Invensense: 6515: update HAL to 5.2.0 RC23

RC23 (driver and HAL combination) purports to fix the following RC22
issues:
  - Cadence fix to improve Step counter performance.
  - Batch mode wakes up device in suspend mode
  - Implement suspend_noirq method, removed unnecessary usleep
  - Handle bad compass data in HAL
  - Handle pressure support correctly in HAL

Added the following fixes to RC23 HAL drop from Invensense:
  - fix bug caused when pressure sensor is disabled
  - remember pedometer poll rate
  - remove hard-coded pedometer poll time

Bug: 14234011

Change-Id: I3e0a7b232d8047a66029b6af967752f9e653ab27

15 files changed, 119 insertions, 72 deletions

diff --git a/6515/libsensors_iio/MPLSensor.cpp b/6515/libsensors_iio/MPLSensor.cpp
index 737fefb..63e1f4b 100644
--- a/6515/libsensors_iio/MPLSensor.cpp
+++ b/6515/libsensors_iio/MPLSensor.cpp
@@ -495,6 +495,7 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
 #ifdef ENABLE_PRESSURE
     mHandlers[Pressure] = &MPLSensor::psHandler;
 #endif
+
     /* initialize delays to reasonable values */
     for (int i = 0; i < NumSensors; i++) {
         mDelays[i] = 1000000000LL;
@@ -976,7 +977,6 @@ MPLSensor::~MPLSensor()
 #define A_ENABLED   ((1 << ID_A)  & enabled_sensors)
 #define M_ENABLED   ((1 << ID_M) & enabled_sensors)
 #define RM_ENABLED  ((1 << ID_RM) & enabled_sensors)
-#define PS_ENABLED  ((1 << ID_PS) & enabled_sensors)
 #define O_ENABLED   ((1 << ID_O)  & enabled_sensors)
 #define LA_ENABLED  ((1 << ID_LA) & enabled_sensors)
 #define GR_ENABLED  ((1 << ID_GR) & enabled_sensors)
@@ -984,6 +984,10 @@ MPLSensor::~MPLSensor()
 #define GRV_ENABLED ((1 << ID_GRV) & enabled_sensors)
 #define GMRV_ENABLED ((1 << ID_GMRV) & enabled_sensors)
 
+#ifdef ENABLE_PRESSURE
+#define PS_ENABLED  ((1 << ID_PS) & enabled_sensors)
+#endif
+
 /* this applies to BMA250 Input Subsystem Driver only */
 int MPLSensor::setAccelInitialState()
 {
@@ -1954,6 +1958,7 @@ void MPLSensor::computeLocalSensorMask(int enabled_sensors)
     VFUNC_LOG;
 
     do {
+#ifdef ENABLE_PRESSURE
         /* Invensense Pressure on secondary bus */
         if (PS_ENABLED) {
             LOGV_IF(ENG_VERBOSE, "PS ENABLED");
@@ -1962,6 +1967,10 @@ void MPLSensor::computeLocalSensorMask(int enabled_sensors)
             LOGV_IF(ENG_VERBOSE, "PS DISABLED");
             mLocalSensorMask &= ~INV_ONE_AXIS_PRESSURE;
         }
+#else
+        LOGV_IF(ENG_VERBOSE, "PS DISABLED");
+        mLocalSensorMask &= ~INV_ONE_AXIS_PRESSURE;
+#endif
 
         if (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED
                        || (GRV_ENABLED && GMRV_ENABLED)) {
@@ -2019,15 +2028,21 @@ void MPLSensor::computeLocalSensorMask(int enabled_sensors)
             break;
         }
 
+#ifdef ENABLE_PRESSURE
         if(!A_ENABLED && !M_ENABLED && !RM_ENABLED &&
                !GRV_ENABLED && !GMRV_ENABLED && !GY_ENABLED && !RGY_ENABLED &&
                !PS_ENABLED) {
+#else
+        if(!A_ENABLED && !M_ENABLED && !RM_ENABLED &&
+               !GRV_ENABLED && !GMRV_ENABLED && !GY_ENABLED && !RGY_ENABLED) {
+#endif
             /* Invensense compass cal */
             LOGV_IF(ENG_VERBOSE, "ALL DISABLED");
             mLocalSensorMask = 0;
             break;
         }
 
