> +	CHANNEL_SCAN_INDEX_Y,
> +	CHANNEL_SCAN_INDEX_Z,
> +	CHANNEL_SCAN_MAX,
> +};
> +
> +static int fxas2100x_odr_hz_from_value(struct fxas2100x_data *data, u8 value)
> +{
> +	int odr_value_max = ARRAY_SIZE(fxas2100x_odr_values) - 1;
> +
> +	value = min_t(u8, value, odr_value_max);
> +
> +	return fxas2100x_odr_values[value];
> +}
> +
> +static int fxas2100x_odr_value_from_hz(struct fxas2100x_data *data,
> +				       unsigned int hz)
> +{
> +	int odr_table_size = ARRAY_SIZE(fxas2100x_odr_values);
> +	int i;
> +
> +	for (i = 0; i < odr_table_size; i++)
> +		if (fxas2100x_odr_values[i] == hz)
> +			return i;
> +
> +	return -EINVAL;
> +}
> +
> +static int fxas2100x_lpf_bw_from_value(struct fxas2100x_data *data, u8 value)
> +{
> +	int lpf_value_max = ARRAY_SIZE(fxas2100x_lpf_values) - 1;
> +
> +	value = min_t(u8, value, lpf_value_max);
> +
> +	return fxas2100x_lpf_values[value];
> +}
> +
> +static int fxas2100x_lpf_value_from_bw(struct fxas2100x_data *data,
> +				       unsigned int hz)
> +{
> +	int lpf_table_size = ARRAY_SIZE(fxas2100x_lpf_values);
> +	int i;
> +
> +	for (i = 0; i < lpf_table_size; i++)
> +		if (fxas2100x_lpf_values[i] == hz)
> +			return i;
> +
> +	return -EINVAL;
> +}
> +
> +static int fxas2100x_hpf_sel_from_value(struct fxas2100x_data *data, u8 value)
> +{
> +	int hpf_value_max = ARRAY_SIZE(fxas2100x_hpf_values) - 1;
> +
> +	value = min_t(u8, value, hpf_value_max);
> +
> +	return fxas2100x_hpf_values[value];
> +}
> +
> +static int fxas2100x_hpf_value_from_sel(struct fxas2100x_data *data,
> +					unsigned int hz)
> +{
> +	int hpf_table_size = ARRAY_SIZE(fxas2100x_hpf_values);
> +	int i;
> +
> +	for (i = 0; i < hpf_table_size; i++)
> +		if (fxas2100x_hpf_values[i] == hz)
> +			return i;
> +
> +	return -EINVAL;
> +}
> +
> +static int fxas2100x_range_fs_from_value(struct fxas2100x_data *data,
> +					 u8 value)
> +{
> +	int range_value_max = ARRAY_SIZE(fxas2100x_range_values) - 1;
> +	unsigned int fs_double;
> +	int ret;
> +
> +	/* We need to check if FS_DOUBLE is enabled to offset the value */
> +	ret = regmap_field_read(data->regmap_fields[F_FS_DOUBLE], &fs_double);
> +	if (ret < 0)
> +		return ret;
> +
> +	value = min_t(u8, value, range_value_max);
> +
> +	if (!fs_double)
> +		value += 1;

what if value is already the last element of range_values?
shouldn't the min() operation be done beforehand?

> +
> +	return fxas2100x_range_values[value];
> +}
> +
> +static int fxas2100x_range_value_from_fs(struct fxas2100x_data *data,
> +					 unsigned int range)
> +{
> +	int range_table_size = ARRAY_SIZE(fxas2100x_range_values);
> +	bool found = false;
> +	int ret;
> +	int i;
> +
> +	for (i = 0; i < range_table_size; i++)
> +		if (fxas2100x_range_values[i] == range)
> +			found = true;
> +	if (!found)
> +		return -EINVAL;
> +
> +	if (range > FXAS2100X_RANGE_LIMIT_DOUBLE)
> +		ret = regmap_field_write(data->regmap_fields[F_FS_DOUBLE], 1);
> +	else
> +		ret = regmap_field_write(data->regmap_fields[F_FS_DOUBLE], 0);

ret is not checked

> +
> +	return i;
> +}
> +
> +static int fxas2100x_mode_get(struct fxas2100x_data *data)
> +{
> +	unsigned int active;
> +	unsigned int ready;
> +	int ret;
> +
> +	ret = regmap_field_read(data->regmap_fields[F_ACTIVE], &active);
> +	if (ret < 0)
> +		return ret;
> +	if (active)
> +		return FXAS2100X_MODE_ACTIVE;
> +
> +	ret = regmap_field_read(data->regmap_fields[F_READY], &ready);
> +	if (ret < 0)
> +		return ret;
> +	if (ready)
> +		return FXAS2100X_MODE_READY;
> +
> +	return FXAS2100X_MODE_STANDBY;
> +}
> +
> +static int fxas2100x_mode_set(struct fxas2100x_data *data, u8 mode)

maybe mode could be an enum?

> +{
> +	int ret;
> +
> +	if (mode > FXAS2100X_MODE_ACTIVE)
> +		return -EINVAL;
> +
> +	if (mode == data->mode)
> +		return 0;
> +
> +	if (mode == FXAS2100X_MODE_READY)
> +		ret = regmap_field_write(data->regmap_fields[F_READY], 1);
> +	else
> +		ret = regmap_field_write(data->regmap_fields[F_READY], 0);
> +	if (ret < 0)
> +		return ret;
> +
> +	if (mode == FXAS2100X_MODE_ACTIVE)
> +		ret = regmap_field_write(data->regmap_fields[F_ACTIVE], 1);
> +	else
> +		ret = regmap_field_write(data->regmap_fields[F_ACTIVE], 0);
> +	if (ret < 0)
> +		return ret;
> +
> +	/* if going to active wait the setup times */
> +	if (mode == FXAS2100X_MODE_ACTIVE)
> +		if (data->mode == FXAS2100X_MODE_STANDBY)
> +			msleep_interruptible(FXAS2100X_STANDBY_ACTIVE_TIME_MS);
> +	if (data->mode == FXAS2100X_MODE_READY)
> +		msleep_interruptible(FXAS2100X_READY_ACTIVE_TIME_MS);
> +
> +	data->prev_mode = data->mode;
> +	data->mode = mode;
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_pre_write(struct fxas2100x_data *data)
> +{
> +	int actual_mode;
> +
> +	actual_mode = fxas2100x_mode_get(data);

no newline here (matter of taste)

> +
> +	if (actual_mode < 0)
> +		return actual_mode;
> +
> +	return fxas2100x_mode_set(data, FXAS2100X_MODE_READY);
> +}
> +
> +static int fxas2100x_post_write(struct fxas2100x_data *data)

is this function really needed?

> +{
> +	return fxas2100x_mode_set(data, data->prev_mode);
> +}
> +
> +static int  fxas2100x_pm_get(struct fxas2100x_data *data)
> +{
> +	struct device *dev = regmap_get_device(data->regmap);
> +	int ret;
> +
> +	ret = pm_runtime_get_sync(dev);
> +	if (ret < 0)
> +		pm_runtime_put_noidle(dev);
> +
> +	return ret;
> +}
> +
> +static int  fxas2100x_pm_put(struct fxas2100x_data *data)
> +{
> +	struct device *dev = regmap_get_device(data->regmap);
> +
> +	pm_runtime_mark_last_busy(dev);
> +
> +	return pm_runtime_put_autosuspend(dev);
> +}
> +
> +static int fxas2100x_temp_get(struct fxas2100x_data *data, int *val)
> +{
> +	struct device *dev = regmap_get_device(data->regmap);
> +	unsigned int temp;
> +	int ret;
> +
> +	mutex_lock(&data->lock);
> +	ret = fxas2100x_pm_get(data);
> +	if (ret < 0)
> +		goto data_unlock;
> +
> +	ret = regmap_field_read(data->regmap_fields[F_TEMP], &temp);
> +	if (ret < 0) {
> +		dev_err(dev, "failed to read temp: %d\n", ret);
> +		goto data_unlock;
> +	}
> +
> +	*val = sign_extend32(temp, 7);
> +
> +	ret = fxas2100x_pm_put(data);
> +	if (ret < 0)
> +		goto data_unlock;
> +
> +	ret = IIO_VAL_INT;
> +
> +data_unlock:
> +	mutex_unlock(&data->lock);
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_axis_get(struct fxas2100x_data *data, int index, int *val)
> +{
> +	struct device *dev = regmap_get_device(data->regmap);
> +	__be16 axis_be;
> +	int ret;
> +
> +	mutex_lock(&data->lock);
> +	ret = fxas2100x_pm_get(data);
> +	if (ret < 0)
> +		goto data_unlock;
> +
> +	ret = regmap_bulk_read(data->regmap, FXAS2100X_AXIS_TO_REG(index),
> +			       &axis_be, sizeof(axis_be));
> +	if (ret < 0) {
> +		dev_err(dev, "failed to read axis: %d: %d\n", index, ret);
> +		goto data_unlock;
> +	}
> +
> +	*val = sign_extend32(be16_to_cpu(axis_be), 15);
> +
> +	ret = fxas2100x_pm_put(data);
> +	if (ret < 0)
> +		goto data_unlock;
> +
> +	ret = IIO_VAL_INT;
> +
> +data_unlock:
> +	mutex_unlock(&data->lock);
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_odr_get(struct fxas2100x_data *data, int *odr)
> +{
> +	unsigned int odr_bits;
> +	int ret;
> +
> +	mutex_lock(&data->lock);
> +	ret = regmap_field_read(data->regmap_fields[F_DR], &odr_bits);
> +	if (ret < 0)
> +		goto data_unlock;
> +
> +	*odr = fxas2100x_odr_hz_from_value(data, odr_bits);
> +
> +	ret = IIO_VAL_INT;
> +data_unlock:
> +	mutex_unlock(&data->lock);
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_odr_set(struct fxas2100x_data *data, int odr)
> +{
> +	int odr_bits;
> +	int ret;
> +
> +	odr_bits = fxas2100x_odr_value_from_hz(data, odr);

no newline, I'd do the check right after the assignment
here and elsewhere

> +
> +	if (odr_bits < 0)
> +		return odr_bits;
> +
> +	mutex_lock(&data->lock);
> +	ret = fxas2100x_pre_write(data);
> +	if (ret < 0)
> +		goto post_write;
> +
> +	ret = regmap_field_write(data->regmap_fields[F_DR], odr_bits);
> +	if (ret < 0)
> +		goto post_write;
> +
> +post_write:
> +	ret = fxas2100x_post_write(data);
> +
> +	mutex_unlock(&data->lock);
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_lpf_get(struct fxas2100x_data *data, int *val2)
> +{
> +	unsigned int bw_bits;
> +	int ret;
> +
> +	mutex_lock(&data->lock);
> +	ret = regmap_field_read(data->regmap_fields[F_BW], &bw_bits);
> +	if (ret < 0)
> +		goto data_unlock;
> +
> +	*val2 = fxas2100x_lpf_bw_from_value(data, bw_bits) * 10000;
> +
> +	ret = IIO_VAL_INT_PLUS_MICRO;
> +
> +data_unlock:
> +	mutex_unlock(&data->lock);
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_lpf_set(struct fxas2100x_data *data, int bw)
> +{
> +	int bw_bits;
> +	int odr;
> +	int ret;
> +
> +	bw_bits = fxas2100x_lpf_value_from_bw(data, bw);
> +
> +	if (bw_bits < 0)
> +		return bw_bits;
> +
> +	/*
> +	 * From table 33 of the device spec, for ODR = 25Hz and 12.5 value 0.08
> +	 * is not allowed and for ODR = 12.5 value 0.16 is also not allowed
> +	 */
> +	ret = fxas2100x_odr_get(data, &odr);
> +	if (ret < 0)
> +		return -EINVAL;
> +
> +	if ((odr == 25 && bw_bits > 0x01) || (odr == 12 && bw_bits > 0))
> +		return -EINVAL;
> +

probably the sequence 
pre_write()
regmap_field_write()
post_write()
could be put into a helper function to safe some lines of code

