Re: [PATCH V9 3/3] Input: new da7280 haptic driver

From: Uwe Kleine-König
Date: Wed Feb 26 2020 - 11:13:23 EST

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Hello,

On Fri, Feb 21, 2020 at 04:27:05PM +0900, Roy Im wrote:
> Adds support for the Dialog DA7280 LRA/ERM Haptic Driver with
> multiple mode and integrated waveform memory and wideband support.
> It communicates via an I2C bus to the device.
>
> Signed-off-by: Roy Im <roy.im.opensource@xxxxxxxxxxx>
>
> ---
> v9:
> - Removed the header file and put the definitions into the c file.
> - Updated the pwm code and error logs with %pE
> v8:
> - Added changes to support FF_PERIODIC/FF_CUSTOM and FF_CONSTANT.
> - Updated the dt-related code.
> - Removed memless related functions.
> v7:
> - Added more attributes to handle one value per file.
> - Replaced and updated the dt-related code and functions called.
> - Fixed error/functions.
> - Rebased to v4.19-rc6.
> v6: No changes.
> v5: Fixed errors in Kconfig file.
> v4: Updated code as dt-bindings are changed.
> v3: No changes.
> v2: Fixed kbuild error/warning
>
>
> drivers/input/misc/Kconfig | 13 +
> drivers/input/misc/Makefile | 1 +
> drivers/input/misc/da7280.c | 1880 +++++++++++++++++++++++++++++++++++++++++++
> 3 files changed, 1894 insertions(+)
> create mode 100644 drivers/input/misc/da7280.c
>
> diff --git a/drivers/input/misc/Kconfig b/drivers/input/misc/Kconfig
> index 7e2e658..e2bf442 100644
> --- a/drivers/input/misc/Kconfig
> +++ b/drivers/input/misc/Kconfig
> @@ -879,4 +879,17 @@ config INPUT_STPMIC1_ONKEY
> To compile this driver as a module, choose M here: the
> module will be called stpmic1_onkey.
>
> +config INPUT_DA7280_HAPTICS
> + tristate "Dialog Semiconductor DA7280 haptics support"
> + depends on INPUT && I2C
> + select INPUT_FF_MEMLESS
> + select REGMAP_I2C
> + help
> + Say Y to enable support for the Dialog DA7280 haptics driver.
> + The haptics can be controlled by i2c communication,
> + or by PWM input, or by GPI.
> +
> + To compile this driver as a module, choose M here: the
> + module will be called da7280.
> +
> endif
> diff --git a/drivers/input/misc/Makefile b/drivers/input/misc/Makefile
> index 8fd187f..71dc381 100644
> --- a/drivers/input/misc/Makefile
> +++ b/drivers/input/misc/Makefile
> @@ -25,6 +25,7 @@ obj-$(CONFIG_INPUT_CMA3000) += cma3000_d0x.o
> obj-$(CONFIG_INPUT_CMA3000_I2C) += cma3000_d0x_i2c.o
> obj-$(CONFIG_INPUT_COBALT_BTNS) += cobalt_btns.o
> obj-$(CONFIG_INPUT_CPCAP_PWRBUTTON) += cpcap-pwrbutton.o
> +obj-$(CONFIG_INPUT_DA7280_HAPTICS) += da7280.o
> obj-$(CONFIG_INPUT_DA9052_ONKEY) += da9052_onkey.o
> obj-$(CONFIG_INPUT_DA9055_ONKEY) += da9055_onkey.o
> obj-$(CONFIG_INPUT_DA9063_ONKEY) += da9063_onkey.o
> diff --git a/drivers/input/misc/da7280.c b/drivers/input/misc/da7280.c
> new file mode 100644
> index 0000000..bf2a6c9
> --- /dev/null
> +++ b/drivers/input/misc/da7280.c
