Re: [PATCH v4 1/6] iio: imu: Add support for Kionix KMX61 sensor

Hartmut Knaack
2014-12-14T22:43:23Z

Daniel Baluta schrieb am 03.12.2014 um 14:31:
> Minimal implementation for KMX61 6-axis accelerometer/magnetometer. It exports
> raw accel/magn readings together with scale and sampling frequency.
>
> This driver uses two IIO devices one for accelerometer and one for magnetometer.
>
Hi Daniel,
I think you dropped slightly too much code. In kmx61_set_odr() you stored the set
odr bits in data->odr_bits previously, but now it's gone. But kmx61_get_odr()
accesses data->odr_bits, which now remains in the state from driver initialization.
Other than that, it's looking good.
Thanks,

Hartmut
> Datasheet will be available at:
> http://www.kionix.com/6-axis-accelerometer-magnetometer/kmx61
>
> Signed-off-by: Daniel Baluta <daniel.baluta@intel.com>
> ---
> drivers/iio/imu/Kconfig | 9 +
> drivers/iio/imu/Makefile | 2 +
> drivers/iio/imu/kmx61.c | 691 +++++++++++++++++++++++++++++++++++++++++++++++
> 3 files changed, 702 insertions(+)
> create mode 100644 drivers/iio/imu/kmx61.c
>
> diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
> index 2b0e451..db4221d 100644
> --- a/drivers/iio/imu/Kconfig
> +++ b/drivers/iio/imu/Kconfig
> @@ -25,6 +25,15 @@ config ADIS16480
> Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
> ADIS16485, ADIS16488 inertial sensors.
>
> +config KMX61
> + tristate "Kionix KMX61 6-axis accelerometer and magnetometer"
> + depends on I2C
> + help
> + Say Y here if you want to build a driver for Kionix KMX61 6-axis
> + accelerometer and magnetometer.
> + To compile this driver as module, choose M here: the module will
> + be called kmx61.
> +
> source "drivers/iio/imu/inv_mpu6050/Kconfig"
>
> endmenu
> diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
> index 114d2c1..e1e6e3d 100644
> --- a/drivers/iio/imu/Makefile
> +++ b/drivers/iio/imu/Makefile
> @@ -14,3 +14,5 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
> obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
>
> obj-y += inv_mpu6050/
> +
> +obj-$(CONFIG_KMX61) += kmx61.o
> diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c
> new file mode 100644
> index 0000000..5b44371
> --- /dev/null
> +++ b/drivers/iio/imu/kmx61.c
> @@ -0,0 +1,691 @@
> +/*
> + * KMX61 - Kionix 6-axis Accelerometer/Magnetometer
> + *
> + * Copyright (c) 2014, Intel Corporation.
> + *
> + * This file is subject to the terms and conditions of version 2 of
> + * the GNU General Public License. See the file COPYING in the main
> + * directory of this archive for more details.
> + *
> + * IIO driver for KMX61 (7-bit I2C slave address 0x0E or 0x0F).
> + *
> + */
> +
> +#include <linux/module.h>
> +#include <linux/i2c.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/sysfs.h>
> +
> +#define KMX61_DRV_NAME "kmx61"
> +
> +#define KMX61_REG_WHO_AM_I 0x00
> +
> +/*
> + * three 16-bit accelerometer output registers for X/Y/Z axis
> + * we use only XOUT_L as a base register, all other addresses
> + * can be obtained by applying an offset and are provided here
> + * only for clarity.
