samsung update 1

10 files changed, 2223 insertions, 0 deletions

diff --git a/drivers/misc/mpu3050/compass/ami304.c b/drivers/misc/mpu3050/compass/ami304.c
new file mode 100755
index 00000000000..5c33861fc8b
--- /dev/null
+++ b/drivers/misc/mpu3050/compass/ami304.c
@@ -0,0 +1,164 @@
+/*
+ $License:
+    Copyright (C) 2010 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/>.
+  $
+ */
+
+/**
+ *  @defgroup   COMPASSDL (Motion Library - Accelerometer Driver Layer)
+ *  @brief      Provides the interface to setup and handle an accelerometers
+ *              connected to the secondary I2C interface of the gyroscope.
+ *
+ *  @{
+ *     @file   ami304.c
+ *     @brief  Magnetometer setup and handling methods for Aichi ami304 compass.
+*/
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#ifdef __KERNEL__
+#include <linux/module.h>
+#endif
+
+#include "mpu.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-compass"
+
+#define AMI304_REG_DATAX (0x10)
+#define AMI304_REG_STAT1 (0x18)
+#define AMI304_REG_CNTL1 (0x1B)
+#define AMI304_REG_CNTL2 (0x1C)
+#define AMI304_REG_CNTL3 (0x1D)
+
+#define AMI304_BIT_CNTL1_PC1  (0x80)
+#define AMI304_BIT_CNTL1_ODR1 (0x10)
+#define AMI304_BIT_CNTL1_FS1  (0x02)
+
+#define AMI304_BIT_CNTL2_IEN  (0x10)
+#define AMI304_BIT_CNTL2_DREN (0x08)
+#define AMI304_BIT_CNTL2_DRP  (0x04)
+#define AMI304_BIT_CNTL3_F0RCE (0x40)
+
+int ami304_suspend(void *mlsl_handle,
+		   struct ext_slave_descr *slave,
+		   struct ext_slave_platform_data *pdata)
+{
+	int result;
+	unsigned char reg;
+	result =
+	    MLSLSerialRead(mlsl_handle, pdata->address, AMI304_REG_CNTL1,
+			   1, &reg);
+	ERROR_CHECK(result);
+
+	reg &= ~(AMI304_BIT_CNTL1_PC1|AMI304_BIT_CNTL1_FS1);
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  AMI304_REG_CNTL1, reg);
+	ERROR_CHECK(result);
+
+	return result;
+}
+
+int ami304_resume(void *mlsl_handle,
+		  struct ext_slave_descr *slave,
+		  struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	/* Set CNTL1 reg to power model active */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  AMI304_REG_CNTL1,
+				  AMI304_BIT_CNTL1_PC1|AMI304_BIT_CNTL1_FS1);
+	ERROR_CHECK(result);
+	/* Set CNTL2 reg to DRDY active high and enabled */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  AMI304_REG_CNTL2,
+				  AMI304_BIT_CNTL2_DREN |
+				  AMI304_BIT_CNTL2_DRP);
+	ERROR_CHECK(result);
+	/* Set CNTL3 reg to forced measurement period */
+	result =
+		MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  AMI304_REG_CNTL3, AMI304_BIT_CNTL3_F0RCE);
+
+	return result;
+}
+
+int ami304_read(void *mlsl_handle,
+		struct ext_slave_descr *slave,
+		struct ext_slave_platform_data *pdata, unsigned char *data)
+{
+	unsigned char stat;
+	int result = ML_SUCCESS;
+
+	/* Read status reg and check if data ready (DRDY) */
+	result =
+	    MLSLSerialRead(mlsl_handle, pdata->address, AMI304_REG_STAT1,
+			   1, &stat);
+	ERROR_CHECK(result);
+
+	if (stat & 0x40) {
+		result =
+		    MLSLSerialRead(mlsl_handle, pdata->address,
+				   AMI304_REG_DATAX, 6,
+				   (unsigned char *) data);
+		ERROR_CHECK(result);
+		/* start another measurement */
+		result =
+			MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+					      AMI304_REG_CNTL3,
+					      AMI304_BIT_CNTL3_F0RCE);
+		ERROR_CHECK(result);
+
+		return ML_SUCCESS;
+	}
+
+	return ML_ERROR_COMPASS_DATA_NOT_READY;
+}
+
+struct ext_slave_descr ami304_descr = {
+	/*.suspend          = */ ami304_suspend,
+	/*.resume           = */ ami304_resume,
+	/*.read             = */ ami304_read,
+	/*.name             = */ "ami304",
+	/*.type             = */ EXT_SLAVE_TYPE_COMPASS,
+	/*.id               = */ COMPASS_ID_AICHI,
+	/*.reg              = */ 0x06,
+	/*.len              = */ 6,
+	/*.endian           = */ EXT_SLAVE_LITTLE_ENDIAN,
+	/*.range            = */ {5461, 3333}
+};
+
+struct ext_slave_descr *ami304_get_slave_descr(void)
+{
+	return &ami304_descr;
+}
+
+#ifdef __KERNEL__
+EXPORT_SYMBOL(ami304_get_slave_descr);
+#endif
+
+/**
+ *  @}
+**/
diff --git a/drivers/misc/mpu3050/compass/ami30x.c b/drivers/misc/mpu3050/compass/ami30x.c
new file mode 100755
index 00000000000..5e4a33efc7f
--- /dev/null
+++ b/drivers/misc/mpu3050/compass/ami30x.c
@@ -0,0 +1,167 @@
+/*
+ $License:
+    Copyright (C) 2010 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/>.
+  $
+ */
+
+/**
+ *  @defgroup   COMPASSDL (Motion Library - Accelerometer Driver Layer)
+ *  @brief      Provides the interface to setup and handle an accelerometers
+ *              connected to the secondary I2C interface of the gyroscope.
+ *
+ *  @{
+ *     @file   ami30x.c
+ *     @brief  Magnetometer setup and handling methods for Aichi AMI304/AMI305
+ *             compass.
+*/
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#ifdef __KERNEL__
+#include <linux/module.h>
+#endif
+
+#include "mpu.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-compass"
+
+#define AMI30X_REG_DATAX (0x10)
+#define AMI30X_REG_STAT1 (0x18)
+#define AMI30X_REG_CNTL1 (0x1B)
+#define AMI30X_REG_CNTL2 (0x1C)
+#define AMI30X_REG_CNTL3 (0x1D)
+
+#define AMI30X_BIT_CNTL1_PC1  (0x80)
+#define AMI30X_BIT_CNTL1_ODR1 (0x10)
+#define AMI30X_BIT_CNTL1_FS1  (0x02)
+
+#define AMI30X_BIT_CNTL2_IEN  (0x10)
+#define AMI30X_BIT_CNTL2_DREN (0x08)
+#define AMI30X_BIT_CNTL2_DRP  (0x04)
+#define AMI30X_BIT_CNTL3_F0RCE (0x40)
+
+int ami30x_suspend(void *mlsl_handle,
+		   struct ext_slave_descr *slave,
+		   struct ext_slave_platform_data *pdata)
+{
+	int result;
+	unsigned char reg;
+	result =
+	    MLSLSerialRead(mlsl_handle, pdata->address, AMI30X_REG_CNTL1,
+			   1, &reg);
+	ERROR_CHECK(result);
+
+	reg &= ~(AMI30X_BIT_CNTL1_PC1|AMI30X_BIT_CNTL1_FS1);
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  AMI30X_REG_CNTL1, reg);
+	ERROR_CHECK(result);
+
+	return result;
+}
+
+int ami30x_resume(void *mlsl_handle,
+		  struct ext_slave_descr *slave,
+		  struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	/* Set CNTL1 reg to power model active */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  AMI30X_REG_CNTL1,
+				  AMI30X_BIT_CNTL1_PC1|AMI30X_BIT_CNTL1_FS1);
+	ERROR_CHECK(result);
+	/* Set CNTL2 reg to DRDY active high and enabled */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  AMI30X_REG_CNTL2,
+				  AMI30X_BIT_CNTL2_DREN |
+				  AMI30X_BIT_CNTL2_DRP);
+	ERROR_CHECK(result);
+	/* Set CNTL3 reg to forced measurement period */
+	result =
+		MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  AMI30X_REG_CNTL3, AMI30X_BIT_CNTL3_F0RCE);
+
+	return result;
+}
+
+int ami30x_read(void *mlsl_handle,
+		struct ext_slave_descr *slave,
+		struct ext_slave_platform_data *pdata, unsigned char *data)
+{
+	unsigned char stat;
+	int result = ML_SUCCESS;
+
+	/* Read status reg and check if data ready (DRDY) */
+	result =
+	    MLSLSerialRead(mlsl_handle, pdata->address, AMI30X_REG_STAT1,
+			   1, &stat);
+	ERROR_CHECK(result);
+
+	if (stat & 0x40) {
+		result =
+		    MLSLSerialRead(mlsl_handle, pdata->address,
+				   AMI30X_REG_DATAX, 6,
+				   (unsigned char *) data);
+		ERROR_CHECK(result);
+		/* start another measurement */
+		result =
+			MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+					      AMI30X_REG_CNTL3,
+					      AMI30X_BIT_CNTL3_F0RCE);
+		ERROR_CHECK(result);
+
+		return ML_SUCCESS;
+	}
+
+	return ML_ERROR_COMPASS_DATA_NOT_READY;
+}
+
+struct ext_slave_descr ami30x_descr = {
+	/*.init             = */ NULL,
+	/*.exit             = */ NULL,
+	/*.suspend          = */ ami30x_suspend,
+	/*.resume           = */ ami30x_resume,
+	/*.read             = */ ami30x_read,
+	/*.config           = */ NULL,
+	/*.get_config       = */ NULL,
+	/*.name             = */ "ami30x",
+	/*.type             = */ EXT_SLAVE_TYPE_COMPASS,
+	/*.id               = */ COMPASS_ID_AMI30X,
+	/*.reg              = */ 0x06,
+	/*.len              = */ 6,
+	/*.endian           = */ EXT_SLAVE_LITTLE_ENDIAN,
+	/*.range            = */ {5461, 3333}
+	/* For AMI305,the range field needs to be modified to {9830.4f}*/
+};
+
+struct ext_slave_descr *ami30x_get_slave_descr(void)
+{
+	return &ami30x_descr;
+}
+EXPORT_SYMBOL(ami30x_get_slave_descr);
+
+/**
+ *  @}
+**/
diff --git a/drivers/misc/mpu3050/compass/hmc5883.c b/drivers/misc/mpu3050/compass/hmc5883.c
new file mode 100755
index 00000000000..051b071fe7f
--- /dev/null
+++ b/drivers/misc/mpu3050/compass/hmc5883.c
@@ -0,0 +1,254 @@
+/*
+ $License:
+    Copyright (C) 2010 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/>.
