/*
* 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.
*/
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/i2c.h>
#include <linux/err.h>
#include <linux/delay.h>
#include <linux/sysfs.h>
#include <linux/jiffies.h>
#include <linux/irq.h>
#include <linux/interrupt.h>
#include <linux/kfifo.h>
#include <linux/spinlock.h>
#include <linux/iio/iio.h>
#include <linux/acpi.h>
#include <linux/platform_device.h>
#include "inv_mpu_iio.h"
/*
* this is the gyro scale translated from dynamic range plus/minus
* {250, 500, 1000, 2000} to rad/s
*/
static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
/*
* this is the accel scale translated from dynamic range plus/minus
* {2, 4, 8, 16} to m/s^2
*/
static const int accel_scale[] = {598, 1196, 2392, 4785};
static const struct inv_mpu6050_reg_map reg_set_6500 = {
.sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
.lpf = INV_MPU6050_REG_CONFIG,
.accel_lpf = INV_MPU6500_REG_ACCEL_CONFIG_2,
.user_ctrl = INV_MPU6050_REG_USER_CTRL,
.fifo_en = INV_MPU6050_REG_FIFO_EN,
.gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
.accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
.fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
.fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
.raw_gyro = INV_MPU6050_REG_RAW_GYRO,
.raw_accl = INV_MPU6050_REG_RAW_ACCEL,
.temperature = INV_MPU6050_REG_TEMPERATURE,
.int_enable = INV_MPU6050_REG_INT_ENABLE,
.int_status = INV_MPU6050_REG_INT_STATUS,
.pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
.pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
.int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
.accl_offset = INV_MPU6500_REG_ACCEL_OFFSET,
.gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
};
static const struct inv_mpu6050_reg_map reg_set_6050 = {
.sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
.lpf = INV_MPU6050_REG_CONFIG,
.user_ctrl = INV_MPU6050_REG_USER_CTRL,
.fifo_en = INV_MPU6050_REG_FIFO_EN,
.gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
.accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
.fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
.fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
.raw_gyro = INV_MPU6050_REG_RAW_GYRO,
.raw_accl = INV_MPU6050_REG_RAW_ACCEL,
.temperature = INV_MPU6050_REG_TEMPERATURE,
.int_enable = INV_MPU6050_REG_INT_ENABLE,
.pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
.pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
.int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
.accl_offset = INV_MPU6050_REG_ACCEL_OFFSET,
.gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
};
static const struct inv_mpu6050_chip_config chip_config_6050 = {
.fsr = INV_MPU6050_FSR_2000DPS,
.lpf = INV_MPU6050_FILTER_20HZ,
.fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
.gyro_fifo_enable = false,
.accl_fifo_enable = false,
.accl_fs = INV_MPU6050_FS_02G,
.user_ctrl = 0,
};
/* Indexed by enum inv_devices */
static const struct inv_mpu6050_hw hw_info[] = {
{
.whoami = INV_MPU6050_WHOAMI_VALUE,
.name = "MPU6050",
.reg = ®_set_6050,
.config = &chip_config_6050,
},
{
.whoami = INV_MPU6500_WHOAMI_VALUE,
.name = "MPU6500",
.reg = ®_set_6500,
.config = &chip_config_6050,
},
{
.whoami = INV_MPU6000_WHOAMI_VALUE,
.name = "MPU6000",
.reg = ®_set_6050,
.config = &chip_config_6050,
},
{
.whoami = INV_MPU9150_WHOAMI_VALUE,
.name = "MPU9150",
.reg = ®_set_6050,
.config = &chip_config_6050,
},
{
.whoami = INV_MPU9250_WHOAMI_VALUE