drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h - linux - Git at Google

 /* SPDX-License-Identifier: GPL-2.0-only */
 /*
 * Copyright (C) 2012 Invensense, Inc.
 */

 #ifndef INV_MPU_IIO_H_
 #define INV_MPU_IIO_H_

 #include <linux/i2c.h>
 #include <linux/i2c-mux.h>
 #include <linux/mutex.h>
 #include <linux/platform_data/invensense_mpu6050.h>
 #include <linux/regmap.h>

 #include <linux/iio/buffer.h>
 #include <linux/iio/common/inv_sensors_timestamp.h>
 #include <linux/iio/iio.h>
 #include <linux/iio/kfifo_buf.h>
 #include <linux/iio/trigger.h>
 #include <linux/iio/triggered_buffer.h>
 #include <linux/iio/trigger_consumer.h>
 #include <linux/iio/sysfs.h>

 /**
  *  struct inv_mpu6050_reg_map - Notable registers.
  *  @sample_rate_div:	Divider applied to gyro output rate.
  *  @lpf:		Configures internal low pass filter.
  *  @accel_lpf:		Configures accelerometer low pass filter.
  *  @user_ctrl:		Enables/resets the FIFO.
  *  @fifo_en:		Determines which data will appear in FIFO.
  *  @gyro_config:	gyro config register.
  *  @accl_config:	accel config register
  *  @fifo_count_h:	Upper byte of FIFO count.
  *  @fifo_r_w:		FIFO register.
  *  @raw_gyro:		Address of first gyro register.
  *  @raw_accl:		Address of first accel register.
  *  @temperature:	temperature register
  *  @int_enable:	Interrupt enable register.
  *  @int_status:	Interrupt status register.
  *  @pwr_mgmt_1:	Controls chip's power state and clock source.
  *  @pwr_mgmt_2:	Controls power state of individual sensors.
  *  @int_pin_cfg;	Controls interrupt pin configuration.
  *  @accl_offset:	Controls the accelerometer calibration offset.
  *  @gyro_offset:	Controls the gyroscope calibration offset.
  *  @i2c_if:		Controls the i2c interface
  */
 struct inv_mpu6050_reg_map {
 	u8 sample_rate_div;
 	u8 lpf;
 	u8 accel_lpf;
 	u8 user_ctrl;
 	u8 fifo_en;
 	u8 gyro_config;
 	u8 accl_config;
 	u8 fifo_count_h;
 	u8 fifo_r_w;
 	u8 raw_gyro;
 	u8 raw_accl;
 	u8 temperature;
 	u8 int_enable;
 	u8 int_status;
 	u8 pwr_mgmt_1;
 	u8 pwr_mgmt_2;
 	u8 int_pin_cfg;
 	u8 accl_offset;
 	u8 gyro_offset;
 	u8 i2c_if;
 };

 /*device enum */
 enum inv_devices {
 	INV_MPU6050,
 	INV_MPU6500,
 	INV_MPU6515,
 	INV_MPU6880,
 	INV_MPU6000,
 	INV_MPU9150,
 	INV_MPU9250,
 	INV_MPU9255,
 	INV_ICM20608,
 	INV_ICM20608D,
 	INV_ICM20609,
 	INV_ICM20689,
 	INV_ICM20600,
 	INV_ICM20602,
 	INV_ICM20690,
 	INV_IAM20680,
 	INV_NUM_PARTS
 };

 /* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer, WoM */
 #define INV_MPU6050_SENSOR_ACCL		BIT(0)
 #define INV_MPU6050_SENSOR_GYRO		BIT(1)
 #define INV_MPU6050_SENSOR_TEMP		BIT(2)
 #define INV_MPU6050_SENSOR_MAGN		BIT(3)
 #define INV_MPU6050_SENSOR_WOM		BIT(4)

 /**
  *  struct inv_mpu6050_chip_config - Cached chip configuration data.
  *  @clk:		selected chip clock
  *  @fsr:		Full scale range.
  *  @lpf:		Digital low pass filter frequency.
  *  @accl_fs:		accel full scale range.
  *  @accl_en:		accel engine enabled
  *  @gyro_en:		gyro engine enabled
  *  @temp_en:		temperature sensor enabled
  *  @magn_en:		magn engine (i2c master) enabled
  *  @wom_en:		Wake-on-Motion enabled
  *  @accl_fifo_enable:	enable accel data output
  *  @gyro_fifo_enable:	enable gyro data output
  *  @temp_fifo_enable:	enable temp data output
  *  @magn_fifo_enable:	enable magn data output
  *  @divider:		chip sample rate divider (sample rate divider - 1)
  *  @roc_threshold:	save ROC threshold (WoM) set value
  */
 struct inv_mpu6050_chip_config {
 	unsigned int clk:3;
 	unsigned int fsr:2;
 	unsigned int lpf:3;
 	unsigned int accl_fs:2;
 	unsigned int accl_en:1;
 	unsigned int gyro_en:1;
 	unsigned int temp_en:1;
 	unsigned int magn_en:1;
 	unsigned int wom_en:1;
 	unsigned int accl_fifo_enable:1;
 	unsigned int gyro_fifo_enable:1;
 	unsigned int temp_fifo_enable:1;
 	unsigned int magn_fifo_enable:1;
 	u8 divider;
 	u8 user_ctrl;
 	u64 roc_threshold;
 };

 /*
  * Maximum of 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8.
  * May be less if fewer channels are enabled, as long as the timestamp
  * remains 8 byte aligned
  */
 #define INV_MPU6050_OUTPUT_DATA_SIZE         32

