Resguardo inicial

linux-7.2.3/drivers/iio/orientation/Kconfig

@@ -0,0 +1,30 @@
+# SPDX-License-Identifier: GPL-2.0-only
+#
+# Inclinometer sensors
+#
+# When adding new entries keep the list in alphabetical order
+
+menu "Inclinometer sensors"
+
+config HID_SENSOR_INCLINOMETER_3D
+	depends on HID_SENSOR_HUB
+	select IIO_BUFFER
+	select HID_SENSOR_IIO_COMMON
+	select HID_SENSOR_IIO_TRIGGER
+	tristate "HID Inclinometer 3D"
+	help
+	  Say yes here to build support for the HID SENSOR
+	  Inclinometer 3D.
+
+config HID_SENSOR_DEVICE_ROTATION
+	depends on HID_SENSOR_HUB
+	select IIO_BUFFER
+	select HID_SENSOR_IIO_COMMON
+	select HID_SENSOR_IIO_TRIGGER
+	tristate "HID Device Rotation"
+	help
+	  Say yes here to build support for the HID SENSOR
+	  device rotation. The output of a device rotation sensor
+	  is presented using quaternion format.
+
+endmenu

linux-7.2.3/drivers/iio/orientation/Makefile

@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: GPL-2.0-only
+#
+# Makefile for industrial I/O Inclinometer sensor drivers
+#
+
+# 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

linux-7.2.3/drivers/iio/orientation/hid-sensor-incl-3d.c

@@ -0,0 +1,419 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * HID Sensors Driver
+ * Copyright (c) 2013, Intel Corporation.
+ */
+
+#include <linux/device.h>
+#include <linux/platform_device.h>
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/hid-sensor-hub.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include "../common/hid-sensors/hid-sensor-trigger.h"
+
+enum incl_3d_channel {
+	CHANNEL_SCAN_INDEX_X,
+	CHANNEL_SCAN_INDEX_Y,
+	CHANNEL_SCAN_INDEX_Z,
+	INCLI_3D_CHANNEL_MAX,
+};
+
+#define CHANNEL_SCAN_INDEX_TIMESTAMP INCLI_3D_CHANNEL_MAX
+
+struct incl_3d_state {
+	struct hid_sensor_hub_callbacks callbacks;
+	struct hid_sensor_common common_attributes;
+	struct hid_sensor_hub_attribute_info incl[INCLI_3D_CHANNEL_MAX];
+	struct {
+		u32 incl_val[INCLI_3D_CHANNEL_MAX];
+		aligned_s64 timestamp;
+	} scan;
+	int scale_pre_decml;
+	int scale_post_decml;
+	int scale_precision;
+	int value_offset;
+	s64 timestamp;
+};
+
+static const u32 incl_3d_addresses[INCLI_3D_CHANNEL_MAX] = {
+	HID_USAGE_SENSOR_ORIENT_TILT_X,
+	HID_USAGE_SENSOR_ORIENT_TILT_Y,
+	HID_USAGE_SENSOR_ORIENT_TILT_Z
+};
+
+static const u32 incl_3d_sensitivity_addresses[] = {
+	HID_USAGE_SENSOR_DATA_ORIENTATION,
+	HID_USAGE_SENSOR_ORIENT_TILT,
+};
+
+/* Channel definitions */
+static const struct iio_chan_spec incl_3d_channels[] = {
+	{
+		.type = IIO_INCLI,
+		.modified = 1,
+		.channel2 = IIO_MOD_X,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) |
+		BIT(IIO_CHAN_INFO_SCALE) |
+		BIT(IIO_CHAN_INFO_SAMP_FREQ) |
+		BIT(IIO_CHAN_INFO_HYSTERESIS),
+		.scan_index = CHANNEL_SCAN_INDEX_X,
+	}, {
+		.type = IIO_INCLI,
+		.modified = 1,
+		.channel2 = IIO_MOD_Y,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) |
+		BIT(IIO_CHAN_INFO_SCALE) |
+		BIT(IIO_CHAN_INFO_SAMP_FREQ) |
+		BIT(IIO_CHAN_INFO_HYSTERESIS),
+		.scan_index = CHANNEL_SCAN_INDEX_Y,
+	}, {
+		.type = IIO_INCLI,
+		.modified = 1,
+		.channel2 = IIO_MOD_Z,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) |
+		BIT(IIO_CHAN_INFO_SCALE) |
+		BIT(IIO_CHAN_INFO_SAMP_FREQ) |
+		BIT(IIO_CHAN_INFO_HYSTERESIS),
+		.scan_index = CHANNEL_SCAN_INDEX_Z,
+	},
