Re: [PATCHv4 5/6] Input: add CMR3000 gyrsocope driver

[Grant Likely]

On Mon, Oct 24, 2011 at 10:21:15PM +0200, Ricardo Ribalda Delgado wrote:
> Add support for CMR3000 Tri-axis accelerometer. CMR3000 supports both
> I2C/SPI bus communication, currently the driver supports SPI
> communication, since I have no hardware to test the I2C communication.

How different is this driver from the cma3000?  Is it a cut and paste job?

g.

> 
> ---
> 
> v4: Fixes suggested by Dmitry Torokhov
> 	-Do not release the input device until the irq has been released
> 
> v3: Fixes suggested by Jonathan Cameron
> 	-Support DT
> 	-Cleaner spi read/write
> 
> v2: Fixes suggested by Jonathan Cameron
> 	-Code Stype
> 	-Check pdata!=NULL
> 	-SPI align Cacheline
> 	-More clear based on
> 	-%s/set/write/
> 	-%s/accl/gyro/
> 	-remove READ/SET macros
> 
> Signed-off-by: Ricardo Ribalda Delgado <ricardo.ribalda@xxxxxxxxx>
> ---
>  drivers/input/misc/Kconfig           |   24 ++
>  drivers/input/misc/Makefile          |    2 +
>  drivers/input/misc/cmr3000_d0x.c     |  426 ++++++++++++++++++++++++++++++++++
>  drivers/input/misc/cmr3000_d0x.h     |   45 ++++
>  drivers/input/misc/cmr3000_d0x_spi.c |  144 ++++++++++++
>  include/linux/input/cmr3000.h        |   54 +++++
>  6 files changed, 695 insertions(+), 0 deletions(-)
>  create mode 100644 drivers/input/misc/cmr3000_d0x.c
>  create mode 100644 drivers/input/misc/cmr3000_d0x.h
>  create mode 100644 drivers/input/misc/cmr3000_d0x_spi.c
>  create mode 100644 include/linux/input/cmr3000.h
> 
> diff --git a/drivers/input/misc/Kconfig b/drivers/input/misc/Kconfig
> index b9f2e93..7c56f94 100644
> --- a/drivers/input/misc/Kconfig
> +++ b/drivers/input/misc/Kconfig
> @@ -524,6 +524,30 @@ config INPUT_CMA3000_SPI
>  	  To compile this driver as a module, choose M here: the
>  	  module will be called cma3000_d0x_spi.
>  
> +config INPUT_CMR3000
> +	tristate "VTI CMR3000 Tri-axis gyroscope"
> +	help
> +	  Say Y here if you want to use VTI CMR3000_D0x Gyroscope
> +	  driver
> +
> +	  This driver currently only supports SPI interface to the
> +	  controller. Also select the SPI method.
> +
> +	  If unsure, say N
> +
> +	  To compile this driver as a module, choose M here: the
> +	  module will be called cmr3000_d0x.
> +
> +config INPUT_CMR3000_SPI
> +	tristate "Support SPI bus connection"
> +	depends on INPUT_CMR3000 && SPI
> +	help
> +	  Say Y here if you want to use VTI CMR3000_D0x Gyroscope
> +	  through SPI interface.
> +
> +	  To compile this driver as a module, choose M here: the
> +	  module will be called cmr3000_d0x_spi.
