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SubjectRe: [PATCH] iio: orientation: Add BNO055 9-axis Absolute Orientation Sensor driver
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On 27/07/16 01:22, navin patidar wrote:
> Oh, I didn't know that Vlad already have submitted a patch for BNO055.
> My patch doesn't do any thing new so please drop my patch.
>
> regards,
> --navin-patidar
You have my utmost sympathies! Sadly this happens to us
all from time to time.

Jonathan
>
> On Tue, Jul 26, 2016 at 11:46 AM, Peter Meerwald-Stadler
> <pmeerw@pmeerw.net> wrote:
>> Hallo Navin,
>>
>>> Thanks for reviewing the patch. I will send the updated patch.
>>
>> I am sorry to have overlooked a previous patch by Vlad Dogaru, see
>> http://comments.gmane.org/gmane.linux.kernel.iio/24643, for the BNO055
>>
>> there have been a number of issues, it has not been accepted yet
>>
>> I think our policy is first come, first served; I have compared the two
>> patches, maybe you can collaborate on a common proposal?
>>
>> regards, p.
>>
>>> regards,
>>> --navin-patidar
>>>
>>> On Tue, Jul 26, 2016 at 1:07 AM, Peter Meerwald-Stadler <pmeerw@pmeerw.net>
>>> wrote:
>>>
>>>>
>>>>> BNO055 provides the following motion sensors data:
>>>>>
>>>>> * Gyroscope
>>>>> * Accelerometer
>>>>> * Magnetometer
>>>>> * Absolute Orientation (Quaternion)
>>>>
>>>> comments below
>>>>
>>>>> Signed-off-by: navin patidar <navin.patidar@gmail.com>
>>>>> ---
>>>>> drivers/iio/orientation/Kconfig | 10 +
>>>>> drivers/iio/orientation/Makefile | 1 +
>>>>> drivers/iio/orientation/bno055.c | 422
>>>> +++++++++++++++++++++++++++++++++++++++
>>>>> 3 files changed, 433 insertions(+)
>>>>> create mode 100644 drivers/iio/orientation/bno055.c
>>>>>
>>>>> diff --git a/drivers/iio/orientation/Kconfig
>>>> b/drivers/iio/orientation/Kconfig
>>>>> index e3aa1e5..9ac21ee 100644
>>>>> --- a/drivers/iio/orientation/Kconfig
>>>>> +++ b/drivers/iio/orientation/Kconfig
>>>>> @@ -28,4 +28,14 @@ config HID_SENSOR_DEVICE_ROTATION
>>>>> device rotation. The output of a device rotation sensor
>>>>> is presented using quaternion format.
>>>>>
>>>>> +config BNO055
>>>>> + tristate "BOSCH BNO055 Absolute Orientation"
>>>>> + depends on I2C
>>>>> + select REGMAP_I2C
>>>>> + help
>>>>> + Say yes here to build support for BOSCH BNO55 9-axis absolute
>>>> orientation sensor
>>>>> + driver connected via I2C.
>>>>> + This driver can also be built as a module. If so, the module
>>>>> + will be called bno055.
>>>>> +
>>>>> endmenu
>>>>> diff --git a/drivers/iio/orientation/Makefile
>>>> b/drivers/iio/orientation/Makefile
>>>>> index 4734dab..7d00037 100644
>>>>> --- a/drivers/iio/orientation/Makefile
>>>>> +++ b/drivers/iio/orientation/Makefile
>>>>> @@ -5,3 +5,4 @@
>>>>> # When adding new entries keep the list in alphabetical order
>>>>> obj-$(CONFIG_HID_SENSOR_INCLINOMETER_3D) += hid-sensor-incl-3d.o
>>>>> obj-$(CONFIG_HID_SENSOR_DEVICE_ROTATION) += hid-sensor-rotation.o
>>>>> +obj-$(CONFIG_BNO055) += bno055.o
>>>>> diff --git a/drivers/iio/orientation/bno055.c
>>>> b/drivers/iio/orientation/bno055.c
>>>>> new file mode 100644
>>>>> index 0000000..48b9e93
>>>>> --- /dev/null
>>>>> +++ b/drivers/iio/orientation/bno055.c
>>>>> @@ -0,0 +1,422 @@
>>>>> +/*
>>>>> + * Copyright (c) 2016 Intel Corporation
>>>>> + *
>>>>> + * Driver for Bosch Sensortec BNO055 digital motion sensor.