> + */
> +#define KMX61_ACC_XOUT_L 0x0A
> +#define KMX61_ACC_XOUT_H 0x0B
> +#define KMX61_ACC_YOUT_L 0x0C
> +#define KMX61_ACC_YOUT_H 0x0D
> +#define KMX61_ACC_ZOUT_L 0x0E
> +#define KMX61_ACC_ZOUT_H 0x0F
> +
> +/*
> + * one 16-bit temperature output register
> + */
> +#define KMX61_TEMP_L 0x10
> +#define KMX61_TEMP_H 0x11
> +
> +/*
> + * three 16-bit magnetometer output registers for X/Y/Z axis
> + */
> +#define KMX61_MAG_XOUT_L 0x12
> +#define KMX61_MAG_XOUT_H 0x13
> +#define KMX61_MAG_YOUT_L 0x14
> +#define KMX61_MAG_YOUT_H 0x15
> +#define KMX61_MAG_ZOUT_L 0x16
> +#define KMX61_MAG_ZOUT_H 0x17
> +
> +#define KMX61_REG_STBY 0x29
> +#define KMX61_REG_CTRL1 0x2A
> +#define KMX61_REG_ODCNTL 0x2C
> +
> +#define KMX61_ACC_STBY_BIT BIT(0)
> +#define KMX61_MAG_STBY_BIT BIT(1)
> +#define KMX61_ACT_STBY_BIT BIT(7)
> +
> +#define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT | KMX61_MAG_STBY_BIT)
> +
> +#define KMX61_REG_CTRL1_GSEL_MASK 0x03
> +
> +#define KMX61_ACC_ODR_SHIFT 0
> +#define KMX61_MAG_ODR_SHIFT 4
> +#define KMX61_ACC_ODR_MASK 0x0F
> +#define KMX61_MAG_ODR_MASK 0xF0
> +
> +#define KMX61_CHIP_ID 0x12
> +
> +/* KMX61 devices */
> +#define KMX61_ACC 0x01
> +#define KMX61_MAG 0x02
> +
> +struct kmx61_data {
> + struct i2c_client *client;
> +
> + /* serialize access to non-atomic ops, e.g set_mode */
> + struct mutex lock;
> +
> + /* standby state */
> + bool acc_stby;
> + bool mag_stby;
> +
> + /* config bits */
> + u8 range;
> + u8 odr_bits;
> +
> + /* accelerometer specific data */
> + struct iio_dev *acc_indio_dev;
> +
> + /* magnetometer specific data */
> + struct iio_dev *mag_indio_dev;
> +};
> +
> +enum kmx61_range {
> + KMX61_RANGE_2G,
> + KMX61_RANGE_4G,
> + KMX61_RANGE_8G,
> +};
> +
> +enum kmx61_axis {
> + KMX61_AXIS_X,
> + KMX61_AXIS_Y,
> + KMX61_AXIS_Z,
> +};
> +
> +u16 kmx61_uscale_table[] = {9582, 19163, 38326};
> +
> +static const struct {
> + int val;
> + int val2;
> + u8 odr_bits;
> +} kmx61_samp_freq_table[] = { {12, 500000, 0x00},
> + {25, 0, 0x01},
> + {50, 0, 0x02},
> + {100, 0, 0x03},
> + {200, 0, 0x04},
> + {400, 0, 0x05},
> + {800, 0, 0x06},
> + {1600, 0, 0x07},
> + {0, 781000, 0x08},
> + {1, 563000, 0x09},
> + {3, 125000, 0x0A},
> + {6, 250000, 0x0B} };
> +
> +static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326");
> +static IIO_CONST_ATTR(magn_scale_available, "0.001465");
> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL(
> + "0.781000 1.563000 3.125000 6.250000 12.500000 25 50 100 200 400 800");
> +
> +static struct attribute *kmx61_acc_attributes[] = {
> + &iio_const_attr_accel_scale_available.dev_attr.attr,
> + &iio_const_attr_sampling_frequency_available.dev_attr.attr,
> + NULL,
> +};
> +
> +static struct attribute *kmx61_mag_attributes[] = {
> + &iio_const_attr_magn_scale_available.dev_attr.attr,
> + &iio_const_attr_sampling_frequency_available.dev_attr.attr,
> + NULL,
> +};
> +
> +static const struct attribute_group kmx61_acc_attribute_group = {
> + .attrs = kmx61_acc_attributes,
> +};
> +
> +static const struct attribute_group kmx61_mag_attribute_group = {
> + .attrs = kmx61_mag_attributes,
> +};
> +
> +#define KMX61_ACC_CHAN(_axis) { \
> + .type = IIO_ACCEL, \
> + .modified = 1, \
