I've finally done phantom driver, at least the first release. It took me some time to go through the Kabi's code and libraries, but It's done and ready to go.
Today I put a doxygen comments to the library header file to describe interface. The only remaining thing now is to cope with overheating and checking big force, which was done in kernelspace in previous version. It should be augmentation only by few lines of code to avoid problems and the driver will be safer.