misc: mpu3050: Invensense MPU code update v3.3.3

Update Invensense Motion Library (MPL) to production version
v3.3.3. Previous version was engineering release and is not
suitable for mass production. This version of the MPL most
notably fixes problems with suspend/resume where touch screen
would quit working during a suspend/resume cycle.

Change-Id: Ia33433a677862b3d1e31d410aac7176d7a381a8f
Reviewed-on: http://git-master/r/22987
Reviewed-by: Varun Colbert <vcolbert@nvidia.com>
Tested-by: Varun Colbert <vcolbert@nvidia.com>

1 files changed, 410 insertions, 295 deletions

diff --git a/drivers/misc/mpu3050/mpu-dev.c b/drivers/misc/mpu3050/mpu-dev.c
index 6cde9eeccced..115639f84704 100644
--- a/drivers/misc/mpu3050/mpu-dev.c
+++ b/drivers/misc/mpu3050/mpu-dev.c
@@ -73,6 +73,10 @@ static struct i2c_client *this_client;
 
 static int mpu_open(struct inode *inode, struct file *file)
 {
+	struct mpu_private_data *mpu =
+	    (struct mpu_private_data *) i2c_get_clientdata(this_client);
+	struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+
 	dev_dbg(&this_client->adapter->dev, "mpu_open\n");
 	dev_dbg(&this_client->adapter->dev, "current->pid %d\n",
 		current->pid);
@@ -81,6 +85,18 @@ static int mpu_open(struct inode *inode, struct file *file)
 	/* we could do some checking on the flags supplied by "open" */
 	/* i.e. O_NONBLOCK */
 	/* -> set some flag to disable interruptible_sleep_on in mpu_read */
+
+	/* Reset the sensors to the default */
+	mldl_cfg->requested_sensors = ML_THREE_AXIS_GYRO;
+	if (mldl_cfg->accel && mldl_cfg->accel->resume)
+		mldl_cfg->requested_sensors |= ML_THREE_AXIS_ACCEL;
+
+	if (mldl_cfg->compass && mldl_cfg->compass->resume)
+		mldl_cfg->requested_sensors |= ML_THREE_AXIS_COMPASS;
+
+	if (mldl_cfg->pressure && mldl_cfg->pressure->resume)
+		mldl_cfg->requested_sensors |= ML_THREE_AXIS_PRESSURE;
+
 	return 0;
 }
 
@@ -92,26 +108,20 @@ static int mpu_release(struct inode *inode, struct file *file)
 	struct mpu_private_data *mpu =
 	    (struct mpu_private_data *) i2c_get_clientdata(client);
 	struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+	struct i2c_adapter *accel_adapter;
+	struct i2c_adapter *compass_adapter;
+	struct i2c_adapter *pressure_adapter;
 	int result = 0;
 
 	pid = 0;
 
-	if (!mldl_cfg->is_suspended) {
-		struct i2c_adapter *accel_adapter;
-		struct i2c_adapter *compass_adapter;
-		struct i2c_adapter *pressure_adapter;
-		accel_adapter =
-		    i2c_get_adapter(mldl_cfg->pdata->accel.adapt_num);
-		compass_adapter =
-		    i2c_get_adapter(mldl_cfg->pdata->compass.adapt_num);
-		pressure_adapter =
-		    i2c_get_adapter(mldl_cfg->pdata->pressure.adapt_num);
-		result =
-		    mpu3050_suspend(mldl_cfg, client->adapter,
-				    accel_adapter, compass_adapter,
-				    pressure_adapter,
-				    TRUE, TRUE, TRUE);
-	}
+	accel_adapter = i2c_get_adapter(mldl_cfg->pdata->accel.adapt_num);
+	compass_adapter = i2c_get_adapter(mldl_cfg->pdata->compass.adapt_num);
+	pressure_adapter = i2c_get_adapter(mldl_cfg->pdata->pressure.adapt_num);
+	result = mpu3050_suspend(mldl_cfg, client->adapter,
+				 accel_adapter, compass_adapter,
+				 pressure_adapter,
+				 TRUE, TRUE, TRUE, TRUE);
 
 	dev_dbg(&this_client->adapter->dev, "mpu_release\n");
 	return result;
@@ -220,8 +230,11 @@ static ssize_t mpu_read(struct file *file,
 
 /* @todo fix this to do a i2c trasnfer from the FIFO */
 	ret = i2c_master_recv(client, tmp, count);
-	if (ret >= 0)
+	if (ret >= 0) {
 		ret = copy_to_user(buf, tmp, count) ? -EFAULT : ret;
+		if (ret)
+			ret = -EFAULT;
+	}
 	kfree(tmp);
 	return ret;
 }
@@ -230,15 +243,14 @@ static int
 mpu_ioctl_set_mpu_pdata(struct i2c_client *client, unsigned long arg)
 {
 	int ii;
-	int result;
 	struct mpu_private_data *mpu =
 	    (struct mpu_private_data *) i2c_get_clientdata(client);
 	struct mpu3050_platform_data *pdata = mpu->mldl_cfg.pdata;
 	struct mpu3050_platform_data local_pdata;
 
