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6#ifndef INV_MPU_IIO_H_
7#define INV_MPU_IIO_H_
8
9#include <linux/i2c.h>
10#include <linux/i2c-mux.h>
11#include <linux/mutex.h>
12#include <linux/iio/iio.h>
13#include <linux/iio/buffer.h>
14#include <linux/regmap.h>
15#include <linux/iio/sysfs.h>
16#include <linux/iio/kfifo_buf.h>
17#include <linux/iio/trigger.h>
18#include <linux/iio/triggered_buffer.h>
19#include <linux/iio/trigger_consumer.h>
20#include <linux/platform_data/invensense_mpu6050.h>
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45struct inv_mpu6050_reg_map {
46 u8 sample_rate_div;
47 u8 lpf;
48 u8 accel_lpf;
49 u8 user_ctrl;
50 u8 fifo_en;
51 u8 gyro_config;
52 u8 accl_config;
53 u8 fifo_count_h;
54 u8 fifo_r_w;
55 u8 raw_gyro;
56 u8 raw_accl;
57 u8 temperature;
58 u8 int_enable;
59 u8 int_status;
60 u8 pwr_mgmt_1;
61 u8 pwr_mgmt_2;
62 u8 int_pin_cfg;
63 u8 accl_offset;
64 u8 gyro_offset;
65 u8 i2c_if;
66};
67
68
69enum inv_devices {
70 INV_MPU6050,
71 INV_MPU6500,
72 INV_MPU6515,
73 INV_MPU6000,
74 INV_MPU9150,
75 INV_MPU9250,
76 INV_MPU9255,
77 INV_ICM20608,
78 INV_ICM20602,
79 INV_NUM_PARTS
80};
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93struct inv_mpu6050_chip_config {
94 unsigned int fsr:2;
95 unsigned int lpf:3;
96 unsigned int accl_fs:2;
97 unsigned int accl_fifo_enable:1;
98 unsigned int gyro_fifo_enable:1;
99 unsigned int temp_fifo_enable:1;
100 unsigned int magn_fifo_enable:1;
101 u8 divider;
102 u8 user_ctrl;
103};
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114struct inv_mpu6050_hw {
115 u8 whoami;
116 u8 *name;
117 const struct inv_mpu6050_reg_map *reg;
118 const struct inv_mpu6050_chip_config *config;
119 size_t fifo_size;
120 struct {
121 int offset;
122 int scale;
123 } temp;
124};
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148struct inv_mpu6050_state {
149 struct mutex lock;
150 struct iio_trigger *trig;
151 struct inv_mpu6050_chip_config chip_config;
152 const struct inv_mpu6050_reg_map *reg;
153 const struct inv_mpu6050_hw *hw;
154 enum inv_devices chip_type;
155 struct i2c_mux_core *muxc;
156 struct i2c_client *mux_client;
157 unsigned int powerup_count;
158 struct inv_mpu6050_platform_data plat_data;
159 struct iio_mount_matrix orientation;
160 struct regmap *map;
161 int irq;
162 u8 irq_mask;
163 unsigned skip_samples;
164 s64 chip_period;
165 s64 it_timestamp;
166 s64 data_timestamp;
167 struct regulator *vdd_supply;
168 struct regulator *vddio_supply;
169 bool magn_disabled;
170 s32 magn_raw_to_gauss[3];
171 struct iio_mount_matrix magn_orient;
172};
173
174
175#define INV_MPU6050_REG_ACCEL_OFFSET 0x06
176#define INV_MPU6050_REG_GYRO_OFFSET 0x13
177
178#define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19
179#define INV_MPU6050_REG_CONFIG 0x1A
180#define INV_MPU6050_REG_GYRO_CONFIG 0x1B
181#define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
182
183#define INV_MPU6050_REG_FIFO_EN 0x23
184#define INV_MPU6050_BIT_SLAVE_0 0x01
185#define INV_MPU6050_BIT_SLAVE_1 0x02
186#define INV_MPU6050_BIT_SLAVE_2 0x04
187#define INV_MPU6050_BIT_ACCEL_OUT 0x08
188#define INV_MPU6050_BITS_GYRO_OUT 0x70
189#define INV_MPU6050_BIT_TEMP_OUT 0x80
190
191#define INV_MPU6050_REG_I2C_MST_CTRL 0x24
192#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
193#define INV_MPU6050_BIT_I2C_MST_P_NSR 0x10
194#define INV_MPU6050_BIT_SLV3_FIFO_EN 0x20
