MLK-10835-2 misc: fxos8700: add Freescale FXOS8700 6-Axis Acc and Mag Combo Sensor

Add Freescale FXOS8700 6-Axis Acc and Mag Combo Sensor

Signed-off-by: Fugang Duan <B38611@freescale.com>
(cherry picked from commit: c0ca56bbf3f8503a858d15bb14f27652ae6612eb)

3 files changed, 930 insertions, 0 deletions

diff --git a/drivers/misc/Kconfig b/drivers/misc/Kconfig
index 0766b4f3a418..fa77f813068d 100644
--- a/drivers/misc/Kconfig
+++ b/drivers/misc/Kconfig
@@ -324,6 +324,16 @@ config ISL29020
 	  This driver can also be built as a module.  If so, the module
 	  will be called isl29020.
 
+config SENSORS_FXOS8700
+	tristate "Freescale FXOS8700 M+G combo sensor"
+	depends on I2C && SYSFS
+	help
+	  If you say yes here you get support for the Freescale FXOS8700
+	  m+g combo  sensor.
+
+	  This driver can also be built as a module.  If so, the module
+	  will be called fxos8700.
+
 config SENSORS_FXAS2100X
 	tristate "Freescale FXAS2100X gyroscope sensor"
 	depends on I2C && SYSFS
diff --git a/drivers/misc/Makefile b/drivers/misc/Makefile
index 1096baf4e33a..89a332883e0b 100644
--- a/drivers/misc/Makefile
+++ b/drivers/misc/Makefile
@@ -18,6 +18,7 @@ obj-$(CONFIG_LKDTM)		+= lkdtm.o
 obj-$(CONFIG_TIFM_CORE)       	+= tifm_core.o
 obj-$(CONFIG_TIFM_7XX1)       	+= tifm_7xx1.o
 obj-$(CONFIG_PHANTOM)		+= phantom.o
+obj-$(CONFIG_SENSORS_FXOS8700)  += fxos8700.o
 obj-$(CONFIG_SENSORS_FXAS2100X) += fxas2100x.o
 obj-$(CONFIG_SENSORS_BH1780)	+= bh1780gli.o
 obj-$(CONFIG_SENSORS_BH1770)	+= bh1770glc.o
diff --git a/drivers/misc/fxos8700.c b/drivers/misc/fxos8700.c
new file mode 100644
index 000000000000..fdd936cb1fcc
--- /dev/null
+++ b/drivers/misc/fxos8700.c
@@ -0,0 +1,919 @@
+/*
+ *  Copyright (C) 2012-2013 Freescale Semiconductor, Inc. All Rights Reserved.
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  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, write to the Free Software
+ *  Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ */
+
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/slab.h>
+#include <linux/i2c.h>
+#include <linux/pm.h>
+#include <linux/mutex.h>
+#include <linux/delay.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/hwmon-sysfs.h>
+#include <linux/err.h>
+#include <linux/hwmon.h>
+#include <linux/input-polldev.h>
+#include <linux/miscdevice.h>
+#include <linux/poll.h>
+
+/*register define*/
+#define FXOS8700_STATUS 		0x00
+#define FXOS8700_OUT_X_MSB 		0x01
+#define FXOS8700_OUT_X_LSB 		0x02
+#define FXOS8700_OUT_Y_MSB 		0x03
+#define FXOS8700_OUT_Y_LSB 		0x04
+#define FXOS8700_OUT_Z_MSB 		0x05
+#define FXOS8700_OUT_Z_LSB 		0x06
+#define FXOS8700_F_SETUP 		0x09
+#define FXOS8700_TRIG_CFG 		0x0a
+#define FXOS8700_SYSMOD			0x0B
+#define FXOS8700_INT_SOURCE		0x0c
+#define FXOS8700_WHO_AM_I		0x0d
+#define FXOS8700_XYZ_DATA_CFG		0x0e
+#define FXOS8700_HP_FILTER_CUTOFF	0x0f
+#define FXOS8700_PL_STATUS 		0x10
+#define FXOS8700_PL_CFG 		0x11
+#define FXOS8700_PL_COUNT		0x12
+#define FXOS8700_PL_BF_ZCOMP		0x13
+#define FXOS8700_PL_P_L_THS_REG		0x14
+#define FXOS8700_FFMT_CFG		0x15
+#define FXOS8700_FFMT_SRC		0x16
+#define FXOS8700_FFMT_THS		0x17
+#define FXOS8700_FFMT_COUNT		0x18
+#define FXOS8700_TRANSIDENT1_CFG	0x1d
+#define FXOS8700_TRANSIDENT1_SRC	0x1e
+#define FXOS8700_TRANSIDENT1_THS	0x1f
+#define FXOS8700_TRANSIDENT1_COUNT	0x20
+#define FXOS8700_PULSE_CFG		0x21
+#define FXOS8700_PULSE_SRC		0x22
+#define FXOS8700_PULSE_THSX		0x23
+#define FXOS8700_PULSE_THSY		0x24
+#define FXOS8700_PULSE_THSZ		0x25
+#define FXOS8700_PULSE_TMLT		0x26
+#define FXOS8700_PULSE_LTCY		0x27
+#define FXOS8700_PULSE_WIND		0x28