>>>>> + *
>>>>> + * This program is free software; you can redistribute it and/or modify
>>>>> + * it under the terms of the GNU General Public License version 2 as
>>>>> + * published by the Free Software Foundation.
>>>>> + *
>>>>
>>>> I find it useful to state the 7-bit i2c chip address here
>>>>
>>>>> + */
>>>>> +
>>>>> +#define pr_fmt(fmt) "bno055: " fmt
>>>>> +
>>>>> +#include <linux/module.h>
>>>>> +#include <linux/i2c.h>
>>>>> +#include <linux/acpi.h>
>>>>> +#include <linux/regmap.h>
>>>>> +#include <linux/iio/iio.h>
>>>>> +#include <linux/iio/sysfs.h>
>>>>> +
>>>>
>>>> drop one newline
>>>>
>>>>> +
>>>>> +#define BNO055_CHIP_ID 0xA0
>>>>> +#define REG_MAG_RADIUS_MSB 0x6A
>>>>
>>>> please consistently prefix with BNO055_
>>>>
>>>>> +
>>>>> +/* BNO055 configuration registers */
>>>>> +#define REG_PWR_MODE 0x3E
>>>>> +#define REG_OPR_MODE 0x3D
>>>>> +#define REG_UNIT_SEL 0x3B
>>>>> +#define REG_AXIS_MAP_SIGN 0x42
>>>>> +#define REG_AXIS_MAP_CONFIG 0x41
>>>>> +#define REG_UNIT_SEL 0x3B
>>>>> +#define REG_SYS_TRIGGER 0x3F
>>>>> +#define BNO055_REG_PAGE_ID 0x07
>>>>> +#define BNO055_REG_ID 0x00
>>>>> +
>>>>> +/* BNO055 status registers */
>>>>> +#define SYS_STATUS 0x39
>>>>> +#define INT_STATUS 0x37
>>>>> +#define CALIB_STATUS 0x35
>>>>> +
>>>>> +/* BNO055 data registers */
>>>>
>>>> drop newline
>>>>
>>>>> +
>>>>> +#define GRV_DATA_Z_MSB 0x33
>>>>> +#define GRV_DATA_Z_LSB 0x32
>>>>> +#define GRV_DATA_Y_MSB 0x31
>>>>> +#define GRV_DATA_Y_LSB 0x30
>>>>> +#define GRV_DATA_X_MSB 0x2F
>>>>> +#define GRV_DATA_X_LSB 0x2E
>>>>
>>>> do we really need all those register #defines?
>>>> they are not used and noone wants to read just the LSB...
>>>>
>>>>> +
>>>>> +#define LIA_DATA_Z_MSB 0x2D
>>>>> +#define LIA_DATA_Z_LSB 0x2C
>>>>> +#define LIA_DATA_Y_MSB 0x2B
>>>>> +#define LIA_DATA_Y_LSB 0x2A
>>>>> +#define LIA_DATA_X_MSB 0x29
>>>>> +#define LIA_DATA_X_LSB 0x28
>>>>> +
>>>>> +#define QUA_DATA_Z_MSB 0x27
>>>>> +#define QUA_DATA_Z_LSB 0x26
>>>>> +#define QUA_DATA_Y_MSB 0x25
>>>>> +#define QUA_DATA_Y_LSB 0x24
>>>>> +#define QUA_DATA_X_MSB 0x23
>>>>> +#define QUA_DATA_X_LSB 0x22
>>>>> +#define QUA_DATA_W_MSB 0x21
>>>>> +#define QUA_DATA_W_LSB 0x20
>>>>> +
>>>>> +#define EUL_PITCH_MSB 0x1F
>>>>> +#define EUL_PITCH_LSB 0x1E
