sergiotarxz/nuttx
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

KXJT9 Accelerometer driver from the Motorola Moto Z MDK

Browse Source
This commit is contained in:
Gregory Nutt 2016-08-02 10:38:14 -06:00
parent 62bc64bc55
commit c32d40fd7d
4 changed files with 813 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
drivers/sensors/Kconfig
View File

@ -25,6 +25,19 @@ config BMP180
---help---
Enable driver support for the Bosch BMP180 barometer sensor.
config SENSOR_KXTJ9
bool "Kionix KXTJ9 Accelerometer support"
default n
select I2C
if SENSOR_KXTJ9
config SENSOR_KXTJ9_I2C_BUS_SPEED
int "Kionix KXTJ9 Bus Speed in Hz"
default 400000
endif # SENSOR_KXTJ9
config LIS331DL
bool "ST LIS331DL device support"
default n

4
drivers/sensors/Make.defs
View File

@ -49,6 +49,10 @@ ifeq ($(CONFIG_AS5048B),y)
CSRCS += as5048b.c
endif
ifeq ($(CONFIG_SENSOR_KXTJ9),y)
CSRCS += kxjt9.c
endif
ifeq ($(CONFIG_LIS331DL),y)
CSRCS += lis331dl.c
endif

668
drivers/sensors/kxjt9.c Normal file
View File

@ -0,0 +1,668 @@
/****************************************************************************
* drivers/sensors/kxjt9.c
*
* Copyright (C) 2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* This driver derives from the Motorola Moto Z MDK:
*
* Copyright (c) 2016 Motorola Mobility, LLC.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
* ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <stdlib.h>
#include <semaphore.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/kmalloc.h>
#include <nuttx/fs/fs.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sensors/kxjt9.h>
#if defined(CONFIG_I2C) && defined(CONFIG_SENSOR_KXTJ9)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
#ifndef CONFIG_SENSOR_KXTJ9_I2C_BUS_SPEED
# define CONFIG_SENSOR_KXTJ9_I2C_BUS_SPEED 400000
#endif
/* Register Definitions *****************************************************/
/* Output registers */
#define XOUT_L 0x06
#define WHO_AM_I 0x0f
#define DCST_RESP 0x0c
/* Control registers */
#define INT_REL 0x1a
#define CTRL_REG1 0x1b
#define INT_CTRL1 0x1e
#define DATA_CTRL 0x21
#define CTRL_REG2 0x1d
/* Control register 1 bits */
#define PC1_OFF 0x7f
#define PC1_ON (1 << 7)
/* CTRL_REG1: set resolution, g-range, data ready enable */
/* Output resolution: 8-bit valid or 12-bit valid */
#define RES_8BIT 0
#define RES_12BIT (1 << 6)
/* Data ready funtion enable bit: set during probe if using irq mode */
#define DRDYE (1 << 5)
/* Output g-range: +/-2g, 4g, or 8g */
#define KXTJ9_G_2G 0
#define KXTJ9_G_4G (1 << 3)
#define KXTJ9_G_8G (1 << 4)
/* Interrupt control register 1 bits */
/* Set these during probe if using irq mode */
#define KXTJ9_IEL (1 << 3)
#define KXTJ9_IEA (1 << 4)
#define KXTJ9_IEN (1 << 5)
#define KXTJ9_SRST 0x80
#define WHO_AM_I_KXCJ9 0x0a
#define KXTJ9_CTRL1_CONFIG (RES_12BIT | KXTJ9_G_2G | DRDYE)
/* Misc. driver defitions ***************************************************/
#define ACCEL_NUM_RETRIES 5
/****************************************************************************
* Private Types
****************************************************************************/
/* This structure describes the state of one KXTJ9 device */
struct kxjt9_dev_s
{
FAR struct i2c_master_s *i2c;
sem_t exclsem;
bool enable;
bool power_enabled;
uint8_t address;
uint8_t shift;
uint8_t ctrl_reg1;
uint8_t data_ctrl;
uint8_t int_ctrl;
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/* I2C helpers */
static int kxtj9_reg_read(FAR struct kxjt9_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval, unsigned int len);
static int kxtj9_reg_write(FAR struct kxjt9_dev_s *priv,
uint8_t regaddr, uint8_t regval);
/* KXTJ9 helpers */
