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Diffstat (limited to 'include/linux/mpu6x.h')
| -rw-r--r-- | include/linux/mpu6x.h | 509 |
1 files changed, 509 insertions, 0 deletions
diff --git a/include/linux/mpu6x.h b/include/linux/mpu6x.h new file mode 100644 index 0000000..244549f --- /dev/null +++ b/include/linux/mpu6x.h @@ -0,0 +1,509 @@ +/* + $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 <http://www.gnu.org/licenses/>. + $ + */ + +#ifndef __MPU_H_ +#define __MPU_H_ + +#ifdef __KERNEL__ +#include <linux/types.h> +#include <linux/ioctl.h> +#elif defined LINUX +#include <sys/ioctl.h> +#endif + +#define CONFIG_MPU_SENSORS_MPU6050B1 + +#if defined CONFIG_MPU_SENSORS_MPU6050A2 +#include "mpu6050a2.h" +#elif defined CONFIG_MPU_SENSORS_MPU6050B1 +#include "mpu6050b1.h" +#elif defined CONFIG_MPU_SENSORS_MPU3050 +#include "mpu3050.h" +#else +#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx +#endif + +/* Number of axes on each sensor */ +#define GYRO_NUM_AXES (3) +#define ACCEL_NUM_AXES (3) +#define COMPASS_NUM_AXES (3) + +#if defined __KERNEL__ || defined LINUX +#define MPU_IOCTL (0x810000) /* Magic number for MPU Iocts */ +/* IOCTL commands for /dev/mpu */ +#define MPU_SET_MPU_CONFIG (MPU_IOCTL + 0x00) +#define MPU_GET_MPU_CONFIG (MPU_IOCTL + 0x01) + +#define MPU_SET_PLATFORM_DATA (MPU_IOCTL + 0x02) + +#define MPU_READ (MPU_IOCTL + 0x03) +#define MPU_WRITE (MPU_IOCTL + 0x04) +#define MPU_READ_MEM (MPU_IOCTL + 0x05) +#define MPU_WRITE_MEM (MPU_IOCTL + 0x06) +#define MPU_READ_FIFO (MPU_IOCTL + 0x07) +#define MPU_WRITE_FIFO (MPU_IOCTL + 0x08) + +#define MPU_READ_COMPASS (MPU_IOCTL + 0x09) +#define MPU_READ_ACCEL (MPU_IOCTL + 0x0A) +#define MPU_READ_PRESSURE (MPU_IOCTL + 0x0B) + +#define MPU_CONFIG_ACCEL (MPU_IOCTL + 0x0C) +#define MPU_CONFIG_COMPASS (MPU_IOCTL + 0x0D) +#define MPU_CONFIG_PRESSURE (MPU_IOCTL + 0x0E) + +#define MPU_GET_CONFIG_ACCEL (MPU_IOCTL + 0x10) +#define MPU_GET_CONFIG_COMPASS (MPU_IOCTL + 0x11) +#define MPU_GET_CONFIG_PRESSURE (MPU_IOCTL + 0x12) + +#define MPU_SUSPEND (MPU_IOCTL + 0x13) +#define MPU_RESUME (MPU_IOCTL + 0x14) +/* Userspace PM Event response */ +#define MPU_PM_EVENT_HANDLED (MPU_IOCTL + 0x15) + +#define MPU_READ_ACCEL_OFFSET (MPU_IOCTL + 0x16) + + +#endif +/* Structure for the following IOCTL's: + MPU_READ + MPU_WRITE + MPU_READ_MEM + MPU_WRITE_MEM + MPU_READ_FIFO + MPU_WRITE_FIFO +*/ +struct mpu_read_write { + /* Memory address or register address depending on ioctl */ + unsigned short address; + unsigned short length; + unsigned char *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 { + int interruptcount; + unsigned long long irqtime; + int data_type; + long 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, + + 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_ACCEL + * MPU_CONFIG_COMPASS + * MPU_CONFIG_PRESSURE + * 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 { + int key; + int len; + int apply; + void *data; +}; + +enum ext_slave_type { + EXT_SLAVE_TYPE_GYROSCOPE, + EXT_SLAVE_TYPE_ACCELEROMETER, + EXT_SLAVE_TYPE_COMPASS, + EXT_SLAVE_TYPE_PRESSURE, + /*EXT_SLAVE_TYPE_TEMPERATURE */ +}; + +enum ext_slave_id { + ID_INVALID = 0, + + ACCEL_ID_LIS331, + ACCEL_ID_LSM303, + 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_AKM, + COMPASS_ID_AMI30X, + COMPASS_ID_AMI306, + COMPASS_ID_YAS529, + COMPASS_ID_YAS530, + COMPASS_ID_HMC5883, + COMPASS_ID_LSM303, + 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 + * + * @get_slave_descr: Function pointer to retrieve the struct ext_slave_descr + * for this slave + * @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 { + struct ext_slave_descr *(*get_slave_descr) (void); + int irq; + int adapt_num; + int bus; + unsigned char address; + signed char orientation[9]; + void *irq_data; + void *private_data; +}; + +struct fix_pnt_range { + long mantissa; + long fraction; +}; + +#define RANGE_FIXEDPOINT_TO_LONG_MG(rng) \ + (rng.mantissa * 1000 + rng.fraction / 10) + +struct ext_slave_read_trigger { + unsigned char reg; + unsigned char 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, + unsigned char *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; + unsigned char type; + unsigned char id; + unsigned char read_reg; + unsigned int read_len; + unsigned char 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. + * @orientation: Orientation matrix of the gyroscope + * @level_shifter: 0: VLogic, 1: VDD + * @accel: Accel platform data + * @compass: Compass platform data + * @pressure: Pressure platform data + * + * 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 { + unsigned char int_config; + signed char orientation[MPU_NUM_AXES * MPU_NUM_AXES]; + unsigned char level_shifter; + struct ext_slave_platform_data accel; + struct ext_slave_platform_data compass; + struct ext_slave_platform_data pressure; +}; + + +/* + Accelerometer +*/ +#define get_accel_slave_descr NULL + +#ifdef CONFIG_MPU_SENSORS_ADXL34X /* ADI accelerometer */ +struct ext_slave_descr *adxl34x_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr adxl34x_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_BMA150 /* Bosch accelerometer */ +struct ext_slave_descr *bma150_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr bma150_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_BMA222 /* Bosch 222 accelerometer */ +struct ext_slave_descr *bma222_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr bma222_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_BMA250 /* Bosch accelerometer */ +struct ext_slave_descr *bma250_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr bma250_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_KXSD9 /* Kionix accelerometer */ +struct ext_slave_descr *kxsd9_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr kxsd9_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_KXTF9 /* Kionix accelerometer */ +struct ext_slave_descr *kxtf9_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr kxtf9_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_LIS331DLH /* ST accelerometer */ +struct ext_slave_descr *lis331dlh_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr lis331dlh_get_slave_descr +#endif + + +#ifdef CONFIG_MPU_SENSORS_LIS3DH /* ST accelerometer */ +struct ext_slave_descr *lis3dh_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr lis3dh_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_LSM303DLHA /* ST accelerometer */ +struct ext_slave_descr *lsm303dlha_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr lsm303dlha_get_slave_descr +#endif + +/* MPU6050 Accel */ +#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \ + defined CONFIG_MPU_SENSORS_MPU6050B1 +struct ext_slave_descr *mpu6050_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr mantis_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_MMA8450 /* Freescale accelerometer */ +struct ext_slave_descr *mma8450_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr mma8450_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_MMA845X /* Freescale accelerometer */ +struct ext_slave_descr *mma845x_get_slave_descr(void); +#undef get_accel_slave_descr +#define get_accel_slave_descr mma845x_get_slave_descr +#endif + + +/* + Compass +*/ +#define get_compass_slave_descr NULL + +#ifdef CONFIG_MPU_SENSORS_AK8975_NEW /* AKM compass */ +struct ext_slave_descr *ak8975_get_slave_descr(void); +#undef get_compass_slave_descr +#define get_compass_slave_descr ak8975_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_AMI30X /* AICHI Steel AMI304/305 compass */ +struct ext_slave_descr *ami30x_get_slave_descr(void); +#undef get_compass_slave_descr +#define get_compass_slave_descr ami30x_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_AMI306 /* AICHI Steel AMI306 compass */ +struct ext_slave_descr *ami306_get_slave_descr(void); +#undef get_compass_slave_descr +#define get_compass_slave_descr ami306_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_HMC5883 /* Honeywell compass */ +struct ext_slave_descr *hmc5883_get_slave_descr(void); +#undef get_compass_slave_descr +#define get_compass_slave_descr hmc5883_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_MMC314X /* MEMSIC compass */ +struct ext_slave_descr *mmc314x_get_slave_descr(void); +#undef get_compass_slave_descr +#define get_compass_slave_descr mmc314x_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_LSM303DLHM /* ST compass */ +struct ext_slave_descr *lsm303dlhm_get_slave_descr(void); +#undef get_compass_slave_descr +#define get_compass_slave_descr lsm303dlhm_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_YAS529 /* Yamaha compass */ +struct ext_slave_descr *yas529_get_slave_descr(void); +#undef get_compass_slave_descr +#define get_compass_slave_descr yas529_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_YAS530_NEW /* Yamaha compass */ +struct ext_slave_descr *yas530_get_slave_descr(void); +#undef get_compass_slave_descr +#define get_compass_slave_descr yas530_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_HSCDTD002B /* Alps HSCDTD002B compass */ +struct ext_slave_descr *hscdtd002b_get_slave_descr(void); +#undef get_compass_slave_descr +#define get_compass_slave_descr hscdtd002b_get_slave_descr +#endif + +#ifdef CONFIG_MPU_SENSORS_HSCDTD004A /* Alps HSCDTD004A compass */ +struct ext_slave_descr *hscdtd004a_get_slave_descr(void); +#undef get_compass_slave_descr +#define get_compass_slave_descr hscdtd004a_get_slave_descr +#endif +/* + Pressure +*/ +#define get_pressure_slave_descr NULL + +#ifdef CONFIG_MPU_SENSORS_BMA085 /* BMA pressure */ +struct ext_slave_descr *bma085_get_slave_descr(void); +#undef get_pressure_slave_descr +#define get_pressure_slave_descr bma085_get_slave_descr +#endif + +#endif /* __MPU_H_ */ |