From 9d77db3c730780c8ef5ccd4b66403ff5675cfe4e Mon Sep 17 00:00:00 2001
From: hc <hc@nodka.com>
Date: Mon, 13 May 2024 10:30:14 +0000
Subject: [PATCH] modify sin led gpio
---
kernel/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 168 ++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 132 insertions(+), 36 deletions(-)
diff --git a/kernel/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/kernel/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 220eba5..eb522b3 100644
--- a/kernel/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/kernel/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -1,15 +1,11 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
/*
* Copyright (C) 2012 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 <linux/i2c.h>
#include <linux/i2c-mux.h>
#include <linux/mutex.h>
@@ -79,28 +75,59 @@
INV_MPU9250,
INV_MPU9255,
INV_ICM20608,
+ INV_ICM20609,
+ INV_ICM20689,
INV_ICM20602,
+ INV_ICM20690,
+ INV_IAM20680,
INV_NUM_PARTS
};
+/* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer */
+#define INV_MPU6050_SENSOR_ACCL BIT(0)
+#define INV_MPU6050_SENSOR_GYRO BIT(1)
+#define INV_MPU6050_SENSOR_TEMP BIT(2)
+#define INV_MPU6050_SENSOR_MAGN BIT(3)
+
/**
* struct inv_mpu6050_chip_config - Cached chip configuration data.
+ * @clk: selected chip clock
* @fsr: Full scale range.
* @lpf: Digital low pass filter frequency.
* @accl_fs: accel full scale range.
+ * @accl_en: accel engine enabled
+ * @gyro_en: gyro engine enabled
+ * @temp_en: temperature sensor enabled
+ * @magn_en: magn engine (i2c master) enabled
* @accl_fifo_enable: enable accel data output
* @gyro_fifo_enable: enable gyro data output
+ * @temp_fifo_enable: enable temp data output
+ * @magn_fifo_enable: enable magn data output
* @divider: chip sample rate divider (sample rate divider - 1)
*/
struct inv_mpu6050_chip_config {
+ unsigned int clk:3;
unsigned int fsr:2;
unsigned int lpf:3;
unsigned int accl_fs:2;
+ unsigned int accl_en:1;
+ unsigned int gyro_en:1;
+ unsigned int temp_en:1;
+ unsigned int magn_en:1;
unsigned int accl_fifo_enable:1;
unsigned int gyro_fifo_enable:1;
+ unsigned int temp_fifo_enable:1;
+ unsigned int magn_fifo_enable:1;
u8 divider;
u8 user_ctrl;
};
+
+/*
+ * Maximum of 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8.
+ * May be less if fewer channels are enabled, as long as the timestamp
+ * remains 8 byte aligned
+ */
+#define INV_MPU6050_OUTPUT_DATA_SIZE 32
/**
* struct inv_mpu6050_hw - Other important hardware information.
@@ -139,6 +166,13 @@
* @chip_period: chip internal period estimation (~1kHz).
* @it_timestamp: timestamp from previous interrupt.
* @data_timestamp: timestamp for next data sample.
+ * @vdd_supply: VDD voltage regulator for the chip.
+ * @vddio_supply I/O voltage regulator for the chip.
+ * @magn_disabled: magnetometer disabled for backward compatibility reason.
+ * @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss.
+ * @magn_orient: magnetometer sensor chip orientation if available.
+ * @suspended_sensors: sensors mask of sensors turned off for suspend
+ * @data: dma safe buffer used for bulk reads.