static int kxtj9_configure(FAR struct kxjt9_dev_s *priv, uint8_t odr);
static int kxtj9_enable(FAR struct kxjt9_dev_s *priv, bool on);
static int kxtj9_read_sensor_data(FAR struct kxjt9_dev_s *priv,
FAR struct kxtj9_sensor_data *sensor_data);
static void kxtj9_soft_reset(FAR struct kxjt9_dev_s *priv);
static void kxtj9_set_mode_standby(FAR struct kxjt9_dev_s *priv);
/* Character driver methods */
static int kxjt9_open(FAR struct file *filep);
static int kxjt9_close(FAR struct file *filep);
static ssize_t kxjt9_read(FAR struct file *filep, FAR char *buffer,
size_t buflen);
static ssize_t kxjt9_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen);
static int kxjt9_ioctl(FAR struct file *filep, int cmd,
unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_fops =
{
kxjt9_open,
kxjt9_close,
kxjt9_read,
kxjt9_write,
NULL,
kxjt9_ioctl,
#ifndef CONFIG_DISABLE_POLL
NULL,
#endif
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
NULL,
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: kxtj9_reg_read
*
* Description:
* Read from an 8-bit register.
*
****************************************************************************/
static int kxtj9_reg_read(FAR struct kxjt9_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval, unsigned int len)
{
struct i2c_msg_s msg[2];
uint8_t buf[1];
int retries = ACCEL_NUM_RETRIES;
int ret;
do
{
/* Format two messages: The first is a write containing the register
* address
*/
buf[0] = regaddr;
msg[0].frequency = CONFIG_SENSOR_KXTJ9_I2C_BUS_SPEED,
msg[0].addr = priv->address;
msg[0].flags = 0;
msg[0].buffer = buf;
msg[0].length = 1;
/* The second is a read with a restart containing the register data */
msg[1].frequency = CONFIG_SENSOR_KXTJ9_I2C_BUS_SPEED,
msg[1].addr = priv->address;
msg[1].flags = I2C_M_READ;
msg[1].buffer = regval;
msg[1].length = len;
/* Then perform the transfer. */
ret = I2C_TRANSFER(priv->i2c, msg, 2);
}
while (ret < 0 && retries-- > 0);
return ret;
}
/****************************************************************************
* Name: kxjt9_modifyreg8
*
* Description:
* Modify an 8-bit register.
*
****************************************************************************/
static int kxtj9_reg_write(FAR struct kxjt9_dev_s *priv, uint8_t regaddr,
uint8_t regval)
{
struct i2c_msg_s msg;
uint8_t buf[2];
int ret;
int retries = ACCEL_NUM_RETRIES;
do
{
/* Setup for the transfer */
buf[0] = regaddr;
buf[1] = regval;
msg.frequency = CONFIG_SENSOR_KXTJ9_I2C_BUS_SPEED,
msg.addr = priv->address;
msg.flags = 0;
msg.buffer = buf;
msg.length = 2;
/* Then perform the transfer. */
ret = I2C_TRANSFER(priv->i2c, &msg, 1);
}
while (ret < 0 && retries-- > 0);
return ret;
}
/****************************************************************************
* Name: kxtj9_soft_reset
*
* Description:
* Configure the KXTJ9 device. Handler the SNIOC_CONFIGURE IOCTL command.
*
****************************************************************************/
static void kxtj9_soft_reset(FAR struct kxjt9_dev_s *priv)
{
uint8_t wbuf[1];
/* Set accel into standby and known state by disabling PC1 */
wbuf[0] = KXTJ9_CTRL1_CONFIG;
kxtj9_reg_write(priv, CTRL_REG1, wbuf[0]);
/* Send the reset command */
kxtj9_reg_read(priv, CTRL_REG2, &wbuf[0], 1);
wbuf[0] |= KXTJ9_SRST;
kxtj9_reg_write(priv, CTRL_REG2, wbuf[0]);
/* Delay 10ms for the accel parts to re-initialize */
usleep(10000);
}
/****************************************************************************
* Name: kxtj9_set_mode_standby
*
* Description:
* Configure the KXTJ9 device. Handler the SNIOC_CONFIGURE IOCTL command.
*
****************************************************************************/
static void kxtj9_set_mode_standby(FAR struct kxjt9_dev_s *priv)
{
uint8_t wbuf[1];