195#define INV_MPU6050_BIT_WAIT_FOR_ES 0x40
196#define INV_MPU6050_BIT_MULT_MST_EN 0x80
197
198
199#define INV_MPU6050_REG_I2C_SLV_ADDR(_x) (0x25 + 3 * (_x))
200#define INV_MPU6050_BIT_I2C_SLV_RNW 0x80
201
202#define INV_MPU6050_REG_I2C_SLV_REG(_x) (0x26 + 3 * (_x))
203
204#define INV_MPU6050_REG_I2C_SLV_CTRL(_x) (0x27 + 3 * (_x))
205#define INV_MPU6050_BIT_SLV_GRP 0x10
206#define INV_MPU6050_BIT_SLV_REG_DIS 0x20
207#define INV_MPU6050_BIT_SLV_BYTE_SW 0x40
208#define INV_MPU6050_BIT_SLV_EN 0x80
209
210
211#define INV_MPU6050_REG_I2C_SLV4_CTRL 0x34
212#define INV_MPU6050_BITS_I2C_MST_DLY(_x) ((_x) & 0x1F)
213
214#define INV_MPU6050_REG_I2C_MST_STATUS 0x36
215#define INV_MPU6050_BIT_I2C_SLV0_NACK 0x01
216#define INV_MPU6050_BIT_I2C_SLV1_NACK 0x02
217#define INV_MPU6050_BIT_I2C_SLV2_NACK 0x04
218#define INV_MPU6050_BIT_I2C_SLV3_NACK 0x08
219
220#define INV_MPU6050_REG_INT_ENABLE 0x38
221#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
222#define INV_MPU6050_BIT_DMP_INT_EN 0x02
223
224#define INV_MPU6050_REG_RAW_ACCEL 0x3B
225#define INV_MPU6050_REG_TEMPERATURE 0x41
226#define INV_MPU6050_REG_RAW_GYRO 0x43
227
228#define INV_MPU6050_REG_INT_STATUS 0x3A
229#define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
230#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
231
232#define INV_MPU6050_REG_EXT_SENS_DATA 0x49
233
234
235#define INV_MPU6050_REG_I2C_SLV_DO(_x) (0x63 + (_x))
236
237#define INV_MPU6050_REG_I2C_MST_DELAY_CTRL 0x67
238#define INV_MPU6050_BIT_I2C_SLV0_DLY_EN 0x01
239#define INV_MPU6050_BIT_I2C_SLV1_DLY_EN 0x02
240#define INV_MPU6050_BIT_I2C_SLV2_DLY_EN 0x04
241#define INV_MPU6050_BIT_I2C_SLV3_DLY_EN 0x08
242#define INV_MPU6050_BIT_DELAY_ES_SHADOW 0x80
243
244#define INV_MPU6050_REG_USER_CTRL 0x6A
245#define INV_MPU6050_BIT_FIFO_RST 0x04
246#define INV_MPU6050_BIT_DMP_RST 0x08
247#define INV_MPU6050_BIT_I2C_MST_EN 0x20
248#define INV_MPU6050_BIT_FIFO_EN 0x40
249#define INV_MPU6050_BIT_DMP_EN 0x80
250#define INV_MPU6050_BIT_I2C_IF_DIS 0x10
251
252#define INV_MPU6050_REG_PWR_MGMT_1 0x6B
253#define INV_MPU6050_BIT_H_RESET 0x80
254#define INV_MPU6050_BIT_SLEEP 0x40
255#define INV_MPU6050_BIT_CLK_MASK 0x7
256
257#define INV_MPU6050_REG_PWR_MGMT_2 0x6C
258#define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
259#define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
260
261
262#define INV_ICM20602_REG_I2C_IF 0x70
263#define INV_ICM20602_BIT_I2C_IF_DIS 0x40
264
265#define INV_MPU6050_REG_FIFO_COUNT_H 0x72
266#define INV_MPU6050_REG_FIFO_R_W 0x74
267
268#define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
269#define INV_MPU6050_FIFO_COUNT_BYTE 2
270
271
272#define INV_MPU9X50_BYTES_MAGN 7
273
274
275#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2
276
277
278#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
279#define INV_MPU6500_REG_ACCEL_OFFSET 0x77
280
281
282#define INV_MPU6050_POWER_UP_TIME 100
283#define INV_MPU6050_TEMP_UP_TIME 100
284#define INV_MPU6050_SENSOR_UP_TIME 30
285
286
287#define INV_MPU6050_REG_UP_TIME_MIN 5000
288#define INV_MPU6050_REG_UP_TIME_MAX 10000
289
290#define INV_MPU6050_TEMP_OFFSET 12420
291#define INV_MPU6050_TEMP_SCALE 2941176
292#define INV_MPU6050_MAX_GYRO_FS_PARAM 3
293#define INV_MPU6050_MAX_ACCL_FS_PARAM 3
294#define INV_MPU6050_THREE_AXIS 3
295#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
296#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3
