diff options
Diffstat (limited to 'libsensors_iio/software/core/driver/include/linux/mpu.h')
| -rw-r--r-- | libsensors_iio/software/core/driver/include/linux/mpu.h | 355 |
1 files changed, 355 insertions, 0 deletions
diff --git a/libsensors_iio/software/core/driver/include/linux/mpu.h b/libsensors_iio/software/core/driver/include/linux/mpu.h new file mode 100644 index 0000000..9b29695 --- /dev/null +++ b/libsensors_iio/software/core/driver/include/linux/mpu.h @@ -0,0 +1,355 @@ +/* +* Copyright (C) 2012 Invensense, Inc. +* +* This software is licensed under the terms of the GNU General Public +* License version 2, as published by the Free Software Foundation, and +* may be copied, distributed, and modified under those terms. +* +* 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. +* +*/ + +/** + * @addtogroup DRIVERS + * @brief Hardware drivers. + * + * @{ + * @file mpu.h + * @brief mpu definition + */ + +#ifndef __MPU_H_ +#define __MPU_H_ + +#ifdef __KERNEL__ +#include <linux/types.h> +#include <linux/ioctl.h> +#elif defined LINUX +#include <sys/ioctl.h> +#include <linux/types.h> +#else +#include "mltypes.h" +#endif + +struct mpu_read_write { + /* Memory address or register address depending on ioctl */ + __u16 address; + __u16 length; + __u8 *data; +}; + +enum mpuirq_data_type { + MPUIRQ_DATA_TYPE_MPU_DATA_READY_IRQ, + MPUIRQ_DATA_TYPE_MPU_FIFO_READY_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 - structure to report what and when + * @interruptcount : The number of times this IRQ has occured since open + * @irqtime : monotonic time of the IRQ in ns + * @data_type : The type of this IRQ enum mpuirq_data_type + * @data : Data associated with this IRQ + */ +struct mpuirq_data { + __u32 interruptcount; + __s64 irqtime_ns; + __u32 data_type; + __s32 data; +}; + +enum ext_slave_config_key { + /* TODO: Remove these first six. */ + MPU_SLAVE_CONFIG_ODR_SUSPEND, + MPU_SLAVE_CONFIG_ODR_RESUME, + MPU_SLAVE_CONFIG_FSR_SUSPEND, + MPU_SLAVE_CONFIG_FSR_RESUME, + MPU_SLAVE_CONFIG_IRQ_SUSPEND, + MPU_SLAVE_CONFIG_IRQ_RESUME, + MPU_SLAVE_CONFIG_ODR, + MPU_SLAVE_CONFIG_FSR, + MPU_SLAVE_CONFIG_MOT_THS, + MPU_SLAVE_CONFIG_NMOT_THS, + MPU_SLAVE_CONFIG_MOT_DUR, + MPU_SLAVE_CONFIG_NMOT_DUR, + MPU_SLAVE_CONFIG_IRQ, + 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, + /* MPU3050 and MPU6050 Keys */ + MPU_SLAVE_INT_CONFIG, + MPU_SLAVE_EXT_SYNC, + MPU_SLAVE_FULL_SCALE, + MPU_SLAVE_LPF, + MPU_SLAVE_CLK_SRC, + MPU_SLAVE_DIVIDER, + MPU_SLAVE_DMP_ENABLE, + MPU_SLAVE_FIFO_ENABLE, + MPU_SLAVE_DMP_CFG1, + MPU_SLAVE_DMP_CFG2, + MPU_SLAVE_TC, + MPU_SLAVE_GYRO, + MPU_SLAVE_ADDR, + MPU_SLAVE_PRODUCT_REVISION, + MPU_SLAVE_SILICON_REVISION, + MPU_SLAVE_PRODUCT_ID, + MPU_SLAVE_GYRO_SENS_TRIM, + MPU_SLAVE_ACCEL_SENS_TRIM, + MPU_SLAVE_RAM, + /* -------------------------- */ + 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_GYRO + * MPU_CONFIG_ACCEL + * MPU_CONFIG_COMPASS + * MPU_CONFIG_PRESSURE + * MPU_GET_CONFIG_GYRO + * 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 { + __u8 key; + __u16 len; + __u8 apply; + void *data; +}; + +enum ext_slave_type { + EXT_SLAVE_TYPE_GYROSCOPE, + EXT_SLAVE_TYPE_ACCEL, + EXT_SLAVE_TYPE_COMPASS, + EXT_SLAVE_TYPE_PRESSURE, + /*EXT_SLAVE_TYPE_TEMPERATURE */ + + EXT_SLAVE_NUM_TYPES +}; +enum secondary_slave_type { + SECONDARY_SLAVE_TYPE_NONE, + SECONDARY_SLAVE_TYPE_ACCEL, + SECONDARY_SLAVE_TYPE_COMPASS, + SECONDARY_SLAVE_TYPE_PRESSURE, + + SECONDARY_SLAVE_TYPE_TYPES +}; + +enum ext_slave_id { + ID_INVALID = 0, + GYRO_ID_MPU3050, + GYRO_ID_MPU6050A2, + GYRO_ID_MPU6050B1, + GYRO_ID_MPU6050B1_NO_ACCEL, + GYRO_ID_ITG3500, + + ACCEL_ID_LIS331, + ACCEL_ID_LSM303DLX, + 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_AK8963, + COMPASS_ID_AK8975, + COMPASS_ID_AK8972, + COMPASS_ID_AMI30X, + COMPASS_ID_AMI306, + COMPASS_ID_YAS529, + COMPASS_ID_YAS530, + COMPASS_ID_HMC5883, + COMPASS_ID_LSM303DLH, + COMPASS_ID_LSM303DLM, + COMPASS_ID_MMC314X, + COMPASS_ID_HSCDTD002B, + COMPASS_ID_HSCDTD004A, + + PRESSURE_ID_BMA085, +}; + +#define INV_PROD_KEY(ver, rev) (ver * 100 + rev) + +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 + * + * @type: the type of slave device based on the enum ext_slave_type + * definitions. + * @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 { + __u8 type; + __u32 irq; + __u32 adapt_num; + __u32 bus; + __u8 address; + __s8 orientation[9]; + void *irq_data; + void *private_data; +}; + +struct fix_pnt_range { + __s32 mantissa; + __s32 fraction; +}; + +static inline long range_fixedpoint_to_long_mg(struct fix_pnt_range rng) +{ + return (long)(rng.mantissa * 1000 + rng.fraction / 10); +} + +struct ext_slave_read_trigger { + __u8 reg; + __u8 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, + __u8 *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; + __u8 type; + __u8 id; + __u8 read_reg; + __u8 read_len; + __u8 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. + * @level_shifter: 0: VLogic, 1: VDD + * @orientation: Orientation matrix of the gyroscope + * @sec_slave_type: secondary slave device type, can be compass, accel, etc + * @sec_slave_id: id of the secondary slave device + * @secondary_i2c_address: secondary device's i2c address + * @secondary_orientation: secondary device's orientation matrix + * + * 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 { + __u8 int_config; + __u8 level_shifter; + __s8 orientation[9]; + enum secondary_slave_type sec_slave_type; + enum ext_slave_id sec_slave_id; + __u16 secondary_i2c_addr; + __s8 secondary_orientation[9]; + __u8 key[16]; +}; + +#endif /* __MPU_H_ */ |