From: luowei <lw@rock-chips.com>
Date: Fri, 21 Jun 2013 01:58:22 +0000 (+0800)
Subject: sensor:add gsensor dmard10 support
X-Git-Tag: firefly_0821_release~6965^2~44
X-Git-Url: http://demsky.eecs.uci.edu/git/?a=commitdiff_plain;h=2c9f4903b5317e22c6c20f49115079861a7c9245;p=firefly-linux-kernel-4.4.55.git
sensor:add gsensor dmard10 support
---
diff --git a/drivers/input/sensors/accel/Kconfig b/drivers/input/sensors/accel/Kconfig
index b1e1db854466..13c8c33a1681 100755
--- a/drivers/input/sensors/accel/Kconfig
+++ b/drivers/input/sensors/accel/Kconfig
@@ -46,6 +46,12 @@ config GS_MXC6225
To have support for your sepcific gsensor you will have to
select het proper drivers which depend on this option.
+config GS_DMT10
+ bool "gsensor dmard10"
+ help
+ To have support for your sepcific gsensor you will have to
+ select het proper drivers which depend on this option.
+
config GS_BMA023
bool "gsensor bma023"
help
diff --git a/drivers/input/sensors/accel/Makefile b/drivers/input/sensors/accel/Makefile
index d030dc1fff53..7978e00055aa 100755
--- a/drivers/input/sensors/accel/Makefile
+++ b/drivers/input/sensors/accel/Makefile
@@ -4,3 +4,4 @@ obj-$(CONFIG_GS_MMA8452) += mma8452.o
obj-$(CONFIG_GS_LIS3DH) += lis3dh.o
obj-$(CONFIG_GS_MMA7660) += mma7660.o
obj-$(CONFIG_GS_MXC6225) += mxc622x.o
+obj-$(CONFIG_GS_DMT10) += dmard10.o
\ No newline at end of file
diff --git a/drivers/input/sensors/accel/dmard10.c b/drivers/input/sensors/accel/dmard10.c
new file mode 100755
index 000000000000..d6610b8b2fb3
--- /dev/null
+++ b/drivers/input/sensors/accel/dmard10.c
@@ -0,0 +1,484 @@
+/* drivers/input/sensors/access/dmard10.c
+ *
+ * Copyright (C) 2012-2015 ROCKCHIP.
+ * Author: guoyi <gy@rock-chips.com>
+ *
+ * This software is licensed under the terms of the GNU General Public
+ * License version 2, as published by the Free Software Foundation, and
+ * may be copied, distributed, and modified under those terms.
+ *
+ * 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.
+ *
+ */
+#include <linux/interrupt.h>
+#include <linux/i2c.h>
+#include <linux/slab.h>
+#include <linux/irq.h>
+#include <linux/miscdevice.h>
+#include <linux/gpio.h>
+#include <asm/uaccess.h>
+#include <asm/atomic.h>
+#include <linux/delay.h>
+#include <linux/input.h>
+#include <linux/workqueue.h>
+#include <linux/freezer.h>
+#include <mach/gpio.h>
+#include <mach/board.h>
+#ifdef CONFIG_HAS_EARLYSUSPEND
+#include <linux/earlysuspend.h>
+#endif
+#include <linux/sensor-dev.h>
+
+/* Default register settings */
+#define RBUFF_SIZE 12 /* Rx buffer size */
+
+#define REG_ACTR 0x00
+#define REG_WDAL 0x01
+#define REG_TAPNS 0x0f
+#define REG_MISC2 0x1f
+#define REG_AFEM 0x0c
+#define REG_CKSEL 0x0d
+#define REG_INTC 0x0e
+#define REG_STADR 0x12
+#define REG_STAINT 0x1C
+#define REG_PD 0x21
+#define REG_TCGYZ 0x26
+#define REG_X_OUT 0x41
+
+#define MODE_Off 0x00
