401 lines
12 KiB
C
401 lines
12 KiB
C
/*
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$License:
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Copyright (C) 2010 InvenSense Corporation, All Rights Reserved.
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$
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*/
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#ifndef __MPU_H_
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#define __MPU_H_
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#ifdef __KERNEL__
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#include <linux/types.h>
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#endif
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#ifdef M_HW
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#include "mpu6000.h"
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#else
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#include "mpu3050.h"
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#endif
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/* Number of axes on each sensor */
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#define GYRO_NUM_AXES (3)
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#define ACCEL_NUM_AXES (3)
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#define COMPASS_NUM_AXES (3)
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/* IOCTL commands for /dev/mpu */
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#define MPU_SET_MPU_CONFIG (0x00)
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#define MPU_SET_INT_CONFIG (0x01)
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#define MPU_SET_EXT_SYNC (0x02)
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#define MPU_SET_FULL_SCALE (0x03)
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#define MPU_SET_LPF (0x04)
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#define MPU_SET_CLK_SRC (0x05)
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#define MPU_SET_DIVIDER (0x06)
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#define MPU_SET_LEVEL_SHIFTER (0x07)
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#define MPU_SET_DMP_ENABLE (0x08)
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#define MPU_SET_FIFO_ENABLE (0x09)
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#define MPU_SET_DMP_CFG1 (0x0a)
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#define MPU_SET_DMP_CFG2 (0x0b)
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#define MPU_SET_OFFSET_TC (0x0c)
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#define MPU_SET_RAM (0x0d)
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#define MPU_SET_PLATFORM_DATA (0x0e)
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#define MPU_GET_MPU_CONFIG (0x80)
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#define MPU_GET_INT_CONFIG (0x81)
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#define MPU_GET_EXT_SYNC (0x82)
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#define MPU_GET_FULL_SCALE (0x83)
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#define MPU_GET_LPF (0x84)
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#define MPU_GET_CLK_SRC (0x85)
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#define MPU_GET_DIVIDER (0x86)
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#define MPU_GET_LEVEL_SHIFTER (0x87)
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#define MPU_GET_DMP_ENABLE (0x88)
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#define MPU_GET_FIFO_ENABLE (0x89)
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#define MPU_GET_DMP_CFG1 (0x8a)
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#define MPU_GET_DMP_CFG2 (0x8b)
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#define MPU_GET_OFFSET_TC (0x8c)
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#define MPU_GET_RAM (0x8d)
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#define MPU_READ_REGISTER (0x40)
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#define MPU_WRITE_REGISTER (0x41)
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#define MPU_READ_MEMORY (0x42)
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#define MPU_WRITE_MEMORY (0x43)
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#define MPU_SUSPEND (0x44)
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#define MPU_RESUME (0x45)
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#define MPU_READ_COMPASS (0x46)
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#define MPU_READ_ACCEL (0x47)
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#define MPU_READ_PRESSURE (0x48)
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#define MPU_CONFIG_ACCEL (0x20)
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#define MPU_CONFIG_COMPASS (0x21)
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#define MPU_CONFIG_PRESSURE (0x22)
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/* Structure for the following IOCTL's:
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MPU_SET_RAM
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MPU_GET_RAM
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MPU_READ_REGISTER
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MPU_WRITE_REGISTER
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MPU_READ_MEMORY
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MPU_WRITE_MEMORY
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*/
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struct mpu_read_write {
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unsigned short address;
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unsigned short length;
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unsigned char *data;
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};
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struct irq_data {
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int interruptcount;
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unsigned long long irqtime;
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int data_type;
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int data_size;
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void *data;
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};
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enum ext_slave_config_key {
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MPU_SLAVE_CONFIG_ODR_SUSPEND,
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MPU_SLAVE_CONFIG_ODR_RESUME,
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MPU_SLAVE_CONFIG_FSR_SUSPEND,
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MPU_SLAVE_CONFIG_FSR_RESUME,
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MPU_SLAVE_CONFIG_MOT_THS,
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MPU_SLAVE_CONFIG_NMOT_THS,
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MPU_SLAVE_CONFIG_MOT_DUR,
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MPU_SLAVE_CONFIG_NMOT_DUR,
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MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS,
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};
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/* Structure for the following IOCTS's
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* MPU_CONFIG_ACCEL
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* MPU_CONFIG_COMPASS
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* MPU_CONFIG_PRESSURE
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*/
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struct ext_slave_config {
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int key;
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int len;
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void *data;
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};
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enum ext_slave_type {
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EXT_SLAVE_TYPE_GYROSCOPE,
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EXT_SLAVE_TYPE_ACCELEROMETER,
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EXT_SLAVE_TYPE_COMPASS,
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EXT_SLAVE_TYPE_PRESSURE,
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/*EXT_SLAVE_TYPE_TEMPERATURE */
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};
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enum ext_slave_id {
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ID_INVALID = 0,
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ACCEL_ID_LIS331,
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ACCEL_ID_LSM303,
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ACCEL_ID_KXSD9,
