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5#include <linux/i2c.h>
6#include <linux/i2c-mux.h>
7#include <linux/mutex.h>
8#include <linux/iio/iio.h>
9#include <linux/iio/buffer.h>
10#include <linux/regmap.h>
11#include <linux/iio/sysfs.h>
12#include <linux/iio/kfifo_buf.h>
13#include <linux/iio/trigger.h>
14#include <linux/iio/triggered_buffer.h>
15#include <linux/iio/trigger_consumer.h>
16#include <linux/platform_data/invensense_mpu6050.h>
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41struct inv_mpu6050_reg_map {
42 u8 sample_rate_div;
43 u8 lpf;
44 u8 accel_lpf;
45 u8 user_ctrl;
46 u8 fifo_en;
47 u8 gyro_config;
48 u8 accl_config;
49 u8 fifo_count_h;
50 u8 fifo_r_w;
51 u8 raw_gyro;
52 u8 raw_accl;
53 u8 temperature;
54 u8 int_enable;
55 u8 int_status;
56 u8 pwr_mgmt_1;
57 u8 pwr_mgmt_2;
58 u8 int_pin_cfg;
59 u8 accl_offset;
60 u8 gyro_offset;
61 u8 i2c_if;
62};
63
64
65enum inv_devices {
66 INV_MPU6050,
67 INV_MPU6500,
68 INV_MPU6515,
69 INV_MPU6000,
70 INV_MPU9150,
71 INV_MPU9250,
72 INV_MPU9255,
73 INV_ICM20608,
74 INV_ICM20602,
75 INV_NUM_PARTS
76};
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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 accl_fifo_enable:1;
92 unsigned int gyro_fifo_enable:1;
93 u8 divider;
94 u8 user_ctrl;
95};
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105struct inv_mpu6050_hw {
106 u8 whoami;
107 u8 *name;
108 const struct inv_mpu6050_reg_map *reg;
109 const struct inv_mpu6050_chip_config *config;
110 size_t fifo_size;
111};
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131struct inv_mpu6050_state {
132 struct mutex lock;
133 struct iio_trigger *trig;
134 struct inv_mpu6050_chip_config chip_config;
135 const struct inv_mpu6050_reg_map *reg;
136 const struct inv_mpu6050_hw *hw;
137 enum inv_devices chip_type;
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 struct regmap *map;
144 int irq;
145 u8 irq_mask;
146 unsigned skip_samples;
147 s64 chip_period;
148 s64 it_timestamp;
149 s64 data_timestamp;
150 struct regulator *vddio_supply;
151};
152
153
154#define INV_MPU6050_REG_ACCEL_OFFSET 0x06
155#define INV_MPU6050_REG_GYRO_OFFSET 0x13
156
157#define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19
158#define INV_MPU6050_REG_CONFIG 0x1A
159#define INV_MPU6050_REG_GYRO_CONFIG 0x1B
160#define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
161
162#define INV_MPU6050_REG_FIFO_EN 0x23
163#define INV_MPU6050_BIT_ACCEL_OUT 0x08
164#define INV_MPU6050_BITS_GYRO_OUT 0x70
165
166#define INV_MPU6050_REG_INT_ENABLE 0x38
167#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
168#define INV_MPU6050_BIT_DMP_INT_EN 0x02
169
170#define INV_MPU6050_REG_RAW_ACCEL 0x3B
171#define INV_MPU6050_REG_TEMPERATURE 0x41
172#define INV_MPU6050_REG_RAW_GYRO 0x43
173
174#define INV_MPU6050_REG_INT_STATUS 0x3A
175#define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
176#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
177
178#define INV_MPU6050_REG_USER_CTRL 0x6A
179#define INV_MPU6050_BIT_FIFO_RST 0x04
180#define INV_MPU6050_BIT_DMP_RST 0x08
181#define INV_MPU6050_BIT_I2C_MST_EN 0x20
182#define INV_MPU6050_BIT_FIFO_EN 0x40
183#define INV_MPU6050_BIT_DMP_EN 0x80
184#define INV_MPU6050_BIT_I2C_IF_DIS 0x10
185
186#define INV_MPU6050_REG_PWR_MGMT_1 0x6B
187#define INV_MPU6050_BIT_H_RESET 0x80
188#define INV_MPU6050_BIT_SLEEP 0x40
189#define INV_MPU6050_BIT_CLK_MASK 0x7
190
191#define INV_MPU6050_REG_PWR_MGMT_2 0x6C
192#define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
193#define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
194
195
196#define INV_ICM20602_REG_I2C_IF 0x70
197#define INV_ICM20602_BIT_I2C_IF_DIS 0x40
198
199#define INV_MPU6050_REG_FIFO_COUNT_H 0x72
200#define INV_MPU6050_REG_FIFO_R_W 0x74
201
202#define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
203#define INV_MPU6050_FIFO_COUNT_BYTE 2
204
205
206#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2
207
208
209#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
