365 lines
11 KiB
C
Executable File
365 lines
11 KiB
C
Executable File
/*
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$License:
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Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
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$
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*/
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#ifndef __MPU_H_
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#define __MPU_H_
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#ifdef __KERNEL__
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#include <linux/types.h>
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#include <linux/ioctl.h>
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#elif defined LINUX
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#include <sys/ioctl.h>
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#include <linux/types.h>
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#else
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#include "mltypes.h"
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#endif
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/* Number of axes on each sensor */
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#define GYRO_NUM_AXES (3)
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#define ACCEL_NUM_AXES (3)
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#define COMPASS_NUM_AXES (3)
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struct mpu_read_write {
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/* Memory address or register address depending on ioctl */
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__u16 address;
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__u16 length;
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__u8 *data;
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};
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enum mpuirq_data_type {
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MPUIRQ_DATA_TYPE_MPU_IRQ,
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MPUIRQ_DATA_TYPE_SLAVE_IRQ,
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MPUIRQ_DATA_TYPE_PM_EVENT,
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MPUIRQ_DATA_TYPE_NUM_TYPES,
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};
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/* User space PM event notification */
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#define MPU_PM_EVENT_SUSPEND_PREPARE (3)
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#define MPU_PM_EVENT_POST_SUSPEND (4)
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struct mpuirq_data {
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__u32 interruptcount;
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__u64 irqtime;
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__u32 data_type;
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__s32 data;
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};
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enum ext_slave_config_key {
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MPU_SLAVE_CONFIG_ODR_SUSPEND,
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MPU_SLAVE_CONFIG_ODR_RESUME,
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MPU_SLAVE_CONFIG_FSR_SUSPEND,
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MPU_SLAVE_CONFIG_FSR_RESUME,
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MPU_SLAVE_CONFIG_MOT_THS,
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MPU_SLAVE_CONFIG_NMOT_THS,
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MPU_SLAVE_CONFIG_MOT_DUR,
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MPU_SLAVE_CONFIG_NMOT_DUR,
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MPU_SLAVE_CONFIG_IRQ_SUSPEND,
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MPU_SLAVE_CONFIG_IRQ_RESUME,
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MPU_SLAVE_WRITE_REGISTERS,
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MPU_SLAVE_READ_REGISTERS,
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MPU_SLAVE_CONFIG_INTERNAL_REFERENCE,
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/* AMI 306 specific config keys */
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MPU_SLAVE_PARAM,
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MPU_SLAVE_WINDOW,
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MPU_SLAVE_READWINPARAMS,
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MPU_SLAVE_SEARCHOFFSET,
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/* AKM specific config keys */
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MPU_SLAVE_READ_SCALE,
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/* MPU3050 and MPU6050 Keys */
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MPU_SLAVE_INT_CONFIG,
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MPU_SLAVE_EXT_SYNC,
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MPU_SLAVE_FULL_SCALE,
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MPU_SLAVE_LPF,
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MPU_SLAVE_CLK_SRC,
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MPU_SLAVE_DIVIDER,
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MPU_SLAVE_DMP_ENABLE,
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MPU_SLAVE_FIFO_ENABLE,
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MPU_SLAVE_DMP_CFG1,
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MPU_SLAVE_DMP_CFG2,
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MPU_SLAVE_TC,
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MPU_SLAVE_GYRO,
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MPU_SLAVE_ADDR,
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MPU_SLAVE_PRODUCT_REVISION,
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MPU_SLAVE_SILICON_REVISION,
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MPU_SLAVE_PRODUCT_ID,
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MPU_SLAVE_GYRO_SENS_TRIM,
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MPU_SLAVE_ACCEL_SENS_TRIM,
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MPU_SLAVE_RAM,
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/* -------------------------- */
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MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS
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};
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/* For the MPU_SLAVE_CONFIG_IRQ_SUSPEND and MPU_SLAVE_CONFIG_IRQ_RESUME */
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enum ext_slave_config_irq_type {
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MPU_SLAVE_IRQ_TYPE_NONE,
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MPU_SLAVE_IRQ_TYPE_MOTION,
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MPU_SLAVE_IRQ_TYPE_DATA_READY,
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};
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/* Structure for the following IOCTS's
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* MPU_CONFIG_GYRO
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* MPU_CONFIG_ACCEL
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* MPU_CONFIG_COMPASS
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* MPU_CONFIG_PRESSURE
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* MPU_GET_CONFIG_GYRO
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* MPU_GET_CONFIG_ACCEL
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* MPU_GET_CONFIG_COMPASS
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* MPU_GET_CONFIG_PRESSURE
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*
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* @key one of enum ext_slave_config_key
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* @len length of data pointed to by data
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* @apply zero if communication with the chip is not necessary, false otherwise
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* This flag can be used to select cached data or to refresh cashed data
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* cache data to be pushed later or push immediately. If true and the
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* slave is on the secondary bus the MPU will first enger bypass mode
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* before calling the slaves .config or .get_config funcion
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* @data pointer to the data to confgure or get
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*/
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struct ext_slave_config {
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__u8 key;
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__u16 len;
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__u8 apply;
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void *data;
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};
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enum ext_slave_type {
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EXT_SLAVE_TYPE_GYROSCOPE,
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EXT_SLAVE_TYPE_ACCEL,
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EXT_SLAVE_TYPE_COMPASS,
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EXT_SLAVE_TYPE_PRESSURE,
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/*EXT_SLAVE_TYPE_TEMPERATURE */
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EXT_SLAVE_NUM_TYPES
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};
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enum ext_slave_id {
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ID_INVALID = 0,
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ACCEL_ID_LIS331,
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ACCEL_ID_LSM303DLX,
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ACCEL_ID_LIS3DH,
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ACCEL_ID_KXSD9,
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ACCEL_ID_KXTF9,
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ACCEL_ID_BMA150,