>>>>> +#define EUL_ROLL_MSB 0x1D
>>>>> +#define EUL_ROLL_LSB 0x1C
>>>>> +#define EUL_HEADING_MSB 0x1B
>>>>> +#define EUL_HEADING_LSB 0x1A
>>>>> +
>>>>> +#define GYR_DATA_Z_MSB 0x19
>>>>> +#define GYR_DATA_Z_LSB 0x18
>>>>> +#define GYR_DATA_Y_MSB 0x17
>>>>> +#define GYR_DATA_Y_LSB 0x16
>>>>> +#define GYR_DATA_X_MSB 0x15
>>>>> +#define GYR_DATA_X_LSB 0x14
>>>>> +
>>>>> +#define MAG_DATA_Z_MSB 0x13
>>>>> +#define MAG_DATA_Z_LSB 0x12
>>>>> +#define MAG_DATA_Y_MSB 0x11
>>>>> +#define MAG_DATA_Y_LSB 0x10
>>>>> +#define MAG_DATA_X_MSB 0x0F
>>>>> +#define MAG_DATA_X_LSB 0x0E
>>>>> +
>>>>> +#define ACC_DATA_Z_MSB 0x0D
>>>>> +#define ACC_DATA_Z_LSB 0x0C
>>>>> +#define ACC_DATA_Y_MSB 0x0B
>>>>> +#define ACC_DATA_Y_LSB 0x0A
>>>>> +#define ACC_DATA_X_MSB 0x09
>>>>> +#define ACC_DATA_X_LSB 0x08
>>>>> +
>>>>> +/* operation modes */
>>>>> +#define FUSION_NDOF_MODE 0x0C
>>>>> +
>>>>> +/* power modes */
>>>>> +#define NORMAL_MODE 0x00
>>>>> +#define LOW_POWER_MODE BIT(0)
>>>>> +#define SUSPEND_MODE BIT(1)
>>>>> +
>>>>> +#define PROPER_CALIBRATION 0xFF
>>>>> +
>>>>> +#define BASE_REG 0x08
>>>>> +#define SENSOR_AXIS_TO_REG(sensor,axis) (BASE_REG + (sensor * 6) +
>>>> (axis * 2))
>>>>> +
>>>>> +#define BNO055_CHANNEL(_type, _axis) {
>>>> \
>>>>> + .type = IIO_##_type, \
>>>>> + .modified = 1, \
>>>>> + .channel2 = IIO_MOD_##_axis, \
>>>>> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
>>>>
>>>> in what unit is the data returned; please check with IIO ABI documentation
>>>> I think you will likely need _SCALE for some channels
>>>>
>>>>> + .scan_index = AXIS_##_axis, \
>>>>
>>>> .scan_index is a continuous counter over ALL channels, not just for one
>>>> channel type
>>>>
>>>> the driver does not support buffered reads, so not scan_type/scan_index is
>>>> needed anyway
>>>>
>>>>> + .scan_type = { \
>>>>> + .sign = 's', \
>>>>> + .realbits = 16, \
>>>>> + .storagebits = 16, \
>>>>> + .endianness = IIO_LE, \
>>>>> + }, \
>>>>> +}
>>>>> +
>>>>> +struct bno055_data {
>>>>> + struct i2c_client *client;
>>>>> + struct mutex lock;
>>>>> + struct regmap *regmap;
>>>>> +};
>>>>> +
>>>>> +enum bno055_axis {
>>>>> + AXIS_X,
>>>>> + AXIS_Y,
>>>>> + AXIS_Z,
>>>>> +};
>>>>> +
>>>>> +enum {ACC=0, MAG=1, GYR=2, EUL=3, QUA=4};
>>>>
>>>> prefix!
