Patchwork [09/11] misc: Add slave driver for kxtf9 accelerometer

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Submitter Nathan Royer
Date July 1, 2011, 2:18 a.m.
Message ID <1309486707-1658-9-git-send-email-nroyer@invensense.com>
Download mbox | patch
Permalink /patch/934172/
State New, archived
Headers show

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Nathan Royer - July 1, 2011, 2:18 a.m.
Signed-off-by: Nathan Royer <nroyer@invensense.com>
---
 drivers/misc/inv_mpu/Kconfig        |    2 +
 drivers/misc/inv_mpu/Makefile       |    2 +
 drivers/misc/inv_mpu/accel/Kconfig  |   23 +
 drivers/misc/inv_mpu/accel/Makefile |    7 +
 drivers/misc/inv_mpu/accel/kxtf9.c  |  841 +++++++++++++++++++++++++++++++++++
 5 files changed, 875 insertions(+), 0 deletions(-)
 create mode 100644 drivers/misc/inv_mpu/accel/Kconfig
 create mode 100644 drivers/misc/inv_mpu/accel/Makefile
 create mode 100644 drivers/misc/inv_mpu/accel/kxtf9.c

Patch

diff --git a/drivers/misc/inv_mpu/Kconfig b/drivers/misc/inv_mpu/Kconfig
index fdfa7a6..6116010 100644
--- a/drivers/misc/inv_mpu/Kconfig
+++ b/drivers/misc/inv_mpu/Kconfig
@@ -55,4 +55,6 @@  config MPU_SENSORS_MPU6050_GYRO
 
 endchoice
 
+source "drivers/misc/inv_mpu/accel/Kconfig"
+
 endif #INV_SENSORS
diff --git a/drivers/misc/inv_mpu/Makefile b/drivers/misc/inv_mpu/Makefile
index 48fc55a..d2c2c9a 100644
--- a/drivers/misc/inv_mpu/Makefile
+++ b/drivers/misc/inv_mpu/Makefile
@@ -15,3 +15,5 @@  mpu3050-objs += mldl_cfg.o
 mpu3050-objs += mldl_print_cfg.o
 
 EXTRA_CFLAGS += -Idrivers/misc/inv_mpu
+
+obj-y			+= accel/
diff --git a/drivers/misc/inv_mpu/accel/Kconfig b/drivers/misc/inv_mpu/accel/Kconfig
new file mode 100644
index 0000000..5e7aeaf
--- /dev/null
+++ b/drivers/misc/inv_mpu/accel/Kconfig
@@ -0,0 +1,23 @@ 
+menuconfig INV_SENSORS_ACCELEROMETERS
+	bool "Accelerometer Slave Sensors"
+	default y
+	---help---
+	  Say Y here to get to see options for device drivers for various
+	  accelerometrs for integration with the MPU3050 or MPU6050 driver.
+	  This option alone does not add any kernel code.
+
+	  If you say N, all options in this submenu will be skipped and disabled.
+
+if INV_SENSORS_ACCELEROMETERS
+
+config MPU_SENSORS_KXTF9
+	tristate "Kionix KXTF9"
+	depends on MPU_SENSORS_MPU3050 || MPU_SENSORS_MPU6050B1 || MPU_SENSORS_MPU6050A2
+	help
+	  This enables support for the Kionix KXFT9 accelerometer
+	  This support is for integration with the MPU3050 gyroscope device
+	  driver.  Only one accelerometer can be registered at a time.
+	  Specifying more that one accelerometer in the board file will result
+	  in runtime errors.
+
+endif
diff --git a/drivers/misc/inv_mpu/accel/Makefile b/drivers/misc/inv_mpu/accel/Makefile
new file mode 100644
index 0000000..9592973
--- /dev/null
+++ b/drivers/misc/inv_mpu/accel/Makefile
@@ -0,0 +1,7 @@ 
+#
+# Accel Slaves to MPUxxxx
+#
+obj-$(CONFIG_MPU_SENSORS_KXTF9) += inv_mpu_kxtf9.o
+inv_mpu_kxtf9-objs += kxtf9.o
+
+EXTRA_CFLAGS += -Idrivers/misc/inv_mpu
diff --git a/drivers/misc/inv_mpu/accel/kxtf9.c b/drivers/misc/inv_mpu/accel/kxtf9.c
new file mode 100644
index 0000000..33fafc8
--- /dev/null
+++ b/drivers/misc/inv_mpu/accel/kxtf9.c
@@ -0,0 +1,841 @@ 
+/*
+	$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      Accelerometer setup and handling methods for Kionix KXTF9.
