Added missing tegra files.HEADmaster

1 files changed, 695 insertions, 0 deletions

diff --git a/drivers/misc/inv_mpu/accel/mpu6050.c b/drivers/misc/inv_mpu/accel/mpu6050.c
new file mode 100644
index 00000000000..c5bb6784a41
--- /dev/null
+++ b/drivers/misc/inv_mpu/accel/mpu6050.c
@@ -0,0 +1,695 @@
+/*
+        $License:
+        Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+        This program is free software; you can redistribute it and/or modify
+        it under the terms of the GNU General Public License as published by
+        the Free Software Foundation; either version 2 of the License, or
+        (at your option) any later version.
+
+        This program is distributed in the hope that it will be useful,
+        but WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+        GNU General Public License for more details.
+
+        You should have received a copy of the GNU General Public License
+        along with this program.  If not, see <http://www.gnu.org/licenses/>.
+        $
+ */
+
+/**
+ *  @addtogroup ACCELDL
+ *  @brief      Provides the interface to setup and handle an accelerometer.
+ *
+ *  @{
+ *      @file   mpu6050.c
+ *      @brief  Accelerometer setup and handling methods for Invensense MPU6050
+ */
+
+/* -------------------------------------------------------------------------- */
+
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/kernel.h>
+#include <linux/errno.h>
+#include <linux/delay.h>
+#include <linux/slab.h>
+#include "mpu-dev.h"
+
+#include <log.h>
+#include <linux/mpu.h>
+#include "mpu6050b1.h"
+#include "mlsl.h"
+#include "mldl_cfg.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-acc"
+
+/* -------------------------------------------------------------------------- */
+
+struct mpu6050_config {
+        unsigned int odr;               /**< output data rate 1/1000 Hz */
+        unsigned int fsr;               /**< full scale range mg */
+        unsigned int ths;               /**< mot/no-mot thseshold mg */
+        unsigned int dur;               /**< mot/no-mot duration ms */
+        unsigned int irq_type;          /**< irq type */
+};
+
+struct mpu6050_private_data {
+        struct mpu6050_config suspend;
+        struct mpu6050_config resume;
+        struct mldl_cfg *mldl_cfg_ref;
+};
+
+/* -------------------------------------------------------------------------- */
+
+static int mpu6050_set_mldl_cfg_ref(void *mlsl_handle,
+                        struct ext_slave_platform_data *pdata,
+                        struct mldl_cfg *mldl_cfg_ref)
+{
+        struct mpu6050_private_data *private_data =
+                        (struct mpu6050_private_data *)pdata->private_data;
+        private_data->mldl_cfg_ref = mldl_cfg_ref;
+        return 0;
+}
+static int mpu6050_set_lp_mode(void *mlsl_handle,
+                        struct ext_slave_platform_data *pdata,
+                        unsigned char lpa_freq)
+{
+        unsigned char b = 0;
+        /* Reducing the duration setting for lp mode */
+        b = 1;
+        inv_serial_single_write(mlsl_handle, pdata->address,
+                                MPUREG_ACCEL_MOT_DUR, b);
+        /* Setting the cycle bit and LPA wake up freq */
+        inv_serial_read(mlsl_handle, pdata->address, MPUREG_PWR_MGMT_1, 1,
+                        &b);
+        b |= BIT_CYCLE | BIT_PD_PTAT;
+        inv_serial_single_write(mlsl_handle, pdata->address,
+                                MPUREG_PWR_MGMT_1,
+                                b);
+        inv_serial_read(mlsl_handle, pdata->address,
+                        MPUREG_PWR_MGMT_2, 1, &b);
+        b |= lpa_freq & BITS_LPA_WAKE_CTRL;
+        inv_serial_single_write(mlsl_handle, pdata->address,
+                                MPUREG_PWR_MGMT_2, b);
+
+        return INV_SUCCESS;
+}
+
+static int mpu6050_set_fp_mode(void *mlsl_handle,
+                                struct ext_slave_platform_data *pdata)
+{
+        unsigned char b;
+        struct mpu6050_private_data *private_data =
+                        (struct mpu6050_private_data *)pdata->private_data;
+        /* Resetting the cycle bit and LPA wake up freq */
+        inv_serial_read(mlsl_handle, pdata->address,
+                        MPUREG_PWR_MGMT_1, 1, &b);