+#define FXOS8700_ATSLP_COUNT		0x29
+#define FXOS8700_CTRL_REG1		0x2a
+#define FXOS8700_CTRL_REG2		0x2b
+#define FXOS8700_CTRL_REG3		0x2c
+#define FXOS8700_CTRL_REG4		0x2d
+#define FXOS8700_CTRL_REG5		0x2e
+#define FXOS8700_OFF_X			0x2f
+#define FXOS8700_OFF_Y			0x30
+#define FXOS8700_OFF_Z			0x31
+#define FXOS8700_M_DR_STATUS		0x32
+#define FXOS8700_M_OUT_X_MSB       	0x33
+#define FXOS8700_M_OUT_X_LSB       	0x34
+#define FXOS8700_M_OUT_Y_MSB       	0x35
+#define FXOS8700_M_OUT_Y_LSB       	0x36
+#define FXOS8700_M_OUT_Z_MSB       	0x37
+#define FXOS8700_M_OUT_Z_LSB       	0x38
+#define FXOS8700_CMP_X_MSB       	0x39
+#define FXOS8700_CMP_X_LSB       	0x3a
+#define FXOS8700_CMP_Y_MSB       	0x3b
+#define FXOS8700_CMP_Y_LSB       	0x3c
+#define FXOS8700_CMP_Z_MSB       	0x3d
+#define FXOS8700_CMP_Z_LSB       	0x3e
+#define FXOS8700_M_OFF_X_MSB       	0x3f
+#define FXOS8700_M_OFF_X_LSB       	0x40
+#define FXOS8700_M_OFF_Y_MSB       	0x41
+#define FXOS8700_M_OFF_Y_LSB       	0x42
+#define FXOS8700_M_OFF_Z_MSB       	0x43
+#define FXOS8700_M_OFF_Z_LSB       	0x44
+#define FXOS8700_MAX_X_MSB       	0x45
+#define FXOS8700_MAX_X_LSB      	0x46
+#define FXOS8700_MAX_Y_MSB       	0x47
+#define FXOS8700_MAX_Y_LSB       	0x48
+#define FXOS8700_MAX_Z_MSB       	0x49
+#define FXOS8700_MAX_Z_LSB       	0x4a
+#define FXOS8700_MIN_X_MSB       	0x4b
+#define FXOS8700_MIN_X_LSB       	0x4c
+#define FXOS8700_MIN_Y_MSB       	0x4d
+#define FXOS8700_MIN_Y_LSB       	0x4e
+#define FXOS8700_MIN_Z_MSB       	0x4f
+#define FXOS8700_MIN_Z_LSB       	0x50
+#define FXOS8700_M_TEMP       		0x51
+#define FXOS8700_MAG_THS_CFG 		0x52
+#define FXOS8700_MAG_THS_SRC 		0x53
+#define FXOS8700_MAG_THS_THS_X1 	0x54
+#define FXOS8700_MAG_THS_THS_X0 	0x55
+#define FXOS8700_MAG_THS_THS_Y1 	0x56
+#define FXOS8700_MAG_THS_THS_Y0 	0x57
+#define FXOS8700_MAG_THS_THS_Z1 	0x58
+#define FXOS8700_MAG_THS_THS_Z0 	0x59
+#define FXOS8700_MAG_THS_CUNT		0x5a
+#define FXOS8700_M_CTRL_REG1		0x5b
+#define FXOS8700_M_CTRL_REG2		0x5c
+#define FXOS8700_M_CTRL_REG3		0x5d
+#define FXOS8700_M_INT_SOURCE		0x5e
+#define FXOS8700_G_VECM_CFG  		0x5f
+#define FXOS8700_G_VECM_THS_MSB  	0x60
+#define FXOS8700_G_VECM_THS_LSB  	0x61
+#define FXOS8700_G_VECM_CNT  		0x62
+#define FXOS8700_G_VECM_INITX_MSB  	0x63
+#define FXOS8700_G_VECM_INITX_LSB  	0x64
+#define FXOS8700_G_VECM_INITY_MSB  	0x65
+#define FXOS8700_G_VECM_INITY_LSB  	0x66
+#define FXOS8700_G_VECM_INITZ_MSB  	0x67
+#define FXOS8700_G_VECM_INITZ_LSB  	0x68
+#define FXOS8700_M_VECM_CFG  		0x69
+#define FXOS8700_M_VECM_THS_MSB 	0x6a
+#define FXOS8700_M_VECM_THS_LSB  	0x6b
+#define FXOS8700_M_VECM_CNT  		0x6d
+#define FXOS8700_M_VECM_INITX_MSB  	0x6d
+#define FXOS8700_M_VECM_INITX_LSB  	0x6e
+#define FXOS8700_M_VECM_INITY_MSB  	0x6f
+#define FXOS8700_M_VECM_INITY_LSB  	0x70
+#define FXOS8700_M_VECM_INITZ_MSB  	0x71
+#define FXOS8700_M_VECM_INITZ_LSB  	0x72
+#define FXOS8700_G_FFMT_THS_X1  	0x73
+#define FXOS8700_G_FFMT_THS_X0 		0x74
+#define FXOS8700_G_FFMT_THS_Y1  	0x75
+#define FXOS8700_G_FFMT_THS_Y0  	0x76
+#define FXOS8700_G_FFMT_THS_Z1  	0x77
+#define FXOS8700_G_FFMT_THS_Z0  	0x78
+#define FXOS8700_G_TRAN_INIT_MSB  	0x79
+#define FXOS8700_G_TRAN_INIT_LSB_X 	0x7a
+#define FXOS8700_G_TRAN_INIT_LSB_Y 	0x7b
+#define FXOS8700_G_TRAN_INIT_LSB_Z 	0x7d
+#define FXOS8700_TM_NVM_LOCK 		0x7e
+#define FXOS8700_NVM_DATA0_35		0x80
+#define FXOS8700_NVM_DATA_BNK3		0xa4
+#define FXOS8700_NVM_DATA_BNK2		0xa5
+#define FXOS8700_NVM_DATA_BNK1		0xa6
+#define FXOS8700_NVM_DATA_BNK0		0xa7
+
+#define	SENSOR_IOCTL_BASE		'S'
+#define	SENSOR_GET_MODEL_NAME		_IOR(SENSOR_IOCTL_BASE, 0, char *)
