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Date: Thu, 30 Jun 2011 19:18:18 -0700
From: Nathan Royer <nroyer@...ensense.com>
To: Nathan Royer <nroyer@...ensense.com>
Cc: Andrew Morton <akpm@...ux-foundation.org>,
Greg Kroah-Hartman <gregkh@...e.de>,
Jonathan Cameron <jic23@....ac.uk>,
Jiri Kosina <jkosina@...e.cz>, Alan Cox <alan@...ux.intel.com>,
Jean Delvare <khali@...ux-fr.org>,
linux-kernel@...r.kernel.org, linux-input@...r.kernel.org
Subject: [PATCH 02/11] misc: mpu3050 Register definition and Private data
MPU3050 registers and internal data configuration definion file for the
inv_mpu driver.
Signed-off-by: Nathan Royer <nroyer@...ensense.com>
---
drivers/misc/inv_mpu/mldl_cfg.h | 374 +++++++++++++++++++++++++++++++++++++++
drivers/misc/inv_mpu/mpu3050.h | 251 ++++++++++++++++++++++++++
2 files changed, 625 insertions(+), 0 deletions(-)
create mode 100644 drivers/misc/inv_mpu/mldl_cfg.h
create mode 100644 drivers/misc/inv_mpu/mpu3050.h
diff --git a/drivers/misc/inv_mpu/mldl_cfg.h b/drivers/misc/inv_mpu/mldl_cfg.h
new file mode 100644
index 0000000..457477b
--- /dev/null
+++ b/drivers/misc/inv_mpu/mldl_cfg.h
@@ -0,0 +1,374 @@
+/*
+ $License:
+ Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+ $
+ */
+
+/**
+ * @addtogroup MLDL
+ *
+ * @{
+ * @file mldl_cfg.h
+ * @brief The Motion Library Driver Layer Configuration header file.
+ */
+
+#ifndef __MLDL_CFG_H__
+#define __MLDL_CFG_H__
+
+#include "mltypes.h"
+#include "mlsl.h"
+#include <linux/mpu.h>
+# include "mpu3050.h"
+
+#include "log.h"
+
+/*************************************************************************
+ * Sensors Bit definitions
+ *************************************************************************/
+
+#define INV_X_GYRO (0x0001)
+#define INV_Y_GYRO (0x0002)
+#define INV_Z_GYRO (0x0004)
+#define INV_DMP_PROCESSOR (0x0008)
+
+#define INV_X_ACCEL (0x0010)
+#define INV_Y_ACCEL (0x0020)
+#define INV_Z_ACCEL (0x0040)
+
+#define INV_X_COMPASS (0x0080)
+#define INV_Y_COMPASS (0x0100)
+#define INV_Z_COMPASS (0x0200)
+
+#define INV_X_PRESSURE (0x0300)
+#define INV_Y_PRESSURE (0x0800)
+#define INV_Z_PRESSURE (0x1000)
+
+#define INV_TEMPERATURE (0x2000)
+#define INV_TIME (0x4000)
+
+#define INV_THREE_AXIS_GYRO (0x000F)
+#define INV_THREE_AXIS_ACCEL (0x0070)
+#define INV_THREE_AXIS_COMPASS (0x0380)
+#define INV_THREE_AXIS_PRESSURE (0x1C00)
+
+#define INV_FIVE_AXIS (0x007B)
+#define INV_SIX_AXIS_GYRO_ACCEL (0x007F)
+#define INV_SIX_AXIS_ACCEL_COMPASS (0x03F0)
+#define INV_NINE_AXIS (0x03FF)
+#define INV_ALL_SENSORS (0x7FFF)
+
+#define MPL_PROD_KEY(ver, rev) (ver * 100 + rev)
+
+/* -------------------------------------------------------------------------- */
+struct mpu_ram {
+ __u16 length;
+ __u8 *ram;
+};
+
+struct mpu_gyro_cfg {
+ __u8 int_config;
+ __u8 ext_sync;
+ __u8 full_scale;
+ __u8 lpf;
+ __u8 clk_src;
+ __u8 divider;
+ __u8 dmp_enable;
+ __u8 fifo_enable;
+ __u8 dmp_cfg1;
+ __u8 dmp_cfg2;
+};
+
+/* Offset registers that can be calibrated */
+struct mpu_offsets {
+ __u8 tc[GYRO_NUM_AXES];
+ __u16 gyro[GYRO_NUM_AXES];
+};
+
+/* Chip related information that can be read and verified */
+struct mpu_chip_info {
+ __u8 addr;
+ __u8 product_revision;
+ __u8 silicon_revision;
+ __u8 product_id;
+ __u16 gyro_sens_trim;
+ /* Only used for MPU6050 */
+ __u16 accel_sens_trim;
+};
+
+
+struct inv_mpu_cfg {
+ __u32 requested_sensors;
+ __u8 ignore_system_suspend;
+};
+
+/* Driver related state information */
+struct inv_mpu_state {
+#define MPU_GYRO_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_GYROSCOPE)
+#define MPU_ACCEL_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_ACCEL)
