drivers/iio/gyro/st_gyro_core.c

   1 /*
   2  * STMicroelectronics gyroscopes driver
   3  *
   4  * Copyright 2012-2013 STMicroelectronics Inc.
   5  *
   6  * Denis Ciocca <denis.ciocca@st.com>
   7  *
   8  * Licensed under the GPL-2.
   9  */
  10
  11 #include <linux/kernel.h>
  12 #include <linux/module.h>
  13 #include <linux/slab.h>
  14 #include <linux/errno.h>
  15 #include <linux/types.h>
  16 #include <linux/mutex.h>
  17 #include <linux/interrupt.h>
  18 #include <linux/i2c.h>
  19 #include <linux/gpio.h>
  20 #include <linux/irq.h>
  21 #include <linux/delay.h>
  22 #include <linux/iio/iio.h>
  23 #include <linux/iio/sysfs.h>
  24 #include <linux/iio/trigger.h>
  25 #include <linux/iio/buffer.h>
  26
  27 #include <linux/iio/common/st_sensors.h>
  28 #include "st_gyro.h"
  29
  30 #define ST_GYRO_NUMBER_DATA_CHANNELS            3
  31
  32 /* DEFAULT VALUE FOR SENSORS */
  33 #define ST_GYRO_DEFAULT_OUT_X_L_ADDR            0x28
  34 #define ST_GYRO_DEFAULT_OUT_Y_L_ADDR            0x2a
  35 #define ST_GYRO_DEFAULT_OUT_Z_L_ADDR            0x2c
  36
  37 /* FULLSCALE */
  38 #define ST_GYRO_FS_AVL_250DPS                   250
  39 #define ST_GYRO_FS_AVL_500DPS                   500
  40 #define ST_GYRO_FS_AVL_2000DPS                  2000
  41
  42 /* CUSTOM VALUES FOR SENSOR 1 */
  43 #define ST_GYRO_1_WAI_EXP                       0xd3
  44 #define ST_GYRO_1_ODR_ADDR                      0x20
  45 #define ST_GYRO_1_ODR_MASK                      0xc0
  46 #define ST_GYRO_1_ODR_AVL_100HZ_VAL             0x00
  47 #define ST_GYRO_1_ODR_AVL_200HZ_VAL             0x01
  48 #define ST_GYRO_1_ODR_AVL_400HZ_VAL             0x02
  49 #define ST_GYRO_1_ODR_AVL_800HZ_VAL             0x03
  50 #define ST_GYRO_1_PW_ADDR                       0x20
  51 #define ST_GYRO_1_PW_MASK                       0x08
  52 #define ST_GYRO_1_FS_ADDR                       0x23
  53 #define ST_GYRO_1_FS_MASK                       0x30
  54 #define ST_GYRO_1_FS_AVL_250_VAL                0x00
  55 #define ST_GYRO_1_FS_AVL_500_VAL                0x01
  56 #define ST_GYRO_1_FS_AVL_2000_VAL               0x02
  57 #define ST_GYRO_1_FS_AVL_250_GAIN               IIO_DEGREE_TO_RAD(8750)
  58 #define ST_GYRO_1_FS_AVL_500_GAIN               IIO_DEGREE_TO_RAD(17500)
  59 #define ST_GYRO_1_FS_AVL_2000_GAIN              IIO_DEGREE_TO_RAD(70000)
  60 #define ST_GYRO_1_BDU_ADDR                      0x23
  61 #define ST_GYRO_1_BDU_MASK                      0x80
  62 #define ST_GYRO_1_DRDY_IRQ_ADDR                 0x22
  63 #define ST_GYRO_1_DRDY_IRQ_INT2_MASK            0x08
  64 #define ST_GYRO_1_MULTIREAD_BIT                 true
  65
  66 /* CUSTOM VALUES FOR SENSOR 2 */
  67 #define ST_GYRO_2_WAI_EXP                       0xd4
  68 #define ST_GYRO_2_ODR_ADDR                      0x20
  69 #define ST_GYRO_2_ODR_MASK                      0xc0
  70 #define ST_GYRO_2_ODR_AVL_95HZ_VAL              0x00
  71 #define ST_GYRO_2_ODR_AVL_190HZ_VAL             0x01
  72 #define ST_GYRO_2_ODR_AVL_380HZ_VAL             0x02
  73 #define ST_GYRO_2_ODR_AVL_760HZ_VAL             0x03
  74 #define ST_GYRO_2_PW_ADDR                       0x20
  75 #define ST_GYRO_2_PW_MASK                       0x08
  76 #define ST_GYRO_2_FS_ADDR                       0x23
  77 #define ST_GYRO_2_FS_MASK                       0x30
  78 #define ST_GYRO_2_FS_AVL_250_VAL                0x00
  79 #define ST_GYRO_2_FS_AVL_500_VAL                0x01
  80 #define ST_GYRO_2_FS_AVL_2000_VAL               0x02
  81 #define ST_GYRO_2_FS_AVL_250_GAIN               IIO_DEGREE_TO_RAD(8750)
  82 #define ST_GYRO_2_FS_AVL_500_GAIN               IIO_DEGREE_TO_RAD(17500)
  83 #define ST_GYRO_2_FS_AVL_2000_GAIN              IIO_DEGREE_TO_RAD(70000)
  84 #define ST_GYRO_2_BDU_ADDR                      0x23
  85 #define ST_GYRO_2_BDU_MASK                      0x80
  86 #define ST_GYRO_2_DRDY_IRQ_ADDR                 0x22
  87 #define ST_GYRO_2_DRDY_IRQ_INT2_MASK            0x08
  88 #define ST_GYRO_2_MULTIREAD_BIT                 true
  89
  90 /* CUSTOM VALUES FOR SENSOR 3 */
  91 #define ST_GYRO_3_WAI_EXP                       0xd7
  92 #define ST_GYRO_3_ODR_ADDR                      0x20
  93 #define ST_GYRO_3_ODR_MASK                      0xc0
  94 #define ST_GYRO_3_ODR_AVL_95HZ_VAL              0x00
  95 #define ST_GYRO_3_ODR_AVL_190HZ_VAL             0x01
  96 #define ST_GYRO_3_ODR_AVL_380HZ_VAL             0x02
