/*
$License:
Copyright (C) 2011 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 .
$
*/
#ifndef __MPU_H_
#define __MPU_H_
#ifdef __KERNEL__
#include
#include
#elif defined LINUX
#include
#endif
#define CONFIG_MPU_SENSORS_MPU6050B1
#if defined CONFIG_MPU_SENSORS_MPU6050A2
#include "mpu6050a2.h"
#elif defined CONFIG_MPU_SENSORS_MPU6050B1
#include "mpu6050b1.h"
#elif defined CONFIG_MPU_SENSORS_MPU3050
#include "mpu3050.h"
#else
#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx
#endif
/* Number of axes on each sensor */
#define GYRO_NUM_AXES (3)
#define ACCEL_NUM_AXES (3)
#define COMPASS_NUM_AXES (3)
#if defined __KERNEL__ || defined LINUX
#define MPU_IOCTL (0x810000) /* Magic number for MPU Iocts */
/* IOCTL commands for /dev/mpu */
#define MPU_SET_MPU_CONFIG (MPU_IOCTL + 0x00)
#define MPU_GET_MPU_CONFIG (MPU_IOCTL + 0x01)
#define MPU_SET_PLATFORM_DATA (MPU_IOCTL + 0x02)
#define MPU_READ (MPU_IOCTL + 0x03)
#define MPU_WRITE (MPU_IOCTL + 0x04)
#define MPU_READ_MEM (MPU_IOCTL + 0x05)
#define MPU_WRITE_MEM (MPU_IOCTL + 0x06)
#define MPU_READ_FIFO (MPU_IOCTL + 0x07)
#define MPU_WRITE_FIFO (MPU_IOCTL + 0x08)
#define MPU_READ_COMPASS (MPU_IOCTL + 0x09)
#define MPU_READ_ACCEL (MPU_IOCTL + 0x0A)
#define MPU_READ_PRESSURE (MPU_IOCTL + 0x0B)
#define MPU_CONFIG_ACCEL (MPU_IOCTL + 0x0C)
#define MPU_CONFIG_COMPASS (MPU_IOCTL + 0x0D)
#define MPU_CONFIG_PRESSURE (MPU_IOCTL + 0x0E)
#define MPU_GET_CONFIG_ACCEL (MPU_IOCTL + 0x10)
#define MPU_GET_CONFIG_COMPASS (MPU_IOCTL + 0x11)
#define MPU_GET_CONFIG_PRESSURE (MPU_IOCTL + 0x12)
#define MPU_SUSPEND (MPU_IOCTL + 0x13)
#define MPU_RESUME (MPU_IOCTL + 0x14)
/* Userspace PM Event response */
#define MPU_PM_EVENT_HANDLED (MPU_IOCTL + 0x15)
#define MPU_READ_ACCEL_OFFSET (MPU_IOCTL + 0x16)
#endif
/* Structure for the following IOCTL's:
MPU_READ
MPU_WRITE
MPU_READ_MEM
MPU_WRITE_MEM
MPU_READ_FIFO
MPU_WRITE_FIFO
*/
struct mpu_read_write {
/* Memory address or register address depending on ioctl */
unsigned short address;
unsigned short length;
unsigned char *data;
};
enum mpuirq_data_type {
MPUIRQ_DATA_TYPE_MPU_IRQ,
MPUIRQ_DATA_TYPE_SLAVE_IRQ,
MPUIRQ_DATA_TYPE_PM_EVENT,
MPUIRQ_DATA_TYPE_NUM_TYPES,
};
/* User space PM event notification */
#define MPU_PM_EVENT_SUSPEND_PREPARE (3)
#define MPU_PM_EVENT_POST_SUSPEND (4)
struct mpuirq_data {
int interruptcount;
unsigned long long irqtime;
int data_type;
long data;
};
enum ext_slave_config_key {
MPU_SLAVE_CONFIG_ODR_SUSPEND,
MPU_SLAVE_CONFIG_ODR_RESUME,
MPU_SLAVE_CONFIG_FSR_SUSPEND,
MPU_SLAVE_CONFIG_FSR_RESUME,
MPU_SLAVE_CONFIG_MOT_THS,
MPU_SLAVE_CONFIG_NMOT_THS,
MPU_SLAVE_CONFIG_MOT_DUR,
MPU_SLAVE_CONFIG_NMOT_DUR,
MPU_SLAVE_CONFIG_IRQ_SUSPEND,
MPU_SLAVE_CONFIG_IRQ_RESUME,
MPU_SLAVE_WRITE_REGISTERS,
MPU_SLAVE_READ_REGISTERS,
MPU_SLAVE_CONFIG_INTERNAL_REFERENCE,
/* AMI 306 specific config keys */
MPU_SLAVE_PARAM,
MPU_SLAVE_WINDOW,
MPU_SLAVE_READWINPARAMS,
MPU_SLAVE_SEARCHOFFSET,
/* AKM specific config keys */
MPU_SLAVE_READ_SCALE,
MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS,
};
/* For the MPU_SLAVE_CONFIG_IRQ_SUSPEND and MPU_SLAVE_CONFIG_IRQ_RESUME */
enum ext_slave_config_irq_type {
MPU_SLAVE_IRQ_TYPE_NONE,
MPU_SLAVE_IRQ_TYPE_MOTION,
MPU_SLAVE_IRQ_TYPE_DATA_READY,
};
/* Structure for the following IOCTS's
* MPU_CONFIG_ACCEL
* MPU_CONFIG_COMPASS
* MPU_CONFIG_PRESSURE
* MPU_GET_CONFIG_ACCEL
* MPU_GET_CONFIG_COMPASS
* MPU_GET_CONFIG_PRESSURE
*
