Port Invensense MPU3050 drivers into tegra-2.6.36

Change-Id: Iceb3ef8b11d4ce18fd3cb0947268744775b81758
Reviewed-on: http://git-master/r/17525
Reviewed-by: Daniel Willemsen <dwillemsen@nvidia.com>
Reviewed-by: Varun Colbert <vcolbert@nvidia.com>
Tested-by: Varun Colbert <vcolbert@nvidia.com>

3 files changed, 853 insertions, 381 deletions

diff --git a/include/linux/mpu.h b/include/linux/mpu.h
new file mode 100644
index 000000000000..f3ae55b42086
--- /dev/null
+++ b/include/linux/mpu.h
@@ -0,0 +1,425 @@
+/*
+ $License:
+    Copyright (C) 2010 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/>.
+  $
+ */
+
+#ifndef __MPU_H_
+#define __MPU_H_
+
+#ifdef __KERNEL__
+#include <linux/types.h>
+#endif
+
+#ifdef M_HW
+#include "mpu6000.h"
+#else
+#include "mpu3050.h"
+#endif
+
+/* Number of axes on each sensor */
+#define GYRO_NUM_AXES    (3)
+#define ACCEL_NUM_AXES   (3)
+#define COMPASS_NUM_AXES (3)
+
+/* IOCTL commands for /dev/mpu */
+#define MPU_SET_MPU_CONFIG          (0x00)
+#define MPU_SET_INT_CONFIG          (0x01)
+#define MPU_SET_EXT_SYNC            (0x02)
+#define MPU_SET_FULL_SCALE          (0x03)
+#define MPU_SET_LPF                 (0x04)
+#define MPU_SET_CLK_SRC             (0x05)
+#define MPU_SET_DIVIDER             (0x06)
+#define MPU_SET_LEVEL_SHIFTER       (0x07)
+#define MPU_SET_DMP_ENABLE          (0x08)
+#define MPU_SET_FIFO_ENABLE         (0x09)
+#define MPU_SET_DMP_CFG1            (0x0a)
+#define MPU_SET_DMP_CFG2            (0x0b)
+#define MPU_SET_OFFSET_TC           (0x0c)
+#define MPU_SET_RAM                 (0x0d)
+
+#define MPU_SET_PLATFORM_DATA       (0x0e)
+
+#define MPU_GET_MPU_CONFIG          (0x80)
+#define MPU_GET_INT_CONFIG          (0x81)
+#define MPU_GET_EXT_SYNC            (0x82)
+#define MPU_GET_FULL_SCALE          (0x83)
+#define MPU_GET_LPF                 (0x84)
+#define MPU_GET_CLK_SRC             (0x85)
+#define MPU_GET_DIVIDER             (0x86)
+#define MPU_GET_LEVEL_SHIFTER       (0x87)
+#define MPU_GET_DMP_ENABLE          (0x88)
+#define MPU_GET_FIFO_ENABLE         (0x89)
+#define MPU_GET_DMP_CFG1            (0x8a)
+#define MPU_GET_DMP_CFG2            (0x8b)
+#define MPU_GET_OFFSET_TC           (0x8c)
+#define MPU_GET_RAM                 (0x8d)
+
+#define MPU_READ_REGISTER           (0x40)
+#define MPU_WRITE_REGISTER          (0x41)
+#define MPU_READ_MEMORY             (0x42)
+#define MPU_WRITE_MEMORY            (0x43)
+
+#define MPU_SUSPEND                 (0x44)
+#define MPU_RESUME                  (0x45)
+#define MPU_READ_COMPASS            (0x46)
+#define MPU_READ_ACCEL              (0x47)
+#define MPU_READ_PRESSURE           (0x48)
+
+#define MPU_CONFIG_ACCEL            (0x20)
+#define MPU_CONFIG_COMPASS          (0x21)
+#define MPU_CONFIG_PRESSURE         (0x22)
+
+/* Structure for the following IOCTL's:
+   MPU_SET_RAM
+   MPU_GET_RAM
+   MPU_READ_REGISTER
+   MPU_WRITE_REGISTER
+   MPU_READ_MEMORY
+   MPU_WRITE_MEMORY
+*/
+struct mpu_read_write {
+	unsigned short address;
+	unsigned short length;
+	unsigned char *data;
+};
+
+/* Structure for the following IOCTL's
+   MPU_SUSPEND
+   MPU_RESUME
+*/
+struct mpu_suspend_resume {
+	int gyro;
+	int accel;
+	int compass;
+	int pressure;
+};
+
+struct irq_data {
+	int interruptcount;
+	unsigned long long irqtime;
+	int data_type;
+	int data_size;
+	void *data;
+};
+enum ext_slave_config_key {
+    MPU_SLAVE_CONFIG_ODR_SUSPEND,
+    MPU_SLAVE_CONFIG_ODR_RESUME,
+    MPU_SLAVE_CONFIG_FSR_SUSPEND,
+    MPU_SLAVE_CONFIG_FSR_RESUME,
+    MPU_SLAVE_CONFIG_MOT_THS,
+    MPU_SLAVE_CONFIG_NMOT_THS,
+    MPU_SLAVE_CONFIG_MOT_DUR,
+    MPU_SLAVE_CONFIG_NMOT_DUR,
+    MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS,
+};
+/* Structure for the following IOCTS's
+ * MPU_CONFIG_ACCEL
+ * MPU_CONFIG_COMPASS
+ * MPU_CONFIG_PRESSURE
+ */
+struct ext_slave_config {
+	int key;
+	int len;
+	void *data;
+};
+
+enum ext_slave_type {
+	EXT_SLAVE_TYPE_GYROSCOPE,
+	EXT_SLAVE_TYPE_ACCELEROMETER,
