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[109.49.46.234]) by smtp.gmail.com with ESMTPSA id i186sm23619612wmd.19.2019.02.05.02.51.21 (version=TLS1_2 cipher=ECDHE-RSA-CHACHA20-POLY1305 bits=256/256); Tue, 05 Feb 2019 02:51:22 -0800 (PST) References: <20190204170012.13617-1-rui.silva@linaro.org> <20190204170012.13617-3-rui.silva@linaro.org> User-agent: mu4e 1.0; emacs 27.0.50 From: Rui Miguel Silva To: Peter Meerwald-Stadler Cc: Jonathan Cameron , Fabio Estevam , linux-iio@vger.kernel.org Subject: Re: [PATCH 2/5] iio: gyro: fxas2100x: add core driver for fxas2100x gyroscope In-reply-to: Date: Tue, 05 Feb 2019 10:51:20 +0000 Message-ID: MIME-Version: 1.0 Content-Type: text/plain; format=flowed Sender: linux-iio-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org Hi Peter, On Mon 04 Feb 2019 at 20:03, Peter Meerwald-Stadler wrote: > On Mon, 4 Feb 2019, Rui Miguel Silva wrote: > > Hello, > > please find some comments below Many thanks for your review, I will take all them in account in v2. --- Cheers, Rui > > regards, p. > >> This add the core support for the NXP fxas2100x Tri-axis >> gyroscope, using > > adds > >> the iio subsystem. It supports PM operations, axis reading, >> temperature, scale >> factor of the axis, high pass and low pass filtering, and >> sampling frequency >> selection. >> >> It will have extras modules to support the communication over >> i2c >> and spi. >> >> Signed-off-by: Rui Miguel Silva >> --- >> drivers/iio/gyro/Kconfig | 11 + >> drivers/iio/gyro/Makefile | 1 + >> drivers/iio/gyro/fxas2100x.h | 149 +++++ >> drivers/iio/gyro/fxas2100x_core.c | 930 >> ++++++++++++++++++++++++++++++ >> 4 files changed, 1091 insertions(+) >> create mode 100644 drivers/iio/gyro/fxas2100x.h >> create mode 100644 drivers/iio/gyro/fxas2100x_core.c >> >> diff --git a/drivers/iio/gyro/Kconfig >> b/drivers/iio/gyro/Kconfig >> index 3126cf05e6b9..c168aa63de3b 100644 >> --- a/drivers/iio/gyro/Kconfig >> +++ b/drivers/iio/gyro/Kconfig >> @@ -73,6 +73,17 @@ config BMG160_SPI >> tristate >> select REGMAP_SPI >> >> +config FXAS2100X >> + tristate "NXP FXAS2100X Gyro Sensor" >> + select IIO_BUFFER >> + select IIO_TRIGGERED_BUFFER >> + help >> + Say yes here to build support for NXP FXAS2100X family >> Tri-axis Gyro >> + Sensor driver connected via I2C or SPI. >> + >> + This driver can also be built as a module. If so, the >> module >> + will be called fxas2100x_i2c or fxas2100x_spi. >> + >> config HID_SENSOR_GYRO_3D >> depends on HID_SENSOR_HUB >> select IIO_BUFFER >> diff --git a/drivers/iio/gyro/Makefile >> b/drivers/iio/gyro/Makefile >> index 295ec780c4eb..9e2395185a6e 100644 >> --- a/drivers/iio/gyro/Makefile >> +++ b/drivers/iio/gyro/Makefile >> @@ -12,6 +12,7 @@ obj-$(CONFIG_ADXRS450) += adxrs450.o >> obj-$(CONFIG_BMG160) += bmg160_core.o >> obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o >> obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o >> +obj-$(CONFIG_FXAS2100X) += fxas2100x_core.o >> >> obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o >> >> diff --git a/drivers/iio/gyro/fxas2100x.h >> b/drivers/iio/gyro/fxas2100x.h >> new file mode 100644 >> index 000000000000..417445d2bcda >> --- /dev/null >> +++ b/drivers/iio/gyro/fxas2100x.h >> @@ -0,0 +1,149 @@ >> +/* SPDX-License-Identifier: GPL-2.0 */ >> +/* >> + * Driver for NXP FXAS2100x Gyroscope - Header >> + * >> + * Copyright (C) 2018 Linaro Ltd. > > the other files are (C) 2019 > >> + * >> + */ >> + >> +#ifndef FXAS2100X_H_ >> +#define FXAS2100X_H_ >> + >> +#define FXAS2100X_REG_STATUS 0x00 >> +#define FXAS2100X_REG_OUT_X_MSB 0x01 >> +#define FXAS2100X_REG_OUT_X_LSB 0x02 >> +#define FXAS2100X_REG_OUT_Y_MSB 0x03 >> +#define FXAS2100X_REG_OUT_Y_LSB 0x04 >> +#define FXAS2100X_REG_OUT_Z_MSB 0x05 >> +#define FXAS2100X_REG_OUT_Z_LSB 0x06 >> +#define FXAS2100X_REG_DR_STATUS 0x07 >> +#define FXAS2100X_REG_F_STATUS 0x08 >> +#define FXAS2100X_REG_F_SETUP 0x09 >> +#define FXAS2100X_REG_F_EVENT 0x0A >> +#define FXAS2100X_REG_INT_SRC_FLAG 0x0B >> +#define FXAS2100X_REG_WHO_AM_I 0x0C >> +#define FXAS2100X_REG_CTRL0 0x0D >> +#define FXAS2100X_REG_RT_CFG 0x0E >> +#define FXAS2100X_REG_RT_SRC 0x0F >> +#define FXAS2100X_REG_RT_THS 0x10 >> +#define FXAS2100X_REG_RT_COUNT 0x11 >> +#define FXAS2100X_REG_TEMP 0x12 >> +#define FXAS2100X_REG_CTRL1 0x13 >> +#define FXAS2100X_REG_CTRL2 0x14 >> +#define FXAS2100X_REG_CTRL3 0x15 >> + >> +enum fxas2100x_fields { >> + F_DR_STATUS, >> + F_OUT_X_MSB, >> + F_OUT_X_LSB, >> + F_OUT_Y_MSB, >> + F_OUT_Y_LSB, >> + F_OUT_Z_MSB, >> + F_OUT_Z_LSB, >> + /* DR_STATUS */ >> + F_ZYX_OW, F_Z_OW, F_Y_OW, F_X_OW, F_ZYX_DR, F_Z_DR, >> F_Y_DR, F_X_DR, >> + /* F_STATUS */ >> + F_OVF, F_WMKF, F_CNT, >> + /* F_SETUP */ >> + F_MODE, F_WMRK, >> + /* F_EVENT */ >> + F_EVENT, FE_TIME, >> + /* INT_SOURCE_FLAG */ >> + F_BOOTEND, F_SRC_FIFO, F_SRC_RT, F_SRC_DRDY, >> + /* WHO_AM_I */ >> + F_WHO_AM_I, >> + /* CTRL_REG0 */ >> + F_BW, F_SPIW, F_SEL, F_HPF_EN, F_FS, >> + /* RT_CFG */ >> + F_ELE, F_ZTEFE, F_YTEFE, F_XTEFE, >> + /* RT_SRC */ >> + F_EA, F_ZRT, F_ZRT_POL, F_YRT, F_YRT_POL, F_XRT, >> F_XRT_POL, >> + /* RT_THS */ >> + F_DBCNTM, F_THS, >> + /* RT_COUNT */ >> + F_RT_COUNT, >> + /* TEMP */ >> + F_TEMP, >> + /* CTRL_REG1 */ >> + F_RST, F_ST, F_DR, F_ACTIVE, F_READY, >> + /* CTRL_REG2 */ >> + F_INT_CFG_FIFO, F_INT_EN_FIFO, F_INT_CFG_RT, F_INT_EN_RT, >> + F_INT_CFG_DRDY, F_INT_EN_DRDY, F_IPOL, F_PP_OD, >> + /* CTRL_REG3 */ >> + F_WRAPTOONE, F_EXTCTRLEN, F_FS_DOUBLE, >> + /* MAX FIELDS */ >> + F_MAX_FIELDS, >> +}; >> + >> +static const struct reg_field fxas2100x_reg_fields[] = { > > where des reg_field come from? > ideally, a .h file should #include all the stuff it needs > >> + [F_DR_STATUS] = REG_FIELD(FXAS2100X_REG_STATUS, >> 0, 7), >> + [F_OUT_X_MSB] = >> REG_FIELD(FXAS2100X_REG_OUT_X_MSB, 0, 7), >> + [F_OUT_X_LSB] = >> REG_FIELD(FXAS2100X_REG_OUT_X_LSB, 0, 7), >> + [F_OUT_Y_MSB] = >> REG_FIELD(FXAS2100X_REG_OUT_Y_MSB, 0, 7), >> + [F_OUT_Y_LSB] = >> REG_FIELD(FXAS2100X_REG_OUT_Y_LSB, 0, 7), >> + [F_OUT_Z_MSB] = >> REG_FIELD(FXAS2100X_REG_OUT_Z_MSB, 0, 7), >> + [F_OUT_Z_LSB] = >> REG_FIELD(FXAS2100X_REG_OUT_Z_LSB, 0, 7), >> + [F_ZYX_OW] = >> REG_FIELD(FXAS2100X_REG_DR_STATUS, 7, 7), >> + [F_Z_OW] = >> REG_FIELD(FXAS2100X_REG_DR_STATUS, 6, 6), >> + [F_Y_OW] = >> REG_FIELD(FXAS2100X_REG_DR_STATUS, 5, 5), >> + [F_X_OW] = >> REG_FIELD(FXAS2100X_REG_DR_STATUS, 4, 4), >> + [F_ZYX_DR] = >> REG_FIELD(FXAS2100X_REG_DR_STATUS, 3, 3), >> + [F_Z_DR] = >> REG_FIELD(FXAS2100X_REG_DR_STATUS, 2, 2), >> + [F_Y_DR] = >> REG_FIELD(FXAS2100X_REG_DR_STATUS, 1, 1), >> + [F_X_DR] = >> REG_FIELD(FXAS2100X_REG_DR_STATUS, 0, 0), >> + [F_OVF] = >> REG_FIELD(FXAS2100X_REG_F_STATUS, 7, 7), >> + [F_WMKF] = >> REG_FIELD(FXAS2100X_REG_F_STATUS, 6, 6), >> + [F_CNT] = >> REG_FIELD(FXAS2100X_REG_F_STATUS, 0, 5), >> + [F_MODE] = REG_FIELD(FXAS2100X_REG_F_SETUP, >> 6, 7), >> + [F_WMRK] = REG_FIELD(FXAS2100X_REG_F_SETUP, >> 0, 5), >> + [F_EVENT] = REG_FIELD(FXAS2100X_REG_F_EVENT, >> 5, 5), >> + [FE_TIME] = REG_FIELD(FXAS2100X_REG_F_EVENT, >> 0, 4), >> + [F_BOOTEND] = >> REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 3, 3), >> + [F_SRC_FIFO] = >> REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 2, 2), >> + [F_SRC_RT] = >> REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 1, 1), >> + [F_SRC_DRDY] = >> REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 0, 0), >> + [F_WHO_AM_I] = >> REG_FIELD(FXAS2100X_REG_WHO_AM_I, 0, 7), >> + [F_BW] = REG_FIELD(FXAS2100X_REG_CTRL0, >> 6, 7), >> + [F_SPIW] = REG_FIELD(FXAS2100X_REG_CTRL0, >> 5, 5), >> + [F_SEL] = REG_FIELD(FXAS2100X_REG_CTRL0, >> 3, 4), >> + [F_HPF_EN] = REG_FIELD(FXAS2100X_REG_CTRL0, >> 2, 2), >> + [F_FS] = REG_FIELD(FXAS2100X_REG_CTRL0, >> 0, 1), >> + [F_ELE] = REG_FIELD(FXAS2100X_REG_RT_CFG, >> 3, 3), >> + [F_ZTEFE] = REG_FIELD(FXAS2100X_REG_RT_CFG, >> 2, 2), >> + [F_YTEFE] = REG_FIELD(FXAS2100X_REG_RT_CFG, >> 1, 1), >> + [F_XTEFE] = REG_FIELD(FXAS2100X_REG_RT_CFG, >> 0, 0), >> + [F_EA] = REG_FIELD(FXAS2100X_REG_RT_SRC, >> 6, 6), >> + [F_ZRT] = REG_FIELD(FXAS2100X_REG_RT_SRC, >> 5, 5), >> + [F_ZRT_POL] = REG_FIELD(FXAS2100X_REG_RT_SRC, >> 4, 4), >> + [F_YRT] = REG_FIELD(FXAS2100X_REG_RT_SRC, >> 3, 3), >> + [F_YRT_POL] = REG_FIELD(FXAS2100X_REG_RT_SRC, >> 2, 2), >> + [F_XRT] = REG_FIELD(FXAS2100X_REG_RT_SRC, >> 1, 1), >> + [F_XRT_POL] = REG_FIELD(FXAS2100X_REG_RT_SRC, >> 0, 0), >> + [F_DBCNTM] = REG_FIELD(FXAS2100X_REG_RT_THS, >> 7, 7), >> + [F_THS] = REG_FIELD(FXAS2100X_REG_RT_SRC, >> 0, 6), >> + [F_RT_COUNT] = >> REG_FIELD(FXAS2100X_REG_RT_COUNT, 0, 7), >> + [F_TEMP] = REG_FIELD(FXAS2100X_REG_TEMP, 0, >> 7), >> + [F_RST] = REG_FIELD(FXAS2100X_REG_CTRL1, >> 6, 6), >> + [F_ST] = REG_FIELD(FXAS2100X_REG_CTRL1, >> 5, 5), >> + [F_DR] = REG_FIELD(FXAS2100X_REG_CTRL1, >> 2, 4), >> + [F_ACTIVE] = REG_FIELD(FXAS2100X_REG_CTRL1, >> 1, 1), >> + [F_READY] = REG_FIELD(FXAS2100X_REG_CTRL1, >> 