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2024-05-13 9d77db3c730780c8ef5ccd4b66403ff5675cfe4e 
 kernel/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
....@@ -1,15 +1,11 @@
1
+/* SPDX-License-Identifier: GPL-2.0-only */
12 /*
23 * Copyright (C) 2012 Invensense, Inc.
3
-*
4
-* This software is licensed under the terms of the GNU General Public
5
-* License version 2, as published by the Free Software Foundation, and
6
-* may be copied, distributed, and modified under those terms.
7
-*
8
-* This program is distributed in the hope that it will be useful,
9
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
10
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
11
-* GNU General Public License for more details.
124 */
5
+
6
+#ifndef INV_MPU_IIO_H_
7
+#define INV_MPU_IIO_H_
8
+
139 #include <linux/i2c.h>
1410 #include <linux/i2c-mux.h>
1511 #include <linux/mutex.h>
....@@ -79,28 +75,59 @@
7975 	INV_MPU9250,
8076 	INV_MPU9255,
8177 	INV_ICM20608,
78
+	INV_ICM20609,
79
+	INV_ICM20689,
8280 	INV_ICM20602,
81
+	INV_ICM20690,
82
+	INV_IAM20680,
8383 	INV_NUM_PARTS
8484 };
8585 
86
+/* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer */
87
+#define INV_MPU6050_SENSOR_ACCL		BIT(0)
88
+#define INV_MPU6050_SENSOR_GYRO		BIT(1)
89
+#define INV_MPU6050_SENSOR_TEMP		BIT(2)
90
+#define INV_MPU6050_SENSOR_MAGN		BIT(3)
91
+
8692 /**
8793  *  struct inv_mpu6050_chip_config - Cached chip configuration data.
94
+ *  @clk:		selected chip clock
8895  *  @fsr:		Full scale range.
8996  *  @lpf:		Digital low pass filter frequency.
9097  *  @accl_fs:		accel full scale range.
98
+ *  @accl_en:		accel engine enabled
99
+ *  @gyro_en:		gyro engine enabled
100
+ *  @temp_en:		temperature sensor enabled
101
+ *  @magn_en:		magn engine (i2c master) enabled
91102  *  @accl_fifo_enable:	enable accel data output
92103  *  @gyro_fifo_enable:	enable gyro data output
104
+ *  @temp_fifo_enable:	enable temp data output
105
+ *  @magn_fifo_enable:	enable magn data output
93106  *  @divider:		chip sample rate divider (sample rate divider - 1)
94107  */
95108 struct inv_mpu6050_chip_config {
109
+	unsigned int clk:3;
96110 	unsigned int fsr:2;
97111 	unsigned int lpf:3;
98112 	unsigned int accl_fs:2;
113
+	unsigned int accl_en:1;
114
+	unsigned int gyro_en:1;
115
+	unsigned int temp_en:1;
116
+	unsigned int magn_en:1;
99117 	unsigned int accl_fifo_enable:1;
100118 	unsigned int gyro_fifo_enable:1;
119
+	unsigned int temp_fifo_enable:1;
120
+	unsigned int magn_fifo_enable:1;
101121 	u8 divider;
102122 	u8 user_ctrl;
103123 };
124
+
125
+/*
126
+ * Maximum of 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8.
127
+ * May be less if fewer channels are enabled, as long as the timestamp
128
+ * remains 8 byte aligned
129
+ */
130
+#define INV_MPU6050_OUTPUT_DATA_SIZE         32
104131 
105132 /**
106133  *  struct inv_mpu6050_hw - Other important hardware information.
....@@ -139,6 +166,13 @@
139166  *  @chip_period:	chip internal period estimation (~1kHz).
140167  *  @it_timestamp:	timestamp from previous interrupt.
141168  *  @data_timestamp:	timestamp for next data sample.
169
+ *  @vdd_supply:	VDD voltage regulator for the chip.
170
+ *  @vddio_supply	I/O voltage regulator for the chip.
171
+ *  @magn_disabled:     magnetometer disabled for backward compatibility reason.
172
+ *  @magn_raw_to_gauss:	coefficient to convert mag raw value to Gauss.
173
+ *  @magn_orient:       magnetometer sensor chip orientation if available.
174
+ *  @suspended_sensors:	sensors mask of sensors turned off for suspend
175
+ *  @data:		dma safe buffer used for bulk reads.
