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Diffstat (limited to 'include/linux/sensor/yas.h')
| -rw-r--r-- | include/linux/sensor/yas.h | 474 |
1 files changed, 474 insertions, 0 deletions
diff --git a/include/linux/sensor/yas.h b/include/linux/sensor/yas.h new file mode 100644 index 0000000..4f89d0a --- /dev/null +++ b/include/linux/sensor/yas.h @@ -0,0 +1,474 @@ +/* + * Copyright (c) 2010-2011 Yamaha Corporation + * + * This software is provided 'as-is', without any express or implied + * warranty. In no event will the authors be held liable for any damages + * arising from the use of this software. + * + * Permission is granted to anyone to use this software for any purpose, + * including commercial applications, and to alter it and redistribute it + * freely, subject to the following restrictions: + * + * 1. The origin of this software must not be misrepresented; you must not + * claim that you wrote the original software. If you use this software + * in a product, an acknowledgment in the product documentation would be + * appreciated but is not required. + * 2. Altered source versions must be plainly marked as such, and must not be + * misrepresented as being the original software. + * 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef __YAS_H__ +#define __YAS_H__ + +#include "yas_cfg.h" + +#define YAS_VERSION "9.0.8" + +/* ------------------ */ +/* Typedef definition */ +/* ------------------- */ + +#include <linux/types.h> + + +/* -------------------------- */ +/* Macro definition */ +/* ------------------------- */ + +/* Debugging */ +#define DEBUG (0) + +#if DEBUG +#include <linux/kernel.h> +#define YLOGD(args) (printk args) +#define YLOGI(args) (printk args) +#define YLOGE(args) (printk args) +#define YLOGW(args) (printk args) +#else /* DEBUG */ +#define YLOGD(args) +#define YLOGI(args) +#define YLOGW(args) +#define YLOGE(args) +#endif /* DEBUG */ + +#define YAS_REPORT_DATA (0x01) +#define YAS_REPORT_CALIB (0x02) +#define YAS_REPORT_OVERFLOW_OCCURED (0x04) +#define YAS_REPORT_HARD_OFFSET_CHANGED (0x08) +#define YAS_REPORT_CALIB_OFFSET_CHANGED (0x10) +#define YAS_X_OVERFLOW (0x01) +#define YAS_X_UNDERFLOW (0x02) +#define YAS_Y1_OVERFLOW (0x04) +#define YAS_Y1_UNDERFLOW (0x08) +#define YAS_Y2_OVERFLOW (0x10) +#define YAS_Y2_UNDERFLOW (0x20) + +#define YAS_HARD_OFFSET_UNKNOWN (0x7f) +#define YAS_CALIB_OFFSET_UNKNOWN (0x7fffffff) + +#define YAS_NO_ERROR (0) +#define YAS_ERROR_ARG (-1) +#define YAS_ERROR_NOT_INITIALIZED (-2) +#define YAS_ERROR_BUSY (-3) +#define YAS_ERROR_DEVICE_COMMUNICATION (-4) +#define YAS_ERROR_CHIP_ID (-5) +#define YAS_ERROR_NOT_ACTIVE (-6) +#define YAS_ERROR_RESTARTSYS (-7) +#define YAS_ERROR_HARDOFFSET_NOT_WRITTEN (-8) +#define YAS_ERROR_INTERRUPT (-9) +#define YAS_ERROR_CALREG (-10) +#define YAS_ERROR_ERROR (-128) + +enum cable_type_t { + CABLE_TYPE_NONE = 0, + CABLE_TYPE_USB, + CABLE_TYPE_AC, +}; + +#ifndef NULL +#define NULL ((void *)(0)) +#endif +#ifndef FALSE +#define FALSE (0) +#endif +#ifndef TRUE +#define TRUE (!