/* * 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. */ #ifndef _INV_MPU_IIO_H_ #define _INV_MPU_IIO_H_ #include #include #include #include #include #include "iio.h" #include "buffer.h" #include "dmpKey.h" /*register and associated bit definition*/ #define REG_3050_FIFO_EN 0x12 #define BITS_3050_ACCEL_OUT 0x0E #define REG_3050_AUX_VDDIO 0x13 #define BIT_3050_VDDIO 0x04 #define REG_3050_SLAVE_ADDR 0x14 #define REG_3050_SAMPLE_RATE_DIV 0x15 #define REG_3050_LPF 0x16 #define REG_3050_INT_ENABLE 0x17 #define REG_3050_AUX_BST_ADDR 0x18 #define REG_3050_INT_STATUS 0x1A #define REG_3050_TEMPERATURE 0x1B #define REG_3050_RAW_GYRO 0x1D #define REG_3050_AUX_XOUT_H 0x23 #define REG_3050_FIFO_COUNT_H 0x3A #define REG_3050_FIFO_R_W 0x3C #define REG_3050_USER_CTRL 0x3D #define BIT_3050_AUX_IF_EN 0x20 #define BIT_3050_FIFO_RST 0x02 #define REG_3050_PWR_MGMT_1 0x3E #define BITS_3050_POWER1 0x30 #define BITS_3050_POWER2 0x10 #define BITS_3050_GYRO_STANDBY 0x38 #define REG_3500_OTP 0x0 #define REG_YGOFFS_TC 0x1 #define BIT_I2C_MST_VDDIO 0x80 #define REG_XA_OFFS_H 0x6 #define REG_XA_OFFS_L_TC 0x7 #define REG_PRODUCT_ID 0xC #define REG_ST_GCT_X 0xD #define REG_XG_OFFS_USRH 0x13 #define REG_SAMPLE_RATE_DIV 0x19 #define REG_CONFIG 0x1A #define REG_GYRO_CONFIG 0x1B #define BITS_SELF_TEST_EN 0xE0 #define REG_ACCEL_CONFIG 0x1C #define REG_ACCEL_MOT_THR 0x1F #define REG_ACCEL_MOT_DUR 0x20 #define REG_FIFO_EN 0x23 #define BIT_ACCEL_OUT 0x08 #define BITS_GYRO_OUT 0x70 #define REG_I2C_MST_CTRL 0x24 #define BIT_WAIT_FOR_ES 0x40 #define REG_I2C_SLV0_ADDR 0x25 #define REG_I2C_SLV0_REG 0x26 #define REG_I2C_SLV0_CTRL 0x27 #define REG_I2C_SLV1_ADDR 0x28 #define REG_I2C_SLV1_REG 0x29 #define REG_I2C_SLV1_CTRL 0x2A #define REG_I2C_SLV2_ADDR 0x2B #define REG_I2C_SLV2_REG 0x2C #define REG_I2C_SLV2_CTRL 0x2D #define REG_I2C_SLV3_ADDR 0x2E #define REG_I2C_SLV3_REG 0x2F #define REG_I2C_SLV3_CTRL 0x30 #define REG_I2C_SLV4_CTRL 0x34 #define INV_MPU_BIT_SLV_EN 0x80 #define INV_MPU_BIT_BYTE_SW 0x40 #define INV_MPU_BIT_REG_DIS 0x20 #define INV_MPU_BIT_GRP 0x10 #define INV_MPU_BIT_I2C_READ 0x80 #define REG_INT_PIN_CFG 0x37 #define BIT_BYPASS_EN 0x2 #define REG_INT_ENABLE 0x38 #define BIT_DATA_RDY_EN 0x01 #define BIT_DMP_INT_EN 0x02 #define BIT_ZMOT_EN 0x20 #define BIT_MOT_EN 0x40 #define BIT_6500_WOM_EN 0x40 #define REG_DMP_INT_STATUS 0x39 #define BIT_DMP_INT_CI 0x01 #define REG_INT_STATUS 0x3A #define BIT_MOT_INT 0x40 #define BIT_ZMOT_INT 0x20 #define REG_RAW_ACCEL 0x3B #define REG_TEMPERATURE 0x41 #define REG_EXT_SENS_DATA_00 0x49 #define REG_EXT_SENS_DATA_08 0x51 #define REG_EXT_SENS_DATA_09 0x52 #define REG_ACCEL_INTEL_STATUS 0x61 #define INV_MPU_REG_I2C_SLV0_DO 0x63 #define INV_MPU_REG_I2C_SLV1_DO 0x64 #define INV_MPU_REG_I2C_SLV2_DO 0x65 #define INV_MPU_REG_I2C_SLV3_DO 0x66 #define REG_I2C_MST_DELAY_CTRL 0x67 #define BIT_SLV0_DLY_EN 0x01 #define BIT_SLV1_DLY_EN 0x02 #define BIT_SLV2_DLY_EN 0x04 #define BIT_SLV3_DLY_EN 0x08 #define REG_USER_CTRL 0x6A #define BIT_FIFO_RST 0x04 #define BIT_DMP_RST 0x08 #define BIT_I2C_MST_EN 0x20 #define BIT_FIFO_EN 0x40 #define BIT_DMP_EN 0x80 #define REG_PWR_MGMT_1 0x6B #define BIT_H_RESET 0x80 #define BIT_SLEEP 0x40 #define BIT_CYCLE 0x20 #define BIT_CLK_MASK 0x7 #define REG_PWR_MGMT_2 0x6C #define BIT_PWR_ACCEL_STBY 0x38 #define BIT_PWR_GYRO_STBY 0x07 #define BIT_LPA_FREQ 0xC0 #define REG_BANK_SEL 0x6D #define REG_MEM_START_ADDR 0x6E #define REG_MEM_RW 0x6F #define REG_PRGM_STRT_ADDRH 0x70 #define REG_FIFO_COUNT_H 0x72 #define REG_FIFO_R_W 0x74 #define REG_WHOAMI 0x75 #define REG_6500_XG_ST_DATA 0x0 #define REG_6500_XA_ST_DATA 0xD #define REG_6500_XA_OFFS_H 0x77 #define REG_6500_YA_OFFS_H 0x7A #define REG_6500_ZA_OFFS_H 0x7D #define