1 /* 2 $License: 3 Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. 4 $ 5 */ 6 7 #ifndef __MLSL_H__ 8 #define __MLSL_H__ 9 10 #ifdef __cplusplus 11 extern "C" { 12 #endif 13 14 /** 15 * @defgroup MLSL 16 * @brief Motion Library - Serial Layer. 17 * The Motion Library System Layer provides the Motion Library 18 * with the communication interface to the hardware. 19 * 20 * The communication interface is assumed to support serial 21 * transfers in burst of variable length up to 22 * SERIAL_MAX_TRANSFER_SIZE. 23 * The default value for SERIAL_MAX_TRANSFER_SIZE is 128 bytes. 24 * Transfers of length greater than SERIAL_MAX_TRANSFER_SIZE, will 25 * be subdivided in smaller transfers of length <= 26 * SERIAL_MAX_TRANSFER_SIZE. 27 * The SERIAL_MAX_TRANSFER_SIZE definition can be modified to 28 * overcome any host processor transfer size limitation down to 29 * 1 B, the minimum. 30 * An higher value for SERIAL_MAX_TRANSFER_SIZE will favor 31 * performance and efficiency while requiring higher resource usage 32 * (mostly buffering). A smaller value will increase overhead and 33 * decrease efficiency but allows to operate with more resource 34 * constrained processor and master serial controllers. 35 * The SERIAL_MAX_TRANSFER_SIZE definition can be found in the 36 * mlsl.h header file and master serial controllers. 37 * The SERIAL_MAX_TRANSFER_SIZE definition can be found in the 38 * mlsl.h header file. 39 * 40 * @{ 41 * @file mlsl.h 42 * @brief The Motion Library System Layer. 43 * 44 */ 45 46 /* 47 * NOTE : to properly support Yamaha compass reads, 48 * the max transfer size should be at least 9 B. 49 * Length in bytes, typically a power of 2 >= 2 50 */ 51 #define SERIAL_MAX_TRANSFER_SIZE 31 52 53 #ifndef __KERNEL__ 54 /** 55 * inv_serial_open() - used to open the serial port. 56 * @port The COM port specification associated with the device in use. 57 * @sl_handle a pointer to the file handle to the serial device to be open 58 * for the communication. 59 * This port is used to send and receive data to the device. 60 * 61 * This function is called by inv_serial_start(). 62 * Unlike previous MPL Software releases, explicitly calling 63 * inv_serial_start() is mandatory to instantiate the communication 64 * with the device. 65 * 66 * returns INV_SUCCESS if successful, a non-zero error code otherwise. 67 */ 68 int inv_serial_open(char const *port, void **sl_handle); 69 70 /** 71 * inv_serial_close() - used to close the serial port. 72 * @sl_handle a file handle to the serial device used for the communication. 73 * 74 * This port is used to send and receive data to the device. 75 * 76 * This function is called by inv_serial_stop(). 77 * Unlike previous MPL Software releases, explicitly calling 78 * inv_serial_stop() is mandatory to properly shut-down the 79 * communication with the device. 80 * 81 * returns INV_SUCCESS if successful, a non-zero error code otherwise. 82 */ 83 int inv_serial_close(void *sl_handle); 84 85 /** 86 * inv_serial_reset() - used to reset any buffering the driver may be doing 87 * returns INV_SUCCESS if successful, a non-zero error code otherwise. 88 */ 89 int inv_serial_reset(void *sl_handle); 90 #endif 91 92 /** 93 * inv_serial_single_write() - used to write a single byte of data. 94 * @sl_handle pointer to the serial device used for the communication. 95 * @slave_addr I2C slave address of device. 96 * @register_addr Register address to write. 97 * @data Single byte of data to write. 98 * 99 * It is called by the MPL to write a single byte of data to the MPU. 100 * 101 * returns INV_SUCCESS if successful, a non-zero error code otherwise. 102 */ 103 int inv_serial_single_write( 104 void *sl_handle, 105 unsigned char slave_addr, 106 unsigned char register_addr, 107 unsigned char data); 108 109 /** 110 * inv_serial_write() - used to write multiple bytes of data to registers. 111 * @sl_handle a file handle to the serial device used for the communication. 112 * @slave_addr I2C slave address of device. 113 * @register_addr Register address to write. 114 * @length Length of burst of data. 115 * @data Pointer to block of data. 116 * 117 * returns INV_SUCCESS if successful, a non-zero error code otherwise. 118 */ 119 int inv_serial_write( 120 void *sl_handle, 121 unsigned char slave_addr, 122 unsigned short length, 123 unsigned char const *data); 124 125 /** 126 * inv_serial_read() - used to read multiple bytes of data from registers. 127 * @sl_handle a file handle to the serial device used for the communication. 128 * @slave_addr I2C slave address of device. 129 * @register_addr Register address to read. 130 * @length Length of burst of data. 131 * @data Pointer to block of data. 132 * 133 * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise. 134 */ 135 int inv_serial_read( 136 void *sl_handle, 137 unsigned char slave_addr, 138 unsigned char register_addr, 139 unsigned short length, 140 unsigned char *data); 141 142 /** 143 * inv_serial_read_mem() - used to read multiple bytes of data from the memory. 