/*! * @section LICENSE * (C) Copyright 2011~2016 Bosch Sensortec GmbH All Rights Reserved * * (C) Modification Copyright 2018 Robert Bosch Kft All Rights Reserved * * This software program is licensed subject to the GNU General * Public License (GPL).Version 2,June 1991, * available at http://www.fsf.org/copyleft/gpl.html * * Special: Description of the Software: * * This software module (hereinafter called "Software") and any * information on application-sheets (hereinafter called "Information") is * provided free of charge for the sole purpose to support your application * work. * * As such, the Software is merely an experimental software, not tested for * safety in the field and only intended for inspiration for further development * and testing. Any usage in a safety-relevant field of use (like automotive, * seafaring, spacefaring, industrial plants etc.) was not intended, so there are * no precautions for such usage incorporated in the Software. * * The Software is specifically designed for the exclusive use for Bosch * Sensortec products by personnel who have special experience and training. Do * not use this Software if you do not have the proper experience or training. * * This Software package is provided as is and without any expressed or * implied warranties, including without limitation, the implied warranties of * merchantability and fitness for a particular purpose. * * Bosch Sensortec and their representatives and agents deny any liability for * the functional impairment of this Software in terms of fitness, performance * and safety. Bosch Sensortec and their representatives and agents shall not be * liable for any direct or indirect damages or injury, except as otherwise * stipulated in mandatory applicable law. * The Information provided is believed to be accurate and reliable. Bosch * Sensortec assumes no responsibility for the consequences of use of such * Information nor for any infringement of patents or other rights of third * parties which may result from its use. * *------------------------------------------------------------------------------ * The following Product Disclaimer does not apply to the BSX4-HAL-4.1NoFusion Software * which is licensed under the Apache License, Version 2.0 as stated above. * http://www.apache.org/licenses/LICENSE-2.0 * * Product Disclaimer * * Common: * * Assessment of Products Returned from Field * * Returned products are considered good if they fulfill the specifications / * test data for 0-mileage and field listed in this document. * * Engineering Samples * * Engineering samples are marked with (e) or (E). Samples may vary from the * valid technical specifications of the series product contained in this * data sheet. Therefore, they are not intended or fit for resale to * third parties or for use in end products. Their sole purpose is internal * client testing. The testing of an engineering sample may in no way replace * the testing of a series product. Bosch assumes no liability for the use * of engineering samples. The purchaser shall indemnify Bosch from all claims * arising from the use of engineering samples. * * Intended use * * Provided that SMI130 is used within the conditions (environment, application, * installation, loads) as described in this TCD and the corresponding * agreed upon documents, Bosch ensures that the product complies with * the agreed properties. Agreements beyond this require * the written approval by Bosch. The product is considered fit for the intended * use when the product successfully has passed the tests * in accordance with the TCD and agreed upon documents. * * It is the responsibility of the customer to ensure the proper application * of the product in the overall system/vehicle. * * Bosch does not assume any responsibility for changes to the environment * of the product that deviate from the TCD and the agreed upon documents * as well as all applications not released by Bosch * * The resale and/or use of products are at the purchaser’s own risk and * responsibility. The examination and testing of the SMI130 * is the sole responsibility of the purchaser. * * The purchaser shall indemnify Bosch from all third party claims * arising from any product use not covered by the parameters of * this product data sheet or not approved by Bosch and reimburse Bosch * for all costs and damages in connection with such claims. * * The purchaser must monitor the market for the purchased products, * particularly with regard to product safety, and inform Bosch without delay * of all security relevant incidents. * * Application Examples and Hints * * With respect to any application examples, advice, normal values * and/or any information regarding the application of the device, * Bosch hereby disclaims any and all warranties and liabilities of any kind, * including without limitation warranties of * non-infringement of intellectual property rights or copyrights * of any third party. * The information given in this document shall in no event be regarded * as a guarantee of conditions or characteristics. They are provided * for illustrative purposes only and no evaluation regarding infringement * of intellectual property rights or copyrights or regarding functionality, * performance or error has been made. * @filename smi130_gyro_driver.c * @date 2015/11/17 13:44 * @Modification Date 2018/08/28 18:20 * @id "836294d" * @version 1.5.9 * * @brief SMI130_GYRO Linux Driver */ #ifdef __KERNEL__ #include #include #include #include #else #include #include #include #endif #include #include #include #include #include #include #include #include #include #include #include #include #include #include #ifdef CONFIG_HAS_EARLYSUSPEND #include #endif #include "smi130_gyro.h" #include "bs_log.h" /* sensor specific */ #define SENSOR_NAME "smi130_gyro" #define SMI130_GYRO_ENABLE_INT1 1 #define SENSOR_CHIP_ID_SMI_GYRO (0x0f) #define CHECK_CHIP_ID_TIME_MAX 5 #define DRIVER_VERSION "0.0.53.0" #define SMI_GYRO_USE_FIFO 1 #define SMI_GYRO_USE_BASIC_I2C_FUNC 1 #define SMI_GYRO_REG_NAME(name) SMI130_GYRO_##name #define SMI_GYRO_VAL_NAME(name) SMI130_GYRO_##name #define SMI_GYRO_CALL_API(name) smi130_gyro_##name #define MSC_TIME 6 #define SMI_GYRO_I2C_WRITE_DELAY_TIME 1 /* generic */ #define SMI_GYRO_MAX_RETRY_I2C_XFER (100) #define SMI_GYRO_MAX_RETRY_WAKEUP (5) #define SMI_GYRO_MAX_RETRY_WAIT_DRDY (100) #define SMI_GYRO_DELAY_MIN (1) #define SMI_GYRO_DELAY_DEFAULT (200) #define SMI_GYRO_VALUE_MAX (32767) #define SMI_GYRO_VALUE_MIN (-32768) #define BYTES_PER_LINE (16) #define SMI_GYRO_SELF_TEST 0 #define SMI_GYRO_SOFT_RESET_VALUE 0xB6 #ifdef SMI_GYRO_USE_FIFO #define MAX_FIFO_F_LEVEL 100 #define MAX_FIFO_F_BYTES 8 #define SMI130_GYRO_FIFO_DAT_SEL_X 1 #define SMI130_GYRO_FIFO_DAT_SEL_Y 2 #define SMI130_GYRO_FIFO_DAT_SEL_Z 3 #endif /*! * @brief:BMI058 feature * macro definition */ #ifdef CONFIG_SENSORS_BMI058 /*! BMI058 X AXIS definition*/ #define BMI058_X_AXIS SMI130_GYRO_Y_AXIS /*! BMI058 Y AXIS definition*/ #define BMI058_Y_AXIS SMI130_GYRO_X_AXIS #define C_BMI058_One_U8X 1 #define C_BMI058_Two_U8X 2 #endif /*! Bosch sensor unknown place*/ #define BOSCH_SENSOR_PLACE_UNKNOWN (-1) /*! Bosch sensor remapping table size P0~P7*/ #define MAX_AXIS_REMAP_TAB_SZ 8 struct bosch_sensor_specific { char *name; /* 0 to 7 */ int place; int irq; int (*irq_gpio_cfg)(void); }; /*! * we use a typedef to hide the detail, * because this type might be changed */ struct bosch_sensor_axis_remap { /* src means which source will