/* * 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 #include #elif defined LINUX #include #include #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_ */