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

[Daniel Baluta]

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.

Datasheet will be available at:
http://www.kionix.com/6-axis-accelerometer-magnetometer/kmx61

Signed-off-by: Daniel Baluta <daniel.baluta@xxxxxxxxx>
---
 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@xxxxxxxxx>");
+MODULE_DESCRIPTION("KMX61 accelerometer/magnetometer driver");
+MODULE_LICENSE("GPL v2");
-- 
1.9.1

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