+
         if (GY_ENABLED || RGY_ENABLED) {
             LOGV_IF(ENG_VERBOSE, "G ENABLED");
             mLocalSensorMask |= INV_THREE_AXIS_GYRO;
@@ -3521,7 +3536,6 @@ int MPLSensor::update_delay(void)
                 LOGV_IF(ENG_VERBOSE, "HAL:MPL compass sample rate: (mpl)=%d us",
                         int(got/1000LL));
             }
-
 #ifdef ENABLE_PRESSURE
             if (PS_ENABLED) {
                 int64_t pressureRate = mDelays[Pressure];
@@ -3964,6 +3978,11 @@ LOGV_IF(INPUT_DATA,
                 doneFlag = 1;
             }
         }
+        else if (data_format == DATA_FORMAT_COMPASS_OF) {
+            LOGV_IF(ENG_VERBOSE && INPUT_DATA, "COMPASS OF DETECTED:0x%x", data_format);            
+            mask |= DATA_FORMAT_COMPASS_OF;
+            readCounter -= BYTES_PER_SENSOR;                        
+        }
 #ifdef ENABLE_PRESSURE
         else if (data_format == DATA_FORMAT_PRESSURE) {
             LOGV_IF(ENG_VERBOSE && INPUT_DATA, "PRESSURE DETECTED:0x%x", data_format);
@@ -4098,7 +4117,20 @@ LOGV_IF(INPUT_DATA,
                 }
             latestTimestamp = mAccelSensorTimestamp;
         }
-
+        
+        if (mask == DATA_FORMAT_COMPASS_OF) {
+            /* compass overflow detected */
+            /* reset compass algorithm */
+            int status = 0;
+            inv_build_compass(mCachedCompassData, status,
+                              mCompassTimestamp);
+            LOGV_IF(INPUT_DATA,
+                    "HAL:input inv_build_compass_of: %+8ld %+8ld %+8ld - %lld",
+                    mCachedCompassData[0], mCachedCompassData[1],
+                    mCachedCompassData[2], mCompassTimestamp);
+            resetCompass();
+        }
+        
         if ((mask & DATA_FORMAT_COMPASS) && mCompassSensor->isIntegrated()) {
             int status = 0;
             if (mCompassSensor->providesCalibration()) {
@@ -4227,7 +4259,8 @@ int MPLSensor::checkValidHeader(unsigned short data_format)
         (data_format == DATA_FORMAT_ACCEL) ||
         (data_format == DATA_FORMAT_PRESSURE) ||
         (data_format == DATA_FORMAT_EMPTY_MARKER) ||
-        (data_format == DATA_FORMAT_MARKER))
+        (data_format == DATA_FORMAT_MARKER) ||
+        (data_format == DATA_FORMAT_COMPASS_OF))
             return 1;
      else {
         LOGV_IF(ENG_VERBOSE, "bad data_format = %x", data_format);
diff --git a/6515/libsensors_iio/MPLSensor.h b/6515/libsensors_iio/MPLSensor.h
index a80c224..bdaee57 100755..100644
--- a/6515/libsensors_iio/MPLSensor.h
+++ b/6515/libsensors_iio/MPLSensor.h
@@ -134,6 +134,7 @@ class PressureSensor;
 #define DATA_FORMAT_6_AXIS         0x0400
 #define DATA_FORMAT_QUAT           0x0800
 #define DATA_FORMAT_COMPASS        0x1000
+#define DATA_FORMAT_COMPASS_OF     0x1800
 #define DATA_FORMAT_GYRO           0x2000
 #define DATA_FORMAT_ACCEL          0x4000
 #define DATA_FORMAT_PRESSURE       0x8000
diff --git a/6515/libsensors_iio/libmllite.so b/6515/libsensors_iio/libmllite.so
index 252aa37..ddcd45f 100755
--- a/6515/libsensors_iio/libmllite.so
+++ b/6515/libsensors_iio/libmllite.so
diff --git a/6515/libsensors_iio/libmplmpu.so b/6515/libsensors_iio/libmplmpu.so
index a50bdfb..7f2df13 100755
--- a/6515/libsensors_iio/libmplmpu.so
+++ b/6515/libsensors_iio/libmplmpu.so
diff --git a/6515/libsensors_iio/sensors.h b/6515/libsensors_iio/sensors.h
index 17774ff..cfd8c68 100755..100644
--- a/6515/libsensors_iio/sensors.h
+++ b/6515/libsensors_iio/sensors.h
@@ -43,7 +43,9 @@ enum {
     ID_A,
     ID_M,
     ID_RM,
+#ifdef ENABLE_PRESSURE
     ID_PS,
+#endif
     ID_O,
     ID_RV,
     ID_GRV,
@@ -104,7 +106,7 @@ enum {
 /*****************************************************************************/
 
 /*
-   Android KitKat 
+   Android KitKat
    Populate sensor_t structure according to hardware sensors.h
    {    name, vendor, version, handle, type, maxRange, resolution, power, minDelay,
     fifoReservedEventCount, fifoMaxEventCount, reserved[]    }
diff --git a/6515/libsensors_iio/software/core/mllite/build/android/libmllite.so b/6515/libsensors_iio/software/core/mllite/build/android/libmllite.so
index 252aa37..ddcd45f 100755
--- a/6515/libsensors_iio/software/core/mllite/build/android/libmllite.so
+++ b/6515/libsensors_iio/software/core/mllite/build/android/libmllite.so
diff --git a/6515/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c b/6515/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c
index fc7dc50..960bd2e 100644
--- a/6515/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c
+++ b/6515/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c
@@ -31,7 +31,8 @@
 