 /**
  *  struct inv_mpu6050_hw - Other important hardware information.
  *  @whoami:	Self identification byte from WHO_AM_I register
  *  @name:      name of the chip.
  *  @reg:   register map of the chip.
  *  @config:    configuration of the chip.
  *  @fifo_size:	size of the FIFO in bytes.
  *  @temp:	offset and scale to apply to raw temperature.
  */
 struct inv_mpu6050_hw {
 	u8 whoami;
 	u8 *name;
 	const struct inv_mpu6050_reg_map *reg;
 	const struct inv_mpu6050_chip_config *config;
 	size_t fifo_size;
 	struct {
 		int offset;
 		int scale;
 	} temp;
 	struct {
 		unsigned int accel;
 		unsigned int gyro;
 	} startup_time;
 };

 /*
  *  struct inv_mpu6050_state - Driver state variables.
  *  @lock:              Chip access lock.
  *  @trig:              IIO trigger.
  *  @chip_config:	Cached attribute information.
  *  @reg:		Map of important registers.
  *  @hw:		Other hardware-specific information.
  *  @chip_type:		chip type.
  *  @plat_data:		platform data (deprecated in favor of @orientation).
  *  @orientation:	sensor chip orientation relative to main hardware.
  *  @map		regmap pointer.
  *  @irq		interrupt number.
  *  @irq_mask		the int_pin_cfg mask to configure interrupt type.
  *  @timestamp:		timestamping module
  *  @vdd_supply:	VDD voltage regulator for the chip.
  *  @vddio_supply	I/O voltage regulator for the chip.
  *  @magn_disabled:     magnetometer disabled for backward compatibility reason.
  *  @magn_raw_to_gauss:	coefficient to convert mag raw value to Gauss.
  *  @magn_orient:       magnetometer sensor chip orientation if available.
  *  @suspended_sensors:	sensors mask of sensors turned off for suspend
  *  @data:		read buffer used for bulk reads.
  *  @it_timestamp:	interrupt timestamp.
  */
 struct inv_mpu6050_state {
 	struct mutex lock;
 	struct iio_trigger  *trig;
 	struct inv_mpu6050_chip_config chip_config;
 	const struct inv_mpu6050_reg_map *reg;
 	const struct inv_mpu6050_hw *hw;
 	enum   inv_devices chip_type;
 	struct i2c_mux_core *muxc;
 	struct i2c_client *mux_client;
 	struct inv_mpu6050_platform_data plat_data;
 	struct iio_mount_matrix orientation;
 	struct regmap *map;
 	int irq;
 	u8 irq_mask;
 	unsigned skip_samples;
 	struct inv_sensors_timestamp timestamp;
 	struct regulator *vdd_supply;
 	struct regulator *vddio_supply;
 	bool magn_disabled;
 	s32 magn_raw_to_gauss[3];
 	struct iio_mount_matrix magn_orient;
 	unsigned int suspended_sensors;
 	bool level_shifter;
 	u8 *data;
 	s64 it_timestamp;
 };

 /*register and associated bit definition*/
 #define INV_MPU6050_REG_ACCEL_OFFSET        0x06
 #define INV_MPU6050_REG_GYRO_OFFSET         0x13

 #define INV_MPU6050_REG_SAMPLE_RATE_DIV     0x19
 #define INV_MPU6050_REG_CONFIG              0x1A
 #define INV_MPU6050_REG_GYRO_CONFIG         0x1B
 #define INV_MPU6050_REG_ACCEL_CONFIG        0x1C

 #define INV_MPU6050_REG_FIFO_EN             0x23
 #define INV_MPU6050_BIT_SLAVE_0             0x01
 #define INV_MPU6050_BIT_SLAVE_1             0x02
 #define INV_MPU6050_BIT_SLAVE_2             0x04
 #define INV_MPU6050_BIT_ACCEL_OUT           0x08
 #define INV_MPU6050_BITS_GYRO_OUT           0x70
 #define INV_MPU6050_BIT_TEMP_OUT            0x80

 #define INV_MPU6050_REG_I2C_MST_CTRL        0x24
 #define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
 #define INV_MPU6050_BIT_I2C_MST_P_NSR       0x10
 #define INV_MPU6050_BIT_SLV3_FIFO_EN        0x20
 #define INV_MPU6050_BIT_WAIT_FOR_ES         0x40
 #define INV_MPU6050_BIT_MULT_MST_EN         0x80

 /* control I2C slaves from 0 to 3 */
 #define INV_MPU6050_REG_I2C_SLV_ADDR(_x)    (0x25 + 3 * (_x))
 #define INV_MPU6050_BIT_I2C_SLV_RNW         0x80

 #define INV_MPU6050_REG_I2C_SLV_REG(_x)     (0x26 + 3 * (_x))

 #define INV_MPU6050_REG_I2C_SLV_CTRL(_x)    (0x27 + 3 * (_x))
 #define INV_MPU6050_BIT_SLV_GRP             0x10
 #define INV_MPU6050_BIT_SLV_REG_DIS         0x20
 #define INV_MPU6050_BIT_SLV_BYTE_SW         0x40
 #define INV_MPU6050_BIT_SLV_EN              0x80

 /* I2C master delay register */
 #define INV_MPU6050_REG_I2C_SLV4_CTRL       0x34
 #define INV_MPU6050_BITS_I2C_MST_DLY(_x)    ((_x) & 0x1F)

 #define INV_MPU6050_REG_I2C_MST_STATUS      0x36
 #define INV_MPU6050_BIT_I2C_SLV0_NACK       0x01
 #define INV_MPU6050_BIT_I2C_SLV1_NACK       0x02
 #define INV_MPU6050_BIT_I2C_SLV2_NACK       0x04
 #define INV_MPU6050_BIT_I2C_SLV3_NACK       0x08

 #define INV_MPU6050_REG_INT_ENABLE          0x38
 #define INV_MPU6050_BIT_DATA_RDY_EN         0x01
 #define INV_MPU6050_BIT_DMP_INT_EN          0x02
 #define INV_MPU6500_BIT_WOM_INT_EN          BIT(6)
 #define INV_ICM20608_BIT_WOM_INT_EN         GENMASK(7, 5)

