Re: [v2 10/10] iio: imu: add BNO055 I2C driver

Jonathan Cameron
2021-10-28T11:05:42Z

On Thu, 28 Oct 2021 12:18:40 +0200
Andrea Merello <andrea.merello@gmail.com> wrote:

> This path adds an I2C driver for communicating to a BNO055 IMU via I2C bus
> and it enables the BNO055 core driver to work in this scenario.
>
> Signed-off-by: Andrea Merello <andrea.merello@iit.it>
Hi Andrea,

A few minor things inline.

Jonathan

> ---
> drivers/iio/imu/bno055/Kconfig | 6 ++++
> drivers/iio/imu/bno055/Makefile | 1 +
> drivers/iio/imu/bno055/bno055_i2c.c | 54 +++++++++++++++++++++++++++++
> 3 files changed, 61 insertions(+)
> create mode 100644 drivers/iio/imu/bno055/bno055_i2c.c
>
> diff --git a/drivers/iio/imu/bno055/Kconfig b/drivers/iio/imu/bno055/Kconfig
> index 941e43f0368d..87200787d548 100644
> --- a/drivers/iio/imu/bno055/Kconfig
> +++ b/drivers/iio/imu/bno055/Kconfig
> @@ -7,3 +7,9 @@ config BOSH_BNO055_SERIAL
> tristate "Bosh BNO055 attached via serial bus"
> depends on SERIAL_DEV_BUS
> select BOSH_BNO055_IIO
> +
> +config BOSH_BNO055_I2C
> + tristate "Bosh BNO055 attached via I2C bus"
> + depends on I2C
> + select REGMAP_I2C
> + select BOSH_BNO055_IIO
> diff --git a/drivers/iio/imu/bno055/Makefile b/drivers/iio/imu/bno055/Makefile
> index 7285ade2f4b9..eaf24018cb28 100644
> --- a/drivers/iio/imu/bno055/Makefile
> +++ b/drivers/iio/imu/bno055/Makefile
> @@ -2,3 +2,4 @@
>
> obj-$(CONFIG_BOSH_BNO055_IIO) += bno055.o
> obj-$(CONFIG_BOSH_BNO055_SERIAL) += bno055_sl.o
> +obj-$(CONFIG_BOSH_BNO055_I2C) += bno055_i2c.o
> diff --git a/drivers/iio/imu/bno055/bno055_i2c.c b/drivers/iio/imu/bno055/bno055_i2c.c
> new file mode 100644
> index 000000000000..eea0daa6a61d
> --- /dev/null
> +++ b/drivers/iio/imu/bno055/bno055_i2c.c
> @@ -0,0 +1,54 @@
> +// SPDX-License-Identifier: GPL-2.0
> +/*
> + * I2C interface for Bosh BNO055 IMU.
> + * This file implements I2C communication up to the register read/write
> + * level.

Not really. It just uses regmap, so I'd drop this comment.

> + *
> + * Copyright (C) 2021 Istituto Italiano di Tecnologia
> + * Electronic Design Laboratory
> + * Written by Andrea Merello <andrea.merello@iit.it>
> + */
> +
> +#include <linux/i2c.h>

Why? I'm not seeing an i2c specific calls in here.

> +#include <linux/regmap.h>
> +#include <linux/module.h>

mod_devicetable.h for struct i2c_device_id

> +
> +#include "bno055.h"
> +
> +#define BNO055_I2C_XFER_BURST_BREAK_THRESHOLD 3 /* FIXME */
> +
> +static int bno055_i2c_probe(struct i2c_client *client,
> + const struct i2c_device_id *id)
> +{
> + struct regmap *regmap =
> + devm_regmap_init_i2c(client, &bno055_regmap_config);
> +
> + if (IS_ERR(regmap)) {
> + dev_err(&client->dev, "Unable to init register map");
> + return PTR_ERR(regmap);
> + }
> +
> + return bno055_probe(&client->dev, regmap,
> + BNO055_I2C_XFER_BURST_BREAK_THRESHOLD);
> +
> + return 0;

?

> +}
> +
> +static const struct i2c_device_id bno055_i2c_id[] = {
> + {"bno055", 0},
> + { },

It's at terminator, so don't put a comma as we'll never add entries after this.

> +};
> +MODULE_DEVICE_TABLE(i2c, bno055_i2c_id);
> +
> +static struct i2c_driver bno055_driver = {
> + .driver = {
> + .name = "bno055-i2c",
> + },
> + .probe = bno055_i2c_probe,
> + .id_table = bno055_i2c_id
> +};
> +module_i2c_driver(bno055_driver);
> +
> +MODULE_AUTHOR("Andrea Merello");
> +MODULE_DESCRIPTION("Bosch BNO055 I2C interface");
> +MODULE_LICENSE("GPL v2");