 #define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0]))
 #define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0]))
-#define DMP_CODE_SIZE 2950
+#define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0]))
+#define DMP_CODE_SIZE 2943
 #define FIFO_SIZE     1024
 #define RESERVED_SIZE 32
 #define MEMORY_SIZE   1024*4
@@ -68,15 +69,15 @@ static const unsigned char dmpMemory[DMP_CODE_SIZE] = {
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x00, 0x00, 0x00,
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
     /* bank # 2 */
-    0x00, 0x00, 0x00, 0x00, 0x01, 0x47, 0xae, 0x14, 0x3e, 0xb8, 0x51, 0xec, 0x00, 0x00, 0x00, 0x1e,
+    0x00, 0x00, 0x00, 0x00, 0x01, 0x47, 0xae, 0x14, 0x3e, 0xb8, 0x51, 0xec, 0x00, 0x0f, 0x00, 0x00,
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x14, 0x00, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
     0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
@@ -173,72 +174,71 @@ static const unsigned char dmpMemory[DMP_CODE_SIZE] = {
     0x09, 0x1d, 0x16, 0xda, 0xf2, 0xdd, 0xc6, 0xdc, 0xf4, 0x30, 0xf1, 0xb9, 0xaa, 0xdf, 0xd8, 0xf1,
     0xab, 0xfa, 0x8b, 0x9b, 0xa3, 0x69, 0xd9, 0xf4, 0x07, 0x06, 0xda, 0xf1, 0xb9, 0xab, 0xdf, 0xfe,
     0xd8, 0xf1, 0xbb, 0xb3, 0xb7, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28, 0xb4, 0x80,
-    0x98, 0xa7, 0x20, 0xd8, 0xf1, 0xb3, 0xb7, 0xbb, 0x87, 0xaa, 0xd0, 0xc1, 0xa7, 0x81, 0x97, 0x62,
-    0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29, 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c,
-    0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xf1, 0xb0, 0xb4, 0xb8, 0x87, 0x98, 0xaf, 0x20, 0xaf,
+    0x98, 0xa7, 0x20, 0xd8, 0xb7, 0x87, 0xaa, 0xd0, 0xc1, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71,
+    0x71, 0x60, 0x85, 0x94, 0x01, 0x29, 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c,
+    0x95, 0x18, 0x85, 0x78, 0xb0, 0xb4, 0xb8, 0x87, 0x98, 0xaf, 0x20, 0x83, 0x9f, 0x22, 0xb7, 0x93,
     /* bank # 8 */
-    0x83, 0x9f, 0x22, 0xb7, 0x93, 0xf0, 0x31, 0x31, 0x20, 0x8e, 0xb4, 0x94, 0x01, 0x29, 0x51, 0x79,
-    0x97, 0xae, 0xf1, 0x28, 0x4c, 0x6c, 0x8f, 0x0c, 0x9e, 0x18, 0x8e, 0x78, 0x87, 0x98, 0xaf, 0x20,
-    0xaf, 0x83, 0x9f, 0x22, 0xb7, 0x93, 0xf0, 0x31, 0x31, 0x20, 0xb2, 0x81, 0xb4, 0x94, 0x01, 0x9f,
-    0x29, 0x51, 0x79, 0x97, 0xba, 0xa1, 0xf1, 0x28, 0x4c, 0x6c, 0xb0, 0x8f, 0x0c, 0xb6, 0x91, 0x18,
-    0xb2, 0x81, 0x78, 0xf1, 0xb0, 0x87, 0xb4, 0x98, 0xba, 0xab, 0x20, 0xab, 0xb2, 0x86, 0xb6, 0x9b,
-    0x02, 0xb7, 0x93, 0xf0, 0x11, 0x11, 0x00, 0x84, 0xb6, 0x97, 0x01, 0x29, 0x51, 0x79, 0xb4, 0x97,
-    0xa4, 0xf1, 0x28, 0x4c, 0x6c, 0x8b, 0x0c, 0xb6, 0x94, 0x18, 0xb2, 0x84, 0x78, 0xbb, 0xa3, 0xb3,
-    0x83, 0xb7, 0x90, 0x28, 0x4c, 0x6c, 0x8a, 0x6c, 0xf2, 0xb0, 0x83, 0xb4, 0x93, 0xb8, 0xa3, 0x71,
-    0xd9, 0xa3, 0xd0, 0xf8, 0xf5, 0x8e, 0x9e, 0xb9, 0xa3, 0x78, 0xf1, 0xb1, 0x8a, 0xb5, 0x93, 0x45,
-    0xb2, 0x8c, 0x2e, 0xb1, 0x8a, 0x54, 0x83, 0xaa, 0xd0, 0xc6, 0xf5, 0xb2, 0x81, 0xb6, 0x91, 0xa3,
-    0x78, 0xf1, 0xb1, 0x8a, 0xb5, 0x93, 0x65, 0xb2, 0x8c, 0x2e, 0xb1, 0x8a, 0x74, 0x83, 0xaa, 0xd0,
-    0xc7, 0xd8, 0xf2, 0xb0, 0x83, 0xb8, 0xaf, 0xc6, 0xf9, 0xa3, 0xb4, 0x9f, 0x41, 0xd9, 0xf1, 0xb1,
-    0x8a, 0xba, 0xa6, 0xc5, 0xc7, 0xf1, 0xb2, 0xb6, 0xb9, 0x86, 0x96, 0xa3, 0x50, 0xb1, 0x83, 0xb5,
-    0x93, 0x04, 0x2c, 0xf3, 0xb8, 0xa3, 0xd0, 0xf8, 0xf9, 0xd1, 0xdb, 0xf1, 0xb6, 0x9c, 0xb9, 0xa3,
-    0xd0, 0x56, 0xd8, 0xf2, 0xb0, 0x83, 0xb4, 0x9f, 0xb8, 0xa3, 0x41, 0xdb, 0xf3, 0x97, 0x49, 0xf1,
-    0xb1, 0x83, 0xb6, 0x9c, 0xb9, 0xa3, 0xd0, 0x5e, 0xd8, 0xf2, 0xb0, 0x83, 0xb8, 0xa3, 0xb4, 0x9f,
+    0xf0, 0x31, 0x31, 0x20, 0x8e, 0xb4, 0x94, 0x01, 0x29, 0x51, 0x79, 0x97, 0xae, 0xf1, 0x28, 0x4c,
+    0x6c, 0x8f, 0x0c, 0x9e, 0x18, 0x8e, 0x78, 0x87, 0x98, 0xaf, 0x20, 0x83, 0x9f, 0x22, 0xb7, 0x93,
+    0xf0, 0x31, 0x31, 0x20, 0xb2, 0x81, 0xb4, 0x94, 0x01, 0x9f, 0x29, 0x51, 0x79, 0x97, 0xba, 0xa1,
+    0xf1, 0x28, 0x4c, 0x6c, 0xb0, 0x8f, 0x0c, 0xb6, 0x91, 0x18, 0xb2, 0x81, 0x78, 0xb0, 0x87, 0xb4,
+    0x98, 0xba, 0xab, 0x20, 0xb2, 0x86, 0xb6, 0x9b, 0x02, 0xb7, 0x93, 0xf0, 0x11, 0x11, 0x00, 0x84,
+    0xb6, 0x97, 0x01, 0x29, 0x51, 0x79, 0xb4, 0x97, 0xa4, 0xf1, 0x28, 0x4c, 0x6c, 0x8b, 0x0c, 0xb6,
+    0x94, 0x18, 0xb2, 0x84, 0x78, 0xbb, 0xa3, 0xb3, 0x83, 0xb7, 0x90, 0x28, 0x4c, 0x6c, 0x8a, 0x6c,
+    0xf2, 0xb0, 0x83, 0xb4, 0x93, 0xb8, 0xa3, 0x71, 0xd9, 0xd0, 0xf8, 0xf5, 0x8e, 0x9e, 0xb9, 0xa3,
+    0x78, 0xf1, 0xb1, 0x8a, 0xb5, 0x93, 0x45, 0xb2, 0x8c, 0x2e, 0xb1, 0x8a, 0x54, 0x83, 0xaa, 0xd0,
+    0xc6, 0xf5, 0xb2, 0x81, 0xb6, 0x91, 0xa3, 0x78, 0xf1, 0xb1, 0x8a, 0xb5, 0x93, 0x65, 0xb2, 0x8c,
+    0x2e, 0xb1, 0x8a, 0x74, 0x83, 0xaa, 0xd0, 0xc7, 0xd8, 0xf2, 0xb0, 0x83, 0xb8, 0xaf, 0xc6, 0xf9,
+    0xa3, 0xb4, 0x9f, 0x41, 0xd9, 0xf1, 0xb1, 0x8a, 0xba, 0xa6, 0xc5, 0xc7, 0xb2, 0xb6, 0xb9, 0x86,
+    0x96, 0xa3, 0x50, 0xb1, 0x83, 0xb5, 0x93, 0x04, 0x2c, 0xf3, 0xb8, 0xa3, 0xd0, 0xf8, 0xf9, 0xd1,
+    0xdb, 0xf1, 0xb6, 0x9c, 0xb9, 0xa3, 0xd0, 0x56, 0xd8, 0xf2, 0xb0, 0x83, 0xb4, 0x9f, 0xb8, 0xa3,
+    0x41, 0xdb, 0xf3, 0x97, 0x49, 0xf1, 0xb1, 0x83, 0xb6, 0x9c, 0xb9, 0xa3, 0xd0, 0x5e, 0xd8, 0xf2,
+    0xb0, 0x83, 0xb8, 0xa3, 0xb4, 0x9f, 0x41, 0xd9, 0xf3, 0xa3, 0xd0, 0xde, 0xf8, 0xf1, 0xb1, 0x83,
     /* bank # 9 */
-    0x41, 0xd9, 0xf3, 0xa3, 0xd0, 0xde, 0xf8, 0xf1, 0xb1, 0x83, 0xb6, 0x96, 0xb9, 0xa3, 0xdb, 0x69,
-    0xf3, 0xb8, 0xa3, 0xd0, 0xde, 0xf1, 0xb3, 0x86, 0xba, 0xa0, 0xc0, 0xd8, 0xf2, 0xb0, 0x83, 0xb8,
-    0xa3, 0xb4, 0x9f, 0x41, 0xd9, 0xd0, 0xde, 0xd8, 0xf3, 0xbb, 0xb3, 0xb7, 0x90, 0xa2, 0x82, 0x00,
-    0xf2, 0x10, 0xf1, 0xba, 0xa2, 0xd0, 0xfa, 0xf2, 0xab, 0xc2, 0xf8, 0xf9, 0xd1, 0xf1, 0xb9, 0xa4,
