/* * Copyright (C) 2012-2018 InvenSense, Inc. * * This software is licensed under the terms of the GNU General Public * License version 2, as published by the Free Software Foundation, and * may be copied, distributed, and modified under those terms. * * 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. */ #ifndef _INV_MPU_IIO_H_ #define _INV_MPU_IIO_H_ #include #if (LINUX_VERSION_CODE >= KERNEL_VERSION(4,0,0)) #define KERNEL_VERSION_4_X #endif #include #include #include #include #include #include #include #include #ifdef CONFIG_HAS_WAKELOCK #include #else #include #endif #include #include #include #include #include #include #include #ifdef CONFIG_INV_MPU_IIO_ICM20648 #include "icm20648/dmp3Default.h" #endif #ifdef CONFIG_INV_MPU_IIO_ICM20608D #include "icm20608d/dmp3Default_20608D.h" #endif #include "inv_test/inv_counters.h" #if defined(CONFIG_INV_MPU_IIO_ICM20648) #include "icm20648/inv_mpu_iio_reg_20648.h" #elif defined(CONFIG_INV_MPU_IIO_ICM20602) #include "icm20602/inv_mpu_iio_reg_20602.h" #elif defined(CONFIG_INV_MPU_IIO_ICM20608D) #include "icm20608d/inv_mpu_iio_reg_20608.h" #elif defined(CONFIG_INV_MPU_IIO_ICM20690) #include "icm20690/inv_mpu_iio_reg_20690.h" #elif defined(CONFIG_INV_MPU_IIO_IAM20680) #include "iam20680/inv_mpu_iio_reg_20680.h" #endif #define INVENSENSE_DRIVER_VERSION "8.1.2-simple-test1" /* #define DEBUG */ /* #define ACCEL_BIAS_TEST */ /* #define BIAS_CONFIDENCE_HIGH 1 */ #define MAX_FIFO_READ_SIZE 128 #define MAX_DMP_READ_SIZE 16 /* data header defines */ #define WAKE_HDR 0x8000 #define ACCEL_HDR 1 #define GYRO_HDR 2 #define COMPASS_HDR 3 #define ALS_HDR 4 #define SIXQUAT_HDR 5 #define NINEQUAT_HDR 6 #define PEDQUAT_HDR 7 #define GEOMAG_HDR 8 #define PRESSURE_HDR 9 #define GYRO_CALIB_HDR 10 #define COMPASS_CALIB_HDR 11 #define STEP_COUNTER_HDR 12 #define STEP_DETECTOR_HDR 13 #define STEP_COUNT_HDR 14 #define ACTIVITY_HDR 15 #define PICK_UP_HDR 16 #define EMPTY_MARKER 17 #define END_MARKER 18 #define COMPASS_ACCURACY_HDR 19 #define ACCEL_ACCURACY_HDR 20 #define GYRO_ACCURACY_HDR 21 #define EIS_GYRO_HDR 36 #define EIS_CALIB_HDR 37 #define LPQ_HDR 38 #define ACCEL_WAKE_HDR (ACCEL_HDR | WAKE_HDR) #define GYRO_WAKE_HDR (GYRO_HDR | WAKE_HDR) #define COMPASS_WAKE_HDR (COMPASS_HDR | WAKE_HDR) #define ALS_WAKE_HDR (ALS_HDR | WAKE_HDR) #define SIXQUAT_WAKE_HDR (SIXQUAT_HDR | WAKE_HDR) #define NINEQUAT_WAKE_HDR (NINEQUAT_HDR | WAKE_HDR) #define PEDQUAT_WAKE_HDR (PEDQUAT_HDR | WAKE_HDR) #define GEOMAG_WAKE_HDR (GEOMAG_HDR | WAKE_HDR) #define PRESSURE_WAKE_HDR (PRESSURE_HDR | WAKE_HDR) #define GYRO_CALIB_WAKE_HDR (GYRO_CALIB_HDR | WAKE_HDR) #define COMPASS_CALIB_WAKE_HDR (COMPASS_CALIB_HDR | WAKE_HDR) #define STEP_COUNTER_WAKE_HDR (STEP_COUNTER_HDR | WAKE_HDR) #define STEP_DETECTOR_WAKE_HDR (STEP_DETECTOR_HDR | WAKE_HDR) /* init parameters */ #define MPU_INIT_SMD_THLD 1500 #define MPU_INIT_GYRO_SCALE 3 #define MPU_INIT_ACCEL_SCALE 2 #define MPU_INIT_PED_INT_THRESH 2 #define MPU_INIT_PED_STEP_THRESH 6 #define MPU_4X_TS_GYRO_SHIFT (3160000 / 2) #define DMP_START_ADDR_20645 0x900 #define DMP_START_ADDR_20648 0x1000 #define DMP_START_ADDR_10340 0x0a60 #define DMP_START_ADDR_20608D 0x4B0 #define MAX_WR_SZ 100 #define WOM_DELAY_THRESHOLD 200 #define INV_ODR_BUFFER_MULTI 20 #define INV_ODR_OVER_FACTOR 20 #define COVARIANCE_SIZE 14 #define ACCEL_COVARIANCE_SIZE (COVARIANCE_SIZE * sizeof(int)) #ifdef CONFIG_ENABLE_IAM_ACC_GYRO_BUFFERING #define INV_ACC_MAXSAMPLE 4000 #define INV_GYRO_MAXSAMPLE 4000 #define G_MAX 23920640 struct inv_acc_sample { int xyz[3]; unsigned int tsec; unsigned long long tnsec; }; struct inv_gyro_sample { int xyz[3]; unsigned int tsec; unsigned long long tnsec; }; enum { ACCEL_FSR_2G = 0, ACCEL_FSR_4G = 1, ACCEL_FSR_8G = 2, ACCEL_FSR_16G = 3 }; enum { GYRO_FSR_250DPS = 0, GYRO_FSR_500DPS = 1, GYRO_FSR_1000DPS = 2, GYRO_FSR_2000DPS = 3 }; #endif enum inv_bus_type { BUS_IIO_I2C = 0, BUS_IIO_SPI, }; struct inv_mpu_state; enum INV_ENGINE { ENGINE_GYRO = 0, ENGINE_ACCEL, ENGINE_PRESSURE, ENGINE_I2C, ENGINE_NUM_MAX, }; /** * struct inv_hw_s - Other important hardware information. * @num_reg: Number of registers on device. * @name: name of the chip */ struct inv_hw_s { u8 num_reg; u8 *name; }; /** * struct inv_sensor - information for each sensor. * @ts: this sensors timestamp. * @ts_adj: sensor timestamp adjustment. * @previous_ts: previous timestamp for this sensor. * @dur: duration between samples in ns. * @rate: sensor data rate. * @sample_size: number of bytes for the sensor. * @odr_addr: output data rate address in DMP. * @counter_addr: output counter address in DMP. * @output: output on/off control word. * @time_calib: calibrate timestamp. * @sample_calib: calibrate bytes accumulated. * @div: divider in DMP mode. * @calib_flag: calibrate flag used to improve the accuracy of estimation. * @on: sensor on/off. * @a_en: accel engine requirement. * @g_en: gyro engine requirement. * @c_en: compass_engine requirement. * @p_en: pressure engine requirement. * @engine_base: engine base for this sensor. * @count: number of samples in one session. * @send: decide whether to send this sample or not. */ struct inv_sensor { u64 ts; s64 ts_adj; u64 previous_ts; int dur; int rate; u8 sample_size; int odr_addr; int counter_addr; u16 output; u64 time_calib; u32 sample_calib; int div; bool calib_flag; bool on; bool a_en; bool g_en; bool c_en; bool p_en; enum INV_ENGINE engine_base; int count; bool send; }; /** * struct inv_sensor - information for each sensor. * @sample_size: number of bytes for the sensor. * @output: output on/off control word. * @on: sensor on/off. * @header: accuracy header for communicate with HAL *dd @count: number of samples in one session. */ struct inv_sensor_accuracy { u16 output; u8 sample_size; bool on; u16 header; }; enum SENSOR_ACCURACY { SENSOR_ACCEL_ACCURACY = 0, SENSOR_GYRO_ACCURACY, SENSOR_COMPASS_ACCURACY, SENSOR_ACCURACY_NUM_MAX, }; enum SENSOR_L { SENSOR_L_ACCEL = 0, SENSOR_L_GYRO, SENSOR_L_MAG, SENSOR_L_ALS, SENSOR_L_SIXQ, SENSOR_L_THREEQ, SENSOR_L_NINEQ, SENSOR_L_PEDQ, SENSOR_L_GEOMAG, SENSOR_L_PRESSURE, SENSOR_L_GYRO_CAL, SENSOR_L_MAG_CAL, SENSOR_L_EIS_GYRO, /*wake sensors */ SENSOR_L_ACCEL_WAKE = 13, SENSOR_L_GYRO_WAKE, SENSOR_L_MAG_WAKE, SENSOR_L_ALS_WAKE, SENSOR_L_SIXQ_WAKE, SENSOR_L_NINEQ_WAKE, SENSOR_L_PEDQ_WAKE, SENSOR_L_GEOMAG_WAKE, SENSOR_L_PRESSURE_WAKE, SENSOR_L_GYRO_CAL_WAKE, SENSOR_L_MAG_CAL_WAKE, SENSOR_L_GESTURE_ACCEL, SENSOR_L_NUM_MAX, }; /** * struct android_l_sensor - information for each android sensor. * @ts: this sensors timestamp. * @base: android sensor based on invensense sensor. * @rate: output rate. * @on: sensor on/off. * @wake_on: wake on sensor is on/off. * @div: divider for the output. * @counter: counter works with the divider. * @header: header for the output. */ struct android_l_sensor { u64 ts; enum INV_SENSORS base; int rate; bool on; bool wake_on; int div; int counter; u16 header; }; /** * struct inv_batch - information for batchmode. * @on: normal batch mode on. * @default_on: default batch on. This is optimization option. * @overflow_on: overflow mode for batchmode. * @wake_fifo_on: overflow for suspend mode. * @step_only: mean only step detector data is batched. * @post_isr_run: mean post isr has runned once. * @counter: counter for batch mode. * @timeout: nominal timeout value for batchmode in milliseconds. * @max_rate: max rate for all batched sensors. * @pk_size: packet size; * @engine_base: engine base batch mode should stick to. */ struct inv_batch { bool on; bool default_on; bool overflow_on; bool wake_fifo_on; bool step_only; bool post_isr_run; u32 counter; u32 timeout; u32 max_rate; u32 pk_size; u32 fifo_wm_th; enum INV_ENGINE engine_base; }; /** * struct inv_chip_config_s - Cached chip configuration data. * @fsr: Full scale range. * @lpf: Digital low pass filter frequency. * @accel_fs: accel full scale range. * @accel_enable: enable accel functionality * @gyro_enable: enable gyro functionality * @compass_enable: enable compass functinality. * @geomag_enable: enable geomag sensor functions. * @als_enable: enable ALS functionality. * @pressure_enable: eanble pressure functionality. * @secondary_enable: secondary I2C bus enabled or not. * @has_gyro: has gyro or not. * @has_compass: has secondary I2C compass or not. * @has_pressure: has secondary I2C pressure or not. * @has_als: has secondary I2C als or not. * @slave_enable: secondary I2C interface enabled or not. * @normal_compass_measure: discard first compass data after reset. * @is_asleep: 1 if chip is powered down. * @lp_en_set: 1 if LP_EN bit is set; * @lp_en_mode_off: debug mode that turns off LP_EN mode off. * @clk_sel: debug_mode that turns on/off clock selection. * @dmp_on: dmp is on/off. * @dmp_event_int_on: dmp event interrupt on/off. * @wom_on: WOM interrupt on. This is an internal variable. * @step_indicator_on: step indicate bit added to the sensor or not. * @tilt_enable: tilt enable. * @pick_up_enable: pick up gesture enable. * @step_detector_on: step detector on or not. * @activity_on: turn on/off activity. * @activity_eng_on: activity engine on/off. * @firmware_loaded: flag indicate firmware loaded or not. * @low_power_gyro_on: flag indicating low power gyro on/off. * @wake_on: any wake on sensor is on/off. * @compass_rate: compass engine rate. Determined by underlying data. */ struct inv_chip_config_s { u32 fsr:2; u32 lpf:3; u32 accel_fs:2; u32 accel_enable:1; u32 gyro_enable:1; u32 compass_enable:1; u32 geomag_enable:1; u32 als_enable:1; u32 prox_enable:1; u32 pressure_enable:1; u32 has_gyro:1; u32 has_compass:1; u32 has_pressure:1; u32 has_als:1; u32 slave_enable:1; u32 normal_compass_measure:1; u32 is_asleep:1; u32 lp_en_set:1; u32 lp_en_mode_off:1; u32 clk_sel:1; u32 dmp_on:1; u32 dmp_event_int_on:1; u32 wom_on:1; u32 step_indicator_on:1; u32 tilt_enable:1; u32 pick_up_enable:1; u32 eis_enable:1; u32 step_detector_on:1; u32 activity_on:1; u32 activity_eng_on:1; u32 firmware_loaded:1; u32 low_power_gyro_on:1; u32 wake_on:1; int compass_rate; }; /** * struct inv_temp_comp - temperature compensation structure. * @t_lo: raw temperature in low temperature. * @t_hi: raw temperature in high temperature. * @b_lo: gyro bias in low temperature. * @b_hi: gyro bias in high temperature. * @has_low: flag indicate low temperature parameters is updated. * @has_high: flag indicates high temperature parameters is updated. * @slope: slope for temperature compensation. */ struct inv_temp_comp { int t_lo; int t_hi; int b_lo[3]; int b_hi[3]; bool has_low; bool has_high; int slope[3]; }; /** * struct inv_chip_info_s - Chip related information. * @product_id: Product id. * @product_revision: Product revision. * @silicon_revision: Silicon revision. * @software_revision: software revision. * @compass_sens: compass sensitivity. * @gyro_sens_trim: Gyro sensitivity trim factor. * @accel_sens_trim: accel sensitivity trim factor. */ struct inv_chip_info_s { u8 product_id; u8 product_revision; u8 silicon_revision; u8 software_revision; u8 compass_sens[3]; u32 gyro_sens_trim; u32 accel_sens_trim; }; /** * struct inv_smd significant motion detection structure. * @threshold: accel threshold for motion detection. * @delay: delay time to confirm 2nd motion. * @delay2: delay window parameter. * @on: smd on/off. */ struct inv_smd { u32 threshold; u32 delay; u32 delay2; bool on; }; /** * struct inv_ped pedometer related data structure. * @step: steps taken. * @time: time taken during the period. * @last_step_time: last time the step is taken. * @step_thresh: step threshold to show steps. * @int_thresh: step threshold to generate interrupt. * @int_on: pedometer interrupt enable/disable. * @on: pedometer on/off. * @engine_on: pedometer engine on/off. */ struct inv_ped { u64 step; u64 time; u64 last_step_time; u16 step_thresh; u16 int_thresh; bool int_on; bool on; bool engine_on; }; /** * struct inv_eis EIS related data structure. * @prev_gyro: latest gyro data just before FSYNC triggerd * @prev_timestamp: latest gyro timestamp just before FSYNC triggered * @current_gyro: gyro data just after FSYNC triggerd * @current_timestamp: gyro timestamp just after FSYNC triggered * @fsync_timestamp: timestamp of FSYNC event * @fsync_delay: delay time of FSYNC and Gyro data. DMP data of FSYNC event * @eis_triggered: check fsync event is triggered or not. * @eis_frame: current frame is eis frame; * @current_sync: current frame contains fsync counter. * @frame_count: frame count for synchronization. */ struct inv_eis { int prev_gyro[3]; u64 prev_timestamp; int current_gyro[3]; u64 current_timestamp; u32 frame_dur; u64 slope[3]; u64 fsync_timestamp; u64 last_fsync_timestamp; u16 fsync_delay; bool eis_triggered; bool eis_frame; bool current_sync; bool prev_state; u32 frame_count; int gyro_counter; int gyro_counter_s[3]; int fsync_delay_s[3]; int voting_count; int voting_count_sub; int voting_state; int