+  $
+ */
+
+/**
+ *  @brief      Provides the interface to setup and handle a compass
+ *              connected to the primary I2C interface of the gyroscope.
+ *
+ *  @{
+ *      @file   hmc5883.c
+ *      @brief  Magnetometer setup and handling methods for honeywell hmc5883
+ *              compass.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#ifdef __KERNEL__
+#include <linux/module.h>
+#endif
+
+#include "mpu.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-compass"
+
+/*-----HONEYWELL HMC5883 Registers ------*/
+enum HMC_REG {
+	HMC_REG_CONF_A = 0x0,
+	HMC_REG_CONF_B = 0x1,
+	HMC_REG_MODE = 0x2,
+	HMC_REG_X_M = 0x3,
+	HMC_REG_X_L = 0x4,
+	HMC_REG_Z_M = 0x5,
+	HMC_REG_Z_L = 0x6,
+	HMC_REG_Y_M = 0x7,
+	HMC_REG_Y_L = 0x8,
+	HMC_REG_STATUS = 0x9,
+	HMC_REG_ID_A = 0xA,
+	HMC_REG_ID_B = 0xB,
+	HMC_REG_ID_C = 0xC
+};
+
+enum HMC_CONF_A {
+	HMC_CONF_A_DRATE_MASK = 0x1C,
+	HMC_CONF_A_DRATE_0_75 = 0x00,
+	HMC_CONF_A_DRATE_1_5 = 0x04,
+	HMC_CONF_A_DRATE_3 = 0x08,
+	HMC_CONF_A_DRATE_7_5 = 0x0C,
+	HMC_CONF_A_DRATE_15 = 0x10,
+	HMC_CONF_A_DRATE_30 = 0x14,
+	HMC_CONF_A_DRATE_75 = 0x18,
+	HMC_CONF_A_MEAS_MASK = 0x3,
+	HMC_CONF_A_MEAS_NORM = 0x0,
+	HMC_CONF_A_MEAS_POS = 0x1,
+	HMC_CONF_A_MEAS_NEG = 0x2
+};
+
+enum HMC_CONF_B {
+	HMC_CONF_B_GAIN_MASK = 0xE0,
+	HMC_CONF_B_GAIN_0_9 = 0x00,
+	HMC_CONF_B_GAIN_1_2 = 0x20,
+	HMC_CONF_B_GAIN_1_9 = 0x40,
+	HMC_CONF_B_GAIN_2_5 = 0x60,
+	HMC_CONF_B_GAIN_4_0 = 0x80,
+	HMC_CONF_B_GAIN_4_6 = 0xA0,
+	HMC_CONF_B_GAIN_5_5 = 0xC0,
+	HMC_CONF_B_GAIN_7_9 = 0xE0
+};
+
+enum HMC_MODE {
+	HMC_MODE_MASK = 0x3,
+	HMC_MODE_CONT = 0x0,
+	HMC_MODE_SINGLE = 0x1,
+	HMC_MODE_IDLE = 0x2,
+	HMC_MODE_SLEEP = 0x3
+};
+
+/* --------------------- */
+/* -    Variables.     - */
+/* --------------------- */
+
+/*****************************************
+    Accelerometer Initialization Functions
+*****************************************/
+
+int hmc5883_suspend(void *mlsl_handle,
+		    struct ext_slave_descr *slave,
+		    struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  HMC_REG_MODE, HMC_MODE_SLEEP);
+	ERROR_CHECK(result);
+	MLOSSleep(3);
+
+	return result;
+}
+
+int hmc5883_resume(void *mlsl_handle,
+		   struct ext_slave_descr *slave,
+		   struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	/* Use single measurement mode. Start at sleep state. */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  HMC_REG_MODE, HMC_MODE_SLEEP);
+	ERROR_CHECK(result);
+	/* Config normal measurement */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  HMC_REG_CONF_A, 0);
+	ERROR_CHECK(result);
+	/* Adjust gain to 307 LSB/Gauss */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  HMC_REG_CONF_B, HMC_CONF_B_GAIN_5_5);
+	ERROR_CHECK(result);
+
+	return result;
+}
+
+int hmc5883_read(void *mlsl_handle,
+		 struct ext_slave_descr *slave,
+		 struct ext_slave_platform_data *pdata,
+		 unsigned char *data)
+{
+	unsigned char stat;
+	tMLError result = ML_SUCCESS;
+	unsigned char tmp;
+	short axisFixed;
+
+	/* Read status reg. to check if data is ready */
+	result =
+	    MLSLSerialRead(mlsl_handle, pdata->address, HMC_REG_STATUS, 1,
+			   &stat);
+	ERROR_CHECK(result);
+	if (stat & 0x01) {
+		result =
+		    MLSLSerialRead(mlsl_handle, pdata->address,
+				   HMC_REG_X_M, 6, (unsigned char *) data);
+		ERROR_CHECK(result);
+
+		/* switch YZ axis to proper position */
+		tmp = data[2];
+		data[2] = data[4];
+		data[4] = tmp;
+		tmp = data[3];
+		data[3] = data[5];
+		data[5] = tmp;
+
+		/*drop data if overflows */
+		if ((data[0] == 0xf0) || (data[2] == 0xf0)
+		    || (data[4] == 0xf0)) {
+			/* trigger next measurement read */
+			result =
+			    MLSLSerialWriteSingle(mlsl_handle,
+							pdata->address,
+							HMC_REG_MODE,
+							HMC_MODE_SINGLE);
+			ERROR_CHECK(result);
+			return ML_ERROR_COMPASS_DATA_OVERFLOW;
+		}
+		/* convert to fixed point and apply sensitivity correction for
+		   Z-axis */
+		axisFixed =
+		    (short) ((unsigned short) data[5] +
+			     (unsigned short) data[4] * 256);
+		/* scale up by 1.125 (36/32) */
+		axisFixed = (short) (axisFixed * 36);
+		data[4] = axisFixed >> 8;
+		data[5] = axisFixed & 0xFF;
+
+		axisFixed =
+		    (short) ((unsigned short) data[3] +
+			     (unsigned short) data[2] * 256);
+		axisFixed = (short) (axisFixed * 32);
+		data[2] = axisFixed >> 8;
+		data[3] = axisFixed & 0xFF;
+
+		axisFixed =
+		    (short) ((unsigned short) data[1] +
+			     (unsigned short) data[0] * 256);
+		axisFixed = (short) (axisFixed * 32);
+		data[0] = axisFixed >> 8;
+		data[1] = axisFixed & 0xFF;
+
+		/* trigger next measurement read */
+		result =
+		    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+					  HMC_REG_MODE, HMC_MODE_SINGLE);
+		ERROR_CHECK(result);
+
+		return ML_SUCCESS;
+	} else {
+		/* trigger next measurement read */
+		result =
+		    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+					  HMC_REG_MODE, HMC_MODE_SINGLE);
+		ERROR_CHECK(result);
+
+		return ML_ERROR_COMPASS_DATA_NOT_READY;
+	}
+}
+
+struct ext_slave_descr hmc5883_descr = {
+	/*.init             = */ NULL,
+	/*.exit             = */ NULL,
+	/*.suspend          = */ hmc5883_suspend,
+	/*.resume           = */ hmc5883_resume,
+	/*.read             = */ hmc5883_read,
+	/*.config           = */ NULL,
+	/*.get_config       = */ NULL,
+	/*.name             = */ "hmc5883",
+	/*.type             = */ EXT_SLAVE_TYPE_COMPASS,
+	/*.id               = */ COMPASS_ID_HMC5883,
+	/*.reg              = */ 0x06,
+	/*.len              = */ 6,
+	/*.endian           = */ EXT_SLAVE_BIG_ENDIAN,
+	/*.range            = */ {10673, 6156},
+};
+
+struct ext_slave_descr *hmc5883_get_slave_descr(void)
+{
+	return &hmc5883_descr;
+}
+EXPORT_SYMBOL(hmc5883_get_slave_descr);
+
+/**
+ *  @}
+**/
diff --git a/drivers/misc/mpu3050/compass/hscdtd002b.c b/drivers/misc/mpu3050/compass/hscdtd002b.c
new file mode 100755
index 00000000000..bf26cae06d2
--- /dev/null
+++ b/drivers/misc/mpu3050/compass/hscdtd002b.c
@@ -0,0 +1,163 @@
+/*
+ $License:
+    Copyright (C) 2010 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/>.