-    0xd9, 0xde, 0xda, 0xf8, 0xd8, 0xf2, 0xbb, 0xaf, 0x80, 0x92, 0x50, 0x8f, 0x0d, 0xdb, 0xf1, 0xb1,
-    0x84, 0xb5, 0x94, 0x21, 0xd9, 0xf5, 0xb3, 0x85, 0xb7, 0x95, 0xb9, 0xa3, 0x78, 0xf1, 0xb1, 0x80,
-    0xb5, 0x90, 0xa0, 0x1a, 0xf0, 0x93, 0x40, 0xf5, 0xb2, 0x84, 0xb6, 0x94, 0xa3, 0x78, 0xf1, 0xb1,
-    0x80, 0xb5, 0x90, 0xa0, 0x3e, 0xf0, 0x93, 0x40, 0xd8, 0xf1, 0xb9, 0xa3, 0xd0, 0xdf, 0xb0, 0x8b,
-    0xb5, 0x90, 0xb9, 0xa3, 0x6a, 0xb1, 0x80, 0x93, 0x05, 0xd9, 0xd0, 0xf8, 0xd8, 0xf2, 0xb3, 0x80,
-    0xb7, 0x92, 0xbb, 0xaf, 0x50, 0xf8, 0x8f, 0x0d, 0xdb, 0xf1, 0xb1, 0x84, 0xb5, 0x94, 0xb9, 0xa3,
-    0x21, 0xd0, 0xfa, 0xd8, 0xf1, 0xb9, 0xa3, 0xd0, 0xfa, 0xf9, 0xd1, 0xd9, 0xf1, 0xb2, 0x84, 0xbb,
-    0xa8, 0xd0, 0xc4, 0xc7, 0xf3, 0xb9, 0xa4, 0xd0, 0xde, 0xda, 0xf1, 0xb3, 0x85, 0xbb, 0xa8, 0xd0,
-    0xc4, 0xc7, 0xf3, 0xb9, 0xa4, 0xd0, 0xde, 0xf8, 0xdf, 0xf8, 0xd8, 0xf3, 0xb1, 0x84, 0xb7, 0x90,
-    0xb9, 0xa3, 0x69, 0xdb, 0xb3, 0x80, 0xb5, 0x94, 0x11, 0xd9, 0xf2, 0xa4, 0xd0, 0xde, 0xd8, 0xf2,
-    0xbb, 0xaf, 0xb7, 0x92, 0xb3, 0x82, 0x19, 0xb3, 0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xf3, 0xa7, 0xd0,
-    0xdf, 0xd8, 0xf1, 0xaf, 0x89, 0x98, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xaf, 0x89, 0x39, 0xa9,
+    0xb6, 0x96, 0xb9, 0xa3, 0xdb, 0x69, 0xf3, 0xb8, 0xa3, 0xd0, 0xde, 0xf1, 0xb3, 0x86, 0xba, 0xa0,
+    0xc0, 0xd8, 0xf2, 0xb0, 0x83, 0xb8, 0xa3, 0xb4, 0x9f, 0x41, 0xd9, 0xd0, 0xde, 0xd8, 0xf3, 0xbb,
+    0xb3, 0xb7, 0x90, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xf1, 0xb2, 0x82, 0xb5, 0x9b, 0xba, 0xa2, 0xd0,
+    0x64, 0xf2, 0xb3, 0x82, 0xab, 0xc2, 0xf8, 0xf9, 0xd1, 0xf1, 0xb9, 0xa4, 0xd9, 0xde, 0xda, 0xf8,
+    0xd8, 0xf2, 0xbb, 0xaf, 0x80, 0xb7, 0x92, 0x50, 0x8f, 0x0d, 0xdb, 0xf1, 0xb1, 0x84, 0xb5, 0x94,
+    0x21, 0xd9, 0xf5, 0xb3, 0x85, 0xb7, 0x95, 0xb9, 0xa3, 0x78, 0xf1, 0xb1, 0x80, 0xb5, 0x90, 0xa0,
+    0x1a, 0xf0, 0x93, 0x40, 0xf5, 0xb2, 0x84, 0xb6, 0x94, 0xa3, 0x78, 0xf1, 0xb1, 0x80, 0xb5, 0x90,
+    0xa0, 0x3e, 0xf0, 0x93, 0x40, 0xd8, 0xf1, 0xb9, 0xa3, 0xd0, 0xdf, 0xb0, 0x8b, 0xb5, 0x90, 0xb9,
+    0xa3, 0x6a, 0xb1, 0x80, 0x93, 0x05, 0xd9, 0xd0, 0xf8, 0xd8, 0xf2, 0xb3, 0x80, 0xb7, 0x92, 0xbb,
+    0xaf, 0x50, 0xf8, 0x8f, 0x0d, 0xdb, 0xf1, 0xb1, 0x84, 0xb5, 0x94, 0xb9, 0xa3, 0x21, 0xd0, 0xfa,
+    0xd8, 0xf1, 0xb9, 0xa3, 0xd0, 0xfa, 0xf9, 0xd1, 0xd9, 0xf1, 0xb2, 0x84, 0xbb, 0xa8, 0xd0, 0xc4,
+    0xc7, 0xf3, 0xb9, 0xa4, 0xd0, 0xde, 0xda, 0xf1, 0xb3, 0x85, 0xbb, 0xa8, 0xd0, 0xc4, 0xc7, 0xf3,
+    0xb9, 0xa4, 0xd0, 0xde, 0xf8, 0xdf, 0xf8, 0xd8, 0xf3, 0xb1, 0x84, 0xb7, 0x90, 0xb9, 0xa3, 0x69,
+    0xdb, 0xb3, 0x80, 0xb5, 0x94, 0x11, 0xd9, 0xf2, 0xa4, 0xd0, 0xde, 0xd8, 0xf2, 0xbb, 0xaf, 0xb7,
+    0x92, 0xb3, 0x82, 0x19, 0x80, 0xa2, 0xd9, 0x26, 0xf3, 0xa7, 0xd0, 0xdf, 0xd8, 0xf1, 0xaf, 0x89,
+    0x98, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xaf, 0x89, 0x39, 0xa9, 0x80, 0xda, 0x3c, 0xd8, 0xaf,