+	IIO_CHAN_SOFT_TIMESTAMP(CHANNEL_SCAN_INDEX_TIMESTAMP),
+};
+
+/* Adjust channel real bits based on report descriptor */
+static void incl_3d_adjust_channel_bit_mask(struct iio_chan_spec *chan,
+						int size)
+{
+	chan->scan_type.sign = 's';
+	/* Real storage bits will change based on the report desc. */
+	chan->scan_type.realbits = size * 8;
+	/* Maximum size of a sample to capture is u32 */
+	chan->scan_type.storagebits = sizeof(u32) * 8;
+}
+
+/* Channel read_raw handler */
+static int incl_3d_read_raw(struct iio_dev *indio_dev,
+			      struct iio_chan_spec const *chan,
+			      int *val, int *val2,
+			      long mask)
+{
+	struct incl_3d_state *incl_state = iio_priv(indio_dev);
+	int report_id = -1;
+	u32 address;
+	int ret_type;
+	s32 min;
+
+	*val = 0;
+	*val2 = 0;
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		hid_sensor_power_state(&incl_state->common_attributes, true);
+		report_id = incl_state->incl[chan->scan_index].report_id;
+		min = incl_state->incl[chan->scan_index].logical_minimum;
+		address = incl_3d_addresses[chan->scan_index];
+		if (report_id >= 0)
+			*val = sensor_hub_input_attr_get_raw_value(
+				incl_state->common_attributes.hsdev,
+				HID_USAGE_SENSOR_INCLINOMETER_3D, address,
+				report_id,
+				SENSOR_HUB_SYNC,
+				min < 0);
+		else {
+			hid_sensor_power_state(&incl_state->common_attributes,
+						false);
+			return -EINVAL;
+		}
+		hid_sensor_power_state(&incl_state->common_attributes, false);
+		ret_type = IIO_VAL_INT;
+		break;
+	case IIO_CHAN_INFO_SCALE:
+		*val = incl_state->scale_pre_decml;
+		*val2 = incl_state->scale_post_decml;
+		ret_type = incl_state->scale_precision;
+		break;
+	case IIO_CHAN_INFO_OFFSET:
+		*val = incl_state->value_offset;
+		ret_type = IIO_VAL_INT;
+		break;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		ret_type = hid_sensor_read_samp_freq_value(
+			&incl_state->common_attributes, val, val2);
+		break;
+	case IIO_CHAN_INFO_HYSTERESIS:
+		ret_type = hid_sensor_read_raw_hyst_value(
+			&incl_state->common_attributes, val, val2);
+		break;
+	default:
+		ret_type = -EINVAL;
+		break;
+	}
+
+	return ret_type;
+}
+
+/* Channel write_raw handler */
+static int incl_3d_write_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int val,
+			       int val2,
+			       long mask)
+{
+	struct incl_3d_state *incl_state = iio_priv(indio_dev);
+	int ret;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		ret = hid_sensor_write_samp_freq_value(
+				&incl_state->common_attributes, val, val2);
+		break;
+	case IIO_CHAN_INFO_HYSTERESIS:
+		ret = hid_sensor_write_raw_hyst_value(
+				&incl_state->common_attributes, val, val2);
+		break;
+	default:
+		ret = -EINVAL;
+	}
+
+	return ret;
+}
+
+static const struct iio_info incl_3d_info = {
+	.read_raw = &incl_3d_read_raw,
+	.write_raw = &incl_3d_write_raw,
+};
+
+/* Callback handler to send event after all samples are received and captured */
+static int incl_3d_proc_event(struct hid_sensor_hub_device *hsdev,
+				unsigned usage_id,
+				void *priv)
+{
+	struct iio_dev *indio_dev = platform_get_drvdata(priv);
+	struct incl_3d_state *incl_state = iio_priv(indio_dev);
+
+	dev_dbg(&indio_dev->dev, "incl_3d_proc_event\n");
+	if (atomic_read(&incl_state->common_attributes.data_ready)) {
+		if (!incl_state->timestamp)
