sensors: Merge invensense HAL into main tuna HAL.

Since these are both in our device tree now, there's no need to
have them be separated. This saves about 14KB of space as well.

Change-Id: Ibfcd7da4b30bb261586ecd9373e6fd4a343e0e06

7 files changed, 957 insertions, 0 deletions

diff --git a/libsensors/mlsdk/platform/linux/kernel/mpuirq.h b/libsensors/mlsdk/platform/linux/kernel/mpuirq.h
new file mode 100644
index 0000000..352170b
--- /dev/null
+++ b/libsensors/mlsdk/platform/linux/kernel/mpuirq.h
@@ -0,0 +1,41 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+#ifndef __MPUIRQ__
+#define __MPUIRQ__
+
+#ifdef __KERNEL__
+#include <linux/time.h>
+#include <linux/ioctl.h>
+#include "mldl_cfg.h"
+#else
+#include <sys/ioctl.h>
+#include <sys/time.h>
+#endif
+
+#define MPUIRQ_SET_TIMEOUT           _IOW(MPU_IOCTL, 0x40, unsigned long)
+#define MPUIRQ_GET_INTERRUPT_CNT     _IOR(MPU_IOCTL, 0x41, unsigned long)
+#define MPUIRQ_GET_IRQ_TIME          _IOR(MPU_IOCTL, 0x42, struct timeval)
+#define MPUIRQ_SET_FREQUENCY_DIVIDER _IOW(MPU_IOCTL, 0x43, unsigned long)
+
+#ifdef __KERNEL__
+void mpuirq_exit(void);
+int mpuirq_init(struct i2c_client *mpu_client, struct mldl_cfg *mldl_cfg);
+#endif
+
+#endif
diff --git a/libsensors/mlsdk/platform/linux/kernel/slaveirq.h b/libsensors/mlsdk/platform/linux/kernel/slaveirq.h
new file mode 100644
index 0000000..beb352b
--- /dev/null
+++ b/libsensors/mlsdk/platform/linux/kernel/slaveirq.h
@@ -0,0 +1,35 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+#ifndef __SLAVEIRQ__
+#define __SLAVEIRQ__
+
+#include <linux/mpu.h>
+#include "mpuirq.h"
+
+#define SLAVEIRQ_SET_TIMEOUT           _IOW(MPU_IOCTL, 0x50, unsigned long)
+#define SLAVEIRQ_GET_INTERRUPT_CNT     _IOR(MPU_IOCTL, 0x51, unsigned long)
+#define SLAVEIRQ_GET_IRQ_TIME          _IOR(MPU_IOCTL, 0x52, unsigned long)
+
+
+void slaveirq_exit(struct ext_slave_platform_data *pdata);
+int slaveirq_init(struct i2c_adapter *slave_adapter,
+		  struct ext_slave_platform_data *pdata, char *name);
+
+
+#endif
diff --git a/libsensors/mlsdk/platform/linux/kernel/timerirq.h b/libsensors/mlsdk/platform/linux/kernel/timerirq.h
new file mode 100644
index 0000000..dc3eea2
--- /dev/null
+++ b/libsensors/mlsdk/platform/linux/kernel/timerirq.h
@@ -0,0 +1,29 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+#ifndef __TIMERIRQ__
+#define __TIMERIRQ__
+
+#include <linux/mpu.h>
+
+#define TIMERIRQ_SET_TIMEOUT           _IOW(MPU_IOCTL, 0x60, unsigned long)
+#define TIMERIRQ_GET_INTERRUPT_CNT     _IOW(MPU_IOCTL, 0x61, unsigned long)
+#define TIMERIRQ_START                 _IOW(MPU_IOCTL, 0x62, unsigned long)
+#define TIMERIRQ_STOP                  _IO(MPU_IOCTL, 0x63)
+
+#endif
diff --git a/libsensors/mlsdk/platform/linux/log_linux.c b/libsensors/mlsdk/platform/linux/log_linux.c
new file mode 100644
index 0000000..7f7de0e
--- /dev/null
+++ b/libsensors/mlsdk/platform/linux/log_linux.c
@@ -0,0 +1,114 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/******************************************************************************
+ * $Id: log_linux.c 5629 2011-06-11 03:13:08Z mcaramello $
+ ******************************************************************************/
+
+/**
+ * @defgroup MPL_LOG
+ * @brief Logging facility for the MPL
+ *
+ * @{
+ *      @file     log.c
+ *      @brief    Core logging facility functions.
