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

16 files changed, 2842 insertions, 0 deletions

diff --git a/libsensors/mlsdk/platform/include/i2c.h b/libsensors/mlsdk/platform/include/i2c.h
new file mode 100644
index 0000000..c3002d5
--- /dev/null
+++ b/libsensors/mlsdk/platform/include/i2c.h
@@ -0,0 +1,133 @@
+/*
+ $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: i2c.h 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *******************************************************************************/
+
+#ifndef _I2C_H
+#define _I2C_H
+
+#include "mltypes.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ------------ */
+/* - Defines. - */
+/* ------------ */
+
+/* - Error Codes. - */
+
+#define I2C_SUCCESS 0
+#define I2C_ERROR   1
+
+/* ---------- */
+/* - Enums. - */
+/* ---------- */
+
+/* --------------- */
+/* - Structures. - */
+/* --------------- */
+
+#define I2C_RBUFF_MAX    128
+#define I2C_RBUFF_SIZE    17
+
+#ifdef BB_I2C
+#define I2C_RBUFF_DYNAMIC  0
+#else
+#define I2C_RBUFF_DYNAMIC  1
+#endif
+
+typedef struct {
+
+	HANDLE  i2cHndl;
+	HANDLE  hDevice;                    // handle to the drive to be examined
+
+    MLU8      readBuffer[1024];
+	MLU8      writeBuffer[1024];
+
+    MLU16     rBuffRIndex;
+	MLU16     rBuffWIndex;
+#if !I2C_RBUFF_DYNAMIC
+    MLU8      rBuff[I2C_RBUFF_MAX][I2C_RBUFF_SIZE];
+#else
+    MLU8     *rBuff;
+#endif
+    MLU16     rBuffMax;
+	MLU16     rBuffNumBytes;
+
+    MLU8      runThread;
+	MLU8      autoProcess;
+
+} I2C_Vars_t;
+
+/* --------------------- */
+/* - Function p-types. - */
+/* --------------------- */
+
+#if (defined(BB_I2C))
+void set_i2c_open_bind_cb(int (*func)(unsigned int i2c_slave_addr));
+void set_i2c_open_cb(int (*func)(const char *dev, int rw));
+void set_i2c_close_cb(int (*func)(int fd));
+void set_i2c_lltransfer_cb(int (*func)(int fd, int client_addr, const char *write_buf, unsigned int write_len,
+                                                                      char *read_buf,  unsigned int read_len ));
+void set_i2c_write_register_cb(int (*func)(int fd, int client_addr, unsigned char reg, unsigned char value));
+void set_i2c_read_register_cb(unsigned char (*func)(int fd, int client_addr, unsigned char reg));
+void set_i2c_dump_register_cb(int (*func)(int fd, int client_addr, unsigned char start_reg, unsigned char *buff, int len));
+
+int           _i2c_write_register(int fd, int client_addr, unsigned char reg, unsigned char value);
+unsigned char _i2c_read_register (int fd, int client_addr, unsigned char reg);
+int            i2c_lltransfer    (int fd, int client_addr, const char *write_buf, unsigned int write_len,
+                                                                 char *read_buf,  unsigned int read_len );
+int            i2c_write_register(int fd, int client_addr, unsigned char reg, unsigned char value);
+unsigned char  i2c_read_register (int fd, int client_addr, unsigned char reg);
+int            i2c_dump_register (int fd, int client_addr, unsigned char start_reg, unsigned char *buff, int len);
+int i2c_open         (const char *dev, int rw);
+int i2c_close        (int fd);
+int i2c_open_bind    (unsigned int i2c_slave_addr);
+#endif
+
+int I2COpen           (unsigned char autoProcess, unsigned char createThread);
+int I2CClose          (void);
+int I2CDeviceIoControl(void);
+int I2CRead           (void);
+int I2CWrite          (void);
+int I2CSetBufferSize  (unsigned short bufferSize);
+int I2CBufferUpdate   (void);
+int I2CHandler        (void);
+int I2CReadBuffer     (unsigned short cnt, unsigned char bufferMode, unsigned char *rBuff);
+int I2CEmptyBuffer    (void);
+int I2CPktsInBuffer   (unsigned short *pktsInBuffer);
+int I2CCreateMutex    (void);
+int I2CLockMutex      (void);
+int I2CUnlockMutex    (void);
+
+int I2CWriteBurst     (unsigned char slaveAddr, unsigned char registerAddr, unsigned short length, unsigned char *data);
+int I2CReadBurst      (unsigned char slaveAddr, unsigned char registerAddr, unsigned short length, unsigned char *data);
+
+int I2COpenBB         (void);
+int I2CCloseBB        (int i2cHandle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _TEMPLATE_H */
diff --git a/libsensors/mlsdk/platform/include/linux/mpu.h b/libsensors/mlsdk/platform/include/linux/mpu.h
new file mode 100644
index 0000000..04fa7b6
--- /dev/null
+++ b/libsensors/mlsdk/platform/include/linux/mpu.h
@@ -0,0 +1,335 @@
+/*
+ $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 __MPU_H_
+#define __MPU_H_
+
+#ifdef __KERNEL__
+#include <linux/types.h>
+#include <linux/ioctl.h>
+#elif defined LINUX
+#include <sys/ioctl.h>
+#endif
+
+/* Number of axes on each sensor */
+#define GYRO_NUM_AXES               (3)
+#define ACCEL_NUM_AXES              (3)
+#define COMPASS_NUM_AXES            (3)
+
+struct mpu_read_write {
+	/* Memory address or register address depending on ioctl */
+	unsigned short address;
+	unsigned short length;
+	unsigned char *data;
+};
+
+enum mpuirq_data_type {
+	MPUIRQ_DATA_TYPE_MPU_IRQ,
+	MPUIRQ_DATA_TYPE_SLAVE_IRQ,
+	MPUIRQ_DATA_TYPE_PM_EVENT,
+	MPUIRQ_DATA_TYPE_NUM_TYPES,
+};
+
+/* User space PM event notification */
+#define MPU_PM_EVENT_SUSPEND_PREPARE (3)
+#define MPU_PM_EVENT_POST_SUSPEND    (4)
+
+struct mpuirq_data {
+	int interruptcount;
+	unsigned long long irqtime;
+	int data_type;
+	long 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_IRQ_SUSPEND,
+	MPU_SLAVE_CONFIG_IRQ_RESUME,
+	MPU_SLAVE_WRITE_REGISTERS,
+	MPU_SLAVE_READ_REGISTERS,
+	/* AMI 306 specific config keys */
+	MPU_SLAVE_PARAM,
+	MPU_SLAVE_WINDOW,
+	MPU_SLAVE_READWINPARAMS,
+	MPU_SLAVE_SEARCHOFFSET,
+	/* AKM specific config keys */
+	MPU_SLAVE_READ_SCALE,
+	/* YAS specific config keys */
+	MPU_SLAVE_OFFSET_VALS,
+	MPU_SLAVE_RANGE_CHECK,
+
+	MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS,
+};
+
+/* For the MPU_SLAVE_CONFIG_IRQ_SUSPEND and MPU_SLAVE_CONFIG_IRQ_RESUME */
+enum ext_slave_config_irq_type {
+	MPU_SLAVE_IRQ_TYPE_NONE,
+	MPU_SLAVE_IRQ_TYPE_MOTION,
+	MPU_SLAVE_IRQ_TYPE_DATA_READY,
+};
+
+/* Structure for the following IOCTS's
+ * MPU_CONFIG_ACCEL
+ * MPU_CONFIG_COMPASS
+ * MPU_CONFIG_PRESSURE
+ * MPU_GET_CONFIG_ACCEL
+ * MPU_GET_CONFIG_COMPASS
+ * MPU_GET_CONFIG_PRESSURE
+ *
+ * @key one of enum ext_slave_config_key
+ * @len length of data pointed to by data
+ * @apply zero if communication with the chip is not necessary, false otherwise
+ *        This flag can be used to select cached data or to refresh cashed data
+ *        cache data to be pushed later or push immediately.  If true and the
+ *        slave is on the secondary bus the MPU will first enger bypass mode
+ *        before calling the slaves .config or .get_config funcion
+ * @data pointer to the data to confgure or get
+ */
+struct ext_slave_config {
+	int key;
+	int len;
+	int apply;
+	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 */
+
+	EXT_SLAVE_NUM_TYPES
+};
+
+enum ext_slave_id {
+	ID_INVALID = 0,
+
+	ACCEL_ID_LIS331,
+	ACCEL_ID_LSM303A,
+	ACCEL_ID_LIS3DH,
+	ACCEL_ID_KXSD9,
+	ACCEL_ID_KXTF9,
+	ACCEL_ID_BMA150,
+	ACCEL_ID_BMA222,
+	ACCEL_ID_BMA250,
+	ACCEL_ID_ADXL34X,
+	ACCEL_ID_MMA8450,
+	ACCEL_ID_MMA845X,
+	ACCEL_ID_MPU6050,
+
+	COMPASS_ID_AK8975,
+	COMPASS_ID_AMI30X,
+	COMPASS_ID_AMI306,
+	COMPASS_ID_YAS529,
+	COMPASS_ID_YAS530,
+	COMPASS_ID_HMC5883,
+	COMPASS_ID_LSM303M,
+	COMPASS_ID_MMC314X,
+	COMPASS_ID_HSCDTD002B,
+	COMPASS_ID_HSCDTD004A,
+
+	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 and mpu6050
+ *  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 fix_pnt_range {
+	long mantissa;
+	long fraction;
+};
+
+static inline long range_fixedpoint_to_long_mg(struct fix_pnt_range rng)
+{
+	return (long)(rng.mantissa * 1000 + rng.fraction / 10);
+}
+
+struct ext_slave_read_trigger {
+	unsigned char reg;
+	unsigned char value;
+};
+
+/**
+ *  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
+ *  @get_config:function used to get the device's configuration
+ *
+ *  @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 fix_pnt_range
+ *  @trigger:	If reading data first requires writing a register this is the
+ *		data to write.
