465 lines
17 KiB
C
465 lines
17 KiB
C
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/*
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* Copyright (C) 2012 Invensense, Inc.
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* Copyright (c) 2013-2018, NVIDIA CORPORATION. All rights reserved.
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*
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* This software is licensed under the terms of the GNU General Public
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* License version 2, as published by the Free Software Foundation, and
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* may be copied, distributed, and modified under those terms.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#ifndef __MPU_H_
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#define __MPU_H_
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#ifdef __KERNEL__
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#include <linux/types.h>
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#include <linux/ioctl.h>
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#endif
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/* Mount matrices for mount orientation.
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* MTMAT_XXX_CCW_YYY
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* XXX : mount position. TOP for top and BOT for bottom.
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* YYY : couter-clockwise rotation angle in degree.
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*/
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#define MTMAT_TOP_CCW_0 { 1, 0, 0, 0, 1, 0, 0, 0, 1 }
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#define MTMAT_TOP_CCW_90 { 0, -1, 0, 1, 0, 0, 0, 0, 1 }
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#define MTMAT_TOP_CCW_180 { -1, 0, 0, 0, -1, 0, 0, 0, 1 }
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#define MTMAT_TOP_CCW_270 { 0, 1, 0, -1, 0, 0, 0, 0, 1 }
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#define MTMAT_BOT_CCW_0 { -1, 0, 0, 0, 1, 0, 0, 0, -1 }
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#define MTMAT_BOT_CCW_90 { 0, -1, 0, -1, 0, 0, 0, 0, -1 }
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#define MTMAT_BOT_CCW_180 { 1, 0, 0, 0, -1, 0, 0, 0, -1 }
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#define MTMAT_BOT_CCW_270 { 0, 1, 0, 1, 0, 0, 0, 0, -1 }
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enum secondary_slave_type {
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SECONDARY_SLAVE_TYPE_NONE,
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SECONDARY_SLAVE_TYPE_ACCEL,
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SECONDARY_SLAVE_TYPE_COMPASS,
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SECONDARY_SLAVE_TYPE_PRESSURE,
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SECONDARY_SLAVE_TYPE_TYPES
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};
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enum ext_slave_id {
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ID_INVALID = 0,
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GYRO_ID_MPU3050,
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GYRO_ID_MPU6050A2,
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GYRO_ID_MPU6050B1,
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GYRO_ID_MPU6050B1_NO_ACCEL,
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GYRO_ID_ITG3500,
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ACCEL_ID_LIS331,
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ACCEL_ID_LSM303DLX,
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ACCEL_ID_LIS3DH,
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ACCEL_ID_KXSD9,
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ACCEL_ID_KXTF9,
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ACCEL_ID_BMA150,
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ACCEL_ID_BMA222,
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ACCEL_ID_BMA250,
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ACCEL_ID_ADXL34X,
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ACCEL_ID_MMA8450,
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ACCEL_ID_MMA845X,
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ACCEL_ID_MPU6050,
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COMPASS_ID_AK8963,
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COMPASS_ID_AK8975,
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COMPASS_ID_AK8972,
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COMPASS_ID_AMI30X,
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COMPASS_ID_AMI306,
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COMPASS_ID_YAS529,
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COMPASS_ID_YAS530,
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COMPASS_ID_HMC5883,
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COMPASS_ID_LSM303DLH,
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COMPASS_ID_LSM303DLM,
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COMPASS_ID_MMC314X,
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COMPASS_ID_HSCDTD002B,
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COMPASS_ID_HSCDTD004A,
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COMPASS_ID_MLX90399,
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COMPASS_ID_AK09911,
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PRESSURE_ID_BMP085,
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PRESSURE_ID_BMP280,
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ID_INVALID_END /* always last, leave auto-assigned */
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};
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#define INV_PROD_KEY(ver, rev) (ver * 100 + rev)
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#define NVI_CONFIG_BOOT_AUTO (0) /* auto detect connection to MPU */
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#define NVI_CONFIG_BOOT_MPU (1) /* connected to MPU */
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#define NVI_CONFIG_BOOT_HOST (2) /* connected to host */
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#define NVI_CONFIG_BOOT_MASK (0x03)
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/**
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* struct mpu_platform_data - Platform data for the mpu driver
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* @int_config: Bits [7:3] of the int config register.