+        b &= ~BIT_CYCLE & ~BIT_PD_PTAT;
+        inv_serial_single_write(mlsl_handle, pdata->address,
+                                MPUREG_PWR_MGMT_1, b);
+        inv_serial_read(mlsl_handle, pdata->address,
+                        MPUREG_PWR_MGMT_2, 1, &b);
+        b &= ~BITS_LPA_WAKE_CTRL;
+        inv_serial_single_write(mlsl_handle, pdata->address,
+                                MPUREG_PWR_MGMT_2, b);
+        /* Resetting the duration setting for fp mode */
+        b = (unsigned char)private_data->suspend.ths / ACCEL_MOT_DUR_LSB;
+        inv_serial_single_write(mlsl_handle, pdata->address,
+                                MPUREG_ACCEL_MOT_DUR, b);
+
+        return INV_SUCCESS;
+}
+/**
+ * Record the odr for use in computing duration values.
+ *
+ * @param config Config to set, suspend or resume structure
+ * @param odr output data rate in 1/1000 hz
+ */
+static int mpu6050_set_odr(void *mlsl_handle,
+                          struct ext_slave_platform_data *pdata,
+                          struct mpu6050_config *config, long apply, long odr)
+{
+        int result;
+        unsigned char b;
+        unsigned char lpa_freq = 1; /* Default value */
+        long base;
+        int total_divider;
+        struct mpu6050_private_data *private_data =
+                        (struct mpu6050_private_data *)pdata->private_data;
+        struct mldl_cfg *mldl_cfg_ref =
+                        (struct mldl_cfg *)private_data->mldl_cfg_ref;
+
+        if (mldl_cfg_ref) {
+                base = 1000 *
+                        inv_mpu_get_sampling_rate_hz(mldl_cfg_ref->mpu_gyro_cfg)
+                        * (mldl_cfg_ref->mpu_gyro_cfg->divider + 1);
+        } else {
+                /* have no reference to mldl_cfg => assume base rate is 1000 */
+                base = 1000000L;
+        }
+
+        if (odr != 0) {
+                total_divider = (base / odr) - 1;
+                /* final odr MAY be different from requested odr due to
+                   integer truncation */
+                config->odr = base / (total_divider + 1);
+        } else {
+                config->odr = 0;
+                return 0;
+        }
+
+        /* if the DMP and/or gyros are on, don't set the ODR =>
+           the DMP/gyro mldl_cfg->divider setting will handle it */
+        if (apply
+            && (mldl_cfg_ref &&
+            !(mldl_cfg_ref->inv_mpu_cfg->requested_sensors &
+                    INV_DMP_PROCESSOR))) {
+                result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                        MPUREG_SMPLRT_DIV,
+                                        (unsigned char)total_divider);
+                if (result) {
+                        LOG_RESULT_LOCATION(result);
+                        return result;
+                }
+                MPL_LOGI("ODR : %d mHz\n", config->odr);
+        }
+        /* Decide whether to put accel in LP mode or pull out of LP mode
+           based on the odr. */
+        switch (odr) {
+        case 1000:
+                lpa_freq = BITS_LPA_WAKE_1HZ;
+                break;
+        case 2000:
+                lpa_freq = BITS_LPA_WAKE_2HZ;
+                break;
+        case 10000:
+                lpa_freq = BITS_LPA_WAKE_10HZ;
+                break;
+        case 40000:
+                lpa_freq = BITS_LPA_WAKE_40HZ;
+                break;
+        default:
+                inv_serial_read(mlsl_handle, pdata->address,
+                                MPUREG_PWR_MGMT_1, 1, &b);
+                b &= BIT_CYCLE;
+                if (b == BIT_CYCLE) {
+                        MPL_LOGI(" Accel LP - > FP mode. \n ");
+                        mpu6050_set_fp_mode(mlsl_handle, pdata);
+                }
+        }
+        /* If lpa_freq default value was changed, set into LP mode */
+        if (lpa_freq != 1) {
+                MPL_LOGI(" Accel FP - > LP mode. \n ");
+                mpu6050_set_lp_mode(mlsl_handle, pdata, lpa_freq);
+        }
+        return 0;
+}
+
+static int mpu6050_set_fsr(void *mlsl_handle,
+                          struct ext_slave_platform_data *pdata,
+                          struct mpu6050_config *config, long apply, long fsr)
+{
+        unsigned char fsr_mask;
+        int result;
+