     /* bank # 10 */
-    0x80, 0xda, 0x3c, 0xd8, 0xaf, 0x2e, 0x88, 0xf5, 0x75, 0xda, 0xff, 0xd8, 0x71, 0x80, 0xa9, 0xda,
-    0xf1, 0xff, 0xd8, 0xb3, 0xb7, 0xbb, 0x82, 0xa7, 0xf3, 0xc1, 0xf2, 0x80, 0xc2, 0xf1, 0x97, 0x86,
-    0x49, 0x2e, 0xa6, 0xd0, 0x50, 0x96, 0x86, 0xaf, 0x75, 0xd9, 0xa2, 0xd0, 0xf3, 0xc0, 0xc3, 0xf1,
-    0xda, 0x8f, 0x96, 0xa2, 0xd0, 0xf3, 0xc2, 0xc3, 0x82, 0xb4, 0x93, 0x78, 0x78, 0xf1, 0xd8, 0x80,
-    0xb7, 0x90, 0xaf, 0x0d, 0x89, 0x99, 0xaf, 0x10, 0x80, 0x9f, 0x21, 0xda, 0x2e, 0xd8, 0x89, 0x99,
-    0xaf, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xaf, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8,
-    0xaf, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0xf1, 0x89, 0x90, 0xaf, 0xd0, 0x09, 0x8f,
-    0x99, 0xaf, 0x51, 0xdb, 0x89, 0x31, 0xf3, 0x82, 0x92, 0x19, 0xf2, 0xb1, 0x84, 0xb5, 0x94, 0x71,
-    0xd9, 0xf1, 0xdf, 0xf9, 0xf2, 0xb9, 0xa4, 0xd0, 0xf8, 0xf8, 0xf3, 0xdf, 0xd8, 0xb3, 0xb7, 0xbb,
-    0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22, 0xf1, 0xa9, 0x22, 0x26, 0x9f, 0xaf, 0x29, 0xda, 0xac,
-    0xde, 0xff, 0xd8, 0xa2, 0xf2, 0xde, 0xf1, 0xa9, 0xdf, 0xf3, 0xb8, 0xa3, 0xd0, 0xf8, 0xf9, 0xd1,
-    0xd9, 0xff, 0xd8, 0xf2, 0xb2, 0xb6, 0xba, 0xa2, 0xd0, 0xde, 0xf8, 0xf1, 0xb0, 0x87, 0x90, 0xab,
-    0xd0, 0x7e, 0xb2, 0x80, 0xb7, 0x96, 0xab, 0x01, 0x8b, 0xb6, 0x92, 0xab, 0x05, 0xdb, 0x82, 0x9b,
-    0x79, 0xf3, 0xb1, 0x84, 0xb4, 0x97, 0x49, 0xf2, 0xa2, 0xd0, 0xf8, 0xd8, 0xf3, 0xb9, 0xa4, 0xd0,
-    0xf8, 0xf9, 0xd1, 0xd9, 0xf2, 0xba, 0xa2, 0xd0, 0xf8, 0xd8, 0xb3, 0xb7, 0xbb, 0x97, 0x8c, 0xaf,
-    0xf3, 0x79, 0xda, 0xf1, 0xf1, 0xf1, 0xf1, 0xb1, 0x88, 0xb9, 0xac, 0xd0, 0xc0, 0xb3, 0xf3, 0xf3,
+    0x2e, 0x88, 0xf5, 0x75, 0xda, 0xff, 0xd8, 0x71, 0x80, 0xa9, 0xda, 0xf1, 0xff, 0xd8, 0x82, 0xa7,
+    0xf3, 0xc1, 0xf2, 0x80, 0xc2, 0xf1, 0x97, 0x86, 0x49, 0x2e, 0xa6, 0xd0, 0x50, 0x96, 0x86, 0xaf,
+    0x75, 0xd9, 0x88, 0xa2, 0xd0, 0xf3, 0xc0, 0xc3, 0xf1, 0xda, 0x8f, 0x96, 0xa2, 0xd0, 0xf3, 0xc2,
+    0xc3, 0x82, 0xb4, 0x93, 0x78, 0x78, 0xf1, 0xd8, 0x80, 0xb7, 0x90, 0xaf, 0x0d, 0x89, 0x99, 0xaf,
+    0x10, 0x80, 0x9f, 0x21, 0xda, 0x2e, 0xd8, 0x89, 0x99, 0xaf, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xaf,
+    0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0xaf, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9,
+    0x2e, 0xd8, 0xf1, 0x89, 0x90, 0xaf, 0xd0, 0x09, 0x8f, 0x99, 0xaf, 0x51, 0xdb, 0x89, 0x31, 0xf3,
+    0x82, 0x92, 0x19, 0xf2, 0xb1, 0x84, 0xb5, 0x94, 0x71, 0xd9, 0xf1, 0xdf, 0xf9, 0xf2, 0xb9, 0xa4,
+    0xd0, 0xf8, 0xf8, 0xf3, 0xdf, 0xd8, 0xb3, 0xb7, 0xbb, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22,
+    0xf1, 0xa9, 0x22, 0x26, 0x9f, 0xaf, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2, 0xf2, 0xde, 0xf1,
