LXR linux/drivers/iio/imu/inv_mpu6050/inv_mpu

   1/*
   2* Copyright (C) 2012 Invensense, Inc.
   3*
   4* This software is licensed under the terms of the GNU General Public
   5* License version 2, as published by the Free Software Foundation, and
   6* may be copied, distributed, and modified under those terms.
   7*
   8* This program is distributed in the hope that it will be useful,
   9* but WITHOUT ANY WARRANTY; without even the implied warranty of
  10* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  11* GNU General Public License for more details.
  12*/
  13#include <linux/i2c.h>
  14#include <linux/i2c-mux.h>
  15#include <linux/kfifo.h>
  16#include <linux/spinlock.h>
  17#include <linux/mutex.h>
  18#include <linux/iio/iio.h>
  19#include <linux/iio/buffer.h>
  20#include <linux/regmap.h>
  21#include <linux/iio/sysfs.h>
  22#include <linux/iio/kfifo_buf.h>
  23#include <linux/iio/trigger.h>
  24#include <linux/iio/triggered_buffer.h>
  25#include <linux/iio/trigger_consumer.h>
  26#include <linux/platform_data/invensense_mpu6050.h>
  27
  28/**
  29 *  struct inv_mpu6050_reg_map - Notable registers.
  30 *  @sample_rate_div:   Divider applied to gyro output rate.
  31 *  @lpf:               Configures internal low pass filter.
  32 *  @accel_lpf:         Configures accelerometer low pass filter.
  33 *  @user_ctrl:         Enables/resets the FIFO.
  34 *  @fifo_en:           Determines which data will appear in FIFO.
  35 *  @gyro_config:       gyro config register.
  36 *  @accl_config:       accel config register
  37 *  @fifo_count_h:      Upper byte of FIFO count.
  38 *  @fifo_r_w:          FIFO register.
  39 *  @raw_gyro:          Address of first gyro register.
  40 *  @raw_accl:          Address of first accel register.
  41 *  @temperature:       temperature register
  42 *  @int_enable:        Interrupt enable register.
  43 *  @pwr_mgmt_1:        Controls chip's power state and clock source.
  44 *  @pwr_mgmt_2:        Controls power state of individual sensors.
  45 *  @int_pin_cfg;       Controls interrupt pin configuration.
  46 *  @accl_offset:       Controls the accelerometer calibration offset.
  47 *  @gyro_offset:       Controls the gyroscope calibration offset.
  48 */
  49struct inv_mpu6050_reg_map {
  50        u8 sample_rate_div;
  51        u8 lpf;
  52        u8 accel_lpf;
  53        u8 user_ctrl;
  54        u8 fifo_en;
  55        u8 gyro_config;
  56        u8 accl_config;
  57        u8 fifo_count_h;
  58        u8 fifo_r_w;
  59        u8 raw_gyro;
  60        u8 raw_accl;
  61        u8 temperature;
  62        u8 int_enable;
  63        u8 pwr_mgmt_1;
  64        u8 pwr_mgmt_2;
  65        u8 int_pin_cfg;
  66        u8 accl_offset;
  67        u8 gyro_offset;
  68};
  69
  70/*device enum */
  71enum inv_devices {
  72        INV_MPU6050,
  73        INV_MPU6500,
  74        INV_MPU6000,
  75        INV_MPU9150,
  76        INV_MPU9250,
  77        INV_ICM20608,
  78        INV_NUM_PARTS
  79};
  80
  81/**
  82 *  struct inv_mpu6050_chip_config - Cached chip configuration data.
  83 *  @fsr:               Full scale range.
  84 *  @lpf:               Digital low pass filter frequency.
  85 *  @accl_fs:           accel full scale range.
  86 *  @accl_fifo_enable:  enable accel data output
  87 *  @gyro_fifo_enable:  enable gyro data output
  88 *  @fifo_rate:         FIFO update rate.
  89 */
  90struct inv_mpu6050_chip_config {
  91        unsigned int fsr:2;
  92        unsigned int lpf:3;
  93        unsigned int accl_fs:2;
  94        unsigned int accl_fifo_enable:1;
  95        unsigned int gyro_fifo_enable:1;
  96        u16 fifo_rate;
  97};
  98
  99/**
 100 *  struct inv_mpu6050_hw - Other important hardware information.
 101 *  @whoami:    Self identification byte from WHO_AM_I register
 102 *  @name:      name of the chip.
 103 *  @reg:   register map of the chip.
 104 *  @config:    configuration of the chip.
 105 */
 106struct inv_mpu6050_hw {
 107        u8 whoami;
 108        u8 *name;
 109        const struct inv_mpu6050_reg_map *reg;
 110        const struct inv_mpu6050_chip_config *config;
 111};
 112
 113/*
 114 *  struct inv_mpu6050_state - Driver state variables.