+#define	SENSOR_GET_POWER_STATUS		_IOR(SENSOR_IOCTL_BASE, 2, int)
+#define	SENSOR_SET_POWER_STATUS		_IOR(SENSOR_IOCTL_BASE, 3, int)
+#define	SENSOR_GET_DELAY_TIME		_IOR(SENSOR_IOCTL_BASE, 4, int)
+#define	SENSOR_SET_DELAY_TIME		_IOR(SENSOR_IOCTL_BASE, 5, int)
+#define	SENSOR_GET_RAW_DATA		_IOR(SENSOR_IOCTL_BASE, 6, short[3])
+
+#define FXOS8700_I2C_ADDR		0x1E
+#define FXOS8700_DEVICE_ID		0xC7
+#define FXOS8700_PRE_DEVICE_ID 		0xC4
+#define FXOS8700_DATA_BUF_SIZE		6
+#define FXOS8700_DELAY_DEFAULT		200 	/* msecs */
+#define FXOS8700_POSITION_DEFAULT	1 	/* msecs */
+
+#define FXOS8700_TYPE_ACC 	0x00
+#define FXOS8700_TYPE_MAG 	0x01
+#define FXOS8700_STANDBY 	0x00
+#define FXOS8700_ACTIVED 	0x01
+
+#define ABS_STATUS		ABS_WHEEL
+#define FXOS8700_DRIVER		"fxos8700"
+
+#define ABSMAX_ACC_VAL          0x01FF
+#define ABSMIN_ACC_VAL          -(ABSMAX_ACC_VAL)
+#define FXOS8700_POLL_INTERVAL	400
+#define FXOS8700_POLL_MAX	800
+#define FXOS8700_POLL_MIN	100
+
+
+struct fxos8700_data_axis {
+	short x;
+	short y;
+	short z;
+};
+
+struct fxos8700_data {
+	struct i2c_client *client;
+	struct input_polled_dev *input_polled;
+	struct miscdevice *acc_miscdev;
+	struct miscdevice *mag_miscdev;
+	atomic_t acc_delay;
+	atomic_t mag_delay;
+	atomic_t acc_active;
+	atomic_t acc_active_poll;
+	atomic_t mag_active_poll;
+	atomic_t mag_active;
+	atomic_t position;
+};
+
+static struct fxos8700_data *g_fxos8700_data;
+static int fxos8700_position_settings[8][3][3] = {
+	{ { 0, -1, 0}, { 1, 0, 0}, {0, 0, 1} },
+	{ {-1, 0, 0}, { 0, -1, 0}, {0, 0, 1} },
+	{ { 0, 1, 0}, {-1, 0, 0}, {0, 0, 1} },
+	{ { 1, 0, 0}, { 0, 1, 0}, {0, 0, 1} },
+	{ { 0, -1, 0}, {-1, 0, 0}, {0, 0, -1} },
+	{ {-1, 0, 0}, { 0, 1, 0}, {0, 0, -1} },
+	{ { 0, 1, 0}, { 1, 0, 0}, {0, 0, -1} },
+	{ { 1, 0, 0}, { 0, -1, 0}, {0, 0, -1} },
+};
+
+static int fxos8700_data_convert(struct fxos8700_data_axis *axis_data, int position)
+{
+	short rawdata[3], data[3];
+	int i, j;
+	if (position < 0 || position > 7)
+		position = 0;
+	rawdata[0] = axis_data->x;
+	rawdata[1] = axis_data->y;
+	rawdata[2] = axis_data->z;
+	for (i = 0; i < 3 ; i++) {
+		data[i] = 0;
+		for (j = 0; j < 3; j++)
+			data[i] += rawdata[j] * fxos8700_position_settings[position][i][j];
+	}
+
+	axis_data->x = data[0];
+	axis_data->y = data[1];
+	axis_data->z = data[2];
+	return 0;
+}
+
+static int fxos8700_change_mode(struct i2c_client *client, int type, int active)
+{
+	u8 data;
+	int acc_act, mag_act;
+	struct fxos8700_data *pdata =  i2c_get_clientdata(client);
+
+	acc_act = atomic_read(&pdata->acc_active);
+	mag_act = atomic_read(&pdata->mag_active);
+	data = i2c_smbus_read_byte_data(client, FXOS8700_CTRL_REG1);
+	if (type == FXOS8700_TYPE_ACC)
+		acc_act = active;
+	else
+		mag_act = active;
+	if (acc_act ==  FXOS8700_ACTIVED || mag_act == FXOS8700_ACTIVED)
+		data |= 0x01;
+	else
+		data &= ~0x01;
+	i2c_smbus_write_byte_data(client, FXOS8700_CTRL_REG1, data);
+
+	return 0;
+}
+
+static int fxos8700_set_odr(struct i2c_client *client, int type, int delay)
+{
+	return 0;
+}
+
+static int fxos8700_device_init(struct i2c_client *client)
+{
+	int result;
+	struct fxos8700_data *pdata =  i2c_get_clientdata(client);
+
+	/* standby mode */
+	result = i2c_smbus_write_byte_data(client, FXOS8700_CTRL_REG1, 0x00);
+	if (result < 0)
+		goto out;
+	result = i2c_smbus_write_byte_data(client, FXOS8700_M_CTRL_REG1, 0x1F);
+	if (result < 0)
+		goto out;
+	result = i2c_smbus_write_byte_data(client, FXOS8700_M_CTRL_REG2, 0x5c);
+	if (result < 0)
+		goto out;
+	result = i2c_smbus_write_byte_data(client, FXOS8700_CTRL_REG1, 0x03 << 3);
+	if (result < 0)
+		goto out;