REG_6500_ACCEL_CONFIG2 0x1D #define BIT_ACCEL_FCHOCIE_B 0x08 #define BIT_FIFO_SIZE_1K 0x40 #define REG_6500_LP_ACCEL_ODR 0x1E #define REG_6500_ACCEL_WOM_THR 0x1F #define REG_6500_ACCEL_INTEL_CTRL 0x69 #define BIT_ACCEL_INTEL_ENABLE 0x80 #define BIT_ACCEL_INTEL_MODE 0x40 /* data definitions */ #define DMP_START_ADDR 0x400 #define DMP_MASK_TAP 0x3f #define DMP_MASK_DIS_ORIEN 0xC0 #define DMP_DIS_ORIEN_SHIFT 6 /* this is derived from 1000 divided by 50, which is the pedometer running frequency */ #define MS_PER_PED_TICKS 20 #define BYTES_FOR_DMP 8 #define BYTES_FOR_EVENTS 4 #define QUATERNION_BYTES 16 #define BYTES_PER_SENSOR 6 #define MPU3050_FOOTER_SIZE 2 #define FIFO_COUNT_BYTE 2 #define FIFO_THRESHOLD 800 #define FIFO_SIZE 992 #define HARDWARE_FIFO_SIZE 1024 #define MAX_READ_SIZE 64 #define POWER_UP_TIME 100 #define SENSOR_UP_TIME 30 #define REG_UP_TIME 2 #define INV_MPU_SAMPLE_RATE_CHANGE_STABLE 50 #define MPU_MEM_BANK_SIZE 256 #define SELF_TEST_GYRO_FULL_SCALE 250 #define SELF_TEST_ACCEL_FULL_SCALE 8 #define SELF_TEST_ACCEL_6500_SCALE 2 /* data header defines */ #define PRESSURE_HDR 0x8000 #define ACCEL_HDR 0x4000 #define GYRO_HDR 0x2000 #define COMPASS_HDR 0x1000 #define COMPASS_HDR_2 0x1800 #define LPQUAT_HDR 0x0800 #define SIXQUAT_HDR 0x0400 #define PEDQUAT_HDR 0x0200 #define STEP_DETECTOR_HDR 0x0100 #define STEP_INDICATOR_MASK 0xf #define MAX_BYTES_PER_SAMPLE 80 #define MAX_HW_FIFO_BYTES (BYTES_PER_SENSOR * 2) #define IIO_BUFFER_BYTES 8 #define HEADERED_NORMAL_BYTES 8 #define HEADERED_Q_BYTES 16 #define MPU6XXX_MAX_MOTION_THRESH (255*4) #define MPU6050_MOTION_THRESH_SHIFT 5 #define MPU6500_MOTION_THRESH_SHIFT 2 #define MPU6050_MOTION_DUR_DEFAULT 1 #define MPU6050_ID 0x68 #define MPU6050_MAX_MOTION_DUR 255 #define MPU_TEMP_SHIFT 16 #define LPA_FREQ_SHIFT 6 #define COMPASS_RATE_SCALE 10 #define MAX_GYRO_FS_PARAM 3 #define MAX_ACCEL_FS_PARAM 3 #define MAX_LPA_FREQ_PARAM 3 #define MPU_MAX_A_OFFSET_VALUE 16383 #define MPU_MIN_A_OFFSET_VALUE -16384 #define MPU_MAX_G_OFFSET_VALUE 32767 #define MPU_MIN_G_OFFSET_VALUE -32767 #define MPU6XXX_MAX_MPU_MEM (256 * 12) #define INIT_MOT_DUR 128 #define INIT_MOT_THR 128 #define INIT_ZMOT_DUR 128 #define INIT_ZMOT_THR 128 #define INIT_ST_SAMPLES 200 #define INIT_ST_MPU6050_SAMPLES 600 #define INIT_ST_THRESHOLD 50 #define INIT_PED_INT_THRESH 2 #define INIT_PED_THRESH 9 #define ST_THRESHOLD_MULTIPLIER 10 #define ST_MAX_SAMPLES 500 #define ST_MAX_THRESHOLD 100 #define DMP_INTERVAL_INIT (5 * NSEC_PER_MSEC) #define DMP_INTERVAL_MIN_ADJ (50 * NSEC_PER_USEC) /*---- MPU6500 ----*/ #define MPU6500_ID 0x70 /* unique WHOAMI */ #define MPU6515_ID 0x74 /* unique WHOAMI */ #define MPU6500_PRODUCT_REVISION 1 #define MPU6500_MEM_REV_ADDR 0x16 #define INV_MPU_REV_MASK 0x0F #define MPU6500_REV 2 #define MPU_DMP_LOAD_START 0x20 /*---- MPU9250 ----*/ #define MPU9250_ID 0x71 /* unique WHOAMI */ /* ----MPU9350 ----*/ #define MPU9350_ID 0x72 #define THREE_AXIS 3 #define GYRO_CONFIG_FSR_SHIFT 3 #define ACCEL_CONFIG_FSR_SHIFT 3 #define GYRO_DPS_SCALE 250 #define MEM_ADDR_PROD_REV 0x6 #define SOFT_PROD_VER_BYTES 5 #define CRC_FIRMWARE_SEED 0 #define SELF_TEST_SUCCESS 1 #define MS_PER_DMP_TICK 20 #define DMP_IMAGE_SIZE 2943 /* init parameters */ #define INIT_FIFO_RATE 50 #define INIT_DMP_OUTPUT_RATE 25 #define INIT_DUR_TIME (NSEC_PER_SEC / INIT_FIFO_RATE) #define INIT_TAP_THRESHOLD 100 #define INIT_TAP_TIME 100 #define INIT_TAP_MIN_COUNT 2 #define INIT_SAMPLE_DIVIDER 4 #define MPU_INIT_SMD_DELAY_THLD 3 #define MPU_INIT_SMD_DELAY2_THLD 1 #define MPU_INIT_SMD_THLD 1500 #define MPU_DEFAULT_DMP_FREQ 200 #define MPL_PROD_KEY(ver, rev) (ver * 100 + rev) #define NUM_OF_PROD_REVS (ARRAY_SIZE(prod_rev_map)) /*---- MPU6050 Silicon