297
298#define INV_MPU6500_TEMP_OFFSET 7011
299#define INV_MPU6500_TEMP_SCALE 2995178
300
301#define INV_ICM20608_TEMP_OFFSET 8170
302#define INV_ICM20608_TEMP_SCALE 3059976
303
304
305#define INV_MPU6050_OUTPUT_DATA_SIZE 32
306
307#define INV_MPU6050_REG_INT_PIN_CFG 0x37
308#define INV_MPU6050_ACTIVE_HIGH 0x00
309#define INV_MPU6050_ACTIVE_LOW 0x80
310
311#define INV_MPU6050_LATCH_INT_EN 0x20
312#define INV_MPU6050_BIT_BYPASS_EN 0x2
313
314
315#define INV_MPU6050_TS_PERIOD_JITTER 4
316
317
318#define INV_MPU6050_INIT_FIFO_RATE 50
319#define INV_MPU6050_MAX_FIFO_RATE 1000
320#define INV_MPU6050_MIN_FIFO_RATE 4
321
322
323#define INV_MPU6050_INTERNAL_FREQ_HZ 1000
324
325#define INV_MPU6050_FREQ_DIVIDER(st) \
326 ((st)->chip_config.divider + 1)
327
328#define INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate) \
329 ((INV_MPU6050_INTERNAL_FREQ_HZ / (fifo_rate)) - 1)
330#define INV_MPU6050_DIVIDER_TO_FIFO_RATE(divider) \
331 (INV_MPU6050_INTERNAL_FREQ_HZ / ((divider) + 1))
332
333#define INV_MPU6050_REG_WHOAMI 117
334
335#define INV_MPU6000_WHOAMI_VALUE 0x68
336#define INV_MPU6050_WHOAMI_VALUE 0x68
337#define INV_MPU6500_WHOAMI_VALUE 0x70
338#define INV_MPU9150_WHOAMI_VALUE 0x68
339#define INV_MPU9250_WHOAMI_VALUE 0x71
340#define INV_MPU9255_WHOAMI_VALUE 0x73
341#define INV_MPU6515_WHOAMI_VALUE 0x74
342#define INV_ICM20608_WHOAMI_VALUE 0xAF
343#define INV_ICM20602_WHOAMI_VALUE 0x12
344
345
346enum inv_mpu6050_scan {
347 INV_MPU6050_SCAN_ACCL_X,
348 INV_MPU6050_SCAN_ACCL_Y,
349 INV_MPU6050_SCAN_ACCL_Z,
350 INV_MPU6050_SCAN_TEMP,
351 INV_MPU6050_SCAN_GYRO_X,
352 INV_MPU6050_SCAN_GYRO_Y,
353 INV_MPU6050_SCAN_GYRO_Z,
354 INV_MPU6050_SCAN_TIMESTAMP,
355
356 INV_MPU9X50_SCAN_MAGN_X = INV_MPU6050_SCAN_GYRO_Z + 1,
357 INV_MPU9X50_SCAN_MAGN_Y,
358 INV_MPU9X50_SCAN_MAGN_Z,
359 INV_MPU9X50_SCAN_TIMESTAMP,
360};
361
362enum inv_mpu6050_filter_e {
363 INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
364 INV_MPU6050_FILTER_188HZ,
365 INV_MPU6050_FILTER_98HZ,
366 INV_MPU6050_FILTER_42HZ,
367 INV_MPU6050_FILTER_20HZ,
368 INV_MPU6050_FILTER_10HZ,
369 INV_MPU6050_FILTER_5HZ,
370 INV_MPU6050_FILTER_2100HZ_NOLPF,
371 NUM_MPU6050_FILTER
372};
373
374
375enum INV_MPU6050_IIO_ATTR_ADDR {
376 ATTR_GYRO_MATRIX,
377 ATTR_ACCL_MATRIX,
378};
379
380enum inv_mpu6050_accl_fs_e {
381 INV_MPU6050_FS_02G = 0,
382 INV_MPU6050_FS_04G,
383 INV_MPU6050_FS_08G,
384 INV_MPU6050_FS_16G,
385 NUM_ACCL_FSR
386};
387
388enum inv_mpu6050_fsr_e {
389 INV_MPU6050_FSR_250DPS = 0,
390 INV_MPU6050_FSR_500DPS,
391 INV_MPU6050_FSR_1000DPS,
392 INV_MPU6050_FSR_2000DPS,
393 NUM_MPU6050_FSR
394};
395
396enum inv_mpu6050_clock_sel_e {
397 INV_CLK_INTERNAL = 0,
398 INV_CLK_PLL,
399 NUM_CLK
400};
401
402irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
403int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
404int inv_reset_fifo(struct iio_dev *indio_dev);
405int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
406int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
407int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
408int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
409void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
410int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
411 int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
412extern const struct dev_pm_ops inv_mpu_pmops;
413
414#endif
415