+  $
+ */
+
+/**
+ *  @brief      Provides the interface to setup and handle a compass
+ *              connected to the primary I2C interface of the gyroscope.
+ *
+ *  @{
+ *      @file   hscdtd002b.c
+ *      @brief  Magnetometer setup and handling methods for Alps hscdtd002b
+ *              compass.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#ifdef __KERNEL__
+#include <linux/module.h>
+#endif
+
+#include "mpu.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-compass"
+
+/*----- ALPS HSCDTD002B Registers ------*/
+#define COMPASS_HSCDTD002B_STAT          (0x18)
+#define COMPASS_HSCDTD002B_CTRL1         (0x1B)
+#define COMPASS_HSCDTD002B_CTRL2         (0x1C)
+#define COMPASS_HSCDTD002B_CTRL3         (0x1D)
+#define COMPASS_HSCDTD002B_DATAX         (0x10)
+
+/* --------------------- */
+/* -    Variables.     - */
+/* --------------------- */
+
+/*****************************************
+    Compass Initialization Functions
+*****************************************/
+
+int hscdtd002b_suspend(void *mlsl_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	/* Power mode: stand-by */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  COMPASS_HSCDTD002B_CTRL1, 0x00);
+	ERROR_CHECK(result);
+	MLOSSleep(1);		/* turn-off time */
+
+	return result;
+}
+
+int hscdtd002b_resume(void *mlsl_handle,
+		      struct ext_slave_descr *slave,
+		      struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	/* Soft reset */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  COMPASS_HSCDTD002B_CTRL3, 0x80);
+	ERROR_CHECK(result);
+	/* Force state; Power mode: active */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  COMPASS_HSCDTD002B_CTRL1, 0x82);
+	ERROR_CHECK(result);
+	/* Data ready enable */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  COMPASS_HSCDTD002B_CTRL2, 0x08);
+	ERROR_CHECK(result);
+	MLOSSleep(1);		/* turn-on time */
+
+	return result;
+}
+
+int hscdtd002b_read(void *mlsl_handle,
+		    struct ext_slave_descr *slave,
+		    struct ext_slave_platform_data *pdata,
+		    unsigned char *data)
+{
+	unsigned char stat;
+	tMLError result = ML_SUCCESS;
+	int status = ML_SUCCESS;
+
+	/* Read status reg. to check if data is ready */
+	result =
+	    MLSLSerialRead(mlsl_handle, pdata->address,
+			   COMPASS_HSCDTD002B_STAT, 1, &stat);
+	ERROR_CHECK(result);
+	if (stat & 0x40) {
+		result =
+		    MLSLSerialRead(mlsl_handle, pdata->address,
+				   COMPASS_HSCDTD002B_DATAX, 6,
+				   (unsigned char *) data);
+		ERROR_CHECK(result);
+		status = ML_SUCCESS;
+	} else if (stat & 0x20) {
+		status = ML_ERROR_COMPASS_DATA_OVERFLOW;
+	} else {
+		status = ML_ERROR_COMPASS_DATA_NOT_READY;
+	}
+	/* trigger next measurement read */
+	result =
+		MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+			  COMPASS_HSCDTD002B_CTRL3, 0x40);
+	ERROR_CHECK(result);
+
+	return status;
+}
+
+struct ext_slave_descr hscdtd002b_descr = {
+	/*.init             = */ NULL,
+	/*.exit             = */ NULL,
+	/*.suspend          = */ hscdtd002b_suspend,
+	/*.resume           = */ hscdtd002b_resume,
+	/*.read             = */ hscdtd002b_read,
+	/*.config           = */ NULL,
+	/*.get_config       = */ NULL,
+	/*.name             = */ "hscdtd002b",
+	/*.type             = */ EXT_SLAVE_TYPE_COMPASS,
+	/*.id               = */ COMPASS_ID_HSCDTD002B,
+	/*.reg              = */ 0x10,
+	/*.len              = */ 6,
+	/*.endian           = */ EXT_SLAVE_LITTLE_ENDIAN,
+	/*.range            = */ {9830, 4000},
+};
+
+struct ext_slave_descr *hscdtd002b_get_slave_descr(void)
+{
+	return &hscdtd002b_descr;
+}
+EXPORT_SYMBOL(hscdtd002b_get_slave_descr);
+
+/**
+ *  @}
+**/
diff --git a/drivers/misc/mpu3050/compass/hscdtd004a.c b/drivers/misc/mpu3050/compass/hscdtd004a.c
new file mode 100755
index 00000000000..43fc14a23fc
--- /dev/null
+++ b/drivers/misc/mpu3050/compass/hscdtd004a.c
@@ -0,0 +1,162 @@
+/*
+ $License:
+    Copyright (C) 2010 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/>.
+  $
+ */
+
+/**
+ *  @brief      Provides the interface to setup and handle a compass
+ *              connected to the primary I2C interface of the gyroscope.
