int mpu3050_i2c_write(unsigned char *buffer,int length)
{
int status = 0;
//status = mpu3050_write_reg_in_burst(mpu3050_i2c_client,buffer,length);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buffer[0], &buffer[1], length-1);
return status;
}
void mpu3050_sleep_wake_up(void)
{
unsigned char value = 0;
unsigned char buf[5] = {0,};
//mpu3050_read_reg(mpu3050_i2c_client,MPU3050_GYRO_I2C_PWR_MGM,&value);
NvGyroAccelI2CGetRegs(star_motion_dev->hOdmGyroAccel, MPU3050_GYRO_I2C_PWR_MGM ,&value , 1 );
if(value & 0x78)
{
value&= ~0x78;
buf[0] = MPU3050_GYRO_I2C_PWR_MGM;
buf[1] = value;
//mpu3050_write_reg(mpu3050_i2c_client,buf);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&buf[1] , 1 );
}
}
void mpu3050_i2c_through_pass(int benable)
{
unsigned char value;
unsigned char buf[3]={0,};
int status = 0;
value = 0;
//printk("[MPU3050].......mpu3050_i2c_through_pass................\n");
//status = mpu3050_read_reg(mpu3050_i2c_client,MPU3050_GYRO_I2C_USER_CTRL,&value);
printk("[MPU3050] [%s:%d]\n",__FUNCTION__, __LINE__);
NvGyroAccelI2CGetRegs(star_motion_dev->hOdmGyroAccel, MPU3050_GYRO_I2C_USER_CTRL ,&value , 1 );
if(status <0)
{
printk("[MPU3050] MPU3050_GYRO_I2C_USER_CTRL. i2c ERROR: 0x%x................................\n",value);
return;
}
printk("[MPU3050]................................\n");
if(benable ==MPU3050_BYPASS_MODE_ON)
{
printk("[MPU3050] bypass on.....................................\n");
if(value & 0x20)
value&= ~(0x20);
}
else // bypass off
{
printk("[MPU3050] bypass off.....................................\n");
if(!(value & 0x20))
value|= 0x20;
}
if(!(value & 0x08))
value|=0x08;
buf[0] = MPU3050_GYRO_I2C_USER_CTRL;
buf[1] = value;
//status = mpu3050_write_reg(mpu3050_i2c_client,buf);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&buf[1] , 1 );
}
static int star_motion_ioctl(struct inode *inode, struct file *file, unsigned int cmd,unsigned long arg)
{
void __user *argp = (void __user *)arg;
unsigned char data[MAX_MOTION_DATA_LENGTH]={0,};
int buf[5] = {0,};
int flag = 0;
int delay = 0;
unsigned char tempbuf[200]={0,}; /* MPU3050 i2c MAX data length */
int ret = 0;
unsigned char value;
switch (cmd)
{
case MOTION_IOCTL_ENABLE_DISABLE:
/*
0 : disable sensor
1: orientation (tilt)
2: accelerometer
3: tap
4: shake
*/
//printk(".............star_motion_ioctl................\n");
flag = STAR_SENSOR_NONE;
if(atomic_read(&accel_flag)){
//printk(".............if(atomic_read(&snap_flag)){................\n");
flag |= STAR_ACCELEROMETER;
}
if(atomic_read(&tilt_flag)){
//printk(".............if(atomic_read(&tilt_flag)){................\n");
flag |= STAR_TILT;
}
if(atomic_read(&shake_flag)){
//printk(".............if(atomic_read(&shake_flag)){................\n");
flag |= STAR_SHAKE;
}
if(atomic_read(&tap_flag)){
//printk(".............if(atomic_read(&tap_flag)){................\n");
