/*
$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 .
$
*/
/**
* @addtogroup MLDL
*
* @{
* @file mldl_cfg.h
* @brief The Motion Library Driver Layer Configuration header file.
*/
#ifndef __MLDL_CFG_H__
#define __MLDL_CFG_H__
#include "mltypes.h"
#include "mlsl.h"
#include
#include "mpu6050b1.h"
#include "log.h"
/*************************************************************************
* Sensors Bit definitions
*************************************************************************/
#define INV_X_GYRO (0x0001)
#define INV_Y_GYRO (0x0002)
#define INV_Z_GYRO (0x0004)
#define INV_DMP_PROCESSOR (0x0008)
#define INV_X_ACCEL (0x0010)
#define INV_Y_ACCEL (0x0020)
#define INV_Z_ACCEL (0x0040)
#define INV_X_COMPASS (0x0080)
#define INV_Y_COMPASS (0x0100)
#define INV_Z_COMPASS (0x0200)
#define INV_X_PRESSURE (0x0300)
#define INV_Y_PRESSURE (0x0800)
#define INV_Z_PRESSURE (0x1000)
#define INV_TEMPERATURE (0x2000)
#define INV_TIME (0x4000)
#define INV_THREE_AXIS_GYRO (0x000F)
#define INV_THREE_AXIS_ACCEL (0x0070)
#define INV_THREE_AXIS_COMPASS (0x0380)
#define INV_THREE_AXIS_PRESSURE (0x1C00)
#define INV_FIVE_AXIS (0x007B)
#define INV_SIX_AXIS_GYRO_ACCEL (0x007F)
#define INV_SIX_AXIS_ACCEL_COMPASS (0x03F0)
#define INV_NINE_AXIS (0x03FF)
#define INV_ALL_SENSORS (0x7FFF)
#define MPL_PROD_KEY(ver, rev) (ver * 100 + rev)
/* -------------------------------------------------------------------------- */
struct mpu_ram {
__u16 length;
__u8 *ram;
};
struct mpu_gyro_cfg {
__u8 int_config;
__u8 ext_sync;
__u8 full_scale;
__u8 lpf;
__u8 clk_src;
__u8 divider;
__u8 dmp_enable;
__u8 fifo_enable;
__u8 dmp_cfg1;
__u8 dmp_cfg2;
};
/* Offset registers that can be calibrated */
struct mpu_offsets {
__u8 tc[GYRO_NUM_AXES];
__u16 gyro[GYRO_NUM_AXES];
};
/* Chip related information that can be read and verified */
struct mpu_chip_info {
__u8 addr;
__u8 product_revision;
__u8 silicon_revision;
__u8 product_id;
__u16 gyro_sens_trim;
/* Only used for MPU6050 */
__u16 accel_sens_trim;
};
struct inv_mpu_cfg {
__u32 requested_sensors;
__u8 ignore_system_suspend;
};
#define MPU_GYRO_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_GYROSCOPE)
#define MPU_ACCEL_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_ACCEL)
#define MPU_COMPASS_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_COMPASS)
#define MPU_PRESSURE_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_PRESSURE)
#define MPU_GYRO_IS_BYPASSED (0x10)
#define MPU_DMP_IS_SUSPENDED (0x20)
#define MPU_GYRO_NEEDS_CONFIG (0x40)
#define MPU_DEVICE_IS_SUSPENDED (0x80)
/* Driver related state information */
struct inv_mpu_state {
__u8 status;
/* 0-1 for 3050, bitfield of BIT_SLVx_DLY_EN, x = [0..4] */
__u8 i2c_slaves_enabled;
};
/* Platform data for the MPU */
struct mldl_cfg {
struct mpu_ram *mpu_ram;
struct mpu_gyro_cfg *mpu_gyro_cfg;
struct mpu_offsets *mpu_offsets;
struct mpu_chip_info *mpu_chip_info;
/* MPU Related stored status and info */
struct inv_mpu_cfg *inv_mpu_cfg;
struct inv_mpu_state *inv_mpu_state;
/* Slave related information */
struct ext_slave_descr *slave[EXT_SLAVE_NUM_TYPES];
/* Platform Data */
struct mpu_platform_data *pdata;
struct ext_slave_platform_data *pdata_slave[EXT_SLAVE_NUM_TYPES];
};
/* -------------------------------------------------------------------------- */
int inv_mpu_open(struct mldl_cfg *mldl_cfg,
void *mlsl_handle,
void *accel_handle,
void *compass_handle,
void *pressure_handle);
int inv_mpu_close(struct mldl_cfg *mldl_cfg,
void *mlsl_handle,
void *accel_handle,
void *compass_handle,
void *pressure_handle);
int inv_mpu_resume(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *accel_handle,
void *compass_handle,
void *pressure_handle,
unsigned long sensors);
int inv_mpu_suspend(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *accel_handle,
void *compass_handle,
void *pressure_handle,
unsigned long sensors);
int inv_mpu_set_firmware(struct mldl_cfg *mldl_cfg,
void *mlsl_handle,
const unsigned char *data,
int size);
/* -------------------------------------------------------------------------- */
/* Slave Read functions */
int inv_mpu_slave_read(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *slave_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
unsigned char *data);
static inline int inv_mpu_read_accel(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *accel_handle, unsigned char *data)
{
if (!mldl_cfg) {
LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
return INV_ERROR_INVALID_PARAMETER;
}
return inv_mpu_slave_read(
mldl_cfg, gyro_handle, accel_handle,
mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL],
mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL],
data);
}
static inline int inv_mpu_read_compass(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *compass_handle,
