mpu6050: Motion Libraries: Add kernel files for Invensense MPU6050.

Invensense kernel files for MPU6050. MPL version 4.1.1. Bug 825602 Signed-off-by: Robert Collins <rcollins@nvidia.com> Reviewed-on: http://git-master/r/70372 (cherry picked from commit 8852d46c35632f960aa1753097bb9d1c448d3602) Change-Id: I1660a52debaaae39af94199a08e1f3eb88f08b6e Signed-off-by: Pritesh Raithatha <praithatha@nvidia.com> Reviewed-on: http://git-master/r/82716 Reviewed-by: Automatic_Commit_Validation_User Reviewed-by: Varun Wadekar <vwadekar@nvidia.com> Tested-by: Varun Wadekar <vwadekar@nvidia.com> Reviewed-by: Robert Collins <rcollins@nvidia.com>
author: Robert Collins <rcollins@nvidia.com> 2011-12-01 16:18:19 -0800
committer: Simone Willett <swillett@nvidia.com> 2012-02-14 09:46:41 -0800
commit: 2f3c7d00ed29fdb6ef107c4b304c1464153114d6 (patch)
tree: 2941e994734aabddee03925477834c4cf2ea4af0
parent: 8f4d3050455e55864262a5d5a1e249eadca79dd0 (diff)
23 files changed, 5517 insertions, 58 deletions
diff --git a/drivers/misc/Makefile b/drivers/misc/Makefile
index a8f6ab7fb89d..5b3728ebcaee 100644
--- a/drivers/misc/Makefile
+++ b/drivers/misc/Makefile
@@ -54,7 +54,7 @@ obj-$(CONFIG_APANIC)		+= apanic.o
 obj-$(CONFIG_SENSORS_AK8975)	+= akm8975.o
 obj-$(CONFIG_SENSORS_NCT1008)	+= nct1008.o
 obj-$(CONFIG_BCM4329_RFKILL)	+= bcm4329_rfkill.o
-obj-$(CONFIG_MPU_SENSORS_MPU3050)	+= inv_mpu/
+obj-$(CONFIG_INV_SENSORS)      += inv_mpu/
 obj-$(CONFIG_TEGRA_CRYPTO_DEV)	+= tegra-cryptodev.o
 obj-$(CONFIG_TEGRA_BB_SUPPORT)	+= tegra-baseband/
 obj-$(CONFIG_MAX1749_VIBRATOR)	+= max1749.o
diff --git a/drivers/misc/inv_mpu/Kconfig b/drivers/misc/inv_mpu/Kconfig
index 53c7c200d453..4c231b576f68 100644
--- a/drivers/misc/inv_mpu/Kconfig
+++ b/drivers/misc/inv_mpu/Kconfig
@@ -6,7 +6,7 @@ config MPU_SENSORS_TIMERIRQ
 	  or timer threads.  Reading from this device returns the same type of
 	  information as reading from the MPU and slave IRQ's.
 
-menuconfig: INV_SENSORS
+menuconfig INV_SENSORS
 	tristate "Motion Processing Unit"
 	depends on I2C
 	default y
@@ -14,12 +14,12 @@ menuconfig: INV_SENSORS
 if INV_SENSORS
 
 choice
-	prompt "MPU Master"
+	tristate "MPU Master"
 	depends on I2C && INV_SENSORS
 	default MPU_SENSORS_MPU3050
 
 config MPU_SENSORS_MPU3050
-	bool "MPU3050"
+	tristate "MPU3050"
 	depends on I2C
 	select MPU_SENSORS_MPU3050_GYRO
 	help
@@ -28,7 +28,7 @@ config MPU_SENSORS_MPU3050
 	  will be called mpu3050.
 
 config MPU_SENSORS_MPU6050A2
-	bool "MPU6050A2"
+	tristate "MPU6050A2"
 	depends on I2C
 	select MPU_SENSORS_MPU6050_GYRO
 	help
@@ -37,9 +37,9 @@ config MPU_SENSORS_MPU6050A2
 	  will be called mpu6050a2.
 
 config MPU_SENSORS_MPU6050B1
-	bool "MPU6050B1"
-	select MPU_SENSORS_MPU6050_GYRO
+	tristate "MPU6050B1"
 	depends on I2C
+	select MPU_SENSORS_MPU6050_GYRO
 	help
 	  If you say yes here you get support for the MPU6050 Gyroscope driver
 	  This driver can also be built as a module.  If so, the module
@@ -47,11 +47,6 @@ config MPU_SENSORS_MPU6050B1
 
 endchoice
 
-choice
-	prompt "Gyroscope Type"
-	depends on I2C && INV_SENSORS
-	default MPU_SENSORS_MPU3050_GYRO
-
 config MPU_SENSORS_MPU3050_GYRO
 	bool "MPU3050 built in gyroscope"
 	depends on MPU_SENSORS_MPU3050
@@ -60,8 +55,6 @@ config MPU_SENSORS_MPU6050_GYRO
 	bool "MPU6050 built in gyroscope"
 	depends on MPU_SENSORS_MPU6050B1 || MPU_SENSORS_MPU6050A2
 
-endchoice
-
 source "drivers/misc/inv_mpu/accel/Kconfig"
 source "drivers/misc/inv_mpu/compass/Kconfig"
 source "drivers/misc/inv_mpu/pressure/Kconfig"
diff --git a/drivers/misc/inv_mpu/Makefile b/drivers/misc/inv_mpu/Makefile
index 248648f6567c..f10c6844a087 100644
--- a/drivers/misc/inv_mpu/Makefile
+++ b/drivers/misc/inv_mpu/Makefile
@@ -3,43 +3,16 @@
 #
 #
 
-# MPU
-ifdef CONFIG_MPU_SENSORS_MPU3050
-INV_MODULE_NAME := mpu3050
-endif
-
-ifdef CONFIG_MPU_SENSORS_MPU6050A2
-INV_MODULE_NAME := mpu6050
-endif
-
-ifdef CONFIG_MPU_SENSORS_MPU6050B1
-INV_MODULE_NAME := mpu6050
-endif
-
-obj-$(CONFIG_INV_SENSORS)	+= $(INV_MODULE_NAME).o
-
-$(INV_MODULE_NAME)-objs += mpuirq.o
-$(INV_MODULE_NAME)-objs += slaveirq.o
-$(INV_MODULE_NAME)-objs += mpu-dev.o
-$(INV_MODULE_NAME)-objs += mlsl-kernel.o
-$(INV_MODULE_NAME)-objs += mldl_cfg.o
-$(INV_MODULE_NAME)-objs += mldl_print_cfg.o
-
-ifdef CONFIG_MPU_SENSORS_MPU6050A2
-$(INV_MODULE_NAME)-objs += accel/mpu6050.o
-endif
-
-ifdef CONFIG_MPU_SENSORS_MPU6050B1
-$(INV_MODULE_NAME)-objs += accel/mpu6050.o
-endif
-
 EXTRA_CFLAGS += -Idrivers/misc/inv_mpu
 EXTRA_CFLAGS += -D__C99_DESIGNATED_INITIALIZER
 EXTRA_CFLAGS += -DINV_CACHE_DMP=1
 
 obj-$(CONFIG_MPU_SENSORS_TIMERIRQ)+= timerirq.o
+obj-$(CONFIG_INV_SENSORS) += mpuirq.o slaveirq.o
 
-obj-y			+= accel/
-obj-y			+= compass/
-obj-y			+= pressure/
+obj-$(CONFIG_MPU_SENSORS_MPU3050) += mpu3050/
+obj-$(CONFIG_MPU_SENSORS_MPU6050B1) += mpu6050/
 
+obj-y += accel/
+obj-y += compass/
+obj-y += pressure/
diff --git a/drivers/misc/inv_mpu/accel/mpu6050.c b/drivers/misc/inv_mpu/accel/mpu6050.c
new file mode 100644
index 000000000000..c5bb6784a411
--- /dev/null
+++ b/drivers/misc/inv_mpu/accel/mpu6050.c
@@ -0,0 +1,695 @@
+/*
+	$License:
+	Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+	This program is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	(at your option) any later version.
+
+	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.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+	$
+ */
+
+/**
+ *  @addtogroup ACCELDL
+ *  @brief      Provides the interface to setup and handle an accelerometer.
+ *
+ *  @{
+ *      @file   mpu6050.c
+ *      @brief  Accelerometer setup and handling methods for Invensense MPU6050
+ */
+
+/* -------------------------------------------------------------------------- */
+
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/kernel.h>
+#include <linux/errno.h>
+#include <linux/delay.h>
+#include <linux/slab.h>
+#include "mpu-dev.h"
+
+#include <log.h>
+#include <linux/mpu.h>
+#include "mpu6050b1.h"
+#include "mlsl.h"
+#include "mldl_cfg.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-acc"
+
+/* -------------------------------------------------------------------------- */
+
+struct mpu6050_config {
+	unsigned int odr;		/**< output data rate 1/1000 Hz */
+	unsigned int fsr;		/**< full scale range mg */
+	unsigned int ths;		/**< mot/no-mot thseshold mg */
+	unsigned int dur;		/**< mot/no-mot duration ms */
+	unsigned int irq_type;		/**< irq type */
+};
+
+struct mpu6050_private_data {
+	struct mpu6050_config suspend;
+	struct mpu6050_config resume;
+	struct mldl_cfg *mldl_cfg_ref;
+};
+
+/* -------------------------------------------------------------------------- */
+
+static int mpu6050_set_mldl_cfg_ref(void *mlsl_handle,
+			struct ext_slave_platform_data *pdata,
+			struct mldl_cfg *mldl_cfg_ref)
+{
+	struct mpu6050_private_data *private_data =
+			(struct mpu6050_private_data *)pdata->private_data;
+	private_data->mldl_cfg_ref = mldl_cfg_ref;
+	return 0;
+}
+static int mpu6050_set_lp_mode(void *mlsl_handle,
+			struct ext_slave_platform_data *pdata,
+			unsigned char lpa_freq)
+{
+	unsigned char b = 0;
+	/* Reducing the duration setting for lp mode */
+	b = 1;
+	inv_serial_single_write(mlsl_handle, pdata->address,
+				MPUREG_ACCEL_MOT_DUR, b);
+	/* Setting the cycle bit and LPA wake up freq */
+	inv_serial_read(mlsl_handle, pdata->address, MPUREG_PWR_MGMT_1, 1,
+			&b);
+	b |= BIT_CYCLE | BIT_PD_PTAT;
+	inv_serial_single_write(mlsl_handle, pdata->address,
+				MPUREG_PWR_MGMT_1,
+				b);
+	inv_serial_read(mlsl_handle, pdata->address,
+			MPUREG_PWR_MGMT_2, 1, &b);
+	b |= lpa_freq & BITS_LPA_WAKE_CTRL;
+	inv_serial_single_write(mlsl_handle, pdata->address,
+				MPUREG_PWR_MGMT_2, b);
+
+	return INV_SUCCESS;
+}
+
+static int mpu6050_set_fp_mode(void *mlsl_handle,
+				struct ext_slave_platform_data *pdata)
+{
+	unsigned char b;
+	struct mpu6050_private_data *private_data =
+			(struct mpu6050_private_data *)pdata->private_data;
+	/* Resetting the cycle bit and LPA wake up freq */
+	inv_serial_read(mlsl_handle, pdata->address,
+			MPUREG_PWR_MGMT_1, 1, &b);
+	b &= ~BIT_CYCLE & ~BIT_PD_PTAT;
+	inv_serial_single_write(mlsl_handle, pdata->address,
+				MPUREG_PWR_MGMT_1, b);
+	inv_serial_read(mlsl_handle, pdata->address,
+			MPUREG_PWR_MGMT_2, 1, &b);
+	b &= ~BITS_LPA_WAKE_CTRL;
+	inv_serial_single_write(mlsl_handle, pdata->address,
+				MPUREG_PWR_MGMT_2, b);
+	/* Resetting the duration setting for fp mode */
+	b = (unsigned char)private_data->suspend.ths / ACCEL_MOT_DUR_LSB;
+	inv_serial_single_write(mlsl_handle, pdata->address,
+				MPUREG_ACCEL_MOT_DUR, b);
+
+	return INV_SUCCESS;
+}
+/**
+ * Record the odr for use in computing duration values.
+ *
+ * @param config Config to set, suspend or resume structure
+ * @param odr output data rate in 1/1000 hz
+ */
+static int mpu6050_set_odr(void *mlsl_handle,
+			  struct ext_slave_platform_data *pdata,
+			  struct mpu6050_config *config, long apply, long odr)
+{
+	int result;
+	unsigned char b;
+	unsigned char lpa_freq = 1; /* Default value */
+	long base;
+	int total_divider;
+	struct mpu6050_private_data *private_data =
+			(struct mpu6050_private_data *)pdata->private_data;
+	struct mldl_cfg *mldl_cfg_ref =
+			(struct mldl_cfg *)private_data->mldl_cfg_ref;
+
+	if (mldl_cfg_ref) {
+		base = 1000 *
+			inv_mpu_get_sampling_rate_hz(mldl_cfg_ref->mpu_gyro_cfg)
+			* (mldl_cfg_ref->mpu_gyro_cfg->divider + 1);
+	} else {
+		/* have no reference to mldl_cfg => assume base rate is 1000 */
+		base = 1000000L;
+	}
+
+	if (odr != 0) {
+		total_divider = (base / odr) - 1;
+		/* final odr MAY be different from requested odr due to
+		   integer truncation */
+		config->odr = base / (total_divider + 1);
+	} else {
+		config->odr = 0;
+		return 0;
+	}
+
+	/* if the DMP and/or gyros are on, don't set the ODR =>
+	   the DMP/gyro mldl_cfg->divider setting will handle it */
+	if (apply
+	    && (mldl_cfg_ref &&
+	    !(mldl_cfg_ref->inv_mpu_cfg->requested_sensors &
+		    INV_DMP_PROCESSOR))) {
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+					MPUREG_SMPLRT_DIV,
+					(unsigned char)total_divider);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		MPL_LOGI("ODR : %d mHz\n", config->odr);
+	}
+	/* Decide whether to put accel in LP mode or pull out of LP mode
+	   based on the odr. */
+	switch (odr) {
+	case 1000:
+		lpa_freq = BITS_LPA_WAKE_1HZ;
+		break;
+	case 2000:
+		lpa_freq = BITS_LPA_WAKE_2HZ;
+		break;
+	case 10000:
+		lpa_freq = BITS_LPA_WAKE_10HZ;
+		break;
+	case 40000:
+		lpa_freq = BITS_LPA_WAKE_40HZ;
+		break;
+	default:
+		inv_serial_read(mlsl_handle, pdata->address,
+				MPUREG_PWR_MGMT_1, 1, &b);
+		b &= BIT_CYCLE;
+		if (b == BIT_CYCLE) {
+			MPL_LOGI(" Accel LP - > FP mode. \n ");
+			mpu6050_set_fp_mode(mlsl_handle, pdata);
+		}
+	}
+	/* If lpa_freq default value was changed, set into LP mode */
+	if (lpa_freq != 1) {
+		MPL_LOGI(" Accel FP - > LP mode. \n ");
+		mpu6050_set_lp_mode(mlsl_handle, pdata, lpa_freq);
+	}
+	return 0;
+}
+
+static int mpu6050_set_fsr(void *mlsl_handle,
+			  struct ext_slave_platform_data *pdata,
+			  struct mpu6050_config *config, long apply, long fsr)
+{
+	unsigned char fsr_mask;
+	int result;
+
+	if (fsr <= 2000) {
+		config->fsr = 2000;
+		fsr_mask = 0x00;
+	} else if (fsr <= 4000) {
+		config->fsr = 4000;
+		fsr_mask = 0x08;
+	} else if (fsr <= 8000) {
+		config->fsr = 8000;
+		fsr_mask = 0x10;
+	} else { /* fsr = [8001, oo) */
+		config->fsr = 16000;
+		fsr_mask = 0x18;
+	}
+
+	if (apply) {
+		unsigned char reg;
+		result = inv_serial_read(mlsl_handle, pdata->address,
+					 MPUREG_ACCEL_CONFIG, 1, &reg);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 MPUREG_ACCEL_CONFIG,
+						 reg | fsr_mask);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		MPL_LOGV("FSR: %d\n", config->fsr);
+	}
+	return 0;
+}
+
+static int mpu6050_set_irq(void *mlsl_handle,
+			  struct ext_slave_platform_data *pdata,
+			  struct mpu6050_config *config, long apply,
+			  long irq_type)
+{
+	int result;
+	unsigned char reg_int_cfg;
+
+	switch (irq_type) {
+	case MPU_SLAVE_IRQ_TYPE_DATA_READY:
+		config->irq_type = irq_type;
+		reg_int_cfg = BIT_RAW_RDY_EN;
+		break;
+	/* todo: add MOTION, NO_MOTION, and FREEFALL */
+	case MPU_SLAVE_IRQ_TYPE_NONE:
+		/* Do nothing, not even set the interrupt because it is
+		   shared with the gyro */
+		config->irq_type = irq_type;
+		return 0;
+	default:
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	if (apply) {
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 MPUREG_INT_ENABLE,
+						 reg_int_cfg);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		MPL_LOGV("irq_type: %d\n", config->irq_type);
+	}
+
+	return 0;
+}
+
+static int mpu6050_set_ths(void *mlsl_handle,
+			  struct ext_slave_platform_data *slave,
+			  struct mpu6050_config *config, long apply, long ths)
+{
+	if (ths < 0)
+		ths = 0;
+
+	config->ths = ths;
+	MPL_LOGV("THS: %d\n", config->ths);
+	return 0;
+}
+
+static int mpu6050_set_dur(void *mlsl_handle,
+			  struct ext_slave_platform_data *slave,
+			  struct mpu6050_config *config, long apply, long dur)
+{
+	if (dur < 0)
+		dur = 0;
+
+	config->dur = dur;
+	MPL_LOGV("DUR: %d\n", config->dur);
+	return 0;
+}
+
+
+static int mpu6050_init(void *mlsl_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata)
+{
+	int result;
+	struct mpu6050_private_data *private_data;
+
+
+	private_data = kzalloc(sizeof(*private_data), GFP_KERNEL);
+
+	if (!private_data)
+		return INV_ERROR_MEMORY_EXAUSTED;
+
+	pdata->private_data = private_data;
+
+	result = mpu6050_set_odr(mlsl_handle, pdata, &private_data->suspend,
+				 false, 0);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = mpu6050_set_odr(mlsl_handle, pdata, &private_data->resume,
+				 false, 200000);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = mpu6050_set_fsr(mlsl_handle, pdata, &private_data->suspend,
+				 false, 2000);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = mpu6050_set_fsr(mlsl_handle, pdata, &private_data->resume,
+				 false, 2000);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	result = mpu6050_set_irq(mlsl_handle, pdata, &private_data->suspend,
+				 false, MPU_SLAVE_IRQ_TYPE_NONE);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = mpu6050_set_irq(mlsl_handle, pdata, &private_data->resume,
+				 false, MPU_SLAVE_IRQ_TYPE_NONE);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	result = mpu6050_set_ths(mlsl_handle, pdata, &private_data->suspend,
+				 false, 80);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = mpu6050_set_ths(mlsl_handle, pdata, &private_data->resume,
+				 false, 40);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = mpu6050_set_dur(mlsl_handle, pdata, &private_data->suspend,
+				 false, 1000);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = mpu6050_set_dur(mlsl_handle, pdata, &private_data->resume,
+				 false, 2540);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	return 0;
+}
+
+static int mpu6050_exit(void *mlsl_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata)
+{
+	kfree(pdata->private_data);
+	pdata->private_data = NULL;
+	return 0;
+}
+
+static int mpu6050_suspend(void *mlsl_handle,
+			   struct ext_slave_descr *slave,
+			   struct ext_slave_platform_data *pdata)
+{
+	unsigned char reg;
+	int result;
+	struct mpu6050_private_data *private_data =
+			(struct mpu6050_private_data *)pdata->private_data;
+
+	result = mpu6050_set_odr(mlsl_handle, pdata, &private_data->suspend,
+				true, private_data->suspend.odr);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	result = mpu6050_set_irq(mlsl_handle, pdata, &private_data->suspend,
+				true, private_data->suspend.irq_type);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	result = inv_serial_read(mlsl_handle, pdata->address,
+				 MPUREG_PWR_MGMT_2, 1, &reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	reg |= (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA);
+
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 MPUREG_PWR_MGMT_2, reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	return 0;
+}
+
+static int mpu6050_resume(void *mlsl_handle,
+			  struct ext_slave_descr *slave,
+			  struct ext_slave_platform_data *pdata)
+{
+	int result;
+	unsigned char reg;
+	struct mpu6050_private_data *private_data =
+		(struct mpu6050_private_data *)pdata->private_data;
+
+	result = inv_serial_read(mlsl_handle, pdata->address,
+				 MPUREG_PWR_MGMT_1, 1, &reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	if (reg & BIT_SLEEP) {
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+					MPUREG_PWR_MGMT_1, reg & ~BIT_SLEEP);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+	msleep(2);
+
+	result = inv_serial_read(mlsl_handle, pdata->address,
+			MPUREG_PWR_MGMT_2, 1, &reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	reg &= ~(BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA);
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+				       MPUREG_PWR_MGMT_2, reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* settings */
+
+	result = mpu6050_set_fsr(mlsl_handle, pdata, &private_data->resume,
+				 true, private_data->resume.fsr);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = mpu6050_set_odr(mlsl_handle, pdata, &private_data->resume,
+				 true, private_data->resume.odr);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = mpu6050_set_irq(mlsl_handle, pdata, &private_data->resume,
+				 true, private_data->resume.irq_type);
+
+	/* motion, no_motion */
+	/* TODO : port these in their respective _set_thrs and _set_dur
+		  functions and use the APPLY paremeter to apply just like
+		  _set_odr, _set_irq, and _set_fsr. */
+	reg = (unsigned char)private_data->suspend.ths / ACCEL_MOT_THR_LSB;
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 MPUREG_ACCEL_MOT_THR, reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	reg = (unsigned char)
+	    ACCEL_ZRMOT_THR_LSB_CONVERSION(private_data->resume.ths);
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 MPUREG_ACCEL_ZRMOT_THR, reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	reg = (unsigned char)private_data->suspend.ths / ACCEL_MOT_DUR_LSB;
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 MPUREG_ACCEL_MOT_DUR, reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	reg = (unsigned char)private_data->resume.ths / ACCEL_ZRMOT_DUR_LSB;
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 MPUREG_ACCEL_ZRMOT_DUR, reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	return 0;
+}
+
+static int mpu6050_read(void *mlsl_handle,
+			struct ext_slave_descr *slave,
+			struct ext_slave_platform_data *pdata,
+			unsigned char *data)
+{
+	int result;
+	result = inv_serial_read(mlsl_handle, pdata->address,
+				 slave->read_reg, slave->read_len, data);
+	return result;
+}
+
+static int mpu6050_config(void *mlsl_handle,
+			 struct ext_slave_descr *slave,
+			 struct ext_slave_platform_data *pdata,
+			 struct ext_slave_config *data)
+{
+	struct mpu6050_private_data *private_data =
+		(struct mpu6050_private_data *)pdata->private_data;
+	if (!data->data)
+		return INV_ERROR_INVALID_PARAMETER;
+
+	switch (data->key) {
+	case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+		return mpu6050_set_odr(mlsl_handle, pdata,
+				      &private_data->suspend,
+				      data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_ODR_RESUME:
+		return mpu6050_set_odr(mlsl_handle, pdata,
+				      &private_data->resume,
+				      data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+		return mpu6050_set_fsr(mlsl_handle, pdata,
+				      &private_data->suspend,
+				      data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_FSR_RESUME:
+		return mpu6050_set_fsr(mlsl_handle, pdata,
+				      &private_data->resume,
+				      data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_MOT_THS:
+		return mpu6050_set_ths(mlsl_handle, pdata,
+				      &private_data->suspend,
+				      data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_NMOT_THS:
+		return mpu6050_set_ths(mlsl_handle, pdata,
+				      &private_data->resume,
+				      data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_MOT_DUR:
+		return mpu6050_set_dur(mlsl_handle, pdata,
+				      &private_data->suspend,
+				      data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_NMOT_DUR:
+		return mpu6050_set_dur(mlsl_handle, pdata,
+				      &private_data->resume,
+				      data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+		return mpu6050_set_irq(mlsl_handle, pdata,
+				      &private_data->suspend,
+				      data->apply, *((long *)data->data));
+		break;
+	case MPU_SLAVE_CONFIG_IRQ_RESUME:
+		return mpu6050_set_irq(mlsl_handle, pdata,
+				      &private_data->resume,
+				      data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_INTERNAL_REFERENCE:
+		return mpu6050_set_mldl_cfg_ref(mlsl_handle, pdata,
+					       (struct mldl_cfg *)data->data);
+		break;
+
+	default:
+		return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+	};
+
+	return 0;
+}
+
+static int mpu6050_get_config(void *mlsl_handle,
+			     struct ext_slave_descr *slave,
+			     struct ext_slave_platform_data *pdata,
+			     struct ext_slave_config *data)
+{
+	struct mpu6050_private_data *private_data =
+		(struct mpu6050_private_data *)pdata->private_data;
+	if (!data->data)
+		return INV_ERROR_INVALID_PARAMETER;
+
+	switch (data->key) {
+	case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+		(*(unsigned long *)data->data) =
+		    (unsigned long)private_data->suspend.odr;
+		break;
+	case MPU_SLAVE_CONFIG_ODR_RESUME:
+		(*(unsigned long *)data->data) =
+		    (unsigned long)private_data->resume.odr;
+		break;
+	case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+		(*(unsigned long *)data->data) =
+		    (unsigned long)private_data->suspend.fsr;
+		break;
+	case MPU_SLAVE_CONFIG_FSR_RESUME:
+		(*(unsigned long *)data->data) =
+		    (unsigned long)private_data->resume.fsr;
+		break;
+	case MPU_SLAVE_CONFIG_MOT_THS:
+		(*(unsigned long *)data->data) =
+		    (unsigned long)private_data->suspend.ths;
+		break;
+	case MPU_SLAVE_CONFIG_NMOT_THS:
+		(*(unsigned long *)data->data) =
+		    (unsigned long)private_data->resume.ths;
+		break;
+	case MPU_SLAVE_CONFIG_MOT_DUR:
+		(*(unsigned long *)data->data) =
+		    (unsigned long)private_data->suspend.dur;
+		break;
+	case MPU_SLAVE_CONFIG_NMOT_DUR:
+		(*(unsigned long *)data->data) =
+		    (unsigned long)private_data->resume.dur;
+		break;
+	case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+		(*(unsigned long *)data->data) =
+		    (unsigned long)private_data->suspend.irq_type;
+		break;
+	case MPU_SLAVE_CONFIG_IRQ_RESUME:
+		(*(unsigned long *)data->data) =
+		    (unsigned long)private_data->resume.irq_type;
+		break;
+	default:
+		return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+	};
+
+	return 0;
+}
+
+static struct ext_slave_descr mpu6050_descr = {
+	.init             = mpu6050_init,
+	.exit             = mpu6050_exit,
+	.suspend          = mpu6050_suspend,
+	.resume           = mpu6050_resume,
+	.read             = mpu6050_read,
+	.config           = mpu6050_config,
+	.get_config       = mpu6050_get_config,
+	.name             = "mpu6050",
+	.type             = EXT_SLAVE_TYPE_ACCEL,
+	.id               = ACCEL_ID_MPU6050,
+	.read_reg         = 0x3B,
+	.read_len         = 6,
+	.endian           = EXT_SLAVE_BIG_ENDIAN,
+	.range            = {2, 0},
+	.trigger          = NULL,
+};
+
+struct ext_slave_descr *mpu6050_get_slave_descr(void)
+{
+	return &mpu6050_descr;
+}
+
+/**
+ *  @}
+ */
diff --git a/drivers/misc/inv_mpu/compass/Kconfig b/drivers/misc/inv_mpu/compass/Kconfig
index 6c4c13a6e19a..7e6bac87d31e 100644
--- a/drivers/misc/inv_mpu/compass/Kconfig
+++ b/drivers/misc/inv_mpu/compass/Kconfig
@@ -9,6 +9,15 @@ menuconfig INV_SENSORS_COMPASS
 
 if INV_SENSORS_COMPASS
 
+config MPU_SENSORS_AK8963
+        tristate "AKM ak8963"
+        help
+          This enables support for the AKM ak8963 compass
+          This support is for integration with the MPU3050 or MPU6050 gyroscope
+          device driver.  Only one compass can be registered at a time.
+          Specifying more that one compass in the board file will result
+          in runtime errors.
+
 config MPU_SENSORS_AK8975
 	tristate "AKM ak8975"
 	help
diff --git a/drivers/misc/inv_mpu/compass/Makefile b/drivers/misc/inv_mpu/compass/Makefile
index aa8aa6a2657b..d76ce1b06f31 100644
--- a/drivers/misc/inv_mpu/compass/Makefile
+++ b/drivers/misc/inv_mpu/compass/Makefile
@@ -28,6 +28,9 @@ inv_mpu_hscdtd002b-objs +=	hscdtd002b.o
 obj-$(CONFIG_MPU_SENSORS_HSCDTD004A) += inv_mpu_hscdtd004a.o
 inv_mpu_hscdtd004a-objs +=	hscdtd004a.o
 