Revisions ----*/ #define MPU_SILICON_REV_A2 1 /* MPU6050A2 Device */ #define MPU_SILICON_REV_B1 2 /* MPU6050B1 Device */ #define BIT_PRFTCH_EN 0x40 #define BIT_CFG_USER_BANK 0x20 #define BITS_MEM_SEL 0x1f #define TIME_STAMP_TOR 5 #define MAX_CATCH_UP 5 #define DMP_TICK_DUR 5 #define DEFAULT_ACCEL_TRIM 16384 #define DEFAULT_GYRO_TRIM 131 #define MAX_FIFO_RATE 1000 #define MAX_DMP_OUTPUT_RATE 200 #define MIN_FIFO_RATE 4 #define ONE_K_HZ 1000 #define NS_PER_MS_SHIFT 20 #define END_MARKER 0x0010 #define EMPTY_MARKER 0x0020 /*tap related defines */ #define INV_TAP 0x08 #define INV_NUM_TAP_AXES 3 #define INV_TAP_AXIS_X_POS 0x20 #define INV_TAP_AXIS_X_NEG 0x10 #define INV_TAP_AXIS_Y_POS 0x08 #define INV_TAP_AXIS_Y_NEG 0x04 #define INV_TAP_AXIS_Z_POS 0x02 #define INV_TAP_AXIS_Z_NEG 0x01 #define INV_TAP_ALL_DIRECTIONS 0x3f #define INV_TAP_AXIS_X 0x1 #define INV_TAP_AXIS_Y 0x2 #define INV_TAP_AXIS_Z 0x4 #define INV_TAP_AXIS_ALL \ (INV_TAP_AXIS_X | \ INV_TAP_AXIS_Y | \ INV_TAP_AXIS_Z) #define INT_SRC_TAP 0x01 #define INT_SRC_DISPLAY_ORIENT 0x08 #define INT_SRC_SHAKE 0x10 #define INV_X_AXIS_INDEX 0x00 #define INV_Y_AXIS_INDEX 0x01 #define INV_Z_AXIS_INDEX 0x02 #define INV_ELEMENT_1 0x0001 #define INV_ELEMENT_2 0x0002 #define INV_ELEMENT_3 0x0004 #define INV_ELEMENT_4 0x0008 #define INV_ELEMENT_5 0x0010 #define INV_ELEMENT_6 0x0020 #define INV_ELEMENT_7 0x0040 #define INV_ELEMENT_8 0x0080 #define INV_ALL 0xFFFF #define INV_ELEMENT_MASK 0x00FF #define INV_GYRO_ACC_MASK 0x007E #define INV_ACCEL_MASK 0x70 #define INV_GYRO_MASK 0xE struct inv_mpu_state; /** * struct inv_reg_map_s - Notable slave registers. * @sample_rate_div: Divider applied to gyro output rate. * @lpf: Configures internal LPF. * @bank_sel: Selects between memory banks. * @user_ctrl: Enables/resets the FIFO. * @fifo_en: Determines which data will appear in FIFO. * @gyro_config: gyro config register. * @accel_config: accel config register * @fifo_count_h: Upper byte of FIFO count. * @fifo_r_w: FIFO register. * @raw_accel Address of first accel register. * @temperature temperature register * @int_enable: Interrupt enable register. * @int_status: Interrupt flags. * @pwr_mgmt_1: Controls chip's power state and clock source. * @pwr_mgmt_2: Controls power state of individual sensors. * @mem_start_addr: Address of first memory read. * @mem_r_w: Access to memory. * @prgm_strt_addrh firmware program start address register */ struct inv_reg_map_s { u8 sample_rate_div; u8 lpf; u8 bank_sel; u8 user_ctrl; u8 fifo_en; u8 gyro_config; u8 accel_config; u8 fifo_count_h; u8 fifo_r_w; u8 raw_accel; u8 temperature; u8 int_enable; u8 int_status; u8 pwr_mgmt_1; u8 pwr_mgmt_2; u8 mem_start_addr; u8 mem_r_w; u8 prgm_strt_addrh; }; /* device enum */ enum inv_devices { INV_ITG3500, INV_MPU3050, INV_MPU6050, INV_MPU9150, INV_MPU6500, INV_MPU9250, INV_MPU6XXX, INV_MPU9350, INV_MPU6515, INV_NUM_PARTS }; /** * struct inv_hw_s - Other important hardware information. * @num_reg: Number of registers on device. * @name: name of the chip */ struct inv_hw_s { u8 num_reg; u8 *name; }; /* enum for sensor */ enum INV_SENSORS { SENSOR_GYRO = 0, SENSOR_ACCEL, SENSOR_COMPASS, SENSOR_PRESSURE, SENSOR_STEP, SENSOR_PEDQ, SENSOR_SIXQ, SENSOR_LPQ, SENSOR_NUM_MAX, SENSOR_INVALID, }; /** * struct inv_sensor - information for each sensor. * @ts: this sensors timestamp. * @dur: duration between samples in ns. * @rate: sensor data rate. * @counter: dmp tick counter corresponding to rate. * @on: sensor on/off. * @sample_size: number of bytes for the sensor. * @send_data: function pointer to send data or not. * @set_rate: funcition pointer to set data rate. */ struct inv_sensor { u64 ts; int dur; int rate; int counter; bool on; u8 