be mapped to target x, y, z axis */ /* if an target OS axis is remapped from (-)x, * src is 0, sign_* is (-)1 */ /* if an target OS axis is remapped from (-)y, * src is 1, sign_* is (-)1 */ /* if an target OS axis is remapped from (-)z, * src is 2, sign_* is (-)1 */ int src_x:3; int src_y:3; int src_z:3; int sign_x:2; int sign_y:2; int sign_z:2; }; struct bosch_sensor_data { union { int16_t v[3]; struct { int16_t x; int16_t y; int16_t z; }; }; }; #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING #define SMI_GYRO_MAXSAMPLE 4000 #define G_MAX 23920640 struct smi_gyro_sample { int xyz[3]; unsigned int tsec; unsigned long long tnsec; }; #endif struct smi_gyro_client_data { struct smi130_gyro_t device; struct i2c_client *client; struct input_dev *input; struct delayed_work work; #ifdef CONFIG_HAS_EARLYSUSPEND struct early_suspend early_suspend_handler; #endif atomic_t delay; uint8_t debug_level; struct smi130_gyro_data_t value; u8 enable:1; unsigned int fifo_count; unsigned char fifo_datasel; uint64_t timestamp; uint64_t base_time; uint64_t fifo_time; uint64_t gyro_count; uint64_t time_odr; /* controls not only reg, but also workqueue */ struct mutex mutex_op_mode; struct mutex mutex_enable; struct bosch_sensor_specific *bosch_pd; struct work_struct report_data_work; int is_timer_running; struct hrtimer timer; ktime_t work_delay_kt; uint8_t gpio_pin; int16_t IRQ; struct work_struct irq_work; #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING bool read_gyro_boot_sample; int gyro_bufsample_cnt; bool gyro_buffer_smi130_samples; struct kmem_cache *smi_gyro_cachepool; struct smi_gyro_sample *smi130_gyro_samplist[SMI_GYRO_MAXSAMPLE]; int max_buffer_time; struct input_dev *gyrobuf_dev; int report_evt_cnt; #endif }; static struct i2c_client *smi_gyro_client; /* i2c operation for API */ static int smi_gyro_i2c_read(struct i2c_client *client, u8 reg_addr, u8 *data, u8 len); static int smi_gyro_i2c_write(struct i2c_client *client, u8 reg_addr, u8 *data, u8 len); static void smi_gyro_dump_reg(struct i2c_client *client); static int smi_gyro_check_chip_id(struct i2c_client *client); static int smi_gyro_pre_suspend(struct i2c_client *client); static int smi_gyro_post_resume(struct i2c_client *client); #ifdef CONFIG_HAS_EARLYSUSPEND static void smi_gyro_early_suspend(struct early_suspend *handler); static void smi_gyro_late_resume(struct early_suspend *handler); #endif static void smi130_gyro_delay(SMI130_GYRO_U16 msec) { if (msec <= 20) usleep_range(msec * 1000, msec * 1000); else msleep(msec); } /*! * SMI130_GYRO sensor remapping function * need to give some parameter in BSP files first. */ static const struct bosch_sensor_axis_remap bosch_axis_remap_tab_dft[MAX_AXIS_REMAP_TAB_SZ] = { /* src_x src_y src_z sign_x sign_y sign_z */ { 0, 1, 2, 1, 1, 1 }, /* P0 */ { 1, 0, 2, 1, -1, 1 }, /* P1 */ { 0, 1, 2, -1, -1, 1 }, /* P2 */ { 1, 0, 2, -1, 1, 1 }, /* P3 */ { 0, 1, 2, -1, 1, -1 }, /* P4 */ { 1, 0, 2, -1, -1, -1 }, /* P5 */ { 0, 1, 2, 1, -1, -1 }, /* P6 */ { 1, 0, 2, 1, 1, -1 }, /* P7 */ }; static void bosch_remap_sensor_data(struct bosch_sensor_data *data, const struct bosch_sensor_axis_remap *remap) { struct bosch_sensor_data tmp; tmp.x = data->v[remap->src_x] * remap->sign_x; tmp.y = data->v[remap->src_y] * remap->sign_y; tmp.z = data->v[remap->src_z] * remap->sign_z; memcpy(data, &tmp, sizeof(*data)); } static void bosch_remap_sensor_data_dft_tab(struct bosch_sensor_data *data, int place) { /* sensor with place 0 needs not to be remapped */ if ((place <= 0) || (place >= MAX_AXIS_REMAP_TAB_SZ)) return; bosch_remap_sensor_data(data, &bosch_axis_remap_tab_dft[place]); } static void smi130_gyro_remap_sensor_data(struct smi130_gyro_data_t *val, struct smi_gyro_client_data *client_data) { struct bosch_sensor_data bsd; int place; if ((NULL == client_data->bosch_pd) || (BOSCH_SENSOR_PLACE_UNKNOWN == client_data->bosch_pd->place)) place = BOSCH_SENSOR_PLACE_UNKNOWN; else place = client_data->bosch_pd->place; #ifdef CONFIG_SENSORS_BMI058 /*x,y need to be invesed becase of HW Register for BMI058*/ bsd.y = val->datax; bsd.x = val->datay; bsd.z = val->dataz; #else bsd.x = val->datax; bsd.y = val->datay; bsd.z = val->dataz; #endif bosch_remap_sensor_data_dft_tab(&bsd, place); val->datax = bsd.x; val->datay = bsd.y; val->dataz = bsd.z; } static int smi_gyro_check_chip_id(struct i2c_client *client) { int err = -1; u8 chip_id = 0; u8 read_count = 0; while (read_count++ < CHECK_CHIP_ID_TIME_MAX) { smi_gyro_i2c_read(client, SMI_GYRO_REG_NAME(CHIP_ID_ADDR), &chip_id, 1); PINFO("read chip id result: %#x", chip_id); if ((chip_id & 0xff) != SENSOR_CHIP_ID_SMI_GYRO) { smi130_gyro_delay(1); } else { err = 0; break; } } return err; } static void smi_gyro_dump_reg(struct i2c_client *client) { int i; u8 dbg_buf[64]; u8 dbg_buf_str[64 * 3 + 1] = ""; for (i = 0; i < BYTES_PER_LINE; i++) { dbg_buf[i] = i; snprintf(dbg_buf_str + i * 3, 16, "%02x%c", dbg_buf[i], (((i + 1) % BYTES_PER_LINE == 0) ? '\n' : ' ')); } dev_dbg(&client->dev, "%s\n", dbg_buf_str); smi_gyro_i2c_read(client, SMI_GYRO_REG_NAME(CHIP_ID_ADDR), dbg_buf, 64); for (i = 0; i < 64; i++) { snprintf(dbg_buf_str + i * 3, 16, "%02x%c", dbg_buf[i], (((i + 1) % BYTES_PER_LINE == 0) ? '\n' : ' ')); } dev_dbg(&client->dev, "%s\n", dbg_buf_str); } /*i2c read routine for API*/ static int smi_gyro_i2c_read(struct i2c_client *client, u8 reg_addr, u8 *data, u8 len) { #if !defined SMI_GYRO_USE_BASIC_I2C_FUNC s32 dummy; if (NULL == client) return -ENODEV; while (0 != len--) { #ifdef SMI_GYRO_SMBUS dummy = i2c_smbus_read_byte_data(client, reg_addr); if (dummy < 0) { dev_err(&client->dev, "i2c bus read error"); return -EIO; } *data = (u8)(dummy & 0xff); #else dummy = i2c_master_send(client, (char *)®_addr, 1); if (dummy < 0) return -EIO; dummy = i2c_master_recv(client, (char *)data, 1); if (dummy < 0) return -EIO; #endif reg_addr++; data++; } return 0; #else int retry; struct i2c_msg msg[] = { { .addr = client->addr, .flags = 0, .len = 1, .buf = ®_addr, }, { .addr = client->addr, .flags = I2C_M_RD, .len = len, .buf = data, }, }; for (retry = 0; retry < SMI_GYRO_MAX_RETRY_I2C_XFER; retry++) { if (i2c_transfer(client->adapter, msg, ARRAY_SIZE(msg)) > 0) break; else smi130_gyro_delay(SMI_GYRO_I2C_WRITE_DELAY_TIME); } if (SMI_GYRO_MAX_RETRY_I2C_XFER <= retry) { dev_err(&client->dev, "I2C xfer error"); return -EIO; } return 0; #endif } #ifdef SMI_GYRO_USE_FIFO static int smi_gyro_i2c_burst_read(struct i2c_client *client, u8 reg_addr, u8 *data, u16 len) { int retry; struct i2c_msg msg[] = { { .addr = client->addr, .flags = 0, .len = 1, .buf = ®_addr, }, { .addr = client->addr, .flags = I2C_M_RD, .len = len, .buf = data, }, }; for (retry = 0; retry < SMI_GYRO_MAX_RETRY_I2C_XFER; retry++) { if (i2c_transfer(client->adapter, msg, ARRAY_SIZE(msg)) > 0) break; else smi130_gyro_delay(SMI_GYRO_I2C_WRITE_DELAY_TIME); } if (SMI_GYRO_MAX_RETRY_I2C_XFER <= retry) { dev_err(&client->dev, "I2C xfer error"); return -EIO; } return 0; } #endif /*i2c write routine for */ static int smi_gyro_i2c_write(struct i2c_client *client, u8 reg_addr, u8 *data, u8 len) { #if !defined SMI_GYRO_USE_BASIC_I2C_FUNC s32 dummy; #ifndef SMI_GYRO_SMBUS u8 buffer[2]; #endif if (NULL == client) return -ENODEV; while (0 != len--) { #ifdef SMI_GYRO_SMBUS dummy = i2c_smbus_write_byte_data(client, reg_addr, *data); #else buffer[0] = reg_addr; buffer[1] = *data; dummy = i2c_master_send(client, (char *)buffer, 2); #endif reg_addr++; data++; if (dummy < 0) { dev_err(&client->dev, "error