+        if (fsr <= 2000) {
+                config->fsr = 2000;
+                fsr_mask = 0x00;
+        } else if (fsr <= 4000) {
+                config->fsr = 4000;
+                fsr_mask = 0x08;
+        } else if (fsr <= 8000) {
+                config->fsr = 8000;
+                fsr_mask = 0x10;
+        } else { /* fsr = [8001, oo) */
+                config->fsr = 16000;
+                fsr_mask = 0x18;
+        }
+
+        if (apply) {
+                unsigned char reg;
+                result = inv_serial_read(mlsl_handle, pdata->address,
+                                         MPUREG_ACCEL_CONFIG, 1, &reg);
+                if (result) {
+                        LOG_RESULT_LOCATION(result);
+                        return result;
+                }
+                result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                                 MPUREG_ACCEL_CONFIG,
+                                                 reg | fsr_mask);
+                if (result) {
+                        LOG_RESULT_LOCATION(result);
+                        return result;
+                }
+                MPL_LOGV("FSR: %d\n", config->fsr);
+        }
+        return 0;
+}
+
+static int mpu6050_set_irq(void *mlsl_handle,
+                          struct ext_slave_platform_data *pdata,
+                          struct mpu6050_config *config, long apply,
+                          long irq_type)
+{
+        int result;
+        unsigned char reg_int_cfg;
+
+        switch (irq_type) {
+        case MPU_SLAVE_IRQ_TYPE_DATA_READY:
+                config->irq_type = irq_type;
+                reg_int_cfg = BIT_RAW_RDY_EN;
+                break;
+        /* todo: add MOTION, NO_MOTION, and FREEFALL */
+        case MPU_SLAVE_IRQ_TYPE_NONE:
+                /* Do nothing, not even set the interrupt because it is
+                   shared with the gyro */
+                config->irq_type = irq_type;
+                return 0;
+        default:
+                return INV_ERROR_INVALID_PARAMETER;
+        }
+
+        if (apply) {
+                result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                                 MPUREG_INT_ENABLE,
+                                                 reg_int_cfg);
+                if (result) {
+                        LOG_RESULT_LOCATION(result);
+                        return result;
+                }
+                MPL_LOGV("irq_type: %d\n", config->irq_type);
+        }
+
+        return 0;
+}
+
+static int mpu6050_set_ths(void *mlsl_handle,
+                          struct ext_slave_platform_data *slave,
+                          struct mpu6050_config *config, long apply, long ths)
+{
+        if (ths < 0)
+                ths = 0;
+
+        config->ths = ths;
+        MPL_LOGV("THS: %d\n", config->ths);
+        return 0;
+}
+
+static int mpu6050_set_dur(void *mlsl_handle,
+                          struct ext_slave_platform_data *slave,
+                          struct mpu6050_config *config, long apply, long dur)
+{
+        if (dur < 0)
+                dur = 0;
+
+        config->dur = dur;
+        MPL_LOGV("DUR: %d\n", config->dur);
+        return 0;
+}
+
+
+static int mpu6050_init(void *mlsl_handle,
+                       struct ext_slave_descr *slave,
+                       struct ext_slave_platform_data *pdata)
+{
+        int result;
+        struct mpu6050_private_data *private_data;
+
+
+        private_data = kzalloc(sizeof(*private_data), GFP_KERNEL);
+
+        if (!private_data)
+                return INV_ERROR_MEMORY_EXAUSTED;
+
+        pdata->private_data = private_data;
+
+        result = mpu6050_set_odr(mlsl_handle, pdata, &private_data->suspend,
+                                 false, 0);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        result = mpu6050_set_odr(mlsl_handle, pdata, &private_data->resume,
+                                 false, 200000);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        result = mpu6050_set_fsr(mlsl_handle, pdata, &private_data->suspend,
+                                 false, 2000);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        result = mpu6050_set_fsr(mlsl_handle, pdata, &private_data->resume,