> +	mutex_lock(&data->lock);
> +	ret = fxas2100x_pre_write(data);
> +	if (ret < 0)
> +		goto post_write;
> +
> +	ret = regmap_field_write(data->regmap_fields[F_BW], bw_bits);
> +	if (ret < 0)
> +		goto post_write;
> +
> +post_write:
> +	ret = fxas2100x_post_write(data);
> +
> +	mutex_unlock(&data->lock);
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_hpf_get(struct fxas2100x_data *data, int *val2)
> +{
> +	unsigned int sel_bits;
> +	int ret;
> +
> +	mutex_lock(&data->lock);
> +	ret = regmap_field_read(data->regmap_fields[F_SEL], &sel_bits);
> +	if (ret < 0)
> +		goto data_unlock;
> +
> +	*val2 = fxas2100x_hpf_sel_from_value(data, sel_bits);
> +
> +	ret = IIO_VAL_INT_PLUS_MICRO;
> +
> +data_unlock:
> +	mutex_unlock(&data->lock);
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_hpf_set(struct fxas2100x_data *data, int sel)
> +{
> +	int sel_bits;
> +	int ret;
> +
> +	sel_bits = fxas2100x_hpf_value_from_sel(data, sel);
> +
> +	if (sel_bits < 0)
> +		return sel_bits;
> +
> +	mutex_lock(&data->lock);
> +	ret = fxas2100x_pre_write(data);
> +	if (ret < 0)
> +		goto post_write;
> +
> +	ret = regmap_field_write(data->regmap_fields[F_SEL], sel_bits);
> +	if (ret < 0)
> +		goto post_write;
> +
> +post_write:
> +	ret = fxas2100x_post_write(data);
> +
> +	mutex_unlock(&data->lock);
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_scale_get(struct fxas2100x_data *data, int *val)
> +{
> +	int fs_bits;
> +	int scale;
> +	int ret;
> +
> +	mutex_lock(&data->lock);
> +	ret = regmap_field_read(data->regmap_fields[F_FS], &fs_bits);
> +	if (ret < 0)
> +		goto data_unlock;
> +
> +	scale = fxas2100x_range_fs_from_value(data, fs_bits);
> +
> +	*val = scale;
> +
> +	ret = IIO_VAL_FRACTIONAL;
> +
> +data_unlock:
> +	mutex_unlock(&data->lock);
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_scale_set(struct fxas2100x_data *data, int range)
> +{
> +	int fs_bits;
> +	int ret;
> +
> +	fs_bits = fxas2100x_range_value_from_fs(data, range);
> +
> +	if (fs_bits < 0)
> +		return fs_bits;
> +
> +	mutex_lock(&data->lock);
> +	ret = fxas2100x_pre_write(data);
> +	if (ret < 0)
> +		goto post_write;
> +
> +	ret = regmap_field_write(data->regmap_fields[F_FS], fs_bits);
> +	if (ret < 0)
> +		goto post_write;
> +
> +post_write:
> +	ret = fxas2100x_post_write(data);
> +
> +	mutex_unlock(&data->lock);
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_read_raw(struct iio_dev *indio_dev,
> +			      struct iio_chan_spec const *chan, int *val,
> +			      int *val2, long mask)
> +{
> +	struct fxas2100x_data *data = iio_priv(indio_dev);
> +
> +	switch (mask) {
> +	case IIO_CHAN_INFO_RAW:
> +		switch (chan->type) {
> +		case IIO_TEMP:
> +			return fxas2100x_temp_get(data, val);
> +		case IIO_ANGL_VEL:
> +			return fxas2100x_axis_get(data, chan->scan_index, val);
> +		default:
> +			return -EINVAL;
> +		}
> +	case IIO_CHAN_INFO_SCALE:
> +		switch (chan->type) {
> +		case IIO_ANGL_VEL:
> +			*val2 = FXAS2100X_SCALE_FRACTIONAL;
> +			return fxas2100x_scale_get(data, val);
> +		default:
> +			return -EINVAL;
> +		}
> +	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
> +		*val = 0;
> +		return fxas2100x_lpf_get(data, val2);
> +	case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
> +		*val = 0;
> +		return fxas2100x_hpf_get(data, val2);
> +	case IIO_CHAN_INFO_SAMP_FREQ:
> +		*val2 = 0;
> +		return fxas2100x_odr_get(data, val);
> +	default:
> +		return -EINVAL;
> +	}
> +}
> +
> +static int fxas2100x_write_raw(struct iio_dev *indio_dev,
> +			       struct iio_chan_spec const *chan, int val,
> +			       int val2, long mask)
> +{
> +	struct fxas2100x_data *data = iio_priv(indio_dev);
> +	int range;
> +
> +	switch (mask) {
> +	case IIO_CHAN_INFO_SAMP_FREQ:

check that val2 == 0?

> +		return fxas2100x_odr_set(data, val);
> +	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:

check that val == 0?

> +		val2 = val2 / 10000;
> +		return fxas2100x_lpf_set(data, val2);
> +	case IIO_CHAN_INFO_SCALE:
> +		switch (chan->type) {
> +		case IIO_ANGL_VEL:
> +			range = (((val * 1000 + val2 / 1000) *
> +				  FXAS2100X_SCALE_FRACTIONAL) / 1000);
> +			return fxas2100x_scale_set(data, range);
> +		default:
> +			return -EINVAL;
> +		}
> +	case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
> +		return fxas2100x_hpf_set(data, val2);
> +	default:
> +		return -EINVAL;
> +	}
> +}
> +
> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("12.5 25 50 100 200 400 800");
> +
> +static IIO_CONST_ATTR(in_anglvel_filter_low_pass_3db_frequency_available,
> +		      "0.32 0.16 0.08");
> +
> +static IIO_CONST_ATTR(in_anglvel_filter_high_pass_3db_frequency_available,
> +		      "0.018750 0.009625 0.004875 0.002475");
> +
> +static IIO_CONST_ATTR(in_anglvel_scale_available,
> +		      "125.0 62.5 31.25 15.625 7.8130");

7.8125? (see table 35)

> +
> +static struct attribute *fxas2100x_attributes[] = {
> +	&iio_const_attr_sampling_frequency_available.dev_attr.attr,
> +	&iio_const_attr_in_anglvel_filter_low_pass_3db_frequency_available.dev_attr.attr,
> +	&iio_const_attr_in_anglvel_filter_high_pass_3db_frequency_available.dev_attr.attr,
> +	&iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
> +	NULL,
> +};
> +
> +static const struct attribute_group fxas2100x_attrs_group = {
> +	.attrs = fxas2100x_attributes,
> +};
> +
> +#define FXAS2100X_CHANNEL(_axis) {					\
> +	.type = IIO_ANGL_VEL,						\
> +	.modified = 1,							\
> +	.channel2 = IIO_MOD_##_axis,					\
> +	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),			\
> +	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) |		\
> +		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) |	\
> +		BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY) |	\
> +		BIT(IIO_CHAN_INFO_SAMP_FREQ),				\
> +	.scan_index = CHANNEL_SCAN_INDEX_##_axis,			\
> +	.scan_type = {							\
> +		.sign = 's',						\
> +		.realbits = 16,						\
> +		.storagebits = 16,					\
> +		.endianness = IIO_BE,					\
> +	},								\
> +}
> +
> +static const struct iio_chan_spec fxas2100x_channels[] = {
> +	{
> +		.type = IIO_TEMP,
> +		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
> +		.scan_index = -1,
> +	},
> +	FXAS2100X_CHANNEL(X),
> +	FXAS2100X_CHANNEL(Y),
> +	FXAS2100X_CHANNEL(Z),
> +};
> +
> +static const struct iio_info fxas2100x_info = {
> +	.attrs			= &fxas2100x_attrs_group,
> +	.read_raw		= &fxas2100x_read_raw,
> +	.write_raw		= &fxas2100x_write_raw,
> +};
> +
> +static irqreturn_t fxas2100x_trigger_handler(int irq, void *p)
> +{
> +	struct iio_poll_func *pf = p;
> +	struct iio_dev *indio_dev = pf->indio_dev;
> +	struct fxas2100x_data *data = iio_priv(indio_dev);
> +	int ret;
> +
> +	mutex_lock(&data->lock);
> +	ret = regmap_bulk_read(data->regmap, FXAS2100X_REG_OUT_X_MSB,
> +			       data->buffer, CHANNEL_SCAN_MAX * 2);

2 == sizeof(s16)

> +	mutex_unlock(&data->lock);
> +	if (ret < 0)
> +		goto notify_done;
> +
> +	iio_push_to_buffers_with_timestamp(indio_dev, data->buffer,
> +					   pf->timestamp);

the buffer is too small; the timestamp needs to fit into the buffer as 
well

3*sizeof(s16) + /* padding */ sizeof(s16) + /* timestamp */ + 4*sizeof(s16)

> +
> +notify_done:
> +	iio_trigger_notify_done(indio_dev->trig);
> +
> +	return IRQ_HANDLED;
> +}
> +
> +static int fxas2100x_chip_init(struct fxas2100x_data *data)
> +{
> +	struct device *dev = regmap_get_device(data->regmap);
> +	unsigned int chip_id;
> +	int ret;
> +
> +	ret = regmap_field_read(data->regmap_fields[F_WHO_AM_I], &chip_id);
> +	if (ret < 0)
> +		return ret;
> +
> +	if (chip_id != FXAS21002_CHIP_ID_1 && chip_id != FXAS21002_CHIP_ID_2) {
> +		dev_err(dev, "chip id %d is not supported\n", chip_id);

maybe use %02x to output the chip id

> +		return -EINVAL;
> +	}
> +
> +	data->chip_id = chip_id;
> +
> +	ret = fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
> +	if (ret < 0)
> +		return ret;
> +
> +	/* Set ODR to 200HZ as default */
> +	ret = fxas2100x_odr_set(data, 200);
> +	if (ret < 0)
> +		dev_err(dev, "failed to set ODR: %d\n", ret);
> +
> +	return ret;
> +}
> +
> +static int fxas2100x_data_rdy_trigger_set_state(struct iio_trigger *trig,
> +						bool state)
> +{
> +	struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
> +	struct fxas2100x_data *data = iio_priv(indio_dev);
> +
> +	return regmap_field_write(data->regmap_fields[F_INT_EN_DRDY], !!state);

no need for !!, state is bool

> +}
> +
> +static const struct iio_trigger_ops fxas2100x_trigger_ops = {
> +	.set_trigger_state = &fxas2100x_data_rdy_trigger_set_state,
> +};
> +
> +static irqreturn_t fxas2100x_data_rdy_trig_poll(int irq, void *private)
> +{
> +	struct iio_dev *indio_dev = private;
> +	struct fxas2100x_data *data = iio_priv(indio_dev);
> +
> +	iio_trigger_poll(data->dready_trig);
> +
> +	return IRQ_HANDLED;
> +}
> +
> +static int fxas2100x_trigger_probe(struct fxas2100x_data *data)
> +{
> +	struct device *dev = regmap_get_device(data->regmap);
> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
> +	int ret;
> +
> +	if (!data->irq)
> +		return 0;
> +
> +	data->dready_trig = devm_iio_trigger_alloc(dev, "%s-dev%d",
> +						   indio_dev->name,
> +						   indio_dev->id);
> +	if (!data->dready_trig)
> +		return -ENOMEM;
> +
> +	ret = devm_request_irq(dev, data->irq, fxas2100x_data_rdy_trig_poll,
> +			       IRQF_TRIGGER_RISING, "fxas2100x_data_ready",
> +			       data->dready_trig);
> +	if (ret < 0)
> +		return ret;
> +
> +	data->dready_trig->dev.parent = dev;
> +	data->dready_trig->ops = &fxas2100x_trigger_ops;
> +	iio_trigger_set_drvdata(data->dready_trig, indio_dev);
> +
> +	ret = devm_iio_trigger_register(dev, data->dready_trig);

just 
return devm_iio_trigger_register(...);