> + .channel2 = IIO_MOD_ ## _axis, \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
> + .address = KMX61_ACC, \
> + .scan_index = KMX61_AXIS_ ## _axis, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = 12, \
> + .storagebits = 16, \
> + .shift = 4, \
> + .endianness = IIO_LE, \
> + }, \
> +}
> +
> +#define KMX61_MAG_CHAN(_axis) { \
> + .type = IIO_MAGN, \
> + .modified = 1, \
> + .channel2 = IIO_MOD_ ## _axis, \
> + .address = KMX61_MAG, \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
> + .scan_index = KMX61_AXIS_ ## _axis, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = 14, \
> + .storagebits = 16, \
> + .shift = 2, \
> + .endianness = IIO_LE, \
> + }, \
> +}
> +
> +static const struct iio_chan_spec kmx61_acc_channels[] = {
> + KMX61_ACC_CHAN(X),
> + KMX61_ACC_CHAN(Y),
> + KMX61_ACC_CHAN(Z),
> +};
> +
> +static const struct iio_chan_spec kmx61_mag_channels[] = {
> + KMX61_MAG_CHAN(X),
> + KMX61_MAG_CHAN(Y),
> + KMX61_MAG_CHAN(Z),
> +};
> +
> +static void kmx61_set_data(struct iio_dev *indio_dev, struct kmx61_data *data)
> +{
> + struct kmx61_data **priv = iio_priv(indio_dev);
> +
> + *priv = data;
> +}
> +
> +static struct kmx61_data *kmx61_get_data(struct iio_dev *indio_dev)
> +{
> + return *(struct kmx61_data **)iio_priv(indio_dev);
> +}
> +
> +static int kmx61_convert_freq_to_bit(int val, int val2)
> +{
> + int i;
> +
> + for (i = 0; i < ARRAY_SIZE(kmx61_samp_freq_table); i++)
> + if (val == kmx61_samp_freq_table[i].val &&
> + val2 == kmx61_samp_freq_table[i].val2)
> + return kmx61_samp_freq_table[i].odr_bits;
> + return -EINVAL;
> +}
> +
> +/**
> + * kmx61_set_mode() - set KMX61 device operating mode
> + * @data - kmx61 device private data pointer
> + * @mode - bitmask, indicating operating mode for @device
> + * @device - bitmask, indicating device for which @mode needs to be set
> + * @update - update stby bits stored in device's private @data
> + *
> + * For each sensor (accelerometer/magnetometer) there are two operating modes
> + * STANDBY and OPERATION. Neither accel nor magn can be disabled independently
> + * if they are both enabled. Internal sensors state is saved in acc_stby and
> + * mag_stby members of driver's private @data.
> + */
> +static int kmx61_set_mode(struct kmx61_data *data, u8 mode, u8 device,
> + bool update)
> +{
> + int ret;
> + int acc_stby = -1, mag_stby = -1;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_stby\n");
> + return ret;
> + }
> + if (device & KMX61_ACC) {
> + if (mode & KMX61_ACC_STBY_BIT) {
> + ret |= KMX61_ACC_STBY_BIT;
> + acc_stby = 1;
> + } else {
> + ret &= ~KMX61_ACC_STBY_BIT;
> + acc_stby = 0;
> + }
> + }
> +
> + if (device & KMX61_MAG) {
> + if (mode & KMX61_MAG_STBY_BIT) {
> + ret |= KMX61_MAG_STBY_BIT;
> + mag_stby = 1;
> + } else {
> + ret &= ~KMX61_MAG_STBY_BIT;
> + mag_stby = 0;
> + }
> + }
> +
> + if (mode & KMX61_ACT_STBY_BIT)
> + ret |= KMX61_ACT_STBY_BIT;
> +
> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_STBY, ret);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_stby\n");
> + return ret;
> + }
> +
> + if (acc_stby != -1 && update)
> + data->acc_stby = acc_stby;
> + if (mag_stby != -1 && update)
> + data->mag_stby = mag_stby;
> +
> + return 0;
> +}
> +
