/* SPDX-License-Identifier: GPL-2.0-only */
/*
* Copyright (C) 2012 Invensense, Inc.
*/
#ifndef INV_MPU_IIO_H_
#define INV_MPU_IIO_H_
#include <linux/i2c.h>
#include <linux/i2c-mux.h>
#include <linux/mutex.h>
#include <linux/platform_data/invensense_mpu6050.h>
#include <linux/regmap.h>
#include <linux/iio/buffer.h>
#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/iio.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/iio/sysfs.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_MPU6880,
INV_MPU6000,
INV_MPU9150,
INV_MPU9250,
INV_MPU9255,
INV_ICM20608,
INV_ICM20608D,
INV_ICM20609,
INV_ICM20689,
INV_ICM20600,
INV_ICM20602,
INV_ICM20690,
INV_IAM20680,
INV_NUM_PARTS
};
/* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer, WoM */
#define INV_MPU6050_SENSOR_ACCL BIT(0)
#define INV_MPU6050_SENSOR_GYRO BIT(1)
#define INV_MPU6050_SENSOR_TEMP BIT(2)
#define INV_MPU6050_SENSOR_MAGN BIT(3)
#define INV_MPU6050_SENSOR_WOM BIT(4)
/**
* struct inv_mpu6050_chip_config - Cached chip configuration data.
* @clk: selected chip clock
* @fsr: Full scale range.
* @lpf: Digital low pass filter frequency.
* @accl_fs: accel full scale range.
* @accl_en: accel engine enabled
* @gyro_en: gyro engine enabled
* @temp_en: temperature sensor enabled
* @magn_en: magn engine (i2c master) enabled
* @wom_en: Wake-on-Motion enabled
* @accl_fifo_enable: enable accel data output
* @gyro_fifo_enable: enable gyro data output
* @temp_fifo_enable: enable temp data output
* @magn_fifo_enable: enable magn data output
* @divider: chip sample rate divider (sample rate divider - 1)
* @roc_threshold: save ROC threshold (WoM) set value
*/
struct inv_mpu6050_chip_config {
unsigned int clk:3;
unsigned int fsr:2;
unsigned int lpf:3;
unsigned int accl_fs:2;
unsigned int accl_en:1;
unsigned int gyro_en:1;
unsigned int temp_en:1;
unsigned int magn_en:1;
unsigned int wom_en:1;
unsigned int accl_fifo_enable:1;
unsigned int gyro_fifo_enable:1;
unsigned int temp_fifo_enable:1;
unsigned int magn_fifo_enable:1;
u8 divider;
u8 user_ctrl;
u64 roc_threshold;
};
/*
* Maximum of 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8.
* May be less if fewer channels are enabled, as long as the timestamp
* remains 8 byte aligned
*/
#define INV_MPU6050_OUTPUT_DATA_SIZE 32
/**
* 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 {
unsigned int accel;
unsigned int gyro;
} startup_time;
};
/*
* 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.
* @timestamp: timestamping module
* @vdd_supply: VDD voltage regulator for the chip.
* @vddio_supply I/O voltage regulator for the chip.
* @magn_disabled: magnetometer disabled for backward compatibility reason.
* @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss.
* @magn_orient: magnetometer sensor chip orientation if available.
* @suspended_sensors: sensors mask of sensors turned off for suspend
* @data: read buffer used for bulk reads.
* @it_timestamp: interrupt timestamp.
