// SPDX-License-Identifier: GPL-2.0
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/*
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* kernel/drivers/input/sensors/gyro/icm2060x_gyro.c
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*
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* Copyright (C) 2020 Rockchip Co.,Ltd.
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* Author: Wang Jie <dave.wang@rock-chips.com>
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*/
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#include <linux/interrupt.h>
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#include <linux/i2c.h>
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#include <linux/slab.h>
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#include <linux/irq.h>
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#include <linux/miscdevice.h>
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#include <linux/gpio.h>
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#include <linux/uaccess.h>
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#include <linux/atomic.h>
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#include <linux/delay.h>
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#include <linux/input.h>
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#include <linux/workqueue.h>
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#include <linux/freezer.h>
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#include <linux/of_gpio.h>
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#ifdef CONFIG_HAS_EARLYSUSPEND
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#include <linux/earlysuspend.h>
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#endif
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#include <linux/sensor-dev.h>
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#include <linux/icm2060x.h>
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static int sensor_active(struct i2c_client *client, int enable, int rate)
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{
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struct sensor_private_data *sensor =
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(struct sensor_private_data *) i2c_get_clientdata(client);
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int result = 0;
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int status = 0;
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u8 pwrm1 = 0;
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sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg);
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pwrm1 = sensor_read_reg(client, ICM2060X_PWR_MGMT_1);
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if (!enable) {
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status = BIT_GYRO_STBY;
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sensor->ops->ctrl_data |= status;
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if ((sensor->ops->ctrl_data & BIT_ACCEL_STBY) == BIT_ACCEL_STBY)
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pwrm1 |= ICM2060X_PWRM1_SLEEP;
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} else {
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status = ~BIT_GYRO_STBY;
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sensor->ops->ctrl_data &= status;
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pwrm1 &= ~ICM2060X_PWRM1_SLEEP;
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}
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result = sensor_write_reg(client, sensor->ops->ctrl_reg,
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sensor->ops->ctrl_data);
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if (result) {
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dev_err(&client->dev,
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"%s:fail to set ctrl_reg(%d)\n", __func__, result);
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return result;
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}
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msleep(20);
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result = sensor_write_reg(client, ICM2060X_PWR_MGMT_1, pwrm1);
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if (result) {
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dev_err(&client->dev,
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"%s: fail to set pwrm1(%d)\n", __func__, result);
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return result;
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}
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msleep(50);
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return result;
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}
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static int sensor_init(struct i2c_client *client)
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{
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int result;
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struct sensor_private_data *sensor =
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(struct sensor_private_data *) i2c_get_clientdata(client);
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/* init on icm2060x_acc.c */
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result = sensor->ops->active(client, 0, sensor->pdata->poll_delay_ms);
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if (result) {
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dev_err(&client->dev,
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"%s: sensor init err(%d)\n", __func__, result);
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return result;
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}
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return result;
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}
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static int gyro_report_value(struct i2c_client *client,
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struct sensor_axis *axis)
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{
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struct sensor_private_data *sensor =
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(struct sensor_private_data *) i2c_get_clientdata(client);
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if (sensor->status_cur == SENSOR_ON) {
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/* Report gyro sensor information */
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input_report_rel(sensor->input_dev, ABS_RX, axis->x);
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input_report_rel(sensor->input_dev, ABS_RY, axis->y);
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input_report_rel(sensor->input_dev, ABS_RZ, axis->z);
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input_sync(sensor->input_dev);
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}
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return 0;
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}
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static int sensor_report_value(struct i2c_client *client)
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{
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struct sensor_private_data *sensor =
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(struct sensor_private_data *) i2c_get_clientdata(client);
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struct sensor_platform_data *pdata = sensor->pdata;
