| Message ID | 20220907132205.28021-1-andrea.merello@iit.it |
|---|---|
| Headers | show |
| Series | Add support for Bosch BNO055 IMU | expand |
On Thu, 8 Sep 2022 14:32:49 +0700 Bagas Sanjaya <bagasdotme@gmail.com> wrote: > On 9/8/22 13:51, Andrea Merello wrote: > >> Rebased on what tree (and what commit)? I can't cleanly apply patch > >> [05/14]. > > > > Sorry, it looks like I've raced against recent updates on iio-togreg > > branch (i.e. I've rebased, then I've got preemped by something else, > > then I've tested and sent the series some days later - I should have > > rebased again). > > > > BTW patches can be applied on the top of this > > https://git.kernel.org/pub/scm/linux/kernel/git/jic23/iio.git/commit/?h=togreg&id=2bc9cd66eb25d0fefbb081421d6586495e25840e > > > > I'll prepare a v8 anyway. For minor stuff like Doc updates, don't about rebase if everything else is fine. I can fix little merge conflicts whilst applying. Thanks, Jonathan > > > > OK. > > Don't forget to pass --base to git-format-patch(1) when preparing v8. >
On Thu, 8 Sep 2022 08:42:01 +0200 Andrea Merello <andrea.merello@gmail.com> wrote: > > Hmm... It has my tag but I have noticed something to improve. > > One comment below, OK for the rest. > > > ... > > > > > +#define BNO055_I2C_XFER_BURST_BREAK_THRESHOLD 3 /* FIXME */ > > > > Can we elaborate what to fix and why it can't be fixed right now? > > Ah, this is a stale comment; I'll drop it.. I fixed up Andy's comments on this patch whilst applying. Thanks, Jonathan
On Wed, 7 Sep 2022 17:12:09 +0300 Andy Shevchenko <andy.shevchenko@gmail.com> wrote: > On Wed, Sep 7, 2022 at 4:22 PM <andrea.merello@iit.it> wrote: > > > > From: Andrea Merello <andrea.merello@iit.it> > > > > This series (tries to) add support for Bosch BNO055 IMU to Linux IIO > > subsystem. It is made up several patches: > > > These > > > iio: imu: add Bosch Sensortec BNO055 core driver > > > iio: imu: add BNO055 serdev driver > > are huge and I will look at them later on. > I've taken another look at those and think that anything that comes up should be minor enough we should fix / tidy up as follow on patches. I'd like to get this some build coverage as it's big and complex. Hence I've applied it to the togreg branch of iio.git / pushed out as testing. More comments still welcome! Andy, if you get time to look at those two large patches, that would still be great + thanks for all your work reviewing this series and in general - it's a great help to me in keeping up with things. Note I'll be rebasing that tree in the near future to get some dependencies for other sets. Andrea, nice work getting support in place for this complex / buggy / messy device :) Jonathan > -- > With Best Regards, > Andy Shevchenko
Il giorno dom 18 set 2022 alle ore 19:27 Jonathan Cameron <jic23@kernel.org> ha scritto: [...] > > Hi Andrea, > > I think this is looking to be in a good state now. > There is some devm handling for clks now available that should avoid > the need to open code that here. > > I've made that change whilst applying. Please take a look to make sure > I didn't mess it up! Hi, thank you for directly fixing, so that I can avoid a further series version :) I've looked at this change, and it looks good to me; also, I've run some tests and nothing failed. Andrea > Jonathan > > > + > > +static void bno055_clk_disable(void *arg) > > +{ > > + clk_disable_unprepare(arg); > > +} > > + > > +int bno055_probe(struct device *dev, struct regmap *regmap, > > + int xfer_burst_break_thr, bool sw_reset) > > +{ > > ... > > > + priv->reset_gpio = devm_gpiod_get_optional(dev, "reset", GPIOD_OUT_LOW); > > + if (IS_ERR(priv->reset_gpio)) > > + return dev_err_probe(dev, PTR_ERR(priv->reset_gpio), "Failed to get reset GPIO\n"); > > + > > + priv->clk = devm_clk_get_optional(dev, "clk"); > > + if (IS_ERR(priv->clk)) > > + return