> +	if (ret)
> +		return ret;
> +
> +	return 0;
> +}
> +
> +int fxas2100x_core_probe(struct device *dev, struct regmap *regmap, int irq,
> +			 const char *name)
> +{
> +	struct fxas2100x_data *data;
> +	struct iio_dev *indio_dev;
> +	struct regmap_field *f;
> +	int i;
> +	int ret;
> +
> +	indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
> +	if (!indio_dev)
> +		return -ENOMEM;
> +
> +	data = iio_priv(indio_dev);
> +	dev_set_drvdata(dev, indio_dev);
> +	data->irq = irq;
> +	data->regmap = regmap;
> +
> +	for (i = 0; i < F_MAX_FIELDS; i++) {
> +		f = devm_regmap_field_alloc(dev, data->regmap,
> +					    fxas2100x_reg_fields[i]);
> +		if (IS_ERR(f)) {
> +			dev_err(dev, "failed to alloc regmap field %d: %ld\n",
> +				i, PTR_ERR(f));
> +			return PTR_ERR(f);
> +		}
> +		data->regmap_fields[i] = f;
> +	}
> +
> +	mutex_init(&data->lock);
> +
> +	ret = fxas2100x_chip_init(data);
> +	if (ret < 0)
> +		return ret;
> +
> +	indio_dev->dev.parent = dev;
> +	indio_dev->channels = fxas2100x_channels;
> +	indio_dev->num_channels = ARRAY_SIZE(fxas2100x_channels);
> +	indio_dev->name = name;
> +	indio_dev->modes = INDIO_DIRECT_MODE;
> +	indio_dev->info = &fxas2100x_info;
> +
> +	ret = fxas2100x_trigger_probe(data);
> +	if (ret < 0)
> +		return ret;
> +
> +	ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
> +					      iio_pollfunc_store_time,
> +					      fxas2100x_trigger_handler, NULL);
> +	if (ret < 0)
> +		return ret;
> +
> +	ret = pm_runtime_set_active(dev);
> +	if (ret)
> +		return ret;
> +
> +	pm_runtime_enable(dev);
> +	pm_runtime_set_autosuspend_delay(dev, 2000);
> +	pm_runtime_use_autosuspend(dev);
> +
> +	ret = devm_iio_device_register(dev, indio_dev);
> +	if (ret < 0) {
> +		dev_err(dev, "unable to register iio device: %d\n", ret);

this error message is rather pointless, the user will find out regardless :)

> +		return ret;
> +	}
> +
> +	return 0;
> +}
> +EXPORT_SYMBOL_GPL(fxas2100x_core_probe);
> +
> +void fxas2100x_core_remove(struct device *dev)
> +{
> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
> +	struct fxas2100x_data *data = iio_priv(indio_dev);
> +
> +	pm_runtime_disable(dev);
> +	pm_runtime_set_suspended(dev);
> +	pm_runtime_put_noidle(dev);
> +
> +	fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
> +}
> +EXPORT_SYMBOL_GPL(fxas2100x_core_remove);
> +
> +#ifdef CONFIG_PM_SLEEP
> +static int fxas2100x_suspend(struct device *dev)
> +{
> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
> +	struct fxas2100x_data *data = iio_priv(indio_dev);
> +
> +	fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
> +
> +	return 0;
> +}
> +
> +static int fxas2100x_resume(struct device *dev)
> +{
> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
> +	struct fxas2100x_data *data = iio_priv(indio_dev);
> +
> +	fxas2100x_mode_set(data, data->prev_mode);
> +
> +	return 0;
> +}
> +#endif
> +
> +#ifdef CONFIG_PM
> +static int fxas2100x_runtime_suspend(struct device *dev)
> +{
> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
> +	struct fxas2100x_data *data = iio_priv(indio_dev);
> +	int ret;
> +
> +	ret = fxas2100x_mode_set(data, FXAS2100X_MODE_READY);
> +	if (ret < 0)
> +		return -EAGAIN;
> +
> +	return 0;
> +}
> +
> +static int fxas2100x_runtime_resume(struct device *dev)
> +{
> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
> +	struct fxas2100x_data *data = iio_priv(indio_dev);
> +	int ret;
> +
> +	ret = fxas2100x_mode_set(data, FXAS2100X_MODE_ACTIVE);
> +	if (ret < 0)
> +		return -EAGAIN;
> +
> +	return 0;
> +}
> +#endif
> +
> +const struct dev_pm_ops fxas2100x_pm_ops = {
> +	SET_SYSTEM_SLEEP_PM_OPS(fxas2100x_suspend, fxas2100x_resume)
> +	SET_RUNTIME_PM_OPS(fxas2100x_runtime_suspend,
> +			   fxas2100x_runtime_resume, NULL)
> +};
> +EXPORT_SYMBOL_GPL(fxas2100x_pm_ops);
> +
> +MODULE_AUTHOR("Rui Miguel Silva <rui.silva@linaro.org>");
> +MODULE_LICENSE("GPL v2");
> +MODULE_DESCRIPTION("FXAS2100X Gyro driver");
> 

-- 

Peter Meerwald-Stadler
Mobile: +43 664 24 44 418

Re: [PATCH 2/5] iio: gyro: fxas2100x: add core driver for fxas2100x gyroscope

[Rui Miguel Silva]

Hi Peter,
On Mon 04 Feb 2019 at 20:03, Peter Meerwald-Stadler wrote:
> On Mon, 4 Feb 2019, Rui Miguel Silva wrote:
>
> Hello,
>
> please find some comments below

Many thanks for your review, I will take all them in account in 
v2.