+ *
+ *  @{
+ *      @file   hscdtd004a.c
+ *      @brief  Magnetometer setup and handling methods for Alps hscdtd004a
+ *              compass.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#ifdef __KERNEL__
+#include <linux/module.h>
+#endif
+
+#include "mpu.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-compass"
+
+/*----- ALPS HSCDTD004A Registers ------*/
+#define COMPASS_HSCDTD004A_STAT          (0x18)
+#define COMPASS_HSCDTD004A_CTRL1         (0x1B)
+#define COMPASS_HSCDTD004A_CTRL2         (0x1C)
+#define COMPASS_HSCDTD004A_CTRL3         (0x1D)
+#define COMPASS_HSCDTD004A_DATAX         (0x10)
+
+/* --------------------- */
+/* -    Variables.     - */
+/* --------------------- */
+
+/*****************************************
+    Compass Initialization Functions
+*****************************************/
+
+int hscdtd004a_suspend(void *mlsl_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	/* Power mode: stand-by */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  COMPASS_HSCDTD004A_CTRL1, 0x00);
+	ERROR_CHECK(result);
+	MLOSSleep(1);		/* turn-off time */
+
+	return result;
+}
+
+int hscdtd004a_resume(void *mlsl_handle,
+		      struct ext_slave_descr *slave,
+		      struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	/* Soft reset */
+	result =
+		MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  COMPASS_HSCDTD004A_CTRL3, 0x80);
+	ERROR_CHECK(result);
+	/* Normal state; Power mode: active */
+	result =
+		MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  COMPASS_HSCDTD004A_CTRL1, 0x82);
+	ERROR_CHECK(result);
+	/* Data ready enable */
+	result =
+		MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  COMPASS_HSCDTD004A_CTRL2, 0x7C);
+	ERROR_CHECK(result);
+	MLOSSleep(1);		/* turn-on time */
+	return result;
+}
+
+int hscdtd004a_read(void *mlsl_handle,
+		    struct ext_slave_descr *slave,
+		    struct ext_slave_platform_data *pdata,
+		    unsigned char *data)
+{
+	unsigned char stat;
+	tMLError result = ML_SUCCESS;
+	int status = ML_SUCCESS;
+
+	/* Read status reg. to check if data is ready */
+	result =
+		MLSLSerialRead(mlsl_handle, pdata->address,
+			   COMPASS_HSCDTD004A_STAT, 1, &stat);
+	ERROR_CHECK(result);
+	if (stat & 0x48) {
+		result =
+			 MLSLSerialRead(mlsl_handle, pdata->address,
+				   COMPASS_HSCDTD004A_DATAX, 6,
+				   (unsigned char *) data);
+		ERROR_CHECK(result);
+		status = ML_SUCCESS;
+	} else if (stat & 0x68) {
+		status = ML_ERROR_COMPASS_DATA_OVERFLOW;
+	} else {
+		status = ML_ERROR_COMPASS_DATA_NOT_READY;
+	}
+	/* trigger next measurement read */
+	result =
+		MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+			COMPASS_HSCDTD004A_CTRL3, 0x40);
+	ERROR_CHECK(result);
+	return status;
+
+}
+
+struct ext_slave_descr hscdtd004a_descr = {
+	/*.init             = */ NULL,
+	/*.exit             = */ NULL,
+	/*.suspend          = */ hscdtd004a_suspend,
+	/*.resume           = */ hscdtd004a_resume,
+	/*.read             = */ hscdtd004a_read,
+	/*.config           = */ NULL,
+	/*.get_config       = */ NULL,
+	/*.name             = */ "hscdtd004a",
+	/*.type             = */ EXT_SLAVE_TYPE_COMPASS,
+	/*.id               = */ COMPASS_ID_HSCDTD004A,
+	/*.reg              = */ 0x10,
+	/*.len              = */ 6,
+	/*.endian           = */ EXT_SLAVE_LITTLE_ENDIAN,
+	/*.range            = */ {9830, 4000},
+};
+
+struct ext_slave_descr *hscdtd004a_get_slave_descr(void)
+{
+	return &hscdtd004a_descr;
+}
+EXPORT_SYMBOL(hscdtd004a_get_slave_descr);
+
+/**
+ *  @}
+**/
diff --git a/drivers/misc/mpu3050/compass/lsm303m.c b/drivers/misc/mpu3050/compass/lsm303m.c
new file mode 100755
index 00000000000..871d002fd36
--- /dev/null
+++ b/drivers/misc/mpu3050/compass/lsm303m.c
@@ -0,0 +1,244 @@
+/*
+ $License:
+    Copyright (C) 2010 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/>.
+  $
+ */
+
+/**
+ *  @brief      Provides the interface to setup and handle a compass
+ *              connected to the primary I2C interface of the gyroscope.
+ *
+ *  @{
+ *      @file   lsm303m.c
+ *      @brief  Magnetometer setup and handling methods for ST LSM303.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#ifdef __KERNEL__
+#include <linux/module.h>
+#endif
+
+#include "mpu.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-compass"
+
+/*----- ST LSM303 Registers ------*/
+enum LSM_REG {
+	LSM_REG_CONF_A = 0x0,
+	LSM_REG_CONF_B = 0x1,
+	LSM_REG_MODE = 0x2,
+	LSM_REG_X_M = 0x3,
+	LSM_REG_X_L = 0x4,
+	LSM_REG_Z_M = 0x5,
+	LSM_REG_Z_L = 0x6,
+	LSM_REG_Y_M = 0x7,
+	LSM_REG_Y_L = 0x8,
+	LSM_REG_STATUS = 0x9,
+	LSM_REG_ID_A = 0xA,
+	LSM_REG_ID_B = 0xB,
+	LSM_REG_ID_C = 0xC
+};
+
+enum LSM_CONF_A {
+	LSM_CONF_A_DRATE_MASK = 0x1C,
+	LSM_CONF_A_DRATE_0_75 = 0x00,
+	LSM_CONF_A_DRATE_1_5 = 0x04,
+	LSM_CONF_A_DRATE_3 = 0x08,
+	LSM_CONF_A_DRATE_7_5 = 0x0C,
+	LSM_CONF_A_DRATE_15 = 0x10,
+	LSM_CONF_A_DRATE_30 = 0x14,
+	LSM_CONF_A_DRATE_75 = 0x18,
+	LSM_CONF_A_MEAS_MASK = 0x3,
+	LSM_CONF_A_MEAS_NORM = 0x0,
+	LSM_CONF_A_MEAS_POS = 0x1,
+	LSM_CONF_A_MEAS_NEG = 0x2
+};
+
+enum LSM_CONF_B {
+	LSM_CONF_B_GAIN_MASK = 0xE0,
+	LSM_CONF_B_GAIN_0_9 = 0x00,
+	LSM_CONF_B_GAIN_1_2 = 0x20,
+	LSM_CONF_B_GAIN_1_9 = 0x40,
+	LSM_CONF_B_GAIN_2_5 = 0x60,
+	LSM_CONF_B_GAIN_4_0 = 0x80,
+	LSM_CONF_B_GAIN_4_6 = 0xA0,
+	LSM_CONF_B_GAIN_5_5 = 0xC0,
+	LSM_CONF_B_GAIN_7_9 = 0xE0
+};
+
+enum LSM_MODE {
+	LSM_MODE_MASK = 0x3,
+	LSM_MODE_CONT = 0x0,
+	LSM_MODE_SINGLE = 0x1,
+	LSM_MODE_IDLE = 0x2,
+	LSM_MODE_SLEEP = 0x3
+};
+
+/* --------------------- */
+/* -    Variables.     - */
+/* --------------------- */
+
+/*****************************************
+    Accelerometer Initialization Functions
+*****************************************/
+
+int lsm303dlhm_suspend(void *mlsl_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  LSM_REG_MODE, LSM_MODE_SLEEP);
+	ERROR_CHECK(result);
+	MLOSSleep(3);
+
+	return result;
+}
+
+int lsm303dlhm_resume(void *mlsl_handle,
+		      struct ext_slave_descr *slave,
+		      struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	/* Use single measurement mode. Start at sleep state. */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  LSM_REG_MODE, LSM_MODE_SLEEP);
+	ERROR_CHECK(result);
+	/* Config normal measurement */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  LSM_REG_CONF_A, 0);
+	ERROR_CHECK(result);
+	/* Adjust gain to 320 LSB/Gauss */
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  LSM_REG_CONF_B, LSM_CONF_B_GAIN_5_5);
+	ERROR_CHECK(result);
+
+	return result;
+}
+
+int lsm303dlhm_read(void *mlsl_handle,
+		    struct ext_slave_descr *slave,
+		    struct ext_slave_platform_data *pdata,
+		    unsigned char *data)
+{
+	unsigned char stat;
+	tMLError result = ML_SUCCESS;
+	short axisFixed;
+
+	/* Read status reg. to check if data is ready */
+	result =
+	    MLSLSerialRead(mlsl_handle, pdata->address, LSM_REG_STATUS, 1,
+			   &stat);
+	ERROR_CHECK(result);
+	if (stat & 0x01) {
+		result =