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* @level_shifter: 0: VLogic, 1: VDD
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* @orientation: Orientation matrix of the gyroscope
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* @sec_slave_type: secondary slave device type, can be compass, accel, etc
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* @sec_slave_id: id of the secondary slave device
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* @secondary_i2c_address: secondary device's i2c address
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* @secondary_orientation: secondary device's orientation matrix
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* @key: key for MPL library.
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* @nvi_config: the selection determines the device behavior.
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* Select from the NVI_CONFIG_BOOT_ defines.
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*
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* Contains platform specific information on how to configure the MPU3050 to
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* work on this platform. The orientation matricies are 3x3 rotation matricies
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* that are applied to the data to rotate from the mounting orientation to the
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* platform orientation. The values must be one of 0, 1, or -1 and each row and
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* column should have exactly 1 non-zero value.
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*/
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struct mpu_platform_data {
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__u8 int_config;
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__u8 level_shifter;
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__s8 orientation[9];
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enum secondary_slave_type sec_slave_type;
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enum ext_slave_id sec_slave_id;
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__u16 secondary_i2c_addr;
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__s8 secondary_orientation[9];
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__u8 key[16];
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enum secondary_slave_type aux_slave_type;
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enum ext_slave_id aux_slave_id;
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__u16 aux_i2c_addr;
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#ifdef CONFIG_DTS_INV_MPU_IIO
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int (*power_on)(struct mpu_platform_data *);
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int (*power_off)(struct mpu_platform_data *);
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struct regulator *vdd_ana;
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struct regulator *vdd_i2c;
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#endif
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__u8 nvi_config;
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};
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/**
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* struct nvi_mpu_port: Allows an external driver to use the MPU
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* auxiliary I2C master by providing the details for the I2C
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* polling of a device connected to the MPU.
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* - addr: The 6:0 I2C address of the device connected to
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* the MPU.
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* 7:7 = 0 if the port is to do write transactions.
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* = 1 if the port is to do read transactions.
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* - reg: The device register the I2C transaction will
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* use.
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* - ctrl: The number of consecutive registers to read in
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* 3:0. If the port is to do write transactions then this
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* value must be 1. See MPU documentation for the other
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* bits in I2C_SLVx_CTRL that can be applied by this byte.
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* - data_out: The data byte written if the port is configured
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* to do writes (addr 7:7 = 0).
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* - delay_ms: The polling delay time between I2C transactions
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* in ms. Note that the MPU HW only supports one delay
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* time so the longest delay of all the MPU ports enabled
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* is used.
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* - period_us: The period at which the read data is reported.
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* - shutdown_bypass: set if a connection to the host is needed
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* when the system is shutdown. The MPU API will be
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* disabled as part of its shutdown but it will enable the
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* bypass if this is true.
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* - *handler: The pointer to the function called when the data
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* is available. This can be NULL if the port is
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* configured for write transactions.
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* The function is called with the following parameters:
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* - *data: The pointer to the data to read.
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* - length: The number of bytes to be read (same value as
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* length above).
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* - timestamp: The timestamp of when the data was polled.
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* - *pointer: A generic pointer defined next below. Note
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* that this can be NULL if this will be a write I2C
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* transaction.
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* - *ext_driver: A generic pointer that can be used by the
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* external driver. Note that this is specifically for the
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* external driver and not used by the MPU.
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* - matrix: device orientation on platform.
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* Needed by the DMP.
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* - type: Define if device is to be used by the MPU DMP.
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* - id: Define if device is to be used by the MPU DMP.
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* - asa: compass axis sensitivity adjustment.
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* Needed by the DMP.