flag |= STAR_TAP;
}
if(atomic_read(&flip_flag)){
//printk(".............if(atomic_read(&flip_flag)){................\n");
flag |= STAR_FLIP;
}
if(atomic_read(&snap_flag)){
//printk(".............if(atomic_read(&snap_flag)){................\n");
flag |= STAR_SNAP;
}
if(atomic_read(&gyro_flag)){
//printk(".............if(atomic_read(&snap_flag)){................\n");
flag |= STAR_GYRO;
}
if (copy_to_user(argp,&flag, sizeof(flag)))
{
//printk(".............MOTION_IOCTL_SNAP................\n");
return -EFAULT;
}
break;
case MOTION_IOCTL_ACCEL_RAW:
if (copy_from_user(&buf, argp, sizeof(buf)))
{
return -EFAULT;
}
/* buf[0], [1], [2] = accel_x, accel_y, accel_z; */
atomic_set(&accel_x,buf[0]);
atomic_set(&accel_y,buf[1]);
atomic_set(&accel_z,buf[2]);
//motion_send_tilt_detection(buf[0],buf[1],buf[2]);
//printk(".............MOTION_IOCTL_TILT................\n");
break;
case MOTION_IOCTL_GYRO_RAW:
if (copy_from_user(&buf, argp, sizeof(buf)))
{
return -EFAULT;
}
/* buf[0], [1], [2] = gyro_x, gyro_y, gyro_z; */
atomic_set(&gyro_x,buf[0]);
atomic_set(&gyro_y,buf[1]);
atomic_set(&gyro_z,buf[2]);
//motion_send_tilt_detection(buf[0],buf[1],buf[2]);
//printk(".............MOTION_IOCTL_TILT................\n");
break;
case MOTION_IOCTL_SENSOR_DELAY:
delay = atomic_read(&tilt_delay);
//printk("MOTION_IOCTL_SENSOR_DELAY[%d]",delay);
if (copy_to_user(argp, &delay, sizeof(delay)))
{
return -EFAULT;
}
break;
case MOTION_IOCTL_TILT:
if (copy_from_user(&buf, argp, sizeof(buf)))
{
return -EFAULT;
}
/* buf[0], [1], [2] = roll, pitch, yaw; */
atomic_set(&tilt_roll,buf[0]);
atomic_set(&tilt_pitch,buf[1]);
atomic_set(&tilt_yaw,buf[2]);
//motion_send_tilt_detection(buf[0],buf[1],buf[2]);
//printk(".............MOTION_IOCTL_TILT................\n");
break;
case MOTION_IOCTL_SHAKE:
if (copy_from_user(&buf, argp, sizeof(buf)))
{
return -EFAULT;
}
/* buf[0] = event; */
//printk(".............MOTION_IOCTL_SHAKE................\n");
motion_send_shake_detection(buf[0]);
break;
case MOTION_IOCTL_FLIP:
if (copy_from_user(&buf, argp, sizeof(buf)))
{
return -EFAULT;
}
//printk(".............MOTION_IOCTL_FLIP................\n");
motion_send_flip_detection(buf[0]);
break;
case MOTION_IOCTL_TAP:
if (copy_from_user(&buf, argp, sizeof(buf)))
{
return -EFAULT;
}
/*
buf[0] = type;
buf[1] = direction;
*/
//printk(".............MOTION_IOCTL_TAP................\n");
motion_send_tap_detection(buf[0],buf[1]);
break;
case MOTION_IOCTL_SNAP:
if (copy_from_user(&buf, argp, sizeof(buf)))
{
return -EFAULT;
}
/*
buf[0] = direction;
*/
//printk(".............MOTION_IOCTL_SNAP................\n");
motion_send_snap_detection(buf[0]);
break;
case MOTION_IOCTL_MPU3050_SLEEP_MODE:
//printk(".............MOTION_IOCTL_MPU3050_SLEEP_MODE................\n");
//motion_gyro_sensor_sleep_mode();
motion_sensor_power_off();