  97 #define ST_GYRO_3_ODR_AVL_760HZ_VAL             0x03
  98 #define ST_GYRO_3_PW_ADDR                       0x20
  99 #define ST_GYRO_3_PW_MASK                       0x08
 100 #define ST_GYRO_3_FS_ADDR                       0x23
 101 #define ST_GYRO_3_FS_MASK                       0x30
 102 #define ST_GYRO_3_FS_AVL_250_VAL                0x00
 103 #define ST_GYRO_3_FS_AVL_500_VAL                0x01
 104 #define ST_GYRO_3_FS_AVL_2000_VAL               0x02
 105 #define ST_GYRO_3_FS_AVL_250_GAIN               IIO_DEGREE_TO_RAD(8750)
 106 #define ST_GYRO_3_FS_AVL_500_GAIN               IIO_DEGREE_TO_RAD(17500)
 107 #define ST_GYRO_3_FS_AVL_2000_GAIN              IIO_DEGREE_TO_RAD(70000)
 108 #define ST_GYRO_3_BDU_ADDR                      0x23
 109 #define ST_GYRO_3_BDU_MASK                      0x80
 110 #define ST_GYRO_3_DRDY_IRQ_ADDR                 0x22
 111 #define ST_GYRO_3_DRDY_IRQ_INT2_MASK            0x08
 112 #define ST_GYRO_3_MULTIREAD_BIT                 true
 113
 114
 115 static const struct iio_chan_spec st_gyro_16bit_channels[] = {
 116         ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
 117                         BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
 118                         ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
 119                         ST_GYRO_DEFAULT_OUT_X_L_ADDR),
 120         ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
 121                         BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
 122                         ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
 123                         ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
 124         ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
 125                         BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
 126                         ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
 127                         ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
 128         IIO_CHAN_SOFT_TIMESTAMP(3)
 129 };
 130
 131 static const struct st_sensor_settings st_gyro_sensors_settings[] = {
 132         {
 133                 .wai = ST_GYRO_1_WAI_EXP,
 134                 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
 135                 .sensors_supported = {
 136                         [0] = L3G4200D_GYRO_DEV_NAME,
 137                         [1] = LSM330DL_GYRO_DEV_NAME,
 138                 },
 139                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 140                 .odr = {
 141                         .addr = ST_GYRO_1_ODR_ADDR,
 142                         .mask = ST_GYRO_1_ODR_MASK,
 143                         .odr_avl = {
 144                                 { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, },
 145                                 { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, },
 146                                 { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, },
 147                                 { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, },
 148                         },
 149                 },
 150                 .pw = {
 151                         .addr = ST_GYRO_1_PW_ADDR,
 152                         .mask = ST_GYRO_1_PW_MASK,
 153                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 154                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 155                 },
 156                 .enable_axis = {
 157                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 158                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 159                 },
 160                 .fs = {
 161                         .addr = ST_GYRO_1_FS_ADDR,
 162                         .mask = ST_GYRO_1_FS_MASK,
 163                         .fs_avl = {
 164                                 [0] = {
 165                                         .num = ST_GYRO_FS_AVL_250DPS,
 166                                         .value = ST_GYRO_1_FS_AVL_250_VAL,
 167                                         .gain = ST_GYRO_1_FS_AVL_250_GAIN,
 168                                 },
 169                                 [1] = {
 170                                         .num = ST_GYRO_FS_AVL_500DPS,
 171                                         .value = ST_GYRO_1_FS_AVL_500_VAL,
 172                                         .gain = ST_GYRO_1_FS_AVL_500_GAIN,