+	EXT_SLAVE_TYPE_COMPASS,
+	EXT_SLAVE_TYPE_PRESSURE,
+	/*EXT_SLAVE_TYPE_TEMPERATURE */
+};
+
+enum ext_slave_id {
+	ID_INVALID = 0,
+
+	ACCEL_ID_LIS331,
+	ACCEL_ID_LSM303,
+	ACCEL_ID_KXSD9,
+	ACCEL_ID_KXTF9,
+	ACCEL_ID_BMA150,
+	ACCEL_ID_BMA222,
+	ACCEL_ID_ADI346,
+	ACCEL_ID_MMA8450,
+	ACCEL_ID_MMA8451,
+	ACCEL_ID_MPU6000,
+
+	COMPASS_ID_AKM,
+	COMPASS_ID_AMI30X,
+	COMPASS_ID_YAS529,
+	COMPASS_ID_HMC5883,
+	COMPASS_ID_LSM303,
+	COMPASS_ID_MMC314X,
+	COMPASS_ID_HSCDTD002B,
+
+	PRESSURE_ID_BMA085,
+};
+
+enum ext_slave_endian {
+	EXT_SLAVE_BIG_ENDIAN,
+	EXT_SLAVE_LITTLE_ENDIAN,
+	EXT_SLAVE_FS8_BIG_ENDIAN,
+	EXT_SLAVE_FS16_BIG_ENDIAN,
+};
+
+enum ext_slave_bus {
+	EXT_SLAVE_BUS_INVALID = -1,
+	EXT_SLAVE_BUS_PRIMARY = 0,
+	EXT_SLAVE_BUS_SECONDARY = 1
+};
+
+
+/**
+ *  struct ext_slave_platform_data - Platform data for mpu3050 slave devices
+ *
+ *  @get_slave_descr: Function pointer to retrieve the struct ext_slave_descr
+ *                    for this slave
+ *  @irq: the irq number attached to the slave if any.
+ *  @adapt_num: the I2C adapter number.
+ *  @bus: the bus the slave is attached to: enum ext_slave_bus
+ *  @address: the I2C slave address of the slave device.
+ *  @orientation: the mounting matrix of the device relative to MPU.
+ *  @irq_data: private data for the slave irq handler
+ *  @private_data: additional data, user customizable.  Not touched by the MPU
+ *                 driver.
+ *
+ * The orientation matricies are 3x3 rotation matricies
+ * that are applied to the data to rotate from the mounting orientation to the
+ * platform orientation.  The values must be one of 0, 1, or -1 and each row and
+ * column should have exactly 1 non-zero value.
+ */
+struct ext_slave_platform_data {
+	struct ext_slave_descr *(*get_slave_descr) (void);
+	int irq;
+	int adapt_num;
+	int bus;
+	unsigned char address;
+	signed char orientation[9];
+	void *irq_data;
+	void *private_data;
+};
+
+
+struct tFixPntRange {
+	long mantissa;
+	long fraction;
+};
+
+/**
+ *  struct ext_slave_descr - Description of the slave device for programming.
+ *
+ *  @suspend:	function pointer to put the device in suspended state
+ *  @resume:	function pointer to put the device in running state
+ *  @read:	function that reads the device data
+ *  @init:	function used to preallocate memory used by the driver
+ *  @exit:	function used to free memory allocated for the driver
+ *  @config:	function used to configure the device
+ *
+ *  @name:	text name of the device
+ *  @type:	device type. enum ext_slave_type
+ *  @id:	enum ext_slave_id
+ *  @reg:	starting register address to retrieve data.
+ *  @len:	length in bytes of the sensor data.  Should be 6.
+ *  @endian:	byte order of the data. enum ext_slave_endian
+ *  @range:	full scale range of the slave ouput: struct tFixPntRange
+ *
+ *  Defines the functions and information about the slave the mpu3050 needs to
+ *  use the slave device.
+ */
+struct ext_slave_descr {
+	int (*init) (void *mlsl_handle,
+		     struct ext_slave_descr *slave,
+		     struct ext_slave_platform_data *pdata);
+	int (*exit) (void *mlsl_handle,
+		     struct ext_slave_descr *slave,
+		     struct ext_slave_platform_data *pdata);
+	int (*suspend) (void *mlsl_handle,
+			struct ext_slave_descr *slave,
+			struct ext_slave_platform_data *pdata);
+	int (*resume) (void *mlsl_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata);
+	int (*read) (void *mlsl_handle,
+		     struct ext_slave_descr *slave,
+		     struct ext_slave_platform_data *pdata,
+		     unsigned char *data);
+	int (*config) (void *mlsl_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata,
+		       struct ext_slave_config *config);
+
+	char *name;
+	unsigned char type;
+	unsigned char id;
+	unsigned char reg;
+	unsigned int len;
+	unsigned char endian;
+	struct tFixPntRange range;
+};
+
+/**
+ * struct mpu3050_platform_data - Platform data for the mpu3050 driver
+ * @int_config:		Bits [7:3] of the int config register.
