1 /* SPDX-License-Identifier: GPL-2.0-only */ 2 /* 3 * Copyright (C) 2012 Invensense, Inc. 4 */ 5 #include <linux/i2c.h> 6 #include <linux/i2c-mux.h> 7 #include <linux/mutex.h> 8 #include <linux/iio/iio.h> 9 #include <linux/iio/buffer.h> 10 #include <linux/regmap.h> 11 #include <linux/iio/sysfs.h> 12 #include <linux/iio/kfifo_buf.h> 13 #include <linux/iio/trigger.h> 14 #include <linux/iio/triggered_buffer.h> 15 #include <linux/iio/trigger_consumer.h> 16 #include <linux/platform_data/invensense_mpu6050.h> 17 18 /** 19 * struct inv_mpu6050_reg_map - Notable registers. 20 * @sample_rate_div: Divider applied to gyro output rate. 21 * @lpf: Configures internal low pass filter. 22 * @accel_lpf: Configures accelerometer low pass filter. 23 * @user_ctrl: Enables/resets the FIFO. 24 * @fifo_en: Determines which data will appear in FIFO. 25 * @gyro_config: gyro config register. 26 * @accl_config: accel config register 27 * @fifo_count_h: Upper byte of FIFO count. 28 * @fifo_r_w: FIFO register. 29 * @raw_gyro: Address of first gyro register. 30 * @raw_accl: Address of first accel register. 31 * @temperature: temperature register 32 * @int_enable: Interrupt enable register. 33 * @int_status: Interrupt status register. 34 * @pwr_mgmt_1: Controls chip's power state and clock source. 35 * @pwr_mgmt_2: Controls power state of individual sensors. 36 * @int_pin_cfg; Controls interrupt pin configuration. 37 * @accl_offset: Controls the accelerometer calibration offset. 38 * @gyro_offset: Controls the gyroscope calibration offset. 39 * @i2c_if: Controls the i2c interface 40 */ 41 struct inv_mpu6050_reg_map { 42 u8 sample_rate_div; 43 u8 lpf; 44 u8 accel_lpf; 45 u8 user_ctrl; 46 u8 fifo_en; 47 u8 gyro_config; 48 u8 accl_config; 49 u8 fifo_count_h; 50 u8 fifo_r_w; 51 u8 raw_gyro; 52 u8 raw_accl; 53 u8 temperature; 54 u8 int_enable; 55 u8 int_status; 56 u8 pwr_mgmt_1; 57 u8 pwr_mgmt_2; 58 u8 int_pin_cfg; 59 u8 accl_offset; 60 u8 gyro_offset; 61 u8 i2c_if; 62 }; 63 64 /*device enum */ 65 enum inv_devices { 66 INV_MPU6050, 67 INV_MPU6500, 68 INV_MPU6515, 69 INV_MPU6000, 70 INV_MPU9150, 71 INV_MPU9250, 72 INV_MPU9255, 73 INV_ICM20608, 74 INV_ICM20602, 75 INV_NUM_PARTS 76 }; 77 78 /** 79 * struct inv_mpu6050_chip_config - Cached chip configuration data. 80 * @fsr: Full scale range. 81 * @lpf: Digital low pass filter frequency. 82 * @accl_fs: accel full scale range. 83 * @accl_fifo_enable: enable accel data output 84 * @gyro_fifo_enable: enable gyro data output 85 * @divider: chip sample rate divider (sample rate divider - 1) 86 */ 87 struct inv_mpu6050_chip_config { 88 unsigned int fsr:2; 89 unsigned int lpf:3; 90 unsigned int accl_fs:2; 91 unsigned int accl_fifo_enable:1; 92 unsigned int gyro_fifo_enable:1; 93 u8 divider; 94 u8 user_ctrl; 95 }; 96 97 /** 98 * struct inv_mpu6050_hw - Other important hardware information. 