+    0xa9, 0xdf, 0xf3, 0xb8, 0xa3, 0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 0xff, 0xd8, 0xf2, 0xb2, 0xb6, 0xba,
+    0xa2, 0xd0, 0xde, 0xf8, 0xf1, 0xb0, 0x87, 0x90, 0xab, 0xd0, 0x7e, 0xb2, 0x80, 0xb7, 0x96, 0xab,
+    0x01, 0x8b, 0xb6, 0x92, 0xab, 0x05, 0xdb, 0x82, 0x9b, 0x79, 0xf3, 0xb1, 0x84, 0xb4, 0x97, 0x49,
+    0xf2, 0xa2, 0xd0, 0xf8, 0xd8, 0xf3, 0xb9, 0xa4, 0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 0xf2, 0xba, 0xa2,
+    0xd0, 0xf8, 0xd8, 0xb3, 0xb7, 0xbb, 0x97, 0x8c, 0xaf, 0xf3, 0x79, 0xda, 0xf1, 0xf1, 0xf1, 0xf1,
+    0xb1, 0x88, 0xb9, 0xac, 0xd0, 0xc0, 0xb3, 0xf3, 0xf3, 0xb9, 0xaa, 0xfa, 0xf1, 0xbb, 0xaa, 0xd0,
     /* bank # 11 */
-    0xb9, 0xaa, 0xfa, 0xf1, 0xbb, 0xaa, 0xd0, 0xf8, 0xf4, 0x10, 0xd8, 0xf3, 0xa7, 0xd0, 0xfa, 0x97,
-    0x8c, 0xaf, 0x79, 0xda, 0xf1, 0x87, 0x9a, 0xaa, 0xd0, 0x70, 0xd8, 0xf2, 0x82, 0x92, 0xaf, 0x31,
-    0xd9, 0xf1, 0xde, 0xb2, 0x82, 0xb6, 0x92, 0xcc, 0xb3, 0x8f, 0xb7, 0x96, 0xa6, 0x00, 0xac, 0x8c,
-    0x9c, 0x0c, 0x30, 0xdb, 0xb2, 0xb6, 0xba, 0x82, 0x92, 0xab, 0x39, 0xf3, 0xb1, 0x84, 0xb4, 0x97,
-    0x49, 0xd9, 0xf1, 0xb2, 0xb6, 0x80, 0x90, 0xa0, 0xd0, 0x5e, 0xf0, 0x92, 0x38, 0xd8, 0xf2, 0xb3,
-    0x82, 0xb7, 0x92, 0xbb, 0xaf, 0x31, 0xd9, 0xf1, 0xbb, 0xac, 0xde, 0xd0, 0xde, 0xba, 0xa2, 0xd0,
-    0xdf, 0xf1, 0xff, 0xd8, 0xf3, 0xb9, 0xa4, 0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 0xf2, 0xbb, 0xa2, 0xfa,
-    0xf8, 0xda, 0xf2, 0xbb, 0xa2, 0xfa, 0xd8, 0xf2, 0xb3, 0xb7, 0xbb, 0x80, 0x92, 0xaf, 0x49, 0xd1,
-    0xd9, 0xf1, 0xb9, 0xa4, 0xde, 0xa0, 0xde, 0xdf, 0xd8, 0xf1, 0x8c, 0x9c, 0xbb, 0xac, 0xd0, 0x10,
-    0xac, 0xde, 0xba, 0xa2, 0xd0, 0xdf, 0xbb, 0x92, 0x82, 0xaf, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96,
-    0x8f, 0xa6, 0xd9, 0x00, 0xd8, 0xff
+    0xf8, 0xf4, 0x10, 0xd8, 0xf3, 0xa7, 0xd0, 0xfa, 0x97, 0x8c, 0xaf, 0x79, 0xda, 0xf1, 0x87, 0x9a,
+    0xaa, 0xd0, 0x70, 0xd8, 0xf2, 0x82, 0x92, 0xaf, 0x31, 0xd9, 0xf1, 0xde, 0xb2, 0x82, 0xb6, 0x92,
+    0xcc, 0xb3, 0x8f, 0xb7, 0x96, 0xa6, 0x00, 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xdb, 0xb2, 0xb6, 0xba,
+    0x82, 0x92, 0xab, 0x39, 0xf3, 0xb1, 0x84, 0xb4, 0x97, 0x49, 0xd9, 0xf1, 0xb2, 0xb6, 0x80, 0x90,
+    0xa0, 0xd0, 0x5e, 0xf0, 0x92, 0x38, 0xd8, 0xf2, 0xb3, 0x82, 0xb7, 0x92, 0xbb, 0xaf, 0x31, 0xd9,
+    0xf1, 0xbb, 0xac, 0xde, 0xd0, 0xde, 0xba, 0xa2, 0xd0, 0xdf, 0xf1, 0xff, 0xd8, 0xf3, 0xb9, 0xa4,
+    0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 0xf2, 0xbb, 0xa2, 0xfa, 0xf8, 0xda, 0xf2, 0xbb, 0xa2, 0xfa, 0xd8,
+    0xf2, 0xb3, 0xb7, 0xbb, 0x80, 0x92, 0xaf, 0x49, 0xd1, 0xd9, 0xf1, 0xb9, 0xa4, 0xde, 0xa0, 0xde,
+    0xdf, 0xd8, 0xf1, 0x8c, 0x9c, 0xbb, 0xac, 0xd0, 0x10, 0xac, 0xde, 0xba, 0xa2, 0xd0, 0xdf, 0xbb,
+    0x92, 0x82, 0xaf, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x8f, 0xa6, 0xd9, 0x00, 0xd8, 0xff
 };
 