+			incl_state->timestamp = iio_get_time_ns(indio_dev);
+
+		iio_push_to_buffers_with_timestamp(indio_dev,
+						   &incl_state->scan,
+						   incl_state->timestamp);
+
+		incl_state->timestamp = 0;
+	}
+
+	return 0;
+}
+
+/* Capture samples in local storage */
+static int incl_3d_capture_sample(struct hid_sensor_hub_device *hsdev,
+				unsigned usage_id,
+				size_t raw_len, char *raw_data,
+				void *priv)
+{
+	struct iio_dev *indio_dev = platform_get_drvdata(priv);
+	struct incl_3d_state *incl_state = iio_priv(indio_dev);
+	int ret = 0;
+
+	switch (usage_id) {
+	case HID_USAGE_SENSOR_ORIENT_TILT_X:
+		incl_state->scan.incl_val[CHANNEL_SCAN_INDEX_X] = *(u32 *)raw_data;
+	break;
+	case HID_USAGE_SENSOR_ORIENT_TILT_Y:
+		incl_state->scan.incl_val[CHANNEL_SCAN_INDEX_Y] = *(u32 *)raw_data;
+	break;
+	case HID_USAGE_SENSOR_ORIENT_TILT_Z:
+		incl_state->scan.incl_val[CHANNEL_SCAN_INDEX_Z] = *(u32 *)raw_data;
+	break;
+	case HID_USAGE_SENSOR_TIME_TIMESTAMP:
+		incl_state->timestamp =
+			hid_sensor_convert_timestamp(&incl_state->common_attributes,
+						     *(s64 *)raw_data);
+	break;
+	default:
+		ret = -EINVAL;
+		break;
+	}
+
+	return ret;
+}
+
+/* Parse report which is specific to an usage id*/
+static int incl_3d_parse_report(struct platform_device *pdev,
+				struct hid_sensor_hub_device *hsdev,
+				struct iio_chan_spec *channels,
+				unsigned usage_id,
+				struct incl_3d_state *st)
+{
+	int ret;
+
+	ret = sensor_hub_input_get_attribute_info(hsdev,
+				HID_INPUT_REPORT,
+				usage_id,
+				HID_USAGE_SENSOR_ORIENT_TILT_X,
+				&st->incl[CHANNEL_SCAN_INDEX_X]);
+	if (ret)
+		return ret;
+	incl_3d_adjust_channel_bit_mask(&channels[CHANNEL_SCAN_INDEX_X],
+				st->incl[CHANNEL_SCAN_INDEX_X].size);
+
+	ret = sensor_hub_input_get_attribute_info(hsdev,
+				HID_INPUT_REPORT,
+				usage_id,
+				HID_USAGE_SENSOR_ORIENT_TILT_Y,
+				&st->incl[CHANNEL_SCAN_INDEX_Y]);
+	if (ret)
+		return ret;
+	incl_3d_adjust_channel_bit_mask(&channels[CHANNEL_SCAN_INDEX_Y],
+				st->incl[CHANNEL_SCAN_INDEX_Y].size);
+
+	ret = sensor_hub_input_get_attribute_info(hsdev,
+				HID_INPUT_REPORT,
+				usage_id,
+				HID_USAGE_SENSOR_ORIENT_TILT_Z,
+				&st->incl[CHANNEL_SCAN_INDEX_Z]);
+	if (ret)
+		return ret;
+	incl_3d_adjust_channel_bit_mask(&channels[CHANNEL_SCAN_INDEX_Z],
+				st->incl[CHANNEL_SCAN_INDEX_Z].size);
+
+	dev_dbg(&pdev->dev, "incl_3d %x:%x, %x:%x, %x:%x\n",
+			st->incl[0].index,
+			st->incl[0].report_id,
+			st->incl[1].index, st->incl[1].report_id,
+			st->incl[2].index, st->incl[2].report_id);
+
+	st->scale_precision = hid_sensor_format_scale(
+				HID_USAGE_SENSOR_INCLINOMETER_3D,
+				&st->incl[CHANNEL_SCAN_INDEX_X],
+				&st->scale_pre_decml, &st->scale_post_decml);
+
+	return ret;
+}
+
+/* Function to initialize the processing for usage id */
+static int hid_incl_3d_probe(struct platform_device *pdev)
+{
+	struct hid_sensor_hub_device *hsdev = dev_get_platdata(&pdev->dev);
+	int ret;
+	static char *name = "incli_3d";
+	struct iio_dev *indio_dev;
+	struct incl_3d_state *incl_state;
+
+	indio_dev = devm_iio_device_alloc(&pdev->dev,
+					  sizeof(struct incl_3d_state));
+	if (indio_dev == NULL)
+		return -ENOMEM;
+
+	platform_set_drvdata(pdev, indio_dev);
+
+	incl_state = iio_priv(indio_dev);
+	incl_state->common_attributes.hsdev = hsdev;