---
Cheers,
	Rui

>
> regards, p.
>
>> This add the core support for the NXP fxas2100x Tri-axis 
>> gyroscope, using
>
> adds
>
>> the iio subsystem. It supports PM operations, axis reading, 
>> temperature, scale
>> factor of the axis, high pass and low pass filtering, and 
>> sampling frequency
>> selection.
>> 
>> It will have extras modules to support the communication over 
>> i2c
>> and spi.
>> 
>> Signed-off-by: Rui Miguel Silva <rui.silva@linaro.org>
>> ---
>>  drivers/iio/gyro/Kconfig          |  11 +
>>  drivers/iio/gyro/Makefile         |   1 +
>>  drivers/iio/gyro/fxas2100x.h      | 149 +++++
>>  drivers/iio/gyro/fxas2100x_core.c | 930 
>>  ++++++++++++++++++++++++++++++
>>  4 files changed, 1091 insertions(+)
>>  create mode 100644 drivers/iio/gyro/fxas2100x.h
>>  create mode 100644 drivers/iio/gyro/fxas2100x_core.c
>> 
>> diff --git a/drivers/iio/gyro/Kconfig 
>> b/drivers/iio/gyro/Kconfig
>> index 3126cf05e6b9..c168aa63de3b 100644
>> --- a/drivers/iio/gyro/Kconfig
>> +++ b/drivers/iio/gyro/Kconfig
>> @@ -73,6 +73,17 @@ config BMG160_SPI
>>  	tristate
>>  	select REGMAP_SPI
>>  
>> +config FXAS2100X
>> +	tristate "NXP FXAS2100X Gyro Sensor"
>> +	select IIO_BUFFER
>> +	select IIO_TRIGGERED_BUFFER
>> +	help
>> +	  Say yes here to build support for NXP FXAS2100X family 
>> Tri-axis Gyro
>> +	  Sensor driver connected via I2C or SPI.
>> +
>> +	  This driver can also be built as a module.  If so, the 
>> module
>> +	  will be called fxas2100x_i2c or fxas2100x_spi.
>> +
>>  config HID_SENSOR_GYRO_3D
>>  	depends on HID_SENSOR_HUB
>>  	select IIO_BUFFER
>> diff --git a/drivers/iio/gyro/Makefile 
>> b/drivers/iio/gyro/Makefile
>> index 295ec780c4eb..9e2395185a6e 100644
>> --- a/drivers/iio/gyro/Makefile
>> +++ b/drivers/iio/gyro/Makefile
>> @@ -12,6 +12,7 @@ obj-$(CONFIG_ADXRS450) += adxrs450.o
>>  obj-$(CONFIG_BMG160) += bmg160_core.o
>>  obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o
>>  obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o
>> +obj-$(CONFIG_FXAS2100X) += fxas2100x_core.o
>>  
>>  obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
>>  
>> diff --git a/drivers/iio/gyro/fxas2100x.h 
>> b/drivers/iio/gyro/fxas2100x.h
>> new file mode 100644
>> index 000000000000..417445d2bcda
>> --- /dev/null
>> +++ b/drivers/iio/gyro/fxas2100x.h
>> @@ -0,0 +1,149 @@
>> +/* SPDX-License-Identifier: GPL-2.0 */
>> +/*
>> + * Driver for NXP FXAS2100x Gyroscope - Header
>> + *
>> + * Copyright (C) 2018 Linaro Ltd.
>
> the other files are (C) 2019
>
>> + *
>> + */
>> +
>> +#ifndef FXAS2100X_H_
>> +#define FXAS2100X_H_
>> +
>> +#define FXAS2100X_REG_STATUS		0x00
>> +#define FXAS2100X_REG_OUT_X_MSB		0x01
>> +#define FXAS2100X_REG_OUT_X_LSB		0x02
>> +#define FXAS2100X_REG_OUT_Y_MSB		0x03
>> +#define FXAS2100X_REG_OUT_Y_LSB		0x04
>> +#define FXAS2100X_REG_OUT_Z_MSB		0x05
>> +#define FXAS2100X_REG_OUT_Z_LSB		0x06
>> +#define FXAS2100X_REG_DR_STATUS		0x07
>> +#define FXAS2100X_REG_F_STATUS		0x08
>> +#define FXAS2100X_REG_F_SETUP		0x09
>> +#define FXAS2100X_REG_F_EVENT		0x0A
>> +#define FXAS2100X_REG_INT_SRC_FLAG	0x0B
>> +#define FXAS2100X_REG_WHO_AM_I		0x0C
>> +#define FXAS2100X_REG_CTRL0		0x0D
>> +#define FXAS2100X_REG_RT_CFG		0x0E
>> +#define FXAS2100X_REG_RT_SRC		0x0F
>> +#define FXAS2100X_REG_RT_THS		0x10
>> +#define FXAS2100X_REG_RT_COUNT		0x11
>> +#define FXAS2100X_REG_TEMP		0x12
>> +#define FXAS2100X_REG_CTRL1		0x13
>> +#define FXAS2100X_REG_CTRL2		0x14
>> +#define FXAS2100X_REG_CTRL3		0x15
>> +
>> +enum fxas2100x_fields {
>> +	F_DR_STATUS,
>> +	F_OUT_X_MSB,
>> +	F_OUT_X_LSB,
>> +	F_OUT_Y_MSB,
>> +	F_OUT_Y_LSB,
>> +	F_OUT_Z_MSB,
>> +	F_OUT_Z_LSB,
>> +	/* DR_STATUS */
>> +	F_ZYX_OW, F_Z_OW, F_Y_OW, F_X_OW, F_ZYX_DR, F_Z_DR, 
>> F_Y_DR, F_X_DR,
>> +	/* F_STATUS */
>> +	F_OVF, F_WMKF, F_CNT,
>> +	/* F_SETUP */
>> +	F_MODE, F_WMRK,
>> +	/* F_EVENT */
>> +	F_EVENT, FE_TIME,
>> +	/* INT_SOURCE_FLAG */
>> +	F_BOOTEND, F_SRC_FIFO, F_SRC_RT, F_SRC_DRDY,
>> +	/* WHO_AM_I */
>> +	F_WHO_AM_I,
>> +	/* CTRL_REG0 */
>> +	F_BW, F_SPIW, F_SEL, F_HPF_EN, F_FS,
>> +	/* RT_CFG */
>> +	F_ELE, F_ZTEFE, F_YTEFE, F_XTEFE,
>> +	/* RT_SRC */
>> +	F_EA, F_ZRT, F_ZRT_POL, F_YRT, F_YRT_POL, F_XRT, 
>> F_XRT_POL,
>> +	/* RT_THS */
>> +	F_DBCNTM, F_THS,
>> +	/* RT_COUNT */
>> +	F_RT_COUNT,
>> +	/* TEMP */
>> +	F_TEMP,
>> +	/* CTRL_REG1 */
>> +	F_RST, F_ST, F_DR, F_ACTIVE, F_READY,
>> +	/* CTRL_REG2 */
>> +	F_INT_CFG_FIFO, F_INT_EN_FIFO, F_INT_CFG_RT, F_INT_EN_RT,
>> +	F_INT_CFG_DRDY, F_INT_EN_DRDY, F_IPOL, F_PP_OD,
>> +	/* CTRL_REG3 */
>> +	F_WRAPTOONE, F_EXTCTRLEN, F_FS_DOUBLE,
>> +	/* MAX FIELDS */
>> +	F_MAX_FIELDS,
>> +};
>> +
>> +static const struct reg_field fxas2100x_reg_fields[] = {
>
> where des reg_field come from?
> ideally, a .h file should #include all the stuff it needs
>
>> +	[F_DR_STATUS]		= REG_FIELD(FXAS2100X_REG_STATUS, 
>> 0, 7),
>> +	[F_OUT_X_MSB]		= 
>> REG_FIELD(FXAS2100X_REG_OUT_X_MSB, 0, 7),
>> +	[F_OUT_X_LSB]		= 
>> REG_FIELD(FXAS2100X_REG_OUT_X_LSB, 0, 7),
>> +	[F_OUT_Y_MSB]		= 
>> REG_FIELD(FXAS2100X_REG_OUT_Y_MSB, 0, 7),
>> +	[F_OUT_Y_LSB]		= 
>> REG_FIELD(FXAS2100X_REG_OUT_Y_LSB, 0, 7),
>> +	[F_OUT_Z_MSB]		= 
>> REG_FIELD(FXAS2100X_REG_OUT_Z_MSB, 0, 7),
>> +	[F_OUT_Z_LSB]		= 
>> REG_FIELD(FXAS2100X_REG_OUT_Z_LSB, 0, 7),
>> +	[F_ZYX_OW]		= 
>> REG_FIELD(FXAS2100X_REG_DR_STATUS, 7, 7),
>> +	[F_Z_OW]		= 
>> REG_FIELD(FXAS2100X_REG_DR_STATUS, 6, 6),
>> +	[F_Y_OW]		= 
>> REG_FIELD(FXAS2100X_REG_DR_STATUS, 5, 5),
>> +	[F_X_OW]		= 
>> REG_FIELD(FXAS2100X_REG_DR_STATUS, 4, 4),
>> +	[F_ZYX_DR]		= 
>> REG_FIELD(FXAS2100X_REG_DR_STATUS, 3, 3),
>> +	[F_Z_DR]		= 
>> REG_FIELD(FXAS2100X_REG_DR_STATUS, 2, 2),
>> +	[F_Y_DR]		= 
>> REG_FIELD(FXAS2100X_REG_DR_STATUS, 1, 1),
>> +	[F_X_DR]		= 
>> REG_FIELD(FXAS2100X_REG_DR_STATUS, 0, 0),
>> +	[F_OVF]			= 
>> REG_FIELD(FXAS2100X_REG_F_STATUS, 7, 7),
>> +	[F_WMKF]		= 
>> REG_FIELD(FXAS2100X_REG_F_STATUS, 6, 6),
>> +	[F_CNT]			= 
>> REG_FIELD(FXAS2100X_REG_F_STATUS, 0, 5),
>> +	[F_MODE]		= REG_FIELD(FXAS2100X_REG_F_SETUP, 
>> 6, 7),
>> +	[F_WMRK]		= REG_FIELD(FXAS2100X_REG_F_SETUP, 
>> 0, 5),
>> +	[F_EVENT]		= REG_FIELD(FXAS2100X_REG_F_EVENT, 
>> 5, 5),
>> +	[FE_TIME]		= REG_FIELD(FXAS2100X_REG_F_EVENT, 
>> 0, 4),
>> +	[F_BOOTEND]		= 
>> REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 3, 3),
>> +	[F_SRC_FIFO]		= 
>> REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 2, 2),
>> +	[F_SRC_RT]		= 
>> REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 1, 1),
>> +	[F_SRC_DRDY]		= 
>> REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 0, 0),
>> +	[F_WHO_AM_I]		= 
>> REG_FIELD(FXAS2100X_REG_WHO_AM_I, 0, 7),
>> +	[F_BW]			= REG_FIELD(FXAS2100X_REG_CTRL0, 
>> 6, 7),
>> +	[F_SPIW]		= REG_FIELD(FXAS2100X_REG_CTRL0, 
>> 5, 5),
>> +	[F_SEL]			= REG_FIELD(FXAS2100X_REG_CTRL0, 
>> 3, 4),
>> +	[F_HPF_EN]		= REG_FIELD(FXAS2100X_REG_CTRL0, 
>> 2, 2),
>> +	[F_FS]			= REG_FIELD(FXAS2100X_REG_CTRL0, 
>> 0, 1),
>> +	[F_ELE]			= REG_FIELD(FXAS2100X_REG_RT_CFG, 
>> 3, 3),
>> +	[F_ZTEFE]		= REG_FIELD(FXAS2100X_REG_RT_CFG, 
>> 2, 2),
>> +	[F_YTEFE]		= REG_FIELD(FXAS2100X_REG_RT_CFG, 
>> 1, 1),
>> +	[F_XTEFE]		= REG_FIELD(FXAS2100X_REG_RT_CFG, 
>> 0, 0),
>> +	[F_EA]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 
>> 6, 6),
>> +	[F_ZRT]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 
>> 5, 5),
>> +	[F_ZRT_POL]		= REG_FIELD(FXAS2100X_REG_RT_SRC, 
>> 4, 4),
>> +	[F_YRT]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 
>> 3, 3),
>> +	[F_YRT_POL]		= REG_FIELD(FXAS2100X_REG_RT_SRC, 
>> 2, 2),
>> +	[F_XRT]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 
>> 1, 1),
>> +	[F_XRT_POL]		= REG_FIELD(FXAS2100X_REG_RT_SRC, 
>> 0, 0),
>> +	[F_DBCNTM]		= REG_FIELD(FXAS2100X_REG_RT_THS, 
>> 7, 7),
>> +	[F_THS]			= REG_FIELD(FXAS2100X_REG_RT_SRC, 
>> 0, 6),
>> +	[F_RT_COUNT]		= 
>> REG_FIELD(FXAS2100X_REG_RT_COUNT, 0, 7),
>> +	[F_TEMP]		= REG_FIELD(FXAS2100X_REG_TEMP, 0, 
>> 7),
>> +	[F_RST]			= REG_FIELD(FXAS2100X_REG_CTRL1, 
>> 6, 6),
>> +	[F_ST]			= REG_FIELD(FXAS2100X_REG_CTRL1, 
>> 5, 5),
>> +	[F_DR]			= REG_FIELD(FXAS2100X_REG_CTRL1, 
>> 2, 4),
>> +	[F_ACTIVE]		= REG_FIELD(FXAS2100X_REG_CTRL1, 
>> 1, 1),
>> +	[F_READY]		= REG_FIELD(FXAS2100X_REG_CTRL1, 
>> 0, 0),
>> +	[F_INT_CFG_FIFO]	= REG_FIELD(FXAS2100X_REG_CTRL2, 
>> 7, 7),
>> +	[F_INT_EN_FIFO]		= REG_FIELD(FXAS2100X_REG_CTRL2, 
>> 6, 6),
>> +	[F_INT_CFG_RT]		= REG_FIELD(FXAS2100X_REG_CTRL2, 
>> 5, 5),
>> +	[F_INT_EN_RT]		= REG_FIELD(FXAS2100X_REG_CTRL2, 
>> 4, 4),
>> +	[F_INT_CFG_DRDY]	= REG_FIELD(FXAS2100X_REG_CTRL2, 
>> 3, 3),
>> +	[F_INT_EN_DRDY]		= REG_FIELD(FXAS2100X_REG_CTRL2, 
>> 2, 2),
>> +	[F_IPOL]		= REG_FIELD(FXAS2100X_REG_CTRL2, 
>> 1, 1),
>> +	[F_PP_OD]		= REG_FIELD(FXAS2100X_REG_CTRL2, 
>> 0, 0),
>> +	[F_WRAPTOONE]		= REG_FIELD(FXAS2100X_REG_CTRL3, 
>> 3, 3),
>> +	[F_EXTCTRLEN]		= REG_FIELD(FXAS2100X_REG_CTRL3, 
>> 2, 2),
>> +	[F_FS_DOUBLE]		= REG_FIELD(FXAS2100X_REG_CTRL3, 
>> 0, 0),
>> +};
>> +