+ *
+ *  Defines the functions and information about the slave the mpu3050 and
+ *  mpu6050 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);
+	int (*get_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 read_reg;
+	unsigned int read_len;
+	unsigned char endian;
+	struct fix_pnt_range range;
+	struct ext_slave_read_trigger *trigger;
+};
+
+/**
+ * struct mpu_platform_data - Platform data for the mpu 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 mpu_platform_data {
+	unsigned char int_config;
+	signed char orientation[GYRO_NUM_AXES * GYRO_NUM_AXES];
+	unsigned char level_shifter;
+	struct ext_slave_platform_data accel;
+	struct ext_slave_platform_data compass;
+	struct ext_slave_platform_data pressure;
+};
+
+#if defined __KERNEL__ || defined LINUX
+#define MPU_IOCTL (0x81) /* Magic number for MPU Iocts */
+/* IOCTL commands for /dev/mpu */
+#define MPU_SET_MPU_CONFIG	_IOWR(MPU_IOCTL, 0x00, struct mldl_cfg)
+#define MPU_GET_MPU_CONFIG	_IOW(MPU_IOCTL,  0x00, struct mldl_cfg)
+
+#define MPU_SET_PLATFORM_DATA	_IOWR(MPU_IOCTL, 0x01, struct mldl_cfg)
+
+#define MPU_READ		_IOWR(MPU_IOCTL, 0x10, struct mpu_read_write)
+#define MPU_WRITE		_IOW(MPU_IOCTL,  0x10, struct mpu_read_write)
+#define MPU_READ_MEM		_IOWR(MPU_IOCTL, 0x11, struct mpu_read_write)
+#define MPU_WRITE_MEM		_IOW(MPU_IOCTL,  0x11, struct mpu_read_write)
+#define MPU_READ_FIFO		_IOWR(MPU_IOCTL, 0x12, struct mpu_read_write)
+#define MPU_WRITE_FIFO		_IOW(MPU_IOCTL,  0x12, struct mpu_read_write)
+
+#define MPU_READ_COMPASS	_IOR(MPU_IOCTL, 0x12, unsigned char)
+#define MPU_READ_ACCEL		_IOR(MPU_IOCTL, 0x13, unsigned char)
+#define MPU_READ_PRESSURE	_IOR(MPU_IOCTL, 0x14, unsigned char)
+
+#define MPU_CONFIG_ACCEL	_IOW(MPU_IOCTL, 0x20, struct ext_slave_config)
+#define MPU_CONFIG_COMPASS	_IOW(MPU_IOCTL, 0x21, struct ext_slave_config)
+#define MPU_CONFIG_PRESSURE	_IOW(MPU_IOCTL, 0x22, struct ext_slave_config)
+
+#define MPU_GET_CONFIG_ACCEL	_IOWR(MPU_IOCTL, 0x20, struct ext_slave_config)
+#define MPU_GET_CONFIG_COMPASS	_IOWR(MPU_IOCTL, 0x21, struct ext_slave_config)
+#define MPU_GET_CONFIG_PRESSURE	_IOWR(MPU_IOCTL, 0x22, struct ext_slave_config)
+
+#define MPU_SUSPEND		_IO(MPU_IOCTL, 0x30)
+#define MPU_RESUME		_IO(MPU_IOCTL, 0x31)
+/* Userspace PM Event response */
+#define MPU_PM_EVENT_HANDLED	_IO(MPU_IOCTL, 0x32)
+
+#endif
+
+#endif				/* __MPU_H_ */
diff --git a/libsensors/mlsdk/platform/include/log.h b/libsensors/mlsdk/platform/include/log.h
new file mode 100644
index 0000000..8485074
--- /dev/null
+++ b/libsensors/mlsdk/platform/include/log.h
@@ -0,0 +1,344 @@
+/*
+ $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.
+  $
+ */
+
+/*
+ * This file incorporates work covered by the following copyright and
+ * permission notice:
+ *
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * 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.
+ */
+
+/*
+ * C/C++ logging functions.  See the logging documentation for API details.
+ *
+ * We'd like these to be available from C code (in case we import some from
+ * somewhere), so this has a C interface.
+ *
+ * The output will be correct when the log file is shared between multiple
+ * threads and/or multiple processes so long as the operating system
+ * supports O_APPEND.  These calls have mutex-protected data structures
+ * and so are NOT reentrant.  Do not use MPL_LOG in a signal handler.
+ */
+#ifndef _LIBS_CUTILS_MPL_LOG_H
+#define _LIBS_CUTILS_MPL_LOG_H
+
+#include "mltypes.h"
+#include <stdarg.h>
+
+#ifdef ANDROID
+#ifdef NDK_BUILD
+#include "log_macros.h"
+#else
+#include <utils/Log.h>		/* For the LOG macro */
+#endif
+#endif
+
+#ifdef __KERNEL__
+#include <linux/kernel.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* --------------------------------------------------------------------- */
+
+/*
+ * Normally we strip MPL_LOGV (VERBOSE messages) from release builds.
+ * You can modify this (for example with "#define MPL_LOG_NDEBUG 0"
+ * at the top of your source file) to change that behavior.
+ */
+#ifndef MPL_LOG_NDEBUG
+#ifdef NDEBUG
+#define MPL_LOG_NDEBUG 1
+#else
+#define MPL_LOG_NDEBUG 0
+#endif
+#endif
+
+#ifdef __KERNEL__
+#define MPL_LOG_UNKNOWN MPL_LOG_VERBOSE
+#define MPL_LOG_DEFAULT KERN_DEFAULT
+#define MPL_LOG_VERBOSE KERN_CONT
+#define MPL_LOG_DEBUG   KERN_NOTICE
+#define MPL_LOG_INFO    KERN_INFO
+#define MPL_LOG_WARN    KERN_WARNING
+#define MPL_LOG_ERROR   KERN_ERR
+#define MPL_LOG_SILENT  MPL_LOG_VERBOSE
+
+#else
+	/* Based off the log priorities in android
+	   /system/core/include/android/log.h */
+#define MPL_LOG_UNKNOWN		(0)
+#define MPL_LOG_DEFAULT		(1)
+#define MPL_LOG_VERBOSE		(2)
+#define MPL_LOG_DEBUG		(3)
+#define MPL_LOG_INFO		(4)
+#define MPL_LOG_WARN		(5)
+#define MPL_LOG_ERROR		(6)
+#define MPL_LOG_SILENT		(8)
+#endif
+
+
+/*
+ * This is the local tag used for the following simplified
+ * logging macros.  You can change this preprocessor definition
+ * before using the other macros to change the tag.