+ *
+ *
+**/
+
+#include <stdio.h>
+#include <string.h>
+#include "log.h"
+#include "mltypes.h"
+
+#define LOG_BUFFER_SIZE (256)
+
+#ifdef WIN32
+#define snprintf _snprintf
+#define vsnprintf _vsnprintf
+#endif
+
+int _MLPrintLog (int priority, const char* tag, const char* fmt, ...)
+{
+    va_list ap;
+    int result;
+
+    va_start(ap, fmt);
+    result = _MLPrintVaLog(priority,tag,fmt,ap);
+    va_end(ap);
+
+    return result;
+}
+
+int _MLPrintVaLog(int priority, const char* tag, const char* fmt, va_list args)
+{
+    int result;
+    char buf[LOG_BUFFER_SIZE];
+    char new_fmt[LOG_BUFFER_SIZE];
+    char priority_char;
+
+    if (NULL == fmt) {
+        fmt = "";
+    }
+
+    switch (priority) {
+    case MPL_LOG_UNKNOWN:
+        priority_char = 'U';
+        break;
+    case MPL_LOG_VERBOSE:
+        priority_char = 'V';
+        break;
+    case MPL_LOG_DEBUG:
+        priority_char = 'D';
+        break;
+    case MPL_LOG_INFO:
+        priority_char = 'I';
+        break;
+    case MPL_LOG_WARN:
+        priority_char = 'W';
+        break;
+    case MPL_LOG_ERROR:
+        priority_char = 'E';
+        break;
+    case MPL_LOG_SILENT:
+        priority_char = 'S';
+        break;
+    case MPL_LOG_DEFAULT:
+    default:
+        priority_char = 'D';
+        break;
+    };
+
+    result = snprintf(new_fmt, sizeof(new_fmt), "%c/%s:%s",
+                       priority_char, tag, fmt);
+    if (result <= 0) {
+        return INV_ERROR_LOG_MEMORY_ERROR;
+    }
+    result = vsnprintf(buf,sizeof(buf),new_fmt, args);
+    if (result <= 0) {
+        return INV_ERROR_LOG_OUTPUT_ERROR;
+    }
+
+    result = _MLWriteLog(buf, strlen(buf));
+    return INV_SUCCESS;
+}
+
+/**
+ * @}
+**/
+
+
diff --git a/libsensors/mlsdk/platform/linux/log_printf_linux.c b/libsensors/mlsdk/platform/linux/log_printf_linux.c
new file mode 100644
index 0000000..e6499f3
--- /dev/null
+++ b/libsensors/mlsdk/platform/linux/log_printf_linux.c
@@ -0,0 +1,43 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: log_printf_linux.c 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ ******************************************************************************/
+
+/**
+ * @addtogroup MPL_LOG
+ *
+ * @{
+ *      @file   log_printf.c
+ *      @brief  printf replacement for _MLWriteLog.
+ */
+
+#include <stdio.h>
+#include "log.h"
+
+int _MLWriteLog (const char * buf, int buflen)
+{
+    return fputs(buf, stdout);
+}
+
+/**
+ * @}
+ */
+
diff --git a/libsensors/mlsdk/platform/linux/mlos_linux.c b/libsensors/mlsdk/platform/linux/mlos_linux.c
new file mode 100644
index 0000000..8704f4b
--- /dev/null
+++ b/libsensors/mlsdk/platform/linux/mlos_linux.c
@@ -0,0 +1,206 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: mlos_linux.c 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *******************************************************************************/
+
+/**
+ *  @defgroup MLOS
+ *  @brief OS Interface.
+ *
+ *  @{
+ *      @file mlos.c
+ *      @brief OS Interface.
+**/
+
+/* ------------- */
+/* - Includes. - */
+/* ------------- */
+
+#include <sys/time.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdlib.h>
+
+#include "stdint_invensense.h"
+
+#include "mlos.h"
+#include <errno.h>
+
+
+/* -------------- */
+/* - Functions. - */
+/* -------------- */
+
+/**
+ *  @brief  Allocate space
+ *  @param  numBytes  number of bytes
+ *  @return pointer to allocated space
+**/
+void *inv_malloc(unsigned int numBytes)
+{
+    // Allocate space.