-	result = copy_from_user(&local_pdata,
-				(unsigned char *) arg,
-				sizeof(local_pdata));
+	if (copy_from_user(&local_pdata, (unsigned char __user *) arg,
+				sizeof(local_pdata)))
+		return -EFAULT;
 
 	pdata->int_config = local_pdata.int_config;
 	for (ii = 0; ii < DIM(pdata->orientation); ii++)
@@ -262,27 +274,93 @@ mpu_ioctl_set_mpu_pdata(struct i2c_client *client, unsigned long arg)
 
 	dev_dbg(&client->adapter->dev, "%s\n", __func__);
 
-	return result;
+	return ML_SUCCESS;
 }
 
 static int
 mpu_ioctl_set_mpu_config(struct i2c_client *client, unsigned long arg)
 {
+	int ii;
+	int result = ML_SUCCESS;
 	struct mpu_private_data *mpu =
-	    (struct mpu_private_data *) i2c_get_clientdata(client);
+		(struct mpu_private_data *) i2c_get_clientdata(client);
 	struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+	struct mldl_cfg *temp_mldl_cfg;
 
 	dev_dbg(&this_client->adapter->dev, "%s\n", __func__);
 
+	temp_mldl_cfg = kzalloc(sizeof(struct mldl_cfg), GFP_KERNEL);
+	if (NULL == temp_mldl_cfg)
+		return -ENOMEM;
+
 	/*
 	 * User space is not allowed to modify accel compass pressure or
 	 * pdata structs, as well as silicon_revision product_id or trim
 	 */
-	if (copy_from_user(mldl_cfg, (struct mldl_cfg *) arg,
-			   offsetof(struct mldl_cfg, silicon_revision)))
-		return -EFAULT;
+	if (copy_from_user(temp_mldl_cfg, (struct mldl_cfg __user *) arg,
+				offsetof(struct mldl_cfg, silicon_revision))) {
+		result = -EFAULT;
+		goto out;
+	}
 
-	return 0;
+	if (mldl_cfg->gyro_is_suspended) {
+		if (mldl_cfg->addr != temp_mldl_cfg->addr)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (mldl_cfg->int_config != temp_mldl_cfg->int_config)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (mldl_cfg->ext_sync != temp_mldl_cfg->ext_sync)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (mldl_cfg->full_scale != temp_mldl_cfg->full_scale)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (mldl_cfg->lpf != temp_mldl_cfg->lpf)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (mldl_cfg->clk_src != temp_mldl_cfg->clk_src)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (mldl_cfg->divider != temp_mldl_cfg->divider)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (mldl_cfg->dmp_enable != temp_mldl_cfg->dmp_enable)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (mldl_cfg->fifo_enable != temp_mldl_cfg->fifo_enable)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (mldl_cfg->dmp_cfg1 != temp_mldl_cfg->dmp_cfg1)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (mldl_cfg->dmp_cfg2 != temp_mldl_cfg->dmp_cfg2)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (mldl_cfg->gyro_power != temp_mldl_cfg->gyro_power)
+			mldl_cfg->gyro_needs_reset = TRUE;
+
+		for (ii = 0; ii < MPU_NUM_AXES; ii++)
+			if (mldl_cfg->offset_tc[ii] !=
+			    temp_mldl_cfg->offset_tc[ii])
+				mldl_cfg->gyro_needs_reset = TRUE;
+
+		for (ii = 0; ii < MPU_NUM_AXES; ii++)
+			if (mldl_cfg->offset[ii] != temp_mldl_cfg->offset[ii])
+				mldl_cfg->gyro_needs_reset = TRUE;
+
+		if (memcmp(mldl_cfg->ram, temp_mldl_cfg->ram,
+				MPU_MEM_NUM_RAM_BANKS * MPU_MEM_BANK_SIZE *
+				sizeof(unsigned char)))
+			mldl_cfg->gyro_needs_reset = TRUE;
+	}
+
+	memcpy(mldl_cfg, temp_mldl_cfg,
+		offsetof(struct mldl_cfg, silicon_revision));
+
+out:
+	kfree(temp_mldl_cfg);
+	return result;
 }
 
 static int
@@ -301,53 +379,189 @@ mpu_ioctl_get_mpu_config(struct i2c_client *client, unsigned long arg)
 		return -ENOMEM;
 
 	retval =
-	    copy_from_user(local_mldl_cfg, (void *) arg,
+	    copy_from_user(local_mldl_cfg, (struct mldl_cfg __user *) arg,
 			   sizeof(struct mldl_cfg));
-	if (retval)
+	if (retval) {
+		dev_err(&this_client->adapter->dev,
+			"%s|%s:%d: EFAULT on arg\n",
+			__FILE__, __func__, __LINE__);
+		retval = -EFAULT;
 		goto out;
+	}
 