+		    MLSLSerialRead(mlsl_handle, pdata->address,
+				   LSM_REG_X_M, 6, (unsigned char *) data);
+		ERROR_CHECK(result);
+
+		/*drop data if overflows */
+		if ((data[0] == 0xf0) || (data[2] == 0xf0)
+		    || (data[4] == 0xf0)) {
+			/* trigger next measurement read */
+			result =
+				MLSLSerialWriteSingle(mlsl_handle,
+							pdata->address,
+							LSM_REG_MODE,
+							LSM_MODE_SINGLE);
+			ERROR_CHECK(result);
+			return ML_ERROR_COMPASS_DATA_OVERFLOW;
+		}
+		/* convert to fixed point and apply sensitivity correction for
+		   Z-axis */
+		axisFixed =
+		    (short) ((unsigned short) data[5] +
+			     (unsigned short) data[4] * 256);
+		/* scale up by 1.125 (36/32) approximate of 1.122 (320/285) */
+		axisFixed = (short) (axisFixed * 36);
+		data[4] = axisFixed >> 8;
+		data[5] = axisFixed & 0xFF;
+
+		axisFixed =
+		    (short) ((unsigned short) data[3] +
+			     (unsigned short) data[2] * 256);
+		axisFixed = (short) (axisFixed * 32);
+		data[2] = axisFixed >> 8;
+		data[3] = axisFixed & 0xFF;
+
+		axisFixed =
+		    (short) ((unsigned short) data[1] +
+			     (unsigned short) data[0] * 256);
+		axisFixed = (short) (axisFixed * 32);
+		data[0] = axisFixed >> 8;
+		data[1] = axisFixed & 0xFF;
+
+		/* trigger next measurement read */
+		result =
+		    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+					  LSM_REG_MODE, LSM_MODE_SINGLE);
+		ERROR_CHECK(result);
+
+		return ML_SUCCESS;
+	} else {
+		/* trigger next measurement read */
+		result =
+		    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+					  LSM_REG_MODE, LSM_MODE_SINGLE);
+		ERROR_CHECK(result);
+
+		return ML_ERROR_COMPASS_DATA_NOT_READY;
+	}
+}
+
+struct ext_slave_descr lsm303dlhm_descr = {
+	/*.init             = */ NULL,
+	/*.exit             = */ NULL,
+	/*.suspend          = */ lsm303dlhm_suspend,
+	/*.resume           = */ lsm303dlhm_resume,
+	/*.read             = */ lsm303dlhm_read,
+	/*.config           = */ NULL,
+	/*.get_config       = */ NULL,
+	/*.name             = */ "lsm303dlhm",
+	/*.type             = */ EXT_SLAVE_TYPE_COMPASS,
+	/*.id               = */ COMPASS_ID_LSM303,
+	/*.reg              = */ 0x06,
+	/*.len              = */ 6,
+	/*.endian           = */ EXT_SLAVE_BIG_ENDIAN,
+	/*.range            = */ {10240, 0},
+};
+
+struct ext_slave_descr *lsm303dlhm_get_slave_descr(void)
+{
+	return &lsm303dlhm_descr;
+}
+EXPORT_SYMBOL(lsm303dlhm_get_slave_descr);
+
+/**
+ *  @}
+**/
diff --git a/drivers/misc/mpu3050/compass/mmc314x.c b/drivers/misc/mpu3050/compass/mmc314x.c
new file mode 100755
index 00000000000..010d7a78d14
--- /dev/null
+++ b/drivers/misc/mpu3050/compass/mmc314x.c
@@ -0,0 +1,184 @@
+/*
+ $License:
+    Copyright (C) 2010 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/>.
+  $
+ */
+
+/**
+ *  @defgroup   ACCELDL (Motion Library - Accelerometer Driver Layer)
+ *  @brief      Provides the interface to setup and handle an accelerometers
+ *              connected to the secondary I2C interface of the gyroscope.
+ *
+ *  @{
+ *      @file   mmc314x.c
+ *      @brief  Magnetometer setup and handling methods for ???? compass.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#ifdef __KERNEL__
+#include <linux/module.h>
+#endif
+
+#include "mpu.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-compass"
+
+/* --------------------- */
+/* -    Variables.     - */
+/* --------------------- */
+
+static int reset_int = 1000;
+static int read_count = 1;
+static char reset_mode; /* in Z-init section */
+
+#define MMC314X_REG_ST (0x00)
+#define MMC314X_REG_X_MSB (0x01)
+
+#define MMC314X_CNTL_MODE_WAKE_UP (0x01)
+#define MMC314X_CNTL_MODE_SET (0x02)
+#define MMC314X_CNTL_MODE_RESET (0x04)
+
+/*****************************************
+    Accelerometer Initialization Functions
+*****************************************/
+
+int mmc314x_suspend(void *mlsl_handle,
+		    struct ext_slave_descr *slave,
+		    struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	return result;
+}
+
+int mmc314x_resume(void *mlsl_handle,
+		   struct ext_slave_descr *slave,
+		   struct ext_slave_platform_data *pdata)
+{
+
+	int result;
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  MMC314X_REG_ST, MMC314X_CNTL_MODE_RESET);
+	ERROR_CHECK(result);
+	MLOSSleep(10);
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  MMC314X_REG_ST, MMC314X_CNTL_MODE_SET);
+	ERROR_CHECK(result);
+	MLOSSleep(10);
+	read_count = 1;
+	return ML_SUCCESS;
+}
+
+int mmc314x_read(void *mlsl_handle,
+		 struct ext_slave_descr *slave,
+		 struct ext_slave_platform_data *pdata,
+		 unsigned char *data)
+{
+	int result, ii;
+	short tmp[3];
+	unsigned char tmpdata[6];
+
+
+	if (read_count > 1000)
+		read_count = 1;
+
+	result =
+	    MLSLSerialRead(mlsl_handle, pdata->address, MMC314X_REG_X_MSB,
+			   6, (unsigned char *) data);
+	ERROR_CHECK(result);
+
+	for (ii = 0; ii < 6; ii++)
+		tmpdata[ii] = data[ii];
+
+	for (ii = 0; ii < 3; ii++) {
+		tmp[ii] =
+		    (short) ((tmpdata[2 * ii] << 8) + tmpdata[2 * ii + 1]);
+		tmp[ii] = tmp[ii] - 4096;
+		tmp[ii] = tmp[ii] * 16;
+	}
+
+	for (ii = 0; ii < 3; ii++) {
+		data[2 * ii] = (unsigned char) (tmp[ii] >> 8);
+		data[2 * ii + 1] = (unsigned char) (tmp[ii]);
+	}
+
+	if (read_count % reset_int == 0) {
+		if (reset_mode) {
+			result =
+			    MLSLSerialWriteSingle(mlsl_handle,
+						  pdata->address,
+						  MMC314X_REG_ST,
+						  MMC314X_CNTL_MODE_RESET);
+			ERROR_CHECK(result);
+			reset_mode = 0;
+			return ML_ERROR_COMPASS_DATA_NOT_READY;
+		} else {
+			result =
+			    MLSLSerialWriteSingle(mlsl_handle,
+						  pdata->address,
+						  MMC314X_REG_ST,
+						  MMC314X_CNTL_MODE_SET);
+			ERROR_CHECK(result);
+			reset_mode = 1;
+			read_count++;
+			return ML_ERROR_COMPASS_DATA_NOT_READY;
+		}
+	}
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  MMC314X_REG_ST,
+				  MMC314X_CNTL_MODE_WAKE_UP);
+	ERROR_CHECK(result);
+	read_count++;
+
+	return ML_SUCCESS;
+}
+
+struct ext_slave_descr mmc314x_descr = {
+	/*.init             = */ NULL,
+	/*.exit             = */ NULL,
+	/*.suspend          = */ mmc314x_suspend,
+	/*.resume           = */ mmc314x_resume,
+	/*.read             = */ mmc314x_read,
+	/*.config           = */ NULL,
+	/*.get_config       = */ NULL,
+	/*.name             = */ "mmc314x",
+	/*.type             = */ EXT_SLAVE_TYPE_COMPASS,
+	/*.id               = */ COMPASS_ID_MMC314X,
+	/*.reg              = */ 0x01,
+	/*.len              = */ 6,
+	/*.endian           = */ EXT_SLAVE_BIG_ENDIAN,
+	/*.range            = */ {400, 0},
+};
+
+struct ext_slave_descr *mmc314x_get_slave_descr(void)
+{
+	return &mmc314x_descr;
+}
+EXPORT_SYMBOL(mmc314x_get_slave_descr);
+
+/**
+ *  @}
+**/
diff --git a/drivers/misc/mpu3050/compass/mmc328x.c b/drivers/misc/mpu3050/compass/mmc328x.c
new file mode 100755
index 00000000000..d2914f3ef62
--- /dev/null
+++ b/drivers/misc/mpu3050/compass/mmc328x.c
@@ -0,0 +1,220 @@
+/*
+ * Copyright (C) 2010 MEMSIC, Inc.
