slave support for inv_mpu6050

.gitignore

@@ -112,3 +112,7 @@ all.config
 
 # Kdevelop4
 *.kdev4
+
+# dtb objects
+*.dtb
+*.dtbo

.travis.yml

@@ -0,0 +1,17 @@
+dist: trusty
+language: c
+compiler: gcc
+cache: ccache
+env:
+  - ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- LOCALVERSION=-git$TRAVIS_COMMIT
+addons:
+  apt:
+    packages:
+    - gcc-arm-linux-gnueabihf
+    - debootstrap
+    - qemu-user-static
+    - binfmt-support
+    - sbuild
+    - lzop
+script:
+  - bash -ex build_deb_in_arm_chroot.sh

Documentation/ABI/testing/debugfs-aufs

@@ -0,0 +1,50 @@
+What:		/debug/aufs/si_<id>/
+Date:		March 2009
+Contact:	J. R. Okajima <[email protected]>
+Description:
+		Under /debug/aufs, a directory named si_<id> is created
+		per aufs mount, where <id> is a unique id generated
+		internally.
+
+What:		/debug/aufs/si_<id>/plink
+Date:		Apr 2013
+Contact:	J. R. Okajima <[email protected]>
+Description:
+		It has three lines and shows the information about the
+		pseudo-link. The first line is a single number
+		representing a number of buckets. The second line is a
+		number of pseudo-links per buckets (separated by a
+		blank). The last line is a single number representing a
+		total number of psedo-links.
+		When the aufs mount option 'noplink' is specified, it
+		will show "1\n0\n0\n".
+
+What:		/debug/aufs/si_<id>/xib
+Date:		March 2009
+Contact:	J. R. Okajima <[email protected]>
+Description:
+		It shows the consumed blocks by xib (External Inode Number
+		Bitmap), its block size and file size.
+		When the aufs mount option 'noxino' is specified, it
+		will be empty. About XINO files, see the aufs manual.
+
+What:		/debug/aufs/si_<id>/xino0, xino1 ... xinoN
+Date:		March 2009
+Contact:	J. R. Okajima <[email protected]>
+Description:
+		It shows the consumed blocks by xino (External Inode Number
+		Translation Table), its link count, block size and file
+		size.
+		When the aufs mount option 'noxino' is specified, it
+		will be empty. About XINO files, see the aufs manual.
+
+What:		/debug/aufs/si_<id>/xigen
+Date:		March 2009
+Contact:	J. R. Okajima <[email protected]>
+Description:
+		It shows the consumed blocks by xigen (External Inode
+		Generation Table), its block size and file size.
+		If CONFIG_AUFS_EXPORT is disabled, this entry will not
+		be created.
+		When the aufs mount option 'noxino' is specified, it
+		will be empty. About XINO files, see the aufs manual.

Documentation/ABI/testing/sysfs-aufs

@@ -0,0 +1,31 @@
+What:		/sys/fs/aufs/si_<id>/
+Date:		March 2009
+Contact:	J. R. Okajima <[email protected]>
+Description:
+		Under /sys/fs/aufs, a directory named si_<id> is created
+		per aufs mount, where <id> is a unique id generated
+		internally.
+
+What:		/sys/fs/aufs/si_<id>/br0, br1 ... brN
+Date:		March 2009
+Contact:	J. R. Okajima <[email protected]>
+Description:
+		It shows the abolute path of a member directory (which
+		is called branch) in aufs, and its permission.
+
+What:		/sys/fs/aufs/si_<id>/brid0, brid1 ... bridN
+Date:		July 2013
+Contact:	J. R. Okajima <[email protected]>
+Description:
+		It shows the id of a member directory (which is called
+		branch) in aufs.
+
+What:		/sys/fs/aufs/si_<id>/xi_path
+Date:		March 2009
+Contact:	J. R. Okajima <[email protected]>
+Description:
+		It shows the abolute path of XINO (External Inode Number
+		Bitmap, Translation Table and Generation Table) file
+		even if it is the default path.
+		When the aufs mount option 'noxino' is specified, it
+		will be empty. About XINO files, see the aufs manual.