 	/* Fill in the accel, compass, pressure and pdata pointers */
 	if (mldl_cfg->accel) {
-		retval = copy_to_user(local_mldl_cfg->accel,
+		retval = copy_to_user((void __user *)local_mldl_cfg->accel,
 				      mldl_cfg->accel,
 				      sizeof(*mldl_cfg->accel));
-		if (retval)
+		if (retval) {
+			dev_err(&this_client->adapter->dev,
+				"%s|%s:%d: EFAULT on accel\n",
+				__FILE__, __func__, __LINE__);
+			retval = -EFAULT;
 			goto out;
+		}
 	}
 
 	if (mldl_cfg->compass) {
-		retval = copy_to_user(local_mldl_cfg->compass,
+		retval = copy_to_user((void __user *)local_mldl_cfg->compass,
 				      mldl_cfg->compass,
 				      sizeof(*mldl_cfg->compass));
-		if (retval)
+		if (retval) {
+			dev_err(&this_client->adapter->dev,
+				"%s|%s:%d: EFAULT on compass\n",
+				__FILE__, __func__, __LINE__);
+			retval = -EFAULT;
 			goto out;
+		}
 	}
 
 	if (mldl_cfg->pressure) {
-		retval = copy_to_user(local_mldl_cfg->pressure,
+		retval = copy_to_user((void __user *)local_mldl_cfg->pressure,
 				      mldl_cfg->pressure,
 				      sizeof(*mldl_cfg->pressure));
-		if (retval)
+		if (retval) {
+			dev_err(&this_client->adapter->dev,
+				"%s|%s:%d: EFAULT on pressure\n",
+				__FILE__, __func__, __LINE__);
+			retval = -EFAULT;
 			goto out;
+		}
 	}
 
 	if (mldl_cfg->pdata) {
-		retval = copy_to_user(local_mldl_cfg->pdata,
+		retval = copy_to_user((void __user *)local_mldl_cfg->pdata,
 				      mldl_cfg->pdata,
 				      sizeof(*mldl_cfg->pdata));
-		if (retval)
+		if (retval) {
+			dev_err(&this_client->adapter->dev,
+				"%s|%s:%d: EFAULT on pdata\n",
+				__FILE__, __func__, __LINE__);
+			retval = -EFAULT;
 			goto out;
+		}
 	}
 
 	/* Do not modify the accel, compass, pressure and pdata pointers */
-	retval = copy_to_user((struct mldl_cfg *) arg,
+	retval = copy_to_user((struct mldl_cfg __user *) arg,
 			      mldl_cfg, offsetof(struct mldl_cfg, accel));
 
+	if (retval)
+		retval = -EFAULT;
 out:
 	kfree(local_mldl_cfg);
 	return retval;
 }
 
