// SPDX-License-Identifier: GPL-2.0-only /* * bma180.c - IIO driver for Bosch BMA180 triaxial acceleration sensor * * Copyright 2013 Oleksandr Kravchenko * * Support for BMA250 (c) Peter Meerwald * * SPI is not supported by driver * BMA180: 7-bit I2C slave address 0x40 or 0x41 * BMA250: 7-bit I2C slave address 0x18 or 0x19 */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #define BMA180_DRV_NAME "bma180" #define BMA180_IRQ_NAME "bma180_event" enum chip_ids { BMA180, BMA250, }; struct bma180_data; struct bma180_part_info { const struct iio_chan_spec *channels; unsigned int num_channels; const int *scale_table; unsigned int num_scales; const int *bw_table; unsigned int num_bw; u8 int_reset_reg, int_reset_mask; u8 sleep_reg, sleep_mask; u8 bw_reg, bw_mask; u8 scale_reg, scale_mask; u8 power_reg, power_mask, lowpower_val; u8 int_enable_reg, int_enable_mask; u8 softreset_reg; int (*chip_config)(struct bma180_data *data); void (*chip_disable)(struct bma180_data *data); }; /* 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_TEMP 0x08 #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 BMA180_ID_REG_VAL 0x03 /* Chip power modes */ #define BMA180_LOW_POWER 0x03 #define BMA250_RANGE_REG 0x0f #define BMA250_BW_REG 0x10 #define BMA250_POWER_REG 0x11 #define BMA250_RESET_REG 0x14 #define BMA250_INT_ENABLE_REG 0x17 #define BMA250_INT_MAP_REG 0x1a #define BMA250_INT_RESET_REG 0x21 #define BMA250_RANGE_MASK GENMASK(3, 0) /* Range of accel values */ #define BMA250_BW_MASK GENMASK(4, 0) /* Accel bandwidth */ #define BMA250_SUSPEND_MASK BIT(7) /* chip will sleep */ #define BMA250_LOWPOWER_MASK BIT(6) #define BMA250_DATA_INTEN_MASK BIT(4) #define BMA250_INT1_DATA_MASK BIT(0) #define BMA250_INT_RESET_MASK BIT(7) /* Reset pending interrupts */ struct bma180_data { struct i2c_client *client; struct iio_trigger *trig; const struct bma180_part_info *part_info; struct iio_mount_matrix orientation; struct mutex mutex; bool sleep_state; int scale; int bw; bool pmode; u8 buff[16]; /* 3x 16-bit + 8-bit + padding + timestamp */ }; enum bma180_chan { AXIS_X, AXIS_Y, AXIS_Z, TEMP }; static int bma180_bw_table[] = { 10, 20, 40, 75, 150, 300 }; /* Hz */ static int bma180_scale_table[] = { 1275, 1863, 2452, 3727, 4903, 9709, 19417 }; static int bma250_bw_table[] = { 8, 16, 31, 63, 125, 250 }; /* Hz */ static int bma250_scale_table[] = { 0, 0, 0, 38344, 0, 76590, 0, 0, 153180, 0, 0, 0, 306458 }; static int bma180_get_data_reg(struct bma180_data *data, enum bma180_chan chan) { int ret; if (data->sleep_state) return -EBUSY; switch (chan) { case TEMP: ret = i2c_smbus_read_byte_data(data->client, BMA180_TEMP); if (ret < 0) dev_err(&data->client->dev, "failed to read temp register\n"); break; default: ret = i2c_smbus_read_word_data(data->client, BMA180_ACC_X_LSB + chan * 2); if (ret < 0) dev_err(&data->client->dev, "failed to read accel_%c register\n", 'x' + chan); } 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, data->part_info->int_reset_reg, data->part_info->int_reset_mask, 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, bool state) { int ret = bma180_set_bits(data, data->part_info->int_enable_reg, data->part_info->int_enable_mask, state); 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, bool state) { int ret = bma180_set_bits(data, data->part_info->sleep_reg, data->part_info->sleep_mask, 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, bool 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 < data->part_info->num_bw; ++i) { if (data->part_info->bw_table[i] == val) { ret = bma180_set_bits(data, data->part_info->bw_reg, data->part_info->bw_mask, 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 < data->part_info->num_scales; ++i) if (data->part_info->scale_table[i] == val) { ret = bma180_set_bits(data, data->part_info->scale_reg, data->part_info->scale_mask, 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_pmode(struct bma180_data *data, bool mode) { u8 reg_val = mode ? data->part_info->lowpower_val : 0; int ret = bma180_set_bits(data, data->part_info->power_reg, data->part_info->power_mask, reg_val); if (ret) { dev_err(&data->client->dev, "failed to set power mode\n"); return ret; } data->pmode = mode; return 0; } static int bma180_soft_reset(struct bma180_data *data) { int ret = i2c_smbus_write_byte_data(data->client, data->part_info->softreset_reg, 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) return ret; if (ret != BMA180_ID_REG_VAL) return -ENODEV; ret = bma180_soft_reset(data); if (ret) return ret; /* * No serial transaction should occur within minimum 10 us * after soft_reset command */ msleep(20); ret = bma180_set_new_data_intr_state(data, false); if (ret) return ret; return bma180_set_pmode(data, false); } static int bma180_chip_config(struct bma180_data *data) { int ret = bma180_chip_init(data); if (ret) goto err; ret = bma180_set_bits(data, BMA180_CTRL_REG0, BMA180_DIS_WAKE_UP, 1); if (ret) goto err; ret = bma180_set_ee_writing_state(data, true); if (ret) goto err; ret = bma180_set_bits(data, BMA180_OFFSET_LSB1, BMA180_SMP_SKIP, 1); if (ret) goto err; ret = bma180_set_bw(data, 20); /* 20 Hz */ if (ret) goto err; ret = bma180_set_scale(data, 2452); /* 2 G */ if (ret) goto err; return 0; err: dev_err(&data->client->dev, "failed to config the chip\n"); return ret; } static int bma250_chip_config(struct bma180_data *data) { int ret = bma180_chip_init(data); if (ret) goto err; ret = bma180_set_bw(data, 16); /* 16 Hz */ if (ret) goto err; ret = bma180_set_scale(data, 38344); /* 2 G */ if (ret) goto err; ret = bma180_set_bits(data, BMA250_INT_MAP_REG, BMA250_INT1_DATA_MASK, 1); if (ret) goto err; return 0; err: dev_err(&data->client->dev, "failed to config the chip\n"); return ret; } static void bma180_chip_disable(struct bma180_data *data) { if (bma180_set_new_data_intr_state(data, false)) goto err; if (bma180_set_ee_writing_state(data, false)) goto err; if (bma180_set_sleep_state(data, true)) goto err; return; err: dev_err(&data->client->dev, "failed to disable the chip\n"); } static void bma250_chip_disable(struct bma180_data *data) { if (bma180_set_new_data_intr_state(data, false)) goto err; if (bma180_set_sleep_state(data, true)) goto err; return; err: dev_err(&data->client->dev, "failed to disable the chip\n"); } static ssize_t bma180_show_avail(char *buf, const int *vals, unsigned int n, bool micros) { size_t len = 0; int i; for (i = 0; i < n; i++) { if (!vals[i]) continue; len += scnprintf(buf + len, PAGE_SIZE - len, micros ? "0.%06d " : "%d ", vals[i]); } buf[len - 1] = '\n'; return len; } static ssize_t bma180_show_filter_freq_avail(struct device *dev, struct device_attribute *attr, char *buf) { struct bma180_data *data = iio_priv(dev_to_iio_dev(dev)); return bma180_show_avail(buf, data->part_info->bw_table, data->part_info->num_bw, false); } static ssize_t bma180_show_scale_avail(struct device *dev, struct device_attribute *attr, char *buf) { struct bma180_data *data = iio_priv(dev_to_iio_dev(dev)); return bma180_show_avail(buf, data->part_info->scale_table, data->part_info->num_scales, true); } static IIO_DEVICE_ATTR(in_accel_filter_low_pass_3db_frequency_available, S_IRUGO, bma180_show_filter_freq_avail, NULL, 0); static IIO_DEVICE_ATTR(in_accel_scale_available, S_IRUGO, bma180_show_scale_avail, NULL, 0); static struct attribute *bma180_attributes[] = { &iio_dev_attr_in_accel_filter_low_pass_3db_frequency_available. dev_attr.attr, &iio_dev_attr_in_accel_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: ret = iio_device_claim_direct_mode(indio_dev); if (ret) return ret; mutex_lock(&data->mutex); ret = bma180_get_data_reg(data, chan->scan_index); mutex_unlock(&data->mutex); iio_device_release_direct_mode(indio_dev); if (ret < 0) return ret; *val = sign_extend32(ret >> chan->scan_type.shift, chan->scan_type.realbits - 1); return IIO_VAL_INT; case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: *val = data->bw; return IIO_VAL_INT; case IIO_CHAN_INFO_SCALE: switch (chan->type) { case IIO_ACCEL: *val = 0; *val2 = data->scale; return IIO_VAL_INT_PLUS_MICRO; case IIO_TEMP: *val = 500; return IIO_VAL_INT; default: return -EINVAL; } case IIO_CHAN_INFO_OFFSET: *val = 48; /* 0 LSB @ 24 degree C */ return IIO_VAL_INT; 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; switch (mask) { case IIO_CHAN_INFO_SCALE: if (val) return -EINVAL; mutex_lock(&data->mutex); ret = bma180_set_scale(data, val2); mutex_unlock(&data->mutex); return ret; case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: if (val2) return -EINVAL; mutex_lock(&data->mutex); ret = bma180_set_bw(data, val); mutex_unlock(&data->mutex); return ret; default: return -EINVAL; } } static const struct iio_info bma180_info = { .attrs = &bma180_attrs_group, .read_raw = bma180_read_raw, .write_raw = bma180_write_raw, }; static const char * const bma180_power_modes[] = { "low_noise", "low_power" }; static int bma180_get_power_mode(struct iio_dev *indio_dev, const struct iio_chan_spec *chan) { struct bma180_data *data = iio_priv(indio_dev); return data->pmode; } static int bma180_set_power_mode(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, unsigned int mode) { struct bma180_data *data = iio_priv(indio_dev); int ret; mutex_lock(&data->mutex); ret = bma180_set_pmode(data, mode); mutex_unlock(&data->mutex); return ret; } static const struct iio_mount_matrix * bma180_accel_get_mount_matrix(const struct iio_dev *indio_dev, const struct iio_chan_spec *chan) { struct bma180_data *data = iio_priv(indio_dev); return &data->orientation; } static const struct iio_enum bma180_power_mode_enum = { .items = bma180_power_modes, .num_items = ARRAY_SIZE(bma180_power_modes), .get = bma180_get_power_mode, .set = bma180_set_power_mode, }; static const struct iio_chan_spec_ext_info bma180_ext_info[] = { IIO_ENUM("power_mode", true, &bma180_power_mode_enum), IIO_ENUM_AVAILABLE("power_mode", &bma180_power_mode_enum), IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, bma180_accel_get_mount_matrix), { } }; #define BMA180_ACC_CHANNEL(_axis, _bits) { \ .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_LOW_PASS_FILTER_3DB_FREQUENCY), \ .scan_index = AXIS_##_axis, \ .scan_type = { \ .sign = 's', \ .realbits = _bits, \ .storagebits = 16, \ .shift = 16 - _bits, \ }, \ .ext_info = bma180_ext_info, \ } #define BMA180_TEMP_CHANNEL { \ .type = IIO_TEMP, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ BIT(IIO_CHAN_INFO_SCALE) | BIT(IIO_CHAN_INFO_OFFSET), \ .scan_index = TEMP, \ .scan_type = { \ .sign = 's', \ .realbits = 8, \ .storagebits = 16, \ }, \ } static const struct iio_chan_spec bma180_channels[] = { BMA180_ACC_CHANNEL(X, 14), BMA180_ACC_CHANNEL(Y, 14), BMA180_ACC_CHANNEL(Z, 14), BMA180_TEMP_CHANNEL, IIO_CHAN_SOFT_TIMESTAMP(4), }; static const struct iio_chan_spec bma250_channels[] = { BMA180_ACC_CHANNEL(X, 10), BMA180_ACC_CHANNEL(Y, 10), BMA180_ACC_CHANNEL(Z, 10), BMA180_TEMP_CHANNEL, IIO_CHAN_SOFT_TIMESTAMP(4), }; static const struct bma180_part_info bma180_part_info[] = { [BMA180] = { bma180_channels, ARRAY_SIZE(bma180_channels), bma180_scale_table, ARRAY_SIZE(bma180_scale_table), bma180_bw_table, ARRAY_SIZE(bma180_bw_table), BMA180_CTRL_REG0, BMA180_RESET_INT, BMA180_CTRL_REG0, BMA180_SLEEP, BMA180_BW_TCS, BMA180_BW, BMA180_OFFSET_LSB1, BMA180_RANGE, BMA180_TCO_Z, BMA180_MODE_CONFIG, BMA180_LOW_POWER, BMA180_CTRL_REG3, BMA180_NEW_DATA_INT, BMA180_RESET, bma180_chip_config, bma180_chip_disable, }, [BMA250] = { bma250_channels, ARRAY_SIZE(bma250_channels), bma250_scale_table, ARRAY_SIZE(bma250_scale_table), bma250_bw_table, ARRAY_SIZE(bma250_bw_table), BMA250_INT_RESET_REG, BMA250_INT_RESET_MASK, BMA250_POWER_REG, BMA250_SUSPEND_MASK, BMA250_BW_REG, BMA250_BW_MASK, BMA250_RANGE_REG, BMA250_RANGE_MASK, BMA250_POWER_REG, BMA250_LOWPOWER_MASK, 1, BMA250_INT_ENABLE_REG, BMA250_DATA_INTEN_MASK, BMA250_RESET_REG, bma250_chip_config, bma250_chip_disable, }, }; 