> @@ -0,0 +1,1880 @@
> +// SPDX-License-Identifier: GPL-2.0+
> +/*
> + * DA7280 Haptic device driver
> + *
> + * Copyright (c) 2020 Dialog Semiconductor.
> + * Author: Roy Im <Roy.Im.Opensource@xxxxxxxxxxx>
> + */
> +
> +#include <linux/err.h>
> +#include <linux/i2c.h>
> +#include <linux/input.h>
> +#include <linux/interrupt.h>
> +#include <linux/module.h>
> +#include <linux/pwm.h>
> +#include <linux/regmap.h>
> +#include <linux/workqueue.h>
> +#include <linux/uaccess.h>
> +#include <linux/bitops.h>
> +
> +/* Registers */
> +#define DA7280_IRQ_EVENT1 0x03
> +#define DA7280_IRQ_EVENT_WARNING_DIAG 0x04
> +#define DA7280_IRQ_EVENT_SEQ_DIAG 0x05
> +#define DA7280_IRQ_STATUS1 0x06
> +#define DA7280_IRQ_MASK1 0x07
> +#define DA7280_FRQ_LRA_PER_H 0x0A
> +#define DA7280_FRQ_LRA_PER_L 0x0B
> +#define DA7280_ACTUATOR1 0x0C
> +#define DA7280_ACTUATOR2 0x0D
> +#define DA7280_ACTUATOR3 0x0E
> +#define DA7280_CALIB_V2I_H 0x0F
> +#define DA7280_CALIB_V2I_L 0x10
> +#define DA7280_TOP_CFG1 0x13
> +#define DA7280_TOP_CFG2 0x14
> +#define DA7280_TOP_CFG4 0x16
> +#define DA7280_TOP_INT_CFG1 0x17
> +#define DA7280_TOP_CTL1 0x22
> +#define DA7280_TOP_CTL2 0x23
> +#define DA7280_SEQ_CTL2 0x28
> +#define DA7280_GPI_0_CTL 0x29
> +#define DA7280_GPI_1_CTL 0x2A
> +#define DA7280_GPI_2_CTL 0x2B
> +#define DA7280_MEM_CTL1 0x2C
> +#define DA7280_MEM_CTL2 0x2D
> +#define DA7280_TOP_CFG5 0x6E
> +#define DA7280_IRQ_MASK2 0x83
> +#define DA7280_SNP_MEM_99 0xE7
> +
> +/* Register field */
> +
> +/* DA7280_IRQ_EVENT1 (Address 0x03) */
> +#define DA7280_E_SEQ_CONTINUE_SHIFT 0
> +#define DA7280_E_SEQ_CONTINUE_MASK BIT(0)
> +#define DA7280_E_UVLO_SHIFT 1
> +#define DA7280_E_UVLO_MASK BIT(1)
> +#define DA7280_E_SEQ_DONE_SHIFT 2
> +#define DA7280_E_SEQ_DONE_MASK BIT(2)
> +#define DA7280_E_OVERTEMP_CRIT_SHIFT 3
> +#define DA7280_E_OVERTEMP_CRIT_MASK BIT(3)
> +#define DA7280_E_SEQ_FAULT_SHIFT 4
> +#define DA7280_E_SEQ_FAULT_MASK BIT(4)
> +#define DA7280_E_WARNING_SHIFT 5
> +#define DA7280_E_WARNING_MASK BIT(5)
> +#define DA7280_E_ACTUATOR_FAULT_SHIFT 6
> +#define DA7280_E_ACTUATOR_FAULT_MASK BIT(6)
> +#define DA7280_E_OC_FAULT_SHIFT 7
> +#define DA7280_E_OC_FAULT_MASK BIT(7)
> +
> +/* DA7280_IRQ_EVENT_WARNING_DIAG (Address 0x04) */
> +#define DA7280_E_OVERTEMP_WARN_SHIFT 3
> +#define DA7280_E_OVERTEMP_WARN_MASK BIT(3)
> +#define DA7280_E_MEM_TYPE_SHIFT 4
> +#define DA7280_E_MEM_TYPE_MASK BIT(4)
> +#define DA7280_E_LIM_DRIVE_ACC_SHIFT 6
> +#define DA7280_E_LIM_DRIVE_ACC_MASK BIT(6)
> +#define DA7280_E_LIM_DRIVE_SHIFT 7
> +#define DA7280_E_LIM_DRIVE_MASK BIT(7)
> +
> +/* DA7280_IRQ_EVENT_PAT_DIAG (Address 0x05) */
> +#define DA7280_E_PWM_FAULT_SHIFT 5
> +#define DA7280_E_PWM_FAULT_MASK BIT(5)
> +#define DA7280_E_MEM_FAULT_SHIFT 6
> +#define DA7280_E_MEM_FAULT_MASK BIT(6)
> +#define DA7280_E_SEQ_ID_FAULT_SHIFT 7
> +#define DA7280_E_SEQ_ID_FAULT_MASK BIT(7)
> +
> +/* DA7280_IRQ_STATUS1 (Address 0x06) */