+/**
+ * Pass a requested slave configuration to the slave sensor
+ *
+ * @param adapter the adaptor to use to communicate with the slave
+ * @param mldl_cfg the mldl configuration structuer
+ * @param slave pointer to the slave descriptor
+ * @param usr_config The configuration to pass to the slave sensor
+ *
+ * @return 0 or non-zero error code
+ */
+static int slave_config(void *adapter,
+			struct mldl_cfg *mldl_cfg,
+			struct ext_slave_descr *slave,
+			struct ext_slave_config __user *usr_config)
+{
+	int retval = ML_SUCCESS;
+	if ((slave) && (slave->config)) {
+		struct ext_slave_config config;
+		retval = copy_from_user(
+			&config,
+			usr_config,
+			sizeof(config));
+		if (retval)
+			return -EFAULT;
+
+		if (config.len && config.data) {
+			int *data;
+			data = kzalloc(config.len, GFP_KERNEL);
+			if (!data)
+				return ML_ERROR_MEMORY_EXAUSTED;
+
+			retval = copy_from_user(data,
+						(void __user *)config.data,
+						config.len);
+			if (retval) {
+				retval = -EFAULT;
+				kfree(data);
+				return retval;
+			}
+			config.data = data;
+		}
+		retval = slave->config(adapter,
+				slave,
+				&mldl_cfg->pdata->accel,
+				&config);
+		kfree(config.data);
+	}
+	return retval;
+}
+
+/**
+ * Get a requested slave configuration from the slave sensor
+ *
+ * @param adapter the adaptor to use to communicate with the slave
+ * @param mldl_cfg the mldl configuration structuer
+ * @param slave pointer to the slave descriptor
+ * @param usr_config The configuration for the slave to fill out
+ *
+ * @return 0 or non-zero error code
+ */
+static int slave_get_config(void *adapter,
+			struct mldl_cfg *mldl_cfg,
+			struct ext_slave_descr *slave,
+			struct ext_slave_config __user *usr_config)
+{
+	int retval = ML_SUCCESS;
+	if ((slave) && (slave->get_config)) {
+		struct ext_slave_config config;
+		void *user_data;
+		retval = copy_from_user(
+			&config,
+			usr_config,
+			sizeof(config));
+		if (retval)
+			return -EFAULT;
+
+		user_data = config.data;
+		if (config.len && config.data) {
+			int *data;
+			data = kzalloc(config.len, GFP_KERNEL);
+			if (!data)
+				return ML_ERROR_MEMORY_EXAUSTED;
+
+			retval = copy_from_user(data,
+						(void __user *)config.data,
+						config.len);
+			if (retval) {
+				retval = -EFAULT;
+				kfree(data);
+				return retval;
+			}
+			config.data = data;
+		}
+		retval = slave->get_config(adapter,
+				slave,
+				&mldl_cfg->pdata->accel,
+				&config);
+		if (retval) {
+			kfree(config.data);
+			return retval;
+		}
+		retval = copy_to_user((unsigned char __user *) user_data,
+				      config.data,
+				      config.len);
+		kfree(config.data);
+	}
+	return retval;
+}
+
 /* ioctl - I/O control */
 static long mpu_ioctl(struct file *file,
 		      unsigned int cmd, unsigned long arg)
@@ -417,13 +631,18 @@ static long mpu_ioctl(struct file *file,
 		break;
 	case MPU_SET_OFFSET_TC:
 		retval = copy_from_user(mldl_cfg->offset_tc,
-					(unsigned char *) arg,
+					(unsigned char __user *) arg,
 					sizeof(mldl_cfg->offset_tc));
+		if (retval)
+			retval = -EFAULT;
+
 		break;
 	case MPU_SET_RAM:
 		retval = copy_from_user(mldl_cfg->ram,
-					(unsigned char *) arg,
+					(unsigned char __user *) arg,
 					sizeof(mldl_cfg->ram));
+		if (retval)
+			retval = -EFAULT;
 		break;
 	case MPU_SET_PLATFORM_DATA:
 		retval = mpu_ioctl_set_mpu_pdata(client, arg);
@@ -432,282 +651,169 @@ static long mpu_ioctl(struct file *file,
 		retval = mpu_ioctl_get_mpu_config(client, arg);
 		break;
 	case MPU_GET_INT_CONFIG:
-		mldl_cfg->int_config = (unsigned char) arg;
+		retval = put_user(mldl_cfg->int_config,
+				  (unsigned char __user *) arg);
 		break;
 	case MPU_GET_EXT_SYNC:
-		mldl_cfg->ext_sync = (enum mpu_ext_sync) arg;
+		retval = put_user(mldl_cfg->ext_sync,
+				  (unsigned char __user *) arg);
 		break;
 	case MPU_GET_FULL_SCALE:
-		mldl_cfg->full_scale = (enum mpu_fullscale) arg;
+		retval = put_user(mldl_cfg->full_scale,
+				  (unsigned char __user *) arg);
 		break;
 	case MPU_GET_LPF:
-		mldl_cfg->lpf = (enum mpu_filter) arg;
+		retval = put_user(mldl_cfg->lpf,
+				  (unsigned char __user *) arg);
 		break;
 	case MPU_GET_CLK_SRC:
-		mldl_cfg->clk_src = (enum mpu_clock_sel) arg;
+		retval = put_user(mldl_cfg->clk_src,
+				  (unsigned char __user *) arg);
 		break;
 	case MPU_GET_DIVIDER:
-		mldl_cfg->divider = (unsigned char) arg;
+		retval = put_user(mldl_cfg->divider,
+				  (unsigned char __user *) arg);
 		break;
 	case MPU_GET_LEVEL_SHIFTER:
-		mldl_cfg->pdata->level_shifter = (unsigned char) arg;
+		retval = put_user(mldl_cfg->pdata->level_shifter,
+				  (unsigned char __user *) arg);
 		break;
 	case MPU_GET_DMP_ENABLE:
-		mldl_cfg->dmp_enable = (unsigned char) arg;
