forked from rubenslte/android_kernel_samsung_msm8226
Francescodario Cuzzocrea
85baa390bf
* Samsung Package Version: G800HXXU1CRJ1
* CAF Tag: LA.BF.1.1.3-00110-8x26.0
435 lines
12 KiB
C
435 lines
12 KiB
C
/*
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* Copyright (c) 2010-2011 Yamaha Corporation
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef __YAS_H__
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#define __YAS_H__
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#include "yas_cfg.h"
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#define YAS_VERSION "6.0.2"
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/* ------------------ */
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/* Typedef definition */
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/* ------------------- */
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#include <linux/types.h>
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/* -------------------------- */
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/* Macro definition */
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/* ------------------------- */
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/* Debugging */
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#define DEBUG (0)
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#if DEBUG
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#include <linux/kernel.h>
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#define YLOGD(args) (printk args)
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#define YLOGI(args) (printk args)
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#define YLOGE(args) (printk args)
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#define YLOGW(args) (printk args)
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#else /* DEBUG */
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#define YLOGD(args)
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#define YLOGI(args)
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#define YLOGW(args)
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#define YLOGE(args)
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#endif /* DEBUG */
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#define YAS_REPORT_DATA (0x01)
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#define YAS_REPORT_CALIB (0x02)
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#define YAS_REPORT_OVERFLOW_OCCURED (0x04)
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#define YAS_REPORT_HARD_OFFSET_CHANGED (0x08)
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#define YAS_REPORT_CALIB_OFFSET_CHANGED (0x10)
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#define YAS_HARD_OFFSET_UNKNOWN (0x7f)
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#define YAS_CALIB_OFFSET_UNKNOWN (0x7fffffff)
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#define YAS_NO_ERROR (0)
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#define YAS_ERROR_ARG (-1)
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#define YAS_ERROR_NOT_INITIALIZED (-2)
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#define YAS_ERROR_BUSY (-3)
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#define YAS_ERROR_DEVICE_COMMUNICATION (-4)
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#define YAS_ERROR_CHIP_ID (-5)
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#define YAS_ERROR_NOT_ACTIVE (-6)
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#define YAS_ERROR_RESTARTSYS (-7)
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#define YAS_ERROR_HARDOFFSET_NOT_WRITTEN (-8)
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#define YAS_ERROR_INTERRUPT (-9)
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#define YAS_ERROR_ERROR (-128)
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#ifndef NULL
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#define NULL ((void *)(0))
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#endif
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#ifndef FALSE
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#define FALSE (0)
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#endif
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#ifndef TRUE
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#define TRUE (!(0))
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#endif
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#ifndef NELEMS
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#define NELEMS(a) ((int)(sizeof(a)/sizeof(a[0])))
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#endif
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#ifndef ABS
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#define ABS(a) ((a) > 0 ? (a) : -(a))
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#endif
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#ifndef M_PI
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#define M_PI (3.14159265358979323846)
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#endif
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/* -------------------------------------------------------------------------- */
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/* Structure definition */
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/* -------------------------------------------------------------------------- */
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struct mag_platform_data {
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int position;
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void (*init_gpio)(void);
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};
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struct yas_mag_filter {
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int len;
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int noise[3];
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int threshold; /* nT */
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};
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struct yas_vector {
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int32_t v[3];
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};
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struct yas_matrix {
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int32_t matrix[9];
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};
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struct yas_acc_data {
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struct yas_vector xyz;
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struct yas_vector raw;
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};
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struct yas_gyro_data {
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struct yas_vector xyz;
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struct yas_vector raw;
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int overrun;
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int num;
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};
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struct yas_mag_data {
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struct yas_vector xyz; /* without offset, filtered */
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struct yas_vector raw; /* with offset, not filtered */
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struct yas_vector xy1y2;
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int16_t temperature;
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};
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struct yas_mag_offset {
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int8_t hard_offset[3];
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struct yas_vector calib_offset;
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};
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struct yas_mag_status {
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struct yas_mag_offset offset;
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int accuracy;
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struct yas_matrix dynamic_matrix;
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};
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struct yas_offset {
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struct yas_mag_status mag[YAS_MAGCALIB_SHAPE_NUM];
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};
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struct yas_mag_driver_callback {
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int (*lock) (void);
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int (*unlock) (void);
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int (*device_open) (void);
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int (*device_close) (void);
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#if YAS_MAG_DRIVER == YAS_MAG_DRIVER_YAS529
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int (*device_write) (const uint8_t *buf, int len);
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int (*device_read) (uint8_t *buf, int len);
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#else
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int (*device_write) (uint8_t addr, const uint8_t *buf, int len);
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int (*device_read) (uint8_t addr, uint8_t *buf, int len);
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#endif
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void (*msleep) (int msec);
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void (*current_time) (int32_t *sec, int32_t *msec);
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};
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struct yas_mag_driver {
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int (*init) (void);
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int (*term) (void);
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int (*get_delay) (void);
