/* $License: Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. $ */ /** * @addtogroup ACCELDL * @brief Accelerometer setup and handling methods for Kionix KXTF9. * * @{ * @file kxtf9.c * @brief Accelerometer setup and handling methods for Kionix KXTF9. */ /* -------------------------------------------------------------------------- */ #undef MPL_LOG_NDEBUG #define MPL_LOG_NDEBUG 1 #ifdef __KERNEL__ #include #include #include #include #include #include #include #include "mpu-dev.h" #else #include "mlos.h" #endif #include #include #include "mlsl.h" #include "mldl_cfg.h" #undef MPL_LOG_TAG #define MPL_LOG_TAG "MPL-acc" #define KXTF9_XOUT_HPF_L (0x00) /* 0000 0000 */ #define KXTF9_XOUT_HPF_H (0x01) /* 0000 0001 */ #define KXTF9_YOUT_HPF_L (0x02) /* 0000 0010 */ #define KXTF9_YOUT_HPF_H (0x03) /* 0000 0011 */ #define KXTF9_ZOUT_HPF_L (0x04) /* 0001 0100 */ #define KXTF9_ZOUT_HPF_H (0x05) /* 0001 0101 */ #define KXTF9_XOUT_L (0x06) /* 0000 0110 */ #define KXTF9_XOUT_H (0x07) /* 0000 0111 */ #define KXTF9_YOUT_L (0x08) /* 0000 1000 */ #define KXTF9_YOUT_H (0x09) /* 0000 1001 */ #define KXTF9_ZOUT_L (0x0A) /* 0001 1010 */ #define KXTF9_ZOUT_H (0x0B) /* 0001 1011 */ #define KXTF9_ST_RESP (0x0C) /* 0000 1100 */ #define KXTF9_WHO_AM_I (0x0F) /* 0000 1111 */ #define KXTF9_TILT_POS_CUR (0x10) /* 0001 0000 */ #define KXTF9_TILT_POS_PRE (0x11) /* 0001 0001 */ #define KXTF9_INT_SRC_REG1 (0x15) /* 0001 0101 */ #define KXTF9_INT_SRC_REG2 (0x16) /* 0001 0110 */ #define KXTF9_STATUS_REG (0x18) /* 0001 1000 */ #define KXTF9_INT_REL (0x1A) /* 0001 1010 */ #define KXTF9_CTRL_REG1 (0x1B) /* 0001 1011 */ #define KXTF9_CTRL_REG2 (0x1C) /* 0001 1100 */ #define KXTF9_CTRL_REG3 (0x1D) /* 0001 1101 */ #define KXTF9_INT_CTRL_REG1 (0x1E) /* 0001 1110 */ #define KXTF9_INT_CTRL_REG2 (0x1F) /* 0001 1111 */ #define KXTF9_INT_CTRL_REG3 (0x20) /* 0010 0000 */ #define KXTF9_DATA_CTRL_REG (0x21) /* 0010 0001 */ #define KXTF9_TILT_TIMER (0x28) /* 0010 1000 */ #define KXTF9_WUF_TIMER (0x29) /* 0010 1001 */ #define KXTF9_TDT_TIMER (0x2B) /* 0010 1011 */ #define KXTF9_TDT_H_THRESH (0x2C) /* 0010 1100 */ #define KXTF9_TDT_L_THRESH (0x2D) /* 0010 1101 */ #define KXTF9_TDT_TAP_TIMER (0x2E) /* 0010 1110 */ #define KXTF9_TDT_TOTAL_TIMER (0x2F) /* 0010 1111 */ #define KXTF9_TDT_LATENCY_TIMER (0x30) /* 0011 0000 */ #define KXTF9_TDT_WINDOW_TIMER (0x31) /* 0011 0001 */ #define KXTF9_WUF_THRESH (0x5A) /* 0101 1010 */ #define KXTF9_TILT_ANGLE (0x5C) /* 0101 1100 */ #define KXTF9_HYST_SET (0x5F) /* 0101 1111 */ #define KXTF9_MAX_DUR (0xFF) #define KXTF9_MAX_THS (0xFF) #define KXTF9_THS_COUNTS_P_G (32) /* -------------------------------------------------------------------------- */ struct kxtf9_config { unsigned int odr; /* Output data rate mHz */ unsigned int fsr; /* full scale range mg */ unsigned int ths; /* Motion no-motion thseshold mg */ unsigned int dur; /* Motion no-motion duration ms */ unsigned int irq_type; unsigned char reg_ths; unsigned char reg_dur; unsigned char reg_odr; unsigned char reg_int_cfg1; unsigned char reg_int_cfg2; unsigned char ctrl_reg1; }; struct kxtf9_private_data { struct kxtf9_config suspend; struct kxtf9_config resume; }; static int kxtf9_set_ths(void *mlsl_handle, struct ext_slave_platform_data *pdata, struct kxtf9_config *config, int apply, long ths) { int result = INV_SUCCESS; if ((ths * KXTF9_THS_COUNTS_P_G / 1000) > KXTF9_MAX_THS) ths = (KXTF9_MAX_THS * 1000) / KXTF9_THS_COUNTS_P_G; if (ths < 0) ths = 0; config->ths = ths; config->reg_ths = (unsigned