99 * @whoami: Self identification byte from WHO_AM_I register 100 * @name: name of the chip. 101 * @reg: register map of the chip. 102 * @config: configuration of the chip. 103 * @fifo_size: size of the FIFO in bytes. 104 * @temp: offset and scale to apply to raw temperature. 105 */ 106 struct inv_mpu6050_hw { 107 u8 whoami; 108 u8 *name; 109 const struct inv_mpu6050_reg_map *reg; 110 const struct inv_mpu6050_chip_config *config; 111 size_t fifo_size; 112 struct { 113 int offset; 114 int scale; 115 } temp; 116 }; 117 118 /* 119 * struct inv_mpu6050_state - Driver state variables. 120 * @lock: Chip access lock. 121 * @trig: IIO trigger. 122 * @chip_config: Cached attribute information. 123 * @reg: Map of important registers. 124 * @hw: Other hardware-specific information. 125 * @chip_type: chip type. 126 * @plat_data: platform data (deprecated in favor of @orientation). 127 * @orientation: sensor chip orientation relative to main hardware. 128 * @map regmap pointer. 129 * @irq interrupt number. 130 * @irq_mask the int_pin_cfg mask to configure interrupt type. 131 * @chip_period: chip internal period estimation (~1kHz). 132 * @it_timestamp: timestamp from previous interrupt. 133 * @data_timestamp: timestamp for next data sample. 134 * @vddio_supply voltage regulator for the chip. 135 */ 136 struct inv_mpu6050_state { 137 struct mutex lock; 138 struct iio_trigger *trig; 139 struct inv_mpu6050_chip_config chip_config; 140 const struct inv_mpu6050_reg_map *reg; 141 const struct inv_mpu6050_hw *hw; 142 enum inv_devices chip_type; 143 struct i2c_mux_core *muxc; 144 struct i2c_client *mux_client; 145 unsigned int powerup_count; 146 struct inv_mpu6050_platform_data plat_data; 147 struct iio_mount_matrix orientation; 148 struct regmap *map; 149 int irq; 150 u8 irq_mask; 151 unsigned skip_samples; 152 s64 chip_period; 153 s64 it_timestamp; 154 s64 data_timestamp; 155 struct regulator *vddio_supply; 156 }; 157 158 /*register and associated bit definition*/ 159 #define INV_MPU6050_REG_ACCEL_OFFSET 0x06 160 #define INV_MPU6050_REG_GYRO_OFFSET 0x13 161 162 #define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19 163 #define INV_MPU6050_REG_CONFIG 0x1A 164 #define INV_MPU6050_REG_GYRO_CONFIG 0x1B 165 #define INV_MPU6050_REG_ACCEL_CONFIG 0x1C 166 167 #define INV_MPU6050_REG_FIFO_EN 0x23 168 #define INV_MPU6050_BIT_ACCEL_OUT 0x08 169 #define INV_MPU6050_BITS_GYRO_OUT 0x70 170 171 #define INV_MPU6050_REG_INT_ENABLE 0x38 172 #define INV_MPU6050_BIT_DATA_RDY_EN 0x01 173 #define INV_MPU6050_BIT_DMP_INT_EN 0x02 174 175 #define INV_MPU6050_REG_RAW_ACCEL 0x3B 176 #define INV_MPU6050_REG_TEMPERATURE 0x41 177 #define INV_MPU6050_REG_RAW_GYRO 0x43 178 179 #define INV_MPU6050_REG_INT_STATUS 0x3A 180 #define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10 181 #define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01 182 183 #define INV_MPU6050_REG_USER_CTRL 0x6A 184 #define