Re: [v2 09/10] iio: imu: add BNO055 serdev driver

Andrea Merello
2021-11-09T15:34:04Z

Few inline comments. Ok for all the rest.

Il giorno gio 28 ott 2021 alle ore 14:27 Jonathan Cameron
<jic23@kernel.org> ha scritto:
>
> On Thu, 28 Oct 2021 12:18:39 +0200
> Andrea Merello <andrea.merello@gmail.com> wrote:
>
> > This path adds a serdev driver for communicating to a BNO055 IMU via
> > serial bus, and it enables the BNO055 core driver to work in this
> > scenario.
> >
> > Signed-off-by: Andrea Merello <andrea.merello@iit.it>
>
> Hi Andrea,
>
> Some comments inline. Note I'm not that familiar with the serial_dev interface
> so would definitely appreciate input from others on that part.
>
> Jonathan
> > ---
> > drivers/iio/imu/bno055/Kconfig | 5 +
> > drivers/iio/imu/bno055/Makefile | 1 +
> > drivers/iio/imu/bno055/bno055_sl.c | 568 +++++++++++++++++++++++++++++
> > 3 files changed, 574 insertions(+)
> > create mode 100644 drivers/iio/imu/bno055/bno055_sl.c
> >
> > diff --git a/drivers/iio/imu/bno055/Kconfig b/drivers/iio/imu/bno055/Kconfig
> > index d197310661af..941e43f0368d 100644
> > --- a/drivers/iio/imu/bno055/Kconfig
> > +++ b/drivers/iio/imu/bno055/Kconfig
> > @@ -2,3 +2,8 @@
> >
> > config BOSH_BNO055_IIO
> > tristate
> > +
> > +config BOSH_BNO055_SERIAL
> > + tristate "Bosh BNO055 attached via serial bus"
> > + depends on SERIAL_DEV_BUS
> > + select BOSH_BNO055_IIO
> > diff --git a/drivers/iio/imu/bno055/Makefile b/drivers/iio/imu/bno055/Makefile
> > index c55741d0e96f..7285ade2f4b9 100644
> > --- a/drivers/iio/imu/bno055/Makefile
> > +++ b/drivers/iio/imu/bno055/Makefile
> > @@ -1,3 +1,4 @@
> > # SPDX-License-Identifier: GPL-2.0
> >
> > obj-$(CONFIG_BOSH_BNO055_IIO) += bno055.o
> > +obj-$(CONFIG_BOSH_BNO055_SERIAL) += bno055_sl.o
> > diff --git a/drivers/iio/imu/bno055/bno055_sl.c b/drivers/iio/imu/bno055/bno055_sl.c
> > new file mode 100644
> > index 000000000000..1d1410fdaa7c
> > --- /dev/null
> > +++ b/drivers/iio/imu/bno055/bno055_sl.c
> > @@ -0,0 +1,568 @@
> > +// SPDX-License-Identifier: GPL-2.0
> > +/*
> > + * Serial line interface for Bosh BNO055 IMU (via serdev).
> > + * This file implements serial communication up to the register read/write
> > + * level.