* @key one of enum ext_slave_config_key
* @len length of data pointed to by data
* @apply zero if communication with the chip is not necessary, false otherwise
* This flag can be used to select cached data or to refresh cashed data
* cache data to be pushed later or push immediately. If true and the
* slave is on the secondary bus the MPU will first enger bypass mode
* before calling the slaves .config or .get_config funcion
* @data pointer to the data to confgure or get
*/
struct ext_slave_config {
int key;
int len;
int apply;
void *data;
};
enum ext_slave_type {
EXT_SLAVE_TYPE_GYROSCOPE,
EXT_SLAVE_TYPE_ACCELEROMETER,
EXT_SLAVE_TYPE_COMPASS,
EXT_SLAVE_TYPE_PRESSURE,
/*EXT_SLAVE_TYPE_TEMPERATURE */
};
enum ext_slave_id {
ID_INVALID = 0,
ACCEL_ID_LIS331,
ACCEL_ID_LSM303,
ACCEL_ID_LIS3DH,
ACCEL_ID_KXSD9,
ACCEL_ID_KXTF9,
ACCEL_ID_BMA150,
ACCEL_ID_BMA222,
ACCEL_ID_BMA250,
ACCEL_ID_ADXL34X,
ACCEL_ID_MMA8450,
ACCEL_ID_MMA845X,
ACCEL_ID_MPU6050,
COMPASS_ID_AKM,
COMPASS_ID_AMI30X,
COMPASS_ID_AMI306,
COMPASS_ID_YAS529,
COMPASS_ID_YAS530,
COMPASS_ID_HMC5883,
COMPASS_ID_LSM303,
COMPASS_ID_MMC314X,
COMPASS_ID_HSCDTD002B,
COMPASS_ID_HSCDTD004A,
PRESSURE_ID_BMA085,
};
enum ext_slave_endian {
EXT_SLAVE_BIG_ENDIAN,
EXT_SLAVE_LITTLE_ENDIAN,
EXT_SLAVE_FS8_BIG_ENDIAN,
EXT_SLAVE_FS16_BIG_ENDIAN,
};
enum ext_slave_bus {
EXT_SLAVE_BUS_INVALID = -1,
EXT_SLAVE_BUS_PRIMARY = 0,
EXT_SLAVE_BUS_SECONDARY = 1
};
/**
* struct ext_slave_platform_data - Platform data for mpu3050 and mpu6050
* slave devices
*
* @get_slave_descr: Function pointer to retrieve the struct ext_slave_descr
* for this slave
* @irq: the irq number attached to the slave if any.
* @adapt_num: the I2C adapter number.
* @bus: the bus the slave is attached to: enum ext_slave_bus
* @address: the I2C slave address of the slave device.
* @orientation: the mounting matrix of the device relative to MPU.
* @irq_data: private data for the slave irq handler
* @private_data: additional data, user customizable. Not touched by the MPU
* driver.
*
* The orientation matricies are 3x3 rotation matricies
* that are applied to the data to rotate from the mounting orientation to the
* platform orientation. The values must be one of 0, 1, or -1 and each row and
* column should have exactly 1 non-zero value.
*/
struct ext_slave_platform_data {
struct ext_slave_descr *(*get_slave_descr) (void);
int irq;
int adapt_num;
int bus;
unsigned char address;
signed char orientation[9];
void *irq_data;
void *private_data;
};
struct fix_pnt_range {
long mantissa;
long fraction;
};
#define RANGE_FIXEDPOINT_TO_LONG_MG(rng) \
(rng.mantissa * 1000 + rng.fraction / 10)
struct ext_slave_read_trigger {
unsigned char reg;
unsigned char value;
};
/**
* struct ext_slave_descr - Description of the slave device for programming.
*
* @suspend: function pointer to put the device in suspended state
* @resume: function pointer to put the device in running state
* @read: function that reads the device data
* @init: function used to preallocate memory used by the driver
* @exit: function used to free memory allocated for the driver
* @config: function used to configure the device
* @get_config:function used to get the device's configuration
*
* @name: text name of the device
* @type: device type. enum ext_slave_type
* @id: enum ext_slave_id
* @read_reg: starting register address to retrieve data.
* @read_len: length in bytes of the sensor data. Typically 6.