writing i2c bus"); return -EIO; } } return 0; #else u8 buffer[2]; int retry; struct i2c_msg msg[] = { { .addr = client->addr, .flags = 0, .len = 2, .buf = buffer, }, }; while (0 != len--) { buffer[0] = reg_addr; buffer[1] = *data; for (retry = 0; retry < SMI_GYRO_MAX_RETRY_I2C_XFER; retry++) { if (i2c_transfer(client->adapter, msg, ARRAY_SIZE(msg)) > 0) { break; } else { smi130_gyro_delay(SMI_GYRO_I2C_WRITE_DELAY_TIME); } } if (SMI_GYRO_MAX_RETRY_I2C_XFER <= retry) { dev_err(&client->dev, "I2C xfer error"); return -EIO; } reg_addr++; data++; } return 0; #endif } static int smi_gyro_i2c_read_wrapper(u8 dev_addr, u8 reg_addr, u8 *data, u8 len) { int err; err = smi_gyro_i2c_read(smi_gyro_client, reg_addr, data, len); return err; } static int smi_gyro_i2c_write_wrapper(u8 dev_addr, u8 reg_addr, u8 *data, u8 len) { int err; err = smi_gyro_i2c_write(smi_gyro_client, reg_addr, data, len); return err; } static void smi_gyro_work_func(struct work_struct *work) { struct smi_gyro_client_data *client_data = container_of((struct delayed_work *)work, struct smi_gyro_client_data, work); unsigned long delay = msecs_to_jiffies(atomic_read(&client_data->delay)); struct smi130_gyro_data_t gyro_data; SMI_GYRO_CALL_API(get_dataXYZ)(&gyro_data); /*remapping for SMI130_GYRO sensor*/ smi130_gyro_remap_sensor_data(&gyro_data, client_data); input_report_abs(client_data->input, ABS_X, gyro_data.datax); input_report_abs(client_data->input, ABS_Y, gyro_data.datay); input_report_abs(client_data->input, ABS_Z, gyro_data.dataz); input_sync(client_data->input); schedule_delayed_work(&client_data->work, delay); } static struct workqueue_struct *reportdata_wq; uint64_t smi130_gyro_get_alarm_timestamp(void) { uint64_t ts_ap; struct timespec tmp_time; get_monotonic_boottime(&tmp_time); ts_ap = (uint64_t)tmp_time.tv_sec * 1000000000 + tmp_time.tv_nsec; return ts_ap; } #define ABS(x) ((x) > 0 ? (x) : -(x)) static void smi130_gyro_work_func(struct work_struct *work) { struct smi_gyro_client_data *smi130_gyro = container_of(work, struct smi_gyro_client_data, report_data_work); int i; struct smi130_gyro_data_t gyro_lsb; unsigned char fifo_framecount; signed char fifo_data_out[MAX_FIFO_F_LEVEL * MAX_FIFO_F_BYTES] = {0}; unsigned char f_len = 0; uint64_t del; uint64_t time_internal; struct timespec ts; int64_t drift_time = 0; static uint64_t time_odr; static uint32_t data_cnt; static uint32_t pre_data_cnt; static int64_t sample_drift_offset; if (smi130_gyro->fifo_datasel) /*Select one axis data output for every fifo frame*/ f_len = 2; else /*Select X Y Z axis data output for every fifo frame*/ f_len = 6; if (SMI_GYRO_CALL_API(get_fifo_framecount)(&fifo_framecount) < 0) { PERR("bm160_get_fifo_framecount err\n"); return; } if (fifo_framecount == 0) return; if (fifo_framecount > MAX_FIFO_F_LEVEL) fifo_framecount = MAX_FIFO_F_LEVEL; if (smi_gyro_i2c_burst_read(smi130_gyro->client, SMI130_GYRO_FIFO_DATA_ADDR, fifo_data_out, fifo_framecount * f_len) < 0) { PERR("smi130_gyro read fifo err\n"); return; } smi130_gyro->fifo_time = smi130_gyro_get_alarm_timestamp(); if (smi130_gyro->gyro_count == 0) smi130_gyro->base_time = smi130_gyro->timestamp = smi130_gyro->fifo_time - (fifo_framecount-1) * smi130_gyro->time_odr; smi130_gyro->gyro_count += fifo_framecount; del = smi130_gyro->fifo_time - smi130_gyro->base_time; time_internal = div64_u64(del, smi130_gyro->gyro_count); data_cnt++; if (data_cnt == 1) time_odr = smi130_gyro->time_odr; if (time_internal > time_odr) { if (time_internal - time_odr > div64_u64 (time_odr, 200)) time_internal = time_odr + div64_u64(time_odr, 200); } else { if (time_odr - time_internal > div64_u64(time_odr, 200)) time_internal = time_odr - div64_u64(time_odr, 200); } /* Select X Y Z axis data output for every frame */ for (i = 0; i < fifo_framecount; i++) { if (smi130_gyro->debug_level & 0x01) printk(KERN_INFO "smi_gyro time =%llu fifo_time = %llu time_internal = %llu smi_gyro->count= %llu count = %d", smi130_gyro->timestamp, smi130_gyro->fifo_time, time_internal, smi130_gyro->gyro_count, fifo_framecount); ts = ns_to_timespec(smi130_gyro->timestamp); gyro_lsb.datax = ((unsigned char)fifo_data_out[i * f_len + 1] << 8 | (unsigned char)fifo_data_out[i * f_len + 0]); gyro_lsb.datay = ((unsigned char)fifo_data_out[i * f_len + 3] << 8 | (unsigned char)fifo_data_out[i * f_len + 2]); gyro_lsb.dataz = ((unsigned char)fifo_data_out[i * f_len + 5] << 8 | (unsigned char)fifo_data_out[i * f_len + 4]); smi130_gyro_remap_sensor_data(&gyro_lsb, smi130_gyro); input_event(smi130_gyro->input, EV_MSC, MSC_TIME, ts.tv_sec); input_event(smi130_gyro->input, EV_MSC, MSC_TIME, ts.tv_nsec); input_event(smi130_gyro->input, EV_MSC, MSC_GESTURE, gyro_lsb.datax); input_event(smi130_gyro->input, EV_MSC, MSC_RAW, gyro_lsb.datay); input_event(smi130_gyro->input, EV_MSC, MSC_SCAN, gyro_lsb.dataz); input_sync(smi130_gyro->input); smi130_gyro->timestamp += time_internal - sample_drift_offset; } drift_time = smi130_gyro->timestamp - smi130_gyro->fifo_time; if (data_cnt % 20 == 0) { if (ABS(drift_time) > div64_u64(time_odr, 5)) { sample_drift_offset = div64_s64(drift_time, smi130_gyro->gyro_count - pre_data_cnt); pre_data_cnt = smi130_gyro->gyro_count; time_odr = time_internal; } } } static enum hrtimer_restart reportdata_timer_fun( struct hrtimer *hrtimer) { struct smi_gyro_client_data *client_data = container_of(hrtimer, struct smi_gyro_client_data, timer); int32_t delay = 0; delay = 10; queue_work(reportdata_wq, &(client_data->report_data_work)); client_data->work_delay_kt = ns_to_ktime(delay*1000000); hrtimer_forward(hrtimer, ktime_get(), client_data->work_delay_kt); return HRTIMER_RESTART; } static ssize_t smi_gyro_show_enable_timer(struct device *dev, struct device_attribute *attr, char *buf) { struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); return snprintf(buf, 16, "%d\n", client_data->is_timer_running); } static ssize_t smi_gyro_store_enable_timer(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { unsigned long data; int error; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); error = kstrtoul(buf, 10, &data); if (error) return error; if (data) { if (0 == client_data->is_timer_running) { hrtimer_start(&client_data->timer, ns_to_ktime(10000000), HRTIMER_MODE_REL); client_data->is_timer_running = 1; client_data->base_time = 0; client_data->timestamp = 0; client_data->gyro_count = 0; } } else { if (1 == client_data->is_timer_running) { hrtimer_cancel(&client_data->timer); client_data->is_timer_running = 0; client_data->base_time = 0; client_data->timestamp = 0; client_data->gyro_count = 0; } } return count; } static ssize_t smi130_gyro_show_debug_level(struct device *dev, struct device_attribute *attr, char *buf) { int err; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); err = snprintf(buf, 8, "%d\n", client_data->debug_level); return err; } static ssize_t smi130_gyro_store_debug_level(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int32_t ret = 0; unsigned long data; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); ret = kstrtoul(buf, 16, &data); if (ret) return ret; client_data->debug_level = (uint8_t)data; return count; } static int smi_gyro_set_soft_reset(struct i2c_client *client) { int err = 0; unsigned char data = SMI_GYRO_SOFT_RESET_VALUE; err = smi_gyro_i2c_write(client, SMI130_GYRO_BGW_SOFTRESET_ADDR, &data, 1); return err; } static ssize_t smi_gyro_show_chip_id(struct device *dev, struct device_attribute *attr, char *buf) { return snprintf(buf, 