142176  */
143177 struct inv_mpu6050_state {
144178 	struct mutex lock;
....@@ -149,7 +183,6 @@
149183 	enum   inv_devices chip_type;
150184 	struct i2c_mux_core *muxc;
151185 	struct i2c_client *mux_client;
152
-	unsigned int powerup_count;
153186 	struct inv_mpu6050_platform_data plat_data;
154187 	struct iio_mount_matrix orientation;
155188 	struct regmap *map;
....@@ -159,6 +192,13 @@
159192 	s64 chip_period;
160193 	s64 it_timestamp;
161194 	s64 data_timestamp;
195
+	struct regulator *vdd_supply;
196
+	struct regulator *vddio_supply;
197
+	bool magn_disabled;
198
+	s32 magn_raw_to_gauss[3];
199
+	struct iio_mount_matrix magn_orient;
200
+	unsigned int suspended_sensors;
201
+	u8 data[INV_MPU6050_OUTPUT_DATA_SIZE] ____cacheline_aligned;
162202 };
163203 
164204 /*register and associated bit definition*/
....@@ -171,8 +211,41 @@
171211 #define INV_MPU6050_REG_ACCEL_CONFIG        0x1C
172212 
173213 #define INV_MPU6050_REG_FIFO_EN             0x23
214
+#define INV_MPU6050_BIT_SLAVE_0             0x01
215
+#define INV_MPU6050_BIT_SLAVE_1             0x02
216
+#define INV_MPU6050_BIT_SLAVE_2             0x04
174217 #define INV_MPU6050_BIT_ACCEL_OUT           0x08
175218 #define INV_MPU6050_BITS_GYRO_OUT           0x70
219
+#define INV_MPU6050_BIT_TEMP_OUT            0x80
220
+
221
+#define INV_MPU6050_REG_I2C_MST_CTRL        0x24
222
+#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
223
+#define INV_MPU6050_BIT_I2C_MST_P_NSR       0x10
224
+#define INV_MPU6050_BIT_SLV3_FIFO_EN        0x20
225
+#define INV_MPU6050_BIT_WAIT_FOR_ES         0x40
226
+#define INV_MPU6050_BIT_MULT_MST_EN         0x80
227
+
228
+/* control I2C slaves from 0 to 3 */
229
+#define INV_MPU6050_REG_I2C_SLV_ADDR(_x)    (0x25 + 3 * (_x))
230
+#define INV_MPU6050_BIT_I2C_SLV_RNW         0x80
231
+
232
+#define INV_MPU6050_REG_I2C_SLV_REG(_x)     (0x26 + 3 * (_x))
233
+
234
+#define INV_MPU6050_REG_I2C_SLV_CTRL(_x)    (0x27 + 3 * (_x))
235
+#define INV_MPU6050_BIT_SLV_GRP             0x10
236
+#define INV_MPU6050_BIT_SLV_REG_DIS         0x20
237
+#define INV_MPU6050_BIT_SLV_BYTE_SW         0x40
238
+#define INV_MPU6050_BIT_SLV_EN              0x80
239
+
240
+/* I2C master delay register */
241
+#define INV_MPU6050_REG_I2C_SLV4_CTRL       0x34
242
+#define INV_MPU6050_BITS_I2C_MST_DLY(_x)    ((_x) & 0x1F)
243
+
244
+#define INV_MPU6050_REG_I2C_MST_STATUS      0x36
245
+#define INV_MPU6050_BIT_I2C_SLV0_NACK       0x01
246
+#define INV_MPU6050_BIT_I2C_SLV1_NACK       0x02
247
+#define INV_MPU6050_BIT_I2C_SLV2_NACK       0x04
248
+#define INV_MPU6050_BIT_I2C_SLV3_NACK       0x08
176249 
177250 #define INV_MPU6050_REG_INT_ENABLE          0x38
178251 #define INV_MPU6050_BIT_DATA_RDY_EN         0x01
....@@ -186,7 +259,25 @@
186259 #define INV_MPU6050_BIT_FIFO_OVERFLOW_INT   0x10
187260 #define INV_MPU6050_BIT_RAW_DATA_RDY_INT    0x01
188261 
262
+#define INV_MPU6050_REG_EXT_SENS_DATA       0x49
263
+
264
+/* I2C slaves data output from 0 to 3 */
265
+#define INV_MPU6050_REG_I2C_SLV_DO(_x)      (0x63 + (_x))
266
+
267
