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/* SPDX-License-Identifier: GPL-2.0 */
/*
* Definitions for mma8452 compass chip.
*/
#ifndef __MPU6880_H
#define __MPU6880_H
#include <linux/ioctl.h>
/**add***/
#define MPU6880_PRECISION 16
#define MPU6880_RANGE 2000000
#define MPU6880_SMPLRT_DIV 0x19
#define MPU6880_CONFIG 0x1A
#define MPU6880_GYRO_CONFIG 0x1B
#define MPU6880_ACCEL_CONFIG 0x1C
#define MPU6880_ACCEL_CONFIG2 0x1D
#define MPU6880_LP_ACCEL_ODR 0x1E
#define MPU6880_WOM_THRESH 0x1F
#define MPU6880_FIFO_EN 0x23
#define MPU6880_INT_PIN_CFG 0x37
#define MPU6880_INT_ENABLE 0x38
#define MPU6880_DMP_INT_STATUS 0x39
#define MPU6880_INT_STATUS 0x3A
#define MPU6880_ACCEL_XOUT_H 0x3B
#define MPU6880_TEMP_OUT_H 0x41
#define MPU6880_GYRO_XOUT_H 0x43
#define MPU6880_ACCEL_INTEL_CTRL 0x69
#define MPU6880_USER_CTRL 0x6A
#define MPU6880_PWR_MGMT_1 0x6B
#define MPU6880_PWR_MGMT_2 0x6C
#define MPU6880_PRGM_STRT_ADDRH 0x70
#define MPU6880_FIFO_COUNTH 0x72
#define MPU6880_FIFO_R_W 0x74
#define MPU6880_WHOAMI 0x75
#define MPU6880_DEVICE_ID 0x78
/*------------------------------
MPU6880_CONFIG
--------------------------------*/
#define DLPF_CFG_250HZ 0x00
#define DLPF_CFG_184HZ 0x01
#define DLPF_CFG_98HZ 0x02
#define DLPF_CFG_41HZ 0x03
#define DLPF_CFG_20HZ 0x04
#define DLPF_CFG_10HZ 0x05
#define DLPF_CFG_5HZ 0x06
#define DLPF_CFG_3600HZ 0x07
#define EXT_SYNC_SET_TEMP 0x08
#define EXT_SYNC_SET_GYRO_X 0x10
#define EXT_SYNC_SET_GYRO_Y 0x18
#define EXT_SYNC_SET_GYRO_Z 0x20
#define EXT_SYNC_SET_ACCEL_X 0x28
#define EXT_SYNC_SET_ACCEL_Y 0x30
#define EXT_SYNC_SET_ACCEL_Z 0x38
/*------------------------------
MPU6880_GYRO_CONFIG
--------------------------------*/
#define GFSR_250DPS (0 <<3)
#define GFSR_500DPS (1 <<3)
#define GFSR_1000DPS (2 <<3)
#define GFSR_2000DPS (3 <<3)
/*------------------------------
MPU6880_ACCEL_CONFIG
--------------------------------*/
#define AFSR_2G (0 <<3)
#define AFSR_4G (1 <<3)
#define AFSR_8G (2 <<3)
#define AFSR_16G (3 <<3)
/*------------------------------
MPU6880_ACCEL_CONFIG2
--------------------------------*/
#define A_DLPF_CFG_460HZ 0x00
#define A_DLPF_CFG_184HZ 0x01
#define A_DLPF_CFG_92HZ 0x02
#define A_DLPF_CFG_41HZ 0x03
#define A_DLPF_CFG_20HZ 0x04
#define A_DLPF_CFG_10HZ 0x05
#define A_DLPF_CFG_5HZ 0x06
//#define A_DLPF_CFG_460HZ 0x07
#define BIT_FIFO_SIZE_1K 0x40
#define BIT_ACCEL_FCHOICE_B 0x08
/*------------------------------
MPU6880_LP_ACCEL_ODR
--------------------------------*/
#define LPA_CLK_P24HZ 0x0
#define LPA_CLK_P49HZ 0x1
#define LPA_CLK_P98HZ 0x2
#define LPA_CLK_1P95HZ 0x3
#define LPA_CLK_3P91HZ 0x4
#define LPA_CLK_7P81HZ 0x5
#define LPA_CLK_15P63HZ 0x6
#define LPA_CLK_31P25HZ 0x7
#define LPA_CLK_62P50HZ 0x8
#define LPA_CLK_125HZ 0x9
#define LPA_CLK_250HZ 0xa
#define LPA_CLK_500HZ 0xb
/*------------------------------
MPU6880_PWR_MGMT_1
--------------------------------*/
#define BIT_H_RESET (1<<7)
#define BIT_SLEEP (1<<6)
#define BIT_CYCLE (1<<5)
#define BIT_GYRO_STANDBY (1<<4)
#define BIT_PD_PTAT (1<<3)