+
+	atomic_set(&pdata->acc_active, FXOS8700_STANDBY);
+	atomic_set(&pdata->mag_active, FXOS8700_STANDBY);
+	atomic_set(&pdata->position, FXOS8700_POSITION_DEFAULT);
+	return 0;
+out:
+	dev_err(&client->dev, "Error when init fxos8700 device:(%d)", result);
+	return result;
+}
+
+static int fxos8700_device_stop(struct i2c_client *client)
+{
+	i2c_smbus_write_byte_data(client, FXOS8700_CTRL_REG1, 0x00);
+	return 0;
+}
+
+static int
+fxos8700_read_data(struct i2c_client *client, struct fxos8700_data_axis *data, int type)
+{
+	u8 tmp_data[FXOS8700_DATA_BUF_SIZE];
+	int ret;
+	u8 reg;
+
+	if (type == FXOS8700_TYPE_ACC)
+		reg = FXOS8700_OUT_X_MSB;
+	else
+		reg = FXOS8700_M_OUT_X_MSB;
+
+	ret = i2c_smbus_read_i2c_block_data(client, reg, FXOS8700_DATA_BUF_SIZE, tmp_data);
+	if (ret < FXOS8700_DATA_BUF_SIZE) {
+		dev_err(&client->dev, "i2c block read %s failed\n",
+			(type == FXOS8700_TYPE_ACC ? "acc" : "mag"));
+		return -EIO;
+	}
+	data->x = ((tmp_data[0] << 8) & 0xff00) | tmp_data[1];
+	data->y = ((tmp_data[2] << 8) & 0xff00) | tmp_data[3];
+	data->z = ((tmp_data[4] << 8) & 0xff00) | tmp_data[5];
+	return 0;
+}
+
+static long fxos8700_acc_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
+{
+	struct fxos8700_data *pdata = file->private_data;
+	void __user *argp = (void __user *)arg;
+	struct fxos8700_data_axis data;
+	long ret = 0;
+	short sdata[3];
+	int enable;
+	int delay;
+	int position;
+
+	if (!pdata) {
+		printk(KERN_ERR "fxos8700 struct datt point is NULL.");
+		return -EFAULT;
+	}
+
+	switch (cmd) {
+	case SENSOR_GET_MODEL_NAME:
+		if (copy_to_user(argp, "FXOS8700 ACC", strlen("FXOS8700 ACC") + 1)) {
+			printk(KERN_ERR "SENSOR_GET_MODEL_NAME copy_to_user failed.");
+			ret = -EFAULT;
+		}
+		break;
+	case SENSOR_GET_POWER_STATUS:
+		enable = atomic_read(&pdata->acc_active);
+		if (copy_to_user(argp, &enable, sizeof(int))) {
+			printk(KERN_ERR "SENSOR_SET_POWER_STATUS copy_to_user failed.");
+			ret = -EFAULT;
+		}
+		break;
+	case SENSOR_SET_POWER_STATUS:
+		if (copy_from_user(&enable, argp, sizeof(int))) {
+			printk(KERN_ERR "SENSOR_SET_POWER_STATUS copy_to_user failed.");
+			ret = -EFAULT;
+		}
+		if (pdata->client) {
+			ret = fxos8700_change_mode(pdata->client, FXOS8700_TYPE_ACC,
+						   enable ? FXOS8700_ACTIVED : FXOS8700_STANDBY);
+			if (!ret)
+				atomic_set(&pdata->acc_active, enable);
+		}
+		break;
+	case SENSOR_GET_DELAY_TIME:
+		delay = atomic_read(&pdata->acc_delay);
+		if (copy_to_user(argp, &delay, sizeof(delay))) {
+			printk(KERN_ERR "SENSOR_GET_DELAY_TIME copy_to_user failed.");
+			return -EFAULT;
+		}
+		break;
+	case SENSOR_SET_DELAY_TIME:
+		if (copy_from_user(&delay, argp, sizeof(int))) {
+			printk(KERN_ERR "SENSOR_SET_DELAY_TIME copy_to_user failed.");
+			ret = -EFAULT;
+		}
+		if (pdata->client && delay > 0 && delay <= 500) {
+			ret = fxos8700_set_odr(pdata->client, FXOS8700_TYPE_ACC, delay);
+			if (!ret)
+				atomic_set(&pdata->acc_delay, delay);
+		}
+		break;
+	case SENSOR_GET_RAW_DATA:
+		position = atomic_read(&pdata->position);
+		ret = fxos8700_read_data(pdata->client, &data, FXOS8700_TYPE_ACC);
+		if (!ret) {
+			fxos8700_data_convert(&data, position);
+			sdata[0] = data.x;
+			sdata[1] = data.y;
+			sdata[2] = data.z;
+			if (copy_to_user(argp, sdata, sizeof(sdata))) {
+				printk(KERN_ERR "SENSOR_GET_RAW_DATA copy_to_user failed.");
+				ret = -EFAULT;
+			}
+		}
+		break;
+	default:
+		ret = -1;
+	}
+	return ret;
+}
+
+static int fxos8700_acc_open(struct inode *inode, struct file *file)
+{
+	file->private_data = g_fxos8700_data;
+	return nonseekable_open(inode, file);
+}
+
