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android / kernel / omap / refs/heads/android-omap-tuna-3.0 / . / drivers / misc / inv_mpu / mldl_cfg.c
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/*
$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 <stddef.h>
#include "mldl_cfg.h"
#include <linux/mpu.h>
# include "mpu3050.h"
#include "mlsl.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->dmp_is_running)
return INV_SUCCESS;
result = inv_serial_read(gyro_handle, mldl_cfg->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->addr,
MPUREG_USER_CTRL, user_ctrl_reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
mldl_cfg->dmp_is_running = FALSE;
return result;
}
/**
* @brief Starts the DMP running
*
* @return INV_SUCCESS or non-zero error code
*/
static int dmp_start(struct mldl_cfg *pdata, void *mlsl_handle)
{
unsigned char user_ctrl_reg;
int result;
if (pdata->dmp_is_running == pdata->dmp_enable)
return INV_SUCCESS;
result = inv_serial_read(mlsl_handle, pdata->addr,
MPUREG_USER_CTRL, 1, &user_ctrl_reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_single_write(mlsl_handle, pdata->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, pdata->addr,
MPUREG_USER_CTRL, user_ctrl_reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_read(mlsl_handle, pdata->addr,
MPUREG_USER_CTRL, 1, &user_ctrl_reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
if (pdata->dmp_enable)
user_ctrl_reg |= BIT_DMP_EN;
else
user_ctrl_reg &= ~BIT_DMP_EN;
if (pdata->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, pdata->addr,
MPUREG_USER_CTRL, user_ctrl_reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
pdata->dmp_is_running = pdata->dmp_enable;
return result;
}
static int mpu3050_set_i2c_bypass(struct mldl_cfg *mldl_cfg,
void *mlsl_handle, unsigned char enable)
{
unsigned char b;
int result;
if ((mldl_cfg->gyro_is_bypassed && enable) ||
(!mldl_cfg->gyro_is_bypassed && !enable))
return INV_SUCCESS;
/*---- get current 'USER_CTRL' into b ----*/
result = inv_serial_read(mlsl_handle, mldl_cfg->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->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->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->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) / 1000);
result = inv_serial_single_write(
mlsl_handle, mldl_cfg->addr,
MPUREG_AUX_SLV_ADDR,
mldl_cfg->pdata->accel.address);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
/*
* 4) reset the ime interface
*/
result = inv_serial_single_write(mlsl_handle, mldl_cfg->addr,
MPUREG_USER_CTRL,
(b | BIT_AUX_IF_RST));
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
msleep(2);
}
mldl_cfg->gyro_is_bypassed = enable;
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);
result = inv_serial_read(mlsl_handle, mldl_cfg->addr,
MPUREG_PRODUCT_ID, 1, &mldl_cfg->product_id);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_read_mem(mlsl_handle, mldl_cfg->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->addr,
MPUREG_BANK_SEL, 0);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
if (index < OLDEST_PROD_REV_SUPPORTED || index >= NUM_OF_PROD_REVS) {
mldl_cfg->silicon_revision = 0;
mldl_cfg->gyro_sens_trim = 0;
MPL_LOGE("Unsupported Product Revision Detected : %d\n", index);
return INV_ERROR_INVALID_MODULE;
}
mldl_cfg->product_revision = index;
mldl_cfg->silicon_revision = prod_rev_map[index].silicon_rev;
mldl_cfg->gyro_sens_trim = prod_rev_map[index].gyro_trim;
if (mldl_cfg->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 *pdata,