 #define INV_MPU6050_REG_RAW_ACCEL           0x3B
 #define INV_MPU6050_REG_TEMPERATURE         0x41
 #define INV_MPU6050_REG_RAW_GYRO            0x43

 #define INV_MPU6050_REG_INT_STATUS          0x3A
 #define INV_MPU6500_BIT_WOM_INT             BIT(6)
 #define INV_ICM20608_BIT_WOM_INT            GENMASK(7, 5)
 #define INV_MPU6050_BIT_FIFO_OVERFLOW_INT   0x10
 #define INV_MPU6050_BIT_RAW_DATA_RDY_INT    0x01

 #define INV_MPU6050_REG_EXT_SENS_DATA       0x49

 /* I2C slaves data output from 0 to 3 */
 #define INV_MPU6050_REG_I2C_SLV_DO(_x)      (0x63 + (_x))

 #define INV_MPU6050_REG_I2C_MST_DELAY_CTRL  0x67
 #define INV_MPU6050_BIT_I2C_SLV0_DLY_EN     0x01
 #define INV_MPU6050_BIT_I2C_SLV1_DLY_EN     0x02
 #define INV_MPU6050_BIT_I2C_SLV2_DLY_EN     0x04
 #define INV_MPU6050_BIT_I2C_SLV3_DLY_EN     0x08
 #define INV_MPU6050_BIT_DELAY_ES_SHADOW     0x80

 #define INV_MPU6050_REG_SIGNAL_PATH_RESET   0x68
 #define INV_MPU6050_BIT_TEMP_RST            BIT(0)
 #define INV_MPU6050_BIT_ACCEL_RST           BIT(1)
 #define INV_MPU6050_BIT_GYRO_RST            BIT(2)

 #define INV_MPU6050_REG_USER_CTRL           0x6A
 #define INV_MPU6050_BIT_SIG_COND_RST        0x01
 #define INV_MPU6050_BIT_FIFO_RST            0x04
 #define INV_MPU6050_BIT_DMP_RST             0x08
 #define INV_MPU6050_BIT_I2C_MST_EN          0x20
 #define INV_MPU6050_BIT_FIFO_EN             0x40
 #define INV_MPU6050_BIT_DMP_EN              0x80
 #define INV_MPU6050_BIT_I2C_IF_DIS          0x10

 #define INV_MPU6050_REG_PWR_MGMT_1          0x6B
 #define INV_MPU6050_BIT_H_RESET             0x80
 #define INV_MPU6050_BIT_SLEEP               0x40
 #define INV_MPU6050_BIT_CYCLE               0x20
 #define INV_MPU6050_BIT_TEMP_DIS            0x08
 #define INV_MPU6050_BIT_CLK_MASK            0x7

 #define INV_MPU6050_REG_PWR_MGMT_2          0x6C
 #define INV_MPU6050_BIT_PWR_ACCL_STBY       0x38
 #define INV_MPU6050_BIT_PWR_GYRO_STBY       0x07

 /* ICM20609 registers */
 #define INV_ICM20609_REG_ACCEL_WOM_X_THR    0x20
 #define INV_ICM20609_REG_ACCEL_WOM_Y_THR    0x21
 #define INV_ICM20609_REG_ACCEL_WOM_Z_THR    0x22

 /* ICM20602 register */
 #define INV_ICM20602_REG_I2C_IF             0x70
 #define INV_ICM20602_BIT_I2C_IF_DIS         0x40

 #define INV_MPU6050_REG_FIFO_COUNT_H        0x72
 #define INV_MPU6050_REG_FIFO_R_W            0x74

 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR   6
 #define INV_MPU6050_FIFO_COUNT_BYTE          2

 /* MPU9X50 9-axis magnetometer */
 #define INV_MPU9X50_BYTES_MAGN               7

 /* FIFO temperature sample size */
 #define INV_MPU6050_BYTES_PER_TEMP_SENSOR   2

 /* mpu6500 registers */
 #define INV_MPU6500_REG_ACCEL_CONFIG_2      0x1D
 #define INV_ICM20689_BITS_FIFO_SIZE_MAX     0xC0
 #define INV_MPU6500_REG_LP_ODR              0x1E
 #define INV_MPU6500_REG_WOM_THRESHOLD       0x1F
 #define INV_MPU6500_REG_ACCEL_INTEL_CTRL    0x69
 #define INV_MPU6500_BIT_ACCEL_INTEL_EN      BIT(7)
 #define INV_MPU6500_BIT_ACCEL_INTEL_MODE    BIT(6)
 #define INV_MPU6500_REG_ACCEL_OFFSET        0x77

 /* delay time in milliseconds */
 #define INV_MPU6050_POWER_UP_TIME            100
 #define INV_MPU6050_TEMP_UP_TIME             100
 #define INV_MPU6050_ACCEL_STARTUP_TIME       20
 #define INV_MPU6050_GYRO_STARTUP_TIME        60
 #define INV_MPU6050_GYRO_DOWN_TIME           150
 #define INV_MPU6050_SUSPEND_DELAY_MS         2000

 #define INV_MPU6500_GYRO_STARTUP_TIME        70
 #define INV_MPU6500_ACCEL_STARTUP_TIME       30

 #define INV_ICM20602_GYRO_STARTUP_TIME       100
 #define INV_ICM20602_ACCEL_STARTUP_TIME      20

 #define INV_ICM20690_GYRO_STARTUP_TIME       80
 #define INV_ICM20690_ACCEL_STARTUP_TIME      10


 /* delay time in microseconds */
 #define INV_MPU6050_REG_UP_TIME_MIN          5000
 #define INV_MPU6050_REG_UP_TIME_MAX          10000