>> +extern const struct dev_pm_ops fxas2100x_pm_ops;
>> +
>> +int fxas2100x_core_probe(struct device *dev, struct regmap 
>> *regmap, int irq,
>> +			 const char *name);
>> +void fxas2100x_core_remove(struct device *dev);
>> +#endif
>> diff --git a/drivers/iio/gyro/fxas2100x_core.c 
>> b/drivers/iio/gyro/fxas2100x_core.c
>> new file mode 100644
>> index 000000000000..1f88760563dd
>> --- /dev/null
>> +++ b/drivers/iio/gyro/fxas2100x_core.c
>> @@ -0,0 +1,930 @@
>> +// SPDX-License-Identifier: GPL-2.0
>> +/*
>> + * Driver for NXP FXAS2100x Gyroscope - Core
>> + *
>> + * Copyright (C) 2019 Linaro Ltd.
>> + *
>> + */
>> +
>> +#include <linux/interrupt.h>
>> +#include <linux/module.h>
>> +#include <linux/pm.h>
>> +#include <linux/pm_runtime.h>
>> +#include <linux/regmap.h>
>> +
>> +#include <linux/iio/events.h>
>> +#include <linux/iio/iio.h>
>> +#include <linux/iio/buffer.h>
>> +#include <linux/iio/sysfs.h>
>> +#include <linux/iio/trigger.h>
>> +#include <linux/iio/trigger_consumer.h>
>> +#include <linux/iio/triggered_buffer.h>
>> +
>> +#include "fxas2100x.h"
>> +
>> +#define FXAS21002_CHIP_ID_1	0xD6
>> +#define FXAS21002_CHIP_ID_2	0xD7
>> +
>> +#define FXAS2100X_MODE_STANDBY	0x00
>> +#define FXAS2100X_MODE_READY	0x01
>> +#define FXAS2100X_MODE_ACTIVE	0x02
>> +
>> +#define FXAS2100X_STANDBY_ACTIVE_TIME_MS	62
>> +#define FXAS2100X_READY_ACTIVE_TIME_MS		7
>> +
>> +#define FXAS2100X_ODR_LIST_MAX		10
>> +
>> +#define FXAS2100X_SCALE_FRACTIONAL	32
>> +#define FXAS2100X_RANGE_LIMIT_DOUBLE	2000
>> +
>> +#define FXAS2100X_AXIS_TO_REG(axis)	(FXAS2100X_REG_OUT_X_MSB + 
>> ((axis) * 2))
>> +
>> +static const int fxas2100x_odr_values[] = {
>> +	800, 400, 200, 100, 50, 25, 12, 12
>> +};
>> +
>> +/*
>> + * This values are taken from the low-pass filter cuttoff 
>> frequency calculated
>
> These
> cutoff
>
>> + * ODR * 0.lpf_values. So, for ODR = 800Hz with a lpf value = 
>> 0.32
>> + * => LPF cuttof frequency = 800 * 0.32 = 256 Hz
>
> cutoff
>
>> + */
>> +static const int fxas2100x_lpf_values[] = {
>> +	32, 16, 8
>> +};
>> +
>> +/*
>> + * This values are taken from the high-pass filter cuttoff 
>> frequency calculated
>
> These
> cutoff
>
>> + * ODR * 0.0hpf_values. So, for ODR = 800Hz with a hpf value = 
>> 0.018750
>> + * => HPF cuttof frequency = 800 * 0.018750 = 15 Hz
>
> cutoff
>
>> + */
>> +static const int fxas2100x_hpf_values[] = {
>> +	18750, 9625, 4875, 2475
>> +};
>> +
>> +static const int fxas2100x_range_values[] = {
>> +	4000, 2000, 1000, 500, 250
>> +};
>> +
>> +struct fxas2100x_data {
>> +	u8 chip_id;
>> +	u8 mode;
>> +	u8 prev_mode;
>> +	struct regmap *regmap;
>> +	struct regmap_field *regmap_fields[F_MAX_FIELDS];
>> +	struct iio_trigger *dready_trig;
>> +	struct mutex lock;		/* protect access */
>
> the commend it not very useful; protect what?
>
>> +	s16 buffer[3];
>> +	int irq;
>> +};
>> +
>> +enum fxas2100x_channel_index {
>> +	CHANNEL_SCAN_INDEX_X,
>> +	CHANNEL_SCAN_INDEX_Y,
>> +	CHANNEL_SCAN_INDEX_Z,
>> +	CHANNEL_SCAN_MAX,
>> +};
>> +
>> +static int fxas2100x_odr_hz_from_value(struct fxas2100x_data 
>> *data, u8 value)
>> +{
>> +	int odr_value_max = ARRAY_SIZE(fxas2100x_odr_values) - 1;
>> +
>> +	value = min_t(u8, value, odr_value_max);
>> +
>> +	return fxas2100x_odr_values[value];
>> +}
>> +
>> +static int fxas2100x_odr_value_from_hz(struct fxas2100x_data 
>> *data,
>> +				       unsigned int hz)
>> +{
>> +	int odr_table_size = ARRAY_SIZE(fxas2100x_odr_values);
>> +	int i;
>> +
>> +	for (i = 0; i < odr_table_size; i++)
>> +		if (fxas2100x_odr_values[i] == hz)
>> +			return i;
>> +
>> +	return -EINVAL;
>> +}
>> +
>> +static int fxas2100x_lpf_bw_from_value(struct fxas2100x_data 
>> *data, u8 value)
>> +{
>> +	int lpf_value_max = ARRAY_SIZE(fxas2100x_lpf_values) - 1;
>> +
>> +	value = min_t(u8, value, lpf_value_max);
>> +
>> +	return fxas2100x_lpf_values[value];
>> +}
>> +
>> +static int fxas2100x_lpf_value_from_bw(struct fxas2100x_data 
>> *data,
>> +				       unsigned int hz)
>> +{
>> +	int lpf_table_size = ARRAY_SIZE(fxas2100x_lpf_values);
>> +	int i;
>> +
>> +	for (i = 0; i < lpf_table_size; i++)
>> +		if (fxas2100x_lpf_values[i] == hz)
>> +			return i;
>> +
>> +	return -EINVAL;
>> +}
>> +
>> +static int fxas2100x_hpf_sel_from_value(struct fxas2100x_data 
>> *data, u8 value)
>> +{
>> +	int hpf_value_max = ARRAY_SIZE(fxas2100x_hpf_values) - 1;
>> +
>> +	value = min_t(u8, value, hpf_value_max);
>> +
>> +	return fxas2100x_hpf_values[value];
>> +}
>> +
>> +static int fxas2100x_hpf_value_from_sel(struct fxas2100x_data 
>> *data,
>> +					unsigned int hz)
>> +{
>> +	int hpf_table_size = ARRAY_SIZE(fxas2100x_hpf_values);
>> +	int i;
>> +
>> +	for (i = 0; i < hpf_table_size; i++)
>> +		if (fxas2100x_hpf_values[i] == hz)
>> +			return i;
>> +
>> +	return -EINVAL;
>> +}
>> +
>> +static int fxas2100x_range_fs_from_value(struct fxas2100x_data 
>> *data,
>> +					 u8 value)
>> +{
>> +	int range_value_max = ARRAY_SIZE(fxas2100x_range_values) - 
>> 1;
>> +	unsigned int fs_double;
>> +	int ret;
>> +
>> +	/* We need to check if FS_DOUBLE is enabled to offset the 
>> value */
>> +	ret = regmap_field_read(data->regmap_fields[F_FS_DOUBLE], 
>> &fs_double);
>> +	if (ret < 0)
>> +		return ret;
>> +
>> +	value = min_t(u8, value, range_value_max);
>> +
>> +	if (!fs_double)
>> +		value += 1;
>
> what if value is already the last element of range_values?
> shouldn't the min() operation be done beforehand?
>
>> +
>> +	return fxas2100x_range_values[value];
>> +}
>> +
>> +static int fxas2100x_range_value_from_fs(struct fxas2100x_data 
>> *data,
>> +					 unsigned int range)
>> +{
>> +	int range_table_size = ARRAY_SIZE(fxas2100x_range_values);
>> +	bool found = false;
>> +	int ret;
>> +	int i;
>> +
>> +	for (i = 0; i < range_table_size; i++)
>> +		if (fxas2100x_range_values[i] == range)
>> +			found = true;
>> +	if (!found)
>> +		return -EINVAL;
>> +
>> +	if (range > FXAS2100X_RANGE_LIMIT_DOUBLE)
>> +		ret = 
>> regmap_field_write(data->regmap_fields[F_FS_DOUBLE], 1);
>> +	else
>> +		ret = 
>> regmap_field_write(data->regmap_fields[F_FS_DOUBLE], 0);
>
> ret is not checked
>
>> +
>> +	return i;
>> +}
>> +
>> +static int fxas2100x_mode_get(struct fxas2100x_data *data)
>> +{
>> +	unsigned int active;
>> +	unsigned int ready;
>> +	int ret;
>> +
>> +	ret = regmap_field_read(data->regmap_fields[F_ACTIVE], 
>> &active);
>> +	if (ret < 0)
>> +		return ret;
>> +	if (active)
>> +		return FXAS2100X_MODE_ACTIVE;
>> +
>> +	ret = regmap_field_read(data->regmap_fields[F_READY], 
>> &ready);
>> +	if (ret < 0)
>> +		return ret;
>> +	if (ready)
>> +		return FXAS2100X_MODE_READY;
>> +
>> +	return FXAS2100X_MODE_STANDBY;
>> +}
>> +
>> +static int fxas2100x_mode_set(struct fxas2100x_data *data, u8 
>> mode)
>
> maybe mode could be an enum?
>
>> +{
>> +	int ret;
>> +
>> +	if (mode > FXAS2100X_MODE_ACTIVE)
>> +		return -EINVAL;
>> +
>> +	if (mode == data->mode)
>> +		return 0;
>> +
>> +	if (mode == FXAS2100X_MODE_READY)
>> +		ret = 
>> regmap_field_write(data->regmap_fields[F_READY], 1);
>> +	else
>> +		ret = 
>> regmap_field_write(data->regmap_fields[F_READY], 0);
>> +	if (ret < 0)
>> +		return ret;
>> +
>> +	if (mode == FXAS2100X_MODE_ACTIVE)
>> +		ret = 
>> regmap_field_write(data->regmap_fields[F_ACTIVE], 1);
>> +	else
>> +		ret = 
>> regmap_field_write(data->regmap_fields[F_ACTIVE], 0);
>> +	if (ret < 0)
>> +		return ret;
>> +
>> +	/* if going to active wait the setup times */
>> +	if (mode == FXAS2100X_MODE_ACTIVE)
>> +		if (data->mode == FXAS2100X_MODE_STANDBY)
>> + 
>> msleep_interruptible(FXAS2100X_STANDBY_ACTIVE_TIME_MS);
>> +	if (data->mode == FXAS2100X_MODE_READY)
>> + 
>> msleep_interruptible(FXAS2100X_READY_ACTIVE_TIME_MS);
>> +
>> +	data->prev_mode = data->mode;
>> +	data->mode = mode;
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_pre_write(struct fxas2100x_data *data)
>> +{
>> +	int actual_mode;
>> +
>> +	actual_mode = fxas2100x_mode_get(data);
>
> no newline here (matter of taste)
>
>> +
>> +	if (actual_mode < 0)
>> +		return actual_mode;
>> +
>> +	return fxas2100x_mode_set(data, FXAS2100X_MODE_READY);
>> +}
>> +
>> +static int fxas2100x_post_write(struct fxas2100x_data *data)
>
> is this function really needed?
>
>> +{
>> +	return fxas2100x_mode_set(data, data->prev_mode);
>> +}
>> +
>> +static int  fxas2100x_pm_get(struct fxas2100x_data *data)
>> +{
>> +	struct device *dev = regmap_get_device(data->regmap);
>> +	int ret;
>> +
>> +	ret = pm_runtime_get_sync(dev);
>> +	if (ret < 0)
>> +		pm_runtime_put_noidle(dev);
>> +
>> +	return ret;
>> +}
>> +
>> +static int  fxas2100x_pm_put(struct fxas2100x_data *data)
>> +{
>> +	struct device *dev = regmap_get_device(data->regmap);
>> +
>> +	pm_runtime_mark_last_busy(dev);
>> +
>> +	return pm_runtime_put_autosuspend(dev);
>> +}
>> +
>> +static int fxas2100x_temp_get(struct fxas2100x_data *data, int 
>> *val)
>> +{
>> +	struct device *dev = regmap_get_device(data->regmap);
>> +	unsigned int temp;
>> +	int ret;
>> +
>> +	mutex_lock(&data->lock);