+obj-$(CONFIG_MPU_SENSORS_AK8963) += inv_mpu_ak89xx.o
+inv_mpu_ak89xx-objs +=  ak89xx.o
+
 obj-$(CONFIG_MPU_SENSORS_AK8975) += inv_mpu_ak8975.o
 inv_mpu_ak8975-objs +=	ak8975.o
 
diff --git a/drivers/misc/inv_mpu/compass/ak89xx.c b/drivers/misc/inv_mpu/compass/ak89xx.c
new file mode 100644
index 000000000000..d15b0b8dbe68
--- /dev/null
+++ b/drivers/misc/inv_mpu/compass/ak89xx.c
@@ -0,0 +1,522 @@
+/*
+	$License:
+	Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+	This program is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	(at your option) any later version.
+
+	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.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+	$
+ */
+
+/**
+ *  @addtogroup COMPASSDL
+ *
+ *  @{
+ *      @file   ak89xx.c
+ *      @brief  Magnetometer setup and handling methods for the AKM
+ *              compass devices.
+ */
+
+/* -------------------------------------------------------------------------- */
+
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/kernel.h>
+#include <linux/errno.h>
+#include <linux/slab.h>
+#include <linux/delay.h>
+#include "mpu-dev.h"
+
+#include <log.h>
+#include <linux/mpu.h>
+#include "mlsl.h"
+#include "mldl_cfg.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-compass"
+
+/* -------------------------------------------------------------------------- */
+#define AK89XX_REG_ST1     (0x02)
+#define AK89XX_REG_HXL     (0x03)
+#define AK89XX_REG_ST2     (0x09)
+
+#define AK89XX_REG_CNTL    (0x0A)
+#define AK89XX_REG_ASAX    (0x10)
+#define AK89XX_REG_ASAY    (0x11)
+#define AK89XX_REG_ASAZ    (0x12)
+
+#define AK89XX_CNTL_MODE_POWER_DOWN	    (0x00)
+#define AK89XX_CNTL_MODE_SINGLE_MEASUREMENT (0x01)
+#define AK89XX_CNTL_MODE_FUSE_ROM_ACCESS    (0x0f)
+
+/* -------------------------------------------------------------------------- */
+struct ak89xx_config {
+	char asa[COMPASS_NUM_AXES];	/* axis sensitivity adjustment */
+};
+
+struct ak89xx_private_data {
+	struct ak89xx_config init;
+};
+
+/* -------------------------------------------------------------------------- */
+static int ak89xx_init(void *mlsl_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata)
+{
+	int result;
+	unsigned char serial_data[COMPASS_NUM_AXES];
+
+	struct ak89xx_private_data *private_data;
+	private_data = (struct ak89xx_private_data *)
+	    kzalloc(sizeof(struct ak89xx_private_data), GFP_KERNEL);
+
+	if (!private_data)
+		return INV_ERROR_MEMORY_EXAUSTED;
+
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 AK89XX_REG_CNTL,
+					 AK89XX_CNTL_MODE_POWER_DOWN);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* Wait at least 100us */
+	udelay(100);
+
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 AK89XX_REG_CNTL,
+					 AK89XX_CNTL_MODE_FUSE_ROM_ACCESS);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* Wait at least 200us */
+	udelay(200);
+
+	result = inv_serial_read(mlsl_handle, pdata->address,
+				 AK89XX_REG_ASAX,
+				 COMPASS_NUM_AXES, serial_data);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	pdata->private_data = private_data;
+
+	private_data->init.asa[0] = serial_data[0];
+	private_data->init.asa[1] = serial_data[1];
+	private_data->init.asa[2] = serial_data[2];
+
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 AK89XX_REG_CNTL,
+					 AK89XX_CNTL_MODE_POWER_DOWN);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	udelay(100);
+	return INV_SUCCESS;
+}
+
+static int ak89xx_exit(void *mlsl_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata)
+{
+	kfree(pdata->private_data);
+	return INV_SUCCESS;
+}
+
+static int ak89xx_suspend(void *mlsl_handle,
+		   struct ext_slave_descr *slave,
+		   struct ext_slave_platform_data *pdata)
+{
+	int result = INV_SUCCESS;
+	result =
+	    inv_serial_single_write(mlsl_handle, pdata->address,
+				    AK89XX_REG_CNTL,
+				    AK89XX_CNTL_MODE_POWER_DOWN);
+	msleep(1);		/* wait at least 100us */
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	return result;
+}
+
+static int ak89xx_resume(void *mlsl_handle,
+		  struct ext_slave_descr *slave,
+		  struct ext_slave_platform_data *pdata)
+{
+	int result = INV_SUCCESS;
+	result =
+	    inv_serial_single_write(mlsl_handle, pdata->address,
+				    AK89XX_REG_CNTL,
+				    AK89XX_CNTL_MODE_SINGLE_MEASUREMENT);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	return result;
+}
+
+static int ak89xx_read(void *mlsl_handle,
+		struct ext_slave_descr *slave,
+		struct ext_slave_platform_data *pdata, unsigned char *data)
+{
+	unsigned char regs[8];
+	unsigned char *stat = &regs[0];
+	unsigned char *stat2 = &regs[7];
+	int result = INV_SUCCESS;
+	int status = INV_SUCCESS;
+
+	result =
+	    inv_serial_read(mlsl_handle, pdata->address, AK89XX_REG_ST1,
+			    8, regs);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* Always return the data and the status registers */
+	memcpy(data, &regs[1], 6);
+	data[6] = regs[0];
+	data[7] = regs[7];
+
+	/*
+	 * ST : data ready -
+	 * Measurement has been completed and data is ready to be read.
+	 */
+	if (*stat & 0x01)
+		status = INV_SUCCESS;
+
+	/*
+	 * ST2 : data error -
+	 * occurs when data read is started outside of a readable period;
+	 * data read would not be correct.
+	 * Valid in continuous measurement mode only.
+	 * In single measurement mode this error should not occour but we
+	 * stil account for it and return an error, since the data would be
+	 * corrupted.
+	 * DERR bit is self-clearing when ST2 register is read.
+	 *
+	 * This bit is always zero on the AK8963.
+	 */
+	if (*stat2 & 0x04)
+		status = INV_ERROR_COMPASS_DATA_ERROR;
+	/*
+	 * ST2 : overflow -
+	 * the sum of the absolute values of all axis |X|+|Y|+|Z| < 2400uT.
+	 * This is likely to happen in presence of an external magnetic
+	 * disturbance; it indicates, the sensor data is incorrect and should
+	 * be ignored.
+	 * An error is returned.
+	 * HOFL bit clears when a new measurement starts.
+	 */
+	if (*stat2 & 0x08)
+		status = INV_ERROR_COMPASS_DATA_OVERFLOW;
+	/*
+	 * ST : overrun -
+	 * the previous sample was not fetched and lost.
+	 * Valid in continuous measurement mode only.
+	 * In single measurement mode this error should not occour and we
+	 * don't consider this condition an error.
+	 * DOR bit is self-clearing when ST2 or any meas. data register is
+	 * read.
+	 */
+	if (*stat & 0x02) {
+		/* status = INV_ERROR_COMPASS_DATA_UNDERFLOW; */
+		status = INV_SUCCESS;
+	}
+
+	/*
+	 * trigger next measurement if:
+	 *    - stat is non zero;
+	 *    - if stat is zero and stat2 is non zero.
+	 * Won't trigger if data is not ready and there was no error.
+	 */
+	if (*stat != 0x00 || *stat2 != 0x00) {
+		result = inv_serial_single_write(
+		    mlsl_handle, pdata->address,
+		    AK89XX_REG_CNTL, AK89XX_CNTL_MODE_SINGLE_MEASUREMENT);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	return status;
+}
+
+static int ak89xx_config(void *mlsl_handle,
+			 struct ext_slave_descr *slave,
+			 struct ext_slave_platform_data *pdata,
+			 struct ext_slave_config *data)
+{
+	int result;
+	if (!data->data)
+		return INV_ERROR_INVALID_PARAMETER;
+
+	switch (data->key) {
+	case MPU_SLAVE_WRITE_REGISTERS:
+		result = inv_serial_write(mlsl_handle, pdata->address,
+					  data->len,
+					  (unsigned char *)data->data);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		break;
+	case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+	case MPU_SLAVE_CONFIG_ODR_RESUME:
+	case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+	case MPU_SLAVE_CONFIG_FSR_RESUME:
+	case MPU_SLAVE_CONFIG_MOT_THS:
+	case MPU_SLAVE_CONFIG_NMOT_THS:
+	case MPU_SLAVE_CONFIG_MOT_DUR:
+	case MPU_SLAVE_CONFIG_NMOT_DUR:
+	case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+	case MPU_SLAVE_CONFIG_IRQ_RESUME:
+	default:
+		return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+	};
+
+	return INV_SUCCESS;
+}
+
+static int ak89xx_get_config(void *mlsl_handle,
+			     struct ext_slave_descr *slave,
+			     struct ext_slave_platform_data *pdata,
+			     struct ext_slave_config *data)
+{
+	struct ak89xx_private_data *private_data = pdata->private_data;
+	int result;
+	if (!data->data)
+		return INV_ERROR_INVALID_PARAMETER;
+
+	switch (data->key) {
+	case MPU_SLAVE_READ_REGISTERS:
+		{
+			unsigned char *serial_data =
+			    (unsigned char *)data->data;
+			result =
+			    inv_serial_read(mlsl_handle, pdata->address,
+					    serial_data[0], data->len - 1,
+					    &serial_data[1]);
+			if (result) {
+				LOG_RESULT_LOCATION(result);
+				return result;
+			}
+			break;
+		}
+	case MPU_SLAVE_READ_SCALE:
+		{
+			unsigned char *serial_data =
+			    (unsigned char *)data->data;
+			serial_data[0] = private_data->init.asa[0];
+			serial_data[1] = private_data->init.asa[1];
+			serial_data[2] = private_data->init.asa[2];
+			result = INV_SUCCESS;
+			if (result) {
+				LOG_RESULT_LOCATION(result);
+				return result;
+			}
+			break;
+		}
+	case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+		(*(unsigned long *)data->data) = 0;
+		break;
+	case MPU_SLAVE_CONFIG_ODR_RESUME:
+		(*(unsigned long *)data->data) = 8000;
+		break;
+	case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+	case MPU_SLAVE_CONFIG_FSR_RESUME:
+	case MPU_SLAVE_CONFIG_MOT_THS:
+	case MPU_SLAVE_CONFIG_NMOT_THS:
+	case MPU_SLAVE_CONFIG_MOT_DUR:
+	case MPU_SLAVE_CONFIG_NMOT_DUR:
+	case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+	case MPU_SLAVE_CONFIG_IRQ_RESUME:
+	default:
+		return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+	};
+
+	return INV_SUCCESS;
+}
+
+static struct ext_slave_read_trigger ak89xx_read_trigger = {
+	/*.reg              = */ 0x0A,
+	/*.value            = */ 0x01
+};
+
+static struct ext_slave_descr ak89xx_descr = {
+	.init             = ak89xx_init,
+	.exit             = ak89xx_exit,
+	.suspend          = ak89xx_suspend,
+	.resume           = ak89xx_resume,
+	.read             = ak89xx_read,
+	.config           = ak89xx_config,
+	.get_config       = ak89xx_get_config,
+	.name             = "ak89xx",
+	.type             = EXT_SLAVE_TYPE_COMPASS,
+	.id               = COMPASS_ID_AK8963,
+	.read_reg         = 0x01,
+	.read_len         = 10,
+	.endian           = EXT_SLAVE_LITTLE_ENDIAN,
+	.range            = {9830, 4000},
+	.trigger          = &ak89xx_read_trigger,
+};
+
+static
+struct ext_slave_descr *ak89xx_get_slave_descr(void)
+{
+	return &ak89xx_descr;
+}
+
+/* -------------------------------------------------------------------------- */
+struct ak89xx_mod_private_data {
+	struct i2c_client *client;
+	struct ext_slave_platform_data *pdata;
+};
+
+static unsigned short normal_i2c[] = { I2C_CLIENT_END };
+
+static int ak89xx_mod_probe(struct i2c_client *client,
+			   const struct i2c_device_id *devid)
+{
+	struct ext_slave_platform_data *pdata;
+	struct ak89xx_mod_private_data *private_data;
+	int result = 0;
+
+	dev_info(&client->adapter->dev, "%s: %s\n", __func__, devid->name);
+
+	/* Override default values based on model. */
+	ak89xx_descr.id = devid->driver_data;
+	/* ak89xx_descr.name = devid->name; */
+	switch (ak89xx_descr.id) {
+	case COMPASS_ID_AK8963:
+		break;
+	case COMPASS_ID_AK8972:
+		ak89xx_descr.read_len = 9;
+		ak89xx_descr.range.mantissa = 39321;
+		ak89xx_descr.range.fraction = 6000;
+		break;
+	case COMPASS_ID_AK8975:
+		break;
+	default:
+		result = -EFAULT;
+		goto out_no_free;
+	}
+
+	if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
+		result = -ENODEV;
+		goto out_no_free;
+	}
+
+	pdata = client->dev.platform_data;
+	if (!pdata) {
+		dev_err(&client->adapter->dev,
+			"Missing platform data for slave %s\n", devid->name);
+		result = -EFAULT;
+		goto out_no_free;
+	}
+
+	private_data = kzalloc(sizeof(*private_data), GFP_KERNEL);
+	if (!private_data) {
+		result = -ENOMEM;
+		goto out_no_free;
+	}
+
+	i2c_set_clientdata(client, private_data);
+	private_data->client = client;
+	private_data->pdata = pdata;
+
+	result = inv_mpu_register_slave(THIS_MODULE, client, pdata,
+					ak89xx_get_slave_descr);
+	if (result) {
+		dev_err(&client->adapter->dev,
+			"Slave registration failed: %s, %d\n",
+			devid->name, result);
+		goto out_free_memory;
+	}
+
+	return result;
+
+out_free_memory:
+	kfree(private_data);
+out_no_free:
+	dev_err(&client->adapter->dev, "%s failed %d\n", __func__, result);
+	return result;
+
+}
+
+static int ak89xx_mod_remove(struct i2c_client *client)
+{
+	struct ak89xx_mod_private_data *private_data =
+		i2c_get_clientdata(client);
+
+	dev_dbg(&client->adapter->dev, "%s\n", __func__);
+	inv_mpu_unregister_slave(client, private_data->pdata,
+				ak89xx_get_slave_descr);
+
+	kfree(private_data);
+	return 0;
+}
+
+static const struct i2c_device_id ak89xx_mod_id[] = {
+	{ "ak8963", COMPASS_ID_AK8963 },
+	{ "ak8972", COMPASS_ID_AK8972 },
+	{ "ak8975", COMPASS_ID_AK8975 },
+	{}
+};
+
+MODULE_DEVICE_TABLE(i2c, ak89xx_mod_id);
+
+static struct i2c_driver ak89xx_mod_driver = {
+	.class = I2C_CLASS_HWMON,
+	.probe = ak89xx_mod_probe,
+	.remove = ak89xx_mod_remove,
+	.id_table = ak89xx_mod_id,
+	.driver = {
+		   .owner = THIS_MODULE,
+		   .name = "ak89xx_mod",
+		   },
+	.address_list = normal_i2c,
+};
+
+static int __init ak89xx_mod_init(void)
+{
+	int res = i2c_add_driver(&ak89xx_mod_driver);
+	pr_info("%s: Probe name %s\n", __func__, "ak89xx_mod");
+	if (res)
+		pr_err("%s failed\n", __func__);
+	return res;
+}
+
+static void __exit ak89xx_mod_exit(void)
+{
+	pr_info("%s\n", __func__);
+	i2c_del_driver(&ak89xx_mod_driver);
+}
+
+module_init(ak89xx_mod_init);
+module_exit(ak89xx_mod_exit);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("Driver to integrate AKM AK89XX sensor with the MPU");
+MODULE_LICENSE("GPL");
+MODULE_ALIAS("ak89xx_mod");
+
+/**
+ *  @}
+ */
diff --git a/drivers/misc/inv_mpu/mldl_cfg.h b/drivers/misc/inv_mpu/mldl_cfg.h
index 1c23878940b7..2b81b89179d5 100644
--- a/drivers/misc/inv_mpu/mldl_cfg.h
+++ b/drivers/misc/inv_mpu/mldl_cfg.h
@@ -31,7 +31,11 @@
 #include "mltypes.h"
 #include "mlsl.h"
 #include <linux/mpu.h>
+#ifdef MPU_CURRENT_BUILD_MPU6050B1
+#include "mpu6050b1.h"
+#elif defined(MPU_CURRENT_BUILD_MPU3050)
 #include "mpu3050.h"
+#endif
 
 #include "log.h"
 
diff --git a/drivers/misc/inv_mpu/mpu3050/Makefile b/drivers/misc/inv_mpu/mpu3050/Makefile
new file mode 100644
index 000000000000..9e5739302386
--- /dev/null
+++ b/drivers/misc/inv_mpu/mpu3050/Makefile
@@ -0,0 +1,17 @@
+
+# Kernel makefile for motions sensors
+#
+#
+
+obj-$(CONFIG_MPU_SENSORS_MPU3050) += mpu3050.o
+
+ccflags-y := -DMPU_CURRENT_BUILD_MPU3050
+
+mpu3050-objs += mldl_cfg.o
+mpu3050-objs += mldl_print_cfg.o
+mpu3050-objs += mlsl-kernel.o
+mpu3050-objs += mpu-dev.o
+
+EXTRA_CFLAGS += -Idrivers/misc/inv_mpu
+EXTRA_CFLAGS += -D__C99_DESIGNATED_INITIALIZER
+EXTRA_CFLAGS += -DINV_CACHE_DMP=1
diff --git a/drivers/misc/inv_mpu/mldl_cfg.c b/drivers/misc/inv_mpu/mpu3050/mldl_cfg.c
index ccacc8ec0b56..ccacc8ec0b56 100644
--- a/drivers/misc/inv_mpu/mldl_cfg.c
+++ b/drivers/misc/inv_mpu/mpu3050/mldl_cfg.c
diff --git a/drivers/misc/inv_mpu/mldl_print_cfg.c b/drivers/misc/inv_mpu/mpu3050/mldl_print_cfg.c
index e2b8d30cebaa..e2b8d30cebaa 100644
--- a/drivers/misc/inv_mpu/mldl_print_cfg.c
+++ b/drivers/misc/inv_mpu/mpu3050/mldl_print_cfg.c
diff --git a/drivers/misc/inv_mpu/mlsl-kernel.c b/drivers/misc/inv_mpu/mpu3050/mlsl-kernel.c
index 19adf5182c00..19adf5182c00 100644
--- a/drivers/misc/inv_mpu/mlsl-kernel.c
+++ b/drivers/misc/inv_mpu/mpu3050/mlsl-kernel.c
diff --git a/drivers/misc/inv_mpu/mpu-dev.c b/drivers/misc/inv_mpu/mpu3050/mpu-dev.c
index ddaf0864a440..22a837b35c57 100644
--- a/drivers/misc/inv_mpu/mpu-dev.c
+++ b/drivers/misc/inv_mpu/mpu3050/mpu-dev.c
@@ -1059,6 +1059,7 @@ int mpu_probe(struct i2c_client *client, const struct i2c_device_id *devid)
 	struct mldl_cfg *mldl_cfg;
 	int res = 0;
 	int ii = 0;
+	unsigned long irq_flags;
 
 	dev_info(&client->adapter->dev, "%s: %d\n", __func__, ii++);
 