0, 0), >> + [F_INT_CFG_FIFO] = REG_FIELD(FXAS2100X_REG_CTRL2, >> 7, 7), >> + [F_INT_EN_FIFO] = REG_FIELD(FXAS2100X_REG_CTRL2, >> 6, 6), >> + [F_INT_CFG_RT] = REG_FIELD(FXAS2100X_REG_CTRL2, >> 5, 5), >> + [F_INT_EN_RT] = REG_FIELD(FXAS2100X_REG_CTRL2, >> 4, 4), >> + [F_INT_CFG_DRDY] = REG_FIELD(FXAS2100X_REG_CTRL2, >> 3, 3), >> + [F_INT_EN_DRDY] = REG_FIELD(FXAS2100X_REG_CTRL2, >> 2, 2), >> + [F_IPOL] = REG_FIELD(FXAS2100X_REG_CTRL2, >> 1, 1), >> + [F_PP_OD] = REG_FIELD(FXAS2100X_REG_CTRL2, >> 0, 0), >> + [F_WRAPTOONE] = REG_FIELD(FXAS2100X_REG_CTRL3, >> 3, 3), >> + [F_EXTCTRLEN] = REG_FIELD(FXAS2100X_REG_CTRL3, >> 2, 2), >> + [F_FS_DOUBLE] = REG_FIELD(FXAS2100X_REG_CTRL3, >> 0, 0), >> +}; >> + >> +extern const struct dev_pm_ops fxas2100x_pm_ops; >> + >> +int fxas2100x_core_probe(struct device *dev, struct regmap >> *regmap, int irq, >> + const char *name); >> +void fxas2100x_core_remove(struct device *dev); >> +#endif >> diff --git a/drivers/iio/gyro/fxas2100x_core.c >> b/drivers/iio/gyro/fxas2100x_core.c >> new file mode 100644 >> index 000000000000..1f88760563dd >> --- /dev/null >> +++ b/drivers/iio/gyro/fxas2100x_core.c >> @@ -0,0 +1,930 @@ >> +// SPDX-License-Identifier: GPL-2.0 >> +/* >> + * Driver for NXP FXAS2100x Gyroscope - Core >> + * >> + * Copyright (C) 2019 Linaro Ltd. >> + * >> + */ >> + >> +#include >> +#include >> +#include >> +#include >> +#include >> + >> +#include >> +#include >> +#include >> +#include >> +#include >> +#include >> +#include >> + >> +#include "fxas2100x.h" >> + >> +#define FXAS21002_CHIP_ID_1 0xD6 >> +#define FXAS21002_CHIP_ID_2 0xD7 >> + >> +#define FXAS2100X_MODE_STANDBY 0x00 >> +#define FXAS2100X_MODE_READY 0x01 >> +#define FXAS2100X_MODE_ACTIVE 0x02 >> + >> +#define FXAS2100X_STANDBY_ACTIVE_TIME_MS 62 >> +#define FXAS2100X_READY_ACTIVE_TIME_MS 7 >> + >> +#define FXAS2100X_ODR_LIST_MAX 10 >> + >> +#define FXAS2100X_SCALE_FRACTIONAL 32 >> +#define FXAS2100X_RANGE_LIMIT_DOUBLE 2000 >> + >> +#define FXAS2100X_AXIS_TO_REG(axis) (FXAS2100X_REG_OUT_X_MSB + >> ((axis) * 2)) >> + >> +static const int fxas2100x_odr_values[] = { >> + 800, 400, 200, 100, 50, 25, 12, 12 >> +}; >> + >> +/* >> + * This values are taken from the low-pass filter cuttoff >> frequency calculated > > These > cutoff > >> + * ODR * 0.lpf_values. So, for ODR = 800Hz with a lpf value = >> 0.32 >> + * => LPF cuttof frequency = 800 * 0.32 = 256 Hz > > cutoff > >> + */ >> +static const int fxas2100x_lpf_values[] = { >> + 32, 16, 8 >> +}; >> + >> +/* >> + * This values are taken from the high-pass filter cuttoff >> frequency calculated > > These > cutoff > >> + * ODR * 0.0hpf_values. So, for ODR = 800Hz with a hpf value = >> 0.018750 >> + * => HPF cuttof frequency = 800 * 0.018750 = 15 Hz > > cutoff > >> + */ >> +static const int fxas2100x_hpf_values[] = { >> + 18750, 9625, 4875, 2475 >> +}; >> + >> +static const int fxas2100x_range_values[] = { >> + 4000, 2000, 1000, 500, 250 >> +}; >> + >> +struct fxas2100x_data { >> + u8 chip_id; >> + u8 mode; >> + u8 prev_mode; >> + struct regmap *regmap; >> + struct regmap_field *regmap_fields[F_MAX_FIELDS]; >> + struct iio_trigger *dready_trig; >> + struct mutex lock; /* protect access */ > > the commend it not very useful; protect what? > >> + s16 buffer[3]; >> + int irq; >> +}; >> + >> +enum fxas2100x_channel_index { >> + CHANNEL_SCAN_INDEX_X, >> + CHANNEL_SCAN_INDEX_Y, >> + CHANNEL_SCAN_INDEX_Z, >> + CHANNEL_SCAN_MAX, >> +}; >> + >> +static int fxas2100x_odr_hz_from_value(struct fxas2100x_data >> *data, u8 value) >> +{ >> + int odr_value_max = ARRAY_SIZE(fxas2100x_odr_values) - 1; >> + >> + value = min_t(u8, value, odr_value_max); >> + >> + return fxas2100x_odr_values[value]; >> +} >> + >> +static int fxas2100x_odr_value_from_hz(struct fxas2100x_data >> *data, >> + unsigned int hz) >> +{ >> + int odr_table_size = ARRAY_SIZE(fxas2100x_odr_values); >> + int i; >> + >> + for (i = 0; i < odr_table_size; i++) >> + if (fxas2100x_odr_values[i] == hz) >> + return i; >> + >> + return -EINVAL; >> +} >> + >> +static int fxas2100x_lpf_bw_from_value(struct fxas2100x_data >> *data, u8 value) >> +{ >> + int lpf_value_max = ARRAY_SIZE(fxas2100x_lpf_values) - 1; >> + >> + value = min_t(u8, value, lpf_value_max); >> + >> + return fxas2100x_lpf_values[value]; >> +} >> + >> +static int fxas2100x_lpf_value_from_bw(struct fxas2100x_data >> *data, >> + unsigned int hz) >> +{ >> + int lpf_table_size = ARRAY_SIZE(fxas2100x_lpf_values); >> + int