Re: [PATCH v3] iio: add Bosch BMA180 acceleration sensor driver

Jonathan Cameron
2013-08-15T09:22:14Z

On 08/13/13 16:44, Oleksandr Kravchenko wrote:
> This patch adds IIO driver for Bosch BMA180 triaxial
> acceleration sensor.
> http://dlnmh9ip6v2uc.cloudfront.net/datasheets/
> Sensors/Accelerometers/BST-BMA180-DS000-07_2.pdf
>
> Signed-off-by: Oleksandr Kravchenko <o.v.kravchenko@globallogic.com>
Hi,

Firstly, just a thought (I haven't made up my mind whether it is a good idea or
not!) but you could use devm_kzalloc for data->buff and hence avoid having
to care about freeing it in the remove function. Update scan mode isn't
a particularly fast path so I doubt the small overhead will matter.

Otherwise, the abi additions need documenting iff they don't fit within
existing ABI. If they do then they need to match existing ABI.

Of those, 'mode' is rather device specific and could probably do with
a more detailed name. The only 'generic' way to do it would be to make the
channel type attributes writable and treat it as a resolution control rather
than a noise/power trade off. Uggly though so perhaps what you have makes
sense. We can always add a more generic way of controlling this if it
starts turning up in lots of devices (keeping this method of course to avoid
breaking ABI).

'bandwidth' is already (I think) covered by the ABI. For the bandwidth optoins you have enabled we are talking low pass
filters and presumably their 3db point.
In Documentation/ABI/testing/sysfs-bus-iio you will find in_accel_filter_low_pass_3db_frequency. My filter theory is
rather rusty (not sure it was
every anything else ;). Hence I'm not entirely sure how to work
out the 3db frequency from the 'pole frequency' if they are not infact
the same thing..

Otherwise, the driver looks good to me.

Jonathan
> ---
> .../devicetree/bindings/iio/accel/bma180.txt | 24 +
> drivers/iio/accel/Kconfig | 12 +
> drivers/iio/accel/Makefile | 2 +
> drivers/iio/accel/bma180.c | 689 ++++++++++++++++++++
> 4 files changed, 727 insertions(+)
> create mode 100644 Documentation/devicetree/bindings/iio/accel/bma180.txt
> create mode 100644 drivers/iio/accel/bma180.c
>
> diff --git a/Documentation/devicetree/bindings/iio/accel/bma180.txt b/Documentation/devicetree/bindings/iio/accel/bma180.txt
> new file mode 100644
> index 0000000..c593357
> --- /dev/null
> +++ b/Documentation/devicetree/bindings/iio/accel/bma180.txt
> @@ -0,0 +1,24 @@
> +* Bosch BMA180 triaxial acceleration sensor
> +
> +http://omapworld.com/BMA180_111_1002839.pdf
> +
> +Required properties:
> +
> + - compatible : should be "bosch,bma180"
> + - reg : the I2C address of the sensor
> +
> +Optional properties:
> +
> + - interrupt-parent : should be the phandle for the interrupt controller
> +
> + - interrupts : interrupt mapping for GPIO IRQ, it should by configured with
> + flags IRQ_TYPE_LEVEL_HIGH | IRQ_TYPE_EDGE_RISING
> +
> +Example:
> +
> +bma180@40 {
> + compatible = "bosch,bma180";
> + reg = <0x40>;
> + interrupt-parent = <&gpio6>;
> + interrupts = <18 (IRQ_TYPE_LEVEL_HIGH | IRQ_TYPE_EDGE_RISING)>;
> +};
> diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig
> index 719d83f..bd9d581 100644
> --- a/drivers/iio/accel/Kconfig
> +++ b/drivers/iio/accel/Kconfig
> @@ -3,6 +3,18 @@
> #
> menu "Accelerometers"
>
> +config BMA180
> + tristate "Bosch BMA180 3-Axis Accelerometer Driver"
> + depends on I2C
> + select IIO_BUFFER
> + select IIO_TRIGGERED_BUFFER
> + help
> + Say Y here if you want to build a driver for the Bosch BMA180
> + triaxial acceleration sensor.