+    void *allocPtr = malloc(numBytes);
+    return allocPtr;
+}
+
+
+/**
+ *  @brief  Free allocated space
+ *  @param  ptr pointer to space to deallocate
+ *  @return error code.
+**/
+inv_error_t inv_free(void *ptr)
+{
+    // Deallocate space.
+    free(ptr);
+
+    return INV_SUCCESS;
+}
+
+
+/**
+ *  @brief  Mutex create function
+ *  @param  mutex   pointer to mutex handle
+ *  @return error code.
+ */
+inv_error_t inv_create_mutex(HANDLE *mutex)
+{
+    int res;
+    pthread_mutex_t *pm = malloc(sizeof(pthread_mutex_t));
+    if(pm == NULL)
+        return INV_ERROR;
+
+    res = pthread_mutex_init(pm, NULL);
+    if(res == -1) {
+        free(pm);
+        return INV_ERROR_OS_CREATE_FAILED;
+    }
+
+    *mutex = (HANDLE)pm;
+
+    return INV_SUCCESS;
+}
+
+
+/**
+ *  @brief  Mutex lock function
+ *  @param  mutex   Mutex handle
+ *  @return error code.
+ */
+inv_error_t inv_lock_mutex(HANDLE mutex)
+{
+    int res;
+    pthread_mutex_t *pm = (pthread_mutex_t*)mutex;
+
+    res = pthread_mutex_lock(pm);
+    if(res == -1)
+        return INV_ERROR_OS_LOCK_FAILED;
+
+    return INV_SUCCESS;
+}
+
+
+/**
+ *  @brief  Mutex unlock function
+ *  @param  mutex   mutex handle
+ *  @return error code.
+**/
+inv_error_t inv_unlock_mutex(HANDLE mutex)
+{
+    int res;
+    pthread_mutex_t *pm = (pthread_mutex_t*)mutex;
+
+    res = pthread_mutex_unlock(pm);
+    if(res == -1)
+        return INV_ERROR_OS_LOCK_FAILED;
+
+    return INV_SUCCESS;
+}
+
+
+/**
+ *  @brief  open file
+ *  @param  filename    name of the file to open.
+ *  @return error code.
+ */
+FILE *inv_fopen(char *filename)
+{
+    FILE *fp = fopen(filename,"r");
+    return fp;
+}
+
+
+/**
+ *  @brief  close the file.
+ *  @param  fp  handle to file to close.
+ *  @return error code.
+ */
+void inv_fclose(FILE *fp)
+{
+    fclose(fp);
+}
+
+/**
+ *  @brief  Close Handle
+ *  @param  handle  handle to the resource.
+ *  @return Zero if success, an error code otherwise.
+ */
+inv_error_t inv_destroy_mutex(HANDLE handle)
+{
+    int error;
+    pthread_mutex_t *pm = (pthread_mutex_t*)handle;
+    error = pthread_mutex_destroy(pm);
+    if (error) {
+        return errno;
+    }
+    free((void*) handle);
+
+    return INV_SUCCESS;}
+
+
+/**
+ *  @brief  Sleep function.
+ */
+void inv_sleep(int mSecs)
+{
+    usleep(mSecs*1000);
+}
+
+
+/**
+ *  @brief  get system's internal tick count.
+ *          Used for time reference.
+ *  @return current tick count.
+ */
+unsigned long inv_get_tick_count()
+{
+    struct timeval tv;
+
+    if (gettimeofday(&tv, NULL) !=0)
+        return 0;
+
+    return (long)((tv.tv_sec * 1000000LL + tv.tv_usec) / 1000LL);
+}
+
+  /**********************/
+ /** @} */ /* defgroup */
+/**********************/
+
diff --git a/libsensors/mlsdk/platform/linux/mlsl_linux_mpu.c b/libsensors/mlsdk/platform/linux/mlsl_linux_mpu.c
new file mode 100644
index 0000000..00d5973
--- /dev/null
+++ b/libsensors/mlsdk/platform/linux/mlsl_linux_mpu.c
@@ -0,0 +1,489 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ * $Id: mlsl_linux_mpu.c 5653 2011-06-16 21:06:55Z nroyer $
+ *****************************************************************************/
+
+/**
+ *  @defgroup MLSL (Motion Library - Serial Layer)
+ *  @brief  The Motion Library System Layer provides the Motion Library the
+ *          interface to the system functions.