+#define INV_MPU6050_REG_I2C_MST_DELAY_CTRL  0x67
268
+#define INV_MPU6050_BIT_I2C_SLV0_DLY_EN     0x01
269
+#define INV_MPU6050_BIT_I2C_SLV1_DLY_EN     0x02
270
+#define INV_MPU6050_BIT_I2C_SLV2_DLY_EN     0x04
271
+#define INV_MPU6050_BIT_I2C_SLV3_DLY_EN     0x08
272
+#define INV_MPU6050_BIT_DELAY_ES_SHADOW     0x80
273
+
274
+#define INV_MPU6050_REG_SIGNAL_PATH_RESET   0x68
275
+#define INV_MPU6050_BIT_TEMP_RST            BIT(0)
276
+#define INV_MPU6050_BIT_ACCEL_RST           BIT(1)
277
+#define INV_MPU6050_BIT_GYRO_RST            BIT(2)
278
+
189279 #define INV_MPU6050_REG_USER_CTRL           0x6A
280
+#define INV_MPU6050_BIT_SIG_COND_RST        0x01
190281 #define INV_MPU6050_BIT_FIFO_RST            0x04
191282 #define INV_MPU6050_BIT_DMP_RST             0x08
192283 #define INV_MPU6050_BIT_I2C_MST_EN          0x20
....@@ -197,6 +288,7 @@
197288 #define INV_MPU6050_REG_PWR_MGMT_1          0x6B
198289 #define INV_MPU6050_BIT_H_RESET             0x80
199290 #define INV_MPU6050_BIT_SLEEP               0x40
291
+#define INV_MPU6050_BIT_TEMP_DIS            0x08
200292 #define INV_MPU6050_BIT_CLK_MASK            0x7
201293 
202294 #define INV_MPU6050_REG_PWR_MGMT_2          0x6C
....@@ -213,17 +305,24 @@
213305 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR   6
214306 #define INV_MPU6050_FIFO_COUNT_BYTE          2
215307 
216
-/* ICM20602 FIFO samples include temperature readings */
217
-#define INV_ICM20602_BYTES_PER_TEMP_SENSOR   2
308
+/* MPU9X50 9-axis magnetometer */
309
+#define INV_MPU9X50_BYTES_MAGN               7
310
+
311
+/* FIFO temperature sample size */
312
+#define INV_MPU6050_BYTES_PER_TEMP_SENSOR   2
218313 
219314 /* mpu6500 registers */
220315 #define INV_MPU6500_REG_ACCEL_CONFIG_2      0x1D
316
+#define INV_ICM20689_BITS_FIFO_SIZE_MAX     0xC0
221317 #define INV_MPU6500_REG_ACCEL_OFFSET        0x77
222318 
223319 /* delay time in milliseconds */
224320 #define INV_MPU6050_POWER_UP_TIME            100
225321 #define INV_MPU6050_TEMP_UP_TIME             100
226
-#define INV_MPU6050_SENSOR_UP_TIME           30
322
+#define INV_MPU6050_ACCEL_UP_TIME            20
323
+#define INV_MPU6050_GYRO_UP_TIME             35
324
+#define INV_MPU6050_GYRO_DOWN_TIME           150
325
+#define INV_MPU6050_SUSPEND_DELAY_MS         2000
227326 
228327 /* delay time in microseconds */
229328 #define INV_MPU6050_REG_UP_TIME_MIN          5000
....@@ -235,6 +334,7 @@
235334 #define INV_MPU6050_MAX_ACCL_FS_PARAM        3
236335 #define INV_MPU6050_THREE_AXIS               3
237336 #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT    3
337
+#define INV_ICM20690_GYRO_CONFIG_FSR_SHIFT   2
238338 #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT    3
239339 
240340 #define INV_MPU6500_TEMP_OFFSET              7011
....@@ -242,9 +342,6 @@
242342 
243343 #define INV_ICM20608_TEMP_OFFSET	     8170
244344 #define INV_ICM20608_TEMP_SCALE		     3059976
245
-
246
-/* 6 + 6 round up and plus 8 */
247
-#define INV_MPU6050_OUTPUT_DATA_SIZE         24
248345 
249346 #define INV_MPU6050_REG_INT_PIN_CFG	0x37