> +
> + To compile this driver as a module, choose M here: the
> + module will be called bma180.
> +
> config HID_SENSOR_ACCEL_3D
> depends on HID_SENSOR_HUB
> select IIO_BUFFER
> diff --git a/drivers/iio/accel/Makefile b/drivers/iio/accel/Makefile
> index 87d8fa2..eb09d72 100644
> --- a/drivers/iio/accel/Makefile
> +++ b/drivers/iio/accel/Makefile
> @@ -2,6 +2,8 @@
> # Makefile for industrial I/O accelerometer drivers
> #
>
> +obj-$(CONFIG_BMA180) += bma180.o
> +
> obj-$(CONFIG_HID_SENSOR_ACCEL_3D) += hid-sensor-accel-3d.o
>
> obj-$(CONFIG_IIO_ST_ACCEL_3AXIS) += st_accel.o
> diff --git a/drivers/iio/accel/bma180.c b/drivers/iio/accel/bma180.c
> new file mode 100644
> index 0000000..23c738f
> --- /dev/null
> +++ b/drivers/iio/accel/bma180.c
> @@ -0,0 +1,689 @@
> +/*
> + * bma180.c - IIO driver for Bosch BMA180 triaxial acceleration sensor
> + *
> + * Copyright 2013 Oleksandr Kravchenko <x0199363@ti.com>
> + *
> + * 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.
> + */
> +
> +#include <linux/module.h>
> +#include <linux/i2c.h>
> +#include <linux/interrupt.h>
> +#include <linux/delay.h>
> +#include <linux/of.h>
> +#include <linux/bitops.h>
> +#include <linux/slab.h>
> +#include <linux/string.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/sysfs.h>
> +#include <linux/iio/buffer.h>
> +#include <linux/iio/trigger.h>
> +#include <linux/iio/trigger_consumer.h>
> +#include <linux/iio/triggered_buffer.h>
> +
> +#define BMA180_DRV_NAME "bma180"
> +#define BMA180_IRQ_NAME "bma180_event"
> +
> +/* Register set */
> +#define BMA180_CHIP_ID 0x00 /* Need to distinguish BMA180 from other */
> +#define BMA180_ACC_X_LSB 0x02 /* First of 6 registers of accel data */
> +#define BMA180_CTRL_REG0 0x0d
> +#define BMA180_RESET 0x10
> +#define BMA180_BW_TCS 0x20
> +#define BMA180_CTRL_REG3 0x21
> +#define BMA180_TCO_Z 0x30
> +#define BMA180_OFFSET_LSB1 0x35
> +
> +/* BMA180_CTRL_REG0 bits */
> +#define BMA180_DIS_WAKE_UP BIT(0) /* Disable wake up mode */
> +#define BMA180_SLEEP BIT(1) /* 1 - chip will sleep */
> +#define BMA180_EE_W BIT(4) /* Unlock writing to addr from 0x20 */
> +#define BMA180_RESET_INT BIT(6) /* Reset pending interrupts */
> +
> +/* BMA180_CTRL_REG3 bits */
> +#define BMA180_NEW_DATA_INT BIT(1) /* Intr every new accel data is ready */
> +
> +/* BMA180_OFFSET_LSB1 skipping mode bit */
> +#define BMA180_SMP_SKIP BIT(0)
> +
> +/* Bit masks for registers bit fields */
> +#define BMA180_RANGE 0x0e /* Range of measured accel values*/
> +#define BMA180_BW 0xf0 /* Accel bandwidth */
> +#define BMA180_MODE_CONFIG 0x03 /* Config operation modes */
> +
> +/* We have to write this value in reset register to do soft reset */
> +#define BMA180_RESET_VAL 0xb6
> +
> +#define BMA_180_ID_REG_VAL 0x03
> +
> +/* Chip operation modes */
> +#define BMA180_LOW_NOISE 0x00
> +#define BMA180_LOW_POWER 0x03
> +
> +#define BMA180_LOW_NOISE_STR "low_noise"
> +#define BMA180_LOW_POWER_STR "low_power"
> +
> +/* Defaults values */
> +#define BMA180_DEF_MODE BMA180_LOW_NOISE_STR
> +#define BMA180_DEF_BW 20
> +#define BMA180_DEF_SCALE 250
> +
> +/* Available values */