> +
>  config INPUT_XEN_KBDDEV_FRONTEND
>  	tristate "Xen virtual keyboard and mouse support"
>  	depends on XEN_FBDEV_FRONTEND
> diff --git a/drivers/input/misc/Makefile b/drivers/input/misc/Makefile
> index 7305f6f..c7fe09a 100644
> --- a/drivers/input/misc/Makefile
> +++ b/drivers/input/misc/Makefile
> @@ -21,6 +21,8 @@ obj-$(CONFIG_INPUT_CM109)		+= cm109.o
>  obj-$(CONFIG_INPUT_CMA3000)		+= cma3000_d0x.o
>  obj-$(CONFIG_INPUT_CMA3000_I2C)		+= cma3000_d0x_i2c.o
>  obj-$(CONFIG_INPUT_CMA3000_SPI)		+= cma3000_d0x_spi.o
> +obj-$(CONFIG_INPUT_CMR3000)		+= cmr3000_d0x.o
> +obj-$(CONFIG_INPUT_CMR3000_SPI)		+= cmr3000_d0x_spi.o
>  obj-$(CONFIG_INPUT_COBALT_BTNS)		+= cobalt_btns.o
>  obj-$(CONFIG_INPUT_DM355EVM)		+= dm355evm_keys.o
>  obj-$(CONFIG_HP_SDC_RTC)		+= hp_sdc_rtc.o
> diff --git a/drivers/input/misc/cmr3000_d0x.c b/drivers/input/misc/cmr3000_d0x.c
> new file mode 100644
> index 0000000..d046149
> --- /dev/null
> +++ b/drivers/input/misc/cmr3000_d0x.c
> @@ -0,0 +1,426 @@
> +/*
> + * VTI CMR3000_D0x Gyroscope driver
> + *
> + * Copyright (C) 2011 Qtechnology
> + * Author: Ricardo Ribalda <ricardo.ribalda@xxxxxxxxx>
> + *
> + * Based on:
> + *	drivers/input/misc/cma3000_d0x.c by: Hemanth V
> + *
> + * This program is free software; you can redistribute it and/or modify it
> + * under the terms of the GNU General Public License version 2 as published by
> + * the Free Software Foundation.
> + *
> + * This program is distributed in the hope that it will be useful, but WITHOUT
> + * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
> + * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
> + * more details.
> + *
> + * You should have received a copy of the GNU General Public License along with
> + * this program.  If not, see <http://www.gnu.org/licenses/>.
> + */
> +
> +#include <linux/types.h>
> +#include <linux/interrupt.h>
> +#include <linux/delay.h>
> +#include <linux/slab.h>
> +#include <linux/input.h>
> +#include <linux/input/cmr3000.h>
> +#include <linux/of.h>
> +
> +#include "cmr3000_d0x.h"
> +
> +#define CMR3000_REV         0x21
> +
> +#define CMR3000_WHOAMI      0x00
> +#define CMR3000_REVID       0x01
> +#define CMR3000_CTRL        0x02
> +#define CMR3000_STATUS      0x03
> +#define CMR3000_X_LSB       0x0C
> +#define CMR3000_X_MSB       0x0D
> +#define CMR3000_Y_LSB       0x0E
> +#define CMR3000_Y_MSB       0x0F
> +#define CMR3000_Z_LSB       0x10
> +#define CMR3000_Z_MSB       0x11
> +#define CMR3000_I2C_ADDR    0x22
> +#define CMR3000_PDR         0x26
> +
> +#define CMR3000_IRQDIS     (1 << 0)
> +#define CMR3000_MODEMASK   (3 << 1)
> +#define CMR3000_BUSI2C     (0 << 4)
> +#define CMR3000_BUSSPI     (1 << 4)
> +#define CMR3000_INTLOW     (1 << 6)
> +#define CMR3000_INTHIGH    (0 << 6)
> +#define CMR3000_RST        (1 << 7)
> +
> +#define CMRMODE_SHIFT      1
> +#define CMRIRQLEVEL_SHIFT  6
> +
> +#define CMR3000_STATUS_PERR    (1 << 0)
> +#define CMR3000_STATUS_PORST   (1 << 3)
> +
> +/* Settling time delay in ms */
> +#define CMR3000_SETDELAY    30
> +
> +/*
> + * Bit weights mult/div in dps for bit 0, other bits need
> + * multipy factor 2^n. 11th bit is the sign bit.