sample_size; int (*send_data)(struct inv_mpu_state *st, bool on); int (*set_rate)(struct inv_mpu_state *st); }; /** * struct inv_batch - information batchmode. * @on: derived variable for batch mode. * @overflow_on: overflow mode for batchmode. * @wake_fifo_on: overflow for suspend mode. * @counter: counter for batch mode. * @timeout: nominal timeout value for batchmode in milliseconds. * @min_rate: minimum sensor rate that is turned on. */ struct inv_batch { bool on; bool overflow_on; bool wake_fifo_on; u32 counter; u32 timeout; u32 min_rate; }; /** * struct inv_chip_config_s - Cached chip configuration data. * @fsr: Full scale range. * @lpf: Digital low pass filter frequency. * @accel_fs: accel full scale range. * @has_footer: MPU3050 specific work around. * @has_compass: has compass or not. * @has_pressure: has pressure sensor or not. * @enable: master enable to enable output * @accel_enable: enable accel functionality * @gyro_enable: enable gyro functionality * @is_asleep: 1 if chip is powered down. * @dmp_on: dmp is on/off. * @dmp_int_on: dmp interrupt on/off. * @step_indicator_on: step indicate bit added to the sensor or not. * @dmp_event_int_on: dmp event interrupt on/off. * @firmware_loaded: flag indicate firmware loaded or not. * @lpa_mod: low power mode. * @display_orient_on: display orientation on/off. * @normal_compass_measure: discard first compass data after reset. * @normal_pressure_measure: discard first pressure data after reset. * @smd_enable: disable/enable SMD function. * @adjust_time: flag to indicate whether adjust chip clock or not. * @smd_triggered: smd is triggered. * @lpa_freq: low power frequency * @prog_start_addr: firmware program start address. * @fifo_rate: current FIFO update rate. * @bytes_per_datum: number of bytes for 1 sample data. */ struct inv_chip_config_s { u32 fsr:2; u32 lpf:3; u32 accel_fs:2; u32 has_footer:1; u32 has_compass:1; u32 has_pressure:1; u32 enable:1; u32 accel_enable:1; u32 gyro_enable:1; u32 is_asleep:1; u32 dmp_on:1; u32 dmp_int_on:1; u32 dmp_event_int_on:1; u32 step_indicator_on:1; u32 firmware_loaded:1; u32 lpa_mode:1; u32 display_orient_on:1; u32 normal_compass_measure:1; u32 normal_pressure_measure:1; u32 smd_enable:1; u32 adjust_time:1; u32 smd_triggered:1; u16 lpa_freq; u16 prog_start_addr; u16 fifo_rate; u16 bytes_per_datum; }; /** * struct inv_chip_info_s - Chip related information. * @product_id: Product id. * @product_revision: Product revision. * @silicon_revision: Silicon revision. * @software_revision: software revision. * @multi: accel specific multiplier. * @compass_sens: compass sensitivity. * @gyro_sens_trim: Gyro sensitivity trim factor. * @accel_sens_trim: accel sensitivity trim factor. */ struct inv_chip_info_s { u8 product_id; u8 product_revision; u8 silicon_revision; u8 software_revision; u8 multi; u8 compass_sens[3]; u32 gyro_sens_trim; u32 accel_sens_trim; }; /** * struct inv_tap structure to store tap data. * @min_count: minimum taps counted. * @thresh: tap threshold. * @time: tap time. * @on: tap on/off. */ struct inv_tap { u16 min_count; u16 thresh; u16 time; bool on; }; /** * struct accel_mot_int_s structure to store motion interrupt data * @mot_thr: motion threshold. * @mot_dur: motion duration. * @mot_on: flag to indicate motion detection on; */ struct accel_mot_int { u16 mot_thr; u32 mot_dur; u8 mot_on:1; }; /** * struct self_test_setting - self test settables from sysfs * samples: number of samples used in self test. * threshold: threshold fail/pass criterion in self test. * This value is in the percentage multiplied by 100. * So 14% would be 14. */ struct self_test_setting { u16 samples; u16 threshold; }; /** * struct inv_smd significant motion