//twl4030_i2c_write_u8(0x13, 0x00,0x1b );
//msleep(100);
break;
case MOTION_IOCTL_MPU3050_SLEEP_WAKE_UP:
//printk(".............MOTION_IOCTL_MPU3050_SLEEP_WAKE_UP................\n");
//motion_gyro_sensor_sleep_wake_up();
motion_sensor_power_on();
break;
case MOTION_IOCTL_MPU3050_I2C_READ:
//printk(".............MOTION_IOCTL_MPU3050_I2C_READ................\n");
if (copy_from_user(&rwbuf, argp, sizeof(rwbuf)))
{
//printk("FAIL!!!!!!copy_from_user.................MOTION_IOCTL_MPU3050_I2C_READ");
return -EFAULT;
}
write_lock(&getbuflock);
memcpy(&accelrwbuf[0], rwbuf, sizeof(rwbuf));
write_unlock(&getbuflock);
if (rwbuf[1] < 1)
{
printk("EINVAL ERROR......I2C SLAVE MOTION_IOCTL_I2C_READ : rwbuf[1] < 1...\n");
return -EINVAL;
}
if(rwbuf[0] == GYRO_I2C_SLAVE_ADDR)
{
//printk("############ (_0_)############ rwbuf[2]: %d(%x) / rwbuf[3]: %d(%x)/ rwbuf[1] : %d(%x)\n",rwbuf[2],rwbuf[2], rwbuf[3],rwbuf[3], rwbuf[1], rwbuf[1]);
NvGyroAccelI2CGetRegs(star_motion_dev->hOdmGyroAccel, rwbuf[2] ,&rwbuf[3] , rwbuf[1]);
if (ret < 0){
printk("MOTION_IOCTL_I2C_READ : GYRO_I2C_SLAVE_ADDR Address ERROR[%d]\n",rwbuf[0]);
return -EINVAL;
}
if (copy_to_user(argp, &rwbuf, sizeof(rwbuf)))
{
printk("EINVAL ERROR.### GYRO ### I2C SLAVE MOTION_IOCTL_I2C_READ : rwbuf[1] < 1...\n");
return -EFAULT;
}
}
else if(accelrwbuf[0] == 0x0F)
{
//printk("#### (_0_) #### accelrwbuf[2]: %d(%x) / accelrwbuf[3]: %d(%x)/ accelrwbuf[1] : %d(%x)\n",accelrwbuf[2],accelrwbuf[2], accelrwbuf[3],accelrwbuf[3], accelrwbuf[1], accelrwbuf[1]);
//printk("######################## accel get(read) ##########################\n");
if ((!accelrwbuf)){
printk("### EEROR #### accelrwbuf is NULL pointer \n");
return -1;
} else{
NvAccelerometerI2CGetRegsPassThrough (accelrwbuf[2] ,&accelrwbuf[3] , accelrwbuf[1]);
}
if (ret < 0){
printk("MOTION_IOCTL_I2C_READ : ACCEL_I2C_SLAVE_ADDR Address ERROR[%d]\n",accelrwbuf[0]);
return -EINVAL;
}
if (copy_to_user(argp, &accelrwbuf, sizeof(accelrwbuf)))
{
printk("EINVAL ERROR ### ACCEL ## I2C SLAVE MOTION_IOCTL_I2C_READ : rwbuf[1] < 1...\n");
return -EFAULT;
}
}
#if 0 /**/
else if(accelrwbuf[0] == 0x0e)
{
//printk("#### (_0_) #### accelrwbuf[2]: %d(%x) / accelrwbuf[3]: %d(%x)/ accelrwbuf[1] : %d(%x)\n",accelrwbuf[2],accelrwbuf[2], accelrwbuf[3],accelrwbuf[3], accelrwbuf[1], accelrwbuf[1]);
//printk("######################## accel get(read) ##########################\n");
if ((!accelrwbuf)){
printk("### EEROR #### accelrwbuf is NULL pointer \n");
return -1;
} else{
NvGyroAccelI2CGetRegs (accelrwbuf[2] ,&accelrwbuf[3] , accelrwbuf[1]);
}
if (ret < 0){
printk("MOTION_IOCTL_I2C_READ : ACCEL_I2C_SLAVE_ADDR Address ERROR[%d]\n",accelrwbuf[0]);
return -EINVAL;
}
if (copy_to_user(argp, &accelrwbuf, sizeof(accelrwbuf)))
{
printk("EINVAL ERROR ### ACCEL ## I2C SLAVE MOTION_IOCTL_I2C_READ : rwbuf[1] < 1...\n");