> > + *
> > + * Copyright (C) 2021 Istituto Italiano di Tecnologia
> > + * Electronic Design Laboratory
> > + * Written by Andrea Merello <andrea.merello@iit.it>
> > + *
> > + * This driver is besed on
> > + * Plantower PMS7003 particulate matter sensor driver
> > + * Which is
> > + * Copyright (c) Tomasz Duszynski <tduszyns@gmail.com>
> > + */
> > +
> > +#include <linux/completion.h>
> > +#include <linux/device.h>
> > +#include <linux/errno.h>
> > +#include <linux/jiffies.h>
> > +#include <linux/kernel.h>
> > +#include <linux/mod_devicetable.h>
> > +#include <linux/module.h>
> > +#include <linux/mutex.h>
> > +#include <linux/regmap.h>
> > +#include <linux/serdev.h>
> > +
> > +#include "bno055.h"
> > +
> > +/*
> > + * Register writes cmd have the following format
> > + * +------+------+-----+-----+----- ... ----+
> > + * | 0xAA | 0xOO | REG | LEN | payload[LEN] |
> > + * +------+------+-----+-----+----- ... ----+
> > + *
> > + * Register write responses have the following format
> > + * +------+----------+
> > + * | 0xEE | ERROCODE |
> > + * +------+----------+
> > + *
> > + * Register read have the following format
> > + * +------+------+-----+-----+
> > + * | 0xAA | 0xO1 | REG | LEN |
> > + * +------+------+-----+-----+
> > + *
> > + * Successful register read response have the following format
> > + * +------+-----+----- ... ----+
> > + * | 0xBB | LEN | payload[LEN] |
> > + * +------+-----+----- ... ----+
> > + *
> > + * Failed register read response have the following format
> > + * +------+--------+
> > + * | 0xEE | ERRCODE| (ERRCODE always > 1)
> > + * +------+--------+
> > + *
> > + * Error codes are
> > + * 01: OK
> > + * 02: read/write FAIL
> > + * 04: invalid address
> > + * 05: write on RO
> > + * 06: wrong start byte
> > + * 07: bus overrun
> > + * 08: len too high
> > + * 09: len too low
> > + * 10: bus RX byte timeout (timeout is 30mS)
> > + *
> > + *
> > + * **WORKAROUND ALERT**
> > + *
> > + * Serial communication seems very fragile: the BNO055 buffer seems to overflow
> > + * very easy; BNO055 seems able to sink few bytes, then it needs a brief pause.
> > + * On the other hand, it is also picky on timeout: if there is a pause > 30mS in
> > + * between two bytes then the transaction fails (IMU internal RX FSM resets).
> > + *
> > + * BMU055 has been seen also failing to process commands in case we send them
> > + * too close each other (or if it is somehow busy?)
> > + *
> > + * One idea would be to split data in chunks, and then wait 1-2mS between
> > + * chunks (we hope not to exceed 30mS delay for any reason - which should
> > + * be pretty a lot of time for us), and eventually retry in case the BNO055
> > + * gets upset for any reason. This seems to work in avoiding the overflow
> > + * errors, but indeed it seems slower than just perform a retry when an overflow
> > + * error occur.
> > + * In particular I saw these scenarios:
> > + * 1) If we send 2 bytes per time, then the IMU never(?) overflows.
> > + * 2) If we send 4 bytes per time (i.e. the full header), then the IMU could
> > + * overflow, but it seem to sink all 4 bytes, then it returns error.
> > + * 3) If we send more than 4 bytes, the IMU could overflow, and I saw it sending
> > + * error after 4 bytes are sent; we have troubles in synchronizing again,
> > + * because we are still sending data, and the IMU interprets it as the 1st
> > + * byte of a new command.
> > + *
> > + * So, we workaround all this in the following way:
> > + * In case of read we don't split the header but we rely on retries; This seems
> > + * convenient for data read (where we TX only the hdr).
> > + * For TX we split the transmission in 2-bytes chunks so that, we should not
> > + * only avoid case 2 (which is still manageable), but we also hopefully avoid
> > + * case 3, that would be by far worse.
> > + */
> > +
> > +/*
> > + * Read operation overhead:
> > + * 4 bytes req + 2byte resp hdr.
> > + * 6 bytes = 60 bit (considering 1start + 1stop bits).
> > + * 60/115200 = ~520uS.
> > + *
> > + * In 520uS we could read back about 34 bytes that means 3 samples, this means
> > + * that in case of scattered read in which the gap is 3 samples or less it is
> > + * still convenient to go for a burst.
> > + * We have to take into account also IMU response time - IMU seems to be often
> > + * reasonably quick to respond, but sometimes it seems to be in some "critical
> > + * section" in which it delays handling of serial protocol.
> > + * By experiment, it seems convenient to burst up to about 5/6-samples-long gap.
> > + */
> > +
> > +#define BNO055_SL_XFER_BURST_BREAK_THRESHOLD 6
> > +
> > +struct bno055_sl_priv {
> > + struct serdev_device *serdev;
> > + struct completion cmd_complete;
> > + enum {
> > + CMD_NONE,
> > + CMD_READ,
> > + CMD_WRITE,
> > + } expect_response;
> > + int expected_data_len;
> > + u8 *response_buf;
> > +
> > + /**
> > + * enum cmd_status - represent the status of a command sent to the HW.
> > + * @STATUS_OK: The command executed successfully.
> > + * @STATUS_FAIL: The command failed: HW responded with an error.
> > + * @STATUS_CRIT: The command failed: the serial communication failed.