+ * @orientation:	Orientation matrix of the gyroscope
+ * @level_shifter:	0: VLogic, 1: VDD
+ * @accel:		Accel platform data
+ * @compass:		Compass platform data
+ * @pressure:		Pressure platform data
+ *
+ * Contains platform specific information on how to configure the MPU3050 to
+ * work on this platform.  The orientation matricies are 3x3 rotation matricies
+ * that are applied to the data to rotate from the mounting orientation to the
+ * platform orientation.  The values must be one of 0, 1, or -1 and each row and
+ * column should have exactly 1 non-zero value.
+ */
+struct mpu3050_platform_data {
+	unsigned char int_config;
+	signed char orientation[MPU_NUM_AXES * MPU_NUM_AXES];
+	unsigned char level_shifter;
+	struct ext_slave_platform_data accel;
+	struct ext_slave_platform_data compass;
+	struct ext_slave_platform_data pressure;
+};
+
+
+/*
+    Accelerometer
+*/
+#define get_accel_slave_descr NULL
+
+#ifdef CONFIG_SENSORS_ADXL346	/* ADI accelerometer */
+struct ext_slave_descr *adxl346_get_slave_descr(void);
+#undef get_accel_slave_descr
+#define get_accel_slave_descr adxl346_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_BMA150	/* Bosch accelerometer */
+struct ext_slave_descr *bma150_get_slave_descr(void);
+#undef get_accel_slave_descr
+#define get_accel_slave_descr bma150_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_BMA222	/* Bosch 222 accelerometer */
+struct ext_slave_descr *bma222_get_slave_descr(void);
+#undef get_accel_slave_descr
+#define get_accel_slave_descr bma222_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_KXSD9	/* Kionix accelerometer */
+struct ext_slave_descr *kxsd9_get_slave_descr(void);
+#undef get_accel_slave_descr
+#define get_accel_slave_descr kxsd9_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_KXTF9	/* Kionix accelerometer */
+struct ext_slave_descr *kxtf9_get_slave_descr(void);
+#undef get_accel_slave_descr
+#define get_accel_slave_descr kxtf9_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_LIS331DLH	/* ST accelerometer */
+struct ext_slave_descr *lis331dlh_get_slave_descr(void);
+#undef get_accel_slave_descr
+#define get_accel_slave_descr lis331dlh_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_LSM303DLHA	/* ST accelerometer */
+struct ext_slave_descr *lsm303dlha_get_slave_descr(void);
+#undef get_accel_slave_descr
+#define get_accel_slave_descr lsm303dlha_get_slave_descr
+#endif
+
+/* MPU6000 Accel */
+#if defined(CONFIG_SENSORS_MPU6000) || defined(CONFIG_SENSORS_MPU6000_MODULE)
+struct ext_slave_descr *mantis_get_slave_descr(void);
+#undef get_accel_slave_descr
+#define get_accel_slave_descr mantis_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_MMA8450	/* Freescale accelerometer */
+struct ext_slave_descr *mma8450_get_slave_descr(void);
+#undef get_accel_slave_descr
+#define get_accel_slave_descr mma8450_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_MMA8451	/* Freescale accelerometer */
+struct ext_slave_descr *mma8451_get_slave_descr(void);
+#undef get_accel_slave_descr
+#define get_accel_slave_descr mma8451_get_slave_descr
+#endif
+
+
+/*
+    Compass
+*/
+#define get_compass_slave_descr NULL
+
+#ifdef CONFIG_SENSORS_AK8975	/* AKM compass */
+struct ext_slave_descr *ak8975_get_slave_descr(void);
+#undef get_compass_slave_descr
+#define get_compass_slave_descr ak8975_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_AMI30X	/* AICHI Steel compass */
+struct ext_slave_descr *ami30x_get_slave_descr(void);
+#undef get_compass_slave_descr
+#define get_compass_slave_descr ami30x_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_HMC5883	/* Honeywell compass */
+struct ext_slave_descr *hmc5883_get_slave_descr(void);
+#undef get_compass_slave_descr
+#define get_compass_slave_descr hmc5883_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_MMC314X	/* MEMSIC compass */
+struct ext_slave_descr *mmc314x_get_slave_descr(void);
+#undef get_compass_slave_descr
+#define get_compass_slave_descr mmc314x_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_LSM303DLHM	/* ST compass */
+struct ext_slave_descr *lsm303dlhm_get_slave_descr(void);
+#undef get_compass_slave_descr
+#define get_compass_slave_descr lsm303dlhm_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_YAS529	/* Yamaha compass */
+struct ext_slave_descr *yas529_get_slave_descr(void);
+#undef get_compass_slave_descr
+#define get_compass_slave_descr yas529_get_slave_descr
+#endif
+
+#ifdef CONFIG_SENSORS_HSCDTD002B	/* Alps compass */
+struct ext_slave_descr *hscdtd002b_get_slave_descr(void);
+#undef get_compass_slave_descr
+#define get_compass_slave_descr hscdtd002b_get_slave_descr
+#endif
+
+/*
+    Pressure
+*/
+#define get_pressure_slave_descr NULL
+
+#ifdef CONFIG_SENSORS_BMA085	/* BMA pressure */
+struct ext_slave_descr *bma085_get_slave_descr(void);
+#undef get_pressure_slave_descr
+#define get_pressure_slave_descr bma085_get_slave_descr
+#endif
+
+#endif				/* __MPU_H_ */
diff --git a/include/linux/mpu3050.h b/include/linux/mpu3050.h
index 9c8ddc2ad0af..a8dcd5a9473f 100755..100644
--- a/include/linux/mpu3050.h
+++ b/include/linux/mpu3050.h
@@ -1,35 +1,21 @@
 /*
-	$License:
-	Copyright (C) 2010 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/>.
