MotionDriver2RTT/core/driver/include/mpu.h

/*
 $License:
    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
 $
 */

#ifndef __MPU_H_
#define __MPU_H_

#ifdef __KERNEL__
#include <linux/types.h>
#include <linux/ioctl.h>
#elif defined LINUX
#include <sys/ioctl.h>
#include <linux/types.h>
#else
#include "mltypes.h"
#endif

struct mpu_read_write {
	/* Memory address or register address depending on ioctl */
	__u16 address;
	__u16 length;
	__u8 *data;
};

enum mpuirq_data_type {
	MPUIRQ_DATA_TYPE_MPU_DATA_READY_IRQ,
	MPUIRQ_DATA_TYPE_MPU_FIFO_READY_IRQ,
	MPUIRQ_DATA_TYPE_SLAVE_IRQ,
	MPUIRQ_DATA_TYPE_PM_EVENT,
	MPUIRQ_DATA_TYPE_NUM_TYPES,
};

/* User space PM event notification */
#define MPU_PM_EVENT_SUSPEND_PREPARE (3)
#define MPU_PM_EVENT_POST_SUSPEND    (4)

/**
 * struct mpuirq_data - structure to report what and when
 * @interruptcount	: The number of times this IRQ has occured since open
 * @irqtime		: monotonic time of the IRQ in ns
 * @data_type		: The type of this IRQ enum mpuirq_data_type
 * @data		: Data associated with this IRQ
 */
struct mpuirq_data {
	__u32 interruptcount;
#ifdef EMPL_NO_64BIT
	__s32 irqtime_ns;
#else
	__s64 irqtime_ns;
#endif
	__u32 data_type;
	__s32 data;
};

enum ext_slave_config_key {
	/* TODO: Remove these first six. */
	MPU_SLAVE_CONFIG_ODR_SUSPEND,
	MPU_SLAVE_CONFIG_ODR_RESUME,
	MPU_SLAVE_CONFIG_FSR_SUSPEND,
	MPU_SLAVE_CONFIG_FSR_RESUME,
	MPU_SLAVE_CONFIG_IRQ_SUSPEND,
	MPU_SLAVE_CONFIG_IRQ_RESUME,
	MPU_SLAVE_CONFIG_ODR,
	MPU_SLAVE_CONFIG_FSR,
	MPU_SLAVE_CONFIG_MOT_THS,
	MPU_SLAVE_CONFIG_NMOT_THS,
	MPU_SLAVE_CONFIG_MOT_DUR,
	MPU_SLAVE_CONFIG_NMOT_DUR,
	MPU_SLAVE_CONFIG_IRQ,
	MPU_SLAVE_WRITE_REGISTERS,
	MPU_SLAVE_READ_REGISTERS,
	MPU_SLAVE_CONFIG_INTERNAL_REFERENCE,
	/* AMI 306 specific config keys */
	MPU_SLAVE_PARAM,
	MPU_SLAVE_WINDOW,
	MPU_SLAVE_READWINPARAMS,
	MPU_SLAVE_SEARCHOFFSET,
	/* MPU3050 and MPU6050 Keys */
	MPU_SLAVE_INT_CONFIG,
	MPU_SLAVE_EXT_SYNC,
	MPU_SLAVE_FULL_SCALE,
	MPU_SLAVE_LPF,
	MPU_SLAVE_CLK_SRC,
	MPU_SLAVE_DIVIDER,
	MPU_SLAVE_DMP_ENABLE,
	MPU_SLAVE_FIFO_ENABLE,
	MPU_SLAVE_DMP_CFG1,
	MPU_SLAVE_DMP_CFG2,
	MPU_SLAVE_TC,
	MPU_SLAVE_GYRO,
	MPU_SLAVE_ADDR,
	MPU_SLAVE_PRODUCT_REVISION,
	MPU_SLAVE_SILICON_REVISION,
	MPU_SLAVE_PRODUCT_ID,
	MPU_SLAVE_GYRO_SENS_TRIM,
	MPU_SLAVE_ACCEL_SENS_TRIM,
	MPU_SLAVE_RAM,
	/* -------------------------- */
	MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS
};