> > + */
> > + enum {
> > + STATUS_OK = 0,
> > + STATUS_FAIL = 1,
> > + STATUS_CRIT = -1
> > + } cmd_status;
> > + struct mutex lock;
> > +
> > + /* Only accessed in behalf of RX callback context. No lock needed. */
>
> would "Only accessed in RX callback context. No lock needed." convey the same meaning?
>
> > + struct {
> > + enum {
> > + RX_IDLE,
> > + RX_START,
> > + RX_DATA
> > + } state;
> > + int databuf_count;
> > + int expected_len;
> > + int type;
> > + } rx;
> > +
> > + /* Never accessed in behalf of RX callback context. No lock needed */
> > + bool cmd_stale;
> > +};
> > +
> > +static int bno055_sl_send_chunk(struct bno055_sl_priv *priv, u8 *data, int len)
> > +{
> > + int ret;
> > +
> > + dev_dbg(&priv->serdev->dev, "send (len: %d): %*ph", len, len, data);
> > + ret = serdev_device_write(priv->serdev, data, len,
> > + msecs_to_jiffies(25));
> > + if (ret < 0)
> > + return ret;
> > +
> > + if (ret < len)
> > + return -EIO;
> > +
> > + return 0;
> > +}
> > +
> > +/*
> > + * Sends a read or write command.
> > + * 'data' can be NULL (used in read case). 'len' parameter is always valid; in
> > + * case 'data' is non-NULL then it must match 'data' size.
> > + */
> > +static int bno055_sl_do_send_cmd(struct bno055_sl_priv *priv,
> > + int read, int addr, int len, u8 *data)
>
> Read is a bool, so give it that type.
>
> > +{
> > + int ret;
> > + int chunk_len;
> > + u8 hdr[] = {0xAA, !!read, addr, len};
> > +
> > + if (read) {
> > + ret = bno055_sl_send_chunk(priv, hdr, 4);
> > + } else {
> > + ret = bno055_sl_send_chunk(priv, hdr, 2);
> > + if (ret)
> > + goto fail;
> > +
> > + usleep_range(2000, 3000);
> > + ret = bno055_sl_send_chunk(priv, hdr + 2, 2);
> > + }
> > + if (ret)
> > + goto fail;
> > +
> > + if (data) {
>
> I would flip this condition to reduce indent and make it easy to
> see we are done in the no 'data' case. Also, does this correspond in
> all cases to read? If so I would use that as the variable to check.
>
> if (!data)
> return 0;
>
> while (len) {
> ...
>
>
> > + while (len) {
> > + chunk_len = min(len, 2);
> > + usleep_range(2000, 3000);
> > + ret = bno055_sl_send_chunk(priv, data, chunk_len);
> > + if (ret)
> > + goto fail;
> > + data += chunk_len;
> > + len -= chunk_len;
> > + }
> > + }
> > +
> > + return 0;
> > +fail:
> > + /* waiting more than 30mS should clear the BNO055 internal state */
> > + usleep_range(40000, 50000);
> > + return ret;
> > +}
> > +
> > +static int bno_sl_send_cmd(struct bno055_sl_priv *priv,
> > + int read, int addr, int len, u8 *data)
>
> Read looks to be a bool to me not an integer.
>
> > +{
> > + const int retry_max = 5;
> > + int retry = retry_max;
> > + int ret = 0;
> > +
> > + /*
> > + * In case previous command was interrupted we still neet to wait it to
> > + * complete before we can issue new commands
> > + */
> > + if (priv->cmd_stale) {
> > + ret = wait_for_completion_interruptible_timeout(&priv->cmd_complete,
> > + msecs_to_jiffies(100));
> > + if (ret == -ERESTARTSYS)
> > + return -ERESTARTSYS;
> > +
> > + priv->cmd_stale = false;
> > + /* if serial protocol broke, bail out */
> > + if (priv->cmd_status == STATUS_CRIT)
> > + goto exit;
>
> return -EIO;
>
> > + }
> > +
> > + /*
> > + * Try to convince the IMU to cooperate.. as explained in the comments
> > + * at the top of this file, the IMU could also refuse the command (i.e.
> > + * it is not ready yet); retry in this case.
