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Message-ID: <CAEnQRZAdQ+o3biy0dd8SrjUfcL0Nf2KT4bqv8+AZH7Qcbgif_g@mail.gmail.com>
Date: Mon, 17 Nov 2014 14:12:12 +0200
From: Daniel Baluta <daniel.baluta@...el.com>
To: Jonathan Cameron <jic23@...nel.org>
Cc: Daniel Baluta <daniel.baluta@...el.com>,
"linux-iio@...r.kernel.org" <linux-iio@...r.kernel.org>,
Srinivas Pandruvada <srinivas.pandruvada@...ux.intel.com>,
Linux Kernel Mailing List <linux-kernel@...r.kernel.org>
Subject: Re: [PATCH v2] iio: imu: Add support for Kionix KMX61 sensor
On Sun, Nov 16, 2014 at 11:10 PM, Jonathan Cameron <jic23@...nel.org> wrote:
> On 10/11/14 17:24, Daniel Baluta wrote:
>> Minimal implementation for KMX61 6-axis accelerometer/magnetometer. It exports
>> raw accel/magn readings together with scale and sampling frequency.
>>
>> Datasheet will be available at:
>> http://www.kionix.com/6-axis-accelerometer-magnetometer/kmx61
>>
>> Signed-off-by: Daniel Baluta <daniel.baluta@...el.com>
> Looking very nice. I made a few more comments inline but only
> one was more than a comment - I added a check on val==0 in the obvious
> place. Please take a look at the testing branch of iio.git to make
> sure I didn't mess anything up!
Thanks! It looks good.
>
> Applied to the togreg branch of iio.git - initially pushed out as testing
> for the autobuilders to play with it.
>
> Jonathan
>> ---
>> Changes since v1:
>> * serialize non-atomic operations with a mutex (set_odr/get_odr, set_scale).
>> * no need to protect reading info scale because it reduces to reading an u8
>> which should be atomic on all arches
>> * *note* - read_measurment is an atomic operation
>>
>> drivers/iio/imu/Kconfig | 9 +
>> drivers/iio/imu/Makefile | 2 +
>> drivers/iio/imu/kmx61.c | 590 +++++++++++++++++++++++++++++++++++++++++++++++
>> 3 files changed, 601 insertions(+)
>> create mode 100644 drivers/iio/imu/kmx61.c
>>
>> diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
>> index 2b0e451..d675f43 100644
>> --- a/drivers/iio/imu/Kconfig
>> +++ b/drivers/iio/imu/Kconfig
>> @@ -25,6 +25,15 @@ config ADIS16480
>> Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
>> ADIS16485, ADIS16488 inertial sensors.
>>
>> +config KMX61
>> + tristate "Kionix KMX61 6-axis accelerometer and magnetometer"
>> + depends on I2C
>> + help
>> + Say Y here if you want to build a driver for Kionix KMX61 6-axis accelerometer
>> + and magnetometer.
>> + To compile this driver as module, choose M here: the module will be called
>> + kmx61.
>> +
>> source "drivers/iio/imu/inv_mpu6050/Kconfig"
>>
>> endmenu
>> diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
>> index 114d2c1..e1e6e3d 100644
>> --- a/drivers/iio/imu/Makefile
>> +++ b/drivers/iio/imu/Makefile
>> @@ -14,3 +14,5 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
>> obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
>>
>> obj-y += inv_mpu6050/
>> +
>> +obj-$(CONFIG_KMX61) += kmx61.o
>> diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c
>> new file mode 100644
>> index 0000000..6135a16
>> --- /dev/null
>> +++ b/drivers/iio/imu/kmx61.c
>> @@ -0,0 +1,590 @@
>> +/*
>> + * KMX61 - Kionix 6-axis Accelerometer/Magnetometer
>> + *
>> + * Copyright (c) 2014, Intel Corporation.
