1 /* 2 * Copyright (C) 2012 Invensense, Inc. 3 * 4 * This software is licensed under the terms of the GNU General Public 5 * License version 2, as published by the Free Software Foundation, and 6 * may be copied, distributed, and modified under those terms. 7 * 8 * This program is distributed in the hope that it will be useful, 9 * but WITHOUT ANY WARRANTY; without even the implied warranty of 10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 11 * GNU General Public License for more details. 12 */ 13 #include <linux/i2c.h> 14 #include <linux/i2c-mux.h> 15 #include <linux/mutex.h> 16 #include <linux/iio/iio.h> 17 #include <linux/iio/buffer.h> 18 #include <linux/regmap.h> 19 #include <linux/iio/sysfs.h> 20 #include <linux/iio/kfifo_buf.h> 21 #include <linux/iio/trigger.h> 22 #include <linux/iio/triggered_buffer.h> 23 #include <linux/iio/trigger_consumer.h> 24 #include <linux/platform_data/invensense_mpu6050.h> 25 26 /** 27 * struct inv_mpu6050_reg_map - Notable registers. 28 * @sample_rate_div: Divider applied to gyro output rate. 29 * @lpf: Configures internal low pass filter. 30 * @accel_lpf: Configures accelerometer low pass filter. 31 * @user_ctrl: Enables/resets the FIFO. 32 * @fifo_en: Determines which data will appear in FIFO. 33 * @gyro_config: gyro config register. 34 * @accl_config: accel config register 35 * @fifo_count_h: Upper byte of FIFO count. 36 * @fifo_r_w: FIFO register. 37 * @raw_gyro: Address of first gyro register. 38 * @raw_accl: Address of first accel register. 39 * @temperature: temperature register 40 * @int_enable: Interrupt enable register. 41 * @int_status: Interrupt status register. 42 * @pwr_mgmt_1: Controls chip's power state and clock source. 43 * @pwr_mgmt_2: Controls power state of individual sensors. 44 * @int_pin_cfg; Controls interrupt pin configuration. 45 * @accl_offset: Controls the accelerometer calibration offset. 46 * @gyro_offset: Controls the gyroscope calibration offset. 47 */ 48 struct inv_mpu6050_reg_map { 49 u8 sample_rate_div; 50 u8 lpf; 51 u8 accel_lpf; 52 u8 user_ctrl; 53 u8 fifo_en; 54 u8 gyro_config; 55 u8 accl_config; 56 u8 fifo_count_h; 57 u8 fifo_r_w; 58 u8 raw_gyro; 59 u8 raw_accl; 60 u8 temperature; 61 u8 int_enable; 62 u8 int_status; 63 u8 pwr_mgmt_1; 64 u8 pwr_mgmt_2; 65 u8 int_pin_cfg; 66 u8 accl_offset; 67 u8 gyro_offset; 68 }; 69 70 /*device enum */ 71 enum inv_devices { 72 INV_MPU6050, 73 INV_MPU6500, 74 INV_MPU6515, 75 INV_MPU6000, 76 INV_MPU9150, 77 INV_MPU9250, 78 INV_MPU9255, 79 INV_ICM20608, 80 INV_NUM_PARTS 81 }; 82 83 /** 84 * struct inv_mpu6050_chip_config - Cached chip configuration data. 85 * @fsr: Full scale range. 86 * @lpf: Digital low pass filter frequency. 87 * @accl_fs: accel full scale range. 88 * @accl_fifo_enable: enable accel data output 89 * @gyro_fifo_enable: enable gyro data output 90 * @divider: chip sample rate divider (sample rate divider - 1) 91 */ 92 struct inv_mpu6050_chip_config { 93 unsigned int fsr:2; 94 unsigned int lpf:3; 95 unsigned int accl_fs:2; 96 unsigned int accl_fifo_enable:1; 97 unsigned int gyro_fifo_enable:1; 98 u8 divider; 99 u8 user_ctrl; 100 }; 101 102 /** 103 * struct inv_mpu6050_hw - Other important hardware information. 104 * @whoami: Self identification byte from WHO_AM_I register 105 * @name: name of the chip. 106 * @reg: register map of the chip. 107 * @config: configuration of the chip. 108 */ 109 struct inv_mpu6050_hw { 110 u8 whoami; 111 u8 *name; 112 const struct inv_mpu6050_reg_map *reg; 113 const struct inv_mpu6050_chip_config *config; 114 }; 115 116 /* 117 * struct inv_mpu6050_state - Driver state variables. 