> > + */
> > + while (retry--) {
> > + mutex_lock(&priv->lock);
> > + priv->expect_response = read ? CMD_READ : CMD_WRITE;
> > + reinit_completion(&priv->cmd_complete);
> > + mutex_unlock(&priv->lock);
> > +
> > + if (retry != (retry_max - 1))
> > + dev_dbg(&priv->serdev->dev, "cmd retry: %d",
> > + retry_max - retry);
> > + ret = bno055_sl_do_send_cmd(priv, read, addr, len, data);
> > + if (ret)
> > + continue;
> > +
> > + ret = wait_for_completion_interruptible_timeout(&priv->cmd_complete,
> > + msecs_to_jiffies(100));
> > + if (ret == -ERESTARTSYS) {
> > + priv->cmd_stale = true;
> > + return -ERESTARTSYS;
> > + } else if (!ret) {
> > + ret = -ETIMEDOUT;
>
> return -ETIMEDOUT;
>
> > + break;
> > + }
> > + ret = 0;
> > +
> > + /*
> > + * Poll if the IMU returns error (i.e busy), break if the IMU
> > + * returns OK or if the serial communication broke
> > + */
> > + if (priv->cmd_status <= 0)
> I 'think' this is only place we can break out with status set to anything (with
> the suggested modifications above) so move the if statements from the error path
> here and drop the ret = 0 above.

Hum. Looks like it always break here. Probably it's correct but the
loop can be reduced just up to the "continue" or something like that.
Have to rework this.

>
> > + break;
> > + }
> > +
> > +exit:
> > + if (ret)
> > + return ret;
> > + if (priv->cmd_status == STATUS_CRIT)
> > + return -EIO;
> > + if (priv->cmd_status == STATUS_FAIL)
> > + return -EINVAL;
> > + return 0;
> > +}
> > +
> > +static int bno055_sl_write_reg(void *context, const void *data, size_t count)
> > +{
> > + int ret;
> > + int reg;
> > + u8 *write_data = (u8 *)data + 1;
>
> Given you dereference data as a u8 * in several places, perhaps a local
> variable to allow you to do it once.
>
> > + struct bno055_sl_priv *priv = context;
> > +
> > + if (count < 2) {
> > + dev_err(&priv->serdev->dev, "Invalid write count %zu", count);
> > + return -EINVAL;
> > + }
> > +
> > + reg = ((u8 *)data)[0];
> > + dev_dbg(&priv->serdev->dev, "wr reg 0x%x = 0x%x", reg, ((u8 *)data)[1]);
> > + ret = bno_sl_send_cmd(priv, 0, reg, count - 1, write_data);
> > +
> > + return ret;
>
> return bno_sl_send_cmd(...)
>
> > +}
> > +
> > +static int bno055_sl_read_reg(void *context,
> > + const void *reg, size_t reg_size,
> > + void *val, size_t val_size)
> > +{
> > + int ret;
> > + int reg_addr;
> > + struct bno055_sl_priv *priv = context;
> > +
> > + if (val_size > 128) {
> > + dev_err(&priv->serdev->dev, "Invalid read valsize %d",
> > + val_size);
> > + return -EINVAL;
> > + }
> > +
> > + reg_addr = ((u8 *)reg)[0];
> > + dev_dbg(&priv->serdev->dev, "rd reg 0x%x (len %d)", reg_addr, val_size);
> > + mutex_lock(&priv->lock);
> > + priv->expected_data_len = val_size;
> > + priv->response_buf = val;
> > + mutex_unlock(&priv->lock);
> > +
> > + ret = bno_sl_send_cmd(priv, 1, reg_addr, val_size, NULL);
> > +
> > + mutex_lock(&priv->lock);
> > + priv->response_buf = NULL;
> > + mutex_unlock(&priv->lock);
> > +
> > + return ret;
> > +}
> > +
> > +/*
> > + * Handler for received data; this is called from the reicever callback whenever
> > + * it got some packet from the serial bus. The status tell us whether the
> > + * packet is valid (i.e. header ok && received payload len consistent wrt the
> > + * header). It's now our responsability to check whether this is what we
> > + * expected, of whether we got some unexpected, yet valid, packet.
