xref: /hardware/invensense/60xx/mlsdk/platform/include/mpu3050.h

/*
 $License:
   Copyright 2011 InvenSense, Inc.

 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
 You may obtain a copy of the License at

 http://www.apache.org/licenses/LICENSE-2.0

 Unless required by applicable law or agreed to in writing, software
 distributed under the License is distributed on an "AS IS" BASIS,
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
  $
 */

#ifndef __MPU_H_
#error Do not include this file directly.  Include mpu.h instead.
#endif

#ifndef __MPU3050_H_
#define __MPU3050_H_

#ifdef __KERNEL__
#include <linux/types.h>
#endif

#if !defined CONFIG_MPU_SENSORS_MPU3050
#error MPU6000 build including MPU3050 header
#endif

#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_ */