+static int fxos8700_acc_release(struct inode *inode, struct file *file)
+{
+	/* note: releasing the wdt in NOWAYOUT-mode does not stop it */
+	return 0;
+}
+
+static const struct file_operations fxos8700_acc_fops = {
+	.owner = THIS_MODULE,
+	.open = fxos8700_acc_open,
+	.release = fxos8700_acc_release,
+	.unlocked_ioctl = fxos8700_acc_ioctl,
+};
+
+/* mag char miscdevice */
+static long fxos8700_mag_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
+{
+	struct fxos8700_data *pdata = file->private_data;
+	void __user *argp = (void __user *)arg;
+	struct fxos8700_data_axis data;
+	long ret = 0;
+	short sdata[3];
+	int enable;
+	int delay;
+	int position;
+
+	if (!pdata) {
+		printk(KERN_ERR "fxos8700 struct datt point is NULL.");
+		return -EFAULT;
+	}
+
+	switch (cmd) {
+	case SENSOR_GET_MODEL_NAME:
+		if (copy_to_user(argp, "FXOS8700 MAG", strlen("FXOS8700 MAG") + 1)) {
+			printk(KERN_ERR "SENSOR_GET_MODEL_NAME copy_to_user failed.");
+			ret = -EFAULT;
+		}
+		break;
+	case SENSOR_GET_POWER_STATUS:
+		enable = atomic_read(&pdata->mag_active);
+		if (copy_to_user(argp, &enable, sizeof(int))) {
+			printk(KERN_ERR "SENSOR_SET_POWER_STATUS copy_to_user failed.");
+			ret = -EFAULT;
+		}
+		break;
+	case SENSOR_SET_POWER_STATUS:
+		if (copy_from_user(&enable, argp, sizeof(int))) {
+			printk(KERN_ERR "SENSOR_SET_POWER_STATUS copy_to_user failed.");
+			ret = -EFAULT;
+		}
+		if (pdata->client) {
+			ret = fxos8700_change_mode(pdata->client, FXOS8700_TYPE_MAG,
+						   enable ? FXOS8700_ACTIVED : FXOS8700_STANDBY);
+			if (!ret)
+				atomic_set(&pdata->mag_active, enable);
+		}
+		break;
+	case SENSOR_GET_DELAY_TIME:
+		delay = atomic_read(&pdata->mag_delay);
+		if (copy_to_user(argp, &delay, sizeof(delay))) {
+			printk(KERN_ERR "SENSOR_GET_DELAY_TIME copy_to_user failed.");
+			return -EFAULT;
+		}
+		break;
+	case SENSOR_SET_DELAY_TIME:
+		if (copy_from_user(&delay, argp, sizeof(int))) {
+			printk(KERN_ERR "SENSOR_SET_DELAY_TIME copy_to_user failed.");
+			ret = -EFAULT;
+		}
+		if (pdata->client && delay > 0 && delay <= 500) {
+			ret = fxos8700_set_odr(pdata->client, FXOS8700_TYPE_MAG, delay);
+			if (!ret)
+				atomic_set(&pdata->mag_delay, delay);
+		}
+		break;
+	case SENSOR_GET_RAW_DATA:
+		position = atomic_read(&pdata->position);
+		ret = fxos8700_read_data(pdata->client, &data, FXOS8700_TYPE_MAG);
+		if (!ret) {
+			fxos8700_data_convert(&data, position);
+			sdata[0] = data.x;
+			sdata[1] = data.y;
+			sdata[2] = data.z;
+			if (copy_to_user(argp, sdata, sizeof(sdata))) {
+				printk(KERN_ERR "SENSOR_GET_RAW_DATA copy_to_user failed.");
+				ret = -EFAULT;
+			}
+		}
+		break;
+	default:
+		ret = -1;
+	}
+	return ret;
+}
+
+static int fxos8700_mag_open(struct inode *inode, struct file *file)
+{
+	file->private_data = g_fxos8700_data;
+	return nonseekable_open(inode, file);
+}
+
+static int fxos8700_mag_release(struct inode *inode, struct file *file)
+{
+	/* note: releasing the wdt in NOWAYOUT-mode does not stop it */
+	return 0;
+}
+
+static const struct file_operations fxos8700_mag_fops = {
+	.owner = THIS_MODULE,
+	.open = fxos8700_mag_open,
+	.release = fxos8700_mag_release,
+	.unlocked_ioctl = fxos8700_mag_ioctl,
+};
+
+static struct miscdevice fxos8700_acc_device = {
+	.minor = MISC_DYNAMIC_MINOR,
+	.name = "FreescaleAccelerometer",
+	.fops = &fxos8700_acc_fops,
+};
+
+static struct miscdevice fxos8700_mag_device = {
+	.minor = MISC_DYNAMIC_MINOR,
+	.name = "FreescaleMagnetometer",
+	.fops = &fxos8700_mag_fops,
+};
+
+static ssize_t fxos8700_enable_show(struct device *dev,
+				   struct device_attribute *attr, char *buf)
+{