*/
struct inv_mpu6050_state {
struct mutex lock;
@@ -149,7 +183,6 @@
enum inv_devices chip_type;
struct i2c_mux_core *muxc;
struct i2c_client *mux_client;
- unsigned int powerup_count;
struct inv_mpu6050_platform_data plat_data;
struct iio_mount_matrix orientation;
struct regmap *map;
@@ -159,6 +192,13 @@
s64 chip_period;
s64 it_timestamp;
s64 data_timestamp;
+ struct regulator *vdd_supply;
+ struct regulator *vddio_supply;
+ bool magn_disabled;
+ s32 magn_raw_to_gauss[3];
+ struct iio_mount_matrix magn_orient;
+ unsigned int suspended_sensors;
+ u8 data[INV_MPU6050_OUTPUT_DATA_SIZE] ____cacheline_aligned;
};
/*register and associated bit definition*/
@@ -171,8 +211,41 @@
#define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
#define INV_MPU6050_REG_FIFO_EN 0x23
+#define INV_MPU6050_BIT_SLAVE_0 0x01
+#define INV_MPU6050_BIT_SLAVE_1 0x02
+#define INV_MPU6050_BIT_SLAVE_2 0x04
#define INV_MPU6050_BIT_ACCEL_OUT 0x08
#define INV_MPU6050_BITS_GYRO_OUT 0x70
+#define INV_MPU6050_BIT_TEMP_OUT 0x80
+
+#define INV_MPU6050_REG_I2C_MST_CTRL 0x24
+#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
+#define INV_MPU6050_BIT_I2C_MST_P_NSR 0x10
+#define INV_MPU6050_BIT_SLV3_FIFO_EN 0x20
+#define INV_MPU6050_BIT_WAIT_FOR_ES 0x40
+#define INV_MPU6050_BIT_MULT_MST_EN 0x80
+
+/* control I2C slaves from 0 to 3 */
+#define INV_MPU6050_REG_I2C_SLV_ADDR(_x) (0x25 + 3 * (_x))
+#define INV_MPU6050_BIT_I2C_SLV_RNW 0x80
+
+#define INV_MPU6050_REG_I2C_SLV_REG(_x) (0x26 + 3 * (_x))
+
+#define INV_MPU6050_REG_I2C_SLV_CTRL(_x) (0x27 + 3 * (_x))
+#define INV_MPU6050_BIT_SLV_GRP 0x10
+#define INV_MPU6050_BIT_SLV_REG_DIS 0x20
+#define INV_MPU6050_BIT_SLV_BYTE_SW 0x40
+#define INV_MPU6050_BIT_SLV_EN 0x80
+
+/* I2C master delay register */
+#define INV_MPU6050_REG_I2C_SLV4_CTRL 0x34
+#define INV_MPU6050_BITS_I2C_MST_DLY(_x) ((_x) & 0x1F)
+
+#define INV_MPU6050_REG_I2C_MST_STATUS 0x36
+#define INV_MPU6050_BIT_I2C_SLV0_NACK 0x01
+#define INV_MPU6050_BIT_I2C_SLV1_NACK 0x02
+#define INV_MPU6050_BIT_I2C_SLV2_NACK 0x04
+#define INV_MPU6050_BIT_I2C_SLV3_NACK 0x08
#define INV_MPU6050_REG_INT_ENABLE 0x38
#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
@@ -186,7 +259,25 @@
#define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
+#define INV_MPU6050_REG_EXT_SENS_DATA 0x49
+
+/* I2C slaves data output from 0 to 3 */
+#define INV_MPU6050_REG_I2C_SLV_DO(_x) (0x63 + (_x))
+
+#define INV_MPU6050_REG_I2C_MST_DELAY_CTRL 0x67
+#define INV_MPU6050_BIT_I2C_SLV0_DLY_EN 0x01
+#define INV_MPU6050_BIT_I2C_SLV1_DLY_EN 0x02
+#define INV_MPU6050_BIT_I2C_SLV2_DLY_EN 0x04
+#define INV_MPU6050_BIT_I2C_SLV3_DLY_EN 0x08
+#define INV_MPU6050_BIT_DELAY_ES_SHADOW 0x80
+
+#define INV_MPU6050_REG_SIGNAL_PATH_RESET 0x68
+#define INV_MPU6050_BIT_TEMP_RST BIT(0)
+#define INV_MPU6050_BIT_ACCEL_RST BIT(1)
+#define INV_MPU6050_BIT_GYRO_RST BIT(2)
+
#define INV_MPU6050_REG_USER_CTRL 0x6A
+#define INV_MPU6050_BIT_SIG_COND_RST 0x01
#define INV_MPU6050_BIT_FIFO_RST 0x04
#define INV_MPU6050_BIT_DMP_RST 0x08
#define INV_MPU6050_BIT_I2C_MST_EN 0x20
@@ -197,6 +288,7 @@
#define INV_MPU6050_REG_PWR_MGMT_1 0x6B
#define INV_MPU6050_BIT_H_RESET 0x80
#define INV_MPU6050_BIT_SLEEP 0x40
+#define INV_MPU6050_BIT_TEMP_DIS 0x08
#define INV_MPU6050_BIT_CLK_MASK 0x7
#define INV_MPU6050_REG_PWR_MGMT_2 0x6C
@@ -213,17 +305,24 @@
#define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
#define INV_MPU6050_FIFO_COUNT_BYTE 2
-/* ICM20602 FIFO samples include temperature readings */
-#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2