 173                                 },
 174                                 [2] = {
 175                                         .num = ST_GYRO_FS_AVL_2000DPS,
 176                                         .value = ST_GYRO_1_FS_AVL_2000_VAL,
 177                                         .gain = ST_GYRO_1_FS_AVL_2000_GAIN,
 178                                 },
 179                         },
 180                 },
 181                 .bdu = {
 182                         .addr = ST_GYRO_1_BDU_ADDR,
 183                         .mask = ST_GYRO_1_BDU_MASK,
 184                 },
 185                 .drdy_irq = {
 186                         .addr = ST_GYRO_1_DRDY_IRQ_ADDR,
 187                         .mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK,
 188                 },
 189                 .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT,
 190                 .bootime = 2,
 191         },
 192         {
 193                 .wai = ST_GYRO_2_WAI_EXP,
 194                 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
 195                 .sensors_supported = {
 196                         [0] = L3GD20_GYRO_DEV_NAME,
 197                         [1] = LSM330D_GYRO_DEV_NAME,
 198                         [2] = LSM330DLC_GYRO_DEV_NAME,
 199                         [3] = L3G4IS_GYRO_DEV_NAME,
 200                         [4] = LSM330_GYRO_DEV_NAME,
 201                 },
 202                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 203                 .odr = {
 204                         .addr = ST_GYRO_2_ODR_ADDR,
 205                         .mask = ST_GYRO_2_ODR_MASK,
 206                         .odr_avl = {
 207                                 { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, },
 208                                 { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, },
 209                                 { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, },
 210                                 { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, },
 211                         },
 212                 },
 213                 .pw = {
 214                         .addr = ST_GYRO_2_PW_ADDR,
 215                         .mask = ST_GYRO_2_PW_MASK,
 216                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 217                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 218                 },
 219                 .enable_axis = {
 220                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 221                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 222                 },
 223                 .fs = {
 224                         .addr = ST_GYRO_2_FS_ADDR,
 225                         .mask = ST_GYRO_2_FS_MASK,
 226                         .fs_avl = {
 227                                 [0] = {
 228                                         .num = ST_GYRO_FS_AVL_250DPS,
 229                                         .value = ST_GYRO_2_FS_AVL_250_VAL,
 230                                         .gain = ST_GYRO_2_FS_AVL_250_GAIN,
 231                                 },
 232                                 [1] = {
 233                                         .num = ST_GYRO_FS_AVL_500DPS,
 234                                         .value = ST_GYRO_2_FS_AVL_500_VAL,
 235                                         .gain = ST_GYRO_2_FS_AVL_500_GAIN,
 236                                 },
 237                                 [2] = {
 238                                         .num = ST_GYRO_FS_AVL_2000DPS,
 239                                         .value = ST_GYRO_2_FS_AVL_2000_VAL,
 240                                         .gain = ST_GYRO_2_FS_AVL_2000_GAIN,
 241                                 },
 242                         },
 243                 },
 244                 .bdu = {
 245                         .addr = ST_GYRO_2_BDU_ADDR,
 246                         .mask = ST_GYRO_2_BDU_MASK,
 247                 },
 248                 .drdy_irq = {
 249                         .addr = ST_GYRO_2_DRDY_IRQ_ADDR,
 250                         .mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK,
 251                 },
 252                 .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT,
 253                 .bootime = 2,
 254         },
 255         {
 256                 .wai = ST_GYRO_3_WAI_EXP,
 257                 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