+	struct miscdevice *misc_dev = dev_get_drvdata(dev);
+	struct fxos8700_data *pdata = g_fxos8700_data;
+	int enable = 0;
+
+	if (pdata->acc_miscdev == misc_dev)
+		enable = atomic_read(&pdata->acc_active);
+	if (pdata->mag_miscdev == misc_dev)
+		enable = atomic_read(&pdata->mag_active);
+
+	return sprintf(buf, "%d\n", enable);
+}
+
+static ssize_t fxos8700_enable_store(struct device *dev,
+				    struct device_attribute *attr,
+				    const char *buf, size_t count)
+{
+	struct miscdevice *misc_dev = dev_get_drvdata(dev);
+	struct fxos8700_data *pdata = g_fxos8700_data;
+	struct i2c_client *client = pdata->client;
+	unsigned long enable;
+	int type;
+	int ret;
+
+	if (kstrtoul(buf, 10, &enable) < 0)
+		return -EINVAL;
+
+	if (misc_dev == pdata->acc_miscdev)
+		type = FXOS8700_TYPE_ACC;
+	if (misc_dev == pdata->mag_miscdev)
+		type = FXOS8700_TYPE_MAG;
+	enable = (enable > 0 ? FXOS8700_ACTIVED : FXOS8700_STANDBY);
+	ret = fxos8700_change_mode(client, type, enable);
+	if (!ret) {
+		if (type == FXOS8700_TYPE_ACC) {
+			atomic_set(&pdata->acc_active, enable);
+			atomic_set(&pdata->acc_active_poll, enable);
+		} else {
+			atomic_set(&pdata->mag_active, enable);
+			atomic_set(&pdata->mag_active_poll, enable);
+		}
+	}
+	return count;
+}
+
+static ssize_t fxos8700_poll_delay_show(struct device *dev,
+				   struct device_attribute *attr, char *buf)
+{
+	struct miscdevice *misc_dev = dev_get_drvdata(dev);
+	struct fxos8700_data *pdata = g_fxos8700_data;
+	int poll_delay = 0;
+
+	if (pdata->acc_miscdev == misc_dev)
+		poll_delay = atomic_read(&pdata->acc_delay);
+	if (pdata->mag_miscdev == misc_dev)
+		poll_delay = atomic_read(&pdata->mag_delay);
+
+	return sprintf(buf, "%d\n", poll_delay);
+}
+
+
+static ssize_t fxos8700_poll_delay_store(struct device *dev,
+				    struct device_attribute *attr,
+				    const char *buf, size_t count)
+{
+	struct miscdevice *misc_dev = dev_get_drvdata(dev);
+	struct fxos8700_data *pdata = g_fxos8700_data;
+	struct i2c_client *client = pdata->client;
+	unsigned long delay;
+	int type;
+	int ret;
+
+	if (kstrtoul(buf, 10, &delay) < 0)
+		return -EINVAL;
+
+	if (misc_dev == pdata->acc_miscdev)
+		type = FXOS8700_TYPE_ACC;
+	if (misc_dev == pdata->mag_miscdev)
+		type = FXOS8700_TYPE_MAG;
+	ret = fxos8700_set_odr(client, type, delay);
+	if (!ret) {
+		if (type == FXOS8700_TYPE_ACC)
+			atomic_set(&pdata->acc_delay, delay);
+		else
+			atomic_set(&pdata->mag_delay, delay);
+	}
+	return count;
+}
+
+static ssize_t fxos8700_position_show(struct device *dev,
+				   struct device_attribute *attr, char *buf)
+{
+	struct fxos8700_data *pdata = g_fxos8700_data;
+	unsigned long position = atomic_read(&pdata->position);
+
+	return sprintf(buf, "%ld\n", position);
+}
+
+static ssize_t fxos8700_position_store(struct device *dev,
+				    struct device_attribute *attr,
+				    const char *buf, size_t count)
+{
+	unsigned long position;
+	struct fxos8700_data *pdata = g_fxos8700_data;
+
+	if (kstrtoul(buf, 10, &position) < 0)
+		return -EINVAL;
+
+	atomic_set(&pdata->position, position);
+	return count;
+}
+
+static DEVICE_ATTR(enable, S_IWUSR | S_IRUGO, fxos8700_enable_show, fxos8700_enable_store);
+static DEVICE_ATTR(poll_delay, S_IWUSR | S_IRUGO, fxos8700_poll_delay_show, fxos8700_poll_delay_store);
+static DEVICE_ATTR(position, S_IWUSR | S_IRUGO, fxos8700_position_show, fxos8700_position_store);
+
+static struct attribute *fxos8700_attributes[] = {
+	&dev_attr_enable.attr,
+	&dev_attr_poll_delay.attr,
+	&dev_attr_position.attr,
+	NULL
+};
+
+static const struct attribute_group fxos8700_attr_group = {
+	.attrs = fxos8700_attributes,