-	$
+ $License:
+    Copyright (C) 2010 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/>.
+  $
  */
-/******************************************************************************
- *
- *  $Id: mpu3050.h 3868 2010-10-09 01:22:37Z dsrivastava $
- *
- ******************************************************************************/
-
-/**
- * @defgroup
- * @brief
- *
- * @{
- *      @file     mpu3050.h
- *      @brief
-**/
 
 #ifndef __MPU3050_H_
 #define __MPU3050_H_
@@ -38,8 +24,11 @@
 #include <linux/types.h>
 #endif
 
-typedef void *mlsl_handle_t;
+#ifdef M_HW
+#error MPU6000 build including MPU3050 header
+#endif
 
+#define MPU_NAME "mpu3050"
 #define DEFAULT_MPU_SLAVEADDR       0x68
 
 /*==== MPU REGISTER SET ====*/
@@ -68,7 +57,7 @@ enum mpu_register {
 	MPUREG_SMPLRT_DIV,	/* 21 0x15 */
 	MPUREG_DLPF_FS_SYNC,	/* 22 0x16 */
 	MPUREG_INT_CFG,		/* 23 0x17 */
-	MPUREG_ACCEL_BURST_ADDR,	/* 24 0x18 */
+	MPUREG_ACCEL_BURST_ADDR,/* 24 0x18 */
 	MPUREG_19_RSVD,		/* 25 0x19 */
 	MPUREG_INT_STATUS,	/* 26 0x1a */
 	MPUREG_TEMP_OUT_H,	/* 27 0x1b */
@@ -165,7 +154,7 @@ enum mpu_register {
 #define BIT_DMP_INT_EN              0x02
 #define BIT_RAW_RDY_EN              0x01
 /*---- MPU 'INT_STATUS' register (1A) ----*/
-#define BIT_INT_STATUS_FIFO_OVERLOW (0x80)
+#define BIT_INT_STATUS_FIFO_OVERLOW 0x80
 #define BIT_MPU_RDY                 0x04
 #define BIT_DMP_INT                 0x02
 #define BIT_RAW_RDY                 0x01
@@ -197,10 +186,10 @@ enum mpu_register {
 #define MPU_SILICON_REV_B6           4	/* MPU B6 Device */
 
 /*---- MPU Memory ----*/
-#define MPU_MEM_BANK_SIZE 256
-#define FIFO_HW_SIZE                (512)	/* FIFO hw is 512 bytes */
+#define MPU_MEM_BANK_SIZE           (256)
+#define FIFO_HW_SIZE                (512)
 
-typedef enum {
+enum MPU_MEMORY_BANKS {
 	MPU_MEM_RAM_BANK_0 = 0,
 	MPU_MEM_RAM_BANK_1,
 	MPU_MEM_RAM_BANK_2,
@@ -209,7 +198,7 @@ typedef enum {
 	MPU_MEM_OTP_BANK_0 = MPU_MEM_NUM_RAM_BANKS,
 	/* This one is always last */
 	MPU_MEM_NUM_BANKS
-} tMPUMemoryBanks, MPU_MEMORY_BANKS;
+};
 
 #define MPU_NUM_AXES (3)
 
@@ -261,349 +250,6 @@ enum mpu_ext_sync {
 };
 
 #define DLPF_FS_SYNC_VALUE(ext_sync, full_scale, lpf) \
-	((ext_sync << 5) | (full_scale << 3) | lpf)
-
-/* IOCTL commands for /dev/mpu */
-#define MPU_SET_MPU_CONFIG          (0x00)
-#define MPU_SET_INT_CONFIG          (0x01)
-#define MPU_SET_EXT_SYNC            (0x02)
-#define MPU_SET_FULL_SCALE          (0x03)
-#define MPU_SET_LPF                 (0x04)
-#define MPU_SET_CLK_SRC             (0x05)
-#define MPU_SET_DIVIDER             (0x06)
-#define MPU_SET_LEVEL_SHIFTER       (0x07)
-#define MPU_SET_DMP_ENABLE          (0x08)
-#define MPU_SET_FIFO_ENABLE         (0x09)
-#define MPU_SET_DMP_CFG1            (0x0a)
-#define MPU_SET_DMP_CFG2            (0x0b)
-#define MPU_SET_OFFSET_TC           (0x0c)
-#define MPU_SET_RAM                 (0x0d)
-
-#define MPU_SET_PLATFORM_DATA       (0x0e)
-
-#define MPU_GET_MPU_CONFIG          (0x80)
-#define MPU_GET_INT_CONFIG          (0x81)
-#define MPU_GET_EXT_SYNC            (0x82)
-#define MPU_GET_FULL_SCALE          (0x83)
-#define MPU_GET_LPF                 (0x84)
-#define MPU_GET_CLK_SRC             (0x85)
-#define MPU_GET_DIVIDER             (0x86)
-#define MPU_GET_LEVEL_SHIFTER       (0x87)
-#define MPU_GET_DMP_ENABLE          (0x88)
-#define MPU_GET_FIFO_ENABLE         (0x89)
-#define MPU_GET_DMP_CFG1            (0x8a)
-#define MPU_GET_DMP_CFG2            (0x8b)
-#define MPU_GET_OFFSET_TC           (0x8c)
-#define MPU_GET_RAM                 (0x8d)
-
-#define MPU_READ_REGISTER           (0x40)
-#define MPU_WRITE_REGISTER          (0x41)
-#define MPU_READ_MEMORY             (0x42)
-#define MPU_WRITE_MEMORY            (0x43)
-
-#define MPU_SUSPEND                 (0x44)
-#define MPU_RESUME                  (0x45)
-#define MPU_READ_COMPASS            (0x46)
-#define MPU_READ_ACCEL              (0x47)
-
-/* Structure for the following IOCTL's:
-	MPU_SET_RAM
-	MPU_GET_RAM
-	MPU_READ_REGISTER
-	MPU_WRITE_REGISTER
-	MPU_READ_MEMORY
-	MPU_WRITE_MEMORY
-*/
-struct mpu_read_write {
-	unsigned short address;
-	unsigned short length;
-	unsigned char *data;
-};
-
-/* Structure for the following IOCTL's
-	MPU_SUSPEND
-	MPU_RESUME
-*/
-struct mpu_suspend_resume {
-	int gyro;
-	int accel;
-	int compass;
-};
-
-enum ext_slave_type {
-	EXT_SLAVE_TYPE_GYROSCOPE,
-	EXT_SLAVE_TYPE_ACCELEROMETER,
-	EXT_SLAVE_TYPE_COMPASS,
-	/* EXT_SLAVE_TYPE_PRESSURE, */