+ *
+ * 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, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
+ *
+ */
+
+#include <linux/i2c.h>
+
+#include "mpu.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include <log.h>
+
+#define MMC328X_I2C_ADDR	0x30
+
+#define MMC328X_REG_CTRL	0x07
+#define MMC328X_REG_DATA	0x00
+#define MMC328X_REG_DS		0x06
+
+#define MMC328X_CTRL_TM		0x01
+#define MMC328X_CTRL_RM		0x20
+
+#define MMC328X_DELAY_TM	10	/* ms */
+#define MMC328X_DELAY_RM	10	/* ms */
+#define MMC328X_DELAY_STDN	1	/* ms */
+
+static int mmc328x_i2c_rx_data(void *mlsl_handle,
+	struct ext_slave_platform_data *pdata, char *buf, int len)
+{
+	uint8_t i;
+	struct i2c_msg msgs[2] = { 0, };
+
+	if (NULL == buf || NULL == mlsl_handle)
+		return -EINVAL;
+
+	msgs[0].addr = pdata->address;
+	msgs[0].flags = 0;
+	msgs[0].len = 1;
+	msgs[0].buf = buf;
+
+	msgs[1].addr = pdata->address;
+	msgs[1].flags = I2C_M_RD;
+	msgs[1].len = len;
+	msgs[1].buf = buf;
+
+	if (i2c_transfer(mlsl_handle, msgs, 2) >= 0)
+		return -1;
+
+	return 0;
+}
+
+static int mmc328x_i2c_tx_data(void *mlsl_handle,
+	struct ext_slave_platform_data *pdata, char *buf, int len)
+{
+	struct i2c_msg msgs[1];
+	int res;
+
+	if (NULL == buf || NULL == mlsl_handle)
+		return -EINVAL;
+
+	msgs[0].addr = pdata->address;
+	msgs[0].flags = 0;	/* write */
+	msgs[0].buf = (unsigned char *)buf;
+	msgs[0].len = len;
+
+	res = i2c_transfer(mlsl_handle, msgs, 1);
+	if (res < 1)
+		return res;
+	else
+		return 0;
+}
+
+int memsic_api_resume(void *mlsl_handle,
+	struct ext_slave_platform_data *pdata)
+{
+#if 0
+	unsigned char data[2] = { 0 };
+
+	data[0] = MMC328X_REG_CTRL;
+	data[1] = MMC328X_CTRL_RM;
+	if (mmc328x_i2c_tx_data(mlsl_handle, pdata, data, 2) < 0)
+		return -1;
+
+	msleep(MMC328X_DELAY_RM);
+#endif
+	return 0;
+}
+
+int memsic_api_suspend(void *mlsl_handle,
+	struct ext_slave_platform_data *pdata)
+{
+#if 0
+	unsigned char data[2] = { 0 };
+
+	data[0] = MMC328X_REG_CTRL;
+	data[1] = 0;
+	if (mmc328x_i2c_tx_data(mlsl_handle, pdata, data, 2) < 0)
+		return -1;
+	msleep(MMC328X_DELAY_RM);
+
+	data[0] = MMC328X_REG_CTRL;
+	data[1] = 0;
+	mmc328x_i2c_tx_data(mlsl_handle, pdata, data, 2);
+	msleep(MMC328X_DELAY_TM);
+#endif
+	return 0;
+}
+
+int memsic_api_read(void *mlsl_handle, struct ext_slave_platform_data *pdata,
+		unsigned char *raw_data, int *accuracy)
+{
+	unsigned char data[6] = { 0 };
+	int MD_times = 0;
+
+	data[0] = MMC328X_REG_CTRL;
+	data[1] = MMC328X_CTRL_TM;
+	mmc328x_i2c_tx_data(mlsl_handle, pdata, data, 2);
+	msleep(MMC328X_DELAY_TM);
+
+	data[0] = MMC328X_REG_DS;
+	if (mmc328x_i2c_rx_data(mlsl_handle, pdata, data, 1) < 0)
+		return -EFAULT;
+
+	while (!(data[0] & 0x01)) {
+		msleep(20);
+		data[0] = MMC328X_REG_DS;
+
+		if (mmc328x_i2c_rx_data(mlsl_handle, pdata, data, 1) < 0)
+			return -EFAULT;
+
+		if (data[0] & 0x01)
+			break;
+
+		MD_times++;
+
+		if (MD_times > 2)
+			return -EFAULT;
+	}
+
+	data[0] = MMC328X_REG_DATA;
+	if (mmc328x_i2c_rx_data(mlsl_handle, pdata, data, 6) < 0)
+		return -EFAULT;
+
+	memcpy(raw_data, data, sizeof(unsigned char) * 6);
+
+	*accuracy = 0;
+
+	return 0;
+}
+
+int mmc328x_read(void *mlsl_handle,
+		 struct ext_slave_descr *slave,
+		 struct ext_slave_platform_data *pdata, unsigned char *data)
+{
+	int xyz[3] = { 0, };
+	int accuracy = 0;
+
+	memsic_api_read(mlsl_handle, pdata, data, &accuracy);
+
+	return ML_SUCCESS;
+}
+
+int mmc328x_suspend(void *mlsl_handle,
+		    struct ext_slave_descr *slave,
+		    struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+	memsic_api_suspend(mlsl_handle, pdata);
+	return result;
+}
+
+int mmc328x_resume(void *mlsl_handle,
+		   struct ext_slave_descr *slave,
+		   struct ext_slave_platform_data *pdata)
+{
+
+	memsic_api_resume(mlsl_handle, pdata);
+	return ML_SUCCESS;
+}
+
+struct ext_slave_descr mmc328x_descr = {
+	/*.init             = */ NULL,
+	/*.exit             = */ NULL,
+	/*.suspend          = */ mmc328x_suspend,
+	/*.resume           = */ mmc328x_resume,
+	/*.read             = */ mmc328x_read,
+	/*.config           = */ NULL,
+	/*.get_config       = */ NULL,
+	/*.name             = */ "mmc328x",
+	/*.type             = */ EXT_SLAVE_TYPE_COMPASS,
+	/*.id               = */ COMPASS_ID_MMC328X,
+	/*.reg              = */ 0x01,
+	/*.len              = */ 6,
+	/*.endian           = */ EXT_SLAVE_BIG_ENDIAN,
+	/*.range            = */ {400, 0},
+};
+
+struct ext_slave_descr *mmc328x_get_slave_descr(void)
+{
+	return &mmc328x_descr;
+}
+EXPORT_SYMBOL(mmc328x_get_slave_descr);
+
+/**
+ *  @}
+**/
diff --git a/drivers/misc/mpu3050/compass/mpuak8975.c b/drivers/misc/mpu3050/compass/mpuak8975.c
new file mode 100755
index 00000000000..991de77dbd0
--- /dev/null
+++ b/drivers/misc/mpu3050/compass/mpuak8975.c
@@ -0,0 +1,188 @@
+/*
+ $License:
+    Copyright (C) 2010 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/>.
+  $
+ */
+
+/**
+ *  @defgroup   COMPASSDL (Motion Library - Accelerometer Driver Layer)
+ *  @brief      Provides the interface to setup and handle an accelerometers
+ *              connected to the secondary I2C interface of the gyroscope.
+ *
+ *  @{
+ *      @file   AK8975.c
+ *      @brief  Magnetometer setup and handling methods for AKM 8975 compass.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#include <string.h>
+
+#ifdef __KERNEL__
+#include <linux/module.h>
+#endif
+
+#include "mpu.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-compass"
+
+
+#define AK8975_REG_ST1  (0x02)
+#define AK8975_REG_HXL  (0x03)
+#define AK8975_REG_ST2  (0x09)
+
+#define AK8975_REG_CNTL (0x0A)
+
+#define AK8975_CNTL_MODE_POWER_DOWN         (0x00)
+#define AK8975_CNTL_MODE_SINGLE_MEASUREMENT (0x01)
+
+int ak8975_suspend(void *mlsl_handle,
+		   struct ext_slave_descr *slave,
+		   struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  AK8975_REG_CNTL,
+				  AK8975_CNTL_MODE_POWER_DOWN);
+	MLOSSleep(1);		/* wait at least 100us */
+	ERROR_CHECK(result);
+	return result;
+}
+
+int ak8975_resume(void *mlsl_handle,
+		  struct ext_slave_descr *slave,
+		  struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+	result =
+	    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+				  AK8975_REG_CNTL,
+				  AK8975_CNTL_MODE_SINGLE_MEASUREMENT);
+	ERROR_CHECK(result);
+	return result;
+}
+
+int ak8975_read(void *mlsl_handle,
+		struct ext_slave_descr *slave,
+		struct ext_slave_platform_data *pdata, unsigned char *data)
+{
+	unsigned char regs[8];
+	unsigned char *stat = &regs[0];
+	unsigned char *stat2 = &regs[7];
+	int result = ML_SUCCESS;
+	int status = ML_SUCCESS;
+
+	result =
+	    MLSLSerialRead(mlsl_handle, pdata->address, AK8975_REG_ST1,
+			   8, regs);
+	ERROR_CHECK(result);
+
+	/*
+	 * ST : data ready -
+	 * Measurement has been completed and data is ready to be read.