> + */
> +#define BIT_TO_DPS_MUL  3
> +#define BIT_TO_DPS_DIV 32
> +
> +static struct cmr3000_platform_data cmr3000_default_pdata = {
> +	.irq_level = CMR3000_INTHIGH,
> +	.mode = CMRMODE_MEAS80,
> +	.fuzz_x = 1,
> +	.fuzz_y = 1,
> +	.fuzz_z = 1,
> +	.irqflags = 0,
> +};
> +
> +struct cmr3000_gyro_data {
> +	const struct cmr3000_bus_ops *bus_ops;
> +	struct cmr3000_platform_data pdata;
> +
> +	struct device *dev;
> +	struct input_dev *input_dev;
> +
> +	int irq_level;
> +	u8 mode;
> +
> +	int bit_to_mg;
> +	int irq;
> +
> +	struct mutex mutex;
> +	bool opened;
> +	bool suspended;
> +};
> +
> +static void decode_dps(struct cmr3000_gyro_data *data, int *datax,
> +		       int *datay, int *dataz)
> +{
> +	/* Data in 2's complement, convert to dps */
> +	*datax = (((s16) ((*datax) << 2)) * BIT_TO_DPS_MUL) / BIT_TO_DPS_DIV;
> +	*datay = (((s16) ((*datay) << 2)) * BIT_TO_DPS_MUL) / BIT_TO_DPS_DIV;
> +	*dataz = (((s16) ((*dataz) << 2)) * BIT_TO_DPS_MUL) / BIT_TO_DPS_DIV;
> +}
> +
> +static irqreturn_t cmr3000_thread_irq(int irq, void *dev_id)
> +{
> +	struct cmr3000_gyro_data *data = dev_id;
> +	int datax, datay, dataz;
> +	u8 mode, intr_status;
> +
> +	intr_status = data->bus_ops->read(data->dev, CMR3000_STATUS,
> +							"irq status");
> +	intr_status = data->bus_ops->read(data->dev, CMR3000_CTRL,
> +							"control mode");
> +	if (intr_status < 0)
> +		return IRQ_NONE;
> +
> +	/* Interrupt not for this device */
> +	if (intr_status & CMR3000_IRQDIS)
> +		return IRQ_NONE;
> +
> +	mode = (intr_status & CMR3000_MODEMASK) >> CMRMODE_SHIFT;
> +	if ((mode != CMRMODE_MEAS80)
> +	    && (mode != CMRMODE_MEAS20))
> +		return IRQ_NONE;
> +
> +	datax = (data->bus_ops->read(data->dev, CMR3000_X_MSB, "X_MSB")) << 8;
> +	datax |= data->bus_ops->read(data->dev, CMR3000_X_LSB, "X_LSB");
> +	datay = (data->bus_ops->read(data->dev, CMR3000_Y_MSB, "Y_MSB")) << 8;
> +	datay |= data->bus_ops->read(data->dev, CMR3000_Y_LSB, "Y_LSB");
> +	dataz = (data->bus_ops->read(data->dev, CMR3000_Z_MSB, "Z_MSB")) << 8;
> +	dataz |= data->bus_ops->read(data->dev, CMR3000_Z_LSB, "Z_LSB");
> +
> +	/* Device closed */
> +	if ((data->mode != CMRMODE_MEAS80)
> +	    && (data->mode != CMRMODE_MEAS20))
> +		return IRQ_NONE;
> +
> +	/* Decode register values to dps */
> +	decode_dps(data, &datax, &datay, &dataz);
> +
> +	input_report_abs(data->input_dev, ABS_X, datax);
> +	input_report_abs(data->input_dev, ABS_Y, datay);
> +	input_report_abs(data->input_dev, ABS_Z, dataz);
> +	input_sync(data->input_dev);
> +
> +	return IRQ_HANDLED;
> +}
> +
> +static int cmr3000_poweron(struct cmr3000_gyro_data *data)
> +{
> +	const struct cmr3000_platform_data *pdata = &data->pdata;
> +	u8 ctrl;