+#define MPU_COMPASS_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_COMPASS)
+#define MPU_PRESSURE_IS_SUSPENDED (0x01 << EXT_SLAVE_TYPE_PRESSURE)
+#define MPU_GYRO_IS_BYPASSED (0x10)
+#define MPU_DMP_IS_SUSPENDED (0x20)
+#define MPU_GYRO_NEEDS_RESET (0x40)
+ __u8 status;
+ /* 0-1 for 3050, bitfield of BIT_SLVx_DLY_EN, x = [0..4] */
+ __u8 i2c_slaves_enabled;
+};
+
+/* Platform data for the MPU */
+struct mldl_cfg {
+ struct mpu_ram *mpu_ram;
+ struct mpu_gyro_cfg *mpu_gyro_cfg;
+ struct mpu_offsets *mpu_offsets;
+ struct mpu_chip_info *mpu_chip_info;
+
+ /* MPU Related stored status and info */
+ struct inv_mpu_cfg *inv_mpu_cfg;
+ struct inv_mpu_state *inv_mpu_state;
+
+ /* Slave related information */
+ struct ext_slave_descr *slave[EXT_SLAVE_NUM_TYPES];
+ /* Platform Data */
+ struct mpu_platform_data *pdata;
+ struct ext_slave_platform_data *pdata_slave[EXT_SLAVE_NUM_TYPES];
+};
+
+/* -------------------------------------------------------------------------- */
+
+int inv_mpu_open(struct mldl_cfg *mldl_cfg,
+ void *mlsl_handle,
+ void *accel_handle,
+ void *compass_handle,
+ void *pressure_handle);
+int inv_mpu_close(struct mldl_cfg *mldl_cfg,
+ void *mlsl_handle,
+ void *accel_handle,
+ void *compass_handle,
+ void *pressure_handle);
+int inv_mpu_resume(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *accel_handle,
+ void *compass_handle,
+ void *pressure_handle,
+ unsigned long sensors);
+int inv_mpu_suspend(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *accel_handle,
+ void *compass_handle,
+ void *pressure_handle,
+ unsigned long sensors);
+
+/* Slave Read functions */
+int inv_mpu_slave_read(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *slave_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata,
+ unsigned char *data);
+static inline int inv_mpu_read_accel(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *accel_handle, unsigned char *data)
+{
+ if (!mldl_cfg) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+
+ return inv_mpu_slave_read(
+ mldl_cfg, gyro_handle, accel_handle,
+ mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL],
+ mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL],
+ data);
+}
+
+static inline int inv_mpu_read_compass(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *compass_handle,
+ unsigned char *data)
+{
+ if (!mldl_cfg) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+
+ return inv_mpu_slave_read(
+ mldl_cfg, gyro_handle, compass_handle,
+ mldl_cfg->slave[EXT_SLAVE_TYPE_COMPASS],
+ mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_COMPASS],
+ data);
+}
+
+static inline int inv_mpu_read_pressure(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *pressure_handle,
+ unsigned char *data)
+{
+ if (!mldl_cfg) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+
+ return inv_mpu_slave_read(
+ mldl_cfg, gyro_handle, pressure_handle,
+ mldl_cfg->slave[EXT_SLAVE_TYPE_PRESSURE],
+ mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_PRESSURE],
+ data);
+}
+
+int gyro_config(void *mlsl_handle,
+ struct mldl_cfg *mldl_cfg,
+ struct ext_slave_config *data);
+
+/* Slave Config functions */
+int inv_mpu_slave_config(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *slave_handle,
+ struct ext_slave_config *data,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata);
+static inline int inv_mpu_config_accel(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *accel_handle,
+ struct ext_slave_config *data)
+{
+ if (!mldl_cfg) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+
+ return inv_mpu_slave_config(
+ mldl_cfg, gyro_handle, accel_handle, data,
+ mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL],
+ mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL]);
+}
+
+static inline int inv_mpu_config_compass(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *compass_handle,
+ struct ext_slave_config *data)
+{
+ if (!mldl_cfg) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+
+ return inv_mpu_slave_config(
+ mldl_cfg, gyro_handle, compass_handle, data,
+ mldl_cfg->slave[EXT_SLAVE_TYPE_COMPASS],
+ mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_COMPASS]);
+}
+
+static inline int inv_mpu_config_pressure(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *pressure_handle,
+ struct ext_slave_config *data)
+{
+ if (!mldl_cfg) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+
+ return inv_mpu_slave_config(
+ mldl_cfg, gyro_handle, pressure_handle, data,
+ mldl_cfg->slave[EXT_SLAVE_TYPE_PRESSURE],
+ mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_PRESSURE]);
+}
+
+int gyro_get_config(void *mlsl_handle,
+ struct mldl_cfg *mldl_cfg,
+ struct ext_slave_config *data);
+
+/* Slave get config functions */
+int inv_mpu_get_slave_config(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *slave_handle,
+ struct ext_slave_config *data,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata);
+
+static inline int inv_mpu_get_accel_config(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *accel_handle,
+ struct ext_slave_config *data)
+{
+ if (!mldl_cfg) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+
+ return inv_mpu_get_slave_config(
+ mldl_cfg, gyro_handle, accel_handle, data,
+ mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL],
+ mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL]);
+}
+
+static inline int inv_mpu_get_compass_config(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *compass_handle,
+ struct ext_slave_config *data)
+{
+ if (!mldl_cfg || !(mldl_cfg->pdata)) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+
+ return inv_mpu_get_slave_config(
+ mldl_cfg, gyro_handle, compass_handle, data,
+ mldl_cfg->slave[EXT_SLAVE_TYPE_COMPASS],
+ mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_COMPASS]);
+}
+
+static inline int inv_mpu_get_pressure_config(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *pressure_handle,
+ struct ext_slave_config *data)
+{
+ if (!mldl_cfg || !(mldl_cfg->pdata)) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+
+ return inv_mpu_get_slave_config(
+ mldl_cfg, gyro_handle, pressure_handle, data,
+ mldl_cfg->slave[EXT_SLAVE_TYPE_PRESSURE],
+ mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_PRESSURE]);
+}
+
+/* -------------------------------------------------------------------------- */
+
+static inline
+long inv_mpu_get_sampling_rate_hz(struct mpu_gyro_cfg *gyro_cfg)
+{
+ if (((gyro_cfg->lpf) == 0) || ((gyro_cfg->lpf) == 7))
+ return 8000L / (gyro_cfg->divider + 1);
+ else
+ return 1000L / (gyro_cfg->divider + 1);
+}
+
+static inline
+long inv_mpu_get_sampling_period_us(struct mpu_gyro_cfg *gyro_cfg)
+{
+ if (((gyro_cfg->lpf) == 0) || ((gyro_cfg->lpf) == 7))
+ return (long) (1000000L * (gyro_cfg->divider + 1)) / 8000L;
+ else
+ return (long) (1000000L * (gyro_cfg->divider + 1)) / 1000L;
+}
+
+#endif /* __MLDL_CFG_H__ */
+
+/**
+ * @}
+ */
diff --git a/drivers/misc/inv_mpu/mpu3050.h b/drivers/misc/inv_mpu/mpu3050.h
new file mode 100644
index 0000000..02af16e
--- /dev/null
+++ b/drivers/misc/inv_mpu/mpu3050.h
@@ -0,0 +1,251 @@
+/*
+ $License:
+ Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+ $
+ */
+
+#ifndef __MPU_H_
+#error Do not include this file directly. Include mpu.h instead.