+ */
+#ifndef MPL_LOG_TAG
+#ifdef __KERNEL__
+#define MPL_LOG_TAG
+#else
+#define MPL_LOG_TAG NULL
+#endif
+#endif
+
+/* --------------------------------------------------------------------- */
+
+/*
+ * Simplified macro to send a verbose log message using the current MPL_LOG_TAG.
+ */
+#ifndef MPL_LOGV
+#if MPL_LOG_NDEBUG
+#define MPL_LOGV(fmt, ...)						\
+	do {								\
+		if (0)							\
+			MPL_LOG(LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__);\
+	} while (0)
+#else
+#define MPL_LOGV(fmt, ...) MPL_LOG(LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#endif
+#endif
+
+#ifndef CONDITION
+#define CONDITION(cond)     ((cond) != 0)
+#endif
+
+#ifndef MPL_LOGV_IF
+#if MPL_LOG_NDEBUG
+#define MPL_LOGV_IF(cond, fmt, ...)  \
+	do { if (0) MPL_LOG(fmt, ##__VA_ARGS__); } while (0)
+#else
+#define MPL_LOGV_IF(cond, fmt, ...) \
+	((CONDITION(cond))						\
+		? MPL_LOG(LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__) \
+		: (void)0)
+#endif
+#endif
+
+/*
+ * Simplified macro to send a debug log message using the current MPL_LOG_TAG.
+ */
+#ifndef MPL_LOGD
+#define MPL_LOGD(fmt, ...) MPL_LOG(LOG_DEBUG, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#endif
+
+#ifndef MPL_LOGD_IF
+#define MPL_LOGD_IF(cond, fmt, ...) \
+	((CONDITION(cond))					       \
+		? MPL_LOG(LOG_DEBUG, MPL_LOG_TAG, fmt, ##__VA_ARGS__)  \
+		: (void)0)
+#endif
+
+/*
+ * Simplified macro to send an info log message using the current MPL_LOG_TAG.
+ */
+#ifndef MPL_LOGI
+#define MPL_LOGI(fmt, ...) MPL_LOG(LOG_INFO, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#endif
+
+#ifndef MPL_LOGI_IF
+#define MPL_LOGI_IF(cond, fmt, ...) \
+	((CONDITION(cond))                                              \
+		? MPL_LOG(LOG_INFO, MPL_LOG_TAG, fmt, ##__VA_ARGS__)   \
+		: (void)0)
+#endif
+
+/*
+ * Simplified macro to send a warning log message using the current MPL_LOG_TAG.
+ */
+#ifndef MPL_LOGW
+#ifdef __KERNEL__
+#define MPL_LOGW(fmt, ...) printk(KERN_WARNING MPL_LOG_TAG fmt, ##__VA_ARGS__)
+#else
+#define MPL_LOGW(fmt, ...) MPL_LOG(LOG_WARN, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#endif
+#endif
+
+#ifndef MPL_LOGW_IF
+#define MPL_LOGW_IF(cond, fmt, ...) \
+	((CONDITION(cond))					       \
+		? MPL_LOG(LOG_WARN, MPL_LOG_TAG, fmt, ##__VA_ARGS__)   \
+		: (void)0)
+#endif
+
+/*
+ * Simplified macro to send an error log message using the current MPL_LOG_TAG.
+ */
+#ifndef MPL_LOGE
+#ifdef __KERNEL__
+#define MPL_LOGE(fmt, ...) printk(KERN_ERR MPL_LOG_TAG fmt, ##__VA_ARGS__)
+#else
+#define MPL_LOGE(fmt, ...) MPL_LOG(LOG_ERROR, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#endif
+#endif
+
+#ifndef MPL_LOGE_IF
+#define MPL_LOGE_IF(cond, fmt, ...) \
+	((CONDITION(cond))					       \
+		? MPL_LOG(LOG_ERROR, MPL_LOG_TAG, fmt, ##__VA_ARGS__)  \
+		: (void)0)
+#endif
+
+/* --------------------------------------------------------------------- */
+
+/*
+ * Log a fatal error.  If the given condition fails, this stops program
+ * execution like a normal assertion, but also generating the given message.
+ * It is NOT stripped from release builds.  Note that the condition test
+ * is -inverted- from the normal assert() semantics.
+ */
+#define MPL_LOG_ALWAYS_FATAL_IF(cond, fmt, ...) \
+	((CONDITION(cond))					   \
+		? ((void)android_printAssert(#cond, MPL_LOG_TAG,   \
+						fmt, ##__VA_ARGS__))	\
+		: (void)0)
+
+#define MPL_LOG_ALWAYS_FATAL(fmt, ...) \
+	(((void)android_printAssert(NULL, MPL_LOG_TAG, fmt, ##__VA_ARGS__)))
+
+/*
+ * Versions of MPL_LOG_ALWAYS_FATAL_IF and MPL_LOG_ALWAYS_FATAL that
+ * are stripped out of release builds.
+ */
+#if MPL_LOG_NDEBUG
+#define MPL_LOG_FATAL_IF(cond, fmt, ...)				\
+	do {								\
+		if (0)							\
+			MPL_LOG_ALWAYS_FATAL_IF(cond, fmt, ##__VA_ARGS__); \
+	} while (0)
+#define MPL_LOG_FATAL(fmt, ...)						\
+	do {								\
+		if (0)							\
+			MPL_LOG_ALWAYS_FATAL(fmt, ##__VA_ARGS__)	\
+	} while (0)
+#else
+#define MPL_LOG_FATAL_IF(cond, fmt, ...) \
+	MPL_LOG_ALWAYS_FATAL_IF(cond, fmt, ##__VA_ARGS__)
+#define MPL_LOG_FATAL(fmt, ...) \
+	MPL_LOG_ALWAYS_FATAL(fmt, ##__VA_ARGS__)
+#endif
+
+/*
+ * Assertion that generates a log message when the assertion fails.
+ * Stripped out of release builds.  Uses the current MPL_LOG_TAG.
+ */
+#define MPL_LOG_ASSERT(cond, fmt, ...)			\
+	MPL_LOG_FATAL_IF(!(cond), fmt, ##__VA_ARGS__)
+
+/* --------------------------------------------------------------------- */
+
+/*
+ * Basic log message macro.
+ *
+ * Example:
+ *  MPL_LOG(MPL_LOG_WARN, NULL, "Failed with error %d", errno);
+ *
+ * The second argument may be NULL or "" to indicate the "global" tag.
+ */
+#ifndef MPL_LOG
+#define MPL_LOG(priority, tag, fmt, ...)		\
+	MPL_LOG_PRI(priority, tag, fmt, ##__VA_ARGS__)
+#endif
+
+/*
+ * Log macro that allows you to specify a number for the priority.
+ */
+#ifndef MPL_LOG_PRI
+#ifdef ANDROID
+#define MPL_LOG_PRI(priority, tag, fmt, ...) \
+        ALOG(priority, tag, fmt, ##__VA_ARGS__)
+#elif defined __KERNEL__
+#define MPL_LOG_PRI(priority, tag, fmt, ...) \
+	pr_debug(MPL_##priority tag fmt, ##__VA_ARGS__)
+#else
+#define MPL_LOG_PRI(priority, tag, fmt, ...) \
+	_MLPrintLog(MPL_##priority, tag, fmt, ##__VA_ARGS__)
+#endif
+#endif
+
+/*
+ * Log macro that allows you to pass in a varargs ("args" is a va_list).
+ */
+#ifndef MPL_LOG_PRI_VA
+#ifdef ANDROID
+#define MPL_LOG_PRI_VA(priority, tag, fmt, args) \
+	android_vprintLog(priority, NULL, tag, fmt, args)
+#elif defined __KERNEL__
+/* not allowed in the Kernel because there is no dev_dbg that takes a va_list */
+#else
+#define MPL_LOG_PRI_VA(priority, tag, fmt, args) \
+	_MLPrintVaLog(priority, NULL, tag, fmt, args)
+#endif
+#endif
+
+/* --------------------------------------------------------------------- */
+
+/*
+ * ===========================================================================
+ *
+ * The stuff in the rest of this file should not be used directly.