@@ -1138,7 +1139,12 @@ int mpu_probe(struct i2c_client *client, const struct i2c_device_id *devid)
 	if (client->irq) {
 		dev_info(&client->adapter->dev,
 			 "Installing irq using %d\n", client->irq);
-		res = mpuirq_init(client, mldl_cfg);
+		if (BIT_ACTL_LOW == ((mldl_cfg->pdata->int_config) & BIT_ACTL))
+			irq_flags = IRQF_TRIGGER_FALLING;
+		else
+			irq_flags = IRQF_TRIGGER_RISING;
+		res = mpuirq_init(client, mldl_cfg, irq_flags);
+
 		if (res)
 			goto out_mpuirq_failed;
 	} else {
diff --git a/drivers/misc/inv_mpu/mpu6050/Makefile b/drivers/misc/inv_mpu/mpu6050/Makefile
new file mode 100644
index 000000000000..a93aa97a6997
--- /dev/null
+++ b/drivers/misc/inv_mpu/mpu6050/Makefile
@@ -0,0 +1,18 @@
+
+# Kernel makefile for motions sensors
+#
+#
+
+obj-$(CONFIG_MPU_SENSORS_MPU6050B1) += mpu6050b1.o
+
+ccflags-y := -DMPU_CURRENT_BUILD_MPU6050B1
+
+mpu6050b1-objs += mldl_cfg.o
+mpu6050b1-objs += mldl_print_cfg.o
+mpu6050b1-objs += mlsl-kernel.o
+mpu6050b1-objs += mpu-dev.o
+mpu6050b1-objs += ../accel/mpu6050.o
+
+EXTRA_CFLAGS += -Idrivers/misc/inv_mpu
+EXTRA_CFLAGS += -D__C99_DESIGNATED_INITIALIZER
+EXTRA_CFLAGS += -DINV_CACHE_DMP=1
diff --git a/drivers/misc/inv_mpu/mpu6050/mldl_cfg.c b/drivers/misc/inv_mpu/mpu6050/mldl_cfg.c
new file mode 100644
index 000000000000..22af0c200985
--- /dev/null
+++ b/drivers/misc/inv_mpu/mpu6050/mldl_cfg.c
@@ -0,0 +1,1916 @@
+/*
+	$License:
+	Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+	This program is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	(at your option) any later version.
+
+	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.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+	$
+ */
+
+/**
+ *  @addtogroup MLDL
+ *
+ *  @{
+ *      @file   mldl_cfg.c
+ *      @brief  The Motion Library Driver Layer.
+ */
+
+/* -------------------------------------------------------------------------- */
+#include <linux/delay.h>
+#include <linux/slab.h>
+
+#include <stddef.h>
+
+#include "mldl_cfg.h"
+#include <linux/mpu.h>
+#include "mpu6050b1.h"
+
+#include "mlsl.h"
+#include "mldl_print_cfg.h"
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "mldl_cfg:"
+
+/* -------------------------------------------------------------------------- */
+
+#define SLEEP   0
+#define WAKE_UP 7
+#define RESET   1
+#define STANDBY 1
+
+/* -------------------------------------------------------------------------- */
+
+/**
+ * @brief Stop the DMP running
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+static int dmp_stop(struct mldl_cfg *mldl_cfg, void *gyro_handle)
+{
+	unsigned char user_ctrl_reg;
+	int result;
+
+	if (mldl_cfg->inv_mpu_state->status & MPU_DMP_IS_SUSPENDED)
+		return INV_SUCCESS;
+
+	result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_USER_CTRL, 1, &user_ctrl_reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	user_ctrl_reg = (user_ctrl_reg & (~BIT_FIFO_EN)) | BIT_FIFO_RST;
+	user_ctrl_reg = (user_ctrl_reg & (~BIT_DMP_EN)) | BIT_DMP_RST;
+
+	result = inv_serial_single_write(gyro_handle,
+					 mldl_cfg->mpu_chip_info->addr,
+					 MPUREG_USER_CTRL, user_ctrl_reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	mldl_cfg->inv_mpu_state->status |= MPU_DMP_IS_SUSPENDED;
+
+	return result;
+}
+
+/**
+ * @brief Starts the DMP running
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+static int dmp_start(struct mldl_cfg *mldl_cfg, void *mlsl_handle)
+{
+	unsigned char user_ctrl_reg;
+	int result;
+
+	if ((!(mldl_cfg->inv_mpu_state->status & MPU_DMP_IS_SUSPENDED) &&
+	    mldl_cfg->mpu_gyro_cfg->dmp_enable)
+		||
+	   ((mldl_cfg->inv_mpu_state->status & MPU_DMP_IS_SUSPENDED) &&
+		   !mldl_cfg->mpu_gyro_cfg->dmp_enable))
+		return INV_SUCCESS;
+
+	result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_USER_CTRL, 1, &user_ctrl_reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	result = inv_serial_single_write(
+		mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_USER_CTRL,
+		((user_ctrl_reg & (~BIT_FIFO_EN))
+			| BIT_FIFO_RST));
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	result = inv_serial_single_write(
+		mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_USER_CTRL, user_ctrl_reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_USER_CTRL, 1, &user_ctrl_reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	user_ctrl_reg |= BIT_DMP_EN;
+
+	if (mldl_cfg->mpu_gyro_cfg->fifo_enable)
+		user_ctrl_reg |= BIT_FIFO_EN;
+	else
+		user_ctrl_reg &= ~BIT_FIFO_EN;
+
+	user_ctrl_reg |= BIT_DMP_RST;
+
+	result = inv_serial_single_write(
+		mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_USER_CTRL, user_ctrl_reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	mldl_cfg->inv_mpu_state->status &= ~MPU_DMP_IS_SUSPENDED;
+
+	return result;
+}
+
+/**
+ *  @brief  enables/disables the I2C bypass to an external device
+ *          connected to MPU's secondary I2C bus.
+ *  @param  enable
+ *              Non-zero to enable pass through.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+static int mpu6050b1_set_i2c_bypass(struct mldl_cfg *mldl_cfg,
+				    void *mlsl_handle, unsigned char enable)
+{
+	unsigned char reg;
+	int result;
+	unsigned char status = mldl_cfg->inv_mpu_state->status;
+	if ((status & MPU_GYRO_IS_BYPASSED && enable) ||
+	    (!(status & MPU_GYRO_IS_BYPASSED) && !enable))
+		return INV_SUCCESS;
+
+	/*---- get current 'USER_CTRL' into b ----*/
+	result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_USER_CTRL, 1, &reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	if (!enable) {
+		/* setting int_config with the property flag BIT_BYPASS_EN
+		   should be done by the setup functions */
+		result = inv_serial_single_write(
+			mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+			MPUREG_INT_PIN_CFG,
+			(mldl_cfg->pdata->int_config & ~(BIT_BYPASS_EN)));
+		if (!(reg & BIT_I2C_MST_EN)) {
+			result =
+			    inv_serial_single_write(
+				    mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+				    MPUREG_USER_CTRL,
+				    (reg | BIT_I2C_MST_EN));
+			if (result) {
+				LOG_RESULT_LOCATION(result);
+				return result;
+			}
+		}
+	} else if (enable) {
+		if (reg & BIT_AUX_IF_EN) {
+			result =
+			    inv_serial_single_write(
+				    mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+				    MPUREG_USER_CTRL,
+				    (reg & (~BIT_I2C_MST_EN)));
+			if (result) {
+				LOG_RESULT_LOCATION(result);
+				return result;
+			}
+			/*****************************************
+			 * To avoid hanging the bus we must sleep until all
+			 * slave transactions have been completed.
+			 *  24 bytes max slave reads
+			 *  +1 byte possible extra write
+			 *  +4 max slave address
+			 * ---
+			 *  33 Maximum bytes
+			 *  x9 Approximate bits per byte
+			 * ---
+			 * 297 bits.
+			 * 2.97 ms minimum @ 100kbps
+			 * 0.75 ms minimum @ 400kbps.
+			 *****************************************/
+			msleep(3);
+		}
+		result = inv_serial_single_write(
+			mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+			MPUREG_INT_PIN_CFG,
+			(mldl_cfg->pdata->int_config | BIT_BYPASS_EN));
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+	if (enable)
+		mldl_cfg->inv_mpu_state->status |= MPU_GYRO_IS_BYPASSED;
+	else
+		mldl_cfg->inv_mpu_state->status &= ~MPU_GYRO_IS_BYPASSED;
+
+	return result;
+}
+
+
+
+
+/**
+ *  @brief  enables/disables the I2C bypass to an external device
+ *          connected to MPU's secondary I2C bus.
+ *  @param  enable
+ *              Non-zero to enable pass through.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+static int mpu_set_i2c_bypass(struct mldl_cfg *mldl_cfg, void *mlsl_handle,
+			      unsigned char enable)
+{
+	return mpu6050b1_set_i2c_bypass(mldl_cfg, mlsl_handle, enable);
+}
+
+
+#define NUM_OF_PROD_REVS (ARRAY_SIZE(prod_rev_map))
+
+/* NOTE : when not indicated, product revision
+	  is considered an 'npp'; non production part */
+
+/* produces an unique identifier for each device based on the
+   combination of product version and product revision */
+struct prod_rev_map_t {
+	unsigned short mpl_product_key;
+	unsigned char silicon_rev;
+	unsigned short gyro_trim;
+	unsigned short accel_trim;
+};
+
+/* NOTE: product entries are in chronological order */
+static struct prod_rev_map_t prod_rev_map[] = {
+	/* prod_ver = 0 */
+	{MPL_PROD_KEY(0,  1), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0,  2), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0,  3), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0,  4), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0,  5), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0,  6), MPU_SILICON_REV_A2, 131, 16384},	/* (A2/C2-1) */
+	/* prod_ver = 1, forced to 0 for MPU6050 A2 */
+	{MPL_PROD_KEY(0,  7), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0,  8), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0,  9), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0, 10), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0, 11), MPU_SILICON_REV_A2, 131, 16384},	/* (A2/D2-1) */
+	{MPL_PROD_KEY(0, 12), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0, 13), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0, 14), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0, 15), MPU_SILICON_REV_A2, 131, 16384},
+	{MPL_PROD_KEY(0, 27), MPU_SILICON_REV_A2, 131, 16384},	/* (A2/D4)   */
+	/* prod_ver = 1 */
+	{MPL_PROD_KEY(1, 16), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/D2-1) */
+	{MPL_PROD_KEY(1, 17), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/D2-2) */
+	{MPL_PROD_KEY(1, 18), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/D2-3) */
+	{MPL_PROD_KEY(1, 19), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/D2-4) */
+	{MPL_PROD_KEY(1, 20), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/D2-5) */
+	{MPL_PROD_KEY(1, 28), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/D4)   */
+	{MPL_PROD_KEY(1,  1), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/E1-1) */
+	{MPL_PROD_KEY(1,  2), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/E1-2) */
+	{MPL_PROD_KEY(1,  3), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/E1-3) */
+	{MPL_PROD_KEY(1,  4), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/E1-4) */
+	{MPL_PROD_KEY(1,  5), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/E1-5) */
+	{MPL_PROD_KEY(1,  6), MPU_SILICON_REV_B1, 131, 16384},	/* (B1/E1-6) */
+	/* prod_ver = 2 */
+	{MPL_PROD_KEY(2,  7), MPU_SILICON_REV_B1, 131, 16384},	/* (B2/E1-1) */
+	{MPL_PROD_KEY(2,  8), MPU_SILICON_REV_B1, 131, 16384},	/* (B2/E1-2) */
+	{MPL_PROD_KEY(2,  9), MPU_SILICON_REV_B1, 131, 16384},	/* (B2/E1-3) */
+	{MPL_PROD_KEY(2, 10), MPU_SILICON_REV_B1, 131, 16384},	/* (B2/E1-4) */
+	{MPL_PROD_KEY(2, 11), MPU_SILICON_REV_B1, 131, 16384},	/* (B2/E1-5) */
+	{MPL_PROD_KEY(2, 12), MPU_SILICON_REV_B1, 131, 16384},	/* (B2/E1-6) */
+	{MPL_PROD_KEY(2, 29), MPU_SILICON_REV_B1, 131, 16384},	/* (B2/D4)   */
+	/* prod_ver = 3 */
+	{MPL_PROD_KEY(3, 30), MPU_SILICON_REV_B1, 131, 16384},	/* (B2/E2)   */
+	/* prod_ver = 4 */
+	{MPL_PROD_KEY(4, 31), MPU_SILICON_REV_B1, 131,  8192},	/* (B2/F1)   */
+	{MPL_PROD_KEY(4,  1), MPU_SILICON_REV_B1, 131,  8192},	/* (B3/F1)   */
+	{MPL_PROD_KEY(4,  3), MPU_SILICON_REV_B1, 131,  8192},	/* (B4/F1)   */
+	/* prod_ver = 5 */
+	{MPL_PROD_KEY(6, 19), MPU_SILICON_REV_B1, 131, 16384},	/* (B5/E2)   */
+	/* prod_ver = 7 */
+	{MPL_PROD_KEY(7, 19), MPU_SILICON_REV_B1, 131, 16384},	/* (B5/E2)   */
+	/* prod_ver = 8 */
+	{MPL_PROD_KEY(8, 19), MPU_SILICON_REV_B1, 131, 16384},	/* (B5/E2)   */
+	/* prod_ver = 9 */
+	{MPL_PROD_KEY(9, 19), MPU_SILICON_REV_B1, 131, 16384},	/* (B5/E2)   */
+	/* prod_ver = 10 */
+	{MPL_PROD_KEY(10, 19), MPU_SILICON_REV_B1, 131, 16384}	/* (B5/E2)   */
+};
+
+/**
+ *  @internal
+ *  @brief  Inverse lookup of the index of an MPL product key .
+ *  @param  key
+ *              the MPL product indentifier also referred to as 'key'.
+ *  @return the index position of the key in the array, -1 if not found.
+ */
+short index_of_key(unsigned short key)
+{
+	int i;
+	for (i = 0; i < NUM_OF_PROD_REVS; i++)
+		if (prod_rev_map[i].mpl_product_key == key)
+			return (short)i;
+	return -1;
+}
+
+/**
+ *  @internal
+ *  @brief  Get the product revision and version for MPU6050 and
+ *          extract all per-part specific information.
+ *          The product version number is read from the PRODUCT_ID register in
+ *          user space register map.
+ *          The product revision number is in read from OTP bank 0, ADDR6[7:2].
+ *          These 2 numbers, combined, provide an unique key to be used to
+ *          retrieve some per-device information such as the silicon revision
+ *          and the gyro and accel sensitivity trim values.
+ *
+ *  @param  mldl_cfg
+ *              a pointer to the mldl config data structure.
+ *  @param  mlsl_handle
+ *              an file handle to the serial communication device the
+ *              device is connected to.
+ *
+ *  @return 0 on success, a non-zero error code otherwise.
+ */
+static int inv_get_silicon_rev_mpu6050(
+		struct mldl_cfg *mldl_cfg, void *mlsl_handle)
+{
+	int result;
+	unsigned char prod_ver = 0x00, prod_rev = 0x00;
+	unsigned char bank =
+	    (BIT_PRFTCH_EN | BIT_CFG_USER_BANK | MPU_MEM_OTP_BANK_0);
+	unsigned short memAddr = ((bank << 8) | 0x06);
+	unsigned short key;
+	short index;
+	struct mpu_chip_info *mpu_chip_info = mldl_cfg->mpu_chip_info;
+
+	result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_PRODUCT_ID, 1, &prod_ver);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	prod_ver &= 0xF;
+
+	result = inv_serial_read_mem(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+				     memAddr, 1, &prod_rev);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	prod_rev >>= 2;
+
+	/* clean the prefetch and cfg user bank bits */
+	result = inv_serial_single_write(
+		mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_BANK_SEL, 0);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	key = MPL_PROD_KEY(prod_ver, prod_rev);
+	if (key == 0) {
+		MPL_LOGE("Product id read as 0 "
+			 "indicates device is either "
+			 "incompatible or an MPU3050\n");
+		return INV_ERROR_INVALID_MODULE;
+	}
+	index = index_of_key(key);
+	if (index == -1 || index >= NUM_OF_PROD_REVS) {
+		MPL_LOGE("Unsupported product key %d in MPL\n", key);
+		return INV_ERROR_INVALID_MODULE;
+	}
+	/* check MPL is compiled for this device */
+	if (prod_rev_map[index].silicon_rev != MPU_SILICON_REV_B1) {
+		MPL_LOGE("MPL compiled for MPU6050B1 support "
+			 "but device is not MPU6050B1 (%d)\n", key);
+		return INV_ERROR_INVALID_MODULE;
+	}
+
+	mpu_chip_info->product_id = prod_ver;
+	mpu_chip_info->product_revision = prod_rev;
+	mpu_chip_info->silicon_revision = prod_rev_map[index].silicon_rev;
+	mpu_chip_info->gyro_sens_trim = prod_rev_map[index].gyro_trim;
+	mpu_chip_info->accel_sens_trim = prod_rev_map[index].accel_trim;
+
+	return result;
+}
+#define inv_get_silicon_rev inv_get_silicon_rev_mpu6050
+
+
+/**
+ *  @brief  Enable / Disable the use MPU's secondary I2C interface level
+ *          shifters.
+ *          When enabled the secondary I2C interface to which the external
+ *          device is connected runs at VDD voltage (main supply).
+ *          When disabled the 2nd interface runs at VDDIO voltage.
+ *          See the device specification for more details.
+ *
+ *  @note   using this API may produce unpredictable results, depending on how
+ *          the MPU and slave device are setup on the target platform.
+ *          Use of this API should entirely be restricted to system
+ *          integrators. Once the correct value is found, there should be no
+ *          need to change the level shifter at runtime.
+ *
+ *  @pre    Must be called after inv_serial_start().
+ *  @note   Typically called before inv_dmp_open().
+ *
+ *  @param[in]  enable:
+ *                  0 to run at VDDIO (default),
+ *                  1 to run at VDD.
+ *
+ *  @return INV_SUCCESS if successfull, a non-zero error code otherwise.
+ */
+static int inv_mpu_set_level_shifter_bit(struct mldl_cfg *mldl_cfg,
+				  void *mlsl_handle, unsigned char enable)
+{
+	int result;
+	unsigned char regval;
+
+	result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_YG_OFFS_TC, 1, &regval);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	if (enable)
+		regval |= BIT_I2C_MST_VDDIO;
+
+	result = inv_serial_single_write(
+		mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_YG_OFFS_TC, regval);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	return INV_SUCCESS;
+}
+
+
+/**
+ * @internal
+ * @brief MPU6050 B1 power management functions.
+ * @param mldl_cfg
+ *          a pointer to the internal mldl_cfg data structure.
+ * @param mlsl_handle
+ *          a file handle to the serial device used to communicate
+ *          with the MPU6050 B1 device.
+ * @param reset
+ *          1 to reset hardware.
+ * @param sensors
+ *          Bitfield of sensors to leave on
+ *
+ * @return 0 on success, a non-zero error code on error.
+ */
+static int mpu60xx_pwr_mgmt(struct mldl_cfg *mldl_cfg,
+				    void *mlsl_handle,
+				    unsigned int reset, unsigned long sensors)
+{
+	unsigned char pwr_mgmt[2];
+	unsigned char pwr_mgmt_prev[2];
+	int result;
+	int sleep = !(sensors & (INV_THREE_AXIS_GYRO | INV_THREE_AXIS_ACCEL
+				| INV_DMP_PROCESSOR));
+
+	if (reset) {
+		MPL_LOGI("Reset MPU6050 B1\n");
+		result = inv_serial_single_write(
+			mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+			MPUREG_PWR_MGMT_1, BIT_H_RESET);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		mldl_cfg->inv_mpu_state->status &= ~MPU_GYRO_IS_BYPASSED;
+		msleep(15);
+	}
+
+	/* NOTE : reading both PWR_MGMT_1 and PWR_MGMT_2 for efficiency because
+		  they are accessible even when the device is powered off */
+	result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_PWR_MGMT_1, 2, pwr_mgmt_prev);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	pwr_mgmt[0] = pwr_mgmt_prev[0];
+	pwr_mgmt[1] = pwr_mgmt_prev[1];
+
+	if (sleep) {
+		mldl_cfg->inv_mpu_state->status |= MPU_DEVICE_IS_SUSPENDED;
+		pwr_mgmt[0] |= BIT_SLEEP;
+	} else {
+		mldl_cfg->inv_mpu_state->status &= ~MPU_DEVICE_IS_SUSPENDED;
+		pwr_mgmt[0] &= ~BIT_SLEEP;
+	}
+	if (pwr_mgmt[0] != pwr_mgmt_prev[0]) {
+		result = inv_serial_single_write(
+			mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+			MPUREG_PWR_MGMT_1, pwr_mgmt[0]);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	pwr_mgmt[1] &= ~(BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG);
+	if (!(sensors & INV_X_GYRO))
+		pwr_mgmt[1] |= BIT_STBY_XG;
+	if (!(sensors & INV_Y_GYRO))
+		pwr_mgmt[1] |= BIT_STBY_YG;
+	if (!(sensors & INV_Z_GYRO))
+		pwr_mgmt[1] |= BIT_STBY_ZG;
+
+	if (pwr_mgmt[1] != pwr_mgmt_prev[1]) {
+		result = inv_serial_single_write(
+			mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+			MPUREG_PWR_MGMT_2, pwr_mgmt[1]);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	if ((pwr_mgmt[1] & (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)) ==
+	    (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)) {
+		mldl_cfg->inv_mpu_state->status |= MPU_GYRO_IS_SUSPENDED;
+	} else {
+		mldl_cfg->inv_mpu_state->status &= ~MPU_GYRO_IS_SUSPENDED;
+	}
+
+	return INV_SUCCESS;
+}
+
+
+/**
+ *  @brief  sets the clock source for the gyros.
+ *  @param  mldl_cfg
+ *              a pointer to the struct mldl_cfg data structure.
+ *  @param  gyro_handle
+ *              an handle to the serial device the gyro is assigned to.
+ *  @return ML_SUCCESS if successful, a non-zero error code otherwise.
+ */
+static int mpu_set_clock_source(void *gyro_handle, struct mldl_cfg *mldl_cfg)
+{
+	int result;
+	unsigned char cur_clk_src;
+	unsigned char reg;
+
+	/* clock source selection */
+	result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_PWR_MGM, 1, &reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	cur_clk_src = reg & BITS_CLKSEL;
+	reg &= ~BITS_CLKSEL;
+
+
+	result = inv_serial_single_write(
+		gyro_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_PWR_MGM, mldl_cfg->mpu_gyro_cfg->clk_src | reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* ERRATA:
+	   workaroud to switch from any MPU_CLK_SEL_PLLGYROx to
+	   MPU_CLK_SEL_INTERNAL and XGyro is powered up:
+	   1) Select INT_OSC
+	   2) PD XGyro
+	   3) PU XGyro
+	 */
+	if ((cur_clk_src == MPU_CLK_SEL_PLLGYROX
+		 || cur_clk_src == MPU_CLK_SEL_PLLGYROY
+		 || cur_clk_src == MPU_CLK_SEL_PLLGYROZ)
+	    && mldl_cfg->mpu_gyro_cfg->clk_src == MPU_CLK_SEL_INTERNAL
+	    && mldl_cfg->inv_mpu_cfg->requested_sensors & INV_X_GYRO) {
+		unsigned char first_result = INV_SUCCESS;
+		mldl_cfg->inv_mpu_cfg->requested_sensors &= ~INV_X_GYRO;
+		result = mpu60xx_pwr_mgmt(
+			mldl_cfg, gyro_handle,
+			false, mldl_cfg->inv_mpu_cfg->requested_sensors);
+		ERROR_CHECK_FIRST(first_result, result);
+		mldl_cfg->inv_mpu_cfg->requested_sensors |= INV_X_GYRO;
+		result = mpu60xx_pwr_mgmt(
+			mldl_cfg, gyro_handle,
+			false, mldl_cfg->inv_mpu_cfg->requested_sensors);
+		ERROR_CHECK_FIRST(first_result, result);
+		result = first_result;
+	}
+	return result;
+}
+
+/**
+ * Configures the MPU I2C Master
+ *
+ * @mldl_cfg Handle to the configuration data
+ * @gyro_handle handle to the gyro communictation interface
+ * @slave Can be Null if turning off the slave
+ * @slave_pdata Can be null if turning off the slave
+ * @slave_id enum ext_slave_type to determine which index to use
+ *
+ *
+ * This fucntion configures the slaves by:
+ * 1) Setting up the read
+ *    a) Read Register
+ *    b) Read Length
+ * 2) Set up the data trigger (MPU6050 only)
+ *    a) Set trigger write register
+ *    b) Set Trigger write value
+ * 3) Set up the divider (MPU6050 only)
+ * 4) Set the slave bypass mode depending on slave
+ *
+ * returns INV_SUCCESS or non-zero error code
+ */
+
+static int mpu_set_slave_mpu60xx(struct mldl_cfg *mldl_cfg,
+				 void *gyro_handle,
+				 struct ext_slave_descr *slave,
+				 struct ext_slave_platform_data *slave_pdata,
+				 int slave_id)
+{
+	int result;
+	unsigned char reg;
+	/* Slave values */
+	unsigned char slave_reg;
+	unsigned char slave_len;
+	unsigned char slave_endian;
+	unsigned char slave_address;
+	/* Which MPU6050 registers to use */
+	unsigned char addr_reg;
+	unsigned char reg_reg;
+	unsigned char ctrl_reg;
+	/* Which MPU6050 registers to use for the trigger */
+	unsigned char addr_trig_reg;
+	unsigned char reg_trig_reg;
+	unsigned char ctrl_trig_reg;
+
+	unsigned char bits_slave_delay = 0;
+	/* Divide down rate for the Slave, from the mpu rate */
+	unsigned char d0_trig_reg;
+	unsigned char delay_ctrl_orig;
+	unsigned char delay_ctrl;
+	long divider;
+
+	if (NULL == slave || NULL == slave_pdata) {
+		slave_reg = 0;
+		slave_len = 0;
+		slave_endian = 0;
+		slave_address = 0;
+	} else {
+		slave_reg = slave->read_reg;
+		slave_len = slave->read_len;
+		slave_endian = slave->endian;
+		slave_address = slave_pdata->address;
+		slave_address |= BIT_I2C_READ;
+	}
+
+	switch (slave_id) {
+	case EXT_SLAVE_TYPE_ACCEL:
+		addr_reg = MPUREG_I2C_SLV1_ADDR;
+		reg_reg  = MPUREG_I2C_SLV1_REG;
+		ctrl_reg = MPUREG_I2C_SLV1_CTRL;
+		addr_trig_reg = 0;
+		reg_trig_reg  = 0;
+		ctrl_trig_reg = 0;
+		bits_slave_delay = BIT_SLV1_DLY_EN;
+		break;
+	case EXT_SLAVE_TYPE_COMPASS:
+		addr_reg = MPUREG_I2C_SLV0_ADDR;
+		reg_reg  = MPUREG_I2C_SLV0_REG;
+		ctrl_reg = MPUREG_I2C_SLV0_CTRL;
+		addr_trig_reg = MPUREG_I2C_SLV2_ADDR;
+		reg_trig_reg  = MPUREG_I2C_SLV2_REG;
+		ctrl_trig_reg = MPUREG_I2C_SLV2_CTRL;
+		d0_trig_reg   = MPUREG_I2C_SLV2_DO;
+		bits_slave_delay = BIT_SLV2_DLY_EN | BIT_SLV0_DLY_EN;
+		break;
+	case EXT_SLAVE_TYPE_PRESSURE:
+		addr_reg = MPUREG_I2C_SLV3_ADDR;
+		reg_reg  = MPUREG_I2C_SLV3_REG;
+		ctrl_reg = MPUREG_I2C_SLV3_CTRL;
+		addr_trig_reg = MPUREG_I2C_SLV4_ADDR;
+		reg_trig_reg  = MPUREG_I2C_SLV4_REG;
+		ctrl_trig_reg = MPUREG_I2C_SLV4_CTRL;
+		bits_slave_delay = BIT_SLV4_DLY_EN | BIT_SLV3_DLY_EN;
+		break;
+	default:
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	};
+
+	/* return if this slave has already been set */
+	if ((slave_address &&
+	     ((mldl_cfg->inv_mpu_state->i2c_slaves_enabled & bits_slave_delay)
+		    == bits_slave_delay)) ||
+	    (!slave_address &&
+	     (mldl_cfg->inv_mpu_state->i2c_slaves_enabled & bits_slave_delay) ==
+		    0))
+		return 0;
+
+	result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, true);
+
+	/* Address */
+	result = inv_serial_single_write(gyro_handle,
+					 mldl_cfg->mpu_chip_info->addr,
+					 addr_reg, slave_address);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* Register */
+	result = inv_serial_single_write(gyro_handle,
+					 mldl_cfg->mpu_chip_info->addr,
+					 reg_reg, slave_reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* Length, byte swapping, grouping & enable */
+	if (slave_len > BITS_SLV_LENG) {
+		MPL_LOGW("Limiting slave burst read length to "
+			 "the allowed maximum (15B, req. %d)\n", slave_len);
+		slave_len = BITS_SLV_LENG;
+		return INV_ERROR_INVALID_CONFIGURATION;
+	}
+	reg = slave_len;
+	if (slave_endian == EXT_SLAVE_LITTLE_ENDIAN) {
+		reg |= BIT_SLV_BYTE_SW;
+		if (slave_reg & 1)
+			reg |= BIT_SLV_GRP;
+	}
+	if (slave_address)
+		reg |= BIT_SLV_ENABLE;
+
+	result = inv_serial_single_write(gyro_handle,
+					 mldl_cfg->mpu_chip_info->addr,
+					 ctrl_reg, reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* Trigger */
+	if (addr_trig_reg) {
+		/* If slave address is 0 this clears the trigger */
+		result = inv_serial_single_write(gyro_handle,
+						 mldl_cfg->mpu_chip_info->addr,
+						 addr_trig_reg,
+						 slave_address & ~BIT_I2C_READ);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	if (slave && slave->trigger && reg_trig_reg) {
+		result = inv_serial_single_write(gyro_handle,
+						 mldl_cfg->mpu_chip_info->addr,
+						 reg_trig_reg,
+						 slave->trigger->reg);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		result = inv_serial_single_write(gyro_handle,
+						 mldl_cfg->mpu_chip_info->addr,
+						 ctrl_trig_reg,
+						 BIT_SLV_ENABLE | 0x01);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		result = inv_serial_single_write(gyro_handle,
+						 mldl_cfg->mpu_chip_info->addr,
+						 d0_trig_reg,
+						 slave->trigger->value);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	} else if (ctrl_trig_reg) {
+		result = inv_serial_single_write(gyro_handle,
+						 mldl_cfg->mpu_chip_info->addr,
+						 ctrl_trig_reg, 0x00);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	/* Data rate */
+	if (slave) {
+		struct ext_slave_config config;
+		long data;
+		config.key = MPU_SLAVE_CONFIG_ODR_RESUME;
+		config.len = sizeof(long);
+		config.apply = false;
+		config.data = &data;
+		if (!(slave->get_config))
+			return INV_ERROR_INVALID_CONFIGURATION;
+
+		result = slave->get_config(NULL, slave, slave_pdata, &config);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		MPL_LOGI("Slave %d ODR: %ld Hz\n", slave_id, data / 1000);
+		divider = ((1000 * inv_mpu_get_sampling_rate_hz(
+				    mldl_cfg->mpu_gyro_cfg))
+			/ data) - 1;
+	} else {
+		divider = 0;
+	}
+
+	result = inv_serial_read(gyro_handle,
+				mldl_cfg->mpu_chip_info->addr,
+				MPUREG_I2C_MST_DELAY_CTRL,
+				1, &delay_ctrl_orig);
+	delay_ctrl = delay_ctrl_orig;
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	if (divider > 0 && divider <= MASK_I2C_MST_DLY) {
+		result = inv_serial_read(gyro_handle,
+					 mldl_cfg->mpu_chip_info->addr,
+					 MPUREG_I2C_SLV4_CTRL, 1, &reg);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		if ((reg & MASK_I2C_MST_DLY) &&
+			((long)(reg & MASK_I2C_MST_DLY) !=
+				(divider & MASK_I2C_MST_DLY))) {
+			MPL_LOGW("Changing slave divider: %ld to %ld\n",
+				 (long)(reg & MASK_I2C_MST_DLY),
+				 (divider & MASK_I2C_MST_DLY));
+
+		}
+		reg |= (unsigned char)(divider & MASK_I2C_MST_DLY);
+		result = inv_serial_single_write(gyro_handle,
+						 mldl_cfg->mpu_chip_info->addr,
+						 MPUREG_I2C_SLV4_CTRL,
+						 reg);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+
+		delay_ctrl |= bits_slave_delay;
+	} else {
+		delay_ctrl &= ~(bits_slave_delay);
+	}
+	if (delay_ctrl != delay_ctrl_orig) {
+		result = inv_serial_single_write(
+			gyro_handle, mldl_cfg->mpu_chip_info->addr,
+			MPUREG_I2C_MST_DELAY_CTRL,
+			delay_ctrl);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	if (slave_address)
+		mldl_cfg->inv_mpu_state->i2c_slaves_enabled |=
+			bits_slave_delay;
+	else
+		mldl_cfg->inv_mpu_state->i2c_slaves_enabled &=
+			~bits_slave_delay;
+
+	return result;
+}
+
+static int mpu_set_slave(struct mldl_cfg *mldl_cfg,
+			 void *gyro_handle,
+			 struct ext_slave_descr *slave,
+			 struct ext_slave_platform_data *slave_pdata,
+			 int slave_id)
+{
+	return mpu_set_slave_mpu60xx(mldl_cfg, gyro_handle, slave,
+				     slave_pdata, slave_id);
+}
+/**
+ * Check to see if the gyro was reset by testing a couple of registers known
+ * to change on reset.
+ *
+ * @mldl_cfg mldl configuration structure
+ * @gyro_handle handle used to communicate with the gyro
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+static int mpu_was_reset(struct mldl_cfg *mldl_cfg, void *gyro_handle)
+{
+	int result = INV_SUCCESS;
+	unsigned char reg;
+
+	result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_DMP_CFG_2, 1, &reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	if (mldl_cfg->mpu_gyro_cfg->dmp_cfg2 != reg)
+		return true;
+
+	if (0 != mldl_cfg->mpu_gyro_cfg->dmp_cfg1)
+		return false;
+
+	/* Inconclusive assume it was reset */
+	return true;
+}
+
+
+int inv_mpu_set_firmware(struct mldl_cfg *mldl_cfg, void *mlsl_handle,
+			 const unsigned char *data, int size)
+{
+	int bank, offset, write_size;
+	int result;
+	unsigned char read[MPU_MEM_BANK_SIZE];
+
+	if (mldl_cfg->inv_mpu_state->status & MPU_DEVICE_IS_SUSPENDED) {
+#if INV_CACHE_DMP == 1
+		memcpy(mldl_cfg->mpu_ram->ram, data, size);
+		return INV_SUCCESS;
+#else
+		LOG_RESULT_LOCATION(INV_ERROR_MEMORY_SET);
+		return INV_ERROR_MEMORY_SET;
+#endif
+	}
+
+	if (!(mldl_cfg->inv_mpu_state->status & MPU_DMP_IS_SUSPENDED)) {
+		LOG_RESULT_LOCATION(INV_ERROR_MEMORY_SET);
+		return INV_ERROR_MEMORY_SET;
+	}
+	/* Write and verify memory */
+	for (bank = 0; size > 0; bank++,
+			size -= write_size,
+			data += write_size) {
+		if (size > MPU_MEM_BANK_SIZE)
+			write_size = MPU_MEM_BANK_SIZE;
+		else
+			write_size = size;
+
+		result = inv_serial_write_mem(mlsl_handle,
+				mldl_cfg->mpu_chip_info->addr,
+				((bank << 8) | 0x00),
+				write_size,
+				data);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			MPL_LOGE("Write mem error in bank %d\n", bank);
+			return result;
+		}