/* For the MPU_SLAVE_CONFIG_IRQ_SUSPEND and MPU_SLAVE_CONFIG_IRQ_RESUME */
enum ext_slave_config_irq_type {
	MPU_SLAVE_IRQ_TYPE_NONE,
	MPU_SLAVE_IRQ_TYPE_MOTION,
	MPU_SLAVE_IRQ_TYPE_DATA_READY,
};

/* Structure for the following IOCTS's
 * MPU_CONFIG_GYRO
 * MPU_CONFIG_ACCEL
 * MPU_CONFIG_COMPASS
 * MPU_CONFIG_PRESSURE
 * MPU_GET_CONFIG_GYRO
 * MPU_GET_CONFIG_ACCEL
 * MPU_GET_CONFIG_COMPASS
 * MPU_GET_CONFIG_PRESSURE
 *
 * @key one of enum ext_slave_config_key
 * @len length of data pointed to by data
 * @apply zero if communication with the chip is not necessary, false otherwise
 *        This flag can be used to select cached data or to refresh cashed data
 *        cache data to be pushed later or push immediately.  If true and the
 *        slave is on the secondary bus the MPU will first enger bypass mode
 *        before calling the slaves .config or .get_config funcion
 * @data pointer to the data to confgure or get
 */
struct ext_slave_config {
	__u8 key;
	__u16 len;
	__u8 apply;
	void *data;
};

enum ext_slave_type {
	EXT_SLAVE_TYPE_GYROSCOPE,
	EXT_SLAVE_TYPE_ACCEL,
	EXT_SLAVE_TYPE_COMPASS,
	EXT_SLAVE_TYPE_PRESSURE,
	/*EXT_SLAVE_TYPE_TEMPERATURE */

	EXT_SLAVE_NUM_TYPES
};

enum ext_slave_id {
	ID_INVALID = 0,
	GYRO_ID_MPU3050,
	GYRO_ID_MPU6050A2,
	GYRO_ID_MPU6050B1,
	GYRO_ID_MPU6050B1_NO_ACCEL,
	GYRO_ID_ITG3500,

	ACCEL_ID_LIS331,
	ACCEL_ID_LSM303DLX,
	ACCEL_ID_LIS3DH,
	ACCEL_ID_KXSD9,
	ACCEL_ID_KXTF9,
	ACCEL_ID_BMA150,
	ACCEL_ID_BMA222,
	ACCEL_ID_BMA250,
	ACCEL_ID_ADXL34X,
	ACCEL_ID_MMA8450,
	ACCEL_ID_MMA845X,
	ACCEL_ID_MPU6050,

	COMPASS_ID_AK8975,
	COMPASS_ID_AK8972,
	COMPASS_ID_AMI30X,
	COMPASS_ID_AMI306,
	COMPASS_ID_YAS529,
	COMPASS_ID_YAS530,
	COMPASS_ID_HMC5883,
	COMPASS_ID_LSM303DLH,
	COMPASS_ID_LSM303DLM,
	COMPASS_ID_MMC314X,
	COMPASS_ID_HSCDTD002B,
	COMPASS_ID_HSCDTD004A,

	PRESSURE_ID_BMA085,
};

#define INV_PROD_KEY(ver, rev) (ver * 100 + rev)

enum ext_slave_endian {
	EXT_SLAVE_BIG_ENDIAN,
	EXT_SLAVE_LITTLE_ENDIAN,
	EXT_SLAVE_FS8_BIG_ENDIAN,
	EXT_SLAVE_FS16_BIG_ENDIAN,
};

enum ext_slave_bus {
	EXT_SLAVE_BUS_INVALID = -1,
	EXT_SLAVE_BUS_PRIMARY = 0,
	EXT_SLAVE_BUS_SECONDARY = 1
};