*/
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;
struct inv_mpu6050_platform_data plat_data;
struct iio_mount_matrix orientation;
struct regmap *map;
int irq;
u8 irq_mask;
unsigned skip_samples;
struct inv_sensors_timestamp timestamp;
struct regulator *vdd_supply;
struct regulator *vddio_supply;
bool magn_disabled;
s32 magn_raw_to_gauss[3];
struct iio_mount_matrix magn_orient;
unsigned int suspended_sensors;
bool level_shifter;
u8 *data;
s64 it_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_SLAVE_0 0x01
#define INV_MPU6050_BIT_SLAVE_1 0x02
#define INV_MPU6050_BIT_SLAVE_2 0x04
#define INV_MPU6050_BIT_ACCEL_OUT 0x08
#define INV_MPU6050_BITS_GYRO_OUT 0x70
#define INV_MPU6050_BIT_TEMP_OUT 0x80
#define INV_MPU6050_REG_I2C_MST_CTRL 0x24
#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
#define INV_MPU6050_BIT_I2C_MST_P_NSR 0x10
#define INV_MPU6050_BIT_SLV3_FIFO_EN 0x20
#define INV_MPU6050_BIT_WAIT_FOR_ES 0x40
#define INV_MPU6050_BIT_MULT_MST_EN 0x80
/* control I2C slaves from 0 to 3 */
#define INV_MPU6050_REG_I2C_SLV_ADDR(_x) (0x25 + 3 * (_x))
#define INV_MPU6050_BIT_I2C_SLV_RNW 0x80
#define INV_MPU6050_REG_I2C_SLV_REG(_x) (0x26 + 3 * (_x))
#define INV_MPU6050_REG_I2C_SLV_CTRL(_x) (0x27 + 3 * (_x))
#define INV_MPU6050_BIT_SLV_GRP 0x10
#define INV_MPU6050_BIT_SLV_REG_DIS 0x20
#define INV_MPU6050_BIT_SLV_BYTE_SW 0x40
#define INV_MPU6050_BIT_SLV_EN 0x80
/* I2C master delay register */
#define INV_MPU6050_REG_I2C_SLV4_CTRL 0x34
#define INV_MPU6050_BITS_I2C_MST_DLY(_x) ((_x) & 0x1F)
#define INV_MPU6050_REG_I2C_MST_STATUS 0x36
#define INV_MPU6050_BIT_I2C_SLV0_NACK 0x01
#define INV_MPU6050_BIT_I2C_SLV1_NACK 0x02
#define INV_MPU6050_BIT_I2C_SLV2_NACK 0x04
#define INV_MPU6050_BIT_I2C_SLV3_NACK 0x08
#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_MPU6500_BIT_WOM_INT_EN BIT(6)
#define INV_ICM20608_BIT_WOM_INT_EN GENMASK(7, 5)
#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_MPU6500_BIT_WOM_INT BIT(6)
#define INV_ICM20608_BIT_WOM_INT GENMASK(7, 5)
#define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
#define INV_MPU6050_REG_EXT_SENS_DATA 0x49
/* I2C slaves data output from 0 to 3 */
#define INV_MPU6050_REG_I2C_SLV_DO(_x) (0x63 + (_x))
#define INV_MPU6050_REG_I2C_MST_DELAY_CTRL 0x67
#define INV_MPU6050_BIT_I2C_SLV0_DLY_EN 0x01
#define INV_MPU6050_BIT_I2C_SLV1_DLY_EN 0x02
#define INV_MPU6050_BIT_I2C_SLV2_DLY_EN 0x04
#define INV_MPU6050_BIT_I2C_SLV3_DLY_EN 0x08
#define INV_MPU6050_BIT_DELAY_ES_SHADOW 0x80
#define INV_MPU6050_REG_SIGNAL_PATH_RESET 0x68
#define INV_MPU6050_BIT_TEMP_RST BIT(0)
#define INV_MPU6050_BIT_ACCEL_RST BIT(1)
#define INV_MPU6050_BIT_GYRO_RST BIT(2)
#define INV_MPU6050_REG_USER_CTRL 0x6A
#define INV_MPU6050_BIT_SIG_COND_RST 0x01
#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_CYCLE 0x20
#define INV_MPU6050_BIT_TEMP_DIS 0x08
#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