+ *
+ *  @{
+ *      @file   kxtf9.c
+ *      @brief  Accelerometer setup and handling methods for Kionix KXTF9.
+*/
+
+/* -------------------------------------------------------------------------- */
+
+#undef MPL_LOG_NDEBUG
+#define MPL_LOG_NDEBUG 1
+
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/kernel.h>
+#include <linux/errno.h>
+#include <linux/slab.h>
+#include <linux/delay.h>
+#include "mpu-dev.h"
+
+#include <log.h>
+#include <linux/mpu.h>
+#include "mlsl.h"
+#include "mldl_cfg.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-acc"
+
+#define KXTF9_XOUT_HPF_L                (0x00)	/* 0000 0000 */
+#define KXTF9_XOUT_HPF_H                (0x01)	/* 0000 0001 */
+#define KXTF9_YOUT_HPF_L                (0x02)	/* 0000 0010 */
+#define KXTF9_YOUT_HPF_H                (0x03)	/* 0000 0011 */
+#define KXTF9_ZOUT_HPF_L                (0x04)	/* 0001 0100 */
+#define KXTF9_ZOUT_HPF_H                (0x05)	/* 0001 0101 */
+#define KXTF9_XOUT_L                    (0x06)	/* 0000 0110 */
+#define KXTF9_XOUT_H                    (0x07)	/* 0000 0111 */
+#define KXTF9_YOUT_L                    (0x08)	/* 0000 1000 */
+#define KXTF9_YOUT_H                    (0x09)	/* 0000 1001 */
+#define KXTF9_ZOUT_L                    (0x0A)	/* 0001 1010 */
+#define KXTF9_ZOUT_H                    (0x0B)	/* 0001 1011 */
+#define KXTF9_ST_RESP                   (0x0C)	/* 0000 1100 */
+#define KXTF9_WHO_AM_I                  (0x0F)	/* 0000 1111 */
+#define KXTF9_TILT_POS_CUR              (0x10)	/* 0001 0000 */
+#define KXTF9_TILT_POS_PRE              (0x11)	/* 0001 0001 */
+#define KXTF9_INT_SRC_REG1              (0x15)	/* 0001 0101 */
+#define KXTF9_INT_SRC_REG2              (0x16)	/* 0001 0110 */
+#define KXTF9_STATUS_REG                (0x18)	/* 0001 1000 */
+#define KXTF9_INT_REL                   (0x1A)	/* 0001 1010 */
+#define KXTF9_CTRL_REG1                 (0x1B)	/* 0001 1011 */
+#define KXTF9_CTRL_REG2                 (0x1C)	/* 0001 1100 */
+#define KXTF9_CTRL_REG3                 (0x1D)	/* 0001 1101 */
+#define KXTF9_INT_CTRL_REG1             (0x1E)	/* 0001 1110 */
+#define KXTF9_INT_CTRL_REG2             (0x1F)	/* 0001 1111 */
+#define KXTF9_INT_CTRL_REG3             (0x20)	/* 0010 0000 */
+#define KXTF9_DATA_CTRL_REG             (0x21)	/* 0010 0001 */
+#define KXTF9_TILT_TIMER                (0x28)	/* 0010 1000 */
+#define KXTF9_WUF_TIMER                 (0x29)	/* 0010 1001 */
+#define KXTF9_TDT_TIMER                 (0x2B)	/* 0010 1011 */
+#define KXTF9_TDT_H_THRESH              (0x2C)	/* 0010 1100 */