 258                 .sensors_supported = {
 259                         [0] = L3GD20_GYRO_DEV_NAME,
 260                 },
 261                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 262                 .odr = {
 263                         .addr = ST_GYRO_3_ODR_ADDR,
 264                         .mask = ST_GYRO_3_ODR_MASK,
 265                         .odr_avl = {
 266                                 { 95, ST_GYRO_3_ODR_AVL_95HZ_VAL, },
 267                                 { 190, ST_GYRO_3_ODR_AVL_190HZ_VAL, },
 268                                 { 380, ST_GYRO_3_ODR_AVL_380HZ_VAL, },
 269                                 { 760, ST_GYRO_3_ODR_AVL_760HZ_VAL, },
 270                         },
 271                 },
 272                 .pw = {
 273                         .addr = ST_GYRO_3_PW_ADDR,
 274                         .mask = ST_GYRO_3_PW_MASK,
 275                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 276                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 277                 },
 278                 .enable_axis = {
 279                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 280                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 281                 },
 282                 .fs = {
 283                         .addr = ST_GYRO_3_FS_ADDR,
 284                         .mask = ST_GYRO_3_FS_MASK,
 285                         .fs_avl = {
 286                                 [0] = {
 287                                         .num = ST_GYRO_FS_AVL_250DPS,
 288                                         .value = ST_GYRO_3_FS_AVL_250_VAL,
 289                                         .gain = ST_GYRO_3_FS_AVL_250_GAIN,
 290                                 },
 291                                 [1] = {
 292                                         .num = ST_GYRO_FS_AVL_500DPS,
 293                                         .value = ST_GYRO_3_FS_AVL_500_VAL,
 294                                         .gain = ST_GYRO_3_FS_AVL_500_GAIN,
 295                                 },
 296                                 [2] = {
 297                                         .num = ST_GYRO_FS_AVL_2000DPS,
 298                                         .value = ST_GYRO_3_FS_AVL_2000_VAL,
 299                                         .gain = ST_GYRO_3_FS_AVL_2000_GAIN,
 300                                 },
 301                         },
 302                 },
 303                 .bdu = {
 304                         .addr = ST_GYRO_3_BDU_ADDR,
 305                         .mask = ST_GYRO_3_BDU_MASK,
 306                 },
 307                 .drdy_irq = {
 308                         .addr = ST_GYRO_3_DRDY_IRQ_ADDR,
 309                         .mask_int2 = ST_GYRO_3_DRDY_IRQ_INT2_MASK,
 310                 },
 311                 .multi_read_bit = ST_GYRO_3_MULTIREAD_BIT,
 312                 .bootime = 2,
 313         },
 314 };
 315
 316 static int st_gyro_read_raw(struct iio_dev *indio_dev,
 317                         struct iio_chan_spec const *ch, int *val,
 318                                                         int *val2, long mask)
 319 {
 320         int err;
 321         struct st_sensor_data *gdata = iio_priv(indio_dev);
 322
 323         switch (mask) {
 324         case IIO_CHAN_INFO_RAW:
 325                 err = st_sensors_read_info_raw(indio_dev, ch, val);
 326                 if (err < 0)
 327                         goto read_error;
 328
 329                 return IIO_VAL_INT;
 330         case IIO_CHAN_INFO_SCALE:
 331                 *val = 0;
 332                 *val2 = gdata->current_fullscale->gain;
 333                 return IIO_VAL_INT_PLUS_MICRO;
 334         case IIO_CHAN_INFO_SAMP_FREQ:
 335                 *val = gdata->odr;
 336                 return IIO_VAL_INT;
 337         default:
 338                 return -EINVAL;
 339         }
 340
 341 read_error:
 342         return err;
 343 }
 344
 345 static int st_gyro_write_raw(struct iio_dev *indio_dev,
 346                 struct iio_chan_spec const *chan, int val, int val2, long mask)
 347 {
 348         int err;
 349
 350         switch (mask) {
 351         case IIO_CHAN_INFO_SCALE:
 352                 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
 353                 break;
 354         case IIO_CHAN_INFO_SAMP_FREQ:
 355                 if (val2)
 356                         return -EINVAL;