 #define DMP_VERSION (dmpMemory)
diff --git a/6515/libsensors_iio/software/core/mllite/mpl.c b/6515/libsensors_iio/software/core/mllite/mpl.c
index 79631e8..c0c7fca 100644
--- a/6515/libsensors_iio/software/core/mllite/mpl.c
+++ b/6515/libsensors_iio/software/core/mllite/mpl.c
@@ -46,7 +46,7 @@ inv_error_t inv_init_mpl(void)
     return INV_SUCCESS;
 }
 
-const char ml_ver[] = "InvenSense MA 5.2.0 K RC22";
+const char ml_ver[] = "InvenSense MA 5.2.0 K RC23";
 
 /**
  *  @brief  used to get the MPL version.
diff --git a/6515/libsensors_iio/software/core/mpl/build/android/libmplmpu.so b/6515/libsensors_iio/software/core/mpl/build/android/libmplmpu.so
index a50bdfb..7f2df13 100755
--- a/6515/libsensors_iio/software/core/mpl/build/android/libmplmpu.so
+++ b/6515/libsensors_iio/software/core/mpl/build/android/libmplmpu.so
diff --git a/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/inv_devnode_parser-shared b/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/inv_devnode_parser-shared
index 092d7c4..6ced019 100755
--- a/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/inv_devnode_parser-shared
+++ b/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/inv_devnode_parser-shared
diff --git a/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared b/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
index be620fe..f59b8d3 100755
--- a/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
+++ b/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
diff --git a/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared b/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
index b524d37..209700b 100755
--- a/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
+++ b/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
diff --git a/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/inv_playback-shared b/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/inv_playback-shared
index 9252ad1..692612e 100755
--- a/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/inv_playback-shared
+++ b/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/inv_playback-shared
diff --git a/6515/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared b/6515/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
index f2c157d..7fc9362 100755
--- a/6515/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
+++ b/6515/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
diff --git a/6515/libsensors_iio/software/simple_apps/stress_iio/stress_iio.c b/6515/libsensors_iio/software/simple_apps/stress_iio/stress_iio.c
index 0186041..5959cd6 100644
--- a/6515/libsensors_iio/software/simple_apps/stress_iio/stress_iio.c
+++ b/6515/libsensors_iio/software/simple_apps/stress_iio/stress_iio.c
@@ -253,6 +253,10 @@ static void setup_dmp(char *dev_path){
 	if (ret < 0)
 		return;
 	/* selelct which event to enable and interrupt on/off here */
+	//enable_glu(sysfs_path, 0);
+//	ret = write_sysfs_int_and_verify("tap_on", sysfs_path, 0);
+//	if (ret < 0)
+//		return;
 	ret = write_sysfs_int_and_verify("pedometer_int_on", sysfs_path, 1);
 	ret = write_sysfs_int_and_verify("pedometer_on", sysfs_path, 1);
 
@@ -510,7 +514,9 @@ static int run_enable_sequence()
 		a = true;
 
 	g = true;
+//	g = false;
 	a = true;
+//	a = false;
 	/*disable the master enable */
 	enable_enable(0);
 	if(g) {
@@ -569,6 +575,10 @@ static int run_enable_sequence()
 	first_flag = 1;
 	/*enable the master enable */
 	enable_enable(1);
+	//enable_enable(0);
+	//verify_img();
+	//while(1);
+	//write_sysfs_string_and_verify("wake_unlock", "/sys/power/", "hack");
 	if (enable_random_delay)
 		random_delay();
 	else {
@@ -624,6 +634,7 @@ static int run_dmp_off() {
 	g = true;
 	a = true;
 	a = false;
+//	g = false;
 	/*disable the master enable */
 	enable_enable(0);
 	if(g) {