+#define KXTF9_TDT_L_THRESH              (0x2D)	/* 0010 1101 */
+#define KXTF9_TDT_TAP_TIMER             (0x2E)	/* 0010 1110 */
+#define KXTF9_TDT_TOTAL_TIMER           (0x2F)	/* 0010 1111 */
+#define KXTF9_TDT_LATENCY_TIMER         (0x30)	/* 0011 0000 */
+#define KXTF9_TDT_WINDOW_TIMER          (0x31)	/* 0011 0001 */
+#define KXTF9_WUF_THRESH                (0x5A)	/* 0101 1010 */
+#define KXTF9_TILT_ANGLE                (0x5C)	/* 0101 1100 */
+#define KXTF9_HYST_SET                  (0x5F)	/* 0101 1111 */
+
+#define KXTF9_MAX_DUR (0xFF)
+#define KXTF9_MAX_THS (0xFF)
+#define KXTF9_THS_COUNTS_P_G (32)
+
+/* -------------------------------------------------------------------------- */
+
+struct kxtf9_config {
+	unsigned int odr;	/* Output data rate mHz */
+	unsigned int fsr;	/* full scale range mg */
+	unsigned int ths;	/* Motion no-motion thseshold mg */
+	unsigned int dur;	/* Motion no-motion duration ms */
+	unsigned int irq_type;
+	unsigned char reg_ths;
+	unsigned char reg_dur;
+	unsigned char reg_odr;
+	unsigned char reg_int_cfg1;
+	unsigned char reg_int_cfg2;
+	unsigned char ctrl_reg1;
+};
+
+struct kxtf9_private_data {
+	struct kxtf9_config suspend;
+	struct kxtf9_config resume;
+};
+
+static int kxtf9_set_ths(void *mlsl_handle,
+			 struct ext_slave_platform_data *pdata,
+			 struct kxtf9_config *config, int apply, long ths)
+{
+	int result = INV_SUCCESS;
+	if ((ths * KXTF9_THS_COUNTS_P_G / 1000) > KXTF9_MAX_THS)
+		ths = (KXTF9_MAX_THS * 1000) / KXTF9_THS_COUNTS_P_G;
+
+	if (ths < 0)
+		ths = 0;
+
+	config->ths = ths;
+	config->reg_ths = (unsigned char)
+	    ((long)(ths * KXTF9_THS_COUNTS_P_G) / 1000);
+	MPL_LOGV("THS: %d, 0x%02x\n", config->ths, (int)config->reg_ths);
+	if (apply)
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 KXTF9_WUF_THRESH,
+						 config->reg_ths);
+	return result;
+}
+
+static int kxtf9_set_dur(void *mlsl_handle,
+			 struct ext_slave_platform_data *pdata,
+			 struct kxtf9_config *config, int apply, long dur)
+{
+	int result = INV_SUCCESS;
+	long reg_dur = (dur * config->odr) / 1000000;
+	config->dur = dur;
+
+	if (reg_dur > KXTF9_MAX_DUR)
+		reg_dur = KXTF9_MAX_DUR;
+
+	config->reg_dur = (unsigned char)reg_dur;
+	MPL_LOGV("DUR: %d, 0x%02x\n", config->dur, (int)config->reg_dur);
+	if (apply)
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 KXTF9_WUF_TIMER,
+						 (unsigned char)reg_dur);
+	return result;
+}
+
+/**
+ * Sets the IRQ to fire when one of the IRQ events occur.  Threshold and
+ * duration will not be used uless the type is MOT or NMOT.