>> +	ret = fxas2100x_pm_get(data);
>> +	if (ret < 0)
>> +		goto data_unlock;
>> +
>> +	ret = regmap_field_read(data->regmap_fields[F_TEMP], 
>> &temp);
>> +	if (ret < 0) {
>> +		dev_err(dev, "failed to read temp: %d\n", ret);
>> +		goto data_unlock;
>> +	}
>> +
>> +	*val = sign_extend32(temp, 7);
>> +
>> +	ret = fxas2100x_pm_put(data);
>> +	if (ret < 0)
>> +		goto data_unlock;
>> +
>> +	ret = IIO_VAL_INT;
>> +
>> +data_unlock:
>> +	mutex_unlock(&data->lock);
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_axis_get(struct fxas2100x_data *data, int 
>> index, int *val)
>> +{
>> +	struct device *dev = regmap_get_device(data->regmap);
>> +	__be16 axis_be;
>> +	int ret;
>> +
>> +	mutex_lock(&data->lock);
>> +	ret = fxas2100x_pm_get(data);
>> +	if (ret < 0)
>> +		goto data_unlock;
>> +
>> +	ret = regmap_bulk_read(data->regmap, 
>> FXAS2100X_AXIS_TO_REG(index),
>> +			       &axis_be, sizeof(axis_be));
>> +	if (ret < 0) {
>> +		dev_err(dev, "failed to read axis: %d: %d\n", 
>> index, ret);
>> +		goto data_unlock;
>> +	}
>> +
>> +	*val = sign_extend32(be16_to_cpu(axis_be), 15);
>> +
>> +	ret = fxas2100x_pm_put(data);
>> +	if (ret < 0)
>> +		goto data_unlock;
>> +
>> +	ret = IIO_VAL_INT;
>> +
>> +data_unlock:
>> +	mutex_unlock(&data->lock);
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_odr_get(struct fxas2100x_data *data, int 
>> *odr)
>> +{
>> +	unsigned int odr_bits;
>> +	int ret;
>> +
>> +	mutex_lock(&data->lock);
>> +	ret = regmap_field_read(data->regmap_fields[F_DR], 
>> &odr_bits);
>> +	if (ret < 0)
>> +		goto data_unlock;
>> +
>> +	*odr = fxas2100x_odr_hz_from_value(data, odr_bits);
>> +
>> +	ret = IIO_VAL_INT;
>> +data_unlock:
>> +	mutex_unlock(&data->lock);
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_odr_set(struct fxas2100x_data *data, int 
>> odr)
>> +{
>> +	int odr_bits;
>> +	int ret;
>> +
>> +	odr_bits = fxas2100x_odr_value_from_hz(data, odr);
>
> no newline, I'd do the check right after the assignment
> here and elsewhere
>
>> +
>> +	if (odr_bits < 0)
>> +		return odr_bits;
>> +
>> +	mutex_lock(&data->lock);
>> +	ret = fxas2100x_pre_write(data);
>> +	if (ret < 0)
>> +		goto post_write;
>> +
>> +	ret = regmap_field_write(data->regmap_fields[F_DR], 
>> odr_bits);
>> +	if (ret < 0)
>> +		goto post_write;
>> +
>> +post_write:
>> +	ret = fxas2100x_post_write(data);
>> +
>> +	mutex_unlock(&data->lock);
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_lpf_get(struct fxas2100x_data *data, int 
>> *val2)
>> +{
>> +	unsigned int bw_bits;
>> +	int ret;
>> +
>> +	mutex_lock(&data->lock);
>> +	ret = regmap_field_read(data->regmap_fields[F_BW], 
>> &bw_bits);
>> +	if (ret < 0)
>> +		goto data_unlock;
>> +
>> +	*val2 = fxas2100x_lpf_bw_from_value(data, bw_bits) * 
>> 10000;
>> +
>> +	ret = IIO_VAL_INT_PLUS_MICRO;
>> +
>> +data_unlock:
>> +	mutex_unlock(&data->lock);
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_lpf_set(struct fxas2100x_data *data, int 
>> bw)
>> +{
>> +	int bw_bits;
>> +	int odr;
>> +	int ret;
>> +
>> +	bw_bits = fxas2100x_lpf_value_from_bw(data, bw);
>> +
>> +	if (bw_bits < 0)
>> +		return bw_bits;
>> +
>> +	/*
>> +	 * From table 33 of the device spec, for ODR = 25Hz and 
>> 12.5 value 0.08
>> +	 * is not allowed and for ODR = 12.5 value 0.16 is also 
>> not allowed
>> +	 */
>> +	ret = fxas2100x_odr_get(data, &odr);
>> +	if (ret < 0)
>> +		return -EINVAL;
>> +
>> +	if ((odr == 25 && bw_bits > 0x01) || (odr == 12 && bw_bits 
>> > 0))
>> +		return -EINVAL;
>> +
>
> probably the sequence 
> pre_write()
> regmap_field_write()
> post_write()
> could be put into a helper function to safe some lines of code
>
>> +	mutex_lock(&data->lock);
>> +	ret = fxas2100x_pre_write(data);
>> +	if (ret < 0)
>> +		goto post_write;
>> +
>> +	ret = regmap_field_write(data->regmap_fields[F_BW], 
>> bw_bits);
>> +	if (ret < 0)
>> +		goto post_write;
>> +
>> +post_write:
>> +	ret = fxas2100x_post_write(data);
>> +
>> +	mutex_unlock(&data->lock);
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_hpf_get(struct fxas2100x_data *data, int 
>> *val2)
>> +{
>> +	unsigned int sel_bits;
>> +	int ret;
>> +
>> +	mutex_lock(&data->lock);
>> +	ret = regmap_field_read(data->regmap_fields[F_SEL], 
>> &sel_bits);
>> +	if (ret < 0)
>> +		goto data_unlock;
>> +
>> +	*val2 = fxas2100x_hpf_sel_from_value(data, sel_bits);
>> +
>> +	ret = IIO_VAL_INT_PLUS_MICRO;
>> +
>> +data_unlock:
>> +	mutex_unlock(&data->lock);
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_hpf_set(struct fxas2100x_data *data, int 
>> sel)
>> +{
>> +	int sel_bits;
>> +	int ret;
>> +
>> +	sel_bits = fxas2100x_hpf_value_from_sel(data, sel);
>> +
>> +	if (sel_bits < 0)
>> +		return sel_bits;
>> +
>> +	mutex_lock(&data->lock);
>> +	ret = fxas2100x_pre_write(data);
>> +	if (ret < 0)
>> +		goto post_write;
>> +
>> +	ret = regmap_field_write(data->regmap_fields[F_SEL], 
>> sel_bits);
>> +	if (ret < 0)
>> +		goto post_write;
>> +
>> +post_write:
>> +	ret = fxas2100x_post_write(data);
>> +
>> +	mutex_unlock(&data->lock);
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_scale_get(struct fxas2100x_data *data, 
>> int *val)
>> +{
>> +	int fs_bits;
>> +	int scale;
>> +	int ret;
>> +
>> +	mutex_lock(&data->lock);
>> +	ret = regmap_field_read(data->regmap_fields[F_FS], 
>> &fs_bits);
>> +	if (ret < 0)
>> +		goto data_unlock;
>> +
>> +	scale = fxas2100x_range_fs_from_value(data, fs_bits);
>> +
>> +	*val = scale;
>> +
>> +	ret = IIO_VAL_FRACTIONAL;
>> +
>> +data_unlock:
>> +	mutex_unlock(&data->lock);
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_scale_set(struct fxas2100x_data *data, 
>> int range)
>> +{
>> +	int fs_bits;
>> +	int ret;
>> +
>> +	fs_bits = fxas2100x_range_value_from_fs(data, range);
>> +
>> +	if (fs_bits < 0)
>> +		return fs_bits;
>> +
>> +	mutex_lock(&data->lock);
>> +	ret = fxas2100x_pre_write(data);
>> +	if (ret < 0)
>> +		goto post_write;
>> +
>> +	ret = regmap_field_write(data->regmap_fields[F_FS], 
>> fs_bits);
>> +	if (ret < 0)
>> +		goto post_write;
>> +
>> +post_write:
>> +	ret = fxas2100x_post_write(data);
>> +
>> +	mutex_unlock(&data->lock);
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_read_raw(struct iio_dev *indio_dev,
>> +			      struct iio_chan_spec const *chan, 
>> int *val,
>> +			      int *val2, long mask)
>> +{
>> +	struct fxas2100x_data *data = iio_priv(indio_dev);
>> +
>> +	switch (mask) {
>> +	case IIO_CHAN_INFO_RAW:
>> +		switch (chan->type) {
>> +		case IIO_TEMP:
>> +			return fxas2100x_temp_get(data, val);
>> +		case IIO_ANGL_VEL:
>> +			return fxas2100x_axis_get(data, 
>> chan->scan_index, val);
>> +		default:
>> +			return -EINVAL;
>> +		}
>> +	case IIO_CHAN_INFO_SCALE:
>> +		switch (chan->type) {
>> +		case IIO_ANGL_VEL:
>> +			*val2 = FXAS2100X_SCALE_FRACTIONAL;
>> +			return fxas2100x_scale_get(data, val);
>> +		default:
>> +			return -EINVAL;
>> +		}
>> +	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
>> +		*val = 0;
>> +		return fxas2100x_lpf_get(data, val2);
>> +	case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
>> +		*val = 0;
>> +		return fxas2100x_hpf_get(data, val2);
>> +	case IIO_CHAN_INFO_SAMP_FREQ:
>> +		*val2 = 0;
>> +		return fxas2100x_odr_get(data, val);
>> +	default:
>> +		return -EINVAL;
>> +	}
>> +}
>> +
>> +static int fxas2100x_write_raw(struct iio_dev *indio_dev,
>> +			       struct iio_chan_spec const *chan, 
>> int val,
>> +			       int val2, long mask)
>> +{
>> +	struct fxas2100x_data *data = iio_priv(indio_dev);
>> +	int range;
>> +
>> +	switch (mask) {
>> +	case IIO_CHAN_INFO_SAMP_FREQ:
>
> check that val2 == 0?
>
>> +		return fxas2100x_odr_set(data, val);
>> +	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
>
> check that val == 0?
>
>> +		val2 = val2 / 10000;
>> +		return fxas2100x_lpf_set(data, val2);
>> +	case IIO_CHAN_INFO_SCALE:
>> +		switch (chan->type) {
>> +		case IIO_ANGL_VEL:
>> +			range = (((val * 1000 + val2 / 1000) *
>> +				  FXAS2100X_SCALE_FRACTIONAL) / 
>> 1000);
>> +			return fxas2100x_scale_set(data, range);
>> +		default:
>> +			return -EINVAL;
>> +		}
>> +	case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
>> +		return fxas2100x_hpf_set(data, val2);
>> +	default:
>> +		return -EINVAL;
>> +	}
>> +}
>> +
>> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("12.5 25 50 100 200 400 
>> 800");
>> +
>> +static 
>> IIO_CONST_ATTR(in_anglvel_filter_low_pass_3db_frequency_available,
>> +		      "0.32 0.16 0.08");
>> +
>> +static 
>> IIO_CONST_ATTR(in_anglvel_filter_high_pass_3db_frequency_available,
>> +		      "0.018750 0.009625 0.004875 0.002475");
>> +
>> +static IIO_CONST_ATTR(in_anglvel_scale_available,
>> +		      "125.0 62.5 31.25 15.625 7.8130");
>
> 7.8125? (see table 35)
>
>> +
>> +static struct attribute *fxas2100x_attributes[] = {
>> + 
>> &iio_const_attr_sampling_frequency_available.dev_attr.attr,
>> + 
>> &iio_const_attr_in_anglvel_filter_low_pass_3db_frequency_available.dev_attr.attr,
>> + 