 #define INV_MPU6050_TEMP_OFFSET	             12420
 #define INV_MPU6050_TEMP_SCALE               2941176
 #define INV_MPU6050_MAX_GYRO_FS_PARAM        3
 #define INV_MPU6050_MAX_ACCL_FS_PARAM        3
 #define INV_MPU6050_THREE_AXIS               3
 #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT    3
 #define INV_ICM20690_GYRO_CONFIG_FSR_SHIFT   2
 #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT    3

 #define INV_MPU6500_TEMP_OFFSET              7011
 #define INV_MPU6500_TEMP_SCALE               2995178

 #define INV_ICM20608_TEMP_OFFSET	     8170
 #define INV_ICM20608_TEMP_SCALE		     3059976

 #define INV_MPU6050_REG_INT_PIN_CFG	0x37
 #define INV_MPU6050_ACTIVE_HIGH		0x00
 #define INV_MPU6050_ACTIVE_LOW		0x80
 /* enable level triggering */
 #define INV_MPU6050_LATCH_INT_EN	0x20
 #define INV_MPU6050_BIT_BYPASS_EN	0x2

 /* Allowed timestamp period jitter in percent */
 #define INV_MPU6050_TS_PERIOD_JITTER	4

 /* init parameters */
 #define INV_MPU6050_MAX_FIFO_RATE            1000
 #define INV_MPU6050_MIN_FIFO_RATE            4

 /* chip internal frequency: 1KHz */
 #define INV_MPU6050_INTERNAL_FREQ_HZ		1000
 /* return the frequency divider (chip sample rate divider + 1) */
 #define INV_MPU6050_FREQ_DIVIDER(st)					\
 	((st)->chip_config.divider + 1)
 /* chip sample rate divider to fifo rate */
 #define INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate)			\
 	((INV_MPU6050_INTERNAL_FREQ_HZ / (fifo_rate)) - 1)
 #define INV_MPU6050_DIVIDER_TO_FIFO_RATE(divider)			\
 	(INV_MPU6050_INTERNAL_FREQ_HZ / ((divider) + 1))

 #define INV_MPU6050_REG_WHOAMI			117

 #define INV_MPU6000_WHOAMI_VALUE		0x68
 #define INV_MPU6050_WHOAMI_VALUE		0x68
 #define INV_MPU6500_WHOAMI_VALUE		0x70
 #define INV_MPU6880_WHOAMI_VALUE		0x78
 #define INV_MPU9150_WHOAMI_VALUE		0x68
 #define INV_MPU9250_WHOAMI_VALUE		0x71
 #define INV_MPU9255_WHOAMI_VALUE		0x73
 #define INV_MPU6515_WHOAMI_VALUE		0x74
 #define INV_ICM20608_WHOAMI_VALUE		0xAF
 #define INV_ICM20608D_WHOAMI_VALUE		0xAE
 #define INV_ICM20609_WHOAMI_VALUE		0xA6
 #define INV_ICM20689_WHOAMI_VALUE		0x98
 #define INV_ICM20600_WHOAMI_VALUE		0x11
 #define INV_ICM20602_WHOAMI_VALUE		0x12
 #define INV_ICM20690_WHOAMI_VALUE		0x20
 #define INV_IAM20680_WHOAMI_VALUE		0xA9

 /* scan element definition for generic MPU6xxx devices */
 enum inv_mpu6050_scan {
 	INV_MPU6050_SCAN_ACCL_X,
 	INV_MPU6050_SCAN_ACCL_Y,
 	INV_MPU6050_SCAN_ACCL_Z,
 	INV_MPU6050_SCAN_TEMP,
 	INV_MPU6050_SCAN_GYRO_X,
 	INV_MPU6050_SCAN_GYRO_Y,
 	INV_MPU6050_SCAN_GYRO_Z,
 	INV_MPU6050_SCAN_TIMESTAMP,

 	INV_MPU9X50_SCAN_MAGN_X = INV_MPU6050_SCAN_GYRO_Z + 1,
 	INV_MPU9X50_SCAN_MAGN_Y,
 	INV_MPU9X50_SCAN_MAGN_Z,
 	INV_MPU9X50_SCAN_TIMESTAMP,
 };

 enum inv_mpu6050_filter_e {
 	INV_MPU6050_FILTER_NOLPF2 = 0,
 	INV_MPU6050_FILTER_200HZ,
 	INV_MPU6050_FILTER_100HZ,
 	INV_MPU6050_FILTER_45HZ,
 	INV_MPU6050_FILTER_20HZ,
 	INV_MPU6050_FILTER_10HZ,
 	INV_MPU6050_FILTER_5HZ,
 	INV_MPU6050_FILTER_NOLPF,
 	NUM_MPU6050_FILTER
 };

 enum inv_mpu6050_lposc_e {
 	INV_MPU6050_LPOSC_4HZ = 4,
 	INV_MPU6050_LPOSC_8HZ,
 	INV_MPU6050_LPOSC_16HZ,
 	INV_MPU6050_LPOSC_31HZ,
 	INV_MPU6050_LPOSC_62HZ,
 	INV_MPU6050_LPOSC_125HZ,
 	INV_MPU6050_LPOSC_250HZ,
 	INV_MPU6050_LPOSC_500HZ,
 	NUM_MPU6050_LPOSC,
 };