+ *
+ * @param config configuration to apply to, suspend or resume
+ * @param irq_type The type of IRQ.  Valid values are
+ * - MPU_SLAVE_IRQ_TYPE_NONE
+ * - MPU_SLAVE_IRQ_TYPE_MOTION
+ * - MPU_SLAVE_IRQ_TYPE_DATA_READY
+ */
+static int kxtf9_set_irq(void *mlsl_handle,
+			 struct ext_slave_platform_data *pdata,
+			 struct kxtf9_config *config, int apply, long irq_type)
+{
+	int result = INV_SUCCESS;
+	struct kxtf9_private_data *private_data = pdata->private_data;
+
+	config->irq_type = (unsigned char)irq_type;
+	config->ctrl_reg1 &= ~0x22;
+	if (irq_type == MPU_SLAVE_IRQ_TYPE_DATA_READY) {
+		config->ctrl_reg1 |= 0x20;
+		config->reg_int_cfg1 = 0x38;
+		config->reg_int_cfg2 = 0x00;
+	} else if (irq_type == MPU_SLAVE_IRQ_TYPE_MOTION) {
+		config->ctrl_reg1 |= 0x02;
+		if ((unsigned long)config ==
+		    (unsigned long)&private_data->suspend)
+			config->reg_int_cfg1 = 0x34;
+		else
+			config->reg_int_cfg1 = 0x24;
+		config->reg_int_cfg2 = 0xE0;
+	} else {
+		config->reg_int_cfg1 = 0x00;
+		config->reg_int_cfg2 = 0x00;
+	}
+
+	if (apply) {
+		/* Must clear bit 7 before writing new configuration */
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 KXTF9_CTRL_REG1, 0x40);
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 KXTF9_INT_CTRL_REG1,
+						 config->reg_int_cfg1);
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 KXTF9_INT_CTRL_REG2,
+						 config->reg_int_cfg2);
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 KXTF9_CTRL_REG1,
+						 config->ctrl_reg1);
+	}
+	MPL_LOGV("CTRL_REG1: %lx, INT_CFG1: %lx, INT_CFG2: %lx\n",
+		 (unsigned long)config->ctrl_reg1,
+		 (unsigned long)config->reg_int_cfg1,
+		 (unsigned long)config->reg_int_cfg2);
+
+	return result;
+}
+
+/**
+ * Set the Output data rate for the particular configuration
+ *
+ * @param config Config to modify with new ODR
+ * @param odr Output data rate in units of 1/1000Hz
+ */
+static int kxtf9_set_odr(void *mlsl_handle,
+			 struct ext_slave_platform_data *pdata,
+			 struct kxtf9_config *config, int apply, long odr)
+{
+	unsigned char bits;
+	int result = INV_SUCCESS;
+
+	/* Data sheet says there is 12.5 hz, but that seems to produce a single
+	 * correct data value, thus we remove it from the table */
+	if (odr > 400000) {
+		config->odr = 800000;
+		bits = 0x06;
+	} else if (odr > 200000) {
+		config->odr = 400000;
+		bits = 0x05;
+	} else if (odr > 100000) {
+		config->odr = 200000;
+		bits = 0x04;
+	} else if (odr > 50000) {
+		config->odr = 100000;
+		bits = 0x03;
+	} else if (odr > 25000) {
+		config->odr = 50000;
+		bits = 0x02;
+	} else if (odr != 0) {
+		config->odr = 25000;
+		bits = 0x01;
+	} else {
+		config->odr = 0;
+		bits = 0;
+	}
+
+	if (odr != 0)
+		config->ctrl_reg1 |= 0x80;
+	else
+		config->ctrl_reg1 &= ~0x80;
+
+	config->reg_odr = bits;
+	kxtf9_set_dur(mlsl_handle, pdata, config, apply, config->dur);
+	MPL_LOGV("ODR: %d, 0x%02x\n", config->odr, (int)config->ctrl_reg1);
+	if (apply) {
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 KXTF9_DATA_CTRL_REG,
+						 config->reg_odr);
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 KXTF9_CTRL_REG1, 0x40);
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 KXTF9_CTRL_REG1,
+						 config->ctrl_reg1);
+	}
+	return result;
+}
+
+/**
+ * Set the full scale range of the accels
+ *
+ * @param config pointer to configuration
+ * @param fsr requested full scale range
+ */
+static int kxtf9_set_fsr(void *mlsl_handle,
+			 struct ext_slave_platform_data *pdata,
+			 struct kxtf9_config *config, int apply, long fsr)
+{
+	int result = INV_SUCCESS;
+
+	config->ctrl_reg1 = (config->ctrl_reg1 & 0xE7);
+	if (fsr <= 2000) {
+		config->fsr = 2000;
+		config->ctrl_reg1 |= 0x00;
+	} else if (fsr <= 4000) {
+		config->fsr = 4000;
+		config->ctrl_reg1 |= 0x08;
+	} else {
+		config->fsr = 8000;
+		config->ctrl_reg1 |= 0x10;
+	}
+
+	MPL_LOGV("FSR: %d\n", config->fsr);
+	if (apply) {
+		/* Must clear bit 7 before writing new configuration */
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 KXTF9_CTRL_REG1, 0x40);