/**
 *  struct ext_slave_platform_data - Platform data for mpu3050 and mpu6050
 *  slave devices
 *
 *  @type: the type of slave device based on the enum ext_slave_type
 *         definitions.
 *  @irq: the irq number attached to the slave if any.
 *  @adapt_num: the I2C adapter number.
 *  @bus: the bus the slave is attached to: enum ext_slave_bus
 *  @address: the I2C slave address of the slave device.
 *  @orientation: the mounting matrix of the device relative to MPU.
 *  @irq_data: private data for the slave irq handler
 *  @private_data: additional data, user customizable.  Not touched by the MPU
 *                 driver.
 *
 * The orientation matricies are 3x3 rotation matricies
 * that are applied to the data to rotate from the mounting orientation to the
 * platform orientation.  The values must be one of 0, 1, or -1 and each row and
 * column should have exactly 1 non-zero value.
 */
struct ext_slave_platform_data {
	__u8 type;
	__u32 irq;
	__u32 adapt_num;
	__s32 bus;
	__u8 address;
	__s8 orientation[9];
	void *irq_data;
	void *private_data;
};

struct fix_pnt_range {
	__s32 mantissa;
	__s32 fraction;
};

static inline long range_fixedpoint_to_long_mg(struct fix_pnt_range rng)
{
	return (long)(rng.mantissa * 1000 + rng.fraction / 10);
}

struct ext_slave_read_trigger {
	__u8 reg;
	__u8 value;
};

/**
 *  struct ext_slave_descr - Description of the slave device for programming.
 *
 *  @suspend:	function pointer to put the device in suspended state
 *  @resume:	function pointer to put the device in running state
 *  @read:	function that reads the device data
 *  @init:	function used to preallocate memory used by the driver
 *  @exit:	function used to free memory allocated for the driver
 *  @config:	function used to configure the device
 *  @get_config:function used to get the device's configuration
 *
 *  @name:	text name of the device
 *  @type:	device type. enum ext_slave_type
 *  @id:	enum ext_slave_id
 *  @read_reg:	starting register address to retrieve data.
 *  @read_len:	length in bytes of the sensor data.  Typically  6.
 *  @endian:	byte order of the data. enum ext_slave_endian
 *  @range:	full scale range of the slave ouput: struct fix_pnt_range
 *  @trigger:	If reading data first requires writing a register this is the
 *		data to write.
 *
 *  Defines the functions and information about the slave the mpu3050 and
 *  mpu6050 needs to use the slave device.
 */
struct ext_slave_descr {
	int (*init) (void *mlsl_handle,
		     struct ext_slave_descr *slave,
		     struct ext_slave_platform_data *pdata);
	int (*exit) (void *mlsl_handle,
		     struct ext_slave_descr *slave,
		     struct ext_slave_platform_data *pdata);
	int (*suspend) (void *mlsl_handle,
			struct ext_slave_descr *slave,
			struct ext_slave_platform_data *pdata);
	int (*resume) (void *mlsl_handle,
		       struct ext_slave_descr *slave,
		       struct ext_slave_platform_data *pdata);
	int (*read) (void *mlsl_handle,
		     struct ext_slave_descr *slave,
		     struct ext_slave_platform_data *pdata,
		     __u8 *data);
	int (*config) (void *mlsl_handle,
		       struct ext_slave_descr *slave,
		       struct ext_slave_platform_data *pdata,
		       struct ext_slave_config *config);
	int (*get_config) (void *mlsl_handle,
			   struct ext_slave_descr *slave,
			   struct ext_slave_platform_data *pdata,
			   struct ext_slave_config *config);

	char *name;
	__u8 type;
	__u8 id;
	__u8 read_reg;
	__u8 read_len;
	__u8 endian;
	struct fix_pnt_range range;
	struct ext_slave_read_trigger *trigger;
};

/**
 * struct mpu_platform_data - Platform data for the mpu driver
 * @int_config:		Bits [7:3] of the int config register.
 * @level_shifter:	0: VLogic, 1: VDD
 * @orientation:	Orientation matrix of the gyroscope
 *
 * Contains platform specific information on how to configure the MPU3050 to
 * work on this platform.  The orientation matricies are 3x3 rotation matricies
 * that are applied to the data to rotate from the mounting orientation to the
 * platform orientation.  The values must be one of 0, 1, or -1 and each row and
 * column should have exactly 1 non-zero value.
 */
struct mpu_platform_data {
	__u8 int_config;
	__u8 level_shifter;
	__s8 orientation[9];
};

#if defined __KERNEL__ || defined LINUX
#define MPU_IOCTL (0x81) /* Magic number for MPU Iocts */
/* IOCTL commands for /dev/mpu */