void *mlsl_handle, unsigned char enable)
{
int result;
unsigned char reg;
unsigned char mask;
unsigned char regval;
if (0 == pdata->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 ((pdata->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, pdata->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, pdata->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->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->addr,
MPUREG_PWR_MGM,
b | BIT_H_RESET);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
msleep(5);
mldl_cfg->gyro_needs_reset = FALSE;
/* Some chips are awake after reset and some are asleep,
* check the status */
result = inv_serial_read(mlsl_handle, mldl_cfg->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->gyro_is_suspended = TRUE;
else
mldl_cfg->gyro_is_suspended = FALSE;
/* 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->addr,
MPUREG_PWR_MGM, b);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
mldl_cfg->gyro_is_suspended = TRUE;
} else {
b &= ~BIT_SLEEP;
result =
inv_serial_single_write(mlsl_handle, mldl_cfg->addr,
MPUREG_PWR_MGM, b);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
mldl_cfg->gyro_is_suspended = FALSE;
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->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->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->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->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->addr,
MPUREG_PWR_MGM,
mldl_cfg->clk_src | reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
/* TODO : workarounds to be determined and implemented */
return result;
}
void mpu_print_cfg(struct mldl_cfg *mldl_cfg)
{
struct mpu_platform_data *pdata = mldl_cfg->pdata;
struct ext_slave_platform_data *accel = &mldl_cfg->pdata->accel;
struct ext_slave_platform_data *compass = &mldl_cfg->pdata->compass;
struct ext_slave_platform_data *pressure = &mldl_cfg->pdata->pressure;
MPL_LOGD("mldl_cfg.addr = %02x\n", mldl_cfg->addr);
MPL_LOGD("mldl_cfg.int_config = %02x\n", mldl_cfg->int_config);
MPL_LOGD("mldl_cfg.ext_sync = %02x\n", mldl_cfg->ext_sync);
MPL_LOGD("mldl_cfg.full_scale = %02x\n", mldl_cfg->full_scale);
MPL_LOGD("mldl_cfg.lpf = %02x\n", mldl_cfg->lpf);
MPL_LOGD("mldl_cfg.clk_src = %02x\n", mldl_cfg->clk_src);
MPL_LOGD("mldl_cfg.divider = %02x\n", mldl_cfg->divider);
MPL_LOGD("mldl_cfg.dmp_enable = %02x\n", mldl_cfg->dmp_enable);
MPL_LOGD("mldl_cfg.fifo_enable = %02x\n", mldl_cfg->fifo_enable);
MPL_LOGD("mldl_cfg.dmp_cfg1 = %02x\n", mldl_cfg->dmp_cfg1);
MPL_LOGD("mldl_cfg.dmp_cfg2 = %02x\n", mldl_cfg->dmp_cfg2);
MPL_LOGD("mldl_cfg.offset_tc[0] = %02x\n", mldl_cfg->offset_tc[0]);
MPL_LOGD("mldl_cfg.offset_tc[1] = %02x\n", mldl_cfg->offset_tc[1]);
MPL_LOGD("mldl_cfg.offset_tc[2] = %02x\n", mldl_cfg->offset_tc[2]);
MPL_LOGD("mldl_cfg.silicon_revision = %02x\n",
mldl_cfg->silicon_revision);
MPL_LOGD("mldl_cfg.product_revision = %02x\n",
mldl_cfg->product_revision);
MPL_LOGD("mldl_cfg.product_id = %02x\n", mldl_cfg->product_id);
MPL_LOGD("mldl_cfg.gyro_sens_trim = %02x\n",
mldl_cfg->gyro_sens_trim);
MPL_LOGD("mldl_cfg.requested_sensors= %04lx\n",
mldl_cfg->requested_sensors);
if (mldl_cfg->accel) {
MPL_LOGD("slave_accel->suspend = %02x\n",
(int)mldl_cfg->accel->suspend);
MPL_LOGD("slave_accel->resume = %02x\n",
(int)mldl_cfg->accel->resume);
MPL_LOGD("slave_accel->read = %02x\n",
(int)mldl_cfg->accel->read);
MPL_LOGD("slave_accel->type = %02x\n",
mldl_cfg->accel->type);
