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 #ifndef __MPU_H_ 20 #define __MPU_H_ 21 22 #ifdef __KERNEL__ 23 #include <linux/types.h> 24 #include <linux/ioctl.h> 25 #elif defined LINUX 26 #include <sys/ioctl.h> 27 #endif 28 29 /* Number of axes on each sensor */ 30 #define GYRO_NUM_AXES (3) 31 #define ACCEL_NUM_AXES (3) 32 #define COMPASS_NUM_AXES (3) 33 34 struct mpu_read_write { 35 /* Memory address or register address depending on ioctl */ 36 unsigned short address; 37 unsigned short length; 38 unsigned char *data; 39 }; 40 41 enum mpuirq_data_type { 42 MPUIRQ_DATA_TYPE_MPU_IRQ, 43 MPUIRQ_DATA_TYPE_SLAVE_IRQ, 44 MPUIRQ_DATA_TYPE_PM_EVENT, 45 MPUIRQ_DATA_TYPE_NUM_TYPES, 46 }; 47 48 /* User space PM event notification */ 49 #define MPU_PM_EVENT_SUSPEND_PREPARE (3) 50 #define MPU_PM_EVENT_POST_SUSPEND (4) 51 52 struct mpuirq_data { 53 int interruptcount; 54 unsigned long long irqtime; 55 int data_type; 56 long data; 57 }; 58 59 enum ext_slave_config_key { 60 MPU_SLAVE_CONFIG_ODR_SUSPEND, 61 MPU_SLAVE_CONFIG_ODR_RESUME, 62 MPU_SLAVE_CONFIG_FSR_SUSPEND, 63 MPU_SLAVE_CONFIG_FSR_RESUME, 64 MPU_SLAVE_CONFIG_MOT_THS, 65 MPU_SLAVE_CONFIG_NMOT_THS, 66 MPU_SLAVE_CONFIG_MOT_DUR, 67 MPU_SLAVE_CONFIG_NMOT_DUR, 68 MPU_SLAVE_CONFIG_IRQ_SUSPEND, 69 MPU_SLAVE_CONFIG_IRQ_RESUME, 70 MPU_SLAVE_WRITE_REGISTERS, 71 MPU_SLAVE_READ_REGISTERS, 72 /* AMI 306 specific config keys */ 73 MPU_SLAVE_PARAM, 74 MPU_SLAVE_WINDOW, 75 MPU_SLAVE_READWINPARAMS, 76 MPU_SLAVE_SEARCHOFFSET, 77 /* AKM specific config keys */ 78 MPU_SLAVE_READ_SCALE, 79 /* YAS specific config keys */ 80 MPU_SLAVE_OFFSET_VALS, 81 MPU_SLAVE_RANGE_CHECK, 82 83 MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS, 84 }; 85 86 /* For the MPU_SLAVE_CONFIG_IRQ_SUSPEND and MPU_SLAVE_CONFIG_IRQ_RESUME */ 87 enum ext_slave_config_irq_type { 88 MPU_SLAVE_IRQ_TYPE_NONE, 89 MPU_SLAVE_IRQ_TYPE_MOTION, 90 MPU_SLAVE_IRQ_TYPE_DATA_READY, 91 }; 92 93 /* Structure for the following IOCTS's 94 * MPU_CONFIG_ACCEL 95 * MPU_CONFIG_COMPASS 96 * MPU_CONFIG_PRESSURE 97 * MPU_GET_CONFIG_ACCEL 98 * MPU_GET_CONFIG_COMPASS 99 * MPU_GET_CONFIG_PRESSURE 100 * 101 * @key one of enum ext_slave_config_key 102 * @len length of data pointed to by data 103 * @apply zero if communication with the chip is not necessary, false otherwise 104 * This flag can be used to select cached data or to refresh cashed data 105 * cache data to be pushed later or push immediately. If true and the 106 * slave is on the secondary bus the MPU will first enger bypass mode 107 * before calling the slaves .config or .get_config funcion 108 * @data pointer to the data to confgure or get 109 */ 110 struct ext_slave_config { 111 int key; 112 int len; 113 int apply; 114 void *data; 115 }; 116 117 enum ext_slave_type { 118 EXT_SLAVE_TYPE_GYROSCOPE, 119 EXT_SLAVE_TYPE_ACCELEROMETER, 120 EXT_SLAVE_TYPE_COMPASS, 121 EXT_SLAVE_TYPE_PRESSURE, 122 /*EXT_SLAVE_TYPE_TEMPERATURE */ 123 124 EXT_SLAVE_NUM_TYPES 125 }; 126 127 enum ext_slave_id { 128 ID_INVALID = 0, 129 130 ACCEL_ID_LIS331, 131 ACCEL_ID_LSM303A, 132 ACCEL_ID_LIS3DH, 133 ACCEL_ID_KXSD9, 134 ACCEL_ID_KXTF9, 135 ACCEL_ID_BMA150, 136 ACCEL_ID_BMA222, 137 ACCEL_ID_BMA250, 138 ACCEL_ID_ADXL34X, 139 ACCEL_ID_MMA8450, 140 ACCEL_ID_MMA845X, 141 ACCEL_ID_MPU6050, 142 143 COMPASS_ID_AK8975, 144 COMPASS_ID_AMI30X, 145 COMPASS_ID_AMI306, 146 COMPASS_ID_YAS529, 147 COMPASS_ID_YAS530, 148 COMPASS_ID_HMC5883, 149 COMPASS_ID_LSM303M, 150 COMPASS_ID_MMC314X, 151 COMPASS_ID_HSCDTD002B, 