144 * This should be sent by I2C or SPI. 145 * 146 * @sl_handle a file handle to the serial device used for the communication. 147 * @slave_addr I2C slave address of device. 148 * @mem_addr The location in the memory to read from. 149 * @length Length of burst data. 150 * @data Pointer to block of data. 151 * 152 * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise. 153 */ 154 int inv_serial_read_mem( 155 void *sl_handle, 156 unsigned char slave_addr, 157 unsigned short mem_addr, 158 unsigned char bank_reg, 159 unsigned char addr_reg, 160 unsigned char mem_reg, 161 unsigned short length, 162 unsigned char *data); 163 164 /** 165 * inv_serial_write_mem() - used to write multiple bytes of data to the memory. 166 * @sl_handle a file handle to the serial device used for the communication. 167 * @slave_addr I2C slave address of device. 168 * @mem_addr The location in the memory to write to. 169 * @length Length of burst data. 170 * @data Pointer to block of data. 171 * 172 * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise. 173 */ 174 int inv_serial_write_mem( 175 void *sl_handle, 176 unsigned char slave_addr, 177 unsigned short mem_addr, 178 unsigned char bank_reg, 179 unsigned char addr_reg, 180 unsigned char mem_reg, 181 unsigned short length, 182 unsigned char *data); 183 184 /** 185 * inv_serial_read_fifo() - used to read multiple bytes of data from the fifo. 186 * @sl_handle a file handle to the serial device used for the communication. 187 * @slave_addr I2C slave address of device. 188 * @length Length of burst of data. 189 * @data Pointer to block of data. 190 * 191 * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise. 192 */ 193 int inv_serial_read_fifo( 194 void *sl_handle, 195 unsigned char slave_addr, 196 unsigned char fifo_reg, 197 unsigned short length, 198 unsigned char *data); 199 200 /** 201 * inv_serial_write_fifo() - used to write multiple bytes of data to the fifo. 202 * @sl_handle a file handle to the serial device used for the communication. 203 * @slave_addr I2C slave address of device. 204 * @length Length of burst of data. 205 * @data Pointer to block of data. 206 * 207 * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise. 208 */ 209 int inv_serial_write_fifo( 210 void *sl_handle, 211 unsigned char slave_addr, 212 unsigned char fifo_reg, 213 unsigned short length, 214 unsigned char const *data); 215 216 #ifndef __KERNEL__ 217 /** 218 * inv_serial_read_cfg() - used to get the configuration data. 219 * @cfg Pointer to the configuration data. 220 * @len Length of the configuration data. 221 * 222 * Is called by the MPL to get the configuration data 223 * used by the motion library. 224 * This data would typically be saved in non-volatile memory. 225 * 226 * returns INV_SUCCESS if successful, a non-zero error code otherwise. 227 */ 228 int inv_serial_read_cfg(unsigned char *cfg, unsigned int len); 229 230 /** 231 * inv_serial_write_cfg() - used to save the configuration data. 232 * @cfg Pointer to the configuration data. 233 * @len Length of the configuration data. 234 * 235 * Is called by the MPL to save the configuration data used by the 236 * motion library. 237 * This data would typically be saved in non-volatile memory. 238 * 239 * returns INV_SUCCESS if successful, a non-zero error code otherwise. 240 */ 241 int inv_serial_write_cfg(unsigned char *cfg, unsigned int len); 242 243 /** 244 * inv_serial_read_cal() - used to get the calibration data. 245 * @cfg Pointer to the calibration data. 246 * @len Length of the calibration data. 247 * 248 * It is called by the MPL to get the calibration data used by the 249 * motion library. 250 * This data is typically be saved in non-volatile memory. 251 * 252 * returns INV_SUCCESS if successful, a non-zero error code otherwise. 253 */ 254 int inv_serial_read_cal(unsigned char *cal, unsigned int len); 255 256 /** 257 * inv_serial_write_cal() - used to save the calibration data. 258 * 259 * @cfg Pointer to the calibration data. 260 * @len Length of the calibration data. 261 * 262 * It is called by the MPL to save the calibration data used by the 263 * motion library. 264 * This data is typically be saved in non-volatile memory. 265 * returns INV_SUCCESS if successful, a non-zero error code otherwise. 266 */ 267 int inv_serial_write_cal(unsigned char *cal, unsigned int len); 268 269 /** 270 * inv_serial_get_cal_length() - Get the calibration length from the storage. 271 * @len lenght to be returned 272 * 273 * returns INV_SUCCESS if successful, a non-zero error code otherwise. 274 */ 275 int inv_serial_get_cal_length(unsigned int *len); 276 #endif 277 #ifdef __cplusplus 278 } 279 #endif 280 /** 281 * @} 282 */ 283 #endif /* __MLSL_H__ */ 284