detection structure. * @threshold: accel threshold for motion detection. * @delay: delay time to confirm 2nd motion. * @delay2: delay window parameter. */ struct inv_smd { u32 threshold; u32 delay; u32 delay2; }; /** * struct inv_ped pedometer related data structure. * @step: steps taken. * @time: time taken during the period. * @last_step_time: last time the step is taken. * @step_thresh: step threshold to show steps. * @int_thresh: step threshold to generate interrupt. * @int_on: pedometer interrupt enable/disable. * @on: pedometer on/off. */ struct inv_ped { u64 step; u64 time; u64 last_step_time; u16 step_thresh; u16 int_thresh; bool int_on; bool on; }; struct inv_mpu_slave; /** * struct inv_mpu_state - Driver state variables. * @chip_config: Cached attribute information. * @chip_info: Chip information from read-only registers. * @trig; iio trigger. * @tap: tap data structure. * @smd: SMD data structure. * @ped: pedometer data structure. * @batch: batchmode data structure. * @reg: Map of important registers. * @self_test: self test settings. * @hw: Other hardware-specific information. * @chip_type: chip type. * @time_stamp_lock: spin lock to time stamp. * @suspend_resume_lock: mutex lock for suspend/resume. * @client: i2c client handle. * @plat_data: platform data. * @slave_accel: mpu slave handle for accelerometer(MPU3050 only). * @slave_compass: mpu slave handle for magnetometer. * @slave_pressure: mpu slave handle for pressure sensor. * (*set_power_state)(struct inv_mpu_state *, int on): function ptr * (*switch_gyro_engine)(struct inv_mpu_state *, int on): function ptr * (*switch_accel_engine)(struct inv_mpu_state *, int on): function ptr * (*init_config)(struct iio_dev *indio_dev): function ptr * (*setup_reg)(struct inv_reg_map_s *reg): function ptr * @timestamps: kfifo queue to store time stamp. * @irq: irq number store. * @accel_bias: accel bias store. * @gyro_bias: gyro bias store. * @input_gyro_offset[3]: gyro offset from sysfs. * @input_accel_offset[3]: accel offset from sysfs. * @input_accel_dmp_bias[3]: accel bias for dmp. * @input_gyro_dmp_bias[3];: gyro bias for dmp. * @rom_gyro_bias[3]: gyro bias from sysfs. * @rom_accel_bias[3]: accel bias from sysfs. * @fifo_data[6]: fifo data storage. * @i2c_addr: i2c address. * @sample_divider: sample divider for dmp. * @fifo_divider: fifo divider for dmp. * @display_orient_data:display orient data. * @tap_data: tap data. * @bytes_per_sec: bytes per seconds when in DMP mode. * @left_over[HEADERED_Q_BYTES]: left over bytes storage. * @left_over_size: left over size. * @sensor{SENSOR_NUM_MAX]: sensor individual properties. * @fifo_count: current fifo_count; * @dmp_counter: dmp_counter; * @dmp_ticks: DMP ticks past since the previous read. * @sl_handle: Handle to I2C port. * @irq_dur_ns: duration between each irq. * @ts_counter: time stamp counter. * @suspend_state: state indicator suspend. * @dmp_interval: dmp interval. nomial value is 5 ms. * @dmp_interval_accum: dmp interval accumlater. * @diff_accumulater: accumlator for the difference of nominal and actual. * @last_ts: last time stamp. * @step_detector_base_ts: base time stamp for step detector calculation. * @prev_ts: previous time stamp. * @pedometer_step: pedometer steps stored in driver. * @pedometer_time: pedometer time stored in driver. * @last_run_time: last time the post ISR runs. * @name: name for distiguish MPU6050 and MPU6500 in MPU6XXX. * @secondary_name: name for the slave device in the secondary I2C. */ struct inv_mpu_state { #define TIMESTAMP_FIFO_SIZE 64 struct inv_chip_config_s chip_config; struct inv_chip_info_s chip_info; struct iio_trigger *trig; struct inv_tap tap; struct inv_smd smd; struct inv_ped ped; struct