+ */
+
+#ifndef ANDROID
+int _MLPrintLog(int priority, const char *tag, const char *fmt,	...);
+int _MLPrintVaLog(int priority, const char *tag, const char *fmt, va_list args);
+/* Final implementation of actual writing to a character device */
+int _MLWriteLog(const char *buf, int buflen);
+#endif
+
+static inline void __print_result_location(int result,
+					   const char *file,
+					   const char *func, int line)
+{
+	MPL_LOGE("%s|%s|%d returning %d\n", file, func, line, result);
+}
+
+#define LOG_RESULT_LOCATION(condition) \
+	do {								\
+		__print_result_location((int)(condition), __FILE__,	\
+					__func__, __LINE__);		\
+	} while (0)
+
+
+#ifdef __cplusplus
+}
+#endif
+#endif				/* _LIBS_CUTILS_MPL_LOG_H */
diff --git a/libsensors/mlsdk/platform/include/mlmath.h b/libsensors/mlsdk/platform/include/mlmath.h
new file mode 100644
index 0000000..424a43b
--- /dev/null
+++ b/libsensors/mlsdk/platform/include/mlmath.h
@@ -0,0 +1,107 @@
+/*
+ $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: mlmath.h 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *******************************************************************************/
+
+#ifndef _ML_MATH_H_
+#define	_ML_MATH_H_
+
+#ifndef MLMATH
+// This define makes Microsoft pickup things like M_PI
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#ifdef WIN32
+// Microsoft doesn't follow standards
+#define  round(x)(((double)((long long)((x)>0?(x)+.5:(x)-.5))))
+#define roundf(x)(((float )((long long)((x)>0?(x)+.5f:(x)-.5f))))
+#endif
+
+#else  // MLMATH
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/* MPL needs below functions */
+double	ml_asin(double);
+double	ml_atan(double);
+double	ml_atan2(double, double);
+double	ml_log(double);
+double	ml_sqrt(double);
+double	ml_ceil(double);
+double	ml_floor(double);
+double  ml_cos(double);
+double  ml_sin(double);
+double  ml_acos(double);
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+/*
+ * We rename functions here to provide the hook for other
+ * customized math functions.
+ */
+#define	sqrt(x)      ml_sqrt(x)
+#define	log(x)       ml_log(x)
+#define	asin(x)      ml_asin(x)
+#define	atan(x)      ml_atan(x)
+#define	atan2(x,y)   ml_atan2(x,y)
+#define	ceil(x)      ml_ceil(x)
+#define	floor(x)     ml_floor(x)
+#define fabs(x)      (((x)<0)?-(x):(x))
+#define round(x)     (((double)((long long)((x)>0?(x)+.5:(x)-.5))))
+#define roundf(x)    (((float )((long long)((x)>0?(x)+.5f:(x)-.5f))))
+#define cos(x)       ml_cos(x)
+#define sin(x)       ml_sin(x)
+#define acos(x)      ml_acos(x)
+
+#define pow(x,y)     ml_pow(x,y)
+
+#ifdef LINUX
+/* stubs for float version of math functions */
+#define cosf(x)      ml_cos(x)
+#define sinf(x)      ml_sin(x)
+#define atan2f(x,y)  ml_atan2(x,y)
+#define sqrtf(x)     ml_sqrt(x)
+#endif
+
+
+
+#endif // MLMATH
+
+#ifndef M_PI
+#define M_PI 3.14159265358979
+#endif
+
+#ifndef ABS
+#define ABS(x) (((x)>=0)?(x):-(x))
+#endif
+
+#ifndef MIN
+#define MIN(x,y) (((x)<(y))?(x):(y))
+#endif
+
+#ifndef MAX
+#define MAX(x,y) (((x)>(y))?(x):(y))
+#endif
+
+/*---------------------------*/
+#endif /* !_ML_MATH_H_ */
diff --git a/libsensors/mlsdk/platform/include/mlos.h b/libsensors/mlsdk/platform/include/mlos.h
new file mode 100644
index 0000000..97c8c88
--- /dev/null
+++ b/libsensors/mlsdk/platform/include/mlos.h
@@ -0,0 +1,109 @@
+/*
+ $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 _MLOS_H
+#define _MLOS_H
+
+#ifndef __KERNEL__
+#include <stdio.h>
+#endif
+
+#include "mltypes.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if defined(LINUX) || defined(__KERNEL__)
+#include <stdint.h>
+typedef uintptr_t HANDLE; // TODO: shouldn't this be pthread_mutex_t* ???
+#endif
+
+	/* ------------ */
+	/* - Defines. - */
+	/* ------------ */
+
+	/* - MLOSCreateFile defines. - */
+
+#define MLOS_GENERIC_READ         ((unsigned int)0x80000000)
+#define MLOS_GENERIC_WRITE        ((unsigned int)0x40000000)
+#define MLOS_FILE_SHARE_READ      ((unsigned int)0x00000001)
+#define MLOS_FILE_SHARE_WRITE     ((unsigned int)0x00000002)
+#define MLOS_OPEN_EXISTING        ((unsigned int)0x00000003)
+
+	/* ---------- */
+	/* - Enums. - */
+	/* ---------- */
+
+	/* --------------- */
+	/* - Structures. - */
+	/* --------------- */
+
+	/* --------------------- */
+	/* - Function p-types. - */
+	/* --------------------- */
+
+#ifndef __KERNEL__
+#include <string.h>
+	void *inv_malloc(unsigned int numBytes);
+	inv_error_t inv_free(void *ptr);
+	inv_error_t inv_create_mutex(HANDLE *mutex);
+	inv_error_t inv_lock_mutex(HANDLE mutex);
+	inv_error_t inv_unlock_mutex(HANDLE mutex);
+	FILE *inv_fopen(char *filename);
+	void inv_fclose(FILE *fp);
+
+	inv_error_t inv_destroy_mutex(HANDLE handle);
+
+	void inv_sleep(int mSecs);
+	unsigned long inv_get_tick_count(void);
+
+	/* Kernel implmentations */
+#define GFP_KERNEL (0x70)
+	static inline void *kmalloc(size_t size,
+				    unsigned int gfp_flags __unused)
+	{
+		return inv_malloc((unsigned int)size);
+	}
+	static inline void *kzalloc(size_t size, unsigned int gfp_flags __unused)
+	{
+		void *tmp = inv_malloc((unsigned int)size);
+		if (tmp)
+			memset(tmp, 0, size);
+		return tmp;
+	}
+	static inline void kfree(void *ptr)
+	{
+		inv_free(ptr);
+	}
+	static inline void msleep(long msecs)
+	{
+		inv_sleep(msecs);
+	}
+	static inline void udelay(unsigned long usecs)
+	{
+		inv_sleep((usecs + 999) / 1000);
+	}
+#else
+#include <linux/delay.h>
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+#endif				/* _MLOS_H */
diff --git a/libsensors/mlsdk/platform/include/mlsl.h b/libsensors/mlsdk/platform/include/mlsl.h
new file mode 100644
index 0000000..535d117
--- /dev/null
+++ b/libsensors/mlsdk/platform/include/mlsl.h
@@ -0,0 +1,290 @@
+/*
+ $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 __MLSL_H__
+#define __MLSL_H__
+
+/**
+ *  @defgroup   MLSL
+ *  @brief      Motion Library - Serial Layer.
+ *              The Motion Library System Layer provides the Motion Library
+ *              with the communication interface to the hardware.
+ *
+ *              The communication interface is assumed to support serial
+ *              transfers in burst of variable length up to
+ *              SERIAL_MAX_TRANSFER_SIZE.
+ *              The default value for SERIAL_MAX_TRANSFER_SIZE is 128 bytes.
+ *              Transfers of length greater than SERIAL_MAX_TRANSFER_SIZE, will
+ *              be subdivided in smaller transfers of length <=
+ *              SERIAL_MAX_TRANSFER_SIZE.
