[PATCH 05/11] misc: MPU3050 and slave device configuration.

From: Nathan Royer
Date: Thu Jun 30 2011 - 22:26:51 EST

Signed-off-by: Nathan Royer <nroyer@xxxxxxxxxxxxxx>
---
drivers/misc/inv_mpu/mldl_cfg.c | 1737 +++++++++++++++++++++++++++++++++++++++
1 files changed, 1737 insertions(+), 0 deletions(-)
create mode 100644 drivers/misc/inv_mpu/mldl_cfg.c

diff --git a/drivers/misc/inv_mpu/mldl_cfg.c b/drivers/misc/inv_mpu/mldl_cfg.c
new file mode 100644
index 0000000..55a772d
--- /dev/null
+++ b/drivers/misc/inv_mpu/mldl_cfg.c
@@ -0,0 +1,1737 @@
+/*
+ $License:
+ Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ 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.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+ $
+ */
+
+/**
+ * @addtogroup MLDL
+ *
+ * @{
+ * @file mldl_cfg.c
+ * @brief The Motion Library Driver Layer.
+ */
+
+/* -------------------------------------------------------------------------- */
+#include <linux/delay.h>
+#include <linux/slab.h>
+
+#include <stddef.h>
+
+#include "mldl_cfg.h"
+#include <linux/mpu.h>
+# include "mpu3050.h"
+
+#include "mlsl.h"
+#include "mldl_print_cfg.h"
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "mldl_cfg:"
+
+/* -------------------------------------------------------------------------- */
+
+#define SLEEP 1
+#define WAKE_UP 0
+#define RESET 1
+#define STANDBY 1
+
+/* -------------------------------------------------------------------------- */
+
+/**
+ * @brief Stop the DMP running
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+static int dmp_stop(struct mldl_cfg *mldl_cfg, void *gyro_handle)
+{
+ unsigned char user_ctrl_reg;
+ int result;
+
+ if (mldl_cfg->inv_mpu_state->status & MPU_DMP_IS_SUSPENDED)
+ return INV_SUCCESS;
+
+ result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL, 1, &user_ctrl_reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ user_ctrl_reg = (user_ctrl_reg & (~BIT_FIFO_EN)) | BIT_FIFO_RST;
+ user_ctrl_reg = (user_ctrl_reg & (~BIT_DMP_EN)) | BIT_DMP_RST;
+
+ result = inv_serial_single_write(gyro_handle,
+ mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL, user_ctrl_reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ mldl_cfg->inv_mpu_state->status |= MPU_DMP_IS_SUSPENDED;
+
+ return result;
+}
+
+/**
+ * @brief Starts the DMP running
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+static int dmp_start(struct mldl_cfg *mldl_cfg, void *mlsl_handle)
+{
+ unsigned char user_ctrl_reg;
+ int result;
+
+ if ((!(mldl_cfg->inv_mpu_state->status & MPU_DMP_IS_SUSPENDED) &&
+ mldl_cfg->mpu_gyro_cfg->dmp_enable)
+ ||
+ ((mldl_cfg->inv_mpu_state->status & MPU_DMP_IS_SUSPENDED) &&
+ !mldl_cfg->mpu_gyro_cfg->dmp_enable))
+ return INV_SUCCESS;
+
+ result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL, 1, &user_ctrl_reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL,
+ ((user_ctrl_reg & (~BIT_FIFO_EN))
+ | BIT_FIFO_RST));
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL, user_ctrl_reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL, 1, &user_ctrl_reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ user_ctrl_reg |= BIT_DMP_EN;
+
+ if (mldl_cfg->mpu_gyro_cfg->fifo_enable)
+ user_ctrl_reg |= BIT_FIFO_EN;
+ else
+ user_ctrl_reg &= ~BIT_FIFO_EN;
+
+ user_ctrl_reg |= BIT_DMP_RST;
+
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL, user_ctrl_reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ mldl_cfg->inv_mpu_state->status &= ~MPU_DMP_IS_SUSPENDED;
+
+ return result;
+}
+
+
+
+static int mpu3050_set_i2c_bypass(struct mldl_cfg *mldl_cfg,
+ void *mlsl_handle, unsigned char enable)
+{
+ unsigned char b;
+ int result;
+ unsigned char status = mldl_cfg->inv_mpu_state->status;
+
+ if ((status & MPU_GYRO_IS_BYPASSED && enable) ||
+ (!(status & MPU_GYRO_IS_BYPASSED) && !enable))
+ return INV_SUCCESS;
+
+ /*---- get current 'USER_CTRL' into b ----*/
+ result = inv_serial_read(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL, 1, &b);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ b &= ~BIT_AUX_IF_EN;
+
+ if (!enable) {
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL,
+ (b | BIT_AUX_IF_EN));
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ } else {
+ /* Coming out of I2C is tricky due to several erratta. Do not
+ * modify this algorithm
+ */
+ /*
+ * 1) wait for the right time and send the command to change
+ * the aux i2c slave address to an invalid address that will
+ * get nack'ed
+ *
+ * 0x00 is broadcast. 0x7F is unlikely to be used by any aux.
+ */
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_AUX_SLV_ADDR, 0x7F);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ /*
+ * 2) wait enough time for a nack to occur, then go into
+ * bypass mode:
+ */
+ msleep(2);
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL, (b));
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ /*
+ * 3) wait for up to one MPU cycle then restore the slave
+ * address
+ */
+ msleep(inv_mpu_get_sampling_period_us(mldl_cfg->mpu_gyro_cfg)
+ / 1000);
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_AUX_SLV_ADDR,
+ mldl_cfg->pdata_slave[EXT_SLAVE_TYPE_ACCEL]
+ ->address);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ /*
+ * 4) reset the ime interface
+ */
+
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL,
+ (b | BIT_AUX_IF_RST));
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ msleep(2);
+ }
+ if (enable)
+ mldl_cfg->inv_mpu_state->status |= MPU_GYRO_IS_BYPASSED;
+ else
+ mldl_cfg->inv_mpu_state->status &= ~MPU_GYRO_IS_BYPASSED;
+
+ return result;
+}
+
+
+/**
+ * @brief enables/disables the I2C bypass to an external device
+ * connected to MPU's secondary I2C bus.
+ * @param enable
+ * Non-zero to enable pass through.