+	 */
+	if (*stat & 0x01) {
+		memcpy(data, &regs[1], 6);
+		status = ML_SUCCESS;
+	}
+
+	/*
+	 * ST2 : data error -
+	 * occurs when data read is started outside of a readable period;
+	 * data read would not be correct.
+	 * Valid in continuous measurement mode only.
+	 * In single measurement mode this error should not occour but we
+	 * stil account for it and return an error, since the data would be
+	 * corrupted.
+	 * DERR bit is self-clearing when ST2 register is read.
+	 */
+	if (*stat2 & 0x04)
+		status = ML_ERROR_COMPASS_DATA_ERROR;
+	/*
+	 * ST2 : overflow -
+	 * the sum of the absolute values of all axis |X|+|Y|+|Z| < 2400uT.
+	 * This is likely to happen in presence of an external magnetic
+	 * disturbance; it indicates, the sensor data is incorrect and should
+	 * be ignored.
+	 * An error is returned.
+	 * HOFL bit clears when a new measurement starts.
+	 */
+	if (*stat2 & 0x08)
+		status = ML_ERROR_COMPASS_DATA_OVERFLOW;
+	/*
+	 * ST : overrun -
+	 * the previous sample was not fetched and lost.
+	 * Valid in continuous measurement mode only.
+	 * In single measurement mode this error should not occour and we
+	 * don't consider this condition an error.
+	 * DOR bit is self-clearing when ST2 or any meas. data register is
+	 * read.
+	 */
+	if (*stat & 0x02) {
+		/* status = ML_ERROR_COMPASS_DATA_UNDERFLOW; */
+		status = ML_SUCCESS;
+	}
+
+	/*
+	 * trigger next measurement if:
+	 *    - stat is non zero;
+	 *    - if stat is zero and stat2 is non zero.
+	 * Won't trigger if data is not ready and there was no error.
+	 */
+	if (*stat != 0x00 || *stat2 != 0x00) {
+		result =
+		    MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+					  AK8975_REG_CNTL,
+					  AK8975_CNTL_MODE_SINGLE_MEASUREMENT);
+		ERROR_CHECK(result);
+	}
+
+	return status;
+}
+
+struct ext_slave_descr ak8975_descr = {
+	/*.init             = */ NULL,
+	/*.exit             = */ NULL,
+	/*.suspend          = */ ak8975_suspend,
+	/*.resume           = */ ak8975_resume,
+	/*.read             = */ ak8975_read,
+	/*.config           = */ NULL,
+	/*.get_config       = */ NULL,
+	/*.name             = */ "ak8975",
+	/*.type             = */ EXT_SLAVE_TYPE_COMPASS,
+	/*.id               = */ COMPASS_ID_AKM,
+	/*.reg              = */ 0x01,
+	/*.len              = */ 9,
+	/*.endian           = */ EXT_SLAVE_LITTLE_ENDIAN,
+	/*.range            = */ {9830, 4000}
+};
+
+struct ext_slave_descr *ak8975_get_slave_descr(void)
+{
+	return &ak8975_descr;
+}
+EXPORT_SYMBOL(ak8975_get_slave_descr);
+
+/**
+ *  @}
+ */
diff --git a/drivers/misc/mpu3050/compass/yas529-kernel.c b/drivers/misc/mpu3050/compass/yas529-kernel.c
new file mode 100755
index 00000000000..239ab669cc1
--- /dev/null
+++ b/drivers/misc/mpu3050/compass/yas529-kernel.c
@@ -0,0 +1,477 @@
+/*
+ $License:
+    Copyright (C) 2010 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/>.
+  $
+ */
+/**
+ *  @defgroup   ACCELDL (Motion Library - Accelerometer Driver Layer)
+ *  @brief      Provides the interface to setup and handle an accelerometers
+ *              connected to the secondary I2C interface of the gyroscope.
+ *
+ *  @{
+ *      @file   yas529.c
+ *      @brief  Magnetometer setup and handling methods for Yamaha yas529
+ *              compass.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#ifdef __KERNEL__
+#include <linux/module.h>
+#include <linux/i2c.h>
+#endif
+
+#include "mpu.h"
+#include "mlos.h"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-acc"
+
+/*----- YAMAHA YAS529 Registers ------*/
+enum YAS_REG {
+	YAS_REG_CMDR		= 0x00,	/* 000 < 5 */
+	YAS_REG_XOFFSETR	= 0x20,	/* 001 < 5 */
+	YAS_REG_Y1OFFSETR	= 0x40,	/* 010 < 5 */
+	YAS_REG_Y2OFFSETR	= 0x60,	/* 011 < 5 */
+	YAS_REG_ICOILR		= 0x80,	/* 100 < 5 */
+	YAS_REG_CAL		= 0xA0,	/* 101 < 5 */
+	YAS_REG_CONFR		= 0xC0,	/* 110 < 5 */
+	YAS_REG_DOUTR		= 0xE0	/* 111 < 5 */
+};
+
+/* --------------------- */
+/* -    Variables.     - */
+/* --------------------- */
+
+static long a1;
+static long a2;
+static long a3;
+static long a4;
+static long a5;
+static long a6;
+static long a7;
+static long a8;
+static long a9;
+
+/*****************************************
+    Yamaha I2C access functions
+*****************************************/
+
+static int yas529_sensor_i2c_write(struct i2c_adapter *i2c_adap,
+				   unsigned char address,
+				   unsigned int len, unsigned char *data)
+{
+	struct i2c_msg msgs[1];
+	int res;
+
+	if (NULL == data || NULL == i2c_adap)
+		return -EINVAL;
+
+	msgs[0].addr = address;
+	msgs[0].flags = 0;	/* write */
+	msgs[0].buf = (unsigned char *) data;
+	msgs[0].len = len;
+
+	res = i2c_transfer(i2c_adap, msgs, 1);
+	if (res < 1)
+		return res;
+	else
+		return 0;
+}
+
+static int yas529_sensor_i2c_read(struct i2c_adapter *i2c_adap,
+				  unsigned char address,
+				  unsigned char reg,
+				  unsigned int len, unsigned char *data)
+{
+	struct i2c_msg msgs[2];
+	int res;
+
+	if (NULL == data || NULL == i2c_adap)
+		return -EINVAL;
+
+	msgs[0].addr = address;
+	msgs[0].flags = I2C_M_RD;
+	msgs[0].buf = data;
+	msgs[0].len = len;
+
+	res = i2c_transfer(i2c_adap, msgs, 1);
+	if (res < 1)
+		return res;
+	else
+		return 0;
+}
+
+/*****************************************
+    Accelerometer Initialization Functions
+*****************************************/
+
+int yas529_suspend(void *mlsl_handle,
+		   struct ext_slave_descr *slave,
+		   struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	return result;
+}
+
+int yas529_resume(void *mlsl_handle,
+		  struct ext_slave_descr *slave,
+		  struct ext_slave_platform_data *pdata)
+{
+	int result = ML_SUCCESS;
+
+	unsigned char dummyData[1] = { 0 };
+	unsigned char dummyRegister = 0;
+	unsigned char rawData[6];
+	unsigned char calData[9];
+
+	short xoffset, y1offset, y2offset;
+	short d2, d3, d4, d5, d6, d7, d8, d9;
+
+	/* YAS529 Application Manual MS-3C - Section 4.4.5 */
+	/* =============================================== */
+	/* Step 1 - register initialization */
+	/* zero initialization coil register - "100 00 000" */
+	dummyData[0] = YAS_REG_ICOILR | 0x00;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	/* zero config register - "110 00 000" */
+	dummyData[0] = YAS_REG_CONFR | 0x00;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+
+	/* Step 2 - initialization coil operation */
+	dummyData[0] = YAS_REG_ICOILR | 0x11;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x01;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x12;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x02;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x13;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x03;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x14;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x04;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x15;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x05;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x16;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x06;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x17;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x07;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x10;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_ICOILR | 0x00;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+