>>>>
>>>>> +
>>>>> +static const struct iio_chan_spec bno055_channels[] = {
>>>>> + BNO055_CHANNEL(ANGL_VEL, X),
>>>>> + BNO055_CHANNEL(ANGL_VEL, Y),
>>>>> + BNO055_CHANNEL(ANGL_VEL, Z),
>>>>> + BNO055_CHANNEL(MAGN, X),
>>>>> + BNO055_CHANNEL(MAGN, Y),
>>>>> + BNO055_CHANNEL(MAGN, Z),
>>>>> + BNO055_CHANNEL(ACCEL, X),
>>>>> + BNO055_CHANNEL(ACCEL, Y),
>>>>> + BNO055_CHANNEL(ACCEL, Z),
>>>>> + {
>>>>> + .type = IIO_ROT,
>>>>> + .modified = 1,
>>>>> + .channel2 = IIO_MOD_QUATERNION,
>>>>> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
>>>>> + }
>>>>> +};
>>>>> +
>>>>> +static bool bno055_is_writeable_reg(struct device *dev, unsigned int
>>>> reg)
>>>>> +{
>>>>> + switch (reg) {
>>>>> + case REG_PWR_MODE:
>>>>> + case REG_OPR_MODE:
>>>>> + case REG_UNIT_SEL:
>>>>> + case REG_AXIS_MAP_SIGN:
>>>>> + case REG_AXIS_MAP_CONFIG:
>>>>> + case REG_SYS_TRIGGER:
>>>>> + return true;
>>>>> + default:
>>>>> + return false;
>>>>> + };
>>>>> +}
>>>>> +
>>>>> +static bool bno055_is_volatile_reg(struct device *dev, unsigned int reg)
>>>>> +{
>>>>> + if ((reg >= ACC_DATA_X_LSB) && (reg <= QUA_DATA_Z_MSB))
>>>>> + return true;
>>>>> + else
>>>>> + return false;
>>>>> +}
>>>>> +
>>>>> +static const struct regmap_config bno055_regmap_config = {
>>>>> + .reg_bits = 8,
>>>>> + .val_bits = 8,
>>>>> +
>>>>> + .max_register = REG_MAG_RADIUS_MSB,
>>>>> + .cache_type = REGCACHE_RBTREE,
>>>>> +
>>>>> + .writeable_reg = bno055_is_writeable_reg,
>>>>> + .volatile_reg = bno055_is_volatile_reg,
>>>>> +};
>>>>> +
>>>>
>>>> drop newline
>>>>
>>>>> +
>>>>> +static int read_bno055(struct bno055_data *data, int sensor, int axis,
>>>> int *val)
>>>>
>>>> bno055 prefix please
>>>>
>>>>> +{
>>>>> + int ret;
>>>>> + __le16 raw_val;
>>>>> + int reg;
>>>>> +
>>>>> + reg = SENSOR_AXIS_TO_REG(sensor, axis);
>>>>
>>>> you can use .address in channel spec for that
>>>>
>>>>> +
>>>>> + ret = regmap_bulk_read(data->regmap, reg, &raw_val,
>>>>> + sizeof(raw_val));
>>>>> + if (ret < 0) {
>>>>> + dev_err(&data->client->dev, "Error reading axis %d\n",
>>>> axis);
>>>>> + return ret;
>>>>> + }
>>>>> +
>>>>> + *val = sign_extend32(le16_to_cpu(raw_val), 15);
>>>>> + return IIO_VAL_INT;
>>>>> +}
>>>>> +
>>>>> +/* Read raw quaternion values W,X,Y and Z.
>>>>> + * Raw values needs to be divied by the 16384 to get the exact
>>>> quaternion values.
>>>>> + */
>>>>> +
>>>>> +static int read_rot(struct bno055_data *data, int *vals, int *val_len)
>>>>> +{
>>>>> + int ret, i;
>>>>> + __le16 raw_val[4];
>>>>> +
>>>>> + ret = regmap_bulk_read(data->regmap, QUA_DATA_W_LSB, &raw_val,
>>>>> + sizeof(raw_val));
>>>>> + if (ret < 0) {
>>>>> + dev_err(&data->client->dev, "Error reading Orientation
>>>> \n");
>>>>
>>>> lowercase orientation
>>>> delete space before \n
>>>>
>>>>> + return ret;
>>>>> + }
>>>>> +
>>>>> + for (i = 0; i < 4; ++i)
>>>>> + vals[i] = sign_extend32(le16_to_cpu(raw_val[i]), 15);
>>>>> +
>>>>> + *val_len = 4;
>>>>> + return IIO_VAL_INT_MULTIPLE;
>>>>> +}
>>>>> +
>>>>> +static int bno055_read_raw_multi(struct iio_dev *indio_dev,
>>>>> + struct iio_chan_spec const *chan, int size,
>>>>> + int *val, int *val2, long mask)
>>>>> +{
>>>>> + int ret = -EINVAL;
>>>>> + struct bno055_data *data = iio_priv(indio_dev);
>>>>> +
>>>>> + mutex_lock(&data->lock);
