Merge "input: sensors: add interrupt mode support for MPU6050" (fc574a2d) · Commits · e / devices / android_kernel_sony_msm8994

drivers/input/misc/mpu6050.c

+267 −58

Original line number	Diff line number	Diff line
		@@ -47,11 +47,12 @@
		#define MPU6050_GYRO_MIN_VALUE -32768
		#define MPU6050_GYRO_MAX_VALUE 32767

		#define MPU6050_ACCEL_MIN_POLL_INTERVAL_MS 1
		/* Limit mininum delay to 10ms as we do not need higher rate so far */
		#define MPU6050_ACCEL_MIN_POLL_INTERVAL_MS 10
		#define MPU6050_ACCEL_MAX_POLL_INTERVAL_MS 5000
		#define MPU6050_ACCEL_DEFAULT_POLL_INTERVAL_MS 200

		#define MPU6050_GYRO_MIN_POLL_INTERVAL_MS 1
		#define MPU6050_GYRO_MIN_POLL_INTERVAL_MS 10
		#define MPU6050_GYRO_MAX_POLL_INTERVAL_MS 5000
		#define MPU6050_GYRO_DEFAULT_POLL_INTERVAL_MS 200

		@@ -62,6 +63,8 @@
		#define MPU6050_ACCEL_SCALE_SHIFT_2G 4
		#define MPU6050_GYRO_SCALE_SHIFT_FS0 3

		#define MPU6050_RESET_SLEEP_US 10

		#define MPU6050_DEV_NAME_ACCEL "MPU6050-accel"
		#define MPU6050_DEV_NAME_GYRO "gyroscope"

		@@ -246,6 +249,8 @@ mpu6050_place_name2num[MPU6050_AXIS_REMAP_TAB_SZ] = {
		/* Function declarations */
		static void mpu6050_pinctrl_state(struct mpu6050_sensor *sensor,
		bool active);
		static int mpu6050_set_drdy_int(struct mpu6050_sensor *sensor, bool on);


		static int mpu6050_power_ctl(struct mpu6050_sensor *sensor, bool on)
		{
		@@ -551,18 +556,30 @@ static irqreturn_t mpu6050_interrupt_thread(int irq, void *data)
		{
		struct mpu6050_sensor *sensor = data;

		if (sensor->cfg.accel_enable) {
		mpu6050_read_accel_data(sensor, &sensor->axis);
		mpu6050_read_gyro_data(sensor, &sensor->axis);

		input_report_abs(sensor->accel_dev, ABS_X, sensor->axis.x);
		input_report_abs(sensor->accel_dev, ABS_Y, sensor->axis.y);
		input_report_abs(sensor->accel_dev, ABS_Z, sensor->axis.z);
		mpu6050_remap_accel_data(&sensor->axis, sensor->pdata->place);
		input_report_abs(sensor->accel_dev, ABS_X,
		(sensor->axis.x >> MPU6050_ACCEL_SCALE_SHIFT_2G));
		input_report_abs(sensor->accel_dev, ABS_Y,
		(sensor->axis.y >> MPU6050_ACCEL_SCALE_SHIFT_2G));
		input_report_abs(sensor->accel_dev, ABS_Z,
		(sensor->axis.z >> MPU6050_ACCEL_SCALE_SHIFT_2G));
		input_sync(sensor->accel_dev);
		}

		if (sensor->cfg.gyro_enable) {
		mpu6050_read_gyro_data(sensor, &sensor->axis);
		mpu6050_remap_gyro_data(&sensor->axis, sensor->pdata->place);

		input_report_abs(sensor->gyro_dev, ABS_RX, sensor->axis.rx);
		input_report_abs(sensor->gyro_dev, ABS_RY, sensor->axis.ry);
		input_report_abs(sensor->gyro_dev, ABS_RZ, sensor->axis.rz);
		input_report_abs(sensor->gyro_dev, ABS_RX,
		(sensor->axis.rx >> MPU6050_GYRO_SCALE_SHIFT_FS0));
		input_report_abs(sensor->gyro_dev, ABS_RY,
		(sensor->axis.ry >> MPU6050_GYRO_SCALE_SHIFT_FS0));
		input_report_abs(sensor->gyro_dev, ABS_RZ,
		(sensor->axis.rz >> MPU6050_GYRO_SCALE_SHIFT_FS0));
		input_sync(sensor->gyro_dev);
		}

		return IRQ_HANDLED;
		}
		@@ -788,7 +805,7 @@ static int mpu6050_gyro_enable(struct mpu6050_sensor *sensor, bool on)
		sensor->reg.pwr_mgmt_1);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to get sensor power state ret=%d\n", ret);
		"Fail to get sensor power state, ret=%d\n", ret);
		return ret;
		}