+		result = inv_serial_read_mem(mlsl_handle,
+				mldl_cfg->mpu_chip_info->addr,
+				((bank << 8) | 0x00),
+				write_size,
+				read);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			MPL_LOGE("Read mem error in bank %d\n", bank);
+			return result;
+		}
+
+#define ML_SKIP_CHECK 38
+		for (offset = 0; offset < write_size; offset++) {
+			/* skip the register memory locations */
+			if (bank == 0 && offset < ML_SKIP_CHECK)
+				continue;
+			if (data[offset] != read[offset]) {
+				result = INV_ERROR_SERIAL_WRITE;
+				break;
+			}
+		}
+		if (result != INV_SUCCESS) {
+			LOG_RESULT_LOCATION(result);
+			MPL_LOGE("Read data mismatch at bank %d, offset %d\n",
+				bank, offset);
+			return result;
+		}
+	}
+	return INV_SUCCESS;
+}
+
+static int gyro_resume(struct mldl_cfg *mldl_cfg, void *gyro_handle,
+		       unsigned long sensors)
+{
+	int result;
+	int ii;
+	unsigned char reg;
+	unsigned char regs[7];
+
+	/* Wake up the part */
+	result = mpu60xx_pwr_mgmt(mldl_cfg, gyro_handle, false, sensors);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* Always set the INT_ENABLE and DIVIDER as the Accel Only mode for 6050
+	   can set these too */
+	result = inv_serial_single_write(
+		gyro_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_INT_ENABLE, (mldl_cfg->mpu_gyro_cfg->int_config));
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = inv_serial_single_write(
+		gyro_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_SMPLRT_DIV, mldl_cfg->mpu_gyro_cfg->divider);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	if (!(mldl_cfg->inv_mpu_state->status & MPU_GYRO_NEEDS_CONFIG) &&
+	    !mpu_was_reset(mldl_cfg, gyro_handle)) {
+		return INV_SUCCESS;
+	}
+
+	/* Configure the MPU */
+	result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = mpu_set_clock_source(gyro_handle, mldl_cfg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	reg = MPUREG_GYRO_CONFIG_VALUE(0, 0, 0,
+				       mldl_cfg->mpu_gyro_cfg->full_scale);
+	result = inv_serial_single_write(
+		gyro_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_GYRO_CONFIG, reg);
+	reg = MPUREG_CONFIG_VALUE(mldl_cfg->mpu_gyro_cfg->ext_sync,
+				  mldl_cfg->mpu_gyro_cfg->lpf);
+	result = inv_serial_single_write(
+		gyro_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_CONFIG, reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = inv_serial_single_write(
+		gyro_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_DMP_CFG_1, mldl_cfg->mpu_gyro_cfg->dmp_cfg1);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = inv_serial_single_write(
+		gyro_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_DMP_CFG_2, mldl_cfg->mpu_gyro_cfg->dmp_cfg2);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* Write and verify memory */
+#if INV_CACHE_DMP != 0
+	inv_mpu_set_firmware(mldl_cfg, gyro_handle,
+		mldl_cfg->mpu_ram->ram, mldl_cfg->mpu_ram->length);
+#endif
+
+	result = inv_serial_single_write(
+		gyro_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_XG_OFFS_TC,
+		((mldl_cfg->mpu_offsets->tc[0] << 1) & BITS_XG_OFFS_TC));
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	regs[0] = ((mldl_cfg->mpu_offsets->tc[1] << 1) & BITS_YG_OFFS_TC);
+	result = inv_serial_single_write(
+		gyro_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_YG_OFFS_TC, regs[0]);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = inv_serial_single_write(
+		gyro_handle, mldl_cfg->mpu_chip_info->addr,
+		MPUREG_ZG_OFFS_TC,
+		((mldl_cfg->mpu_offsets->tc[2] << 1) & BITS_ZG_OFFS_TC));
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	regs[0] = MPUREG_X_OFFS_USRH;
+	for (ii = 0; ii < ARRAY_SIZE(mldl_cfg->mpu_offsets->gyro); ii++) {
+		regs[1 + ii * 2] =
+			(unsigned char)(mldl_cfg->mpu_offsets->gyro[ii] >> 8)
+			& 0xff;
+		regs[1 + ii * 2 + 1] =
+			(unsigned char)(mldl_cfg->mpu_offsets->gyro[ii] & 0xff);
+	}
+	result = inv_serial_write(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+				  7, regs);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* Configure slaves */
+	result = inv_mpu_set_level_shifter_bit(mldl_cfg, gyro_handle,
+					       mldl_cfg->pdata->level_shifter);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	mldl_cfg->inv_mpu_state->status &= ~MPU_GYRO_NEEDS_CONFIG;
+
+	return result;
+}
+
+int gyro_config(void *mlsl_handle,
+		struct mldl_cfg *mldl_cfg,
+		struct ext_slave_config *data)
+{
+	struct mpu_gyro_cfg *mpu_gyro_cfg = mldl_cfg->mpu_gyro_cfg;
+	struct mpu_chip_info *mpu_chip_info = mldl_cfg->mpu_chip_info;
+	struct mpu_offsets *mpu_offsets = mldl_cfg->mpu_offsets;
+	int ii;
+
+	if (!data->data)
+		return INV_ERROR_INVALID_PARAMETER;
+
+	switch (data->key) {
+	case MPU_SLAVE_INT_CONFIG:
+		mpu_gyro_cfg->int_config = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_EXT_SYNC:
+		mpu_gyro_cfg->ext_sync = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_FULL_SCALE:
+		mpu_gyro_cfg->full_scale = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_LPF:
+		mpu_gyro_cfg->lpf = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_CLK_SRC:
+		mpu_gyro_cfg->clk_src = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_DIVIDER:
+		mpu_gyro_cfg->divider = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_DMP_ENABLE:
+		mpu_gyro_cfg->dmp_enable = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_FIFO_ENABLE:
+		mpu_gyro_cfg->fifo_enable = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_DMP_CFG1:
+		mpu_gyro_cfg->dmp_cfg1 = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_DMP_CFG2:
+		mpu_gyro_cfg->dmp_cfg2 = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_TC:
+		for (ii = 0; ii < GYRO_NUM_AXES; ii++)
+			mpu_offsets->tc[ii] = ((__u8 *)data->data)[ii];
+		break;
+	case MPU_SLAVE_GYRO:
+		for (ii = 0; ii < GYRO_NUM_AXES; ii++)
+			mpu_offsets->gyro[ii] = ((__u16 *)data->data)[ii];
+		break;
+	case MPU_SLAVE_ADDR:
+		mpu_chip_info->addr = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_PRODUCT_REVISION:
+		mpu_chip_info->product_revision = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_SILICON_REVISION:
+		mpu_chip_info->silicon_revision = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_PRODUCT_ID:
+		mpu_chip_info->product_id = *((__u8 *)data->data);
+		break;
+	case MPU_SLAVE_GYRO_SENS_TRIM:
+		mpu_chip_info->gyro_sens_trim = *((__u16 *)data->data);
+		break;
+	case MPU_SLAVE_ACCEL_SENS_TRIM:
+		mpu_chip_info->accel_sens_trim = *((__u16 *)data->data);
+		break;
+	case MPU_SLAVE_RAM:
+		if (data->len != mldl_cfg->mpu_ram->length)
+			return INV_ERROR_INVALID_PARAMETER;
+
+		memcpy(mldl_cfg->mpu_ram->ram, data->data, data->len);
+		break;
+	default:
+		LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
+		return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+	};
+	mldl_cfg->inv_mpu_state->status |= MPU_GYRO_NEEDS_CONFIG;
+	return INV_SUCCESS;
+}
+
+int gyro_get_config(void *mlsl_handle,
+		struct mldl_cfg *mldl_cfg,
+		struct ext_slave_config *data)
+{
+	struct mpu_gyro_cfg *mpu_gyro_cfg = mldl_cfg->mpu_gyro_cfg;
+	struct mpu_chip_info *mpu_chip_info = mldl_cfg->mpu_chip_info;
+	struct mpu_offsets *mpu_offsets = mldl_cfg->mpu_offsets;
+	int ii;
+
+	if (!data->data)
+		return INV_ERROR_INVALID_PARAMETER;
+
+	switch (data->key) {
+	case MPU_SLAVE_INT_CONFIG:
+		*((__u8 *)data->data) = mpu_gyro_cfg->int_config;
+		break;
+	case MPU_SLAVE_EXT_SYNC:
+		*((__u8 *)data->data) = mpu_gyro_cfg->ext_sync;
+		break;
+	case MPU_SLAVE_FULL_SCALE:
+		*((__u8 *)data->data) = mpu_gyro_cfg->full_scale;
+		break;
+	case MPU_SLAVE_LPF:
+		*((__u8 *)data->data) = mpu_gyro_cfg->lpf;
+		break;
+	case MPU_SLAVE_CLK_SRC:
+		*((__u8 *)data->data) = mpu_gyro_cfg->clk_src;
+		break;
+	case MPU_SLAVE_DIVIDER:
+		*((__u8 *)data->data) = mpu_gyro_cfg->divider;
+		break;
+	case MPU_SLAVE_DMP_ENABLE:
+		*((__u8 *)data->data) = mpu_gyro_cfg->dmp_enable;
+		break;
+	case MPU_SLAVE_FIFO_ENABLE:
+		*((__u8 *)data->data) = mpu_gyro_cfg->fifo_enable;
+		break;
+	case MPU_SLAVE_DMP_CFG1:
+		*((__u8 *)data->data) = mpu_gyro_cfg->dmp_cfg1;
+		break;
+	case MPU_SLAVE_DMP_CFG2:
+		*((__u8 *)data->data) = mpu_gyro_cfg->dmp_cfg2;
+		break;
+	case MPU_SLAVE_TC:
+		for (ii = 0; ii < GYRO_NUM_AXES; ii++)
+			((__u8 *)data->data)[ii] = mpu_offsets->tc[ii];
+		break;
+	case MPU_SLAVE_GYRO:
+		for (ii = 0; ii < GYRO_NUM_AXES; ii++)
+			((__u16 *)data->data)[ii] = mpu_offsets->gyro[ii];
+		break;
+	case MPU_SLAVE_ADDR:
+		*((__u8 *)data->data) = mpu_chip_info->addr;
+		break;
+	case MPU_SLAVE_PRODUCT_REVISION:
+		*((__u8 *)data->data) = mpu_chip_info->product_revision;
+		break;
+	case MPU_SLAVE_SILICON_REVISION:
+		*((__u8 *)data->data) = mpu_chip_info->silicon_revision;
+		break;
+	case MPU_SLAVE_PRODUCT_ID:
+		*((__u8 *)data->data) = mpu_chip_info->product_id;
+		break;
+	case MPU_SLAVE_GYRO_SENS_TRIM:
+		*((__u16 *)data->data) = mpu_chip_info->gyro_sens_trim;
+		break;
+	case MPU_SLAVE_ACCEL_SENS_TRIM:
+		*((__u16 *)data->data) = mpu_chip_info->accel_sens_trim;
+		break;
+	case MPU_SLAVE_RAM:
+		if (data->len != mldl_cfg->mpu_ram->length)
+			return INV_ERROR_INVALID_PARAMETER;
+
+		memcpy(data->data, mldl_cfg->mpu_ram->ram, data->len);
+		break;
+	default:
+		LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
+		return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+	};
+
+	return INV_SUCCESS;
+}
+
+
+/*******************************************************************************
+ *******************************************************************************
+ * Exported functions
+ *******************************************************************************
+ ******************************************************************************/
+
+/**
+ * Initializes the pdata structure to defaults.
+ *
+ * Opens the device to read silicon revision, product id and whoami.
+ *
+ * @mldl_cfg
+ *          The internal device configuration data structure.
+ * @mlsl_handle
+ *          The serial communication handle.
+ *
+ * @return INV_SUCCESS if silicon revision, product id and woami are supported
+ *         by this software.
+ */
+int inv_mpu_open(struct mldl_cfg *mldl_cfg,
+		 void *gyro_handle,
+		 void *accel_handle,
+		 void *compass_handle, void *pressure_handle)
+{
+	int result;
+	void *slave_handle[EXT_SLAVE_NUM_TYPES];
+	int ii;
+
+	/* Default is Logic HIGH, pushpull, latch disabled, anyread to clear */
+	ii = 0;
+	mldl_cfg->inv_mpu_cfg->ignore_system_suspend = false;
+	mldl_cfg->mpu_gyro_cfg->int_config = BIT_DMP_INT_EN;
+	mldl_cfg->mpu_gyro_cfg->clk_src = MPU_CLK_SEL_PLLGYROZ;
+	mldl_cfg->mpu_gyro_cfg->lpf = MPU_FILTER_42HZ;
+	mldl_cfg->mpu_gyro_cfg->full_scale = MPU_FS_2000DPS;
+	mldl_cfg->mpu_gyro_cfg->divider = 4;
+	mldl_cfg->mpu_gyro_cfg->dmp_enable = 1;
+	mldl_cfg->mpu_gyro_cfg->fifo_enable = 1;
+	mldl_cfg->mpu_gyro_cfg->ext_sync = 0;
+	mldl_cfg->mpu_gyro_cfg->dmp_cfg1 = 0;
+	mldl_cfg->mpu_gyro_cfg->dmp_cfg2 = 0;
+	mldl_cfg->inv_mpu_state->status =
+		MPU_DMP_IS_SUSPENDED |
+		MPU_GYRO_IS_SUSPENDED |
+		MPU_ACCEL_IS_SUSPENDED |
+		MPU_COMPASS_IS_SUSPENDED |
+		MPU_PRESSURE_IS_SUSPENDED |
+		MPU_DEVICE_IS_SUSPENDED;
+	mldl_cfg->inv_mpu_state->i2c_slaves_enabled = 0;
+
+	slave_handle[EXT_SLAVE_TYPE_GYROSCOPE] = gyro_handle;
+	slave_handle[EXT_SLAVE_TYPE_ACCEL] = accel_handle;
+	slave_handle[EXT_SLAVE_TYPE_COMPASS] = compass_handle;
+	slave_handle[EXT_SLAVE_TYPE_PRESSURE] = pressure_handle;
+
+	if (mldl_cfg->mpu_chip_info->addr == 0) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	/*
+	 * Reset,
+	 * Take the DMP out of sleep, and
+	 * read the product_id, sillicon rev and whoami
+	 */
+	mldl_cfg->inv_mpu_state->status &= ~MPU_GYRO_IS_BYPASSED;
+	result = mpu60xx_pwr_mgmt(mldl_cfg, gyro_handle, true,
+				  INV_THREE_AXIS_GYRO);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	result = inv_get_silicon_rev(mldl_cfg, gyro_handle);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* Get the factory temperature compensation offsets */
+	result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_XG_OFFS_TC, 1,
+				 &mldl_cfg->mpu_offsets->tc[0]);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_YG_OFFS_TC, 1,
+				 &mldl_cfg->mpu_offsets->tc[1]);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+				 MPUREG_ZG_OFFS_TC, 1,
+				 &mldl_cfg->mpu_offsets->tc[2]);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* Into bypass mode before sleeping and calling the slaves init */
+	result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, true);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = inv_mpu_set_level_shifter_bit(mldl_cfg, gyro_handle,
+			mldl_cfg->pdata->level_shifter);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	for (ii = 0; ii < GYRO_NUM_AXES; ii++) {
+		mldl_cfg->mpu_offsets->tc[ii] =
+		    (mldl_cfg->mpu_offsets->tc[ii] & BITS_XG_OFFS_TC) >> 1;
+	}
+
+#if INV_CACHE_DMP != 0
+	result = mpu60xx_pwr_mgmt(mldl_cfg, gyro_handle, false, 0);
+#endif
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+
+	return result;
+
+}
+
+/**
+ * Close the mpu interface
+ *
+ * @mldl_cfg pointer to the configuration structure
+ * @mlsl_handle pointer to the serial layer handle
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+int inv_mpu_close(struct mldl_cfg *mldl_cfg,
+		  void *gyro_handle,
+		  void *accel_handle,
+		  void *compass_handle,
+		  void *pressure_handle)
+{
+	return 0;
+}
+
+/**
+ *  @brief  resume the MPU device and all the other sensor
+ *          devices from their low power state.
+ *
+ *  @mldl_cfg
+ *              pointer to the configuration structure
+ *  @gyro_handle
+ *              the main file handle to the MPU device.
+ *  @accel_handle
+ *              an handle to the accelerometer device, if sitting
+ *              onto a separate bus. Can match mlsl_handle if
+ *              the accelerometer device operates on the same
+ *              primary bus of MPU.
+ *  @compass_handle
+ *              an handle to the compass device, if sitting
+ *              onto a separate bus. Can match mlsl_handle if
+ *              the compass device operates on the same
+ *              primary bus of MPU.
+ *  @pressure_handle
+ *              an handle to the pressure sensor device, if sitting
+ *              onto a separate bus. Can match mlsl_handle if
+ *              the pressure sensor device operates on the same
+ *              primary bus of MPU.
+ *  @resume_gyro
+ *              whether resuming the gyroscope device is
+ *              actually needed (if the device supports low power
+ *              mode of some sort).
+ *  @resume_accel
+ *              whether resuming the accelerometer device is
+ *              actually needed (if the device supports low power
+ *              mode of some sort).
+ *  @resume_compass
+ *              whether resuming the compass device is
+ *              actually needed (if the device supports low power
+ *              mode of some sort).
+ *  @resume_pressure
+ *              whether resuming the pressure sensor device is
+ *              actually needed (if the device supports low power
+ *              mode of some sort).
+ *  @return  INV_SUCCESS or a non-zero error code.
+ */
+int inv_mpu_resume(struct mldl_cfg *mldl_cfg,
+		   void *gyro_handle,
+		   void *accel_handle,
+		   void *compass_handle,
+		   void *pressure_handle,
+		   unsigned long sensors)
+{
+	int result = INV_SUCCESS;
+	int ii;
+	bool resume_slave[EXT_SLAVE_NUM_TYPES];
+	bool resume_dmp = sensors & INV_DMP_PROCESSOR;
+	void *slave_handle[EXT_SLAVE_NUM_TYPES];
+	resume_slave[EXT_SLAVE_TYPE_GYROSCOPE] =
+		(sensors & (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO));
+	resume_slave[EXT_SLAVE_TYPE_ACCEL] =
+		sensors & INV_THREE_AXIS_ACCEL;
+	resume_slave[EXT_SLAVE_TYPE_COMPASS] =
+		sensors & INV_THREE_AXIS_COMPASS;
+	resume_slave[EXT_SLAVE_TYPE_PRESSURE] =
+		sensors & INV_THREE_AXIS_PRESSURE;
+
+	slave_handle[EXT_SLAVE_TYPE_GYROSCOPE] = gyro_handle;
+	slave_handle[EXT_SLAVE_TYPE_ACCEL] = accel_handle;
+	slave_handle[EXT_SLAVE_TYPE_COMPASS] = compass_handle;
+	slave_handle[EXT_SLAVE_TYPE_PRESSURE] = pressure_handle;
+
+
+	mldl_print_cfg(mldl_cfg);
+
+	/* Skip the Gyro since slave[EXT_SLAVE_TYPE_GYROSCOPE] is NULL */
+	for (ii = EXT_SLAVE_TYPE_ACCEL; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		if (resume_slave[ii] &&
+		    ((!mldl_cfg->slave[ii]) ||
+			(!mldl_cfg->slave[ii]->resume))) {
+			LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+			return INV_ERROR_INVALID_PARAMETER;
+		}
+	}
+
+	if ((resume_slave[EXT_SLAVE_TYPE_GYROSCOPE] || resume_dmp)
+	    && ((mldl_cfg->inv_mpu_state->status & MPU_GYRO_IS_SUSPENDED) ||
+		(mldl_cfg->inv_mpu_state->status & MPU_GYRO_NEEDS_CONFIG))) {
+		result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		result = dmp_stop(mldl_cfg, gyro_handle);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		result = gyro_resume(mldl_cfg, gyro_handle, sensors);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		if (!mldl_cfg->slave[ii] ||
+		    !mldl_cfg->pdata_slave[ii] ||
+		    !resume_slave[ii] ||
+		    !(mldl_cfg->inv_mpu_state->status & (1 << ii)))
+			continue;
+
+		if (EXT_SLAVE_BUS_SECONDARY ==
+		    mldl_cfg->pdata_slave[ii]->bus) {
+			result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle,
+						    true);
+			if (result) {
+				LOG_RESULT_LOCATION(result);
+				return result;
+			}
+		}
+		result = mldl_cfg->slave[ii]->resume(slave_handle[ii],
+						mldl_cfg->slave[ii],
+						mldl_cfg->pdata_slave[ii]);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		mldl_cfg->inv_mpu_state->status &= ~(1 << ii);
+	}
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		if (resume_dmp &&
+		    !(mldl_cfg->inv_mpu_state->status & (1 << ii)) &&
+		    mldl_cfg->pdata_slave[ii] &&
+		    EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata_slave[ii]->bus) {
+			result = mpu_set_slave(mldl_cfg,
+					gyro_handle,
+					mldl_cfg->slave[ii],
+					mldl_cfg->pdata_slave[ii],
+					mldl_cfg->slave[ii]->type);
+			if (result) {
+				LOG_RESULT_LOCATION(result);
+				return result;
+			}
+		}
+	}
+
+	/* Turn on the master i2c iterface if necessary */
+	if (resume_dmp) {
+		result = mpu_set_i2c_bypass(
+			mldl_cfg, gyro_handle,
+			!(mldl_cfg->inv_mpu_state->i2c_slaves_enabled));
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+
+		/* Now start */
+		result = dmp_start(mldl_cfg, gyro_handle);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+	mldl_cfg->inv_mpu_cfg->requested_sensors = sensors;
+
+	return result;
+}
+
+/**
+ *  @brief  suspend the MPU device and all the other sensor
+ *          devices into their low power state.
+ *  @mldl_cfg
+ *              a pointer to the struct mldl_cfg internal data
+ *              structure.
+ *  @gyro_handle
+ *              the main file handle to the MPU device.
+ *  @accel_handle
+ *              an handle to the accelerometer device, if sitting
+ *              onto a separate bus. Can match gyro_handle if
+ *              the accelerometer device operates on the same
+ *              primary bus of MPU.
+ *  @compass_handle
+ *              an handle to the compass device, if sitting
+ *              onto a separate bus. Can match gyro_handle if
+ *              the compass device operates on the same
+ *              primary bus of MPU.
+ *  @pressure_handle
+ *              an handle to the pressure sensor device, if sitting
+ *              onto a separate bus. Can match gyro_handle if
+ *              the pressure sensor device operates on the same
+ *              primary bus of MPU.
+ *  @accel
+ *              whether suspending the accelerometer device is
+ *              actually needed (if the device supports low power
+ *              mode of some sort).
+ *  @compass
+ *              whether suspending the compass device is
+ *              actually needed (if the device supports low power
+ *              mode of some sort).
+ *  @pressure
+ *              whether suspending the pressure sensor device is
+ *              actually needed (if the device supports low power
+ *              mode of some sort).
+ *  @return  INV_SUCCESS or a non-zero error code.
+ */
+int inv_mpu_suspend(struct mldl_cfg *mldl_cfg,
+		    void *gyro_handle,
+		    void *accel_handle,
+		    void *compass_handle,
+		    void *pressure_handle,
+		    unsigned long sensors)
+{
+	int result = INV_SUCCESS;
+	int ii;
+	struct ext_slave_descr **slave = mldl_cfg->slave;
+	struct ext_slave_platform_data **pdata_slave = mldl_cfg->pdata_slave;
+	bool suspend_dmp = ((sensors & INV_DMP_PROCESSOR) == INV_DMP_PROCESSOR);
+	bool suspend_slave[EXT_SLAVE_NUM_TYPES];
+	void *slave_handle[EXT_SLAVE_NUM_TYPES];
+
+	suspend_slave[EXT_SLAVE_TYPE_GYROSCOPE] =
+		((sensors & (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO))
+			== (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO));
+	suspend_slave[EXT_SLAVE_TYPE_ACCEL] =
+		((sensors & INV_THREE_AXIS_ACCEL) == INV_THREE_AXIS_ACCEL);
+	suspend_slave[EXT_SLAVE_TYPE_COMPASS] =
+		((sensors & INV_THREE_AXIS_COMPASS) == INV_THREE_AXIS_COMPASS);
+	suspend_slave[EXT_SLAVE_TYPE_PRESSURE] =
+		((sensors & INV_THREE_AXIS_PRESSURE) ==
+			INV_THREE_AXIS_PRESSURE);
+
+	slave_handle[EXT_SLAVE_TYPE_GYROSCOPE] = gyro_handle;
+	slave_handle[EXT_SLAVE_TYPE_ACCEL] = accel_handle;
+	slave_handle[EXT_SLAVE_TYPE_COMPASS] = compass_handle;
+	slave_handle[EXT_SLAVE_TYPE_PRESSURE] = pressure_handle;
+
+	if (suspend_dmp) {
+		result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		result = dmp_stop(mldl_cfg, gyro_handle);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	/* Gyro */
+	if (suspend_slave[EXT_SLAVE_TYPE_GYROSCOPE] &&
+	    !(mldl_cfg->inv_mpu_state->status & MPU_GYRO_IS_SUSPENDED)) {
+		result = mpu60xx_pwr_mgmt(mldl_cfg, gyro_handle, false,
+					((~sensors) & INV_ALL_SENSORS));
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		bool is_suspended = mldl_cfg->inv_mpu_state->status & (1 << ii);
+		if (!slave[ii]   || !pdata_slave[ii] ||
+		    is_suspended || !suspend_slave[ii])
+			continue;
+
+		if (EXT_SLAVE_BUS_SECONDARY == pdata_slave[ii]->bus) {
+			result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+			if (result) {
+				LOG_RESULT_LOCATION(result);
+				return result;
+			}
+		}
+		result = slave[ii]->suspend(slave_handle[ii],
+						  slave[ii],
+						  pdata_slave[ii]);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		if (EXT_SLAVE_BUS_SECONDARY == pdata_slave[ii]->bus) {
+			result = mpu_set_slave(mldl_cfg, gyro_handle,
+					       NULL, NULL,
+					       slave[ii]->type);
+			if (result) {
+				LOG_RESULT_LOCATION(result);
+				return result;
+			}
+		}
+		mldl_cfg->inv_mpu_state->status |= (1 << ii);
+	}
+
+	/* Re-enable the i2c master if there are configured slaves and DMP */
+	if (!suspend_dmp) {
+		result = mpu_set_i2c_bypass(
+			mldl_cfg, gyro_handle,
+			!(mldl_cfg->inv_mpu_state->i2c_slaves_enabled));
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+	mldl_cfg->inv_mpu_cfg->requested_sensors = (~sensors) & INV_ALL_SENSORS;
+
+	return result;
+}
+
+int inv_mpu_slave_read(struct mldl_cfg *mldl_cfg,
+		       void *gyro_handle,
+		       void *slave_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata,
+		       unsigned char *data)
+{
+	int result;
+	int bypass_result;
+	int remain_bypassed = true;
+
+	if (NULL == slave || NULL == slave->read) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_CONFIGURATION);
+		return INV_ERROR_INVALID_CONFIGURATION;
+	}
+
+	if ((EXT_SLAVE_BUS_SECONDARY == pdata->bus)
+	    && (!(mldl_cfg->inv_mpu_state->status & MPU_GYRO_IS_BYPASSED))) {
+		remain_bypassed = false;
+		result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	result = slave->read(slave_handle, slave, pdata, data);
+
+	if (!remain_bypassed) {
+		bypass_result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 0);
+		if (bypass_result) {
+			LOG_RESULT_LOCATION(bypass_result);
+			return bypass_result;
+		}
+	}
+	return result;
+}
+
+int inv_mpu_slave_config(struct mldl_cfg *mldl_cfg,
+			 void *gyro_handle,
+			 void *slave_handle,
+			 struct ext_slave_config *data,
+			 struct ext_slave_descr *slave,
+			 struct ext_slave_platform_data *pdata)
+{
+	int result;
+	int remain_bypassed = true;
+
+	if (NULL == slave || NULL == slave->config) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_CONFIGURATION);
+		return INV_ERROR_INVALID_CONFIGURATION;
+	}
+
+	if (data->apply && (EXT_SLAVE_BUS_SECONDARY == pdata->bus)
+	    && (!(mldl_cfg->inv_mpu_state->status & MPU_GYRO_IS_BYPASSED))) {
+		remain_bypassed = false;
+		result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	result = slave->config(slave_handle, slave, pdata, data);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	if (!remain_bypassed) {
+		result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 0);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+	return result;
+}
+
+int inv_mpu_get_slave_config(struct mldl_cfg *mldl_cfg,
+			     void *gyro_handle,
+			     void *slave_handle,
+			     struct ext_slave_config *data,
+			     struct ext_slave_descr *slave,
+			     struct ext_slave_platform_data *pdata)
+{
+	int result;
+	int remain_bypassed = true;
+
+	if (NULL == slave || NULL == slave->get_config) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_CONFIGURATION);
+		return INV_ERROR_INVALID_CONFIGURATION;
+	}
+
+	if (data->apply && (EXT_SLAVE_BUS_SECONDARY == pdata->bus)
+	    && (!(mldl_cfg->inv_mpu_state->status & MPU_GYRO_IS_BYPASSED))) {
+		remain_bypassed = false;
+		result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+
+	result = slave->get_config(slave_handle, slave, pdata, data);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	if (!remain_bypassed) {
+		result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 0);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+	}
+	return result;
+}
+
+/**
+ * @}
+ */
diff --git a/drivers/misc/inv_mpu/mpu6050/mldl_print_cfg.c b/drivers/misc/inv_mpu/mpu6050/mldl_print_cfg.c
new file mode 100644
index 000000000000..7379a1707610
--- /dev/null
+++ b/drivers/misc/inv_mpu/mpu6050/mldl_print_cfg.c
@@ -0,0 +1,138 @@
+/*
+	$License:
+	Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+	This program is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	(at your option) any later version.
+
+	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.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+	$
+ */
+
+/**
+ *  @addtogroup MLDL
+ *
+ *  @{
+ *      @file   mldl_print_cfg.c
+ *      @brief  The Motion Library Driver Layer.
+ */
+
+#include <stddef.h>
+#include "mldl_cfg.h"
+#include "mlsl.h"
+#include "linux/mpu.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "mldl_print_cfg:"
+
+#undef MPL_LOG_NDEBUG
+#define MPL_LOG_NDEBUG 1
+
+void mldl_print_cfg(struct mldl_cfg *mldl_cfg)
+{
+	struct mpu_gyro_cfg	*mpu_gyro_cfg	= mldl_cfg->mpu_gyro_cfg;
+	struct mpu_offsets	*mpu_offsets	= mldl_cfg->mpu_offsets;
+	struct mpu_chip_info	*mpu_chip_info	= mldl_cfg->mpu_chip_info;
+	struct inv_mpu_cfg	*inv_mpu_cfg	= mldl_cfg->inv_mpu_cfg;
+	struct inv_mpu_state	*inv_mpu_state	= mldl_cfg->inv_mpu_state;
+	struct ext_slave_descr	**slave		= mldl_cfg->slave;
+	struct mpu_platform_data *pdata		= mldl_cfg->pdata;
+	struct ext_slave_platform_data **pdata_slave = mldl_cfg->pdata_slave;
+	int ii;
+
+	/* mpu_gyro_cfg */
+	MPL_LOGV("int_config     = %02x\n", mpu_gyro_cfg->int_config);
+	MPL_LOGV("ext_sync       = %02x\n", mpu_gyro_cfg->ext_sync);
+	MPL_LOGV("full_scale     = %02x\n", mpu_gyro_cfg->full_scale);
+	MPL_LOGV("lpf            = %02x\n", mpu_gyro_cfg->lpf);
+	MPL_LOGV("clk_src        = %02x\n", mpu_gyro_cfg->clk_src);
+	MPL_LOGV("divider        = %02x\n", mpu_gyro_cfg->divider);
+	MPL_LOGV("dmp_enable     = %02x\n", mpu_gyro_cfg->dmp_enable);
+	MPL_LOGV("fifo_enable    = %02x\n", mpu_gyro_cfg->fifo_enable);
+	MPL_LOGV("dmp_cfg1       = %02x\n", mpu_gyro_cfg->dmp_cfg1);
+	MPL_LOGV("dmp_cfg2       = %02x\n", mpu_gyro_cfg->dmp_cfg2);
+	/* mpu_offsets */
+	MPL_LOGV("tc[0]      = %02x\n", mpu_offsets->tc[0]);
+	MPL_LOGV("tc[1]      = %02x\n", mpu_offsets->tc[1]);
+	MPL_LOGV("tc[2]      = %02x\n", mpu_offsets->tc[2]);
+	MPL_LOGV("gyro[0]    = %04x\n", mpu_offsets->gyro[0]);
+	MPL_LOGV("gyro[1]    = %04x\n", mpu_offsets->gyro[1]);
+	MPL_LOGV("gyro[2]    = %04x\n", mpu_offsets->gyro[2]);
+
+	/* mpu_chip_info */
+	MPL_LOGV("addr            = %02x\n", mldl_cfg->mpu_chip_info->addr);
+
+	MPL_LOGV("silicon_revision = %02x\n", mpu_chip_info->silicon_revision);
+	MPL_LOGV("product_revision = %02x\n", mpu_chip_info->product_revision);
+	MPL_LOGV("product_id       = %02x\n", mpu_chip_info->product_id);
+	MPL_LOGV("gyro_sens_trim   = %02x\n", mpu_chip_info->gyro_sens_trim);
+	MPL_LOGV("accel_sens_trim  = %02x\n", mpu_chip_info->accel_sens_trim);
+
+	MPL_LOGV("requested_sensors = %04x\n", inv_mpu_cfg->requested_sensors);
+	MPL_LOGV("ignore_system_suspend= %04x\n",
+		inv_mpu_cfg->ignore_system_suspend);
+	MPL_LOGV("status = %04x\n", inv_mpu_state->status);
+	MPL_LOGV("i2c_slaves_enabled= %04x\n",
+		inv_mpu_state->i2c_slaves_enabled);
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		if (!slave[ii])
+			continue;
+		MPL_LOGV("SLAVE %d:\n", ii);
+		MPL_LOGV("    suspend  = %02x\n", (int)slave[ii]->suspend);
+		MPL_LOGV("    resume   = %02x\n", (int)slave[ii]->resume);
+		MPL_LOGV("    read     = %02x\n", (int)slave[ii]->read);
+		MPL_LOGV("    type     = %02x\n", slave[ii]->type);
+		MPL_LOGV("    reg      = %02x\n", slave[ii]->read_reg);
+		MPL_LOGV("    len      = %02x\n", slave[ii]->read_len);
+		MPL_LOGV("    endian   = %02x\n", slave[ii]->endian);
+		MPL_LOGV("    range.mantissa= %02x\n",
+			slave[ii]->range.mantissa);
+		MPL_LOGV("    range.fraction= %02x\n",
+			slave[ii]->range.fraction);
+	}
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		if (!pdata_slave[ii])
+			continue;
+		MPL_LOGV("PDATA_SLAVE[%d]\n", ii);
+		MPL_LOGV("    irq        = %02x\n", pdata_slave[ii]->irq);
+		MPL_LOGV("    adapt_num  = %02x\n", pdata_slave[ii]->adapt_num);
+		MPL_LOGV("    bus        = %02x\n", pdata_slave[ii]->bus);
+		MPL_LOGV("    address    = %02x\n", pdata_slave[ii]->address);
+		MPL_LOGV("    orientation=\n"
+			"                            %2d %2d %2d\n"
+			"                            %2d %2d %2d\n"
+			"                            %2d %2d %2d\n",
+			pdata_slave[ii]->orientation[0],
+			pdata_slave[ii]->orientation[1],
+			pdata_slave[ii]->orientation[2],
+			pdata_slave[ii]->orientation[3],
+			pdata_slave[ii]->orientation[4],
+			pdata_slave[ii]->orientation[5],
+			pdata_slave[ii]->orientation[6],
+			pdata_slave[ii]->orientation[7],
+			pdata_slave[ii]->orientation[8]);