#define BIT_CLKSEL (1<<0)
#define CLKSEL_INTERNAL 0
#define CLKSEL_PLL 1
/*------------------------------
MPU6880_PWR_MGMT_2
--------------------------------*/
#define BIT_ACCEL_STBY 0x38
#define BIT_GYRO_STBY 0x07
#define BITS_LPA_WAKE_CTRL 0xC0
#define BITS_LPA_WAKE_1HZ 0x00
#define BITS_LPA_WAKE_2HZ 0x40
#define BITS_LPA_WAKE_20HZ 0x80
#define MPU6880_PWRM1_SLEEP 0x40
#define MPU6880_PWRM1_GYRO_STANDBY 0x10
#define MPU6880_PWRM2_ACCEL_DISABLE 0x38
#define MPU6880_PWRM2_GYRO_DISABLE 0x07
/*------------------------------
MPU6880_ACCEL_INTEL_CTRL
--------------------------------*/
#define BIT_ACCEL_INTEL_EN 0x80
#define BIT_ACCEL_INTEL_MODE 0x40
/*------------------------------
MPU6880_USER_CTRL
--------------------------------*/
#define BIT_FIFO_RST 0x04
#define BIT_DMP_RST 0x08
#define BIT_I2C_MST_EN 0x20
#define BIT_FIFO_EN 0x40
#define BIT_DMP_EN 0x80
/*------------------------------
MPU6880_FIFO_EN
--------------------------------*/
#define BIT_ACCEL_OUT 0x08
#define BITS_GYRO_OUT 0x70
/*------------------------------
MPU6880_INT_PIN_CFG
--------------------------------*/
#define BIT_BYPASS_EN 0x2
/*------------------------------
MPU6880_INT_EN/INT_STATUS
--------------------------------*/
#define BIT_FIFO_OVERLOW 0x80
#define BIT_MOT_INT 0x40
#define BIT_MPU_RDY 0x04
#define BIT_DMP_INT 0x02
#define BIT_RAW_RDY 0x01
#define DMP_START_ADDR 0x400
#define AXIS_NUM 3
#define AXIS_ADC_BYTE 2
#define SENSOR_PACKET (AXIS_NUM * AXIS_ADC_BYTE)
/*
self-test parameter
*/
#define DEF_ST_PRECISION 1000
#define DEF_ST_MPU6500_ACCEL_LPF 2
#define DEF_STABLE_TIME_ST 50
#define DEF_SELFTEST_GYRO_FS (0 << 3)
#define DEF_SELFTEST_ACCEL_FS (2 << 3)
#define DEF_SELFTEST_6500_ACCEL_FS (0 << 3)
#define DEF_SW_SELFTEST_GYRO_FS GFSR_2000DPS
#define DEF_SW_SELFTEST_SENSITIVITY \
(2000*DEF_ST_PRECISION)/32768
#define DEF_SW_SELFTEST_SAMPLE_COUNT 75
#define DEF_SW_SELFTEST_SAMPLE_TIME 75
#define DEF_SW_ACCEL_CAL_SAMPLE_TIME 50
#define DEF_SW_SKIP_COUNT 10
#define DEF_ST_6500_STABLE_TIME 20
#define BYTES_PER_SENSOR (6)
#define DEF_SELFTEST_SAMPLE_RATE 0
#define DEF_GYRO_WAIT_TIME 50
#define THREE_AXIS (3)
#define INIT_ST_SAMPLES 200
#define FIFO_COUNT_BYTE (2)
#define DEF_ST_TRY_TIMES 2
#define REG_6500_XG_ST_DATA 0x0
#define REG_6500_XA_ST_DATA 0xD
#define BITS_SELF_TEST_EN 0xE0
#define DEF_ST_SCALE (1L << 15)
/*---- MPU6500 Self Test Pass/Fail Criteria ----*/
/* Gyro Offset Max Value (dps) */
#define DEF_GYRO_OFFSET_MAX 20
/* Gyro Self Test Absolute Limits ST_AL (dps) */
#define DEF_GYRO_ST_AL 60
/* Accel Self Test Absolute Limits ST_AL (mg) */
#define DEF_ACCEL_ST_AL_MIN 225
#define DEF_ACCEL_ST_AL_MAX 675
#define DEF_6500_ACCEL_ST_SHIFT_DELTA 500
#define DEF_6500_GYRO_CT_SHIFT_DELTA 500
#define DEF_ST_MPU6500_ACCEL_LPF 2
#define DEF_ST_6500_ACCEL_FS_MG 2000UL
#define DEF_SELFTEST_6500_ACCEL_FS (0 << 3)
#define DEF_SELFTEST_GYRO_SENS (32768 / 250)
#define GSENSOR_DEV_PATH "/dev/mma8452_daemon"
#endif
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