> +	int ret;
> +
> +	ctrl = pdata->irq_level << CMRIRQLEVEL_SHIFT;
> +	ctrl |= data->mode << CMRMODE_SHIFT;
> +	ctrl |= data->bus_ops->ctrl_mod;
> +	ret = data->bus_ops->write(data->dev, CMR3000_CTRL, ctrl,
> +							"Mode setting");
> +	if (ret < 0)
> +		return -EIO;
> +
> +	msleep(CMR3000_SETDELAY);
> +
> +	return 0;
> +}
> +
> +static int cmr3000_poweroff(struct cmr3000_gyro_data *data)
> +{
> +	int ret;
> +	u8 ctrl = CMRMODE_POFF;
> +
> +	ctrl |= data->bus_ops->ctrl_mod;
> +	ctrl |= CMR3000_IRQDIS;
> +
> +	ret = data->bus_ops->write(data->dev, CMR3000_CTRL, ctrl,
> +							"Mode setting");
> +	msleep(CMR3000_SETDELAY);
> +
> +	return ret;
> +}
> +
> +static int cmr3000_reset(struct cmr3000_gyro_data *data)
> +{
> +	int val;
> +
> +	/* Reset chip */
> +	data->bus_ops->write(data->dev, CMR3000_CTRL, CMR3000_RST, "Reset");
> +	mdelay(2);
> +
> +	/* Settling time delay */
> +	val = data->bus_ops->read(data->dev, CMR3000_STATUS, "Status");
> +	if (val < 0) {
> +		dev_err(data->dev, "Reset failed\n");
> +		return val;
> +	}
> +
> +	if (val & CMR3000_STATUS_PERR) {
> +		dev_err(data->dev, "Parity Error\n");
> +		return -EIO;
> +	}
> +
> +	return cmr3000_poweroff(data);
> +}
> +
> +static int cmr3000_open(struct input_dev *input_dev)
> +{
> +	struct cmr3000_gyro_data *data = input_get_drvdata(input_dev);
> +
> +	mutex_lock(&data->mutex);
> +
> +	if (!data->suspended)
> +		cmr3000_poweron(data);
> +
> +	data->opened = true;
> +
> +	mutex_unlock(&data->mutex);
> +
> +	return 0;
> +}
> +
> +static void cmr3000_close(struct input_dev *input_dev)
> +{
> +	struct cmr3000_gyro_data *data = input_get_drvdata(input_dev);
> +
> +	mutex_lock(&data->mutex);
> +
> +	if (!data->suspended)
> +		cmr3000_poweroff(data);
> +
> +	data->opened = false;
> +
> +	mutex_unlock(&data->mutex);
> +}
> +
> +void cmr3000_suspend(struct cmr3000_gyro_data *data)
> +{
> +	mutex_lock(&data->mutex);
> +
> +	if (!data->suspended && data->opened)
> +		cmr3000_poweroff(data);
> +
> +	data->suspended = true;
> +
> +	mutex_unlock(&data->mutex);
> +}
> +EXPORT_SYMBOL(cmr3000_suspend);
> +
> +void cmr3000_resume(struct cmr3000_gyro_data *data)
> +{
> +	mutex_lock(&data->mutex);
> +
> +	if (data->suspended && data->opened)
> +		cmr3000_poweron(data);
> +
> +	data->suspended = false;
> +
> +	mutex_unlock(&data->mutex);
> +}
> +EXPORT_SYMBOL(cmr3000_resume);
> +
> +#ifdef CONFIG_OF
> +void cmr3000_get_pdata_of(struct device *dev, struct cmr3000_gyro_data *data)
> +{
> +	const __be32 *property;
> +	int len;
> +
> +	property = of_get_property(dev->of_node, "vti,irq_level", &len);
> +	if (property && len == sizeof(int))
> +		data->pdata.irq_level = be32_to_cpup(property);
> +
