| /* |
| $License: |
| Copyright 2011 InvenSense, Inc. |
| |
| Licensed under the Apache License, Version 2.0 (the "License"); |
| you may not use this file except in compliance with the License. |
| You may obtain a copy of the License at |
| |
| http://www.apache.org/licenses/LICENSE-2.0 |
| |
| Unless required by applicable law or agreed to in writing, software |
| distributed under the License is distributed on an "AS IS" BASIS, |
| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| See the License for the specific language governing permissions and |
| limitations under the License. |
| $ |
| */ |
| |
| #ifndef __MPU_H_ |
| #error Do not include this file directly. Include mpu.h instead. |
| #endif |
| |
| #ifndef __MPU3050_H_ |
| #define __MPU3050_H_ |
| |
| #ifdef __KERNEL__ |
| #include <linux/types.h> |
| #endif |
| |
| #if !defined CONFIG_MPU_SENSORS_MPU3050 |
| #error MPU6000 build including MPU3050 header |
| #endif |
| |
| #define MPU_NAME "mpu3050" |
| #define DEFAULT_MPU_SLAVEADDR 0x68 |
| |
| /*==== MPU REGISTER SET ====*/ |
| enum mpu_register { |
| MPUREG_WHO_AM_I = 0, /* 00 0x00 */ |
| MPUREG_PRODUCT_ID, /* 01 0x01 */ |
| MPUREG_02_RSVD, /* 02 0x02 */ |
| MPUREG_03_RSVD, /* 03 0x03 */ |
| MPUREG_04_RSVD, /* 04 0x04 */ |
| MPUREG_XG_OFFS_TC, /* 05 0x05 */ |
| MPUREG_06_RSVD, /* 06 0x06 */ |
| MPUREG_07_RSVD, /* 07 0x07 */ |
| MPUREG_YG_OFFS_TC, /* 08 0x08 */ |
| MPUREG_09_RSVD, /* 09 0x09 */ |
| MPUREG_0A_RSVD, /* 10 0x0a */ |
| MPUREG_ZG_OFFS_TC, /* 11 0x0b */ |
| MPUREG_X_OFFS_USRH, /* 12 0x0c */ |
| MPUREG_X_OFFS_USRL, /* 13 0x0d */ |
| MPUREG_Y_OFFS_USRH, /* 14 0x0e */ |
| MPUREG_Y_OFFS_USRL, /* 15 0x0f */ |
| MPUREG_Z_OFFS_USRH, /* 16 0x10 */ |
| MPUREG_Z_OFFS_USRL, /* 17 0x11 */ |
| MPUREG_FIFO_EN1, /* 18 0x12 */ |
| MPUREG_FIFO_EN2, /* 19 0x13 */ |
| MPUREG_AUX_SLV_ADDR, /* 20 0x14 */ |
| MPUREG_SMPLRT_DIV, /* 21 0x15 */ |
| MPUREG_DLPF_FS_SYNC, /* 22 0x16 */ |
| MPUREG_INT_CFG, /* 23 0x17 */ |
| MPUREG_ACCEL_BURST_ADDR,/* 24 0x18 */ |
| MPUREG_19_RSVD, /* 25 0x19 */ |
| MPUREG_INT_STATUS, /* 26 0x1a */ |
| MPUREG_TEMP_OUT_H, /* 27 0x1b */ |
| MPUREG_TEMP_OUT_L, /* 28 0x1c */ |
| MPUREG_GYRO_XOUT_H, /* 29 0x1d */ |
| MPUREG_GYRO_XOUT_L, /* 30 0x1e */ |
| MPUREG_GYRO_YOUT_H, /* 31 0x1f */ |
| MPUREG_GYRO_YOUT_L, /* 32 0x20 */ |
| MPUREG_GYRO_ZOUT_H, /* 33 0x21 */ |
| MPUREG_GYRO_ZOUT_L, /* 34 0x22 */ |
| MPUREG_23_RSVD, /* 35 0x23 */ |
| MPUREG_24_RSVD, /* 36 0x24 */ |
| MPUREG_25_RSVD, /* 37 0x25 */ |
| MPUREG_26_RSVD, /* 38 0x26 */ |
| MPUREG_27_RSVD, /* 39 0x27 */ |
| MPUREG_28_RSVD, /* 40 0x28 */ |
| MPUREG_29_RSVD, /* 41 0x29 */ |
| MPUREG_2A_RSVD, /* 42 0x2a */ |