16, "%d\n", SENSOR_CHIP_ID_SMI_GYRO); } #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING static inline int smi130_check_gyro_early_buff_enable_flag( struct smi_gyro_client_data *client_data) { if (client_data->gyro_buffer_smi130_samples == true) return 1; else return 0; } #else static inline int smi130_check_gyro_early_buff_enable_flag( struct smi_gyro_client_data *client_data) { return 0; } #endif static ssize_t smi_gyro_show_op_mode(struct device *dev, struct device_attribute *attr, char *buf) { int ret; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); u8 op_mode = 0xff; mutex_lock(&client_data->mutex_op_mode); SMI_GYRO_CALL_API(get_mode)(&op_mode); mutex_unlock(&client_data->mutex_op_mode); ret = snprintf(buf, 16, "%d\n", op_mode); return ret; } static ssize_t smi_gyro_store_op_mode(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); long op_mode; err = smi130_check_gyro_early_buff_enable_flag(client_data); if (err) return count; err = kstrtoul(buf, 10, &op_mode); if (err) return err; mutex_lock(&client_data->mutex_op_mode); err = SMI_GYRO_CALL_API(set_mode)(op_mode); mutex_unlock(&client_data->mutex_op_mode); if (err) return err; else return count; } static ssize_t smi_gyro_show_value(struct device *dev, struct device_attribute *attr, char *buf) { struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); int count; struct smi130_gyro_data_t value_data; SMI_GYRO_CALL_API(get_dataXYZ)(&value_data); /*SMI130_GYRO sensor raw data remapping*/ smi130_gyro_remap_sensor_data(&value_data, client_data); count = snprintf(buf, 96, "%hd %hd %hd\n", value_data.datax, value_data.datay, value_data.dataz); return count; } static ssize_t smi_gyro_show_range(struct device *dev, struct device_attribute *attr, char *buf) { int err; unsigned char range = 0; SMI_GYRO_CALL_API(get_range_reg)(&range); err = snprintf(buf, 16, "%d\n", range); return err; } static ssize_t smi_gyro_store_range(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; unsigned long range; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); err = smi130_check_gyro_early_buff_enable_flag(client_data); if (err) return count; err = kstrtoul(buf, 10, &range); if (err) return err; SMI_GYRO_CALL_API(set_range_reg)(range); return count; } /* decimation odr filter bandwidth bits 20 100HZ 32HZ 7 10 200Hz 64HZ 6 20 100HZ 12HZ 5 10 200hz 23HZ 4 5 400HZ 47HZ 3 2 1000HZ 116HZ 2 0 2000HZ 230HZ 1 0 2000HZ Unfiltered(523HZ) 0 */ static const uint64_t odr_map[8] = { 500000, 500000, 1000000, 2500000, 5000000, 10000000, 5000000, 10000000}; static ssize_t smi_gyro_show_bandwidth(struct device *dev, struct device_attribute *attr, char *buf) { int err; unsigned char bandwidth = 0; SMI_GYRO_CALL_API(get_bw)(&bandwidth); err = snprintf(buf, 16, "%d\n", bandwidth); return err; } static ssize_t smi_gyro_store_bandwidth(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); unsigned long bandwidth; u8 op_mode = 0xff; err = smi130_check_gyro_early_buff_enable_flag(client_data); if (err) return count; err = kstrtoul(buf, 10, &bandwidth); if (err) return err; /* set bandwidth only in the op_mode=0 */ err = SMI_GYRO_CALL_API(get_mode)(&op_mode); if (op_mode == 0) { err += SMI_GYRO_CALL_API(set_bw)(bandwidth); } else { err += SMI_GYRO_CALL_API(set_mode)(0); err += SMI_GYRO_CALL_API(set_bw)(bandwidth); smi130_gyro_delay(1); err += SMI_GYRO_CALL_API(set_mode)(2); smi130_gyro_delay(3); } if (err) PERR("set failed"); client_data->time_odr = odr_map[bandwidth]; client_data->base_time = 0; client_data->gyro_count = 0; return count; } static ssize_t smi_gyro_show_enable(struct device *dev, struct device_attribute *attr, char *buf) { struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); int err; mutex_lock(&client_data->mutex_enable); err = snprintf(buf, 16, "%d\n", client_data->enable); mutex_unlock(&client_data->mutex_enable); return err; } static ssize_t smi_gyro_store_enable(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { unsigned long data; int err; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); err = kstrtoul(buf, 10, &data); if (err) return err; data = data ? 1 : 0; mutex_lock(&client_data->mutex_enable); if (data != client_data->enable) { if (data) { schedule_delayed_work( &client_data->work, msecs_to_jiffies(atomic_read( &client_data->delay))); } else { cancel_delayed_work_sync(&client_data->work); } client_data->enable = data; } mutex_unlock(&client_data->mutex_enable); return count; } static ssize_t smi_gyro_show_delay(struct device *dev, struct device_attribute *attr, char *buf) { struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); return snprintf(buf, 16, "%d\n", atomic_read(&client_data->delay)); } static ssize_t smi_gyro_store_delay(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { unsigned long data; int err; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); err = kstrtoul(buf, 10, &data); if (err) return err; if (data == 0) { err = -EINVAL; return err; } if (data < SMI_GYRO_DELAY_MIN) data = SMI_GYRO_DELAY_MIN; atomic_set(&client_data->delay, data); return count; } static ssize_t smi_gyro_store_fastoffset_en(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; unsigned long fastoffset_en; err = kstrtoul(buf, 10, &fastoffset_en); if (err) return err; if (fastoffset_en) { #ifdef CONFIG_SENSORS_BMI058 SMI_GYRO_CALL_API(set_fast_offset_en_ch)(BMI058_X_AXIS, 1); SMI_GYRO_CALL_API(set_fast_offset_en_ch)(BMI058_Y_AXIS, 1); #else SMI_GYRO_CALL_API(set_fast_offset_en_ch)(SMI130_GYRO_X_AXIS, 1); SMI_GYRO_CALL_API(set_fast_offset_en_ch)(SMI130_GYRO_Y_AXIS, 1); #endif SMI_GYRO_CALL_API(set_fast_offset_en_ch)(SMI130_GYRO_Z_AXIS, 1); SMI_GYRO_CALL_API(enable_fast_offset)(); } return count; } static ssize_t smi_gyro_store_slowoffset_en(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; unsigned long slowoffset_en; err = kstrtoul(buf, 10, &slowoffset_en); if (err) return err; if (slowoffset_en) { SMI_GYRO_CALL_API(set_slow_offset_th)(3); SMI_GYRO_CALL_API(set_slow_offset_dur)(0); #ifdef CONFIG_SENSORS_BMI058 SMI_GYRO_CALL_API(set_slow_offset_en_ch)(BMI058_X_AXIS, 1); SMI_GYRO_CALL_API(set_slow_offset_en_ch)(BMI058_Y_AXIS, 1); #else SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_X_AXIS, 1); SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_Y_AXIS, 1); #endif SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_Z_AXIS, 1); } else { #ifdef CONFIG_SENSORS_BMI058 SMI_GYRO_CALL_API(set_slow_offset_en_ch)(BMI058_X_AXIS, 0); SMI_GYRO_CALL_API(set_slow_offset_en_ch)(BMI058_Y_AXIS, 0); #else SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_X_AXIS, 0); SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_Y_AXIS, 0); #endif SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_Z_AXIS, 0); } return count; } static ssize_t smi_gyro_show_selftest(struct device *dev, struct device_attribute *attr, char *buf) { int err; unsigned char selftest; SMI_GYRO_CALL_API(selftest)(&selftest); err = snprintf(buf, 16, "%d\n", selftest); return err; } static ssize_t smi_gyro_show_sleepdur(struct device *dev, struct device_attribute *attr, char *buf) { int err; unsigned char sleepdur; SMI_GYRO_CALL_API(get_sleepdur)(&sleepdur); err = snprintf(buf, 16, "%d\n", sleepdur); return err; } static ssize_t smi_gyro_store_sleepdur(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; unsigned long sleepdur; err = kstrtoul(buf, 10, &sleepdur); if (err) return err; SMI_GYRO_CALL_API(set_sleepdur)(sleepdur); return count; } static ssize_t smi_gyro_show_autosleepdur(struct device *dev, struct