		@@ -805,11 +822,37 @@ static int mpu6050_gyro_enable(struct mpu6050_sensor *sensor, bool on)
		sensor->reg.pwr_mgmt_1, data);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to set sensor power state ret=%d\n", ret);
		"Fail to set sensor power state, ret=%d\n",
		ret);
		return ret;
		}

		if (!sensor->cfg.int_enabled) {
		ret = mpu6050_set_drdy_int(sensor, true);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to enable interrupt mode for gyro, ret=%d\n",
		ret);
		return ret;
		}
		enable_irq(sensor->client->irq);
		sensor->cfg.int_enabled = true;
		}

		sensor->cfg.enable = 1;
		} else {
		if (sensor->cfg.int_enabled && !sensor->cfg.accel_enable) {
		ret = mpu6050_set_drdy_int(sensor, false);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to disable interrupt mode for gyro, ret=%d\n",
		ret);
		return ret;
		}
		disable_irq(sensor->client->irq);
		sensor->cfg.int_enabled = false;
		}

		ret = mpu6050_switch_engine(sensor, false,
		BIT_PWR_GYRO_STBY_MASK);
		if (ret)
		@@ -821,7 +864,7 @@ static int mpu6050_gyro_enable(struct mpu6050_sensor *sensor, bool on)
		sensor->reg.pwr_mgmt_1, data);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to set sensor power state ret=%d\n",
		"Fail to set sensor power state, ret=%d\n",
		ret);
		return ret;
		}
		@@ -840,11 +883,25 @@ static int mpu6050_restore_context(struct mpu6050_sensor *sensor)
		struct mpu_reg_map *reg;
		struct i2c_client *client;
		int ret;
		u8 data;
		u8 data, pwr_ctrl;

		client = sensor->client;
		reg = &sensor->reg;

		/* Save power state and wakeup device from sleep */
		ret = i2c_smbus_read_byte_data(client, reg->pwr_mgmt_1);
		if (ret < 0) {
		dev_err(&client->dev, "read power ctrl failed.\n");
		goto exit;
		}
		pwr_ctrl = (u8)ret;

		ret = i2c_smbus_write_byte_data(client, reg->pwr_mgmt_1,
		BIT_WAKEUP_AFTER_RESET);
		if (ret < 0) {
		dev_err(&client->dev, "wakeup sensor failed.\n");
		goto exit;
		}
		ret = i2c_smbus_write_byte_data(client, reg->gyro_config,
		sensor->cfg.fsr << GYRO_CONFIG_FSR_SHIFT);
		if (ret < 0) {
		@@ -898,9 +955,23 @@ static int mpu6050_restore_context(struct mpu6050_sensor *sensor)
		}

		ret = i2c_smbus_write_byte_data(client, reg->sample_rate_div,
		ODR_DLPF_ENA / INIT_FIFO_RATE - 1);
		sensor->cfg.rate_div);
		if (ret < 0) {
		dev_err(&client->dev, "set lpa_freq failed.\n");
		dev_err(&client->dev, "set sample_rate_div failed.\n");
		goto exit;
		}

		ret = i2c_smbus_write_byte_data(client, reg->int_pin_cfg,
		sensor->cfg.int_pin_cfg);
		if (ret < 0) {
		dev_err(&client->dev, "set int_pin_cfg failed.\n");
		goto exit;
		}

		ret = i2c_smbus_write_byte_data(client, reg->pwr_mgmt_1,
		pwr_ctrl);
		if (ret < 0) {
		dev_err(&client->dev, "Write saved power state failed.\n");
		goto exit;
		}

		@@ -941,7 +1012,7 @@ static void mpu6050_reset_chip(struct mpu6050_sensor *sensor)
		break;
		}

		msleep(MPU6050_RESET_WAIT_MS);
		usleep(MPU6050_RESET_SLEEP_US);
		}

		exit:
		@@ -980,8 +1051,6 @@ static int mpu6050_gyro_set_enable(struct mpu6050_sensor *sensor, bool enable)
		if (sensor->use_poll)
		schedule_delayed_work(&sensor->gyro_poll_work,
		msecs_to_jiffies(sensor->gyro_poll_ms));
		else
		enable_irq(sensor->client->irq);
		} else {
		ret = mpu6050_gyro_enable(sensor, false);
		if (ret) {
		@@ -992,8 +1061,6 @@ static int mpu6050_gyro_set_enable(struct mpu6050_sensor *sensor, bool enable)
		}
		if (sensor->use_poll)
		cancel_delayed_work_sync(&sensor->gyro_poll_work);
		else
		disable_irq(sensor->client->irq);