+		retval = put_user(mldl_cfg->dmp_enable,
+				  (unsigned char __user *) arg);
 		break;
 	case MPU_GET_FIFO_ENABLE:
-		mldl_cfg->fifo_enable = (unsigned char) arg;
+		retval = put_user(mldl_cfg->fifo_enable,
+				  (unsigned char __user *) arg);
 		break;
 	case MPU_GET_DMP_CFG1:
-		mldl_cfg->dmp_cfg1 = (unsigned char) arg;
+		retval = put_user(mldl_cfg->dmp_cfg1,
+				  (unsigned char __user *) arg);
 		break;
 	case MPU_GET_DMP_CFG2:
-		mldl_cfg->dmp_cfg2 = (unsigned char) arg;
+		retval = put_user(mldl_cfg->dmp_cfg2,
+				  (unsigned char __user *) arg);
 		break;
 	case MPU_GET_OFFSET_TC:
-		retval = copy_to_user((unsigned char *) arg,
+		retval = copy_to_user((unsigned char __user *) arg,
 				      mldl_cfg->offset_tc,
 				      sizeof(mldl_cfg->offset_tc));
+		if (retval)
+			retval = -EFAULT;
 		break;
 	case MPU_GET_RAM:
-		retval = copy_to_user((unsigned char *) arg,
+		retval = copy_to_user((unsigned char __user *) arg,
 				      mldl_cfg->ram,
 				      sizeof(mldl_cfg->ram));
+		if (retval)
+			retval = -EFAULT;
 		break;
 	case MPU_CONFIG_ACCEL:
-	{
-		if ((mldl_cfg->accel) && (mldl_cfg->accel->config)) {
-			struct ext_slave_config config;
-			retval = copy_from_user(
-				&config,
-				(struct ext_slave_config *)arg,
-				sizeof(config));
-			if (retval)
-				break;
-
-			if (config.len && config.data) {
-				int *data;
-				data = kzalloc(config.len, GFP_KERNEL);
-				if (!data) {
-					retval = ML_ERROR_MEMORY_EXAUSTED;
-					break;
-				}
-				retval = copy_from_user(data,
-							(void *)config.data,
-							config.len);
-				if (retval) {
-					kfree(data);
-					break;
-				}
-				config.data = data;
-			}
-			retval = mldl_cfg->accel->config(
-				accel_adapter,
+		retval = slave_config(accel_adapter, mldl_cfg,
 				mldl_cfg->accel,
-				&mldl_cfg->pdata->accel,
-				&config);
-			kfree(config.data);
-		}
+				(struct ext_slave_config __user *) arg);
 		break;
-	}
 	case MPU_CONFIG_COMPASS:
-	{
-		if ((mldl_cfg->compass) && (mldl_cfg->compass->config)) {
-			struct ext_slave_config config;
-			retval = copy_from_user(
-				&config,
-				(struct ext_slave_config *)arg,
-				sizeof(config));
-			if (retval)
-				break;
-
-			if (config.len && config.data) {
-				int *data;
-				data = kzalloc(config.len, GFP_KERNEL);
-				if (!data) {
-					retval = ML_ERROR_MEMORY_EXAUSTED;
-					break;
-				}
-				retval = copy_from_user(data,
-							(void *)config.data,
-							config.len);
-				if (retval) {
-					kfree(data);
-					break;
-				}
-				config.data = data;
-			}
-			retval = mldl_cfg->compass->config(
-				compass_adapter,
+		retval = slave_config(compass_adapter, mldl_cfg,
 				mldl_cfg->compass,
-				&mldl_cfg->pdata->compass,
-				&config);
-			kfree(config.data);
-		}
+				(struct ext_slave_config __user *) arg);
 		break;
-	}
 	case MPU_CONFIG_PRESSURE:
-	{
-		if ((mldl_cfg->pressure) && (mldl_cfg->pressure->config)) {
-			struct ext_slave_config config;
-			retval = copy_from_user(
-				&config,
-				(struct ext_slave_config *)arg,
-				sizeof(config));
-			if (retval)
-				break;
-
-			if (config.len && config.data) {
-				int *data;
-				data = kzalloc(config.len, GFP_KERNEL);
-				if (!data) {
-					retval = ML_ERROR_MEMORY_EXAUSTED;
-					break;
-				}
-				retval = copy_from_user(data,
-							(void *)config.data,
-							config.len);
-				if (retval) {
-					kfree(data);
-					break;
-				}
-				config.data = data;
-			}
-			retval = mldl_cfg->pressure->config(
-				pressure_adapter,
+		retval = slave_config(pressure_adapter, mldl_cfg,
 				mldl_cfg->pressure,
-				&mldl_cfg->pdata->pressure,
-				&config);
-			kfree(config.data);
-		}
+				(struct ext_slave_config __user *) arg);
 		break;
-	}
-	case MPU_READ_MEMORY:
-	case MPU_WRITE_MEMORY:
-	case MPU_SUSPEND:
-		{
-			struct mpu_suspend_resume suspend;
-			retval =
-			    copy_from_user(&suspend,
-					   (struct mpu_suspend_resume *)
-					   arg, sizeof(suspend));
-			if (retval)
-				break;
-			if (suspend.gyro) {
-				retval =
-				    mpu3050_suspend(mldl_cfg,
-						    client->adapter,
-						    accel_adapter,
-						    compass_adapter,
-						    pressure_adapter,
-						    suspend.accel,
-						    suspend.compass,
-						    suspend.pressure);
-			} else {
-				/* Cannot suspend the pressure compass or
-				 * accel while the MPU is running */
-				retval = ML_ERROR_FEATURE_NOT_IMPLEMENTED;
-			}
-		}
+	case MPU_GET_CONFIG_ACCEL:
+		retval = slave_get_config(accel_adapter, mldl_cfg,
+					mldl_cfg->accel,
+					(struct ext_slave_config __user *) arg);
 		break;
-	case MPU_RESUME:
-		{
-			struct mpu_suspend_resume resume;
-			retval =
-			    copy_from_user(&resume,
-					   (struct mpu_suspend_resume *)