> +	property = of_get_property(dev->of_node, "vti,mode", &len);
> +	if (property && len == sizeof(int))
> +		data->pdata.mode = be32_to_cpup(property);
> +
> +	property = of_get_property(dev->of_node, "vti,fuzz_x", &len);
> +	if (property && len == sizeof(int))
> +		data->pdata.fuzz_x = be32_to_cpup(property);
> +
> +	property = of_get_property(dev->of_node, "vti,fuzz_y", &len);
> +	if (property && len == sizeof(int))
> +		data->pdata.fuzz_y = be32_to_cpup(property);
> +
> +	property = of_get_property(dev->of_node, "vti,fuzz_z", &len);
> +	if (property && len == sizeof(int))
> +		data->pdata.fuzz_z = be32_to_cpup(property);
> +
> +	property = of_get_property(dev->of_node, "vti,irqflags", &len);
> +	if (property && len == sizeof(int))
> +		data->pdata.irqflags = be32_to_cpup(property);
> +
> +	return;
> +}
> +#endif
> +
> +struct cmr3000_gyro_data *cmr3000_init(struct device *dev, int irq,
> +				       const struct cmr3000_bus_ops *bops)
> +{
> +	struct cmr3000_platform_data *pdata;
> +	struct cmr3000_gyro_data *data;
> +	struct input_dev *input_dev;
> +	int rev;
> +	int error;
> +
> +	/* if no IRQ return error */
> +	if (irq == 0) {
> +		error = -EINVAL;
> +		goto err_out;
> +	}
> +
> +	data = kzalloc(sizeof(struct cmr3000_gyro_data), GFP_KERNEL);
> +	input_dev = input_allocate_device();
> +	if (!data || !input_dev) {
> +		error = -ENOMEM;
> +		goto err_free_mem;
> +	}
> +
> +	/*Init platform data*/
> +	if (dev->platform_data != NULL) {
> +		memcpy(&data->pdata, dev->platform_data, sizeof(data->pdata));
> +	} else {
> +		memcpy(&data->pdata, &cmr3000_default_pdata,
> +				sizeof(data->pdata));
> +		#ifdef CONFIG_OF
> +		if (dev->of_node != NULL)
> +			cmr3000_get_pdata_of(dev, data);
> +		 else
> +		#endif
> +		dev_info(dev, "platform data not found, using default\n");
> +	}
> +	pdata = &data->pdata;
> +
> +	data->dev = dev;
> +	data->input_dev = input_dev;
> +	data->bus_ops = bops;
> +	data->irq = irq;
> +	mutex_init(&data->mutex);
> +
> +	data->mode = pdata->mode;
> +	if ((data->mode != CMRMODE_MEAS80)
> +	    && (data->mode != CMRMODE_MEAS20)) {
> +		data->mode = CMRMODE_MEAS80;
> +		dev_warn(dev, "Invalid mode specified, assuming 80Hz\n");
> +	}
> +
> +	data->irq_level = pdata->irq_level;
> +	if ((data->irq_level != CMR3000_INTLOW)
> +	    && (data->irq_level != CMR3000_INTHIGH)) {
> +		data->irq_level = CMR3000_INTHIGH;
> +		dev_warn(data->dev,
> +			 "Invalid int level specified, assuming high\n");
> +	}
> +
> +	input_dev->name = "cmr3000-gyroscope";
> +	input_dev->id.bustype = bops->bustype;
> +	input_dev->open = cmr3000_open;
> +	input_dev->close = cmr3000_close;
> +
> +	__set_bit(EV_ABS, input_dev->evbit);
> +