> +#define DA7280_STA_SEQ_CONTINUE_SHIFT 0
> +#define DA7280_STA_SEQ_CONTINUE_MASK BIT(0)
> +#define DA7280_STA_UVLO_VBAT_OK_SHIFT 1
> +#define DA7280_STA_UVLO_VBAT_OK_MASK BIT(1)
> +#define DA7280_STA_SEQ_DONE_SHIFT 2
> +#define DA7280_STA_SEQ_DONE_MASK BIT(2)
> +#define DA7280_STA_OVERTEMP_CRIT_SHIFT 3
> +#define DA7280_STA_OVERTEMP_CRIT_MASK BIT(3)
> +#define DA7280_STA_SEQ_FAULT_SHIFT 4
> +#define DA7280_STA_SEQ_FAULT_MASK BIT(4)
> +#define DA7280_STA_WARNING_SHIFT 5
> +#define DA7280_STA_WARNING_MASK BIT(5)
> +#define DA7280_STA_ACTUATOR_SHIFT 6
> +#define DA7280_STA_ACTUATOR_MASK BIT(6)
> +#define DA7280_STA_OC_SHIFT 7
> +#define DA7280_STA_OC_MASK BIT(7)
> +
> +/* DA7280_IRQ_MASK1 (Address 0x07) */
> +#define DA7280_SEQ_CONTINUE_M_SHIFT 0
> +#define DA7280_SEQ_CONTINUE_M_MASK BIT(0)
> +#define DA7280_E_UVLO_M_SHIFT 1
> +#define DA7280_E_UVLO_M_MASK BIT(1)
> +#define DA7280_SEQ_DONE_M_SHIFT 2
> +#define DA7280_SEQ_DONE_M_MASK BIT(2)
> +#define DA7280_OVERTEMP_CRIT_M_SHIFT 3
> +#define DA7280_OVERTEMP_CRIT_M_MASK BIT(3)
> +#define DA7280_SEQ_FAULT_M_SHIFT 4
> +#define DA7280_SEQ_FAULT_M_MASK BIT(4)
> +#define DA7280_WARNING_M_SHIFT 5
> +#define DA7280_WARNING_M_MASK BIT(5)
> +#define DA7280_ACTUATOR_M_SHIFT 6
> +#define DA7280_ACTUATOR_M_MASK BIT(6)
> +#define DA7280_OC_M_SHIFT 7
> +#define DA7280_OC_M_MASK BIT(7)
> +
> +/* DA7280_ACTUATOR3 (Address 0x0e) */
> +#define DA7280_IMAX_MASK (31 << 0)
> +
> +/* DA7280_TOP_CFG1 (Address 0x13) */
> +#define DA7280_AMP_PID_EN_SHIFT 0
> +#define DA7280_AMP_PID_EN_MASK BIT(0)
> +#define DA7280_RAPID_STOP_EN_SHIFT 1
> +#define DA7280_RAPID_STOP_EN_MASK BIT(1)
> +#define DA7280_ACCELERATION_EN_SHIFT 2
> +#define DA7280_ACCELERATION_EN_MASK BIT(2)
> +#define DA7280_FREQ_TRACK_EN_SHIFT 3
> +#define DA7280_FREQ_TRACK_EN_MASK BIT(3)
> +#define DA7280_BEMF_SENSE_EN_SHIFT 4
> +#define DA7280_BEMF_SENSE_EN_MASK BIT(4)
> +#define DA7280_ACTUATOR_TYPE_SHIFT 5
> +#define DA7280_ACTUATOR_TYPE_MASK BIT(5)
> +
> +/* DA7280_TOP_CFG2 (Address 0x14) */
> +#define DA7280_FULL_BRAKE_THR_SHIFT 0
> +#define DA7280_FULL_BRAKE_THR_MASK (15 << 0)
> +#define DA7280_MEM_DATA_SIGNED_SHIFT 4
> +#define DA7280_MEM_DATA_SIGNED_MASK BIT(4)
> +
> +/* DA7280_TOP_CFG4 (Address 0x16) */
> +#define DA7280_TST_CALIB_IMPEDANCE_DIS_SHIFT 6
> +#define DA7280_TST_CALIB_IMPEDANCE_DIS_MASK BIT(6)
> +#define DA7280_V2I_FACTOR_FREEZE_SHIFT 7
> +#define DA7280_V2I_FACTOR_FREEZE_MASK BIT(7)
> +
> +/* DA7280_TOP_INT_CFG1 (Address 0x17) */
> +#define DA7280_BEMF_FAULT_LIM_SHIFT 0
> +#define DA7280_BEMF_FAULT_LIM_MASK (3 << 0)
> +
> +/* DA7280_TOP_CTL1 (Address 0x22) */
> +#define DA7280_OPERATION_MODE_SHIFT 0
> +#define DA7280_OPERATION_MODE_MASK (7 << 0)
> +#define DA7280_STANDBY_EN_SHIFT 3
> +#define DA7280_STANDBY_EN_MASK BIT(3)
> +#define DA7280_SEQ_START_SHIFT 4
> +#define DA7280_SEQ_START_MASK BIT(4)
> +