/*--------------------------------------------------------------------------
 * Deprecated, debugging only
 */
#define MPU_SET_MPU_PLATFORM_DATA	\
	_IOWR(MPU_IOCTL, 0x01, struct mpu_platform_data)
#define MPU_SET_EXT_SLAVE_PLATFORM_DATA	\
	_IOWR(MPU_IOCTL, 0x01, struct ext_slave_platform_data)
/*--------------------------------------------------------------------------*/
#define MPU_GET_EXT_SLAVE_PLATFORM_DATA	\
	_IOWR(MPU_IOCTL, 0x02, struct ext_slave_platform_data)
#define MPU_GET_MPU_PLATFORM_DATA	\
	_IOWR(MPU_IOCTL, 0x02, struct mpu_platform_data)
#define MPU_GET_EXT_SLAVE_DESCR	\
	_IOWR(MPU_IOCTL, 0x02, struct ext_slave_descr)

#define MPU_READ		_IOWR(MPU_IOCTL, 0x10, struct mpu_read_write)
#define MPU_WRITE		_IOW(MPU_IOCTL,  0x10, struct mpu_read_write)
#define MPU_READ_MEM		_IOWR(MPU_IOCTL, 0x11, struct mpu_read_write)
#define MPU_WRITE_MEM		_IOW(MPU_IOCTL,  0x11, struct mpu_read_write)
#define MPU_READ_FIFO		_IOWR(MPU_IOCTL, 0x12, struct mpu_read_write)
#define MPU_WRITE_FIFO		_IOW(MPU_IOCTL,  0x12, struct mpu_read_write)

#define MPU_READ_COMPASS	_IOR(MPU_IOCTL, 0x12, __u8)
#define MPU_READ_ACCEL		_IOR(MPU_IOCTL, 0x13, __u8)
#define MPU_READ_PRESSURE	_IOR(MPU_IOCTL, 0x14, __u8)

#define MPU_CONFIG_GYRO		_IOW(MPU_IOCTL, 0x20, struct ext_slave_config)
#define MPU_CONFIG_ACCEL	_IOW(MPU_IOCTL, 0x21, struct ext_slave_config)
#define MPU_CONFIG_COMPASS	_IOW(MPU_IOCTL, 0x22, struct ext_slave_config)
#define MPU_CONFIG_PRESSURE	_IOW(MPU_IOCTL, 0x23, struct ext_slave_config)

#define MPU_GET_CONFIG_GYRO	_IOWR(MPU_IOCTL, 0x20, struct ext_slave_config)
#define MPU_GET_CONFIG_ACCEL	_IOWR(MPU_IOCTL, 0x21, struct ext_slave_config)
#define MPU_GET_CONFIG_COMPASS	_IOWR(MPU_IOCTL, 0x22, struct ext_slave_config)
#define MPU_GET_CONFIG_PRESSURE	_IOWR(MPU_IOCTL, 0x23, struct ext_slave_config)

#define MPU_SUSPEND		_IOW(MPU_IOCTL, 0x30, __u32)
#define MPU_RESUME		_IOW(MPU_IOCTL, 0x31, __u32)
/* Userspace PM Event response */
#define MPU_PM_EVENT_HANDLED	_IO(MPU_IOCTL, 0x32)

#define MPU_GET_REQUESTED_SENSORS	_IOR(MPU_IOCTL, 0x40, __u32)
#define MPU_SET_REQUESTED_SENSORS	_IOW(MPU_IOCTL, 0x40, __u32)
#define MPU_GET_IRQ_TO_FIFO_DIVIDER	_IOR(MPU_IOCTL, 0x41, __u16)
#define MPU_SET_IRQ_TO_FIFO_DIVIDER	_IOW(MPU_IOCTL, 0x41, __u16)
#define MPU_GET_IGNORE_SYSTEM_SUSPEND	_IOR(MPU_IOCTL, 0x42, __u8)
#define MPU_SET_IGNORE_SYSTEM_SUSPEND	_IOW(MPU_IOCTL, 0x42, __u8)
#define MPU_GET_MLDL_STATUS		_IOR(MPU_IOCTL, 0x43, __u8)
#define MPU_GET_I2C_SLAVES_ENABLED	_IOR(MPU_IOCTL, 0x44, __u8)

#endif

#endif				/* __MPU_H_ */