> +#define BMA180_MODE_AVAILABLE \
> + BMA180_LOW_NOISE_STR " " BMA180_LOW_POWER_STR
> +#define BMA180_BW_AVAILABLE "10 20 40 75 150 300"
> +#define BMA180_SCALE_AVAILABLE \
> + "0.000130 0.000190 0.000250 0.000380 0.000500 0.000990 0.001980"
> +
> +struct bma180_data {
> + struct i2c_client *client;
> + struct iio_trigger *trig;
> + struct mutex mutex;
> + int sleep_state;
> + int scale;
> + int bw;
> + int mode;
> + char *buff;
> +};
> +
> +enum bma180_axis {
> + AXIS_X,
> + AXIS_Y,
> + AXIS_Z,
> +};
> +
> +static int bw_table[] = { 10, 20, 40, 75, 150, 300 }; /* Hz */
> +static int scale_table[] = { 130, 190, 250, 380, 500, 990, 1980 };
> +
> +static int bma180_get_acc_reg(struct bma180_data *data, enum bma180_axis axis)
> +{
> + u8 reg = BMA180_ACC_X_LSB + axis * 2;
> + int ret;
> +
> + if (data->sleep_state)
> + return -EBUSY;
> +
> + ret = i2c_smbus_read_word_data(data->client, reg);
> + if (ret < 0)
> + dev_err(&data->client->dev,
> + "failed to read accel_%c registers\n", 'x' + axis);
> +
> + return ret;
> +}
> +
> +static int bma180_set_bits(struct bma180_data *data, u8 reg, u8 mask, u8 val)
> +{
> + int ret = i2c_smbus_read_byte_data(data->client, reg);
> + u8 reg_val = (ret & ~mask) | (val << (ffs(mask) - 1));
> +
> + if (ret < 0)
> + return ret;
> +
> + return i2c_smbus_write_byte_data(data->client, reg, reg_val);
> +}
> +
> +static int bma180_reset_intr(struct bma180_data *data)
> +{
> + int ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_RESET_INT, 1);
> +
> + if (ret)
> + dev_err(&data->client->dev, "failed to reset interrupt\n");
> +
> + return ret;
> +}
> +
> +static int bma180_set_new_data_intr_state(struct bma180_data *data, int state)
> +{
> + u8 reg_val = state ? BMA180_NEW_DATA_INT : 0x00;
> + int ret = i2c_smbus_write_byte_data(data->client, BMA180_CTRL_REG3,
> + reg_val);
> +
> + if (ret)
> + goto err;
> + ret = bma180_reset_intr(data);
> + if (ret)
> + goto err;
> +
> + return 0;
> +
> +err:
> + dev_err(&data->client->dev,
> + "failed to set new data interrupt state %d\n", state);
> + return ret;
> +}
> +
> +static int bma180_set_sleep_state(struct bma180_data *data, int state)
> +{
> + int ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_SLEEP, state);
> +
> + if (ret) {
> + dev_err(&data->client->dev,
> + "failed to set sleep state %d\n", state);
> + return ret;
> + }
> + data->sleep_state = state;
> +
> + return 0;
> +}
> +
> +static int bma180_set_ee_writing_state(struct bma180_data *data, int state)
> +{
> + int ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_EE_W, state);
> +
> + if (ret)
> + dev_err(&data->client->dev,
> + "failed to set ee writing state %d\n", state);
> +
> + return ret;
> +}
> +
> +static int bma180_set_bw(struct bma180_data *data, int val)
> +{
> + int ret, i;
> +
> + if (data->sleep_state)
> + return -EBUSY;
> +
> + for (i = 0; i < ARRAY_SIZE(bw_table); ++i) {
> + if (bw_table[i] == val) {
> + ret = bma180_set_bits(data,
> + BMA180_BW_TCS, BMA180_BW, i);
> + if (ret) {
> + dev_err(&data->client->dev,
> + "failed to set bandwidth\n");
> + return ret;
> + }
> + data->bw = val;
> + return 0;
