2 * Copyright (C) 2012 Invensense, Inc.
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.
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.
13 #include <linux/i2c.h>
14 #include <linux/i2c-mux.h>
15 #include <linux/kfifo.h>
16 #include <linux/spinlock.h>
17 #include <linux/iio/iio.h>
18 #include <linux/iio/buffer.h>
19 #include <linux/regmap.h>
20 #include <linux/iio/sysfs.h>
21 #include <linux/iio/kfifo_buf.h>
22 #include <linux/iio/trigger.h>
23 #include <linux/iio/triggered_buffer.h>
24 #include <linux/iio/trigger_consumer.h>
25 #include <linux/platform_data/invensense_mpu6050.h>
28 * struct inv_mpu6050_reg_map - Notable registers.
29 * @sample_rate_div: Divider applied to gyro output rate.
30 * @lpf: Configures internal low pass filter.
31 * @accel_lpf: Configures accelerometer low pass filter.
32 * @user_ctrl: Enables/resets the FIFO.
33 * @fifo_en: Determines which data will appear in FIFO.
34 * @gyro_config: gyro config register.
35 * @accl_config: accel config register
36 * @fifo_count_h: Upper byte of FIFO count.
37 * @fifo_r_w: FIFO register.
38 * @raw_gyro: Address of first gyro register.
39 * @raw_accl: Address of first accel register.
40 * @temperature: temperature register
41 * @int_enable: Interrupt enable 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.
48 struct inv_mpu6050_reg_map
{
81 * struct inv_mpu6050_chip_config - Cached chip configuration data.
82 * @fsr: Full scale range.
83 * @lpf: Digital low pass filter frequency.
84 * @accl_fs: accel full scale range.
85 * @enable: master enable state.
86 * @accl_fifo_enable: enable accel data output
87 * @gyro_fifo_enable: enable gyro data output
88 * @fifo_rate: FIFO update rate.
90 struct inv_mpu6050_chip_config
{
93 unsigned int accl_fs
:2;
94 unsigned int enable
:1;
95 unsigned int accl_fifo_enable
:1;
96 unsigned int gyro_fifo_enable
:1;
101 * struct inv_mpu6050_hw - Other important hardware information.
102 * @whoami: Self identification byte from WHO_AM_I register
103 * @name: name of the chip.
104 * @reg: register map of the chip.
105 * @config: configuration of the chip.
107 struct inv_mpu6050_hw
{
110 const struct inv_mpu6050_reg_map
*reg
;
111 const struct inv_mpu6050_chip_config
*config
;
115 * struct inv_mpu6050_state - Driver state variables.
116 * @TIMESTAMP_FIFO_SIZE: fifo size for timestamp.
117 * @trig: IIO trigger.
118 * @chip_config: Cached attribute information.
119 * @reg: Map of important registers.
120 * @hw: Other hardware-specific information.
121 * @chip_type: chip type.
122 * @time_stamp_lock: spin lock to time stamp.
123 * @plat_data: platform data (deprecated in favor of @orientation).
124 * @orientation: sensor chip orientation relative to main hardware.
125 * @timestamps: kfifo queue to store time stamp.
126 * @map regmap pointer.
127 * @irq interrupt number.
129 struct inv_mpu6050_state
{
130 #define TIMESTAMP_FIFO_SIZE 16
131 struct iio_trigger
*trig
;
132 struct inv_mpu6050_chip_config chip_config
;
133 const struct inv_mpu6050_reg_map
*reg
;
134 const struct inv_mpu6050_hw
*hw
;
135 enum inv_devices chip_type
;
136 spinlock_t time_stamp_lock
;
137 struct i2c_mux_core
*muxc
;
138 struct i2c_client
*mux_client
;
139 unsigned int powerup_count
;
140 struct inv_mpu6050_platform_data plat_data
;
141 struct iio_mount_matrix orientation
;
142 DECLARE_KFIFO(timestamps
, long long, TIMESTAMP_FIFO_SIZE
);
147 /*register and associated bit definition*/
148 #define INV_MPU6050_REG_ACCEL_OFFSET 0x06
149 #define INV_MPU6050_REG_GYRO_OFFSET 0x13
151 #define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19
152 #define INV_MPU6050_REG_CONFIG 0x1A
153 #define INV_MPU6050_REG_GYRO_CONFIG 0x1B
154 #define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
156 #define INV_MPU6050_REG_FIFO_EN 0x23
157 #define INV_MPU6050_BIT_ACCEL_OUT 0x08
158 #define INV_MPU6050_BITS_GYRO_OUT 0x70
160 #define INV_MPU6050_REG_INT_ENABLE 0x38
161 #define INV_MPU6050_BIT_DATA_RDY_EN 0x01
162 #define INV_MPU6050_BIT_DMP_INT_EN 0x02
164 #define INV_MPU6050_REG_RAW_ACCEL 0x3B
165 #define INV_MPU6050_REG_TEMPERATURE 0x41
166 #define INV_MPU6050_REG_RAW_GYRO 0x43
168 #define INV_MPU6050_REG_USER_CTRL 0x6A
169 #define INV_MPU6050_BIT_FIFO_RST 0x04