-	/* EXT_SLAVE_TYPE_TEMPERATURE */
-};
-
-enum ext_slave_id {
-	ID_INVALID = 0,
-
-	ACCEL_ID_LIS331,
-	ACCEL_ID_LSM303,
-	ACCEL_ID_KXSD9,
-	ACCEL_ID_KXTF9,
-	ACCEL_ID_BMA150,
-	ACCEL_ID_BMA222,
-	ACCEL_ID_ADI346,
-	ACCEL_ID_MMA8450,
-	ACCEL_ID_MMA8451,
-
-	COMPASS_ID_AKM,
-	COMPASS_ID_AICHI,
-	COMPASS_ID_YAS529,
-	COMPASS_ID_HMC5883,
-	COMPASS_ID_LSM303,
-	COMPASS_ID_MMC314X,
-};
-
-enum ext_slave_endian {
-	EXT_SLAVE_BIG_ENDIAN,
-	EXT_SLAVE_LITTLE_ENDIAN,
-	EXT_SLAVE_FS8_BIG_ENDIAN,
-	EXT_SLAVE_FS16_BIG_ENDIAN,
-};
-
-enum ext_slave_bus {
-	EXT_SLAVE_BUS_PRIMARY,
-	EXT_SLAVE_BUS_SECONDARY,
-};
-
-/**
- *  struct ext_slave_platform_data - Platform data for mpu3050 slave devices
- *
- *  @get_slave_descr: Function pointer to retrieve the struct ext_slave_descr
- *			for this slave
- *  @adapt_num: the I2C adapter number.
- *  @bus: the bus the slave is attached to: enum ext_slave_bus
- *  @address: the I2C slave address of the slave device.
- *  @orientation: the mounting matrix of the device relative to MPU.
- *  @private_data: additional data, user customizable.  Not touched by the MPU
- *	driver.
- *
- * The orientation matricies are 3x3 rotation matricies
- * that are applied to the data to rotate from the mounting orientation to the
- * platform orientation.  The values must be one of 0, 1, or -1 and each row and
- * column should have exactly 1 non-zero value.
- *
- * @code
- *  struct ext_slave_platform_data {
- *      struct ext_slave_descr* (*get_slave_descr) (void);
- *      int                     adapt_num;
- *      int                     bus;
- *      unsigned char           address;
- *      signed char             orientation[9];
- *      void                   *private_data;
- *  };
- * @endcode
- */
-struct ext_slave_platform_data {
-	struct ext_slave_descr *(*get_slave_descr) (void);
-	int adapt_num;
-	int bus;
-	unsigned char address;
-	signed char orientation[9];
-	void *private_data;
-};
-
-struct tFixPntRange {
-	long mantissa;
-	long fraction;
-};
-
-/**
- *  struct ext_slave_descr - Description of the slave device for programming
- *
- *  @suspend: function pointer to put the device in suspended state
- *  @resume:  function pointer to put the device in running state
- *  @read:    function that reads the device data
- *
- *  @name:	text name of the device
- *  @type:	device type. enum ext_slave_type
- *  @id:	enum ext_slave_id
- *  @reg:	starting register address to retrieve data.
- *  @len:	length in bytes of the sensor data.  Should be 6.
- *  @endian:	byte order of the data. enum ext_slave_endian
- *  @range:	full scale range of the slave ouput: struct tFixPntRange
- *
- *  Defines the functions and information about the slave the mpu3050 needs to
- *  use the slave device.
- *
- *  @code
- *      struct ext_slave_descr {
- *          int (*suspend)  (mlsl_handle_t mlsl_handle,
- *                           struct ext_slave_descr *slave,
- *                           struct ext_slave_platform_data *pdata);
- *          int (*resume)   (mlsl_handle_t mlsl_handle,
- *                           struct ext_slave_descr *slave,
- *                           struct ext_slave_platform_data *pdata);
- *          int (*read)     (mlsl_handle_t mlsl_handle,
- *                           struct ext_slave_descr *slave,
- *                           struct ext_slave_platform_data *pdata,
- *                           unsigned char * data);
- *
- *          unsigned char         type;
- *          unsigned char         id;
- *          unsigned char         reg;
- *          unsigned int          len;
- *          unsigned char         endian;
- *          struct tFixPntRange   range;
- *      };
- *  @endcode
- */
-struct ext_slave_descr {
-	int (*suspend) (mlsl_handle_t mlsl_handle,
-			struct ext_slave_descr *slave,
-			struct ext_slave_platform_data *pdata);
-	int (*resume) (mlsl_handle_t mlsl_handle,
-		       struct ext_slave_descr *slave,
-		       struct ext_slave_platform_data *pdata);
-	int (*read) (mlsl_handle_t mlsl_handle,
-		     struct ext_slave_descr *slave,
-		     struct ext_slave_platform_data *pdata,
-		     unsigned char *data);
-
-	char *name;
-	unsigned char type;
-	unsigned char id;
-	unsigned char reg;
-	unsigned int len;
-	unsigned char endian;
-	struct tFixPntRange range;
-};
-
-/**
- * struct mpu3050_platform_data - Platform data for the mpu3050 driver
- * @int_config:		Bits [7:3] of the int config register.
