/*
$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_
#include
#include
/* Number of axes on each sensor */
#define GYRO_NUM_AXES (3)
#define ACCEL_NUM_AXES (3)
#define COMPASS_NUM_AXES (3)
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_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 {
__u32 interruptcount;
__u64 irqtime;
__u32 data_type;
__s32 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,
/* 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 ext_slave_id {
ID_INVALID = 0,
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_AK8975,
COMPASS_ID_AK8963,
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,
};
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
*
* 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[GYRO_NUM_AXES * GYRO_NUM_AXES];
};
#define MPU_IOCTL (0x81) /* Magic number for MPU Iocts */
/* IOCTL commands for /dev/mpu */
/*--------------------------------------------------------------------------
* Deprecated, debugging only
*/
#define MPU_SET_MPU_PLATFORM_DATA \
_IOWR(MPU_IOCTL, 0x01, struct mpu_platform_data)
#define MPU_SET_EXT_SLAVE_PLATFORM_DATA \
_IOWR(MPU_IOCTL, 0x01, struct ext_slave_platform_data)
/*--------------------------------------------------------------------------*/
#define MPU_GET_EXT_SLAVE_PLATFORM_DATA \
_IOWR(MPU_IOCTL, 0x02, struct ext_slave_platform_data)
#define MPU_GET_MPU_PLATFORM_DATA \
_IOWR(MPU_IOCTL, 0x02, struct mpu_platform_data)
#define MPU_GET_EXT_SLAVE_DESCR \
_IOWR(MPU_IOCTL, 0x02, struct ext_slave_descr)
#define MPU_READ _IOWR(MPU_IOCTL, 0x10, struct mpu_read_write)
#define MPU_WRITE _IOW(MPU_IOCTL, 0x10, struct mpu_read_write)
#define MPU_READ_MEM _IOWR(MPU_IOCTL, 0x11, struct mpu_read_write)
#define MPU_WRITE_MEM _IOW(MPU_IOCTL, 0x11, struct mpu_read_write)
#define MPU_READ_FIFO _IOWR(MPU_IOCTL, 0x12, struct mpu_read_write)
#define MPU_WRITE_FIFO _IOW(MPU_IOCTL, 0x12, struct mpu_read_write)
#define MPU_READ_COMPASS _IOR(MPU_IOCTL, 0x12, __u8)
#define MPU_READ_ACCEL _IOR(MPU_IOCTL, 0x13, __u8)
#define MPU_READ_PRESSURE _IOR(MPU_IOCTL, 0x14, __u8)
#define MPU_CONFIG_GYRO _IOW(MPU_IOCTL, 0x20, struct ext_slave_config)
#define MPU_CONFIG_ACCEL _IOW(MPU_IOCTL, 0x21, struct ext_slave_config)
#define MPU_CONFIG_COMPASS _IOW(MPU_IOCTL, 0x22, struct ext_slave_config)
#define MPU_CONFIG_PRESSURE _IOW(MPU_IOCTL, 0x23, struct ext_slave_config)
#define MPU_GET_CONFIG_GYRO _IOWR(MPU_IOCTL, 0x20, struct ext_slave_config)
#define MPU_GET_CONFIG_ACCEL _IOWR(MPU_IOCTL, 0x21, struct ext_slave_config)
#define MPU_GET_CONFIG_COMPASS _IOWR(MPU_IOCTL, 0x22, struct ext_slave_config)
#define MPU_GET_CONFIG_PRESSURE _IOWR(MPU_IOCTL, 0x23, struct ext_slave_config)
#define MPU_SUSPEND _IOW(MPU_IOCTL, 0x30, __u32)
#define MPU_RESUME _IOW(MPU_IOCTL, 0x31, __u32)
/* Userspace PM Event response */
#define MPU_PM_EVENT_HANDLED _IO(MPU_IOCTL, 0x32)
#define MPU_GET_REQUESTED_SENSORS _IOR(MPU_IOCTL, 0x40, __u8)
#define MPU_SET_REQUESTED_SENSORS _IOW(MPU_IOCTL, 0x40, __u8)
#define MPU_GET_IGNORE_SYSTEM_SUSPEND _IOR(MPU_IOCTL, 0x41, __u8)
#define MPU_SET_IGNORE_SYSTEM_SUSPEND _IOW(MPU_IOCTL, 0x41, __u8)
#define MPU_GET_MLDL_STATUS _IOR(MPU_IOCTL, 0x42, __u8)
#define MPU_GET_I2C_SLAVES_ENABLED _IOR(MPU_IOCTL, 0x43, __u8)
#endif /* __MPU_H_ */