> +/* DA7280_SEQ_CTL2 (Address 0x28) */
> +#define DA7280_PS_SEQ_ID_SHIFT 0
> +#define DA7280_PS_SEQ_ID_MASK (15 << 0)
> +#define DA7280_PS_SEQ_LOOP_SHIFT 4
> +#define DA7280_PS_SEQ_LOOP_MASK (15 << 4)
> +
> +/* DA7280_GPIO_0_CTL (Address 0x29) */
> +#define DA7280_GPI0_POLARITY_SHIFT 0
> +#define DA7280_GPI0_MODE_SHIFT 2
> +#define DA7280_GPI0_SEQUENCE_ID_SHIFT 3
> +#define DA7280_GPI0_SEQUENCE_ID_MASK (15 << 3)
> +
> +/* DA7280_GPIO_1_CTL (Address 0x2a) */
> +#define DA7280_GPI1_SEQUENCE_ID_SHIFT 3
> +#define DA7280_GPI1_SEQUENCE_ID_MASK (15 << 3)
> +
> +/* DA7280_GPIO_2_CTL (Address 0x2b) */
> +#define DA7280_GPI2_SEQUENCE_ID_SHIFT 3
> +#define DA7280_GPI2_SEQUENCE_ID_MASK (15 << 3)
> +
> +/* DA7280_MEM_CTL2 (Address 0x2d) */
> +#define DA7280_WAV_MEM_LOCK_MASK BIT(7)
> +
> +/* DA7280_TOP_CFG5 (Address 0x6e) */
> +#define DA7280_V2I_FACTOR_OFFSET_EN_MASK BIT(0)
> +
> +/* DA7280_IRQ_MASK2 (Address 0x83) */
> +#define DA7280_ADC_SAT_M_MASK BIT(7)
> +
> +/* Controls */
> +
> +#define DA7280_VOLTAGE_RATE_MAX 6000000
> +#define DA7280_VOLTAGE_RATE_STEP 23400
> +#define DA7280_NOMMAX_DFT 0x6B
> +#define DA7280_ABSMAX_DFT 0x78
> +
> +#define DA7280_IMPD_MAX 1500000000
> +#define DA7280_IMPD_DEFAULT 22000000
> +
> +#define DA7280_IMAX_DEFAULT 0x0E
> +#define DA7280_IMAX_STEP 7200
> +#define DA7280_IMAX_LIMIT 252000
> +
> +#define DA7280_RESONT_FREQH_DFT 0x39
> +#define DA7280_RESONT_FREQL_DFT 0x32
> +#define DA7280_MIN_RESONAT_FREQ_HZ 50
> +#define DA7280_MAX_RESONAT_FREQ_HZ 300
> +#define DA7280_MIN_PWM_FREQ_KHZ 10
> +#define DA7280_MAX_PWM_FREQ_KHZ 250
> +
> +#define DA7280_SEQ_ID_MAX 15
> +#define DA7280_SEQ_LOOP_MAX 15
> +#define DA7280_GPI_SEQ_ID_DFT 0x0
> +
> +#define DA7280_SNP_MEM_SIZE 100
> +#define DA7280_SNP_MEM_MAX DA7280_SNP_MEM_99
> +
> +#define IRQ_NUM 3
> +
> +#define DA7280_SKIP_INIT 0x100
> +
> +#define DA7280_FF_EFFECT_COUNT_MAX 15
> +
> +enum da7280_haptic_dev_t {
> + DA7280_LRA = 0,
> + DA7280_ERM_BAR = 1,
> + DA7280_ERM_COIN = 2,
> + DA7280_DEV_MAX,
> +};
> +
> +enum da7280_op_mode {
> + DA7280_INACTIVE = 0,
> + DA7280_DRO_MODE = 1,
> + DA7280_PWM_MODE = 2,
> + DA7280_RTWM_MODE = 3,
> + DA7280_ETWM_MODE = 4,
> + DA7280_OPMODE_MAX,
> +};
> +
> +#define DA7280_FF_CONSTANT_DRO 1
> +#define DA7280_FF_PERIODIC_PWM 2
> +#define DA7280_FF_PERIODIC_RTWM 1
> +#define DA7280_FF_PERIODIC_ETWM 2
> +
> +#define DA7280_FF_PERIODIC_MODE DA7280_RTWM_MODE
> +#define DA7280_FF_CONSTANT_MODE DA7280_DRO_MODE
> +
> +enum da7280_custom_effect_param {
> + DA7280_CUSTOM_DATA_SEQ_ID_IDX = 0,
> + DA7280_CUSTOM_DATA_SEQ_LOOP_IDX = 1,
> + DA7280_CUSTOM_DATA_LEN = 2,
> +};
> +
> +struct da7280_gpi_ctl {
> + u8 seq_id;
> + u8 mode;
> + u8 polarity;
> +};
> +
> +struct da7280_haptic {
> + struct regmap *regmap;
> + struct input_dev *input_dev;
> + struct device *dev;
> + struct i2c_client *client;
> + struct pwm_device *pwm_dev;
> +
> + bool legacy;
> + int pwm_id;