- * @orientation:	Orientation matrix of the gyroscope
- * @level_shifter:	0: VLogic 1: VDD
- * @accel:		Accel platform data
- * @compass:	Compass platform data
- *
- * Contains platform specific information on how to configure the MPU3050 to
- * work on this platform.  The orientation matricies are 3x3 rotation matricies
- * that are applied to the data to rotate from the mounting orientation to the
- * platform orientation.  The values must be one of 0, 1, or -1 and each row and
- * column should have exactly 1 non-zero value.
- *
- * @code
- *      struct mpu3050_platform_data {
- *          unsigned char                  int_config;
- *          signed char			   orientation[MPU_NUM_AXES*MPU_NUM_AXES];
- *          unsigned char                  level_shifter;
- *          struct ext_slave_platform_data accel;
- *          struct ext_slave_platform_data compass;
- *      };
- * @endcode
- */
-struct mpu3050_platform_data {
-	unsigned char int_config;
-	signed char orientation[MPU_NUM_AXES * MPU_NUM_AXES];
-	unsigned char level_shifter;
-	struct ext_slave_platform_data accel;
-	struct ext_slave_platform_data compass;
-};
-
-/*
-	Accelerometer
-*/
-#define get_accel_slave_descr NULL
-
-#ifdef CONFIG_SENSORS_ADXL346	/* ADI accelerometer */
-struct ext_slave_descr *adxl346_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr adxl346_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_BMA150	/* Bosch accelerometer */
-struct ext_slave_descr *bma150_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr bma150_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_BMA222	/* Bosch 222 accelerometer */
-struct ext_slave_descr *bma222_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr bma222_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_KXSD9	/* Kionix accelerometer */
-struct ext_slave_descr *kxsd9_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr kxsd9_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_KXTF9_MPU	/* Kionix accelerometer */
-struct ext_slave_descr *kxtf9_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr kxtf9_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_LIS331DLH	/* ST accelerometer */
-struct ext_slave_descr *lis331dlh_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr lis331dlh_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_LSM303DLHA	/* ST accelerometer */
-struct ext_slave_descr *lsm303dlha_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr lsm303dlha_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_MMA8450	/* Freescale accelerometer */
-struct ext_slave_descr *mma8450_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr mma8450_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_MMA8451	/* Freescale accelerometer */
-struct ext_slave_descr *mma8451_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr mma8451_get_slave_descr
-#endif
-
-/*
-	Compass
-*/
-#define get_compass_slave_descr NULL
-
-#ifdef CONFIG_SENSORS_AK8975_MPU	/* AKM compass */
-struct ext_slave_descr *ak8975_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr ak8975_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_AMI304	/* AICHI Steel compass */
-struct ext_slave_descr *ami304_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr ami304_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_HMC5883	/* Honeywell compass */
-struct ext_slave_descr *hmc5883_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr hmc5883_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_MMC314X	/* MEMSIC compass */
-struct ext_slave_descr *mmc314x_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr mmc314x_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_LSM303DLHM	/* ST compass */
-struct ext_slave_descr *lsm303dlhm_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr lsm303dlhm_get_slave_descr
-#endif
-