/* Set Accel into standby and known state by disabling PC1 */
wbuf[0] = KXTJ9_CTRL1_CONFIG;
kxtj9_reg_write(priv, CTRL_REG1, wbuf[0]);
/* Clear interrupts */
wbuf[0] = 0;
kxtj9_reg_write(priv, INT_CTRL1, wbuf[0]);
}
/****************************************************************************
* Name: kxtj9_configure
*
* Description:
* Configure the KXTJ9 device. Handler the SNIOC_CONFIGURE IOCTL command.
*
****************************************************************************/
static int kxtj9_configure(FAR struct kxjt9_dev_s *priv, uint8_t odr)
{
uint8_t wbuf[0];
int ret;
do
{
ret = sem_wait(&priv->exclsem);
}
while (ret < 0 && errno == EINTR);
kxtj9_soft_reset(priv);
kxtj9_set_mode_standby(priv);
/* Read WHO_AM_I register, should return 0x0a */
kxtj9_reg_read(priv, WHO_AM_I, &wbuf[0], 1);
if (wbuf[0] != WHO_AM_I_KXCJ9)
{
snerr("ERROR: Not KXCJ9 chipset, WHO_AM_I register is 0x%2x.\n",
wbuf[0]);
}
/* Ensure that PC1 is cleared before updating control registers */
kxtj9_reg_write(priv, CTRL_REG1, 0);
/* 12Bit Res and -2G~+2G range */
priv->ctrl_reg1 = KXTJ9_CTRL1_CONFIG;
kxtj9_reg_write(priv, CTRL_REG1, priv->ctrl_reg1);
priv->data_ctrl = odr;
kxtj9_reg_write(priv, DATA_CTRL, priv->data_ctrl);
/* In irq mode, populate INT_CTRL */
priv->int_ctrl = KXTJ9_IEN | KXTJ9_IEA | KXTJ9_IEL;
kxtj9_reg_write(priv, INT_CTRL1, priv->int_ctrl);
sem_post(&priv->exclsem);
return 0;
}
/****************************************************************************
* Name: kxtj9_enable
*
* Description:
* Enable or disable the KXTJ9 device. Handler the SNIOC_ENABLE and
* SNIOC_DISABLE IOCTL commands.
*
****************************************************************************/
static int kxtj9_enable(FAR struct kxjt9_dev_s *priv, bool on)
{
uint8_t wbuf[1];
int ret;
do
{
ret = sem_wait(&priv->exclsem);
}
while (ret < 0 && errno == EINTR);
if (!on && priv->power_enabled)
{
priv->ctrl_reg1 &= PC1_OFF;
kxtj9_reg_write(priv, CTRL_REG1, priv->ctrl_reg1);
priv->power_enabled = false;
sninfo("KXTJ9 in disabled mode\n");
}
else if (on && !priv->power_enabled)
{
/* Turn on outputs */
priv->ctrl_reg1 |= PC1_ON;
kxtj9_reg_write(priv, CTRL_REG1, priv->ctrl_reg1);
/* Clear initial interrupt if in irq mode */
kxtj9_reg_read(priv, INT_REL, wbuf, 1);
priv->power_enabled = true;
sninfo("KXTJ9 in operating mode\n");
}
sem_post(&priv->exclsem);
return OK;
}
/****************************************************************************
* Name: kxtj9_read_sensor_data
*
* Description:
* Read sensor data. This supports the standard driver read() method.
*
****************************************************************************/
static int kxtj9_read_sensor_data(FAR struct kxjt9_dev_s *priv,
FAR struct kxtj9_sensor_data *sensor_data)
{
int16_t acc_data[3];
uint8_t data;
int ret;
do
{
ret = sem_wait(&priv->exclsem);
}
while (ret < 0 && errno == EINTR);
kxtj9_reg_read(priv, XOUT_L, (uint8_t *)acc_data, 6);
/* 12 bit resolution, get rid of the lowest 4 bits */
sensor_data->x = acc_data[0] >> 4;
sensor_data->y = acc_data[1] >> 4;
sensor_data->z = acc_data[2] >> 4;
/* Read INT_REL to clear interrupt status */
kxtj9_reg_read(priv, INT_REL, &data, 1);
sem_post(&priv->exclsem);
return OK;
}
/****************************************************************************
* Name: kxjt9_open
*
* Description:
* This method is called when the device is opened.
*
****************************************************************************/
static int kxjt9_open(FAR struct file *filep)
{
return OK;
}
/****************************************************************************
* Name: kxjt9_close
*
* Description:
* This method is called when the device is closed.
*