unsigned char *data)
{
if (!mldl_cfg) {
LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
return INV_ERROR_INVALID_PARAMETER;
}
return inv_mpu_slave_read(
mldl_cfg, gyro_handle, compass_handle,
mldl_cfg->slave[EXT_SLAVE_TYPE_COMPASS],
mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_COMPASS],
data);
}
static inline int inv_mpu_read_pressure(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *pressure_handle,
unsigned char *data)
{
if (!mldl_cfg) {
LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
return INV_ERROR_INVALID_PARAMETER;
}
return inv_mpu_slave_read(
mldl_cfg, gyro_handle, pressure_handle,
mldl_cfg->slave[EXT_SLAVE_TYPE_PRESSURE],
mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_PRESSURE],
data);
}
int gyro_config(void *mlsl_handle,
struct mldl_cfg *mldl_cfg,
struct ext_slave_config *data);
/* Slave Config functions */
int inv_mpu_slave_config(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *slave_handle,
struct ext_slave_config *data,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata);
static inline int inv_mpu_config_accel(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *accel_handle,
struct ext_slave_config *data)
{
if (!mldl_cfg) {
LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
return INV_ERROR_INVALID_PARAMETER;
}
return inv_mpu_slave_config(
mldl_cfg, gyro_handle, accel_handle, data,
mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL],
mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL]);
}
static inline int inv_mpu_config_compass(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *compass_handle,
struct ext_slave_config *data)
{
if (!mldl_cfg) {
LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
return INV_ERROR_INVALID_PARAMETER;
}
return inv_mpu_slave_config(
mldl_cfg, gyro_handle, compass_handle, data,
mldl_cfg->slave[EXT_SLAVE_TYPE_COMPASS],
mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_COMPASS]);
}
static inline int inv_mpu_config_pressure(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *pressure_handle,
struct ext_slave_config *data)
{
if (!mldl_cfg) {
LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
return INV_ERROR_INVALID_PARAMETER;
}
return inv_mpu_slave_config(
mldl_cfg, gyro_handle, pressure_handle, data,
mldl_cfg->slave[EXT_SLAVE_TYPE_PRESSURE],
mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_PRESSURE]);
}
int gyro_get_config(void *mlsl_handle,
struct mldl_cfg *mldl_cfg,
struct ext_slave_config *data);
/* Slave get config functions */
int inv_mpu_get_slave_config(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *slave_handle,
struct ext_slave_config *data,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata);
static inline int inv_mpu_get_accel_config(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *accel_handle,
struct ext_slave_config *data)
{
if (!mldl_cfg) {
LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
return INV_ERROR_INVALID_PARAMETER;
}
return inv_mpu_get_slave_config(
mldl_cfg, gyro_handle, accel_handle, data,
mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL],
mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL]);
}
static inline int inv_mpu_get_compass_config(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *compass_handle,
struct ext_slave_config *data)
{
if (!mldl_cfg || !(mldl_cfg->pdata)) {
LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
return INV_ERROR_INVALID_PARAMETER;
}
return inv_mpu_get_slave_config(
mldl_cfg, gyro_handle, compass_handle, data,
mldl_cfg->slave[EXT_SLAVE_TYPE_COMPASS],
mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_COMPASS]);
}
static inline int inv_mpu_get_pressure_config(struct mldl_cfg *mldl_cfg,
void *gyro_handle,
void *pressure_handle,
struct ext_slave_config *data)
{
if (!mldl_cfg || !(mldl_cfg->pdata)) {
LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
return INV_ERROR_INVALID_PARAMETER;
}
return inv_mpu_get_slave_config(
mldl_cfg, gyro_handle, pressure_handle, data,
mldl_cfg->slave[EXT_SLAVE_TYPE_PRESSURE],
mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_PRESSURE]);
}
/* -------------------------------------------------------------------------- */
static inline
long inv_mpu_get_sampling_rate_hz(struct mpu_gyro_cfg *gyro_cfg)
{
if (((gyro_cfg->lpf) == 0) || ((gyro_cfg->lpf) == 7))
return 8000L / (gyro_cfg->divider + 1);
else
return 1000L / (gyro_cfg->divider + 1);
}
static inline
long inv_mpu_get_sampling_period_us(struct mpu_gyro_cfg *gyro_cfg)
{
if (((gyro_cfg->lpf) == 0) || ((gyro_cfg->lpf) == 7))
return (long) (1000000L * (gyro_cfg->divider + 1)) / 8000L;
else
return (long) (1000000L * (gyro_cfg->divider + 1)) / 1000L;
}
#endif /* __MLDL_CFG_H__ */
/**
* @}
*/