-					   arg, sizeof(resume));
-			if (retval)
-				break;
-			if (resume.gyro) {
-				retval =
-				    mpu3050_resume(mldl_cfg,
-						   client->adapter,
-						   accel_adapter,
-						   compass_adapter,
-						   pressure_adapter,
-						   resume.accel,
-						   resume.compass,
-						   resume.pressure);
-			} else if (mldl_cfg->is_suspended) {
-				if (resume.accel) {
-					retval =
-					    mldl_cfg->
-					    accel->resume(accel_adapter,
-							  mldl_cfg->accel,
-							  &mldl_cfg->
-							  pdata->accel);
-					if (retval)
-						break;
-				}
-
-				if (resume.compass) {
-					retval =
-					    mldl_cfg->
-					    compass->resume
-					    (compass_adapter,
-					     mldl_cfg->compass,
-					     &mldl_cfg->pdata->compass);
-					if (retval)
-						break;
-				}
-
-				if (resume.pressure)
-					retval =
-					    mldl_cfg->
-					    pressure->resume
-					    (pressure_adapter,
-					     mldl_cfg->pressure,
-					     &mldl_cfg->pdata->pressure);
-			} else {
-				/* Cannot resume the pressure compass or
-				 * accel while the MPU is running */
-				retval = ML_ERROR_FEATURE_NOT_IMPLEMENTED;
-			}
-		}
+	case MPU_GET_CONFIG_COMPASS:
+		retval = slave_get_config(compass_adapter, mldl_cfg,
+					mldl_cfg->compass,
+					(struct ext_slave_config __user *) arg);
 		break;
-	case MPU_READ_ACCEL:
-		{
-			unsigned char data[6];
-			retval =
-			    mpu3050_read_accel(mldl_cfg, client->adapter,
-					       data);
-			if (ML_SUCCESS == retval)
-				retval =
-				    copy_to_user((unsigned char *) arg,
-						 data, sizeof(data));
-		}
+	case MPU_GET_CONFIG_PRESSURE:
+		retval = slave_get_config(pressure_adapter, mldl_cfg,
+					mldl_cfg->pressure,
+					(struct ext_slave_config __user *) arg);
 		break;
+	case MPU_SUSPEND:
+	{
+		unsigned long sensors;
+		sensors = ~(mldl_cfg->requested_sensors);
+		retval = mpu3050_suspend(mldl_cfg,
+					client->adapter,
+					accel_adapter,
+					compass_adapter,
+					pressure_adapter,
+					((sensors & ML_THREE_AXIS_GYRO)
+						== ML_THREE_AXIS_GYRO),
+					((sensors & ML_THREE_AXIS_ACCEL)
+						== ML_THREE_AXIS_ACCEL),
+					((sensors & ML_THREE_AXIS_COMPASS)
+						== ML_THREE_AXIS_COMPASS),
+					((sensors & ML_THREE_AXIS_PRESSURE)
+						== ML_THREE_AXIS_PRESSURE));
+	}
+	break;
+	case MPU_RESUME:
+	{
+		unsigned long sensors;
+		sensors = mldl_cfg->requested_sensors;
+		retval = mpu3050_resume(mldl_cfg,
+					client->adapter,
+					accel_adapter,
+					compass_adapter,
+					pressure_adapter,
+					sensors & ML_THREE_AXIS_GYRO,
+					sensors & ML_THREE_AXIS_ACCEL,
+					sensors & ML_THREE_AXIS_COMPASS,
+					sensors & ML_THREE_AXIS_PRESSURE);
+	}
+	break;
+	case MPU_READ_ACCEL:
+	{
+		unsigned char data[6];
+		retval = mpu3050_read_accel(mldl_cfg, client->adapter,
+					    data);
+		if ((ML_SUCCESS == retval) &&
+		    (copy_to_user((unsigned char __user *) arg,
+			    data, sizeof(data))))
+			retval = -EFAULT;
+	}
+	break;
 	case MPU_READ_COMPASS:
-		{
-			unsigned char data[6];
-			struct i2c_adapter *compass_adapt =
-			    i2c_get_adapter(mldl_cfg->pdata->compass.
-					    adapt_num);
-			retval =
-			    mpu3050_read_compass(mldl_cfg, compass_adapt,
+	{
+		unsigned char data[6];
+		struct i2c_adapter *compass_adapt =
+			i2c_get_adapter(mldl_cfg->pdata->compass.
+					adapt_num);
+		retval = mpu3050_read_compass(mldl_cfg, compass_adapt,
 						 data);
-			if (ML_SUCCESS == retval)
-				retval =
-				    copy_to_user((unsigned char *) arg,
-						 data, sizeof(data));
-		}
-		break;
+		if ((ML_SUCCESS == retval) &&
+			(copy_to_user((unsigned char *) arg,
+				data, sizeof(data))))
+			retval = -EFAULT;
+	}
+	break;
 	case MPU_READ_PRESSURE:
-		{
-			unsigned char data[3];
-			struct i2c_adapter *pressure_adapt =
-			    i2c_get_adapter(mldl_cfg->pdata->pressure.
-					    adapt_num);
-			retval =
-			    mpu3050_read_pressure(mldl_cfg, pressure_adapt,
-						 data);
-			if (ML_SUCCESS == retval)
-				retval =
-				    copy_to_user((unsigned char *) arg,
-						 data, sizeof(data));
-		}
-		break;
+	{
+		unsigned char data[3];
+		struct i2c_adapter *pressure_adapt =
+			i2c_get_adapter(mldl_cfg->pdata->pressure.
+					adapt_num);
+		retval =
+			mpu3050_read_pressure(mldl_cfg, pressure_adapt,
+					data);
+		if ((ML_SUCCESS == retval) &&
+		    (copy_to_user((unsigned char __user *) arg,
+			    data, sizeof(data))))
+			retval = -EFAULT;
+	}
+	break;
+	case MPU_READ_MEMORY:
+	case MPU_WRITE_MEMORY:
 	default:
 		dev_err(&this_client->adapter->dev,
 			"%s: Unknown cmd %d, arg %lu\n", __func__, cmd,
@@ -737,11 +843,11 @@ void mpu3050_early_suspend(struct early_suspend *h)
 	    i2c_get_adapter(mldl_cfg->pdata->pressure.adapt_num);
 