+#define MODE_ResetAtOff 0x01
+#define MODE_Standby 0x02
+#define MODE_ResetAtStandby 0x03
+#define MODE_Active 0x06
+#define MODE_Trigger 0x0a
+#define MODE_ReadOTP 0x12
+#define MODE_WriteOTP 0x22
+#define MODE_WriteOTPBuf 0x42
+#define MODE_ResetDataPath 0x82
+
+#define VALUE_STADR 0x55
+#define VALUE_STAINT 0xAA
+#define VALUE_AFEM_AFEN_Normal 0x8f// AFEN set 1 , ATM[2:0]=b'000(normal),EN_Z/Y/X/T=1
+#define VALUE_AFEM_Normal 0x0f// AFEN set 0 , ATM[2:0]=b'000(normal),EN_Z/Y/X/T=1
+#define VALUE_INTC 0x00// INTC[6:5]=b'00
+#define VALUE_INTC_Interrupt_En 0x20// INTC[6:5]=b'01 (Data ready interrupt enable, active high at INT0)
+#define VALUE_CKSEL_ODR_0_204 0x04// ODR[3:0]=b'0000 (0.78125Hz), CCK[3:0]=b'0100 (204.8kHZ)
+#define VALUE_CKSEL_ODR_1_204 0x14// ODR[3:0]=b'0001 (1.5625Hz), CCK[3:0]=b'0100 (204.8kHZ)
+#define VALUE_CKSEL_ODR_3_204 0x24// ODR[3:0]=b'0010 (3.125Hz), CCK[3:0]=b'0100 (204.8kHZ)
+#define VALUE_CKSEL_ODR_6_204 0x34// ODR[3:0]=b'0011 (6.25Hz), CCK[3:0]=b'0100 (204.8kHZ)
+#define VALUE_CKSEL_ODR_12_204 0x44// ODR[3:0]=b'0100 (12.5Hz), CCK[3:0]=b'0100 (204.8kHZ)
+#define VALUE_CKSEL_ODR_25_204 0x54// ODR[3:0]=b'0101 (25Hz), CCK[3:0]=b'0100 (204.8kHZ)
+#define VALUE_CKSEL_ODR_50_204 0x64// ODR[3:0]=b'0110 (50Hz), CCK[3:0]=b'0100 (204.8kHZ)
+#define VALUE_CKSEL_ODR_100_204 0x74// ODR[3:0]=b'0111 (100Hz), CCK[3:0]=b'0100 (204.8kHZ)
+
+#define VALUE_TAPNS_NoFilter 0x00 // TAP1/TAP2 NO FILTER
+#define VALUE_TAPNS_Ave_2 0x11 // TAP1/TAP2 Average 2
+#define VALUE_TAPNS_Ave_4 0x22 // TAP1/TAP2 Average 4
+#define VALUE_TAPNS_Ave_8 0x33 // TAP1/TAP2 Average 8
+#define VALUE_TAPNS_Ave_16 0x44 // TAP1/TAP2 Average 16
+#define VALUE_TAPNS_Ave_32 0x55 // TAP1/TAP2 Average 32
+#define VALUE_MISC2_OSCA_EN 0x08
+#define VALUE_PD_RST 0x52
+
+
+//#define DMARD10_REG_INTSU 0x47
+//#define DMARD10_REG_MODE 0x44
+//#define DMARD10_REG_SR 0x44
+
+
+#define DMARD10_REG_DS 0X49
+#define DMARD10_REG_ID 0X0F
+#define DMARD10_REG_IT 0X4D
+#define DMARD10_REG_INTSRC1_C 0X4A
+#define DMARD10_REG_INTSRC1_S 0X4B
+#define MMAIO 0xA1
+
+// IOCTLs for DMARD10 library
+#define ECS_IOCTL_INIT _IO(MMAIO, 0x01)
+#define ECS_IOCTL_RESET _IO(MMAIO, 0x04)
+#define ECS_IOCTL_CLOSE _IO(MMAIO, 0x02)
+#define ECS_IOCTL_START _IO(MMAIO, 0x03)
+#define ECS_IOCTL_GETDATA _IOR(MMAIO, 0x08, char[RBUFF_SIZE+1])
+#define SENSOR_CALIBRATION _IOWR(MMAIO, 0x05 , int[SENSOR_DATA_SIZE])
+
+// IOCTLs for APPs
+#define ECS_IOCTL_APP_SET_RATE _IOW(MMAIO, 0x10, char)
+
+ //rate
+#define DMARD10_RANGE 2000000
+
+#define DMARD10_RATE_32 32
+/*
+#define DMARD10_RATE_64 64
+#define DMARD10_RATE_120 128
+#define DMARD10_RATE_MIN DMARD10_RATE_1
+#define DMARD10_RATE_MAX DMARD10_RATE_120
+*/
+/*status*/
+#define DMARD10_OPEN 1
+#define DMARD10_CLOSE 0
+#define DMARD10_NORMAL 2
+#define DMARD10_LOWPOWER 3
+
+
+
+#define DMARD10_IIC_ADDR 0x18
+#define DMARD10_REG_LEN 11
+
+
+#define DMARD10_FATOR 15
+
+
+#define DMARD10_X_OUT 0x41
+#define SENSOR_DATA_SIZE 3
+#define DMARD10_SENSOR_RATE_1 0
+#define DMARD10_SENSOR_RATE_2 1
+#define DMARD10_SENSOR_RATE_3 2
+#define DMARD10_SENSOR_RATE_4 3
+
+#define POWER_OR_RATE 1
+#define SW_RESET 1
+#define DMARD10_INTERRUPUT 1
+#define DMARD10_POWERDOWN 0
+#define DMARD10_POWERON 1
+
+//g-senor layout configuration, choose one of the following configuration
+
+#define AVG_NUM 16
+#define SENSOR_DATA_SIZE 3
+#define DEFAULT_SENSITIVITY 1024
+
+
+
+#define DMARD10_ENABLE 1
+
+#define DMARD10_REG_X_OUT 0x12
+#define DMARD10_REG_Y_OUT 0x1
+#define DMARD10_REG_Z_OUT 0x2
+#define DMARD10_REG_TILT 0x3
+#define DMARD10_REG_SRST 0x4
+#define DMARD10_REG_SPCNT 0x5
+#define DMARD10_REG_INTSU 0x6
+#define DMARD10_REG_MODE 0x7
+#define DMARD10_REG_SR 0x8
+#define DMARD10_REG_PDET 0x9
+#define DMARD10_REG_PD 0xa
+
+#define DMARD10_RANGE 2000000
+#define DMARD10_PRECISION 10
+#define DMARD10_BOUNDARY (0x1 << (DMARD10_PRECISION - 1))
+#define DMARD10_GRAVITY_STEP (DMARD10_RANGE / DMARD10_BOUNDARY)
+
+
+struct sensor_axis_average {
+ int x_average;
+ int y_average;
+ int z_average;
+ int count;
+};
+
+static struct sensor_axis_average axis_average;
+int gsensor_reset(struct i2c_client *client){
+ struct sensor_private_data *sensor =
+ (struct sensor_private_data *) i2c_get_clientdata(client);
+
+ char buffer[7], buffer2[2];
+ /* 1. check D10 , VALUE_STADR = 0x55 , VALUE_STAINT = 0xAA */
+ buffer[0] = REG_STADR;
+ buffer2[0] = REG_STAINT;
+
+ sensor_rx_data(client, buffer, 2);
+ sensor_rx_data(client, buffer2, 2);
+
+ if( buffer[0] == VALUE_STADR || buffer2[0] == VALUE_STAINT){
+ DBG(KERN_INFO " REG_STADR_VALUE = %d , REG_STAINT_VALUE = %d\n", buffer[0], buffer2[0]);
+ DBG(KERN_INFO " %s DMT_DEVICE_NAME registered I2C driver!\n",__FUNCTION__);
+ }
+ else{
+ DBG(KERN_INFO " %s gsensor I2C err @@@ REG_STADR_VALUE = %d , REG_STAINT_VALUE = %d \n", __func__, buffer[0], buffer2[0]);
+ return -1;
+ }
+ /* 2. Powerdown reset */
+ buffer[0] = REG_PD;
+ buffer[1] = VALUE_PD_RST;
+ sensor_tx_data(client, buffer, 2);
+ /* 3. ACTR => Standby mode => Download OTP to parameter reg => Standby mode => Reset data path => Standby mode */
+ buffer[0] = REG_ACTR;
+ buffer[1] = MODE_Standby;
+ buffer[2] = MODE_ReadOTP;
+ buffer[3] = MODE_Standby;
+ buffer[4] = MODE_ResetDataPath;
+ buffer[5] = MODE_Standby;
+ sensor_tx_data(client, buffer, 6);
+ /* 4. OSCA_EN = 1 ,TSTO = b'000(INT1 = normal, TEST0 = normal) */
+ buffer[0] = REG_MISC2;
+ buffer[1] = VALUE_MISC2_OSCA_EN;
+ sensor_tx_data(client, buffer, 2);
+ /* 5. AFEN = 1(AFE will powerdown after ADC) */
+ buffer[0] = REG_AFEM;
+ buffer[1] = VALUE_AFEM_AFEN_Normal;
+ buffer[2] = VALUE_CKSEL_ODR_100_204;
+ buffer[3] = VALUE_INTC;
+ buffer[4] = VALUE_TAPNS_Ave_2;
+ buffer[5] = 0x00; // DLYC, no delay timing