210#define INV_MPU6500_REG_ACCEL_OFFSET 0x77
211
212
213#define INV_MPU6050_POWER_UP_TIME 100
214#define INV_MPU6050_TEMP_UP_TIME 100
215#define INV_MPU6050_SENSOR_UP_TIME 30
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217
218#define INV_MPU6050_REG_UP_TIME_MIN 5000
219#define INV_MPU6050_REG_UP_TIME_MAX 10000
220
221#define INV_MPU6050_TEMP_OFFSET 12421
222#define INV_MPU6050_TEMP_SCALE 2941
223#define INV_MPU6050_MAX_GYRO_FS_PARAM 3
224#define INV_MPU6050_MAX_ACCL_FS_PARAM 3
225#define INV_MPU6050_THREE_AXIS 3
226#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
227#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3
228
229#define INV_ICM20602_TEMP_OFFSET 8170
230#define INV_ICM20602_TEMP_SCALE 3060
231
232
233#define INV_MPU6050_OUTPUT_DATA_SIZE 24
234
235#define INV_MPU6050_REG_INT_PIN_CFG 0x37
236#define INV_MPU6050_ACTIVE_HIGH 0x00
237#define INV_MPU6050_ACTIVE_LOW 0x80
238
239#define INV_MPU6050_LATCH_INT_EN 0x20
240#define INV_MPU6050_BIT_BYPASS_EN 0x2
241
242
243#define INV_MPU6050_TS_PERIOD_JITTER 4
244
245
246#define INV_MPU6050_INIT_FIFO_RATE 50
247#define INV_MPU6050_MAX_FIFO_RATE 1000
248#define INV_MPU6050_MIN_FIFO_RATE 4
249
250
251#define INV_MPU6050_INTERNAL_FREQ_HZ 1000
252
253#define INV_MPU6050_FREQ_DIVIDER(st) \
254 ((st)->chip_config.divider + 1)
255
256#define INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate) \
257 ((INV_MPU6050_INTERNAL_FREQ_HZ / (fifo_rate)) - 1)
258#define INV_MPU6050_DIVIDER_TO_FIFO_RATE(divider) \
259 (INV_MPU6050_INTERNAL_FREQ_HZ / ((divider) + 1))
260
261#define INV_MPU6050_REG_WHOAMI 117
262
263#define INV_MPU6000_WHOAMI_VALUE 0x68
264#define INV_MPU6050_WHOAMI_VALUE 0x68
265#define INV_MPU6500_WHOAMI_VALUE 0x70
266#define INV_MPU9150_WHOAMI_VALUE 0x68
267#define INV_MPU9250_WHOAMI_VALUE 0x71
268#define INV_MPU9255_WHOAMI_VALUE 0x73
269#define INV_MPU6515_WHOAMI_VALUE 0x74
270#define INV_ICM20608_WHOAMI_VALUE 0xAF
271#define INV_ICM20602_WHOAMI_VALUE 0x12
272
273
274enum inv_mpu6050_scan {
275 INV_MPU6050_SCAN_ACCL_X,
276 INV_MPU6050_SCAN_ACCL_Y,
277 INV_MPU6050_SCAN_ACCL_Z,
278 INV_MPU6050_SCAN_GYRO_X,
279 INV_MPU6050_SCAN_GYRO_Y,
280 INV_MPU6050_SCAN_GYRO_Z,
281 INV_MPU6050_SCAN_TIMESTAMP,
282};
283
284
285enum inv_icm20602_scan {
286 INV_ICM20602_SCAN_ACCL_X,
287 INV_ICM20602_SCAN_ACCL_Y,
288 INV_ICM20602_SCAN_ACCL_Z,
289 INV_ICM20602_SCAN_TEMP,
290 INV_ICM20602_SCAN_GYRO_X,
291 INV_ICM20602_SCAN_GYRO_Y,
292 INV_ICM20602_SCAN_GYRO_Z,
293 INV_ICM20602_SCAN_TIMESTAMP,
294};
295
296enum inv_mpu6050_filter_e {
297 INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
298 INV_MPU6050_FILTER_188HZ,
299 INV_MPU6050_FILTER_98HZ,
300 INV_MPU6050_FILTER_42HZ,
301 INV_MPU6050_FILTER_20HZ,
302 INV_MPU6050_FILTER_10HZ,
303 INV_MPU6050_FILTER_5HZ,
304 INV_MPU6050_FILTER_2100HZ_NOLPF,
305 NUM_MPU6050_FILTER
306};
307
308
309enum INV_MPU6050_IIO_ATTR_ADDR {
310 ATTR_GYRO_MATRIX,
311 ATTR_ACCL_MATRIX,
312};
313
314enum inv_mpu6050_accl_fs_e {
315 INV_MPU6050_FS_02G = 0,
316 INV_MPU6050_FS_04G,
317 INV_MPU6050_FS_08G,
318 INV_MPU6050_FS_16G,
319 NUM_ACCL_FSR
320};
321
322enum inv_mpu6050_fsr_e {
323 INV_MPU6050_FSR_250DPS = 0,
324 INV_MPU6050_FSR_500DPS,
325 INV_MPU6050_FSR_1000DPS,
326 INV_MPU6050_FSR_2000DPS,
327 NUM_MPU6050_FSR
328};
329
330enum inv_mpu6050_clock_sel_e {
331 INV_CLK_INTERNAL = 0,
332 INV_CLK_PLL,
333 NUM_CLK
334};
335
336irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
337int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
338int inv_reset_fifo(struct iio_dev *indio_dev);
339int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
340int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
341int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
342int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
343void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
344int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
345 int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
346extern const struct dev_pm_ops inv_mpu_pmops;
347