return -EFAULT;
}
}
#endif
else
{
printk("......I2C SLAVE ADDRESS ERROR!!!...[0x%x]...\n",buf[0]);
return -EINVAL;
}
break;
case MOTION_IOCTL_MPU3050_I2C_WRITE:
//printk(".............MOTION_IOCTL_MPU3050_I2C_WRITE................\n");
if (copy_from_user(&rwbuf, argp, sizeof(rwbuf)))
{
printk("EINVAL ERROR.....copy_from_user.I2C SLAVE MOTION_IOCTL_I2C_WRITE \n");
return -EFAULT;
}
/*
rwbuf[0] = slave_addr; // slave addr - GYRO(0x68-MPU)
rwbuf[1] = 2; // number of bytes to write +1
rwbuf[2] = reg; // register address
rwbuf[3] = value; // register value
*/
if (rwbuf[1] < 2)
{
printk("MOTION_IOCTL_WRITE ..length ERROR!!![%d].....\n",rwbuf[1]);
return -EINVAL;
}
if(rwbuf[0] == GYRO_I2C_SLAVE_ADDR)
{
//ret = mpu3050_i2c_write(&rwbuf[2],rwbuf[1]);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, rwbuf[2] ,&rwbuf[3] , rwbuf[1]-1);
if (ret < 0){
printk("MOTION_IOCTL_WRITE : GYRO_I2C_SLAVE_ADDR Address ERROR[%d]\n",rwbuf[0]);
return -EINVAL;
}
}
else if(rwbuf[0] == 0x0F)
{
//ret = kxtf9_i2c_write(&rwbuf[2],rwbuf[1]);
//printk("(_6_)rwbuf[2]: %d(%x) / rwbuf[1] : %d(%x)\n",rwbuf[2],rwbuf[2], rwbuf[1], rwbuf[1]);
// printk("######################## accel set(write) ##########################\n");
NvAccelerometerI2CSetRegsPassThrough(rwbuf[2] ,&rwbuf[3] , rwbuf[1]-1);
//printk("(_7_) rwbuf[3]: %d(%x) \n", rwbuf[3],rwbuf[3]);
if (ret < 0){
printk("[KXTF9] MOTION_IOCTL_WRITE : ACCEL_I2C_SLAVE_ADDR ERROR[%d]\n",rwbuf[0]);
return -EINVAL;
}
}
#if 0
else if(rwbuf[0] == 0x0e)
{
//ret = kxtf9_i2c_write(&rwbuf[2],rwbuf[1]);
//printk("(_6_)rwbuf[2]: %d(%x) / rwbuf[1] : %d(%x)\n",rwbuf[2],rwbuf[2], rwbuf[1], rwbuf[1]);
// printk("######################## accel set(write) ##########################\n");
NvGyroAccelI2CSetRegs(rwbuf[2] ,&rwbuf[3] , rwbuf[1]-1);
//printk("(_7_) rwbuf[3]: %d(%x) \n", rwbuf[3],rwbuf[3]);
if (ret < 0){
printk("[KXTF9] MOTION_IOCTL_WRITE : ACCEL_I2C_SLAVE_ADDR ERROR[%d]\n",rwbuf[0]);
return -EINVAL;
}
}
#endif
else
{
printk("......I2C SLAVE ADDRESS ERROR!!!...[0x%x]...\n",buf[0]);
return -EINVAL;
}
break;
default:
break;
}
return 0;
}
int mpu3050_write_reg_in_burst(struct i2c_client *client, unsigned char *buffer,int length)
{
int err;
#if 1
struct i2c_msg msg ={
.addr = client->addr,
.flags = 0,
.len = length,
.buf = buffer};
#else
unsigned char buf[length];
struct i2c_msg msg ={
.addr = client->addr,
.flags = 0,
.len = sizeof(buf),
.buf = buf};
memcpy(buf,buffer,length);
#endif
if ((err = i2c_transfer(client->adapter, &msg, 1)) < 0)
{
dev_err(&client->dev, "i2c write error\n");
return -EIO;
}
return 0;
}
int mpu3050_read_reg(struct i2c_client *client, unsigned char reg, unsigned char *val)
{
int err;
unsigned char buf = reg;
struct i2c_msg msg[2] = {
{ client->addr, 0, 1, &buf },
{ client->addr, I2C_M_RD, 1, val}
};
if ((err = i2c_transfer(client->adapter, msg, 2)) < 0)