> +static int kmx61_get_mode(struct kmx61_data *data, u8 *mode, u8 device)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_stby\n");
> + return ret;
> + }
> + *mode = 0;
> +
> + if (device & KMX61_ACC) {
> + if (ret & KMX61_ACC_STBY_BIT)
> + *mode |= KMX61_ACC_STBY_BIT;
> + else
> + *mode &= ~KMX61_ACC_STBY_BIT;
> + }
> +
> + if (device & KMX61_MAG) {
> + if (ret & KMX61_MAG_STBY_BIT)
> + *mode |= KMX61_MAG_STBY_BIT;
> + else
> + *mode &= ~KMX61_MAG_STBY_BIT;
> + }
> +
> + return 0;
> +}
> +
> +static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device)
> +{
> + int ret;
> + u8 mode;
> + int lodr_bits, odr_bits;
> +
> + ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + lodr_bits = kmx61_convert_freq_to_bit(val, val2);
> + if (lodr_bits < 0)
> + return lodr_bits;
> +
> + /* To change ODR, accel and magn must be in STDBY */
> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG,
> + true);
> + if (ret < 0)
> + return ret;
> +
> + odr_bits = 0;
> + if (device & KMX61_ACC)
> + odr_bits |= lodr_bits << KMX61_ACC_ODR_SHIFT;
> + if (device & KMX61_MAG)
> + odr_bits |= lodr_bits << KMX61_MAG_ODR_SHIFT;
> +
> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_ODCNTL,
> + odr_bits);
> + if (ret < 0)
> + return ret;
> +
> + return kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG, true);
> +}
> +
> +static int kmx61_get_odr(struct kmx61_data *data, int *val, int *val2,
> + u8 device)
> +{ int i;
> + u8 lodr_bits;
> +
> + if (device & KMX61_ACC)
> + lodr_bits = (data->odr_bits >> KMX61_ACC_ODR_SHIFT) &
> + KMX61_ACC_ODR_MASK;
> + else if (device & KMX61_MAG)
> + lodr_bits = (data->odr_bits >> KMX61_MAG_ODR_SHIFT) &
> + KMX61_MAG_ODR_MASK;
> + else
> + return -EINVAL;
> +
> + for (i = 0; i < ARRAY_SIZE(kmx61_samp_freq_table); i++)
> + if (lodr_bits == kmx61_samp_freq_table[i].odr_bits) {
> + *val = kmx61_samp_freq_table[i].val;
> + *val2 = kmx61_samp_freq_table[i].val2;
> + return 0;
> + }
> + return -EINVAL;
> +}
> +
> +static int kmx61_set_range(struct kmx61_data *data, u8 range)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
> + return ret;
> + }
> +
> + ret &= ~KMX61_REG_CTRL1_GSEL_MASK;
> + ret |= range & KMX61_REG_CTRL1_GSEL_MASK;
> +
> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
> + return ret;
> + }
> +
> + data->range = range;
> +
> + return 0;
> +}
> +
> +static int kmx61_set_scale(struct kmx61_data *data, u16 uscale)
> +{
> + int ret, i;
> + u8 mode;
> +
> + for (i = 0; i < ARRAY_SIZE(kmx61_uscale_table); i++) {
> + if (kmx61_uscale_table[i] == uscale) {
> + ret = kmx61_get_mode(data, &mode,
> + KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + ret = kmx61_set_mode(data, KMX61_ALL_STBY,
> + KMX61_ACC | KMX61_MAG, true);
> + if (ret < 0)
> + return ret;
> +
> + ret = kmx61_set_range(data, i);
> + if (ret < 0)
> + return ret;
> +
> + return kmx61_set_mode(data, mode,
> + KMX61_ACC | KMX61_MAG, true);
> + }
> + }
> + return -EINVAL;
> +}
> +
> +static int kmx61_chip_init(struct kmx61_data *data)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading who_am_i\n");
> + return ret;
> + }
> +
> + if (ret != KMX61_CHIP_ID) {
> + dev_err(&data->client->dev,
> + "Wrong chip id, got %x expected %x\n",
> + ret, KMX61_CHIP_ID);
> + return -EINVAL;
> + }
