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/*
* Copyright (C) 2012 Invensense, Inc.
*
* This software is licensed under the terms of the GNU General Public
* License version 2, as published by the Free Software Foundation, and
* may be copied, distributed, and modified under those terms.
*
* 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.
*/
#include <linux/i2c.h>
#include <linux/i2c-mux.h>
#include <linux/mutex.h>
#include <linux/iio/iio.h>
#include <linux/iio/buffer.h>
#include <linux/regmap.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/kfifo_buf.h>
#include <linux/iio/trigger.h>
#include <linux/iio/triggered_buffer.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/platform_data/invensense_mpu6050.h>
/**
* struct inv_mpu6050_reg_map - Notable registers.
* @sample_rate_div: Divider applied to gyro output rate.
* @lpf: Configures internal low pass filter.
* @accel_lpf: Configures accelerometer low pass filter.
* @user_ctrl: Enables/resets the FIFO.
* @fifo_en: Determines which data will appear in FIFO.
* @gyro_config: gyro config register.
* @accl_config: accel config register
* @fifo_count_h: Upper byte of FIFO count.
* @fifo_r_w: FIFO register.
* @raw_gyro: Address of first gyro register.
* @raw_accl: Address of first accel register.
* @temperature: temperature register
* @int_enable: Interrupt enable register.
* @int_status: Interrupt status register.
* @pwr_mgmt_1: Controls chip's power state and clock source.
* @pwr_mgmt_2: Controls power state of individual sensors.
* @int_pin_cfg; Controls interrupt pin configuration.
* @accl_offset: Controls the accelerometer calibration offset.
* @gyro_offset: Controls the gyroscope calibration offset.
* @i2c_if: Controls the i2c interface
*/
struct inv_mpu6050_reg_map {
u8 sample_rate_div;
u8 lpf;
u8 accel_lpf;
u8 user_ctrl;
u8 fifo_en;
u8 gyro_config;
u8 accl_config;
u8 fifo_count_h;
u8 fifo_r_w;
u8 raw_gyro;
u8 raw_accl;
u8 temperature;
u8 int_enable;
u8 int_status;
u8 pwr_mgmt_1;
u8 pwr_mgmt_2;
u8 int_pin_cfg;
u8 accl_offset;
u8 gyro_offset;
u8 i2c_if;
};
/*device enum */
enum inv_devices {
INV_MPU6050,
INV_MPU6500,
INV_MPU6515,
INV_MPU6000,
INV_MPU9150,
INV_MPU9250,
INV_MPU9255,
INV_ICM20608,
INV_ICM20602,
INV_NUM_PARTS
};
/**
* struct inv_mpu6050_chip_config - Cached chip configuration data.
* @fsr: Full scale range.
* @lpf: Digital low pass filter frequency.
* @accl_fs: accel full scale range.
* @accl_fifo_enable: enable accel data output
* @gyro_fifo_enable: enable gyro data output
* @divider: chip sample rate divider (sample rate divider - 1)
*/
struct inv_mpu6050_chip_config {
unsigned int fsr:2;
unsigned int lpf:3;
unsigned int accl_fs:2;
unsigned int accl_fifo_enable:1;
unsigned int gyro_fifo_enable:1;
u8 divider;
u8 user_ctrl;
};
/**
* struct inv_mpu6050_hw - Other important hardware information.
* @whoami: Self identification byte from WHO_AM_I register
* @name: name of the chip.
* @reg: register map of the chip.
* @config: configuration of the chip.
* @fifo_size: size of the FIFO in bytes.
* @temp: offset and scale to apply to raw temperature.
*/
struct inv_mpu6050_hw {
u8 whoami;
u8 *name;
const struct inv_mpu6050_reg_map *reg;
const struct inv_mpu6050_chip_config *config;
size_t fifo_size;
struct {
int offset;
int scale;
} temp;
};
/*
* struct inv_mpu6050_state - Driver state variables.
* @lock: Chip access lock.
* @trig: IIO trigger.
* @chip_config: Cached attribute information.
* @reg: Map of important registers.
* @hw: Other hardware-specific information.
* @chip_type: chip type.
* @plat_data: platform data (deprecated in favor of @orientation).
* @orientation: sensor chip orientation relative to main hardware.
* @map regmap pointer.
* @irq interrupt number.
* @irq_mask the int_pin_cfg mask to configure interrupt type.
* @chip_period: chip internal period estimation (~1kHz).