+ *              The SERIAL_MAX_TRANSFER_SIZE definition can be modified to
+ *              overcome any host processor transfer size limitation down to
+ *              1 B, the minimum.
+ *              An higher value for SERIAL_MAX_TRANSFER_SIZE will favor
+ *              performance and efficiency while requiring higher resource usage
+ *              (mostly buffering). A smaller value will increase overhead and
+ *              decrease efficiency but allows to operate with more resource
+ *              constrained processor and master serial controllers.
+ *              The SERIAL_MAX_TRANSFER_SIZE definition can be found in the
+ *              mlsl.h header file and master serial controllers.
+ *              The SERIAL_MAX_TRANSFER_SIZE definition can be found in the
+ *              mlsl.h header file.
+ *
+ *  @{
+ *      @file   mlsl.h
+ *      @brief  The Motion Library System Layer.
+ *
+ */
+
+#include "mltypes.h"
+#include <linux/mpu.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * NOTE : to properly support Yamaha compass reads,
+ *	  the max transfer size should be at least 9 B.
+ *	  Length in bytes, typically a power of 2 >= 2
+ */
+#define SERIAL_MAX_TRANSFER_SIZE 128
+
+#ifndef __KERNEL__
+/**
+ *  inv_serial_open() - used to open the serial port.
+ *  @port	The COM port specification associated with the device in use.
+ *  @sl_handle	a pointer to the file handle to the serial device to be open
+ *		for the communication.
+ *	This port is used to send and receive data to the device.
+ *
+ *	This function is called by inv_serial_start().
+ *	Unlike previous MPL Software releases, explicitly calling
+ *	inv_serial_start() is mandatory to instantiate the communication
+ *	with the device.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_open(char const *port, void **sl_handle);
+
+/**
+ *  inv_serial_close() - used to close the serial port.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *
+ *	This port is used to send and receive data to the device.
+ *
+ *	This function is called by inv_serial_stop().
+ *	Unlike previous MPL Software releases, explicitly calling
+ *	inv_serial_stop() is mandatory to properly shut-down the
+ *	communication with the device.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_close(void *sl_handle);
+
+/**
+ *  inv_serial_reset() - used to reset any buffering the driver may be doing
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_reset(void *sl_handle);
+#endif
+
+/**
+ *  inv_serial_single_write() - used to write a single byte of data.
+ *  @sl_handle		pointer to the serial device used for the communication.
+ *  @slave_addr		I2C slave address of device.
+ *  @register_addr	Register address to write.
+ *  @data		Single byte of data to write.
+ *
+ *	It is called by the MPL to write a single byte of data to the MPU.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_single_write(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned char register_addr,
+	unsigned char data);
+
+/**
+ *  inv_serial_write() - used to write multiple bytes of data to registers.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @register_addr	Register address to write.
+ *  @length	Length of burst of data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_write(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short length,
+	unsigned char const *data);
+
+/**
+ *  inv_serial_read() - used to read multiple bytes of data from registers.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @register_addr	Register address to read.
+ *  @length	Length of burst of data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_read(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned char register_addr,
+	unsigned short length,
+	unsigned char *data);
+
+/**
+ *  inv_serial_read_mem() - used to read multiple bytes of data from the memory.
+ *	    This should be sent by I2C or SPI.
+ *
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @mem_addr	The location in the memory to read from.
+ *  @length	Length of burst data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_read_mem(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short mem_addr,
+	unsigned short length,
+	unsigned char *data);
+
+/**
+ *  inv_serial_write_mem() - used to write multiple bytes of data to the memory.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @mem_addr	The location in the memory to write to.
+ *  @length	Length of burst data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_write_mem(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short mem_addr,
+	unsigned short length,
+	unsigned char const *data);
+
+/**
+ *  inv_serial_read_fifo() - used to read multiple bytes of data from the fifo.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @length	Length of burst of data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_read_fifo(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short length,
+	unsigned char *data);
+
+/**
+ *  inv_serial_write_fifo() - used to write multiple bytes of data to the fifo.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @length	Length of burst of data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_write_fifo(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short length,
+	unsigned char const *data);
+
+#ifndef __KERNEL__
+/**
+ *  inv_serial_read_cfg() - used to get the configuration data.
+ *  @cfg	Pointer to the configuration data.
+ *  @len	Length of the configuration data.
+ *
+ *		Is called by the MPL to get the configuration data
+ *		used by the motion library.
+ *		This data would typically be saved in non-volatile memory.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_read_cfg(unsigned char *cfg, unsigned int len);
+
+/**
+ *  inv_serial_write_cfg() - used to save the configuration data.
+ *  @cfg	Pointer to the configuration data.
+ *  @len	Length of the configuration data.
+ *
+ *		Is called by the MPL to save the configuration data used by the
+ *		motion library.
+ *		This data would typically be saved in non-volatile memory.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_write_cfg(unsigned char *cfg, unsigned int len);
+
+/**
+ *  inv_serial_read_cal() - used to get the calibration data.
+ *  @cfg	Pointer to the calibration data.
+ *  @len	Length of the calibration data.
+ *
+ *		It is called by the MPL to get the calibration data used by the
+ *		motion library.
+ *		This data is typically be saved in non-volatile memory.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_read_cal(unsigned char *cal, unsigned int len);
+
+/**
+ *  inv_serial_write_cal() - used to save the calibration data.
+ *
+ *  @cfg	Pointer to the calibration data.
+ *  @len	Length of the calibration data.
+ *
+ *	    It is called by the MPL to save the calibration data used by the
+ *	    motion library.
+ *	    This data is typically be saved in non-volatile memory.
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_write_cal(unsigned char *cal, unsigned int len);
+
+/**
+ *  inv_serial_get_cal_length() - Get the calibration length from the storage.
+ *  @len	lenght to be returned
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_get_cal_length(unsigned int *len);
+#endif
+#ifdef __cplusplus
+}
+#endif
+/**
+ * @}
+ */
+#endif				/* __MLSL_H__ */
diff --git a/libsensors/mlsdk/platform/include/mltypes.h b/libsensors/mlsdk/platform/include/mltypes.h
new file mode 100644
index 0000000..90a126b
--- /dev/null
+++ b/libsensors/mlsdk/platform/include/mltypes.h
@@ -0,0 +1,265 @@
+/*
+ $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.
+  $
+ */
+
+/**
+ *  @defgroup MLERROR
+ *  @brief  Motion Library - Error definitions.
+ *          Definition of the error codes used within the MPL and
+ *          returned to the user.
+ *          Every function tries to return a meaningful error code basing
+ *          on the occuring error condition. The error code is numeric.