i; >> + >> + for (i = 0; i < lpf_table_size; i++) >> + if (fxas2100x_lpf_values[i] == hz) >> + return i; >> + >> + return -EINVAL; >> +} >> + >> +static int fxas2100x_hpf_sel_from_value(struct fxas2100x_data >> *data, u8 value) >> +{ >> + int hpf_value_max = ARRAY_SIZE(fxas2100x_hpf_values) - 1; >> + >> + value = min_t(u8, value, hpf_value_max); >> + >> + return fxas2100x_hpf_values[value]; >> +} >> + >> +static int fxas2100x_hpf_value_from_sel(struct fxas2100x_data >> *data, >> + unsigned int hz) >> +{ >> + int hpf_table_size = ARRAY_SIZE(fxas2100x_hpf_values); >> + int i; >> + >> + for (i = 0; i < hpf_table_size; i++) >> + if (fxas2100x_hpf_values[i] == hz) >> + return i; >> + >> + return -EINVAL; >> +} >> + >> +static int fxas2100x_range_fs_from_value(struct fxas2100x_data >> *data, >> + u8 value) >> +{ >> + int range_value_max = ARRAY_SIZE(fxas2100x_range_values) - >> 1; >> + unsigned int fs_double; >> + int ret; >> + >> + /* We need to check if FS_DOUBLE is enabled to offset the >> value */ >> + ret = regmap_field_read(data->regmap_fields[F_FS_DOUBLE], >> &fs_double); >> + if (ret < 0) >> + return ret; >> + >> + value = min_t(u8, value, range_value_max); >> + >> + if (!fs_double) >> + value += 1; > > what if value is already the last element of range_values? > shouldn't the min() operation be done beforehand? > >> + >> + return fxas2100x_range_values[value]; >> +} >> + >> +static int fxas2100x_range_value_from_fs(struct fxas2100x_data >> *data, >> + unsigned int range) >> +{ >> + int range_table_size = ARRAY_SIZE(fxas2100x_range_values); >> + bool found = false; >> + int ret; >> + int i; >> + >> + for (i = 0; i < range_table_size; i++) >> + if (fxas2100x_range_values[i] == range) >> + found = true; >> + if (!found) >> + return -EINVAL; >> + >> + if (range > FXAS2100X_RANGE_LIMIT_DOUBLE) >> + ret = >> regmap_field_write(data->regmap_fields[F_FS_DOUBLE], 1); >> + else >> + ret = >> regmap_field_write(data->regmap_fields[F_FS_DOUBLE], 0); > > ret is not checked > >> + >> + return i; >> +} >> + >> +static int fxas2100x_mode_get(struct fxas2100x_data *data) >> +{ >> + unsigned int active; >> + unsigned int ready; >> + int ret; >> + >> + ret = regmap_field_read(data->regmap_fields[F_ACTIVE], >> &active); >> + if (ret < 0) >> + return ret; >> + if (active) >> + return FXAS2100X_MODE_ACTIVE; >> + >> + ret = regmap_field_read(data->regmap_fields[F_READY], >> &ready); >> + if (ret < 0) >> + return ret; >> + if (ready) >> + return FXAS2100X_MODE_READY; >> + >> + return FXAS2100X_MODE_STANDBY; >> +} >> + >> +static int fxas2100x_mode_set(struct fxas2100x_data *data, u8 >> mode) > > maybe mode could be an enum? > >> +{ >> + int ret; >> + >> + if (mode > FXAS2100X_MODE_ACTIVE) >> + return -EINVAL; >> + >> + if (mode == data->mode) >> + return 0; >> + >> + if (mode == FXAS2100X_MODE_READY) >> + ret = >> regmap_field_write(data->regmap_fields[F_READY], 1); >> + else >> + ret = >> regmap_field_write(data->regmap_fields[F_READY], 0); >> + if (ret < 0) >> + return ret; >> + >> + if (mode == FXAS2100X_MODE_ACTIVE) >> + ret = >> regmap_field_write(data->regmap_fields[F_ACTIVE], 1); >> + else >> + ret = >> regmap_field_write(data->regmap_fields[F_ACTIVE], 0); >> + if (ret < 0) >> + return ret; >> + >> + /* if going to active wait the setup times */ >> + if (mode == FXAS2100X_MODE_ACTIVE) >> + if (data->mode == FXAS2100X_MODE_STANDBY) >> + >> msleep_interruptible(FXAS2100X_STANDBY_ACTIVE_TIME_MS); >> + if (data->mode == FXAS2100X_MODE_READY) >> + >> msleep_interruptible(FXAS2100X_READY_ACTIVE_TIME_MS); >> + >> + data->prev_mode = data->mode; >> + data->mode = mode; >> + >> + return ret; >> +} >> + >> +static int fxas2100x_pre_write(struct fxas2100x_data *data) >> +{ >> + int actual_mode; >> + >> + actual_mode = fxas2100x_mode_get(data); > > no newline here (matter of taste) > >> + >> + if (actual_mode < 0) >> + return actual_mode; >> + >> + return fxas2100x_mode_set(data, FXAS2100X_MODE_READY); >> +} >> + >> +static int fxas2100x_post_write(struct fxas2100x_data *data) > > is this function really needed? > >> +{ >> + return fxas2100x_mode_set(data, data->prev_mode); >> +} >> + >> +static int fxas2100x_pm_get(struct fxas2100x_data *data) >> +{ >> + struct device *dev = regmap_get_device(data->regmap); >> + int ret; >> + >> + ret = pm_runtime_get_sync(dev); >> + if (ret < 0) >> + pm_runtime_put_noidle(dev); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_pm_put(struct