>> + *
>> + * This file is subject to the terms and conditions of version 2 of
>> + * the GNU General Public License. See the file COPYING in the main
>> + * directory of this archive for more details.
>> + *
>> + * IIO driver for KMX61 (7-bit I2C slave address 0x0E or 0x0F).
>> + *
>> + * TODO: buffer, interrupt, thresholds, acpi, temperature sensor
>> + *
>> + */
>> +
>> +#include <linux/module.h>
>> +#include <linux/i2c.h>
>> +#include <linux/iio/iio.h>
>> +#include <linux/iio/sysfs.h>
>> +
>> +#define KMX61_DRV_NAME "kmx61"
>> +
>> +#define KMX61_REG_WHO_AM_I 0x00
>> +
>> +#define KMX61_ACC_XOUT_L 0x0A
>> +
>> +#define KMX61_ACC_XOUT_H 0x0B
>> +#define KMX61_ACC_YOUT_L 0x0C
>> +#define KMX61_ACC_YOUT_H 0x0D
>> +#define KMX61_ACC_ZOUT_L 0x0E
>> +#define KMX61_ACC_ZOUT_H 0x0F
>> +
>> +#define KMX61_MAG_XOUT_L 0x12
>> +
>> +#define KMX61_MAG_XOUT_H 0x13
>> +#define KMX61_MAG_YOUT_L 0x14
>> +#define KMX61_MAG_YOUT_H 0x15
>> +#define KMX61_MAG_ZOUT_L 0x16
>> +#define KMX61_MAG_ZOUT_H 0x17
>> +
>> +#define KMX61_REG_ODCNTL 0x2C
>> +
>> +#define KMX61_REG_STBY 0x29
>> +#define KMX61_REG_CTRL1 0x2A
>> +
>> +#define KMX61_REG_COTR 0x3C
>> +
>> +#define KMX61_ACC_STBY_BIT BIT(0)
>> +#define KMX61_MAG_STBY_BIT BIT(1)
>> +#define KMX61_ACT_STBY_BIT BIT(7)
>> +
>> +#define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT | KMX61_MAG_STBY_BIT)
>> +
>> +#define KMX61_REG_CTRL1_GSEL0_SHIFT 0
>> +#define KMX61_REG_CTRL1_GSEL1_SHIFT 1
>> +#define KMX61_REG_CTRL1_GSEL0_MASK 0x01
>> +#define KMX61_REG_CTRL1_GSEL1_MASK 0x02
>> +
>> +#define KMX61_REG_CTRL1_BIT_RES BIT(4)
>> +
>> +#define KMX61_ACC_ODR_SHIFT 0
>> +#define KMX61_MAG_ODR_SHIFT 4
>> +#define KMX61_ACC_ODR_MASK 0x0F
>> +#define KMX61_MAG_ODR_MASK 0xF0
>> +
>> +#define KMX61_CHIP_ID 0x12
>> +
>> +struct kmx61_data {
>> + struct i2c_client *client;
>> + /* serialize access to non-atomic ops, e.g set_mode */
>> + struct mutex lock;
>> + u8 range;
>> + u8 odr_bits;
>> +};
>> +
>> +enum kmx61_range {
>> + KMX61_RANGE_2G,
>> + KMX61_RANGE_4G,
>> + KMX61_RANGE_8G,
>> +};
>> +
>> +enum kmx61_scan {
>> + KMX61_SCAN_ACC_X,
>> + KMX61_SCAN_ACC_Y,
>> + KMX61_SCAN_ACC_Z,
>> + KMX61_SCAN_TEMP,
>> + KMX61_SCAN_MAG_X,
>> + KMX61_SCAN_MAG_Y,
>> + KMX61_SCAN_MAG_Z,
>> +};
>> +
>> +static const struct {
>> + u16 scale;
>> + u8 gsel0;
>> + u8 gsel1;
>> +} kmx61_scale_table[] = {
>> + {9582, 0, 0},
>> + {19163, 1, 0},
>> + {38326, 0, 1},
>> +};
>> +
>> +/* KMX61 devices */
>> +#define KMX61_ACC 0x01
>> +#define KMX61_MAG 0x02
>> +