inv_batch batch; struct inv_reg_map_s reg; struct self_test_setting self_test; const struct inv_hw_s *hw; enum inv_devices chip_type; spinlock_t time_stamp_lock; struct mutex suspend_resume_lock; struct i2c_client *client; struct mpu_platform_data plat_data; struct inv_mpu_slave *slave_accel; struct inv_mpu_slave *slave_compass; struct inv_mpu_slave *slave_pressure; struct accel_mot_int mot_int; int (*set_power_state)(struct inv_mpu_state *, bool on); int (*switch_gyro_engine)(struct inv_mpu_state *, bool on); int (*switch_accel_engine)(struct inv_mpu_state *, bool on); int (*init_config)(struct iio_dev *indio_dev); void (*setup_reg)(struct inv_reg_map_s *reg); DECLARE_KFIFO(timestamps, u64, TIMESTAMP_FIFO_SIZE); short irq; int accel_bias[3]; int gyro_bias[3]; s16 input_gyro_offset[3]; s16 input_accel_offset[3]; int input_accel_dmp_bias[3]; int input_gyro_dmp_bias[3]; s16 rom_gyro_offset[3]; s16 rom_accel_offset[3]; u8 fifo_data[6]; u8 i2c_addr; u8 sample_divider; u8 fifo_divider; u8 display_orient_data; u8 tap_data; u16 bytes_per_sec; u8 left_over[HEADERED_Q_BYTES]; u32 left_over_size; struct inv_sensor sensor[SENSOR_NUM_MAX]; u32 fifo_count; u32 dmp_counter; u32 dmp_ticks; void *sl_handle; u32 irq_dur_ns; u32 ts_counter; bool suspend_state; u32 dmp_interval; s32 dmp_interval_accum; s64 diff_accumulater; u64 last_ts; u64 step_detector_base_ts; u64 prev_ts; u64 last_run_time; u8 name[20]; u8 secondary_name[20]; }; /* produces an unique identifier for each device based on the combination of product version and product revision */ struct prod_rev_map_t { u16 mpl_product_key; u8 silicon_rev; u16 gyro_trim; u16 accel_trim; }; /** * struct inv_mpu_slave - MPU slave structure. * @st_upper: compass self test upper limit. * @st_lower: compass self test lower limit. * @scale: compass scale. * @rate_scale: decide how fast a compass can read. * @min_read_time: minimum time between each reading. * @self_test: self test method of the slave. * @set_scale: set scale of slave * @get_scale: read scale back of the slave. * @suspend: suspend operation. * @resume: resume operation. * @setup: setup chip. initialization. * @combine_data: combine raw data into meaningful data. * @read_data: read external sensor and output * @get_mode: get current chip mode. * @set_lpf: set low pass filter. * @set_fs: set full scale * @prev_ts: last time it is read. */ struct inv_mpu_slave { const short *st_upper; const short *st_lower; int scale; int rate_scale; int min_read_time; int (*self_test)(struct inv_mpu_state *); int (*set_scale)(struct inv_mpu_state *, int scale); int (*get_scale)(struct inv_mpu_state *, int *val); int (*suspend)(struct inv_mpu_state *); int (*resume)(struct inv_mpu_state *); int (*setup)(struct inv_mpu_state *); int (*combine_data)(u8 *in, short *out); int (*read_data)(struct inv_mpu_state *, short *out); int (*get_mode)(void); int (*set_lpf)(struct inv_mpu_state *, int rate); int (*set_fs)(struct inv_mpu_state *, int fs); u64 prev_ts; }; /* scan element definition */ enum inv_mpu_scan { INV_MPU_SCAN_QUAT_R = 0, INV_MPU_SCAN_QUAT_X, INV_MPU_SCAN_QUAT_Y, INV_MPU_SCAN_QUAT_Z, INV_MPU_SCAN_ACCEL_X, INV_MPU_SCAN_ACCEL_Y, INV_MPU_SCAN_ACCEL_Z, INV_MPU_SCAN_GYRO_X, INV_MPU_SCAN_GYRO_Y, INV_MPU_SCAN_GYRO_Z, INV_MPU_SCAN_MAGN_X, INV_MPU_SCAN_MAGN_Y, INV_MPU_SCAN_MAGN_Z, INV_MPU_SCAN_TIMESTAMP, }; enum inv_filter_e { INV_FILTER_256HZ_NOLPF2 = 0, INV_FILTER_188HZ, INV_FILTER_98HZ, INV_FILTER_42HZ, INV_FILTER_20HZ, INV_FILTER_10HZ, INV_FILTER_5HZ, INV_FILTER_2100HZ_NOLPF, NUM_FILTER }; enum inv_slave_mode { INV_MODE_SUSPEND, INV_MODE_NORMAL, }; /*==== MPU6050B1 MEMORY ====*/ enum MPU_MEMORY_BANKS { MEM_RAM_BANK_0 = 