 115 *  @TIMESTAMP_FIFO_SIZE: fifo size for timestamp.
 116 *  @lock:              Chip access lock.
 117 *  @trig:              IIO trigger.
 118 *  @chip_config:       Cached attribute information.
 119 *  @reg:               Map of important registers.
 120 *  @hw:                Other hardware-specific information.
 121 *  @chip_type:         chip type.
 122 *  @time_stamp_lock:   spin lock to time stamp.
 123 *  @plat_data:         platform data (deprecated in favor of @orientation).
 124 *  @orientation:       sensor chip orientation relative to main hardware.
 125 *  @timestamps:        kfifo queue to store time stamp.
 126 *  @map                regmap pointer.
 127 *  @irq                interrupt number.
 128 */
 129struct inv_mpu6050_state {
 130#define TIMESTAMP_FIFO_SIZE 16
 131        struct mutex lock;
 132        struct iio_trigger  *trig;
 133        struct inv_mpu6050_chip_config chip_config;
 134        const struct inv_mpu6050_reg_map *reg;
 135        const struct inv_mpu6050_hw *hw;
 136        enum   inv_devices chip_type;
 137        spinlock_t time_stamp_lock;
 138        struct i2c_mux_core *muxc;
 139        struct i2c_client *mux_client;
 140        unsigned int powerup_count;
 141        struct inv_mpu6050_platform_data plat_data;
 142        struct iio_mount_matrix orientation;
 143        DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
 144        struct regmap *map;
 145        int irq;
 146};
 147
 148/*register and associated bit definition*/
 149#define INV_MPU6050_REG_ACCEL_OFFSET        0x06
 150#define INV_MPU6050_REG_GYRO_OFFSET         0x13
 151
 152#define INV_MPU6050_REG_SAMPLE_RATE_DIV     0x19
 153#define INV_MPU6050_REG_CONFIG              0x1A
 154#define INV_MPU6050_REG_GYRO_CONFIG         0x1B
 155#define INV_MPU6050_REG_ACCEL_CONFIG        0x1C
 156
 157#define INV_MPU6050_REG_FIFO_EN             0x23
 158#define INV_MPU6050_BIT_ACCEL_OUT           0x08
 159#define INV_MPU6050_BITS_GYRO_OUT           0x70
 160
 161#define INV_MPU6050_REG_INT_ENABLE          0x38
 162#define INV_MPU6050_BIT_DATA_RDY_EN         0x01
 163#define INV_MPU6050_BIT_DMP_INT_EN          0x02
 164
 165#define INV_MPU6050_REG_RAW_ACCEL           0x3B
 166#define INV_MPU6050_REG_TEMPERATURE         0x41
 167#define INV_MPU6050_REG_RAW_GYRO            0x43
 168
 169#define INV_MPU6050_REG_USER_CTRL           0x6A
 170#define INV_MPU6050_BIT_FIFO_RST            0x04
 171#define INV_MPU6050_BIT_DMP_RST             0x08
 172#define INV_MPU6050_BIT_I2C_MST_EN          0x20
 173#define INV_MPU6050_BIT_FIFO_EN             0x40
 174#define INV_MPU6050_BIT_DMP_EN              0x80
 175#define INV_MPU6050_BIT_I2C_IF_DIS          0x10
 176
 177#define INV_MPU6050_REG_PWR_MGMT_1          0x6B
 178#define INV_MPU6050_BIT_H_RESET             0x80
 179#define INV_MPU6050_BIT_SLEEP               0x40
 180#define INV_MPU6050_BIT_CLK_MASK            0x7
 181
 182#define INV_MPU6050_REG_PWR_MGMT_2          0x6C
 183#define INV_MPU6050_BIT_PWR_ACCL_STBY       0x38
 184#define INV_MPU6050_BIT_PWR_GYRO_STBY       0x07
 185
 186#define INV_MPU6050_REG_FIFO_COUNT_H        0x72
 187#define INV_MPU6050_REG_FIFO_R_W            0x74
 188
 189#define INV_MPU6050_BYTES_PER_3AXIS_SENSOR   6
 190#define INV_MPU6050_FIFO_COUNT_BYTE          2
 191#define INV_MPU6050_FIFO_THRESHOLD           500
 192
 193/* mpu6500 registers */
 194#define INV_MPU6500_REG_ACCEL_CONFIG_2      0x1D
 195#define INV_MPU6500_REG_ACCEL_OFFSET        0x77
 196
 197/* delay time in milliseconds */
 198#define INV_MPU6050_POWER_UP_TIME            100
 199#define INV_MPU6050_TEMP_UP_TIME             100
 200#define INV_MPU6050_SENSOR_UP_TIME           30
 201
 202/* delay time in microseconds */
 203#define INV_MPU6050_REG_UP_TIME_MIN          5000