****************************************************************************/
static int kxjt9_close(FAR struct file *filep)
{
return OK;
}
/****************************************************************************
* Name: kxjt9_read
*
* Description:
* The standard read method.
*
****************************************************************************/
static ssize_t kxjt9_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
FAR struct inode *inode;
FAR struct kxjt9_dev_s *priv;
int ret;
/* If the provided buffer is not large enough to return a sample, then
* return an error.
*/
if (buflen < sizeof(struct kxtj9_sensor_data))
{
snerr("ERROR: Bufer too small %lu < %u\n",
buflen, sizeof(struct kxtj9_sensor_data));
return (ssize_t)-EINVAL;
}
DEBUGASSERT(filep != NULL && filep->f_inode != NULL && buffer != NULL);
inode = filep->f_inode;
priv = (FAR struct kxjt9_dev_s *)inode->i_private;
DEBUGASSERT(priv != NULL && priv->i2c != NULL);
/* Get the sample data */
ret = kxtj9_read_sensor_data(priv, (FAR struct kxtj9_sensor_data *)buffer);
if (ret < 0)
{
snerr("ERROR: kxtj9_read_sensor_data failed: %d\n", ret);
return (ssize_t)ret;
}
return sizeof(struct kxtj9_sensor_data);
}
/****************************************************************************
* Name: kxjt9_write
*
* Description:
* A dummy write method.
*
****************************************************************************/
static ssize_t kxjt9_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
{
return -ENOSYS;
}
/****************************************************************************
* Name: kxjt9_ioctl
*
* Description:
* The standard ioctl method.
*
****************************************************************************/
static int kxjt9_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode *inode;
FAR struct kxjt9_dev_s *priv;
int ret;
/* Sanity check */
DEBUGASSERT(filep != NULL);
inode = filep->f_inode;
DEBUGASSERT(inode != NULL);
priv = (FAR struct kxjt9_dev_s *)inode->i_private;
DEBUGASSERT(priv != NULL);
/* Handle ioctl commands */
switch (cmd)
{
/* Start converting. Arg: None. */
case SNIOC_ENABLE:
ret = kxtj9_enable(priv, true);
break;
/* Stop converting. Arg: None. */
case SNIOC_DISABLE:
ret = kxtj9_enable(priv, false);
break;
/* Configure the KXTJ9. Arg: enum kxtj9_odr_e value. */
case SNIOC_CONFIGURE:
{
DEBUGASSERT(arg < UINT8_MAX);
ret = kxtj9_configure(priv, (uint8_t)arg);
sninfo("SNIOC_CONFIGURE: ODR=%u ret=%d\n",
(unsigned int)arg, ret);
}
break;
/* Unrecognized commands */
default:
snerr("ERROR: Unrecognized cmd: %d arg: %lu\n", cmd, arg);
ret = -ENOTTY;
break;
}
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: kxjt9_register
*
* Description:
* Register the KXJT9 accelerometer device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/accel0".
* i2c - An I2C driver instance.
* addr - The I2C address of the KXJT9 accelerometer, gyroscope or
* magnetometer.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int kxjt9_register(FAR const char *devpath, FAR struct i2c_master_s *i2c,
uint8_t address)
{
FAR struct kxjt9_dev_s *priv;
int ret;
/* Sanity check */
DEBUGASSERT(devpath != NULL && i2c != NULL);
/* Initialize the device's structure */
priv = (FAR struct kxjt9_dev_s *)kmm_zalloc(sizeof(struct kxjt9_dev_s));
if (priv == NULL)
{
snerr("ERROR: Failed to allocate driver instance\n");
return -ENOMEM;
}
priv->i2c = i2c;
priv->address = address;
sem_init(&priv->exclsem, 0, 1);
/* Register the character driver */
ret = register_driver(devpath, &g_fops, 0666, priv);
if (ret < 0)
{
snerr("ERROR: Failed to register driver: %d\n", ret);
kmm_free(priv);
return ret;
}
return OK;
}
#endif /* CONFIG_I2C && CONFIG_SENSOR_KXTJ9 */