		}

		@@ -1002,9 +1069,109 @@ exit:
		return ret;
		}

		/*
		* Configure the sensor interrupt register that allow sensor to
		* issue interrupt for each new sensor event.
		*/
		static int mpu6050_set_drdy_int(struct mpu6050_sensor *sensor, bool on)
		{
		int ret;
		u8 data;

		if (sensor->cfg.is_asleep)
		return -EINVAL;

		if (on) {
		ret = i2c_smbus_read_byte_data(sensor->client,
		sensor->reg.int_enable);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail read interrupt mode. ret=%d\n", ret);
		return ret;
		}

		data = (u8)ret;
		data \|= BIT_DATA_RDY_EN;
		ret = i2c_smbus_write_byte_data(sensor->client,
		sensor->reg.int_enable, data);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to set interrupt. ret=%d\n", ret);
		return ret;
		}
		} else {
		ret = i2c_smbus_read_byte_data(sensor->client,
		sensor->reg.int_enable);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail read interrupt mode. ret=%d\n", ret);
		return ret;
		}

		data = (u8)ret;
		data &= ~BIT_DATA_RDY_EN;
		ret = i2c_smbus_write_byte_data(sensor->client,
		sensor->reg.int_enable, data);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to set interrupt. ret=%d\n", ret);
		return ret;
		}
		}
		return 0;
		}

		/* Update sensor sample rate divider upon accel and gyro polling rate. */
		static int mpu6050_config_sample_rate(struct mpu6050_sensor *sensor)
		{
		int ret;
		u32 delay_ms;
		u8 div;

		if (sensor->cfg.is_asleep)
		return -EINVAL;

		if (sensor->accel_poll_ms <= sensor->gyro_poll_ms)
		delay_ms = sensor->accel_poll_ms;
		else
		delay_ms = sensor->gyro_poll_ms;

		/* Sample_rate = internal_ODR/(1+SMPLRT_DIV) */
		if ((sensor->cfg.lpf != MPU_DLPF_256HZ_NOLPF2) &&
		(sensor->cfg.lpf != MPU_DLPF_RESERVED)) {
		if (delay_ms > DELAY_MS_MAX_DLPF)
		delay_ms = DELAY_MS_MAX_DLPF;
		if (delay_ms < DELAY_MS_MIN_DLPF)
		delay_ms = DELAY_MS_MIN_DLPF;

		div = (u8)(((ODR_DLPF_ENA * delay_ms) / MSEC_PER_SEC) - 1);
		} else {
		if (delay_ms > DELAY_MS_MAX_NODLPF)
		delay_ms = DELAY_MS_MAX_NODLPF;
		if (delay_ms < DELAY_MS_MIN_NODLPF)
		delay_ms = DELAY_MS_MIN_NODLPF;
		div = (u8)(((ODR_DLPF_DIS * delay_ms) / MSEC_PER_SEC) - 1);
		}

		ret = i2c_smbus_write_byte_data(sensor->client,
		sensor->reg.sample_rate_div, div);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Update sample rate divdier fail, ret=%d\n",
		ret);
		return ret;
		}

		sensor->cfg.rate_div = div;

		return 0;
		}

		static int mpu6050_gyro_set_poll_delay(struct mpu6050_sensor *sensor,
		unsigned long delay)
		{
		int ret;

		mutex_lock(&sensor->op_lock);
		if (delay < MPU6050_GYRO_MIN_POLL_INTERVAL_MS)
		delay = MPU6050_GYRO_MIN_POLL_INTERVAL_MS;
		@@ -1016,6 +1183,11 @@ static int mpu6050_gyro_set_poll_delay(struct mpu6050_sensor *sensor,
		cancel_delayed_work_sync(&sensor->gyro_poll_work);
		schedule_delayed_work(&sensor->gyro_poll_work,
		msecs_to_jiffies(sensor->gyro_poll_ms));
		} else {
		ret = mpu6050_config_sample_rate(sensor);
		if (ret < 0)
		dev_err(&sensor->client->dev,
		"Unable to set polling delay for gyro!\n");
		}
		mutex_unlock(&sensor->op_lock);
		return 0;
		@@ -1150,7 +1322,7 @@ static int mpu6050_accel_enable(struct mpu6050_sensor *sensor, bool on)
		sensor->reg.pwr_mgmt_1);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to get sensor power state ret=%d\n", ret);
		"Fail to get sensor power state, ret=%d\n", ret);
		return ret;
		}