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ACCEL_ID_BMA222,
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ACCEL_ID_BMA250,
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ACCEL_ID_ADXL34X,
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ACCEL_ID_MMA8450,
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ACCEL_ID_MMA845X,
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ACCEL_ID_MPU6050,
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COMPASS_ID_AK8975,
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COMPASS_ID_AK8972,
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COMPASS_ID_AK8963,
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COMPASS_ID_AMI30X,
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COMPASS_ID_AMI306,
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COMPASS_ID_YAS529,
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COMPASS_ID_YAS530,
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COMPASS_ID_HMC5883,
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COMPASS_ID_LSM303DLH,
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COMPASS_ID_LSM303DLM,
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COMPASS_ID_MMC314X,
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COMPASS_ID_MMC328X,
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COMPASS_ID_HSCDTD002B,
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COMPASS_ID_HSCDTD004A,
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PRESSURE_ID_BMA085,
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};
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enum ext_slave_endian {
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EXT_SLAVE_BIG_ENDIAN,
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EXT_SLAVE_LITTLE_ENDIAN,
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EXT_SLAVE_FS8_BIG_ENDIAN,
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EXT_SLAVE_FS16_BIG_ENDIAN,
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};
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enum ext_slave_bus {
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EXT_SLAVE_BUS_INVALID = -1,
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EXT_SLAVE_BUS_PRIMARY = 0,
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EXT_SLAVE_BUS_SECONDARY = 1
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};
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/**
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* struct ext_slave_platform_data - Platform data for mpu3050 and mpu6050
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* slave devices
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*
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* @type: the type of slave device based on the enum ext_slave_type
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* definitions.
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* @irq: the irq number attached to the slave if any.
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* @adapt_num: the I2C adapter number.
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* @bus: the bus the slave is attached to: enum ext_slave_bus
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* @address: the I2C slave address of the slave device.
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* @orientation: the mounting matrix of the device relative to MPU.
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* @irq_data: private data for the slave irq handler
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* @private_data: additional data, user customizable. Not touched by the MPU
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* driver.
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*
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* The orientation matricies are 3x3 rotation matricies
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* that are applied to the data to rotate from the mounting orientation to the
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* platform orientation. The values must be one of 0, 1, or -1 and each row and
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* column should have exactly 1 non-zero value.
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*/
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struct ext_slave_platform_data {
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__u8 type;
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__u32 irq;
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__u32 adapt_num;
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__u32 bus;
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__u8 address;
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__s8 orientation[9];
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void *irq_data;
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void *private_data;
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};
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struct fix_pnt_range {
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__s32 mantissa;
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__s32 fraction;
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};
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static inline long range_fixedpoint_to_long_mg(struct fix_pnt_range rng)
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{
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return (long)(rng.mantissa * 1000 + rng.fraction / 10);
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}
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struct ext_slave_read_trigger {
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__u8 reg;
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__u8 value;
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};
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/**
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* struct ext_slave_descr - Description of the slave device for programming.
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*
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* @suspend: function pointer to put the device in suspended state
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* @resume: function pointer to put the device in running state
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* @read: function that reads the device data
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* @init: function used to preallocate memory used by the driver
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* @exit: function used to free memory allocated for the driver
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* @config: function used to configure the device
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* @get_config:function used to get the device's configuration
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*
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* @name: text name of the device
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* @type: device type. enum ext_slave_type
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* @id: enum ext_slave_id
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* @read_reg: starting register address to retrieve data.
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* @read_len: length in bytes of the sensor data. Typically 6.
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* @endian: byte order of the data. enum ext_slave_endian
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* @range: full scale range of the slave ouput: struct fix_pnt_range
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* @trigger: If reading data first requires writing a register this is the
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* data to write.
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*
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* Defines the functions and information about the slave the mpu3050 and
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* mpu6050 needs to use the slave device.
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*/
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struct ext_slave_descr {
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int (*init) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata);
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int (*exit) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata);
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int (*suspend) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata);
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int (*resume) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata);
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int (*read) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata,
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__u8 *data);
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int (*config) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata,
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struct ext_slave_config *config);
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int (*get_config) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata,
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struct ext_slave_config *config);
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char *name;
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__u8 type;
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__u8 id;
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__u8 read_reg;
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__u8 read_len;
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__u8 endian;
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struct fix_pnt_range range;
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struct ext_slave_read_trigger *trigger;
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};
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/**
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* struct mpu_platform_data - Platform data for the mpu driver
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* @int_config: Bits [7:3] of the int config register.