| MPUREG_2B_RSVD, /* 43 0x2b */ |
| MPUREG_2C_RSVD, /* 44 0x2c */ |
| MPUREG_2D_RSVD, /* 45 0x2d */ |
| MPUREG_2E_RSVD, /* 46 0x2e */ |
| MPUREG_2F_RSVD, /* 47 0x2f */ |
| MPUREG_30_RSVD, /* 48 0x30 */ |
| MPUREG_31_RSVD, /* 49 0x31 */ |
| MPUREG_32_RSVD, /* 50 0x32 */ |
| MPUREG_33_RSVD, /* 51 0x33 */ |
| MPUREG_34_RSVD, /* 52 0x34 */ |
| MPUREG_DMP_CFG_1, /* 53 0x35 */ |
| MPUREG_DMP_CFG_2, /* 54 0x36 */ |
| MPUREG_BANK_SEL, /* 55 0x37 */ |
| MPUREG_MEM_START_ADDR, /* 56 0x38 */ |
| MPUREG_MEM_R_W, /* 57 0x39 */ |
| MPUREG_FIFO_COUNTH, /* 58 0x3a */ |
| MPUREG_FIFO_COUNTL, /* 59 0x3b */ |
| MPUREG_FIFO_R_W, /* 60 0x3c */ |
| MPUREG_USER_CTRL, /* 61 0x3d */ |
| MPUREG_PWR_MGM, /* 62 0x3e */ |
| MPUREG_3F_RSVD, /* 63 0x3f */ |
| NUM_OF_MPU_REGISTERS /* 64 0x40 */ |
| }; |
| |
| /*==== BITS FOR MPU ====*/ |
| |
| /*---- MPU 'FIFO_EN1' register (12) ----*/ |
| #define BIT_TEMP_OUT 0x80 |
| #define BIT_GYRO_XOUT 0x40 |
| #define BIT_GYRO_YOUT 0x20 |
| #define BIT_GYRO_ZOUT 0x10 |
| #define BIT_ACCEL_XOUT 0x08 |
| #define BIT_ACCEL_YOUT 0x04 |
| #define BIT_ACCEL_ZOUT 0x02 |
| #define BIT_AUX_1OUT 0x01 |
| /*---- MPU 'FIFO_EN2' register (13) ----*/ |
| #define BIT_AUX_2OUT 0x02 |
| #define BIT_AUX_3OUT 0x01 |
| /*---- MPU 'DLPF_FS_SYNC' register (16) ----*/ |
| #define BITS_EXT_SYNC_NONE 0x00 |
| #define BITS_EXT_SYNC_TEMP 0x20 |
| #define BITS_EXT_SYNC_GYROX 0x40 |
| #define BITS_EXT_SYNC_GYROY 0x60 |
| #define BITS_EXT_SYNC_GYROZ 0x80 |
| #define BITS_EXT_SYNC_ACCELX 0xA0 |
| #define BITS_EXT_SYNC_ACCELY 0xC0 |
| #define BITS_EXT_SYNC_ACCELZ 0xE0 |
| #define BITS_EXT_SYNC_MASK 0xE0 |
| #define BITS_FS_250DPS 0x00 |
| #define BITS_FS_500DPS 0x08 |
| #define BITS_FS_1000DPS 0x10 |
| #define BITS_FS_2000DPS 0x18 |
| #define BITS_FS_MASK 0x18 |
| #define BITS_DLPF_CFG_256HZ_NOLPF2 0x00 |
| #define BITS_DLPF_CFG_188HZ 0x01 |
| #define BITS_DLPF_CFG_98HZ 0x02 |
| #define BITS_DLPF_CFG_42HZ 0x03 |
| #define BITS_DLPF_CFG_20HZ 0x04 |
| #define BITS_DLPF_CFG_10HZ 0x05 |
| #define BITS_DLPF_CFG_5HZ 0x06 |
| #define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 |
| #define BITS_DLPF_CFG_MASK 0x07 |
| /*---- MPU 'INT_CFG' register (17) ----*/ |
| #define BIT_ACTL 0x80 |
| #define BIT_ACTL_LOW 0x80 |
| #define BIT_ACTL_HIGH 0x00 |
| #define BIT_OPEN 0x40 |
| #define BIT_OPEN_DRAIN 0x40 |
| #define BIT_PUSH_PULL 0x00 |
| #define BIT_LATCH_INT_EN 0x20 |
| #define BIT_INT_PULSE_WIDTH_50US 0x00 |
| #define BIT_INT_ANYRD_2CLEAR 0x10 |
| #define BIT_INT_STAT_READ_2CLEAR 0x00 |
| #define BIT_MPU_RDY_EN 0x04 |
| #define BIT_DMP_INT_EN 0x02 |
| #define BIT_RAW_RDY_EN 0x01 |