+ buffer[6] = 0x07; // INTD=1 (push-pull), INTA=1 (active high), AUTOT=1 (enable T)
+ sensor_tx_data(client, buffer, 7);
+ /* 6. write TCGYZ & TCGX */
+ buffer[0] = REG_WDAL; // REG:0x01
+ buffer[1] = 0x00; // set TC of Y,Z gain value
+ buffer[2] = 0x00; // set TC of X gain value
+ buffer[3] = 0x03; // Temperature coefficient of X,Y,Z gain
+ sensor_tx_data(client, buffer, 4);
+
+ buffer[0] = REG_ACTR; // REG:0x00
+ buffer[1] = MODE_Standby; // Standby
+ buffer[2] = MODE_WriteOTPBuf; // WriteOTPBuf
+ buffer[3] = MODE_Standby; // Standby
+
+ /* 7. Activation mode */
+ buffer[0] = REG_ACTR;
+ buffer[1] = MODE_Active;
+ sensor_tx_data(client, buffer, 2);
+ printk("\n dmard10 gsensor _reset SUCCESS!!\n");
+ return 0;
+}
+
+/****************operate according to sensor chip:start************/
+
+static int sensor_active(struct i2c_client *client, int enable, int rate)
+{
+ struct sensor_private_data *sensor =
+ (struct sensor_private_data *) i2c_get_clientdata(client);
+ int result = 0;
+ int status = 0;
+ gsensor_reset(client);
+ sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg);
+ //register setting according to chip datasheet
+ if(enable)
+ {
+ status = DMARD10_ENABLE; //dmard10
+ sensor->ops->ctrl_data |= status;
+ }
+ else
+ {
+ status = ~DMARD10_ENABLE; //dmard10
+ sensor->ops->ctrl_data &= status;
+ }
+
+ DBG("%s:reg=0x%x,reg_ctrl=0x%x,enable=%d\n",__func__,sensor->ops->ctrl_reg, sensor->ops->ctrl_data, enable);
+ result = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data);
+ if(result)
+ printk("%s:fail to active sensor\n",__func__);
+
+ return result;
+
+}
+
+static int sensor_init(struct i2c_client *client)
+{
+ struct sensor_private_data *sensor =
+ (struct sensor_private_data *) i2c_get_clientdata(client);
+ int result = 0;
+
+ result = sensor->ops->active(client,0,0);
+ if(result)
+ {
+ printk("%s:line=%d,error\n",__func__,__LINE__);
+ return result;
+ }
+
+ sensor->status_cur = SENSOR_OFF;
+
+ DBG("%s:DMARD10_REG_TILT=0x%x\n",__func__,sensor_read_reg(client, DMARD10_REG_TILT));
+
+ result = sensor_write_reg(client, DMARD10_REG_SR, (0x01<<5)| 0x02); //32 Samples/Second Active and Auto-Sleep Mode
+ if(result)
+ {
+ printk("%s:line=%d,error\n",__func__,__LINE__);
+ return result;
+ }
+
+ if(sensor->pdata->irq_enable) //open interrupt
+ {
+ result = sensor_write_reg(client, DMARD10_REG_INTSU, 1<<4);//enable int,GINT=1
+ if(result)
+ {
+ printk("%s:line=%d,error\n",__func__,__LINE__);
+ return result;
+ }
+ }
+
+ sensor->ops->ctrl_data = 1<<6; //Interrupt output INT is push-pull
+ result = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data);
+ if(result)
+ {
+ printk("%s:line=%d,error\n",__func__,__LINE__);
+ return result;
+ }
+
+
+ memset(&axis_average, 0, sizeof(struct sensor_axis_average));
+
+ return result;
+}
+
+
+static int sensor_convert_data(struct i2c_client *client, char high_byte, char low_byte)