 /* IIO attribute address */
 enum INV_MPU6050_IIO_ATTR_ADDR {
 	ATTR_GYRO_MATRIX,
 	ATTR_ACCL_MATRIX,
 };

 enum inv_mpu6050_accl_fs_e {
 	INV_MPU6050_FS_02G = 0,
 	INV_MPU6050_FS_04G,
 	INV_MPU6050_FS_08G,
 	INV_MPU6050_FS_16G,
 	NUM_ACCL_FSR
 };

 enum inv_mpu6050_fsr_e {
 	INV_MPU6050_FSR_250DPS = 0,
 	INV_MPU6050_FSR_500DPS,
 	INV_MPU6050_FSR_1000DPS,
 	INV_MPU6050_FSR_2000DPS,
 	NUM_MPU6050_FSR
 };

 enum inv_mpu6050_clock_sel_e {
 	INV_CLK_INTERNAL = 0,
 	INV_CLK_PLL,
 	NUM_CLK
 };

 irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
 int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable);
 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
 			      unsigned int mask);
 int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
 void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 		int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
 extern const struct dev_pm_ops inv_mpu_pmops;

 #endif
	/* SPDX-License-Identifier: GPL-2.0-only */
	/*
	* Copyright (C) 2012 Invensense, Inc.
	*/

	#ifndef INV_MPU_IIO_H_
	#define INV_MPU_IIO_H_

	#include <linux/i2c.h>
	#include <linux/i2c-mux.h>
	#include <linux/mutex.h>
	#include <linux/platform_data/invensense_mpu6050.h>
	#include <linux/regmap.h>

	#include <linux/iio/buffer.h>
	#include <linux/iio/common/inv_sensors_timestamp.h>
	#include <linux/iio/iio.h>
	#include <linux/iio/kfifo_buf.h>
	#include <linux/iio/trigger.h>
	#include <linux/iio/triggered_buffer.h>
	#include <linux/iio/trigger_consumer.h>
	#include <linux/iio/sysfs.h>

	/**
	* struct inv_mpu6050_reg_map - Notable registers.
	* @sample_rate_div: Divider applied to gyro output rate.
	* @lpf: Configures internal low pass filter.
	* @accel_lpf: Configures accelerometer low pass filter.
	* @user_ctrl: Enables/resets the FIFO.
	* @fifo_en: Determines which data will appear in FIFO.
	* @gyro_config: gyro config register.
	* @accl_config: accel config register
	* @fifo_count_h: Upper byte of FIFO count.
	* @fifo_r_w: FIFO register.
	* @raw_gyro: Address of first gyro register.
	* @raw_accl: Address of first accel register.
	* @temperature: temperature register
	* @int_enable: Interrupt enable register.
	* @int_status: Interrupt status register.
	* @pwr_mgmt_1: Controls chip's power state and clock source.
	* @pwr_mgmt_2: Controls power state of individual sensors.
	* @int_pin_cfg; Controls interrupt pin configuration.
	* @accl_offset: Controls the accelerometer calibration offset.
	* @gyro_offset: Controls the gyroscope calibration offset.
	* @i2c_if: Controls the i2c interface
	*/
	struct inv_mpu6050_reg_map {
	u8 sample_rate_div;
	u8 lpf;
	u8 accel_lpf;
	u8 user_ctrl;
	u8 fifo_en;
	u8 gyro_config;
	u8 accl_config;
	u8 fifo_count_h;
	u8 fifo_r_w;
	u8 raw_gyro;
	u8 raw_accl;
	u8 temperature;
	u8 int_enable;
	u8 int_status;
	u8 pwr_mgmt_1;
	u8 pwr_mgmt_2;
	u8 int_pin_cfg;
	u8 accl_offset;
	u8 gyro_offset;
	u8 i2c_if;
	};

	/device enum /
	enum inv_devices {
	INV_MPU6050,
	INV_MPU6500,
	INV_MPU6515,
	INV_MPU6880,
	INV_MPU6000,
	INV_MPU9150,
	INV_MPU9250,
	INV_MPU9255,
	INV_ICM20608,
	INV_ICM20608D,
	INV_ICM20609,
	INV_ICM20689,
	INV_ICM20600,
	INV_ICM20602,
	INV_ICM20690,
	INV_IAM20680,
	INV_NUM_PARTS
	};

	/* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer, WoM */
	#define INV_MPU6050_SENSOR_ACCL BIT(0)
	#define INV_MPU6050_SENSOR_GYRO BIT(1)
	#define INV_MPU6050_SENSOR_TEMP BIT(2)
	#define INV_MPU6050_SENSOR_MAGN BIT(3)
	#define INV_MPU6050_SENSOR_WOM BIT(4)

	/**
	* struct inv_mpu6050_chip_config - Cached chip configuration data.
	* @clk: selected chip clock
	* @fsr: Full scale range.
	* @lpf: Digital low pass filter frequency.
	* @accl_fs: accel full scale range.
	* @accl_en: accel engine enabled
	* @gyro_en: gyro engine enabled
	* @temp_en: temperature sensor enabled
	* @magn_en: magn engine (i2c master) enabled
	* @wom_en: Wake-on-Motion enabled
	* @accl_fifo_enable: enable accel data output
	* @gyro_fifo_enable: enable gyro data output
	* @temp_fifo_enable: enable temp data output
	* @magn_fifo_enable: enable magn data output
	* @divider: chip sample rate divider (sample rate divider - 1)
	* @roc_threshold: save ROC threshold (WoM) set value
	*/
	struct inv_mpu6050_chip_config {
	unsigned int clk:3;
	unsigned int fsr:2;
	unsigned int lpf:3;
	unsigned int accl_fs:2;
	unsigned int accl_en:1;
	unsigned int gyro_en:1;
	unsigned int temp_en:1;
	unsigned int magn_en:1;
	unsigned int wom_en:1;
	unsigned int accl_fifo_enable:1;
	unsigned int gyro_fifo_enable:1;
	unsigned int temp_fifo_enable:1;
	unsigned int magn_fifo_enable:1;
	u8 divider;
	u8 user_ctrl;
	u64 roc_threshold;
	};

	/*
	* Maximum of 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8.
	* May be less if fewer channels are enabled, as long as the timestamp
	* remains 8 byte aligned
	*/
	#define INV_MPU6050_OUTPUT_DATA_SIZE 32

