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13#include <linux/i2c.h>
14#include <linux/i2c-mux.h>
15#include <linux/kfifo.h>
16#include <linux/spinlock.h>
17#include <linux/iio/iio.h>
18#include <linux/iio/buffer.h>
19#include <linux/regmap.h>
20#include <linux/iio/sysfs.h>
21#include <linux/iio/kfifo_buf.h>
22#include <linux/iio/trigger.h>
23#include <linux/iio/triggered_buffer.h>
24#include <linux/iio/trigger_consumer.h>
25#include <linux/platform_data/invensense_mpu6050.h>
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47struct inv_mpu6050_reg_map {
48 u8 sample_rate_div;
49 u8 lpf;
50 u8 user_ctrl;
51 u8 fifo_en;
52 u8 gyro_config;
53 u8 accl_config;
54 u8 fifo_count_h;
55 u8 fifo_r_w;
56 u8 raw_gyro;
57 u8 raw_accl;
58 u8 temperature;
59 u8 int_enable;
60 u8 pwr_mgmt_1;
61 u8 pwr_mgmt_2;
62 u8 int_pin_cfg;
63 u8 accl_offset;
64 u8 gyro_offset;
65};
66
67
68enum inv_devices {
69 INV_MPU6050,
70 INV_MPU6500,
71 INV_MPU6000,
72 INV_MPU9150,
73 INV_ICM20608,
74 INV_NUM_PARTS
75};
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87struct inv_mpu6050_chip_config {
88 unsigned int fsr:2;
89 unsigned int lpf:3;
90 unsigned int accl_fs:2;
91 unsigned int enable:1;
92 unsigned int accl_fifo_enable:1;
93 unsigned int gyro_fifo_enable:1;
94 u16 fifo_rate;
95};
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104struct inv_mpu6050_hw {
105 u8 whoami;
106 u8 *name;
107 const struct inv_mpu6050_reg_map *reg;
108 const struct inv_mpu6050_chip_config *config;
109};
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126struct inv_mpu6050_state {
127#define TIMESTAMP_FIFO_SIZE 16
128 struct iio_trigger *trig;
129 struct inv_mpu6050_chip_config chip_config;
130 const struct inv_mpu6050_reg_map *reg;
131 const struct inv_mpu6050_hw *hw;
132 enum inv_devices chip_type;
133 spinlock_t time_stamp_lock;
134 struct i2c_mux_core *muxc;
135 struct i2c_client *mux_client;
136 unsigned int powerup_count;
137 struct inv_mpu6050_platform_data plat_data;
138 struct iio_mount_matrix orientation;
139 DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
140 struct regmap *map;
141 int irq;
142};
143
144
145#define INV_MPU6050_REG_ACCEL_OFFSET 0x06
146#define INV_MPU6050_REG_GYRO_OFFSET 0x13
147
148#define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19
149#define INV_MPU6050_REG_CONFIG 0x1A
150#define INV_MPU6050_REG_GYRO_CONFIG 0x1B
151#define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
152
153#define INV_MPU6050_REG_FIFO_EN 0x23
154#define INV_MPU6050_BIT_ACCEL_OUT 0x08
155#define INV_MPU6050_BITS_GYRO_OUT 0x70
156
157#define INV_MPU6050_REG_INT_ENABLE 0x38
158#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
159#define INV_MPU6050_BIT_DMP_INT_EN 0x02
160
161#define INV_MPU6050_REG_RAW_ACCEL 0x3B
162#define INV_MPU6050_REG_TEMPERATURE 0x41
163#define INV_MPU6050_REG_RAW_GYRO 0x43
164
165#define INV_MPU6050_REG_USER_CTRL 0x6A
166#define INV_MPU6050_BIT_FIFO_RST 0x04
167#define INV_MPU6050_BIT_DMP_RST 0x08
168#define INV_MPU6050_BIT_I2C_MST_EN 0x20
169#define INV_MPU6050_BIT_FIFO_EN 0x40
170#define INV_MPU6050_BIT_DMP_EN 0x80
171#define INV_MPU6050_BIT_I2C_IF_DIS 0x10
172
173#define INV_MPU6050_REG_PWR_MGMT_1 0x6B
174#define INV_MPU6050_BIT_H_RESET 0x80
175#define INV_MPU6050_BIT_SLEEP 0x40
176#define INV_MPU6050_BIT_CLK_MASK 0x7
177
178#define INV_MPU6050_REG_PWR_MGMT_2 0x6C
179#define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
180#define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
181
182#define INV_MPU6050_REG_FIFO_COUNT_H 0x72