+ *
+ *  @{
+ *      @file   mlsl_linux_mpu.c
+ *      @brief  The Motion Library System Layer.
+ *
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+#include <stdio.h>
+#include <sys/ioctl.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <unistd.h>
+#include <linux/fs.h>
+#include <linux/i2c.h>
+#include <string.h>
+#include <signal.h>
+#include <time.h>
+
+#include "mpu.h"
+#include "mpu3050.h"
+
+#include "mlsl.h"
+#include "mlos.h"
+#include "mlmath.h"
+#include "mlinclude.h"
+
+#define MLCAL_ID      (0x0A0B0C0DL)
+#define MLCAL_FILE    "/data/cal.bin"
+#define MLCFG_ID      (0x01020304L)
+#define MLCFG_FILE    "/data/cfg.bin"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-mlsl"
+
+#ifndef I2CDEV
+#define I2CDEV "/dev/mpu"
+#endif
+
+#define SERIAL_FULL_DEBUG (0)
+
+/* --------------- */
+/* - Prototypes. - */
+/* --------------- */
+
+/* ----------------------- */
+/* -  Function Pointers. - */
+/* ----------------------- */
+
+/* --------------------------- */
+/* - Global and Static vars. - */
+/* --------------------------- */
+
+/* ---------------- */
+/* - Definitions. - */
+/* ---------------- */
+
+inv_error_t inv_serial_read_cfg(unsigned char *cfg, unsigned int len)
+{
+    FILE *fp;
+    unsigned int bytesRead;
+
+    fp = fopen(MLCFG_FILE, "rb");
+    if (fp == NULL) {
+        MPL_LOGE("Unable to open \"%s\" for read\n", MLCFG_FILE);
+        return INV_ERROR_FILE_OPEN;
+    }
+    bytesRead = fread(cfg, 1, len, fp);
+    if (bytesRead != len) {
+        MPL_LOGE("bytes read (%d) don't match requested length (%d)\n",
+                 bytesRead, len);
+        return INV_ERROR_FILE_READ;
+    }
+    fclose(fp);
+
+    if (((unsigned int)cfg[0] << 24 | cfg[1] << 16 | cfg[2] << 8 | cfg[3])
+        != MLCFG_ID) {
+        return INV_ERROR_ASSERTION_FAILURE;
+    }
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_write_cfg(unsigned char *cfg, unsigned int len)
+{
+    FILE *fp;
+    unsigned int bytesWritten;
+    unsigned char cfgId[4];
+
+    fp = fopen(MLCFG_FILE,"wb");
+    if (fp == NULL) {
+        MPL_LOGE("Unable to open \"%s\" for write\n", MLCFG_FILE);
+        return INV_ERROR_FILE_OPEN;
+    }
+
+    cfgId[0] = (unsigned char)(MLCFG_ID >> 24);
+    cfgId[1] = (unsigned char)(MLCFG_ID >> 16);
+    cfgId[2] = (unsigned char)(MLCFG_ID >> 8);
+    cfgId[3] = (unsigned char)(MLCFG_ID);
+    bytesWritten = fwrite(cfgId, 1, 4, fp);
+    if (bytesWritten != 4) {
+        MPL_LOGE("CFG ID could not be written on file\n");
+        return INV_ERROR_FILE_WRITE;
+    }
+
+    bytesWritten = fwrite(cfg, 1, len, fp);
+    if (bytesWritten != len) {
+        MPL_LOGE("bytes write (%d) don't match requested length (%d)\n",
+                 bytesWritten, len);
+        return INV_ERROR_FILE_WRITE;
+    }
+
+    fclose(fp);
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_read_cal(unsigned char *cal, unsigned int len)
+{
+    FILE *fp;
+    unsigned int bytesRead;
+    inv_error_t result = INV_SUCCESS;
+
+    fp = fopen(MLCAL_FILE,"rb");
+    if (fp == NULL) {
+        MPL_LOGE("Cannot open file \"%s\" for read\n", MLCAL_FILE);
+        return INV_ERROR_FILE_OPEN;
+    }
+    bytesRead = fread(cal, 1, len, fp);
+    if (bytesRead != len) {
+        MPL_LOGE("bytes read (%d) don't match requested length (%d)\n",
+                 bytesRead, len);
+        result = INV_ERROR_FILE_READ;
+        goto read_cal_end;
+    }
+
+    /* MLCAL_ID not used
+    if (((unsigned int)cal[0] << 24 | cal[1] << 16 | cal[2] << 8 | cal[3])
+        != MLCAL_ID) {
+        result = INV_ERROR_ASSERTION_FAILURE;
+        goto read_cal_end;
+    }
+    */
+read_cal_end:
+    fclose(fp);
+    return result;
+}
+
+inv_error_t inv_serial_write_cal(unsigned char *cal, unsigned int len)
+{
+    FILE *fp;
+    unsigned int bytesWritten;
+    inv_error_t result = INV_SUCCESS;