+ * @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+static int mpu_set_i2c_bypass(struct mldl_cfg *mldl_cfg,
+ void *mlsl_handle, unsigned char enable)
+{
+ return mpu3050_set_i2c_bypass(mldl_cfg, mlsl_handle, enable);
+}
+
+
+#define NUM_OF_PROD_REVS (ARRAY_SIZE(prod_rev_map))
+
+/* NOTE : when not indicated, product revision
+ is considered an 'npp'; non production part */
+
+struct prod_rev_map_t {
+ unsigned char silicon_rev;
+ unsigned short gyro_trim;
+};
+
+#define OLDEST_PROD_REV_SUPPORTED 11
+static struct prod_rev_map_t prod_rev_map[] = {
+ {0, 0},
+ {MPU_SILICON_REV_A4, 131}, /* 1 A? OBSOLETED */
+ {MPU_SILICON_REV_A4, 131}, /* 2 | */
+ {MPU_SILICON_REV_A4, 131}, /* 3 | */
+ {MPU_SILICON_REV_A4, 131}, /* 4 | */
+ {MPU_SILICON_REV_A4, 131}, /* 5 | */
+ {MPU_SILICON_REV_A4, 131}, /* 6 | */
+ {MPU_SILICON_REV_A4, 131}, /* 7 | */
+ {MPU_SILICON_REV_A4, 131}, /* 8 | */
+ {MPU_SILICON_REV_A4, 131}, /* 9 | */
+ {MPU_SILICON_REV_A4, 131}, /* 10 V */
+ {MPU_SILICON_REV_B1, 131}, /* 11 B1 */
+ {MPU_SILICON_REV_B1, 131}, /* 12 | */
+ {MPU_SILICON_REV_B1, 131}, /* 13 | */
+ {MPU_SILICON_REV_B1, 131}, /* 14 V */
+ {MPU_SILICON_REV_B4, 131}, /* 15 B4 */
+ {MPU_SILICON_REV_B4, 131}, /* 16 | */
+ {MPU_SILICON_REV_B4, 131}, /* 17 | */
+ {MPU_SILICON_REV_B4, 131}, /* 18 | */
+ {MPU_SILICON_REV_B4, 115}, /* 19 | */
+ {MPU_SILICON_REV_B4, 115}, /* 20 V */
+ {MPU_SILICON_REV_B6, 131}, /* 21 B6 (B6/A9) */
+ {MPU_SILICON_REV_B4, 115}, /* 22 B4 (B7/A10) */
+ {MPU_SILICON_REV_B6, 0}, /* 23 B6 */
+ {MPU_SILICON_REV_B6, 0}, /* 24 | */
+ {MPU_SILICON_REV_B6, 0}, /* 25 | */
+ {MPU_SILICON_REV_B6, 131}, /* 26 V (B6/A11) */
+};
+
+/**
+ * @internal
+ * @brief Get the silicon revision ID from OTP for MPU3050.
+ * The silicon revision number is in read from OTP bank 0,
+ * ADDR6[7:2]. The corresponding ID is retrieved by lookup
+ * in a map.
+ *
+ * @param mldl_cfg
+ * a pointer to the mldl config data structure.
+ * @param mlsl_handle
+ * an file handle to the serial communication device the
+ * device is connected to.
+ *
+ * @return 0 on success, a non-zero error code otherwise.
+ */
+static int inv_get_silicon_rev_mpu3050(
+ struct mldl_cfg *mldl_cfg, void *mlsl_handle)
+{
+ int result;
+ unsigned char index = 0x00;
+ unsigned char bank =
+ (BIT_PRFTCH_EN | BIT_CFG_USER_BANK | MPU_MEM_OTP_BANK_0);
+ unsigned short mem_addr = ((bank << 8) | 0x06);
+ struct mpu_chip_info *mpu_chip_info = mldl_cfg->mpu_chip_info;
+
+ result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_PRODUCT_ID, 1,
+ &mpu_chip_info->product_id);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ result = inv_serial_read_mem(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ mem_addr, 1, &index);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ index >>= 2;
+
+ /* clean the prefetch and cfg user bank bits */
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_BANK_SEL, 0);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ if (index < OLDEST_PROD_REV_SUPPORTED || index >= NUM_OF_PROD_REVS) {
+ mpu_chip_info->silicon_revision = 0;
+ mpu_chip_info->gyro_sens_trim = 0;
+ MPL_LOGE("Unsupported Product Revision Detected : %d\n", index);
+ return INV_ERROR_INVALID_MODULE;
+ }
+
+ mpu_chip_info->product_revision = index;
+ mpu_chip_info->silicon_revision = prod_rev_map[index].silicon_rev;
+ mpu_chip_info->gyro_sens_trim = prod_rev_map[index].gyro_trim;
+ if (mpu_chip_info->gyro_sens_trim == 0) {
+ MPL_LOGE("gyro sensitivity trim is 0"
+ " - unsupported non production part.\n");
+ return INV_ERROR_INVALID_MODULE;
+ }
+
+ return result;
+}
+#define inv_get_silicon_rev inv_get_silicon_rev_mpu3050
+
+
+/**
+ * @brief Enable / Disable the use MPU's secondary I2C interface level
+ * shifters.
+ * When enabled the secondary I2C interface to which the external
+ * device is connected runs at VDD voltage (main supply).
+ * When disabled the 2nd interface runs at VDDIO voltage.
+ * See the device specification for more details.
+ *
+ * @note using this API may produce unpredictable results, depending on how
+ * the MPU and slave device are setup on the target platform.
+ * Use of this API should entirely be restricted to system
+ * integrators. Once the correct value is found, there should be no
+ * need to change the level shifter at runtime.
+ *
+ * @pre Must be called after inv_serial_start().
+ * @note Typically called before inv_dmp_open().
+ *
+ * @param[in] enable:
+ * 0 to run at VDDIO (default),
+ * 1 to run at VDD.
+ *
+ * @return INV_SUCCESS if successfull, a non-zero error code otherwise.
+ */
+static int inv_mpu_set_level_shifter_bit(struct mldl_cfg *mldl_cfg,
+ void *mlsl_handle, unsigned char enable)
+{
+ int result;
+ unsigned char reg;
+ unsigned char mask;
+ unsigned char regval;
+
+ if (0 == mldl_cfg->mpu_chip_info->silicon_revision)
+ return INV_ERROR_INVALID_PARAMETER;
+
+ /*-- on parts before B6 the VDDIO bit is bit 7 of ACCEL_BURST_ADDR --
+ NOTE: this is incompatible with ST accelerometers where the VDDIO
+ bit MUST be set to enable ST's internal logic to autoincrement
+ the register address on burst reads --*/
+ if ((mldl_cfg->mpu_chip_info->silicon_revision & 0xf)
+ < MPU_SILICON_REV_B6) {
+ reg = MPUREG_ACCEL_BURST_ADDR;
+ mask = 0x80;
+ } else {
+ /*-- on B6 parts the VDDIO bit was moved to FIFO_EN2 =>
+ the mask is always 0x04 --*/
+ reg = MPUREG_FIFO_EN2;
+ mask = 0x04;
+ }
+
+ result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ reg, 1, &regval);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ if (enable)
+ regval |= mask;
+ else
+ regval &= ~mask;
+
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr, reg, regval);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ return result;
+ return INV_SUCCESS;
+}
+
+
+/**
+ * @internal
+ * @brief This function controls the power management on the MPU device.