(0)) +#endif +#ifndef NELEMS +#define NELEMS(a) ((int)(sizeof(a)/sizeof(a[0]))) +#endif +#ifndef ABS +#define ABS(a) ((a) > 0 ? (a) : -(a)) +#endif +#ifndef M_PI +#define M_PI (3.14159265358979323846) +#endif +#ifndef __GNUC__ +#define __attribute__(x) /* NOTHING */ +#endif + +enum { + YAS532_POSITION_0 = 1, + YAS532_POSITION_1, + YAS532_POSITION_2, + YAS532_POSITION_3, + YAS532_POSITION_4, + YAS532_POSITION_5, + YAS532_POSITION_6, + YAS532_POSITION_7, +}; + +#define YAS532_POSITION_OFFSET 1 + +/* -------------------------------------------------------------------------- */ +/* Structure definition */ +/* -------------------------------------------------------------------------- */ + +struct acc_platform_data { + const char *cal_path; + void (*ldo_on) (bool); + int orientation; +}; +struct accel_cal { + s16 v[3]; +}; +struct yas_mag_filter { + int len; + int noise[3]; + int threshold; /* nT */ +}; +struct yas_vector { + int32_t v[3]; +}; + +struct mag_platform_data { + void (*power_on) (bool); + int offset_enable; + int chg_status; + struct yas_vector ta_offset; + struct yas_vector usb_offset; + struct yas_vector full_offset; + int orientation; +}; + +struct yas_matrix { + int32_t matrix[9]; +}; +struct yas_acc_data { + struct yas_vector xyz; + struct yas_vector raw; +}; +struct yas_gyro_data { + struct yas_vector xyz; + struct yas_vector raw; + int overrun; + int num; +}; +struct yas_mag_data { + struct yas_vector xyz; /* without offset, filtered */ + struct yas_vector raw; /* with offset, not filtered */ + struct yas_vector xy1y2; + int16_t temperature; +}; + +struct yas_mag_offset { + int8_t hard_offset[3]; + struct yas_vector calib_offset; +}; +struct yas_mag_status { + struct yas_mag_offset offset; + int accuracy; + struct yas_matrix dynamic_matrix; +}; +struct yas_offset { + struct yas_mag_status mag[YAS_MAGCALIB_SHAPE_NUM]; +}; + +struct yas_mag_driver_callback { + int (*lock) (void); + int (*unlock) (void); + int (*device_open) (void); + int (*device_close) (void); +#if YAS_MAG_DRIVER == YAS_MAG_DRIVER_YAS529 + int (*device_write) (const uint8_t *buf, int len); + int (*device_read) (uint8_t *buf, int len); +#else + int (*device_write) (uint8_t addr, const uint8_t *buf, int len); + int (*device_read) (uint8_t addr, uint8_t *buf, int len); +#endif + void (*msleep) (int msec); + void (*current_time) (int32_t *sec, int32_t *msec); +}; + +struct yas_mag_driver { + int (*init) (void); + int (*term) (void); + int (*get_delay) (void); + int (*set_delay) (int msec); + int (*get_offset) (struct yas_mag_offset *offset); + int (*set_offset) (struct yas_mag_offset *offset); +#ifdef YAS_MAG_MANUAL_OFFSET + int (*get_manual_offset) (struct yas_vector *offset); + int (*set_manual_offset) (struct yas_vector *offset); +#endif + int (*get_static_matrix) (struct yas_matrix *static_matrix); + int (*set_static_matrix) (struct yas_matrix *static_matrix); + int (*get_dynamic_matrix) (struct yas_matrix *dynamic_matrix); + int (*set_dynamic_matrix) (struct yas_matrix *dynamic_matrix); + int (*get_enable) (void); + int (*set_enable) (int enable); + int (*get_filter) (struct yas_mag_filter *filter); + int (*set_filter) (struct yas_mag_filter *filter); + int (*get_filter_enable) (void); + int (*set_filter_enable) (int enable); + int (*get_position) (void); + int (*set_position) (int position); +#if YAS_MAG_DRIVER == YAS_MAG_DRIVER_YAS529 + int (*read_reg) (uint8_t *buf, int len); + int (*write_reg) (const uint8_t *buf, int len); +#else + int (*read_reg) (uint8_t addr, uint8_t *buf, int len); + int (*write_reg) (uint8_t addr, const uint8_t *buf, int len); +#endif + int (*measure) (struct yas_mag_data *data, int *time_delay_ms); + struct yas_mag_driver_callback callback; +}; + +struct yas_mag_calibration_result { + int32_t spread; + int32_t variation; + int32_t