0, MEM_RAM_BANK_1, MEM_RAM_BANK_2, MEM_RAM_BANK_3, MEM_RAM_BANK_4, MEM_RAM_BANK_5, MEM_RAM_BANK_6, MEM_RAM_BANK_7, MEM_RAM_BANK_8, MEM_RAM_BANK_9, MEM_RAM_BANK_10, MEM_RAM_BANK_11, MPU_MEM_NUM_RAM_BANKS, MPU_MEM_OTP_BANK_0 = 16 }; /* IIO attribute address */ enum MPU_IIO_ATTR_ADDR { ATTR_DMP_GYRO_X_DMP_BIAS, ATTR_DMP_GYRO_Y_DMP_BIAS, ATTR_DMP_GYRO_Z_DMP_BIAS, ATTR_DMP_ACCEL_X_DMP_BIAS, ATTR_DMP_ACCEL_Y_DMP_BIAS, ATTR_DMP_ACCEL_Z_DMP_BIAS, ATTR_DMP_PED_INT_ON, ATTR_DMP_PED_STEP_THRESH, ATTR_DMP_PED_INT_THRESH, ATTR_DMP_PED_ON, ATTR_DMP_SMD_ENABLE, ATTR_DMP_SMD_THLD, ATTR_DMP_SMD_DELAY_THLD, ATTR_DMP_SMD_DELAY_THLD2, ATTR_DMP_PEDOMETER_STEPS, ATTR_DMP_PEDOMETER_TIME, ATTR_DMP_PEDOMETER_COUNTER, ATTR_DMP_TAP_ON, ATTR_DMP_TAP_THRESHOLD, ATTR_DMP_TAP_MIN_COUNT, ATTR_DMP_TAP_TIME, ATTR_DMP_DISPLAY_ORIENTATION_ON, /* *****above this line, are DMP features, power needs on/off */ /* *****below this line, are DMP features, no power needed */ ATTR_DMP_ON, ATTR_DMP_INT_ON, ATTR_DMP_EVENT_INT_ON, ATTR_DMP_STEP_INDICATOR_ON, ATTR_DMP_BATCHMODE_TIMEOUT, ATTR_DMP_BATCHMODE_WAKE_FIFO_FULL, ATTR_DMP_SIX_Q_ON, ATTR_DMP_SIX_Q_RATE, ATTR_DMP_LPQ_ON, ATTR_DMP_LPQ_RATE, ATTR_DMP_PED_Q_ON, ATTR_DMP_PED_Q_RATE, ATTR_DMP_STEP_DETECTOR_ON, ATTR_DMP_STEP_DETECTOR_RATE, /* *****above this line, it is all DMP related features */ /* *****below this line, it is all non-DMP related features */ ATTR_GYRO_SCALE, ATTR_ACCEL_SCALE, ATTR_COMPASS_SCALE, ATTR_GYRO_X_OFFSET, ATTR_GYRO_Y_OFFSET, ATTR_GYRO_Z_OFFSET, ATTR_ACCEL_X_OFFSET, ATTR_ACCEL_Y_OFFSET, ATTR_ACCEL_Z_OFFSET, ATTR_MOTION_LPA_ON, ATTR_MOTION_LPA_FREQ, ATTR_MOTION_LPA_THRESHOLD, /* *****above this line, it is non-DMP, power needs on/off */ /* *****below this line, it is non-DMP, no needs to on/off power */ ATTR_SELF_TEST_SAMPLES, ATTR_SELF_TEST_THRESHOLD, ATTR_GYRO_ENABLE, ATTR_GYRO_FIFO_ENABLE, ATTR_GYRO_RATE, ATTR_ACCEL_ENABLE, ATTR_ACCEL_FIFO_ENABLE, ATTR_ACCEL_RATE, ATTR_COMPASS_ENABLE, ATTR_COMPASS_RATE, ATTR_PRESSURE_ENABLE, ATTR_PRESSURE_RATE, ATTR_POWER_STATE, /* this is fake sysfs for compatibility */ ATTR_FIRMWARE_LOADED, ATTR_SAMPLING_FREQ, /* *****below this line, it is attributes only has show methods */ ATTR_SELF_TEST, /* this has show-only methods needs power on/off */ ATTR_GYRO_X_CALIBBIAS, ATTR_GYRO_Y_CALIBBIAS, ATTR_GYRO_Z_CALIBBIAS, ATTR_ACCEL_X_CALIBBIAS, ATTR_ACCEL_Y_CALIBBIAS, ATTR_ACCEL_Z_CALIBBIAS, ATTR_SELF_TEST_GYRO_SCALE, ATTR_SELF_TEST_ACCEL_SCALE, ATTR_GYRO_MATRIX, ATTR_ACCEL_MATRIX, ATTR_COMPASS_MATRIX, ATTR_SECONDARY_NAME, #ifdef CONFIG_INV_TESTING ATTR_COMPASS_SENS, ATTR_I2C_COUNTERS, ATTR_REG_WRITE, ATTR_DEBUG_SMD_ENABLE_TESTP1, ATTR_DEBUG_SMD_ENABLE_TESTP2, ATTR_DEBUG_SMD_EXE_STATE, ATTR_DEBUG_SMD_DELAY_CNTR, ATTR_DEBUG_GYRO_COUNTER, ATTR_DEBUG_ACCEL_COUNTER, ATTR_DEBUG_COMPASS_COUNTER, ATTR_DEBUG_PRESSURE_COUNTER, ATTR_DEBUG_LPQ_COUNTER, ATTR_DEBUG_SIXQ_COUNTER, ATTR_DEBUG_PEDQ_COUNTER, #endif }; enum inv_accel_fs_e { INV_FS_02G = 0, INV_FS_04G, INV_FS_08G, INV_FS_16G, NUM_ACCEL_FSR }; enum inv_fsr_e { INV_FSR_250DPS = 0, INV_FSR_500DPS, INV_FSR_1000DPS, INV_FSR_2000DPS, NUM_FSR }; enum inv_clock_sel_e { INV_CLK_INTERNAL = 0, INV_CLK_PLL, NUM_CLK }; ssize_t inv_dmp_firmware_write(struct file *fp, struct kobject *kobj, struct bin_attribute *attr, char *buf, loff_t pos, size_t size); ssize_t inv_dmp_firmware_read(struct file *filp, struct kobject *kobj, struct bin_attribute *bin_attr, char *buf, loff_t off, size_t count); ssize_t inv_six_q_write(struct file *fp, struct kobject *kobj, struct bin_attribute *attr, char *buf, loff_t pos, size_t size); int inv_mpu_configure_ring(struct iio_dev *indio_dev); int inv_mpu_probe_trigger(struct iio_dev *indio_dev); void inv_mpu_unconfigure_ring(struct iio_dev *indio_dev); void