152 COMPASS_ID_HSCDTD004A, 153 154 PRESSURE_ID_BMA085, 155 }; 156 157 enum ext_slave_endian { 158 EXT_SLAVE_BIG_ENDIAN, 159 EXT_SLAVE_LITTLE_ENDIAN, 160 EXT_SLAVE_FS8_BIG_ENDIAN, 161 EXT_SLAVE_FS16_BIG_ENDIAN, 162 }; 163 164 enum ext_slave_bus { 165 EXT_SLAVE_BUS_INVALID = -1, 166 EXT_SLAVE_BUS_PRIMARY = 0, 167 EXT_SLAVE_BUS_SECONDARY = 1 168 }; 169 170 171 /** 172 * struct ext_slave_platform_data - Platform data for mpu3050 and mpu6050 173 * slave devices 174 * 175 * @get_slave_descr: Function pointer to retrieve the struct ext_slave_descr 176 * for this slave 177 * @irq: the irq number attached to the slave if any. 178 * @adapt_num: the I2C adapter number. 179 * @bus: the bus the slave is attached to: enum ext_slave_bus 180 * @address: the I2C slave address of the slave device. 181 * @orientation: the mounting matrix of the device relative to MPU. 182 * @irq_data: private data for the slave irq handler 183 * @private_data: additional data, user customizable. Not touched by the MPU 184 * driver. 185 * 186 * The orientation matricies are 3x3 rotation matricies 187 * that are applied to the data to rotate from the mounting orientation to the 188 * platform orientation. The values must be one of 0, 1, or -1 and each row and 189 * column should have exactly 1 non-zero value. 190 */ 191 struct ext_slave_platform_data { 192 struct ext_slave_descr *(*get_slave_descr) (void); 193 int irq; 194 int adapt_num; 195 int bus; 196 unsigned char address; 197 signed char orientation[9]; 198 void *irq_data; 199 void *private_data; 200 }; 201 202 struct fix_pnt_range { 203 long mantissa; 204 long fraction; 205 }; 206 207 static inline long range_fixedpoint_to_long_mg(struct fix_pnt_range rng) 208 { 209 return (long)(rng.mantissa * 1000 + rng.fraction / 10); 210 } 211 212 struct ext_slave_read_trigger { 213 unsigned char reg; 214 unsigned char value; 215 }; 216 217 /** 218 * struct ext_slave_descr - Description of the slave device for programming. 219 * 220 * @suspend: function pointer to put the device in suspended state 221 * @resume: function pointer to put the device in running state 222 * @read: function that reads the device data 223 * @init: function used to preallocate memory used by the driver 224 * @exit: function used to free memory allocated for the driver 225 * @config: function used to configure the device 226 * @get_config:function used to get the device's configuration 227 * 228 * @name: text name of the device 229 * @type: device type. enum ext_slave_type 230 * @id: enum ext_slave_id 231 * @reg: starting register address to retrieve data. 232 * @len: length in bytes of the sensor data. Should be 6. 233 * @endian: byte order of the data. enum ext_slave_endian 234 * @range: full scale range of the slave ouput: struct fix_pnt_range 235 * @trigger: If reading data first requires writing a register this is the 236 * data to write. 237 * 238 * Defines the functions and information about the slave the mpu3050 and 239 * mpu6050 needs to use the slave device. 