+};
+
+static int fxos8700_register_sysfs_device(struct fxos8700_data *pdata)
+{
+	struct miscdevice *misc_dev = NULL;
+	int err = -1;
+
+	/* register sysfs for acc */
+	misc_dev = pdata->acc_miscdev;
+	err = sysfs_create_group(&misc_dev->this_device->kobj, &fxos8700_attr_group);
+	if (err)
+		goto out;
+
+	/* register sysfs for mag */
+	misc_dev = pdata->mag_miscdev;
+	err = sysfs_create_group(&misc_dev->this_device->kobj, &fxos8700_attr_group);
+	if (err)
+		goto err_register_sysfs;
+	return 0;
+err_register_sysfs:
+	misc_dev = pdata->acc_miscdev;
+	sysfs_remove_group(&misc_dev->this_device->kobj, &fxos8700_attr_group);
+	printk("reigster mag sysfs error\n");
+out:
+	printk("reigster acc sysfs error\n");
+	return err;
+}
+
+static int fxos8700_unregister_sysfs_device(struct fxos8700_data *pdata)
+{
+	struct miscdevice *misc_dev;
+	misc_dev =  pdata->acc_miscdev;
+	sysfs_remove_group(&misc_dev->this_device->kobj, &fxos8700_attr_group);
+
+	misc_dev = pdata->mag_miscdev;
+	sysfs_remove_group(&misc_dev->this_device->kobj, &fxos8700_attr_group);
+	return 0;
+}
+
+static void fxos8700_report(struct input_polled_dev *dev, int type)
+{
+	struct fxos8700_data_axis data;
+	struct fxos8700_data *pdata = g_fxos8700_data;
+	struct input_dev *idev = pdata->input_polled->input;
+	int position;
+	int ret;
+
+	position = atomic_read(&pdata->position);
+	ret = fxos8700_read_data(pdata->client, &data, type);
+	if (!ret) {
+		fxos8700_data_convert(&data, position);
+		input_report_abs(idev, ABS_X, data.x);
+		input_report_abs(idev, ABS_Y, data.y);
+		input_report_abs(idev, ABS_Z, data.z);
+		input_sync(idev);
+	}
+}
+
+static void fxos8700_poll(struct input_polled_dev *dev)
+{
+	struct fxos8700_data *pdata = g_fxos8700_data;
+	int type;
+
+	if (!(atomic_read(&pdata->acc_active_poll) ||
+	    atomic_read(&pdata->mag_active_poll)))
+		return;
+
+	if (atomic_read(&pdata->acc_active_poll))
+		type = FXOS8700_TYPE_ACC;
+	if (atomic_read(&pdata->mag_active_poll))
+		type =FXOS8700_TYPE_MAG;
+	fxos8700_report(dev, type);
+}
+
+static int fxo8700_register_polled_device(struct fxos8700_data *pdata)
+{
+	struct input_polled_dev *ipoll_dev;
+	struct input_dev *idev;
+	int error;
+
+	ipoll_dev = input_allocate_polled_device();
+	if (!ipoll_dev)
+		return -ENOMEM;
+
+	ipoll_dev->private = pdata;
+	ipoll_dev->poll = fxos8700_poll;
+	ipoll_dev->poll_interval = FXOS8700_POLL_INTERVAL;
+	ipoll_dev->poll_interval_min = FXOS8700_POLL_MIN;
+	ipoll_dev->poll_interval_max = FXOS8700_POLL_MAX;
+	idev = ipoll_dev->input;
+	idev->name = FXOS8700_DRIVER;
+	idev->id.bustype = BUS_I2C;
+	idev->dev.parent = &pdata->client->dev;
+
+	idev->evbit[0] = BIT_MASK(EV_ABS);
+	input_set_abs_params(idev, ABS_X, ABSMIN_ACC_VAL, ABSMAX_ACC_VAL, 0, 0);
+	input_set_abs_params(idev, ABS_Y, ABSMIN_ACC_VAL, ABSMAX_ACC_VAL, 0, 0);
+	input_set_abs_params(idev, ABS_Z, ABSMIN_ACC_VAL, ABSMAX_ACC_VAL, 0, 0);
+
+	error = input_register_polled_device(ipoll_dev);
+	if (error) {
+		input_free_polled_device(ipoll_dev);
+		return error;
+	}
+
+	pdata->input_polled = ipoll_dev;
+
+	return 0;
+}
+
+static int fxos8700_probe(struct i2c_client *client,
+				   const struct i2c_device_id *id)
+{
+	int result, client_id;
+	struct fxos8700_data *pdata;
+	struct i2c_adapter *adapter;
+
+	adapter = to_i2c_adapter(client->dev.parent);
+	result = i2c_check_functionality(adapter,
+					 I2C_FUNC_SMBUS_BYTE |
+					 I2C_FUNC_SMBUS_BYTE_DATA);
+	if (!result)
+		goto err_out;
+
+	client_id = i2c_smbus_read_byte_data(client, FXOS8700_WHO_AM_I);
+	if (client_id !=  FXOS8700_DEVICE_ID && client_id != FXOS8700_PRE_DEVICE_ID) {
