summaryrefslogtreecommitdiff
path: root/drivers/iio/imu/bno055/bno055.c
diff options
context:
space:
mode:
Diffstat (limited to 'drivers/iio/imu/bno055/bno055.c')
-rw-r--r--drivers/iio/imu/bno055/bno055.c72
1 files changed, 40 insertions, 32 deletions
diff --git a/drivers/iio/imu/bno055/bno055.c b/drivers/iio/imu/bno055/bno055.c
index 52744dd98e65..303bc308f80a 100644
--- a/drivers/iio/imu/bno055/bno055.c
+++ b/drivers/iio/imu/bno055/bno055.c
@@ -114,34 +114,35 @@
#define BNO055_UID_LEN 16
struct bno055_sysfs_attr {
- int *vals;
+ const int *vals;
int len;
- int *fusion_vals;
- int *hw_xlate;
+ const int *fusion_vals;
+ const int *hw_xlate;
+ int hw_xlate_len;
int type;
};
-static int bno055_acc_lpf_vals[] = {
+static const int bno055_acc_lpf_vals[] = {
7, 810000, 15, 630000, 31, 250000, 62, 500000,
125, 0, 250, 0, 500, 0, 1000, 0,
};
-static struct bno055_sysfs_attr bno055_acc_lpf = {
+static const struct bno055_sysfs_attr bno055_acc_lpf = {
.vals = bno055_acc_lpf_vals,
.len = ARRAY_SIZE(bno055_acc_lpf_vals),
- .fusion_vals = (int[]){62, 500000},
+ .fusion_vals = (const int[]){62, 500000},
.type = IIO_VAL_INT_PLUS_MICRO,
};
-static int bno055_acc_range_vals[] = {
+static const int bno055_acc_range_vals[] = {
/* G: 2, 4, 8, 16 */
1962, 3924, 7848, 15696
};
-static struct bno055_sysfs_attr bno055_acc_range = {
+static const struct bno055_sysfs_attr bno055_acc_range = {
.vals = bno055_acc_range_vals,
.len = ARRAY_SIZE(bno055_acc_range_vals),
- .fusion_vals = (int[]){3924}, /* 4G */
+ .fusion_vals = (const int[]){3924}, /* 4G */
.type = IIO_VAL_INT,
};
@@ -165,33 +166,37 @@ static struct bno055_sysfs_attr bno055_acc_range = {
* = hwval * (dps_range/(2^15 * k))
* where k is rad-to-deg factor
*/
-static int bno055_gyr_scale_vals[] = {
+static const int bno055_gyr_scale_vals[] = {
125, 1877467, 250, 1877467, 500, 1877467,
1000, 1877467, 2000, 1877467,
};
-static struct bno055_sysfs_attr bno055_gyr_scale = {
+static const int bno055_gyr_scale_hw_xlate[] = {0, 1, 2, 3, 4};
+static const struct bno055_sysfs_attr bno055_gyr_scale = {
.vals = bno055_gyr_scale_vals,
.len = ARRAY_SIZE(bno055_gyr_scale_vals),
- .fusion_vals = (int[]){1, 900},
- .hw_xlate = (int[]){4, 3, 2, 1, 0},
+ .fusion_vals = (const int[]){1, 900},
+ .hw_xlate = bno055_gyr_scale_hw_xlate,
+ .hw_xlate_len = ARRAY_SIZE(bno055_gyr_scale_hw_xlate),
.type = IIO_VAL_FRACTIONAL,
};
-static int bno055_gyr_lpf_vals[] = {12, 23, 32, 47, 64, 116, 230, 523};
-static struct bno055_sysfs_attr bno055_gyr_lpf = {
+static const int bno055_gyr_lpf_vals[] = {12, 23, 32, 47, 64, 116, 230, 523};
+static const int bno055_gyr_lpf_hw_xlate[] = {5, 4, 7, 3, 6, 2, 1, 0};
+static const struct bno055_sysfs_attr bno055_gyr_lpf = {
.vals = bno055_gyr_lpf_vals,
.len = ARRAY_SIZE(bno055_gyr_lpf_vals),
- .fusion_vals = (int[]){32},
- .hw_xlate = (int[]){5, 4, 7, 3, 6, 2, 1, 0},
+ .fusion_vals = (const int[]){32},
+ .hw_xlate = bno055_gyr_lpf_hw_xlate,
+ .hw_xlate_len = ARRAY_SIZE(bno055_gyr_lpf_hw_xlate),
.type = IIO_VAL_INT,
};
-static int bno055_mag_odr_vals[] = {2, 6, 8, 10, 15, 20, 25, 30};
-static struct bno055_sysfs_attr bno055_mag_odr = {
+static const int bno055_mag_odr_vals[] = {2, 6, 8, 10, 15, 20, 25, 30};
+static const struct bno055_sysfs_attr bno055_mag_odr = {
.vals = bno055_mag_odr_vals,
.len = ARRAY_SIZE(bno055_mag_odr_vals),
- .fusion_vals = (int[]){20},
+ .fusion_vals = (const int[]){20},