/* ICM20609 registers */
#define INV_ICM20609_REG_ACCEL_WOM_X_THR 0x20
#define INV_ICM20609_REG_ACCEL_WOM_Y_THR 0x21
#define INV_ICM20609_REG_ACCEL_WOM_Z_THR 0x22
/* 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
/* MPU9X50 9-axis magnetometer */
#define INV_MPU9X50_BYTES_MAGN 7
/* FIFO temperature sample size */
#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2
/* mpu6500 registers */
#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
#define INV_ICM20689_BITS_FIFO_SIZE_MAX 0xC0
#define INV_MPU6500_REG_LP_ODR 0x1E
#define INV_MPU6500_REG_WOM_THRESHOLD 0x1F
#define INV_MPU6500_REG_ACCEL_INTEL_CTRL 0x69
#define INV_MPU6500_BIT_ACCEL_INTEL_EN BIT(7)
#define INV_MPU6500_BIT_ACCEL_INTEL_MODE BIT(6)
#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_ACCEL_STARTUP_TIME 20
#define INV_MPU6050_GYRO_STARTUP_TIME 60
#define INV_MPU6050_GYRO_DOWN_TIME 150
#define INV_MPU6050_SUSPEND_DELAY_MS 2000
#define INV_MPU6500_GYRO_STARTUP_TIME 70
#define INV_MPU6500_ACCEL_STARTUP_TIME 30
#define INV_ICM20602_GYRO_STARTUP_TIME 100
#define INV_ICM20602_ACCEL_STARTUP_TIME 20
#define INV_ICM20690_GYRO_STARTUP_TIME 80
#define INV_ICM20690_ACCEL_STARTUP_TIME 10
/* 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_ICM20690_GYRO_CONFIG_FSR_SHIFT 2
#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
#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_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_MPU6880_WHOAMI_VALUE 0x78
#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_ICM20608D_WHOAMI_VALUE 0xAE
#define INV_ICM20609_WHOAMI_VALUE 0xA6
#define INV_ICM20689_WHOAMI_VALUE 0x98
#define INV_ICM20600_WHOAMI_VALUE 0x11
#define INV_ICM20602_WHOAMI_VALUE 0x12
#define INV_ICM20690_WHOAMI_VALUE 0x20
#define INV_IAM20680_WHOAMI_VALUE 0xA9
/* 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_TEMP,
INV_MPU6050_SCAN_GYRO_X,
INV_MPU6050_SCAN_GYRO_Y,
INV_MPU6050_SCAN_GYRO_Z,
INV_MPU6050_SCAN_TIMESTAMP,
INV_MPU9X50_SCAN_MAGN_X = INV_MPU6050_SCAN_GYRO_Z + 1,
INV_MPU9X50_SCAN_MAGN_Y,
INV_MPU9X50_SCAN_MAGN_Z,
INV_MPU9X50_SCAN_TIMESTAMP,
};
enum inv_mpu6050_filter_e {
INV_MPU6050_FILTER_NOLPF2 = 0,
INV_MPU6050_FILTER_200HZ,
INV_MPU6050_FILTER_100HZ,
INV_MPU6050_FILTER_45HZ,
INV_MPU6050_FILTER_20HZ,
INV_MPU6050_FILTER_10HZ,
INV_MPU6050_FILTER_5HZ,
INV_MPU6050_FILTER_NOLPF,
NUM_MPU6050_FILTER
};
enum inv_mpu6050_lposc_e {
INV_MPU6050_LPOSC_4HZ = 4,
INV_MPU6050_LPOSC_8HZ,
INV_MPU6050_LPOSC_16HZ,
INV_MPU6050_LPOSC_31HZ,
INV_MPU6050_LPOSC_62HZ,
INV_MPU6050_LPOSC_125HZ,
INV_MPU6050_LPOSC_250HZ,
INV_MPU6050_LPOSC_500HZ,
NUM_MPU6050_LPOSC,
};
/* 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_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable);
int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
unsigned int mask);
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;
#endif
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