> +	input_set_abs_params(input_dev, ABS_X,
> +			     -CMRRANGE, CMRRANGE, pdata->fuzz_x, 0);
> +	input_set_abs_params(input_dev, ABS_Y,
> +			     -CMRRANGE, CMRRANGE, pdata->fuzz_y, 0);
> +	input_set_abs_params(input_dev, ABS_Z,
> +			     -CMRRANGE, CMRRANGE, pdata->fuzz_z, 0);
> +
> +	input_set_drvdata(input_dev, data);
> +
> +	error = cmr3000_reset(data);
> +	if (error)
> +		goto err_free_mem;
> +
> +	rev = data->bus_ops->read(data->dev, CMR3000_REVID, "Revid");
> +	if (rev < 0) {
> +		error = rev;
> +		goto err_free_mem;
> +	}
> +	if (rev != CMR3000_REV) {
> +		error = -EINVAL;
> +		pr_err("CMR3000 Gyroscope: Unknown Revision %x\n", rev);
> +		goto err_free_mem;
> +	}
> +	pr_info("CMR3000 Gyroscope: Revision %x\n", rev);
> +
> +	error = request_threaded_irq(irq, NULL, cmr3000_thread_irq,
> +				     pdata->irqflags | IRQF_ONESHOT,
> +				     "cmr3000_d0x", data);
> +	if (error) {
> +		dev_err(dev, "request_threaded_irq failed\n");
> +		goto err_free_mem;
> +	}
> +
> +	error = input_register_device(data->input_dev);
> +	if (error) {
> +		dev_err(dev, "Unable to register input device\n");
> +		goto err_free_irq;
> +	}
> +
> +	return data;
> +
> +err_free_irq:
> +	free_irq(irq, data);
> +err_free_mem:
> +	input_free_device(input_dev);
> +	kfree(data);
> +err_out:
> +	return ERR_PTR(error);
> +}
> +EXPORT_SYMBOL(cmr3000_init);
> +
> +void cmr3000_exit(struct cmr3000_gyro_data *data)
> +{
> +	free_irq(data->irq, data);
> +	input_unregister_device(data->input_dev);
> +	kfree(data);
> +}
> +EXPORT_SYMBOL(cmr3000_exit);
> +
> +MODULE_DESCRIPTION("CMR3000-D0x Gyroscope Driver");
> +MODULE_LICENSE("GPL");
> +MODULE_AUTHOR("Ricardo Ribalda <ricardo.ribalda@xxxxxxxxx>");
> diff --git a/drivers/input/misc/cmr3000_d0x.h b/drivers/input/misc/cmr3000_d0x.h
> new file mode 100644
> index 0000000..3d0984a
> --- /dev/null
> +++ b/drivers/input/misc/cmr3000_d0x.h
> @@ -0,0 +1,45 @@
> +/*
> + * VTI CMR3000_D0x Gyroscpe driver
> + *
> + * Copyright (C) 2011 Qtechnology
> + * Author: Ricardo Ribalda <ricardo.ribalda@xxxxxxxxx>
> + *
> + * Based on:
> + *	drivers/input/misc/cma3000_d0x.h by Hemanth V
> + *
> + * This program is free software; you can redistribute it and/or modify it
> + * under the terms of the GNU General Public License version 2 as published by
> + * the Free Software Foundation.
> + *
> + * This program is distributed in the hope that it will be useful, but WITHOUT
> + * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
> + * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
> + * more details.
> + *
> + * You should have received a copy of the GNU General Public License along with
> + * this program.  If not, see <http://www.gnu.org/licenses/>.