count_precision; }; enum TRIGGER_STATE { DATA_TRIGGER = 0, RATE_TRIGGER, EVENT_TRIGGER, MISC_TRIGGER, DEBUG_TRIGGER, }; enum inv_fifo_count_mode { BYTE_MODE, RECORD_MODE }; /** * struct inv_secondary_reg - secondary registers data structure. * @addr: address of the slave. * @reg: register address of slave. * @ctrl: control register. * @d0: data out register. */ struct inv_secondary_reg { u8 addr; u8 reg; u8 ctrl; u8 d0; }; struct inv_secondary_set { u8 delay_enable; u8 delay_time; u8 odr_config; }; /** * struct inv_engine_info - data structure for engines. * @base_time: base time for each engine. * @base_time_1k: base time when chip is running at 1K; * @divider: divider used to downsample engine rate from original rate. * @running_rate: the actually running rate of engine. * @orig_rate: original rate for each engine before downsample. * @dur: duration for one tick. * @last_update_time: last update time. */ struct inv_engine_info { u32 base_time; u32 base_time_1k; u32 divider; u32 running_rate; u32 orig_rate; u32 dur; u64 last_update_time; }; struct inv_ois { int gyro_fs; int accel_fs; bool en; }; /** * struct inv_timestamp_algo - timestamp algorithm . * @last_run_time: last time the post ISR runs. * @ts_for_calib: ts storage for calibration. * @reset_ts: reset time. * @dmp_ticks: dmp ticks storage for calibration. * @start_dmp_counter: dmp counter when start a new session. * @calib_counter: calibration counter for timestamp. * @resume_flag: flag to indicate this is the first time after resume. time could have up to 1 seconds difference. * @clock_base: clock base to calculate the timestamp. * @gyro_ts_shift: 9 K counter for EIS. * @first_sample: first of 1K running should be dropped it affects timing */ struct inv_timestamp_algo { u64 last_run_time; u64 ts_for_calib; u64 reset_ts; u32 dmp_ticks; u32 start_dmp_counter; int calib_counter; bool resume_flag; enum INV_ENGINE clock_base; u32 gyro_ts_shift; u32 first_sample; }; struct inv_mpu_slave; /** * struct inv_mpu_state - Driver state variables. * @dev: device address of the current bus, i2c or spi. * @chip_config: Cached attribute information. * @chip_info: Chip information from read-only registers. * @smd: SMD data structure. * @ped: pedometer data structure. * @batch: batchmode data structure. * @temp_comp: gyro temperature compensation structure. * @slave_compass: slave compass. * @slave_pressure: slave pressure. * @slave_als: slave als. * @slv_reg: slave register data structure. * @ts_algo: timestamp algorithm data structure. * @sec_set: slave register odr config. * @eng_info: information for each engine. * @hw: Other hardware-specific information. * @chip_type: chip type. * @suspend_resume_sema: semaphore for suspend/resume. * @wake_lock: wake lock of the system. * @client: i2c client handle. * @plat_data: platform data. * @sl_handle: Handle to I2C port. * @sensor{SENSOR_NUM_MAX]: sensor individual properties. * @sensor_l[SENSOR_L_NUM_MAX]: android L sensors properties. * @sensor_accuracy[SENSOR_ACCURACY_NUM_MAX]: sensor accuracy. * @sensor_acurracy_flag: flag indiciate whether to check output accuracy. * @irq: irq number store. * @accel_bias: accel bias store. * @gyro_bias: gyro bias store. * @accel_st_bias: accel bias store, result of self-test. * @gyro_st_bias: gyro bias store, result of self-test. * @gyro_ois_st_bias: gyro bias store from ois self test result. * @input_accel_dmp_bias[3]: accel bias for dmp. * @input_gyro_dmp_bias[3]: gyro bias for dmp. * @input_compass_dmp_bias[3]: compass bias for dmp. * @input_accel_bias[3]: accel bias for offset register. * @input_gyro_bias[3]: gyro bias for offset register. * @fifo_data[8]: fifo data storage. * @i2c_addr: i2c address. * @header_count: header count in current FIFO. * @step_det_count: number of step detectors in one batch. * @gyro_sf: gyro scale factor. * @left_over[LEFT_OVER_BYTES]: left over bytes storage. * @left_over_size: left over size. * @fifo_count: current fifo_count; * @wake_sensor_received: wake up sensor received. * @accel_cal_enable: accel calibration on/off * @gyro_cal_enable: gyro calibration on/off * @calib_compass_on: calibrate compass on. * @debug_determine_engine_on: determine engine on/off. * @poke_mode_on: poke mode on/off. * @mode_1k_on: indicate 1K Hz mode is on. * @poke_ts: time stamp for poke feature. * @step_detector_base_ts: base time stamp for step detector calculation. * @last_temp_comp_time: last time temperature compensation is done. * @i2c_dis: disable I2C interface or not. * @name: name for the chip. * @gyro_st_data: gyro self test data. * @accel_st_data: accel self test data. * @secondary_name: name for the slave device in the secondary I2C. * @compass_var: compass variance from DMP. * @current_compass_matrix: matrix compass data multiplied to before soft iron. * @final_compass_matrix: matrix compass data multiplied to before soft iron. * @trigger_state: information that which part triggers set_inv_enable. * @firmware: firmware data pointer. * @accel_calib_threshold: accel calibration threshold; * @accel_calib_rate: divider for accel calibration rate. * @accel_covariance[COVARIANCE_SIZE]: accel covariance data; * @kf: kfifo for activity store. * @activity_size: size for activity. * @cntl: control word for sensor enable. * @cntl2: control word for sensor extension. * @motion_event_cntl: control word for events. * @dmp_image_size: dmp image size. * @dmp_start_address: start address of dmp. * @step_counter_l_on: step counter android L sensor on/off. * @step_counter_wake_l_on: step counter android L sensor wake on/off . * @step_detector_l_on: step detector android L sensor on/off. * @step_detector_wake_l_on: step detector android L sensor wake on/off . * @gesture_only_on: indicate it is gesture only. * @mag_divider: mag divider when gyro/accel is faster than mag maximum rate. * @special_mag_mode: for 20690, there is special mag mode need to be handled. * @mag_start_flag: when mag divider is non zero, need to check the start. * @prev_steps: previous steps sent to the user. * @aut_key_in: authentication key input. * @aut_key_out: authentication key output. * @suspend_state: state variable to indicate that we are in suspend state. * @secondary_gyro_on: DMP out signal to turn on gyro. * @secondary_mag_on: DMP out signal to turn on mag. * @secondary_prox_on: DMP out signal to turn on proximity. * @secondary_switch: showing this setup is triggerred by secondary switch. * @send_calib_gyro: flag to indicate to send calibrated gyro. * @send_raw_compass: flag to send raw compass. * @resume_state: flag to synchronize the processing of inv_read_fifo() * @cycle_on: variable indicate accel cycle mode is on. * @secondary_switch_data: secondary switch data for activity. * @raw_gyro_data[6]: save raw gyro data. * @raw_compass_data[3]: save raw compass data. * @wait_queue: wait queue to wake up inv_read_fifo() * @bac_drive_conf: bac drive configuration. * @bac_walk_conf: bac walk configuration. * @bac_smd_conf: bac smd configuration. * @bac_bike_conf: bac bike configuration. * @bac_run_conf: bac run configuration. * @bac_still_conf: back still configuration. * @power_on_data: power on data. * @fifo_data_store: store of FIFO data. * @int_en: store interrupt enable register data. * @int_en2: store interrupt enable register 2 data. * @gesture_int_count: interrupt count for gesture only mode. * @smplrt_div: SMPLRT_DIV register value. */ struct inv_mpu_state { struct device *dev; int (*write)(struct inv_mpu_state *st, u8 reg, u8 data); int (*read)(struct inv_mpu_state *st, u8 reg, int len, u8 *data); int (*mem_write)(struct inv_mpu_state *st, u8 mpu_addr, u16 mem_addr, u32 len, u8 const *data); int (*mem_read)(struct inv_mpu_state *st, u8 mpu_addr, u16 mem_addr, u32 len, u8 *data); struct inv_chip_config_s chip_config; struct inv_chip_info_s chip_info; struct inv_smd smd; struct inv_ped ped; struct inv_eis eis; struct inv_batch batch; struct inv_temp_comp temp_comp; struct inv_mpu_slave *slave_compass; struct inv_mpu_slave *slave_pressure; struct inv_mpu_slave *slave_als; struct inv_secondary_reg slv_reg[4]; struct inv_timestamp_algo ts_algo; struct inv_secondary_set sec_set; struct inv_engine_info eng_info[ENGINE_NUM_MAX]; const struct inv_hw_s *hw; enum inv_devices chip_type; enum inv_bus_type bus_type; enum inv_fifo_count_mode fifo_count_mode; #ifdef CONFIG_HAS_WAKELOCK struct wake_lock wake_lock; #else struct wakeup_source wake_lock; #endif #ifdef TIMER_BASED_BATCHING struct hrtimer hr_batch_timer; u64 batch_timeout; bool is_batch_timer_running; struct work_struct batch_work; #endif struct