+
+    fp = fopen(MLCAL_FILE,"wb");
+    if (fp == NULL) {
+        MPL_LOGE("Cannot open file \"%s\" for write\n", MLCAL_FILE);
+        return INV_ERROR_FILE_OPEN;
+    }
+    bytesWritten = fwrite(cal, 1, len, fp);
+    if (bytesWritten != len) {
+        MPL_LOGE("bytes written (%d) don't match requested length (%d)\n",
+                 bytesWritten, len);
+        result = INV_ERROR_FILE_WRITE;
+    }
+    fclose(fp);
+    return result;
+}
+
+inv_error_t inv_serial_get_cal_length(unsigned int *len)
+{
+    FILE *calFile;
+    *len = 0;
+
+    calFile = fopen(MLCAL_FILE, "rb");
+    if (calFile == NULL) {
+        MPL_LOGE("Cannot open file \"%s\" for read\n", MLCAL_FILE);
+        return INV_ERROR_FILE_OPEN;
+    }
+
+    *len += (unsigned char)fgetc(calFile) << 24;
+    *len += (unsigned char)fgetc(calFile) << 16;
+    *len += (unsigned char)fgetc(calFile) << 8;
+    *len += (unsigned char)fgetc(calFile);
+
+    fclose(calFile);
+
+    if (*len <= 0)
+        return INV_ERROR_FILE_READ;
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_open(char const *port, void **sl_handle)
+{
+    INVENSENSE_FUNC_START;
+
+    if (NULL == port) {
+        port = I2CDEV;
+    }
+    *sl_handle = (void*)(uintptr_t) open(port, O_RDWR);
+    if((intptr_t)*sl_handle < 0) {
+        /* ERROR HANDLING; you can check errno to see what went wrong */
+        MPL_LOGE("inv_serial_open\n");
+        MPL_LOGE("I2C Error %d: Cannot open Adapter %s\n", errno, port);
+        return INV_ERROR_SERIAL_OPEN_ERROR;
+    } else {
+        MPL_LOGI("inv_serial_open: %s\n", port);
+    }
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_close(void *sl_handle)
+{
+    INVENSENSE_FUNC_START;
+
+    close((int)(uintptr_t)sl_handle);
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_reset(void *sl_handle __unused)
+{
+    return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+}
+
+inv_error_t inv_serial_single_write(void *sl_handle,
+                               unsigned char slaveAddr,
+                               unsigned char registerAddr,
+                               unsigned char data)
+{
+    unsigned char buf[2];
+    buf[0] = registerAddr;
+    buf[1] = data;
+    return inv_serial_write(sl_handle, slaveAddr, 2, buf);
+}
+
+inv_error_t inv_serial_write(void *sl_handle,
+                         unsigned char slaveAddr __unused,
+                         unsigned short length,
+                         unsigned char const *data)
+{
+    INVENSENSE_FUNC_START;
+    struct mpu_read_write msg;
+    inv_error_t result;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    msg.address = 0; /* not used */
+    msg.length  = length;
+    msg.data    = (unsigned char*)data;
+
+    if ((result = ioctl((int)(uintptr_t)sl_handle, MPU_WRITE, &msg))) {
+        MPL_LOGE("I2C Error: could not write: R:%02x L:%d %d \n",
+                 data[0], length, result);
+       return result;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1));
+        }
+        MPL_LOGI("I2C Write Success %02x %02x: %s \n",
+                 data[0], length, data_buff);
+    }
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_read(void *sl_handle,
+                        unsigned char  slaveAddr __unused,
+                        unsigned char  registerAddr,
+                        unsigned short length,
+                        unsigned char  *data)
+{
+    INVENSENSE_FUNC_START;
+    int result = INV_SUCCESS;
+    struct mpu_read_write msg;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    msg.address = registerAddr;
+    msg.length  = length;
+    msg.data    = data;
+
+    result = ioctl((int)(uintptr_t)sl_handle, MPU_READ, &msg);
+
+    if (result != INV_SUCCESS) {
+        MPL_LOGE("I2C Error %08x: could not read: R:%02x L:%d\n",
+                 result, registerAddr, length);
