arm: tegra: kai: Add Invensense MPU sensors

Bug 825602

Change-Id: Id3f4db74f2d0d1aebc8aa1f6e1da865171af9b49
Signed-off-by: Johnny Qiu <joqiu@nvidia.com>
Reviewed-on: http://git-master/r/82763
Reviewed-by: Rohan Somvanshi <rsomvanshi@nvidia.com>
Tested-by: Rohan Somvanshi <rsomvanshi@nvidia.com>

Rebase-Id: R5c74d6c609f25ed42c6e9862ce338ecc9e9f8ceb

1 files changed, 105 insertions, 0 deletions

diff --git a/arch/arm/mach-tegra/board-kai-sensors.c b/arch/arm/mach-tegra/board-kai-sensors.c
index b93ae93c47a3..82784ebd9735 100644
--- a/arch/arm/mach-tegra/board-kai-sensors.c
+++ b/arch/arm/mach-tegra/board-kai-sensors.c
@@ -22,6 +22,7 @@
 #include <linux/err.h>
 #include <linux/i2c.h>
 #include <linux/cm3217.h>
+#include <linux/mpu.h>
 #include <linux/regulator/consumer.h>
 #include <asm/mach-types.h>
 #include <mach/gpio.h>
@@ -140,6 +141,108 @@ static struct i2c_board_info kai_i2c2_board_info[] = {
 	},
 };
 
+/* MPU board file definition */
+
+#if (MPU_GYRO_TYPE == MPU_TYPE_MPU3050)
+#define MPU_GYRO_NAME		"mpu3050"
+#endif
+#if (MPU_GYRO_TYPE == MPU_TYPE_MPU6050)
+#define MPU_GYRO_NAME		"mpu6050"
+#endif
+
+static struct mpu_platform_data mpu_gyro_data = {
+	.int_config	= 0x10,
+	.level_shifter	= 0,
+	.orientation	= MPU_GYRO_ORIENTATION,
+};
+
+#if (MPU_GYRO_TYPE == MPU_TYPE_MPU3050)
+static struct ext_slave_platform_data mpu_accel_data = {
+	.address	= MPU_ACCEL_ADDR,
+	.irq		= 0,
+	.adapt_num	= MPU_ACCEL_BUS_NUM,
+	.bus		= EXT_SLAVE_BUS_SECONDARY,
+	.orientation	= MPU_ACCEL_ORIENTATION,
+};
+#endif
+
+static struct ext_slave_platform_data mpu_compass_data = {
+	.address	= MPU_COMPASS_ADDR,
+	.irq		= 0,
+	.adapt_num	= MPU_COMPASS_BUS_NUM,
+	.bus		= EXT_SLAVE_BUS_PRIMARY,
+	.orientation	= MPU_COMPASS_ORIENTATION,
+};
+
+static struct i2c_board_info __initdata inv_mpu_i2c0_board_info[] = {
+	{
+		I2C_BOARD_INFO(MPU_GYRO_NAME, MPU_GYRO_ADDR),
+		.irq = TEGRA_GPIO_TO_IRQ(MPU_GYRO_IRQ_GPIO),
+		.platform_data = &mpu_gyro_data,
+	},
+#if (MPU_GYRO_TYPE == MPU_TYPE_MPU3050)
+	{
+		I2C_BOARD_INFO(MPU_ACCEL_NAME, MPU_ACCEL_ADDR),
+#if MPU_ACCEL_IRQ_GPIO
+		.irq = TEGRA_GPIO_TO_IRQ(MPU_ACCEL_IRQ_GPIO),
+#endif
+		.platform_data = &mpu_accel_data,
+	},
+#endif
+	{
+		I2C_BOARD_INFO(MPU_COMPASS_NAME, MPU_COMPASS_ADDR),
+#if MPU_COMPASS_IRQ_GPIO
+		.irq = TEGRA_GPIO_TO_IRQ(MPU_COMPASS_IRQ_GPIO),
+#endif
+		.platform_data = &mpu_compass_data,
+	},
+};
+
+static void mpuirq_init(void)
+{
+	int ret = 0;
+
+	pr_info("*** MPU START *** mpuirq_init...\n");
+
+#if (MPU_GYRO_TYPE == MPU_TYPE_MPU3050)
+#if MPU_ACCEL_IRQ_GPIO
+	/* ACCEL-IRQ assignment */
+	tegra_gpio_enable(MPU_ACCEL_IRQ_GPIO);
+	ret = gpio_request(MPU_ACCEL_IRQ_GPIO, MPU_ACCEL_NAME);
+	if (ret < 0) {
+		pr_err("%s: gpio_request failed %d\n", __func__, ret);
+		return;
+	}
+
+	ret = gpio_direction_input(MPU_ACCEL_IRQ_GPIO);
+	if (ret < 0) {
+		pr_err("%s: gpio_direction_input failed %d\n", __func__, ret);
+		gpio_free(MPU_ACCEL_IRQ_GPIO);
+		return;
+	}
+#endif
+#endif
+
+	/* MPU-IRQ assignment */
+	tegra_gpio_enable(MPU_GYRO_IRQ_GPIO);
+	ret = gpio_request(MPU_GYRO_IRQ_GPIO, MPU_GYRO_NAME);
+	if (ret < 0) {
+		pr_err("%s: gpio_request failed %d\n", __func__, ret);
+		return;
+	}
+
+	ret = gpio_direction_input(MPU_GYRO_IRQ_GPIO);
+	if (ret < 0) {
+		pr_err("%s: gpio_direction_input failed %d\n", __func__, ret);
+		gpio_free(MPU_GYRO_IRQ_GPIO);
+		return;
+	}
+	pr_info("*** MPU END *** mpuirq_init...\n");
+
+	i2c_register_board_info(MPU_GYRO_BUS_NUM, inv_mpu_i2c0_board_info,
+		ARRAY_SIZE(inv_mpu_i2c0_board_info));
+}
+
 int __init kai_sensors_init(void)
 {
 	kai_camera_init();
@@ -150,5 +253,7 @@ int __init kai_sensors_init(void)
 	i2c_register_board_info(0, kai_i2c0_cm3217_board_info,
 		ARRAY_SIZE(kai_i2c0_cm3217_board_info));
 
+	mpuirq_init();
+
 	return 0;
 }