+ * The entire chip can be put to low power sleep mode, or individual
+ * gyros can be turned on/off.
+ *
+ * Putting the device into sleep mode depending upon the changing needs
+ * of the associated applications is a recommended method for reducing
+ * power consuption. It is a safe opearation in that sleep/wake up of
+ * gyros while running will not result in any interruption of data.
+ *
+ * Although it is entirely allowed to put the device into full sleep
+ * while running the DMP, it is not recomended because it will disrupt
+ * the ongoing calculations carried on inside the DMP and consequently
+ * the sensor fusion algorithm. Furthermore, while in sleep mode
+ * read & write operation from the app processor on both registers and
+ * memory are disabled and can only regained by restoring the MPU in
+ * normal power mode.
+ * Disabling any of the gyro axis will reduce the associated power
+ * consuption from the PLL but will not stop the DMP from running
+ * state.
+ *
+ * @param reset
+ * Non-zero to reset the device. Note that this setting
+ * is volatile and the corresponding register bit will
+ * clear itself right after being applied.
+ * @param sleep
+ * Non-zero to put device into full sleep.
+ * @param disable_gx
+ * Non-zero to disable gyro X.
+ * @param disable_gy
+ * Non-zero to disable gyro Y.
+ * @param disable_gz
+ * Non-zero to disable gyro Z.
+ *
+ * @return INV_SUCCESS if successfull; a non-zero error code otherwise.
+ */
+static int mpu3050_pwr_mgmt(struct mldl_cfg *mldl_cfg,
+ void *mlsl_handle,
+ unsigned char reset,
+ unsigned char sleep,
+ unsigned char disable_gx,
+ unsigned char disable_gy,
+ unsigned char disable_gz)
+{
+ unsigned char b;
+ int result;
+
+ result =
+ inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_PWR_MGM, 1, &b);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ /* If we are awake, we need to put it in bypass before resetting */
+ if ((!(b & BIT_SLEEP)) && reset)
+ result = mpu_set_i2c_bypass(mldl_cfg, mlsl_handle, 1);
+
+ /* Reset if requested */
+ if (reset) {
+ MPL_LOGV("Reset MPU3050\n");
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_PWR_MGM, b | BIT_H_RESET);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ msleep(5);
+ mldl_cfg->inv_mpu_state->status &= ~MPU_GYRO_NEEDS_RESET;
+ /* Some chips are awake after reset and some are asleep,
+ * check the status */
+ result = inv_serial_read(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_PWR_MGM, 1, &b);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+
+ /* Update the suspended state just in case we return early */
+ if (b & BIT_SLEEP)
+ mldl_cfg->inv_mpu_state->status |= MPU_GYRO_IS_SUSPENDED;
+ else
+ mldl_cfg->inv_mpu_state->status &= ~MPU_GYRO_IS_SUSPENDED;
+
+ /* if power status match requested, nothing else's left to do */
+ if ((b & (BIT_SLEEP | BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)) ==
+ (((sleep != 0) * BIT_SLEEP) |
+ ((disable_gx != 0) * BIT_STBY_XG) |
+ ((disable_gy != 0) * BIT_STBY_YG) |
+ ((disable_gz != 0) * BIT_STBY_ZG))) {
+ return INV_SUCCESS;
+ }
+
+ /*
+ * This specific transition between states needs to be reinterpreted:
+ * (1,1,1,1) -> (0,1,1,1) has to become
+ * (1,1,1,1) -> (1,0,0,0) -> (0,1,1,1)
+ * where
+ * (1,1,1,1) is (sleep=1,disable_gx=1,disable_gy=1,disable_gz=1)
+ */
+ if ((b & (BIT_SLEEP | BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)) ==
+ (BIT_SLEEP | BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
+ && ((!sleep) && disable_gx && disable_gy && disable_gz)) {
+ result = mpu3050_pwr_mgmt(mldl_cfg, mlsl_handle, 0, 1, 0, 0, 0);
+ if (result)
+ return result;
+ b |= BIT_SLEEP;
+ b &= ~(BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG);
+ }
+
+ if ((b & BIT_SLEEP) != ((sleep != 0) * BIT_SLEEP)) {
+ if (sleep) {
+ result = mpu_set_i2c_bypass(mldl_cfg, mlsl_handle, 1);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ b |= BIT_SLEEP;
+ result =
+ inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_PWR_MGM, b);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ mldl_cfg->inv_mpu_state->status |=
+ MPU_GYRO_IS_SUSPENDED;
+ } else {
+ b &= ~BIT_SLEEP;
+ result =
+ inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_PWR_MGM, b);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ mldl_cfg->inv_mpu_state->status &=
+ ~MPU_GYRO_IS_SUSPENDED;
+ msleep(5);
+ }
+ }
+ /*---
+ WORKAROUND FOR PUTTING GYRO AXIS in STAND-BY MODE
+ 1) put one axis at a time in stand-by
+ ---*/
+ if ((b & BIT_STBY_XG) != ((disable_gx != 0) * BIT_STBY_XG)) {
+ b ^= BIT_STBY_XG;
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_PWR_MGM, b);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+ if ((b & BIT_STBY_YG) != ((disable_gy != 0) * BIT_STBY_YG)) {
+ b ^= BIT_STBY_YG;
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_PWR_MGM, b);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+ if ((b & BIT_STBY_ZG) != ((disable_gz != 0) * BIT_STBY_ZG)) {
+ b ^= BIT_STBY_ZG;
+ result = inv_serial_single_write(
+ mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_PWR_MGM, b);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+
+ return INV_SUCCESS;
+}
+
+
+/**
+ * @brief sets the clock source for the gyros.
+ * @param mldl_cfg
+ * a pointer to the struct mldl_cfg data structure.
+ * @param gyro_handle
+ * an handle to the serial device the gyro is assigned to.
+ * @return ML_SUCCESS if successful, a non-zero error code otherwise.
+ */
+static int mpu_set_clock_source(void *gyro_handle, struct mldl_cfg *mldl_cfg)
+{
+ int result;
+ unsigned char cur_clk_src;
+ unsigned char reg;
+
+ /* clock source selection */
+ result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_PWR_MGM, 1, &reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ cur_clk_src = reg & BITS_CLKSEL;
+ reg &= ~BITS_CLKSEL;
+
+
+ result = inv_serial_single_write(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_PWR_MGM, mldl_cfg->mpu_gyro_cfg->clk_src | reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ /* TODO : workarounds to be determined and implemented */
+
+ return result;
+}
+
+/**
+ * Configures the MPU I2C Master
+ *
+ * @mldl_cfg Handle to the configuration data
+ * @gyro_handle handle to the gyro communictation interface
+ * @slave Can be Null if turning off the slave
+ * @slave_pdata Can be null if turning off the slave
+ * @slave_id enum ext_slave_type to determine which index to use
+ *
+ *
+ * This fucntion configures the slaves by:
+ * 1) Setting up the read
+ * a) Read Register
+ * b) Read Length
+ * 2) Set up the data trigger (MPU6050 only)
+ * a) Set trigger write register
+ * b) Set Trigger write value
+ * 3) Set up the divider (MPU6050 only)
+ * 4) Set the slave bypass mode depending on slave
+ *
+ * returns INV_SUCCESS or non-zero error code
+ */
+static int mpu_set_slave_mpu3050(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *slave_pdata,
+ int slave_id)
+{
+ int result;
+ unsigned char reg;
+ unsigned char slave_reg;
+ unsigned char slave_len;
+ unsigned char slave_endian;
+ unsigned char slave_address;
+
+ if (slave_id != EXT_SLAVE_TYPE_ACCEL)
+ return 0;
+
+ result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, true);
+
+ if (NULL == slave || NULL == slave_pdata) {
+ slave_reg = 0;
+ slave_len = 0;
+ slave_endian = 0;
+ slave_address = 0;
+ mldl_cfg->inv_mpu_state->i2c_slaves_enabled = 0;
+ } else {
+ slave_reg = slave->read_reg;
+ slave_len = slave->read_len;
+ slave_endian = slave->endian;
+ slave_address = slave_pdata->address;
+ mldl_cfg->inv_mpu_state->i2c_slaves_enabled = 1;
+ }
+
+ /* Address */
+ result = inv_serial_single_write(gyro_handle,
+ mldl_cfg->mpu_chip_info->addr,
+ MPUREG_AUX_SLV_ADDR, slave_address);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ /* Register */
+ result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_ACCEL_BURST_ADDR, 1, &reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ reg = ((reg & 0x80) | slave_reg);
+ result = inv_serial_single_write(gyro_handle,
+ mldl_cfg->mpu_chip_info->addr,
+ MPUREG_ACCEL_BURST_ADDR, reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ /* Length */
+ result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL, 1, &reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ reg = (reg & ~BIT_AUX_RD_LENG);
+ result = inv_serial_single_write(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_USER_CTRL, reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ return result;
+}
+
+
+static int mpu_set_slave(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *slave_pdata,
+ int slave_id)
+{
+ return mpu_set_slave_mpu3050(mldl_cfg, gyro_handle, slave,
+ slave_pdata, slave_id);
+}
+/**
+ * Check to see if the gyro was reset by testing a couple of registers known
+ * to change on reset.
+ *
+ * @mldl_cfg mldl configuration structure
+ * @gyro_handle handle used to communicate with the gyro
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+static int mpu_was_reset(struct mldl_cfg *mldl_cfg, void *gyro_handle)
+{
+ int result = INV_SUCCESS;
+ unsigned char reg;
+
+ result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_DMP_CFG_2, 1, &reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ if (mldl_cfg->mpu_gyro_cfg->dmp_cfg2 != reg)
+ return true;
+
+ if (0 != mldl_cfg->mpu_gyro_cfg->dmp_cfg1)
+ return false;
+
+ result = inv_serial_read(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_SMPLRT_DIV, 1, &reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ if (reg != mldl_cfg->mpu_gyro_cfg->divider)
+ return true;
+
+ if (0 != mldl_cfg->mpu_gyro_cfg->divider)
+ return false;
+
+ /* Inconclusive assume it was reset */
+ return true;
+}
+
+static int gyro_resume(struct mldl_cfg *mldl_cfg, void *gyro_handle,
+ unsigned long sensors)
+{
+ int result;
+ int ii;
+ int jj;
+ unsigned char reg;
+ unsigned char regs[7];
+
+ /* Wake up the part */
+ result = mpu3050_pwr_mgmt(mldl_cfg, gyro_handle, false, false,
+ !(sensors & INV_X_GYRO),
+ !(sensors & INV_Y_GYRO),
+ !(sensors & INV_Z_GYRO));
+
+ if (!(mldl_cfg->inv_mpu_state->status & MPU_GYRO_NEEDS_RESET) &&
+ !mpu_was_reset(mldl_cfg, gyro_handle)) {
+ return INV_SUCCESS;
+ }
+
+ result = mpu3050_pwr_mgmt(mldl_cfg, gyro_handle, true, false,
+ !(sensors & INV_X_GYRO),
+ !(sensors & INV_Y_GYRO),
+ !(sensors & INV_Z_GYRO));
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ result = inv_serial_single_write(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_INT_CFG,
+ (mldl_cfg->mpu_gyro_cfg->int_config |
+ mldl_cfg->pdata->int_config));
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ result = mpu_set_clock_source(gyro_handle, mldl_cfg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ result = inv_serial_single_write(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_SMPLRT_DIV, mldl_cfg->mpu_gyro_cfg->divider);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ reg = DLPF_FS_SYNC_VALUE(mldl_cfg->mpu_gyro_cfg->ext_sync,
+ mldl_cfg->mpu_gyro_cfg->full_scale,
+ mldl_cfg->mpu_gyro_cfg->lpf);
+ result = inv_serial_single_write(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_DLPF_FS_SYNC, reg);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ result = inv_serial_single_write(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_DMP_CFG_1, mldl_cfg->mpu_gyro_cfg->dmp_cfg1);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ result = inv_serial_single_write(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_DMP_CFG_2, mldl_cfg->mpu_gyro_cfg->dmp_cfg2);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ /* Write and verify memory */
+ for (ii = 0; ii < MPU_MEM_NUM_RAM_BANKS; ii++) {
+ unsigned char read[MPU_MEM_BANK_SIZE];
+
+ result = inv_serial_write_mem(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ ((ii << 8) | 0x00), MPU_MEM_BANK_SIZE,
+ &mldl_cfg->mpu_ram->ram[ii * MPU_MEM_BANK_SIZE]);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ result = inv_serial_read_mem(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ ((ii << 8) | 0x00), MPU_MEM_BANK_SIZE, read);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+#define ML_SKIP_CHECK 20
+ for (jj = 0; jj < MPU_MEM_BANK_SIZE; jj++) {
+ /* skip the register memory locations */
+ if (ii == 0 && jj < ML_SKIP_CHECK)
+ continue;
+ if (mldl_cfg->mpu_ram->ram[ii * MPU_MEM_BANK_SIZE + jj]
+ != read[jj]) {
+ result = INV_ERROR_SERIAL_WRITE;
+ break;
+ }
+ }
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+
+ result = inv_serial_single_write(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_XG_OFFS_TC, mldl_cfg->mpu_offsets->tc[0]);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ result = inv_serial_single_write(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_YG_OFFS_TC, mldl_cfg->mpu_offsets->tc[1]);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ result = inv_serial_single_write(
+ gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_ZG_OFFS_TC, mldl_cfg->mpu_offsets->tc[2]);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ regs[0] = MPUREG_X_OFFS_USRH;
+ for (ii = 0; ii < ARRAY_SIZE(mldl_cfg->mpu_offsets->gyro); ii++) {
+ regs[1 + ii * 2] =
+ (unsigned char)(mldl_cfg->mpu_offsets->gyro[ii] >> 8)
+ & 0xff;
+ regs[1 + ii * 2 + 1] =
+ (unsigned char)(mldl_cfg->mpu_offsets->gyro[ii] & 0xff);
+ }
+ result = inv_serial_write(gyro_handle, mldl_cfg->mpu_chip_info->addr,
+ 7, regs);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ /* Configure slaves */
+ result = inv_mpu_set_level_shifter_bit(mldl_cfg, gyro_handle,
+ mldl_cfg->pdata->level_shifter);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ return result;
+}
+
+int gyro_config(void *mlsl_handle,
+ struct mldl_cfg *mldl_cfg,
+ struct ext_slave_config *data)
+{
+ struct mpu_gyro_cfg *mpu_gyro_cfg = mldl_cfg->mpu_gyro_cfg;
+ struct mpu_chip_info *mpu_chip_info = mldl_cfg->mpu_chip_info;
+ struct mpu_offsets *mpu_offsets = mldl_cfg->mpu_offsets;
+ int ii;
+
+ if (!data->data)
+ return INV_ERROR_INVALID_PARAMETER;
+
+ switch (data->key) {
+ case MPU_SLAVE_INT_CONFIG:
+ mpu_gyro_cfg->int_config = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_EXT_SYNC:
+ mpu_gyro_cfg->ext_sync = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_FULL_SCALE:
+ mpu_gyro_cfg->full_scale = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_LPF:
+ mpu_gyro_cfg->lpf = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_CLK_SRC:
+ mpu_gyro_cfg->clk_src = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_DIVIDER:
+ mpu_gyro_cfg->divider = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_DMP_ENABLE:
+ mpu_gyro_cfg->dmp_enable = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_FIFO_ENABLE:
+ mpu_gyro_cfg->fifo_enable = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_DMP_CFG1:
+ mpu_gyro_cfg->dmp_cfg1 = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_DMP_CFG2:
+ mpu_gyro_cfg->dmp_cfg2 = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_TC:
+ for (ii = 0; ii < GYRO_NUM_AXES; ii++)
+ mpu_offsets->tc[ii] = ((__u8 *)data->data)[ii];
+ break;
+ case MPU_SLAVE_GYRO:
+ for (ii = 0; ii < GYRO_NUM_AXES; ii++)
+ mpu_offsets->gyro[ii] = ((__u16 *)data->data)[ii];
+ break;
+ case MPU_SLAVE_ADDR:
+ mpu_chip_info->addr = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_PRODUCT_REVISION:
+ mpu_chip_info->product_revision = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_SILICON_REVISION:
+ mpu_chip_info->silicon_revision = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_PRODUCT_ID:
+ mpu_chip_info->product_id = *((__u8 *)data->data);
+ break;
+ case MPU_SLAVE_GYRO_SENS_TRIM:
+ mpu_chip_info->gyro_sens_trim = *((__u16 *)data->data);
+ break;
+ case MPU_SLAVE_ACCEL_SENS_TRIM:
+ mpu_chip_info->accel_sens_trim = *((__u16 *)data->data);
+ break;
+ case MPU_SLAVE_RAM:
+ if (data->len != mldl_cfg->mpu_ram->length)
+ return INV_ERROR_INVALID_PARAMETER;
+
+ memcpy(mldl_cfg->mpu_ram->ram, data->data, data->len);
+ break;
+ default:
+ LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
+ return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+ };
+ mldl_cfg->inv_mpu_state->status |= MPU_GYRO_NEEDS_RESET;
+ return INV_SUCCESS;
+}
+
+int gyro_get_config(void *mlsl_handle,
+ struct mldl_cfg *mldl_cfg,
+ struct ext_slave_config *data)
+{
+ struct mpu_gyro_cfg *mpu_gyro_cfg = mldl_cfg->mpu_gyro_cfg;
+ struct mpu_chip_info *mpu_chip_info = mldl_cfg->mpu_chip_info;
+ struct mpu_offsets *mpu_offsets = mldl_cfg->mpu_offsets;
+ int ii;
+
+ if (!data->data)
+ return INV_ERROR_INVALID_PARAMETER;
+
+ switch (data->key) {
+ case MPU_SLAVE_INT_CONFIG:
+ *((__u8 *)data->data) = mpu_gyro_cfg->int_config;
+ break;
+ case MPU_SLAVE_EXT_SYNC:
+ *((__u8 *)data->data) = mpu_gyro_cfg->ext_sync;
+ break;
+ case MPU_SLAVE_FULL_SCALE:
+ *((__u8 *)data->data) = mpu_gyro_cfg->full_scale;
+ break;
+ case MPU_SLAVE_LPF:
+ *((__u8 *)data->data) = mpu_gyro_cfg->lpf;
+ break;
+ case MPU_SLAVE_CLK_SRC:
+ *((__u8 *)data->data) = mpu_gyro_cfg->clk_src;
+ break;
+ case MPU_SLAVE_DIVIDER:
+ *((__u8 *)data->data) = mpu_gyro_cfg->divider;
+ break;
+ case MPU_SLAVE_DMP_ENABLE:
+ *((__u8 *)data->data) = mpu_gyro_cfg->dmp_enable;
+ break;
+ case MPU_SLAVE_FIFO_ENABLE:
+ *((__u8 *)data->data) = mpu_gyro_cfg->fifo_enable;
+ break;
+ case MPU_SLAVE_DMP_CFG1:
+ *((__u8 *)data->data) = mpu_gyro_cfg->dmp_cfg1;
+ break;
+ case MPU_SLAVE_DMP_CFG2:
+ *((__u8 *)data->data) = mpu_gyro_cfg->dmp_cfg2;
+ break;
+ case MPU_SLAVE_TC:
+ for (ii = 0; ii < GYRO_NUM_AXES; ii++)
+ ((__u8 *)data->data)[ii] = mpu_offsets->tc[ii];
+ break;
+ case MPU_SLAVE_GYRO:
+ for (ii = 0; ii < GYRO_NUM_AXES; ii++)
+ ((__u16 *)data->data)[ii] = mpu_offsets->gyro[ii];
+ break;
+ case MPU_SLAVE_ADDR:
+ *((__u8 *)data->data) = mpu_chip_info->addr;
+ break;
+ case MPU_SLAVE_PRODUCT_REVISION:
+ *((__u8 *)data->data) = mpu_chip_info->product_revision;
+ break;
+ case MPU_SLAVE_SILICON_REVISION:
+ *((__u8 *)data->data) = mpu_chip_info->silicon_revision;
+ break;
+ case MPU_SLAVE_PRODUCT_ID:
+ *((__u8 *)data->data) = mpu_chip_info->product_id;
+ break;
+ case MPU_SLAVE_GYRO_SENS_TRIM:
+ *((__u16 *)data->data) = mpu_chip_info->gyro_sens_trim;
+ break;
+ case MPU_SLAVE_ACCEL_SENS_TRIM:
+ *((__u16 *)data->data) = mpu_chip_info->accel_sens_trim;
+ break;
+ case MPU_SLAVE_RAM:
+ if (data->len != mldl_cfg->mpu_ram->length)
+ return INV_ERROR_INVALID_PARAMETER;
+
+ memcpy(data->data, mldl_cfg->mpu_ram->ram, data->len);
+ break;
+ default:
+ LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
+ return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+ };
+
+ return INV_SUCCESS;
+}
+
+
+/*******************************************************************************
+ *******************************************************************************
+ * Exported functions
+ *******************************************************************************
+ ******************************************************************************/
+
+/**
+ * Initializes the pdata structure to defaults.
+ *
+ * Opens the device to read silicon revision, product id and whoami.
+ *
+ * @mldl_cfg
+ * The internal device configuration data structure.
+ * @mlsl_handle
+ * The serial communication handle.
+ *
+ * @return INV_SUCCESS if silicon revision, product id and woami are supported
+ * by this software.
+ */
+int inv_mpu_open(struct mldl_cfg *mldl_cfg,
+ void *mlsl_handle,
+ void *accel_handle,
+ void *compass_handle, void *pressure_handle)
+{
+ int result;
+ int ii;
+
+ /* Default is Logic HIGH, pushpull, latch disabled, anyread to clear */
+ mldl_cfg->inv_mpu_cfg->ignore_system_suspend = false;
+ mldl_cfg->mpu_gyro_cfg->int_config = BIT_DMP_INT_EN;
+ mldl_cfg->mpu_gyro_cfg->clk_src = MPU_CLK_SEL_PLLGYROZ;
+ mldl_cfg->mpu_gyro_cfg->lpf = MPU_FILTER_42HZ;
+ mldl_cfg->mpu_gyro_cfg->full_scale = MPU_FS_2000DPS;
+ mldl_cfg->mpu_gyro_cfg->divider = 4;
+ mldl_cfg->mpu_gyro_cfg->dmp_enable = 1;
+ mldl_cfg->mpu_gyro_cfg->fifo_enable = 1;
+ mldl_cfg->mpu_gyro_cfg->ext_sync = 0;
+ mldl_cfg->mpu_gyro_cfg->dmp_cfg1 = 0;
+ mldl_cfg->mpu_gyro_cfg->dmp_cfg2 = 0;
+ mldl_cfg->inv_mpu_state->status =
+ MPU_DMP_IS_SUSPENDED |
+ MPU_GYRO_IS_SUSPENDED |
+ MPU_ACCEL_IS_SUSPENDED |
+ MPU_COMPASS_IS_SUSPENDED |
+ MPU_PRESSURE_IS_SUSPENDED;
+ mldl_cfg->inv_mpu_state->i2c_slaves_enabled = 0;
+
+ if (mldl_cfg->mpu_chip_info->addr == 0) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+
+ /*
+ * Reset,
+ * Take the DMP out of sleep, and
+ * read the product_id, sillicon rev and whoami
+ */
+ mldl_cfg->inv_mpu_state->status |= MPU_GYRO_IS_BYPASSED;
+ result = mpu3050_pwr_mgmt(mldl_cfg, mlsl_handle, RESET, 0, 0, 0, 0);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ result = inv_get_silicon_rev(mldl_cfg, mlsl_handle);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ /* Get the factory temperature compensation offsets */
+ result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_XG_OFFS_TC, 1,
+ &mldl_cfg->mpu_offsets->tc[0]);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_YG_OFFS_TC, 1,
+ &mldl_cfg->mpu_offsets->tc[1]);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ result = inv_serial_read(mlsl_handle, mldl_cfg->mpu_chip_info->addr,
+ MPUREG_ZG_OFFS_TC, 1,
+ &mldl_cfg->mpu_offsets->tc[2]);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ /* Into bypass mode before sleeping and calling the slaves init */
+ result = mpu_set_i2c_bypass(mldl_cfg, mlsl_handle, true);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ result = mpu3050_pwr_mgmt(mldl_cfg, mlsl_handle, 0, SLEEP, 0, 0, 0);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+
+ if (!mldl_cfg->slave[ii] || !mldl_cfg->slave[ii]->init)
+ continue;
+
+ result = mldl_cfg->slave[ii]->init(accel_handle,
+ mldl_cfg->slave[ii],
+ mldl_cfg->pdata_slave[ii]);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ goto out_slave_failure;
+ }
+
+ }
+
+
+ return result;
+
+out_slave_failure:
+ for (ii = ii - 1; ii >= 0; ii--)
+ if (mldl_cfg->slave[ii] && mldl_cfg->slave[ii]->exit)
+ mldl_cfg->slave[ii]->exit(compass_handle,
+ mldl_cfg->slave[ii],
+ mldl_cfg->pdata_slave[ii]);
+ return result;
+}
+
+/**
+ * Close the mpu interface
+ *
+ * @mldl_cfg pointer to the configuration structure
+ * @mlsl_handle pointer to the serial layer handle
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+int inv_mpu_close(struct mldl_cfg *mldl_cfg,
+ void *mlsl_handle,
+ void *accel_handle,
+ void *compass_handle,
+ void *pressure_handle)
+{
+ int result = INV_SUCCESS;
+ int ret_result = INV_SUCCESS;
+ int ii;
+
+ for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+ if (!mldl_cfg->slave[ii] || !mldl_cfg->slave[ii]->exit)
+ continue;
+ result = mldl_cfg->slave[ii]->exit(accel_handle,
+ mldl_cfg->slave[ii],
+ mldl_cfg->pdata_slave[ii]);
+ if (INV_SUCCESS != result)
+ MPL_LOGE("Slave %d exit failed %d\n", ii, result);
+
+ if (INV_SUCCESS == ret_result)
+ ret_result = result;
+ }
+
+ return ret_result;
+}
+
+/**
+ * @brief resume the MPU device and all the other sensor
+ * devices from their low power state.
+ *
+ * @mldl_cfg
+ * pointer to the configuration structure
+ * @gyro_handle
+ * the main file handle to the MPU device.
+ * @accel_handle
+ * an handle to the accelerometer device, if sitting
+ * onto a separate bus. Can match mlsl_handle if
+ * the accelerometer device operates on the same
+ * primary bus of MPU.
+ * @compass_handle
+ * an handle to the compass device, if sitting
+ * onto a separate bus. Can match mlsl_handle if
+ * the compass device operates on the same
+ * primary bus of MPU.
+ * @pressure_handle
+ * an handle to the pressure sensor device, if sitting
+ * onto a separate bus. Can match mlsl_handle if
+ * the pressure sensor device operates on the same
+ * primary bus of MPU.
+ * @resume_gyro
+ * whether resuming the gyroscope device is
+ * actually needed (if the device supports low power
+ * mode of some sort).
+ * @resume_accel
+ * whether resuming the accelerometer device is
+ * actually needed (if the device supports low power
+ * mode of some sort).
+ * @resume_compass
+ * whether resuming the compass device is
+ * actually needed (if the device supports low power
+ * mode of some sort).
+ * @resume_pressure
+ * whether resuming the pressure sensor device is
+ * actually needed (if the device supports low power
+ * mode of some sort).
+ * @return INV_SUCCESS or a non-zero error code.
+ */
+int inv_mpu_resume(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *accel_handle,
+ void *compass_handle,
+ void *pressure_handle,
+ unsigned long sensors)
+{
+ int result = INV_SUCCESS;
+ int ii;
+ bool resume_slave[EXT_SLAVE_NUM_TYPES];
+ bool resume_dmp = sensors & INV_DMP_PROCESSOR;
+ void *slave_handle[EXT_SLAVE_NUM_TYPES];
+ resume_slave[EXT_SLAVE_TYPE_GYROSCOPE] =
+ (sensors & (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO));
+ resume_slave[EXT_SLAVE_TYPE_ACCEL] =
+ sensors & INV_THREE_AXIS_ACCEL;
+ resume_slave[EXT_SLAVE_TYPE_COMPASS] =
+ sensors & INV_THREE_AXIS_COMPASS;
+ resume_slave[EXT_SLAVE_TYPE_PRESSURE] =
+ sensors & INV_THREE_AXIS_PRESSURE;
+
+ slave_handle[EXT_SLAVE_TYPE_GYROSCOPE] = gyro_handle;
+ slave_handle[EXT_SLAVE_TYPE_ACCEL] = accel_handle;
+ slave_handle[EXT_SLAVE_TYPE_COMPASS] = compass_handle;
+ slave_handle[EXT_SLAVE_TYPE_PRESSURE] = pressure_handle;
+
+
+ mldl_print_cfg(mldl_cfg);
+
+ /* Skip the Gyro since slave[EXT_SLAVE_TYPE_GYROSCOPE] is NULL */
+ for (ii = EXT_SLAVE_TYPE_ACCEL; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+ if (resume_slave[ii] &&
+ ((!mldl_cfg->slave[ii]) ||
+ (!mldl_cfg->slave[ii]->resume))) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+ }
+
+ if ((resume_slave[EXT_SLAVE_TYPE_GYROSCOPE] || resume_dmp)
+ && (mldl_cfg->inv_mpu_state->status & MPU_GYRO_IS_SUSPENDED)) {
+ result = gyro_resume(mldl_cfg, gyro_handle, sensors);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+
+ for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+ if (!mldl_cfg->slave[ii] ||
+ !mldl_cfg->pdata_slave[ii] ||
+ !resume_slave[ii] ||
+ !(mldl_cfg->inv_mpu_state->status & (1 << ii)))
+ continue;
+
+ if (EXT_SLAVE_BUS_SECONDARY ==
+ mldl_cfg->pdata_slave[ii]->bus) {
+ result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle,
+ true);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+ result = mldl_cfg->slave[ii]->resume(slave_handle[ii],
+ mldl_cfg->slave[ii],
+ mldl_cfg->pdata_slave[ii]);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ mldl_cfg->inv_mpu_state->status &= ~(1 << ii);
+ }
+
+ for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+ if (resume_dmp &&
+ !(mldl_cfg->inv_mpu_state->status & (1 << ii)) &&
+ mldl_cfg->pdata_slave[ii] &&
+ EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata_slave[ii]->bus) {
+ result = mpu_set_slave(mldl_cfg,
+ gyro_handle,
+ mldl_cfg->slave[ii],
+ mldl_cfg->pdata_slave[ii],
+ mldl_cfg->slave[ii]->type);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+ }
+
+ /* Turn on the master i2c iterface if necessary */
+ if (resume_dmp) {
+ result = mpu_set_i2c_bypass(
+ mldl_cfg, gyro_handle,
+ !(mldl_cfg->inv_mpu_state->i2c_slaves_enabled));
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ /* Now start */
+ result = dmp_start(mldl_cfg, gyro_handle);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+ mldl_cfg->inv_mpu_cfg->requested_sensors = sensors;
+
+ return result;
+}
+
+/**
+ * @brief suspend the MPU device and all the other sensor
+ * devices into their low power state.
+ * @mldl_cfg
+ * a pointer to the struct mldl_cfg internal data
+ * structure.
+ * @gyro_handle
+ * the main file handle to the MPU device.
+ * @accel_handle
+ * an handle to the accelerometer device, if sitting
+ * onto a separate bus. Can match gyro_handle if
+ * the accelerometer device operates on the same
+ * primary bus of MPU.