* @it_timestamp: timestamp from previous interrupt.
* @data_timestamp: timestamp for next data sample.
*/
struct inv_mpu6050_state {
struct mutex lock;
struct iio_trigger *trig;
struct inv_mpu6050_chip_config chip_config;
const struct inv_mpu6050_reg_map *reg;
const struct inv_mpu6050_hw *hw;
enum inv_devices chip_type;
struct i2c_mux_core *muxc;
struct i2c_client *mux_client;
unsigned int powerup_count;
struct inv_mpu6050_platform_data plat_data;
struct iio_mount_matrix orientation;
struct regmap *map;
int irq;
u8 irq_mask;
unsigned skip_samples;
s64 chip_period;
s64 it_timestamp;
s64 data_timestamp;
};
/*register and associated bit definition*/
#define INV_MPU6050_REG_ACCEL_OFFSET 0x06
#define INV_MPU6050_REG_GYRO_OFFSET 0x13
#define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19
#define INV_MPU6050_REG_CONFIG 0x1A
#define INV_MPU6050_REG_GYRO_CONFIG 0x1B
#define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
#define INV_MPU6050_REG_FIFO_EN 0x23
#define INV_MPU6050_BIT_ACCEL_OUT 0x08
#define INV_MPU6050_BITS_GYRO_OUT 0x70
#define INV_MPU6050_REG_INT_ENABLE 0x38
#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
#define INV_MPU6050_BIT_DMP_INT_EN 0x02
#define INV_MPU6050_REG_RAW_ACCEL 0x3B
#define INV_MPU6050_REG_TEMPERATURE 0x41
#define INV_MPU6050_REG_RAW_GYRO 0x43
#define INV_MPU6050_REG_INT_STATUS 0x3A
#define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
#define INV_MPU6050_REG_USER_CTRL 0x6A
#define INV_MPU6050_BIT_FIFO_RST 0x04
#define INV_MPU6050_BIT_DMP_RST 0x08
#define INV_MPU6050_BIT_I2C_MST_EN 0x20
#define INV_MPU6050_BIT_FIFO_EN 0x40
#define INV_MPU6050_BIT_DMP_EN 0x80
#define INV_MPU6050_BIT_I2C_IF_DIS 0x10
#define INV_MPU6050_REG_PWR_MGMT_1 0x6B
#define INV_MPU6050_BIT_H_RESET 0x80
#define INV_MPU6050_BIT_SLEEP 0x40
#define INV_MPU6050_BIT_CLK_MASK 0x7
#define INV_MPU6050_REG_PWR_MGMT_2 0x6C
#define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
#define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
/* ICM20602 register */
#define INV_ICM20602_REG_I2C_IF 0x70
#define INV_ICM20602_BIT_I2C_IF_DIS 0x40
#define INV_MPU6050_REG_FIFO_COUNT_H 0x72
#define INV_MPU6050_REG_FIFO_R_W 0x74
#define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
#define INV_MPU6050_FIFO_COUNT_BYTE 2
/* ICM20602 FIFO samples include temperature readings */
#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2
/* mpu6500 registers */
#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
#define INV_MPU6500_REG_ACCEL_OFFSET 0x77
/* delay time in milliseconds */
#define INV_MPU6050_POWER_UP_TIME 100
#define INV_MPU6050_TEMP_UP_TIME 100
#define INV_MPU6050_SENSOR_UP_TIME 30
/* delay time in microseconds */
#define INV_MPU6050_REG_UP_TIME_MIN 5000
#define INV_MPU6050_REG_UP_TIME_MAX 10000
#define INV_MPU6050_TEMP_OFFSET 12420
#define INV_MPU6050_TEMP_SCALE 2941176
#define INV_MPU6050_MAX_GYRO_FS_PARAM 3
#define INV_MPU6050_MAX_ACCL_FS_PARAM 3
#define INV_MPU6050_THREE_AXIS 3
#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3
#define INV_MPU6500_TEMP_OFFSET 7011
