drivers/misc/mediatek/accelerometer/mpu6050g/mpu6xxx_hwselftest.h

   1
   2 #ifndef MPU6XXX_HWSELFTEST_H
   3 #define MPU6XXX_HWSELFTEST_H
   4
   5 #define MPU6XXX_HWSELFTEST  1
   6
   7 #define REG_6500_XG_ST_DATA     0x0
   8 #define REG_6500_XA_ST_DATA     0xD
   9 #define REG_6500_XA_OFFS_H      0x77
  10 #define REG_6500_YA_OFFS_H      0x7A
  11 #define REG_6500_ZA_OFFS_H      0x7D
  12 #define REG_6500_ACCEL_CONFIG2  0x1D
  13 #define BIT_ACCEL_FCHOCIE_B              0x08
  14 #define BIT_FIFO_SIZE_1K                 0x40
  15
  16 #define REG_INT_ENABLE 0x38
  17 #define REG_FIFO_EN 0x23
  18 #define REG_USER_CTRL 0x6a
  19 #define BIT_FIFO_RST 0x04
  20 #define BIT_FIFO_EN 0x40
  21 #define REG_CONFIG 0x1a
  22 #define REG_SAMPLE_RATE_DIV 0x19
  23 #define REG_GYRO_CONFIG 0x1b
  24 #define REG_ACCEL_CONFIG 0x1c
  25 #define BITS_GYRO_OUT 0x70
  26 #define BIT_ACCEL_OUT 0x08
  27 #define REG_FIFO_COUNT_H 0x72
  28 #define REG_FIFO_R_W 0x74
  29 #define BITS_SELF_TEST_EN 0xe0
  30 #define DEF_ST_COMPASS_RESULT_SHIFT 2
  31 #define DEF_ST_ACCEL_RESULT_SHIFT 1
  32
  33
  34 /* sample rate */
  35 #define DEF_SELFTEST_SAMPLE_RATE        0
  36 /* full scale setting dps */
  37 #define DEF_SELFTEST_GYRO_FS            (0 << 3)
  38 #define DEF_SELFTEST_ACCEL_FS           (2 << 3)
  39 #define DEF_SELFTEST_GYRO_SENS          (32768 / 250)
  40 /* wait time before collecting data */
  41 #define DEF_GYRO_WAIT_TIME              10
  42 #define DEF_ST_STABLE_TIME              20
  43 #define DEF_ST_6500_STABLE_TIME         20
  44 #define DEF_GYRO_SCALE                  131
  45 #define DEF_ST_PRECISION                1000
  46 #define DEF_ST_ACCEL_FS_MG              8000UL
  47 #define DEF_ST_SCALE                    (1L << 15)
  48 #define DEF_ST_TRY_TIMES                2
  49
  50 /*---- MPU6500 Self Test Pass/Fail Criteria ----*/
  51 /* Gyro Offset Max Value (dps) */
  52 #define DEF_GYRO_OFFSET_MAX             20
  53 /* Gyro Self Test Absolute Limits ST_AL (dps) */
  54 #define DEF_GYRO_ST_AL                  60
  55 /* Accel Self Test Absolute Limits ST_AL (mg) */
  56 #define DEF_ACCEL_ST_AL_MIN             225
  57 #define DEF_ACCEL_ST_AL_MAX             675
  58 #define DEF_6500_ACCEL_ST_SHIFT_DELTA   500
  59 #define DEF_6500_GYRO_CT_SHIFT_DELTA    500
  60 #define DEF_ST_MPU6500_ACCEL_LPF        2
  61 #define DEF_ST_6500_ACCEL_FS_MG         2000UL
  62 #define DEF_SELFTEST_6500_ACCEL_FS      (0 << 3)
  63
  64
  65 #define THREE_AXIS               3
  66 #define BYTES_PER_SENSOR         6
  67
  68 #define ONE_K_HZ                              1000
  69 #define INV_MPU_SAMPLE_RATE_CHANGE_STABLE 50
  70 #define INIT_ST_SAMPLES          200
  71 #define FIFO_COUNT_BYTE          2
  72
  73 /* device enum */
  74 enum inv_devices {
  75         INV_MPU6050,
  76         INV_MPU9150,
  77         INV_MPU6500,
  78         INV_MPU9250,
  79         INV_MPU9350,