170 #define INV_MPU6050_BIT_DMP_RST 0x08
171 #define INV_MPU6050_BIT_I2C_MST_EN 0x20
172 #define INV_MPU6050_BIT_FIFO_EN 0x40
173 #define INV_MPU6050_BIT_DMP_EN 0x80
174 #define INV_MPU6050_BIT_I2C_IF_DIS 0x10
176 #define INV_MPU6050_REG_PWR_MGMT_1 0x6B
177 #define INV_MPU6050_BIT_H_RESET 0x80
178 #define INV_MPU6050_BIT_SLEEP 0x40
179 #define INV_MPU6050_BIT_CLK_MASK 0x7
181 #define INV_MPU6050_REG_PWR_MGMT_2 0x6C
182 #define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
183 #define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
185 #define INV_MPU6050_REG_FIFO_COUNT_H 0x72
186 #define INV_MPU6050_REG_FIFO_R_W 0x74
188 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
189 #define INV_MPU6050_FIFO_COUNT_BYTE 2
190 #define INV_MPU6050_FIFO_THRESHOLD 500
192 /* mpu6500 registers */
193 #define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
194 #define INV_MPU6500_REG_ACCEL_OFFSET 0x77
196 /* delay time in milliseconds */
197 #define INV_MPU6050_POWER_UP_TIME 100
198 #define INV_MPU6050_TEMP_UP_TIME 100
199 #define INV_MPU6050_SENSOR_UP_TIME 30
201 /* delay time in microseconds */
202 #define INV_MPU6050_REG_UP_TIME_MIN 5000
203 #define INV_MPU6050_REG_UP_TIME_MAX 10000
205 #define INV_MPU6050_TEMP_OFFSET 12421
206 #define INV_MPU6050_TEMP_SCALE 2941
207 #define INV_MPU6050_MAX_GYRO_FS_PARAM 3
208 #define INV_MPU6050_MAX_ACCL_FS_PARAM 3
209 #define INV_MPU6050_THREE_AXIS 3
210 #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
211 #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3
213 /* 6 + 6 round up and plus 8 */
214 #define INV_MPU6050_OUTPUT_DATA_SIZE 24
216 #define INV_MPU6050_REG_INT_PIN_CFG 0x37
217 #define INV_MPU6050_BIT_BYPASS_EN 0x2
218 #define INV_MPU6050_INT_PIN_CFG 0
220 /* init parameters */
221 #define INV_MPU6050_INIT_FIFO_RATE 50
222 #define INV_MPU6050_TIME_STAMP_TOR 5
223 #define INV_MPU6050_MAX_FIFO_RATE 1000
224 #define INV_MPU6050_MIN_FIFO_RATE 4
225 #define INV_MPU6050_ONE_K_HZ 1000
227 #define INV_MPU6050_REG_WHOAMI 117
229 #define INV_MPU6000_WHOAMI_VALUE 0x68
230 #define INV_MPU6050_WHOAMI_VALUE 0x68
231 #define INV_MPU6500_WHOAMI_VALUE 0x70
232 #define INV_MPU9150_WHOAMI_VALUE 0x68
233 #define INV_MPU9250_WHOAMI_VALUE 0x71
234 #define INV_ICM20608_WHOAMI_VALUE 0xAF
236 /* scan element definition */
237 enum inv_mpu6050_scan
{
238 INV_MPU6050_SCAN_ACCL_X
,
239 INV_MPU6050_SCAN_ACCL_Y
,
240 INV_MPU6050_SCAN_ACCL_Z
,
241 INV_MPU6050_SCAN_GYRO_X
,
242 INV_MPU6050_SCAN_GYRO_Y
,
243 INV_MPU6050_SCAN_GYRO_Z
,
244 INV_MPU6050_SCAN_TIMESTAMP
,
247 enum inv_mpu6050_filter_e
{
248 INV_MPU6050_FILTER_256HZ_NOLPF2
= 0,
249 INV_MPU6050_FILTER_188HZ
,
250 INV_MPU6050_FILTER_98HZ
,
251 INV_MPU6050_FILTER_42HZ
,
252 INV_MPU6050_FILTER_20HZ
,
253 INV_MPU6050_FILTER_10HZ
,
254 INV_MPU6050_FILTER_5HZ
,
255 INV_MPU6050_FILTER_2100HZ_NOLPF
,
259 /* IIO attribute address */
260 enum INV_MPU6050_IIO_ATTR_ADDR
{
265 enum inv_mpu6050_accl_fs_e
{
266 INV_MPU6050_FS_02G
= 0,
273 enum inv_mpu6050_fsr_e
{
274 INV_MPU6050_FSR_250DPS
= 0,
275 INV_MPU6050_FSR_500DPS
,
276 INV_MPU6050_FSR_1000DPS
,
277 INV_MPU6050_FSR_2000DPS
,
281 enum inv_mpu6050_clock_sel_e
{
282 INV_CLK_INTERNAL
= 0,
287 irqreturn_t
inv_mpu6050_irq_handler(int irq
, void *p
);
288 irqreturn_t
inv_mpu6050_read_fifo(int irq
, void *p
);
289 int inv_mpu6050_probe_trigger(struct iio_dev
*indio_dev
);
290 void inv_mpu6050_remove_trigger(struct inv_mpu6050_state
*st
);
291 int inv_reset_fifo(struct iio_dev
*indio_dev
);
292 int inv_mpu6050_switch_engine(struct inv_mpu6050_state
*st
, bool en
, u32 mask
);
293 int inv_mpu6050_write_reg(struct inv_mpu6050_state
*st
, int reg
, u8 val
);
294 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state
*st
, bool power_on
);
295 int inv_mpu_acpi_create_mux_client(struct i2c_client
*client
);
296 void inv_mpu_acpi_delete_mux_client(struct i2c_client
*client
);
297 int inv_mpu_core_probe(struct regmap
*regmap
, int irq
, const char *name
,
298 int (*inv_mpu_bus_setup
)(struct iio_dev
*), int chip_type
);
299 int inv_mpu_core_remove(struct device
*dev
);
300 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state
*st
, bool power_on
);
301 extern const struct dev_pm_ops inv_mpu_pmops
;