| /* |
| $License: |
| Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. |
| |
| This program is free software; you can redistribute it and/or modify |
| it under the terms of the GNU General Public License as published by |
| the Free Software Foundation; either version 2 of the License, or |
| (at your option) any later version. |
| |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| $ |
| */ |
| |
| /** |
| * @addtogroup MLDL |
| * |
| * @{ |
| * @file mldl_cfg.h |
| * @brief The Motion Library Driver Layer Configuration header file. |
| */ |
| |
| #ifndef __MLDL_CFG_H__ |
| #define __MLDL_CFG_H__ |
| |
| #include "mltypes.h" |
| #include "mlsl.h" |
| #include <linux/mpu.h> |
| #ifdef MPU_CURRENT_BUILD_MPU6050B1 |
| #include "mpu6050b1.h" |
| #elif defined(MPU_CURRENT_BUILD_MPU3050) |
| #include "mpu3050.h" |
| #endif |
| |
| #include "log.h" |
| |
| /************************************************************************* |
| * Sensors Bit definitions |
| *************************************************************************/ |
| |
| #define INV_X_GYRO (0x0001) |
| #define INV_Y_GYRO (0x0002) |
| #define INV_Z_GYRO (0x0004) |
| #define INV_DMP_PROCESSOR (0x0008) |
| |
| #define INV_X_ACCEL (0x0010) |
| #define INV_Y_ACCEL (0x0020) |
| #define INV_Z_ACCEL (0x0040) |
| |
| #define INV_X_COMPASS (0x0080) |
| #define INV_Y_COMPASS (0x0100) |
| #define INV_Z_COMPASS (0x0200) |
| |
| #define INV_X_PRESSURE (0x0300) |
| #define INV_Y_PRESSURE (0x0800) |
| #define INV_Z_PRESSURE (0x1000) |
| |
| #define INV_TEMPERATURE (0x2000) |
| #define INV_TIME (0x4000) |
| |
| #define INV_THREE_AXIS_GYRO (0x000F) |
| #define INV_THREE_AXIS_ACCEL (0x0070) |
| #define INV_THREE_AXIS_COMPASS (0x0380) |
| #define INV_THREE_AXIS_PRESSURE (0x1C00) |
| |
| #define INV_FIVE_AXIS (0x007B) |
| #define INV_SIX_AXIS_GYRO_ACCEL (0x007F) |
| #define INV_SIX_AXIS_ACCEL_COMPASS (0x03F0) |
| #define INV_NINE_AXIS (0x03FF) |
| #define INV_ALL_SENSORS (0x7FFF) |
| |
| #define MPL_PROD_KEY(ver, rev) (ver * 100 + rev) |
| |
| /* -------------------------------------------------------------------------- */ |
| struct mpu_ram { |
| __u16 length; |
| __u8 *ram; |
| }; |
| |
| struct mpu_gyro_cfg { |
| __u8 int_config; |
| __u8 ext_sync; |
| __u8 full_scale; |
| __u8 lpf; |
| __u8 clk_src; |
| __u8 divider; |
| __u8 dmp_enable; |
| __u8 fifo_enable; |
| __u8 dmp_cfg1; |
| __u8 dmp_cfg2; |
| }; |
| |
| /* Offset registers that can be calibrated */ |
| struct mpu_offsets { |
| __u8 tc[GYRO_NUM_AXES]; |
| __u16 gyro[GYRO_NUM_AXES]; |
| }; |
| |
| /* Chip related information that can be read and verified */ |
| struct mpu_chip_info { |
| __u8 addr; |
| __u8 product_revision; |
| __u8 silicon_revision; |
| __u8 product_id; |
| __u16 gyro_sens_trim; |
| /* Only used for MPU6050 */ |
| __u16 accel_sens_trim; |
| }; |
| |
| |
| struct inv_mpu_cfg { |
| __u32 requested_sensors; |
| __u8 ignore_system_suspend; |
| }; |
| |
| /* Driver related state information */ |
| struct inv_mpu_state { |
| #define MPU_GYRO_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_GYROSCOPE) |
| #define MPU_ACCEL_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_ACCEL) |
| #define MPU_COMPASS_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_COMPASS) |
| #define MPU_PRESSURE_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_PRESSURE) |
| #define MPU_GYRO_IS_BYPASSED (0x10) |
| #define MPU_DMP_IS_SUSPENDED (0x20) |
| #define MPU_GYRO_NEEDS_CONFIG (0x40) |
| #define MPU_DEVICE_IS_SUSPENDED (0x80) |
| __u8 status; |
| /* 0-1 for 3050, bitfield of BIT_SLVx_DLY_EN, x = [0..4] */ |
| __u8 i2c_slaves_enabled; |
| }; |
| |
| /* Platform data for the MPU */ |
| struct mldl_cfg { |
| struct mpu_ram *mpu_ram; |
| struct mpu_gyro_cfg *mpu_gyro_cfg; |