+                                 false, 2000);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        result = mpu6050_set_irq(mlsl_handle, pdata, &private_data->suspend,
+                                 false, MPU_SLAVE_IRQ_TYPE_NONE);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        result = mpu6050_set_irq(mlsl_handle, pdata, &private_data->resume,
+                                 false, MPU_SLAVE_IRQ_TYPE_NONE);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        result = mpu6050_set_ths(mlsl_handle, pdata, &private_data->suspend,
+                                 false, 80);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        result = mpu6050_set_ths(mlsl_handle, pdata, &private_data->resume,
+                                 false, 40);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        result = mpu6050_set_dur(mlsl_handle, pdata, &private_data->suspend,
+                                 false, 1000);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        result = mpu6050_set_dur(mlsl_handle, pdata, &private_data->resume,
+                                 false, 2540);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        return 0;
+}
+
+static int mpu6050_exit(void *mlsl_handle,
+                       struct ext_slave_descr *slave,
+                       struct ext_slave_platform_data *pdata)
+{
+        kfree(pdata->private_data);
+        pdata->private_data = NULL;
+        return 0;
+}
+
+static int mpu6050_suspend(void *mlsl_handle,
+                           struct ext_slave_descr *slave,
+                           struct ext_slave_platform_data *pdata)
+{
+        unsigned char reg;
+        int result;
+        struct mpu6050_private_data *private_data =
+                        (struct mpu6050_private_data *)pdata->private_data;
+
+        result = mpu6050_set_odr(mlsl_handle, pdata, &private_data->suspend,
+                                true, private_data->suspend.odr);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        result = mpu6050_set_irq(mlsl_handle, pdata, &private_data->suspend,
+                                true, private_data->suspend.irq_type);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        result = inv_serial_read(mlsl_handle, pdata->address,
+                                 MPUREG_PWR_MGMT_2, 1, &reg);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        reg |= (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA);
+
+        result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                         MPUREG_PWR_MGMT_2, reg);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        return 0;
+}
+
+static int mpu6050_resume(void *mlsl_handle,
+                          struct ext_slave_descr *slave,
+                          struct ext_slave_platform_data *pdata)
+{
+        int result;
+        unsigned char reg;
+        struct mpu6050_private_data *private_data =
+                (struct mpu6050_private_data *)pdata->private_data;
+
+        result = inv_serial_read(mlsl_handle, pdata->address,
+                                 MPUREG_PWR_MGMT_1, 1, &reg);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        if (reg & BIT_SLEEP) {
+                result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                        MPUREG_PWR_MGMT_1, reg & ~BIT_SLEEP);
+                if (result) {
+                        LOG_RESULT_LOCATION(result);
+                        return result;
+                }
+        }
+        msleep(2);
+
+        result = inv_serial_read(mlsl_handle, pdata->address,
+                        MPUREG_PWR_MGMT_2, 1, &reg);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        reg &= ~(BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA);
+        result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                       MPUREG_PWR_MGMT_2, reg);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        /* settings */
+
+        result = mpu6050_set_fsr(mlsl_handle, pdata, &private_data->resume,
+                                 true, private_data->resume.fsr);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        result = mpu6050_set_odr(mlsl_handle, pdata, &private_data->resume,