+#endif
+
+#ifndef __MPU3050_H_
+#define __MPU3050_H_
+
+#include <linux/types.h>
+
+
+#define MPU_NAME "mpu3050"
+#define DEFAULT_MPU_SLAVEADDR 0x68
+
+/*==== MPU REGISTER SET ====*/
+enum mpu_register {
+ MPUREG_WHO_AM_I = 0, /* 00 0x00 */
+ MPUREG_PRODUCT_ID, /* 01 0x01 */
+ MPUREG_02_RSVD, /* 02 0x02 */
+ MPUREG_03_RSVD, /* 03 0x03 */
+ MPUREG_04_RSVD, /* 04 0x04 */
+ MPUREG_XG_OFFS_TC, /* 05 0x05 */
+ MPUREG_06_RSVD, /* 06 0x06 */
+ MPUREG_07_RSVD, /* 07 0x07 */
+ MPUREG_YG_OFFS_TC, /* 08 0x08 */
+ MPUREG_09_RSVD, /* 09 0x09 */
+ MPUREG_0A_RSVD, /* 10 0x0a */
+ MPUREG_ZG_OFFS_TC, /* 11 0x0b */
+ MPUREG_X_OFFS_USRH, /* 12 0x0c */
+ MPUREG_X_OFFS_USRL, /* 13 0x0d */
+ MPUREG_Y_OFFS_USRH, /* 14 0x0e */
+ MPUREG_Y_OFFS_USRL, /* 15 0x0f */
+ MPUREG_Z_OFFS_USRH, /* 16 0x10 */
+ MPUREG_Z_OFFS_USRL, /* 17 0x11 */
+ MPUREG_FIFO_EN1, /* 18 0x12 */
+ MPUREG_FIFO_EN2, /* 19 0x13 */
+ MPUREG_AUX_SLV_ADDR, /* 20 0x14 */
+ MPUREG_SMPLRT_DIV, /* 21 0x15 */
+ MPUREG_DLPF_FS_SYNC, /* 22 0x16 */
+ MPUREG_INT_CFG, /* 23 0x17 */
+ MPUREG_ACCEL_BURST_ADDR,/* 24 0x18 */
+ MPUREG_19_RSVD, /* 25 0x19 */
+ MPUREG_INT_STATUS, /* 26 0x1a */
+ MPUREG_TEMP_OUT_H, /* 27 0x1b */
+ MPUREG_TEMP_OUT_L, /* 28 0x1c */
+ MPUREG_GYRO_XOUT_H, /* 29 0x1d */
+ MPUREG_GYRO_XOUT_L, /* 30 0x1e */
+ MPUREG_GYRO_YOUT_H, /* 31 0x1f */
+ MPUREG_GYRO_YOUT_L, /* 32 0x20 */
+ MPUREG_GYRO_ZOUT_H, /* 33 0x21 */
+ MPUREG_GYRO_ZOUT_L, /* 34 0x22 */
+ MPUREG_23_RSVD, /* 35 0x23 */
+ MPUREG_24_RSVD, /* 36 0x24 */
+ MPUREG_25_RSVD, /* 37 0x25 */
+ MPUREG_26_RSVD, /* 38 0x26 */
+ MPUREG_27_RSVD, /* 39 0x27 */
+ MPUREG_28_RSVD, /* 40 0x28 */
+ MPUREG_29_RSVD, /* 41 0x29 */
+ MPUREG_2A_RSVD, /* 42 0x2a */
+ MPUREG_2B_RSVD, /* 43 0x2b */
+ MPUREG_2C_RSVD, /* 44 0x2c */
+ MPUREG_2D_RSVD, /* 45 0x2d */
+ MPUREG_2E_RSVD, /* 46 0x2e */
+ MPUREG_2F_RSVD, /* 47 0x2f */
+ MPUREG_30_RSVD, /* 48 0x30 */
+ MPUREG_31_RSVD, /* 49 0x31 */
+ MPUREG_32_RSVD, /* 50 0x32 */
+ MPUREG_33_RSVD, /* 51 0x33 */
+ MPUREG_34_RSVD, /* 52 0x34 */
+ MPUREG_DMP_CFG_1, /* 53 0x35 */
+ MPUREG_DMP_CFG_2, /* 54 0x36 */
+ MPUREG_BANK_SEL, /* 55 0x37 */
+ MPUREG_MEM_START_ADDR, /* 56 0x38 */
+ MPUREG_MEM_R_W, /* 57 0x39 */