183#define INV_MPU6050_REG_FIFO_R_W 0x74
184
185#define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
186#define INV_MPU6050_FIFO_COUNT_BYTE 2
187#define INV_MPU6050_FIFO_THRESHOLD 500
188
189
190#define INV_MPU6500_REG_ACCEL_OFFSET 0x77
191
192
193#define INV_MPU6050_POWER_UP_TIME 100
194#define INV_MPU6050_TEMP_UP_TIME 100
195#define INV_MPU6050_SENSOR_UP_TIME 30
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197
198#define INV_MPU6050_REG_UP_TIME_MIN 5000
199#define INV_MPU6050_REG_UP_TIME_MAX 10000
200
201#define INV_MPU6050_TEMP_OFFSET 12421
202#define INV_MPU6050_TEMP_SCALE 2941
203#define INV_MPU6050_MAX_GYRO_FS_PARAM 3
204#define INV_MPU6050_MAX_ACCL_FS_PARAM 3
205#define INV_MPU6050_THREE_AXIS 3
206#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
207#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3
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209
210#define INV_MPU6050_OUTPUT_DATA_SIZE 24
211
212#define INV_MPU6050_REG_INT_PIN_CFG 0x37
213#define INV_MPU6050_BIT_BYPASS_EN 0x2
214#define INV_MPU6050_INT_PIN_CFG 0
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216
217#define INV_MPU6050_INIT_FIFO_RATE 50
218#define INV_MPU6050_TIME_STAMP_TOR 5
219#define INV_MPU6050_MAX_FIFO_RATE 1000
220#define INV_MPU6050_MIN_FIFO_RATE 4
221#define INV_MPU6050_ONE_K_HZ 1000
222
223#define INV_MPU6050_REG_WHOAMI 117
224
225#define INV_MPU6000_WHOAMI_VALUE 0x68
226#define INV_MPU6050_WHOAMI_VALUE 0x68
227#define INV_MPU6500_WHOAMI_VALUE 0x70
228#define INV_MPU9150_WHOAMI_VALUE 0x68
229#define INV_ICM20608_WHOAMI_VALUE 0xAF
230
231
232enum inv_mpu6050_scan {
233 INV_MPU6050_SCAN_ACCL_X,
234 INV_MPU6050_SCAN_ACCL_Y,
235 INV_MPU6050_SCAN_ACCL_Z,
236 INV_MPU6050_SCAN_GYRO_X,
237 INV_MPU6050_SCAN_GYRO_Y,
238 INV_MPU6050_SCAN_GYRO_Z,
239 INV_MPU6050_SCAN_TIMESTAMP,
240};
241
242enum inv_mpu6050_filter_e {
243 INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
244 INV_MPU6050_FILTER_188HZ,
245 INV_MPU6050_FILTER_98HZ,
246 INV_MPU6050_FILTER_42HZ,
247 INV_MPU6050_FILTER_20HZ,
248 INV_MPU6050_FILTER_10HZ,
249 INV_MPU6050_FILTER_5HZ,
250 INV_MPU6050_FILTER_2100HZ_NOLPF,
251 NUM_MPU6050_FILTER
252};
253
254
255enum INV_MPU6050_IIO_ATTR_ADDR {
256 ATTR_GYRO_MATRIX,
257 ATTR_ACCL_MATRIX,
258};
259
260enum inv_mpu6050_accl_fs_e {
261 INV_MPU6050_FS_02G = 0,
262 INV_MPU6050_FS_04G,
263 INV_MPU6050_FS_08G,
264 INV_MPU6050_FS_16G,
265 NUM_ACCL_FSR
266};
267
268enum inv_mpu6050_fsr_e {
269 INV_MPU6050_FSR_250DPS = 0,
270 INV_MPU6050_FSR_500DPS,
271 INV_MPU6050_FSR_1000DPS,
272 INV_MPU6050_FSR_2000DPS,
273 NUM_MPU6050_FSR
274};
275
276enum inv_mpu6050_clock_sel_e {
277 INV_CLK_INTERNAL = 0,
278 INV_CLK_PLL,
279 NUM_CLK
280};
281
282irqreturn_t inv_mpu6050_irq_handler(int irq, void *p);
283irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
284int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev);
285void inv_mpu6050_remove_trigger(struct inv_mpu6050_state *st);
286int inv_reset_fifo(struct iio_dev *indio_dev);
287int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
288int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
289int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
290int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
291void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
292int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
293 int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
294int inv_mpu_core_remove(struct device *dev);
295int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
296extern const struct dev_pm_ops inv_mpu_pmops;
297