+ *
+ *          The available error codes and their associated values are:
+ *          - (0)       INV_SUCCESS
+ *          - (1)       INV_ERROR
+ *          - (2)       INV_ERROR_INVALID_PARAMETER
+ *          - (3)       INV_ERROR_FEATURE_NOT_ENABLED
+ *          - (4)       INV_ERROR_FEATURE_NOT_IMPLEMENTED
+ *          - (6)       INV_ERROR_DMP_NOT_STARTED
+ *          - (7)       INV_ERROR_DMP_STARTED
+ *          - (8)       INV_ERROR_NOT_OPENED
+ *          - (9)       INV_ERROR_OPENED
+ *          - (10)      INV_ERROR_INVALID_MODULE
+ *          - (11)      INV_ERROR_MEMORY_EXAUSTED
+ *          - (12)      INV_ERROR_DIVIDE_BY_ZERO
+ *          - (13)      INV_ERROR_ASSERTION_FAILURE
+ *          - (14)      INV_ERROR_FILE_OPEN
+ *          - (15)      INV_ERROR_FILE_READ
+ *          - (16)      INV_ERROR_FILE_WRITE
+ *          - (17)      INV_ERROR_INVALID_CONFIGURATION
+ *          - (20)      INV_ERROR_SERIAL_CLOSED
+ *          - (21)      INV_ERROR_SERIAL_OPEN_ERROR
+ *          - (22)      INV_ERROR_SERIAL_READ
+ *          - (23)      INV_ERROR_SERIAL_WRITE
+ *          - (24)      INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED
+ *          - (25)      INV_ERROR_SM_TRANSITION
+ *          - (26)      INV_ERROR_SM_IMPROPER_STATE
+ *          - (30)      INV_ERROR_FIFO_OVERFLOW
+ *          - (31)      INV_ERROR_FIFO_FOOTER
+ *          - (32)      INV_ERROR_FIFO_READ_COUNT
+ *          - (33)      INV_ERROR_FIFO_READ_DATA
+ *          - (40)      INV_ERROR_MEMORY_SET
+ *          - (50)      INV_ERROR_LOG_MEMORY_ERROR
+ *          - (51)      INV_ERROR_LOG_OUTPUT_ERROR
+ *          - (60)      INV_ERROR_OS_BAD_PTR
+ *          - (61)      INV_ERROR_OS_BAD_HANDLE
+ *          - (62)      INV_ERROR_OS_CREATE_FAILED
+ *          - (63)      INV_ERROR_OS_LOCK_FAILED
+ *          - (70)      INV_ERROR_COMPASS_DATA_OVERFLOW
+ *          - (71)      INV_ERROR_COMPASS_DATA_UNDERFLOW
+ *          - (72)      INV_ERROR_COMPASS_DATA_NOT_READY
+ *          - (73)      INV_ERROR_COMPASS_DATA_ERROR
+ *          - (75)      INV_ERROR_CALIBRATION_LOAD
+ *          - (76)      INV_ERROR_CALIBRATION_STORE
+ *          - (77)      INV_ERROR_CALIBRATION_LEN
+ *          - (78)      INV_ERROR_CALIBRATION_CHECKSUM
+ *          - (79)      INV_ERROR_ACCEL_DATA_OVERFLOW
+ *          - (80)      INV_ERROR_ACCEL_DATA_UNDERFLOW
+ *          - (81)      INV_ERROR_ACCEL_DATA_NOT_READY
+ *          - (82)      INV_ERROR_ACCEL_DATA_ERROR
+ *
+ *  @{
+ *      @file mltypes.h
+ *  @}
+ */
+
+#ifndef MLTYPES_H
+#define MLTYPES_H
+
+#ifdef __KERNEL__
+#include <linux/types.h>
+#else
+#include "stdint_invensense.h"
+#endif
+
+/*---------------------------
+    ML Types
+---------------------------*/
+
+/**
+ *  @struct inv_error_t mltypes.h "mltypes"
+ *  @brief  The MPL Error Code return type.
+ *
+ *  @code
+ *      typedef unsigned char inv_error_t;
+ *  @endcode
+ */
+typedef unsigned char inv_error_t;
+
+#ifndef __cplusplus
+#ifndef __KERNEL__
+typedef int_fast8_t bool;
+#endif
+#endif
+
+/*---------------------------
+    ML Defines
+---------------------------*/
+
+#ifndef NULL
+#define NULL 0
+#endif
+
+#ifndef TRUE
+#define TRUE 1
+#endif
+
+#ifndef FALSE
+#define FALSE 0
+#endif
+
+#ifndef __KERNEL__
+#ifndef ARRAY_SIZE
+/* Dimension of an array */
+#define ARRAY_SIZE(array) (sizeof(array)/sizeof((array)[0]))
+#endif
+#endif
+/* - ML Errors. - */
+#define ERROR_NAME(x)   (#x)
+#define ERROR_CHECK_FIRST(first, x)                                     \
+	{ if (INV_SUCCESS == first) first = x; }
+
+#define INV_SUCCESS                       (0)
+/* Generic Error code.  Proprietary Error Codes only */
+#define INV_ERROR                         (1)
+
+/* Compatibility and other generic error codes */
+#define INV_ERROR_INVALID_PARAMETER       (2)
+#define INV_ERROR_FEATURE_NOT_ENABLED     (3)
+#define INV_ERROR_FEATURE_NOT_IMPLEMENTED (4)
+#define INV_ERROR_DMP_NOT_STARTED         (6)
+#define INV_ERROR_DMP_STARTED             (7)
+#define INV_ERROR_NOT_OPENED              (8)
+#define INV_ERROR_OPENED                  (9)
+#define INV_ERROR_INVALID_MODULE         (10)
+#define INV_ERROR_MEMORY_EXAUSTED        (11)
+#define INV_ERROR_DIVIDE_BY_ZERO         (12)
+#define INV_ERROR_ASSERTION_FAILURE      (13)
+#define INV_ERROR_FILE_OPEN              (14)
+#define INV_ERROR_FILE_READ              (15)
+#define INV_ERROR_FILE_WRITE             (16)
+#define INV_ERROR_INVALID_CONFIGURATION  (17)
+
+/* Serial Communication */
+#define INV_ERROR_SERIAL_CLOSED          (20)
+#define INV_ERROR_SERIAL_OPEN_ERROR      (21)
+#define INV_ERROR_SERIAL_READ            (22)
+#define INV_ERROR_SERIAL_WRITE           (23)
+#define INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED  (24)
+
+/* SM = State Machine */
+#define INV_ERROR_SM_TRANSITION          (25)
+#define INV_ERROR_SM_IMPROPER_STATE      (26)
+
+/* Fifo */
+#define INV_ERROR_FIFO_OVERFLOW          (30)
+#define INV_ERROR_FIFO_FOOTER            (31)
+#define INV_ERROR_FIFO_READ_COUNT        (32)
+#define INV_ERROR_FIFO_READ_DATA         (33)
+
+/* Memory & Registers, Set & Get */
+#define INV_ERROR_MEMORY_SET             (40)
+
+#define INV_ERROR_LOG_MEMORY_ERROR       (50)
+#define INV_ERROR_LOG_OUTPUT_ERROR       (51)
+
+/* OS interface errors */
+#define INV_ERROR_OS_BAD_PTR             (60)
+#define INV_ERROR_OS_BAD_HANDLE          (61)
+#define INV_ERROR_OS_CREATE_FAILED       (62)
+#define INV_ERROR_OS_LOCK_FAILED         (63)
+
+/* Compass errors */
+#define INV_ERROR_COMPASS_DATA_OVERFLOW  (70)
+#define INV_ERROR_COMPASS_DATA_UNDERFLOW (71)
+#define INV_ERROR_COMPASS_DATA_NOT_READY (72)
+#define INV_ERROR_COMPASS_DATA_ERROR     (73)
+
+/* Load/Store calibration */
