/**
* @internal
* @brief Retrieve the unique MPU device identifier from the internal OTP
* bank 0 memory.
* @param mlsl_handle
* serial interface handle to allow serial communication with the
* device, both gyro and accelerometer.
* @return 0 on success, a non-zero error code from the serial layer on error.
*/
static inv_error_t get_mpu_unique_id(void *mlsl_handle)
{
inv_error_t result;
unsigned char otp0[8];
result =
inv_serial_read_mem(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
(BIT_PRFTCH_EN | BIT_CFG_USER_BANK | MPU_MEM_OTP_BANK_0) << 8 |
0x00, 6, otp0);
if (result)
goto close;
MPL_LOGI("\n");
MPL_LOGI("DIE_ID : %06X\n",
((int)otp0[1] << 8 | otp0[0]) & 0x1fff);
MPL_LOGI("WAFER_ID : %06X\n",
(((int)otp0[2] << 8 | otp0[1]) & 0x03ff ) >> 5);
MPL_LOGI("A_LOT_ID : %06X\n",
( ((int)otp0[4] << 16 | (int)otp0[3] << 8 |
otp0[2]) & 0x3ffff) >> 2);
MPL_LOGI("W_LOT_ID : %06X\n",
( ((int)otp0[5] << 8 | otp0[4]) & 0x3fff) >> 2);
MPL_LOGI("WP_ID : %06X\n",
( ((int)otp0[6] << 8 | otp0[5]) & 0x03ff) >> 7);
MPL_LOGI("REV_ID : %06X\n", otp0[6] >> 2);
MPL_LOGI("\n");
close:
result =
inv_serial_single_write(mlsl_handle, mldl_cfg->mpu_chip_info->addr, MPUREG_BANK_SEL, 0x00);
return result;
}
static int mpu_handle_mlsl(void *sl_handle,
unsigned char addr,
unsigned int cmd,
struct mpu_read_write __user *usr_msg)
{
int retval = 0;
struct mpu_read_write msg;
unsigned char *user_data;
retval = copy_from_user(&msg, usr_msg, sizeof(msg));
if (retval)
return -EFAULT;
user_data = msg.data;
if (msg.length && msg.data) {
unsigned char *data;
data = kmalloc(msg.length, GFP_KERNEL);
if (!data)
return -ENOMEM;
retval = copy_from_user(data,
(void __user *)msg.data, msg.length);
if (retval) {
retval = -EFAULT;
kfree(data);
return retval;
}
msg.data = data;
} else {
return -EPERM;
}
switch (cmd) {
case MPU_READ:
retval = inv_serial_read(sl_handle, addr,
msg.address, msg.length, msg.data);
break;
case MPU_WRITE:
retval = inv_serial_write(sl_handle, addr,
msg.length, msg.data);
break;
case MPU_READ_MEM:
retval = inv_serial_read_mem(sl_handle, addr,
msg.address, msg.length, msg.data);
break;
case MPU_WRITE_MEM:
retval = inv_serial_write_mem(sl_handle, addr,
msg.address, msg.length,
msg.data);
break;
case MPU_READ_FIFO:
retval = inv_serial_read_fifo(sl_handle, addr,
msg.length, msg.data);
break;
case MPU_WRITE_FIFO:
retval = inv_serial_write_fifo(sl_handle, addr,
msg.length, msg.data);
break;
};
if (retval) {
dev_err(&((struct i2c_adapter *)sl_handle)->dev,
"%s: i2c %d error %d\n",
__func__, cmd, retval);
kfree(msg.data);
return retval;
}
retval = copy_to_user((unsigned char __user *)user_data,
msg.data, msg.length);
kfree(msg.data);
return retval;
}