+	/* Step 3 - rough offset measurement */
+	/* Config register - Measurements results - "110 00 000" */
+	dummyData[0] = YAS_REG_CONFR | 0x00;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	/* Measurements command register - Rough offset measurement -
+	   "000 00001" */
+	dummyData[0] = YAS_REG_CMDR | 0x01;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	MLOSSleep(2);		/* wait at least 1.5ms */
+
+	/* Measurement data read */
+	result =
+	    yas529_sensor_i2c_read(mlsl_handle, pdata->address,
+				   dummyRegister, 6, rawData);
+	ERROR_CHECK(result);
+	xoffset =
+	    (short) ((unsigned short) rawData[5] +
+		     ((unsigned short) rawData[4] & 0x7) * 256) - 5;
+	if (xoffset < 0)
+		xoffset = 0;
+	y1offset =
+	    (short) ((unsigned short) rawData[3] +
+		     ((unsigned short) rawData[2] & 0x7) * 256) - 5;
+	if (y1offset < 0)
+		y1offset = 0;
+	y2offset =
+	    (short) ((unsigned short) rawData[1] +
+		     ((unsigned short) rawData[0] & 0x7) * 256) - 5;
+	if (y2offset < 0)
+		y2offset = 0;
+
+	/* Step 4 - rough offset setting */
+	/* Set rough offset register values */
+	dummyData[0] = YAS_REG_XOFFSETR | xoffset;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_Y1OFFSETR | y1offset;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	dummyData[0] = YAS_REG_Y2OFFSETR | y2offset;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+
+	/* CAL matrix read (first read is invalid) */
+	/* Config register - CAL register read - "110 01 000" */
+	dummyData[0] = YAS_REG_CONFR | 0x08;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	/* CAL data read */
+	result =
+	    yas529_sensor_i2c_read(mlsl_handle, pdata->address,
+				   dummyRegister, 9, calData);
+	ERROR_CHECK(result);
+	/* Config register - CAL register read - "110 01 000" */
+	dummyData[0] = YAS_REG_CONFR | 0x08;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	/* CAL data read */
+	result =
+	    yas529_sensor_i2c_read(mlsl_handle, pdata->address,
+				   dummyRegister, 9, calData);
+	ERROR_CHECK(result);
+
+	/* Calculate coefficients of the sensitivity corrcetion matrix */
+#if 1				/* production sensor */
+	a1 = 100;
+	d2 = (calData[0] & 0xFC) >> 2;	/* [71..66] 6bit */
+	a2 = (short) (d2 - 32);
+	/* [65..62] 4bit */
+	d3 = ((calData[0] & 0x03) << 2) | ((calData[1] & 0xC0) >> 6);
+	a3 = (short) (d3 - 8);
+	d4 = (calData[1] & 0x3F);	/* [61..56] 6bit */
+	a4 = (short) (d4 - 32);
+	d5 = (calData[2] & 0xFC) >> 2;	/* [55..50] 6bit */
+	a5 = (short) (d5 - 32) + 70;
+	/* [49..44] 6bit */
+	d6 = ((calData[2] & 0x03) << 4) | ((calData[3] & 0xF0) >> 4);
+	a6 = (short) (d6 - 32);
+	/* [43..38] 6bit */
+	d7 = ((calData[3] & 0x0F) << 2) | ((calData[4] & 0xC0) >> 6);
+	a7 = (short) (d7 - 32);
+	d8 = (calData[4] & 0x3F);	/* [37..32] 6bit */
+	a8 = (short) (d8 - 32);
+	d9 = (calData[5] & 0xFE) >> 1;	/* [31..25] 7bit */
+	a9 = (short) (d9 - 64) + 130;
+#else				/* evaluation sensor */
+	a1 = 1.0f;
+	/* [71..66] 6bit */
+	d2 = (calData[0] & 0xFC) >> 2;
+	a2 = (short) d2;
+	/* [65..60] 6bit */
+	d3 = ((calData[0] & 0x03) << 4) | ((calData[1] & 0xF0) >> 4);
+	a3 = (short) d3;
+	/* [59..54] 6bit */
+	d4 = ((calData[1] & 0x0F) << 2) | ((calData[2] & 0xC0) >> 6);
+	a4 = (short) d4;
+	/* [53..48] 6bit */
+	d5 = (calData[2] & 0x3F);
+	a5 = (short) (d5 + 70);
+	/* [47..42] 6bit */
+	d6 = ((calData[3] & 0xFC) >> 2);
+	a6 = (short) d6;
+	/* [41..36] 6bit */
+	d7 = ((calData[3] & 0x03) << 4) | ((calData[4] & 0xF0) >> 4);
+	a7 = (short) d7;
+	/* [35..30] 6bit */
+	d8 = ((calData[4] & 0x0F) << 2) | ((calData[5] & 0xC0) >> 6);
+	a8 = (short) d8;
+	/* [29..24] 6bit */
+	d9 = (calData[5] & 0x3F);
+	a9 = (short) (d9 + 150);
+#endif
+
+	return result;
+}
+
+int yas529_read(void *mlsl_handle,
+		struct ext_slave_descr *slave,
+		struct ext_slave_platform_data *pdata, unsigned char *data)
+{
+	unsigned char stat;
+	unsigned char rawData[6];
+	unsigned char dummyData[1] = { 0 };
+	unsigned char dummyRegister = 0;
+	tMLError result = ML_SUCCESS;
+	short SX, SY1, SY2, SY, SZ;
+	short row1fixed, row2fixed, row3fixed;
+
+	/* Config register - Measurements results - "110 00 000" */
+	dummyData[0] = YAS_REG_CONFR | 0x00;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	/* Measurements command register - Normal magnetic field measurement -
+	   "000 00000" */
+	dummyData[0] = YAS_REG_CMDR | 0x00;
+	result =
+	    yas529_sensor_i2c_write(mlsl_handle, pdata->address, 1,
+				    dummyData);
+	ERROR_CHECK(result);
+	MLOSSleep(10);
+	/* Measurement data read */
+	result =
+	    yas529_sensor_i2c_read(mlsl_handle, pdata->address,
+				   dummyRegister, 6,
+				   (unsigned char *) &rawData);
+	ERROR_CHECK(result);
+
+	stat = rawData[0] & 0x80;
+	if (stat == 0x00) {
+		/* Extract raw data */
+		SX = (short) ((unsigned short) rawData[5] +
+			      ((unsigned short) rawData[4] & 0x7) * 256);
+		SY1 =
+		    (short) ((unsigned short) rawData[3] +
+			     ((unsigned short) rawData[2] & 0x7) * 256);
+		SY2 =
+		    (short) ((unsigned short) rawData[1] +
+			     ((unsigned short) rawData[0] & 0x7) * 256);
+		if ((SX <= 1) || (SY1 <= 1) || (SY2 <= 1))
+			return ML_ERROR_COMPASS_DATA_UNDERFLOW;
+		if ((SX >= 1024) || (SY1 >= 1024) || (SY2 >= 1024))
+			return ML_ERROR_COMPASS_DATA_OVERFLOW;
+		/* Convert to XYZ axis */
+		SX = -1 * SX;
+		SY = SY2 - SY1;
+		SZ = SY1 + SY2;
+
+		/* Apply sensitivity correction matrix */
+		row1fixed =
+		    (short) ((a1 * SX + a2 * SY + a3 * SZ) >> 7) * 41;
+		row2fixed =
+		    (short) ((a4 * SX + a5 * SY + a6 * SZ) >> 7) * 41;
+		row3fixed =
+		    (short) ((a7 * SX + a8 * SY + a9 * SZ) >> 7) * 41;
+
+		data[0] = row1fixed >> 8;
+		data[1] = row1fixed & 0xFF;
+		data[2] = row2fixed >> 8;
+		data[3] = row2fixed & 0xFF;
+		data[4] = row3fixed >> 8;
+		data[5] = row3fixed & 0xFF;
+
+		return ML_SUCCESS;
+	} else {
+		return ML_ERROR_COMPASS_DATA_NOT_READY;
+	}
+}
+
+struct ext_slave_descr yas529_descr = {
+	/*.init             = */ NULL,
+	/*.exit             = */ NULL,
+	/*.suspend          = */ yas529_suspend,
+	/*.resume           = */ yas529_resume,
+	/*.read             = */ yas529_read,
+	/*.config           = */ NULL,
+	/*.get_config       = */ NULL,
+	/*.name             = */ "yas529",
+	/*.type             = */ EXT_SLAVE_TYPE_COMPASS,
+	/*.id               = */ COMPASS_ID_YAS529,
+	/*.reg              = */ 0x06,
+	/*.len              = */ 6,
+	/*.endian           = */ EXT_SLAVE_BIG_ENDIAN,
+	/*.range            = */ {19660, 8000},
+};
+
+struct ext_slave_descr *yas529_get_slave_descr(void)
+{
+	return &yas529_descr;
+}
+EXPORT_SYMBOL(yas529_get_slave_descr);
+
+/**
+ *  @}
+ */