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); s64 time_ns = iio_get_time_ns(indio_dev); int bit, ret, i = 0; mutex_lock(&data->mutex); for_each_set_bit(bit, indio_dev->active_scan_mask, indio_dev->masklength) { ret = bma180_get_data_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_with_timestamp(indio_dev, data->buff, time_ns); 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, }; static int bma180_probe(struct i2c_client *client, const struct i2c_device_id *id) { struct device *dev = &client->dev; struct bma180_data *data; struct iio_dev *indio_dev; enum chip_ids chip; int ret; indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); if (!indio_dev) return -ENOMEM; data = iio_priv(indio_dev); i2c_set_clientdata(client, indio_dev); data->client = client; if (client->dev.of_node) chip = (enum chip_ids)of_device_get_match_data(dev); else chip = id->driver_data; data->part_info = &bma180_part_info[chip]; ret = iio_read_mount_matrix(dev, "mount-matrix", &data->orientation); if (ret) return ret; ret = data->part_info->chip_config(data); if (ret < 0) goto err_chip_disable; mutex_init(&data->mutex); indio_dev->dev.parent = dev; indio_dev->channels = data->part_info->channels; indio_dev->num_channels = data->part_info->num_channels; indio_dev->name = id->name; indio_dev->modes = INDIO_DIRECT_MODE; indio_dev->info = &bma180_info; if (client->irq > 0) { data->trig = iio_trigger_alloc("%s-dev%d", indio_dev->name, indio_dev->id); if (!data->trig) { ret = -ENOMEM; goto err_chip_disable; } ret = devm_request_irq(dev, client->irq, iio_trigger_generic_data_rdy_poll, IRQF_TRIGGER_RISING, "bma180_event", data->trig); if (ret) { dev_err(dev, "unable to request IRQ\n"); goto err_trigger_free; } data->trig->dev.parent = dev; data->trig->ops = &bma180_trigger_ops; iio_trigger_set_drvdata(data->trig, indio_dev); indio_dev->trig = iio_trigger_get(data->trig); ret = iio_trigger_register(data->trig); if (ret) goto err_trigger_free; } ret = iio_triggered_buffer_setup(indio_dev, NULL, bma180_trigger_handler, NULL); if (ret < 0) { dev_err(dev, "unable to setup iio triggered buffer\n"); goto err_trigger_unregister; } ret = iio_device_register(indio_dev); if (ret < 0) { dev_err(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: if (data->trig) iio_trigger_unregister(data->trig); err_trigger_free: iio_trigger_free(data->trig); err_chip_disable: data->part_info->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); if (data->trig) { iio_trigger_unregister(data->trig); iio_trigger_free(data->trig); } mutex_lock(&data->mutex); data->part_info->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 = i2c_get_clientdata(to_i2c_client(dev)); struct bma180_data *data = iio_priv(indio_dev); int ret; mutex_lock(&data->mutex); ret = bma180_set_sleep_state(data, true); mutex_unlock(&data->mutex); return ret; } static int bma180_resume(struct device *dev) { struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev)); struct bma180_data *data = iio_priv(indio_dev); int ret; mutex_lock(&data->mutex); ret = bma180_set_sleep_state(data, false); 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 const struct i2c_device_id bma180_ids[] = { { "bma180", BMA180 }, { "bma250", BMA250 }, { } }; MODULE_DEVICE_TABLE(i2c, bma180_ids); static const struct of_device_id bma180_of_match[] = { { .compatible = "bosch,bma180", .data = (void *)BMA180 }, { .compatible = "bosch,bma250", .data = (void *)BMA250 }, { } }; MODULE_DEVICE_TABLE(of, bma180_of_match); static struct i2c_driver bma180_driver = { .driver = { .name = "bma180", .pm = BMA180_PM_OPS, .of_match_table = bma180_of_match, }, .probe = bma180_probe, .remove = bma180_remove, .id_table = bma180_ids, }; module_i2c_driver(bma180_driver); MODULE_AUTHOR("Kravchenko Oleksandr "); MODULE_AUTHOR("Texas Instruments, Inc."); MODULE_DESCRIPTION("Bosch BMA180/BMA250 triaxial acceleration sensor"); MODULE_LICENSE("GPL");