1 /* 2 $License: 3 Copyright 2011 InvenSense, Inc. 4 5 Licensed under the Apache License, Version 2.0 (the "License"); 6 you may not use this file except in compliance with the License. 7 You may obtain a copy of the License at 8 9 http://www.apache.org/licenses/LICENSE-2.0 10 11 Unless required by applicable law or agreed to in writing, software 12 distributed under the License is distributed on an "AS IS" BASIS, 13 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 See the License for the specific language governing permissions and 15 limitations under the License. 16 $ 17 */ 18 19 /** 20 * @addtogroup MLDL 21 * 22 * @{ 23 * @file mldl_cfg.h 24 * @brief The Motion Library Driver Layer Configuration header file. 25 */ 26 27 #ifndef __MLDL_CFG_H__ 28 #define __MLDL_CFG_H__ 29 30 #include "mltypes.h" 31 #include "mlsl.h" 32 #include <linux/mpu.h> 33 #if defined CONFIG_MPU_SENSORS_MPU6050A2 34 # include "mpu6050a2.h" 35 #elif defined CONFIG_MPU_SENSORS_MPU6050B1 36 # include "mpu6050b1.h" 37 #elif defined CONFIG_MPU_SENSORS_MPU3050 38 # include "mpu3050.h" 39 #else 40 #error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx 41 #endif 42 43 #include "log.h" 44 45 /************************************************************************* 46 * Sensors 47 *************************************************************************/ 48 49 #define INV_X_GYRO (0x0001) 50 #define INV_Y_GYRO (0x0002) 51 #define INV_Z_GYRO (0x0004) 52 #define INV_DMP_PROCESSOR (0x0008) 53 54 #define INV_X_ACCEL (0x0010) 55 #define INV_Y_ACCEL (0x0020) 56 #define INV_Z_ACCEL (0x0040) 57 58 #define INV_X_COMPASS (0x0080) 59 #define INV_Y_COMPASS (0x0100) 60 #define INV_Z_COMPASS (0x0200) 61 62 #define INV_X_PRESSURE (0x0300) 63 #define INV_Y_PRESSURE (0x0800) 64 #define INV_Z_PRESSURE (0x1000) 65 66 #define INV_TEMPERATURE (0x2000) 67 #define INV_TIME (0x4000) 68 69 #define INV_THREE_AXIS_GYRO (0x000F) 70 #define INV_THREE_AXIS_ACCEL (0x0070) 71 #define INV_THREE_AXIS_COMPASS (0x0380) 72 #define INV_THREE_AXIS_PRESSURE (0x1C00) 73 74 #define INV_FIVE_AXIS (0x007B) 75 #define INV_SIX_AXIS_GYRO_ACCEL (0x007F) 76 #define INV_SIX_AXIS_ACCEL_COMPASS (0x03F0) 77 #define INV_NINE_AXIS (0x03FF) 78 #define INV_ALL_SENSORS (0x7FFF) 79 80 #define MPL_PROD_KEY(ver, rev) (ver * 100 + rev) 81 82 /* -------------------------------------------------------------------------- */ 83 84 /* Platform data for the MPU */ 85 struct mldl_cfg { 86 /* MPU related configuration */ 87 unsigned long requested_sensors; 88 unsigned char ignore_system_suspend; 89 unsigned char addr; 90 unsigned char int_config; 91 unsigned char ext_sync; 92 unsigned char full_scale; 93 unsigned char lpf; 94 unsigned char clk_src; 95 unsigned char divider; 96 unsigned char dmp_enable; 97 unsigned char fifo_enable; 98 unsigned char dmp_cfg1; 99 unsigned char dmp_cfg2; 100 unsigned char offset_tc[GYRO_NUM_AXES]; 101 unsigned short offset[GYRO_NUM_AXES]; 102 unsigned char ram[MPU_MEM_NUM_RAM_BANKS][MPU_MEM_BANK_SIZE]; 103 104 /* MPU Related stored status and info */ 105 unsigned char product_revision; 106 unsigned char silicon_revision; 107 unsigned char product_id; 108 unsigned short gyro_sens_trim; 109 #if defined CONFIG_MPU_SENSORS_MPU6050A2 || \ 110 defined CONFIG_MPU_SENSORS_MPU6050B1 111 unsigned short accel_sens_trim; 112 #endif 113 114 /* Driver/Kernel related state information */ 115 int gyro_is_bypassed; 116 int i2c_slaves_enabled; 117 int dmp_is_running; 118 int gyro_is_suspended; 119 int accel_is_suspended; 120 int compass_is_suspended; 121 int pressure_is_suspended; 122 int gyro_needs_reset; 123 124 /* Slave related information */ 125 struct ext_slave_descr *accel; 126 struct ext_slave_descr *compass; 127 struct ext_slave_descr *pressure; 128 129 /* Platform Data */ 130 struct mpu_platform_data *pdata; 131 }; 132 133 /* -------------------------------------------------------------------------- */ 134 135 int inv_mpu_open(struct mldl_cfg *mldl_cfg, 136 void *mlsl_handle, 137 void *accel_handle, 138 void *compass_handle, 139 void *pressure_handle); 140 int inv_mpu_close(struct mldl_cfg *mldl_cfg, 141 void *mlsl_handle, 142 void *accel_handle, 143 void *compass_handle, 144 void *pressure_handle); 145 int inv_mpu_resume(struct mldl_cfg *mldl_cfg, 146 void *gyro_handle, 147 void *accel_handle, 148 void *compass_handle, 149 void *pressure_handle, 150 unsigned long sensors); 151 int inv_mpu_suspend(struct mldl_cfg *mldl_cfg, 152 void *gyro_handle, 153 void *accel_handle, 154 void *compass_handle, 155 void *pressure_handle, 156 unsigned long sensors); 157 158 /* Slave Read functions */ 159 int inv_mpu_slave_read(struct mldl_cfg *mldl_cfg, 160 void *gyro_handle, 161 void *slave_handle, 162 struct ext_slave_descr *slave, 163 struct ext_slave_platform_data *pdata, 164 unsigned char *data); 165 static inline int inv_mpu_read_accel(struct mldl_cfg *mldl_cfg, 166 void *gyro_handle, 167 void *accel_handle, unsigned char *data) 168 { 169 if (!mldl_cfg || !(mldl_cfg->pdata)) { 170 LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); 171 return INV_ERROR_INVALID_PARAMETER; 172 } 173 174 return inv_mpu_slave_read(mldl_cfg, gyro_handle, accel_handle, 175 mldl_cfg->accel, &mldl_cfg->pdata->accel, 176 data); 177 } 178 179 static inline int inv_mpu_read_compass(struct mldl_cfg *mldl_cfg, 180 void *gyro_handle, 181 void *compass_handle, 182 unsigned char *data) 183 { 184 if (!mldl_cfg || !(mldl_cfg->pdata)) { 185 LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); 186 return INV_ERROR_INVALID_PARAMETER; 187 } 188 189 return inv_mpu_slave_read(mldl_cfg, gyro_handle, compass_handle, 190 mldl_cfg->compass, &mldl_cfg->pdata->compass, 191 data); 192 } 193 194 static inline int inv_mpu_read_pressure(struct mldl_cfg *mldl_cfg, 195 void *gyro_handle, 196 void *pressure_handle, 197 unsigned char *data) 198 { 199 if (!mldl_cfg || !(mldl_cfg->pdata)) { 200 LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); 201 return INV_ERROR_INVALID_PARAMETER; 202 } 203 204 return inv_mpu_slave_read(mldl_cfg, gyro_handle, pressure_handle, 205 mldl_cfg->pressure, 206 &mldl_cfg->pdata->pressure, data); 207 } 208 209 /* Slave Config functions */ 210 int inv_mpu_slave_config(struct mldl_cfg *mldl_cfg, 211 void *gyro_handle, 212 void *slave_handle, 213 struct ext_slave_config *data, 214 struct ext_slave_descr *slave, 215 struct ext_slave_platform_data *pdata); 216 static inline int inv_mpu_config_accel(struct mldl_cfg *mldl_cfg, 217 void *gyro_handle, 218 void *accel_handle, 219 struct ext_slave_config *data) 220 { 221 if (!mldl_cfg || !