467 lines
14 KiB
C
Executable file
467 lines
14 KiB
C
Executable file
/*
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$License:
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Copyright (C) 2010 InvenSense Corporation, All Rights Reserved.
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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$
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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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#include <linux/ioctl.h>
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#elif defined LINUX
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#include <sys/ioctl.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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#if defined __KERNEL__ || defined LINUX
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#define MPU_IOCTL (0x81) /* Magic number for MPU Iocts */
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/* IOCTL commands for /dev/mpu */
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#define MPU_SET_MPU_CONFIG _IOW(MPU_IOCTL, 0x00, struct mldl_cfg)
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#define MPU_GET_MPU_CONFIG _IOR(MPU_IOCTL, 0x00, struct mldl_cfg)
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#define MPU_SET_PLATFORM_DATA _IOW(MPU_IOCTL, 0x01, struct mldl_cfg)
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#define MPU_READ _IOR(MPU_IOCTL, 0x10, struct mpu_read_write)
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#define MPU_WRITE _IOW(MPU_IOCTL, 0x10, struct mpu_read_write)
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#define MPU_READ_MEM _IOR(MPU_IOCTL, 0x11, struct mpu_read_write)
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#define MPU_WRITE_MEM _IOW(MPU_IOCTL, 0x11, struct mpu_read_write)
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#define MPU_READ_FIFO _IOR(MPU_IOCTL, 0x12, struct mpu_read_write)
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#define MPU_WRITE_FIFO _IOW(MPU_IOCTL, 0x12, struct mpu_read_write)
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#define MPU_READ_COMPASS _IOR(MPU_IOCTL, 0x12, unsigned char)
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#define MPU_READ_ACCEL _IOR(MPU_IOCTL, 0x13, unsigned char)
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#define MPU_READ_PRESSURE _IOR(MPU_IOCTL, 0x14, unsigned char)
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#define MPU_CONFIG_ACCEL _IOW(MPU_IOCTL, 0x20, struct ext_slave_config)
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#define MPU_CONFIG_COMPASS _IOW(MPU_IOCTL, 0x21, struct ext_slave_config)
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#define MPU_CONFIG_PRESSURE _IOW(MPU_IOCTL, 0x22, struct ext_slave_config)
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#define MPU_GET_CONFIG_ACCEL _IOR(MPU_IOCTL, 0x20, struct ext_slave_config)
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#define MPU_GET_CONFIG_COMPASS _IOR(MPU_IOCTL, 0x21, struct ext_slave_config)
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#define MPU_GET_CONFIG_PRESSURE _IOR(MPU_IOCTL, 0x22, struct ext_slave_config)
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#define MPU_SUSPEND _IO(MPU_IOCTL, 0x30)
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#define MPU_RESUME _IO(MPU_IOCTL, 0x31)
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/* Userspace PM Event response */
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#define MPU_PM_EVENT_HANDLED _IO(MPU_IOCTL, 0x32)
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#endif
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/* Structure for the following IOCTL's:
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MPU_READ
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MPU_WRITE
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MPU_READ_MEM
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MPU_WRITE_MEM
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MPU_READ_FIFO
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MPU_WRITE_FIFO
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*/
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struct mpu_read_write {
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/* Memory address or register address depending on ioctl */
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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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enum mpuirq_data_type {
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MPUIRQ_DATA_TYPE_MPU_IRQ,
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MPUIRQ_DATA_TYPE_SLAVE_IRQ,
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MPUIRQ_DATA_TYPE_PM_EVENT,
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MPUIRQ_DATA_TYPE_NUM_TYPES,
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};
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/* User space PM event notification */
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#define MPU_PM_EVENT_SUSPEND_PREPARE (3)
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#define MPU_PM_EVENT_POST_SUSPEND (4)
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#define MAX_MPUIRQ_DATA_SIZE (32)
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struct mpuirq_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_IRQ_SUSPEND,
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MPU_SLAVE_CONFIG_IRQ_RESUME,
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MPU_SLAVE_WRITE_REGISTERS,
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MPU_SLAVE_READ_REGISTERS,
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MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS,
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};
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/* For the MPU_SLAVE_CONFIG_IRQ_SUSPEND and MPU_SLAVE_CONFIG_IRQ_RESUME */
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enum ext_slave_config_irq_type {
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MPU_SLAVE_IRQ_TYPE_NONE,
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MPU_SLAVE_IRQ_TYPE_MOTION,
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MPU_SLAVE_IRQ_TYPE_DATA_READY,
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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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* MPU_GET_CONFIG_ACCEL
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* MPU_GET_CONFIG_COMPASS
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* MPU_GET_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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int apply;
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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_LIS3DH,
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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_MMA845X,
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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_AMI306,
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COMPASS_ID_YAS529,
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COMPASS_ID_YAS530,
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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_HSCDTD002B,
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COMPASS_ID_HSCDTD004A,
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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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* @get_config:function used to get the device's configuration
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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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int (*get_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_MPU_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_MPU_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_MPU_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_MPU_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_MPU_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_MPU_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_MPU_SENSORS_LIS3DH /* ST accelerometer */
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struct ext_slave_descr *lis3dh_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr lis3dh_get_slave_descr
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#endif
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#ifdef CONFIG_MPU_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_MPU_SENSORS_MPU6000) || \
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defined(CONFIG_MPU_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_MPU_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_MPU_SENSORS_MMA845X /* Freescale accelerometer */
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struct ext_slave_descr *mma845x_get_slave_descr(void);
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#undef get_accel_slave_descr
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#define get_accel_slave_descr mma845x_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_MPU_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_MPU_SENSORS_AMI30X /* AICHI Steel AMI304/305 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_MPU_SENSORS_AMI306 /* AICHI Steel AMI306 compass */
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struct ext_slave_descr *ami306_get_slave_descr(void);
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#undef get_compass_slave_descr
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#define get_compass_slave_descr ami306_get_slave_descr
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#endif
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#ifdef CONFIG_MPU_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_MPU_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_MPU_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_MPU_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_MPU_SENSORS_YAS530 /* Yamaha compass */
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struct ext_slave_descr *yas530_get_slave_descr(void);
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#undef get_compass_slave_descr
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#define get_compass_slave_descr yas530_get_slave_descr
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#endif
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#ifdef CONFIG_MPU_SENSORS_HSCDTD002B /* Alps HSCDTD002B compass */
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struct ext_slave_descr *hscdtd002b_get_slave_descr(void);
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#undef get_compass_slave_descr
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#define get_compass_slave_descr hscdtd002b_get_slave_descr
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#endif
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#ifdef CONFIG_MPU_SENSORS_HSCDTD004A /* Alps HSCDTD004A compass */
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struct ext_slave_descr *hscdtd004a_get_slave_descr(void);
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#undef get_compass_slave_descr
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#define get_compass_slave_descr hscdtd004a_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_MPU_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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