+#define INV_ERROR_CALIBRATION_LOAD       (75)
+#define INV_ERROR_CALIBRATION_STORE      (76)
+#define INV_ERROR_CALIBRATION_LEN        (77)
+#define INV_ERROR_CALIBRATION_CHECKSUM   (78)
+
+/* Accel errors */
+#define INV_ERROR_ACCEL_DATA_OVERFLOW    (79)
+#define INV_ERROR_ACCEL_DATA_UNDERFLOW   (80)
+#define INV_ERROR_ACCEL_DATA_NOT_READY   (81)
+#define INV_ERROR_ACCEL_DATA_ERROR       (82)
+
+#ifdef INV_USE_LEGACY_NAMES
+#define ML_SUCCESS                       INV_SUCCESS
+#define ML_ERROR                         INV_ERROR
+#define ML_ERROR_INVALID_PARAMETER       INV_ERROR_INVALID_PARAMETER
+#define ML_ERROR_FEATURE_NOT_ENABLED     INV_ERROR_FEATURE_NOT_ENABLED
+#define ML_ERROR_FEATURE_NOT_IMPLEMENTED INV_ERROR_FEATURE_NOT_IMPLEMENTED
+#define ML_ERROR_DMP_NOT_STARTED         INV_ERROR_DMP_NOT_STARTED
+#define ML_ERROR_DMP_STARTED             INV_ERROR_DMP_STARTED
+#define ML_ERROR_NOT_OPENED              INV_ERROR_NOT_OPENED
+#define ML_ERROR_OPENED                  INV_ERROR_OPENED
+#define ML_ERROR_INVALID_MODULE          INV_ERROR_INVALID_MODULE
+#define ML_ERROR_MEMORY_EXAUSTED         INV_ERROR_MEMORY_EXAUSTED
+#define ML_ERROR_DIVIDE_BY_ZERO          INV_ERROR_DIVIDE_BY_ZERO
+#define ML_ERROR_ASSERTION_FAILURE       INV_ERROR_ASSERTION_FAILURE
+#define ML_ERROR_FILE_OPEN               INV_ERROR_FILE_OPEN
+#define ML_ERROR_FILE_READ               INV_ERROR_FILE_READ
+#define ML_ERROR_FILE_WRITE              INV_ERROR_FILE_WRITE
+#define ML_ERROR_INVALID_CONFIGURATION   INV_ERROR_INVALID_CONFIGURATION
+#define ML_ERROR_SERIAL_CLOSED           INV_ERROR_SERIAL_CLOSED
+#define ML_ERROR_SERIAL_OPEN_ERROR       INV_ERROR_SERIAL_OPEN_ERROR
+#define ML_ERROR_SERIAL_READ             INV_ERROR_SERIAL_READ
+#define ML_ERROR_SERIAL_WRITE            INV_ERROR_SERIAL_WRITE
+#define ML_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED  \
+	INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED
+#define ML_ERROR_SM_TRANSITION          INV_ERROR_SM_TRANSITION
+#define ML_ERROR_SM_IMPROPER_STATE      INV_ERROR_SM_IMPROPER_STATE
+#define ML_ERROR_FIFO_OVERFLOW          INV_ERROR_FIFO_OVERFLOW
+#define ML_ERROR_FIFO_FOOTER            INV_ERROR_FIFO_FOOTER
+#define ML_ERROR_FIFO_READ_COUNT        INV_ERROR_FIFO_READ_COUNT
+#define ML_ERROR_FIFO_READ_DATA         INV_ERROR_FIFO_READ_DATA
+#define ML_ERROR_MEMORY_SET             INV_ERROR_MEMORY_SET
+#define ML_ERROR_LOG_MEMORY_ERROR       INV_ERROR_LOG_MEMORY_ERROR
+#define ML_ERROR_LOG_OUTPUT_ERROR       INV_ERROR_LOG_OUTPUT_ERROR
+#define ML_ERROR_OS_BAD_PTR             INV_ERROR_OS_BAD_PTR
+#define ML_ERROR_OS_BAD_HANDLE          INV_ERROR_OS_BAD_HANDLE
+#define ML_ERROR_OS_CREATE_FAILED       INV_ERROR_OS_CREATE_FAILED
+#define ML_ERROR_OS_LOCK_FAILED         INV_ERROR_OS_LOCK_FAILED
+#define ML_ERROR_COMPASS_DATA_OVERFLOW  INV_ERROR_COMPASS_DATA_OVERFLOW
+#define ML_ERROR_COMPASS_DATA_UNDERFLOW INV_ERROR_COMPASS_DATA_UNDERFLOW
+#define ML_ERROR_COMPASS_DATA_NOT_READY INV_ERROR_COMPASS_DATA_NOT_READY
+#define ML_ERROR_COMPASS_DATA_ERROR     INV_ERROR_COMPASS_DATA_ERROR
+#define ML_ERROR_CALIBRATION_LOAD       INV_ERROR_CALIBRATION_LOAD
+#define ML_ERROR_CALIBRATION_STORE      INV_ERROR_CALIBRATION_STORE
+#define ML_ERROR_CALIBRATION_LEN        INV_ERROR_CALIBRATION_LEN
+#define ML_ERROR_CALIBRATION_CHECKSUM   INV_ERROR_CALIBRATION_CHECKSUM
+#define ML_ERROR_ACCEL_DATA_OVERFLOW    INV_ERROR_ACCEL_DATA_OVERFLOW
+#define ML_ERROR_ACCEL_DATA_UNDERFLOW   INV_ERROR_ACCEL_DATA_UNDERFLOW
+#define ML_ERROR_ACCEL_DATA_NOT_READY   INV_ERROR_ACCEL_DATA_NOT_READY
+#define ML_ERROR_ACCEL_DATA_ERROR       INV_ERROR_ACCEL_DATA_ERROR
+#endif
+
+/* For Linux coding compliance */
+#ifndef __KERNEL__
+#define EXPORT_SYMBOL(x)
+#endif
+
+/*---------------------------
+    p-Types
+---------------------------*/
+
+#endif				/* MLTYPES_H */
diff --git a/libsensors/mlsdk/platform/include/mpu3050.h b/libsensors/mlsdk/platform/include/mpu3050.h
new file mode 100644
index 0000000..bd0ac32
--- /dev/null
+++ b/libsensors/mlsdk/platform/include/mpu3050.h
@@ -0,0 +1,251 @@
+/*
+ $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 __MPU_H_
+#error Do not include this file directly.  Include mpu.h instead.
+#endif
+
+#ifndef __MPU3050_H_
+#define __MPU3050_H_
+
+#ifdef __KERNEL__
+#include <linux/types.h>
+#endif
+
+#define MPU_NAME "mpu3050"
+#define DEFAULT_MPU_SLAVEADDR       0x68
+
+/*==== MPU REGISTER SET ====*/
+enum mpu_register {
+	MPUREG_WHO_AM_I = 0,	/* 00 0x00 */
+	MPUREG_PRODUCT_ID,	/* 01 0x01 */
+	MPUREG_02_RSVD,		/* 02 0x02 */
+	MPUREG_03_RSVD,		/* 03 0x03 */
+	MPUREG_04_RSVD,		/* 04 0x04 */
+	MPUREG_XG_OFFS_TC,	/* 05 0x05 */
+	MPUREG_06_RSVD,		/* 06 0x06 */
+	MPUREG_07_RSVD,		/* 07 0x07 */
+	MPUREG_YG_OFFS_TC,	/* 08 0x08 */
+	MPUREG_09_RSVD,		/* 09 0x09 */
+	MPUREG_0A_RSVD,		/* 10 0x0a */
+	MPUREG_ZG_OFFS_TC,	/* 11 0x0b */
+	MPUREG_X_OFFS_USRH,	/* 12 0x0c */
+	MPUREG_X_OFFS_USRL,	/* 13 0x0d */
+	MPUREG_Y_OFFS_USRH,	/* 14 0x0e */
+	MPUREG_Y_OFFS_USRL,	/* 15 0x0f */
+	MPUREG_Z_OFFS_USRH,	/* 16 0x10 */
+	MPUREG_Z_OFFS_USRL,	/* 17 0x11 */
+	MPUREG_FIFO_EN1,	/* 18 0x12 */
+	MPUREG_FIFO_EN2,	/* 19 0x13 */
+	MPUREG_AUX_SLV_ADDR,	/* 20 0x14 */
+	MPUREG_SMPLRT_DIV,	/* 21 0x15 */
+	MPUREG_DLPF_FS_SYNC,	/* 22 0x16 */
+	MPUREG_INT_CFG,		/* 23 0x17 */
+	MPUREG_ACCEL_BURST_ADDR,/* 24 0x18 */
+	MPUREG_19_RSVD,		/* 25 0x19 */
+	MPUREG_INT_STATUS,	/* 26 0x1a */
+	MPUREG_TEMP_OUT_H,	/* 27 0x1b */
+	MPUREG_TEMP_OUT_L,	/* 28 0x1c */
+	MPUREG_GYRO_XOUT_H,	/* 29 0x1d */
+	MPUREG_GYRO_XOUT_L,	/* 30 0x1e */
+	MPUREG_GYRO_YOUT_H,	/* 31 0x1f */
+	MPUREG_GYRO_YOUT_L,	/* 32 0x20 */
+	MPUREG_GYRO_ZOUT_H,	/* 33 0x21 */
+	MPUREG_GYRO_ZOUT_L,	/* 34 0x22 */
+	MPUREG_23_RSVD,		/* 35 0x23 */
+	MPUREG_24_RSVD,		/* 36 0x24 */