  80         INV_MPU6515,
  81 };
  82
  83 enum inv_filter_e {
  84         INV_FILTER_256HZ_NOLPF2 = 0,
  85         INV_FILTER_188HZ,
  86         INV_FILTER_98HZ,
  87         INV_FILTER_42HZ,
  88         INV_FILTER_20HZ,
  89         INV_FILTER_10HZ,
  90         INV_FILTER_5HZ,
  91         INV_FILTER_2100HZ_NOLPF,
  92         NUM_FILTER
  93 };
  94
  95 struct inv_selftest_device {
  96     u8 *name;
  97     enum inv_devices chip_type;
  98     u16 sample_rate_div;
  99     u16 config;
 100     u16 gyro_config;
 101     u16 accel_config;
 102     int accel_bias[3];
 103     int gyro_bias[3];
 104     int accel_bias_st[3];
 105     int gyro_bias_st[3];
 106     u16 samples;//selftest sample number
 107 };
 108
 109
 110 static const u16 mpu_6500_st_tb[256] = {
 111         2620, 2646, 2672, 2699, 2726, 2753, 2781, 2808,
 112         2837, 2865, 2894, 2923, 2952, 2981, 3011, 3041,
 113         3072, 3102, 3133, 3165, 3196, 3228, 3261, 3293,
 114         3326, 3359, 3393, 3427, 3461, 3496, 3531, 3566,
 115         3602, 3638, 3674, 3711, 3748, 3786, 3823, 3862,
 116         3900, 3939, 3979, 4019, 4059, 4099, 4140, 4182,
 117         4224, 4266, 4308, 4352, 4395, 4439, 4483, 4528,
 118         4574, 4619, 4665, 4712, 4759, 4807, 4855, 4903,
 119         4953, 5002, 5052, 5103, 5154, 5205, 5257, 5310,
 120         5363, 5417, 5471, 5525, 5581, 5636, 5693, 5750,
 121         5807, 5865, 5924, 5983, 6043, 6104, 6165, 6226,
 122         6289, 6351, 6415, 6479, 6544, 6609, 6675, 6742,
 123         6810, 6878, 6946, 7016, 7086, 7157, 7229, 7301,
 124         7374, 7448, 7522, 7597, 7673, 7750, 7828, 7906,
 125         7985, 8065, 8145, 8227, 8309, 8392, 8476, 8561,
 126         8647, 8733, 8820, 8909, 8998, 9088, 9178, 9270,
 127         9363, 9457, 9551, 9647, 9743, 9841, 9939, 10038,
 128         10139, 10240, 10343, 10446, 10550, 10656, 10763, 10870,
 129         10979, 11089, 11200, 11312, 11425, 11539, 11654, 11771,
 130         11889, 12008, 12128, 12249, 12371, 12495, 12620, 12746,
 131         12874, 13002, 13132, 13264, 13396, 13530, 13666, 13802,
 132         13940, 14080, 14221, 14363, 14506, 14652, 14798, 14946,
 133         15096, 15247, 15399, 15553, 15709, 15866, 16024, 16184,
 134         16346, 16510, 16675, 16842, 17010, 17180, 17352, 17526,
 135         17701, 17878, 18057, 18237, 18420, 18604, 18790, 18978,
 136         19167, 19359, 19553, 19748, 19946, 20145, 20347, 20550,
 137         20756, 20963, 21173, 21385, 21598, 21814, 22033, 22253,
 138         22475, 22700, 22927, 23156, 23388, 23622, 23858, 24097,
 139         24338, 24581, 24827, 25075, 25326, 25579, 25835, 26093,
 140         26354, 26618, 26884, 27153, 27424, 27699, 27976, 28255,
 141         28538, 28823, 29112, 29403, 29697, 29994, 30294, 30597,
 142         30903, 31212, 31524, 31839, 32157, 32479, 32804
 143 };
 144
 145 #endif  /* #ifndef MPU6XXX_HWSELFTEST_H */