on 977 add mpu config and update mpu code

arch/arm/boot/dts/rk3288-p977.dts

@@ -303,7 +303,7 @@
 		compatible = "nxp,pcf8563";
 		reg = <0x51>;
 	};
-	
+/*
 	sensor@1d {
 		compatible = "gs_mma8452";
 		reg = <0x1d>;
@@ -312,7 +312,9 @@
 		irq_enable = <1>;
 		poll_delay_ms = <30>;
 		layout = <8>;
+		status = "disabled";
 	};
+
 	sensor@0d {
 		compatible = "ak8975";
 		reg = <0x0d>;
@@ -321,7 +323,9 @@
 		irq_enable = <1>;
 		poll_delay_ms = <30>;
 		layout = <1>;
+		status = "disabled";
 	};
+*/
 	sensor@10 {
               compatible = "ls_cm3218";
               reg = <0x10>;
@@ -331,7 +335,45 @@
               poll_delay_ms = <30>;
               layout = <1>;
        };
-	
+	      
+ 	mpu6050:mpu@68{
+	compatible = "mpu6050";
+	reg = <0x68>;
+	mpu-int_config = <0x10>;
+	mpu-level_shifter = <0>;
+	mpu-orientation = <1 0 0 0 1 0 0 0 1>;	
+	orientation-x= <1>;
+	orientation-y= <0>;
+	orientation-z= <1>;
+	irq-gpio = <&gpio8 GPIO_A0 IRQ_TYPE_LEVEL_LOW>;			
+	mpu-debug = <1>;
+	};
+/*
+	ak8963:compass@0d{
+	compatible = "ak8963";
+	reg = <0x0d>;
+	compass-bus = <0>;
+	compass-adapt_num = <0>;
+	compass-orientation = <1 0 0 0 1 0 0 0 1>;
+	orientation-x= <0>;
+	orientation-y= <0>;
+	orientation-z= <1>;	
+	compass-debug = <1>;
+	status = "disabled";
+	};
+*/
+	ak8975:compass@0d{
+	compatible = "ak8975";
+	reg = <0x0d>;
+	compass-bus = <0>;
+	compass-adapt_num = <0>;
+	compass-orientation = <1 0 0 0 1 0 0 0 1>;
+	orientation-x= <1>;
+	orientation-y= <0>;
+	orientation-z= <1>;	
+	compass-debug = <1>;
+	};
+
 };
 
 &i2c2 {

drivers/misc/Kconfig

@@ -534,6 +534,7 @@ config SRAM
 source "drivers/misc/c2port/Kconfig"
 source "drivers/misc/eeprom/Kconfig"
 source "drivers/misc/cb710/Kconfig"
+source "drivers/misc/inv_mpu/Kconfig"
 source "drivers/misc/ti-st/Kconfig"
 source "drivers/misc/lis3lv02d/Kconfig"
 source "drivers/misc/carma/Kconfig"

drivers/misc/Makefile

@@ -53,4 +53,5 @@ obj-$(CONFIG_ALTERA_STAPL)	+=altera-stapl/
 obj-$(CONFIG_INTEL_MEI)		+= mei/
 obj-$(CONFIG_VMWARE_VMCI)	+= vmw_vmci/
 obj-$(CONFIG_LATTICE_ECP3_CONFIG)	+= lattice-ecp3-config.o
+obj-y += inv_mpu/
 obj-$(CONFIG_SRAM)		+= sram.o

drivers/misc/inv_mpu/Kconfig

@@ -9,6 +9,7 @@ config MPU_SENSORS_TIMERIRQ
 menuconfig: INV_SENSORS
 	tristate "Motion Processing Unit"
 	depends on I2C
+	default n
 
 if INV_SENSORS
 

drivers/misc/inv_mpu/accel/bma150.c

@@ -25,7 +25,7 @@
  *      @file   bma150.c
  *      @brief  Accelerometer setup and handling methods for Bosch BMA150.
  */
-#define DEBUG
+
 /* -------------------------------------------------------------------------- */
 #include <linux/i2c.h>
 #include <linux/module.h>
@@ -671,7 +671,7 @@ static int bma150_mod_probe(struct i2c_client *client,
 	struct bma150_mod_private_data *private_data;
 	int result = 0;
 
-	dev_info(&client->adapter->dev, "%s: %s,0x%x\n", __func__, devid->name,(unsigned int)client);
+	dev_info(&client->adapter->dev, "%s: %s\n", __func__, devid->name);
 
 	if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
 		result = -ENODEV;

drivers/misc/inv_mpu/accel/bma222.c

@@ -51,8 +51,6 @@
 #define BMA222_PWR_REG		(0x11)
 #define BMA222_SOFTRESET_REG	(0x14)
 
-#define BMA222_INTTERUPTSET_REG (0x17)
-
 #define BMA222_STATUS_RDY_MASK	(0x80)
 #define BMA222_FSR_MASK		(0x0F)
 #define BMA222_ODR_MASK		(0x1F)
@@ -337,8 +335,6 @@ static int bma222_get_config(void *mlsl_handle,
 		break;
 	case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
 	case MPU_SLAVE_CONFIG_IRQ_RESUME:
-		//zwp,TODO,need to add irq config???
-		return INV_SUCCESS;
 	default:
 		return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
 	};
@@ -394,8 +390,6 @@ static int bma222_config(void *mlsl_handle,
 				      *((long *)data->data));
 	case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
 	case MPU_SLAVE_CONFIG_IRQ_RESUME:
-		//zwp,TODO,need to add irq config???
-		return INV_SUCCESS;
 	default:
 		return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
 	};
@@ -512,18 +506,14 @@ static int bma222_read(void *mlsl_handle,
 		       unsigned char *data)
 {
 	int result = INV_SUCCESS;
-/*	result = inv_serial_read(mlsl_handle, pdata->address,
+	result = inv_serial_read(mlsl_handle, pdata->address,
 				BMA222_STATUS_REG, 1, data);
 	if (data[0] & BMA222_STATUS_RDY_MASK) {
-*/
 		result = inv_serial_read(mlsl_handle, pdata->address,
 				 slave->read_reg, slave->read_len, data);
-
 	return result;
-/*	} else{
+	} else
 		return INV_ERROR_ACCEL_DATA_NOT_READY;
-	}
-*/
 }
 
 static struct ext_slave_descr bma222_descr = {
@@ -565,7 +555,7 @@ static int bma222_mod_probe(struct i2c_client *client,
 	struct ext_slave_platform_data *pdata;
 	struct bma222_mod_private_data *private_data;
 	int result = 0;
-	printk("%s,++++++++++++++++++++\n",__FUNCTION__);
+
 	dev_info(&client->adapter->dev, "%s: %s\n", __func__, devid->name);
 
 	if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {