| Author | Tokens | Token Proportion | Commits | Commit Proportion |
|---|---|---|---|---|
| Ge Gao | 492 | 39.74% | 1 | 1.89% |
| Jean-Baptiste Maneyrol | 432 | 34.89% | 23 | 43.40% |
| Adriana Reus | 57 | 4.60% | 4 | 7.55% |
| Baptiste Mansuy | 40 | 3.23% | 1 | 1.89% |
| Srinivas Pandruvada | 33 | 2.67% | 3 | 5.66% |
| Matt Ranostay | 30 | 2.42% | 3 | 5.66% |
| Martin Kelly | 30 | 2.42% | 1 | 1.89% |
| Crestez Dan Leonard | 23 | 1.86% | 2 | 3.77% |
| Jonathan Cameron | 22 | 1.78% | 3 | 5.66% |
| Randolph Maaßen | 19 | 1.53% | 1 | 1.89% |
| Brian Masney | 11 | 0.89% | 2 | 3.77% |
| Stephan Gerhold | 11 | 0.89% | 2 | 3.77% |
| Grégor Boirie | 10 | 0.81% | 2 | 3.77% |
| Steve Moskovchenko | 9 | 0.73% | 1 | 1.89% |
| Michael Srba | 6 | 0.48% | 1 | 1.89% |
| Douglas Fischer | 6 | 0.48% | 1 | 1.89% |
| Peter Rosin | 5 | 0.40% | 1 | 1.89% |
| Thomas Gleixner | 2 | 0.16% | 1 | 1.89% |
| Total | 1238 | 53 |
/* SPDX-License-Identifier: GPL-2.0-only */ /* * Copyright (C) 2012 Invensense, Inc. */ #ifndef INV_MPU_IIO_H_ #define INV_MPU_IIO_H_ #include <linux/i2c.h> #include <linux/i2c-mux.h> #include <linux/mutex.h> #include <linux/iio/iio.h> #include <linux/iio/buffer.h> #include <linux/regmap.h> #include <linux/iio/sysfs.h> #include <linux/iio/kfifo_buf.h> #include <linux/iio/trigger.h> #include <linux/iio/triggered_buffer.h> #include <linux/iio/trigger_consumer.h> #include <linux/platform_data/invensense_mpu6050.h> /** * struct inv_mpu6050_reg_map - Notable registers. * @sample_rate_div: Divider applied to gyro output rate. * @lpf: Configures internal low pass filter. * @accel_lpf: Configures accelerometer low pass filter. * @user_ctrl: Enables/resets the FIFO. * @fifo_en: Determines which data will appear in FIFO. * @gyro_config: gyro config register. * @accl_config: accel config register * @fifo_count_h: Upper byte of FIFO count. * @fifo_r_w: FIFO register. * @raw_gyro: Address of first gyro register. * @raw_accl: Address of first accel register. * @temperature: temperature register * @int_enable: Interrupt enable register. * @int_status: Interrupt status register. * @pwr_mgmt_1: Controls chip's power state and clock source. * @pwr_mgmt_2: Controls power state of individual sensors. * @int_pin_cfg; Controls interrupt pin configuration. * @accl_offset: Controls the accelerometer calibration offset. * @gyro_offset: Controls the gyroscope calibration offset. * @i2c_if: Controls the i2c interface */ struct inv_mpu6050_reg_map { u8 sample_rate_div; u8 lpf; u8 accel_lpf; u8 user_ctrl; u8 fifo_en; u8 gyro_config; u8 accl_config; u8 fifo_count_h; u8 fifo_r_w; u8 raw_gyro; u8 raw_accl; u8 temperature; u8 int_enable; u8 int_status; u8 pwr_mgmt_1; u8 pwr_mgmt_2; u8 int_pin_cfg; u8 accl_offset; u8 gyro_offset; u8 i2c_if; }; /*device enum */ enum inv_devices { INV_MPU6050, INV_MPU6500, INV_MPU6515, INV_MPU6880, INV_MPU6000, INV_MPU9150, INV_MPU9250, INV_MPU9255, INV_ICM20608, INV_ICM20608D, 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. * @whoami: Self identification byte from WHO_AM_I register * @name: name of the chip. * @reg: register map of the chip. * @config: configuration of the chip. * @fifo_size: size of the FIFO in bytes. * @temp: offset and scale to apply to raw temperature. */ struct inv_mpu6050_hw { u8 whoami; u8 *name; const struct inv_mpu6050_reg_map *reg; const struct inv_mpu6050_chip_config *config; size_t fifo_size; struct { int offset; int scale; } temp; struct { unsigned int accel; unsigned int gyro; } startup_time; }; /* * struct inv_mpu6050_state - Driver state variables. * @lock: Chip access lock. * @trig: IIO trigger. * @chip_config: Cached attribute information. * @reg: Map of important registers. * @hw: Other hardware-specific information. * @chip_type: chip type. * @plat_data: platform data (deprecated in favor of @orientation). * @orientation: sensor chip orientation relative to main hardware. * @map regmap pointer. * @irq interrupt number. * @irq_mask the int_pin_cfg mask to configure interrupt type. * @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; struct iio_trigger *trig; struct inv_mpu6050_chip_config chip_config; const struct inv_mpu6050_reg_map *reg; const struct inv_mpu6050_hw *hw; enum inv_devices chip_type; struct i2c_mux_core *muxc; struct i2c_client *mux_client; struct inv_mpu6050_platform_data plat_data; struct iio_mount_matrix orientation; struct regmap *map; int irq; u8 irq_mask; unsigned skip_samples; 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] __aligned(IIO_DMA_MINALIGN); }; /*register and associated bit definition*/ #define INV_MPU6050_REG_ACCEL_OFFSET 0x06 #define INV_MPU6050_REG_GYRO_OFFSET 0x13 #define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19 #define INV_MPU6050_REG_CONFIG 0x1A #define INV_MPU6050_REG_GYRO_CONFIG 0x1B #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 #define INV_MPU6050_BIT_DMP_INT_EN 0x02 #define INV_MPU6050_REG_RAW_ACCEL 0x3B #define INV_MPU6050_REG_TEMPERATURE 0x41 #define INV_MPU6050_REG_RAW_GYRO 0x43 #define INV_MPU6050_REG_INT_STATUS 0x3A #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 #define INV_MPU6050_BIT_FIFO_EN 0x40 #define INV_MPU6050_BIT_DMP_EN 0x80 #define INV_MPU6050_BIT_I2C_IF_DIS 0x10 #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 #define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38 #define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07 /* ICM20602 register */ #define INV_ICM20602_REG_I2C_IF 0x70 #define INV_ICM20602_BIT_I2C_IF_DIS 0x40 #define INV_MPU6050_REG_FIFO_COUNT_H 0x72 #define INV_MPU6050_REG_FIFO_R_W 0x74 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6 #define INV_MPU6050_FIFO_COUNT_BYTE 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_ACCEL_STARTUP_TIME 20 #define INV_MPU6050_GYRO_STARTUP_TIME 60 #define INV_MPU6050_GYRO_DOWN_TIME 150 #define INV_MPU6050_SUSPEND_DELAY_MS 2000 #define INV_MPU6500_GYRO_STARTUP_TIME 70 #define INV_MPU6500_ACCEL_STARTUP_TIME 30 #define INV_ICM20602_GYRO_STARTUP_TIME 100 #define INV_ICM20602_ACCEL_STARTUP_TIME 20 #define INV_ICM20690_GYRO_STARTUP_TIME 80 #define INV_ICM20690_ACCEL_STARTUP_TIME 10 /* delay time in microseconds */ #define INV_MPU6050_REG_UP_TIME_MIN 5000 #define INV_MPU6050_REG_UP_TIME_MAX 10000 #define INV_MPU6050_TEMP_OFFSET 12420 #define INV_MPU6050_TEMP_SCALE 2941176 #define INV_MPU6050_MAX_GYRO_FS_PARAM 3 #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 #define INV_MPU6500_TEMP_SCALE 2995178 #define INV_ICM20608_TEMP_OFFSET 8170 #define INV_ICM20608_TEMP_SCALE 3059976 #define INV_MPU6050_REG_INT_PIN_CFG 0x37 #define INV_MPU6050_ACTIVE_HIGH 0x00 #define INV_MPU6050_ACTIVE_LOW 0x80 /* enable level triggering */ #define INV_MPU6050_LATCH_INT_EN 0x20 #define INV_MPU6050_BIT_BYPASS_EN 0x2 /* Allowed timestamp period jitter in percent */ #define INV_MPU6050_TS_PERIOD_JITTER 4 /* init parameters */ #define INV_MPU6050_MAX_FIFO_RATE 1000 #define INV_MPU6050_MIN_FIFO_RATE 4 /* chip internal frequency: 1KHz */ #define INV_MPU6050_INTERNAL_FREQ_HZ 1000 /* return the frequency divider (chip sample rate divider + 1) */ #define INV_MPU6050_FREQ_DIVIDER(st) \ ((st)->chip_config.divider + 1) /* chip sample rate divider to fifo rate */ #define INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate) \ ((INV_MPU6050_INTERNAL_FREQ_HZ / (fifo_rate)) - 1) #define INV_MPU6050_DIVIDER_TO_FIFO_RATE(divider) \ (INV_MPU6050_INTERNAL_FREQ_HZ / ((divider) + 1)) #define INV_MPU6050_REG_WHOAMI 117 #define INV_MPU6000_WHOAMI_VALUE 0x68 #define INV_MPU6050_WHOAMI_VALUE 0x68 #define INV_MPU6500_WHOAMI_VALUE 0x70 #define INV_MPU6880_WHOAMI_VALUE 0x78 #define INV_MPU9150_WHOAMI_VALUE 0x68 #define INV_MPU9250_WHOAMI_VALUE 0x71 #define INV_MPU9255_WHOAMI_VALUE 0x73 #define INV_MPU6515_WHOAMI_VALUE 0x74 #define INV_ICM20608_WHOAMI_VALUE 0xAF #define INV_ICM20608D_WHOAMI_VALUE 0xAE #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, 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_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_NOLPF, NUM_MPU6050_FILTER }; /* IIO attribute address */ enum INV_MPU6050_IIO_ATTR_ADDR { ATTR_GYRO_MATRIX, ATTR_ACCL_MATRIX, }; enum inv_mpu6050_accl_fs_e { INV_MPU6050_FS_02G = 0, INV_MPU6050_FS_04G, INV_MPU6050_FS_08G, INV_MPU6050_FS_16G, NUM_ACCL_FSR }; enum inv_mpu6050_fsr_e { INV_MPU6050_FSR_250DPS = 0, INV_MPU6050_FSR_500DPS, INV_MPU6050_FSR_1000DPS, INV_MPU6050_FSR_2000DPS, NUM_MPU6050_FSR }; enum inv_mpu6050_clock_sel_e { INV_CLK_INTERNAL = 0, INV_CLK_PLL, NUM_CLK }; 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_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_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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