+	incl_state->common_attributes.pdev = pdev;
+
+	ret = hid_sensor_parse_common_attributes(hsdev,
+				HID_USAGE_SENSOR_INCLINOMETER_3D,
+				&incl_state->common_attributes,
+				incl_3d_sensitivity_addresses,
+				ARRAY_SIZE(incl_3d_sensitivity_addresses));
+	if (ret) {
+		dev_err(&pdev->dev, "failed to setup common attributes\n");
+		return ret;
+	}
+
+	indio_dev->channels = devm_kmemdup(&pdev->dev, incl_3d_channels,
+					   sizeof(incl_3d_channels), GFP_KERNEL);
+	if (!indio_dev->channels) {
+		dev_err(&pdev->dev, "failed to duplicate channels\n");
+		return -ENOMEM;
+	}
+
+	ret = incl_3d_parse_report(pdev, hsdev,
+				   (struct iio_chan_spec *)indio_dev->channels,
+				   HID_USAGE_SENSOR_INCLINOMETER_3D,
+				   incl_state);
+	if (ret) {
+		dev_err(&pdev->dev, "failed to setup attributes\n");
+		return ret;
+	}
+
+	indio_dev->num_channels = ARRAY_SIZE(incl_3d_channels);
+	indio_dev->info = &incl_3d_info;
+	indio_dev->name = name;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	atomic_set(&incl_state->common_attributes.data_ready, 0);
+
+	ret = hid_sensor_setup_trigger(indio_dev, name,
+					&incl_state->common_attributes);
+	if (ret) {
+		dev_err(&pdev->dev, "trigger setup failed\n");
+		return ret;
+	}
+
+	ret = iio_device_register(indio_dev);
+	if (ret) {
+		dev_err(&pdev->dev, "device register failed\n");
+		goto error_remove_trigger;
+	}
+
+	incl_state->callbacks.send_event = incl_3d_proc_event;
+	incl_state->callbacks.capture_sample = incl_3d_capture_sample;
+	incl_state->callbacks.pdev = pdev;
+	ret = sensor_hub_register_callback(hsdev,
+					HID_USAGE_SENSOR_INCLINOMETER_3D,
+					&incl_state->callbacks);
+	if (ret) {
+		dev_err(&pdev->dev, "callback reg failed\n");
+		goto error_iio_unreg;
+	}
+
+	return 0;
+
+error_iio_unreg:
+	iio_device_unregister(indio_dev);
+error_remove_trigger:
+	hid_sensor_remove_trigger(indio_dev, &incl_state->common_attributes);
+	return ret;
+}
+
+/* Function to deinitialize the processing for usage id */
+static void hid_incl_3d_remove(struct platform_device *pdev)
+{
+	struct hid_sensor_hub_device *hsdev = dev_get_platdata(&pdev->dev);
+	struct iio_dev *indio_dev = platform_get_drvdata(pdev);
+	struct incl_3d_state *incl_state = iio_priv(indio_dev);
+
+	sensor_hub_remove_callback(hsdev, HID_USAGE_SENSOR_INCLINOMETER_3D);
+	iio_device_unregister(indio_dev);
+	hid_sensor_remove_trigger(indio_dev, &incl_state->common_attributes);
+}
+
+static const struct platform_device_id hid_incl_3d_ids[] = {
+	{
+		/* Format: HID-SENSOR-usage_id_in_hex_lowercase */
+		.name = "HID-SENSOR-200086",
+	},
+	{ }
+};
+MODULE_DEVICE_TABLE(platform, hid_incl_3d_ids);
+
+static struct platform_driver hid_incl_3d_platform_driver = {
+	.id_table = hid_incl_3d_ids,
+	.driver = {
+		.name	= KBUILD_MODNAME,
+		.pm	= &hid_sensor_pm_ops,
+	},
+	.probe		= hid_incl_3d_probe,
+	.remove		= hid_incl_3d_remove,
+};
+module_platform_driver(hid_incl_3d_platform_driver);
+
+MODULE_DESCRIPTION("HID Sensor Inclinometer 3D");
+MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com>");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_HID");

linux-7.2.3/drivers/iio/orientation/hid-sensor-rotation.c

@@ -0,0 +1,438 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * HID Sensors Driver
+ * Copyright (c) 2014, Intel Corporation.