-#ifdef CONFIG_SENSORS_YAS529	/* Yamaha compass */
-struct ext_slave_descr *yas529_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr yas529_get_slave_descr
-#endif
+    ((ext_sync << 5) | (full_scale << 3) | lpf)
 
 #endif				/* __MPU3050_H_ */
diff --git a/include/linux/mpu6000.h b/include/linux/mpu6000.h
new file mode 100644
index 000000000000..89c4cbb90b69
--- /dev/null
+++ b/include/linux/mpu6000.h
@@ -0,0 +1,401 @@
+/*
+ $License:
+    Copyright (C) 2010 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     mpu6000.h
+ *      @brief
+ */
+
+#ifndef __MPU6000_H_
+#define __MPU6000_H_
+
+#define MPU_NAME "mpu6000"
+#define DEFAULT_MPU_SLAVEADDR       0x68
+
+/*==== M_HW REGISTER SET ====*/
+enum {
+	MPUREG_XG_OFFS_TC = 0,
+	MPUREG_YG_OFFS_TC,
+	MPUREG_ZG_OFFS_TC,
+	MPUREG_X_FINE_GAIN,
+	MPUREG_Y_FINE_GAIN,
+	MPUREG_Z_FINE_GAIN,
+	MPUREG_XA_OFFS_H,
+	MPUREG_XA_OFFS_L_TC,
+	MPUREG_YA_OFFS_H,
+	MPUREG_YA_OFFS_L_TC,
+	MPUREG_ZA_OFFS_H,
+	MPUREG_ZA_OFFS_L_TC,	/* 0xB */
+	MPUREG_0C_RSVD,
+	MPUREG_0D_RSVD,
+	MPUREG_0E_RSVD,
+	MPUREG_0F_RSVD,
+	MPUREG_10_RSVD,
+	MPUREG_11_RSVD,
+	MPUREG_12_RSVD,
+	MPUREG_XG_OFFS_USRH,
+	MPUREG_XG_OFFS_USRL,
+	MPUREG_YG_OFFS_USRH,
+	MPUREG_YG_OFFS_USRL,
+	MPUREG_ZG_OFFS_USRH,
+	MPUREG_ZG_OFFS_USRL,
+	MPUREG_SMPLRT_DIV,	/* 0x19 */
+	MPUREG_CONFIG,		/* 0x1A ==> DLPF_FS_SYNC */
+	MPUREG_GYRO_CONFIG,
+	MPUREG_ACCEL_CONFIG,
+	MPUREG_ACCEL_FF_THR,
+	MPUREG_ACCEL_FF_DUR,
+	MPUREG_ACCEL_MOT_THR,
+	MPUREG_ACCEL_MOT_DUR,
+	MPUREG_ACCEL_ZRMOT_THR,
+	MPUREG_ACCEL_ZRMOT_DUR,
+	MPUREG_FIFO_EN,		/* 0x23 */
+	MPUREG_I2C_MST_CTRL,
+	MPUREG_I2C_SLV0_ADDR,	/* 0x25 */
+	MPUREG_I2C_SLV0_REG,
+	MPUREG_I2C_SLV0_CTRL,
+	MPUREG_I2C_SLV1_ADDR,	/* 0x28 */
+	MPUREG_I2C_SLV1_REG_PASSWORD,
+	MPUREG_I2C_SLV1_CTRL,
+	MPUREG_I2C_SLV2_ADDR,	/* 0x2B */
+	MPUREG_I2C_SLV2_REG,
+	MPUREG_I2C_SLV2_CTRL,
+	MPUREG_I2C_SLV3_ADDR,	/* 0x2E */
+	MPUREG_I2C_SLV3_REG,
+	MPUREG_I2C_SLV3_CTRL,
+	MPUREG_I2C_SLV4_ADDR,	/* 0x31 */
+	MPUREG_I2C_SLV4_REG,
+	MPUREG_I2C_SLV4_DO,
+	MPUREG_I2C_SLV4_CTRL,
+	MPUREG_I2C_SLV4_DI,
+	MPUREG_I2C_MST_STATUS,	/* 0x36 */
+	MPUREG_INT_PIN_CFG,	/* 0x37 ==> -* INT_CFG */
+	MPUREG_INT_ENABLE,	/* 0x38 ==> / */
+	MPUREG_DMP_INT_STATUS,	/* 0x39 */
+	MPUREG_INT_STATUS,	/* 0x3A */
+	MPUREG_ACCEL_XOUT_H,	/* 0x3B */
+	MPUREG_ACCEL_XOUT_L,
+	MPUREG_ACCEL_YOUT_H,
+	MPUREG_ACCEL_YOUT_L,
+	MPUREG_ACCEL_ZOUT_H,
+	MPUREG_ACCEL_ZOUT_L,
+	MPUREG_TEMP_OUT_H,	/* 0x41 */
+	MPUREG_TEMP_OUT_L,
+	MPUREG_GYRO_XOUT_H,	/* 0x43 */
+	MPUREG_GYRO_XOUT_L,
+	MPUREG_GYRO_YOUT_H,
+	MPUREG_GYRO_YOUT_L,
+	MPUREG_GYRO_ZOUT_H,
+	MPUREG_GYRO_ZOUT_L,
+	MPUREG_EXT_SLV_SENS_DATA_00,	/* 0x49 */
+	MPUREG_EXT_SLV_SENS_DATA_01,
+	MPUREG_EXT_SLV_SENS_DATA_02,
+	MPUREG_EXT_SLV_SENS_DATA_03,
+	MPUREG_EXT_SLV_SENS_DATA_04,
+	MPUREG_EXT_SLV_SENS_DATA_05,
+	MPUREG_EXT_SLV_SENS_DATA_06,	/* 0x4F */
+	MPUREG_EXT_SLV_SENS_DATA_07,
+	MPUREG_EXT_SLV_SENS_DATA_08,
+	MPUREG_EXT_SLV_SENS_DATA_09,
+	MPUREG_EXT_SLV_SENS_DATA_10,
+	MPUREG_EXT_SLV_SENS_DATA_11,
+	MPUREG_EXT_SLV_SENS_DATA_12,	/* 0x55 */
+	MPUREG_EXT_SLV_SENS_DATA_13,
+	MPUREG_EXT_SLV_SENS_DATA_14,
+	MPUREG_EXT_SLV_SENS_DATA_15,
+	MPUREG_EXT_SLV_SENS_DATA_16,
+	MPUREG_EXT_SLV_SENS_DATA_17,
+	MPUREG_EXT_SLV_SENS_DATA_18,	/* 0x5B */
+	MPUREG_EXT_SLV_SENS_DATA_19,
+	MPUREG_EXT_SLV_SENS_DATA_20,
+	MPUREG_EXT_SLV_SENS_DATA_21,
+	MPUREG_EXT_SLV_SENS_DATA_22,
+	MPUREG_EXT_SLV_SENS_DATA_23,
+	ACCEL_INTEL_STATUS,	/* 0x61 */
+	MPUREG_62_RSVD,
+	MPUREG_63_RSVD,
+	MPUREG_64_RSVD,
+	MPUREG_65_RSVD,
+	MPUREG_66_RSVD,
+	MPUREG_67_RSVD,
+	SIGNAL_PATH_RESET,	/* 0x68 */
+	ACCEL_INTEL_CTRL,	/* 0x69 */
+	MPUREG_USER_CTRL,	/* 0x6A */
+	MPUREG_PWR_MGMT_1,	/* 0x6B */
+	MPUREG_PWR_MGMT_2,
+	MPUREG_BANK_SEL,	/* 0x6D */
+	MPUREG_MEM_START_ADDR,	/* 0x6E */
+	MPUREG_MEM_R_W,		/* 0x6F */
+	MPUREG_PRGM_STRT_ADDRH,
+	MPUREG_PRGM_STRT_ADDRL,
+	MPUREG_FIFO_COUNTH,	/* 0x72 */
+	MPUREG_FIFO_COUNTL,