MPL_LOGD("slave_accel->reg = %02x\n",
mldl_cfg->accel->read_reg);
MPL_LOGD("slave_accel->len = %02x\n",
mldl_cfg->accel->read_len);
MPL_LOGD("slave_accel->endian = %02x\n",
mldl_cfg->accel->endian);
MPL_LOGD("slave_accel->range.mantissa= %02lx\n",
mldl_cfg->accel->range.mantissa);
MPL_LOGD("slave_accel->range.fraction= %02lx\n",
mldl_cfg->accel->range.fraction);
} else {
MPL_LOGD("slave_accel = NULL\n");
}
if (mldl_cfg->compass) {
MPL_LOGD("slave_compass->suspend = %02x\n",
(int)mldl_cfg->compass->suspend);
MPL_LOGD("slave_compass->resume = %02x\n",
(int)mldl_cfg->compass->resume);
MPL_LOGD("slave_compass->read = %02x\n",
(int)mldl_cfg->compass->read);
MPL_LOGD("slave_compass->type = %02x\n",
mldl_cfg->compass->type);
MPL_LOGD("slave_compass->reg = %02x\n",
mldl_cfg->compass->read_reg);
MPL_LOGD("slave_compass->len = %02x\n",
mldl_cfg->compass->read_len);
MPL_LOGD("slave_compass->endian = %02x\n",
mldl_cfg->compass->endian);
MPL_LOGD("slave_compass->range.mantissa= %02lx\n",
mldl_cfg->compass->range.mantissa);
MPL_LOGD("slave_compass->range.fraction= %02lx\n",
mldl_cfg->compass->range.fraction);
} else {
MPL_LOGD("slave_compass = NULL\n");
}
if (mldl_cfg->pressure) {
MPL_LOGD("slave_pressure->suspend = %02x\n",
(int)mldl_cfg->pressure->suspend);
MPL_LOGD("slave_pressure->resume = %02x\n",
(int)mldl_cfg->pressure->resume);
MPL_LOGD("slave_pressure->read = %02x\n",
(int)mldl_cfg->pressure->read);
MPL_LOGD("slave_pressure->type = %02x\n",
mldl_cfg->pressure->type);
MPL_LOGD("slave_pressure->reg = %02x\n",
mldl_cfg->pressure->read_reg);
MPL_LOGD("slave_pressure->len = %02x\n",
mldl_cfg->pressure->read_len);
MPL_LOGD("slave_pressure->endian = %02x\n",
mldl_cfg->pressure->endian);
MPL_LOGD("slave_pressure->range.mantissa= %02lx\n",
mldl_cfg->pressure->range.mantissa);
MPL_LOGD("slave_pressure->range.fraction= %02lx\n",
mldl_cfg->pressure->range.fraction);
} else {
MPL_LOGD("slave_pressure = NULL\n");
}
MPL_LOGD("accel->get_slave_descr = %x\n",
(unsigned int)accel->get_slave_descr);
MPL_LOGD("accel->irq = %02x\n", accel->irq);
MPL_LOGD("accel->adapt_num = %02x\n", accel->adapt_num);
MPL_LOGD("accel->bus = %02x\n", accel->bus);
MPL_LOGD("accel->address = %02x\n", accel->address);
MPL_LOGD("accel->orientation =\n"
" %2d %2d %2d\n"
" %2d %2d %2d\n"
" %2d %2d %2d\n",
accel->orientation[0], accel->orientation[1],
accel->orientation[2], accel->orientation[3],
accel->orientation[4], accel->orientation[5],
accel->orientation[6], accel->orientation[7],
accel->orientation[8]);
MPL_LOGD("compass->get_slave_descr = %x\n",
(unsigned int)compass->get_slave_descr);
MPL_LOGD("compass->irq = %02x\n", compass->irq);
MPL_LOGD("compass->adapt_num = %02x\n", compass->adapt_num);
MPL_LOGD("compass->bus = %02x\n", compass->bus);
MPL_LOGD("compass->address = %02x\n", compass->address);
MPL_LOGD("compass->orientation =\n"
" %2d %2d %2d\n"
" %2d %2d %2d\n"
" %2d %2d %2d\n",
compass->orientation[0], compass->orientation[1],
compass->orientation[2], compass->orientation[3],
compass->orientation[4], compass->orientation[5],
compass->orientation[6], compass->orientation[7],
compass->orientation[8]);
MPL_LOGD("pressure->get_slave_descr = %x\n",
(unsigned int)pressure->get_slave_descr);
MPL_LOGD("pressure->irq = %02x\n", pressure->irq);
MPL_LOGD("pressure->adapt_num = %02x\n", pressure->adapt_num);
MPL_LOGD("pressure->bus = %02x\n", pressure->bus);
MPL_LOGD("pressure->address = %02x\n", pressure->address);
MPL_LOGD("pressure->orientation =\n"
" %2d %2d %2d\n"
" %2d %2d %2d\n"
" %2d %2d %2d\n",