Documentation/ABI/testing/sysfs-devices-platform-bone_capemgr

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+What:		/sys/devices/platform/bone_capemgr/slots
+Date:		May 2015
+KernelVersion:	4.0
+Contact:	Pantelis Antoniou <[email protected]>
+Description:
+		READ:
+		  Describe the state of all the slots of the beaglebone capemgr.
+		  Each line of the output describes a slot:
+		  The slot format is as following:
+		  <slot-id>: [P-][F-][O-][l-][L-][D-] \
+			  <overlay-id> <board-name>,<version>,
+			  <manufacturer>,<part-number>
+
+		Where the flags are:
+		P: Slot has been probed
+		F: Slot has failed probing (i.e. no EEPROM detected)
+		O: Slot has been overridden by the user
+		l: Slot is current loading
+		L: Slot has completed loading and is ready
+		D: Slot has been disabled
+
+		Example:
+		0: P---L-  -1 BeagleBone RS232 CAPE,00A1,Beagleboardtoys,BB-BONE-SERL-03
+		1: PF----  -1
+		2: PF----  -1
+		3: PF----  -1
+
+		WRITE:
+		  Writing a string of the form <part-number>[:version] issues a request to
+		  load a firmware blob containing an overlay. The name of the firmware blob
+		  is <part-number>-[version|00A0].dtbo. This act is defined as a slot override.
+
+		  Writing a negative slot id removes the slot if it was an overridden one, or
+		  unloads a slot that was probed.
+
+What:		/sys/devices/platform/bone_capemgr/baseboard/<eeprom-field>
+Date:		May 2015
+KernelVersion:	4.0
+Contact:	Pantelis Antoniou <[email protected]>
+Description:	Contains the probed base board EEPROM field; one of:
+		board-name		- board-name as stored in cape EEPROM
+		dc-supplied		- whether the cape draws or supplies DC
+		eeprom-format-revision	- EEPROM format rev, only 00A0 supported
+		header			- header; should be 'aa 55 33 ee'
+		manufacturer		- manufacturer string
+		part-number		- part-number of the cape
+		serial-number		- serial number of the cape
+		version			- version of the cape, i.e. 00A0
+		number-of-pins		- displayed but ignored
+		pin-usage		- displayed but ignored
+		sys-5v			- displayed but ignored
+		vdd-3v3exp		- displayed but ignored
+		vdd-5v			- displayed but ignored
+What:		/sys/devices/platform/bone_capemgr/slot-<n>/<eeprom-field>
+Date:		May 2015
+KernelVersion:	4.0
+Contact:	Pantelis Antoniou <[email protected]>
+Description:	Contains the probed cape's EEPROM field; the field is one of:
+		board-name		- baseboard name i.e. A335BNLT
+		header			- header; should be 'aa 55 33 ee'
+		revision		- baseboard revision
+		serial-number		- baseboard serial number
+		config-option		- displayed but ignored

Documentation/ABI/testing/sysfs-firmware-devicetree-overlays

@@ -0,0 +1,52 @@
+What:		/sys/firmware/devicetree/overlays/
+Date:		October 2015
+Contact:	Pantelis Antoniou <[email protected]>
+Description:
+		This directory contains the applied device tree overlays of
+		the running system, as directories of the overlay id.
+
+What:		/sys/firmware/devicetree/overlays/enable
+Date:		October 2015
+Contact:	Pantelis Antoniou <[email protected]>
+Description:
+		The master enable switch, by default is 1, and when
+		set to 0 it cannot be re-enabled for security reasons.
+
+		The discussion about this switch takes place in:
+		http://comments.gmane.org/gmane.linux.drivers.devicetree/101871
+
+		Kees Cook:
+		"Coming from the perspective of drawing a bright line between
+		kernel and the root user (which tends to start with disabling
+		kernel module loading), I would say that there at least needs
+		to be a high-level one-way "off" switch for the interface so
+		that systems that have this interface can choose to turn it off
+		during initial boot, etc."
+
+What:		/sys/firmware/devicetree/overlays/<id>
+Date:		October 2015
+Contact:	Pantelis Antoniou <[email protected]>
+Description:
+		Each directory represents an applied overlay, containing
+		the following attribute files.
+
+What:		/sys/firmware/devicetree/overlays/<id>/can_remove
+Date:		October 2015
+Contact:	Pantelis Antoniou <[email protected]>
+Description:
+		The attribute set to 1 means that the overlay can be removed,
+		while 0 means that the overlay is being overlapped therefore
+		removal is prohibited.
+
+What:		/sys/firmware/devicetree/overlays/<id>/<fragment-name>/
+Date:		October 2015
+Contact:	Pantelis Antoniou <[email protected]>
+Description:
+		Each of these directories contain information about of the
+		particular overlay fragment.
+
+What:		/sys/firmware/devicetree/overlays/<id>/<fragment-name>/target
+Date:		October 2015
+Contact:	Pantelis Antoniou <[email protected]>
+Description:
+		The full-path of the target of the fragment

Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt

@@ -1,17 +1,119 @@
 InvenSense MPU-6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking Device
 
-http://www.invensense.com/mems/gyro/mpu6050.html
-
 Required properties:
- - compatible : should be "invensense,mpu6050"
- - reg : the I2C address of the sensor
+ - compatible : one of "invensense,mpu6000", "invensense,mpu6050",
+	"invensense,mpu6000" or "invensense,mpu9150"
+ - reg : the I2C or SPI address of the sensor
  - interrupt-parent : should be the phandle for the interrupt controller
  - interrupts : interrupt mapping for GPIO IRQ
 
+Optional properties:
+ - mount-matrix: an optional 3x3 mounting rotation matrix
+ - invensense,i2c-aux-master: operate aux i2c in "master" mode (default is bypass).
+
+It is possible to attach auxiliary sensors to the MPU and have them be handled
+by linux. Those auxiliary sensors are described as an i2c bus.
+
+It is possible to interact with aux devices in "bypass" or "master" mode. In
+"bypass" mode the auxiliary SDA/SCL lines are connected directly to the main i2c
+interface. In "master" mode access to aux devices is done by instructing the
+MPU to read or write i2c bytes.
+
+In "bypass" mode aux devices are listed behind a "i2c@0" node with reg = <0>;
+In "master" mode aux devices are listed behind a "i2c@1" node with reg = <1>;
+
+The master and bypass modes are not supported at the same time. The
+"invensense,i2c-aux-master" property must be set to activate master mode.
+Bypass mode is generally faster but master mode also works when the MPU is
+connected via SPI. Enabling master mode is required for automated external
+readings.
+
+
+It is possible to configure the MPU to automatically fetch reading for
+devices connected on the auxiliary i2c bus without CPU intervention. When this
+is done the driver will present the channels of the slaved devices as if they
+belong to the MPU device itself.
+
+Reads and write to config values (like scaling factors) are forwarded to the
+other driver while data reads are handled from MPU registers. The channels are
+also available through the MPU's iio triggered buffer mechanism. This feature
+can allow sampling up to 24 bytes from 4 slaves at a much higher rate.
+
+This is specified in device tree as an "invensense,external-sensors" node with
+children indexed by slave ids 0 to 3. The child nodes identifying each external
+sensor reading have the following properties:
+ - reg: 0 to 3 slave index
+ - invensense,addr : the I2C address to read from
+ - invensense,reg : the I2C register to read from
+ - invensense,len : read length from the device
+ - invensense,external-channels : list of slaved channels specified by scan_index.
+
+The sum of storagebits for external channels must equal the read length. Only
+16bit channels are currently supported.
+
+
 Example:
 	mpu6050@68 {
 		compatible = "invensense,mpu6050";
 		reg = <0x68>;
 		interrupt-parent = <&gpio1>;
 		interrupts = <18 1>;
 	};
+
+Example describing mpu9150 (which includes an ak9875 on chip):
+	mpu9150@68 {
+		compatible = "invensense,mpu9150";
+		reg = <0x68>;
+		interrupt-parent = <&gpio1>;
+		interrupts = <18 1>;
+
+		#address-cells = <1>;
+		#size-cells = <0>;
+		i2c@0 {
+			reg = <0>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+
+			ak8975@0c {
+				compatible = "ak,ak8975";
+				reg = <0x0c>;
+			};
+		};
+	};
+
+Example describing a mpu6500 via SPI with an hmc5883l on aux i2c configured for
+automatic external readings as slave 0:
+	mpu6500@0 {
+		compatible = "invensense,mpu6500";
+		reg = <0x0>;
+		spi-max-frequency = <1000000>;
+		interrupt-parent = <&gpio1>;
+		interrupts = <31 1>;
+
+		invensense,i2c-aux-master;
+
+		#address-cells = <1>;
+		#size-cells = <0>;
+		i2c@1 {
+			reg = <1>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+
+			hmc5883l@1e {
+				compatible = "honeywell,hmc5883l";
+				reg = <0x1e>;
+			};
+		};
+
+		invensense,external-sensors {
+			#address-cells = <1>;
+			#size-cells = <0>;
+			hmc5833l@0 {
+				reg = <0>;
+				invensense,addr = <0x1e>;
+				invensense,reg = <3>;
+				invensense,len = <6>;
+				invensense,external-channels = <0 1 2>;
+			};
+		};
+	};