+	}
+
+	MPL_LOGV("pdata->int_config         = %02x\n", pdata->int_config);
+	MPL_LOGV("pdata->level_shifter      = %02x\n", pdata->level_shifter);
+	MPL_LOGV("pdata->orientation        =\n"
+		 "                            %2d %2d %2d\n"
+		 "                            %2d %2d %2d\n"
+		 "                            %2d %2d %2d\n",
+		 pdata->orientation[0], pdata->orientation[1],
+		 pdata->orientation[2], pdata->orientation[3],
+		 pdata->orientation[4], pdata->orientation[5],
+		 pdata->orientation[6], pdata->orientation[7],
+		 pdata->orientation[8]);
+}
diff --git a/drivers/misc/inv_mpu/mpu6050/mlsl-kernel.c b/drivers/misc/inv_mpu/mpu6050/mlsl-kernel.c
new file mode 100644
index 000000000000..f1c228f48fe3
--- /dev/null
+++ b/drivers/misc/inv_mpu/mpu6050/mlsl-kernel.c
@@ -0,0 +1,420 @@
+/*
+	$License:
+	Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+	This program is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	(at your option) any later version.
+
+	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.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+	$
+ */
+
+#include "mlsl.h"
+#include <linux/i2c.h>
+#include "log.h"
+#include "mpu6050b1.h"
+
+static int inv_i2c_write(struct i2c_adapter *i2c_adap,
+			    unsigned char address,
+			    unsigned int len, unsigned char const *data)
+{
+	struct i2c_msg msgs[1];
+	int res;
+
+	if (!data || !i2c_adap) {
+		LOG_RESULT_LOCATION(-EINVAL);
+		return -EINVAL;
+	}
+
+	msgs[0].addr = address;
+	msgs[0].flags = 0;	/* write */
+	msgs[0].buf = (unsigned char *)data;
+	msgs[0].len = len;
+
+	res = i2c_transfer(i2c_adap, msgs, 1);
+	if (res < 1) {
+		if (res == 0)
+			res = -EIO;
+		LOG_RESULT_LOCATION(res);
+		return res;
+	} else
+		return 0;
+}
+
+static int inv_i2c_write_register(struct i2c_adapter *i2c_adap,
+				     unsigned char address,
+				     unsigned char reg, unsigned char value)
+{
+	unsigned char data[2];
+
+	data[0] = reg;
+	data[1] = value;
+	return inv_i2c_write(i2c_adap, address, 2, data);
+}
+
+static int inv_i2c_read(struct i2c_adapter *i2c_adap,
+			   unsigned char address, unsigned char reg,
+			   unsigned int len, unsigned char *data)
+{
+	struct i2c_msg msgs[2];
+	int res;
+
+	if (!data || !i2c_adap) {
+		LOG_RESULT_LOCATION(-EINVAL);
+		return -EINVAL;
+	}
+
+	msgs[0].addr = address;
+	msgs[0].flags = 0;	/* write */
+	msgs[0].buf = &reg;
+	msgs[0].len = 1;
+
+	msgs[1].addr = address;
+	msgs[1].flags = I2C_M_RD;
+	msgs[1].buf = data;
+	msgs[1].len = len;
+
+	res = i2c_transfer(i2c_adap, msgs, 2);
+	if (res < 2) {
+		if (res >= 0)
+			res = -EIO;
+		LOG_RESULT_LOCATION(res);
+		return res;
+	} else
+		return 0;
+}
+
+static int mpu_memory_read(struct i2c_adapter *i2c_adap,
+			   unsigned char mpu_addr,
+			   unsigned short mem_addr,
+			   unsigned int len, unsigned char *data)
+{
+	unsigned char bank[2];
+	unsigned char addr[2];
+	unsigned char buf;
+
+	struct i2c_msg msgs[4];
+	int res;
+
+	if (!data || !i2c_adap) {
+		LOG_RESULT_LOCATION(-EINVAL);
+		return -EINVAL;
+	}
+
+	bank[0] = MPUREG_BANK_SEL;
+	bank[1] = mem_addr >> 8;
+
+	addr[0] = MPUREG_MEM_START_ADDR;
+	addr[1] = mem_addr & 0xFF;
+
+	buf = MPUREG_MEM_R_W;
+
+	/* write message */
+	msgs[0].addr = mpu_addr;
+	msgs[0].flags = 0;
+	msgs[0].buf = bank;
+	msgs[0].len = sizeof(bank);
+
+	msgs[1].addr = mpu_addr;
+	msgs[1].flags = 0;
+	msgs[1].buf = addr;
+	msgs[1].len = sizeof(addr);
+
+	msgs[2].addr = mpu_addr;
+	msgs[2].flags = 0;
+	msgs[2].buf = &buf;
+	msgs[2].len = 1;
+
+	msgs[3].addr = mpu_addr;
+	msgs[3].flags = I2C_M_RD;
+	msgs[3].buf = data;
+	msgs[3].len = len;
+
+	res = i2c_transfer(i2c_adap, msgs, 4);
+	if (res != 4) {
+		if (res >= 0)
+			res = -EIO;
+		LOG_RESULT_LOCATION(res);
+		return res;
+	} else
+		return 0;
+}
+
+static int mpu_memory_write(struct i2c_adapter *i2c_adap,
+			    unsigned char mpu_addr,
+			    unsigned short mem_addr,
+			    unsigned int len, unsigned char const *data)
+{
+	unsigned char bank[2];
+	unsigned char addr[2];
+	unsigned char buf[513];
+
+	struct i2c_msg msgs[3];
+	int res;
+
+	if (!data || !i2c_adap) {
+		LOG_RESULT_LOCATION(-EINVAL);
+		return -EINVAL;
+	}
+	if (len >= (sizeof(buf) - 1)) {
+		LOG_RESULT_LOCATION(-ENOMEM);
+		return -ENOMEM;
+	}
+
+	bank[0] = MPUREG_BANK_SEL;
+	bank[1] = mem_addr >> 8;
+
+	addr[0] = MPUREG_MEM_START_ADDR;
+	addr[1] = mem_addr & 0xFF;
+
+	buf[0] = MPUREG_MEM_R_W;
+	memcpy(buf + 1, data, len);
+
+	/* write message */
+	msgs[0].addr = mpu_addr;
+	msgs[0].flags = 0;
+	msgs[0].buf = bank;
+	msgs[0].len = sizeof(bank);
+
+	msgs[1].addr = mpu_addr;
+	msgs[1].flags = 0;
+	msgs[1].buf = addr;
+	msgs[1].len = sizeof(addr);
+
+	msgs[2].addr = mpu_addr;
+	msgs[2].flags = 0;
+	msgs[2].buf = (unsigned char *)buf;
+	msgs[2].len = len + 1;
+
+	res = i2c_transfer(i2c_adap, msgs, 3);
+	if (res != 3) {
+		if (res >= 0)
+			res = -EIO;
+		LOG_RESULT_LOCATION(res);
+		return res;
+	} else
+		return 0;
+}
+
+int inv_serial_single_write(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned char register_addr,
+	unsigned char data)
+{
+	return inv_i2c_write_register((struct i2c_adapter *)sl_handle,
+				      slave_addr, register_addr, data);
+}
+EXPORT_SYMBOL(inv_serial_single_write);
+
+int inv_serial_write(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short length,
+	unsigned char const *data)
+{
+	int result;
+	const unsigned short data_length = length - 1;
+	const unsigned char start_reg_addr = data[0];
+	unsigned char i2c_write[SERIAL_MAX_TRANSFER_SIZE + 1];
+	unsigned short bytes_written = 0;
+
+	while (bytes_written < data_length) {
+		unsigned short this_len = min(SERIAL_MAX_TRANSFER_SIZE,
+					     data_length - bytes_written);
+		if (bytes_written == 0) {
+			result = inv_i2c_write((struct i2c_adapter *)
+					       sl_handle, slave_addr,
+					       1 + this_len, data);
+		} else {
+			/* manually increment register addr between chunks */
+			i2c_write[0] = start_reg_addr + bytes_written;
+			memcpy(&i2c_write[1], &data[1 + bytes_written],
+				this_len);
+			result = inv_i2c_write((struct i2c_adapter *)
+					       sl_handle, slave_addr,
+					       1 + this_len, i2c_write);
+		}
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		bytes_written += this_len;
+	}
+	return 0;
+}
+EXPORT_SYMBOL(inv_serial_write);
+
+int inv_serial_read(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned char register_addr,
+	unsigned short length,
+	unsigned char *data)
+{
+	int result;
+	unsigned short bytes_read = 0;
+
+	if ((slave_addr & 0x7E) == DEFAULT_MPU_SLAVEADDR
+		&& (register_addr == MPUREG_FIFO_R_W ||
+		    register_addr == MPUREG_MEM_R_W)) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	while (bytes_read < length) {
+		unsigned short this_len =
+		    min(SERIAL_MAX_TRANSFER_SIZE, length - bytes_read);
+		result = inv_i2c_read((struct i2c_adapter *)sl_handle,
+				      slave_addr, register_addr + bytes_read,
+				      this_len, &data[bytes_read]);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		bytes_read += this_len;
+	}
+	return 0;
+}
+EXPORT_SYMBOL(inv_serial_read);
+
+int inv_serial_write_mem(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short mem_addr,
+	unsigned short length,
+	unsigned char const *data)
+{
+	int result;
+	unsigned short bytes_written = 0;
+
+	if ((mem_addr & 0xFF) + length > MPU_MEM_BANK_SIZE) {
+		pr_err("memory read length (%d B) extends beyond its"
+		       " limits (%d) if started at location %d\n", length,
+		       MPU_MEM_BANK_SIZE, mem_addr & 0xFF);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+	while (bytes_written < length) {
+		unsigned short this_len =
+		    min(SERIAL_MAX_TRANSFER_SIZE, length - bytes_written);
+		result = mpu_memory_write((struct i2c_adapter *)sl_handle,
+					  slave_addr, mem_addr + bytes_written,
+					  this_len, &data[bytes_written]);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		bytes_written += this_len;
+	}
+	return 0;
+}
+EXPORT_SYMBOL(inv_serial_write_mem);
+
+int inv_serial_read_mem(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short mem_addr,
+	unsigned short length,
+	unsigned char *data)
+{
+	int result;
+	unsigned short bytes_read = 0;
+
+	if ((mem_addr & 0xFF) + length > MPU_MEM_BANK_SIZE) {
+		printk
+		    ("memory read length (%d B) extends beyond its limits (%d) "
+		     "if started at location %d\n", length,
+		     MPU_MEM_BANK_SIZE, mem_addr & 0xFF);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+	while (bytes_read < length) {
+		unsigned short this_len =
+		    min(SERIAL_MAX_TRANSFER_SIZE, length - bytes_read);
+		result =
+		    mpu_memory_read((struct i2c_adapter *)sl_handle,
+				    slave_addr, mem_addr + bytes_read,
+				    this_len, &data[bytes_read]);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		bytes_read += this_len;
+	}
+	return 0;
+}
+EXPORT_SYMBOL(inv_serial_read_mem);
+
+int inv_serial_write_fifo(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short length,
+	unsigned char const *data)
+{
+	int result;
+	unsigned char i2c_write[SERIAL_MAX_TRANSFER_SIZE + 1];
+	unsigned short bytes_written = 0;
+
+	if (length > FIFO_HW_SIZE) {
+		printk(KERN_ERR
+		       "maximum fifo write length is %d\n", FIFO_HW_SIZE);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+	while (bytes_written < length) {
+		unsigned short this_len =
+		    min(SERIAL_MAX_TRANSFER_SIZE, length - bytes_written);
+		i2c_write[0] = MPUREG_FIFO_R_W;
+		memcpy(&i2c_write[1], &data[bytes_written], this_len);
+		result = inv_i2c_write((struct i2c_adapter *)sl_handle,
+				       slave_addr, this_len + 1, i2c_write);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		bytes_written += this_len;
+	}
+	return 0;
+}
+EXPORT_SYMBOL(inv_serial_write_fifo);
+
+int inv_serial_read_fifo(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short length,
+	unsigned char *data)
+{
+	int result;
+	unsigned short bytes_read = 0;
+
+	if (length > FIFO_HW_SIZE) {
+		printk(KERN_ERR
+		       "maximum fifo read length is %d\n", FIFO_HW_SIZE);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+	while (bytes_read < length) {
+		unsigned short this_len =
+		    min(SERIAL_MAX_TRANSFER_SIZE, length - bytes_read);
+		result = inv_i2c_read((struct i2c_adapter *)sl_handle,
+				      slave_addr, MPUREG_FIFO_R_W, this_len,
+				      &data[bytes_read]);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			return result;
+		}
+		bytes_read += this_len;
+	}
+
+	return 0;
+}
+EXPORT_SYMBOL(inv_serial_read_fifo);
+
+/**
+ *  @}
+ */
diff --git a/drivers/misc/inv_mpu/mpu6050/mpu-dev.c b/drivers/misc/inv_mpu/mpu6050/mpu-dev.c
new file mode 100644
index 000000000000..e171dc2a7eff
--- /dev/null
+++ b/drivers/misc/inv_mpu/mpu6050/mpu-dev.c
@@ -0,0 +1,1309 @@
+/*
+	$License:
+	Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+	This program is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	(at your option) any later version.
+
+	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.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+	$
+ */
+#include <linux/i2c.h>
+#include <linux/i2c-dev.h>
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/kernel.h>
+#include <linux/init.h>
+#include <linux/stat.h>
+#include <linux/irq.h>
+#include <linux/gpio.h>
+#include <linux/signal.h>
+#include <linux/miscdevice.h>
+#include <linux/slab.h>
+#include <linux/version.h>
+#include <linux/pm.h>
+#include <linux/mutex.h>
+#include <linux/suspend.h>
+#include <linux/poll.h>
+
+#include <linux/errno.h>
+#include <linux/fs.h>
+#include <linux/mm.h>
+#include <linux/sched.h>
+#include <linux/wait.h>
+#include <linux/uaccess.h>
+#include <linux/io.h>
+
+#include "mpuirq.h"
+#include "slaveirq.h"
+#include "mlsl.h"
+#include "mldl_cfg.h"
+#include <linux/mpu.h>
+
+#include "accel/mpu6050.h"
+
+/* Platform data for the MPU */
+struct mpu_private_data {
+	struct miscdevice dev;
+	struct i2c_client *client;
+
+	/* mldl_cfg data */
+	struct mldl_cfg mldl_cfg;
+	struct mpu_ram		mpu_ram;
+	struct mpu_gyro_cfg	mpu_gyro_cfg;
+	struct mpu_offsets	mpu_offsets;
+	struct mpu_chip_info	mpu_chip_info;
+	struct inv_mpu_cfg	inv_mpu_cfg;
+	struct inv_mpu_state	inv_mpu_state;
+
+	struct mutex mutex;
+	wait_queue_head_t mpu_event_wait;
+	struct completion completion;
+	struct timer_list timeout;
+	struct notifier_block nb;
+	struct mpuirq_data mpu_pm_event;
+	int response_timeout;	/* In seconds */
+	unsigned long event;
+	int pid;
+	struct module *slave_modules[EXT_SLAVE_NUM_TYPES];
+};
+
+struct mpu_private_data *mpu_private_data;
+
+static void mpu_pm_timeout(u_long data)
+{
+	struct mpu_private_data *mpu = (struct mpu_private_data *)data;
+	struct i2c_client *client = mpu->client;
+	dev_dbg(&client->adapter->dev, "%s\n", __func__);
+	complete(&mpu->completion);
+}
+
+static int mpu_pm_notifier_callback(struct notifier_block *nb,
+				    unsigned long event, void *unused)
+{
+	struct mpu_private_data *mpu =
+	    container_of(nb, struct mpu_private_data, nb);
+	struct i2c_client *client = mpu->client;
+	struct timeval event_time;
+	dev_dbg(&client->adapter->dev, "%s: %ld\n", __func__, event);
+
+	/* Prevent the file handle from being closed before we initialize
+	   the completion event */
+	mutex_lock(&mpu->mutex);
+	if (!(mpu->pid) ||
+	    (event != PM_SUSPEND_PREPARE && event != PM_POST_SUSPEND)) {
+		mutex_unlock(&mpu->mutex);
+		return NOTIFY_OK;
+	}
+
+	if (event == PM_SUSPEND_PREPARE)
+		mpu->event = MPU_PM_EVENT_SUSPEND_PREPARE;
+	if (event == PM_POST_SUSPEND)
+		mpu->event = MPU_PM_EVENT_POST_SUSPEND;
+
+	do_gettimeofday(&event_time);
+	mpu->mpu_pm_event.interruptcount++;
+	mpu->mpu_pm_event.irqtime =
+	    (((long long)event_time.tv_sec) << 32) + event_time.tv_usec;
+	mpu->mpu_pm_event.data_type = MPUIRQ_DATA_TYPE_PM_EVENT;
+	mpu->mpu_pm_event.data = mpu->event;
+
+	if (mpu->response_timeout > 0) {
+		mpu->timeout.expires = jiffies + mpu->response_timeout * HZ;
+		add_timer(&mpu->timeout);
+	}
+	INIT_COMPLETION(mpu->completion);
+	mutex_unlock(&mpu->mutex);
+
+	wake_up_interruptible(&mpu->mpu_event_wait);
+	wait_for_completion(&mpu->completion);
+	del_timer_sync(&mpu->timeout);
+	dev_dbg(&client->adapter->dev, "%s: %ld DONE\n", __func__, event);
+	return NOTIFY_OK;
+}
+
+static int mpu_dev_open(struct inode *inode, struct file *file)
+{
+	struct mpu_private_data *mpu =
+	    container_of(file->private_data, struct mpu_private_data, dev);
+	struct i2c_client *client = mpu->client;
+	int result;
+	int ii;
+	dev_dbg(&client->adapter->dev, "%s\n", __func__);
+	dev_dbg(&client->adapter->dev, "current->pid %d\n", current->pid);
+
+	result = mutex_lock_interruptible(&mpu->mutex);
+	if (mpu->pid) {
+		mutex_unlock(&mpu->mutex);
+		return -EBUSY;
+	}
+	mpu->pid = current->pid;
+
+	/* Reset the sensors to the default */
+	if (result) {
+		dev_err(&client->adapter->dev,
+			"%s: mutex_lock_interruptible returned %d\n",
+			__func__, result);
+		return result;
+	}
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++)
+		__module_get(mpu->slave_modules[ii]);
+
+	mutex_unlock(&mpu->mutex);
+	return 0;
+}
+
+/* close function - called when the "file" /dev/mpu is closed in userspace   */
+static int mpu_release(struct inode *inode, struct file *file)
+{
+	struct mpu_private_data *mpu =
+	    container_of(file->private_data, struct mpu_private_data, dev);
+	struct i2c_client *client = mpu->client;
+	struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+	int result = 0;
+	int ii;
+	struct i2c_adapter *slave_adapter[EXT_SLAVE_NUM_TYPES];
+	struct ext_slave_platform_data **pdata_slave = mldl_cfg->pdata_slave;
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		if (!pdata_slave[ii])
+			slave_adapter[ii] = NULL;
+		else
+			slave_adapter[ii] =
+				i2c_get_adapter(pdata_slave[ii]->adapt_num);
+	}
+	slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE] = client->adapter;
+
+	mutex_lock(&mpu->mutex);
+	mldl_cfg->inv_mpu_cfg->requested_sensors = 0;
+	result = inv_mpu_suspend(mldl_cfg,
+				slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+				slave_adapter[EXT_SLAVE_TYPE_ACCEL],
+				slave_adapter[EXT_SLAVE_TYPE_COMPASS],
+				slave_adapter[EXT_SLAVE_TYPE_PRESSURE],
+				INV_ALL_SENSORS);
+	mpu->pid = 0;
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++)
+		module_put(mpu->slave_modules[ii]);
+
+	mutex_unlock(&mpu->mutex);
+	complete(&mpu->completion);
+	dev_dbg(&client->adapter->dev, "mpu_release\n");
+
+	return result;
+}
+
+/* read function called when from /dev/mpu is read.  Read from the FIFO */
+static ssize_t mpu_read(struct file *file,
+			char __user *buf, size_t count, loff_t *offset)
+{
+	struct mpu_private_data *mpu =
+	    container_of(file->private_data, struct mpu_private_data, dev);
+	struct i2c_client *client = mpu->client;
+	size_t len = sizeof(mpu->mpu_pm_event) + sizeof(unsigned long);
+	int err;
+
+	if (!mpu->event && (!(file->f_flags & O_NONBLOCK)))
+		wait_event_interruptible(mpu->mpu_event_wait, mpu->event);
+
+	if (!mpu->event || !buf
+	    || count < sizeof(mpu->mpu_pm_event))
+		return 0;
+
+	err = copy_to_user(buf, &mpu->mpu_pm_event, sizeof(mpu->mpu_pm_event));
+	if (err) {
+		dev_err(&client->adapter->dev,
+			"Copy to user returned %d\n", err);
+		return -EFAULT;
+	}
+	mpu->event = 0;
+	return len;
+}
+
+static unsigned int mpu_poll(struct file *file, struct poll_table_struct *poll)
+{
+	struct mpu_private_data *mpu =
+	    container_of(file->private_data, struct mpu_private_data, dev);
+	int mask = 0;
+
+	poll_wait(file, &mpu->mpu_event_wait, poll);
+	if (mpu->event)
+		mask |= POLLIN | POLLRDNORM;
+	return mask;
+}
+
+static int mpu_dev_ioctl_get_ext_slave_platform_data(
+	struct i2c_client *client,
+	struct ext_slave_platform_data __user *arg)
+{
+	struct mpu_private_data *mpu =
+	    (struct mpu_private_data *)i2c_get_clientdata(client);
+	struct ext_slave_platform_data *pdata_slave;
+	struct ext_slave_platform_data local_pdata_slave;
+
+	if (copy_from_user(&local_pdata_slave, arg, sizeof(local_pdata_slave)))
+		return -EFAULT;
+
+	if (local_pdata_slave.type >= EXT_SLAVE_NUM_TYPES)
+		return -EINVAL;
+
+	pdata_slave = mpu->mldl_cfg.pdata_slave[local_pdata_slave.type];
+	/* All but private data and irq_data */
+	if (!pdata_slave)
+		return -ENODEV;
+	if (copy_to_user(arg, pdata_slave, sizeof(*pdata_slave)))
+		return -EFAULT;
+	return 0;
+}
+
+static int mpu_dev_ioctl_get_mpu_platform_data(
+	struct i2c_client *client,
+	struct mpu_platform_data __user *arg)
+{
+	struct mpu_private_data *mpu =
+	    (struct mpu_private_data *)i2c_get_clientdata(client);
+	struct mpu_platform_data *pdata = mpu->mldl_cfg.pdata;
+
+	if (copy_to_user(arg, pdata, sizeof(*pdata)))
+		return -EFAULT;
+	return 0;
+}
+
+static int mpu_dev_ioctl_get_ext_slave_descr(
+	struct i2c_client *client,
+	struct ext_slave_descr __user *arg)
+{
+	struct mpu_private_data *mpu =
+	    (struct mpu_private_data *)i2c_get_clientdata(client);
+	struct ext_slave_descr *slave;
+	struct ext_slave_descr local_slave;
+
+	if (copy_from_user(&local_slave, arg, sizeof(local_slave)))
+		return -EFAULT;
+
+	if (local_slave.type >= EXT_SLAVE_NUM_TYPES)
+		return -EINVAL;
+
+	slave = mpu->mldl_cfg.slave[local_slave.type];
+	/* All but private data and irq_data */
+	if (!slave)
+		return -ENODEV;
+	if (copy_to_user(arg, slave, sizeof(*slave)))
+		return -EFAULT;
+	return 0;
+}
+
+
+/**
+ * slave_config() - Pass a requested slave configuration to the slave sensor
+ *
+ * @adapter the adaptor to use to communicate with the slave
+ * @mldl_cfg the mldl configuration structuer
+ * @slave pointer to the slave descriptor
+ * @usr_config The configuration to pass to the slave sensor
+ *
+ * returns 0 or non-zero error code
+ */
+static int inv_mpu_config(struct mldl_cfg *mldl_cfg,
+			void *gyro_adapter,
+			struct ext_slave_config __user *usr_config)
+{
+	int retval = 0;
+	struct ext_slave_config config;
+
+	retval = copy_from_user(&config, usr_config, sizeof(config));
+	if (retval)
+		return -EFAULT;
+
+	if (config.len && config.data) {
+		void *data;
+		data = kmalloc(config.len, GFP_KERNEL);
+		if (!data)
+			return -ENOMEM;
+
+		retval = copy_from_user(data,
+					(void __user *)config.data, config.len);
+		if (retval) {
+			retval = -EFAULT;
+			kfree(data);
+			return retval;
+		}
+		config.data = data;
+	}
+	retval = gyro_config(gyro_adapter, mldl_cfg, &config);
+	kfree(config.data);
+	return retval;
+}
+
+static int inv_mpu_get_config(struct mldl_cfg *mldl_cfg,
+			    void *gyro_adapter,
+			    struct ext_slave_config __user *usr_config)
+{
+	int retval = 0;
+	struct ext_slave_config config;
+	void *user_data;
+
+	retval = copy_from_user(&config, usr_config, sizeof(config));
+	if (retval)
+		return -EFAULT;
+
+	user_data = config.data;
+	if (config.len && config.data) {
+		void *data;
+		data = kmalloc(config.len, GFP_KERNEL);
+		if (!data)
+			return -ENOMEM;
+
+		retval = copy_from_user(data,
+					(void __user *)config.data, config.len);
+		if (retval) {
+			retval = -EFAULT;
+			kfree(data);
+			return retval;
+		}
+		config.data = data;
+	}
+	retval = gyro_get_config(gyro_adapter, mldl_cfg, &config);
+	if (!retval)
+		retval = copy_to_user((unsigned char __user *)user_data,
+				config.data, config.len);
+	kfree(config.data);
+	return retval;
+}
+
+static int slave_config(struct mldl_cfg *mldl_cfg,
+			void *gyro_adapter,
+			void *slave_adapter,
+			struct ext_slave_descr *slave,
+			struct ext_slave_platform_data *pdata,
+			struct ext_slave_config __user *usr_config)
+{
+	int retval = 0;
+	struct ext_slave_config config;
+	if ((!slave) || (!slave->config))
+		return -ENODEV;
+
+	retval = copy_from_user(&config, usr_config, sizeof(config));
+	if (retval)
+		return -EFAULT;
+
+	if (config.len && config.data) {
+		void *data;
+		data = kmalloc(config.len, GFP_KERNEL);
+		if (!data)
+			return -ENOMEM;
+
+		retval = copy_from_user(data,
+					(void __user *)config.data, config.len);
+		if (retval) {
+			retval = -EFAULT;
+			kfree(data);
+			return retval;
+		}
+		config.data = data;
+	}
+	retval = inv_mpu_slave_config(mldl_cfg, gyro_adapter, slave_adapter,
+				      &config, slave, pdata);
+	kfree(config.data);
+	return retval;
+}
+
+static int slave_get_config(struct mldl_cfg *mldl_cfg,
+			    void *gyro_adapter,
+			    void *slave_adapter,
+			    struct ext_slave_descr *slave,
+			    struct ext_slave_platform_data *pdata,
+			    struct ext_slave_config __user *usr_config)
+{
+	int retval = 0;
+	struct ext_slave_config config;
+	void *user_data;
+	if (!(slave) || !(slave->get_config))
+		return -ENODEV;
+
+	retval = copy_from_user(&config, usr_config, sizeof(config));
+	if (retval)
+		return -EFAULT;
+
+	user_data = config.data;
+	if (config.len && config.data) {
+		void *data;
+		data = kmalloc(config.len, GFP_KERNEL);
+		if (!data)
+			return -ENOMEM;
+
+		retval = copy_from_user(data,
+					(void __user *)config.data, config.len);
+		if (retval) {
+			retval = -EFAULT;
+			kfree(data);
+			return retval;
+		}
+		config.data = data;
+	}
+	retval = inv_mpu_get_slave_config(mldl_cfg, gyro_adapter,
+					  slave_adapter, &config, slave, pdata);
+	if (retval) {
+		kfree(config.data);
+		return retval;
+	}
+	retval = copy_to_user((unsigned char __user *)user_data,
+			      config.data, config.len);
+	kfree(config.data);
+	return retval;
+}
+
+static int inv_slave_read(struct mldl_cfg *mldl_cfg,
+			  void *gyro_adapter,
+			  void *slave_adapter,
+			  struct ext_slave_descr *slave,
+			  struct ext_slave_platform_data *pdata,
+			  void __user *usr_data)
+{
+	int retval;
+	unsigned char *data;
+	data = kzalloc(slave->read_len, GFP_KERNEL);
+	if (!data)
+		return -EFAULT;
+
+	retval = inv_mpu_slave_read(mldl_cfg, gyro_adapter, slave_adapter,
+				    slave, pdata, data);
+
+	if ((!retval) &&
+	    (copy_to_user((unsigned char __user *)usr_data,
+			  data, slave->read_len)))
+		retval = -EFAULT;
+
+	kfree(data);
+	return retval;
+}
+
+static int mpu_handle_mlsl(void *sl_handle,
+			   unsigned char addr,
+			   unsigned int cmd,
+			   struct mpu_read_write __user *usr_msg)
+{
+	int retval = 0;
+	struct mpu_read_write msg;
+	unsigned char *user_data;
+	retval = copy_from_user(&msg, usr_msg, sizeof(msg));
+	if (retval)
+		return -EFAULT;
+
+	user_data = msg.data;
+	if (msg.length && msg.data) {
+		unsigned char *data;
+		data = kmalloc(msg.length, GFP_KERNEL);
+		if (!data)
+			return -ENOMEM;
+
+		retval = copy_from_user(data,
+					(void __user *)msg.data, msg.length);
+		if (retval) {
+			retval = -EFAULT;
+			kfree(data);
+			return retval;
+		}
+		msg.data = data;
+	} else {
+		return -EPERM;
+	}
+
+	switch (cmd) {
+	case MPU_READ:
+		retval = inv_serial_read(sl_handle, addr,
+					 msg.address, msg.length, msg.data);
+		break;
+	case MPU_WRITE:
+		retval = inv_serial_write(sl_handle, addr,
+					  msg.length, msg.data);
+		break;
+	case MPU_READ_MEM:
+		retval = inv_serial_read_mem(sl_handle, addr,
+					     msg.address, msg.length, msg.data);
+		break;
+	case MPU_WRITE_MEM:
+		retval = inv_serial_write_mem(sl_handle, addr,
+					      msg.address, msg.length,
+					      msg.data);
+		break;
+	case MPU_READ_FIFO:
+		retval = inv_serial_read_fifo(sl_handle, addr,
+					      msg.length, msg.data);
+		break;
+	case MPU_WRITE_FIFO:
+		retval = inv_serial_write_fifo(sl_handle, addr,
+					       msg.length, msg.data);
+		break;
+
+	};
+	if (retval) {
+		dev_err(&((struct i2c_adapter *)sl_handle)->dev,
+			"%s: i2c %d error %d\n",
+			__func__, cmd, retval);
+		kfree(msg.data);
+		return retval;
+	}
+	retval = copy_to_user((unsigned char __user *)user_data,
+			      msg.data, msg.length);
+	kfree(msg.data);
+	return retval;
+}
+
+/* ioctl - I/O control */
+static long mpu_dev_ioctl(struct file *file,
+			  unsigned int cmd, unsigned long arg)
+{
+	struct mpu_private_data *mpu =
+	    container_of(file->private_data, struct mpu_private_data, dev);
+	struct i2c_client *client = mpu->client;
+	struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+	int retval = 0;
+	struct i2c_adapter *slave_adapter[EXT_SLAVE_NUM_TYPES];
+	struct ext_slave_descr **slave = mldl_cfg->slave;
+	struct ext_slave_platform_data **pdata_slave = mldl_cfg->pdata_slave;
+	int ii;
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		if (!pdata_slave[ii])
+			slave_adapter[ii] = NULL;
+		else
+			slave_adapter[ii] =
+				i2c_get_adapter(pdata_slave[ii]->adapt_num);
+	}
+	slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE] = client->adapter;
+
+	retval = mutex_lock_interruptible(&mpu->mutex);
+	if (retval) {
+		dev_err(&client->adapter->dev,
+			"%s: mutex_lock_interruptible returned %d\n",
+			__func__, retval);
+		return retval;
+	}
+
+	switch (cmd) {
+	case MPU_GET_EXT_SLAVE_PLATFORM_DATA:
+		retval = mpu_dev_ioctl_get_ext_slave_platform_data(
+			client,
+			(struct ext_slave_platform_data __user *)arg);
+		break;
+	case MPU_GET_MPU_PLATFORM_DATA:
+		retval = mpu_dev_ioctl_get_mpu_platform_data(
+			client,
+			(struct mpu_platform_data __user *)arg);
+		break;
+	case MPU_GET_EXT_SLAVE_DESCR:
+		retval = mpu_dev_ioctl_get_ext_slave_descr(
+			client,
+			(struct ext_slave_descr __user *)arg);
+		break;
+	case MPU_READ:
+	case MPU_WRITE:
+	case MPU_READ_MEM:
+	case MPU_WRITE_MEM:
+	case MPU_READ_FIFO:
+	case MPU_WRITE_FIFO:
+		retval = mpu_handle_mlsl(
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			mldl_cfg->mpu_chip_info->addr, cmd,
+			(struct mpu_read_write __user *)arg);
+		break;
+	case MPU_CONFIG_GYRO:
+		retval = inv_mpu_config(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			(struct ext_slave_config __user *)arg);
+		break;
+	case MPU_CONFIG_ACCEL:
+		retval = slave_config(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_ACCEL],
+			slave[EXT_SLAVE_TYPE_ACCEL],
+			pdata_slave[EXT_SLAVE_TYPE_ACCEL],
+			(struct ext_slave_config __user *)arg);
+		break;
+	case MPU_CONFIG_COMPASS:
+		retval = slave_config(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_COMPASS],
+			slave[EXT_SLAVE_TYPE_COMPASS],
+			pdata_slave[EXT_SLAVE_TYPE_COMPASS],
+			(struct ext_slave_config __user *)arg);
+		break;
+	case MPU_CONFIG_PRESSURE:
+		retval = slave_config(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_PRESSURE],
+			slave[EXT_SLAVE_TYPE_PRESSURE],
+			pdata_slave[EXT_SLAVE_TYPE_PRESSURE],
+			(struct ext_slave_config __user *)arg);
+		break;
+	case MPU_GET_CONFIG_GYRO:
+		retval = inv_mpu_get_config(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			(struct ext_slave_config __user *)arg);
+		break;
+	case MPU_GET_CONFIG_ACCEL:
+		retval = slave_get_config(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_ACCEL],
+			slave[EXT_SLAVE_TYPE_ACCEL],
+			pdata_slave[EXT_SLAVE_TYPE_ACCEL],
+			(struct ext_slave_config __user *)arg);
+		break;
+	case MPU_GET_CONFIG_COMPASS:
+		retval = slave_get_config(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_COMPASS],
+			slave[EXT_SLAVE_TYPE_COMPASS],
+			pdata_slave[EXT_SLAVE_TYPE_COMPASS],
+			(struct ext_slave_config __user *)arg);
+		break;
+	case MPU_GET_CONFIG_PRESSURE:
+		retval = slave_get_config(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_PRESSURE],
+			slave[EXT_SLAVE_TYPE_PRESSURE],
+			pdata_slave[EXT_SLAVE_TYPE_PRESSURE],
+			(struct ext_slave_config __user *)arg);
+		break;
+	case MPU_SUSPEND:
+		retval = inv_mpu_suspend(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_ACCEL],
+			slave_adapter[EXT_SLAVE_TYPE_COMPASS],
+			slave_adapter[EXT_SLAVE_TYPE_PRESSURE],
+			arg);
+		break;
+	case MPU_RESUME:
+		retval = inv_mpu_resume(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_ACCEL],
+			slave_adapter[EXT_SLAVE_TYPE_COMPASS],
+			slave_adapter[EXT_SLAVE_TYPE_PRESSURE],
+			arg);
+		break;
+	case MPU_PM_EVENT_HANDLED:
+		dev_dbg(&client->adapter->dev, "%s: %d\n", __func__, cmd);
+		complete(&mpu->completion);
+		break;
+	case MPU_READ_ACCEL:
+		retval = inv_slave_read(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_ACCEL],
+			slave[EXT_SLAVE_TYPE_ACCEL],
+			pdata_slave[EXT_SLAVE_TYPE_ACCEL],
+			(unsigned char __user *)arg);
+		break;
+	case MPU_READ_COMPASS:
+		retval = inv_slave_read(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_COMPASS],
+			slave[EXT_SLAVE_TYPE_COMPASS],
+			pdata_slave[EXT_SLAVE_TYPE_COMPASS],
+			(unsigned char __user *)arg);
+		break;
+	case MPU_READ_PRESSURE:
+		retval = inv_slave_read(
+			mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_PRESSURE],
+			slave[EXT_SLAVE_TYPE_PRESSURE],
+			pdata_slave[EXT_SLAVE_TYPE_PRESSURE],
+			(unsigned char __user *)arg);
+		break;
+	case MPU_GET_REQUESTED_SENSORS:
+		if (copy_to_user(
+			   (__u32 __user *)arg,
+			   &mldl_cfg->inv_mpu_cfg->requested_sensors,