| struct mpu_offsets *mpu_offsets; |
| struct mpu_chip_info *mpu_chip_info; |
| |
| /* MPU Related stored status and info */ |
| struct inv_mpu_cfg *inv_mpu_cfg; |
| struct inv_mpu_state *inv_mpu_state; |
| |
| /* Slave related information */ |
| struct ext_slave_descr *slave[EXT_SLAVE_NUM_TYPES]; |
| /* Platform Data */ |
| struct mpu_platform_data *pdata; |
| struct ext_slave_platform_data *pdata_slave[EXT_SLAVE_NUM_TYPES]; |
| }; |
| |
| /* -------------------------------------------------------------------------- */ |
| |
| int inv_mpu_open(struct mldl_cfg *mldl_cfg, |
| void *mlsl_handle, |
| void *accel_handle, |
| void *compass_handle, |
| void *pressure_handle); |
| int inv_mpu_close(struct mldl_cfg *mldl_cfg, |
| void *mlsl_handle, |
| void *accel_handle, |
| void *compass_handle, |
| void *pressure_handle); |
| int inv_mpu_resume(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *accel_handle, |
| void *compass_handle, |
| void *pressure_handle, |
| unsigned long sensors); |
| int inv_mpu_suspend(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *accel_handle, |
| void *compass_handle, |
| void *pressure_handle, |
| unsigned long sensors); |
| int inv_mpu_set_firmware(struct mldl_cfg *mldl_cfg, |
| void *mlsl_handle, |
| const unsigned char *data, |
| int size); |
| |
| /* -------------------------------------------------------------------------- */ |
| /* Slave Read functions */ |
| int inv_mpu_slave_read(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *slave_handle, |
| struct ext_slave_descr *slave, |
| struct ext_slave_platform_data *pdata, |
| unsigned char *data); |
| static inline int inv_mpu_read_accel(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *accel_handle, unsigned char *data) |
| { |
| if (!mldl_cfg) { |
| LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); |
| return INV_ERROR_INVALID_PARAMETER; |
| } |
| |
| return inv_mpu_slave_read( |
| mldl_cfg, gyro_handle, accel_handle, |
| mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL], |
| mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL], |
| data); |
| } |
| |
| static inline int inv_mpu_read_compass(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *compass_handle, |
| unsigned char *data) |
| { |
| if (!mldl_cfg) { |
| LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); |
| return INV_ERROR_INVALID_PARAMETER; |
| } |
| |
| return inv_mpu_slave_read( |
| mldl_cfg, gyro_handle, compass_handle, |
| mldl_cfg->slave[EXT_SLAVE_TYPE_COMPASS], |
| mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_COMPASS], |
| data); |
| } |
| |
| static inline int inv_mpu_read_pressure(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *pressure_handle, |
| unsigned char *data) |
| { |
| if (!mldl_cfg) { |
| LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); |
| return INV_ERROR_INVALID_PARAMETER; |
| } |
| |
| return inv_mpu_slave_read( |
| mldl_cfg, gyro_handle, pressure_handle, |
| mldl_cfg->slave[EXT_SLAVE_TYPE_PRESSURE], |
| mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_PRESSURE], |
| data); |
| } |
| |
| int gyro_config(void *mlsl_handle, |
| struct mldl_cfg *mldl_cfg, |
| struct ext_slave_config *data); |
| |
| /* Slave Config functions */ |
| int inv_mpu_slave_config(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *slave_handle, |
| struct ext_slave_config *data, |
| struct ext_slave_descr *slave, |
| struct ext_slave_platform_data *pdata); |
| static inline int inv_mpu_config_accel(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *accel_handle, |
| struct ext_slave_config *data) |
| { |
| if (!mldl_cfg) { |
| LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); |
| return INV_ERROR_INVALID_PARAMETER; |
| } |
| |
| return inv_mpu_slave_config( |
| mldl_cfg, gyro_handle, accel_handle, data, |
| mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL], |
| mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL]); |
| } |
| |
| static inline int inv_mpu_config_compass(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *compass_handle, |
| struct ext_slave_config *data) |
| { |
| if (!mldl_cfg) { |
| LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); |
| return INV_ERROR_INVALID_PARAMETER; |
| } |
| |
| return inv_mpu_slave_config( |
| mldl_cfg, gyro_handle, compass_handle, data, |
| mldl_cfg->slave[EXT_SLAVE_TYPE_COMPASS], |
| mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_COMPASS]); |
| } |
| |
| static inline int inv_mpu_config_pressure(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *pressure_handle, |
| struct ext_slave_config *data) |
| { |
| if (!mldl_cfg) { |
| LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); |
| return INV_ERROR_INVALID_PARAMETER; |
| } |
| |
| return inv_mpu_slave_config( |
| mldl_cfg, gyro_handle, pressure_handle, data, |
| mldl_cfg->slave[EXT_SLAVE_TYPE_PRESSURE], |
| mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_PRESSURE]); |
| } |
| |
| int gyro_get_config(void *mlsl_handle, |
| struct mldl_cfg *mldl_cfg, |
| struct ext_slave_config *data); |
| |
| /* Slave get config functions */ |
| int inv_mpu_get_slave_config(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *slave_handle, |
| struct ext_slave_config *data, |
| struct ext_slave_descr *slave, |
| struct ext_slave_platform_data *pdata); |
| |
| static inline int inv_mpu_get_accel_config(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *accel_handle, |
| struct ext_slave_config *data) |
| { |
| if (!mldl_cfg) { |
| LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); |
| return INV_ERROR_INVALID_PARAMETER; |
| } |
| |
| return inv_mpu_get_slave_config( |
| mldl_cfg, gyro_handle, accel_handle, data, |
| mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL], |
| mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL]); |
| } |
| |
| static inline int inv_mpu_get_compass_config(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *compass_handle, |
| struct ext_slave_config *data) |
| { |
| if (!mldl_cfg || !(mldl_cfg->pdata)) { |
| LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); |
| return INV_ERROR_INVALID_PARAMETER; |
| } |
| |
| return inv_mpu_get_slave_config( |
| mldl_cfg, gyro_handle, compass_handle, data, |
| mldl_cfg->slave[EXT_SLAVE_TYPE_COMPASS], |
| mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_COMPASS]); |
| } |
| |
| static inline int inv_mpu_get_pressure_config(struct mldl_cfg *mldl_cfg, |
| void *gyro_handle, |
| void *pressure_handle, |
| struct ext_slave_config *data) |
| { |
| if (!mldl_cfg || !(mldl_cfg->pdata)) { |
| LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); |
| return INV_ERROR_INVALID_PARAMETER; |
| } |
| |
| return inv_mpu_get_slave_config( |
| mldl_cfg, gyro_handle, pressure_handle, data, |
| mldl_cfg->slave[EXT_SLAVE_TYPE_PRESSURE], |
| mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_PRESSURE]); |
| } |
| |
| /* -------------------------------------------------------------------------- */ |
| |
| static inline |
| long inv_mpu_get_sampling_rate_hz(struct mpu_gyro_cfg *gyro_cfg) |
| { |
| if (((gyro_cfg->lpf) == 0) || ((gyro_cfg->lpf) == 7)) |
| return 8000L / (gyro_cfg->divider + 1); |
| else |
| return 1000L / (gyro_cfg->divider + 1); |
| } |
| |
| static inline |
| long inv_mpu_get_sampling_period_us(struct mpu_gyro_cfg *gyro_cfg) |
| { |
| if (((gyro_cfg->lpf) == 0) || ((gyro_cfg->lpf) == 7)) |
| return (long) (1000000L * (gyro_cfg->divider + 1)) / 8000L; |
| else |
| return (long) (1000000L * (gyro_cfg->divider + 1)) / 1000L; |
| } |
| |
| #endif /* __MLDL_CFG_H__ */ |
| |
| /** |
| * @} |
| */ |