i2c_client *client; struct mpu_platform_data plat_data; void *sl_handle; struct inv_sensor sensor[SENSOR_NUM_MAX]; struct android_l_sensor sensor_l[SENSOR_L_NUM_MAX]; struct inv_sensor_accuracy sensor_accuracy[SENSOR_ACCURACY_NUM_MAX]; struct inv_ois ois; bool sensor_acurracy_flag[SENSOR_ACCURACY_NUM_MAX]; short irq; int accel_bias[3]; int gyro_bias[3]; int accel_st_bias[3]; int accel_ois_st_bias[3]; int gyro_st_bias[3]; int gyro_ois_st_bias[3]; int input_accel_dmp_bias[3]; int input_gyro_dmp_bias[3]; int input_compass_dmp_bias[3]; int input_accel_bias[3]; int input_gyro_bias[3]; u8 fifo_data[8]; u8 i2c_addr; int header_count; int step_det_count; s32 gyro_sf; u8 left_over[LEFT_OVER_BYTES]; u32 left_over_size; u32 fifo_count; bool wake_sensor_received; bool accel_cal_enable; bool gyro_cal_enable; bool calib_compass_on; bool debug_determine_engine_on; bool poke_mode_on; bool mode_1k_on; u64 poke_ts; u64 step_detector_base_ts; u64 last_temp_comp_time; u8 i2c_dis; u8 name[20]; u8 gyro_st_data[3]; u8 accel_st_data[3]; u8 secondary_name[20]; s32 compass_var; int current_compass_matrix[9]; int final_compass_matrix[9]; enum TRIGGER_STATE trigger_state; u8 *firmware; int accel_calib_threshold; int accel_calib_rate; u32 accel_covariance[COVARIANCE_SIZE]; DECLARE_KFIFO(kf, u8, 128); u32 activity_size; int wom_thld; u16 cntl; u16 cntl2; u16 motion_event_cntl; int dmp_image_size; int dmp_start_address; bool step_counter_l_on; bool step_counter_wake_l_on; bool step_detector_l_on; bool step_detector_wake_l_on; bool gesture_only_on; bool mag_start_flag; int mag_divider; bool special_mag_mode; int prev_steps; u32 curr_steps; int aut_key_in; int aut_key_out; bool secondary_gyro_on; bool secondary_mag_on; bool secondary_prox_on; bool secondary_switch; bool send_calib_gyro; bool send_raw_compass; bool send_raw_gyro; bool resume_state; bool cycle_on; int secondary_switch_data; u8 raw_gyro_data[6]; u32 raw_compass_data[3]; wait_queue_head_t wait_queue; u32 bac_drive_conf; u32 bac_walk_conf; u32 bac_smd_conf; u32 bac_bike_conf; u32 bac_run_conf; u32 bac_still_conf; u32 power_on_data; u8 fifo_data_store[HARDWARE_FIFO_SIZE + LEFT_OVER_BYTES]; u8 int_en; u8 int_en_2; u8 gesture_int_count; u8 smplrt_div; #ifdef CONFIG_ENABLE_IAM_ACC_GYRO_BUFFERING bool read_acc_boot_sample; bool read_gyro_boot_sample; int acc_bufsample_cnt; int gyro_bufsample_cnt; bool acc_buffer_inv_samples; bool gyro_buffer_inv_samples; struct kmem_cache *inv_acc_cachepool; struct kmem_cache *inv_gyro_cachepool; struct inv_acc_sample *inv_acc_samplist[INV_ACC_MAXSAMPLE]; struct inv_gyro_sample *inv_gyro_samplist[INV_GYRO_MAXSAMPLE]; ktime_t timestamp; int max_buffer_time; struct input_dev *accbuf_dev; struct input_dev *gyrobuf_dev; int report_evt_cnt; #endif }; /** * struct inv_mpu_slave - MPU slave structure. * @st_upper: compass self test upper limit. * @st_lower: compass self test lower limit. * @scale: compass scale. * @rate_scale: decide how fast a compass can read. * @min_read_time: minimum time between each reading. * @self_test: self test method of the slave. * @set_scale: set scale of slave * @get_scale: read scale back of the slave. * @suspend: suspend operation. * @resume: resume operation. * @setup: setup chip. initialization. * @combine_data: combine raw data into meaningful data. * @read_data: read external sensor and output * @get_mode: get current chip mode. * @set_lpf: set low pass filter. * @set_fs: set full scale * @prev_ts: last time it is read. */ struct inv_mpu_slave { const short *st_upper; const short *st_lower; int scale; int rate_scale; int min_read_time; int (*self_test) (struct inv_mpu_state *); int (*set_scale) (struct inv_mpu_state *, int scale); int (*get_scale) (struct inv_mpu_state *, int *val); int (*suspend) (struct inv_mpu_state *); int (*resume) (struct inv_mpu_state *); int (*setup) (struct inv_mpu_state *); int (*combine_data) (u8 *in, short *out); int (*read_data) (struct inv_mpu_state *, short *out); int (*get_mode) (void); int (*set_lpf) (struct inv_mpu_state *, int rate); int (*set_fs) (struct inv_mpu_state *, int fs); u64 prev_ts; }; /* scan element definition */ enum inv_mpu_scan { INV_MPU_SCAN_TIMESTAMP, }; /* IIO attribute address */ enum MPU_IIO_ATTR_ADDR { ATTR_DMP_GYRO_X_DMP_BIAS, ATTR_DMP_GYRO_Y_DMP_BIAS, ATTR_DMP_GYRO_Z_DMP_BIAS, ATTR_DMP_GYRO_CAL_ENABLE, ATTR_DMP_ACCEL_X_DMP_BIAS, ATTR_DMP_ACCEL_Y_DMP_BIAS, ATTR_DMP_ACCEL_Z_DMP_BIAS, ATTR_DMP_MAGN_X_DMP_BIAS, ATTR_DMP_MAGN_Y_DMP_BIAS, ATTR_DMP_MAGN_Z_DMP_BIAS, ATTR_DMP_MAGN_ACCURACY, ATTR_GYRO_X_OFFSET, ATTR_GYRO_Y_OFFSET, ATTR_GYRO_Z_OFFSET, ATTR_ACCEL_X_OFFSET, ATTR_ACCEL_Y_OFFSET, ATTR_ACCEL_Z_OFFSET, ATTR_DMP_SC_AUTH, ATTR_DMP_EIS_AUTH, ATTR_DMP_ACCEL_CAL_ENABLE, ATTR_DMP_PED_INT_ON, ATTR_DMP_PED_STEP_THRESH, ATTR_DMP_PED_INT_THRESH, ATTR_DMP_PED_ON, ATTR_DMP_SMD_ENABLE, ATTR_DMP_TILT_ENABLE, ATTR_DMP_PICK_UP_ENABLE, ATTR_DMP_EIS_ENABLE, ATTR_DMP_PEDOMETER_STEPS, ATTR_DMP_PEDOMETER_TIME, ATTR_DMP_PEDOMETER_COUNTER, ATTR_DMP_LOW_POWER_GYRO_ON, ATTR_DMP_LP_EN_OFF, ATTR_DMP_CLK_SEL, ATTR_DMP_DEBUG_MEM_READ, ATTR_DMP_DEBUG_MEM_WRITE, ATTR_DEBUG_REG_WRITE, ATTR_DEBUG_WRITE_CFG, ATTR_DEBUG_REG_ADDR, ATTR_WOM_THLD, /* *****above this line, are DMP features, power needs on/off */ /* *****below this line, are DMP features, no power needed */ ATTR_IN_POWER_ON, ATTR_DMP_ON, ATTR_DMP_EVENT_INT_ON, ATTR_DMP_STEP_COUNTER_ON, ATTR_DMP_STEP_COUNTER_WAKE_ON, ATTR_DMP_BATCHMODE_TIMEOUT, ATTR_DMP_BATCHMODE_WAKE_FIFO_FULL, ATTR_DMP_STEP_DETECTOR_ON, ATTR_DMP_STEP_DETECTOR_WAKE_ON, ATTR_DMP_ACTIVITY_ON, ATTR_DMP_IN_ANGLVEL_ACCURACY_ENABLE, ATTR_DMP_IN_ACCEL_ACCURACY_ENABLE, ATTR_DMP_DEBUG_DETERMINE_ENGINE_ON, ATTR_DMP_MISC_GYRO_RECALIBRATION, ATTR_DMP_MISC_ACCEL_RECALIBRATION, ATTR_DMP_PARAMS_ACCEL_CALIBRATION_THRESHOLD, ATTR_DMP_PARAMS_ACCEL_CALIBRATION_RATE, ATTR_GYRO_SCALE, ATTR_ACCEL_SCALE, ATTR_COMPASS_SCALE, ATTR_COMPASS_SENSITIVITY_X, ATTR_COMPASS_SENSITIVITY_Y, ATTR_COMPASS_SENSITIVITY_Z, ATTR_GYRO_ENABLE, ATTR_ACCEL_ENABLE, ATTR_COMPASS_ENABLE, ATTR_FIRMWARE_LOADED, ATTR_POKE_MODE, ATTR_ANGLVEL_X_CALIBBIAS, ATTR_ANGLVEL_Y_CALIBBIAS, ATTR_ANGLVEL_Z_CALIBBIAS, ATTR_ACCEL_X_CALIBBIAS, ATTR_ACCEL_Y_CALIBBIAS, ATTR_ACCEL_Z_CALIBBIAS, ATTR_ANGLVEL_X_ST_CALIBBIAS, ATTR_ANGLVEL_Y_ST_CALIBBIAS, ATTR_ANGLVEL_Z_ST_CALIBBIAS, ATTR_ANGLVEL_X_OIS_ST_CALIBBIAS, ATTR_ANGLVEL_Y_OIS_ST_CALIBBIAS, ATTR_ANGLVEL_Z_OIS_ST_CALIBBIAS, ATTR_ACCEL_X_ST_CALIBBIAS, ATTR_ACCEL_Y_ST_CALIBBIAS, ATTR_ACCEL_Z_ST_CALIBBIAS, ATTR_ACCEL_X_OIS_ST_CALIBBIAS, ATTR_ACCEL_Y_OIS_ST_CALIBBIAS, ATTR_ACCEL_Z_OIS_ST_CALIBBIAS, ATTR_GYRO_MATRIX, ATTR_ACCEL_MATRIX, ATTR_COMPASS_MATRIX, ATTR_FSYNC_FRAME_COUNT, ATTR_SECONDARY_NAME, ATTR_GYRO_SF, ATTR_BAC_DRIVE_CONFIDENCE, ATTR_BAC_WALK_CONFIDENCE, ATTR_BAC_SMD_CONFIDENCE, ATTR_BAC_BIKE_CONFIDENCE, ATTR_BAC_STILL_CONFIDENCE, ATTR_BAC_RUN_CONFIDENCE, IN_OIS_ACCEL_FS, IN_OIS_GYRO_FS, IN_OIS_ENABLE, }; int inv_mpu_configure_ring(struct iio_dev *indio_dev); int inv_mpu_probe_trigger(struct iio_dev *indio_dev); void inv_mpu_unconfigure_ring(struct iio_dev *indio_dev); void inv_mpu_remove_trigger(struct iio_dev *indio_dev); #ifdef CONFIG_PM_SLEEP int inv_mpu_suspend(struct iio_dev *indio_dev); void inv_mpu_complete(struct iio_dev *indio_dev); #endif int inv_get_pedometer_steps(struct inv_mpu_state *st, int *ped); int inv_get_pedometer_time(struct inv_mpu_state *st, int *ped); int inv_read_pedometer_counter(struct inv_mpu_state *st); int inv_dmp_read(struct inv_mpu_state *st, int off, int size, u8 *buf); int inv_firmware_load(struct inv_mpu_state *st); int set_inv_enable(struct iio_dev *indio_dev); int inv_mpu_setup_compass_slave(struct inv_mpu_state *st); int inv_mpu_setup_pressure_slave(struct inv_mpu_state *st); int inv_mpu_setup_als_slave(struct inv_mpu_state *st); int inv_mpu_initialize(struct inv_mpu_state *st); int inv_set_accel_sf(struct inv_mpu_state *st); int inv_set_gyro_sf(struct inv_mpu_state *st); s64 get_time_ns(void); int inv_i2c_read_base(struct inv_mpu_state *st, u16 i, u8 r, u16 l, u8 *d); int inv_i2c_single_write_base(struct inv_mpu_state *st, u16 i, u8 r, u8 d); int write_be32_to_mem(struct inv_mpu_state *st, u32 data, int addr); int write_be16_to_mem(struct inv_mpu_state *st, u16 data, int addr); int read_be32_from_mem(struct inv_mpu_state *st, u32 *o, int addr); int read_be16_from_mem(struct inv_mpu_state *st, u16 *o, int addr); u32 inv_get_cntr_diff(u32 curr_counter, u32 prev); int inv_write_2bytes(struct inv_mpu_state *st, int k, int data); int inv_set_bank(struct inv_mpu_state *st, u8 bank); int inv_set_power(struct inv_mpu_state *st, bool power_on); int