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-rw-r--r--libsensors/mlsdk/platform/include/i2c.h133
-rw-r--r--libsensors/mlsdk/platform/include/linux/mpu.h335
-rw-r--r--libsensors/mlsdk/platform/include/log.h344
-rw-r--r--libsensors/mlsdk/platform/include/mlmath.h107
-rw-r--r--libsensors/mlsdk/platform/include/mlos.h109
-rw-r--r--libsensors/mlsdk/platform/include/mlsl.h290
-rw-r--r--libsensors/mlsdk/platform/include/mltypes.h265
-rw-r--r--libsensors/mlsdk/platform/include/mpu3050.h251
-rw-r--r--libsensors/mlsdk/platform/include/stdint_invensense.h51
9 files changed, 1885 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
generated by cgit v1.1 at 2024-05-17 01:29:13 +0000