>>>>> +
>>>>> + switch (mask) {
>>>>> + case IIO_CHAN_INFO_RAW:
>>>>> + switch (chan->type) {
>>>>> + case IIO_ROT:
>>>>> + ret = read_rot(data, val, val2);
>>>>> + break;
>>>>> + case IIO_ANGL_VEL:
>>>>> + /* Gyroscope unit degrees per second */
>>>>> + /* Raw value needs to be divied by the 16 to get
>>>> the exact value.*/
>>>>
>>>> comment style, not a proper multi-line comment
>>>> use _SCALE, it is not about 'exact' but correct scaling/unit
>>>> typo: divided
>>>> wording: divided by 16
>>>>
>>>>> + ret = read_bno055(data, GYR, chan->scan_index,
>>>> val);
>>>>> + break;
>>>>> + case IIO_ACCEL:
>>>>> + /* Accelerometer Unit m/s2 */
>>>>> + /* Raw value needs to be divied by the 100 to get
>>>> the exact value.*/
>>>>> + ret = read_bno055(data, ACC, chan->scan_index,
>>>> val);
>>>>> + break;
>>>>> + case IIO_MAGN:
>>>>> + /* Magnetometer Unit microTesla */
>>>>> + /* Raw value needs to be divied by the 16 to get
>>>> the exact value. */
>>>>> + ret = read_bno055(data, MAG, chan->scan_index,
>>>> val);
>>>>> + break;
>>>>> + default:
>>>>> + ret = -EINVAL;
>>>>> + break;
>>>>> + }
>>>>> + break;
>>>>> +
>>>>> + default:
>>>>> + ret = -EINVAL;
>>>>> + break;
>>>>> + }
>>>>> +
>>>>> + mutex_unlock(&data->lock);
>>>>> +
>>>>> + return ret;
>>>>> +}
>>>>> +
>>>>> +static const struct iio_info bno055_info = {
>>>>> + .driver_module = THIS_MODULE,
>>>>> + .read_raw_multi = &bno055_read_raw_multi,
>>>>> +};
>>>>> +
>>>>
>>>> drop newline
>>>>
>>>>> +
>>>>> +static int bno055_chip_init(struct bno055_data *data)
>>>>> +{
>>>>> + int ret;
>>>>> +
>>>>> + ret = regmap_write(data->regmap, REG_PWR_MODE,
>>>>> + NORMAL_MODE);
>>>>> + if (ret < 0) {
>>>>> + dev_err(&data->client->dev,
>>>>> + "failed to write power mode register\n");
>>>>> + return ret;
>>>>> + }
>>>>> +
>>>>> + ret = regmap_write(data->regmap, REG_OPR_MODE,
>>>>> + FUSION_NDOF_MODE);
>>>>> + if (ret < 0)
>>>>> + dev_err(&data->client->dev,
>>>>> + "failed to write operation mode register\n");
>>>>> +
>>>>> + return ret;
>>>>> +}
>>>>> +
>>>>> +static ssize_t show_calibration_status(struct device *dev, struct
>>>> device_attribute *attr,
>>>>> + char *buf){
>>>>
>>>> this is private API which needs to be documented
>>>>
>>>>> + struct bno055_data *data;
>>>>> + int ret;
>>>>> + unsigned int calib_stat;
>>>>> +
>>>>> + data = dev->driver_data;
>>>>> +
>>>>> + ret = regmap_read(data->regmap, CALIB_STATUS, &calib_stat);
>>>>> +
>>>>> + if (ret){
>>>>
>>>> space before {
>>>>
>>>>> + dev_err(dev, "Failed to read calibration status.\n");
>>>>> + return ret;
>>>>> + }
>>>>> +
>>>>> + if (calib_stat != PROPER_CALIBRATION)
>>>>> + dev_info(dev, "bad calibration. expected %x got %x\n",
>>>>
>>>> two spaces before 'expected'
>>>>
>>>>> + PROPER_CALIBRATION, calib_stat);
>>>>> +
>>>>> + return scnprintf(buf, PAGE_SIZE, "0x%x\n", calib_stat);
>>>>> +}
>>>>> +
>>>>> +static DEVICE_ATTR(calib_status, 0444, show_calibration_status, NULL);
>>>>> +
>>>>> +static int bno055_probe(struct i2c_client *client,
>>>>> + const struct i2c_device_id *id)
>>>>> +{
>>>>> + int ret;
>>>>> + struct iio_dev *indio_dev;
>>>>> + struct bno055_data *data;
>>>>> + unsigned int chip_id;
>>>>> +
>>>>> + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