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ACCEL_ID_KXTF9,
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ACCEL_ID_BMA150,
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ACCEL_ID_BMA222,
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ACCEL_ID_ADI346,
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ACCEL_ID_MMA8450,
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ACCEL_ID_MMA8451,
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ACCEL_ID_MPU6000,
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COMPASS_ID_AKM,
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COMPASS_ID_AMI30X,
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COMPASS_ID_YAS529,
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COMPASS_ID_HMC5883,
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COMPASS_ID_LSM303,
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COMPASS_ID_MMC314X,
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COMPASS_ID_HSCDTD00XX,
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PRESSURE_ID_BMA085,
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};
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enum ext_slave_endian {
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EXT_SLAVE_BIG_ENDIAN,
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EXT_SLAVE_LITTLE_ENDIAN,
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EXT_SLAVE_FS8_BIG_ENDIAN,
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EXT_SLAVE_FS16_BIG_ENDIAN,
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};
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enum ext_slave_bus {
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EXT_SLAVE_BUS_INVALID = -1,
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EXT_SLAVE_BUS_PRIMARY = 0,
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EXT_SLAVE_BUS_SECONDARY = 1
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};
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/**
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* struct ext_slave_platform_data - Platform data for mpu3050 slave devices
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*
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* @get_slave_descr: Function pointer to retrieve the struct ext_slave_descr
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* for this slave
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* @irq: the irq number attached to the slave if any.
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* @adapt_num: the I2C adapter number.
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* @bus: the bus the slave is attached to: enum ext_slave_bus
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* @address: the I2C slave address of the slave device.
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* @orientation: the mounting matrix of the device relative to MPU.
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* @irq_data: private data for the slave irq handler
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* @private_data: additional data, user customizable. Not touched by the MPU
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* driver.
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*
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* The orientation matricies are 3x3 rotation matricies
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* that are applied to the data to rotate from the mounting orientation to the
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* platform orientation. The values must be one of 0, 1, or -1 and each row and
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* column should have exactly 1 non-zero value.
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*/
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struct ext_slave_platform_data {
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struct ext_slave_descr *(*get_slave_descr) (void);
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int irq;
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int adapt_num;
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int bus;
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unsigned char address;
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signed char orientation[9];
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void *irq_data;
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void *private_data;
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};
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struct tFixPntRange {
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long mantissa;
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long fraction;
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};
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/**
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* struct ext_slave_descr - Description of the slave device for programming.
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*
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* @suspend: function pointer to put the device in suspended state
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* @resume: function pointer to put the device in running state
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* @read: function that reads the device data
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* @init: function used to preallocate memory used by the driver
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* @exit: function used to free memory allocated for the driver
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* @config: function used to configure the device
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*
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* @name: text name of the device
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* @type: device type. enum ext_slave_type
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* @id: enum ext_slave_id
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* @reg: starting register address to retrieve data.
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* @len: length in bytes of the sensor data. Should be 6.
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* @endian: byte order of the data. enum ext_slave_endian
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* @range: full scale range of the slave ouput: struct tFixPntRange
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*
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* Defines the functions and information about the slave the mpu3050 needs to
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* use the slave device.
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*/
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struct ext_slave_descr {
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int (*init) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata);
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int (*exit) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata);
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int (*suspend) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata);
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int (*resume) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata);
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int (*read) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata,
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unsigned char *data);
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int (*config) (void *mlsl_handle,
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struct ext_slave_descr *slave,
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struct ext_slave_platform_data *pdata,
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struct ext_slave_config *config);
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char *name;
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unsigned char type;
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unsigned char id;
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unsigned char reg;
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unsigned int len;
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unsigned char endian;
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struct tFixPntRange range;
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};
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/**
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* struct mpu3050_platform_data - Platform data for the mpu3050 driver
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* @int_config: Bits [7:3] of the int config register.