| /*---- MPU 'INT_STATUS' register (1A) ----*/ |
| #define BIT_INT_STATUS_FIFO_OVERLOW 0x80 |
| #define BIT_MPU_RDY 0x04 |
| #define BIT_DMP_INT 0x02 |
| #define BIT_RAW_RDY 0x01 |
| /*---- MPU 'BANK_SEL' register (37) ----*/ |
| #define BIT_PRFTCH_EN 0x20 |
| #define BIT_CFG_USER_BANK 0x10 |
| #define BITS_MEM_SEL 0x0f |
| /*---- MPU 'USER_CTRL' register (3D) ----*/ |
| #define BIT_DMP_EN 0x80 |
| #define BIT_FIFO_EN 0x40 |
| #define BIT_AUX_IF_EN 0x20 |
| #define BIT_AUX_RD_LENG 0x10 |
| #define BIT_AUX_IF_RST 0x08 |
| #define BIT_DMP_RST 0x04 |
| #define BIT_FIFO_RST 0x02 |
| #define BIT_GYRO_RST 0x01 |
| /*---- MPU 'PWR_MGM' register (3E) ----*/ |
| #define BIT_H_RESET 0x80 |
| #define BIT_SLEEP 0x40 |
| #define BIT_STBY_XG 0x20 |
| #define BIT_STBY_YG 0x10 |
| #define BIT_STBY_ZG 0x08 |
| #define BITS_CLKSEL 0x07 |
| |
| /*---- MPU Silicon Revision ----*/ |
| #define MPU_SILICON_REV_A4 1 /* MPU A4 Device */ |
| #define MPU_SILICON_REV_B1 2 /* MPU B1 Device */ |
| #define MPU_SILICON_REV_B4 3 /* MPU B4 Device */ |
| #define MPU_SILICON_REV_B6 4 /* MPU B6 Device */ |
| |
| /*---- MPU Memory ----*/ |
| #define MPU_MEM_BANK_SIZE (256) |
| #define FIFO_HW_SIZE (512) |
| |
| enum MPU_MEMORY_BANKS { |
| MPU_MEM_RAM_BANK_0 = 0, |
| MPU_MEM_RAM_BANK_1, |
| MPU_MEM_RAM_BANK_2, |
| MPU_MEM_RAM_BANK_3, |
| MPU_MEM_NUM_RAM_BANKS, |
| MPU_MEM_OTP_BANK_0 = MPU_MEM_NUM_RAM_BANKS, |
| /* This one is always last */ |
| MPU_MEM_NUM_BANKS |
| }; |
| |
| /*---- structure containing control variables used by MLDL ----*/ |
| /*---- MPU clock source settings ----*/ |
| /*---- MPU filter selections ----*/ |
| enum mpu_filter { |
| MPU_FILTER_256HZ_NOLPF2 = 0, |
| MPU_FILTER_188HZ, |
| MPU_FILTER_98HZ, |
| MPU_FILTER_42HZ, |
| MPU_FILTER_20HZ, |
| MPU_FILTER_10HZ, |
| MPU_FILTER_5HZ, |
| MPU_FILTER_2100HZ_NOLPF, |
| NUM_MPU_FILTER |
| }; |
| |
| enum mpu_fullscale { |
| MPU_FS_250DPS = 0, |
| MPU_FS_500DPS, |
| MPU_FS_1000DPS, |
| MPU_FS_2000DPS, |
| NUM_MPU_FS |
| }; |
| |
| enum mpu_clock_sel { |
| MPU_CLK_SEL_INTERNAL = 0, |
| MPU_CLK_SEL_PLLGYROX, |
| MPU_CLK_SEL_PLLGYROY, |
| MPU_CLK_SEL_PLLGYROZ, |
| MPU_CLK_SEL_PLLEXT32K, |
| MPU_CLK_SEL_PLLEXT19M, |
| MPU_CLK_SEL_RESERVED, |
| MPU_CLK_SEL_STOP, |
| NUM_CLK_SEL |
| }; |
| |
| enum mpu_ext_sync { |
| MPU_EXT_SYNC_NONE = 0, |
| MPU_EXT_SYNC_TEMP, |
| MPU_EXT_SYNC_GYROX, |
| MPU_EXT_SYNC_GYROY, |
| MPU_EXT_SYNC_GYROZ, |
| MPU_EXT_SYNC_ACCELX, |
| MPU_EXT_SYNC_ACCELY, |
| MPU_EXT_SYNC_ACCELZ, |
| NUM_MPU_EXT_SYNC |
| }; |
| |
| #define DLPF_FS_SYNC_VALUE(ext_sync, full_scale, lpf) \ |
| ((ext_sync << 5) | (full_scale << 3) | lpf) |
| |
| #endif /* __MPU3050_H_ */ |