 204#define INV_MPU6050_REG_UP_TIME_MAX          10000
 205
 206#define INV_MPU6050_TEMP_OFFSET              12421
 207#define INV_MPU6050_TEMP_SCALE               2941
 208#define INV_MPU6050_MAX_GYRO_FS_PARAM        3
 209#define INV_MPU6050_MAX_ACCL_FS_PARAM        3
 210#define INV_MPU6050_THREE_AXIS               3
 211#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT    3
 212#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT    3
 213
 214/* 6 + 6 round up and plus 8 */
 215#define INV_MPU6050_OUTPUT_DATA_SIZE         24
 216
 217#define INV_MPU6050_REG_INT_PIN_CFG     0x37
 218#define INV_MPU6050_BIT_BYPASS_EN       0x2
 219#define INV_MPU6050_INT_PIN_CFG         0
 220
 221/* init parameters */
 222#define INV_MPU6050_INIT_FIFO_RATE           50
 223#define INV_MPU6050_TIME_STAMP_TOR           5
 224#define INV_MPU6050_MAX_FIFO_RATE            1000
 225#define INV_MPU6050_MIN_FIFO_RATE            4
 226#define INV_MPU6050_ONE_K_HZ                 1000
 227
 228#define INV_MPU6050_REG_WHOAMI                  117
 229
 230#define INV_MPU6000_WHOAMI_VALUE                0x68
 231#define INV_MPU6050_WHOAMI_VALUE                0x68
 232#define INV_MPU6500_WHOAMI_VALUE                0x70
 233#define INV_MPU9150_WHOAMI_VALUE                0x68
 234#define INV_MPU9250_WHOAMI_VALUE                0x71
 235#define INV_ICM20608_WHOAMI_VALUE               0xAF
 236
 237/* scan element definition */
 238enum inv_mpu6050_scan {
 239        INV_MPU6050_SCAN_ACCL_X,
 240        INV_MPU6050_SCAN_ACCL_Y,
 241        INV_MPU6050_SCAN_ACCL_Z,
 242        INV_MPU6050_SCAN_GYRO_X,
 243        INV_MPU6050_SCAN_GYRO_Y,
 244        INV_MPU6050_SCAN_GYRO_Z,
 245        INV_MPU6050_SCAN_TIMESTAMP,
 246};
 247
 248enum inv_mpu6050_filter_e {
 249        INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
 250        INV_MPU6050_FILTER_188HZ,
 251        INV_MPU6050_FILTER_98HZ,
 252        INV_MPU6050_FILTER_42HZ,
 253        INV_MPU6050_FILTER_20HZ,
 254        INV_MPU6050_FILTER_10HZ,
 255        INV_MPU6050_FILTER_5HZ,
 256        INV_MPU6050_FILTER_2100HZ_NOLPF,
 257        NUM_MPU6050_FILTER
 258};
 259
 260/* IIO attribute address */
 261enum INV_MPU6050_IIO_ATTR_ADDR {
 262        ATTR_GYRO_MATRIX,
 263        ATTR_ACCL_MATRIX,
 264};
 265
 266enum inv_mpu6050_accl_fs_e {
 267        INV_MPU6050_FS_02G = 0,
 268        INV_MPU6050_FS_04G,
 269        INV_MPU6050_FS_08G,
 270        INV_MPU6050_FS_16G,
 271        NUM_ACCL_FSR
 272};
 273
 274enum inv_mpu6050_fsr_e {
 275        INV_MPU6050_FSR_250DPS = 0,
 276        INV_MPU6050_FSR_500DPS,
 277        INV_MPU6050_FSR_1000DPS,
 278        INV_MPU6050_FSR_2000DPS,
 279        NUM_MPU6050_FSR
 280};
 281
 282enum inv_mpu6050_clock_sel_e {
 283        INV_CLK_INTERNAL = 0,
 284        INV_CLK_PLL,
 285        NUM_CLK
 286};
 287
 288irqreturn_t inv_mpu6050_irq_handler(int irq, void *p);
 289irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
 290int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev);
 291void inv_mpu6050_remove_trigger(struct inv_mpu6050_state *st);
 292int inv_reset_fifo(struct iio_dev *indio_dev);
 293int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
 294int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
 295int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
 296int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
 297void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
 298int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 299                int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
 300int inv_mpu_core_remove(struct device *dev);
 301int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
 302extern const struct dev_pm_ops inv_mpu_pmops;
 303