+ */
+
+#include <linux/device.h>
+#include <linux/platform_device.h>
+#include <linux/module.h>
+#include <linux/hid-sensor-hub.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include "../common/hid-sensors/hid-sensor-trigger.h"
+
+struct dev_rot_state {
+	struct hid_sensor_hub_callbacks callbacks;
+	struct hid_sensor_common common_attributes;
+	struct hid_sensor_hub_attribute_info quaternion;
+	struct {
+		IIO_DECLARE_QUATERNION(s32, sampled_vals);
+		/*
+		 * ABI regression avoidance: There are two copies of the same
+		 * timestamp in case of userspace depending on broken alignment
+		 * from older kernels.
+		 */
+		aligned_s64 timestamp[2];
+	} scan;
+	int scale_pre_decml;
+	int scale_post_decml;
+	int scale_precision;
+	int value_offset;
+	s64 timestamp;
+};
+
+static const u32 rotation_sensitivity_addresses[] = {
+	HID_USAGE_SENSOR_DATA_ORIENTATION,
+	HID_USAGE_SENSOR_ORIENT_QUATERNION,
+};
+
+enum {
+	DEV_ROT_SCAN_TYPE_16BIT,
+	DEV_ROT_SCAN_TYPE_32BIT,
+};
+
+static const struct iio_scan_type dev_rot_scan_types[] = {
+	[DEV_ROT_SCAN_TYPE_16BIT] = {
+		.sign = 's',
+		.realbits = 16,
+		/* Storage bits has to stay 32 to not break userspace. */
+		.storagebits = 32,
+		.repeat = 4,
+	},
+	[DEV_ROT_SCAN_TYPE_32BIT] = {
+		.sign = 's',
+		.realbits = 32,
+		.storagebits = 32,
+		.repeat = 4,
+	},
+};
+
+/* Channel definitions */
+static const struct iio_chan_spec dev_rot_channels[] = {
+	{
+		.type = IIO_ROT,
+		.modified = 1,
+		.channel2 = IIO_MOD_QUATERNION,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ) |
+					BIT(IIO_CHAN_INFO_OFFSET) |
+					BIT(IIO_CHAN_INFO_SCALE) |
+					BIT(IIO_CHAN_INFO_HYSTERESIS),
+		.scan_index = 0,
+		.has_ext_scan_type = 1,
+		.ext_scan_type = dev_rot_scan_types,
+		.num_ext_scan_type = ARRAY_SIZE(dev_rot_scan_types),
+	},
+	IIO_CHAN_SOFT_TIMESTAMP(1)
+};
+
+/* Channel read_raw handler */
+static int dev_rot_read_raw(struct iio_dev *indio_dev,
+				struct iio_chan_spec const *chan,
+				int size, int *vals, int *val_len,
+				long mask)
+{
+	struct dev_rot_state *rot_state = iio_priv(indio_dev);
+	struct hid_sensor_hub_device *hsdev = rot_state->common_attributes.hsdev;
+	struct hid_sensor_hub_attribute_info *info = &rot_state->quaternion;
+	u32 usage_id = HID_USAGE_SENSOR_ORIENT_QUATERNION;
+	union {
+		s16 val16[4];
+		s32 val32[4];
+	} raw_buf;
+	int ret_type;
+	int i;
+
+	vals[0] = 0;
+	vals[1] = 0;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		if (size >= 4) {
+			if (info->size <= 0 || info->size > sizeof(raw_buf))
+				return -EINVAL;
+
+			hid_sensor_power_state(&rot_state->common_attributes, true);
+
+			ret_type = sensor_hub_input_attr_read_values(hsdev,
+								     hsdev->usage,
+								     usage_id,
+								     info->report_id,
+								     SENSOR_HUB_SYNC,
+								     info->size,
+								     (u8 *)&raw_buf);
+
+			hid_sensor_power_state(&rot_state->common_attributes, false);
+
+			if (ret_type < 0)
+				return ret_type;
+
+			switch (info->size) {
+			case sizeof(raw_buf.val16):