char) ((long)(ths * KXTF9_THS_COUNTS_P_G) / 1000); MPL_LOGV("THS: %d, 0x%02x\n", config->ths, (int)config->reg_ths); if (apply) result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_WUF_THRESH, config->reg_ths); return result; } static int kxtf9_set_dur(void *mlsl_handle, struct ext_slave_platform_data *pdata, struct kxtf9_config *config, int apply, long dur) { int result = INV_SUCCESS; long reg_dur = (dur * config->odr) / 1000000; config->dur = dur; if (reg_dur > KXTF9_MAX_DUR) reg_dur = KXTF9_MAX_DUR; config->reg_dur = (unsigned char)reg_dur; MPL_LOGV("DUR: %d, 0x%02x\n", config->dur, (int)config->reg_dur); if (apply) result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_WUF_TIMER, (unsigned char)reg_dur); return result; } /** * Sets the IRQ to fire when one of the IRQ events occur. Threshold and * duration will not be used uless the type is MOT or NMOT. * * @param config configuration to apply to, suspend or resume * @param irq_type The type of IRQ. Valid values are * - MPU_SLAVE_IRQ_TYPE_NONE * - MPU_SLAVE_IRQ_TYPE_MOTION * - MPU_SLAVE_IRQ_TYPE_DATA_READY */ static int kxtf9_set_irq(void *mlsl_handle, struct ext_slave_platform_data *pdata, struct kxtf9_config *config, int apply, long irq_type) { int result = INV_SUCCESS; struct kxtf9_private_data *private_data = pdata->private_data; config->irq_type = (unsigned char)irq_type; config->ctrl_reg1 &= ~0x22; if (irq_type == MPU_SLAVE_IRQ_TYPE_DATA_READY) { config->ctrl_reg1 |= 0x20; config->reg_int_cfg1 = 0x38; config->reg_int_cfg2 = 0x00; } else if (irq_type == MPU_SLAVE_IRQ_TYPE_MOTION) { config->ctrl_reg1 |= 0x02; if ((unsigned long)config == (unsigned long)&private_data->suspend) config->reg_int_cfg1 = 0x34; else config->reg_int_cfg1 = 0x24; config->reg_int_cfg2 = 0xE0; } else { config->reg_int_cfg1 = 0x00; config->reg_int_cfg2 = 0x00; } if (apply) { /* Must clear bit 7 before writing new configuration */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG1, 0x40); result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_INT_CTRL_REG1, config->reg_int_cfg1); result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_INT_CTRL_REG2, config->reg_int_cfg2); result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG1, config->ctrl_reg1); } MPL_LOGV("CTRL_REG1: %lx, INT_CFG1: %lx, INT_CFG2: %lx\n", (unsigned long)config->ctrl_reg1, (unsigned long)config->reg_int_cfg1, (unsigned long)config->reg_int_cfg2); return result; } /** * Set the Output data rate for the particular configuration * * @param config Config to modify with new ODR * @param odr Output data rate in units of 1/1000Hz */ static int kxtf9_set_odr(void *mlsl_handle, struct ext_slave_platform_data *pdata, struct kxtf9_config *config, int apply, long odr) { unsigned char bits; int result = INV_SUCCESS; /* Data sheet says there is 12.5 hz, but that seems to produce a single * correct data value, thus we remove it from the table */ if (odr > 400000) { config->odr = 800000; bits = 0x06; } else if (odr > 200000) { config->odr = 400000; bits = 0x05; } else if (odr > 100000) { config->odr = 200000; bits = 0x04; } else if (odr > 50000) { config->odr = 100000; bits = 0x03; } else if (odr > 25000) { config->odr = 50000; bits = 0x02; } else if (odr != 0) { config->odr = 25000; bits = 0x01; } else { config->odr = 0; bits = 0; } if (odr != 0) config->ctrl_reg1 |= 0x80; else config->ctrl_reg1 &= ~0x80; config->reg_odr = bits; kxtf9_set_dur(mlsl_handle, pdata, config, apply, config->dur); MPL_LOGV("ODR: %d, 