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*/
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struct nvi_mpu_port {
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u8 addr;
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u8 reg;
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u8 ctrl;
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u8 data_out;
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unsigned int delay_ms;
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unsigned int period_us;
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bool shutdown_bypass;
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void (*handler)(u8 *data, unsigned int len,
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long long timestamp, void *ext_driver);
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void *ext_driver;
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signed char matrix[9];
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enum secondary_slave_type type;
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enum ext_slave_id id;
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u64 q30[3];
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};
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struct nvi_mpu_inf {
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unsigned int period_us_min;
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unsigned int period_us_max;
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unsigned int fifo_reserve;
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unsigned int fifo_max;
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unsigned int dmp_rd_len_sts; /* status length from DMP */
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unsigned int dmp_rd_len_data; /* data length from DMP */
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bool dmp_rd_be_sts; /* status endian from DMP */
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bool dmp_rd_be_data; /* data endian from DMP */
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};
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/**
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* Expected use of the nvi_mpu_ routines are as follows:
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* - nvi_mpu_dev_valid: Use to validate whether a device is
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* connected to the MPU.
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* - nvi_mpu_port_alloc: Request a connection to the device. If
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* successful, a port number will be returned to identify
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* the connection. The port number is then used for all
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* further communication with the connection.
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* - nvi_mpu_port_free: Use to close the port connection.
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* - nvi_mpu_enable: Use to enable/disable a port.
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* The enable and FIFO enable is disabled by default so
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* this will be required after a port is assigned.
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* - nvi_mpu_delay_us: Use to set the sampling rate in
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* microseconds. The fastest rate of all the enabled MPU
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* devices will be used that does not exceed the
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* nvi_mpu_delay_ms setting of an enabled device.
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* - nvi_mpu_delay_ms: Use to change the port polling delay at
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* runtime. There is only one HW delay so the delay used
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* will be the longest delay of all the enabled ports.
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* This is separate from the sampling rate
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* (nvi_mpu_delay_us). See function notes below.
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* - nvi_mpu_data_out: Use to change the data written at runtime
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* for ports that are configured as I2C write transactions.
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* - nvi_mpu_bypass request/release: Use to connect/disconnect
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* the MPU host from the device. When bypass is enabled,
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* the connection from the device to the MPU will then be
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* connected to the host (that the MPU is connected to).
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* This is a global connection switch affecting all ports
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* so a mechanism is in place of whether the request is
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* honored or not. See the function notes for
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* nvi_mpu_bypass_request.
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*/
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/**
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* Use to validate a device connected to the MPU I2C master.
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* The function works by doing a single byte read or write to
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* the device and detecting a NACK. Typically, the call would
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* be set up to read a byte ID of the device.
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* @param struct nvi_mpu_port *nmp
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* Only the following is needed in nmp:
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* - addr
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* - reg
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* - ctrl
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* - data_out if a write transaction
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* @param *data: pointer for read data. Can be NULL if write.
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* @return int error
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* Possible return value or errors are:
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* - 0: device is connected to MPU.
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* - -EAGAIN: MPU is not initialized yet.
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* - -EPERM: MPU is shutdown. MPU API won't be
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* available until a system restart.
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* - -EBUSY: MPU is busy with another request.
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* - -ENODEV: The device is not connected to the MPU.
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* - -EINVAL: Problem with input parameters.
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* - -EIO: The device is connected but responded with
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* a NACK.
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*/
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int nvi_mpu_dev_valid(struct nvi_mpu_port *nmp, u8 *data);
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/**
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* Request a port.
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* @param struct nvi_mpu_port *nmp
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* - addr: device I2C address 6:0.
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* 7:7 = 0 if the port is to do writes.
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* 7:7 = 1 if the port is to do reads.
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* - reg: the starting register to write or read.
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* - ctrl: number of bytes to read. Use 1 if port
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* is configured to do writes.
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* - data_out: only valid if port is configured to do
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* writes.
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* - delay: polling delay
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* - handler: function to call when data is read. This
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* should be NULL if the port is configured to do
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* writes.
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* - ext_driver: this pointer is passed in handler for
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* use by external driver. This should be NULL
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* if the port is configured for writes.
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* @return int error/port ID
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* if return >= 0 then this is the port ID. The ID
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* will have a value of 0 to 3 (HW has 4 ports).