+                                 true, private_data->resume.odr);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        result = mpu6050_set_irq(mlsl_handle, pdata, &private_data->resume,
+                                 true, private_data->resume.irq_type);
+
+        /* motion, no_motion */
+        /* TODO : port these in their respective _set_thrs and _set_dur
+                  functions and use the APPLY paremeter to apply just like
+                  _set_odr, _set_irq, and _set_fsr. */
+        reg = (unsigned char)private_data->suspend.ths / ACCEL_MOT_THR_LSB;
+        result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                         MPUREG_ACCEL_MOT_THR, reg);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        reg = (unsigned char)
+            ACCEL_ZRMOT_THR_LSB_CONVERSION(private_data->resume.ths);
+        result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                         MPUREG_ACCEL_ZRMOT_THR, reg);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        reg = (unsigned char)private_data->suspend.ths / ACCEL_MOT_DUR_LSB;
+        result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                         MPUREG_ACCEL_MOT_DUR, reg);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        reg = (unsigned char)private_data->resume.ths / ACCEL_ZRMOT_DUR_LSB;
+        result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                         MPUREG_ACCEL_ZRMOT_DUR, reg);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        return 0;
+}
+
+static int mpu6050_read(void *mlsl_handle,
+                        struct ext_slave_descr *slave,
+                        struct ext_slave_platform_data *pdata,
+                        unsigned char *data)
+{
+        int result;
+        result = inv_serial_read(mlsl_handle, pdata->address,
+                                 slave->read_reg, slave->read_len, data);
+        return result;
+}
+
+static int mpu6050_config(void *mlsl_handle,
+                         struct ext_slave_descr *slave,
+                         struct ext_slave_platform_data *pdata,
+                         struct ext_slave_config *data)
+{
+        struct mpu6050_private_data *private_data =
+                (struct mpu6050_private_data *)pdata->private_data;
+        if (!data->data)
+                return INV_ERROR_INVALID_PARAMETER;
+
+        switch (data->key) {
+        case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+                return mpu6050_set_odr(mlsl_handle, pdata,
+                                      &private_data->suspend,
+                                      data->apply, *((long *)data->data));
+        case MPU_SLAVE_CONFIG_ODR_RESUME:
+                return mpu6050_set_odr(mlsl_handle, pdata,
+                                      &private_data->resume,
+                                      data->apply, *((long *)data->data));
+        case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+                return mpu6050_set_fsr(mlsl_handle, pdata,
+                                      &private_data->suspend,
+                                      data->apply, *((long *)data->data));
+        case MPU_SLAVE_CONFIG_FSR_RESUME:
+                return mpu6050_set_fsr(mlsl_handle, pdata,
+                                      &private_data->resume,
+                                      data->apply, *((long *)data->data));
+        case MPU_SLAVE_CONFIG_MOT_THS:
+                return mpu6050_set_ths(mlsl_handle, pdata,
+                                      &private_data->suspend,
+                                      data->apply, *((long *)data->data));
+        case MPU_SLAVE_CONFIG_NMOT_THS:
+                return mpu6050_set_ths(mlsl_handle, pdata,
+                                      &private_data->resume,
+                                      data->apply, *((long *)data->data));
+        case MPU_SLAVE_CONFIG_MOT_DUR:
+                return mpu6050_set_dur(mlsl_handle, pdata,
+                                      &private_data->suspend,
+                                      data->apply, *((long *)data->data));
+        case MPU_SLAVE_CONFIG_NMOT_DUR:
+                return mpu6050_set_dur(mlsl_handle, pdata,
+                                      &private_data->resume,