pwm_id is unused?

> + struct delayed_work work_duration;
> + struct work_struct work_playback;
> + struct work_struct work_setgain;
> + int val;
> + u16 gain;
> + u16 new_gain;
> +
> + s16 level;
> +
> + u8 dev_type;
> + u8 op_mode;
> + u8 const_op_mode;
> + u8 periodic_op_mode;
> + u16 nommax;
> + u16 absmax;
> + u32 imax;
> + u32 impd;
> + u32 resonant_freq_h;
> + u32 resonant_freq_l;
> + bool bemf_sense_en;
> + bool freq_track_en;
> + bool acc_en;
> + bool rapid_stop_en;
> + bool amp_pid_en;
> + u8 ps_seq_id;
> + u8 ps_seq_loop;
> + struct da7280_gpi_ctl gpi_ctl[3];
> + bool mem_update;
> + u8 snp_mem[DA7280_SNP_MEM_SIZE];
> + u8 enabled;
> + int length_ms;
> +};
> +
> +static bool da7280_volatile_register(struct device *dev, unsigned int reg)
> +{
> + switch (reg) {
> + case DA7280_IRQ_EVENT1:
> + case DA7280_IRQ_EVENT_WARNING_DIAG:
> + case DA7280_IRQ_EVENT_SEQ_DIAG:
> + case DA7280_IRQ_STATUS1:
> + case DA7280_TOP_CTL1:
> + return true;
> + default:
> + return false;
> + }
> +}
> +
> +static const struct regmap_config da7280_haptic_regmap_config = {
> + .reg_bits = 8,
> + .val_bits = 8,
> + .max_register = DA7280_SNP_MEM_MAX,
> + .volatile_reg = da7280_volatile_register,
> +};
> +
> +static int da7280_haptic_mem_update(struct da7280_haptic *haptics)
> +{
> + int error;
> + unsigned int val;
> +
> + /* It is recommended to update the patterns
> + * during haptic is not working in order to avoid conflict
> + */
> + error = regmap_read(haptics->regmap, DA7280_IRQ_STATUS1, &val);
> + if (error)
> + return error;
> + if (val & DA7280_STA_WARNING_MASK) {
> + dev_warn(haptics->dev,
> + "Warning! Please check HAPTIC status.\n");
> + return -EBUSY;
> + }
> +
> + /* Patterns are not updated if the lock bit is enabled */
> + val = 0;
> + error = regmap_read(haptics->regmap, DA7280_MEM_CTL2, &val);
> + if (error)
> + return error;
> + if (~val & DA7280_WAV_MEM_LOCK_MASK) {
> + dev_warn(haptics->dev,
> + "Please unlock the bit first\n");
> + return -EACCES;
> + }
> +
> + /* Set to Inactive mode to make sure safety */
> + error = regmap_update_bits(haptics->regmap,
> + DA7280_TOP_CTL1,
> + DA7280_OPERATION_MODE_MASK,
> + 0);
> + if (error)
> + return error;
> +
> + error = regmap_read(haptics->regmap, DA7280_MEM_CTL1, &val);
> + if (error)
> + return error;
> +
> + return regmap_bulk_write(haptics->regmap, val,
> + haptics->snp_mem, DA7280_SNP_MEM_MAX - val + 1);
> +}
> +
> +static int da7280_haptic_set_pwm(struct da7280_haptic *haptics, bool enabled)
> +{
> + struct pwm_state state;
> + u64 period_mag_multi;
> + int error;
> +
> + if (!haptics->gain) {
> + dev_err(haptics->dev,
> + "Please set the gain first for the pwm mode\n");
> + return -EINVAL;
> + }
> +
> + pwm_get_state(haptics->pwm_dev, &state);
> + state.enabled = enabled;
> + period_mag_multi = enabled ? state.period * haptics->gain : 0;