+		result = inv_serial_single_write(mlsl_handle, pdata->address,
+						 KXTF9_CTRL_REG1,
+						 config->ctrl_reg1);
+	}
+	return result;
+}
+
+static int kxtf9_suspend(void *mlsl_handle,
+			 struct ext_slave_descr *slave,
+			 struct ext_slave_platform_data *pdata)
+{
+	int result;
+	unsigned char data;
+	struct kxtf9_private_data *private_data = pdata->private_data;
+
+	/* Wake up */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_CTRL_REG1, 0x40);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* INT_CTRL_REG1: */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_INT_CTRL_REG1,
+					 private_data->suspend.reg_int_cfg1);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* WUF_THRESH: */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_WUF_THRESH,
+					 private_data->suspend.reg_ths);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* DATA_CTRL_REG */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_DATA_CTRL_REG,
+					 private_data->suspend.reg_odr);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* WUF_TIMER */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_WUF_TIMER,
+					 private_data->suspend.reg_dur);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* Normal operation  */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_CTRL_REG1,
+					 private_data->suspend.ctrl_reg1);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = inv_serial_read(mlsl_handle, pdata->address,
+				 KXTF9_INT_REL, 1, &data);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	return result;
+}
+
+/* full scale setting - register and mask */
+#define ACCEL_KIONIX_CTRL_REG      (0x1b)
+#define ACCEL_KIONIX_CTRL_MASK     (0x18)
+
+static int kxtf9_resume(void *mlsl_handle,
+			struct ext_slave_descr *slave,
+			struct ext_slave_platform_data *pdata)
+{
+	int result = INV_SUCCESS;
+	unsigned char data;
+	struct kxtf9_private_data *private_data = pdata->private_data;
+
+	/* Wake up */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_CTRL_REG1, 0x40);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* INT_CTRL_REG1: */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_INT_CTRL_REG1,
+					 private_data->resume.reg_int_cfg1);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* WUF_THRESH: */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_WUF_THRESH,
+					 private_data->resume.reg_ths);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* DATA_CTRL_REG */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_DATA_CTRL_REG,
+					 private_data->resume.reg_odr);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* WUF_TIMER */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_WUF_TIMER,
+					 private_data->resume.reg_dur);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	/* Normal operation  */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_CTRL_REG1,
+					 private_data->resume.ctrl_reg1);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = inv_serial_read(mlsl_handle, pdata->address,
+				 KXTF9_INT_REL, 1, &data);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	return INV_SUCCESS;
+}
+
+static int kxtf9_init(void *mlsl_handle,
+		      struct ext_slave_descr *slave,
+		      struct ext_slave_platform_data *pdata)
+{
+
+	struct kxtf9_private_data *private_data;
+	int result = INV_SUCCESS;
+
+	private_data = (struct kxtf9_private_data *)
+	    kzalloc(sizeof(struct kxtf9_private_data), GFP_KERNEL);
+
+	if (!private_data)
+		return INV_ERROR_MEMORY_EXAUSTED;
+
+	/* RAM reset */
+	/* Fastest Reset */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_CTRL_REG1, 0x40);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* Fastest Reset */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_DATA_CTRL_REG, 0x36);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	/* Reset */
+	result = inv_serial_single_write(mlsl_handle, pdata->address,
+					 KXTF9_CTRL_REG3, 0xcd);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	msleep(2);
+
+	pdata->private_data = private_data;