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int (*set_delay) (int msec);
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int (*get_offset) (struct yas_mag_offset *offset);
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int (*set_offset) (struct yas_mag_offset *offset);
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#ifdef YAS_MAG_MANUAL_OFFSET
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int (*get_manual_offset) (struct yas_vector *offset);
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int (*set_manual_offset) (struct yas_vector *offset);
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#endif
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int (*get_static_matrix) (struct yas_matrix *static_matrix);
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int (*set_static_matrix) (struct yas_matrix *static_matrix);
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int (*get_dynamic_matrix) (struct yas_matrix *dynamic_matrix);
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int (*set_dynamic_matrix) (struct yas_matrix *dynamic_matrix);
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int (*get_enable) (void);
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int (*set_enable) (int enable);
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int (*get_filter) (struct yas_mag_filter *filter);
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int (*set_filter) (struct yas_mag_filter *filter);
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int (*get_filter_enable) (void);
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int (*set_filter_enable) (int enable);
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int (*get_position) (void);
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int (*set_position) (int position);
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#if YAS_MAG_DRIVER == YAS_MAG_DRIVER_YAS529
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int (*read_reg) (uint8_t *buf, int len);
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int (*write_reg) (const uint8_t *buf, int len);
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#else
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int (*read_reg) (uint8_t addr, uint8_t *buf, int len);
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int (*write_reg) (uint8_t addr, const uint8_t *buf, int len);
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#endif
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int (*measure) (struct yas_mag_data *data, int *time_delay_ms);
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struct yas_mag_driver_callback callback;
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};
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struct yas_mag_calibration_result {
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int32_t spread;
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int32_t variation;
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int32_t radius;
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int8_t axis;
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int8_t level;
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int8_t accuracy;
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struct yas_matrix dynamic_matrix;
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};
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struct yas_mag_calibration_threshold {
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int32_t spread;
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int32_t variation[3];
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};
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struct yas_mag_calibration_callback {
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int (*lock) (void);
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int (*unlock) (void);
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};
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#define YAS_MAGCALIB_MODE_SPHERE (1)
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#define YAS_MAGCALIB_MODE_ELLIPSOID (1)
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struct yas_mag_calibration {
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int (*init) (void);
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int (*term) (void);
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int (*update) (struct yas_vector *mag,
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struct yas_mag_calibration_result *result);
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int (*get_accuracy) (void);
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int (*set_accuracy) (int accuracy);
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int (*get_offset) (struct yas_vector *offset);
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int (*set_offset) (struct yas_vector *offset);
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int (*get_shape) (void);
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int (*set_shape) (int shape);
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int (*get_threshold) (struct yas_mag_calibration_threshold *threshold);
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int (*set_threshold) (struct yas_mag_calibration_threshold *threshold);
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int (*get_mode) (void);
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int (*set_mode) (int mode);
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int (*get_max_sample) (void);
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int (*set_max_sample) (int num_samples);
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int (*get_dynamic_matrix) (struct yas_matrix *dynamic_matrix);
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struct yas_mag_calibration_callback callback;
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};
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#if YAS_SUPPORT_FUSION_DRIVER
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struct yas_quaternion {
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int32_t q[4];
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};
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struct yas_fusion_callback {
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int (*lock) (void);
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int (*unlock) (void);
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void (*current_time) (int32_t *sec, int32_t *msec);
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};
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struct yas_fusion {
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int (*init) (void);
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int (*term) (void);
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int (*update) (struct yas_vector *acc, struct yas_vector *mag,
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struct yas_vector *gyro);
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int (*get_quaternion) (struct yas_quaternion *quaternion);
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int (*get_fusion) (struct yas_quaternion *quaternion,
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struct yas_vector *acc, struct yas_vector *gravity,
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struct yas_vector *linear_acceleration,
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struct yas_vector *rotation_vector);
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struct yas_fusion_callback callback;
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};
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#endif
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#if YAS_SUPPORT_SOFTWARE_GYROSCOPE
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struct yas_swgyro_callback {
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int (*lock) (void);
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int (*unlock) (void);
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};
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struct yas_swgyro {
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int (*init) (void);
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int (*term) (void);
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int (*get_delay) (void);
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int (*set_delay) (int msec);
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int (*update) (struct yas_vector *acc, struct yas_vector *mag,
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struct yas_vector *gyro);
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struct yas_swgyro_callback callback;
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};
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#endif
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struct yas_acc_filter {
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int threshold; /* um/s^2 */
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};
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struct yas_acc_driver_callback {
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int (*lock) (void);
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int (*unlock) (void);
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int (*device_open) (void);
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int (*device_close) (void);
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int (*device_write) (uint8_t adr, const uint8_t *buf, int len);
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int (*device_read) (uint8_t adr, uint8_t *buf, int len);
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void (*msleep) (int msec);
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};
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struct yas_acc_driver {
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int (*init) (void);
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int (*term) (void);
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int (*get_delay) (void);