> + }
> + }
> +
> + return -EINVAL;
> +}
> +
> +static int bma180_set_scale(struct bma180_data *data, int val)
> +{
> + int ret, i;
> +
> + if (data->sleep_state)
> + return -EBUSY;
> +
> + for (i = 0; i < ARRAY_SIZE(scale_table); ++i)
> + if (scale_table[i] == val) {
> + ret = bma180_set_bits(data,
> + BMA180_OFFSET_LSB1, BMA180_RANGE, i);
> + if (ret) {
> + dev_err(&data->client->dev,
> + "failed to set scale\n");
> + return ret;
> + }
> + data->scale = val;
> + return 0;
> + }
> +
> + return -EINVAL;
> +}
> +
> +static int bma180_set_mode(struct bma180_data *data, const char *str)
> +{
> + u8 reg_val;
> + int ret;
> +
> + if (!strcmp(str, BMA180_LOW_NOISE_STR "\n"))
> + reg_val = BMA180_LOW_NOISE;
> + else if (!strcmp(str, BMA180_LOW_POWER_STR "\n"))
> + reg_val = BMA180_LOW_POWER;
> + else
> + return -EINVAL;
> +
> + ret = bma180_set_bits(data, BMA180_TCO_Z, BMA180_MODE_CONFIG, reg_val);
> + if (ret)
> + dev_err(&data->client->dev, "failed to set mode\n");
> +
> + data->mode = reg_val;
> +
> + return ret;
> +}
> +
> +static int bma180_soft_reset(struct bma180_data *data)
> +{
> + int ret = i2c_smbus_write_byte_data(data->client,
> + BMA180_RESET, BMA180_RESET_VAL);
> +
> + if (ret)
> + dev_err(&data->client->dev, "failed to reset the chip\n");
> +
> + return ret;
> +}
> +
> +static int bma180_chip_init(struct bma180_data *data)
> +{
> + /* Try to read chip_id register. It must return 0x03. */
> + int ret = i2c_smbus_read_byte_data(data->client, BMA180_CHIP_ID);
> +
> + if (ret < 0)
> + goto err;
> + if (ret != BMA_180_ID_REG_VAL) {
> + ret = -ENODEV;
> + goto err;
> + }
> +
> + ret = bma180_soft_reset(data);
> + if (ret)
> + goto err;
> + /*
> + * No serial transaction should occur within minimum 10 us
> + * after soft_reset command
> + */
> + msleep(20);
> +
> + ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_DIS_WAKE_UP, 1);
> + if (ret)
> + goto err;
> + ret = bma180_set_ee_writing_state(data, 1);
> + if (ret)
> + goto err;
> + ret = bma180_set_new_data_intr_state(data, 0);
> + if (ret)
> + goto err;
> + ret = bma180_set_bits(data, BMA180_OFFSET_LSB1, BMA180_SMP_SKIP, 1);
> + if (ret)
> + goto err;
> + ret = bma180_set_mode(data, BMA180_DEF_MODE "\n");
> + if (ret)
> + goto err;
> + ret = bma180_set_bw(data, BMA180_DEF_BW);
> + if (ret)
> + goto err;
> + ret = bma180_set_scale(data, BMA180_DEF_SCALE);
> + if (ret)
> + goto err;
> +
> + return 0;
> +
> +err:
> + dev_err(&data->client->dev, "failed to init the chip\n");
> + return ret;
> +}
> +
> +static void bma180_chip_disable(struct bma180_data *data)
> +{
> + if (bma180_set_new_data_intr_state(data, 0))
> + goto err;
> + if (bma180_set_ee_writing_state(data, 0))
> + goto err;
> + if (bma180_set_sleep_state(data, 1))
> + goto err;
> +
> + return;
> +
> +err:
> + dev_err(&data->client->dev, "failed to disable the chip\n");
> +}
> +
> +static ssize_t bma180_read_mode_config(struct device *dev,
> + struct device_attribute *attr, char *buf)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct bma180_data *data = iio_priv(indio_dev);
> +
> + return sprintf(buf, "%s\n",
> + data->mode ?