+{
+ s64 result;
+
+
+ result = ((int)high_byte << 8)|((int)low_byte);
+
+ if (result < DMARD10_BOUNDARY){
+ result = result* DMARD10_GRAVITY_STEP;
+ }else{
+ result = ~( ((~result & (0x7fff>>(16-DMARD10_PRECISION)) ) + 1)* DMARD10_GRAVITY_STEP) + 1;
+ }
+
+ return result;
+
+}
+
+static int gsensor_report_value(struct i2c_client *client, struct sensor_axis *axis)
+{
+ struct sensor_private_data *sensor =
+ (struct sensor_private_data *) i2c_get_clientdata(client);
+
+ /* Report acceleration sensor information */
+ input_report_abs(sensor->input_dev, ABS_X, axis->x);
+ input_report_abs(sensor->input_dev, ABS_Y, axis->y);
+ input_report_abs(sensor->input_dev, ABS_Z, axis->z);
+ input_sync(sensor->input_dev);
+ DBG("Gsensor x==%d y==%d z==%d\n",axis->x,axis->y,axis->z);
+
+ return 0;
+}
+#define DMARD10_COUNT_AVERAGE 2
+#define GSENSOR_MIN 2
+static int sensor_report_value(struct i2c_client *client)
+{
+ struct sensor_private_data *sensor =
+ (struct sensor_private_data *) i2c_get_clientdata(client);
+ struct sensor_platform_data *pdata = sensor->pdata;
+ int ret = 0;
+ int x,y,z;
+ struct sensor_axis axis;
+ char buffer[8] = {0};
+ char value = 0;
+
+ if(sensor->ops->read_len < 3) //sensor->ops->read_len = 3
+ {
+ printk("%s:lenth is error,len=%d\n",__func__,sensor->ops->read_len);
+ return -1;
+ }
+
+ memset(buffer, 0, 8);
+ /* Data bytes from hardware xL, xH, yL, yH, zL, zH */
+ do {
+ *buffer = sensor->ops->read_reg;
+ ret = sensor_rx_data(client, buffer, sensor->ops->read_len);
+ if (ret < 0)
+ return ret;
+ } while (0);
+
+ //this gsensor need 6 bytes buffer
+ x = sensor_convert_data(sensor->client, buffer[3], buffer[2]); //buffer[1]:high bit
+ y = sensor_convert_data(sensor->client, buffer[5], buffer[4]);
+ z = sensor_convert_data(sensor->client, buffer[7], buffer[6]);
+
+ axis.x = (pdata->orientation[0])*x + (pdata->orientation[1])*y + (pdata->orientation[2])*z;
+ axis.y = (pdata->orientation[3])*x + (pdata->orientation[4])*y + (pdata->orientation[5])*z;
+ axis.z = (pdata->orientation[6])*x + (pdata->orientation[7])*y + (pdata->orientation[8])*z;
+
+
+ axis_average.x_average += axis.x;
+ axis_average.y_average += axis.y;
+ axis_average.z_average += axis.z;
+ axis_average.count++;
+
+ if(axis_average.count >= DMARD10_COUNT_AVERAGE)
+ {
+ axis.x = axis_average.x_average / axis_average.count;
+ axis.y = axis_average.y_average / axis_average.count;
+ axis.z = axis_average.z_average / axis_average.count;
+
+ DBG( "%s: axis = %d %d %d \n", __func__, axis.x, axis.y, axis.z);
+
+ memset(&axis_average, 0, sizeof(struct sensor_axis_average));
+
+ //Report event only while value is changed to save some power
+ if((abs(sensor->axis.x - axis.x) > GSENSOR_MIN) || (abs(sensor->axis.y - axis.y) > GSENSOR_MIN) || (abs(sensor->axis.z - axis.z) > GSENSOR_MIN))
+ {