> + */
> +
> +#ifndef _INPUT_CMR3000_H
> +#define _INPUT_CMR3000_H
> +
> +#include <linux/types.h>
> +#include <linux/input.h>
> +
> +struct device;
> +struct cmr3000_gyro_data;
> +
> +struct cmr3000_bus_ops {
> +	u16 bustype;
> +	u8 ctrl_mod;
> +	int (*read) (struct device *, u8, char *);
> +	int (*write) (struct device *, u8, u8, char *);
> +};
> +
> +struct cmr3000_gyro_data *cmr3000_init(struct device *dev, int irq,
> +				       const struct cmr3000_bus_ops *bops);
> +void cmr3000_exit(struct cmr3000_gyro_data *);
> +void cmr3000_suspend(struct cmr3000_gyro_data *);
> +void cmr3000_resume(struct cmr3000_gyro_data *);
> +
> +#endif
> diff --git a/drivers/input/misc/cmr3000_d0x_spi.c b/drivers/input/misc/cmr3000_d0x_spi.c
> new file mode 100644
> index 0000000..7f27fa3
> --- /dev/null
> +++ b/drivers/input/misc/cmr3000_d0x_spi.c
> @@ -0,0 +1,144 @@
> +/*
> + * Implements SPI interface for VTI CMR300_D0x Accelerometer driver
> + *
> + * Copyright (C) 2011 Qtechnology
> + * Author: Ricardo Ribalda <ricardo.ribalda@xxxxxxxxxxxxx>
> + * Based on:
> + *	drivers/input/misc/cma3000_d0x_i2c.c by Hemanth V
> + *	drivers/input/mis/adxl34x-spi.c	by Michael Hennerich
> + *
> + * This program is free software; you can redistribute it and/or modify it
> + * under the terms of the GNU General Public License version 2 as published by
> + * the Free Software Foundation.
> + *
> + * This program is distributed in the hope that it will be useful, but WITHOUT
> + * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
> + * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
> + * more details.
> + *
> + * You should have received a copy of the GNU General Public License along with
> + * this program.  If not, see <http://www.gnu.org/licenses/>.
> + */
> +
> +#include <linux/delay.h>
> +#include <linux/module.h>
> +#include <linux/spi/spi.h>
> +#include <linux/input/cmr3000.h>
> +#include "cmr3000_d0x.h"
> +
> +static int cmr3000_spi_write(struct device *dev, u8 reg, u8 val, char *msg)
> +{
> +	struct spi_device *spi = to_spi_device(dev);
> +	int ret;
> +	u8 tmp[2];
> +
> +	tmp[0] = (reg << 2) | 2;
> +	tmp[1] = val;
> +
> +	ret = spi_write_then_read(spi, tmp, sizeof(tmp), NULL, 0);
> +	if (ret < 0) {
> +		dev_err(dev, "%s failed (%s, %d)\n", __func__, msg, ret);
> +		return ret;
> +	}
> +	return 0;
> +}
> +
> +static int cmr3000_spi_read(struct device *dev, u8 reg, char *msg)
> +{
> +	struct spi_device *spi = to_spi_device(dev);
> +	int ret;
> +
> +	ret = spi_w8r8(spi, reg << 2);
> +	if (ret < 0)
> +		dev_err(dev, "%s failed (%s, %d)\n", __func__, msg, ret);
> +
> +	return ret;
> +}
> +
> +static const struct cmr3000_bus_ops cmr3000_spi_bops = {
> +	.bustype = BUS_SPI,
> +#define CMR3000_BUSSPI     (1 << 4)
> +	.ctrl_mod = CMR3000_BUSSPI,
> +	.read = cmr3000_spi_read,
> +	.write = cmr3000_spi_write,
> +};
> +
> +static int __devinit cmr3000_spi_probe(struct spi_device *spi)
> +{
> +	struct cmr3000_gyro_data *data;
> +
> +	data = cmr3000_init(&spi->dev, spi->irq, &cmr3000_spi_bops);
> +	if (IS_ERR(data))
> +		return PTR_ERR(data);
> +
> +	spi_set_drvdata(spi, data);
> +
> +	return 0;
> +}
> +
> +static int __devexit cmr3000_spi_remove(struct spi_device *spi)
> +{
> +	struct cmr3000_gyro_data *data = dev_get_drvdata(&spi->dev);
> +