.type = IIO_VAL_INT,
};
@@ -207,7 +212,7 @@ struct bno055_priv {
bool sw_reset;
struct {
__le16 chans[BNO055_SCAN_CH_COUNT];
- s64 timestamp __aligned(8);
+ aligned_s64 timestamp;
} buf;
struct dentry *debugfs;
};
@@ -290,9 +295,9 @@ const struct regmap_config bno055_regmap_config = {
.max_register = 0x80 * 2,
.writeable_reg = bno055_regmap_writeable,
.readable_reg = bno055_regmap_readable,
- .cache_type = REGCACHE_RBTREE,
+ .cache_type = REGCACHE_MAPLE,
};
-EXPORT_SYMBOL_NS_GPL(bno055_regmap_config, IIO_BNO055);
+EXPORT_SYMBOL_NS_GPL(bno055_regmap_config, "IIO_BNO055");
/* must be called in configuration mode */
static int bno055_calibration_load(struct bno055_priv *priv, const u8 *data, int len)
@@ -548,7 +553,8 @@ static const struct iio_chan_spec bno055_channels[] = {
};
static int bno055_get_regmask(struct bno055_priv *priv, int *val, int *val2,
- int reg, int mask, struct bno055_sysfs_attr *attr)
+ int reg, int mask,
+ const struct bno055_sysfs_attr *attr)
{
const int shift = __ffs(mask);
int hwval, idx;
@@ -561,7 +567,7 @@ static int bno055_get_regmask(struct bno055_priv *priv, int *val, int *val2,
idx = (hwval & mask) >> shift;
if (attr->hw_xlate)
- for (i = 0; i < attr->len; i++)
+ for (i = 0; i < attr->hw_xlate_len; i++)
if (attr->hw_xlate[i] == idx) {
idx = i;
break;
@@ -577,7 +583,8 @@ static int bno055_get_regmask(struct bno055_priv *priv, int *val, int *val2,
}
static int bno055_set_regmask(struct bno055_priv *priv, int val, int val2,
- int reg, int mask, struct bno055_sysfs_attr *attr)
+ int reg, int mask,
+ const struct bno055_sysfs_attr *attr)
{
const int shift = __ffs(mask);
int best_delta;
@@ -758,7 +765,8 @@ static int bno055_read_simple_chan(struct iio_dev *indio_dev,
}
}
-static int bno055_sysfs_attr_avail(struct bno055_priv *priv, struct bno055_sysfs_attr *attr,
+static int bno055_sysfs_attr_avail(struct bno055_priv *priv,
+ const struct bno055_sysfs_attr *attr,
const int **vals, int *length)
{
if (priv->operation_mode != BNO055_OPR_MODE_AMG) {
@@ -1193,7 +1201,7 @@ static ssize_t serialnumber_show(struct device *dev,
}
static ssize_t calibration_data_read(struct file *filp, struct kobject *kobj,
- struct bin_attribute *bin_attr, char *buf,
+ const struct bin_attribute *bin_attr, char *buf,
loff_t pos, size_t count)
{
struct bno055_priv *priv = iio_priv(dev_to_iio_dev(kobj_to_dev(kobj)));
@@ -1348,9 +1356,9 @@ static struct attribute *bno055_attrs[] = {
NULL
};
-static BIN_ATTR_RO(calibration_data, BNO055_CALDATA_LEN);
+static const BIN_ATTR_RO(calibration_data, BNO055_CALDATA_LEN);
-static struct bin_attribute *bno055_bin_attrs[] = {
+static const struct bin_attribute *const bno055_bin_attrs[] = {
&bin_attr_calibration_data,
NULL
};
@@ -1458,7 +1466,7 @@ static irqreturn_t bno055_trigger_handler(int irq, void *p)
* then we split the transfer, skipping the gap.
*/
for_each_set_bitrange(start, end, iio_dev->active_scan_mask,
- iio_dev->masklength) {
+ iio_get_masklength(iio_dev)) {
/*
* First transfer will start from the beginning of the first
* ones-field in the bitmap
@@ -1678,7 +1686,7 @@ int bno055_probe(struct device *dev, struct regmap *regmap,
return 0;
}
-EXPORT_SYMBOL_NS_GPL(bno055_probe, IIO_BNO055);
+EXPORT_SYMBOL_NS_GPL(bno055_probe, "IIO_BNO055");
MODULE_AUTHOR("Andrea Merello <andrea.merello@iit.it>");
MODULE_DESCRIPTION("Bosch BNO055 driver");
generated by cgit (git 2.34.1) at 2025-12-26 06:43:36 +0000