+ gsensor_report_value(client, &axis);
+
+ /* »¥³âµØ»º´æÊý¾Ý. */
+ mutex_lock(&(sensor->data_mutex) );
+ sensor->axis = axis;
+ mutex_unlock(&(sensor->data_mutex) );
+ }
+ }
+
+ if((sensor->pdata->irq_enable)&& (sensor->ops->int_status_reg >= 0)) //read sensor intterupt status register
+ {
+
+ value = sensor_read_reg(client, sensor->ops->int_status_reg);
+ DBG("%s:sensor int status :0x%x\n",__func__,value);
+ }
+
+ return ret;
+}
+
+
+struct sensor_operate gsensor_dmard10_ops = {
+ .name = "gs_dmard10",
+ .type = SENSOR_TYPE_ACCEL, //sensor type and it should be correct
+ .id_i2c = ACCEL_ID_DMARD10, //i2c id number
+ .read_reg = DMARD10_REG_X_OUT, //read data
+ .read_len = 8, //data length
+ .id_reg = SENSOR_UNKNOW_DATA, //read device id from this register
+ .id_data = SENSOR_UNKNOW_DATA, //device id
+ .precision = DMARD10_PRECISION, //12 bit
+ .ctrl_reg = DMARD10_REG_MODE, //enable or disable
+ .int_status_reg = SENSOR_UNKNOW_DATA, //intterupt status register
+ .range = {-DMARD10_RANGE,DMARD10_RANGE}, //range
+ .trig = IRQF_TRIGGER_LOW|IRQF_ONESHOT,
+ .active = sensor_active,
+ .init = sensor_init,
+ .report = sensor_report_value,
+};
+
+/****************operate according to sensor chip:end************/
+
+//function name should not be changed
+static struct sensor_operate *gsensor_get_ops(void)
+{
+ return &gsensor_dmard10_ops;
+}
+
+
+static int __init gsensor_dmard10_init(void)
+{
+ struct sensor_operate *ops = gsensor_get_ops();
+ int result = 0;
+ int type = ops->type;
+ result = sensor_register_slave(type, NULL, NULL, gsensor_get_ops);
+ return result;
+}
+
+static void __exit gsensor_dmard10_exit(void)
+{
+ struct sensor_operate *ops = gsensor_get_ops();
+ int type = ops->type;
+ sensor_unregister_slave(type, NULL, NULL, gsensor_get_ops);
+}
+
+
+module_init(gsensor_dmard10_init);
+module_exit(gsensor_dmard10_exit);
+
+
+
diff --git a/drivers/input/sensors/sensor-dev.c b/drivers/input/sensors/sensor-dev.c
index 549792e51df3..3c3c6d1418b2 100755
--- a/drivers/input/sensors/sensor-dev.c
+++ b/drivers/input/sensors/sensor-dev.c
@@ -1747,7 +1747,8 @@ static const struct i2c_device_id sensor_id[] = {
{"gs_kxtj9", ACCEL_ID_KXTJ9},
{"gs_lis3dh", ACCEL_ID_LIS3DH},
{"gs_mma7660", ACCEL_ID_MMA7660},
- {"gs_mxc6225", ACCEL_ID_MXC6225},
+ {"gs_mxc6225", ACCEL_ID_MXC6225},
+ {"gs_dmard10", ACCEL_ID_DMARD10},
/*compass*/
{"compass", COMPASS_ID_ALL},
{"ak8975", COMPASS_ID_AK8975},
diff --git a/include/linux/sensor-dev.h b/include/linux/sensor-dev.h
index c5b699d03835..3fa49dff8fe1 100755
--- a/include/linux/sensor-dev.h
+++ b/include/linux/sensor-dev.h
@@ -56,6 +56,7 @@ enum sensor_id {
ACCEL_ID_MMA7660,
ACCEL_ID_MPU6050,
ACCEL_ID_MXC6225,
+ ACCEL_ID_DMARD10,
COMPASS_ID_ALL,
COMPASS_ID_AK8975,
@@ -75,7 +76,7 @@ enum sensor_id {
GYRO_ID_ALL,
GYRO_ID_L3G4200D,
- GYRO_ID_L3G20D,
+ GYRO_ID_L3G20D,
GYRO_ID_EWTSA,
GYRO_ID_K3G,