>> +static const struct {
>> + int val;
>> + int val2;
>> + int odr_bits;
>> +} samp_freq_table[] = { {12, 500000, 0x00},
>> + {25, 0, 0x01},
>> + {50, 0, 0x02},
>> + {100, 0, 0x03},
>> + {200, 0, 0x04},
>> + {400, 0, 0x05},
>> + {800, 0, 0x06},
>> + {1600, 0, 0x07},
>> + {0, 781000, 0x08},
>> + {1, 563000, 0x09},
>> + {3, 125000, 0x0A},
>> + {6, 250000, 0x0B} };
>> +
>> +static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326");
>> +static IIO_CONST_ATTR(magn_scale_available, "0.001465");
>> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL(
>> + "0.781000 1.563000 3.125000 6.250000 12.500000 25 50 100 200 400 800");
>> +
>> +static struct attribute *kmx61_attributes[] = {
>> + &iio_const_attr_accel_scale_available.dev_attr.attr,
>> + &iio_const_attr_magn_scale_available.dev_attr.attr,
>> + &iio_const_attr_sampling_frequency_available.dev_attr.attr,
> Interesting. So sampling frequency is controllable seperately for the
> two sensing types, but uses a single set of values. This is a rare
> coherent looking bit of dual sensor type hardware ;)
Yes.
Anyway, when the FIFO hardware buffer is used, it will be updated
at the faster of the two output data rates
>> + NULL,
>> +};
>> +
>> +static const struct attribute_group kmx61_attribute_group = {
>> + .attrs = kmx61_attributes,
>> +};
>> +
>> +#define KMX61_ACC_CHAN(_axis, _index) { \
>> + .type = IIO_ACCEL, \
>> + .modified = 1, \
>> + .channel2 = IIO_MOD_ ## _axis, \
>> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
>> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
>> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
>> + .scan_index = _index, \
>> + .scan_type = { \
>> + .sign = 's', \
>> + .realbits = 12, \
>> + .storagebits = 16, \
>> + .shift = 4, \
>> + .endianness = IIO_BE, \
>> + }, \
>> +}
>> +
>> +#define KMX61_MAG_CHAN(_axis, _index) { \
>> + .type = IIO_MAGN, \
>> + .modified = 1, \
>> + .channel2 = IIO_MOD_ ## _axis, \
>> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
>> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
>> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
>> + .scan_index = _index, \
>> + .scan_type = { \
>> + .sign = 's', \
>> + .realbits = 14, \
>> + .storagebits = 16, \
>> + .shift = 2, \
>> + .endianness = IIO_BE, \
>> + }, \
> Wouldn't normally expect scan_index and scan_type in a driver
> without buffered support, but you do make use of some of the
> elements elsewhere and state that buffered support
> is on the todo list so lets leave it here.