> > + */
> > +static void bno055_sl_handle_rx(struct bno055_sl_priv *priv, int status)
> > +{
> > + mutex_lock(&priv->lock);
> > + switch (priv->expect_response) {
> > + case CMD_NONE:
> > + dev_warn(&priv->serdev->dev, "received unexpected, yet valid, data from sensor");
> > + mutex_unlock(&priv->lock);
> > + return;
> > +
> > + case CMD_READ:
> > + priv->cmd_status = status;
> > + if (status == STATUS_OK &&
> > + priv->rx.databuf_count != priv->expected_data_len) {
> > + /*
> > + * If we got here, then the lower layer serial protocol
> > + * seems consistent with itself; if we got an unexpected
> > + * amount of data then signal it as a non critical error
> > + */
> > + priv->cmd_status = STATUS_FAIL;
> > + dev_warn(&priv->serdev->dev, "received an unexpected amount of, yet valid, data from sensor");
> > + }
> > + break;
> > +
> > + case CMD_WRITE:
> > + priv->cmd_status = status;
> > + break;
> > + }
> > +
> > + priv->expect_response = CMD_NONE;
> > + complete(&priv->cmd_complete);
> > + mutex_unlock(&priv->lock);
> > +}
> > +
> > +/*
> > + * Serdev receiver FSM. This tracks the serial communication and parse the
> > + * header. It pushes packets to bno055_sl_handle_rx(), eventually communicating
> > + * failures (i.e. malformed packets).
> > + * Ideally it doesn't know anything about upper layer (i.e. if this is the
> > + * packet we were really expecting), but since we copies the payload into the
> > + * receiver buffer (that is not valid when i.e. we don't expect data), we
> > + * snoop a bit in the upper layer..
> > + * Also, we assume to RX one pkt per time (i.e. the HW doesn't send anything
> > + * unless we require to AND we don't queue more than one request per time).
> > + */
> > +static int bno055_sl_receive_buf(struct serdev_device *serdev,
> > + const unsigned char *buf, size_t size)
> > +{
> > + int status;
> > + struct bno055_sl_priv *priv = serdev_device_get_drvdata(serdev);
> > + int _size = size;
>
> Why the local variable?

size variable gets modified, so we cache the value to return in case of success.

> > +
> > + if (size == 0)
> > + return 0;
> > +
> > + dev_dbg(&priv->serdev->dev, "recv (len %zu): %*ph ", size, size, buf);
> > + switch (priv->rx.state) {
> > + case RX_IDLE:
> > + /*
> > + * New packet.
> > + * Check for its 1st byte, that identifies the pkt type.
> > + */
> > + if (buf[0] != 0xEE && buf[0] != 0xBB) {
> > + dev_err(&priv->serdev->dev,
> > + "Invalid packet start %x", buf[0]);
> > + bno055_sl_handle_rx(priv, STATUS_CRIT);
> > + break;
> > + }
> > + priv->rx.type = buf[0];
> > + priv->rx.state = RX_START;
> > + size--;
> > + buf++;
> > + priv->rx.databuf_count = 0;
> > + fallthrough;
> > +
> > + case RX_START:
> > + /*
> > + * Packet RX in progress, we expect either 1-byte len or 1-byte
> > + * status depending by the packet type.
> > + */
> > + if (size == 0)
> > + break;
> > +
> > + if (priv->rx.type == 0xEE) {
> > + if (size > 1) {
> > + dev_err(&priv->serdev->dev, "EE pkt. Extra data received");
> > + status = STATUS_CRIT;
> > +
> > + } else {
> > + status = (buf[0] == 1) ? STATUS_OK : STATUS_FAIL;
> > + }
> > + bno055_sl_handle_rx(priv, status);
> > + priv->rx.state = RX_IDLE;
> > + break;
> > +
> > + } else {
> > + /*priv->rx.type == 0xBB */
> > + priv->rx.state = RX_DATA;
> > + priv->rx.expected_len = buf[0];
> > + size--;
> > + buf++;
> > + }
> > + fallthrough;
> > +
> > + case RX_DATA:
> > + /* Header parsed; now receiving packet data payload */
> > + if (size == 0)
> > + break;
> > +
> > + if (priv->rx.databuf_count + size > priv->rx.expected_len) {
> > + /*
> > + * This is a inconsistency in serial protocol, we lost
> > + * sync and we don't know how to handle further data
> > + */
> > + dev_err(&priv->serdev->dev, "BB pkt. Extra data received");
> > + bno055_sl_handle_rx(priv, STATUS_CRIT);
> > + priv->rx.state = RX_IDLE;
> > + break;
> > + }
> > +
> > + mutex_lock(&priv->lock);
> > + /*
> > + * NULL e.g. when read cmd is stale or when no read cmd is
> > + * actually pending.