{
dev_err(&client->dev, "i2c read error\n");
return -1;
}
return 0;
}
int mpu3050_write_reg(struct i2c_client *client, unsigned char *buffer)
{
unsigned char buf[2];
int err;
struct i2c_msg msg ={
.addr = client->addr,
.flags = 0,
.len = 2,
.buf = buf};
buf[0] = buffer[0];
buf[1] = buffer[1];
if ((err = i2c_transfer(client->adapter, &msg, 1)) < 0)
{
dev_err(&client->dev, "i2c write error\n");
}
return 0;
}
void mpu3050_sleep_mode(void)
{
unsigned char value = 0;
unsigned char buf[5] = {0,};
//mpu3050_read_reg(mpu3050_i2c_client,MPU3050_GYRO_I2C_PWR_MGM,&value);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&value , 1 );
/*
Bit 6 SLEEP
Bit 5 STBY_XG
Bit 4 STBY_YG
Bit 3 STBY_ZG
*/
if(!(value & 0x78))
{
value|= 0x78;
buf[0] = MPU3050_GYRO_I2C_PWR_MGM;
buf[1] = value;
//mpu3050_write_reg(mpu3050_i2c_client,buf);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&buf[1] , 1 );
}
}
void mpu3050_initialize(void)
{
unsigned char buf[3]={0,};
unsigned char value = 0;
int status = 0;
// Read WHO AM I
value = 0;
//status = mpu3050_read_reg(mpu3050_i2c_client,MPU3050_GYRO_I2C_WHO_AM_I,&value);
NvGyroAccelI2CGetRegs(star_motion_dev->hOdmGyroAccel, MPU3050_GYRO_I2C_WHO_AM_I ,&value , 1 );
printk("[MPU3050] MPU3050_GYRO_I2C_WHO_AM_I : %x\n",value);
// Read Product ID
value = 0;
//status = mpu3050_read_reg(mpu3050_i2c_client,MPU3050_GYRO_I2C_PRODUCT_ID,&value);
NvGyroAccelI2CGetRegs(star_motion_dev->hOdmGyroAccel, MPU3050_GYRO_I2C_PRODUCT_ID ,&value , 1 );
printk("[MPU3050] MPU3050_GYRO_I2C_PRODUCT_ID : %x\n",value);
// Set to reset the MPU-3000
buf[0] = MPU3050_GYRO_I2C_PWR_MGM;
buf[1] = 0x80;
//status = mpu3050_write_reg(mpu3050_i2c_client,buf);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&buf[1] , 1 );
printk(" [MPU3050]Reset the MPU-3000 : %x\n",value);
// Set ACCEL. slave address
buf[0] = MPU3050_GYRO_I2C_ACCEL_SLAVE_ADDR;
buf[1] = 0x0F;//KR3DH_ACCEL_I2C_SLAVE_ADDR;
//status = mpu3050_write_reg(mpu3050_i2c_client,buf);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&buf[1] , 1 );
printk("[MPU3050] Set ACCEL. slave address \n");
// Set to reset IME interface
value = 0;
//status = mpu3050_read_reg(mpu3050_i2c_client,MPU3050_GYRO_I2C_USER_CTRL,&value);
NvGyroAccelI2CGetRegs(star_motion_dev->hOdmGyroAccel, MPU3050_GYRO_I2C_USER_CTRL ,&value[1] , 1 );
if(!(value & 0x08))
value |= 0x08;
buf[0] = MPU3050_GYRO_I2C_USER_CTRL;
buf[1] = value;
//status = mpu3050_write_reg(mpu3050_i2c_client,buf);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&buf[1] , 1 );
printk("[MPU3050] Reset IME interface \n");
#if 0
//klp -- disable passthrough mode
value = 0;
status = mpu3050_read_reg(mpu3050_i2c_client,MPU3050_GYRO_I2C_USER_CTRL,&value);
buf[0] = MPU3050_GYRO_I2C_USER_CTRL;
buf[1] = value | 0x20;
mpu3050_write_reg(mpu3050_i2c_client,buf);
#endif
// Set to disable ISR