if .enabled is false .duty_cycle has no effect on the output. So there
is no good reason for setting the duty_cyle to something different for a
disabled PWM.

> + state.duty_cycle = (haptics->acc_en) ?
> + (unsigned int)(period_mag_multi >> 15) :
> + (unsigned int)((period_mag_multi >> 15)
> + + state.period) / 2;

This can be written in a more readable way:

/* would be great to have a symbolic name for 15 */
period_mag_multi >>= 15;

/* comment with a rational here */
if (!haptics->acc_en) {
period_mag_multi += state.period;
period_mag_multi /= 2;
}

state.duty_cycle = period_mag_multi;

> + error = pwm_apply_state(haptics->pwm_dev, &state);
> + if (error)
> + dev_err(haptics->dev,
> + "failed to apply pwm state: %pE\n",
> + ERR_PTR(error));
> +
> + return error;
> +}
> [...]
> +static int da7280_probe(struct i2c_client *client,
> + const struct i2c_device_id *id)
> +{
> + struct device *dev = &client->dev;
> + struct da7280_haptic *haptics;
> + struct input_dev *input_dev;
> + struct ff_device *ff;
> + struct pwm_state state;
> + unsigned int period2freq;
> + int error;
> +
> + haptics = devm_kzalloc(dev, sizeof(*haptics), GFP_KERNEL);
> + if (!haptics)
> + return -ENOMEM;
> + haptics->dev = dev;
> +
> + if (!client->irq) {
> + dev_err(dev, "No IRQ configured\n");
> + return -EINVAL;
> + }
> +
> + da7280_parse_properties(dev, haptics);
> +
> + if (haptics->const_op_mode == DA7280_PWM_MODE) {
> + haptics->pwm_dev = devm_pwm_get(dev, NULL);
> + if (IS_ERR(haptics->pwm_dev)) {
> + dev_err(dev, "failed to get PWM device\n");
> + return PTR_ERR(haptics->pwm_dev);
> + }
> +
> + pwm_init_state(haptics->pwm_dev, &state);
> + state.enabled = false;
> + error = pwm_apply_state(haptics->pwm_dev, &state);
> + if (error) {
> + dev_err(dev,
> + "failed to apply initial PWM state: %pE\n",
> + ERR_PTR(error));
> + return error;
> + }
> +
> + /* Check PWM Period, it must be in 10k ~ 250kHz */
> + period2freq = 1000000 / pwm_get_period(haptics->pwm_dev);

You already know the return value of pwm_get_period(), it's
state.period.

> + if (period2freq < DA7280_MIN_PWM_FREQ_KHZ ||
> + period2freq > DA7280_MAX_PWM_FREQ_KHZ) {
> [...]

Best regards
Uwe

--
Pengutronix e.K. | Uwe Kleine-König |
Industrial Linux Solutions | https://www.pengutronix.de/ |

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