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iio: imu: add Bosch Sensortec BNO055 core driver

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Add the core driver for the BNO055 IMU from Bosch. This IMU can be
connected via both serial and I2C busses; separate patches will add support
for them.

The driver supports "AMG" (Accelerometer, Magnetometer, Gyroscope) mode,
that provides raw data from the said internal sensors, and a couple of
"fusion" modes (i.e. the IMU also does calculations in order to provide
euler angles, quaternions, linear acceleration and gravity measurements).

In fusion modes the AMG data is still available (with some calibration
refinements done by the IMU), but certain settings such as low pass filters
cut-off frequency and sensors' ranges are fixed, while in AMG mode they can
be customized; this is why AMG mode can still be interesting.

Signed-off-by: Andrea Merello <andrea.merello@iit.it>
Link: https://lore.kernel.org/r/20220907132205.28021-9-andrea.merello@iit.it
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Andrea Merello 2022-09-07 15:21:59 +02:00 committed by Jonathan Cameron
parent e0d27ea3ba
commit 4aefe1c2bd
6 changed files with 1707 additions and 0 deletions
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1
drivers/iio/imu/Kconfig
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@ -52,6 +52,7 @@ config ADIS16480
ADIS16485, ADIS16488 inertial sensors.
source "drivers/iio/imu/bmi160/Kconfig"
source "drivers/iio/imu/bno055/Kconfig"
config FXOS8700
tristate

1
drivers/iio/imu/Makefile
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@ -15,6 +15,7 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
obj-y += bmi160/
obj-y += bno055/
obj-$(CONFIG_FXOS8700) += fxos8700_core.o
obj-$(CONFIG_FXOS8700_I2C) += fxos8700_i2c.o

4
drivers/iio/imu/bno055/Kconfig Normal file
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@ -0,0 +1,4 @@
# SPDX-License-Identifier: GPL-2.0
config BOSCH_BNO055
tristate

3
drivers/iio/imu/bno055/Makefile Normal file
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@ -0,0 +1,3 @@
# SPDX-License-Identifier: GPL-2.0
obj-$(CONFIG_BOSCH_BNO055) += bno055.o

1685
drivers/iio/imu/bno055/bno055.c Normal file
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File diff suppressed because it is too large Load Diff

13
drivers/iio/imu/bno055/bno055.h Normal file
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@ -0,0 +1,13 @@
/* SPDX-License-Identifier: GPL-2.0-or-later */
#ifndef __BNO055_H__
#define __BNO055_H__
#include <linux/regmap.h>
#include <linux/types.h>
struct device;
int bno055_probe(struct device *dev, struct regmap *regmap,
int xfer_burst_break_thr, bool sw_reset);
extern const struct regmap_config bno055_regmap_config;
#endif