	/**
	* struct inv_mpu6050_hw - Other important hardware information.
	* @whoami: Self identification byte from WHO_AM_I register
	* @name: name of the chip.
	* @reg: register map of the chip.
	* @config: configuration of the chip.
	* @fifo_size: size of the FIFO in bytes.
	* @temp: offset and scale to apply to raw temperature.
	*/
	struct inv_mpu6050_hw {
	u8 whoami;
	u8 *name;
	const struct inv_mpu6050_reg_map *reg;
	const struct inv_mpu6050_chip_config *config;
	size_t fifo_size;
	struct {
	int offset;
	int scale;
	} temp;
	struct {
	unsigned int accel;
	unsigned int gyro;
	} startup_time;
	};

	/*
	* struct inv_mpu6050_state - Driver state variables.
	* @lock: Chip access lock.
	* @trig: IIO trigger.
	* @chip_config: Cached attribute information.
	* @reg: Map of important registers.
	* @hw: Other hardware-specific information.
	* @chip_type: chip type.
	* @plat_data: platform data (deprecated in favor of @orientation).
	* @orientation: sensor chip orientation relative to main hardware.
	* @map regmap pointer.
	* @irq interrupt number.
	* @irq_mask the int_pin_cfg mask to configure interrupt type.
	* @timestamp: timestamping module
	* @vdd_supply: VDD voltage regulator for the chip.
	* @vddio_supply I/O voltage regulator for the chip.
	* @magn_disabled: magnetometer disabled for backward compatibility reason.
	* @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss.
	* @magn_orient: magnetometer sensor chip orientation if available.
	* @suspended_sensors: sensors mask of sensors turned off for suspend
	* @data: read buffer used for bulk reads.
	* @it_timestamp: interrupt timestamp.
	*/
	struct inv_mpu6050_state {
	struct mutex lock;
	struct iio_trigger *trig;
	struct inv_mpu6050_chip_config chip_config;
	const struct inv_mpu6050_reg_map *reg;
	const struct inv_mpu6050_hw *hw;
	enum inv_devices chip_type;
	struct i2c_mux_core *muxc;
	struct i2c_client *mux_client;
	struct inv_mpu6050_platform_data plat_data;
	struct iio_mount_matrix orientation;
	struct regmap *map;
	int irq;
	u8 irq_mask;
	unsigned skip_samples;
	struct inv_sensors_timestamp timestamp;
	struct regulator *vdd_supply;
	struct regulator *vddio_supply;
	bool magn_disabled;
	s32 magn_raw_to_gauss[3];
	struct iio_mount_matrix magn_orient;
	unsigned int suspended_sensors;
	bool level_shifter;
	u8 *data;
	s64 it_timestamp;
	};

	/register and associated bit definition/
	#define INV_MPU6050_REG_ACCEL_OFFSET 0x06
	#define INV_MPU6050_REG_GYRO_OFFSET 0x13

	#define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19
	#define INV_MPU6050_REG_CONFIG 0x1A
	#define INV_MPU6050_REG_GYRO_CONFIG 0x1B
	#define INV_MPU6050_REG_ACCEL_CONFIG 0x1C

	#define INV_MPU6050_REG_FIFO_EN 0x23
	#define INV_MPU6050_BIT_SLAVE_0 0x01
	#define INV_MPU6050_BIT_SLAVE_1 0x02
	#define INV_MPU6050_BIT_SLAVE_2 0x04
	#define INV_MPU6050_BIT_ACCEL_OUT 0x08
	#define INV_MPU6050_BITS_GYRO_OUT 0x70
	#define INV_MPU6050_BIT_TEMP_OUT 0x80

	#define INV_MPU6050_REG_I2C_MST_CTRL 0x24
	#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
	#define INV_MPU6050_BIT_I2C_MST_P_NSR 0x10
	#define INV_MPU6050_BIT_SLV3_FIFO_EN 0x20
	#define INV_MPU6050_BIT_WAIT_FOR_ES 0x40
	#define INV_MPU6050_BIT_MULT_MST_EN 0x80

	/* control I2C slaves from 0 to 3 */
	#define INV_MPU6050_REG_I2C_SLV_ADDR(_x) (0x25 + 3 * (_x))
	#define INV_MPU6050_BIT_I2C_SLV_RNW 0x80

	#define INV_MPU6050_REG_I2C_SLV_REG(_x) (0x26 + 3 * (_x))

	#define INV_MPU6050_REG_I2C_SLV_CTRL(_x) (0x27 + 3 * (_x))
	#define INV_MPU6050_BIT_SLV_GRP 0x10
	#define INV_MPU6050_BIT_SLV_REG_DIS 0x20
	#define INV_MPU6050_BIT_SLV_BYTE_SW 0x40
	#define INV_MPU6050_BIT_SLV_EN 0x80

	/* I2C master delay register */
	#define INV_MPU6050_REG_I2C_SLV4_CTRL 0x34
	#define INV_MPU6050_BITS_I2C_MST_DLY(_x) ((_x) & 0x1F)

	#define INV_MPU6050_REG_I2C_MST_STATUS 0x36
	#define INV_MPU6050_BIT_I2C_SLV0_NACK 0x01
	#define INV_MPU6050_BIT_I2C_SLV1_NACK 0x02
	#define INV_MPU6050_BIT_I2C_SLV2_NACK 0x04
	#define INV_MPU6050_BIT_I2C_SLV3_NACK 0x08

	#define INV_MPU6050_REG_INT_ENABLE 0x38
	#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
	#define INV_MPU6050_BIT_DMP_INT_EN 0x02
	#define INV_MPU6500_BIT_WOM_INT_EN BIT(6)
	#define INV_ICM20608_BIT_WOM_INT_EN GENMASK(7, 5)