		@@ -1167,11 +1339,37 @@ static int mpu6050_accel_enable(struct mpu6050_sensor *sensor, bool on)
		sensor->reg.pwr_mgmt_1, data);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to set sensor power state ret=%d\n", ret);
		"Fail to set sensor power state, ret=%d\n",
		ret);
		return ret;
		}

		if (!sensor->cfg.int_enabled) {
		ret = mpu6050_set_drdy_int(sensor, true);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to enable interrupt mode for accel, ret=%d\n",
		ret);
		return ret;
		}
		enable_irq(sensor->client->irq);
		sensor->cfg.int_enabled = true;
		}

		sensor->cfg.enable = 1;
		} else {
		if (sensor->cfg.int_enabled && !sensor->cfg.gyro_enable) {
		ret = mpu6050_set_drdy_int(sensor, false);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to disable interrupt mode for accel, ret=%d\n",
		ret);
		return ret;
		}
		disable_irq(sensor->client->irq);
		sensor->cfg.int_enabled = false;
		}

		ret = mpu6050_switch_engine(sensor, false,
		BIT_PWR_ACCEL_STBY_MASK);
		if (ret)
		@@ -1184,7 +1382,7 @@ static int mpu6050_accel_enable(struct mpu6050_sensor *sensor, bool on)
		sensor->reg.pwr_mgmt_1, data);
		if (ret < 0) {
		dev_err(&sensor->client->dev,
		"Fail to set sensor power state ret=%d\n",
		"Fail to set sensor power state for accel, ret=%d\n",
		ret);
		return ret;
		}
		@@ -1227,13 +1425,9 @@ static int mpu6050_accel_set_enable(struct mpu6050_sensor *sensor, bool enable)
		if (sensor->use_poll)
		schedule_delayed_work(&sensor->accel_poll_work,
		msecs_to_jiffies(sensor->accel_poll_ms));
		else
		enable_irq(sensor->client->irq);
		} else {
		if (sensor->use_poll)
		cancel_delayed_work_sync(&sensor->accel_poll_work);
		else
		disable_irq(sensor->client->irq);

		ret = mpu6050_accel_enable(sensor, false);
		if (ret) {
		@@ -1253,7 +1447,6 @@ exit:
		static int mpu6050_accel_set_poll_delay(struct mpu6050_sensor *sensor,
		unsigned long delay)
		{
		u8 divider;
		int ret;

		mutex_lock(&sensor->op_lock);
		@@ -1262,18 +1455,17 @@ static int mpu6050_accel_set_poll_delay(struct mpu6050_sensor *sensor,
		if (delay > MPU6050_ACCEL_MAX_POLL_INTERVAL_MS)
		delay = MPU6050_ACCEL_MAX_POLL_INTERVAL_MS;

		if (sensor->accel_poll_ms != delay) {
		/* Output frequency divider. and set timer delay */
		divider = ODR_DLPF_ENA / INIT_FIFO_RATE - 1;
		ret = i2c_smbus_write_byte_data(sensor->client,
		sensor->reg.sample_rate_div, divider);
		if (ret == 0)
		sensor->accel_poll_ms = delay;
		}

		if (sensor->use_poll) {
		cancel_delayed_work_sync(&sensor->accel_poll_work);
		schedule_delayed_work(&sensor->accel_poll_work,
		msecs_to_jiffies(sensor->accel_poll_ms));
		} else {
		ret = mpu6050_config_sample_rate(sensor);
		if (ret < 0)
		dev_err(&sensor->client->dev,
		"Unable to set polling delay for accel!\n");
		}
		mutex_unlock(&sensor->op_lock);
		return 0;
		@@ -1495,6 +1687,7 @@ static void setup_mpu6050_reg(struct mpu_reg_map *reg)
		reg->raw_gyro = REG_RAW_GYRO;
		reg->raw_accel = REG_RAW_ACCEL;
		reg->temperature = REG_TEMPERATURE;
		reg->int_pin_cfg = REG_INT_PIN_CFG;
		reg->int_enable = REG_INT_ENABLE;
		reg->int_status = REG_INT_STATUS;
		reg->pwr_mgmt_1 = REG_PWR_MGMT_1;
		@@ -1565,6 +1758,7 @@ static int mpu6050_init_config(struct mpu6050_sensor *sensor)
		struct mpu_reg_map *reg;
		struct i2c_client *client;
		s32 ret;
		u8 data;

		if (sensor->cfg.is_asleep)
		return -EINVAL;
		@@ -1572,24 +1766,15 @@ static int mpu6050_init_config(struct mpu6050_sensor *sensor)
		reg = &sensor->reg;
		client = sensor->client;