buf[0] = MPU3050_GYRO_I2C_INT_CFG;
buf[1] = 0x00;//0x83; //0xC1;//0xE1; //0x81 or 0x83; // Enable ISR
//status = mpu3050_write_reg(mpu3050_i2c_client,buf);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&buf[1] , 1 );
printk("[MPU3050] Disable ISR : MPU3050_GYRO_I2C_INT_CFG\n");
// Set to Cfg Sampling MPU
buf[0] = MPU3050_GYRO_I2C_SMPLR_DIV;
buf[1] = 0x04;
//status = mpu3050_write_reg(mpu3050_i2c_client,buf);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&buf[1] , 1 );
printk("[MPU3050] MPU3050_GYRO_I2C_SMPLR_DIV\n");
buf[0] = MPU3050_GYRO_I2C_DLPF_FS_SYNC;
buf[1] =((0x3<<3)|0x3);
//status = mpu3050_write_reg(mpu3050_i2c_client,buf);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&buf[1] , 1 );
printk("[MPU3050] MPU3050_GYRO_I2C_DLPF_FS_SYNC\n");
/*----------------------------------CLKSource------------------------------------------*/
value = 0;
status = mpu3050_read_reg(mpu3050_i2c_client,MPU3050_GYRO_I2C_PWR_MGM,&value);
value &= ~(0x07); //clear clk_sel bits
value |= 0x03; //set pll gyro z clk source
buf[0] = MPU3050_GYRO_I2C_PWR_MGM;
buf[1] = value;
//status = mpu3050_write_reg(mpu3050_i2c_client,buf);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&buf[1] , 1 );
printk("[MPU3050] MPU3050_GYRO_I2C_PWR_MGM --- clk source \n");
/*------------------------------ Set Accelerometer --------------------------------------*/
// Accel Data Start
buf[0] = MPU3050_GYRO_I2C_ACCEL_BURST_ADDR;
buf[1] = 0x28; /*0xA8*/;
//status = mpu3050_write_reg(mpu3050_i2c_client,buf);
NvGyroAccelI2CSetRegs(star_motion_dev->hOdmGyroAccel, buf[0] ,&buf[1] , 1 );
printk("[MPU3050] MPU3050_GYRO_I2C_ACCEL_BURST_ADDR --- clk source \n");
printk("[MPU3050] MPU3050_BYPASS_MODE_ON --- \n");
mpu3050_i2c_through_pass(MPU3050_BYPASS_MODE_ON);
/*---------------------------------------------------------------------------------------*/
#if 0
value = 0;
status = mpu3050_read_reg(mpu3050_i2c_client,MPU3050_GYRO_I2C_ACCEL_BURST_ADDR,value);
printk("[MPU3050_GYRO_I2C_ACCEL_BURST_ADDR] read value [0x%x]\n",value);
if(value & 0x80)
{
value &= ~(0x80);
}
else
{
value |= 0x80;
}
printk("[MPU3050_GYRO_I2C_ACCEL_BURST_ADDR] setting value [0x%x]\n",value);
buf[0] = MPU3050_GYRO_I2C_ACCEL_BURST_ADDR;
buf[1] = value;
status = mpu3050_write_reg(mpu3050_i2c_client,buf);
mpu3050_i2c_through_pass(MPU3050_BYPASS_MODE_ON);
#endif
#if 1
// ACCEL i2c pass through on
// mpu3050_i2c_through_pass(MPU3050_BYPASS_MODE_ON);
// kr3dh_initialize();
//ACCEL i2c pass through off
// mpu3050_i2c_through_pass(MPU3050_BYPASS_MODE_OFF);
/*
value = 0;
status = mpu3050_read_reg(mpu3050_i2c_client,MPU3050_GYRO_I2C_USER_CTRL,&value);
//value &= ~(0x09);
if(!(value & 0x10))
value|=0x10;
buf[0] = MPU3050_GYRO_I2C_USER_CTRL;
//buf[1] = value;
buf[1] = 0x30;
status = mpu3050_write_reg(mpu3050_i2c_client,buf);
*/
#endif
}
