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/*
$License:
Copyright (C) 2010 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>
#endif
#ifdef M_HW
#include "mpu6000.h"
#else
#include "mpu3050.h"
#endif
/* Number of axes on each sensor */
#define GYRO_NUM_AXES (3)
#define ACCEL_NUM_AXES (3)
#define COMPASS_NUM_AXES (3)
/* IOCTL commands for /dev/mpu */
#define MPU_SET_MPU_CONFIG (0x00)
#define MPU_SET_INT_CONFIG (0x01)
#define MPU_SET_EXT_SYNC (0x02)
#define MPU_SET_FULL_SCALE (0x03)
#define MPU_SET_LPF (0x04)
#define MPU_SET_CLK_SRC (0x05)
#define MPU_SET_DIVIDER (0x06)
#define MPU_SET_LEVEL_SHIFTER (0x07)
#define MPU_SET_DMP_ENABLE (0x08)
#define MPU_SET_FIFO_ENABLE (0x09)
#define MPU_SET_DMP_CFG1 (0x0a)
#define MPU_SET_DMP_CFG2 (0x0b)
#define MPU_SET_OFFSET_TC (0x0c)
#define MPU_SET_RAM (0x0d)
#define MPU_SET_PLATFORM_DATA (0x0e)
#define MPU_GET_MPU_CONFIG (0x80)
#define MPU_GET_INT_CONFIG (0x81)
#define MPU_GET_EXT_SYNC (0x82)
#define MPU_GET_FULL_SCALE (0x83)
#define MPU_GET_LPF (0x84)
#define MPU_GET_CLK_SRC (0x85)
#define MPU_GET_DIVIDER (0x86)
#define MPU_GET_LEVEL_SHIFTER (0x87)
#define MPU_GET_DMP_ENABLE (0x88)
#define MPU_GET_FIFO_ENABLE (0x89)
#define MPU_GET_DMP_CFG1 (0x8a)
#define MPU_GET_DMP_CFG2 (0x8b)
#define MPU_GET_OFFSET_TC (0x8c)
#define MPU_GET_RAM (0x8d)
#define MPU_READ_REGISTER (0x40)
#define MPU_WRITE_REGISTER (0x41)
#define MPU_READ_MEMORY (0x42)
#define MPU_WRITE_MEMORY (0x43)
#define MPU_SUSPEND (0x44)
#define MPU_RESUME (0x45)
#define MPU_READ_COMPASS (0x46)
#define MPU_READ_ACCEL (0x47)
#define MPU_READ_PRESSURE (0x48)
#define MPU_CONFIG_ACCEL (0x20)
#define MPU_CONFIG_COMPASS (0x21)
#define MPU_CONFIG_PRESSURE (0x22)
#define MPU_GET_CONFIG_ACCEL (0x28)
#define MPU_GET_CONFIG_COMPASS (0x29)
#define MPU_GET_CONFIG_PRESSURE (0x2a)
/* Structure for the following IOCTL's:
MPU_SET_RAM
MPU_GET_RAM
MPU_READ_REGISTER
MPU_WRITE_REGISTER
MPU_READ_MEMORY
MPU_WRITE_MEMORY
*/
struct mpu_read_write {
unsigned short address;
unsigned short length;
unsigned char *data;
};
#define FEATURE_GYRO_SELFTEST_INTERRUPT
struct mpuirq_data {
int interruptcount;
unsigned long long irqtime;
int data_type;
int data_size;
void *data;
#ifdef FEATURE_GYRO_SELFTEST_INTERRUPT
unsigned long long mpuirq_jiffies;
#endif
};
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_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
*/
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_KXSD9,
ACCEL_ID_KXTF9,
ACCEL_ID_BMA150,
ACCEL_ID_BMA222,
ACCEL_ID_ADI346,
ACCEL_ID_MMA8450,
ACCEL_ID_MMA845X,
ACCEL_ID_MPU6000,
ACCEL_ID_LIS3DH,
COMPASS_ID_AKM,
COMPASS_ID_AMI30X,
COMPASS_ID_YAS529,
COMPASS_ID_HMC5883,
COMPASS_ID_LSM303,
COMPASS_ID_MMC314X,
COMPASS_ID_MMC328X,
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 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 tFixPntRange {
long mantissa;
long fraction;
};
/**
* 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
* @reg: starting register address to retrieve data.
* @len: length in bytes of the sensor data. Should be 6.
* @endian: byte order of the data. enum ext_slave_endian
* @range: full scale range of the slave ouput: struct tFixPntRange
*
* Defines the functions and information about the slave the mpu3050 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 reg;
unsigned int len;
unsigned char endian;
struct tFixPntRange range;
};
/**
* struct mpu3050_platform_data - Platform data for the mpu3050 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 mpu3050_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;
struct class *sec_class;
};
/*
Accelerometer
*/
#define get_accel_slave_descr NULL
#ifdef CONFIG_MPU_SENSORS_ADXL346 /* ADI accelerometer */
struct ext_slave_descr *adxl346_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr adxl346_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_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
#if defined CONFIG_MACH_BOSE_ATT
struct ext_slave_descr *kxtf9_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr kxtf9_get_slave_descr
struct ext_slave_descr *kxud9_get_slave_descr(void);
#define get_accel_slave_descr_2 kxud9_get_slave_descr
#else
#ifdef CONFIG_MPU_SENSORS_KXUD9 /* Kionix accelerometer */
struct ext_slave_descr *kxud9_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr kxud9_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
#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
#ifdef CONFIG_MPU_SENSORS_KXTF9_LIS3DH /* Kionix accelerometer */
struct ext_slave_descr *kxtf9_get_slave_descr(void);
struct ext_slave_descr *lis3dh_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr kxtf9_get_slave_descr
#endif
/* MPU6000 Accel */
#if defined(CONFIG_MPU_SENSORS_MPU6000) || \
defined(CONFIG_MPU_SENSORS_MPU6000_MODULE)
struct ext_slave_descr *mantis_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 /* 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 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_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_MMC328X /* MEMSIC compass */
struct ext_slave_descr *mmc328x_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr mmc328x_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_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_ */
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