	#define INV_MPU6050_REG_RAW_ACCEL 0x3B
	#define INV_MPU6050_REG_TEMPERATURE 0x41
	#define INV_MPU6050_REG_RAW_GYRO 0x43

	#define INV_MPU6050_REG_INT_STATUS 0x3A
	#define INV_MPU6500_BIT_WOM_INT BIT(6)
	#define INV_ICM20608_BIT_WOM_INT GENMASK(7, 5)
	#define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
	#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01

	#define INV_MPU6050_REG_EXT_SENS_DATA 0x49

	/* I2C slaves data output from 0 to 3 */
	#define INV_MPU6050_REG_I2C_SLV_DO(_x) (0x63 + (_x))

	#define INV_MPU6050_REG_I2C_MST_DELAY_CTRL 0x67
	#define INV_MPU6050_BIT_I2C_SLV0_DLY_EN 0x01
	#define INV_MPU6050_BIT_I2C_SLV1_DLY_EN 0x02
	#define INV_MPU6050_BIT_I2C_SLV2_DLY_EN 0x04
	#define INV_MPU6050_BIT_I2C_SLV3_DLY_EN 0x08
	#define INV_MPU6050_BIT_DELAY_ES_SHADOW 0x80

	#define INV_MPU6050_REG_SIGNAL_PATH_RESET 0x68
	#define INV_MPU6050_BIT_TEMP_RST BIT(0)
	#define INV_MPU6050_BIT_ACCEL_RST BIT(1)
	#define INV_MPU6050_BIT_GYRO_RST BIT(2)

	#define INV_MPU6050_REG_USER_CTRL 0x6A
	#define INV_MPU6050_BIT_SIG_COND_RST 0x01
	#define INV_MPU6050_BIT_FIFO_RST 0x04
	#define INV_MPU6050_BIT_DMP_RST 0x08
	#define INV_MPU6050_BIT_I2C_MST_EN 0x20
	#define INV_MPU6050_BIT_FIFO_EN 0x40
	#define INV_MPU6050_BIT_DMP_EN 0x80
	#define INV_MPU6050_BIT_I2C_IF_DIS 0x10

	#define INV_MPU6050_REG_PWR_MGMT_1 0x6B
	#define INV_MPU6050_BIT_H_RESET 0x80
	#define INV_MPU6050_BIT_SLEEP 0x40
	#define INV_MPU6050_BIT_CYCLE 0x20
	#define INV_MPU6050_BIT_TEMP_DIS 0x08
	#define INV_MPU6050_BIT_CLK_MASK 0x7

	#define INV_MPU6050_REG_PWR_MGMT_2 0x6C
	#define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
	#define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07

	/* ICM20609 registers */
	#define INV_ICM20609_REG_ACCEL_WOM_X_THR 0x20
	#define INV_ICM20609_REG_ACCEL_WOM_Y_THR 0x21
	#define INV_ICM20609_REG_ACCEL_WOM_Z_THR 0x22

	/* ICM20602 register */
	#define INV_ICM20602_REG_I2C_IF 0x70
	#define INV_ICM20602_BIT_I2C_IF_DIS 0x40

	#define INV_MPU6050_REG_FIFO_COUNT_H 0x72
	#define INV_MPU6050_REG_FIFO_R_W 0x74

	#define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
	#define INV_MPU6050_FIFO_COUNT_BYTE 2

	/* MPU9X50 9-axis magnetometer */
	#define INV_MPU9X50_BYTES_MAGN 7

	/* FIFO temperature sample size */
	#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2

	/* mpu6500 registers */
	#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
	#define INV_ICM20689_BITS_FIFO_SIZE_MAX 0xC0
	#define INV_MPU6500_REG_LP_ODR 0x1E
	#define INV_MPU6500_REG_WOM_THRESHOLD 0x1F
	#define INV_MPU6500_REG_ACCEL_INTEL_CTRL 0x69
	#define INV_MPU6500_BIT_ACCEL_INTEL_EN BIT(7)
	#define INV_MPU6500_BIT_ACCEL_INTEL_MODE BIT(6)
	#define INV_MPU6500_REG_ACCEL_OFFSET 0x77

	/* delay time in milliseconds */
	#define INV_MPU6050_POWER_UP_TIME 100
	#define INV_MPU6050_TEMP_UP_TIME 100
	#define INV_MPU6050_ACCEL_STARTUP_TIME 20
	#define INV_MPU6050_GYRO_STARTUP_TIME 60
	#define INV_MPU6050_GYRO_DOWN_TIME 150
	#define INV_MPU6050_SUSPEND_DELAY_MS 2000

	#define INV_MPU6500_GYRO_STARTUP_TIME 70
	#define INV_MPU6500_ACCEL_STARTUP_TIME 30

	#define INV_ICM20602_GYRO_STARTUP_TIME 100
	#define INV_ICM20602_ACCEL_STARTUP_TIME 20

	#define INV_ICM20690_GYRO_STARTUP_TIME 80
	#define INV_ICM20690_ACCEL_STARTUP_TIME 10


	/* delay time in microseconds */
	#define INV_MPU6050_REG_UP_TIME_MIN 5000
	#define INV_MPU6050_REG_UP_TIME_MAX 10000

	#define INV_MPU6050_TEMP_OFFSET 12420
	#define INV_MPU6050_TEMP_SCALE 2941176
	#define INV_MPU6050_MAX_GYRO_FS_PARAM 3
	#define INV_MPU6050_MAX_ACCL_FS_PARAM 3
	#define INV_MPU6050_THREE_AXIS 3
	#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
	#define INV_ICM20690_GYRO_CONFIG_FSR_SHIFT 2
	#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3

