www.pudn.com > MPL.zip > mpu.h, change:2016-04-15,size:11755b


/* 
 $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_ */