+				for (i = 0; i < ARRAY_SIZE(raw_buf.val16); i++)
+					vals[i] = raw_buf.val16[i];
+				break;
+			case sizeof(raw_buf.val32):
+				for (i = 0; i < ARRAY_SIZE(raw_buf.val32); i++)
+					vals[i] = raw_buf.val32[i];
+				break;
+			default:
+				return -EINVAL;
+			}
+
+			ret_type = IIO_VAL_INT_MULTIPLE;
+			*val_len =  4;
+		} else
+			ret_type = -EINVAL;
+		break;
+	case IIO_CHAN_INFO_SCALE:
+		vals[0] = rot_state->scale_pre_decml;
+		vals[1] = rot_state->scale_post_decml;
+		return rot_state->scale_precision;
+
+	case IIO_CHAN_INFO_OFFSET:
+		*vals = rot_state->value_offset;
+		return IIO_VAL_INT;
+
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		ret_type = hid_sensor_read_samp_freq_value(
+			&rot_state->common_attributes, &vals[0], &vals[1]);
+		break;
+	case IIO_CHAN_INFO_HYSTERESIS:
+		ret_type = hid_sensor_read_raw_hyst_value(
+			&rot_state->common_attributes, &vals[0], &vals[1]);
+		break;
+	default:
+		ret_type = -EINVAL;
+		break;
+	}
+
+	return ret_type;
+}
+
+/* Channel write_raw handler */
+static int dev_rot_write_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int val,
+			       int val2,
+			       long mask)
+{
+	struct dev_rot_state *rot_state = iio_priv(indio_dev);
+	int ret;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		ret = hid_sensor_write_samp_freq_value(
+				&rot_state->common_attributes, val, val2);
+		break;
+	case IIO_CHAN_INFO_HYSTERESIS:
+		ret = hid_sensor_write_raw_hyst_value(
+				&rot_state->common_attributes, val, val2);
+		break;
+	default:
+		ret = -EINVAL;
+	}
+
+	return ret;
+}
+
+static int dev_rot_get_current_scan_type(const struct iio_dev *indio_dev,
+					 const struct iio_chan_spec *chan)
+{
+	struct dev_rot_state *rot_state = iio_priv(indio_dev);
+
+	switch (rot_state->quaternion.size / 4) {
+	case sizeof(s16):
+		return DEV_ROT_SCAN_TYPE_16BIT;
+	case sizeof(s32):
+		return DEV_ROT_SCAN_TYPE_32BIT;
+	default:
+		return -EINVAL;
+	}
+}
+
+static const struct iio_info dev_rot_info = {
+	.read_raw_multi = &dev_rot_read_raw,
+	.write_raw = &dev_rot_write_raw,
+	.get_current_scan_type = &dev_rot_get_current_scan_type,
+};
+
+/* Callback handler to send event after all samples are received and captured */
+static int dev_rot_proc_event(struct hid_sensor_hub_device *hsdev,
+				unsigned usage_id,
+				void *priv)
+{
+	struct iio_dev *indio_dev = platform_get_drvdata(priv);
+	struct dev_rot_state *rot_state = iio_priv(indio_dev);
+
+	dev_dbg(&indio_dev->dev, "dev_rot_proc_event\n");
+	if (atomic_read(&rot_state->common_attributes.data_ready)) {
+		if (!rot_state->timestamp)
+			rot_state->timestamp = iio_get_time_ns(indio_dev);
+
+		/*
+		 * ABI regression avoidance: IIO previously had an incorrect
+		 * implementation of iio_push_to_buffers_with_timestamp() that
+		 * put the timestamp in the last 8 bytes of the buffer, which
+		 * was incorrect according to the IIO ABI. To avoid breaking
+		 * userspace that may be depending on this broken behavior, we
+		 * put the timestamp in both the correct place [0] and the old
+		 * incorrect place [1].