inv_switch_power_in_lp(struct inv_mpu_state *st, bool on); #ifndef CONFIG_INV_MPU_IIO_ICM20608D int inv_set_accel_config2(struct inv_mpu_state *st, bool cycle_mode); #endif int inv_stop_dmp(struct inv_mpu_state *st); int inv_reset_fifo(struct inv_mpu_state *st, bool turn_off); int inv_create_dmp_sysfs(struct iio_dev *ind); int inv_check_chip_type(struct iio_dev *indio_dev, const char *name); int inv_write_compass_matrix(struct inv_mpu_state *st, int *adj); irqreturn_t inv_read_fifo(int irq, void *dev_id); #ifdef TIMER_BASED_BATCHING void inv_batch_work(struct work_struct *work); #endif int inv_flush_batch_data(struct iio_dev *indio_dev, int data); static inline int mpu_memory_write(struct inv_mpu_state *st, u8 mpu_addr, u16 mem_addr, u32 len, u8 const *data) { int ret = -1; if (st->mem_write) ret = st->mem_write(st, mpu_addr, mem_addr, len, data); return ret; } static inline int mpu_memory_read(struct inv_mpu_state *st, u8 mpu_addr, u16 mem_addr, u32 len, u8 *data) { int ret = -1; if (st->mem_read) ret = st->mem_read(st, mpu_addr, mem_addr, len, data); return ret; } int inv_read_secondary(struct inv_mpu_state *st, int ind, int addr, int reg, int len); int inv_write_secondary(struct inv_mpu_state *st, int ind, int addr, int reg, int v); int inv_execute_write_secondary(struct inv_mpu_state *st, int ind, int addr, int reg, int v); int inv_execute_read_secondary(struct inv_mpu_state *st, int ind, int addr, int reg, int len, u8 *d); int inv_push_16bytes_buffer(struct inv_mpu_state *st, u16 hdr, u64 t, int *q, s16 accur); int inv_push_gyro_data(struct inv_mpu_state *st, s16 *raw, s32 *calib, u64 t); int inv_push_8bytes_buffer(struct inv_mpu_state *st, u16 hdr, u64 t, s16 *d); int inv_push_8bytes_kf(struct inv_mpu_state *st, u16 hdr, u64 t, s16 *d); void inv_push_step_indicator(struct inv_mpu_state *st, u64 t); int inv_send_steps(struct inv_mpu_state *st, int step, u64 t); int inv_push_marker_to_buffer(struct inv_mpu_state *st, u16 hdr, int data); int inv_check_sensor_on(struct inv_mpu_state *st); int inv_write_cntl(struct inv_mpu_state *st, u16 wd, bool en, int cntl); int inv_get_packet_size(struct inv_mpu_state *st, u16 hdr, u32 *pk_size, u8 *dptr); int inv_parse_packet(struct inv_mpu_state *st, u16 hdr, u8 *dptr); int inv_pre_parse_packet(struct inv_mpu_state *st, u16 hdr, u8 *dptr); int inv_process_dmp_data(struct inv_mpu_state *st); int be32_to_int(u8 *d); void inv_convert_and_push_16bytes(struct inv_mpu_state *st, u16 hdr, u8 *d, u64 t, s8 *m); void inv_convert_and_push_8bytes(struct inv_mpu_state *st, u16 hdr, u8 *d, u64 t, s8 *m); int inv_get_dmp_ts(struct inv_mpu_state *st, int i); int inv_process_step_det(struct inv_mpu_state *st, u8 *dptr); int inv_process_eis(struct inv_mpu_state *st, u16 delay); int inv_rate_convert(struct inv_mpu_state *st, int ind, int data); int inv_setup_dmp_firmware(struct inv_mpu_state *st); /* used to print i2c data using pr_debug */ char *wr_pr_debug_begin(u8 const *data, u32 len, char *string); char *wr_pr_debug_end(char *string); int inv_hw_self_test(struct inv_mpu_state *st); int inv_q30_mult(int a, int b); #ifdef ACCEL_BIAS_TEST int inv_get_3axis_average(s16 src[], s16 dst[], s16 reset); #endif static inline int inv_plat_single_write(struct inv_mpu_state *st, u8 reg, u8 data) { int ret = -1; if (st->write) ret = st->write(st, reg, data); return ret; } static inline int inv_plat_read(struct inv_mpu_state *st, u8 reg, int len, u8 *data) { int ret = -1; if (st->read) ret = st->read(st, reg, len, data); return ret; } irqreturn_t inv_read_fifo(int , void *); int inv_stop_interrupt(struct inv_mpu_state *st); int inv_reenable_interrupt(struct inv_mpu_state *st); int inv_enable_pedometer_interrupt(struct inv_mpu_state *st, bool en); int inv_dataout_control1(struct inv_mpu_state *st, u16 cntl1); int inv_dataout_control2(struct inv_mpu_state *st, u16 cntl2); int inv_motion_interrupt_control(struct inv_mpu_state *st, u16 motion_event_cntl); int inv_bound_timestamp(struct inv_mpu_state *st); int inv_update_dmp_ts(struct inv_mpu_state *st, int ind); int inv_get_last_run_time_non_dmp_record_mode(struct inv_mpu_state *st); #define mem_w(a, b, c) mpu_memory_write(st, st->i2c_addr, a, b, c) #define mem_r(a, b, c) mpu_memory_read(st, st->i2c_addr, a, b, c) #endif /* #ifndef _INV_MPU_IIO_H_ */