device_attribute *attr, char *buf) { int err; unsigned char autosleepdur; SMI_GYRO_CALL_API(get_autosleepdur)(&autosleepdur); err = snprintf(buf, 16, "%d\n", autosleepdur); return err; } static ssize_t smi_gyro_store_autosleepdur(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; unsigned long autosleepdur; unsigned char bandwidth; err = kstrtoul(buf, 10, &autosleepdur); if (err) return err; SMI_GYRO_CALL_API(get_bw)(&bandwidth); SMI_GYRO_CALL_API(set_autosleepdur)(autosleepdur, bandwidth); return count; } static ssize_t smi_gyro_show_place(struct device *dev, struct device_attribute *attr, char *buf) { struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); int place = BOSCH_SENSOR_PLACE_UNKNOWN; if (NULL != client_data->bosch_pd) place = client_data->bosch_pd->place; return snprintf(buf, 16, "%d\n", place); } #ifdef SMI_GYRO_DEBUG static ssize_t smi_gyro_store_softreset(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; unsigned long softreset; err = kstrtoul(buf, 10, &softreset); if (err) return err; SMI_GYRO_CALL_API(set_soft_reset)(); return count; } static ssize_t smi_gyro_show_dumpreg(struct device *dev, struct device_attribute *attr, char *buf) { size_t count = 0; u8 reg[0x40]; int i; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); for (i = 0; i < 0x40; i++) { smi_gyro_i2c_read(client_data->client, i, reg+i, 1); count += snprintf(&buf[count], 48, "0x%x: 0x%x\n", i, reg[i]); } return count; } #endif #ifdef SMI_GYRO_USE_FIFO static ssize_t smi_gyro_show_fifo_mode(struct device *dev, struct device_attribute *attr, char *buf) { int err; unsigned char fifo_mode; SMI_GYRO_CALL_API(get_fifo_mode)(&fifo_mode); err = snprintf(buf, 16, "%d\n", fifo_mode); return err; } static ssize_t smi_gyro_store_fifo_mode(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; unsigned long fifo_mode; err = kstrtoul(buf, 10, &fifo_mode); if (err) return err; SMI_GYRO_CALL_API(set_fifo_mode)(fifo_mode); return count; } static ssize_t smi_gyro_show_fifo_framecount(struct device *dev, struct device_attribute *attr, char *buf) { int err; unsigned char fifo_framecount; SMI_GYRO_CALL_API(get_fifo_framecount)(&fifo_framecount); err = snprintf(buf, 32, "%d\n", fifo_framecount); return err; } static ssize_t smi_gyro_store_fifo_framecount(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { unsigned long data; int error; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); error = kstrtoul(buf, 10, &data); if (error) return error; client_data->fifo_count = (unsigned int) data; return count; } static ssize_t smi_gyro_show_fifo_overrun(struct device *dev, struct device_attribute *attr, char *buf) { int err; unsigned char fifo_overrun; SMI_GYRO_CALL_API(get_fifo_overrun)(&fifo_overrun); err = snprintf(buf, 16, "%d\n", fifo_overrun); return err; } static ssize_t smi_gyro_show_fifo_data_frame(struct device *dev, struct device_attribute *attr, char *buf) { unsigned char f_len = 0; unsigned char fifo_framecount; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); if (client_data->fifo_datasel) /*Select one axis data output for every fifo frame*/ f_len = 2; else /*Select X Y Z axis data output for every fifo frame*/ f_len = 6; if (SMI_GYRO_CALL_API(get_fifo_framecount)(&fifo_framecount) < 0) { PERR("bm160_get_fifo_framecount err\n"); return -EINVAL; } if (fifo_framecount == 0) return 0; smi_gyro_i2c_burst_read(client_data->client, SMI130_GYRO_FIFO_DATA_ADDR, buf, fifo_framecount * f_len); return fifo_framecount * f_len; } /*! * @brief show fifo_data_sel axis definition(Android definition, not sensor HW reg). * 0--> x, y, z axis fifo data for every frame * 1--> only x axis fifo data for every frame * 2--> only y axis fifo data for every frame * 3--> only z axis fifo data for every frame */ static ssize_t smi_gyro_show_fifo_data_sel(struct device *dev, struct device_attribute *attr, char *buf) { int err; unsigned char fifo_data_sel; struct i2c_client *client = to_i2c_client(dev); struct smi_gyro_client_data *client_data = i2c_get_clientdata(client); signed char place = BOSCH_SENSOR_PLACE_UNKNOWN; SMI_GYRO_CALL_API(get_fifo_data_sel)(&fifo_data_sel); /*remapping fifo_dat_sel if define virtual place in BSP files*/ if ((NULL != client_data->bosch_pd) && (BOSCH_SENSOR_PLACE_UNKNOWN != client_data->bosch_pd->place)) { place = client_data->bosch_pd->place; /* sensor with place 0 needs not to be remapped */ if ((place > 0) && (place < MAX_AXIS_REMAP_TAB_SZ)) { if (SMI130_GYRO_FIFO_DAT_SEL_X == fifo_data_sel) /* SMI130_GYRO_FIFO_DAT_SEL_X: 1, Y:2, Z:3; *bosch_axis_remap_tab_dft[i].src_x:0, y:1, z:2 *so we need to +1*/ fifo_data_sel = bosch_axis_remap_tab_dft[place].src_x + 1; else if (SMI130_GYRO_FIFO_DAT_SEL_Y == fifo_data_sel) fifo_data_sel = bosch_axis_remap_tab_dft[place].src_y + 1; } } err = snprintf(buf, 16, "%d\n", fifo_data_sel); return err; } /*! * @brief store fifo_data_sel axis definition(Android definition, not sensor HW reg). * 0--> x, y, z axis fifo data for every frame * 1--> only x axis fifo data for every frame * 2--> only y axis fifo data for every frame * 3--> only z axis fifo data for every frame */ static ssize_t smi_gyro_store_fifo_data_sel(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; unsigned long fifo_data_sel; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); signed char place; err = kstrtoul(buf, 10, &fifo_data_sel); if (err) return err; /*save fifo_data_sel(android axis definition)*/ client_data->fifo_datasel = (unsigned char) fifo_data_sel; /*remaping fifo_dat_sel if define virtual place*/ if ((NULL != client_data->bosch_pd) && (BOSCH_SENSOR_PLACE_UNKNOWN != client_data->bosch_pd->place)) { place = client_data->bosch_pd->place; /* sensor with place 0 needs not to be remapped */ if ((place > 0) && (place < MAX_AXIS_REMAP_TAB_SZ)) { /*Need X Y axis revesal sensor place: P1, P3, P5, P7 */ /* SMI130_GYRO_FIFO_DAT_SEL_X: 1, Y:2, Z:3; * but bosch_axis_remap_tab_dft[i].src_x:0, y:1, z:2 * so we need to +1*/ if (SMI130_GYRO_FIFO_DAT_SEL_X == fifo_data_sel) fifo_data_sel = bosch_axis_remap_tab_dft[place].src_x + 1; else if (SMI130_GYRO_FIFO_DAT_SEL_Y == fifo_data_sel) fifo_data_sel = bosch_axis_remap_tab_dft[place].src_y + 1; } } if (SMI_GYRO_CALL_API(set_fifo_data_sel)(fifo_data_sel) < 0) return -EINVAL; return count; } static ssize_t smi_gyro_show_fifo_tag(struct device *dev, struct device_attribute *attr, char *buf) { int err; unsigned char fifo_tag; SMI_GYRO_CALL_API(get_fifo_tag)(&fifo_tag); err = snprintf(buf, 16, "%d\n", fifo_tag); return err; } static ssize_t smi_gyro_store_fifo_tag(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; unsigned long fifo_tag; err = kstrtoul(buf, 10, &fifo_tag); if (err) return err; SMI_GYRO_CALL_API(set_fifo_tag)(fifo_tag); return count; } #endif static ssize_t smi130_gyro_driver_version_show(struct device *dev , struct device_attribute *attr, char *buf) { struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); int ret; if (client_data == NULL) { printk(KERN_ERR "Invalid client_data pointer"); return -ENODEV; } ret = snprintf(buf, 128, "Driver version: %s\n", DRIVER_VERSION); return ret; } #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING static int smi_gyro_read_bootsampl(struct smi_gyro_client_data *client_data, unsigned long enable_read) { int i = 0; if (enable_read) { client_data->gyro_buffer_smi130_samples = false; for (i = 0; i < client_data->gyro_bufsample_cnt; i++) { if (client_data->debug_level & 