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* Possible errors are:
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* - -EAGAIN: MPU is not initialized yet.
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* - -EPERM: MPU is shutdown. MPU API won't be
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* available until a system restart.
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* - -EBUSY: MPU is busy with another request.
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* - -ENODEV: A port is not available. The only way
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* to resolve this error is for a port to be
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* freed.
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* - -EINVAL: Problem with input parameters.
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*/
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int nvi_mpu_port_alloc(struct nvi_mpu_port *nmp);
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/**
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* Remove a port.
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* @param port
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* @return int error
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* Possible errors are:
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* - -EAGAIN: MPU is not initialized yet.
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* - -EPERM: MPU is shutdown. MPU API won't be
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* available until a system restart.
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* - -EBUSY: MPU is busy with another request.
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* - -EINVAL: Problem with input parameters.
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*/
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int nvi_mpu_port_free(int port);
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/**
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* Enable/disable ports. Use of a port mask (port_mask) allows
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* enabling/disabling multiple ports at the same time.
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* @param port_mask
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* @param enable
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* @return int error
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* Possible errors are:
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* - -EAGAIN: MPU is not initialized yet.
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* - -EPERM: MPU is shutdown. MPU API won't be
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* available until a system restart.
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* - -EBUSY: MPU is busy with another request.
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* - -EINVAL: Problem with input parameters.
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*/
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int nvi_mpu_enable(unsigned int port_mask, bool enable);
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/**
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* Use to change the ports polling delay in milliseconds.
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* A delay value of 0 disables the delay for that port. The
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* hardware only supports one delay value so the largest request
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* of all the enabled ports is used. The polling delay is in
|
||
|
|
* addition to the sampling delay (nvi_mpu_delay_us). This is
|
||
|
|
* typically used to guarantee a delay after an I2C write to a
|
||
|
|
* device to allow the device to process the request and be read
|
||
|
|
* by another port before another write at the sampling delay.
|
||
|
|
* @param port
|
||
|
|
* @param delay_ms
|
||
|
|
* @return int error
|
||
|
|
* Possible errors are:
|
||
|
|
* - -EAGAIN: MPU is not initialized yet.
|
||
|
|
* - -EPERM: MPU is shutdown. MPU API won't be
|
||
|
|
* available until a system restart.
|
||
|
|
* - -EBUSY: MPU is busy with another request.
|
||
|
|
* - -EINVAL: Problem with input parameters.
|
||
|
|
*/
|
||
|
|
int nvi_mpu_delay_ms(int port, u8 delay_ms);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Use to change the data written to the sensor.
|
||
|
|
* @param port
|
||
|
|
* @param data_out is the new data to be written
|
||
|
|
* @return int error
|
||
|
|
* Possible errors are:
|
||
|
|
* - -EAGAIN: MPU is not initialized yet.
|
||
|
|
* - -EPERM: MPU is shutdown. MPU API won't be
|
||
|
|
* available until a system restart.
|
||
|
|
* - -EBUSY: MPU is busy with another request.
|
||
|
|
* - -EINVAL: Problem with input parameters.
|
||
|
|
*/
|
||
|
|
int nvi_mpu_data_out(int port, u8 data_out);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* batch mode.
|
||
|
|
* @param port
|
||
|
|
* @param period_us
|
||
|
|
* @param timeout_us
|
||
|
|
* @return int error
|
||
|
|
* Possible errors are:
|
||
|
|
* - -EAGAIN: MPU is not initialized yet.
|
||
|
|
* - -EPERM: MPU is shutdown. MPU API won't be
|
||
|
|
* available until a system restart.
|
||
|
|
* - -EBUSY: MPU is busy with another request.
|
||
|
|
* - -EINVAL: timeout_us not supported if > 0.
|
||
|
|
*/
|
||
|
|
int nvi_mpu_batch(int port, unsigned int period_us, unsigned int timeout_us);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* batch read.
|
||
|
|
* @param port
|
||
|
|
* @param period_us pointer
|
||
|
|
* @param timeout_us pointer
|
||
|
|
* @return int error
|
||
|
|
* Possible errors are:
|
||
|
|
* - -EAGAIN: MPU is not initialized yet.