128
include/nuttx/sensors/kxjt9.h Normal file
View File

@ -0,0 +1,128 @@
/****************************************************************************
* include/nuttx/sensors/kxjt9.h
*
* Copyright (C) 2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* This driver derives from the Motorola Moto Z MDK:
*
* Copyright (c) 2016 Motorola Mobility, LLC.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
* ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_SENSORS_KXJT9_H
#define __INCLUDE_NUTTX_SENSORS_KXJT9_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <nuttx/fs/ioctl.h>
#if defined(CONFIG_I2C) && defined(CONFIG_SENSOR_KXTJ9)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* IOCTL Commands ***********************************************************/
#define SNIOC_ENABLE _SNIOC(0x0001) /* Arg: None */
#define SNIOC_DISABLE _SNIOC(0x0002) /* Arg: None */
#define SNIOC_CONFIGURE _SNIOC(0x0003) /* Arg: enum kxtj9_odr_e value */
/****************************************************************************
* Public Types
****************************************************************************/
/* Data control register bits */
enum kxtj9_odr_e
{
ODR0_781F = 8,
ODR1_563F = 9,
ODR3_125F = 10,
ODR6_25F = 11,
ODR12_5F = 0,
ODR25F = 1,
ODR50F = 2,
ODR100F = 3,
ODR200F = 4,
ODR400F = 5,
ODR800F = 6
};
/* Data returned by reading from the KXTJ9 is returned in this format.
* In order for the read to be successful, a buffer of size >= sizeof(struct
* kxtj9_sensor_data) must be provided with the read.
*/
struct kxtj9_sensor_data
{
uint16_t x;
uint16_t y;
uint16_t z;
};
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef __cplusplus
extern "C"
{
#endif
/****************************************************************************
* Name: kxjt9_register
*
* Description:
* Register the KXJT9 accelerometer device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/accel0".
* i2c - An I2C driver instance.
* addr - The I2C address of the KXJT9 accelerometer, gyroscope or
* magnetometer.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
struct i2c_master_s;
int kxjt9_register(FAR const char *devpath, FAR struct i2c_master_s *i2c,
uint8_t address);
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_I2C && CONFIG_SENSOR_KXTJ9 */
#endif /* __INCLUDE_NUTTX_SENSORS_KXJT9_H */