0x08) PINFO("gyro=%d,x=%d,y=%d,z=%d,sec=%d,ns=%lld\n", i, client_data->smi130_gyro_samplist[i]->xyz[0], client_data->smi130_gyro_samplist[i]->xyz[1], client_data->smi130_gyro_samplist[i]->xyz[2], client_data->smi130_gyro_samplist[i]->tsec, client_data->smi130_gyro_samplist[i]->tnsec); input_report_abs(client_data->gyrobuf_dev, ABS_X, client_data->smi130_gyro_samplist[i]->xyz[0]); input_report_abs(client_data->gyrobuf_dev, ABS_Y, client_data->smi130_gyro_samplist[i]->xyz[1]); input_report_abs(client_data->gyrobuf_dev, ABS_Z, client_data->smi130_gyro_samplist[i]->xyz[2]); input_report_abs(client_data->gyrobuf_dev, ABS_RX, client_data->smi130_gyro_samplist[i]->tsec); input_report_abs(client_data->gyrobuf_dev, ABS_RY, client_data->smi130_gyro_samplist[i]->tnsec); input_sync(client_data->gyrobuf_dev); } } else { /* clean up */ if (client_data->gyro_bufsample_cnt != 0) { for (i = 0; i < SMI_GYRO_MAXSAMPLE; i++) kmem_cache_free(client_data->smi_gyro_cachepool, client_data->smi130_gyro_samplist[i]); kmem_cache_destroy(client_data->smi_gyro_cachepool); client_data->gyro_bufsample_cnt = 0; } } /*SYN_CONFIG indicates end of data*/ input_event(client_data->gyrobuf_dev, EV_SYN, SYN_CONFIG, 0xFFFFFFFF); input_sync(client_data->gyrobuf_dev); if (client_data->debug_level & 0x08) PINFO("End of gyro samples bufsample_cnt=%d\n", client_data->gyro_bufsample_cnt); return 0; } static ssize_t read_gyro_boot_sample_show(struct device *dev, struct device_attribute *attr, char *buf) { struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); return snprintf(buf, 16, "%u\n", client_data->read_gyro_boot_sample); } static ssize_t read_gyro_boot_sample_store(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int err; struct input_dev *input = to_input_dev(dev); struct smi_gyro_client_data *client_data = input_get_drvdata(input); unsigned long enable = 0; err = kstrtoul(buf, 10, &enable); if (err) return err; if (enable > 1) { PERR("Invalid value of input, input=%ld\n", enable); return -EINVAL; } err = smi_gyro_read_bootsampl(client_data, enable); if (err) return err; client_data->read_gyro_boot_sample = enable; return count; } #endif static DEVICE_ATTR(chip_id, S_IRUSR, smi_gyro_show_chip_id, NULL); #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING static DEVICE_ATTR(read_gyro_boot_sample, S_IRUGO | S_IWUSR, read_gyro_boot_sample_show, read_gyro_boot_sample_store); #endif static DEVICE_ATTR(op_mode, S_IRUGO | S_IWUSR, smi_gyro_show_op_mode, smi_gyro_store_op_mode); static DEVICE_ATTR(value, S_IRUSR, smi_gyro_show_value, NULL); static DEVICE_ATTR(range, S_IRUGO | S_IWUSR, smi_gyro_show_range, smi_gyro_store_range); static DEVICE_ATTR(bandwidth, S_IRUGO | S_IWUSR, smi_gyro_show_bandwidth, smi_gyro_store_bandwidth); static DEVICE_ATTR(enable, S_IRUGO | S_IWUSR, smi_gyro_show_enable, smi_gyro_store_enable); static DEVICE_ATTR(delay, S_IRUGO | S_IWUSR, smi_gyro_show_delay, smi_gyro_store_delay); static DEVICE_ATTR(fastoffset_en, S_IWUSR, NULL, smi_gyro_store_fastoffset_en); static DEVICE_ATTR(slowoffset_en, S_IWUSR, NULL, smi_gyro_store_slowoffset_en); static DEVICE_ATTR(selftest, S_IRUGO, smi_gyro_show_selftest, NULL); static DEVICE_ATTR(sleepdur, S_IRUGO | S_IWUSR, smi_gyro_show_sleepdur, smi_gyro_store_sleepdur); static DEVICE_ATTR(autosleepdur, S_IRUGO | S_IWUSR, smi_gyro_show_autosleepdur, smi_gyro_store_autosleepdur); static DEVICE_ATTR(place, S_IRUSR, smi_gyro_show_place, NULL); static DEVICE_ATTR(enable_timer, S_IRUGO | S_IWUSR, smi_gyro_show_enable_timer, smi_gyro_store_enable_timer); static DEVICE_ATTR(debug_level, S_IRUGO | S_IWUSR, smi130_gyro_show_debug_level, smi130_gyro_store_debug_level); static DEVICE_ATTR(driver_version, S_IRUSR, smi130_gyro_driver_version_show, NULL); #ifdef SMI_GYRO_DEBUG static DEVICE_ATTR(softreset, S_IWUSR, NULL, smi_gyro_store_softreset); static DEVICE_ATTR(regdump, S_IRUSR, smi_gyro_show_dumpreg, NULL); #endif #ifdef SMI_GYRO_USE_FIFO static DEVICE_ATTR(fifo_mode, S_IRUGO | S_IWUSR, smi_gyro_show_fifo_mode, smi_gyro_store_fifo_mode); static DEVICE_ATTR(fifo_framecount, S_IRUGO | S_IWUSR, smi_gyro_show_fifo_framecount, smi_gyro_store_fifo_framecount); static DEVICE_ATTR(fifo_overrun, S_IRUGO, smi_gyro_show_fifo_overrun, NULL); static DEVICE_ATTR(fifo_data_frame, S_IRUSR, smi_gyro_show_fifo_data_frame, NULL); static DEVICE_ATTR(fifo_data_sel, S_IRUGO | S_IWUSR, smi_gyro_show_fifo_data_sel, smi_gyro_store_fifo_data_sel); static DEVICE_ATTR(fifo_tag, S_IRUGO | S_IWUSR, smi_gyro_show_fifo_tag, smi_gyro_store_fifo_tag); #endif static struct attribute *smi_gyro_attributes[] = { &dev_attr_chip_id.attr, #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING &dev_attr_read_gyro_boot_sample.attr, #endif &dev_attr_op_mode.attr, &dev_attr_value.attr, &dev_attr_range.attr, &dev_attr_bandwidth.attr, &dev_attr_enable.attr, &dev_attr_delay.attr, &dev_attr_fastoffset_en.attr, &dev_attr_slowoffset_en.attr, &dev_attr_selftest.attr, &dev_attr_sleepdur.attr, &dev_attr_autosleepdur.attr, &dev_attr_place.attr, &dev_attr_enable_timer.attr, &dev_attr_debug_level.attr, &dev_attr_driver_version.attr, #ifdef SMI_GYRO_DEBUG &dev_attr_softreset.attr, &dev_attr_regdump.attr, #endif #ifdef SMI_GYRO_USE_FIFO &dev_attr_fifo_mode.attr, &dev_attr_fifo_framecount.attr, &dev_attr_fifo_overrun.attr, &dev_attr_fifo_data_frame.attr, &dev_attr_fifo_data_sel.attr, &dev_attr_fifo_tag.attr, #endif NULL }; static struct attribute_group smi_gyro_attribute_group = { .attrs = smi_gyro_attributes }; static int smi_gyro_input_init(struct smi_gyro_client_data *client_data) { struct input_dev *dev; int err = 0; dev = input_allocate_device(); if (NULL == dev) return -ENOMEM; dev->name = SENSOR_NAME; dev->id.bustype = BUS_I2C; input_set_capability(dev, EV_ABS, ABS_MISC); input_set_abs_params(dev, ABS_X, SMI_GYRO_VALUE_MIN, SMI_GYRO_VALUE_MAX, 0, 0); input_set_abs_params(dev, ABS_Y, SMI_GYRO_VALUE_MIN, SMI_GYRO_VALUE_MAX, 0, 0); input_set_abs_params(dev, ABS_Z, SMI_GYRO_VALUE_MIN, SMI_GYRO_VALUE_MAX, 0, 0); input_set_capability(dev, EV_MSC, MSC_GESTURE); input_set_capability(dev, EV_MSC, MSC_RAW); input_set_capability(dev, EV_MSC, MSC_SCAN); input_set_capability(dev, EV_MSC, MSC_TIME); input_set_drvdata(dev, client_data); err = input_register_device(dev); if (err < 0) { input_free_device(dev); return err; } client_data->input = dev; return 0; } static void smi_gyro_input_destroy(struct smi_gyro_client_data *client_data) { struct input_dev *dev = client_data->input; input_unregister_device(dev); input_free_device(dev); } #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING static void store_gyro_boot_sample(struct smi_gyro_client_data *client_data, int x, int y, int z, struct timespec ts) { if (false == client_data->gyro_buffer_smi130_samples) return; if (ts.tv_sec < client_data->max_buffer_time) { if (client_data->gyro_bufsample_cnt < SMI_GYRO_MAXSAMPLE) { client_data->smi130_gyro_samplist[client_data-> gyro_bufsample_cnt]->xyz[0] = x; client_data->smi130_gyro_samplist[client_data-> gyro_bufsample_cnt]->xyz[1] = y; client_data->smi130_gyro_samplist[client_data-> gyro_bufsample_cnt]->xyz[2] = z; client_data->smi130_gyro_samplist[client_data-> gyro_bufsample_cnt]->tsec = ts.tv_sec; client_data->smi130_gyro_samplist[client_data-> gyro_bufsample_cnt]->tnsec = ts.tv_nsec; client_data->gyro_bufsample_cnt++; } } else { PINFO("End of GYRO buffering %d", client_data->gyro_bufsample_cnt); client_data->gyro_buffer_smi130_samples = false; } } #else static void store_gyro_boot_sample(struct smi_gyro_client_data *client_data, int x, int y, int z, struct timespec ts) { } #endif #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING static int smi130_gyro_early_buff_init(struct smi_gyro_client_data *client_data) { int i = 0, err = 0; client_data->gyro_bufsample_cnt = 0; client_data->report_evt_cnt = 5; client_data->max_buffer_time = 40; client_data->smi_gyro_cachepool = kmem_cache_create("gyro_sensor_sample" , sizeof(struct smi_gyro_sample), 0, SLAB_HWCACHE_ALIGN, NULL); if (!client_data->smi_gyro_cachepool) { PERR("smi_gyro_cachepool cache create failed\n"); err = -ENOMEM; goto clean_exit1; } for (i = 0; i < SMI_GYRO_MAXSAMPLE; i++) { client_data->smi130_gyro_samplist[i] = kmem_cache_alloc(client_data->smi_gyro_cachepool, GFP_KERNEL); if (!client_data->smi130_gyro_samplist[i]) { err = -ENOMEM; goto clean_exit2; } } client_data->gyrobuf_dev = input_allocate_device(); if (!client_data->gyrobuf_dev) { err = -ENOMEM; PERR("input device allocation failed\n"); goto clean_exit3; } client_data->gyrobuf_dev->name = "smi130_gyrobuf"; client_data->gyrobuf_dev->id.bustype = BUS_I2C; input_set_events_per_packet(client_data->gyrobuf_dev, client_data->report_evt_cnt * SMI_GYRO_MAXSAMPLE); set_bit(EV_ABS, client_data->gyrobuf_dev->evbit); input_set_abs_params(client_data->gyrobuf_dev, ABS_X, -G_MAX, G_MAX, 0, 0); input_set_abs_params(client_data->gyrobuf_dev, ABS_Y, -G_MAX, G_MAX, 0, 0); input_set_abs_params(client_data->gyrobuf_dev, ABS_Z, -G_MAX, G_MAX, 0, 0); input_set_abs_params(client_data->gyrobuf_dev, ABS_RX, -G_MAX, G_MAX, 0, 0); input_set_abs_params(client_data->gyrobuf_dev, ABS_RY, -G_MAX, G_MAX, 0, 0); err = input_register_device(client_data->gyrobuf_dev); if (err) { PERR("unable to register input device %s\n", client_data->gyrobuf_dev->name); goto clean_exit3; } client_data->gyro_buffer_smi130_samples = true; smi130_gyro_set_mode(SMI130_GYRO_MODE_NORMAL); smi130_gyro_set_bw(5); smi130_gyro_set_range_reg(4); return 1; clean_exit3: input_free_device(client_data->gyrobuf_dev); clean_exit2: for (i = 0; i < SMI_GYRO_MAXSAMPLE; i++) kmem_cache_free(client_data->smi_gyro_cachepool, client_data->smi130_gyro_samplist[i]); clean_exit1: kmem_cache_destroy(client_data->smi_gyro_cachepool); return 0; } static void smi130_gyro_input_cleanup(struct smi_gyro_client_data *client_data) { int i = 0; input_unregister_device(client_data->gyrobuf_dev); input_free_device(client_data->gyrobuf_dev); for (i = 0; i < SMI_GYRO_MAXSAMPLE; i++) kmem_cache_free(client_data->smi_gyro_cachepool, client_data->smi130_gyro_samplist[i]); kmem_cache_destroy(client_data->smi_gyro_cachepool); } #else static int smi130_gyro_early_buff_init(struct smi_gyro_client_data *client_data) { return 1; } static void smi130_gyro_input_cleanup(struct smi_gyro_client_data *client_data) { } #endif #if defined(SMI130_GYRO_ENABLE_INT1) || defined(SMI130_GYRO_ENABLE_INT2) static void smi130_gyro_irq_work_func(struct work_struct *work) { struct smi_gyro_client_data *client_data = container_of(work, struct smi_gyro_client_data, irq_work); struct smi130_gyro_data_t gyro_data; struct timespec ts; ts = ns_to_timespec(client_data->timestamp); SMI_GYRO_CALL_API(get_dataXYZ)(&gyro_data); /*remapping for SMI130_GYRO sensor*/ smi130_gyro_remap_sensor_data(&gyro_data, client_data); input_event(client_data->input, EV_MSC, MSC_TIME, ts.tv_sec); input_event(client_data->input, EV_MSC, MSC_TIME, ts.tv_nsec); input_event(client_data->input, EV_MSC, MSC_GESTURE, gyro_data.datax); input_event(client_data->input, EV_MSC, MSC_RAW, gyro_data.datay); input_event(client_data->input, EV_MSC, MSC_SCAN, gyro_data.dataz); input_sync(client_data->input); store_gyro_boot_sample(client_data, gyro_data.datax, gyro_data.datay, gyro_data.dataz, ts); } static irqreturn_t smi_gyro_irq_handler(int irq, void *handle) { struct smi_gyro_client_data *client_data = handle; client_data->timestamp= smi130_gyro_get_alarm_timestamp(); schedule_work(&client_data->irq_work); return IRQ_HANDLED; } #endif static int smi_gyro_probe(struct i2c_client *client, const struct i2c_device_id *id) { int err = 0; struct smi_gyro_client_data *client_data = NULL; PINFO("function entrance"); if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) { PERR("i2c_check_functionality error!"); err = -EIO; goto exit_err_clean; } if (NULL == smi_gyro_client) { smi_gyro_client = client; } else { PERR("this driver does not support multiple clients"); err = -EINVAL; goto exit_err_clean; } /* check chip id */ err = smi_gyro_check_chip_id(client); if (!err) { PINFO("Bosch Sensortec Device %s detected", SENSOR_NAME); } else { PERR("Bosch Sensortec Device not found, chip id mismatch"); err = -1; goto exit_err_clean; } /* do soft reset */ smi130_gyro_delay(5); err = smi_gyro_set_soft_reset(client); if (err < 0) { PERR("erro soft reset!\n"); err = -EINVAL; goto exit_err_clean; } smi130_gyro_delay(30); client_data = kzalloc(sizeof(struct smi_gyro_client_data), GFP_KERNEL); if (NULL == client_data) { PERR("no memory available"); err = -ENOMEM; goto exit_err_clean; } i2c_set_clientdata(client, client_data); client_data->client = client; mutex_init(&client_data->mutex_op_mode); mutex_init(&client_data->mutex_enable); /* input device init */ err = smi_gyro_input_init(client_data); if (err < 0) goto exit_err_clean; /* sysfs node creation */ err = sysfs_create_group(&client_data->input->dev.kobj, &smi_gyro_attribute_group); if (err < 0) goto exit_err_sysfs; if (NULL != client->dev.platform_data) { client_data->bosch_pd = kzalloc(sizeof(*client_data->bosch_pd), GFP_KERNEL); if (NULL != client_data->bosch_pd) { memcpy(client_data->bosch_pd, client->dev.platform_data, sizeof(*client_data->bosch_pd)); PINFO("%s sensor driver set place: p%d", SENSOR_NAME, client_data->bosch_pd->place); } } /* workqueue init */ INIT_DELAYED_WORK(&client_data->work, smi_gyro_work_func); atomic_set(&client_data->delay, SMI_GYRO_DELAY_DEFAULT); /* h/w init */ client_data->device.bus_read = smi_gyro_i2c_read_wrapper; client_data->device.bus_write = smi_gyro_i2c_write_wrapper; client_data->device.delay_msec = smi130_gyro_delay; SMI_GYRO_CALL_API(init)(&client_data->device); smi_gyro_dump_reg(client); client_data->enable = 0; client_data->fifo_datasel = 0; client_data->fifo_count = 0; /*workqueue init*/ INIT_WORK(&client_data->report_data_work, smi130_gyro_work_func); reportdata_wq = create_singlethread_workqueue("smi130_gyro_wq"); if (NULL == reportdata_wq) PERR("fail to create the reportdta_wq %d", -ENOMEM); hrtimer_init(&client_data->timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL); client_data->timer.function = reportdata_timer_fun; client_data->work_delay_kt = ns_to_ktime(10000000); client_data->is_timer_running = 0; client_data->time_odr = 500000; #ifdef SMI130_GYRO_ENABLE_INT1 err = SMI_GYRO_CALL_API(set_mode)(SMI130_GYRO_MODE_NORMAL); smi130_gyro_delay(5); /*config the interrupt and map the interrupt*/ /*high level trigger*/ err += smi130_gyro_set_int_lvl(SMI130_GYRO_INT1_DATA, 1); smi130_gyro_delay(5); err += smi130_gyro_set_int_od(SMI130_GYRO_INT1, 0); smi130_gyro_delay(5); err += smi130_gyro_set_int_data(SMI130_GYRO_INT1_DATA, SMI130_GYRO_ENABLE); smi130_gyro_delay(5); err += smi130_gyro_set_data_en(SMI130_GYRO_ENABLE); smi130_gyro_delay(5); /*default odr is 100HZ*/ err += SMI_GYRO_CALL_API(set_bw)(7); smi130_gyro_delay(5); if (err) PERR("config sensor data ready interrupt failed"); #endif #ifdef SMI130_GYRO_ENABLE_INT2 err = SMI_GYRO_CALL_API(set_mode)(SMI130_GYRO_MODE_NORMAL); /*config the interrupt and map the interrupt*/ /*high level trigger*/ err += smi130_gyro_set_int_lvl(SMI130_GYRO_INT2_DATA, 1); smi130_gyro_delay(3); err += smi130_gyro_set_int_od(SMI130_GYRO_INT2, 0); smi130_gyro_delay(5); err += smi130_gyro_set_int_data(SMI130_GYRO_INT2_DATA, SMI130_GYRO_ENABLE); smi130_gyro_delay(3); err += smi130_gyro_set_data_en(SMI130_GYRO_ENABLE); /*default odr is 100HZ*/ err += SMI_GYRO_CALL_API(set_bw)(7); smi130_gyro_delay(5); if (err) PERR("config sensor data ready interrupt failed"); #endif err += SMI_GYRO_CALL_API(set_mode)( SMI_GYRO_VAL_NAME(MODE_SUSPEND)); if (err < 0) goto exit_err_sysfs; #ifdef CONFIG_HAS_EARLYSUSPEND client_data->early_suspend_handler.suspend = smi_gyro_early_suspend; client_data->early_suspend_handler.resume = smi_gyro_late_resume; register_early_suspend(&client_data->early_suspend_handler); #endif #if defined(SMI130_GYRO_ENABLE_INT1) || defined(SMI130_GYRO_ENABLE_INT2) client_data->gpio_pin = of_get_named_gpio_flags( client->dev.of_node, "smi130_gyro,gpio_irq", 0, NULL); PDEBUG("smi130_gyro qpio number:%d\n", client_data->gpio_pin); err = gpio_request_one(client_data->gpio_pin, GPIOF_IN, "bm160_interrupt"); if (err < 0) { PDEBUG("requestgpio failed\n"); client_data->gpio_pin = 0; } if (client_data->gpio_pin != 0) { err = gpio_direction_input(client_data->gpio_pin); if (err < 0) { PDEBUG("request failed\n"); } client_data->IRQ = gpio_to_irq(client_data->gpio_pin); err = request_irq(client_data->IRQ, smi_gyro_irq_handler, IRQF_TRIGGER_RISING, SENSOR_NAME, client_data); if (err < 0) PDEBUG("request handle failed\n"); } INIT_WORK(&client_data->irq_work, smi130_gyro_irq_work_func); #endif err = smi130_gyro_early_buff_init(client_data); if (err) return err; PINFO("sensor %s probed successfully", SENSOR_NAME); dev_dbg(&client->dev, "i2c_client: %p client_data: %p i2c_device: %p input: %p", client, client_data, &client->dev, client_data->input); return 0; exit_err_sysfs: if (err) smi_gyro_input_destroy(client_data); exit_err_clean: if (err) { if (client_data != NULL) { kfree(client_data); client_data = NULL; } smi_gyro_client = NULL; } return err; } static int smi_gyro_pre_suspend(struct i2c_client *client) { int err = 0; struct smi_gyro_client_data *client_data = (struct smi_gyro_client_data *)i2c_get_clientdata(client); PINFO("function entrance"); mutex_lock(&client_data->mutex_enable); if (client_data->enable) { cancel_delayed_work_sync(&client_data->work); PINFO("cancel work"); } mutex_unlock(&client_data->mutex_enable); if (client_data->is_timer_running) { hrtimer_cancel(&client_data->timer); client_data->base_time = 0; client_data->timestamp = 0; client_data->fifo_time = 0; client_data->gyro_count = 0; } return err; } static int smi_gyro_post_resume(struct i2c_client *client) { int err = 0; struct smi_gyro_client_data *client_data = (struct smi_gyro_client_data *)i2c_get_clientdata(client); PINFO("function entrance"); mutex_lock(&client_data->mutex_enable); if (client_data->enable) { schedule_delayed_work(&client_data->work, msecs_to_jiffies( atomic_read(&client_data->delay))); } mutex_unlock(&client_data->mutex_enable); if (client_data->is_timer_running) { hrtimer_start(&client_data->timer, ns_to_ktime(client_data->time_odr), HRTIMER_MODE_REL); client_data->base_time = 0; client_data->timestamp = 0; client_data->is_timer_running = 1; client_data->gyro_count = 0; } return err; } #ifdef CONFIG_HAS_EARLYSUSPEND static void smi_gyro_early_suspend(struct early_suspend *handler) { int err = 0; struct smi_gyro_client_data *client_data = (struct smi_gyro_client_data *)container_of(handler, struct smi_gyro_client_data, early_suspend_handler); struct i2c_client *client = client_data->client; PINFO("function entrance"); mutex_lock(&client_data->mutex_op_mode); if (client_data->enable) { err = smi_gyro_pre_suspend(client); err = SMI_GYRO_CALL_API(set_mode)( SMI_GYRO_VAL_NAME(MODE_SUSPEND)); } mutex_unlock(&client_data->mutex_op_mode); } static void smi_gyro_late_resume(struct early_suspend *handler) { int err = 0; struct smi_gyro_client_data *client_data = (struct smi_gyro_client_data *)container_of(handler, struct smi_gyro_client_data, early_suspend_handler); struct i2c_client *client = client_data->client; PINFO("function entrance"); mutex_lock(&client_data->mutex_op_mode); if (client_data->enable) err = SMI_GYRO_CALL_API(set_mode)(SMI_GYRO_VAL_NAME(MODE_NORMAL)); /* post resume operation */ smi_gyro_post_resume(client); mutex_unlock(&client_data->mutex_op_mode); } #else static int smi_gyro_suspend(struct i2c_client *client, pm_message_t mesg) { int err = 0; struct smi_gyro_client_data *client_data = (struct smi_gyro_client_data *)i2c_get_clientdata(client); PINFO("function entrance"); mutex_lock(&client_data->mutex_op_mode); if (client_data->enable) { err = smi_gyro_pre_suspend(client); err = SMI_GYRO_CALL_API(set_mode)( SMI_GYRO_VAL_NAME(MODE_SUSPEND)); } mutex_unlock(&client_data->mutex_op_mode); return err; } static int smi_gyro_resume(struct i2c_client *client) { int err = 0; struct smi_gyro_client_data *client_data = (struct smi_gyro_client_data *)i2c_get_clientdata(client); PINFO("function entrance"); mutex_lock(&client_data->mutex_op_mode); if (client_data->enable) err = SMI_GYRO_CALL_API(set_mode)(SMI_GYRO_VAL_NAME(MODE_NORMAL)); /* post resume operation */ smi_gyro_post_resume(client); mutex_unlock(&client_data->mutex_op_mode); return err; } #endif void smi_gyro_shutdown(struct i2c_client *client) { struct smi_gyro_client_data *client_data = (struct smi_gyro_client_data *)i2c_get_clientdata(client); mutex_lock(&client_data->mutex_op_mode); SMI_GYRO_CALL_API(set_mode)( SMI_GYRO_VAL_NAME(MODE_DEEPSUSPEND)); mutex_unlock(&client_data->mutex_op_mode); } static int smi_gyro_remove(struct i2c_client *client) { int err = 0; u8 op_mode; struct smi_gyro_client_data *client_data = (struct smi_gyro_client_data *)i2c_get_clientdata(client); if (NULL != client_data) { #ifdef CONFIG_HAS_EARLYSUSPEND unregister_early_suspend(&client_data->early_suspend_handler); #endif smi130_gyro_input_cleanup(client_data); mutex_lock(&client_data->mutex_op_mode); SMI_GYRO_CALL_API(get_mode)(&op_mode); if (SMI_GYRO_VAL_NAME(MODE_NORMAL) == op_mode) { cancel_delayed_work_sync(&client_data->work); PINFO("cancel work"); } mutex_unlock(&client_data->mutex_op_mode); err = SMI_GYRO_CALL_API(set_mode)( SMI_GYRO_VAL_NAME(MODE_SUSPEND)); smi130_gyro_delay(SMI_GYRO_I2C_WRITE_DELAY_TIME); sysfs_remove_group(&client_data->input->dev.kobj, &smi_gyro_attribute_group); smi_gyro_input_destroy(client_data); kfree(client_data); smi_gyro_client = NULL; } return err; } static const struct i2c_device_id smi_gyro_id[] = { { SENSOR_NAME, 0 }, { } }; MODULE_DEVICE_TABLE(i2c, smi_gyro_id); static const struct of_device_id smi130_gyro_of_match[] = { { .compatible = "smi130_gyro", }, { } }; MODULE_DEVICE_TABLE(i2c, smi130_gyro_of_match); static struct i2c_driver smi_gyro_driver = { .driver = { .owner = THIS_MODULE, .name = SENSOR_NAME, .of_match_table = smi130_gyro_of_match, }, .class = I2C_CLASS_HWMON, .id_table = smi_gyro_id, .probe = smi_gyro_probe, .remove = smi_gyro_remove, .shutdown = smi_gyro_shutdown, #ifndef CONFIG_HAS_EARLYSUSPEND .suspend = smi_gyro_suspend, .resume = smi_gyro_resume, #endif }; static int __init SMI_GYRO_init(void) { return i2c_add_driver(&smi_gyro_driver); } static void __exit SMI_GYRO_exit(void) { i2c_del_driver(&smi_gyro_driver); } MODULE_AUTHOR("contact@bosch-sensortec.com>"); MODULE_DESCRIPTION("SMI_GYRO GYROSCOPE SENSOR DRIVER"); MODULE_LICENSE("GPL v2"); module_init(SMI_GYRO_init); module_exit(SMI_GYRO_exit);