radius; + int8_t axis; + int8_t level; + int8_t accuracy; + struct yas_matrix dynamic_matrix; +}; + +struct yas_mag_calibration_threshold { + int32_t spread; + int32_t variation[3]; +}; + +struct yas_mag_calibration_callback { + int (*lock) (void); + int (*unlock) (void); +}; + +#define YAS_MAGCALIB_MODE_SPHERE (0) +#define YAS_MAGCALIB_MODE_ELLIPSOID (1) + +struct yas_mag_calibration { + int (*init) (void); + int (*term) (void); + int (*update) (struct yas_vector *mag, + struct yas_mag_calibration_result *result); + int (*get_accuracy) (void); + int (*set_accuracy) (int accuracy); + int (*get_offset) (struct yas_vector *offset); + int (*set_offset) (struct yas_vector *offset); + int (*get_shape) (void); + int (*set_shape) (int shape); + int (*get_threshold) (struct yas_mag_calibration_threshold *threshold); + int (*set_threshold) (struct yas_mag_calibration_threshold *threshold); + int (*get_mode) (void); + int (*set_mode) (int mode); + int (*get_max_sample) (void); + int (*set_max_sample) (int num_samples); + int (*get_dynamic_matrix) (struct yas_matrix *dynamic_matrix); + struct yas_mag_calibration_callback callback; +}; + +#if YAS_SUPPORT_FUSION_DRIVER + +struct yas_quaternion { + int32_t q[4]; +}; + +struct yas_fusion_callback { + int (*lock) (void); + int (*unlock) (void); + void (*current_time) (int32_t *sec, int32_t *msec); +}; + +struct yas_fusion { + int (*init) (void); + int (*term) (void); + int (*update) (struct yas_vector *acc, struct yas_vector *mag, + struct yas_vector *gyro); + int (*get_quaternion) (struct yas_quaternion *quaternion); + int (*get_fusion) (struct yas_quaternion *quaternion, + struct yas_vector *acc, struct yas_vector *gravity, + struct yas_vector *linear_acceleration, + struct yas_vector *rotation_vector); + struct yas_fusion_callback callback; +}; +#endif + +#if YAS_SUPPORT_SOFTWARE_GYROSCOPE + +struct yas_swgyro_callback { + int (*lock) (void); + int (*unlock) (void); +}; + +struct yas_swgyro { + int (*init) (void); + int (*term) (void); + int (*get_delay) (void); + int (*set_delay) (int msec); + int (*update) (struct yas_vector *acc, struct yas_vector *mag, + struct yas_vector *gyro); + struct yas_swgyro_callback callback; +}; + +#endif + +struct yas_acc_filter { + int threshold; /* um/s^2 */ +}; + +struct yas_acc_driver_callback { + int (*lock) (void); + int (*unlock) (void); + int (*device_open) (void); + int (*device_close) (void); + int (*device_write) (uint8_t adr, const uint8_t *buf, int len); + int (*device_read) (uint8_t adr, uint8_t *buf, int len); + void (*msleep) (int msec); +}; + +struct yas_acc_driver { + int (*init) (void); + int (*term) (void); + int (*get_delay) (void); + int (*set_delay) (int delay); + int (*get_offset) (struct yas_vector *offset); + int (*set_offset) (struct yas_vector *offset); + int (*get_enable) (void); + int (*set_enable) (int enable); + int (*get_filter) (struct yas_acc_filter *filter); + int (*set_filter) (struct yas_acc_filter *filter); + int (*get_filter_enable) (void); + int (*set_filter_enable) (int enable); + int (*get_position) (void); + int (*set_position) (int position); + int (*measure) (struct yas_acc_data *data); + void (*set_motion_interrupt)(bool enable, bool factorytest); + int (*get_motion_interrupt)(void); +#if DEBUG + int (*get_register) (uint8_t adr, uint8_t *val); +#endif + struct yas_acc_driver_callback callback; +}; + +struct yas_acc_calibration_threshold { + int32_t variation; +}; + +struct yas_acc_calibration_callback { + int (*lock) (void); + int (*unlock) (void); +}; + +struct yas_acc_calibration { + int (*init) (void); + int (*term) (void); + int (*update) (struct yas_vector *acc); + int (*get_offset) (struct yas_vector *offset); + int (*get_threshold) (struct yas_acc_calibration_threshold *threshold); + int (*set_threshold) (struct yas_acc_calibration_threshold *threshold); + struct yas_acc_calibration_callback callback; +}; + +struct yas_gyro_filter { + int threshold; /*mdegree/s */ +}; + +struct yas_gyro_driver_callback { + int (*lock) (void); + int (*unlock) (void); + int (*device_open) (void); + int (*device_close) (void); + int (*device_write) (uint8_t adr, const uint8_t *buf, int len); + int (*device_read) (uint8_t adr, uint8_t *buf, int len); + int (*interrupt_enable) (void); + int (*interrupt_disable) (void); + void (*interrupt_notify) (int num); + void (*msleep) (int msec); +}; + +struct yas_gyro_driver { + int (*init) (void); + int (*term) (void); + int (*get_delay) (void); + int (*set_delay) (int delay); + int (*get_offset) (struct yas_vector *offset); + int (*set_offset) (struct yas_vector *offset); + int (*get_enable) (void); + int (*set_enable) (int enable); + int (*get_filter) (struct yas_gyro_filter *filter); + int (*set_filter) (struct yas_gyro_filter *filter); + int (*get_filter_enable) (void); + int (*set_filter_enable) (int enable); + int (*get_position) (void); + int (*set_position) (int position); + int (*get_interrupt) (void); + int (*set_interrupt) (int interrupt); + int (*measure) (struct yas_gyro_data *data, int num); + void (*interrupt_handler) (void); +#if DEBUG + int (*get_register) (uint8_t adr, uint8_t *val); + int (*set_register) (uint8_t adr, uint8_t val); +#endif + struct yas_gyro_driver_callback callback; +}; + +struct yas_gyro_calibration_threshold { + int32_t variation; +}; + +struct yas_gyro_calibration_callback { + int (*lock) (void); + int (*unlock) (void); +}; + +struct yas_gyro_calibration { + int (*init) (void); + int (*term) (void); + int (*update) (struct yas_vector *gyro); + int (*get_offset) (struct yas_vector *offset); + int (*get_threshold) (struct yas_gyro_calibration_threshold * + threshold); + int (*set_threshold) (struct yas_gyro_calibration_threshold * + threshold); + struct yas_gyro_calibration_callback callback; +}; + +struct yas_utility { + int (*get_rotation_matrix) (struct yas_vector *acc, + struct yas_vector *mag, + struct yas_matrix *rotation_matrix); + int (*get_euler) (struct yas_matrix *rotation_matrix, + struct yas_vector *euler); +}; + +/*-------------------------------------------------------------------------- */ +/* Global function definition */ +/*-------------------------------------------------------------------------- */ + +int yas_mag_driver_init(struct yas_mag_driver *f); +int yas_mag_calibration_init(struct yas_mag_calibration *f); +int yas_acc_driver_init(struct yas_acc_driver *f); +int yas_acc_calibration_init(struct yas_acc_calibration *f); +int yas_gyro_driver_init(struct yas_gyro_driver *f, int interrupt); +int yas_gyro_calibration_init(struct yas_gyro_calibration *f); +int yas_utility_init(struct yas_utility *f); +#if YAS_SUPPORT_FUSION_DRIVER +int yas_fusion_init(struct yas_fusion *f); +#endif +#if YAS_SUPPORT_SOFTWARE_GYROSCOPE +int yas_swgyro_init(struct yas_swgyro *f); +#endif + +#endif /*__YAS_H__ */ |