INV_MPU6050_BIT_FIFO_RST 0x04 185 #define INV_MPU6050_BIT_DMP_RST 0x08 186 #define INV_MPU6050_BIT_I2C_MST_EN 0x20 187 #define INV_MPU6050_BIT_FIFO_EN 0x40 188 #define INV_MPU6050_BIT_DMP_EN 0x80 189 #define INV_MPU6050_BIT_I2C_IF_DIS 0x10 190 191 #define INV_MPU6050_REG_PWR_MGMT_1 0x6B 192 #define INV_MPU6050_BIT_H_RESET 0x80 193 #define INV_MPU6050_BIT_SLEEP 0x40 194 #define INV_MPU6050_BIT_CLK_MASK 0x7 195 196 #define INV_MPU6050_REG_PWR_MGMT_2 0x6C 197 #define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38 198 #define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07 199 200 /* ICM20602 register */ 201 #define INV_ICM20602_REG_I2C_IF 0x70 202 #define INV_ICM20602_BIT_I2C_IF_DIS 0x40 203 204 #define INV_MPU6050_REG_FIFO_COUNT_H 0x72 205 #define INV_MPU6050_REG_FIFO_R_W 0x74 206 207 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6 208 #define INV_MPU6050_FIFO_COUNT_BYTE 2 209 210 /* ICM20602 FIFO samples include temperature readings */ 211 #define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2 212 213 /* mpu6500 registers */ 214 #define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D 215 #define INV_MPU6500_REG_ACCEL_OFFSET 0x77 216 217 /* delay time in milliseconds */ 218 #define INV_MPU6050_POWER_UP_TIME 100 219 #define INV_MPU6050_TEMP_UP_TIME 100 220 #define INV_MPU6050_SENSOR_UP_TIME 30 221 222 /* delay time in microseconds */ 223 #define INV_MPU6050_REG_UP_TIME_MIN 5000 224 #define INV_MPU6050_REG_UP_TIME_MAX 10000 225 226 #define INV_MPU6050_TEMP_OFFSET 12420 227 #define INV_MPU6050_TEMP_SCALE 2941176 228 #define INV_MPU6050_MAX_GYRO_FS_PARAM 3 229 #define INV_MPU6050_MAX_ACCL_FS_PARAM 3 230 #define INV_MPU6050_THREE_AXIS 3 231 #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3 232 #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3 233 234 #define INV_MPU6500_TEMP_OFFSET 7011 235 #define INV_MPU6500_TEMP_SCALE 2995178 236 237 #define INV_ICM20608_TEMP_OFFSET 8170 238 #define INV_ICM20608_TEMP_SCALE 3059976 239 240 /* 6 + 6 round up and plus 8 */ 241 #define INV_MPU6050_OUTPUT_DATA_SIZE 24 242 243 #define INV_MPU6050_REG_INT_PIN_CFG 0x37 244 #define INV_MPU6050_ACTIVE_HIGH 0x00 245 #define INV_MPU6050_ACTIVE_LOW 0x80 246 /* enable level triggering */ 247 #define INV_MPU6050_LATCH_INT_EN 0x20 248 #define INV_MPU6050_BIT_BYPASS_EN 0x2 249 250 /* Allowed timestamp period jitter in percent */ 251 #define INV_MPU6050_TS_PERIOD_JITTER 4 252 253 /* init parameters */ 254 #define INV_MPU6050_INIT_FIFO_RATE 50 255 #define INV_MPU6050_MAX_FIFO_RATE 1000 256 #define INV_MPU6050_MIN_FIFO_RATE 4 257 258 /* chip internal frequency: 1KHz */ 259 #define INV_MPU6050_INTERNAL_FREQ_HZ 1000 260 /* return the frequency divider (chip sample rate divider + 1) */ 261 #define INV_MPU6050_FREQ_DIVIDER(st) \ 262 ((st)->chip_config.divider + 1) 263 /* chip sample rate divider to fifo rate */ 264 #define INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate) \ 265 ((INV_MPU6050_INTERNAL_FREQ_HZ / (fifo_rate)) - 1) 266 #define INV_MPU6050_DIVIDER_TO_FIFO_RATE(divider) \ 267 (INV_MPU6050_INTERNAL_FREQ_HZ / ((divider) + 1)) 268 269 #define INV_MPU6050_REG_WHOAMI 117 270 271 #define INV_MPU6000_WHOAMI_VALUE 0x68 272 #define INV_MPU6050_WHOAMI_VALUE 0x68 273 #define INV_MPU6500_WHOAMI_VALUE 0x70 274 #define INV_MPU9150_WHOAMI_VALUE 0x68 275 #define INV_MPU9250_WHOAMI_VALUE 0x71 276 #define INV_MPU9255_WHOAMI_VALUE 0x73 277 #define INV_MPU6515_WHOAMI_VALUE 0x74 278 #define INV_ICM20608_WHOAMI_VALUE 0xAF 279 #define INV_ICM20602_WHOAMI_VALUE 0x12 280 281 /* scan element definition for generic MPU6xxx devices */ 282 enum inv_mpu6050_scan { 283 INV_MPU6050_SCAN_ACCL_X, 284 INV_MPU6050_SCAN_ACCL_Y, 285 INV_MPU6050_SCAN_ACCL_Z, 286 INV_MPU6050_SCAN_GYRO_X, 287 INV_MPU6050_SCAN_GYRO_Y, 288 INV_MPU6050_SCAN_GYRO_Z, 289 INV_MPU6050_SCAN_TIMESTAMP, 290 }; 291 292 /* scan element definition for ICM20602, which includes temperature */ 293 enum inv_icm20602_scan { 294 INV_ICM20602_SCAN_ACCL_X, 295 INV_ICM20602_SCAN_ACCL_Y, 296 INV_ICM20602_SCAN_ACCL_Z, 297 INV_ICM20602_SCAN_TEMP, 298 INV_ICM20602_SCAN_GYRO_X, 299 INV_ICM20602_SCAN_GYRO_Y, 300 INV_ICM20602_SCAN_GYRO_Z, 301 INV_ICM20602_SCAN_TIMESTAMP, 302 }; 303 304 enum inv_mpu6050_filter_e { 305 INV_MPU6050_FILTER_256HZ_NOLPF2 = 0, 306 INV_MPU6050_FILTER_188HZ, 307 INV_MPU6050_FILTER_98HZ, 308 INV_MPU6050_FILTER_42HZ, 309 INV_MPU6050_FILTER_20HZ, 310 INV_MPU6050_FILTER_10HZ, 311 INV_MPU6050_FILTER_5HZ, 312 INV_MPU6050_FILTER_2100HZ_NOLPF, 313 NUM_MPU6050_FILTER 314 }; 315 316 /* IIO attribute address */ 317 enum INV_MPU6050_IIO_ATTR_ADDR { 318 ATTR_GYRO_MATRIX, 319 ATTR_ACCL_MATRIX, 320 }; 321 322 enum inv_mpu6050_accl_fs_e { 323 INV_MPU6050_FS_02G = 0, 324 INV_MPU6050_FS_04G, 325 INV_MPU6050_FS_08G, 326 INV_MPU6050_FS_16G, 327 NUM_ACCL_FSR 328 }; 329 330 enum inv_mpu6050_fsr_e { 331 INV_MPU6050_FSR_250DPS = 0, 332 INV_MPU6050_FSR_500DPS, 333 INV_MPU6050_FSR_1000DPS, 334 INV_MPU6050_FSR_2000DPS, 335 NUM_MPU6050_FSR 336 }; 337 338 enum inv_mpu6050_clock_sel_e { 339 INV_CLK_INTERNAL = 0, 340 INV_CLK_PLL, 341 NUM_CLK 342 }; 343 344 irqreturn_t inv_mpu6050_read_fifo(int irq, void *p); 345 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type); 346 int inv_reset_fifo(struct iio_dev *indio_dev); 347 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask); 348 int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val); 349 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on); 350 int inv_mpu_acpi_create_mux_client(struct i2c_client *client); 351 void inv_mpu_acpi_delete_mux_client(struct i2c_client *client); 352 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, 353 int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type); 354 extern const struct dev_pm_ops inv_mpu_pmops; 355