240 */ 241 struct ext_slave_descr { 242 int (*init) (void *mlsl_handle, 243 struct ext_slave_descr *slave, 244 struct ext_slave_platform_data *pdata); 245 int (*exit) (void *mlsl_handle, 246 struct ext_slave_descr *slave, 247 struct ext_slave_platform_data *pdata); 248 int (*suspend) (void *mlsl_handle, 249 struct ext_slave_descr *slave, 250 struct ext_slave_platform_data *pdata); 251 int (*resume) (void *mlsl_handle, 252 struct ext_slave_descr *slave, 253 struct ext_slave_platform_data *pdata); 254 int (*read) (void *mlsl_handle, 255 struct ext_slave_descr *slave, 256 struct ext_slave_platform_data *pdata, 257 unsigned char *data); 258 int (*config) (void *mlsl_handle, 259 struct ext_slave_descr *slave, 260 struct ext_slave_platform_data *pdata, 261 struct ext_slave_config *config); 262 int (*get_config) (void *mlsl_handle, 263 struct ext_slave_descr *slave, 264 struct ext_slave_platform_data *pdata, 265 struct ext_slave_config *config); 266 267 char *name; 268 unsigned char type; 269 unsigned char id; 270 unsigned char read_reg; 271 unsigned int read_len; 272 unsigned char endian; 273 struct fix_pnt_range range; 274 struct ext_slave_read_trigger *trigger; 275 }; 276 277 /** 278 * struct mpu_platform_data - Platform data for the mpu driver 279 * @int_config: Bits [7:3] of the int config register. 280 * @orientation: Orientation matrix of the gyroscope 281 * @level_shifter: 0: VLogic, 1: VDD 282 * @accel: Accel platform data 283 * @compass: Compass platform data 284 * @pressure: Pressure platform data 285 * 286 * Contains platform specific information on how to configure the MPU3050 to 287 * work on this platform. The orientation matricies are 3x3 rotation matricies 288 * that are applied to the data to rotate from the mounting orientation to the 289 * platform orientation. The values must be one of 0, 1, or -1 and each row and 290 * column should have exactly 1 non-zero value. 291 */ 292 struct mpu_platform_data { 293 unsigned char int_config; 294 signed char orientation[GYRO_NUM_AXES * GYRO_NUM_AXES]; 295 unsigned char level_shifter; 296 struct ext_slave_platform_data accel; 297 struct ext_slave_platform_data compass; 298 struct ext_slave_platform_data pressure; 299 }; 300 301 #if defined __KERNEL__ || defined LINUX 302 #define MPU_IOCTL (0x81) /* Magic number for MPU Iocts */ 303 /* IOCTL commands for /dev/mpu */ 304 #define MPU_SET_MPU_CONFIG _IOWR(MPU_IOCTL, 0x00, struct mldl_cfg) 305 #define MPU_GET_MPU_CONFIG _IOW(MPU_IOCTL, 0x00, struct mldl_cfg) 306 307 #define MPU_SET_PLATFORM_DATA _IOWR(MPU_IOCTL, 0x01, struct mldl_cfg) 308 309 #define MPU_READ _IOWR(MPU_IOCTL, 0x10, struct mpu_read_write) 310 #define MPU_WRITE _IOW(MPU_IOCTL, 0x10, struct mpu_read_write) 311 #define MPU_READ_MEM _IOWR(MPU_IOCTL, 0x11, struct mpu_read_write) 312 #define MPU_WRITE_MEM _IOW(MPU_IOCTL, 0x11, struct mpu_read_write) 313 #define MPU_READ_FIFO _IOWR(MPU_IOCTL, 0x12, struct mpu_read_write) 314 #define MPU_WRITE_FIFO _IOW(MPU_IOCTL, 0x12, struct mpu_read_write) 315 316 #define MPU_READ_COMPASS _IOR(MPU_IOCTL, 0x12, unsigned char) 317 #define MPU_READ_ACCEL _IOR(MPU_IOCTL, 0x13, unsigned char) 318 #define MPU_READ_PRESSURE _IOR(MPU_IOCTL, 0x14, unsigned char) 319 320 #define MPU_CONFIG_ACCEL _IOW(MPU_IOCTL, 0x20, struct ext_slave_config) 321 #define MPU_CONFIG_COMPASS _IOW(MPU_IOCTL, 0x21, struct ext_slave_config) 322 #define MPU_CONFIG_PRESSURE _IOW(MPU_IOCTL, 0x22, struct ext_slave_config) 323 324 #define MPU_GET_CONFIG_ACCEL _IOWR(MPU_IOCTL, 0x20, struct ext_slave_config) 325 #define MPU_GET_CONFIG_COMPASS _IOWR(MPU_IOCTL, 0x21, struct ext_slave_config) 326 #define MPU_GET_CONFIG_PRESSURE _IOWR(MPU_IOCTL, 0x22, struct ext_slave_config) 327 328 #define MPU_SUSPEND _IO(MPU_IOCTL, 0x30) 329 #define MPU_RESUME _IO(MPU_IOCTL, 0x31) 330 /* Userspace PM Event response */ 331 #define MPU_PM_EVENT_HANDLED _IO(MPU_IOCTL, 0x32) 332 333 #endif 334 335 #endif /* __MPU_H_ */ 336