+ MPUREG_FIFO_COUNTH, /* 58 0x3a */
+ MPUREG_FIFO_COUNTL, /* 59 0x3b */
+ MPUREG_FIFO_R_W, /* 60 0x3c */
+ MPUREG_USER_CTRL, /* 61 0x3d */
+ MPUREG_PWR_MGM, /* 62 0x3e */
+ MPUREG_3F_RSVD, /* 63 0x3f */
+ NUM_OF_MPU_REGISTERS /* 64 0x40 */
+};
+
+/*==== BITS FOR MPU ====*/
+
+/*---- MPU 'FIFO_EN1' register (12) ----*/
+#define BIT_TEMP_OUT 0x80
+#define BIT_GYRO_XOUT 0x40
+#define BIT_GYRO_YOUT 0x20
+#define BIT_GYRO_ZOUT 0x10
+#define BIT_ACCEL_XOUT 0x08
+#define BIT_ACCEL_YOUT 0x04
+#define BIT_ACCEL_ZOUT 0x02
+#define BIT_AUX_1OUT 0x01
+/*---- MPU 'FIFO_EN2' register (13) ----*/
+#define BIT_AUX_2OUT 0x02
+#define BIT_AUX_3OUT 0x01
+/*---- MPU 'DLPF_FS_SYNC' register (16) ----*/
+#define BITS_EXT_SYNC_NONE 0x00
+#define BITS_EXT_SYNC_TEMP 0x20
+#define BITS_EXT_SYNC_GYROX 0x40
+#define BITS_EXT_SYNC_GYROY 0x60
+#define BITS_EXT_SYNC_GYROZ 0x80
+#define BITS_EXT_SYNC_ACCELX 0xA0
+#define BITS_EXT_SYNC_ACCELY 0xC0
+#define BITS_EXT_SYNC_ACCELZ 0xE0
+#define BITS_EXT_SYNC_MASK 0xE0
+#define BITS_FS_250DPS 0x00
+#define BITS_FS_500DPS 0x08
+#define BITS_FS_1000DPS 0x10
+#define BITS_FS_2000DPS 0x18
+#define BITS_FS_MASK 0x18
+#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
+#define BITS_DLPF_CFG_188HZ 0x01
+#define BITS_DLPF_CFG_98HZ 0x02
+#define BITS_DLPF_CFG_42HZ 0x03
+#define BITS_DLPF_CFG_20HZ 0x04
+#define BITS_DLPF_CFG_10HZ 0x05
+#define BITS_DLPF_CFG_5HZ 0x06
+#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
+#define BITS_DLPF_CFG_MASK 0x07
+/*---- MPU 'INT_CFG' register (17) ----*/
+#define BIT_ACTL 0x80
+#define BIT_ACTL_LOW 0x80
+#define BIT_ACTL_HIGH 0x00
+#define BIT_OPEN 0x40
+#define BIT_OPEN_DRAIN 0x40
+#define BIT_PUSH_PULL 0x00
+#define BIT_LATCH_INT_EN 0x20
+#define BIT_INT_PULSE_WIDTH_50US 0x00
+#define BIT_INT_ANYRD_2CLEAR 0x10
+#define BIT_INT_STAT_READ_2CLEAR 0x00
+#define BIT_MPU_RDY_EN 0x04
+#define BIT_DMP_INT_EN 0x02
+#define BIT_RAW_RDY_EN 0x01
+/*---- MPU 'INT_STATUS' register (1A) ----*/
+#define BIT_INT_STATUS_FIFO_OVERLOW 0x80
+#define BIT_MPU_RDY 0x04
+#define BIT_DMP_INT 0x02
+#define BIT_RAW_RDY 0x01
+/*---- MPU 'BANK_SEL' register (37) ----*/
+#define BIT_PRFTCH_EN 0x20
+#define BIT_CFG_USER_BANK 0x10