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* @orientation: Orientation matrix of the gyroscope
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* @level_shifter: 0: VLogic, 1: VDD
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* @accel: Accel platform data
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* @compass: Compass platform data
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* @pressure: Pressure platform data
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*
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* Contains platform specific information on how to configure the MPU3050 to
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* work on this platform. The orientation matricies are 3x3 rotation matricies
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* that are applied to the data to rotate from the mounting orientation to the
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* platform orientation. The values must be one of 0, 1, or -1 and each row and
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* column should have exactly 1 non-zero value.
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*/
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struct mpu3050_platform_data {
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unsigned char int_config;
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signed char orientation[MPU_NUM_AXES * MPU_NUM_AXES];
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unsigned char level_shifter;
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struct ext_slave_platform_data accel;
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struct ext_slave_platform_data compass;
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struct ext_slave_platform_data pressure;
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};
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/*
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Accelerometer
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*/
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#define get_accel_slave_descr NULL
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#ifdef CONFIG_SENSORS_ADXL346 /* ADI accelerometer */
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struct ext_slave_descr *adxl346_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr adxl346_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_BMA150 /* Bosch accelerometer */
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struct ext_slave_descr *bma150_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr bma150_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_BMA222 /* Bosch 222 accelerometer */
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struct ext_slave_descr *bma222_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr bma222_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_KXSD9 /* Kionix accelerometer */
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struct ext_slave_descr *kxsd9_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr kxsd9_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_KXTF9 /* Kionix accelerometer */
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struct ext_slave_descr *kxtf9_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr kxtf9_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_LIS331DLH /* ST accelerometer */
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struct ext_slave_descr *lis331dlh_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr lis331dlh_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_LSM303DLHA /* ST accelerometer */
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struct ext_slave_descr *lsm303dlha_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr lsm303dlha_get_slave_descr
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#endif
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/* MPU6000 Accel */
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#if defined(CONFIG_SENSORS_MPU6000) || defined(CONFIG_SENSORS_MPU6000_MODULE)
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struct ext_slave_descr *mantis_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr mantis_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_MMA8450 /* Freescale accelerometer */
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struct ext_slave_descr *mma8450_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr mma8450_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_MMA8451 /* Freescale accelerometer */
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struct ext_slave_descr *mma8451_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr mma8451_get_slave_descr
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#endif
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/*
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Compass
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*/
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#define get_compass_slave_descr NULL
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#ifdef CONFIG_SENSORS_AK8975 /* AKM compass */
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struct ext_slave_descr *ak8975_get_slave_descr(void);
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#undef get_compass_slave_descr
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#define get_compass_slave_descr ak8975_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_AMI30X /* AICHI Steel compass */
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struct ext_slave_descr *ami30x_get_slave_descr(void);
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#undef get_compass_slave_descr
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#define get_compass_slave_descr ami30x_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_HMC5883 /* Honeywell compass */
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struct ext_slave_descr *hmc5883_get_slave_descr(void);
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#undef get_compass_slave_descr
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#define get_compass_slave_descr hmc5883_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_MMC314X /* MEMSIC compass */
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struct ext_slave_descr *mmc314x_get_slave_descr(void);
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#undef get_compass_slave_descr
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#define get_compass_slave_descr mmc314x_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_LSM303DLHM /* ST compass */
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struct ext_slave_descr *lsm303dlhm_get_slave_descr(void);
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#undef get_compass_slave_descr
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#define get_compass_slave_descr lsm303dlhm_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_YAS529 /* Yamaha compass */
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struct ext_slave_descr *yas529_get_slave_descr(void);
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#undef get_compass_slave_descr
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#define get_compass_slave_descr yas529_get_slave_descr
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#endif
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#ifdef CONFIG_SENSORS_HSCDTD00XX /* Alps compass */
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struct ext_slave_descr *hscdtd00xx_get_slave_descr(void);
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#undef get_compass_slave_descr
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#define get_compass_slave_descr hscdtd00xx_get_slave_descr
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#endif
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/*
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Pressure
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*/
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#define get_pressure_slave_descr NULL
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#ifdef CONFIG_SENSORS_BMA085 /* BMA pressure */
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struct ext_slave_descr *bma085_get_slave_descr(void);
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#undef get_pressure_slave_descr
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#define get_pressure_slave_descr bma085_get_slave_descr
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#endif
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#endif /* __MPU_H_ */
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