		/* reset device*/
		ret = i2c_smbus_write_byte_data(client,
		reg->pwr_mgmt_1, BIT_H_RESET);
		mpu6050_reset_chip(sensor);

		memset(&sensor->cfg, 0, sizeof(struct mpu_chip_config));

		/* Wake up from sleep */
		ret = i2c_smbus_write_byte_data(client, reg->pwr_mgmt_1,
		BIT_WAKEUP_AFTER_RESET);
		if (ret < 0)
		return ret;
		do {
		usleep(10);
		/* check reset complete */
		ret = i2c_smbus_read_byte_data(client,
		reg->pwr_mgmt_1);
		if (ret < 0) {
		dev_err(&client->dev,
		"Failed to read reset status ret =%d\n",
		ret);
		return ret;
		}
		} while (ret & BIT_H_RESET);
		memset(&sensor->cfg, 0, sizeof(struct mpu_chip_config));

		/* Gyro full scale range configure */
		ret = i2c_smbus_write_byte_data(client, reg->gyro_config,
		@@ -1603,11 +1788,11 @@ static int mpu6050_init_config(struct mpu6050_sensor *sensor)
		return ret;
		sensor->cfg.lpf = MPU_DLPF_42HZ;

		ret = i2c_smbus_write_byte_data(client, reg->sample_rate_div,
		ODR_DLPF_ENA / INIT_FIFO_RATE - 1);
		data = (u8)(ODR_DLPF_ENA / INIT_FIFO_RATE - 1);
		ret = i2c_smbus_write_byte_data(client, reg->sample_rate_div, data);
		if (ret < 0)
		return ret;
		sensor->cfg.fifo_rate = INIT_FIFO_RATE;
		sensor->cfg.rate_div = data;

		ret = i2c_smbus_write_byte_data(client, reg->accel_config,
		(ACCEL_FS_02G << ACCL_CONFIG_FSR_SHIFT));
		@@ -1615,6 +1800,29 @@ static int mpu6050_init_config(struct mpu6050_sensor *sensor)
		return ret;
		sensor->cfg.accel_fs = ACCEL_FS_02G;

		if ((sensor->pdata->int_flags & IRQF_TRIGGER_FALLING) \|\|
		(sensor->pdata->int_flags & IRQF_TRIGGER_LOW))
		data = BIT_INT_CFG_DEFAULT \| BIT_INT_ACTIVE_LOW;
		else
		data = BIT_INT_CFG_DEFAULT;
		ret = i2c_smbus_write_byte_data(client, reg->int_pin_cfg, data);
		if (ret < 0)
		return ret;
		sensor->cfg.int_pin_cfg = data;

		/* Put sensor into sleep mode */
		ret = i2c_smbus_read_byte_data(client,
		sensor->reg.pwr_mgmt_1);
		if (ret < 0)
		return ret;

		data = (u8)ret;
		data \|= BIT_SLEEP;
		ret = i2c_smbus_write_byte_data(client,
		sensor->reg.pwr_mgmt_1, data);
		if (ret < 0)
		return ret;

		sensor->cfg.gyro_enable = 0;
		sensor->cfg.gyro_fifo_enable = 0;
		sensor->cfg.accel_enable = 0;
		@@ -1926,6 +2134,7 @@ static int mpu6050_probe(struct i2c_client *client,
		client->irq = 0;
		goto err_free_gpio;
		}
		/* Disable interrupt until event is enabled */
		disable_irq(client->irq);
		} else {
		sensor->use_poll = 1;

drivers/input/misc/mpu6050.h

+38 −11

Original line number	Diff line number	Diff line
		@@ -32,6 +32,14 @@
		#define BIT_ACCEL_OUT 0x08
		#define BITS_GYRO_OUT 0x70