0x%02x\n", config->odr, (int)config->ctrl_reg1); if (apply) { result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_DATA_CTRL_REG, config->reg_odr); result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG1, 0x40); result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG1, config->ctrl_reg1); } return result; } /** * Set the full scale range of the accels * * @param config pointer to configuration * @param fsr requested full scale range */ static int kxtf9_set_fsr(void *mlsl_handle, struct ext_slave_platform_data *pdata, struct kxtf9_config *config, int apply, long fsr) { int result = INV_SUCCESS; config->ctrl_reg1 = (config->ctrl_reg1 & 0xE7); if (fsr <= 2000) { config->fsr = 2000; config->ctrl_reg1 |= 0x00; } else if (fsr <= 4000) { config->fsr = 4000; config->ctrl_reg1 |= 0x08; } else { config->fsr = 8000; config->ctrl_reg1 |= 0x10; } MPL_LOGV("FSR: %d\n", config->fsr); if (apply) { /* Must clear bit 7 before writing new configuration */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG1, 0x40); result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG1, config->ctrl_reg1); } return result; } static int kxtf9_suspend(void *mlsl_handle, struct ext_slave_descr *slave, struct ext_slave_platform_data *pdata) { int result; unsigned char data; struct kxtf9_private_data *private_data = pdata->private_data; /* Wake up */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG1, 0x40); if (result) { LOG_RESULT_LOCATION(result); return result; } /* INT_CTRL_REG1: */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_INT_CTRL_REG1, private_data->suspend.reg_int_cfg1); if (result) { LOG_RESULT_LOCATION(result); return result; } /* WUF_THRESH: */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_WUF_THRESH, private_data->suspend.reg_ths); if (result) { LOG_RESULT_LOCATION(result); return result; } /* DATA_CTRL_REG */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_DATA_CTRL_REG, private_data->suspend.reg_odr); if (result) { LOG_RESULT_LOCATION(result); return result; } /* WUF_TIMER */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_WUF_TIMER, private_data->suspend.reg_dur); if (result) { LOG_RESULT_LOCATION(result); return result; } /* Normal operation */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG1, private_data->suspend.ctrl_reg1); if (result) { LOG_RESULT_LOCATION(result); return result; } result = inv_serial_read(mlsl_handle, pdata->address, KXTF9_INT_REL, 1, &data); if (result) { LOG_RESULT_LOCATION(result); return result; } return result; } /* full scale setting - register and mask */ #define ACCEL_KIONIX_CTRL_REG (0x1b) #define ACCEL_KIONIX_CTRL_MASK (0x18) static int kxtf9_resume(void *mlsl_handle, struct ext_slave_descr *slave, struct ext_slave_platform_data *pdata) { int result = INV_SUCCESS; unsigned char data; struct kxtf9_private_data *private_data = pdata->private_data; /* Wake up */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG1, 0x40); if (result) { LOG_RESULT_LOCATION(result); return result; } /* INT_CTRL_REG1: */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_INT_CTRL_REG1, private_data->resume.reg_int_cfg1); if (result) { LOG_RESULT_LOCATION(result); return result; } /* WUF_THRESH: */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_WUF_THRESH, private_data->resume.reg_ths); if (result) { LOG_RESULT_LOCATION(result); return result; } /* DATA_CTRL_REG */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_DATA_CTRL_REG, private_data->resume.reg_odr); if (result) { LOG_RESULT_LOCATION(result); return result; } /* WUF_TIMER */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_WUF_TIMER, private_data->resume.reg_dur); if (result) { LOG_RESULT_LOCATION(result); return result; } /* Normal operation */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG1, private_data->resume.ctrl_reg1); if (result) { LOG_RESULT_LOCATION(result); return result; } result = inv_serial_read(mlsl_handle, pdata->address, KXTF9_INT_REL, 1, &data); if (result) { LOG_RESULT_LOCATION(result); return result; } return INV_SUCCESS; } #ifdef UMPL static struct kxtf9_private_data kxtf9_private_data_instance; #endif static int kxtf9_init(void *mlsl_handle, struct ext_slave_descr *slave, struct ext_slave_platform_data *pdata) { struct kxtf9_private_data *private_data; int result = INV_SUCCESS; #ifndef UMPL private_data = (struct kxtf9_private_data *) kzalloc(sizeof(struct kxtf9_private_data), GFP_KERNEL); #else private_data = &kxtf9_private_data_instance; #endif if (!private_data) return INV_ERROR_MEMORY_EXAUSTED; /* RAM reset */ /* Fastest Reset */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG1, 0x40); if (result) { LOG_RESULT_LOCATION(result); return result; } /* Fastest Reset */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_DATA_CTRL_REG, 0x36); if (result) { LOG_RESULT_LOCATION(result); return result; } /* Reset */ result = inv_serial_single_write(mlsl_handle, pdata->address, KXTF9_CTRL_REG3, 0xcd); if (result) { LOG_RESULT_LOCATION(result); return result; } msleep(2); pdata->private_data = private_data; private_data->resume.ctrl_reg1 = 0xC0; private_data->suspend.ctrl_reg1 = 0x40; result = kxtf9_set_dur(mlsl_handle, pdata, &private_data->suspend, false, 1000); if (result) { LOG_RESULT_LOCATION(result); return result; } result = kxtf9_set_dur(mlsl_handle, pdata, &private_data->resume, false, 2540); if (result) { LOG_RESULT_LOCATION(result); return result; } result = kxtf9_set_odr(mlsl_handle, pdata, &private_data->suspend, false, 50000); if (result) { LOG_RESULT_LOCATION(result); return result; } result = kxtf9_set_odr(mlsl_handle, pdata, &private_data->resume, false, 200000); result = kxtf9_set_fsr(mlsl_handle, pdata, &private_data->suspend, false, 2000); if (result) { LOG_RESULT_LOCATION(result); return result; } result = kxtf9_set_fsr(mlsl_handle, pdata, &private_data->resume, false, 2000); if (result) { LOG_RESULT_LOCATION(result); return result; } result = kxtf9_set_ths(mlsl_handle, pdata, &private_data->suspend, false, 80); if (result) { LOG_RESULT_LOCATION(result); return result; } result = kxtf9_set_ths(mlsl_handle, pdata, &private_data->resume, false, 40); if (result) { LOG_RESULT_LOCATION(result); return result; } result = kxtf9_set_irq(mlsl_handle, pdata, &private_data->suspend, false, MPU_SLAVE_IRQ_TYPE_NONE); if (result) { LOG_RESULT_LOCATION(result); return result; } result = kxtf9_set_irq(mlsl_handle, pdata, &private_data->resume, false, MPU_SLAVE_IRQ_TYPE_NONE); if (result) { LOG_RESULT_LOCATION(result); return result; } return result; } static int kxtf9_exit(void *mlsl_handle, struct ext_slave_descr *slave, struct ext_slave_platform_data *pdata) { #ifndef UMPL kfree(pdata->private_data); #endif return INV_SUCCESS; } static int kxtf9_config(void *mlsl_handle, struct ext_slave_descr *slave, struct ext_slave_platform_data *pdata, struct ext_slave_config *data) { struct kxtf9_private_data *private_data = pdata->private_data; if (!data->data) return INV_ERROR_INVALID_PARAMETER; switch (data->key) { case