include/linux/mpu3050.h

/*
 $License:
    Copyright (C) 2010 InvenSense Corporation, All Rights Reserved.
 $
 */

#ifndef __MPU3050_H_
#define __MPU3050_H_

#include <linux/types.h>
#include <linux/i2c.h>
#include <linux/i2c-dev.h>

#if defined(MPUDEBUG)
#define mpu_dbg(format, arg...)		\
	printk(KERN_DEBUG format, ## arg);
#else
#define mpu_dbg(format, arg...)
#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_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
};

#define MPU_NUM_AXES (3)

/*---- 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_ */