dev_err_probe(dev, PTR_ERR(priv->clk), "Failed to get CLK\n"); > > + > > + ret = clk_prepare_enable(priv->clk); > > + if (ret) > > + return ret; > > + > > + ret = devm_add_action_or_reset(dev, bno055_clk_disable, priv->clk); > > + if (ret) > > + return ret;# > > devm_clk_get_optional_enabled() is now available and should work here I think? > > > + > > + if (priv->reset_gpio) { > > + usleep_range(5000, 10000); > > + gpiod_set_value_cansleep(priv->reset_gpio, 1); > > + usleep_range(650000, 750000); > > + } else if (!sw_reset) { > > + dev_warn(dev, "No usable reset method; IMU may be unreliable\n"); > > + }
From: Andrea Merello <andrea.merello@iit.it> This series (tries to) add support for Bosch BNO055 IMU to Linux IIO subsystem. It is made up several patches: 1/14 to 6/14: add some IIO modifiers, and their documentation, to the IIO core layer, in order to being able to expose the linear acceleration and Euler angles among standard attributes. Also update the IIO event monitor tool 7/14: fix binary attributes didn't work with IIO 8/14 to 11/14: add the core IIO BNO055 driver and documentation for sysfs attributes and DT bindings 12/14: adds serdev BNO055 driver to actually use the IMU via serial line 13/14: adds I2C BNO055 driver to actually use the IMU via I2C wiring 14/14: add a documentation file that describe the bno055 driver and specifically the calibration In this series this [1] patch has been also squashed. Differences wrt v6: - fix some typos. - fix some style issues. - get rid of ifdefs for CONFIG_DEBUG_FS. - avoid pushing data to the IIO layer if we actually failed reading it. - rework debugfs file creating failure path. - fix errors and warning found by kernel test robot <lkp@intel.com> - rebase Differences wrt other BNO055 drivers: Previously at least another driver for the very same chip has been posted to the Linux ML [0], but it has been never merged, and it seems no one cared of it since quite a long time. This driver differs from the above driver on the following aspects: - This driver supports also serial access (to be reliable, reset pin is required to be wired) - The above driver tried to support all IMU HW modes by allowing to choose one in the DT, and adapting IIO attributes accordingly. This driver does not rely on DT for this, instead settings are done via sysfs attributes. All IIO attributes are always exposed; more on this later on. This driver however supports only a subset of the HW-supported modes. - This driver has some support for managing the IMU calibration Supported operation modes: - AMG (accelerometer, magnetometer and gyroscope) mode, which provides raw (uncalibrated) measurements from the said sensors, and allows for setting some parameters about them (e.g. filter cut-off frequency, max sensor ranges, etc). - Fusion mode, which still provides AMG measures, while it also provides other data calculated by the IMU (e.g. rotation angles, linear acceleration, etc). In this mode user has no freedom to set any sensor parameter, since the HW locks them. Autocalibration and correction is performed by the IMU. IIO attributes exposing sensors parameters are always present, but in fusion modes the available values are constrained to just the one used by the HW. This is reflected in the '*_available' IIO attributes. Trying to set a not-supported value always falls back to the closest supported one, which in this case is just the one in use by the HW. IIO attributes for unavailable measurements (e.g. Euler angles in AMG mode) can't be read (return -EBUSY, or refuse to enable buffer). IMU calibration: The IMU supports for two sets of calibration parameters: - SIC matrix. user-provided; this driver doesn't currently support it - Offset and radius parameters. The IMU automatically finds out them when it is running in fusion mode; supported