+		 */
+		rot_state->scan.timestamp[0] = rot_state->timestamp;
+		rot_state->scan.timestamp[1] = rot_state->timestamp;
+
+		iio_push_to_buffers(indio_dev, &rot_state->scan);
+
+		rot_state->timestamp = 0;
+	}
+
+	return 0;
+}
+
+/* Capture samples in local storage */
+static int dev_rot_capture_sample(struct hid_sensor_hub_device *hsdev,
+				unsigned usage_id,
+				size_t raw_len, char *raw_data,
+				void *priv)
+{
+	struct iio_dev *indio_dev = platform_get_drvdata(priv);
+	struct dev_rot_state *rot_state = iio_priv(indio_dev);
+
+	if (usage_id == HID_USAGE_SENSOR_ORIENT_QUATERNION) {
+		if (raw_len / 4 == sizeof(s16)) {
+			rot_state->scan.sampled_vals[0] = ((s16 *)raw_data)[0];
+			rot_state->scan.sampled_vals[1] = ((s16 *)raw_data)[1];
+			rot_state->scan.sampled_vals[2] = ((s16 *)raw_data)[2];
+			rot_state->scan.sampled_vals[3] = ((s16 *)raw_data)[3];
+		} else {
+			memcpy(&rot_state->scan.sampled_vals, raw_data,
+			       sizeof(rot_state->scan.sampled_vals));
+		}
+
+		dev_dbg(&indio_dev->dev, "Recd Quat len:%zu::%zu\n", raw_len,
+			sizeof(rot_state->scan.sampled_vals));
+	} else if (usage_id == HID_USAGE_SENSOR_TIME_TIMESTAMP) {
+		rot_state->timestamp = hid_sensor_convert_timestamp(&rot_state->common_attributes,
+								    *(s64 *)raw_data);
+	}
+
+	return 0;
+}
+
+/* Parse report which is specific to an usage id*/
+static int dev_rot_parse_report(struct platform_device *pdev,
+				struct hid_sensor_hub_device *hsdev,
+				unsigned usage_id,
+				struct dev_rot_state *st)
+{
+	int ret;
+
+	ret = sensor_hub_input_get_attribute_info(hsdev,
+				HID_INPUT_REPORT,
+				usage_id,
+				HID_USAGE_SENSOR_ORIENT_QUATERNION,
+				&st->quaternion);
+	if (ret)
+		return ret;
+
+	dev_dbg(&pdev->dev, "dev_rot %x:%x\n", st->quaternion.index,
+		st->quaternion.report_id);
+
+	dev_dbg(&pdev->dev, "dev_rot: attrib size %d\n",
+				st->quaternion.size);
+
+	st->scale_precision = hid_sensor_format_scale(
+				hsdev->usage,
+				&st->quaternion,
+				&st->scale_pre_decml, &st->scale_post_decml);
+
+	return 0;
+}
+
+/* Function to initialize the processing for usage id */
+static int hid_dev_rot_probe(struct platform_device *pdev)
+{
+	struct hid_sensor_hub_device *hsdev = dev_get_platdata(&pdev->dev);
+	int ret;
+	char *name;
+	struct iio_dev *indio_dev;
+	struct dev_rot_state *rot_state;
+
+	indio_dev = devm_iio_device_alloc(&pdev->dev,
+					  sizeof(struct dev_rot_state));
+	if (indio_dev == NULL)
+		return -ENOMEM;
+
+	platform_set_drvdata(pdev, indio_dev);
+
+	rot_state = iio_priv(indio_dev);
+	rot_state->common_attributes.hsdev = hsdev;
+	rot_state->common_attributes.pdev = pdev;
+
+	switch (hsdev->usage) {
+	case HID_USAGE_SENSOR_DEVICE_ORIENTATION:
+		name = "dev_rotation";
+		break;
+	case HID_USAGE_SENSOR_RELATIVE_ORIENTATION:
+		name = "relative_orientation";
+		break;
+	case HID_USAGE_SENSOR_GEOMAGNETIC_ORIENTATION:
+		name = "geomagnetic_orientation";