+ * @compass_handle
+ * an handle to the compass device, if sitting
+ * onto a separate bus. Can match gyro_handle if
+ * the compass device operates on the same
+ * primary bus of MPU.
+ * @pressure_handle
+ * an handle to the pressure sensor device, if sitting
+ * onto a separate bus. Can match gyro_handle if
+ * the pressure sensor device operates on the same
+ * primary bus of MPU.
+ * @accel
+ * whether suspending the accelerometer device is
+ * actually needed (if the device supports low power
+ * mode of some sort).
+ * @compass
+ * whether suspending the compass device is
+ * actually needed (if the device supports low power
+ * mode of some sort).
+ * @pressure
+ * whether suspending the pressure sensor device is
+ * actually needed (if the device supports low power
+ * mode of some sort).
+ * @return INV_SUCCESS or a non-zero error code.
+ */
+int inv_mpu_suspend(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *accel_handle,
+ void *compass_handle,
+ void *pressure_handle,
+ unsigned long sensors)
+{
+ int result = INV_SUCCESS;
+ int ii;
+ struct ext_slave_descr **slave = mldl_cfg->slave;
+ struct ext_slave_platform_data **pdata_slave = mldl_cfg->pdata_slave;
+ bool suspend_dmp = ((sensors & INV_DMP_PROCESSOR) == INV_DMP_PROCESSOR);
+ bool suspend_slave[EXT_SLAVE_NUM_TYPES];
+
+ suspend_slave[EXT_SLAVE_TYPE_GYROSCOPE] =
+ ((sensors & (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO))
+ == (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO));
+ suspend_slave[EXT_SLAVE_TYPE_ACCEL] =
+ ((sensors & INV_THREE_AXIS_ACCEL) == INV_THREE_AXIS_ACCEL);
+ suspend_slave[EXT_SLAVE_TYPE_COMPASS] =
+ ((sensors & INV_THREE_AXIS_COMPASS) == INV_THREE_AXIS_COMPASS);
+ suspend_slave[EXT_SLAVE_TYPE_PRESSURE] =
+ ((sensors & INV_THREE_AXIS_PRESSURE) ==
+ INV_THREE_AXIS_PRESSURE);
+
+ if (suspend_dmp) {
+ result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ result = dmp_stop(mldl_cfg, gyro_handle);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+
+ /* Gyro */
+ if (suspend_slave[EXT_SLAVE_TYPE_GYROSCOPE] &&
+ !(mldl_cfg->inv_mpu_state->status & MPU_GYRO_IS_SUSPENDED)) {
+ result = mpu3050_pwr_mgmt(
+ mldl_cfg, gyro_handle, 0,
+ suspend_dmp && suspend_slave[EXT_SLAVE_TYPE_GYROSCOPE],
+ (unsigned char)(sensors & INV_X_GYRO),
+ (unsigned char)(sensors & INV_Y_GYRO),
+ (unsigned char)(sensors & INV_Z_GYRO));
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+
+ for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
+ bool is_suspended = mldl_cfg->inv_mpu_state->status & (1 << ii);
+ if (!slave[ii] || !pdata_slave[ii] ||
+ is_suspended || !suspend_slave[ii])
+ continue;
+
+ if (EXT_SLAVE_BUS_SECONDARY == pdata_slave[ii]->bus) {
+ result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+ result = slave[ii]->suspend(accel_handle,
+ slave[ii],
+ pdata_slave[ii]);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ if (EXT_SLAVE_BUS_SECONDARY == pdata_slave[ii]->bus) {
+ result = mpu_set_slave(mldl_cfg, gyro_handle,
+ NULL, NULL,
+ slave[ii]->type);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+ mldl_cfg->inv_mpu_state->status |= (1 << ii);
+ }
+
+ /* Re-enable the i2c master if there are configured slaves and DMP */
+ if (!suspend_dmp) {
+ result = mpu_set_i2c_bypass(
+ mldl_cfg, gyro_handle,
+ !(mldl_cfg->inv_mpu_state->i2c_slaves_enabled));
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+ mldl_cfg->inv_mpu_cfg->requested_sensors = (~sensors) & INV_ALL_SENSORS;
+
+ return result;
+}
+
+int inv_mpu_slave_read(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *slave_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata,
+ unsigned char *data)
+{
+ int result;
+ int bypass_result;
+ int remain_bypassed = true;
+
+ if (NULL == slave || NULL == slave->read) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_CONFIGURATION);
+ return INV_ERROR_INVALID_CONFIGURATION;
+ }
+
+ if ((EXT_SLAVE_BUS_SECONDARY == pdata->bus)
+ && (!(mldl_cfg->inv_mpu_state->status & MPU_GYRO_IS_BYPASSED))) {
+ remain_bypassed = false;
+ result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+
+ result = slave->read(slave_handle, slave, pdata, data);
+
+ if (!remain_bypassed) {
+ bypass_result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 0);
+ if (bypass_result) {
+ LOG_RESULT_LOCATION(bypass_result);
+ return bypass_result;
+ }
+ }
+ return result;
+}
+
+int inv_mpu_slave_config(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *slave_handle,
+ struct ext_slave_config *data,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata)
+{
+ int result;
+ int remain_bypassed = true;
+
+ if (NULL == slave || NULL == slave->config) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_CONFIGURATION);
+ return INV_ERROR_INVALID_CONFIGURATION;
+ }
+
+ if (data->apply && (EXT_SLAVE_BUS_SECONDARY == pdata->bus)
+ && (!(mldl_cfg->inv_mpu_state->status & MPU_GYRO_IS_BYPASSED))) {
+ remain_bypassed = false;
+ result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+
+ result = slave->config(slave_handle, slave, pdata, data);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ if (!remain_bypassed) {
+ result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 0);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+ return result;
+}
+
+int inv_mpu_get_slave_config(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ void *slave_handle,
+ struct ext_slave_config *data,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata)
+{
+ int result;
+ int remain_bypassed = true;
+
+ if (NULL == slave || NULL == slave->get_config) {
+ LOG_RESULT_LOCATION(INV_ERROR_INVALID_CONFIGURATION);
+ return INV_ERROR_INVALID_CONFIGURATION;
+ }
+
+ if (data->apply && (EXT_SLAVE_BUS_SECONDARY == pdata->bus)
+ && (!(mldl_cfg->inv_mpu_state->status & MPU_GYRO_IS_BYPASSED))) {
+ remain_bypassed = false;
+ result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+
+ result = slave->get_config(slave_handle, slave, pdata, data);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ if (!remain_bypassed) {
+ result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 0);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+ return result;
+}
+
+/**
+ * @}
+ */
--
1.7.4.1

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