+			   sizeof(mldl_cfg->inv_mpu_cfg->requested_sensors)))
+			retval = -EFAULT;
+		break;
+	case MPU_SET_REQUESTED_SENSORS:
+		mldl_cfg->inv_mpu_cfg->requested_sensors = arg;
+		break;
+	case MPU_GET_IGNORE_SYSTEM_SUSPEND:
+		if (copy_to_user(
+			(unsigned char __user *)arg,
+			&mldl_cfg->inv_mpu_cfg->ignore_system_suspend,
+			sizeof(mldl_cfg->inv_mpu_cfg->ignore_system_suspend)))
+			retval = -EFAULT;
+		break;
+	case MPU_SET_IGNORE_SYSTEM_SUSPEND:
+		mldl_cfg->inv_mpu_cfg->ignore_system_suspend = arg;
+		break;
+	case MPU_GET_MLDL_STATUS:
+		if (copy_to_user(
+			(unsigned char __user *)arg,
+			&mldl_cfg->inv_mpu_state->status,
+			sizeof(mldl_cfg->inv_mpu_state->status)))
+			retval = -EFAULT;
+		break;
+	case MPU_GET_I2C_SLAVES_ENABLED:
+		if (copy_to_user(
+			(unsigned char __user *)arg,
+			&mldl_cfg->inv_mpu_state->i2c_slaves_enabled,
+			sizeof(mldl_cfg->inv_mpu_state->i2c_slaves_enabled)))
+			retval = -EFAULT;
+		break;
+	default:
+		dev_err(&client->adapter->dev,
+			"%s: Unknown cmd %x, arg %lu\n",
+			__func__, cmd, arg);
+		retval = -EINVAL;
+	};
+
+	mutex_unlock(&mpu->mutex);
+	dev_dbg(&client->adapter->dev, "%s: %08x, %08lx, %d\n",
+		__func__, cmd, arg, retval);
+
+	if (retval > 0)
+		retval = -retval;
+
+	return retval;
+}
+
+void mpu_shutdown(struct i2c_client *client)
+{
+	struct mpu_private_data *mpu =
+	    (struct mpu_private_data *)i2c_get_clientdata(client);
+	struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+	struct i2c_adapter *slave_adapter[EXT_SLAVE_NUM_TYPES];
+	struct ext_slave_platform_data **pdata_slave = mldl_cfg->pdata_slave;
+	int ii;
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		if (!pdata_slave[ii])
+			slave_adapter[ii] = NULL;
+		else
+			slave_adapter[ii] =
+				i2c_get_adapter(pdata_slave[ii]->adapt_num);
+	}
+	slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE] = client->adapter;
+
+	mutex_lock(&mpu->mutex);
+	(void)inv_mpu_suspend(mldl_cfg,
+			slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+			slave_adapter[EXT_SLAVE_TYPE_ACCEL],
+			slave_adapter[EXT_SLAVE_TYPE_COMPASS],
+			slave_adapter[EXT_SLAVE_TYPE_PRESSURE],
+			INV_ALL_SENSORS);
+	mutex_unlock(&mpu->mutex);
+	dev_dbg(&client->adapter->dev, "%s\n", __func__);
+}
+
+int mpu_dev_suspend(struct i2c_client *client, pm_message_t mesg)
+{
+	struct mpu_private_data *mpu =
+	    (struct mpu_private_data *)i2c_get_clientdata(client);
+	struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+	struct i2c_adapter *slave_adapter[EXT_SLAVE_NUM_TYPES];
+	struct ext_slave_platform_data **pdata_slave = mldl_cfg->pdata_slave;
+	int ii;
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		if (!pdata_slave[ii])
+			slave_adapter[ii] = NULL;
+		else
+			slave_adapter[ii] =
+				i2c_get_adapter(pdata_slave[ii]->adapt_num);
+	}
+	slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE] = client->adapter;
+
+	mutex_lock(&mpu->mutex);
+	if (!mldl_cfg->inv_mpu_cfg->ignore_system_suspend) {
+		dev_dbg(&client->adapter->dev,
+			"%s: suspending on event %d\n", __func__, mesg.event);
+		(void)inv_mpu_suspend(mldl_cfg,
+				slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+				slave_adapter[EXT_SLAVE_TYPE_ACCEL],
+				slave_adapter[EXT_SLAVE_TYPE_COMPASS],
+				slave_adapter[EXT_SLAVE_TYPE_PRESSURE],
+				INV_ALL_SENSORS);
+	} else {
+		dev_dbg(&client->adapter->dev,
+			"%s: Already suspended %d\n", __func__, mesg.event);
+	}
+	mutex_unlock(&mpu->mutex);
+	return 0;
+}
+
+int mpu_dev_resume(struct i2c_client *client)
+{
+	struct mpu_private_data *mpu =
+	    (struct mpu_private_data *)i2c_get_clientdata(client);
+	struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+	struct i2c_adapter *slave_adapter[EXT_SLAVE_NUM_TYPES];
+	struct ext_slave_platform_data **pdata_slave = mldl_cfg->pdata_slave;
+	int ii;
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		if (!pdata_slave[ii])
+			slave_adapter[ii] = NULL;
+		else
+			slave_adapter[ii] =
+				i2c_get_adapter(pdata_slave[ii]->adapt_num);
+	}
+	slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE] = client->adapter;
+
+	mutex_lock(&mpu->mutex);
+	if (mpu->pid && !mldl_cfg->inv_mpu_cfg->ignore_system_suspend) {
+		(void)inv_mpu_resume(mldl_cfg,
+				slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+				slave_adapter[EXT_SLAVE_TYPE_ACCEL],
+				slave_adapter[EXT_SLAVE_TYPE_COMPASS],
+				slave_adapter[EXT_SLAVE_TYPE_PRESSURE],
+				mldl_cfg->inv_mpu_cfg->requested_sensors);
+		dev_dbg(&client->adapter->dev,
+			"%s for pid %d\n", __func__, mpu->pid);
+	}
+	mutex_unlock(&mpu->mutex);
+	return 0;
+}
+
+/* define which file operations are supported */
+static const struct file_operations mpu_fops = {
+	.owner = THIS_MODULE,
+	.read = mpu_read,
+	.poll = mpu_poll,
+	.unlocked_ioctl = mpu_dev_ioctl,
+	.open = mpu_dev_open,
+	.release = mpu_release,
+};
+
+int inv_mpu_register_slave(struct module *slave_module,
+			struct i2c_client *slave_client,
+			struct ext_slave_platform_data *slave_pdata,
+			struct ext_slave_descr *(*get_slave_descr)(void))
+{
+	struct mpu_private_data *mpu = mpu_private_data;
+	struct mldl_cfg *mldl_cfg;
+	struct ext_slave_descr *slave_descr;
+	struct ext_slave_platform_data **pdata_slave;
+	char *irq_name = NULL;
+	int result = 0;
+
+	if (!slave_client || !slave_pdata || !get_slave_descr)
+		return -EINVAL;
+
+	if (!mpu) {
+		dev_err(&slave_client->adapter->dev,
+			"%s: Null mpu_private_data\n", __func__);
+		return -EINVAL;
+	}
+	mldl_cfg    = &mpu->mldl_cfg;
+	pdata_slave = mldl_cfg->pdata_slave;
+	slave_descr = get_slave_descr();
+
+	if (!slave_descr) {
+		dev_err(&slave_client->adapter->dev,
+			"%s: Null ext_slave_descr\n", __func__);
+		return -EINVAL;
+	}
+
+	mutex_lock(&mpu->mutex);
+	if (mpu->pid) {
+		mutex_unlock(&mpu->mutex);
+		return -EBUSY;
+	}
+
+	if (pdata_slave[slave_descr->type]) {
+		result = -EBUSY;
+		goto out_unlock_mutex;
+	}
+
+	slave_pdata->address	= slave_client->addr;
+	slave_pdata->irq	= slave_client->irq;
+	slave_pdata->adapt_num	= i2c_adapter_id(slave_client->adapter);
+
+	dev_info(&slave_client->adapter->dev,
+		"%s: +%s Type %d: Addr: %2x IRQ: %2d, Adapt: %2d\n",
+		__func__,
+		slave_descr->name,
+		slave_descr->type,
+		slave_pdata->address,
+		slave_pdata->irq,
+		slave_pdata->adapt_num);
+
+	switch (slave_descr->type) {
+	case EXT_SLAVE_TYPE_ACCEL:
+		irq_name = "accelirq";
+		break;
+	case EXT_SLAVE_TYPE_COMPASS:
+		irq_name = "compassirq";
+		break;
+	case EXT_SLAVE_TYPE_PRESSURE:
+		irq_name = "pressureirq";
+		break;
+	default:
+		irq_name = "none";
+	};
+	if (slave_descr->init) {
+		result = slave_descr->init(slave_client->adapter,
+					slave_descr,
+					slave_pdata);
+		if (result) {
+			dev_err(&slave_client->adapter->dev,
+				"%s init failed %d\n",
+				slave_descr->name, result);
+			goto out_unlock_mutex;
+		}
+	}
+
+	if (slave_descr->type == EXT_SLAVE_TYPE_ACCEL &&
+	    slave_descr->id == ACCEL_ID_MPU6050 &&
+	    slave_descr->config) {
+		/* pass a reference to the mldl_cfg data
+		   structure to the mpu6050 accel "class" */
+		struct ext_slave_config config;
+		config.key = MPU_SLAVE_CONFIG_INTERNAL_REFERENCE;
+		config.len = sizeof(struct mldl_cfg *);
+		config.apply = true;
+		config.data = mldl_cfg;
+		result = slave_descr->config(
+			slave_client->adapter, slave_descr,
+			slave_pdata, &config);
+		if (result) {
+			LOG_RESULT_LOCATION(result);
+			goto out_slavedescr_exit;
+		}
+	}
+	pdata_slave[slave_descr->type] = slave_pdata;
+	mpu->slave_modules[slave_descr->type] = slave_module;
+	mldl_cfg->slave[slave_descr->type] = slave_descr;
+
+	goto out_unlock_mutex;
+
+out_slavedescr_exit:
+	if (slave_descr->exit)
+		slave_descr->exit(slave_client->adapter,
+				  slave_descr, slave_pdata);
+out_unlock_mutex:
+	mutex_unlock(&mpu->mutex);
+
+	if (!result && irq_name && (slave_pdata->irq > 0)) {
+		int warn_result;
+		dev_info(&slave_client->adapter->dev,
+			"Installing %s irq using %d\n",
+			irq_name,
+			slave_pdata->irq);
+		warn_result = slaveirq_init(slave_client->adapter,
+					slave_pdata, irq_name);
+		if (result)
+			dev_WARN(&slave_client->adapter->dev,
+				"%s irq assigned error: %d\n",
+				slave_descr->name, warn_result);
+	} else {
+		dev_WARN(&slave_client->adapter->dev,
+			"%s irq not assigned: %d %d %d\n",
+			slave_descr->name,
+			result, (int)irq_name, slave_pdata->irq);
+	}
+
+	return result;
+}
+EXPORT_SYMBOL(inv_mpu_register_slave);
+
+void inv_mpu_unregister_slave(struct i2c_client *slave_client,
+			struct ext_slave_platform_data *slave_pdata,
+			struct ext_slave_descr *(*get_slave_descr)(void))
+{
+	struct mpu_private_data *mpu = mpu_private_data;
+	struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+	struct ext_slave_descr *slave_descr;
+	int result;
+
+	dev_info(&slave_client->adapter->dev, "%s\n", __func__);
+
+	if (!slave_client || !slave_pdata || !get_slave_descr)
+		return;
+
+	if (slave_pdata->irq)
+		slaveirq_exit(slave_pdata);
+
+	slave_descr = get_slave_descr();
+	if (!slave_descr)
+		return;
+
+	mutex_lock(&mpu->mutex);
+
+	if (slave_descr->exit) {
+		result = slave_descr->exit(slave_client->adapter,
+					slave_descr,
+					slave_pdata);
+		if (result)
+			dev_err(&slave_client->adapter->dev,
+				"Accel exit failed %d\n", result);
+	}
+	mldl_cfg->slave[slave_descr->type] = NULL;
+	mldl_cfg->pdata_slave[slave_descr->type] = NULL;
+	mpu->slave_modules[slave_descr->type] = NULL;
+
+	mutex_unlock(&mpu->mutex);
+
+}
+EXPORT_SYMBOL(inv_mpu_unregister_slave);
+
+static unsigned short normal_i2c[] = { I2C_CLIENT_END };
+
+static const struct i2c_device_id mpu_id[] = {
+	{"mpu3050", 0},
+	{"mpu6050", 0},
+	{"mpu6050_no_accel", 0},
+	{}
+};
+MODULE_DEVICE_TABLE(i2c, mpu_id);
+
+int mpu_probe(struct i2c_client *client, const struct i2c_device_id *devid)
+{
+	struct mpu_platform_data *pdata;
+	struct mpu_private_data *mpu;
+	struct mldl_cfg *mldl_cfg;
+	int res = 0;
+	int ii = 0;
+	unsigned long irq_flags;
+
+	dev_info(&client->adapter->dev, "%s: %d\n", __func__, ii++);
+
+	if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
+		res = -ENODEV;
+		goto out_check_functionality_failed;
+	}
+
+	mpu = kzalloc(sizeof(struct mpu_private_data), GFP_KERNEL);
+	if (!mpu) {
+		res = -ENOMEM;
+		goto out_alloc_data_failed;
+	}
+	mldl_cfg = &mpu->mldl_cfg;
+	mldl_cfg->mpu_ram	= &mpu->mpu_ram;
+	mldl_cfg->mpu_gyro_cfg	= &mpu->mpu_gyro_cfg;
+	mldl_cfg->mpu_offsets	= &mpu->mpu_offsets;
+	mldl_cfg->mpu_chip_info	= &mpu->mpu_chip_info;
+	mldl_cfg->inv_mpu_cfg	= &mpu->inv_mpu_cfg;
+	mldl_cfg->inv_mpu_state	= &mpu->inv_mpu_state;
+
+	mldl_cfg->mpu_ram->length = MPU_MEM_NUM_RAM_BANKS * MPU_MEM_BANK_SIZE;
+	mldl_cfg->mpu_ram->ram = kzalloc(mldl_cfg->mpu_ram->length, GFP_KERNEL);
+	if (!mldl_cfg->mpu_ram->ram) {
+		res = -ENOMEM;
+		goto out_alloc_ram_failed;
+	}
+	mpu_private_data = mpu;
+	i2c_set_clientdata(client, mpu);
+	mpu->client = client;
+
+	init_waitqueue_head(&mpu->mpu_event_wait);
+	mutex_init(&mpu->mutex);
+	init_completion(&mpu->completion);
+
+	mpu->response_timeout = 60;	/* Seconds */
+	mpu->timeout.function = mpu_pm_timeout;
+	mpu->timeout.data = (u_long) mpu;
+	init_timer(&mpu->timeout);
+
+	mpu->nb.notifier_call = mpu_pm_notifier_callback;
+	mpu->nb.priority = 0;
+	res = register_pm_notifier(&mpu->nb);
+	if (res) {
+		dev_err(&client->adapter->dev,
+			"Unable to register pm_notifier %d\n", res);
+		goto out_register_pm_notifier_failed;
+	}
+
+	pdata = (struct mpu_platform_data *)client->dev.platform_data;
+	if (!pdata) {
+		dev_WARN(&client->adapter->dev,
+			 "Missing platform data for mpu\n");
+	}
+	mldl_cfg->pdata = pdata;
+
+	mldl_cfg->mpu_chip_info->addr = client->addr;
+	res = inv_mpu_open(&mpu->mldl_cfg, client->adapter, NULL, NULL, NULL);
+
+	if (res) {
+		dev_err(&client->adapter->dev,
+			"Unable to open %s %d\n", MPU_NAME, res);
+		res = -ENODEV;
+		goto out_whoami_failed;
+	}
+
+	mpu->dev.minor = MISC_DYNAMIC_MINOR;
+	mpu->dev.name = "mpu";
+	mpu->dev.fops = &mpu_fops;
+	res = misc_register(&mpu->dev);
+	if (res < 0) {
+		dev_err(&client->adapter->dev,
+			"ERROR: misc_register returned %d\n", res);
+		goto out_misc_register_failed;
+	}
+
+	if (client->irq) {
+		dev_info(&client->adapter->dev,
+			 "Installing irq using %d\n", client->irq);
+		if (BIT_ACTL_LOW == ((mldl_cfg->pdata->int_config) & BIT_ACTL))
+			irq_flags = IRQF_TRIGGER_FALLING;
+		else
+			irq_flags = IRQF_TRIGGER_RISING;
+		res = mpuirq_init(client, mldl_cfg, irq_flags);
+
+		if (res)
+			goto out_mpuirq_failed;
+	} else {
+		dev_WARN(&client->adapter->dev,
+			 "Missing %s IRQ\n", MPU_NAME);
+	}
+	if (!strcmp(mpu_id[1].name, devid->name)) {
+		/* Special case to re-use the inv_mpu_register_slave */
+		struct ext_slave_platform_data *slave_pdata;
+		slave_pdata = kzalloc(sizeof(*slave_pdata), GFP_KERNEL);
+		if (!slave_pdata) {
+			res = -ENOMEM;
+			goto out_slave_pdata_kzalloc_failed;
+		}
+		slave_pdata->bus = EXT_SLAVE_BUS_PRIMARY;
+		for (ii = 0; ii < 9; ii++)
+			slave_pdata->orientation[ii] = pdata->orientation[ii];
+		res = inv_mpu_register_slave(
+			NULL, client,
+			slave_pdata,
+			mpu6050_get_slave_descr);
+		if (res) {
+			/* if inv_mpu_register_slave fails there are no pointer
+			   references to the memory allocated to slave_pdata */
+			kfree(slave_pdata);
+			goto out_slave_pdata_kzalloc_failed;
+		}
+	}
+	return res;
+
+out_slave_pdata_kzalloc_failed:
+	if (client->irq)
+		mpuirq_exit();
+out_mpuirq_failed:
+	misc_deregister(&mpu->dev);
+out_misc_register_failed:
+	inv_mpu_close(&mpu->mldl_cfg, client->adapter, NULL, NULL, NULL);
+out_whoami_failed:
+	unregister_pm_notifier(&mpu->nb);
+out_register_pm_notifier_failed:
+	kfree(mldl_cfg->mpu_ram->ram);
+	mpu_private_data = NULL;
+out_alloc_ram_failed:
+	kfree(mpu);
+out_alloc_data_failed:
+out_check_functionality_failed:
+	dev_err(&client->adapter->dev, "%s failed %d\n", __func__, res);
+	return res;
+
+}
+
+static int mpu_remove(struct i2c_client *client)
+{
+	struct mpu_private_data *mpu = i2c_get_clientdata(client);
+	struct i2c_adapter *slave_adapter[EXT_SLAVE_NUM_TYPES];
+	struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+	struct ext_slave_platform_data **pdata_slave = mldl_cfg->pdata_slave;
+	int ii;
+
+	for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+		if (!pdata_slave[ii])
+			slave_adapter[ii] = NULL;
+		else
+			slave_adapter[ii] =
+				i2c_get_adapter(pdata_slave[ii]->adapt_num);
+	}
+
+	slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE] = client->adapter;
+	dev_dbg(&client->adapter->dev, "%s\n", __func__);
+
+	inv_mpu_close(mldl_cfg,
+		slave_adapter[EXT_SLAVE_TYPE_GYROSCOPE],
+		slave_adapter[EXT_SLAVE_TYPE_ACCEL],
+		slave_adapter[EXT_SLAVE_TYPE_COMPASS],
+		slave_adapter[EXT_SLAVE_TYPE_PRESSURE]);
+
+	if (mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL] &&
+		(mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL]->id ==
+			ACCEL_ID_MPU6050)) {
+		struct ext_slave_platform_data *slave_pdata =
+			mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL];
+		inv_mpu_unregister_slave(
+			client,
+			mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL],
+			mpu6050_get_slave_descr);
+		kfree(slave_pdata);
+	}
+
+	if (client->irq)
+		mpuirq_exit();
+
+	misc_deregister(&mpu->dev);
+
+	unregister_pm_notifier(&mpu->nb);
+
+	kfree(mpu->mldl_cfg.mpu_ram->ram);
+	kfree(mpu);
+
+	return 0;
+}
+
+static struct i2c_driver mpu_driver = {
+	.class = I2C_CLASS_HWMON,
+	.probe = mpu_probe,
+	.remove = mpu_remove,
+	.id_table = mpu_id,
+	.driver = {
+		   .owner = THIS_MODULE,
+		   .name = MPU_NAME,
+		   },
+	.address_list = normal_i2c,
+	.shutdown = mpu_shutdown,	/* optional */
+	.suspend = mpu_dev_suspend,	/* optional */
+	.resume = mpu_dev_resume,	/* optional */
+
+};
+
+static int __init mpu_init(void)
+{
+	int res = i2c_add_driver(&mpu_driver);
+	pr_info("%s: Probe name %s\n", __func__, MPU_NAME);
+	if (res)
+		pr_err("%s failed\n", __func__);
+	return res;
+}
+
+static void __exit mpu_exit(void)
+{
+	pr_info("%s\n", __func__);
+	i2c_del_driver(&mpu_driver);
+}
+
+module_init(mpu_init);
+module_exit(mpu_exit);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("User space character device interface for MPU");
+MODULE_LICENSE("GPL");
+MODULE_ALIAS(MPU_NAME);
diff --git a/drivers/misc/inv_mpu/mpu6050b1.h b/drivers/misc/inv_mpu/mpu6050b1.h
new file mode 100644
index 000000000000..686f6e5d86a5
--- /dev/null
+++ b/drivers/misc/inv_mpu/mpu6050b1.h
@@ -0,0 +1,435 @@
+/*
+	$License:
+	Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+	This program is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	(at your option) any later version.
+
+	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.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+	$
+ */
+
+/**
+ * @defgroup
+ * @brief
+ *
+ * @{
+ *      @file     mpu6050.h
+ *      @brief
+ */
+
+#ifndef __MPU_H_
+#error Do not include this file directly.  Include mpu.h instead.
+#endif
+
+#ifndef __MPU6050B1_H_
+#define __MPU6050B1_H_
+
+
+#define MPU_NAME "mpu6050B1"
+#define DEFAULT_MPU_SLAVEADDR		0x68
+
+/*==== MPU6050B1 REGISTER SET ====*/
+enum {
+	MPUREG_XG_OFFS_TC = 0,			/* 0x00,   0 */
+	MPUREG_YG_OFFS_TC,			/* 0x01,   1 */
+	MPUREG_ZG_OFFS_TC,			/* 0x02,   2 */
+	MPUREG_X_FINE_GAIN,			/* 0x03,   3 */
+	MPUREG_Y_FINE_GAIN,			/* 0x04,   4 */
+	MPUREG_Z_FINE_GAIN,			/* 0x05,   5 */
+	MPUREG_XA_OFFS_H,			/* 0x06,   6 */
+	MPUREG_XA_OFFS_L,			/* 0x07,   7 */
+	MPUREG_YA_OFFS_H,			/* 0x08,   8 */
+	MPUREG_YA_OFFS_L,			/* 0x09,   9 */
+	MPUREG_ZA_OFFS_H,			/* 0x0a,  10 */
+	MPUREG_ZA_OFFS_L,			/* 0x0B,  11 */
+	MPUREG_PRODUCT_ID,			/* 0x0c,  12 */
+	MPUREG_0D_RSVD,				/* 0x0d,  13 */
+	MPUREG_0E_RSVD,				/* 0x0e,  14 */
+	MPUREG_0F_RSVD,				/* 0x0f,  15 */
+	MPUREG_10_RSVD,				/* 0x00,  16 */
+	MPUREG_11_RSVD,				/* 0x11,  17 */
+	MPUREG_12_RSVD,				/* 0x12,  18 */
+	MPUREG_XG_OFFS_USRH,			/* 0x13,  19 */
+	MPUREG_XG_OFFS_USRL,			/* 0x14,  20 */
+	MPUREG_YG_OFFS_USRH,			/* 0x15,  21 */
+	MPUREG_YG_OFFS_USRL,			/* 0x16,  22 */
+	MPUREG_ZG_OFFS_USRH,			/* 0x17,  23 */
+	MPUREG_ZG_OFFS_USRL,			/* 0x18,  24 */
+	MPUREG_SMPLRT_DIV,			/* 0x19,  25 */
+	MPUREG_CONFIG,				/* 0x1A,  26 */
+	MPUREG_GYRO_CONFIG,			/* 0x1b,  27 */
+	MPUREG_ACCEL_CONFIG,			/* 0x1c,  28 */
+	MPUREG_ACCEL_FF_THR,			/* 0x1d,  29 */
+	MPUREG_ACCEL_FF_DUR,			/* 0x1e,  30 */
+	MPUREG_ACCEL_MOT_THR,			/* 0x1f,  31 */
+	MPUREG_ACCEL_MOT_DUR,			/* 0x20,  32 */
+	MPUREG_ACCEL_ZRMOT_THR,			/* 0x21,  33 */
+	MPUREG_ACCEL_ZRMOT_DUR,			/* 0x22,  34 */
+	MPUREG_FIFO_EN,				/* 0x23,  35 */
+	MPUREG_I2C_MST_CTRL,			/* 0x24,  36 */
+	MPUREG_I2C_SLV0_ADDR,			/* 0x25,  37 */
+	MPUREG_I2C_SLV0_REG,			/* 0x26,  38 */
+	MPUREG_I2C_SLV0_CTRL,			/* 0x27,  39 */
+	MPUREG_I2C_SLV1_ADDR,			/* 0x28,  40 */
+	MPUREG_I2C_SLV1_REG,			/* 0x29,  41 */
+	MPUREG_I2C_SLV1_CTRL,			/* 0x2a,  42 */
+	MPUREG_I2C_SLV2_ADDR,			/* 0x2B,  43 */
+	MPUREG_I2C_SLV2_REG,			/* 0x2c,  44 */
+	MPUREG_I2C_SLV2_CTRL,			/* 0x2d,  45 */
+	MPUREG_I2C_SLV3_ADDR,			/* 0x2E,  46 */
+	MPUREG_I2C_SLV3_REG,			/* 0x2f,  47 */
+	MPUREG_I2C_SLV3_CTRL,			/* 0x30,  48 */
+	MPUREG_I2C_SLV4_ADDR,			/* 0x31,  49 */
+	MPUREG_I2C_SLV4_REG,			/* 0x32,  50 */
+	MPUREG_I2C_SLV4_DO,			/* 0x33,  51 */
+	MPUREG_I2C_SLV4_CTRL,			/* 0x34,  52 */
+	MPUREG_I2C_SLV4_DI,			/* 0x35,  53 */
+	MPUREG_I2C_MST_STATUS,			/* 0x36,  54 */
+	MPUREG_INT_PIN_CFG,			/* 0x37,  55 */
+	MPUREG_INT_ENABLE,			/* 0x38,  56 */
+	MPUREG_DMP_INT_STATUS,			/* 0x39,  57 */
+	MPUREG_INT_STATUS,			/* 0x3A,  58 */
+	MPUREG_ACCEL_XOUT_H,			/* 0x3B,  59 */
+	MPUREG_ACCEL_XOUT_L,			/* 0x3c,  60 */
+	MPUREG_ACCEL_YOUT_H,			/* 0x3d,  61 */
+	MPUREG_ACCEL_YOUT_L,			/* 0x3e,  62 */
+	MPUREG_ACCEL_ZOUT_H,			/* 0x3f,  63 */
+	MPUREG_ACCEL_ZOUT_L,			/* 0x40,  64 */
+	MPUREG_TEMP_OUT_H,			/* 0x41,  65 */
+	MPUREG_TEMP_OUT_L,			/* 0x42,  66 */
+	MPUREG_GYRO_XOUT_H,			/* 0x43,  67 */
+	MPUREG_GYRO_XOUT_L,			/* 0x44,  68 */
+	MPUREG_GYRO_YOUT_H,			/* 0x45,  69 */
+	MPUREG_GYRO_YOUT_L,			/* 0x46,  70 */
+	MPUREG_GYRO_ZOUT_H,			/* 0x47,  71 */
+	MPUREG_GYRO_ZOUT_L,			/* 0x48,  72 */
+	MPUREG_EXT_SLV_SENS_DATA_00,		/* 0x49,  73 */
+	MPUREG_EXT_SLV_SENS_DATA_01,		/* 0x4a,  74 */
+	MPUREG_EXT_SLV_SENS_DATA_02,		/* 0x4b,  75 */
+	MPUREG_EXT_SLV_SENS_DATA_03,		/* 0x4c,  76 */
+	MPUREG_EXT_SLV_SENS_DATA_04,		/* 0x4d,  77 */
+	MPUREG_EXT_SLV_SENS_DATA_05,		/* 0x4e,  78 */
+	MPUREG_EXT_SLV_SENS_DATA_06,		/* 0x4F,  79 */
+	MPUREG_EXT_SLV_SENS_DATA_07,		/* 0x50,  80 */
+	MPUREG_EXT_SLV_SENS_DATA_08,		/* 0x51,  81 */
+	MPUREG_EXT_SLV_SENS_DATA_09,		/* 0x52,  82 */
+	MPUREG_EXT_SLV_SENS_DATA_10,		/* 0x53,  83 */
+	MPUREG_EXT_SLV_SENS_DATA_11,		/* 0x54,  84 */
+	MPUREG_EXT_SLV_SENS_DATA_12,		/* 0x55,  85 */
+	MPUREG_EXT_SLV_SENS_DATA_13,		/* 0x56,  86 */
+	MPUREG_EXT_SLV_SENS_DATA_14,		/* 0x57,  87 */
+	MPUREG_EXT_SLV_SENS_DATA_15,		/* 0x58,  88 */
+	MPUREG_EXT_SLV_SENS_DATA_16,		/* 0x59,  89 */
+	MPUREG_EXT_SLV_SENS_DATA_17,		/* 0x5a,  90 */
+	MPUREG_EXT_SLV_SENS_DATA_18,		/* 0x5B,  91 */
+	MPUREG_EXT_SLV_SENS_DATA_19,		/* 0x5c,  92 */
+	MPUREG_EXT_SLV_SENS_DATA_20,		/* 0x5d,  93 */
+	MPUREG_EXT_SLV_SENS_DATA_21,		/* 0x5e,  94 */
+	MPUREG_EXT_SLV_SENS_DATA_22,		/* 0x5f,  95 */
+	MPUREG_EXT_SLV_SENS_DATA_23,		/* 0x60,  96 */
+	MPUREG_ACCEL_INTEL_STATUS,		/* 0x61,  97 */
+	MPUREG_62_RSVD,				/* 0x62,  98 */
+	MPUREG_I2C_SLV0_DO,			/* 0x63,  99 */
+	MPUREG_I2C_SLV1_DO,			/* 0x64, 100 */
+	MPUREG_I2C_SLV2_DO,			/* 0x65, 101 */
+	MPUREG_I2C_SLV3_DO,			/* 0x66, 102 */
+	MPUREG_I2C_MST_DELAY_CTRL,		/* 0x67, 103 */
+	MPUREG_SIGNAL_PATH_RESET,		/* 0x68, 104 */
+	MPUREG_ACCEL_INTEL_CTRL,		/* 0x69, 105 */
+	MPUREG_USER_CTRL,			/* 0x6A, 106 */
+	MPUREG_PWR_MGMT_1,			/* 0x6B, 107 */
+	MPUREG_PWR_MGMT_2,			/* 0x6C, 108 */
+	MPUREG_BANK_SEL,			/* 0x6D, 109 */
+	MPUREG_MEM_START_ADDR,			/* 0x6E, 100 */
+	MPUREG_MEM_R_W,				/* 0x6F, 111 */
+	MPUREG_DMP_CFG_1,			/* 0x70, 112 */
+	MPUREG_DMP_CFG_2,			/* 0x71, 113 */
+	MPUREG_FIFO_COUNTH,			/* 0x72, 114 */
+	MPUREG_FIFO_COUNTL,			/* 0x73, 115 */
+	MPUREG_FIFO_R_W,			/* 0x74, 116 */
+	MPUREG_WHOAMI,				/* 0x75, 117 */
+
+	NUM_OF_MPU_REGISTERS			/* = 0x76, 118 */
+};
+
+/*==== MPU6050B1 MEMORY ====*/
+enum MPU_MEMORY_BANKS {
+	MEM_RAM_BANK_0 = 0,
+	MEM_RAM_BANK_1,
+	MEM_RAM_BANK_2,
+	MEM_RAM_BANK_3,
+	MEM_RAM_BANK_4,
+	MEM_RAM_BANK_5,
+	MEM_RAM_BANK_6,
+	MEM_RAM_BANK_7,
+	MEM_RAM_BANK_8,
+	MEM_RAM_BANK_9,
+	MEM_RAM_BANK_10,
+	MEM_RAM_BANK_11,
+	MPU_MEM_NUM_RAM_BANKS,
+	MPU_MEM_OTP_BANK_0 = 16
+};
+
+
+/*==== MPU6050B1 parameters ====*/
+
+#define NUM_REGS		(NUM_OF_MPU_REGISTERS)
+#define START_SENS_REGS		(0x3B)
+#define NUM_SENS_REGS		(0x60 - START_SENS_REGS + 1)
+
+/*---- MPU Memory ----*/
+#define NUM_BANKS		(MPU_MEM_NUM_RAM_BANKS)
+#define BANK_SIZE		(256)
+#define MEM_SIZE		(NUM_BANKS * BANK_SIZE)
+#define MPU_MEM_BANK_SIZE	(BANK_SIZE)	/*alternative name */
+
+#define FIFO_HW_SIZE		(1024)
+
+#define NUM_EXT_SLAVES		(4)
+
+
+/*==== BITS FOR MPU6050B1 ====*/
+/*---- MPU6050B1 'XG_OFFS_TC' register (0, 1, 2) ----*/
+#define BIT_PU_SLEEP_MODE			0x80
+#define BITS_XG_OFFS_TC				0x7E
+#define BIT_OTP_BNK_VLD				0x01
+
+#define BIT_I2C_MST_VDDIO			0x80
+#define BITS_YG_OFFS_TC				0x7E
+#define BITS_ZG_OFFS_TC				0x7E
+/*---- MPU6050B1 'FIFO_EN' register (23) ----*/
+#define	BIT_TEMP_OUT				0x80
+#define	BIT_GYRO_XOUT				0x40
+#define	BIT_GYRO_YOUT				0x20
+#define	BIT_GYRO_ZOUT				0x10
+#define	BIT_ACCEL				0x08
+#define	BIT_SLV_2				0x04
+#define	BIT_SLV_1				0x02
+#define	BIT_SLV_0				0x01
+/*---- MPU6050B1 'CONFIG' register (1A) ----*/
+/*NONE						0xC0 */
+#define	BITS_EXT_SYNC_SET			0x38
+#define	BITS_DLPF_CFG				0x07
+/*---- MPU6050B1 'GYRO_CONFIG' register (1B) ----*/
+/* voluntarily modified label from BITS_FS_SEL to
+ * BITS_GYRO_FS_SEL to avoid confusion with MPU
+ */
+#define BITS_GYRO_FS_SEL			0x18
+/*NONE						0x07 */
+/*---- MPU6050B1 'ACCEL_CONFIG' register (1C) ----*/
+#define BITS_ACCEL_FS_SEL			0x18
+#define BITS_ACCEL_HPF				0x07
+/*---- MPU6050B1 'I2C_MST_CTRL' register (24) ----*/
+#define BIT_MULT_MST_EN				0x80
+#define BIT_WAIT_FOR_ES				0x40
+#define BIT_SLV_3_FIFO_EN			0x20
+#define BIT_I2C_MST_PSR				0x10
+#define BITS_I2C_MST_CLK			0x0F
+/*---- MPU6050B1 'I2C_SLV?_ADDR' register (27,2A,2D,30) ----*/
+#define BIT_I2C_READ				0x80
+#define BIT_I2C_WRITE				0x00
+#define BITS_I2C_ADDR				0x7F
+/*---- MPU6050B1 'I2C_SLV?_CTRL' register (27,2A,2D,30) ----*/
+#define BIT_SLV_ENABLE				0x80
+#define BIT_SLV_BYTE_SW				0x40
+#define BIT_SLV_REG_DIS				0x20
+#define BIT_SLV_GRP				0x10
+#define BITS_SLV_LENG				0x0F
+/*---- MPU6050B1 'I2C_SLV4_ADDR' register (31) ----*/
+#define BIT_I2C_SLV4_RNW			0x80
+/*---- MPU6050B1 'I2C_SLV4_CTRL' register (34) ----*/
+#define BIT_I2C_SLV4_EN				0x80
+#define BIT_SLV4_DONE_INT_EN			0x40
+#define BIT_SLV4_REG_DIS			0x20
+#define MASK_I2C_MST_DLY			0x1F
+/*---- MPU6050B1 'I2C_MST_STATUS' register (36) ----*/
+#define BIT_PASS_THROUGH			0x80
+#define BIT_I2C_SLV4_DONE			0x40
+#define BIT_I2C_LOST_ARB			0x20
+#define BIT_I2C_SLV4_NACK			0x10
+#define BIT_I2C_SLV3_NACK			0x08
+#define BIT_I2C_SLV2_NACK			0x04
+#define BIT_I2C_SLV1_NACK			0x02
+#define BIT_I2C_SLV0_NACK			0x01
+/*---- MPU6050B1 'INT_PIN_CFG' register (37) ----*/
+#define	BIT_ACTL				0x80
+#define BIT_ACTL_LOW				0x80
+#define BIT_ACTL_HIGH				0x00
+#define	BIT_OPEN				0x40
+#define	BIT_LATCH_INT_EN			0x20
+#define	BIT_INT_ANYRD_2CLEAR			0x10
+#define	BIT_ACTL_FSYNC				0x08
+#define	BIT_FSYNC_INT_EN			0x04
+#define	BIT_BYPASS_EN				0x02
+#define	BIT_CLKOUT_EN				0x01
+/*---- MPU6050B1 'INT_ENABLE' register (38) ----*/
+#define	BIT_FF_EN				0x80
+#define	BIT_MOT_EN				0x40
+#define	BIT_ZMOT_EN				0x20
+#define	BIT_FIFO_OVERFLOW_EN			0x10
+#define BIT_I2C_MST_INT_EN			0x08
+#define	BIT_PLL_RDY_EN				0x04
+#define BIT_DMP_INT_EN				0x02
+#define	BIT_RAW_RDY_EN				0x01
+/*---- MPU6050B1 'DMP_INT_STATUS' register (39) ----*/
+/*NONE						0x80 */
+/*NONE						0x40 */
+#define	BIT_DMP_INT_5				0x20
+#define	BIT_DMP_INT_4				0x10
+#define	BIT_DMP_INT_3				0x08
+#define	BIT_DMP_INT_2				0x04
+#define	BIT_DMP_INT_1				0x02
+#define	BIT_DMP_INT_0				0x01
+/*---- MPU6050B1 'INT_STATUS' register (3A) ----*/
+#define	BIT_FF_INT				0x80
+#define	BIT_MOT_INT				0x40
+#define	BIT_ZMOT_INT				0x20
+#define	BIT_FIFO_OVERFLOW_INT			0x10
+#define	BIT_I2C_MST_INT				0x08
+#define	BIT_PLL_RDY_INT				0x04
+#define BIT_DMP_INT				0x02
+#define	BIT_RAW_DATA_RDY_INT			0x01
+/*---- MPU6050B1 'MPUREG_I2C_MST_DELAY_CTRL' register (0x67) ----*/
+#define	BIT_DELAY_ES_SHADOW			0x80
+#define	BIT_SLV4_DLY_EN				0x10
+#define	BIT_SLV3_DLY_EN				0x08
+#define	BIT_SLV2_DLY_EN				0x04
+#define	BIT_SLV1_DLY_EN				0x02
+#define	BIT_SLV0_DLY_EN				0x01
+/*---- MPU6050B1 'BANK_SEL' register (6D) ----*/
+#define	BIT_PRFTCH_EN				0x40
+#define	BIT_CFG_USER_BANK			0x20
+#define	BITS_MEM_SEL				0x1f
+/*---- MPU6050B1 'USER_CTRL' register (6A) ----*/
+#define	BIT_DMP_EN				0x80
+#define	BIT_FIFO_EN				0x40
+#define	BIT_I2C_MST_EN				0x20
+#define	BIT_I2C_IF_DIS				0x10
+#define	BIT_DMP_RST				0x08
+#define	BIT_FIFO_RST				0x04
+#define	BIT_I2C_MST_RST				0x02
+#define	BIT_SIG_COND_RST			0x01
+/*---- MPU6050B1 'PWR_MGMT_1' register (6B) ----*/
+#define	BIT_H_RESET				0x80
+#define	BIT_SLEEP				0x40
+#define	BIT_CYCLE				0x20
+#define BIT_PD_PTAT				0x08
+#define BITS_CLKSEL				0x07
+/*---- MPU6050B1 'PWR_MGMT_2' register (6C) ----*/
+#define	BITS_LPA_WAKE_CTRL			0xC0
+#define	BITS_LPA_WAKE_1HZ			0x00
+#define	BITS_LPA_WAKE_2HZ			0x40
+#define	BITS_LPA_WAKE_10HZ			0x80
+#define	BITS_LPA_WAKE_40HZ			0xC0
+#define	BIT_STBY_XA				0x20
+#define	BIT_STBY_YA				0x10
+#define	BIT_STBY_ZA				0x08
+#define	BIT_STBY_XG				0x04
+#define	BIT_STBY_YG				0x02
+#define	BIT_STBY_ZG				0x01
+
+#define ACCEL_MOT_THR_LSB (32) /* mg */
+#define ACCEL_MOT_DUR_LSB (1)
+#define ACCEL_ZRMOT_THR_LSB_CONVERSION(mg) ((mg * 1000) / 255)
+#define ACCEL_ZRMOT_DUR_LSB (64)
+
+/*----------------------------------------------------------------------------*/
+/*---- Alternative names to take care of conflicts with current mpu3050.h ----*/
+/*----------------------------------------------------------------------------*/
+
+/*-- registers --*/
+#define MPUREG_DLPF_FS_SYNC	MPUREG_CONFIG			/* 0x1A */
+
+#define MPUREG_PWR_MGM		MPUREG_PWR_MGMT_1		/* 0x6B */
+#define MPUREG_FIFO_EN1		MPUREG_FIFO_EN			/* 0x23 */
+#define MPUREG_INT_CFG		MPUREG_INT_ENABLE		/* 0x38 */
+#define MPUREG_X_OFFS_USRH	MPUREG_XG_OFFS_USRH		/* 0x13 */
+#define MPUREG_WHO_AM_I		MPUREG_WHOAMI			/* 0x75 */
+#define MPUREG_23_RSVD		MPUREG_EXT_SLV_SENS_DATA_00	/* 0x49 */
+
+/*-- bits --*/
+/* 'USER_CTRL' register */
+#define BIT_AUX_IF_EN		BIT_I2C_MST_EN
+#define BIT_AUX_RD_LENG		BIT_I2C_MST_EN
+#define BIT_IME_IF_RST		BIT_I2C_MST_RST
+#define BIT_GYRO_RST		BIT_SIG_COND_RST
+/* 'INT_ENABLE' register */
+#define BIT_RAW_RDY		BIT_RAW_DATA_RDY_INT
+#define BIT_MPU_RDY_EN		BIT_PLL_RDY_EN
+/* 'INT_STATUS' register */
+#define BIT_INT_STATUS_FIFO_OVERLOW BIT_FIFO_OVERFLOW_INT
+
+/*---- MPU6050 Silicon Revisions ----*/
+#define MPU_SILICON_REV_A2		1	/* MPU6050A2 Device */
+#define MPU_SILICON_REV_B1		2	/* MPU6050B1 Device */
+
+/*---- MPU6050 notable product revisions ----*/
+#define MPU_PRODUCT_KEY_B1_E1_5		105
+#define MPU_PRODUCT_KEY_B2_F1		431
+
+/*---- structure containing control variables used by MLDL ----*/
+/*---- MPU clock source settings ----*/
+/*---- MPU filter selections ----*/
+enum mpu_filter {
+	MPU_FILTER_256HZ_NOLPF2 = 0,
+	MPU_FILTER_188HZ,
+	MPU_FILTER_98HZ,
+	MPU_FILTER_42HZ,
+	MPU_FILTER_20HZ,
+	MPU_FILTER_10HZ,
+	MPU_FILTER_5HZ,
+	MPU_FILTER_2100HZ_NOLPF,
+	NUM_MPU_FILTER
+};
+
+enum mpu_fullscale {
+	MPU_FS_250DPS = 0,
+	MPU_FS_500DPS,
+	MPU_FS_1000DPS,
+	MPU_FS_2000DPS,
+	NUM_MPU_FS
+};
+
+enum mpu_clock_sel {
+	MPU_CLK_SEL_INTERNAL = 0,
+	MPU_CLK_SEL_PLLGYROX,
+	MPU_CLK_SEL_PLLGYROY,
+	MPU_CLK_SEL_PLLGYROZ,
+	MPU_CLK_SEL_PLLEXT32K,
+	MPU_CLK_SEL_PLLEXT19M,
+	MPU_CLK_SEL_RESERVED,
+	MPU_CLK_SEL_STOP,
+	NUM_CLK_SEL
+};
+
+enum mpu_ext_sync {
+	MPU_EXT_SYNC_NONE = 0,
+	MPU_EXT_SYNC_TEMP,
+	MPU_EXT_SYNC_GYROX,
+	MPU_EXT_SYNC_GYROY,
+	MPU_EXT_SYNC_GYROZ,
+	MPU_EXT_SYNC_ACCELX,
+	MPU_EXT_SYNC_ACCELY,
+	MPU_EXT_SYNC_ACCELZ,
+	NUM_MPU_EXT_SYNC
+};
+
+#define MPUREG_CONFIG_VALUE(ext_sync, lpf) \
+	((ext_sync << 3) | lpf)
+
+#define MPUREG_GYRO_CONFIG_VALUE(x_st, y_st, z_st, full_scale)	\
+	((x_st ? 0x80 : 0) |				\
+	 (y_st ? 0x70 : 0) |				\
+	 (z_st ? 0x60 : 0) |				\
+	 (full_scale << 3))
+
+#endif				/* __MPU6050_H_ */
diff --git a/drivers/misc/inv_mpu/mpuirq.c b/drivers/misc/inv_mpu/mpuirq.c
index dfd87cdabc6e..d8b721e43468 100644
--- a/drivers/misc/inv_mpu/mpuirq.c
+++ b/drivers/misc/inv_mpu/mpuirq.c
@@ -193,7 +193,8 @@ static struct miscdevice mpuirq_device = {
 	.fops = &mpuirq_fops,
 };
 