 	dev_dbg(&this_client->adapter->dev, "%s: %d, %d\n", __func__,
-		h->level, mpu->mldl_cfg.is_suspended);
+		h->level, mpu->mldl_cfg.gyro_is_suspended);
 	if (MPU3050_EARLY_SUSPEND_IN_DRIVER)
 		(void) mpu3050_suspend(mldl_cfg, this_client->adapter,
-				       accel_adapter, compass_adapter,
-				       pressure_adapter, TRUE, TRUE, TRUE);
+				accel_adapter, compass_adapter,
+				pressure_adapter, TRUE, TRUE, TRUE, TRUE);
 }
 
 void mpu3050_early_resume(struct early_suspend *h)
@@ -763,12 +869,16 @@ void mpu3050_early_resume(struct early_suspend *h)
 
 	if (MPU3050_EARLY_SUSPEND_IN_DRIVER) {
 		if (pid) {
+			unsigned long sensors = mldl_cfg->requested_sensors;
 			(void) mpu3050_resume(mldl_cfg,
-					      this_client->adapter,
-					      accel_adapter,
-					      compass_adapter,
-					      pressure_adapter,
-					      TRUE, TRUE, TRUE);
+					this_client->adapter,
+					accel_adapter,
+					compass_adapter,
+					pressure_adapter,
+					sensors & ML_THREE_AXIS_GYRO,
+					sensors & ML_THREE_AXIS_ACCEL,
+					sensors & ML_THREE_AXIS_COMPASS,
+					sensors & ML_THREE_AXIS_PRESSURE);
 			dev_dbg(&this_client->adapter->dev,
 				"%s for pid %d\n", __func__, pid);
 		}
@@ -794,7 +904,7 @@ void mpu_shutdown(struct i2c_client *client)
 
 	(void) mpu3050_suspend(mldl_cfg, this_client->adapter,
 			       accel_adapter, compass_adapter, pressure_adapter,
-			       TRUE, TRUE, TRUE);
+			       TRUE, TRUE, TRUE, TRUE);
 	dev_dbg(&this_client->adapter->dev, "%s\n", __func__);
 }
 
@@ -813,14 +923,14 @@ int mpu_suspend(struct i2c_client *client, pm_message_t mesg)
 	pressure_adapter =
 	    i2c_get_adapter(mldl_cfg->pdata->pressure.adapt_num);
 