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* @level_shifter: 0: VLogic, 1: VDD
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* @orientation: Orientation matrix of the gyroscope
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*
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* Contains platform specific information on how to configure the MPU3050 to
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* work on this platform. The orientation matricies are 3x3 rotation matricies
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* that are applied to the data to rotate from the mounting orientation to the
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* platform orientation. The values must be one of 0, 1, or -1 and each row and
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* column should have exactly 1 non-zero value.
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*/
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struct mpu_platform_data {
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__u32 int_config;
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__u32 level_shifter;
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__s8 orientation[GYRO_NUM_AXES * GYRO_NUM_AXES];
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};
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#if defined __KERNEL__ || defined LINUX
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#define MPU_IOCTL (0x81) /* Magic number for MPU Iocts */
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/* IOCTL commands for /dev/mpu */
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/*--------------------------------------------------------------------------
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* Deprecated, debugging only
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*/
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#define MPU_SET_MPU_PLATFORM_DATA \
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_IOWR(MPU_IOCTL, 0x01, struct mpu_platform_data)
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#define MPU_SET_EXT_SLAVE_PLATFORM_DATA \
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_IOWR(MPU_IOCTL, 0x01, struct ext_slave_platform_data)
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/*--------------------------------------------------------------------------*/
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#define MPU_GET_EXT_SLAVE_PLATFORM_DATA \
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_IOWR(MPU_IOCTL, 0x02, struct ext_slave_platform_data)
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#define MPU_GET_MPU_PLATFORM_DATA \
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_IOWR(MPU_IOCTL, 0x02, struct mpu_platform_data)
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#define MPU_GET_EXT_SLAVE_DESCR \
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_IOWR(MPU_IOCTL, 0x02, struct ext_slave_descr)
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#define MPU_READ _IOWR(MPU_IOCTL, 0x10, struct mpu_read_write)
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#define MPU_WRITE _IOW(MPU_IOCTL, 0x10, struct mpu_read_write)
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#define MPU_READ_MEM _IOWR(MPU_IOCTL, 0x11, struct mpu_read_write)
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#define MPU_WRITE_MEM _IOW(MPU_IOCTL, 0x11, struct mpu_read_write)
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#define MPU_READ_FIFO _IOWR(MPU_IOCTL, 0x12, struct mpu_read_write)
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#define MPU_WRITE_FIFO _IOW(MPU_IOCTL, 0x12, struct mpu_read_write)
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#define MPU_READ_COMPASS _IOR(MPU_IOCTL, 0x12, __u8)
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#define MPU_READ_ACCEL _IOR(MPU_IOCTL, 0x13, __u8)
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#define MPU_READ_PRESSURE _IOR(MPU_IOCTL, 0x14, __u8)
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#define MPU_CONFIG_GYRO _IOW(MPU_IOCTL, 0x20, struct ext_slave_config)
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#define MPU_CONFIG_ACCEL _IOW(MPU_IOCTL, 0x21, struct ext_slave_config)
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#define MPU_CONFIG_COMPASS _IOW(MPU_IOCTL, 0x22, struct ext_slave_config)
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#define MPU_CONFIG_PRESSURE _IOW(MPU_IOCTL, 0x23, struct ext_slave_config)
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#define MPU_GET_CONFIG_GYRO _IOWR(MPU_IOCTL, 0x20, struct ext_slave_config)
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#define MPU_GET_CONFIG_ACCEL _IOWR(MPU_IOCTL, 0x21, struct ext_slave_config)
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#define MPU_GET_CONFIG_COMPASS _IOWR(MPU_IOCTL, 0x22, struct ext_slave_config)
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#define MPU_GET_CONFIG_PRESSURE _IOWR(MPU_IOCTL, 0x23, struct ext_slave_config)
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#define MPU_SUSPEND _IOW(MPU_IOCTL, 0x30, __u32)
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#define MPU_RESUME _IOW(MPU_IOCTL, 0x31, __u32)
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/* Userspace PM Event response */
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#define MPU_PM_EVENT_HANDLED _IO(MPU_IOCTL, 0x32)
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#define MPU_GET_REQUESTED_SENSORS _IOR(MPU_IOCTL, 0x40, __u8)
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#define MPU_SET_REQUESTED_SENSORS _IOW(MPU_IOCTL, 0x40, __u8)
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#define MPU_GET_IGNORE_SYSTEM_SUSPEND _IOR(MPU_IOCTL, 0x41, __u8)
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#define MPU_SET_IGNORE_SYSTEM_SUSPEND _IOW(MPU_IOCTL, 0x41, __u8)
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#define MPU_GET_MLDL_STATUS _IOR(MPU_IOCTL, 0x42, __u8)
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#define MPU_GET_I2C_SLAVES_ENABLED _IOR(MPU_IOCTL, 0x43, __u8)
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#endif
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#endif /* __MPU_H_ */
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