+/* MPU9X50 9-axis magnetometer */
+#define INV_MPU9X50_BYTES_MAGN 7
+
+/* FIFO temperature sample size */
+#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2
/* mpu6500 registers */
#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
+#define INV_ICM20689_BITS_FIFO_SIZE_MAX 0xC0
#define INV_MPU6500_REG_ACCEL_OFFSET 0x77
/* delay time in milliseconds */
#define INV_MPU6050_POWER_UP_TIME 100
#define INV_MPU6050_TEMP_UP_TIME 100
-#define INV_MPU6050_SENSOR_UP_TIME 30
+#define INV_MPU6050_ACCEL_UP_TIME 20
+#define INV_MPU6050_GYRO_UP_TIME 35
+#define INV_MPU6050_GYRO_DOWN_TIME 150
+#define INV_MPU6050_SUSPEND_DELAY_MS 2000
/* delay time in microseconds */
#define INV_MPU6050_REG_UP_TIME_MIN 5000
@@ -235,6 +334,7 @@
#define INV_MPU6050_MAX_ACCL_FS_PARAM 3
#define INV_MPU6050_THREE_AXIS 3
#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
+#define INV_ICM20690_GYRO_CONFIG_FSR_SHIFT 2
#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3
#define INV_MPU6500_TEMP_OFFSET 7011
@@ -242,9 +342,6 @@
#define INV_ICM20608_TEMP_OFFSET 8170
#define INV_ICM20608_TEMP_SCALE 3059976
-
-/* 6 + 6 round up and plus 8 */
-#define INV_MPU6050_OUTPUT_DATA_SIZE 24
#define INV_MPU6050_REG_INT_PIN_CFG 0x37
#define INV_MPU6050_ACTIVE_HIGH 0x00
@@ -257,7 +354,6 @@
#define INV_MPU6050_TS_PERIOD_JITTER 4
/* init parameters */
-#define INV_MPU6050_INIT_FIFO_RATE 50
#define INV_MPU6050_MAX_FIFO_RATE 1000
#define INV_MPU6050_MIN_FIFO_RATE 4
@@ -282,40 +378,38 @@
#define INV_MPU9255_WHOAMI_VALUE 0x73
#define INV_MPU6515_WHOAMI_VALUE 0x74
#define INV_ICM20608_WHOAMI_VALUE 0xAF
+#define INV_ICM20609_WHOAMI_VALUE 0xA6
+#define INV_ICM20689_WHOAMI_VALUE 0x98
#define INV_ICM20602_WHOAMI_VALUE 0x12
+#define INV_ICM20690_WHOAMI_VALUE 0x20
+#define INV_IAM20680_WHOAMI_VALUE 0xA9
/* scan element definition for generic MPU6xxx devices */
enum inv_mpu6050_scan {
INV_MPU6050_SCAN_ACCL_X,
INV_MPU6050_SCAN_ACCL_Y,
INV_MPU6050_SCAN_ACCL_Z,
+ INV_MPU6050_SCAN_TEMP,
INV_MPU6050_SCAN_GYRO_X,
INV_MPU6050_SCAN_GYRO_Y,
INV_MPU6050_SCAN_GYRO_Z,
INV_MPU6050_SCAN_TIMESTAMP,
-};
-/* scan element definition for ICM20602, which includes temperature */
-enum inv_icm20602_scan {
- INV_ICM20602_SCAN_ACCL_X,
- INV_ICM20602_SCAN_ACCL_Y,
- INV_ICM20602_SCAN_ACCL_Z,
- INV_ICM20602_SCAN_TEMP,
- INV_ICM20602_SCAN_GYRO_X,
- INV_ICM20602_SCAN_GYRO_Y,
- INV_ICM20602_SCAN_GYRO_Z,
- INV_ICM20602_SCAN_TIMESTAMP,
+ INV_MPU9X50_SCAN_MAGN_X = INV_MPU6050_SCAN_GYRO_Z + 1,
+ INV_MPU9X50_SCAN_MAGN_Y,
+ INV_MPU9X50_SCAN_MAGN_Z,
+ INV_MPU9X50_SCAN_TIMESTAMP,
};
enum inv_mpu6050_filter_e {
- INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
- INV_MPU6050_FILTER_188HZ,
- INV_MPU6050_FILTER_98HZ,
- INV_MPU6050_FILTER_42HZ,
+ INV_MPU6050_FILTER_NOLPF2 = 0,
+ INV_MPU6050_FILTER_200HZ,
+ INV_MPU6050_FILTER_100HZ,
+ INV_MPU6050_FILTER_45HZ,
INV_MPU6050_FILTER_20HZ,
INV_MPU6050_FILTER_10HZ,
INV_MPU6050_FILTER_5HZ,
- INV_MPU6050_FILTER_2100HZ_NOLPF,
+ INV_MPU6050_FILTER_NOLPF,
NUM_MPU6050_FILTER
};
@@ -349,12 +443,14 @@
irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
-int inv_reset_fifo(struct iio_dev *indio_dev);
-int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
+int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable);
+int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
+ unsigned int mask);
int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
-int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
extern const struct dev_pm_ops inv_mpu_pmops;
+
+#endif
--
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