+		dev_err(&client->dev,
+			"read chip ID 0x%x is not equal to 0x%x or 0x%x\n",
+			result, FXOS8700_DEVICE_ID, FXOS8700_PRE_DEVICE_ID);
+		result = -EINVAL;
+		goto err_out;
+	}
+	pdata = kzalloc(sizeof(struct fxos8700_data), GFP_KERNEL);
+	if (!pdata) {
+		result = -ENOMEM;
+		dev_err(&client->dev, "alloc data memory error!\n");
+		goto err_out;
+	}
+	g_fxos8700_data = pdata;
+	pdata->client = client;
+	atomic_set(&pdata->acc_delay, FXOS8700_DELAY_DEFAULT);
+	atomic_set(&pdata->mag_delay, FXOS8700_DELAY_DEFAULT);
+	i2c_set_clientdata(client, pdata);
+
+	result = misc_register(&fxos8700_acc_device);
+	if (result != 0) {
+		printk(KERN_ERR "register acc miscdevice error");
+		goto err_regsiter_acc_misc;
+	}
+	pdata->acc_miscdev = &fxos8700_acc_device;
+
+	result = misc_register(&fxos8700_mag_device);
+	if (result != 0) {
+		printk(KERN_ERR "register acc miscdevice error");
+		goto err_regsiter_mag_misc;
+	}
+	pdata->mag_miscdev = &fxos8700_mag_device;
+
+	/* for debug */
+	if (client->irq <= 0) {
+		result = fxo8700_register_polled_device(g_fxos8700_data);
+		if (result)
+			dev_err(&client->dev,
+				"IRQ GPIO conf. error %d, error %d\n",
+				client->irq, result);
+	}
+
+	result = fxos8700_register_sysfs_device(pdata);
+	if (result) {
+		dev_err(&client->dev, "create device file failed!\n");
+		result = -EINVAL;
+		goto err_register_sys;
+	}
+	fxos8700_device_init(client);
+	printk("fxos8700 device driver probe successfully");
+	return 0;
+err_register_sys:
+	misc_deregister(&fxos8700_mag_device);
+	pdata->mag_miscdev = NULL;
+err_regsiter_mag_misc:
+	misc_deregister(&fxos8700_acc_device);
+	pdata->acc_miscdev = NULL;
+err_regsiter_acc_misc:
+	i2c_set_clientdata(client, NULL);
+	kfree(pdata);
+err_out:
+	return result;
+}
+
+static int fxos8700_remove(struct i2c_client *client)
+{
+	struct fxos8700_data *pdata =  i2c_get_clientdata(client);
+	if (!pdata)
+		return 0;
+	fxos8700_device_stop(client);
+	if (client->irq <= 0) {
+		input_unregister_polled_device(pdata->input_polled);
+		input_free_polled_device(pdata->input_polled);
+	}
+	fxos8700_unregister_sysfs_device(pdata);
+	misc_deregister(&fxos8700_acc_device);
+	misc_deregister(&fxos8700_mag_device);
+	kfree(pdata);
+	return 0;
+}
+
+#ifdef CONFIG_PM_SLEEP
+static int fxos8700_suspend(struct device *dev)
+{
+	struct i2c_client *client = to_i2c_client(dev);
+	struct fxos8700_data *pdata = i2c_get_clientdata(client);
+	if (atomic_read(&pdata->acc_active) || atomic_read(&pdata->mag_active))
+		fxos8700_device_stop(client);
+	return 0;
+}
+
+static int fxos8700_resume(struct device *dev)
+{
+    int ret = 0;
+	struct i2c_client *client = to_i2c_client(dev);
+	struct fxos8700_data *pdata =  i2c_get_clientdata(client);
+	if (atomic_read(&pdata->acc_active))
+		fxos8700_change_mode(client, FXOS8700_TYPE_ACC, FXOS8700_ACTIVED);
+	if (atomic_read(&pdata->mag_active))
+		fxos8700_change_mode(client, FXOS8700_TYPE_MAG, FXOS8700_ACTIVED);
+	return ret;
+}
+#endif
+
+static const struct i2c_device_id fxos8700_id[] = {
+	{"fxos8700", 0},
+	{ /* sentinel */ }
+};
+MODULE_DEVICE_TABLE(i2c, fxos8700_id);
+
+static SIMPLE_DEV_PM_OPS(fxos8700_pm_ops, fxos8700_suspend, fxos8700_resume);
+static struct i2c_driver fxos8700_driver = {
+	.driver = {
+		   .name = FXOS8700_DRIVER,
+		   .owner = THIS_MODULE,
+		   .pm = &fxos8700_pm_ops,
+		   },
+	.probe = fxos8700_probe,
+	.remove = fxos8700_remove,
+	.id_table = fxos8700_id,
+};
+
+module_i2c_driver(fxos8700_driver);
+
+MODULE_AUTHOR("Freescale Semiconductor, Inc.");
+MODULE_DESCRIPTION("FXOS8700 6-Axis Acc and Mag Combo Sensor driver");
+MODULE_LICENSE("GPL");