fxas2100x_data *data) >> +{ >> + struct device *dev = regmap_get_device(data->regmap); >> + >> + pm_runtime_mark_last_busy(dev); >> + >> + return pm_runtime_put_autosuspend(dev); >> +} >> + >> +static int fxas2100x_temp_get(struct fxas2100x_data *data, int >> *val) >> +{ >> + struct device *dev = regmap_get_device(data->regmap); >> + unsigned int temp; >> + int ret; >> + >> + mutex_lock(&data->lock); >> + ret = fxas2100x_pm_get(data); >> + if (ret < 0) >> + goto data_unlock; >> + >> + ret = regmap_field_read(data->regmap_fields[F_TEMP], >> &temp); >> + if (ret < 0) { >> + dev_err(dev, "failed to read temp: %d\n", ret); >> + goto data_unlock; >> + } >> + >> + *val = sign_extend32(temp, 7); >> + >> + ret = fxas2100x_pm_put(data); >> + if (ret < 0) >> + goto data_unlock; >> + >> + ret = IIO_VAL_INT; >> + >> +data_unlock: >> + mutex_unlock(&data->lock); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_axis_get(struct fxas2100x_data *data, int >> index, int *val) >> +{ >> + struct device *dev = regmap_get_device(data->regmap); >> + __be16 axis_be; >> + int ret; >> + >> + mutex_lock(&data->lock); >> + ret = fxas2100x_pm_get(data); >> + if (ret < 0) >> + goto data_unlock; >> + >> + ret = regmap_bulk_read(data->regmap, >> FXAS2100X_AXIS_TO_REG(index), >> + &axis_be, sizeof(axis_be)); >> + if (ret < 0) { >> + dev_err(dev, "failed to read axis: %d: %d\n", >> index, ret); >> + goto data_unlock; >> + } >> + >> + *val = sign_extend32(be16_to_cpu(axis_be), 15); >> + >> + ret = fxas2100x_pm_put(data); >> + if (ret < 0) >> + goto data_unlock; >> + >> + ret = IIO_VAL_INT; >> + >> +data_unlock: >> + mutex_unlock(&data->lock); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_odr_get(struct fxas2100x_data *data, int >> *odr) >> +{ >> + unsigned int odr_bits; >> + int ret; >> + >> + mutex_lock(&data->lock); >> + ret = regmap_field_read(data->regmap_fields[F_DR], >> &odr_bits); >> + if (ret < 0) >> + goto data_unlock; >> + >> + *odr = fxas2100x_odr_hz_from_value(data, odr_bits); >> + >> + ret = IIO_VAL_INT; >> +data_unlock: >> + mutex_unlock(&data->lock); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_odr_set(struct fxas2100x_data *data, int >> odr) >> +{ >> + int odr_bits; >> + int ret; >> + >> + odr_bits = fxas2100x_odr_value_from_hz(data, odr); > > no newline, I'd do the check right after the assignment > here and elsewhere > >> + >> + if (odr_bits < 0) >> + return odr_bits; >> + >> + mutex_lock(&data->lock); >> + ret = fxas2100x_pre_write(data); >> + if (ret < 0) >> + goto post_write; >> + >> + ret = regmap_field_write(data->regmap_fields[F_DR], >> odr_bits); >> + if (ret < 0) >> + goto post_write; >> + >> +post_write: >> + ret = fxas2100x_post_write(data); >> + >> + mutex_unlock(&data->lock); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_lpf_get(struct fxas2100x_data *data, int >> *val2) >> +{ >> + unsigned int bw_bits; >> + int ret; >> + >> + mutex_lock(&data->lock); >> + ret = regmap_field_read(data->regmap_fields[F_BW], >> &bw_bits); >> + if (ret < 0) >> + goto data_unlock; >> + >> + *val2 = fxas2100x_lpf_bw_from_value(data, bw_bits) * >> 10000; >> + >> + ret = IIO_VAL_INT_PLUS_MICRO; >> + >> +data_unlock: >> + mutex_unlock(&data->lock); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_lpf_set(struct fxas2100x_data *data, int >> bw) >> +{ >> + int bw_bits; >> + int odr; >> + int ret; >> + >> + bw_bits = fxas2100x_lpf_value_from_bw(data, bw); >> + >> + if (bw_bits < 0) >> + return bw_bits; >> + >> + /* >> + * From table 33 of the device spec, for ODR = 25Hz and >> 12.5 value 0.08 >> + * is not allowed and for ODR = 12.5 value 0.16 is also >> not allowed >> + */ >> + ret = fxas2100x_odr_get(data, &odr); >> + if (ret < 0) >> + return -EINVAL; >> + >> + if ((odr == 25 && bw_bits > 0x01) || (odr == 12 && bw_bits >> > 0)) >> + return -EINVAL; >> + > > probably the sequence > pre_write() > regmap_field_write() > post_write() > could be put into a helper function to safe some lines of code > >> + mutex_lock(&data->lock); >> + ret = fxas2100x_pre_write(data); >> + if (ret < 0) >> + goto post_write; >> + >> + ret = regmap_field_write(data->regmap_fields[F_BW], >> bw_bits); >> + if (ret < 0) >> + goto post_write; >> + >> +post_write: >> + ret = fxas2100x_post_write(data); >> + >> + mutex_unlock(&data->lock); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_hpf_get(struct fxas2100x_data *data, int >> *val2) >> +{ >> + unsigned int sel_bits; >> + int ret; >> + >> + mutex_lock(&data->lock); >> + ret = regmap_field_read(data->regmap_fields[F_SEL], >> &sel_bits); >> + if (ret < 0) >> + goto data_unlock; >> + >> + *val2 = fxas2100x_hpf_sel_from_value(data, sel_bits); >> + >> + ret = IIO_VAL_INT_PLUS_MICRO; >> + >> +data_unlock: >> + mutex_unlock(&data->lock); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_hpf_set(struct fxas2100x_data *data, int >> sel) >> +{ >> + int sel_bits; >> + int ret; >> + >> + sel_bits = fxas2100x_hpf_value_from_sel(data, sel); >> + >> + if (sel_bits < 0) >> + return sel_bits; >> + >> + mutex_lock(&data->lock); >> + ret = fxas2100x_pre_write(data); >> + if (ret < 0) >> + goto post_write; >> + >> + ret = regmap_field_write(data->regmap_fields[F_SEL], >> sel_bits); >> + if (ret < 0) >> + goto post_write; >> + >> +post_write: >> + ret = fxas2100x_post_write(data); >> + >> + mutex_unlock(&data->lock); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_scale_get(struct fxas2100x_data *data, >> int *val) >> +{ >> + int fs_bits; >> + int scale; >> + int ret; >> + >> + mutex_lock(&data->lock); >> + ret = regmap_field_read(data->regmap_fields[F_FS], >> &fs_bits); >> + if (ret < 0) >> + goto data_unlock; >> + >> + scale = fxas2100x_range_fs_from_value(data, fs_bits); >> + >> + *val = scale; >> + >> + ret = IIO_VAL_FRACTIONAL; >> + >> +data_unlock: >> + mutex_unlock(&data->lock); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_scale_set(struct fxas2100x_data *data, >> int range) >> +{ >> + int fs_bits; >> + int ret; >> + >> + fs_bits = fxas2100x_range_value_from_fs(data, range); >> + >> + if (fs_bits < 0) >> + return fs_bits; >> + >> + mutex_lock(&data->lock); >> + ret = fxas2100x_pre_write(data); >> + if (ret < 0) >> + goto post_write; >> + >> + ret = regmap_field_write(data->regmap_fields[F_FS], >> fs_bits); >> + if (ret < 0) >> + goto post_write; >> + >> +post_write: >> + ret = fxas2100x_post_write(data); >> + >> + mutex_unlock(&data->lock); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_read_raw(struct iio_dev *indio_dev, >> + struct iio_chan_spec const *chan, >> int *val, >> + int *val2, long mask) >> +{ >> + struct fxas2100x_data *data = iio_priv(indio_dev); >> + >> + switch (mask) { >> + case IIO_CHAN_INFO_RAW: >> + switch (chan->type) { >> + case IIO_TEMP: >> + return fxas2100x_temp_get(data, val); >> + case IIO_ANGL_VEL: >> + return fxas2100x_axis_get(data, >> chan->scan_index, val); >> + default: >> + return -EINVAL; >> + } >> + case IIO_CHAN_INFO_SCALE: >> + switch (chan->type) { >> + case IIO_ANGL_VEL: >> + *val2 = FXAS2100X_SCALE_FRACTIONAL; >> + return fxas2100x_scale_get(data, val); >> + default: >> + return -EINVAL; >> + } >> + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: >> + *val = 0; >> + return fxas2100x_lpf_get(data, val2); >> + case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY: >> + *val = 0; >> + return fxas2100x_hpf_get(data, val2); >> + case IIO_CHAN_INFO_SAMP_FREQ: >> + *val2 = 0; >> + return fxas2100x_odr_get(data, val); >> + default: >> + return -EINVAL; >> + } >> +} >> + >> +static int fxas2100x_write_raw(struct iio_dev *indio_dev, >> + struct iio_chan_spec const *chan, >> int val, >> + int val2, long mask) >> +{ >> + struct fxas2100x_data *data = iio_priv(indio_dev); >> + int range; >> + >> + switch (mask) { >> + case IIO_CHAN_INFO_SAMP_FREQ: > > check that val2 == 0? > >> + return fxas2100x_odr_set(data, val); >> + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: > > check that val == 0? > >> + val2 = val2 / 10000; >> + return fxas2100x_lpf_set(data, val2); >> + case IIO_CHAN_INFO_SCALE: >> + switch (chan->type) { >> + case IIO_ANGL_VEL: >> + range = (((val * 1000 + val2 / 1000) * >> + FXAS2100X_SCALE_FRACTIONAL) / >> 1000); >> + return fxas2100x_scale_set(data, range); >> + default: >> + return -EINVAL; >> + } >> + case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY: >> + return fxas2100x_hpf_set(data, val2); >> + default: >> + return -EINVAL; >> + } >> +} >> + >> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("12.5 25 50 100 200 400 >> 800"); >> + >> +static >> IIO_CONST_ATTR(in_anglvel_filter_low_pass_3db_frequency_available, >> + "0.32 0.16 0.08"); >> + >> +static >> IIO_CONST_ATTR(in_anglvel_filter_high_pass_3db_frequency_available, >> + "0.018750 0.009625 0.004875 0.002475"); >> + >> +static IIO_CONST_ATTR(in_anglvel_scale_available, >> + "125.0 62.5 31.25 15.625 7.8130"); > > 7.8125? (see table 35) > >> + >> +static struct attribute *fxas2100x_attributes[] = { >> + >> &iio_const_attr_sampling_frequency_available.dev_attr.attr, >> + >> &iio_const_attr_in_anglvel_filter_low_pass_3db_frequency_available.dev_attr.attr, >> + >> &iio_const_attr_in_anglvel_filter_high_pass_3db_frequency_available.dev_attr.attr, >> + &iio_const_attr_in_anglvel_scale_available.dev_attr.attr, >> + NULL, >> +}; >> + >> +static const struct attribute_group fxas2100x_attrs_group = { >> + .attrs = fxas2100x_attributes, >> +}; >> + >> +#define FXAS2100X_CHANNEL(_axis) { >> \ >> + .type = IIO_ANGL_VEL, >> \ >> + .