+
+	private_data->resume.ctrl_reg1 = 0xC0;
+	private_data->suspend.ctrl_reg1 = 0x40;
+
+	result = kxtf9_set_dur(mlsl_handle, pdata, &private_data->suspend,
+			       false, 1000);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = kxtf9_set_dur(mlsl_handle, pdata, &private_data->resume,
+			       false, 2540);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	result = kxtf9_set_odr(mlsl_handle, pdata, &private_data->suspend,
+			       false, 50000);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = kxtf9_set_odr(mlsl_handle, pdata, &private_data->resume,
+			       false, 200000);
+
+	result = kxtf9_set_fsr(mlsl_handle, pdata, &private_data->suspend,
+			       false, 2000);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = kxtf9_set_fsr(mlsl_handle, pdata, &private_data->resume,
+			       false, 2000);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	result = kxtf9_set_ths(mlsl_handle, pdata, &private_data->suspend,
+			       false, 80);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = kxtf9_set_ths(mlsl_handle, pdata, &private_data->resume,
+			       false, 40);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	result = kxtf9_set_irq(mlsl_handle, pdata, &private_data->suspend,
+			       false, MPU_SLAVE_IRQ_TYPE_NONE);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	result = kxtf9_set_irq(mlsl_handle, pdata, &private_data->resume,
+			       false, MPU_SLAVE_IRQ_TYPE_NONE);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	return result;
+}
+
+static int kxtf9_exit(void *mlsl_handle,
+		      struct ext_slave_descr *slave,
+		      struct ext_slave_platform_data *pdata)
+{
+	kfree(pdata->private_data);
+	return INV_SUCCESS;
+}
+
+static int kxtf9_config(void *mlsl_handle,
+			struct ext_slave_descr *slave,
+			struct ext_slave_platform_data *pdata,
+			struct ext_slave_config *data)
+{
+	struct kxtf9_private_data *private_data = pdata->private_data;
+	if (!data->data)
+		return INV_ERROR_INVALID_PARAMETER;
+
+	switch (data->key) {
+	case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+		return kxtf9_set_odr(mlsl_handle, pdata,
+				     &private_data->suspend,
+				     data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_ODR_RESUME:
+		return kxtf9_set_odr(mlsl_handle, pdata,
+				     &private_data->resume,
+				     data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+		return kxtf9_set_fsr(mlsl_handle, pdata,
+				     &private_data->suspend,
+				     data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_FSR_RESUME:
+		return kxtf9_set_fsr(mlsl_handle, pdata,
+				     &private_data->resume,
+				     data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_MOT_THS:
+		return kxtf9_set_ths(mlsl_handle, pdata,
+				     &private_data->suspend,
+				     data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_NMOT_THS:
+		return kxtf9_set_ths(mlsl_handle, pdata,
+				     &private_data->resume,
+				     data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_MOT_DUR:
+		return kxtf9_set_dur(mlsl_handle, pdata,
+				     &private_data->suspend,
+				     data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_NMOT_DUR:
+		return kxtf9_set_dur(mlsl_handle, pdata,
+				     &private_data->resume,
+				     data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+		return kxtf9_set_irq(mlsl_handle, pdata,
+				     &private_data->suspend,
+				     data->apply, *((long *)data->data));
+	case MPU_SLAVE_CONFIG_IRQ_RESUME:
+		return kxtf9_set_irq(mlsl_handle, pdata,
+				     &private_data->resume,
+				     data->apply, *((long *)data->data));
+	default:
+		return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+	};
+
+	return INV_SUCCESS;
+}
+
+static int kxtf9_get_config(void *mlsl_handle,
+			    struct ext_slave_descr *slave,
+			    struct ext_slave_platform_data *pdata,
+			    struct ext_slave_config *data)
+{
+	struct kxtf9_private_data *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 INV_SUCCESS;
+}
+
+static int kxtf9_read(void *mlsl_handle,