pressure->orientation[0], pressure->orientation[1],
pressure->orientation[2], pressure->orientation[3],
pressure->orientation[4], pressure->orientation[5],
pressure->orientation[6], pressure->orientation[7],
pressure->orientation[8]);
MPL_LOGD("pdata->int_config = %02x\n", pdata->int_config);
MPL_LOGD("pdata->level_shifter = %02x\n", pdata->level_shifter);
MPL_LOGD("pdata->orientation =\n"
" %2d %2d %2d\n"
" %2d %2d %2d\n"
" %2d %2d %2d\n",
pdata->orientation[0], pdata->orientation[1],
pdata->orientation[2], pdata->orientation[3],
pdata->orientation[4], pdata->orientation[5],
pdata->orientation[6], pdata->orientation[7],
pdata->orientation[8]);
MPL_LOGD("Struct sizes: mldl_cfg: %d, "
"ext_slave_descr:%d, "
"mpu_platform_data:%d: RamOffset: %d\n",
sizeof(struct mldl_cfg), sizeof(struct ext_slave_descr),
sizeof(struct mpu_platform_data),
offsetof(struct mldl_cfg, ram));
}
/**
* 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;
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->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->i2c_slaves_enabled = 1;
}
/* Address */
result = inv_serial_single_write(gyro_handle,
mldl_cfg->addr,
MPUREG_AUX_SLV_ADDR, slave_address);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
/* Register */
result = inv_serial_read(gyro_handle, mldl_cfg->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->addr,
MPUREG_ACCEL_BURST_ADDR, reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
/* Length */
result = inv_serial_read(gyro_handle, mldl_cfg->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->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->addr,
MPUREG_DMP_CFG_2, 1, &reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
if (mldl_cfg->dmp_cfg2 != reg)
return TRUE;
if (0 != mldl_cfg->dmp_cfg1)
return FALSE;
result = inv_serial_read(gyro_handle, mldl_cfg->addr,
MPUREG_SMPLRT_DIV, 1, &reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
if (reg != mldl_cfg->divider)
return TRUE;
if (0 != mldl_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->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->addr,
MPUREG_INT_CFG,
(mldl_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->addr,
MPUREG_SMPLRT_DIV, mldl_cfg->divider);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
reg = DLPF_FS_SYNC_VALUE(mldl_cfg->ext_sync,
mldl_cfg->full_scale, mldl_cfg->lpf);
result = inv_serial_single_write(gyro_handle, mldl_cfg->addr,
MPUREG_DLPF_FS_SYNC, reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_single_write(gyro_handle, mldl_cfg->addr,
MPUREG_DMP_CFG_1, mldl_cfg->dmp_cfg1);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_single_write(gyro_handle, mldl_cfg->addr,
MPUREG_DMP_CFG_2, mldl_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->addr,
((ii << 8) | 0x00),
MPU_MEM_BANK_SIZE,
mldl_cfg->ram[ii]);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_read_mem(gyro_handle, mldl_cfg->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->ram[ii][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->addr,
MPUREG_XG_OFFS_TC,
mldl_cfg->offset_tc[0]);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_single_write(gyro_handle, mldl_cfg->addr,
MPUREG_YG_OFFS_TC,
mldl_cfg->offset_tc[1]);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_single_write(gyro_handle, mldl_cfg->addr,
MPUREG_ZG_OFFS_TC,
mldl_cfg->offset_tc[2]);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
regs[0] = MPUREG_X_OFFS_USRH;
for (ii = 0; ii < ARRAY_SIZE(mldl_cfg->offset); ii++) {