> > + */
> > + if (priv->response_buf &&
> > + /*
> > + * Snoop on the upper layer protocol stuff to make sure not
> > + * to write to an invalid memory. Apart for this, let's the
> > + * upper layer manage any inconsistency wrt expected data
> > + * len (as long as the serial protocol is consistent wrt
> > + * itself (i.e. response header is consistent with received
> > + * response len.
> > + */
> > + (priv->rx.databuf_count + size <= priv->expected_data_len))
> > + memcpy(priv->response_buf + priv->rx.databuf_count,
> > + buf, size);
> > + mutex_unlock(&priv->lock);
> > +
> > + priv->rx.databuf_count += size;
> > +
> > + /*
> > + * Reached expected len advertised by the IMU for the current
> > + * packet. Pass it to the upper layer (for us it is just valid).
> > + */
> > + if (priv->rx.databuf_count == priv->rx.expected_len) {
> > + bno055_sl_handle_rx(priv, STATUS_OK);
> > + priv->rx.state = RX_IDLE;
> > + }
> > + break;
> > + }
> > +
> > + return _size;
> > +}
> > +
> > +static const struct serdev_device_ops bno055_sl_serdev_ops = {
> > + .receive_buf = bno055_sl_receive_buf,
> > + .write_wakeup = serdev_device_write_wakeup,
> > +};
> > +
> > +static struct regmap_bus bno055_sl_regmap_bus = {
> > + .write = bno055_sl_write_reg,
> > + .read = bno055_sl_read_reg,
> > +};
> > +
> > +static int bno055_sl_probe(struct serdev_device *serdev)
> > +{
> > + struct bno055_sl_priv *priv;
> > + struct regmap *regmap;
> > + int ret;
> > +
> > + priv = devm_kzalloc(&serdev->dev, sizeof(*priv), GFP_KERNEL);
> > + if (!priv)
> > + return -ENOMEM;
> > +
> > + serdev_device_set_drvdata(serdev, priv);
> > + priv->serdev = serdev;
> > + mutex_init(&priv->lock);
> > + init_completion(&priv->cmd_complete);
> > +
> > + serdev_device_set_client_ops(serdev, &bno055_sl_serdev_ops);
> > + ret = devm_serdev_device_open(&serdev->dev, serdev);
> > + if (ret)
> > + return ret;
> > +
> > + if (serdev_device_set_baudrate(serdev, 115200) != 115200) {
> > + dev_err(&serdev->dev, "Cannot set required baud rate");
> > + return -EIO;
> > + }
> > +
> > + ret = serdev_device_set_parity(serdev, SERDEV_PARITY_NONE);
> > + if (ret) {
> > + dev_err(&serdev->dev, "Cannot set required parity setting");
> > + return ret;
> > + }
> > + serdev_device_set_flow_control(serdev, false);
> > +
> > + regmap = devm_regmap_init(&serdev->dev, &bno055_sl_regmap_bus,
> > + priv, &bno055_regmap_config);
> > + if (IS_ERR(regmap)) {
> > + dev_err(&serdev->dev, "Unable to init register map");
> > + return PTR_ERR(regmap);
> > + }
> > +
> > + return bno055_probe(&serdev->dev, regmap,
> > + BNO055_SL_XFER_BURST_BREAK_THRESHOLD);
> > +}
> > +
> > +static const struct of_device_id bno055_sl_of_match[] = {
> > + { .compatible = "bosch,bno055" },
> > + { }
> > +};
> > +MODULE_DEVICE_TABLE(of, bno055_sl_of_match);
> > +
> > +static struct serdev_device_driver bno055_sl_driver = {
> > + .driver = {
> > + .name = "bno055-sl",
> > + .of_match_table = bno055_sl_of_match,
> > + },
> > + .probe = bno055_sl_probe,
> > +};
> > +module_serdev_device_driver(bno055_sl_driver);
> > +
> > +MODULE_AUTHOR("Andrea Merello <andrea.merello@iit.it>");
> > +MODULE_DESCRIPTION("Bosch BNO055 serdev interface");
> > +MODULE_LICENSE("GPL v2");
>