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int ret = 0;
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short x, y, z;
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struct sensor_axis axis;
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u8 buffer[6] = {0};
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char value = 0;
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if (sensor->ops->read_len < 6) {
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dev_err(&client->dev, "%s: length is error,len = %d\n",
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__func__, sensor->ops->read_len);
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return -1;
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}
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*buffer = sensor->ops->read_reg;
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ret = sensor_rx_data(client, buffer, sensor->ops->read_len);
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if (ret < 0) {
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dev_err(&client->dev,
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"%s: read data failed, ret = %d\n", __func__, ret);
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return ret;
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}
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x = ((buffer[0] << 8) & 0xFF00) + (buffer[1] & 0xFF);
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y = ((buffer[2] << 8) & 0xFF00) + (buffer[3] & 0xFF);
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z = ((buffer[4] << 8) & 0xFF00) + (buffer[5] & 0xFF);
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axis.x = (pdata->orientation[0]) * x + (pdata->orientation[1]) * y +
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(pdata->orientation[2]) * z;
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axis.y = (pdata->orientation[3]) * x + (pdata->orientation[4]) * y +
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(pdata->orientation[5]) * z;
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axis.z = (pdata->orientation[6]) * x + (pdata->orientation[7]) * y +
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(pdata->orientation[8]) * z;
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gyro_report_value(client, &axis);
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mutex_lock(&(sensor->data_mutex));
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sensor->axis = axis;
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mutex_unlock(&(sensor->data_mutex));
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if ((sensor->pdata->irq_enable) && (sensor->ops->int_status_reg >= 0))
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value = sensor_read_reg(client, sensor->ops->int_status_reg);
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return ret;
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}
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static struct sensor_operate gyro_icm2060x_ops = {
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.name = "icm2060x_gyro",
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.type = SENSOR_TYPE_GYROSCOPE,
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.id_i2c = GYRO_ID_ICM2060X,
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.read_reg = ICM2060X_GYRO_XOUT_H,
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.read_len = 6,
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.id_reg = SENSOR_UNKNOW_DATA,
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.id_data = SENSOR_UNKNOW_DATA,
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.precision = ICM2060X_PRECISION,
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.ctrl_reg = ICM2060X_PWR_MGMT_2,
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.int_status_reg = ICM2060X_INT_STATUS,
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.range = {-32768, 32768},
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.trig = IRQF_TRIGGER_HIGH | IRQF_ONESHOT,
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.active = sensor_active,
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.init = sensor_init,
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.report = sensor_report_value,
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};
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/****************operate according to sensor chip:end************/
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static int gyro_icm2060x_probe(struct i2c_client *client,
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const struct i2c_device_id *devid)
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{
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return sensor_register_device(client, NULL, devid, &gyro_icm2060x_ops);
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}
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static int gyro_icm2060x_remove(struct i2c_client *client)
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{
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return sensor_unregister_device(client, NULL, &gyro_icm2060x_ops);
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}
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static const struct i2c_device_id gyro_icm2060x_id[] = {
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{"icm2060x_gyro", GYRO_ID_ICM2060X},
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{}
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};
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static struct i2c_driver gyro_icm2060x_driver = {
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.probe = gyro_icm2060x_probe,
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.remove = gyro_icm2060x_remove,
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.shutdown = sensor_shutdown,
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.id_table = gyro_icm2060x_id,
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.driver = {
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.name = "gyro_icm2060x",
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#ifdef CONFIG_PM
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.pm = &sensor_pm_ops,
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#endif
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},
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};
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static int __init gyro_icm2060x_init(void)
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{
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return i2c_add_driver(&gyro_icm2060x_driver);
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}
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static void __exit gyro_icm2060x_exit(void)
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{
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i2c_del_driver(&gyro_icm2060x_driver);
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}
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/* must register after icm2060x_acc */
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device_initcall_sync(gyro_icm2060x_init);
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module_exit(gyro_icm2060x_exit);
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MODULE_AUTHOR("Wang Jie <dave.wang@rock-chips.com>");
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MODULE_DESCRIPTION("icm2060x_gyro 3-Axis Gyroscope driver");
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MODULE_LICENSE("GPL");
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