regs[1 + ii * 2] = (unsigned char)(mldl_cfg->offset[ii] >> 8)
& 0xff;
regs[1 + ii * 2 + 1] =
(unsigned char)(mldl_cfg->offset[ii] & 0xff);
}
result = inv_serial_write(gyro_handle, mldl_cfg->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;
}
/*******************************************************************************
*******************************************************************************
* 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;
/* Default is Logic HIGH, pushpull, latch disabled, anyread to clear */
mldl_cfg->ignore_system_suspend = FALSE;
mldl_cfg->int_config = BIT_DMP_INT_EN;
mldl_cfg->clk_src = MPU_CLK_SEL_PLLGYROZ;
mldl_cfg->lpf = MPU_FILTER_42HZ;
mldl_cfg->full_scale = MPU_FS_2000DPS;
mldl_cfg->divider = 4;
mldl_cfg->dmp_enable = 1;
mldl_cfg->fifo_enable = 1;
mldl_cfg->ext_sync = 0;
mldl_cfg->dmp_cfg1 = 0;
mldl_cfg->dmp_cfg2 = 0;
mldl_cfg->i2c_slaves_enabled = 0;
mldl_cfg->dmp_is_running = FALSE;
mldl_cfg->gyro_is_suspended = TRUE;
mldl_cfg->accel_is_suspended = TRUE;
mldl_cfg->compass_is_suspended = TRUE;
mldl_cfg->pressure_is_suspended = TRUE;
mldl_cfg->gyro_needs_reset = FALSE;
if (mldl_cfg->addr == 0)
return INV_ERROR_INVALID_PARAMETER;
/*
* Reset,
* Take the DMP out of sleep, and
* read the product_id, sillicon rev and whoami
*/
mldl_cfg->gyro_is_bypassed = TRUE;
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->addr,
MPUREG_XG_OFFS_TC, 1, &mldl_cfg->offset_tc[0]);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_read(mlsl_handle, mldl_cfg->addr,
MPUREG_YG_OFFS_TC, 1, &mldl_cfg->offset_tc[1]);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_read(mlsl_handle, mldl_cfg->addr,
MPUREG_ZG_OFFS_TC, 1, &mldl_cfg->offset_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;
}
if (mldl_cfg->accel && mldl_cfg->accel->init) {
result = mldl_cfg->accel->init(accel_handle,
mldl_cfg->accel,
&mldl_cfg->pdata->accel);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
if (mldl_cfg->compass && mldl_cfg->compass->init) {
result = mldl_cfg->compass->init(compass_handle,
mldl_cfg->compass,
&mldl_cfg->pdata->compass);
if (INV_SUCCESS != result) {
MPL_LOGE("mldl_cfg->compass->init returned %d\n",
result);
goto out_accel;
}
}
if (mldl_cfg->pressure && mldl_cfg->pressure->init) {
result = mldl_cfg->pressure->init(pressure_handle,
mldl_cfg->pressure,
&mldl_cfg->pdata->pressure);
if (INV_SUCCESS != result) {
MPL_LOGE("mldl_cfg->pressure->init returned %d\n",
result);
goto out_compass;
}
}
mldl_cfg->requested_sensors = INV_THREE_AXIS_GYRO;
if (mldl_cfg->accel && mldl_cfg->accel->resume)
mldl_cfg->requested_sensors |= INV_THREE_AXIS_ACCEL;
if (mldl_cfg->compass && mldl_cfg->compass->resume)
mldl_cfg->requested_sensors |= INV_THREE_AXIS_COMPASS;
if (mldl_cfg->pressure && mldl_cfg->pressure->resume)
mldl_cfg->requested_sensors |= INV_THREE_AXIS_PRESSURE;
return result;
out_compass:
if (mldl_cfg->compass->init)
mldl_cfg->compass->exit(compass_handle,
mldl_cfg->compass,
&mldl_cfg->pdata->compass);
out_accel:
if (mldl_cfg->accel->init)
mldl_cfg->accel->exit(accel_handle,
mldl_cfg->accel, &mldl_cfg->pdata->accel);
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;
if (mldl_cfg->accel && mldl_cfg->accel->exit) {
result = mldl_cfg->accel->exit(accel_handle,
mldl_cfg->accel,
&mldl_cfg->pdata->accel);
if (INV_SUCCESS != result)
MPL_LOGE("Accel exit failed %d\n", result);
ret_result = result;
}
if (INV_SUCCESS == ret_result)
ret_result = result;
if (mldl_cfg->compass && mldl_cfg->compass->exit) {
result = mldl_cfg->compass->exit(compass_handle,