-int mpuirq_init(struct i2c_client *mpu_client, struct mldl_cfg *mldl_cfg)
+int mpuirq_init(struct i2c_client *mpu_client, struct mldl_cfg *mldl_cfg,
+		unsigned long irq_flags)
 {
 
 	int res;
@@ -211,15 +212,9 @@ int mpuirq_init(struct i2c_client *mpu_client, struct mldl_cfg *mldl_cfg)
 	mpuirq_dev_data.dev = &mpuirq_device;
 
 	if (mpuirq_dev_data.irq) {
-		unsigned long flags;
-		if (BIT_ACTL_LOW == ((mldl_cfg->pdata->int_config) & BIT_ACTL))
-			flags = IRQF_TRIGGER_FALLING;
-		else
-			flags = IRQF_TRIGGER_RISING;
-
-		flags |= IRQF_SHARED;
+		irq_flags |= IRQF_SHARED;
 		res =
-		    request_irq(mpuirq_dev_data.irq, mpuirq_handler, flags,
+		    request_irq(mpuirq_dev_data.irq, mpuirq_handler, irq_flags,
 				interface, &mpuirq_dev_data.irq);
 		if (res) {
 			dev_err(&mpu_client->adapter->dev,
@@ -241,6 +236,7 @@ int mpuirq_init(struct i2c_client *mpu_client, struct mldl_cfg *mldl_cfg)
 