> +
> + /* set accel 12bit, 4g range */
> + ret = kmx61_set_range(data, KMX61_RANGE_4G);
> + if (ret < 0)
> + return ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_ODCNTL);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_odcntl\n");
> + return ret;
> + }
> + data->odr_bits = ret;
> +
> + /* set acc/magn to OPERATION mode */
> + ret = kmx61_set_mode(data, 0, KMX61_ACC | KMX61_MAG, true);
> + if (ret < 0)
> + return ret;
> +
> + return 0;
> +}
> +
> +static int kmx61_read_measurement(struct kmx61_data *data, u8 base, u8 offset)
> +{
> + int ret;
> + u8 reg = base + offset * 2;
> +
> + ret = i2c_smbus_read_word_data(data->client, reg);
> + if (ret < 0)
> + dev_err(&data->client->dev, "failed to read reg at %x\n", reg);
> +
> + return ret;
> +}
> +
> +static int kmx61_read_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan, int *val,
> + int *val2, long mask)
> +{
> + int ret;
> + u8 base_reg;
> + struct kmx61_data *data = kmx61_get_data(indio_dev);
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_RAW:
> + switch (chan->type) {
> + case IIO_ACCEL:
> + base_reg = KMX61_ACC_XOUT_L;
> + break;
> + case IIO_MAGN:
> + base_reg = KMX61_MAG_XOUT_L;
> + break;
> + default:
> + return -EINVAL;
> + }
> + mutex_lock(&data->lock);
> +
> + ret = kmx61_read_measurement(data, base_reg, chan->scan_index);
> + if (ret < 0) {
> + mutex_unlock(&data->lock);
> + return ret;
> + }
> + *val = sign_extend32(ret >> chan->scan_type.shift,
> + chan->scan_type.realbits - 1);
> +
> + mutex_unlock(&data->lock);
> + return IIO_VAL_INT;
> + case IIO_CHAN_INFO_SCALE:
> + switch (chan->type) {
> + case IIO_ACCEL:
> + *val = 0;
> + *val2 = kmx61_uscale_table[data->range];
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_MAGN:
> + /* 14 bits res, 1465 microGauss per magn count */
> + *val = 0;
> + *val2 = 1465;
> + return IIO_VAL_INT_PLUS_MICRO;
> + default:
> + return -EINVAL;
> + }
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + if (chan->type != IIO_ACCEL && chan->type != IIO_MAGN)
> + return -EINVAL;
> +
> + mutex_lock(&data->lock);
> + ret = kmx61_get_odr(data, val, val2, chan->address);
> + mutex_unlock(&data->lock);
> + if (ret)
> + return -EINVAL;
> + return IIO_VAL_INT_PLUS_MICRO;
> + }
> + return -EINVAL;
> +}
> +
> +static int kmx61_write_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan, int val,
> + int val2, long mask)
> +{
> + int ret;
> + struct kmx61_data *data = kmx61_get_data(indio_dev);
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + if (chan->type != IIO_ACCEL && chan->type != IIO_MAGN)
> + return -EINVAL;
> +
> + mutex_lock(&data->lock);
> + ret = kmx61_set_odr(data, val, val2, chan->address);
> + mutex_unlock(&data->lock);
> + return ret;
> + case IIO_CHAN_INFO_SCALE:
> + switch (chan->type) {
> + case IIO_ACCEL:
> + if (val != 0)
> + return -EINVAL;
> + mutex_lock(&data->lock);
> + ret = kmx61_set_scale(data, val2);
> + mutex_unlock(&data->lock);
> + return ret;
> + default:
> + return -EINVAL;
> + }
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +static const struct iio_info kmx61_acc_info = {
> + .driver_module = THIS_MODULE,
> + .read_raw = kmx61_read_raw,
> + .write_raw = kmx61_write_raw,
> + .attrs = &kmx61_acc_attribute_group,