mldl_cfg->compass,
&mldl_cfg->pdata->compass);
if (INV_SUCCESS != result)
MPL_LOGE("Compass exit failed %d\n", result);
}
if (INV_SUCCESS == ret_result)
ret_result = result;
if (mldl_cfg->pressure && mldl_cfg->pressure->exit) {
result = mldl_cfg->pressure->exit(pressure_handle,
mldl_cfg->pressure,
&mldl_cfg->pdata->pressure);
if (INV_SUCCESS != result)
MPL_LOGE("Pressure exit failed %d\n", 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)
{
bool resume_dmp = sensors & INV_DMP_PROCESSOR;
bool resume_gyro = sensors & INV_THREE_AXIS_GYRO;
bool resume_accel = sensors & INV_THREE_AXIS_ACCEL;
bool resume_compass = sensors & INV_THREE_AXIS_COMPASS;
bool resume_pressure = sensors & INV_THREE_AXIS_PRESSURE;
int result = INV_SUCCESS;
#ifdef CONFIG_MPU_SENSORS_DEBUG
mpu_print_cfg(mldl_cfg);
#endif
if (resume_accel && ((!mldl_cfg->accel) || (!mldl_cfg->accel->resume)))
return INV_ERROR_INVALID_PARAMETER;
if (resume_compass &&
((!mldl_cfg->compass) || (!mldl_cfg->compass->resume)))
return INV_ERROR_INVALID_PARAMETER;
if (resume_pressure &&
((!mldl_cfg->pressure) || (!mldl_cfg->pressure->resume)))
return INV_ERROR_INVALID_PARAMETER;
if (resume_gyro && mldl_cfg->gyro_is_suspended) {
result = gyro_resume(mldl_cfg, gyro_handle, sensors);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
if (resume_accel && mldl_cfg->accel_is_suspended) {
if (EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->accel.bus) {
result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle,
TRUE);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
result = mldl_cfg->accel->resume(accel_handle,
mldl_cfg->accel,
&mldl_cfg->pdata->accel);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
mldl_cfg->accel_is_suspended = FALSE;
}
if (resume_dmp && !mldl_cfg->accel_is_suspended &&
EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->accel.bus) {
result = mpu_set_slave(mldl_cfg,
gyro_handle,
mldl_cfg->accel,
&mldl_cfg->pdata->accel,
mldl_cfg->accel->type);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
if (resume_compass && mldl_cfg->compass_is_suspended) {
if (EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->compass.bus) {
result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle,
TRUE);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
result = mldl_cfg->compass->resume(compass_handle,
mldl_cfg->compass,
&mldl_cfg->pdata->compass);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
mldl_cfg->compass_is_suspended = FALSE;
}
if (resume_dmp && !mldl_cfg->compass_is_suspended &&
EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->compass.bus) {
result = mpu_set_slave(mldl_cfg,
gyro_handle,
mldl_cfg->compass,
&mldl_cfg->pdata->compass,
mldl_cfg->compass->type);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
if (resume_pressure && mldl_cfg->pressure_is_suspended) {
if (EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->pressure.bus) {
result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle,
TRUE);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
result = mldl_cfg->pressure->resume(pressure_handle,
mldl_cfg->pressure,
&mldl_cfg->pdata->pressure);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
mldl_cfg->pressure_is_suspended = FALSE;
}
if (resume_dmp && !mldl_cfg->pressure_is_suspended &&
EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->pressure.bus) {
result = mpu_set_slave(mldl_cfg,
gyro_handle,
mldl_cfg->pressure,
&mldl_cfg->pdata->pressure,
mldl_cfg->pressure->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->i2c_slaves_enabled));