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	ret = hid_sensor_parse_common_attributes(hsdev,
+						 hsdev->usage,
+						 &rot_state->common_attributes,
+						 rotation_sensitivity_addresses,
+						 ARRAY_SIZE(rotation_sensitivity_addresses));
+	if (ret) {
+		dev_err(&pdev->dev, "failed to setup common attributes\n");
+		return ret;
+	}
+
+	ret = dev_rot_parse_report(pdev, hsdev, hsdev->usage, rot_state);
+	if (ret) {
+		dev_err(&pdev->dev, "failed to setup attributes\n");
+		return ret;
+	}
+
+	indio_dev->channels = dev_rot_channels;
+	indio_dev->num_channels = ARRAY_SIZE(dev_rot_channels);
+	indio_dev->info = &dev_rot_info;
+	indio_dev->name = name;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	atomic_set(&rot_state->common_attributes.data_ready, 0);
+
+	ret = hid_sensor_setup_trigger(indio_dev, name,
+					&rot_state->common_attributes);
+	if (ret) {
+		dev_err(&pdev->dev, "trigger setup failed\n");
+		return ret;
+	}
+
+	ret = iio_device_register(indio_dev);
+	if (ret) {
+		dev_err(&pdev->dev, "device register failed\n");
+		goto error_remove_trigger;
+	}
+
+	rot_state->callbacks.send_event = dev_rot_proc_event;
+	rot_state->callbacks.capture_sample = dev_rot_capture_sample;
+	rot_state->callbacks.pdev = pdev;
+	ret = sensor_hub_register_callback(hsdev, hsdev->usage,
+					&rot_state->callbacks);
+	if (ret) {
+		dev_err(&pdev->dev, "callback reg failed\n");
+		goto error_iio_unreg;
+	}
+
+	return 0;
+
+error_iio_unreg:
+	iio_device_unregister(indio_dev);
+error_remove_trigger:
+	hid_sensor_remove_trigger(indio_dev, &rot_state->common_attributes);
+	return ret;
+}
+
+/* Function to deinitialize the processing for usage id */
+static void hid_dev_rot_remove(struct platform_device *pdev)
+{
+	struct hid_sensor_hub_device *hsdev = dev_get_platdata(&pdev->dev);
+	struct iio_dev *indio_dev = platform_get_drvdata(pdev);
+	struct dev_rot_state *rot_state = iio_priv(indio_dev);
+
+	sensor_hub_remove_callback(hsdev, hsdev->usage);
+	iio_device_unregister(indio_dev);
+	hid_sensor_remove_trigger(indio_dev, &rot_state->common_attributes);
+}
+
+static const struct platform_device_id hid_dev_rot_ids[] = {
+	{
+		/* Format: HID-SENSOR-usage_id_in_hex_lowercase */
+		.name = "HID-SENSOR-20008a",
+	},
+	{
+		/* Relative orientation(AG) sensor */
+		.name = "HID-SENSOR-20008e",
+	},
+	{
+		/* Geomagnetic orientation(AM) sensor */
+		.name = "HID-SENSOR-2000c1",
+	},
+	{ }
+};
+MODULE_DEVICE_TABLE(platform, hid_dev_rot_ids);
+
+static struct platform_driver hid_dev_rot_platform_driver = {
+	.id_table = hid_dev_rot_ids,
+	.driver = {
+		.name	= KBUILD_MODNAME,
+		.pm     = &hid_sensor_pm_ops,
+	},
+	.probe		= hid_dev_rot_probe,
+	.remove		= hid_dev_rot_remove,
+};
+module_platform_driver(hid_dev_rot_platform_driver);
+
+MODULE_DESCRIPTION("HID Sensor Device Rotation");
+MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com>");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_HID");