> + BMA180_LOW_POWER_STR : BMA180_LOW_NOISE_STR);
> +}
> +
> +static ssize_t bma180_write_mode_config(struct device *dev,
> + struct device_attribute *attr, const char *buf, size_t len)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct bma180_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + mutex_lock(&data->mutex);
> + ret = bma180_set_mode(data, buf);
> + mutex_unlock(&data->mutex);
> +
> + return ret ? ret : len;
> +}
> +
> +static ssize_t bma180_read_bw_config(struct device *dev,
> + struct device_attribute *attr, char *buf)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct bma180_data *data = iio_priv(indio_dev);
> +
> + return sprintf(buf, "%d\n", data->bw);
> +}
> +
> +static ssize_t bma180_write_bw_config(struct device *dev,
> + struct device_attribute *attr, const char *buf, size_t len)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct bma180_data *data = iio_priv(indio_dev);
> + long val;
> + int ret = kstrtol(buf, 10, &val);
> +
> + if (ret)
> + return ret;
> +
> + mutex_lock(&data->mutex);
> + ret = bma180_set_bw(data, val);
> + mutex_unlock(&data->mutex);
> +
> + return ret ? ret : len;
> +}
> +
> +static IIO_DEVICE_ATTR(mode, S_IRUGO | S_IWUSR, bma180_read_mode_config,
> + bma180_write_mode_config, 0);
> +static IIO_CONST_ATTR(mode_available, BMA180_MODE_AVAILABLE);
> +static IIO_DEVICE_ATTR(bandwidth, S_IRUGO | S_IWUSR, bma180_read_bw_config,
> + bma180_write_bw_config, 0);
> +static IIO_CONST_ATTR(bandwidth_available, BMA180_BW_AVAILABLE);
> +static IIO_CONST_ATTR(scale_available, BMA180_SCALE_AVAILABLE);
> +
> +static struct attribute *bma180_attributes[] = {
> + &iio_dev_attr_mode.dev_attr.attr,
> + &iio_const_attr_mode_available.dev_attr.attr,
These need documenting if they don't fit within standard abi options.
> + &iio_dev_attr_bandwidth.dev_attr.attr,
> + &iio_const_attr_bandwidth_available.dev_attr.attr,
bandwidth = 3db frequency?
> + &iio_const_attr_scale_available.dev_attr.attr,
> + NULL,
> +};
> +
> +static const struct attribute_group bma180_attrs_group = {
> + .attrs = bma180_attributes,
> +};
> +
> +static int bma180_read_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan, int *val, int *val2,
> + long mask)
> +{
> + struct bma180_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_RAW:
> + mutex_lock(&data->mutex);
> + if (iio_buffer_enabled(indio_dev))
> + ret = -EBUSY;
> + else
> + ret = bma180_get_acc_reg(data, chan->scan_index);
> + mutex_unlock(&data->mutex);
> + if (ret < 0)
> + return ret;
> + *val = (s16)ret >> chan->scan_type.shift;
> + return IIO_VAL_INT;
> + case IIO_CHAN_INFO_SCALE:
> + *val = 0;
> + *val2 = data->scale;
> + return IIO_VAL_INT_PLUS_MICRO;
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +static int bma180_write_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan, int val, int val2, long mask)
> +{
> + struct bma180_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + if (mask != IIO_CHAN_INFO_SCALE || val)
> + return -EINVAL;
> +
> + mutex_lock(&data->mutex);
> + ret = bma180_set_scale(data, val2);
> + mutex_unlock(&data->mutex);
> +
> + return ret;
> +}
> +
> +static int bma180_update_scan_mode(struct iio_dev *indio_dev,