		#define REG_INT_PIN_CFG 0x37
		#define BIT_INT_ACTIVE_LOW 0x80
		#define BIT_INT_OPEN_DRAIN 0x40
		#define BIT_INT_LATCH_EN 0x20
		#define BIT_INT_RD_CLR 0x10
		#define BIT_I2C_BYPASS_EN 0x02
		#define BIT_INT_CFG_DEFAULT (BIT_INT_LATCH_EN \| BIT_INT_RD_CLR)

		#define REG_INT_ENABLE 0x38
		#define BIT_DATA_RDY_EN 0x01
		#define BIT_DMP_INT_EN 0x02
		@@ -40,10 +48,12 @@
		#define BIT_6500_WOM_EN 0x40

		#define REG_DMP_INT_STATUS 0x39

		#define REG_INT_STATUS 0x3A
		#define BIT_MOT_INT 0x40
		#define BIT_DATA_RDY_INT 0x01
		#define BIT_DMP_INT_INT 0x02
		#define BIT_ZMOT_INT 0x20
		#define BIT_MOT_INT 0x40
		#define BIT_6500_WOM_INT 0x40

		#define REG_RAW_ACCEL 0x3B
		#define REG_TEMPERATURE 0x41
		@@ -62,8 +72,9 @@
		#define BIT_H_RESET 0x80
		#define BIT_SLEEP 0x40
		#define BIT_CYCLE 0x20
		#define BIT_CLK_MASK 0x7
		#define BIT_CLK_MASK 0x07
		#define BIT_RESET_ALL 0xCF
		#define BIT_WAKEUP_AFTER_RESET 0x00

		#define REG_PWR_MGMT_2 0x6C
		#define BIT_PWR_ACCEL_STBY_MASK 0x38
		@@ -74,9 +85,20 @@
		#define REG_FIFO_R_W 0x74
		#define REG_WHOAMI 0x75

		#define SAMPLE_DIV_MAX 0xFF
		#define ODR_DLPF_DIS 8000
		#define ODR_DLPF_ENA 1000

		/* Min delay = MSEC_PER_SEC/ODR_DLPF_ENA */
		/* Max delay = MSEC_PER_SEC/(ODR_DLPF_ENA/SAMPLE_DIV_MAX+1) */
		#define DELAY_MS_MIN_DLPF 1
		#define DELAY_MS_MAX_DLPF 256

		/* Min delay = MSEC_PER_SEC/ODR_DLPF_DIS and round up to 1*/
		/* Max delay = MSEC_PER_SEC/(ODR_DLPF_DIS/SAMPLE_DIV_MAX+1) */
		#define DELAY_MS_MIN_NODLPF 1
		#define DELAY_MS_MAX_NODLPF 32

		/* device bootup time in millisecond */
		#define POWER_UP_TIME_MS 100
		/* delay to wait gyro engine stable in millisecond */
		@@ -149,9 +171,10 @@ enum inv_devices {
		* @accel_config: accel config register
		* @fifo_count_h: Upper byte of FIFO count.
		* @fifo_r_w: FIFO register.
		* @raw_gyro Address of first gyro register.
		* @raw_accl Address of first accel register.
		* @temperature temperature register
		* @raw_gyro: Address of first gyro register.
		* @raw_accl: Address of first accel register.
		* @temperature: temperature register.
		* @int_pin_cfg: Interrupt pin and I2C bypass configuration.
		* @int_enable: Interrupt enable register.
		* @int_status: Interrupt flags.
		* @pwr_mgmt_1: Controls chip's power state and clock source.
		@@ -169,6 +192,7 @@ struct mpu_reg_map {
		u8 raw_gyro;
		u8 raw_accel;
		u8 temperature;
		u8 int_pin_cfg;
		u8 int_enable;
		u8 int_status;
		u8 pwr_mgmt_1;
		@@ -189,8 +213,9 @@ struct mpu_reg_map {
		* @lpa_mod: low power mode.
		* @tap_on: tap on/off.
		* @flick_int_on: flick interrupt on/off.
		* @int_enabled: interrupt is enabled.
		* @lpa_freq: low power frequency
		* @fifo_rate: FIFO update rate.
		* @rate_div: Sampling rate divider.
		*/
		struct mpu_chip_config {
		u32 fsr:2;
		@@ -205,8 +230,10 @@ struct mpu_chip_config {
		u32 lpa_mode:1;
		u32 tap_on:1;
		u32 flick_int_on:1;
		u32 int_enabled:1;
		u8 int_pin_cfg;
		u16 lpa_freq;
		u16 fifo_rate;
		u16 rate_div;
		};