inv_mpu_remove_trigger(struct iio_dev *indio_dev); int inv_init_config_mpu3050(struct iio_dev *indio_dev); int inv_get_silicon_rev_mpu6050(struct inv_mpu_state *st); int inv_get_silicon_rev_mpu6500(struct inv_mpu_state *st); int set_3050_bypass(struct inv_mpu_state *st, bool enable); int inv_register_mpu3050_slave(struct inv_mpu_state *st); void inv_setup_reg_mpu3050(struct inv_reg_map_s *reg); int inv_switch_3050_gyro_engine(struct inv_mpu_state *st, bool en); int inv_switch_3050_accel_engine(struct inv_mpu_state *st, bool en); int set_power_mpu3050(struct inv_mpu_state *st, bool power_on); int inv_set_interrupt_on_gesture_event(struct inv_mpu_state *st, bool on); int inv_set_display_orient_interrupt_dmp(struct inv_mpu_state *st, bool on); u16 inv_dmp_get_address(u16 key); int inv_q30_mult(int a, int b); int inv_set_tap_threshold_dmp(struct inv_mpu_state *st, u16 threshold); int inv_write_2bytes(struct inv_mpu_state *st, int k, int data); int inv_set_min_taps_dmp(struct inv_mpu_state *st, u16 min_taps); int inv_set_tap_time_dmp(struct inv_mpu_state *st, u16 time); int inv_enable_tap_dmp(struct inv_mpu_state *st, bool on); int inv_i2c_read_base(struct inv_mpu_state *st, u16 i2c_addr, u8 reg, u16 length, u8 *data); int inv_i2c_single_write_base(struct inv_mpu_state *st, u16 i2c_addr, u8 reg, u8 data); int inv_hw_self_test(struct inv_mpu_state *st); s64 get_time_ns(void); int write_be32_key_to_mem(struct inv_mpu_state *st, u32 data, int key); int inv_set_accel_bias_dmp(struct inv_mpu_state *st); int inv_mpu_setup_compass_slave(struct inv_mpu_state *st); int inv_mpu_setup_pressure_slave(struct inv_mpu_state *st); int mpu_memory_write(struct inv_mpu_state *st, u8 mpu_addr, u16 mem_addr, u32 len, u8 const *data); int mpu_memory_read(struct inv_mpu_state *st, u8 mpu_addr, u16 mem_addr, u32 len, u8 *data); int mpu_memory_write_unaligned(struct inv_mpu_state *st, u16 key, int len, u8 const *d); int inv_quaternion_on(struct inv_mpu_state *st, struct iio_buffer *ring, bool en); int inv_enable_pedometer_interrupt(struct inv_mpu_state *st, bool en); int inv_read_pedometer_counter(struct inv_mpu_state *st); int inv_enable_pedometer(struct inv_mpu_state *st, bool en); int inv_get_pedometer_steps(struct inv_mpu_state *st, u32 *steps); int inv_get_pedometer_time(struct inv_mpu_state *st, u32 *time); int inv_reset_fifo(struct iio_dev *indio_dev); int inv_reset_offset_reg(struct inv_mpu_state *st, bool en); int inv_batchmode_setup(struct inv_mpu_state *st); void inv_init_sensor_struct(struct inv_mpu_state *st); int inv_read_time_and_ticks(struct inv_mpu_state *st, bool resume); int inv_flush_batch_data(struct iio_dev *indio_dev, bool *has_data); int set_inv_enable(struct iio_dev *indio_dev, bool enable); /* used to print i2c data using pr_debug */ char *wr_pr_debug_begin(u8 const *data, u32 len, char *string); char *wr_pr_debug_end(char *string); #define mem_w(a, b, c) \ mpu_memory_write(st, st->i2c_addr, a, b, c) #define mem_w_key(key, b, c) mpu_memory_write_unaligned(st, key, b, c) #define inv_i2c_read(st, reg, len, data) \ inv_i2c_read_base(st, st->i2c_addr, reg, len, data) #define inv_i2c_single_write(st, reg, data) \ inv_i2c_single_write_base(st, st->i2c_addr, reg, data) #define inv_secondary_read(reg, len, data) \ inv_i2c_read_base(st, st->plat_data.secondary_i2c_addr, reg, len, data) #define inv_secondary_write(reg, data) \ inv_i2c_single_write_base(st, st->plat_data.secondary_i2c_addr, \ reg, data) #define inv_aux_read(reg, len, data) \ inv_i2c_read_base(st, st->plat_data.aux_i2c_addr, reg, len, data) #define inv_aux_write(reg, data) \ inv_i2c_single_write_base(st, st->plat_data.aux_i2c_addr, \ reg, data) #endif /* #ifndef _INV_MPU_IIO_H_ */