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_LOW_PASS_FILTER_3DB_FREQUENCY) | >> \ >> + BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY) >> | \ >> + BIT(IIO_CHAN_INFO_SAMP_FREQ), >> \ >> + .scan_index = CHANNEL_SCAN_INDEX_##_axis, >> \ >> + .scan_type = { >> \ >> + .sign = 's', >> \ >> + .realbits = 16, >> \ >> + .storagebits = 16, >> \ >> + .endianness = IIO_BE, >> \ >> + }, >> \ >> +} >> + >> +static const struct iio_chan_spec fxas2100x_channels[] = { >> + { >> + .type = IIO_TEMP, >> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), >> + .scan_index = -1, >> + }, >> + FXAS2100X_CHANNEL(X), >> + FXAS2100X_CHANNEL(Y), >> + FXAS2100X_CHANNEL(Z), >> +}; >> + >> +static const struct iio_info fxas2100x_info = { >> + .attrs = &fxas2100x_attrs_group, >> + .read_raw = &fxas2100x_read_raw, >> + .write_raw = &fxas2100x_write_raw, >> +}; >> + >> +static irqreturn_t fxas2100x_trigger_handler(int irq, void *p) >> +{ >> + struct iio_poll_func *pf = p; >> + struct iio_dev *indio_dev = pf->indio_dev; >> + struct fxas2100x_data *data = iio_priv(indio_dev); >> + int ret; >> + >> + mutex_lock(&data->lock); >> + ret = regmap_bulk_read(data->regmap, >> FXAS2100X_REG_OUT_X_MSB, >> + data->buffer, CHANNEL_SCAN_MAX * >> 2); > > 2 == sizeof(s16) > >> + mutex_unlock(&data->lock); >> + if (ret < 0) >> + goto notify_done; >> + >> + iio_push_to_buffers_with_timestamp(indio_dev, >> data->buffer, >> + pf->timestamp); > > the buffer is too small; the timestamp needs to fit into the > buffer as > well > > 3*sizeof(s16) + /* padding */ sizeof(s16) + /* timestamp */ + > 4*sizeof(s16) > >> + >> +notify_done: >> + iio_trigger_notify_done(indio_dev->trig); >> + >> + return IRQ_HANDLED; >> +} >> + >> +static int fxas2100x_chip_init(struct fxas2100x_data *data) >> +{ >> + struct device *dev = regmap_get_device(data->regmap); >> + unsigned int chip_id; >> + int ret; >> + >> + ret = regmap_field_read(data->regmap_fields[F_WHO_AM_I], >> &chip_id); >> + if (ret < 0) >> + return ret; >> + >> + if (chip_id != FXAS21002_CHIP_ID_1 && chip_id != >> FXAS21002_CHIP_ID_2) { >> + dev_err(dev, "chip id %d is not supported\n", >> chip_id); > > maybe use %02x to output the chip id > >> + return -EINVAL; >> + } >> + >> + data->chip_id = chip_id; >> + >> + ret = fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY); >> + if (ret < 0) >> + return ret; >> + >> + /* Set ODR to 200HZ as default */ >> + ret = fxas2100x_odr_set(data, 200); >> + if (ret < 0) >> + dev_err(dev, "failed to set ODR: %d\n", ret); >> + >> + return ret; >> +} >> + >> +static int fxas2100x_data_rdy_trigger_set_state(struct >> iio_trigger *trig, >> + bool state) >> +{ >> + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); >> + struct fxas2100x_data *data = iio_priv(indio_dev); >> + >> + return >> regmap_field_write(data->regmap_fields[F_INT_EN_DRDY], >> !!state); > > no need for !!, state is bool > >> +} >> + >> +static const struct iio_trigger_ops fxas2100x_trigger_ops = { >> + .set_trigger_state = >> &fxas2100x_data_rdy_trigger_set_state, >> +}; >> + >> +static irqreturn_t fxas2100x_data_rdy_trig_poll(int irq, void >> *private) >> +{ >> + struct iio_dev *indio_dev = private; >> + struct fxas2100x_data *data = iio_priv(indio_dev); >> + >> + iio_trigger_poll(data->dready_trig); >> + >> + return IRQ_HANDLED; >> +} >> + >> +static int fxas2100x_trigger_probe(struct fxas2100x_data >> *data) >> +{ >> + struct device *dev = regmap_get_device(data->regmap); >> + struct iio_dev *indio_dev = dev_get_drvdata(dev); >> + int ret; >> + >> + if (!data->irq) >> + return 0; >> + >> + data->dready_trig = devm_iio_trigger_alloc(dev, >> "%s-dev%d", >> + >> indio_dev->name, >> + indio_dev->id); >> + if (!data->dready_trig) >> + return -ENOMEM; >> + >> + ret = devm_request_irq(dev, data->irq, >> fxas2100x_data_rdy_trig_poll, >> + IRQF_TRIGGER_RISING, >> "fxas2100x_data_ready", >> + data->dready_trig); >> + if (ret < 0) >> + return ret; >> + >> + data->dready_trig->dev.parent = dev; >> + data->dready_trig->ops = &fxas2100x_trigger_ops; >> + iio_trigger_set_drvdata(data->dready_trig, indio_dev); >> + >> + ret = devm_iio_trigger_register(dev, data->dready_trig); > > just > return devm_iio_trigger_register(...); > >> + if (ret) >> + return ret; >> + >> + return 0; >> +} >> + >> +int fxas2100x_core_probe(struct device *dev, struct regmap >> *regmap, int irq, >> + const char *name) >> +{ >> + struct fxas2100x_data *data; >> + struct iio_dev *indio_dev; >> + struct regmap_field *f; >> + int i; >> + int ret; >> + >> + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); >> + if (!indio_dev) >> + return -ENOMEM; >> + >> + data = iio_priv(indio_dev); >> + dev_set_drvdata(dev, indio_dev); >> + data->irq = irq; >> + data->regmap = regmap; >> + >> + for (i = 0; i < F_MAX_FIELDS; i++) { >> + f = devm_regmap_field_alloc(dev, data->regmap, >> + >> fxas2100x_reg_fields[i]); >> + if (IS_ERR(f)) { >> + dev_err(dev, "failed to alloc regmap field >> %d: %ld\n", >> + i, PTR_ERR(f)); >> + return PTR_ERR(f); >> + } >> + data->regmap_fields[i] = f; >> + } >> + >> + mutex_init(&data->lock); >> + >> + ret = fxas2100x_chip_init(data); >> + if (ret < 0) >> + return ret; >> + >> + indio_dev->dev.parent = dev; >> + indio_dev->channels = fxas2100x_channels; >> + indio_dev->num_channels = ARRAY_SIZE(fxas2100x_channels); >> + indio_dev->name = name; >> + indio_dev->modes = INDIO_DIRECT_MODE; >> + indio_dev->info = &fxas2100x_info; >> + >> + ret = fxas2100x_trigger_probe(data); >> + if (ret < 0) >> + return ret; >> + >> + ret = devm_iio_triggered_buffer_setup(dev, indio_dev, >> + >> iio_pollfunc_store_time, >> + >> fxas2100x_trigger_handler, NULL); >> + if (ret < 0) >> + return ret; >> + >> + ret = pm_runtime_set_active(dev); >> + if (ret) >> + return ret; >> + >> + pm_runtime_enable(dev); >> + pm_runtime_set_autosuspend_delay(dev, 2000); >> + pm_runtime_use_autosuspend(dev); >> + >> + ret = devm_iio_device_register(dev, indio_dev); >> + if (ret < 0) { >> + dev_err(dev, "unable to register iio device: >> %d\n", ret); > > this error message is rather pointless, the user will find out > regardless :) > >> + return ret; >> + } >> + >> + return 0; >> +} >> +EXPORT_SYMBOL_GPL(fxas2100x_core_probe); >> + >> +void fxas2100x_core_remove(struct device *dev) >> +{ >> + struct iio_dev *indio_dev = dev_get_drvdata(dev); >> + struct fxas2100x_data *data = iio_priv(indio_dev); >> + >> + pm_runtime_disable(dev); >> + pm_runtime_set_suspended(dev); >> + pm_runtime_put_noidle(dev); >> + >> + fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY); >> +} >> +EXPORT_SYMBOL_GPL(fxas2100x_core_remove); >> + >> +#ifdef CONFIG_PM_SLEEP >> +static int fxas2100x_suspend(struct device *dev) >> +{ >> + struct iio_dev *indio_dev = dev_get_drvdata(dev); >> + struct fxas2100x_data *data = iio_priv(indio_dev); >> + >> + fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY); >> + >> + return 0; >> +} >> + >> +static int fxas2100x_resume(struct device *dev) >> +{ >> + struct iio_dev *indio_dev = dev_get_drvdata(dev); >> + struct fxas2100x_data *data = iio_priv(indio_dev); >> + >> + fxas2100x_mode_set(data, data->prev_mode); >> + >> + return 0; >> +} >> +#endif >> + >> +#ifdef CONFIG_PM >> +static int fxas2100x_runtime_suspend(struct device *dev) >> +{ >> + struct iio_dev *indio_dev = dev_get_drvdata(dev); >> + struct fxas2100x_data *data = iio_priv(indio_dev); >> + int ret; >> + >> + ret = fxas2100x_mode_set(data, FXAS2100X_MODE_READY); >> + if (ret < 0) >> + return -EAGAIN; >> + >> + return 0; >> +} >> + >> +static int fxas2100x_runtime_resume(struct device *dev) >> +{ >> + struct iio_dev *indio_dev = dev_get_drvdata(dev); >> + struct fxas2100x_data *data = iio_priv(indio_dev); >> + int ret; >> + >> + ret = fxas2100x_mode_set(data, FXAS2100X_MODE_ACTIVE); >> + if (ret < 0) >> + return -EAGAIN; >> + >> + return 0; >> +} >> +#endif >> + >> +const struct dev_pm_ops fxas2100x_pm_ops = { >> + SET_SYSTEM_SLEEP_PM_OPS(fxas2100x_suspend, >> fxas2100x_resume) >> + SET_RUNTIME_PM_OPS(fxas2100x_runtime_suspend, >> + fxas2100x_runtime_resume, NULL) >> +}; >> +EXPORT_SYMBOL_GPL(fxas2100x_pm_ops); >> + >> +MODULE_AUTHOR("Rui Miguel Silva "); >> +MODULE_LICENSE("GPL v2"); >> +MODULE_DESCRIPTION("FXAS2100X Gyro driver"); >>