> + const unsigned long *scan_mask)
> +{
> + struct bma180_data *data = iio_priv(indio_dev);
> +
> + kfree(data->buff);
> + data->buff = kmalloc(indio_dev->scan_bytes, GFP_KERNEL);
> + if (!data->buff)
> + return -ENOMEM;
> +
> + return 0;
> +}
> +
> +static const struct iio_info bma180_info = {
> + .attrs = &bma180_attrs_group,
> + .read_raw = bma180_read_raw,
> + .write_raw = bma180_write_raw,
> + .update_scan_mode = bma180_update_scan_mode,
> + .driver_module = THIS_MODULE,
> +};
> +
> +#define BMA180_CHANNEL(_index) { \
> + .type = IIO_ACCEL, \
> + .indexed = 1, \
> + .channel = (_index), \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
> + .scan_index = (_index), \
> + .scan_type = IIO_ST('s', 14, 16, 2), \
> +}
> +
> +static const struct iio_chan_spec bma180_channels[] = {
> + BMA180_CHANNEL(AXIS_X),
> + BMA180_CHANNEL(AXIS_Y),
> + BMA180_CHANNEL(AXIS_Z),
> + IIO_CHAN_SOFT_TIMESTAMP(4),
> +};
> +
> +static irqreturn_t bma180_trigger_handler(int irq, void *p)
> +{
> + struct iio_poll_func *pf = p;
> + struct iio_dev *indio_dev = pf->indio_dev;
> + struct bma180_data *data = iio_priv(indio_dev);
> + int bit, ret, i = 0;
> +
> + mutex_lock(&data->mutex);
> + if (indio_dev->scan_timestamp) {
> + ret = indio_dev->scan_bytes / sizeof(s64) - 1;
> + ((s64 *)data->buff)[ret] = iio_get_time_ns();
> + }
> +
> + for_each_set_bit(bit, indio_dev->buffer->scan_mask,
> + indio_dev->masklength) {
> + ret = bma180_get_acc_reg(data, bit);
> + if (ret < 0) {
> + mutex_unlock(&data->mutex);
> + goto err;
> + }
> + ((s16 *)data->buff)[i++] = ret;
> + }
> + mutex_unlock(&data->mutex);
> +
> + iio_push_to_buffers(indio_dev, (u8 *)data->buff);
> +err:
> + iio_trigger_notify_done(indio_dev->trig);
> +
> + return IRQ_HANDLED;
> +}
> +
> +static int bma180_data_rdy_trigger_set_state(struct iio_trigger *trig,
> + bool state)
> +{
> + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
> + struct bma180_data *data = iio_priv(indio_dev);
> +
> + return bma180_set_new_data_intr_state(data, state);
> +}
> +
> +static int bma180_trig_try_reen(struct iio_trigger *trig)
> +{
> + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
> + struct bma180_data *data = iio_priv(indio_dev);
> +
> + return bma180_reset_intr(data);
> +}
> +
> +static const struct iio_trigger_ops bma180_trigger_ops = {
> + .set_trigger_state = bma180_data_rdy_trigger_set_state,
> + .try_reenable = bma180_trig_try_reen,
> + .owner = THIS_MODULE,
> +};
> +
> +static int bma180_probe(struct i2c_client *client,
> + const struct i2c_device_id *id)
> +{
> + struct bma180_data *data;
> + struct iio_dev *indio_dev;
> + struct iio_trigger *trig;
> + 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;
> +
> + ret = bma180_chip_init(data);
> + if (ret < 0)
> + goto err_chip_disable;
> +
> + mutex_init(&data->mutex);
> +
> + indio_dev->dev.parent = &client->dev;
> + indio_dev->channels = bma180_channels;
> + indio_dev->num_channels = ARRAY_SIZE(bma180_channels);
> + indio_dev->name = BMA180_DRV_NAME;
> + indio_dev->modes = INDIO_DIRECT_MODE;
> + indio_dev->info = &bma180_info;
> +
> + trig = iio_trigger_alloc("%s-dev%d", indio_dev->name, indio_dev->id);