>> +}
>> +
>> +static const struct iio_chan_spec kmx61_channels[] = {
>> + KMX61_ACC_CHAN(X, KMX61_SCAN_ACC_X),
>> + KMX61_ACC_CHAN(Y, KMX61_SCAN_ACC_Y),
>> + KMX61_ACC_CHAN(Z, KMX61_SCAN_ACC_Z),
>> + KMX61_MAG_CHAN(X, KMX61_SCAN_MAG_X),
>> + KMX61_MAG_CHAN(Y, KMX61_SCAN_MAG_Y),
>> + KMX61_MAG_CHAN(Z, KMX61_SCAN_MAG_Z),
>> +};
>> +
>> +static int kmx61_convert_freq_to_bit(int val, int val2)
>> +{
>> + int i;
>> +
>> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
>> + if (val == samp_freq_table[i].val &&
>> + val2 == samp_freq_table[i].val2)
>> + return samp_freq_table[i].odr_bits;
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_set_mode(struct kmx61_data *data, u8 mode, u8 device)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading reg_stby\n");
>> + return ret;
>> + }
>> + if (device & KMX61_ACC) {
>> + if (mode & KMX61_ACC_STBY_BIT)
>> + ret |= KMX61_ACC_STBY_BIT;
>> + else
>> + ret &= ~KMX61_ACC_STBY_BIT;
>> + }
>> +
>> + if (device & KMX61_MAG) {
>> + if (mode & KMX61_MAG_STBY_BIT)
>> + ret |= KMX61_MAG_STBY_BIT;
>> + else
>> + ret &= ~KMX61_MAG_STBY_BIT;
>> + }
>> +
>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_STBY, ret);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error writing reg_stby\n");
>> + return ret;
>> + }
>> +
>> + return ret;
>> +}
>> +
>> +static int kmx61_get_mode(struct kmx61_data *data, u8 *mode, u8 device)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading reg_stby\n");
>> + return ret;
>> + }
>> + *mode = 0;
>> +
>> + if (device & KMX61_ACC) {
>> + if (ret & KMX61_ACC_STBY_BIT)
>> + *mode |= KMX61_ACC_STBY_BIT;
>> + else
>> + *mode &= ~KMX61_ACC_STBY_BIT;
>> + }
>> +
>> + if (device & KMX61_MAG) {
>> + if (ret & KMX61_MAG_STBY_BIT)
>> + *mode |= KMX61_MAG_STBY_BIT;
>> + else
>> + *mode &= ~KMX61_MAG_STBY_BIT;
>> + }
>> +
>> + return 0;
>> +}
>> +
>> +static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device)
>> +{
>> + int ret;
>> + u8 mode;
>> + int lodr_bits, odr_bits;
>> +
>> + ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + lodr_bits = kmx61_convert_freq_to_bit(val, val2);
>> + if (lodr_bits < 0)
>> + return lodr_bits;
>> +
>> + /* To change ODR, accel and magn must be in STDBY */
>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + odr_bits = 0;
>> + if (device & KMX61_ACC)
>> + odr_bits |= lodr_bits;
>> + if (device & KMX61_MAG)
>> + odr_bits |= (lodr_bits << KMX61_MAG_ODR_SHIFT);
>> +
>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_ODCNTL,
>> + odr_bits);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + data->odr_bits = lodr_bits;
>> +
>> + return 0;
>> +}
>> +
>> +static
>> +int kmx61_get_odr(struct kmx61_data *data, int *val, int *val2, u8 device)
>> +{ int i;
>> + u8 lodr_bits;
>> +
>> + if (device & KMX61_ACC)
>> + lodr_bits = (data->odr_bits >> KMX61_ACC_ODR_SHIFT) &
>> + KMX61_ACC_ODR_MASK;
>> + else if (device & KMX61_MAG)
>> + lodr_bits = (data->odr_bits >> KMX61_MAG_ODR_SHIFT) &
>> + KMX61_MAG_ODR_MASK;
>> + else
>> + return -EINVAL;
>> +
>> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
>> + if (lodr_bits == samp_freq_table[i].odr_bits) {
>> + *val = samp_freq_table[i].val;
>> + *val2 = samp_freq_table[i].val2;
>> + return 0;
>> + }
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_set_range(struct kmx61_data *data, int range)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
>> + return ret;
>> + }
>> +
>> + ret &= ~(KMX61_REG_CTRL1_GSEL0_MASK | KMX61_REG_CTRL1_GSEL1_MASK);
>> + ret |= kmx61_scale_table[range].gsel0 << KMX61_REG_CTRL1_GSEL0_SHIFT;
>> + ret |= kmx61_scale_table[range].gsel1 << KMX61_REG_CTRL1_GSEL1_SHIFT;
>> +
>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
>> + return ret;
>> + }
>> +
>> + data->range = range;
>> +
>> + return 0;
>> +}
>> +
> I'd be tempted to use a parameter name other than val as that
> tends to have a fairly specific meaning in iio drivers
> (afterall you pass val2 in here!) scale would work or
> maybe microscale or similar?