#define INV_MPU6500_TEMP_SCALE 2995178
#define INV_ICM20608_TEMP_OFFSET 8170
#define INV_ICM20608_TEMP_SCALE 3059976
/* 6 + 6 round up and plus 8 */
#define INV_MPU6050_OUTPUT_DATA_SIZE 24
#define INV_MPU6050_REG_INT_PIN_CFG 0x37
#define INV_MPU6050_ACTIVE_HIGH 0x00
#define INV_MPU6050_ACTIVE_LOW 0x80
/* enable level triggering */
#define INV_MPU6050_LATCH_INT_EN 0x20
#define INV_MPU6050_BIT_BYPASS_EN 0x2
/* Allowed timestamp period jitter in percent */
#define INV_MPU6050_TS_PERIOD_JITTER 4
/* init parameters */
#define INV_MPU6050_INIT_FIFO_RATE 50
#define INV_MPU6050_MAX_FIFO_RATE 1000
#define INV_MPU6050_MIN_FIFO_RATE 4
/* chip internal frequency: 1KHz */
#define INV_MPU6050_INTERNAL_FREQ_HZ 1000
/* return the frequency divider (chip sample rate divider + 1) */
#define INV_MPU6050_FREQ_DIVIDER(st) \
((st)->chip_config.divider + 1)
/* chip sample rate divider to fifo rate */
#define INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate) \
((INV_MPU6050_INTERNAL_FREQ_HZ / (fifo_rate)) - 1)
#define INV_MPU6050_DIVIDER_TO_FIFO_RATE(divider) \
(INV_MPU6050_INTERNAL_FREQ_HZ / ((divider) + 1))
#define INV_MPU6050_REG_WHOAMI 117
#define INV_MPU6000_WHOAMI_VALUE 0x68
#define INV_MPU6050_WHOAMI_VALUE 0x68
#define INV_MPU6500_WHOAMI_VALUE 0x70
#define INV_MPU9150_WHOAMI_VALUE 0x68
#define INV_MPU9250_WHOAMI_VALUE 0x71
#define INV_MPU9255_WHOAMI_VALUE 0x73
#define INV_MPU6515_WHOAMI_VALUE 0x74
#define INV_ICM20608_WHOAMI_VALUE 0xAF
#define INV_ICM20602_WHOAMI_VALUE 0x12
/* scan element definition for generic MPU6xxx devices */
enum inv_mpu6050_scan {
INV_MPU6050_SCAN_ACCL_X,
INV_MPU6050_SCAN_ACCL_Y,
INV_MPU6050_SCAN_ACCL_Z,
INV_MPU6050_SCAN_GYRO_X,
INV_MPU6050_SCAN_GYRO_Y,
INV_MPU6050_SCAN_GYRO_Z,
INV_MPU6050_SCAN_TIMESTAMP,
};
/* scan element definition for ICM20602, which includes temperature */
enum inv_icm20602_scan {
INV_ICM20602_SCAN_ACCL_X,
INV_ICM20602_SCAN_ACCL_Y,
INV_ICM20602_SCAN_ACCL_Z,
INV_ICM20602_SCAN_TEMP,
INV_ICM20602_SCAN_GYRO_X,
INV_ICM20602_SCAN_GYRO_Y,
INV_ICM20602_SCAN_GYRO_Z,
INV_ICM20602_SCAN_TIMESTAMP,
};
enum inv_mpu6050_filter_e {
INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
INV_MPU6050_FILTER_188HZ,
INV_MPU6050_FILTER_98HZ,
INV_MPU6050_FILTER_42HZ,
INV_MPU6050_FILTER_20HZ,
INV_MPU6050_FILTER_10HZ,
INV_MPU6050_FILTER_5HZ,
INV_MPU6050_FILTER_2100HZ_NOLPF,
NUM_MPU6050_FILTER
};
/* IIO attribute address */
enum INV_MPU6050_IIO_ATTR_ADDR {
ATTR_GYRO_MATRIX,
ATTR_ACCL_MATRIX,
};
enum inv_mpu6050_accl_fs_e {
INV_MPU6050_FS_02G = 0,
INV_MPU6050_FS_04G,
INV_MPU6050_FS_08G,
INV_MPU6050_FS_16G,
NUM_ACCL_FSR
};
enum inv_mpu6050_fsr_e {
INV_MPU6050_FSR_250DPS = 0,
INV_MPU6050_FSR_500DPS,
INV_MPU6050_FSR_1000DPS,
INV_MPU6050_FSR_2000DPS,
NUM_MPU6050_FSR
};
enum inv_mpu6050_clock_sel_e {
INV_CLK_INTERNAL = 0,
INV_CLK_PLL,
NUM_CLK
};
irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
int inv_reset_fifo(struct iio_dev *indio_dev);
int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
extern const struct dev_pm_ops inv_mpu_pmops;
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