> + if (!trig) {
> + ret = -ENOMEM;
> + goto err_chip_disable;
> + }
> +
> + ret = devm_request_irq(&client->dev, client->irq,
> + iio_trigger_generic_data_rdy_poll,
> + IRQF_TRIGGER_RISING, BMA180_IRQ_NAME, trig);
> + if (ret) {
> + dev_err(&client->dev, "unable to request IRQ\n");
> + goto err_trigger_free;
> + }
> +
> + trig->dev.parent = &client->dev;
> + trig->ops = &bma180_trigger_ops;
> + iio_trigger_set_drvdata(trig, indio_dev);
> + data->trig = trig;
> + indio_dev->trig = trig;
> +
> + ret = iio_trigger_register(trig);
> + if (ret)
> + goto err_trigger_free;
> +
> + ret = iio_triggered_buffer_setup(indio_dev, NULL,
> + bma180_trigger_handler, NULL);
> + if (ret < 0) {
> + dev_err(&client->dev, "unable to setup iio triggered buffer\n");
> + goto err_trigger_unregister;
> + }
> +
> + ret = iio_device_register(indio_dev);
> + if (ret < 0) {
> + dev_err(&client->dev, "unable to register iio device\n");
> + goto err_buffer_cleanup;
> + }
> +
> + return 0;
> +
> +err_buffer_cleanup:
> + iio_triggered_buffer_cleanup(indio_dev);
> +err_trigger_unregister:
> + iio_trigger_unregister(trig);
> +err_trigger_free:
> + iio_trigger_free(trig);
> +err_chip_disable:
> + bma180_chip_disable(data);
> +
> + return ret;
> +}
> +
> +static int bma180_remove(struct i2c_client *client)
> +{
> + struct iio_dev *indio_dev = i2c_get_clientdata(client);
> + struct bma180_data *data = iio_priv(indio_dev);
> +
> + iio_device_unregister(indio_dev);
> + iio_triggered_buffer_cleanup(indio_dev);
> + iio_trigger_unregister(data->trig);
> + iio_trigger_free(data->trig);
> + kfree(data->buff);
> +
> + mutex_lock(&data->mutex);
> + bma180_chip_disable(data);
> + mutex_unlock(&data->mutex);
> +
> + return 0;
> +}
> +
> +#ifdef CONFIG_PM_SLEEP
> +static int bma180_suspend(struct device *dev)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct bma180_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + mutex_lock(&data->mutex);
> + ret = bma180_set_sleep_state(data, 1);
> + mutex_unlock(&data->mutex);
> +
> + return ret;
> +}
> +
> +static int bma180_resume(struct device *dev)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct bma180_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + mutex_lock(&data->mutex);
> + ret = bma180_set_sleep_state(data, 0);
> + mutex_unlock(&data->mutex);
> +
> + return ret;
> +}
> +
> +static SIMPLE_DEV_PM_OPS(bma180_pm_ops, bma180_suspend, bma180_resume);
> +#define BMA180_PM_OPS (&bma180_pm_ops)
> +#else
> +#define BMA180_PM_OPS NULL
> +#endif
> +
> +static struct i2c_device_id bma180_id[] = {
> + { BMA180_DRV_NAME, 0 },
> + { }
> +};
> +
> +MODULE_DEVICE_TABLE(i2c, bma180_id);
> +
> +static struct i2c_driver bma180_driver = {
> + .driver = {
> + .name = BMA180_DRV_NAME,
> + .owner = THIS_MODULE,
> + .pm = BMA180_PM_OPS,
> + },
> + .probe = bma180_probe,
> + .remove = bma180_remove,
> + .id_table = bma180_id,
> +};
> +
> +module_i2c_driver(bma180_driver);
> +
> +MODULE_AUTHOR("Kravchenko Oleksandr <x0199363@ti.com>");
> +MODULE_AUTHOR("Texas Instruments, Inc.");
> +MODULE_DESCRIPTION("Bosch BMA180 triaxial acceleration sensor");
> +MODULE_LICENSE("GPL");
>