>> &iio_const_attr_in_anglvel_filter_high_pass_3db_frequency_available.dev_attr.attr,
>> +	&iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
>> +	NULL,
>> +};
>> +
>> +static const struct attribute_group fxas2100x_attrs_group = {
>> +	.attrs = fxas2100x_attributes,
>> +};
>> +
>> +#define FXAS2100X_CHANNEL(_axis) { 
>> \
>> +	.type = IIO_ANGL_VEL, 
>> \
>> +	.modified = 1, 
>> \
>> +	.channel2 = IIO_MOD_##_axis, 
>> \
>> +	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), 
>> \
>> +	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | 
>> \
>> +		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | 
>> \
>> +		BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY) 
>> |	\
>> +		BIT(IIO_CHAN_INFO_SAMP_FREQ), 
>> \
>> +	.scan_index = CHANNEL_SCAN_INDEX_##_axis, 
>> \
>> +	.scan_type = { 
>> \
>> +		.sign = 's', 
>> \
>> +		.realbits = 16, 
>> \
>> +		.storagebits = 16, 
>> \
>> +		.endianness = IIO_BE, 
>> \
>> +	}, 
>> \
>> +}
>> +
>> +static const struct iio_chan_spec fxas2100x_channels[] = {
>> +	{
>> +		.type = IIO_TEMP,
>> +		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
>> +		.scan_index = -1,
>> +	},
>> +	FXAS2100X_CHANNEL(X),
>> +	FXAS2100X_CHANNEL(Y),
>> +	FXAS2100X_CHANNEL(Z),
>> +};
>> +
>> +static const struct iio_info fxas2100x_info = {
>> +	.attrs			= &fxas2100x_attrs_group,
>> +	.read_raw		= &fxas2100x_read_raw,
>> +	.write_raw		= &fxas2100x_write_raw,
>> +};
>> +
>> +static irqreturn_t fxas2100x_trigger_handler(int irq, void *p)
>> +{
>> +	struct iio_poll_func *pf = p;
>> +	struct iio_dev *indio_dev = pf->indio_dev;
>> +	struct fxas2100x_data *data = iio_priv(indio_dev);
>> +	int ret;
>> +
>> +	mutex_lock(&data->lock);
>> +	ret = regmap_bulk_read(data->regmap, 
>> FXAS2100X_REG_OUT_X_MSB,
>> +			       data->buffer, CHANNEL_SCAN_MAX * 
>> 2);
>
> 2 == sizeof(s16)
>
>> +	mutex_unlock(&data->lock);
>> +	if (ret < 0)
>> +		goto notify_done;
>> +
>> +	iio_push_to_buffers_with_timestamp(indio_dev, 
>> data->buffer,
>> +					   pf->timestamp);
>
> the buffer is too small; the timestamp needs to fit into the 
> buffer as 
> well
>
> 3*sizeof(s16) + /* padding */ sizeof(s16) + /* timestamp */ + 
> 4*sizeof(s16)
>
>> +
>> +notify_done:
>> +	iio_trigger_notify_done(indio_dev->trig);
>> +
>> +	return IRQ_HANDLED;
>> +}
>> +
>> +static int fxas2100x_chip_init(struct fxas2100x_data *data)
>> +{
>> +	struct device *dev = regmap_get_device(data->regmap);
>> +	unsigned int chip_id;
>> +	int ret;
>> +
>> +	ret = regmap_field_read(data->regmap_fields[F_WHO_AM_I], 
>> &chip_id);
>> +	if (ret < 0)
>> +		return ret;
>> +
>> +	if (chip_id != FXAS21002_CHIP_ID_1 && chip_id != 
>> FXAS21002_CHIP_ID_2) {
>> +		dev_err(dev, "chip id %d is not supported\n", 
>> chip_id);
>
> maybe use %02x to output the chip id
>
>> +		return -EINVAL;
>> +	}
>> +
>> +	data->chip_id = chip_id;
>> +
>> +	ret = fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
>> +	if (ret < 0)
>> +		return ret;
>> +
>> +	/* Set ODR to 200HZ as default */
>> +	ret = fxas2100x_odr_set(data, 200);
>> +	if (ret < 0)
>> +		dev_err(dev, "failed to set ODR: %d\n", ret);
>> +
>> +	return ret;
>> +}
>> +
>> +static int fxas2100x_data_rdy_trigger_set_state(struct 
>> iio_trigger *trig,
>> +						bool state)
>> +{
>> +	struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
>> +	struct fxas2100x_data *data = iio_priv(indio_dev);
>> +
>> +	return 
>> regmap_field_write(data->regmap_fields[F_INT_EN_DRDY], 
>> !!state);
>
> no need for !!, state is bool
>
>> +}
>> +
>> +static const struct iio_trigger_ops fxas2100x_trigger_ops = {
>> +	.set_trigger_state = 
>> &fxas2100x_data_rdy_trigger_set_state,
>> +};
>> +
>> +static irqreturn_t fxas2100x_data_rdy_trig_poll(int irq, void 
>> *private)
>> +{
>> +	struct iio_dev *indio_dev = private;
>> +	struct fxas2100x_data *data = iio_priv(indio_dev);
>> +
>> +	iio_trigger_poll(data->dready_trig);
>> +
>> +	return IRQ_HANDLED;
>> +}
>> +
>> +static int fxas2100x_trigger_probe(struct fxas2100x_data 
>> *data)
>> +{
>> +	struct device *dev = regmap_get_device(data->regmap);
>> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
>> +	int ret;
>> +
>> +	if (!data->irq)
>> +		return 0;
>> +
>> +	data->dready_trig = devm_iio_trigger_alloc(dev, 
>> "%s-dev%d",
>> + 
>> indio_dev->name,
>> +						   indio_dev->id);
>> +	if (!data->dready_trig)
>> +		return -ENOMEM;
>> +
>> +	ret = devm_request_irq(dev, data->irq, 
>> fxas2100x_data_rdy_trig_poll,
>> +			       IRQF_TRIGGER_RISING, 
>> "fxas2100x_data_ready",
>> +			       data->dready_trig);
>> +	if (ret < 0)
>> +		return ret;
>> +
>> +	data->dready_trig->dev.parent = dev;
>> +	data->dready_trig->ops = &fxas2100x_trigger_ops;
>> +	iio_trigger_set_drvdata(data->dready_trig, indio_dev);
>> +
>> +	ret = devm_iio_trigger_register(dev, data->dready_trig);
>
> just 
> return devm_iio_trigger_register(...);
>
>> +	if (ret)
>> +		return ret;
>> +
>> +	return 0;
>> +}
>> +
>> +int fxas2100x_core_probe(struct device *dev, struct regmap 
>> *regmap, int irq,
>> +			 const char *name)
>> +{
>> +	struct fxas2100x_data *data;
>> +	struct iio_dev *indio_dev;
>> +	struct regmap_field *f;
>> +	int i;
>> +	int ret;
>> +
>> +	indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
>> +	if (!indio_dev)
>> +		return -ENOMEM;
>> +
>> +	data = iio_priv(indio_dev);
>> +	dev_set_drvdata(dev, indio_dev);
>> +	data->irq = irq;
>> +	data->regmap = regmap;
>> +
>> +	for (i = 0; i < F_MAX_FIELDS; i++) {
>> +		f = devm_regmap_field_alloc(dev, data->regmap,
>> + 
>> fxas2100x_reg_fields[i]);
>> +		if (IS_ERR(f)) {
>> +			dev_err(dev, "failed to alloc regmap field 
>> %d: %ld\n",
>> +				i, PTR_ERR(f));
>> +			return PTR_ERR(f);
>> +		}
>> +		data->regmap_fields[i] = f;
>> +	}
>> +
>> +	mutex_init(&data->lock);
>> +
>> +	ret = fxas2100x_chip_init(data);
>> +	if (ret < 0)
>> +		return ret;
>> +
>> +	indio_dev->dev.parent = dev;
>> +	indio_dev->channels = fxas2100x_channels;
>> +	indio_dev->num_channels = ARRAY_SIZE(fxas2100x_channels);
>> +	indio_dev->name = name;
>> +	indio_dev->modes = INDIO_DIRECT_MODE;
>> +	indio_dev->info = &fxas2100x_info;
>> +
>> +	ret = fxas2100x_trigger_probe(data);
>> +	if (ret < 0)
>> +		return ret;
>> +
>> +	ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
>> + 
>> iio_pollfunc_store_time,
>> + 
>> fxas2100x_trigger_handler, NULL);
>> +	if (ret < 0)
>> +		return ret;
>> +
>> +	ret = pm_runtime_set_active(dev);
>> +	if (ret)
>> +		return ret;
>> +
>> +	pm_runtime_enable(dev);
>> +	pm_runtime_set_autosuspend_delay(dev, 2000);
>> +	pm_runtime_use_autosuspend(dev);
>> +
>> +	ret = devm_iio_device_register(dev, indio_dev);
>> +	if (ret < 0) {
>> +		dev_err(dev, "unable to register iio device: 
>> %d\n", ret);
>
> this error message is rather pointless, the user will find out 
> regardless :)
>
>> +		return ret;
>> +	}
>> +
>> +	return 0;
>> +}
>> +EXPORT_SYMBOL_GPL(fxas2100x_core_probe);
>> +
>> +void fxas2100x_core_remove(struct device *dev)
>> +{
>> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
>> +	struct fxas2100x_data *data = iio_priv(indio_dev);
>> +
>> +	pm_runtime_disable(dev);
>> +	pm_runtime_set_suspended(dev);
>> +	pm_runtime_put_noidle(dev);
>> +
>> +	fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
>> +}
>> +EXPORT_SYMBOL_GPL(fxas2100x_core_remove);
>> +
>> +#ifdef CONFIG_PM_SLEEP
>> +static int fxas2100x_suspend(struct device *dev)
>> +{
>> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
>> +	struct fxas2100x_data *data = iio_priv(indio_dev);
>> +
>> +	fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
>> +
>> +	return 0;
>> +}
>> +
>> +static int fxas2100x_resume(struct device *dev)
>> +{
>> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
>> +	struct fxas2100x_data *data = iio_priv(indio_dev);
>> +
>> +	fxas2100x_mode_set(data, data->prev_mode);
>> +
>> +	return 0;
>> +}
>> +#endif
>> +
>> +#ifdef CONFIG_PM
>> +static int fxas2100x_runtime_suspend(struct device *dev)
>> +{
>> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
>> +	struct fxas2100x_data *data = iio_priv(indio_dev);
>> +	int ret;
>> +
>> +	ret = fxas2100x_mode_set(data, FXAS2100X_MODE_READY);
>> +	if (ret < 0)
>> +		return -EAGAIN;
>> +
>> +	return 0;
>> +}
>> +
>> +static int fxas2100x_runtime_resume(struct device *dev)
>> +{
>> +	struct iio_dev *indio_dev = dev_get_drvdata(dev);
>> +	struct fxas2100x_data *data = iio_priv(indio_dev);
>> +	int ret;
>> +
>> +	ret = fxas2100x_mode_set(data, FXAS2100X_MODE_ACTIVE);
>> +	if (ret < 0)
>> +		return -EAGAIN;
>> +
>> +	return 0;
>> +}
>> +#endif
>> +
>> +const struct dev_pm_ops fxas2100x_pm_ops = {
>> +	SET_SYSTEM_SLEEP_PM_OPS(fxas2100x_suspend, 
>> fxas2100x_resume)
>> +	SET_RUNTIME_PM_OPS(fxas2100x_runtime_suspend,
>> +			   fxas2100x_runtime_resume, NULL)
>> +};
>> +EXPORT_SYMBOL_GPL(fxas2100x_pm_ops);
>> +
>> +MODULE_AUTHOR("Rui Miguel Silva <rui.silva@linaro.org>");
>> +MODULE_LICENSE("GPL v2");
>> +MODULE_DESCRIPTION("FXAS2100X Gyro driver");
>> 