118 * @lock: Chip access lock. 119 * @trig: IIO trigger. 120 * @chip_config: Cached attribute information. 121 * @reg: Map of important registers. 122 * @hw: Other hardware-specific information. 123 * @chip_type: chip type. 124 * @plat_data: platform data (deprecated in favor of @orientation). 125 * @orientation: sensor chip orientation relative to main hardware. 126 * @map regmap pointer. 127 * @irq interrupt number. 128 * @irq_mask the int_pin_cfg mask to configure interrupt type. 129 * @chip_period: chip internal period estimation (~1kHz). 130 * @it_timestamp: timestamp from previous interrupt. 131 * @data_timestamp: timestamp for next data sample. 132 */ 133 struct inv_mpu6050_state { 134 struct mutex lock; 135 struct iio_trigger *trig; 136 struct inv_mpu6050_chip_config chip_config; 137 const struct inv_mpu6050_reg_map *reg; 138 const struct inv_mpu6050_hw *hw; 139 enum inv_devices chip_type; 140 struct i2c_mux_core *muxc; 141 struct i2c_client *mux_client; 142 unsigned int powerup_count; 143 struct inv_mpu6050_platform_data plat_data; 144 struct iio_mount_matrix orientation; 145 struct regmap *map; 146 int irq; 147 u8 irq_mask; 148 unsigned skip_samples; 149 s64 chip_period; 150 s64 it_timestamp; 151 s64 data_timestamp; 152 }; 153 154 /*register and associated bit definition*/ 155 #define INV_MPU6050_REG_ACCEL_OFFSET 0x06 156 #define INV_MPU6050_REG_GYRO_OFFSET 0x13 157 158 #define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19 159 #define INV_MPU6050_REG_CONFIG 0x1A 160 #define INV_MPU6050_REG_GYRO_CONFIG 0x1B 161 #define INV_MPU6050_REG_ACCEL_CONFIG 0x1C 162 163 #define INV_MPU6050_REG_FIFO_EN 0x23 164 #define INV_MPU6050_BIT_ACCEL_OUT 0x08 165 #define INV_MPU6050_BITS_GYRO_OUT 0x70 166 167 #define INV_MPU6050_REG_INT_ENABLE 0x38 168 #define INV_MPU6050_BIT_DATA_RDY_EN 0x01 169 #define INV_MPU6050_BIT_DMP_INT_EN 0x02 170 171 #define INV_MPU6050_REG_RAW_ACCEL 0x3B 172 #define INV_MPU6050_REG_TEMPERATURE 0x41 173 #define INV_MPU6050_REG_RAW_GYRO 0x43 174 175 #define INV_MPU6050_REG_INT_STATUS 0x3A 176 #define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10 177 #define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01 178 179 #define INV_MPU6050_REG_USER_CTRL 0x6A 180 #define INV_MPU6050_BIT_FIFO_RST 0x04 181 #define INV_MPU6050_BIT_DMP_RST 0x08 182 #define INV_MPU6050_BIT_I2C_MST_EN 0x20 183 #define INV_MPU6050_BIT_FIFO_EN 0x40 184 #define INV_MPU6050_BIT_DMP_EN 0x80 185 #define INV_MPU6050_BIT_I2C_IF_DIS 0x10 186 187 #define INV_MPU6050_REG_PWR_MGMT_1 0x6B 188 #define INV_MPU6050_BIT_H_RESET 0x80 189 #define INV_MPU6050_BIT_SLEEP 0x40 190 #define INV_MPU6050_BIT_CLK_MASK 0x7 191 192 #define INV_MPU6050_REG_PWR_MGMT_2 0x6C 193 #define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38 194 #define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07 195 196 #define INV_MPU6050_REG_FIFO_COUNT_H 0x72 197 #define INV_MPU6050_REG_FIFO_R_W 0x74 198 199 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6 200 #define INV_MPU6050_FIFO_COUNT_BYTE 2 201 202 /* mpu6500 registers */ 203 #define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D 204 #define INV_MPU6500_REG_ACCEL_OFFSET 0x77 205 206 /* delay time in milliseconds */ 207 #define INV_MPU6050_POWER_UP_TIME 100 208 #define INV_MPU6050_TEMP_UP_TIME 100 209 #define INV_MPU6050_SENSOR_UP_TIME 30 210 211 /* delay time in microseconds */ 212 #define INV_MPU6050_REG_UP_TIME_MIN 5000 213 #define INV_MPU6050_REG_UP_TIME_MAX 10000 214 215 #define INV_MPU6050_TEMP_OFFSET 12421 216 #define INV_MPU6050_TEMP_SCALE 2941 217 #define INV_MPU6050_MAX_GYRO_FS_PARAM 3 218 #define INV_MPU6050_MAX_ACCL_FS_PARAM 3 219 #define INV_MPU6050_THREE_AXIS 3 220 #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3 221 #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3 222 223 /* 6 + 6 round up and plus 8 */ 224 #define INV_MPU6050_OUTPUT_DATA_SIZE 24 225 226 #define INV_MPU6050_REG_INT_PIN_CFG 0x37 227 #define INV_MPU6050_ACTIVE_HIGH 0x00 228 #define INV_MPU6050_ACTIVE_LOW 0x80 229 /* enable level triggering */ 230 #define INV_MPU6050_LATCH_INT_EN 0x20 231 #define INV_MPU6050_BIT_BYPASS_EN 0x2 232 233 /* Allowed timestamp period jitter in percent */ 234 #define INV_MPU6050_TS_PERIOD_JITTER 4 235 236 /* init parameters */ 237 #define INV_MPU6050_INIT_FIFO_RATE 50 238 #define INV_MPU6050_MAX_FIFO_RATE 1000 239 #define INV_MPU6050_MIN_FIFO_RATE 4 240 241 /* chip internal frequency: 1KHz */ 242 #define INV_MPU6050_INTERNAL_FREQ_HZ 1000 243 /* return the frequency divider (chip sample rate divider + 1) */ 244 #define INV_MPU6050_FREQ_DIVIDER(st) \ 245 ((st)->chip_config.divider + 1) 246 /* chip sample rate divider to fifo rate */ 247 #define INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate) \ 248 ((INV_MPU6050_INTERNAL_FREQ_HZ / (fifo_rate)) - 1) 249 #define INV_MPU6050_DIVIDER_TO_FIFO_RATE(divider) \ 250 (INV_MPU6050_INTERNAL_FREQ_HZ / ((divider) + 1)) 251 252 #define INV_MPU6050_REG_WHOAMI 117 253 254 #define INV_MPU6000_WHOAMI_VALUE 0x68 255 #define INV_MPU6050_WHOAMI_VALUE 0x68 256 #define INV_MPU6500_WHOAMI_VALUE 0x70 257 #define INV_MPU9150_WHOAMI_VALUE 0x68 258 #define INV_MPU9250_WHOAMI_VALUE 0x71 259 #define INV_MPU9255_WHOAMI_VALUE 0x73 260 #define INV_MPU6515_WHOAMI_VALUE 0x74 261 #define INV_ICM20608_WHOAMI_VALUE 0xAF 262 263 /* scan element definition */ 264 enum inv_mpu6050_scan { 265 INV_MPU6050_SCAN_ACCL_X, 266 INV_MPU6050_SCAN_ACCL_Y, 267 INV_MPU6050_SCAN_ACCL_Z, 268 INV_MPU6050_SCAN_GYRO_X, 269 INV_MPU6050_SCAN_GYRO_Y, 270 INV_MPU6050_SCAN_GYRO_Z, 271 INV_MPU6050_SCAN_TIMESTAMP, 272 }; 273 274 enum inv_mpu6050_filter_e { 275 INV_MPU6050_FILTER_256HZ_NOLPF2 = 0, 276 INV_MPU6050_FILTER_188HZ, 277 INV_MPU6050_FILTER_98HZ, 278 INV_MPU6050_FILTER_42HZ, 279 INV_MPU6050_FILTER_20HZ, 280 INV_MPU6050_FILTER_10HZ, 281 INV_MPU6050_FILTER_5HZ, 282 INV_MPU6050_FILTER_2100HZ_NOLPF, 283 NUM_MPU6050_FILTER 284 }; 285 286 /* IIO attribute address */ 287 enum INV_MPU6050_IIO_ATTR_ADDR { 288 ATTR_GYRO_MATRIX, 289 ATTR_ACCL_MATRIX, 290 }; 291 292 enum inv_mpu6050_accl_fs_e { 293 INV_MPU6050_FS_02G = 0, 294 INV_MPU6050_FS_04G, 295 INV_MPU6050_FS_08G, 296 INV_MPU6050_FS_16G, 297 NUM_ACCL_FSR 298 }; 299 300 enum inv_mpu6050_fsr_e { 301 INV_MPU6050_FSR_250DPS = 0, 302 INV_MPU6050_FSR_500DPS, 303 INV_MPU6050_FSR_1000DPS, 304 INV_MPU6050_FSR_2000DPS, 305 NUM_MPU6050_FSR 306 }; 307 308 enum inv_mpu6050_clock_sel_e { 309 INV_CLK_INTERNAL = 0, 310 INV_CLK_PLL, 311 NUM_CLK 312 }; 313 314 irqreturn_t inv_mpu6050_read_fifo(int irq, void *p); 315 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type); 316 int inv_reset_fifo(struct iio_dev *indio_dev); 317 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask); 318 int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val); 319 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on); 320 int inv_mpu_acpi_create_mux_client(struct i2c_client *client); 321 void inv_mpu_acpi_delete_mux_client(struct i2c_client *client); 322 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, 323 int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type); 324 extern const struct dev_pm_ops inv_mpu_pmops; 325