by this driver. The driver provides access to autocalibration flags (i.e. you can known if the IMU has successfully autocalibrated) and to calibration data blob. The user can save this blob in a "firmware" file (i.e. in /lib/firmware) that the driver looks for at probe time. If found, then the IMU is initialized with this calibration data. This saves the user from performing the calibration procedure every time (which consist of moving the IMU in various way). The driver looks for calibration data file using two different names: first a file whose name is suffixed with the IMU unique ID is searched for; this is useful when there is more than one IMU instance. If this file is not found, then a "generic" calibration file is searched for (which can be used when only one IMU is present, without struggling with fancy names, that changes on each device). In AMG mode the IIO 'offset' attributes provide access to the offsets from calibration data (if any), so that the user can apply them to the accel, angvel and magn IIO attributes. In fusion mode they are not needed and read as zero. Access protocols and serdev module: The serial protocol is quite simple, but there are tricks to make it really works. Those tricks and workarounds are documented in the driver source file. The core BNO055 driver tries to group readings in burst when appropriate, in order to optimize triggered buffer operation. The threshold for splitting a burst (i.e. max number of unused bytes in the middle of a burst that will be throw away) is provided to the core driver by the lowlevel access driver (either serdev or I2C) at probe time. [0] https://www.spinics.net/lists/linux-iio/msg25508.html [1] https://lore.kernel.org/lkml/20220704034041.15448-1-bagasdotme@gmail.com/ Andrea Merello (14): iio: add modifiers for linear acceleration iio: document linear acceleration modifiers iio: event_monitor: add linear acceleration modifiers iio: add modifers for pitch, yaw, roll iio: document pitch, yaw, roll modifiers iio: event_monitor: add pitch, yaw and roll modifiers iio: add support for binary attributes iio: imu: add Bosch Sensortec BNO055 core driver iio: document bno055 private sysfs attributes iio: document "serialnumber" sysfs attribute dt-bindings: iio/imu: Add Bosch BNO055 iio: imu: add BNO055 serdev driver iio: imu: add BNO055 I2C driver docs: iio: add documentation for BNO055 driver Documentation/ABI/testing/sysfs-bus-iio | 25 + .../ABI/testing/sysfs-bus-iio-bno055 | 81 + .../bindings/iio/imu/bosch,bno055.yaml | 59 + Documentation/iio/bno055.rst | 51 + Documentation/iio/index.rst | 2 + drivers/iio/imu/Kconfig | 1 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/bno055/Kconfig | 25 + drivers/iio/imu/bno055/Makefile | 10 + drivers/iio/imu/bno055/bno055.c | 1698 +++++++++++++++++ drivers/iio/imu/bno055/bno055.h | 13 + drivers/iio/imu/bno055/bno055_i2c.c | 57 + drivers/iio/imu/bno055/bno055_ser_core.c | 560 ++++++ drivers/iio/imu/bno055/bno055_ser_trace.c | 14 + drivers/iio/imu/bno055/bno055_ser_trace.h | 104 + drivers/iio/industrialio-core.c | 10 +- include/uapi/linux/iio/types.h | 7 +- tools/iio/iio_event_monitor.c | 6 + 18 files changed, 2722 insertions(+), 2 deletions(-) create mode 100644 Documentation/ABI/testing/sysfs-bus-iio-bno055 create mode 100644 Documentation/devicetree/bindings/iio/imu/bosch,bno055.yaml create mode 100644 Documentation/iio/bno055.rst create mode 100644 drivers/iio/imu/bno055/Kconfig create mode 100644 drivers/iio/imu/bno055/Makefile create mode 100644 drivers/iio/imu/bno055/bno055.c create mode 100644 drivers/iio/imu/bno055/bno055.h create mode 100644 drivers/iio/imu/bno055/bno055_i2c.c create mode 100644 drivers/iio/imu/bno055/bno055_ser_core.c create mode 100644 drivers/iio/imu/bno055/bno055_ser_trace.c create mode 100644 drivers/iio/imu/bno055/bno055_ser_trace.h -- 2.17.1