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
/* Now start */
if (resume_dmp) {
result = dmp_start(mldl_cfg, gyro_handle);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
return result;
}
/**
* @brief suspend the MPU device and all the other sensor
* devices into their low power state.
* @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;
bool suspend_dmp = ((sensors & INV_DMP_PROCESSOR) == INV_DMP_PROCESSOR);
bool suspend_gyro = ((sensors & (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO))
== (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO));
bool suspend_accel = ((sensors & INV_THREE_AXIS_ACCEL) ==
INV_THREE_AXIS_ACCEL);
bool suspend_compass = ((sensors & INV_THREE_AXIS_COMPASS) ==
INV_THREE_AXIS_COMPASS);
bool suspend_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_gyro && !mldl_cfg->gyro_is_suspended) {
result = mpu3050_pwr_mgmt(mldl_cfg, gyro_handle,
0, suspend_dmp && suspend_gyro,
(sensors & INV_X_GYRO),
(sensors & INV_Y_GYRO),
(sensors & INV_Z_GYRO));
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
/* Accel */
if (!mldl_cfg->accel_is_suspended && suspend_accel &&
mldl_cfg->accel && mldl_cfg->accel->suspend) {
if (EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->accel.bus) {
result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
result = mldl_cfg->accel->suspend(accel_handle,
mldl_cfg->accel,
&mldl_cfg->pdata->accel);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
if (EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->accel.bus) {
result = mpu_set_slave(mldl_cfg, gyro_handle,
NULL, NULL,
mldl_cfg->accel->type);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
mldl_cfg->accel_is_suspended = TRUE;
}
/* Compass */
if (!mldl_cfg->compass_is_suspended && suspend_compass &&
mldl_cfg->compass && mldl_cfg->compass->suspend) {
if (EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->compass.bus) {
result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
result = mldl_cfg->compass->suspend(compass_handle,
mldl_cfg->compass,
&mldl_cfg->pdata->compass);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
if (EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->compass.bus) {
result = mpu_set_slave(mldl_cfg, gyro_handle,
NULL, NULL,
mldl_cfg->compass->type);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
mldl_cfg->compass_is_suspended = TRUE;
}
/* Pressure */
if (!mldl_cfg->pressure_is_suspended && suspend_pressure &&
mldl_cfg->pressure && mldl_cfg->pressure->suspend) {
if (EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->pressure.bus) {
result = mpu_set_i2c_bypass(mldl_cfg, gyro_handle, 1);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
result = mldl_cfg->pressure->suspend(
pressure_handle,
mldl_cfg->pressure,
&mldl_cfg->pdata->pressure);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
if (EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->pressure.bus) {
result = mpu_set_slave(mldl_cfg, gyro_handle,
NULL, NULL,
mldl_cfg->pressure->type);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
mldl_cfg->pressure_is_suspended = TRUE;
}
/* 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->i2c_slaves_enabled));
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
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->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->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->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;
}
/**
* @}
*/