+                                      data->apply, *((long *)data->data));
+        case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+                return mpu6050_set_irq(mlsl_handle, pdata,
+                                      &private_data->suspend,
+                                      data->apply, *((long *)data->data));
+                break;
+        case MPU_SLAVE_CONFIG_IRQ_RESUME:
+                return mpu6050_set_irq(mlsl_handle, pdata,
+                                      &private_data->resume,
+                                      data->apply, *((long *)data->data));
+        case MPU_SLAVE_CONFIG_INTERNAL_REFERENCE:
+                return mpu6050_set_mldl_cfg_ref(mlsl_handle, pdata,
+                                               (struct mldl_cfg *)data->data);
+                break;
+
+        default:
+                return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+        };
+
+        return 0;
+}
+
+static int mpu6050_get_config(void *mlsl_handle,
+                             struct ext_slave_descr *slave,
+                             struct ext_slave_platform_data *pdata,
+                             struct ext_slave_config *data)
+{
+        struct mpu6050_private_data *private_data =
+                (struct mpu6050_private_data *)pdata->private_data;
+        if (!data->data)
+                return INV_ERROR_INVALID_PARAMETER;
+
+        switch (data->key) {
+        case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+                (*(unsigned long *)data->data) =
+                    (unsigned long)private_data->suspend.odr;
+                break;
+        case MPU_SLAVE_CONFIG_ODR_RESUME:
+                (*(unsigned long *)data->data) =
+                    (unsigned long)private_data->resume.odr;
+                break;
+        case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+                (*(unsigned long *)data->data) =
+                    (unsigned long)private_data->suspend.fsr;
+                break;
+        case MPU_SLAVE_CONFIG_FSR_RESUME:
+                (*(unsigned long *)data->data) =
+                    (unsigned long)private_data->resume.fsr;
+                break;
+        case MPU_SLAVE_CONFIG_MOT_THS:
+                (*(unsigned long *)data->data) =
+                    (unsigned long)private_data->suspend.ths;
+                break;
+        case MPU_SLAVE_CONFIG_NMOT_THS:
+                (*(unsigned long *)data->data) =
+                    (unsigned long)private_data->resume.ths;
+                break;
+        case MPU_SLAVE_CONFIG_MOT_DUR:
+                (*(unsigned long *)data->data) =
+                    (unsigned long)private_data->suspend.dur;
+                break;
+        case MPU_SLAVE_CONFIG_NMOT_DUR:
+                (*(unsigned long *)data->data) =
+                    (unsigned long)private_data->resume.dur;
+                break;
+        case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+                (*(unsigned long *)data->data) =
+                    (unsigned long)private_data->suspend.irq_type;
+                break;
+        case MPU_SLAVE_CONFIG_IRQ_RESUME:
+                (*(unsigned long *)data->data) =
+                    (unsigned long)private_data->resume.irq_type;
+                break;
+        default:
+                return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+        };
+
+        return 0;
+}
+
+static struct ext_slave_descr mpu6050_descr = {
+        .init             = mpu6050_init,
+        .exit             = mpu6050_exit,
+        .suspend          = mpu6050_suspend,
+        .resume           = mpu6050_resume,
+        .read             = mpu6050_read,
+        .config           = mpu6050_config,
+        .get_config       = mpu6050_get_config,
+        .name             = "mpu6050",
+        .type             = EXT_SLAVE_TYPE_ACCEL,
+        .id               = ACCEL_ID_MPU6050,
+        .read_reg         = 0x3B,
+        .read_len         = 6,
+        .endian           = EXT_SLAVE_BIG_ENDIAN,
+        .range            = {2, 0},
+        .trigger          = NULL,
+};
+
+struct ext_slave_descr *mpu6050_get_slave_descr(void)
+{
+        return &mpu6050_descr;
+}
+
+/**
+ *  @}
+ */