+#define BITS_MEM_SEL 0x0f
+/*---- MPU 'USER_CTRL' register (3D) ----*/
+#define BIT_DMP_EN 0x80
+#define BIT_FIFO_EN 0x40
+#define BIT_AUX_IF_EN 0x20
+#define BIT_AUX_RD_LENG 0x10
+#define BIT_AUX_IF_RST 0x08
+#define BIT_DMP_RST 0x04
+#define BIT_FIFO_RST 0x02
+#define BIT_GYRO_RST 0x01
+/*---- MPU 'PWR_MGM' register (3E) ----*/
+#define BIT_H_RESET 0x80
+#define BIT_SLEEP 0x40
+#define BIT_STBY_XG 0x20
+#define BIT_STBY_YG 0x10
+#define BIT_STBY_ZG 0x08
+#define BITS_CLKSEL 0x07
+
+/*---- MPU Silicon Revision ----*/
+#define MPU_SILICON_REV_A4 1 /* MPU A4 Device */
+#define MPU_SILICON_REV_B1 2 /* MPU B1 Device */
+#define MPU_SILICON_REV_B4 3 /* MPU B4 Device */
+#define MPU_SILICON_REV_B6 4 /* MPU B6 Device */
+
+/*---- MPU Memory ----*/
+#define MPU_MEM_BANK_SIZE (256)
+#define FIFO_HW_SIZE (512)
+
+enum MPU_MEMORY_BANKS {
+ MPU_MEM_RAM_BANK_0 = 0,
+ MPU_MEM_RAM_BANK_1,
+ MPU_MEM_RAM_BANK_2,
+ MPU_MEM_RAM_BANK_3,
+ MPU_MEM_NUM_RAM_BANKS,
+ MPU_MEM_OTP_BANK_0 = MPU_MEM_NUM_RAM_BANKS,
+ /* This one is always last */
+ MPU_MEM_NUM_BANKS
+};
+
+/*---- structure containing control variables used by MLDL ----*/
+/*---- MPU clock source settings ----*/
+/*---- MPU filter selections ----*/
+enum mpu_filter {
+ MPU_FILTER_256HZ_NOLPF2 = 0,
+ MPU_FILTER_188HZ,
+ MPU_FILTER_98HZ,
+ MPU_FILTER_42HZ,
+ MPU_FILTER_20HZ,
+ MPU_FILTER_10HZ,
+ MPU_FILTER_5HZ,
+ MPU_FILTER_2100HZ_NOLPF,
+ NUM_MPU_FILTER
+};
+
+enum mpu_fullscale {
+ MPU_FS_250DPS = 0,
+ MPU_FS_500DPS,
+ MPU_FS_1000DPS,
+ MPU_FS_2000DPS,
+ NUM_MPU_FS
+};
+
+enum mpu_clock_sel {
+ MPU_CLK_SEL_INTERNAL = 0,
+ MPU_CLK_SEL_PLLGYROX,
+ MPU_CLK_SEL_PLLGYROY,
+ MPU_CLK_SEL_PLLGYROZ,
+ MPU_CLK_SEL_PLLEXT32K,
+ MPU_CLK_SEL_PLLEXT19M,
+ MPU_CLK_SEL_RESERVED,
+ MPU_CLK_SEL_STOP,
+ NUM_CLK_SEL
+};
+
+enum mpu_ext_sync {
+ MPU_EXT_SYNC_NONE = 0,
+ MPU_EXT_SYNC_TEMP,
+ MPU_EXT_SYNC_GYROX,
+ MPU_EXT_SYNC_GYROY,
+ MPU_EXT_SYNC_GYROZ,
+ MPU_EXT_SYNC_ACCELX,
+ MPU_EXT_SYNC_ACCELY,
+ MPU_EXT_SYNC_ACCELZ,
+ NUM_MPU_EXT_SYNC
+};
+
+#define DLPF_FS_SYNC_VALUE(ext_sync, full_scale, lpf) \
+ ((ext_sync << 5) | (full_scale << 3) | lpf)
+
+#endif /* __MPU3050_H_ */
--
1.7.4.1
--
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