250347 #define INV_MPU6050_ACTIVE_HIGH		0x00
....@@ -257,7 +354,6 @@
257354 #define INV_MPU6050_TS_PERIOD_JITTER	4
258355 
259356 /* init parameters */
260
-#define INV_MPU6050_INIT_FIFO_RATE           50
261357 #define INV_MPU6050_MAX_FIFO_RATE            1000
262358 #define INV_MPU6050_MIN_FIFO_RATE            4
263359 
....@@ -282,40 +378,38 @@
282378 #define INV_MPU9255_WHOAMI_VALUE		0x73
283379 #define INV_MPU6515_WHOAMI_VALUE		0x74
284380 #define INV_ICM20608_WHOAMI_VALUE		0xAF
381
+#define INV_ICM20609_WHOAMI_VALUE		0xA6
382
+#define INV_ICM20689_WHOAMI_VALUE		0x98
285383 #define INV_ICM20602_WHOAMI_VALUE		0x12
384
+#define INV_ICM20690_WHOAMI_VALUE		0x20
385
+#define INV_IAM20680_WHOAMI_VALUE		0xA9
286386 
287387 /* scan element definition for generic MPU6xxx devices */
288388 enum inv_mpu6050_scan {
289389 	INV_MPU6050_SCAN_ACCL_X,
290390 	INV_MPU6050_SCAN_ACCL_Y,
291391 	INV_MPU6050_SCAN_ACCL_Z,
392
+	INV_MPU6050_SCAN_TEMP,
292393 	INV_MPU6050_SCAN_GYRO_X,
293394 	INV_MPU6050_SCAN_GYRO_Y,
294395 	INV_MPU6050_SCAN_GYRO_Z,
295396 	INV_MPU6050_SCAN_TIMESTAMP,
296
-};
297397 
298
-/* scan element definition for ICM20602, which includes temperature */
299
-enum inv_icm20602_scan {
300
-	INV_ICM20602_SCAN_ACCL_X,
301
-	INV_ICM20602_SCAN_ACCL_Y,
302
-	INV_ICM20602_SCAN_ACCL_Z,
303
-	INV_ICM20602_SCAN_TEMP,
304
-	INV_ICM20602_SCAN_GYRO_X,
305
-	INV_ICM20602_SCAN_GYRO_Y,
306
-	INV_ICM20602_SCAN_GYRO_Z,
307
-	INV_ICM20602_SCAN_TIMESTAMP,
398
+	INV_MPU9X50_SCAN_MAGN_X = INV_MPU6050_SCAN_GYRO_Z + 1,
399
+	INV_MPU9X50_SCAN_MAGN_Y,
400
+	INV_MPU9X50_SCAN_MAGN_Z,
401
+	INV_MPU9X50_SCAN_TIMESTAMP,
308402 };
309403 
310404 enum inv_mpu6050_filter_e {
311
-	INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
312
-	INV_MPU6050_FILTER_188HZ,
313
-	INV_MPU6050_FILTER_98HZ,
314
-	INV_MPU6050_FILTER_42HZ,
405
+	INV_MPU6050_FILTER_NOLPF2 = 0,
406
+	INV_MPU6050_FILTER_200HZ,
407
+	INV_MPU6050_FILTER_100HZ,
408
+	INV_MPU6050_FILTER_45HZ,
315409 	INV_MPU6050_FILTER_20HZ,
316410 	INV_MPU6050_FILTER_10HZ,
317411 	INV_MPU6050_FILTER_5HZ,
318
-	INV_MPU6050_FILTER_2100HZ_NOLPF,
412
+	INV_MPU6050_FILTER_NOLPF,
319413 	NUM_MPU6050_FILTER
320414 };
321415 
....@@ -349,12 +443,14 @@
349443 
350444 irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
351445 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
352
-int inv_reset_fifo(struct iio_dev *indio_dev);
353
-int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
446
+int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable);
447
+int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
448
+			      unsigned int mask);
354449 int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
355
-int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
356450 int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
357451 void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
358452 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
359453 		int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
360454 extern const struct dev_pm_ops inv_mpu_pmops;
455
+
456
+#endif