+	MPUREG_FIFO_R_W,	/* 0x74 */
+	MPUREG_WHOAMI,		/* 0x75,117 */
+
+	NUM_OF_MPU_REGISTERS	/* = 0x76,118 */
+};
+
+/*==== M_HW 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
+};
+
+
+/*==== M_HW 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 M_HW ====*/
+
+/*---- M_HW '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
+/*---- M_HW 'CONFIG' register (1A) ----*/
+/*NONE                              		0xC0 */
+#define	BITS_EXT_SYNC_SET			0x38
+#define	BITS_DLPF_CFG				0x07
+/*---- M_HW '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 */
+/*---- M_HW 'ACCEL_CONFIG' register (1C) ----*/
+#define BITS_ACCEL_FS_SEL           		0x18
+#define BITS_ACCEL_HPF              		0x07
+/*---- M_HW 'I2C_MST_CTRL' register (24) ----*/
+#define BIT_MULT_MST_DIS            		0x80
+#define BIT_WAIT_FOR_ES             		0x40
+#define BIT_I2C_MST_VDDIO           		0x20
+/*NONE                              		0x10 */
+#define BITS_I2C_MST_CLK            		0x0F
+/*---- M_HW 'I2C_SLV?_CTRL' register (27,2A,2D,30) ----*/
+#define BIT_SLV_ENABLE              		0x80
+#define BIT_SLV_BYTE_SW             		0x40
+/*NONE                              		0x20 */
+#define BIT_SLV_GRP                 		0x10
+#define BITS_SLV_LENG               		0x0F
+/*---- M_HW 'I2C_SLV4_ADDR' register (31) ----*/
+#define BIT_I2C_SLV4_RNW            		0x80
+/*---- M_HW 'I2C_SLV4_CTRL' register (34) ----*/
+#define BIT_I2C_SLV4_EN             		0x80
+#define BIT_SLV4_DONE_INT_EN        		0x40
+/*NONE                              		0x3F */
+/*---- M_HW 'I2C_MST_STATUS' register (36) ----*/
+#define BIT_PASSTHROUGH             		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
+/*---- M_HW '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
+/*---- M_HW '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
+/*---- M_HW '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
+/*---- M_HW '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
+/*---- M_HW 'BANK_SEL' register (6D) ----*/
+#define	BIT_PRFTCH_EN				0x40
+#define	BIT_CFG_USER_BANK			0x20
+#define	BITS_MEM_SEL				0x1f
+/*---- M_HW '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
+/*---- M_HW 'PWR_MGMT_1' register (6B) ----*/
+#define	BIT_H_RESET				0x80
+#define BITS_PWRSEL                 		0x70
+#define BIT_WKUP_INT                		0x08
+#define BITS_CLKSEL				0x07
+/*---- M_HW 'PWR_MGMT_2' register (6C) ----*/
+#define BITS_LPA_WAKE_CTRL          		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
+
+/* although it has 6, this refers to the gyros */
+#define MPU_NUM_AXES (3)
+
+/*----------------------------------------------------------------------------*/
+/*---- Alternative names to take care of conflicts with current mpu3050.h ----*/
+/*----------------------------------------------------------------------------*/
+
+/*-- registers --*/
+#define MPUREG_DLPF_FS_SYNC        MPUREG_CONFIG		/* 0x1A */
+
+#define MPUREG_PRODUCT_ID          MPUREG_WHOAMI		/* 0x75  HACK!*/
+#define MPUREG_PWR_MGM             MPUREG_PWR_MGMT_1		/* 0x6B */
+#define MPUREG_FIFO_EN1            MPUREG_FIFO_EN		/* 0x23 */
+#define MPUREG_DMP_CFG_1           MPUREG_PRGM_STRT_ADDRH	/* 0x70 */
+#define MPUREG_DMP_CFG_2           MPUREG_PRGM_STRT_ADDRL	/* 0x71 */
+#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 */
+#define MPUREG_AUX_SLV_ADDR        MPUREG_I2C_SLV0_ADDR		/* 0x25 */
+#define MPUREG_ACCEL_BURST_ADDR    MPUREG_I2C_SLV0_REG		/* 0x26 */
+
+/*-- 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
+
+
+
+/*---- M_HW Silicon Revisions ----*/
+#define MPU_SILICON_REV_A1           1	/* M_HW A1 Device */
+#define MPU_SILICON_REV_B1           2	/* M_HW B1 Device */
+
+/*---- 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 DLPF_FS_SYNC_VALUE(ext_sync, full_scale, lpf) \
+    ((ext_sync << 5) | (full_scale << 3) | lpf)
+
+#endif				/* __IMU6000_H_ */