* @endian: byte order of the data. enum ext_slave_endian
* @range: full scale range of the slave ouput: struct fix_pnt_range
* @trigger: If reading data first requires writing a register this is the
* data to write.
*
* Defines the functions and information about the slave the mpu3050 and
* mpu6050 needs to use the slave device.
*/
struct ext_slave_descr {
int (*init) (void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata);
int (*exit) (void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata);
int (*suspend) (void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata);
int (*resume) (void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata);
int (*read) (void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
unsigned char *data);
int (*config) (void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
struct ext_slave_config *config);
int (*get_config) (void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
struct ext_slave_config *config);
char *name;
unsigned char type;
unsigned char id;
unsigned char read_reg;
unsigned int read_len;
unsigned char endian;
struct fix_pnt_range range;
struct ext_slave_read_trigger *trigger;
};
/**
* struct mpu_platform_data - Platform data for the mpu driver
* @int_config: Bits [7:3] of the int config register.
* @orientation: Orientation matrix of the gyroscope
* @level_shifter: 0: VLogic, 1: VDD
* @accel: Accel platform data
* @compass: Compass platform data
* @pressure: Pressure platform data
*
* Contains platform specific information on how to configure the MPU3050 to
* work on this platform. The orientation matricies are 3x3 rotation matricies
* that are applied to the data to rotate from the mounting orientation to the
* platform orientation. The values must be one of 0, 1, or -1 and each row and
* column should have exactly 1 non-zero value.
*/
struct mpu_platform_data {
unsigned char int_config;
signed char orientation[MPU_NUM_AXES * MPU_NUM_AXES];
unsigned char level_shifter;
struct ext_slave_platform_data accel;
struct ext_slave_platform_data compass;
struct ext_slave_platform_data pressure;
};
/*
Accelerometer
*/
#define get_accel_slave_descr NULL
#ifdef CONFIG_MPU_SENSORS_ADXL34X /* ADI accelerometer */
struct ext_slave_descr *adxl34x_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr adxl34x_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_BMA150 /* Bosch accelerometer */
struct ext_slave_descr *bma150_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr bma150_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_BMA222 /* Bosch 222 accelerometer */
struct ext_slave_descr *bma222_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr bma222_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_BMA250 /* Bosch accelerometer */
struct ext_slave_descr *bma250_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr bma250_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_KXSD9 /* Kionix accelerometer */
struct ext_slave_descr *kxsd9_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr kxsd9_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_KXTF9 /* Kionix accelerometer */
struct ext_slave_descr *kxtf9_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr kxtf9_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_LIS331DLH /* ST accelerometer */
struct ext_slave_descr *lis331dlh_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr lis331dlh_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_LIS3DH /* ST accelerometer */
struct ext_slave_descr *lis3dh_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr lis3dh_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_LSM303DLHA /* ST accelerometer */
struct ext_slave_descr *lsm303dlha_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr lsm303dlha_get_slave_descr
#endif
/* MPU6050 Accel */
#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
defined CONFIG_MPU_SENSORS_MPU6050B1
struct ext_slave_descr *mpu6050_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr mantis_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_MMA8450 /* Freescale accelerometer */
struct ext_slave_descr *mma8450_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr mma8450_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_MMA845X /* Freescale accelerometer */
struct ext_slave_descr *mma845x_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr mma845x_get_slave_descr
#endif
/*
Compass
*/
#define get_compass_slave_descr NULL
#ifdef CONFIG_MPU_SENSORS_AK8975_NEW /* AKM compass */
struct ext_slave_descr *ak8975_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr ak8975_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_AMI30X /* AICHI Steel AMI304/305 compass */
struct ext_slave_descr *ami30x_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr ami30x_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_AMI306 /* AICHI Steel AMI306 compass */
struct ext_slave_descr *ami306_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr ami306_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_HMC5883 /* Honeywell compass */
struct ext_slave_descr *hmc5883_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr hmc5883_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_MMC314X /* MEMSIC compass */
struct ext_slave_descr *mmc314x_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr mmc314x_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_LSM303DLHM /* ST compass */
struct ext_slave_descr *lsm303dlhm_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr lsm303dlhm_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_YAS529 /* Yamaha compass */
struct ext_slave_descr *yas529_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr yas529_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_YAS530_NEW /* Yamaha compass */
struct ext_slave_descr *yas530_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr yas530_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_HSCDTD002B /* Alps HSCDTD002B compass */
struct ext_slave_descr *hscdtd002b_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr hscdtd002b_get_slave_descr
#endif
#ifdef CONFIG_MPU_SENSORS_HSCDTD004A /* Alps HSCDTD004A compass */
struct ext_slave_descr *hscdtd004a_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr hscdtd004a_get_slave_descr
#endif
/*
Pressure
*/
#define get_pressure_slave_descr NULL
#ifdef CONFIG_MPU_SENSORS_BMA085 /* BMA pressure */
struct ext_slave_descr *bma085_get_slave_descr(void);
#undef get_pressure_slave_descr
#define get_pressure_slave_descr bma085_get_slave_descr
#endif
#endif /* __MPU_H_ */