 357                 mutex_lock(&indio_dev->mlock);
 358                 err = st_sensors_set_odr(indio_dev, val);
 359                 mutex_unlock(&indio_dev->mlock);
 360                 return err;
 361         default:
 362                 err = -EINVAL;
 363         }
 364
 365         return err;
 366 }
 367
 368 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
 369 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
 370
 371 static struct attribute *st_gyro_attributes[] = {
 372         &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
 373         &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
 374         NULL,
 375 };
 376
 377 static const struct attribute_group st_gyro_attribute_group = {
 378         .attrs = st_gyro_attributes,
 379 };
 380
 381 static const struct iio_info gyro_info = {
 382         .driver_module = THIS_MODULE,
 383         .attrs = &st_gyro_attribute_group,
 384         .read_raw = &st_gyro_read_raw,
 385         .write_raw = &st_gyro_write_raw,
 386         .debugfs_reg_access = &st_sensors_debugfs_reg_access,
 387 };
 388
 389 #ifdef CONFIG_IIO_TRIGGER
 390 static const struct iio_trigger_ops st_gyro_trigger_ops = {
 391         .owner = THIS_MODULE,
 392         .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
 393 };
 394 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
 395 #else
 396 #define ST_GYRO_TRIGGER_OPS NULL
 397 #endif
 398
 399 int st_gyro_common_probe(struct iio_dev *indio_dev)
 400 {
 401         struct st_sensor_data *gdata = iio_priv(indio_dev);
 402         int irq = gdata->get_irq_data_ready(indio_dev);
 403         int err;
 404
 405         indio_dev->modes = INDIO_DIRECT_MODE;
 406         indio_dev->info = &gyro_info;
 407         mutex_init(&gdata->tb.buf_lock);
 408
 409         st_sensors_power_enable(indio_dev);
 410
 411         err = st_sensors_check_device_support(indio_dev,
 412                                         ARRAY_SIZE(st_gyro_sensors_settings),
 413                                         st_gyro_sensors_settings);
 414         if (err < 0)
 415                 return err;
 416
 417         gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
 418         gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
 419         indio_dev->channels = gdata->sensor_settings->ch;
 420         indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
 421
 422         gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
 423                                         &gdata->sensor_settings->fs.fs_avl[0];
 424         gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
 425
 426         err = st_sensors_init_sensor(indio_dev,
 427                                 (struct st_sensors_platform_data *)&gyro_pdata);
 428         if (err < 0)
 429                 return err;
 430
 431         err = st_gyro_allocate_ring(indio_dev);
 432         if (err < 0)
 433                 return err;
 434
 435         if (irq > 0) {
 436                 err = st_sensors_allocate_trigger(indio_dev,
 437                                                   ST_GYRO_TRIGGER_OPS);
 438                 if (err < 0)
 439                         goto st_gyro_probe_trigger_error;
 440         }
 441
 442         err = iio_device_register(indio_dev);
 443         if (err)
 444                 goto st_gyro_device_register_error;
 445
 446         dev_info(&indio_dev->dev, "registered gyroscope %s\n",
 447                  indio_dev->name);
 448
 449         return 0;
 450
 451 st_gyro_device_register_error:
 452         if (irq > 0)
 453                 st_sensors_deallocate_trigger(indio_dev);
 454 st_gyro_probe_trigger_error:
 455         st_gyro_deallocate_ring(indio_dev);
 456
 457         return err;
 458 }
 459 EXPORT_SYMBOL(st_gyro_common_probe);
 460
 461 void st_gyro_common_remove(struct iio_dev *indio_dev)
 462 {
 463         struct st_sensor_data *gdata = iio_priv(indio_dev);
 464
 465         st_sensors_power_disable(indio_dev);
 466
 467         iio_device_unregister(indio_dev);
 468         if (gdata->get_irq_data_ready(indio_dev) > 0)
 469                 st_sensors_deallocate_trigger(indio_dev);
 470
 471         st_gyro_deallocate_ring(indio_dev);
 472 }
 473 EXPORT_SYMBOL(st_gyro_common_remove);
 474
 475 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
 476 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
 477 MODULE_LICENSE("GPL v2");