>>>>> + if (!indio_dev)
>>>>> + return -ENOMEM;
>>>>> +
>>>>> + data = iio_priv(indio_dev);
>>>>> + mutex_init(&data->lock);
>>>>> + data->client = client;
>>>>> +
>>>>> + indio_dev->dev.parent = &client->dev;
>>>>> + indio_dev->name = id->name;
>>>>> + indio_dev->channels = bno055_channels;
>>>>> + indio_dev->num_channels = ARRAY_SIZE(bno055_channels);
>>>>> + indio_dev->info = &bno055_info;
>>>>> + indio_dev->modes = INDIO_DIRECT_MODE;
>>>>> +
>>>>> + data->regmap = devm_regmap_init_i2c(client, &bno055_regmap_config);
>>>>> + if (IS_ERR(data->regmap)) {
>>>>> + dev_err(&client->dev, "Failed to allocate register
>>>> map.\n");
>>>>> + return PTR_ERR(data->regmap);
>>>>> + }
>>>>> +
>>>>> + indio_dev->dev.driver_data = data;
>>>>> + i2c_set_clientdata(client, indio_dev);
>>>>> +
>>>>> + ret = regmap_read(data->regmap, BNO055_REG_ID, &chip_id);
>>>>> + if (ret < 0)
>>>>> + return ret;
>>>>> + if (chip_id != BNO055_CHIP_ID) {
>>>>> + dev_err(&client->dev, "bad chip id. expected %x got %x\n",
>>>>> + BNO055_CHIP_ID, chip_id);
>>>>> + return -EINVAL;
>>>>> + }
>>>>> +
>>>>> + ret = bno055_chip_init(data);
>>>>> + if (ret < 0)
>>>>> + return ret;
>>>>> +
>>>>> + ret = devm_iio_device_register(&client->dev, indio_dev);
>>>>> + if (ret){
>>>>
>>>> space before {
>>>>
>>>>> + dev_err(&client->dev, "failed to register IIO device.\n");
>>>>> + return ret;
>>>>> + }
>>>>> +
>>>>> + ret = device_create_file(&indio_dev->dev, &dev_attr_calib_status);
>>>>
>>>> needs to be done BEFORE devm_iio_device_register()
>>>> IIO has specific mechanisms to create custom sysfs entries...
>>>>
>>>>> + if (ret){
>>>>
>>>> space before {
>>>>
>>>>> + dev_err(&client->dev, "failed to create sysfs entry.\n");
>>>>> + devm_iio_device_unregister(&client->dev, indio_dev);
>>>>
>>>> no need to call devm_iio_device_unregister
>>>>
>>>>> + return ret;
>>>>> + }
>>>>> +
>>>>> + return ret;
>>>>> +}
>>>>> +
>>>>> +static int bno055_remove(struct i2c_client *client)
>>>>> +{
>>>>> + struct iio_dev *indio_dev = i2c_get_clientdata(client);
>>>>> +
>>>>> + device_remove_file(&indio_dev->dev, &dev_attr_calib_status);
>>>>> + devm_iio_device_unregister(&client->dev, indio_dev);
>>>>> + return 0;
>>>>> +}
>>>>> +
>>>>> +static const struct acpi_device_id bno055_acpi_match[] = {
>>>>> + {"bno055", 0},
>>>>> + { },
>>>>> +};
>>>>> +MODULE_DEVICE_TABLE(acpi, bno055_acpi_match);
>>>>> +
>>>>> +static const struct i2c_device_id bno055_id[] = {
>>>>> + {"bno055", 0},
>>>>> + { },
>>>>> +};
>>>>> +MODULE_DEVICE_TABLE(i2c, bno055_id);
>>>>> +
>>>>> +static struct i2c_driver bno055_driver = {
>>>>> + .driver = {
>>>>> + .name = "bno055",
>>>>> + .acpi_match_table = ACPI_PTR(bno055_acpi_match),
>>>>> + },
>>>>> + .probe = bno055_probe,
>>>>> + .remove = bno055_remove,
>>>>> + .id_table = bno055_id,
>>>>> +};
>>>>> +module_i2c_driver(bno055_driver);
>>>>> +
>>>>> +MODULE_AUTHOR("navin patidar <navin.patidar@gmail.com>");
>>>>> +MODULE_DESCRIPTION("Driver for Bosch Sensortec BNO055 orientation
>>>> sensor");
>>>>> +MODULE_LICENSE("GPL v2");
>>>>>
>>>>
>>>> --
>>>>
>>>> Peter Meerwald-Stadler
>>>> +43-664-2444418 (mobile)
>>>>
>>>
>>
>> --
>>
>> Peter Meerwald-Stadler
>> +43-664-2444418 (mobile)

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