-	if (!mpu->mldl_cfg.is_suspended) {
+	if (!mpu->mldl_cfg.gyro_is_suspended) {
 		dev_dbg(&this_client->adapter->dev,
 			"%s: suspending on event %d\n", __func__,
 			mesg.event);
 		(void) mpu3050_suspend(mldl_cfg, this_client->adapter,
 				       accel_adapter, compass_adapter,
 				       pressure_adapter,
-				       TRUE, TRUE, TRUE);
+				       TRUE, TRUE, TRUE, TRUE);
 	} else {
 		dev_dbg(&this_client->adapter->dev,
 			"%s: Already suspended %d\n", __func__,
@@ -845,11 +955,15 @@ int mpu_resume(struct i2c_client *client)
 	    i2c_get_adapter(mldl_cfg->pdata->pressure.adapt_num);
 
 	if (pid) {
+		unsigned long sensors = mldl_cfg->requested_sensors;
 		(void) mpu3050_resume(mldl_cfg, this_client->adapter,
 				      accel_adapter,
 				      compass_adapter,
 				      pressure_adapter,
-				      TRUE, TRUE, TRUE);
+				      sensors & ML_THREE_AXIS_GYRO,
+				      sensors & ML_THREE_AXIS_ACCEL,
+				      sensors & ML_THREE_AXIS_COMPASS,
+				      sensors & ML_THREE_AXIS_PRESSURE);
 		dev_dbg(&this_client->adapter->dev,
 			"%s for pid %d\n", __func__, pid);
 	}
@@ -888,6 +1002,7 @@ int mpu3050_probe(struct i2c_client *client,
 {
 	struct mpu3050_platform_data *pdata;
 	struct mpu_private_data *mpu;
+	struct mldl_cfg *mldl_cfg;
 	int res = 0;
 	struct i2c_adapter *accel_adapter = NULL;
 	struct i2c_adapter *compass_adapter = NULL;
@@ -908,27 +1023,27 @@ int mpu3050_probe(struct i2c_client *client,
 
 	i2c_set_clientdata(client, mpu);
 	this_client = client;
-
+	mldl_cfg = &mpu->mldl_cfg;
 	pdata = (struct mpu3050_platform_data *) client->dev.platform_data;
 	if (!pdata) {
 		dev_warn(&this_client->adapter->dev,
 			 "Warning no platform data for mpu3050\n");
 	} else {
-		mpu->mldl_cfg.pdata = pdata;
+		mldl_cfg->pdata = pdata;
 
-#if defined(CONFIG_SENSORS_MPU3050_MODULE) || \
-    defined(CONFIG_SENSORS_MPU6000_MODULE)
+#if defined(CONFIG_MPU_SENSORS_MPU3050_MODULE) || \
+    defined(CONFIG_MPU_SENSORS_MPU6000_MODULE)
 		pdata->accel.get_slave_descr = get_accel_slave_descr;
 		pdata->compass.get_slave_descr = get_compass_slave_descr;
 		pdata->pressure.get_slave_descr = get_pressure_slave_descr;
 #endif
 
 		if (pdata->accel.get_slave_descr) {
-			mpu->mldl_cfg.accel =
+			mldl_cfg->accel =
 			    pdata->accel.get_slave_descr();
 			dev_info(&this_client->adapter->dev,
 				 "%s: +%s\n", MPU_NAME,
-				 mpu->mldl_cfg.accel->name);
+				 mldl_cfg->accel->name);
 			accel_adapter =
 				i2c_get_adapter(pdata->accel.adapt_num);
 			if (pdata->accel.irq > 0) {
@@ -950,11 +1065,11 @@ int mpu3050_probe(struct i2c_client *client,
 		}
 
 		if (pdata->compass.get_slave_descr) {
-			mpu->mldl_cfg.compass =
+			mldl_cfg->compass =
 			    pdata->compass.get_slave_descr();
 			dev_info(&this_client->adapter->dev,
 				 "%s: +%s\n", MPU_NAME,
-				 mpu->mldl_cfg.compass->name);
+				 mldl_cfg->compass->name);
 			compass_adapter =
 				i2c_get_adapter(pdata->compass.adapt_num);
 			if (pdata->compass.irq > 0) {
@@ -976,11 +1091,11 @@ int mpu3050_probe(struct i2c_client *client,
 		}
 
 		if (pdata->pressure.get_slave_descr) {
-			mpu->mldl_cfg.pressure =
+			mldl_cfg->pressure =
 			    pdata->pressure.get_slave_descr();
 			dev_info(&this_client->adapter->dev,
 				 "%s: +%s\n", MPU_NAME,
-				 mpu->mldl_cfg.pressure->name);
+				 mldl_cfg->pressure->name);
 			pressure_adapter =
 				i2c_get_adapter(pdata->pressure.adapt_num);
 
@@ -1003,7 +1118,7 @@ int mpu3050_probe(struct i2c_client *client,
 		}
 	}
 
-	mpu->mldl_cfg.addr = client->addr;
+	mldl_cfg->addr = client->addr;
 	res = mpu3050_open(&mpu->mldl_cfg, client->adapter,
 			accel_adapter, compass_adapter, pressure_adapter);