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int (*set_delay) (int delay);
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int (*get_offset) (struct yas_vector *offset);
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int (*set_offset) (struct yas_vector *offset);
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int (*get_enable) (void);
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int (*set_enable) (int enable);
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int (*get_filter) (struct yas_acc_filter *filter);
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int (*set_filter) (struct yas_acc_filter *filter);
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int (*get_filter_enable) (void);
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int (*set_filter_enable) (int enable);
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int (*get_position) (void);
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int (*set_position) (int position);
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int (*measure) (struct yas_acc_data *data);
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#if DEBUG
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int (*get_register) (uint8_t adr, uint8_t *val);
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#endif
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struct yas_acc_driver_callback callback;
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};
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struct yas_acc_calibration_threshold {
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int32_t variation;
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};
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struct yas_acc_calibration_callback {
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int (*lock) (void);
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int (*unlock) (void);
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};
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struct yas_acc_calibration {
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int (*init) (void);
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int (*term) (void);
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int (*update) (struct yas_vector *acc);
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int (*get_offset) (struct yas_vector *offset);
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int (*get_threshold) (struct yas_acc_calibration_threshold *threshold);
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int (*set_threshold) (struct yas_acc_calibration_threshold *threshold);
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struct yas_acc_calibration_callback callback;
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};
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struct yas_gyro_filter {
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int threshold; /*mdegree/s */
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};
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struct yas_gyro_driver_callback {
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int (*lock) (void);
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int (*unlock) (void);
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int (*device_open) (void);
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int (*device_close) (void);
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int (*device_write) (uint8_t adr, const uint8_t *buf, int len);
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int (*device_read) (uint8_t adr, uint8_t *buf, int len);
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int (*interrupt_enable) (void);
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int (*interrupt_disable) (void);
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void (*interrupt_notify) (int num);
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void (*msleep) (int msec);
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};
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struct yas_gyro_driver {
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int (*init) (void);
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int (*term) (void);
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int (*get_delay) (void);
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int (*set_delay) (int delay);
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int (*get_offset) (struct yas_vector *offset);
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int (*set_offset) (struct yas_vector *offset);
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int (*get_enable) (void);
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int (*set_enable) (int enable);
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int (*get_filter) (struct yas_gyro_filter *filter);
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int (*set_filter) (struct yas_gyro_filter *filter);
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int (*get_filter_enable) (void);
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int (*set_filter_enable) (int enable);
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int (*get_position) (void);
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int (*set_position) (int position);
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int (*get_interrupt) (void);
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int (*set_interrupt) (int interrupt);
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int (*measure) (struct yas_gyro_data *data, int num);
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void (*interrupt_handler) (void);
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#if DEBUG
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int (*get_register) (uint8_t adr, uint8_t *val);
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int (*set_register) (uint8_t adr, uint8_t val);
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#endif
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struct yas_gyro_driver_callback callback;
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};
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struct yas_gyro_calibration_threshold {
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int32_t variation;
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};
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struct yas_gyro_calibration_callback {
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int (*lock) (void);
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int (*unlock) (void);
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};
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struct yas_gyro_calibration {
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int (*init) (void);
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int (*term) (void);
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int (*update) (struct yas_vector *gyro);
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int (*get_offset) (struct yas_vector *offset);
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int (*get_threshold) (struct yas_gyro_calibration_threshold *
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threshold);
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int (*set_threshold) (struct yas_gyro_calibration_threshold *
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threshold);
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struct yas_gyro_calibration_callback callback;
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};
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struct yas_utility {
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int (*get_rotation_matrix) (struct yas_vector *acc,
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struct yas_vector *mag,
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struct yas_matrix *rotation_matrix);
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int (*get_euler) (struct yas_matrix *rotation_matrix,
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struct yas_vector *euler);
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};
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struct yas_platform_data {
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void (*poweron) (int);
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};
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/*-------------------------------------------------------------------------- */
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/* Global function definition */
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/*-------------------------------------------------------------------------- */
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int yas_mag_driver_init(struct yas_mag_driver *f);
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int yas_mag_calibration_init(struct yas_mag_calibration *f);
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int yas_acc_driver_init(struct yas_acc_driver *f);
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int yas_acc_calibration_init(struct yas_acc_calibration *f);
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int yas_gyro_driver_init(struct yas_gyro_driver *f, int interrupt);
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int yas_gyro_calibration_init(struct yas_gyro_calibration *f);
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int yas_utility_init(struct yas_utility *f);
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#if YAS_SUPPORT_FUSION_DRIVER
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int yas_fusion_init(struct yas_fusion *f);
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#endif
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#if YAS_SUPPORT_SOFTWARE_GYROSCOPE
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int yas_swgyro_init(struct yas_swgyro *f);
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#endif
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#endif /*__YAS_H__ */
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