	#define INV_MPU6500_TEMP_OFFSET 7011
	#define INV_MPU6500_TEMP_SCALE 2995178

	#define INV_ICM20608_TEMP_OFFSET 8170
	#define INV_ICM20608_TEMP_SCALE 3059976

	#define INV_MPU6050_REG_INT_PIN_CFG 0x37
	#define INV_MPU6050_ACTIVE_HIGH 0x00
	#define INV_MPU6050_ACTIVE_LOW 0x80
	/* enable level triggering */
	#define INV_MPU6050_LATCH_INT_EN 0x20
	#define INV_MPU6050_BIT_BYPASS_EN 0x2

	/* Allowed timestamp period jitter in percent */
	#define INV_MPU6050_TS_PERIOD_JITTER 4

	/* init parameters */
	#define INV_MPU6050_MAX_FIFO_RATE 1000
	#define INV_MPU6050_MIN_FIFO_RATE 4

	/* chip internal frequency: 1KHz */
	#define INV_MPU6050_INTERNAL_FREQ_HZ 1000
	/* return the frequency divider (chip sample rate divider + 1) */
	#define INV_MPU6050_FREQ_DIVIDER(st) \
	((st)->chip_config.divider + 1)
	/* chip sample rate divider to fifo rate */
	#define INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate) \
	((INV_MPU6050_INTERNAL_FREQ_HZ / (fifo_rate)) - 1)
	#define INV_MPU6050_DIVIDER_TO_FIFO_RATE(divider) \
	(INV_MPU6050_INTERNAL_FREQ_HZ / ((divider) + 1))

	#define INV_MPU6050_REG_WHOAMI 117

	#define INV_MPU6000_WHOAMI_VALUE 0x68
	#define INV_MPU6050_WHOAMI_VALUE 0x68
	#define INV_MPU6500_WHOAMI_VALUE 0x70
	#define INV_MPU6880_WHOAMI_VALUE 0x78
	#define INV_MPU9150_WHOAMI_VALUE 0x68
	#define INV_MPU9250_WHOAMI_VALUE 0x71
	#define INV_MPU9255_WHOAMI_VALUE 0x73
	#define INV_MPU6515_WHOAMI_VALUE 0x74
	#define INV_ICM20608_WHOAMI_VALUE 0xAF
	#define INV_ICM20608D_WHOAMI_VALUE 0xAE
	#define INV_ICM20609_WHOAMI_VALUE 0xA6
	#define INV_ICM20689_WHOAMI_VALUE 0x98
	#define INV_ICM20600_WHOAMI_VALUE 0x11
	#define INV_ICM20602_WHOAMI_VALUE 0x12
	#define INV_ICM20690_WHOAMI_VALUE 0x20
	#define INV_IAM20680_WHOAMI_VALUE 0xA9

	/* scan element definition for generic MPU6xxx devices */
	enum inv_mpu6050_scan {
	INV_MPU6050_SCAN_ACCL_X,
	INV_MPU6050_SCAN_ACCL_Y,
	INV_MPU6050_SCAN_ACCL_Z,
	INV_MPU6050_SCAN_TEMP,
	INV_MPU6050_SCAN_GYRO_X,
	INV_MPU6050_SCAN_GYRO_Y,
	INV_MPU6050_SCAN_GYRO_Z,
	INV_MPU6050_SCAN_TIMESTAMP,

	INV_MPU9X50_SCAN_MAGN_X = INV_MPU6050_SCAN_GYRO_Z + 1,
	INV_MPU9X50_SCAN_MAGN_Y,
	INV_MPU9X50_SCAN_MAGN_Z,
	INV_MPU9X50_SCAN_TIMESTAMP,
	};

	enum inv_mpu6050_filter_e {
	INV_MPU6050_FILTER_NOLPF2 = 0,
	INV_MPU6050_FILTER_200HZ,
	INV_MPU6050_FILTER_100HZ,
	INV_MPU6050_FILTER_45HZ,
	INV_MPU6050_FILTER_20HZ,
	INV_MPU6050_FILTER_10HZ,
	INV_MPU6050_FILTER_5HZ,
	INV_MPU6050_FILTER_NOLPF,
	NUM_MPU6050_FILTER
	};

	enum inv_mpu6050_lposc_e {
	INV_MPU6050_LPOSC_4HZ = 4,
	INV_MPU6050_LPOSC_8HZ,
	INV_MPU6050_LPOSC_16HZ,
	INV_MPU6050_LPOSC_31HZ,
	INV_MPU6050_LPOSC_62HZ,
	INV_MPU6050_LPOSC_125HZ,
	INV_MPU6050_LPOSC_250HZ,
	INV_MPU6050_LPOSC_500HZ,
	NUM_MPU6050_LPOSC,
	};

	/* IIO attribute address */
	enum INV_MPU6050_IIO_ATTR_ADDR {
	ATTR_GYRO_MATRIX,
	ATTR_ACCL_MATRIX,
	};

	enum inv_mpu6050_accl_fs_e {
	INV_MPU6050_FS_02G = 0,
	INV_MPU6050_FS_04G,
	INV_MPU6050_FS_08G,
	INV_MPU6050_FS_16G,
	NUM_ACCL_FSR
	};

	enum inv_mpu6050_fsr_e {
	INV_MPU6050_FSR_250DPS = 0,
	INV_MPU6050_FSR_500DPS,
	INV_MPU6050_FSR_1000DPS,
	INV_MPU6050_FSR_2000DPS,
	NUM_MPU6050_FSR
	};

	enum inv_mpu6050_clock_sel_e {
	INV_CLK_INTERNAL = 0,
	INV_CLK_PLL,
	NUM_CLK
	};

	irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
	int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
	int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable);
	int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
	unsigned int mask);
	int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
	void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
	int inv_mpu_core_probe(struct regmap regmap, int irq, const char name,
	int (inv_mpu_bus_setup)(struct iio_dev ), int chip_type);
	extern const struct dev_pm_ops inv_mpu_pmops;

	#endif