+		      struct ext_slave_descr *slave,
+		      struct ext_slave_platform_data *pdata,
+		      unsigned char *data)
+{
+	int result;
+	unsigned char reg;
+	result = inv_serial_read(mlsl_handle, pdata->address,
+				 KXTF9_INT_SRC_REG2, 1, &reg);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+
+	if (!(reg & 0x10))
+		return INV_ERROR_ACCEL_DATA_NOT_READY;
+
+	result = inv_serial_read(mlsl_handle, pdata->address,
+				 slave->read_reg, slave->read_len, data);
+	if (result) {
+		LOG_RESULT_LOCATION(result);
+		return result;
+	}
+	return result;
+}
+
+static struct ext_slave_descr kxtf9_descr = {
+	.init             = kxtf9_init,
+	.exit             = kxtf9_exit,
+	.suspend          = kxtf9_suspend,
+	.resume           = kxtf9_resume,
+	.read             = kxtf9_read,
+	.config           = kxtf9_config,
+	.get_config       = kxtf9_get_config,
+	.name             = "kxtf9",
+	.type             = EXT_SLAVE_TYPE_ACCEL,
+	.id               = ACCEL_ID_KXTF9,
+	.read_reg         = 0x06,
+	.read_len         = 6,
+	.endian           = EXT_SLAVE_LITTLE_ENDIAN,
+	.range            = {2, 0},
+	.trigger          = NULL,
+};
+
+static
+struct ext_slave_descr *kxtf9_get_slave_descr(void)
+{
+	return &kxtf9_descr;
+}
+
+/* -------------------------------------------------------------------------- */
+struct kxtf9_mod_private_data {
+	struct i2c_client *client;
+	struct ext_slave_platform_data *pdata;
+};
+
+static unsigned short normal_i2c[] = { I2C_CLIENT_END };
+
+static int kxtf9_mod_probe(struct i2c_client *client,
+			   const struct i2c_device_id *devid)
+{
+	struct ext_slave_platform_data *pdata;
+	struct kxtf9_mod_private_data *private_data;
+	int result = 0;
+
+	dev_info(&client->adapter->dev, "%s: %s\n", __func__, devid->name);
+
+	if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
+		result = -ENODEV;
+		goto out_no_free;
+	}
+
+	pdata = client->dev.platform_data;
+	if (!pdata) {
+		dev_err(&client->adapter->dev,
+			"Missing platform data for slave %s\n", devid->name);
+		result = -EFAULT;
+		goto out_no_free;
+	}
+
+	private_data = kzalloc(sizeof(*private_data), GFP_KERNEL);
+	if (!private_data) {
+		result = -ENOMEM;
+		goto out_no_free;
+	}
+
+	i2c_set_clientdata(client, private_data);
+	private_data->client = client;
+	private_data->pdata = pdata;
+
+	result = inv_mpu_register_slave(THIS_MODULE, client, pdata,
+					kxtf9_get_slave_descr);
+	if (result) {
+		dev_err(&client->adapter->dev,
+			"Slave registration failed: %s, %d\n",
+			devid->name, result);
+		goto out_free_memory;
+	}
+
+	return result;
+
+out_free_memory:
+	kfree(private_data);
+out_no_free:
+	dev_err(&client->adapter->dev, "%s failed %d\n", __func__, result);
+	return result;
+
+}
+
+static int kxtf9_mod_remove(struct i2c_client *client)
+{
+	struct kxtf9_mod_private_data *private_data =
+		i2c_get_clientdata(client);
+
+	dev_dbg(&client->adapter->dev, "%s\n", __func__);
+
+	inv_mpu_unregister_slave(client, private_data->pdata,
+				kxtf9_get_slave_descr);
+
+	kfree(private_data);
+	return 0;
+}
+
+static const struct i2c_device_id kxtf9_mod_id[] = {
+	{ "kxtf9", ACCEL_ID_KXTF9 },
+	{}
+};
+
+MODULE_DEVICE_TABLE(i2c, kxtf9_mod_id);
+
+static struct i2c_driver kxtf9_mod_driver = {
+	.class = I2C_CLASS_HWMON,
+	.probe = kxtf9_mod_probe,
+	.remove = kxtf9_mod_remove,
+	.id_table = kxtf9_mod_id,
+	.driver = {
+		   .owner = THIS_MODULE,
+		   .name = "kxtf9_mod",
+		   },
+	.address_list = normal_i2c,
+};
+
+static int __init kxtf9_mod_init(void)
+{
+	int res = i2c_add_driver(&kxtf9_mod_driver);
+	pr_info("%s: Probe name %s\n", __func__, "kxtf9_mod");
+	if (res)
+		pr_err("%s failed\n", __func__);
+	return res;
+}
+
+static void __exit kxtf9_mod_exit(void)
+{
+	pr_info("%s\n", __func__);
+	i2c_del_driver(&kxtf9_mod_driver);
+}
+
+module_init(kxtf9_mod_init);
+module_exit(kxtf9_mod_exit);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("Driver to integrate KXTF9 sensor with the MPU");
+MODULE_LICENSE("GPL");
+MODULE_ALIAS("kxtf9_mod");
+
+/**
+ *  @}
+ */