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Date: Thu, 30 Jun 2011 19:18:19 -0700
From: Nathan Royer <nroyer@...ensense.com>
To: Nathan Royer <nroyer@...ensense.com>
Cc: Andrew Morton <akpm@...ux-foundation.org>,
Greg Kroah-Hartman <gregkh@...e.de>,
Jonathan Cameron <jic23@....ac.uk>,
Jiri Kosina <jkosina@...e.cz>, Alan Cox <alan@...ux.intel.com>,
Jean Delvare <khali@...ux-fr.org>,
linux-kernel@...r.kernel.org, linux-input@...r.kernel.org
Subject: [PATCH 03/11] misc: mpu3050 /dev/mpu implementation.
Implements i2c probing, receives registration of slaves, handles file
operations, and power management.
Signed-off-by: Nathan Royer <nroyer@...ensense.com>
---
drivers/misc/inv_mpu/mpu-dev.c | 1247 ++++++++++++++++++++++++++++++++++++++++
drivers/misc/inv_mpu/mpu-dev.h | 36 ++
2 files changed, 1283 insertions(+), 0 deletions(-)
create mode 100644 drivers/misc/inv_mpu/mpu-dev.c
create mode 100644 drivers/misc/inv_mpu/mpu-dev.h
diff --git a/drivers/misc/inv_mpu/mpu-dev.c b/drivers/misc/inv_mpu/mpu-dev.c
new file mode 100644
index 0000000..977631d
--- /dev/null
+++ b/drivers/misc/inv_mpu/mpu-dev.c
@@ -0,0 +1,1247 @@
+/*
+ $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>
+
+
+/* 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;
+ }
+
+ 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 (event == PM_SUSPEND_PREPARE)
+ mpu->event = MPU_PM_EVENT_SUSPEND_PREPARE;
+ if (event == PM_POST_SUSPEND)
+ mpu->event = MPU_PM_EVENT_POST_SUSPEND;
+
+ 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) + sizeof(unsigned long))
+ 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;
+ 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;
+ }
+
+ mpu->slave_modules[slave_descr->type] = slave_module;
+
+ if (pdata_slave[slave_descr->type]) {
+ result = -EBUSY;
+ goto out_unlock_mutex;
+ }
+
+ pdata_slave[slave_descr->type] = slave_pdata;
+ pdata_slave[slave_descr->type]->address = slave_client->addr;
+ pdata_slave[slave_descr->type]->irq = slave_client->irq;
+ pdata_slave[slave_descr->type]->adapt_num =
+ i2c_adapter_id(slave_client->adapter);
+
+ 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 (pdata_slave[slave_descr->type]->irq > 0) {
+ dev_info(&slave_client->adapter->dev,
+ "Installing %s irq using %d\n",
+ irq_name,
+ pdata_slave[slave_descr->type]->irq);
+ result = slaveirq_init(slave_client->adapter,
+ pdata_slave[slave_descr->type], irq_name);
+ if (result)
+ goto out_unlock_mutex;
+ } else {
+ dev_WARN(&slave_client->adapter->dev,
+ "Accel irq not assigned\n");
+ }
+
+ if (slave_descr->init) {
+ result = slave_descr->init(slave_client->adapter,
+ slave_descr,
+ pdata_slave[slave_descr->type]);
+ if (result) {
+ dev_err(&slave_client->adapter->dev,
+ "Accel init failed %d\n", result);
+ goto out_slaveirq_exit;
+ }
+ }
+
+ mldl_cfg->slave[slave_descr->type] = slave_descr;
+
+ dev_info(&slave_client->adapter->dev,
+ "%s: +%s Type %d: Addr: %2x IRQ: %2d, Adapt: %2d\n",
+ __func__,
+ mldl_cfg->slave[slave_descr->type]->name,
+ slave_descr->type,
+ pdata_slave[slave_descr->type]->address,
+ pdata_slave[slave_descr->type]->irq,
+ pdata_slave[slave_descr->type]->adapt_num);
+ goto out_unlock_mutex;
+
+out_slaveirq_exit:
+ if (pdata_slave[slave_descr->type]->irq > 0)
+ slaveirq_exit(pdata_slave[slave_descr->type]);
+out_unlock_mutex:
+ mutex_unlock(&mpu->mutex);
+ 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;
+
+ 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);
+ }
+
+ if (slave_pdata->irq)
+ slaveirq_exit(slave_pdata);
+
+ 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;
+
+ 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);
+ res = mpuirq_init(client, mldl_cfg);
+ if (res)
+ goto out_mpuirq_failed;
+ } else {
+ dev_WARN(&client->adapter->dev,
+ "Missing %s IRQ\n", MPU_NAME);
+ }
+
+ return res;
+
+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 (client->irq)
+ mpuirq_exit();
+
+ for (ii = EXT_SLAVE_TYPE_ACCEL - 1; ii >= 0; ii--) {
+ if (pdata_slave[ii] &&
+ pdata_slave[ii]->irq) {
+ slaveirq_exit(pdata_slave[ii]);
+ }
+ }
+
+ unregister_pm_notifier(&mpu->nb);
+
+ misc_deregister(&mpu->dev);
+ 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/mpu-dev.h b/drivers/misc/inv_mpu/mpu-dev.h
new file mode 100644
index 0000000..b6a4fcf
--- /dev/null
+++ b/drivers/misc/inv_mpu/mpu-dev.h
@@ -0,0 +1,36 @@
+/*
+ $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/>.
+ $
+ */
+
+
+#ifndef __MPU_DEV_H__
+#define __MPU_DEV_H__
+
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/mpu.h>
+
+int inv_mpu_register_slave(struct module *slave_module,
+ struct i2c_client *client,
+ struct ext_slave_platform_data *pdata,
+ struct ext_slave_descr *(*slave_descr)(void));
+
+void inv_mpu_unregister_slave(struct i2c_client *client,
+ struct ext_slave_platform_data *pdata,
+ struct ext_slave_descr *(*slave_descr)(void));
+#endif
--
1.7.4.1
--
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