|
||
|
|
* - -EPERM: MPU is shutdown. MPU API won't be
|
||
|
|
* available until a system restart.
|
||
|
|
* - -EBUSY: MPU is busy with another request.
|
||
|
|
* - -EINVAL: timeout_us not supported if > 0.
|
||
|
|
*/
|
||
|
|
int nvi_mpu_batch_read(int port,
|
||
|
|
unsigned int *period_us, unsigned int *timeout_us);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* batch flush.
|
||
|
|
* @param port
|
||
|
|
* @return int error
|
||
|
|
* Possible errors are:
|
||
|
|
* - -EAGAIN: MPU is not initialized yet.
|
||
|
|
* - -EPERM: MPU is shutdown. MPU API won't be
|
||
|
|
* available until a system restart.
|
||
|
|
* - -EBUSY: MPU is busy with another request.
|
||
|
|
* - -EINVAL: Problem with input parameters.
|
||
|
|
*/
|
||
|
|
int nvi_mpu_flush(int port);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* nvi_mpu_info. MPU/ICM populates the nvi_mpu_inf structure
|
||
|
|
* pointed to by inf.
|
||
|
|
* @param port used for reading
|
||
|
|
* @param ptr to nvi_mpu_inf structure.
|
||
|
|
* @return int error
|
||
|
|
* Possible errors are:
|
||
|
|
* - -EAGAIN: MPU is not initialized yet.
|
||
|
|
* - -EPERM: MPU is shutdown. MPU API won't be
|
||
|
|
* available until a system restart.
|
||
|
|
* - -EBUSY: MPU is busy with another request.
|
||
|
|
* - -EINVAL: Problem with input parameters.
|
||
|
|
*/
|
||
|
|
int nvi_mpu_info(int read_port, struct nvi_mpu_inf *inf);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Enable/disable the MPU bypass mode. When enabled, the MPU
|
||
|
|
* will connect its auxiliary I2C ports to the host. This is
|
||
|
|
* typically used to initialize a device that requires more I2C
|
||
|
|
* transactions than the automated port polling can offer.
|
||
|
|
* EVERY nvi_mpu_bypass_request call must be balanced with a
|
||
|
|
* nvi_mpu_bypass_release call!
|
||
|
|
* A bypass request does not need a following ~enable call. The
|
||
|
|
* release call will automatically handle the correct bypass
|
||
|
|
* enable setting. The request locks the bypass setting if
|
||
|
|
* successful. The release unlocks and restores the setting if
|
||
|
|
* need be. Although odd, the purpose of the request call with
|
||
|
|
* the enable cleared to false is to allow an external driver to
|
||
|
|
* access its device that would normally conflict with a device
|
||
|
|
* behind the MPU. Note that this call must not be a permanent
|
||
|
|
* solution, i.e. delayed or no release call.
|
||
|
|
* When the MPU is in a shutdown state the return error will be
|
||
|
|
* -EPERM and bypass will be enabled to allow access from the
|
||
|
|
* host to the devices connected to the MPU for their own
|
||
|
|
* shutdown needs.
|
||
|
|
* @param enable
|
||
|
|
* @return int error: calls that return with an error must not
|
||
|
|
* be balanced with a release call.
|
||
|
|
* Possible errors are:
|
||
|
|
* - -EAGAIN: MPU is not initialized yet.
|
||
|
|
* - -EPERM: MPU is shutdown. MPU API won't be
|
||
|
|
* available until a system restart.
|
||
|
|
* - -EBUSY: MPU is busy with another request.
|
||
|
|
*/
|
||
|
|
int nvi_mpu_bypass_request(bool enable);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* See the nvi_mpu_bypass_request notes.
|
||
|
|
* @return int 0: Always returns 0. The call return should be
|
||
|
|
* void but for backward compatibility it returns 0.
|
||
|
|
*/
|
||
|
|
int nvi_mpu_bypass_release(void);
|
||
|
|
|
||
|
|
#endif /* __MPU_H_ */
|