'scale' works for me. I will send a cleanup patch.
>> +static int kmx61_set_scale(struct kmx61_data *data, int val)
>> +{
>> + int ret, i;
>> + u8 mode;
>> +
>> + for (i = 0; i < ARRAY_SIZE(kmx61_scale_table); i++) {
>> + if (kmx61_scale_table[i].scale == val) {
>> + ret = kmx61_get_mode(data, &mode,
>> + KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY,
>> + KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_range(data, i);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_mode(data, mode,
>> + KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + return 0;
>> + }
>> + }
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_chip_init(struct kmx61_data *data)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading who_am_i\n");
>> + return ret;
>> + }
>> +
>> + if (ret != KMX61_CHIP_ID) {
>> + dev_err(&data->client->dev,
>> + "Wrong chip id, got %x expected %x\n",
>> + ret, KMX61_CHIP_ID);
>> + return -EINVAL;
>> + }
>> +
>> + /* set accel 12bit, 4g range */
>> + ret = kmx61_set_range(data, KMX61_RANGE_4G);
>> + if (ret < 0)
>> + return ret;
>> +
>> + /* put accel and magnetometer in operating mode */
>> + ret = kmx61_set_mode(data, 0, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + return 0;
>> +}
>> +
>> +static int kmx61_read_measurement(struct kmx61_data *data, int base, int offset)
>> +{
>> + int ret;
>> + u8 reg = base + offset * 2;
>> +
>> + ret = i2c_smbus_read_word_data(data->client, reg);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "failed to read reg at %x\n", reg);
>> + return ret;
>> + }
>> +
>> + return ret;
>> +}
>> +
>> +static int kmx61_read_raw(struct iio_dev *indio_dev,
>> + struct iio_chan_spec const *chan, int *val,
>> + int *val2, long mask)
>> +{
>> + struct kmx61_data *data = iio_priv(indio_dev);
>> + int ret;
>> + u8 base_reg;
>> + u8 device;
>> +
>> + switch (mask) {
>> + case IIO_CHAN_INFO_RAW:
>> + switch (chan->type) {
>> + case IIO_ACCEL: case IIO_MAGN:
>> + base_reg = KMX61_ACC_XOUT_L;
>> + break;
>> + default:
>> + return -EINVAL;
>> + }
>> + ret = kmx61_read_measurement(data, base_reg, chan->scan_index);
>> + if (ret < 0)
>> + return ret;
>> + *val = sign_extend32(ret >> chan->scan_type.shift,
>> + chan->scan_type.realbits - 1);
>> + return IIO_VAL_INT;
>> + case IIO_CHAN_INFO_SCALE:
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>> + *val = 0;
>> + *val2 = kmx61_scale_table[data->range].scale;
>> + return IIO_VAL_INT_PLUS_MICRO;
>> + case IIO_MAGN:
>> + /* 14 bits res, 1465 microGauss per magn count */
>> + *val = 0;
>> + *val2 = 1465;
>> + return IIO_VAL_INT_PLUS_MICRO;
>> + default:
>> + break;
>> + }
>> + case IIO_CHAN_INFO_SAMP_FREQ:
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>> + device = KMX61_ACC;
>> + break;
>> + case IIO_MAGN:
>> + device = KMX61_MAG;
>> + break;
>> + default:
>> + return -EINVAL;
>> + }
>> +
>> + mutex_lock(&data->lock);
>> + ret = kmx61_get_odr(data, val, val2, device);
>> + mutex_unlock(&data->lock);
>> + if (ret)
>> + return -EINVAL;
>> + return IIO_VAL_INT_PLUS_MICRO;
>> + }
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_write_raw(struct iio_dev *indio_dev,
>> + struct iio_chan_spec const *chan, int val,
>> + int val2, long mask)
>> +{
>> + struct kmx61_data *data = iio_priv(indio_dev);
>> + int ret;
>> + u8 device;
>> +
>> + switch (mask) {
>> + case IIO_CHAN_INFO_SAMP_FREQ:
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>> + device = KMX61_ACC;
>> + break;
>> + case IIO_MAGN:
>> + device = KMX61_MAG;
>> + break;
>> + default:
>> + return -EINVAL;
>> + }
>> + mutex_lock(&data->lock);
>> + ret = kmx61_set_odr(data, val, val2, device);
>> + mutex_unlock(&data->lock);
>> + break;
>> + case IIO_CHAN_INFO_SCALE:
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>
> Should verify that val == 0 incase of crazy userspace input.