(mldl_cfg->pdata)) { 222 LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); 223 return INV_ERROR_INVALID_PARAMETER; 224 } 225 226 return inv_mpu_slave_config(mldl_cfg, gyro_handle, accel_handle, data, 227 mldl_cfg->accel, &mldl_cfg->pdata->accel); 228 } 229 230 static inline int inv_mpu_config_compass(struct mldl_cfg *mldl_cfg, 231 void *gyro_handle, 232 void *compass_handle, 233 struct ext_slave_config *data) 234 { 235 if (!mldl_cfg || !(mldl_cfg->pdata)) { 236 LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); 237 return INV_ERROR_INVALID_PARAMETER; 238 } 239 240 return inv_mpu_slave_config(mldl_cfg, gyro_handle, compass_handle, data, 241 mldl_cfg->compass, 242 &mldl_cfg->pdata->compass); 243 } 244 245 static inline int inv_mpu_config_pressure(struct mldl_cfg *mldl_cfg, 246 void *gyro_handle, 247 void *pressure_handle, 248 struct ext_slave_config *data) 249 { 250 if (!mldl_cfg || !(mldl_cfg->pdata)) { 251 LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); 252 return INV_ERROR_INVALID_PARAMETER; 253 } 254 255 return inv_mpu_slave_config(mldl_cfg, gyro_handle, pressure_handle, 256 data, mldl_cfg->pressure, 257 &mldl_cfg->pdata->pressure); 258 } 259 260 /* Slave get config functions */ 261 int inv_mpu_get_slave_config(struct mldl_cfg *mldl_cfg, 262 void *gyro_handle, 263 void *slave_handle, 264 struct ext_slave_config *data, 265 struct ext_slave_descr *slave, 266 struct ext_slave_platform_data *pdata); 267 268 static inline int inv_mpu_get_accel_config(struct mldl_cfg *mldl_cfg, 269 void *gyro_handle, 270 void *accel_handle, 271 struct ext_slave_config *data) 272 { 273 if (!mldl_cfg || !(mldl_cfg->pdata)) { 274 LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); 275 return INV_ERROR_INVALID_PARAMETER; 276 } 277 278 return inv_mpu_get_slave_config(mldl_cfg, gyro_handle, accel_handle, 279 data, mldl_cfg->accel, 280 &mldl_cfg->pdata->accel); 281 } 282 283 static inline int inv_mpu_get_compass_config(struct mldl_cfg *mldl_cfg, 284 void *gyro_handle, 285 void *compass_handle, 286 struct ext_slave_config *data) 287 { 288 if (!mldl_cfg || !(mldl_cfg->pdata)) { 289 LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); 290 return INV_ERROR_INVALID_PARAMETER; 291 } 292 293 return inv_mpu_get_slave_config(mldl_cfg, gyro_handle, compass_handle, 294 data, mldl_cfg->compass, 295 &mldl_cfg->pdata->compass); 296 } 297 298 static inline int inv_mpu_get_pressure_config(struct mldl_cfg *mldl_cfg, 299 void *gyro_handle, 300 void *pressure_handle, 301 struct ext_slave_config *data) 302 { 303 if (!mldl_cfg || !(mldl_cfg->pdata)) { 304 LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); 305 return INV_ERROR_INVALID_PARAMETER; 306 } 307 308 return inv_mpu_get_slave_config(mldl_cfg, gyro_handle, 309 pressure_handle, data, 310 mldl_cfg->pressure, 311 &mldl_cfg->pdata->pressure); 312 } 313 314 /* -------------------------------------------------------------------------- */ 315 316 static inline long inv_mpu_get_sampling_rate_hz(struct mldl_cfg *mldl_cfg) 317 { 318 if (((mldl_cfg->lpf) == 0) || ((mldl_cfg->lpf) == 7)) 319 return 8000L / (mldl_cfg->divider + 1); 320 else 321 return 1000L / (mldl_cfg->divider + 1); 322 } 323 324 static inline long inv_mpu_get_sampling_period_us(struct mldl_cfg *mldl_cfg) 325 { 326 if (((mldl_cfg->lpf) == 0) || ((mldl_cfg->lpf) == 7)) 327 return (long) (1000000L * (mldl_cfg->divider + 1)) / 8000L; 328 else 329 return (long) (1000000L * (mldl_cfg->divider + 1)) / 1000L; 330 } 331 332 #endif /* __MLDL_CFG_H__ */ 333 334 /** 335 *@} 336 */ 337