[PATCH 3/5] iio: gyro: fxas2100x: add i2c driver

[Rui Miguel Silva]

This add the real driver to talk over i2c and use the fxas2100x core
for the main tasks.

Signed-off-by: Rui Miguel Silva <rui.silva@linaro.org>
---
 drivers/iio/gyro/Kconfig         |  6 +++
 drivers/iio/gyro/Makefile        |  1 +
 drivers/iio/gyro/fxas2100x_i2c.c | 73 ++++++++++++++++++++++++++++++++
 3 files changed, 80 insertions(+)
 create mode 100644 drivers/iio/gyro/fxas2100x_i2c.c

diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index c168aa63de3b..1f9bfc51febb 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -77,6 +77,8 @@ config FXAS2100X
 	tristate "NXP FXAS2100X Gyro Sensor"
 	select IIO_BUFFER
 	select IIO_TRIGGERED_BUFFER
+	select FXAS2100X_I2C if (I2C)
+	depends on (I2C || SPI_MASTER)
 	help
 	  Say yes here to build support for NXP FXAS2100X family Tri-axis Gyro
 	  Sensor driver connected via I2C or SPI.
@@ -84,6 +86,10 @@ config FXAS2100X
 	  This driver can also be built as a module.  If so, the module
 	  will be called fxas2100x_i2c or fxas2100x_spi.
 
+config FXAS2100X_I2C
+	tristate
+	select REGMAP_I2C
+
 config HID_SENSOR_GYRO_3D
 	depends on HID_SENSOR_HUB
 	select IIO_BUFFER
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
index 9e2395185a6e..8b1540ddbbce 100644
--- a/drivers/iio/gyro/Makefile
+++ b/drivers/iio/gyro/Makefile
@@ -13,6 +13,7 @@ obj-$(CONFIG_BMG160) += bmg160_core.o
 obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o
 obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o
 obj-$(CONFIG_FXAS2100X) += fxas2100x_core.o
+obj-$(CONFIG_FXAS2100X_I2C) += fxas2100x_i2c.o
 
 obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
 
diff --git a/drivers/iio/gyro/fxas2100x_i2c.c b/drivers/iio/gyro/fxas2100x_i2c.c
new file mode 100644
index 000000000000..af4e8af6d301
--- /dev/null
+++ b/drivers/iio/gyro/fxas2100x_i2c.c
@@ -0,0 +1,73 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Driver for NXP FXAS2100x Gyroscope - I2C
+ *
+ * Copyright (C) 2018 Linaro Ltd.
+ *
+ */
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/of.h>
+#include <linux/regmap.h>
+
+#include "fxas2100x.h"
+
+static const struct regmap_config fxas2100x_regmap_i2c_conf = {
+	.reg_bits = 8,
+	.val_bits = 8,
+	.max_register = FXAS2100X_REG_CTRL3,
+};
+
+static int fxas2100x_i2c_probe(struct i2c_client *i2c,
+			       const struct i2c_device_id *id)
+{
+	struct regmap *regmap;
+	const char *name = NULL;
+
+	regmap = devm_regmap_init_i2c(i2c, &fxas2100x_regmap_i2c_conf);
+	if (IS_ERR(regmap)) {
+		dev_err(&i2c->dev, "Failed to register i2c regmap: %ld\n",
+			PTR_ERR(regmap));
+		return PTR_ERR(regmap);
+	}
+
+	if (id)
+		name = id->name;
+
+	return fxas2100x_core_probe(&i2c->dev, regmap, i2c->irq, name);
+}
+
+static int fxas2100x_i2c_remove(struct i2c_client *i2c)
+{
+	fxas2100x_core_remove(&i2c->dev);
+
+	return 0;
+}
+
+static const struct i2c_device_id fxas2100x_i2c_id[] = {
+	{ "fxas2100x", 0 },
+	{ }
+};
+MODULE_DEVICE_TABLE(i2c, fxas2100x_i2c_id);
+
+static const struct of_device_id fxas2100x_i2c_of_match[] = {
+	{ .compatible = "nxp,fxas2100x", },
+	{ },
+};
+MODULE_DEVICE_TABLE(of, fxas2100x_i2c_of_match);
+
+static struct i2c_driver fxas2100x_i2c_driver = {
+	.driver = {
+		.name = "fxas2100x_i2c",
+		.pm = &fxas2100x_pm_ops,
+		.of_match_table = of_match_ptr(fxas2100x_i2c_of_match),
+	},
+	.probe		= fxas2100x_i2c_probe,
+	.remove		= fxas2100x_i2c_remove,
+	.id_table	= fxas2100x_i2c_id,
+};
+module_i2c_driver(fxas2100x_i2c_driver);
+
+MODULE_AUTHOR("Rui Miguel Silva <rui.silva@linaro.org>");
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("FXAS2100X I2C Gyro driver");
-- 
2.20.1

[PATCH 4/5] iio: gyro: fxas2100x: add spi driver

[Rui Miguel Silva]

Add driver to talk over spi to a fxas2100x gyroscope device and use the
core as main controller.

Signed-off-by: Rui Miguel Silva <rui.silva@linaro.org>
---
 drivers/iio/gyro/Kconfig         |  5 +++
 drivers/iio/gyro/Makefile        |  1 +
 drivers/iio/gyro/fxas2100x_spi.c | 70 ++++++++++++++++++++++++++++++++
 3 files changed, 76 insertions(+)
 create mode 100644 drivers/iio/gyro/fxas2100x_spi.c

diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index 1f9bfc51febb..4f6d6b393ad8 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -78,6 +78,7 @@ config FXAS2100X
 	select IIO_BUFFER
 	select IIO_TRIGGERED_BUFFER
 	select FXAS2100X_I2C if (I2C)
+	select FXAS2100X_SPI if (SPI)
 	depends on (I2C || SPI_MASTER)
 	help
 	  Say yes here to build support for NXP FXAS2100X family Tri-axis Gyro
@@ -90,6 +91,10 @@ config FXAS2100X_I2C
 	tristate
 	select REGMAP_I2C
 
+config FXAS2100X_SPI
+	tristate
+	select REGMAP_SPI
+
 config HID_SENSOR_GYRO_3D
 	depends on HID_SENSOR_HUB
 	select IIO_BUFFER
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
index 8b1540ddbbce..29915ba124b0 100644
--- a/drivers/iio/gyro/Makefile
+++ b/drivers/iio/gyro/Makefile
@@ -14,6 +14,7 @@ obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o
 obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o
 obj-$(CONFIG_FXAS2100X) += fxas2100x_core.o
 obj-$(CONFIG_FXAS2100X_I2C) += fxas2100x_i2c.o
+obj-$(CONFIG_FXAS2100X_SPI) += fxas2100x_spi.o
 
 obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
 
diff --git a/drivers/iio/gyro/fxas2100x_spi.c b/drivers/iio/gyro/fxas2100x_spi.c
new file mode 100644
index 000000000000..10f856ba6f47
--- /dev/null
+++ b/drivers/iio/gyro/fxas2100x_spi.c
@@ -0,0 +1,70 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Driver for NXP FXAS2100x Gyroscope - SPI
+ *
+ * Copyright (C) 2018 Linaro Ltd.
+ *
+ */
+
+#include <linux/module.h>
+#include <linux/of.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+
+#include "fxas2100x.h"
+
+static const struct regmap_config fxas2100x_regmap_spi_conf = {
+	.reg_bits = 8,
+	.val_bits = 8,
+	.max_register = FXAS2100X_REG_CTRL3,
+};
+
+static int fxas2100x_spi_probe(struct spi_device *spi)
+{
+	const struct spi_device_id *id = spi_get_device_id(spi);
+	struct regmap *regmap;
+
+	regmap = devm_regmap_init_spi(spi, &fxas2100x_regmap_spi_conf);
+	if (IS_ERR(regmap)) {
+		dev_err(&spi->dev, "Failed to register spi regmap: %ld\n",
+			PTR_ERR(regmap));
+		return PTR_ERR(regmap);
+	}
+
+	return fxas2100x_core_probe(&spi->dev, regmap, spi->irq, id->name);
+}
+
+static int fxas2100x_spi_remove(struct spi_device *spi)
+{
+	fxas2100x_core_remove(&spi->dev);
+
+	return 0;
+}
+
+static const struct spi_device_id fxas2100x_spi_id[] = {
+	{ "fxas2100x", 0 },
+	{ }
+};
+MODULE_DEVICE_TABLE(spi, fxas2100x_spi_id);
+
+static const struct of_device_id fxas2100x_spi_of_match[] = {
+	{ .compatible = "nxp,fxas2100x", },
+	{ },
+};
+MODULE_DEVICE_TABLE(of, fxas2100x_spi_of_match);
+
+static struct spi_driver fxas2100x_spi_driver = {
+	.driver = {
+		.name = "fxas2100x_spi",
+		.pm = &fxas2100x_pm_ops,
+		.of_match_table = of_match_ptr(fxas2100x_spi_of_match),
+	},
+	.probe		= fxas2100x_spi_probe,
+	.remove		= fxas2100x_spi_remove,
+	.id_table	= fxas2100x_spi_id,
+};
+module_spi_driver(fxas2100x_spi_driver);
+
+MODULE_AUTHOR("Rui Miguel Silva <rui.silva@linaro.org>");
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("FXAS2100X SPI Gyro driver");
-- 
2.20.1

[PATCH 5/5] ARM: dts: imx7s-warp: add fxas2100x gyroscope

[Rui Miguel Silva]

Add entry to enable the fxas2100x in the warp7 board

Signed-off-by: Rui Miguel Silva <rui.silva@linaro.org>
---
 arch/arm/boot/dts/imx7s-warp.dts | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/arch/arm/boot/dts/imx7s-warp.dts b/arch/arm/boot/dts/imx7s-warp.dts
index 58d1a89ee3e3..47ff43cd229e 100644
--- a/arch/arm/boot/dts/imx7s-warp.dts
+++ b/arch/arm/boot/dts/imx7s-warp.dts
@@ -238,6 +238,11 @@
 		compatible = "fsl,mpl3115";
 		reg = <0x60>;
 	};
+
+	fxas2100x@20 {
+		compatible = "nxp,fxas2100x";
+		reg = <0x20>;
+	};
 };
 
 &sai1 {
-- 
2.20.1