Looks good. Thanks for updating the patch.
>> + mutex_lock(&data->lock);
>> + ret = kmx61_set_scale(data, val2);
>> + mutex_unlock(&data->lock);
>> + break;
>> + default:
>> + ret = -EINVAL;
>> + }
>> + break;
>> + default:
>> + ret = -EINVAL;
>> + }
>> +
>> + return ret;
>> +}
>> +
>> +static const struct iio_info kmx61_info = {
>> + .driver_module = THIS_MODULE,
>> + .read_raw = kmx61_read_raw,
>> + .write_raw = kmx61_write_raw,
>> + .attrs = &kmx61_attribute_group,
>> +};
>> +
>> +static int kmx61_probe(struct i2c_client *client,
>> + const struct i2c_device_id *id)
>> +{
>> + struct kmx61_data *data;
>> + struct iio_dev *indio_dev;
>> + int ret;
>> +
>> + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
>> + if (!indio_dev)
>> + return -ENOMEM;
>> +
>> + data = iio_priv(indio_dev);
>> + i2c_set_clientdata(client, indio_dev);
>> + data->client = client;
>> +
>> + indio_dev->dev.parent = &client->dev;
>> + indio_dev->info = &kmx61_info;
>> + indio_dev->channels = kmx61_channels;
>> + indio_dev->num_channels = ARRAY_SIZE(kmx61_channels);
>> + indio_dev->modes = INDIO_DIRECT_MODE;
>> +
>> + mutex_init(&data->lock);
>> +
>> + ret = kmx61_chip_init(data);
>> + if (ret < 0)
>> + return ret;
>> +
>> + return iio_device_register(indio_dev);
>> +}
>> +
>> +static int kmx61_remove(struct i2c_client *client)
>> +{
>> + struct iio_dev *indio_dev = i2c_get_clientdata(client);
>> + struct kmx61_data *data = iio_priv(indio_dev);
>> + int ret;
>> +
>> + iio_device_unregister(indio_dev);
>> +
>> + mutex_lock(&data->lock);
>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
>> + mutex_unlock(&data->lock);
>> +
>> + return ret;
>> +}
>> +
>> +static const struct i2c_device_id kmx61_id[] = {
>> + {"kmx61", 0},
>> + {}
>> +};
>> +
>> +MODULE_DEVICE_TABLE(i2c, kmx61_id);
>> +
>> +static struct i2c_driver kmx61_driver = {
>> + .driver = {
>> + .name = "kmx61",
>> + },
>> + .probe = kmx61_probe,
>> + .remove = kmx61_remove,
>> + .id_table = kmx61_id,
>> +};
>> +
>> +module_i2c_driver(kmx61_driver);
>> +
>> +MODULE_AUTHOR("Daniel Baluta <daniel.baluta@...el.com>");
>> +MODULE_DESCRIPTION("KMX61 accelerometer/magnetometer driver");
>> +MODULE_LICENSE("GPL v2");
>>
>
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