| /* |
| * 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_ */ |