MPU_SLAVE_CONFIG_ODR_SUSPEND: return kxtf9_set_odr(mlsl_handle, pdata, &private_data->suspend, data->apply, *((long *)data->data)); case MPU_SLAVE_CONFIG_ODR_RESUME: return kxtf9_set_odr(mlsl_handle, pdata, &private_data->resume, data->apply, *((long *)data->data)); case MPU_SLAVE_CONFIG_FSR_SUSPEND: return kxtf9_set_fsr(mlsl_handle, pdata, &private_data->suspend, data->apply, *((long *)data->data)); case MPU_SLAVE_CONFIG_FSR_RESUME: return kxtf9_set_fsr(mlsl_handle, pdata, &private_data->resume, data->apply, *((long *)data->data)); case MPU_SLAVE_CONFIG_MOT_THS: return kxtf9_set_ths(mlsl_handle, pdata, &private_data->suspend, data->apply, *((long *)data->data)); case MPU_SLAVE_CONFIG_NMOT_THS: return kxtf9_set_ths(mlsl_handle, pdata, &private_data->resume, data->apply, *((long *)data->data)); case MPU_SLAVE_CONFIG_MOT_DUR: return kxtf9_set_dur(mlsl_handle, pdata, &private_data->suspend, data->apply, *((long *)data->data)); case MPU_SLAVE_CONFIG_NMOT_DUR: return kxtf9_set_dur(mlsl_handle, pdata, &private_data->resume, data->apply, *((long *)data->data)); case MPU_SLAVE_CONFIG_IRQ_SUSPEND: return kxtf9_set_irq(mlsl_handle, pdata, &private_data->suspend, data->apply, *((long *)data->data)); case MPU_SLAVE_CONFIG_IRQ_RESUME: return kxtf9_set_irq(mlsl_handle, pdata, &private_data->resume, data->apply, *((long *)data->data)); default: return INV_ERROR_FEATURE_NOT_IMPLEMENTED; }; return INV_SUCCESS; } static int kxtf9_get_config(void *mlsl_handle, struct ext_slave_descr *slave, struct ext_slave_platform_data *pdata, struct ext_slave_config *data) { struct kxtf9_private_data *private_data = pdata->private_data; if (!data->data) return INV_ERROR_INVALID_PARAMETER; switch (data->key) { case MPU_SLAVE_CONFIG_ODR_SUSPEND: (*(unsigned long *)data->data) = (unsigned long)private_data->suspend.odr; break; case MPU_SLAVE_CONFIG_ODR_RESUME: (*(unsigned long *)data->data) = (unsigned long)private_data->resume.odr; break; case MPU_SLAVE_CONFIG_FSR_SUSPEND: (*(unsigned long *)data->data) = (unsigned long)private_data->suspend.fsr; break; case MPU_SLAVE_CONFIG_FSR_RESUME: (*(unsigned long *)data->data) = (unsigned long)private_data->resume.fsr; break; case MPU_SLAVE_CONFIG_MOT_THS: (*(unsigned long *)data->data) = (unsigned long)private_data->suspend.ths; break; case MPU_SLAVE_CONFIG_NMOT_THS: (*(unsigned long *)data->data) = (unsigned long)private_data->resume.ths; break; case MPU_SLAVE_CONFIG_MOT_DUR: (*(unsigned long *)data->data) = (unsigned long)private_data->suspend.dur; break; case MPU_SLAVE_CONFIG_NMOT_DUR: (*(unsigned long *)data->data) = (unsigned long)private_data->resume.dur; break; case MPU_SLAVE_CONFIG_IRQ_SUSPEND: (*(unsigned long *)data->data) = (unsigned long)private_data->suspend.irq_type; break; case MPU_SLAVE_CONFIG_IRQ_RESUME: (*(unsigned long *)data->data) = (unsigned long)private_data->resume.irq_type; break; default: return INV_ERROR_FEATURE_NOT_IMPLEMENTED; }; return INV_SUCCESS; } static int kxtf9_read(void *mlsl_handle, struct ext_slave_descr *slave, struct ext_slave_platform_data *pdata, unsigned char *data) { int result; unsigned char reg; result = inv_serial_read(mlsl_handle, pdata->address, KXTF9_INT_SRC_REG2, 1, ®); if (result) { LOG_RESULT_LOCATION(result); return result; } if (!