+        result = INV_ERROR_SERIAL_READ;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1));
+        }
+        MPL_LOGI("I2C Read  Success %02x %02x: %s \n",
+                  registerAddr, length, data_buff);
+    }
+
+    return (inv_error_t) result;
+}
+
+inv_error_t inv_serial_write_mem(void *sl_handle,
+                            unsigned char mpu_addr __unused,
+                            unsigned short memAddr,
+                            unsigned short length,
+                            const unsigned char *data)
+{
+    INVENSENSE_FUNC_START;
+    struct mpu_read_write msg;
+    int result;
+
+    msg.address = memAddr;
+    msg.length  = length;
+    msg.data    = (unsigned char *)data;
+
+    result = ioctl((int)(uintptr_t)sl_handle, MPU_WRITE_MEM, &msg);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1));
+        }
+        MPL_LOGI("I2C WriteMem Success %04x %04x: %s \n",
+                 memAddr, length, data_buff);
+    }
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_read_mem(void *sl_handle,
+                           unsigned char  mpu_addr __unused,
+                           unsigned short memAddr,
+                           unsigned short length,
+                           unsigned char  *data)
+{
+    INVENSENSE_FUNC_START;
+    struct mpu_read_write msg;
+    int result;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    msg.address = memAddr;
+    msg.length  = length;
+    msg.data    = data;
+
+    result = ioctl((int)(uintptr_t)sl_handle, MPU_READ_MEM, &msg);
+    if (result != INV_SUCCESS) {
+        MPL_LOGE("I2C Error %08x: could not read memory: A:%04x L:%d\n",
+                 result, memAddr, length);
+        return INV_ERROR_SERIAL_READ;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1));
+        }
+        MPL_LOGI("I2C ReadMem Success %04x %04x: %s\n",
+                 memAddr, length, data_buff);
+    }
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_write_fifo(void *sl_handle,
+                             unsigned char mpu_addr __unused,
+                             unsigned short length,
+                             const unsigned char *data)
+{
+    INVENSENSE_FUNC_START;
+    struct mpu_read_write msg;
+    int result;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    msg.address = 0; /* Not used */
+    msg.length  = length;
+    msg.data    = (unsigned char *)data;
+
+    result = ioctl((int)(uintptr_t)sl_handle, MPU_WRITE_FIFO, &msg);
+    if (result != INV_SUCCESS) {
+        MPL_LOGE("I2C Error: could not write fifo: %02x %02x\n",
+                  MPUREG_FIFO_R_W, length);
+        return INV_ERROR_SERIAL_WRITE;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1));
+        }
+        MPL_LOGI("I2C Write Success %02x %02x: %s\n",
+                 MPUREG_FIFO_R_W, length, data_buff);
+    }
+    return (inv_error_t) result;
+}
+
+inv_error_t inv_serial_read_fifo(void *sl_handle,
+                            unsigned char  mpu_addr __unused,
+                            unsigned short length,
+                            unsigned char  *data)
+{
+    INVENSENSE_FUNC_START;
+    struct mpu_read_write msg;
+    int result;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    msg.address = MPUREG_FIFO_R_W; /* Not used */
+    msg.length  = length;
+    msg.data    = data;
+
+    result = ioctl((int)(uintptr_t)sl_handle, MPU_READ_FIFO, &msg);
+    if (result != INV_SUCCESS) {
+        MPL_LOGE("I2C Error %08x: could not read fifo: R:%02x L:%d\n",
+                 result, MPUREG_FIFO_R_W, length);
+        return INV_ERROR_SERIAL_READ;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1));
+        }
+        MPL_LOGI("I2C ReadFifo Success %02x %02x: %s\n",
+                 MPUREG_FIFO_R_W, length, data_buff);
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @}
+ */
+
+