 	return res;
 }
+EXPORT_SYMBOL(mpuirq_init);
 
 void mpuirq_exit(void)
 {
@@ -252,6 +248,7 @@ void mpuirq_exit(void)
 
 	return;
 }
+EXPORT_SYMBOL(mpuirq_exit);
 
 module_param(interface, charp, S_IRUGO | S_IWUSR);
 MODULE_PARM_DESC(interface, "The Interface name");
diff --git a/drivers/misc/inv_mpu/mpuirq.h b/drivers/misc/inv_mpu/mpuirq.h
index 33480711f79d..073867d830c5 100644
--- a/drivers/misc/inv_mpu/mpuirq.h
+++ b/drivers/misc/inv_mpu/mpuirq.h
@@ -31,6 +31,7 @@
 #define MPUIRQ_SET_FREQUENCY_DIVIDER _IOW(MPU_IOCTL, 0x43, unsigned long)
 
 void mpuirq_exit(void);
-int mpuirq_init(struct i2c_client *mpu_client, struct mldl_cfg *mldl_cfg);
+int mpuirq_init(struct i2c_client *mpu_client, struct mldl_cfg *mldl_cfg,
+		unsigned long irq_flags);
 
 #endif
diff --git a/drivers/misc/inv_mpu/slaveirq.c b/drivers/misc/inv_mpu/slaveirq.c
index 95e690ee60cb..22cfa4e458e8 100644
--- a/drivers/misc/inv_mpu/slaveirq.c
+++ b/drivers/misc/inv_mpu/slaveirq.c
@@ -249,6 +249,7 @@ out_request_irq:
 
 	return res;
 }
+EXPORT_SYMBOL(slaveirq_init);
 
 void slaveirq_exit(struct ext_slave_platform_data *pdata)
 {
@@ -264,3 +265,4 @@ void slaveirq_exit(struct ext_slave_platform_data *pdata)
 	kfree(pdata->irq_data);
 	pdata->irq_data = NULL;
 }
+EXPORT_SYMBOL(slaveirq_exit);
diff --git a/include/linux/mpu.h b/include/linux/mpu.h
index fd66ba0db875..1977b38b8c15 100644
--- a/include/linux/mpu.h
+++ b/include/linux/mpu.h
@@ -158,6 +158,7 @@ enum ext_slave_id {
 	ACCEL_ID_MPU6050,
 
 	COMPASS_ID_AK8975,
+	COMPASS_ID_AK8963,
 	COMPASS_ID_AK8972,
 	COMPASS_ID_AMI30X,
 	COMPASS_ID_AMI306,
author	Robert Collins <rcollins@nvidia.com>	2011-12-01 16:18:19 -0800
committer	Simone Willett <swillett@nvidia.com>	2012-02-14 09:46:41 -0800
commit	2f3c7d00ed29fdb6ef107c4b304c1464153114d6 (patch)
tree	2941e994734aabddee03925477834c4cf2ea4af0
parent	8f4d3050455e55864262a5d5a1e249eadca79dd0 (diff)