+	MPUREG_25_RSVD,		/* 37 0x25 */
+	MPUREG_26_RSVD,		/* 38 0x26 */
+	MPUREG_27_RSVD,		/* 39 0x27 */
+	MPUREG_28_RSVD,		/* 40 0x28 */
+	MPUREG_29_RSVD,		/* 41 0x29 */
+	MPUREG_2A_RSVD,		/* 42 0x2a */
+	MPUREG_2B_RSVD,		/* 43 0x2b */
+	MPUREG_2C_RSVD,		/* 44 0x2c */
+	MPUREG_2D_RSVD,		/* 45 0x2d */
+	MPUREG_2E_RSVD,		/* 46 0x2e */
+	MPUREG_2F_RSVD,		/* 47 0x2f */
+	MPUREG_30_RSVD,		/* 48 0x30 */
+	MPUREG_31_RSVD,		/* 49 0x31 */
+	MPUREG_32_RSVD,		/* 50 0x32 */
+	MPUREG_33_RSVD,		/* 51 0x33 */
+	MPUREG_34_RSVD,		/* 52 0x34 */
+	MPUREG_DMP_CFG_1,	/* 53 0x35 */
+	MPUREG_DMP_CFG_2,	/* 54 0x36 */
+	MPUREG_BANK_SEL,	/* 55 0x37 */
+	MPUREG_MEM_START_ADDR,	/* 56 0x38 */
+	MPUREG_MEM_R_W,		/* 57 0x39 */
+	MPUREG_FIFO_COUNTH,	/* 58 0x3a */
+	MPUREG_FIFO_COUNTL,	/* 59 0x3b */
+	MPUREG_FIFO_R_W,	/* 60 0x3c */
+	MPUREG_USER_CTRL,	/* 61 0x3d */
+	MPUREG_PWR_MGM,		/* 62 0x3e */
+	MPUREG_3F_RSVD,		/* 63 0x3f */
+	NUM_OF_MPU_REGISTERS	/* 64 0x40 */
+};
+
+/*==== BITS FOR MPU ====*/
+
+/*---- MPU 'FIFO_EN1' register (12) ----*/
+#define BIT_TEMP_OUT                0x80
+#define BIT_GYRO_XOUT               0x40
+#define BIT_GYRO_YOUT               0x20
+#define BIT_GYRO_ZOUT               0x10
+#define BIT_ACCEL_XOUT              0x08
+#define BIT_ACCEL_YOUT              0x04
+#define BIT_ACCEL_ZOUT              0x02
+#define BIT_AUX_1OUT                0x01
+/*---- MPU 'FIFO_EN2' register (13) ----*/
+#define BIT_AUX_2OUT                0x02
+#define BIT_AUX_3OUT                0x01
+/*---- MPU 'DLPF_FS_SYNC' register (16) ----*/
+#define BITS_EXT_SYNC_NONE          0x00
+#define BITS_EXT_SYNC_TEMP          0x20
+#define BITS_EXT_SYNC_GYROX         0x40
+#define BITS_EXT_SYNC_GYROY         0x60
+#define BITS_EXT_SYNC_GYROZ         0x80
+#define BITS_EXT_SYNC_ACCELX        0xA0
+#define BITS_EXT_SYNC_ACCELY        0xC0
+#define BITS_EXT_SYNC_ACCELZ        0xE0
+#define BITS_EXT_SYNC_MASK          0xE0
+#define BITS_FS_250DPS              0x00
+#define BITS_FS_500DPS              0x08
+#define BITS_FS_1000DPS             0x10
+#define BITS_FS_2000DPS             0x18
+#define BITS_FS_MASK                0x18
+#define BITS_DLPF_CFG_256HZ_NOLPF2  0x00
+#define BITS_DLPF_CFG_188HZ         0x01
+#define BITS_DLPF_CFG_98HZ          0x02
+#define BITS_DLPF_CFG_42HZ          0x03
+#define BITS_DLPF_CFG_20HZ          0x04
+#define BITS_DLPF_CFG_10HZ          0x05
+#define BITS_DLPF_CFG_5HZ           0x06
+#define BITS_DLPF_CFG_2100HZ_NOLPF  0x07
+#define BITS_DLPF_CFG_MASK          0x07
+/*---- MPU 'INT_CFG' register (17) ----*/
+#define BIT_ACTL                    0x80
+#define BIT_ACTL_LOW                0x80
+#define BIT_ACTL_HIGH               0x00
+#define BIT_OPEN                    0x40
+#define BIT_OPEN_DRAIN              0x40
+#define BIT_PUSH_PULL               0x00
+#define BIT_LATCH_INT_EN            0x20
+#define BIT_INT_PULSE_WIDTH_50US    0x00
+#define BIT_INT_ANYRD_2CLEAR        0x10
+#define BIT_INT_STAT_READ_2CLEAR    0x00
+#define BIT_MPU_RDY_EN              0x04
+#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_MPU_RDY                 0x04
+#define BIT_DMP_INT                 0x02
+#define BIT_RAW_RDY                 0x01
+/*---- MPU 'BANK_SEL' register (37) ----*/
+#define BIT_PRFTCH_EN               0x20
+#define BIT_CFG_USER_BANK           0x10
+#define BITS_MEM_SEL                0x0f
+/*---- MPU 'USER_CTRL' register (3D) ----*/
+#define BIT_DMP_EN                  0x80
+#define BIT_FIFO_EN                 0x40
+#define BIT_AUX_IF_EN               0x20
+#define BIT_AUX_RD_LENG             0x10
+#define BIT_AUX_IF_RST              0x08
+#define BIT_DMP_RST                 0x04
+#define BIT_FIFO_RST                0x02
+#define BIT_GYRO_RST                0x01
+/*---- MPU 'PWR_MGM' register (3E) ----*/
+#define BIT_H_RESET                 0x80
+#define BIT_SLEEP                   0x40
+#define BIT_STBY_XG                 0x20
+#define BIT_STBY_YG                 0x10
+#define BIT_STBY_ZG                 0x08
+#define BITS_CLKSEL                 0x07
+
+/*---- MPU Silicon Revision ----*/
+#define MPU_SILICON_REV_A4           1	/* MPU A4 Device */
+#define MPU_SILICON_REV_B1           2	/* MPU B1 Device */
+#define MPU_SILICON_REV_B4           3	/* MPU B4 Device */
+#define MPU_SILICON_REV_B6           4	/* MPU B6 Device */
+
+/*---- MPU Memory ----*/
+#define MPU_MEM_BANK_SIZE           (256)
+#define FIFO_HW_SIZE                (512)
+
+enum MPU_MEMORY_BANKS {
+	MPU_MEM_RAM_BANK_0 = 0,
+	MPU_MEM_RAM_BANK_1,
+	MPU_MEM_RAM_BANK_2,
+	MPU_MEM_RAM_BANK_3,
+	MPU_MEM_NUM_RAM_BANKS,
+	MPU_MEM_OTP_BANK_0 = MPU_MEM_NUM_RAM_BANKS,
+	/* This one is always last */
+	MPU_MEM_NUM_BANKS
+};
+
+/*---- 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				/* __MPU3050_H_ */
diff --git a/libsensors/mlsdk/platform/include/stdint_invensense.h b/libsensors/mlsdk/platform/include/stdint_invensense.h
new file mode 100644
index 0000000..d238813
--- /dev/null
+++ b/libsensors/mlsdk/platform/include/stdint_invensense.h
@@ -0,0 +1,51 @@
+/*
+ $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 STDINT_INVENSENSE_H
+#define STDINT_INVENSENSE_H
+
+#ifndef WIN32
+
+#ifdef __KERNEL__
+#include <linux/types.h>
+#else
+#include <stdint.h>
+#endif
+
+#else
+
+#include <windows.h>
+
+typedef char int8_t;
+typedef short int16_t;
+typedef long int32_t;
+
+typedef unsigned char uint8_t;
+typedef unsigned short uint16_t;
+typedef unsigned long uint32_t;
+
+typedef int int_fast8_t;
+typedef int int_fast16_t;
+typedef long int_fast32_t;
+
+typedef unsigned int uint_fast8_t;
+typedef unsigned int uint_fast16_t;
+typedef unsigned long uint_fast32_t;
+
+#endif
+
+#endif // STDINT_INVENSENSE_H
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;
+}
+
+/**
+ *  @}
+ */
+
+