> +};
> +
> +static const struct iio_info kmx61_mag_info = {
> + .driver_module = THIS_MODULE,
> + .read_raw = kmx61_read_raw,
> + .write_raw = kmx61_write_raw,
> + .attrs = &kmx61_mag_attribute_group,
> +};
> +
> +static struct iio_dev *kmx61_indiodev_setup(struct kmx61_data *data,
> + const struct iio_info *info,
> + const struct iio_chan_spec *chan,
> + int num_channels,
> + const char *name)
> +{
> + struct iio_dev *indio_dev;
> +
> + indio_dev = devm_iio_device_alloc(&data->client->dev, sizeof(data));
> + if (!indio_dev)
> + return ERR_PTR(-ENOMEM);
> +
> + kmx61_set_data(indio_dev, data);
> +
> + indio_dev->dev.parent = &data->client->dev;
> + indio_dev->channels = chan;
> + indio_dev->num_channels = num_channels;
> + indio_dev->name = name;
> + indio_dev->modes = INDIO_DIRECT_MODE;
> + indio_dev->info = info;
> +
> + return indio_dev;
> +}
> +
> +static int kmx61_probe(struct i2c_client *client,
> + const struct i2c_device_id *id)
> +{
> + int ret;
> + struct kmx61_data *data;
> + const char *name = NULL;
> +
> + data = devm_kzalloc(&client->dev, sizeof(*data), GFP_KERNEL);
> + if (!data)
> + return -ENOMEM;
> +
> + i2c_set_clientdata(client, data);
> + data->client = client;
> +
> + mutex_init(&data->lock);
> +
> + data->acc_indio_dev =
> + kmx61_indiodev_setup(data, &kmx61_acc_info,
> + kmx61_acc_channels,
> + ARRAY_SIZE(kmx61_acc_channels),
> + name);
> + if (IS_ERR(data->acc_indio_dev))
> + return PTR_ERR(data->acc_indio_dev);
> +
> + data->mag_indio_dev =
> + kmx61_indiodev_setup(data, &kmx61_mag_info,
> + kmx61_mag_channels,
> + ARRAY_SIZE(kmx61_mag_channels),
> + name);
> + if (IS_ERR(data->mag_indio_dev))
> + return PTR_ERR(data->mag_indio_dev);
> +
> + ret = kmx61_chip_init(data);
> + if (ret < 0)
> + return ret;
> +
> + ret = iio_device_register(data->acc_indio_dev);
> + if (ret < 0) {
> + dev_err(&client->dev, "Failed to register acc iio device\n");
> + goto err_chip_uninit;
> + }
> +
> + ret = iio_device_register(data->mag_indio_dev);
> + if (ret < 0) {
> + dev_err(&client->dev, "Failed to register mag iio device\n");
> + goto err_iio_unregister;
> + }
> +
> + return 0;
> +
> +err_iio_unregister:
> + iio_device_unregister(data->acc_indio_dev);
> +err_chip_uninit:
> + kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG, true);
> + return ret;
> +}
> +
> +static int kmx61_remove(struct i2c_client *client)
> +{
> + struct kmx61_data *data = i2c_get_clientdata(client);
> +
> + iio_device_unregister(data->acc_indio_dev);
> + iio_device_unregister(data->mag_indio_dev);
> +
> + mutex_lock(&data->lock);
> + kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG, true);
> + mutex_unlock(&data->lock);
> +
> + return 0;
> +}
> +
> +static const struct i2c_device_id kmx61_id[] = {
> + {"kmx611021", 0},
> + {}
> +};
> +
> +MODULE_DEVICE_TABLE(i2c, kmx61_id);
> +
> +static struct i2c_driver kmx61_driver = {
> + .driver = {
> + .name = KMX61_DRV_NAME,
> + },
> + .probe = kmx61_probe,
> + .remove = kmx61_remove,
> + .id_table = kmx61_id,
> +};
> +
> +module_i2c_driver(kmx61_driver);
> +
> +MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com>");
> +MODULE_DESCRIPTION("KMX61 accelerometer/magnetometer driver");
> +MODULE_LICENSE("GPL v2");
>