(reg & 0x10)) return INV_ERROR_ACCEL_DATA_NOT_READY; result = inv_serial_read(mlsl_handle, pdata->address, slave->read_reg, slave->read_len, data); if (result) { LOG_RESULT_LOCATION(result); return result; } return result; } static struct ext_slave_descr kxtf9_descr = { #ifdef __C99_DESIGNATED_INITIALIZER .init = kxtf9_init, .exit = kxtf9_exit, .suspend = kxtf9_suspend, .resume = kxtf9_resume, .read = kxtf9_read, .config = kxtf9_config, .get_config = kxtf9_get_config, .name = "kxtf9", .type = EXT_SLAVE_TYPE_ACCEL, .id = ACCEL_ID_KXTF9, .read_reg = 0x06, .read_len = 6, .endian = EXT_SLAVE_LITTLE_ENDIAN, .range = {2, 0}, .trigger = NULL, #else /*.init = */ kxtf9_init, /*.exit = */ kxtf9_exit, /*.suspend = */ kxtf9_suspend, /*.resume = */ kxtf9_resume, /*.read = */ kxtf9_read, /*.config = */ kxtf9_config, /*.get_config = */ kxtf9_get_config, /*.name = */ "kxtf9", /*.type = */ EXT_SLAVE_TYPE_ACCEL, /*.id = */ ACCEL_ID_KXTF9, /*.read_reg = */ 0x06, /*.read_len = */ 6, /*.endian = */ EXT_SLAVE_LITTLE_ENDIAN, /*.range = */ {2, 0}, /*.trigger = */ NULL, #endif }; #ifdef __KERNEL__ static #endif struct ext_slave_descr *kxtf9_get_slave_descr(void) { return &kxtf9_descr; } /* -------------------------------------------------------------------------- */ #ifdef __KERNEL__ struct kxtf9_mod_private_data { struct i2c_client *client; struct ext_slave_platform_data *pdata; }; static unsigned short normal_i2c[] = { I2C_CLIENT_END }; static int kxtf9_mod_probe(struct i2c_client *client, const struct i2c_device_id *devid) { struct ext_slave_platform_data *pdata; struct kxtf9_mod_private_data *private_data; int result = 0; dev_info(&client->adapter->dev, "%s: %s\n", __func__, devid->name); if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) { result = -ENODEV; goto out_no_free; } pdata = client->dev.platform_data; if (!pdata) { dev_err(&client->adapter->dev, "Missing platform data for slave %s\n", devid->name); result = -EFAULT; goto out_no_free; } private_data = kzalloc(sizeof(*private_data), GFP_KERNEL); if (!private_data) { result = -ENOMEM; goto out_no_free; } i2c_set_clientdata(client, private_data); private_data->client = client; private_data->pdata = pdata; result = inv_mpu_register_slave(THIS_MODULE, client, pdata, kxtf9_get_slave_descr); if (result) { dev_err(&client->adapter->dev, "Slave registration failed: %s, %d\n", devid->name, result); goto out_free_memory; } return result; out_free_memory: kfree(private_data); out_no_free: dev_err(&client->adapter->dev, "%s failed %d\n", __func__, result); return result; } static int kxtf9_mod_remove(struct i2c_client *client) { struct kxtf9_mod_private_data *private_data = i2c_get_clientdata(client); dev_dbg(&client->adapter->dev, "%s\n", __func__); inv_mpu_unregister_slave(client, private_data->pdata, kxtf9_get_slave_descr); kfree(private_data); return 0; } static const struct i2c_device_id kxtf9_mod_id[] = { { "kxtf9", ACCEL_ID_KXTF9 }, {} }; MODULE_DEVICE_TABLE(i2c, kxtf9_mod_id); static struct i2c_driver kxtf9_mod_driver = { .class = I2C_CLASS_HWMON, .probe = kxtf9_mod_probe, .remove = kxtf9_mod_remove, .id_table = kxtf9_mod_id, .driver = { .owner = THIS_MODULE, .name = "kxtf9_mod", }, .address_list = normal_i2c, }; static int __init kxtf9_mod_init(void) { int res = i2c_add_driver(&kxtf9_mod_driver); pr_info("%s: Probe name %s\n", __func__, "kxtf9_mod"); if (res) pr_err("%s failed\n", __func__); return res; } static void __exit kxtf9_mod_exit(void) { pr_info("%s\n", __func__); i2c_del_driver(&kxtf9_mod_driver); } module_init(kxtf9_mod_init); module_exit(kxtf9_mod_exit); MODULE_AUTHOR("Invensense Corporation"); MODULE_DESCRIPTION("Driver to integrate KXTF9 sensor with the MPU"); MODULE_LICENSE("GPL"); MODULE_ALIAS("kxtf9_mod"); #endif /** * @} */