> +	cmr3000_exit(data);
> +
> +	return 0;
> +}
> +
> +#ifdef CONFIG_PM
> +static int cmr3000_spi_suspend(struct device *dev)
> +{
> +	struct spi_device *spi = to_spi_device(dev);
> +	struct cmr3000_gyro_data *data = dev_get_drvdata(&spi->dev);
> +
> +	cmr3000_suspend(data);
> +
> +	return 0;
> +}
> +
> +static int cmr3000_spi_resume(struct device *dev)
> +{
> +	struct spi_device *spi = to_spi_device(dev);
> +	struct cmr3000_gyro_data *data = dev_get_drvdata(&spi->dev);
> +
> +	cmr3000_resume(data);
> +
> +	return 0;
> +}
> +
> +static const struct dev_pm_ops cmr3000_spi_pm_ops = {
> +	.suspend = cmr3000_spi_suspend,
> +	.resume = cmr3000_spi_resume,
> +};
> +#endif
> +
> +static SIMPLE_DEV_PM_OPS(cmr3000_spi_pm, cmr3000_spi_suspend,
> +			 cmr3000_spi_resume);
> +
> +static struct spi_driver cmr3000_driver = {
> +	.driver = {
> +		   .name = "cmr3000_d01",
> +		   .bus = &spi_bus_type,
> +		   .owner = THIS_MODULE,
> +		   .pm = &cmr3000_spi_pm,
> +		   },
> +	.probe = cmr3000_spi_probe,
> +	.remove = __devexit_p(cmr3000_spi_remove),
> +};
> +
> +static int __init cmr3000_spi_init(void)
> +{
> +	return spi_register_driver(&cmr3000_driver);
> +}
> +
> +static void __exit cmr3000_spi_exit(void)
> +{
> +	spi_unregister_driver(&cmr3000_driver);
> +}
> +
> +module_init(cmr3000_spi_init);
> +module_exit(cmr3000_spi_exit);
> +
> +MODULE_DESCRIPTION("CMR3000-D0x Gyroscope SPI Driver");
> +MODULE_LICENSE("GPL");
> +MODULE_AUTHOR("Ricardo Ribalda <ricardo.ribalda@xxxxxxxxx>");
> diff --git a/include/linux/input/cmr3000.h b/include/linux/input/cmr3000.h
> new file mode 100644
> index 0000000..dfcf9e3
> --- /dev/null
> +++ b/include/linux/input/cmr3000.h
> @@ -0,0 +1,54 @@
> +/*
> + * VTI CMR3000_Dxx Gyroscope driver
> + *
> + * Copyright (C) 2011 Qtechnology
> + * Author: Ricardo Ribalda <ricardo.ribalda@xxxxxxxxx>
> + *
> + * Based on:
> + *	include/linux/input/cma3000.h by Hemanth V
> + *
> + * This program is free software; you can redistribute it and/or modify it
> + * under the terms of the GNU General Public License version 2 as published by
> + * the Free Software Foundation.
> + *
> + * This program is distributed in the hope that it will be useful, but WITHOUT
> + * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
> + * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
> + * more details.
> + *
> + * You should have received a copy of the GNU General Public License along with
> + * this program.  If not, see <http://www.gnu.org/licenses/>.
> + */
> +
> +#ifndef _LINUX_CMR3000_H
> +#define _LINUX_CMR3000_H
> +
> +#define CMRMODE_DEFAULT    0
> +#define CMRMODE_STANDBY    1
> +#define CMRMODE_MEAS20     2
> +#define CMRMODE_MEAS80     3
> +#define CMRMODE_POFF       0
> +
> +#define CMRIRQLEVEL_LOW    1
> +#define CMRIRQLEVEL_HIGH   0
> +
> +#define CMRRANGE   3072
> +
> +/**
> + * struct cmr3000_platform_data - CMR3000 Platform data
> + * @fuzz_x: Noise on X Axis
> + * @fuzz_y: Noise on Y Axis
> + * @fuzz_z: Noise on Z Axis
> + * @mode: Operating mode
> + * @irq_level: Irq level
> + */
> +struct cmr3000_platform_data {
> +	int fuzz_x;
> +	int fuzz_y;
> +	int fuzz_z;
> +	uint8_t irq_level;
> +	uint8_t mode;
> +	unsigned long irqflags;
> +};
> +
> +#endif
> -- 
> 1.7.7
> 
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