drivers/parrot/iio/imu/inv_mpu6050/inv_mpu_iio.h - pub/scm/linux/kernel/git/jic23/parrot - Git at Google

 /*
 * Copyright (C) 2012 Invensense, Inc.
 *
 * This software is licensed under the terms of the GNU General Public
 * License version 2, as published by the Free Software Foundation, and
 * may be copied, distributed, and modified under those terms.
 *
 * 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.
 */
 #include <linux/i2c.h>
 #include <linux/kfifo.h>
 #include <linux/spinlock.h>
 #include <linux/iio/iio.h>
 #include <linux/iio/buffer.h>
 #include <linux/iio/sysfs.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 <iio/platform_data/invensense_mpu6050.h>

 /**
  *  struct inv_mpu6050_reg_map - Notable registers.
  *  @sample_rate_div:	Divider applied to gyro output rate.
  *  @config:		Configures internal low pass filter/external frame synchronisation.
  *  @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_pin_cfg:       INT Pin / Bypass Enable Configuration
  *  @int_pin_cfg_set:   Setting of INT Pin / Bypass Enable Configuration
  *  @int_enable:	Interrupt enable register.
  *  @pwr_mgmt_1:	Controls chip's power state and clock source.
  *  @pwr_mgmt_2:	Controls power state of individual sensors.
  */
 struct inv_mpu6050_reg_map {
 	u8 sample_rate_div;
 	u8 config;
 	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_pin_cfg;
 	u8 int_pin_cfg_set;
 	u8 int_enable;
 	u8 pwr_mgmt_1;
 	u8 pwr_mgmt_2;
 };

 /*device enum */
 enum inv_devices {
 	INV_MPU6050,
 	INV_MPU6500,
 	INV_NUM_PARTS
 };

 /**
  *  struct inv_mpu6050_chip_config - Cached chip configuration data.
  *  @clksel:		Clock source select
  *  @fsync:		external Frame Synchronization select
  *  @fsr:		Full scale range.
  *  @lpf:		Digital low pass filter frequency.
  *  @accl_fs:		accel full scale range.
  *  @enable:		master enable state.
  *  @accl_fifo_enable:	enable accel data output
  *  @gyro_fifo_enable:	enable gyro data output
  *  @fifo_rate:		FIFO update rate.
  *  @fifo_period_ns:	FIFO update period (inverse in nanoseconds of fifo_rate)
  *  @filter_period_ns:  interrupt filter: platform_data.filter_rate * fifo_period_ns
  */
 struct inv_mpu6050_chip_config {
 	unsigned int	clksel:3;
 	unsigned int	fsync:3;
 	unsigned int	fsr:2;
 	unsigned int	lpf:3;
 	unsigned int	accl_fs:2;
 	unsigned int	enable:1;
 	unsigned int	accl_fifo_enable:1;
 	unsigned int	gyro_fifo_enable:1;
 	u16		fifo_rate;
 	s64		fifo_period_ns;
 	s64		filter_period_ns;
 };

 /**
  *  struct inv_mpu6050_hw - Other important hardware information.
  *  @num_reg:	Number of registers on device.
  *  @name:      name of the chip.
  *  @reg:   register map of the chip.
  *  @config:    configuration of the chip.
  */
 struct inv_mpu6050_hw {
 	u8 num_reg;
 	u8 *name;
 	const struct inv_mpu6050_reg_map *reg;
 	const struct inv_mpu6050_chip_config *config;
 };

 /*
  *  struct inv_mpu6050_state - Driver state variables.
  *  @TIMESTAMP_FIFO_SIZE: fifo size for timestamp.
  *  @trig:              IIO trigger.
  *  @chip_config:	Cached attribute information.
  *  @reg:		Map of important registers.
  *  @hw:		Other hardware-specific information.
  *  @chip_type:		chip type.
  *  @time_stamp_lock:	spin lock to time stamp.
  *  @client:		i2c client handle.
  *  @plat_data:		platform data.
  *  @timestamps:        kfifo queue to store time stamp.
  *  @rx_buffer		buffer used to store received samples from I2C
  *  @rx_buffer_size	size of rx_buffer
  *  @rx_buffer_ts	buffer used to store received samples from I2C,
  *                      with timestamps
  *  @rx_buffer_ts_size	size of rx_buffer_ts
  */
 struct inv_mpu6050_state {
 #define TIMESTAMP_FIFO_SIZE 16
 	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;
 	spinlock_t time_stamp_lock;
 	struct i2c_client *client;
 	struct inv_mpu6050_platform_data plat_data;
 	char name[32];
 	DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
 	u8 *rx_buffer;
 	size_t rx_buffer_size;
 	u8 *rx_buffer_ts;
 	size_t rx_buffer_ts_size;
 };

 /*register and associated bit definition*/
 #define INV_MPU6050_REG_SAMPLE_RATE_DIV     0x19
 #define INV_MPU6050_REG_CONFIG              0x1A
 #define INV_MPU6050_BIT_DLPF_CFG_MASK	    0x07
 #define INV_MPU6050_BIT_DLPF_CFG_SHIFT	    0
 #define INV_MPU6050_BIT_EXT_SYNC_SET_MASK	    0x07
 #define INV_MPU6050_BIT_EXT_SYNC_SET_SHIFT	    3

 #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_ACCEL_OUT           0x08
 #define INV_MPU6050_BITS_GYRO_OUT           0x70

 #define INV_MPU6050_REG_INT_PIN_CFG         0x37
 #define INV_MPU6050_BIT_INT_LEVEL	    (1<<7)
 #define INV_MPU6050_BIT_INT_OPEN	    (1<<6)
 #define INV_MPU6050_BIT_LATCH_INT_EN	    (1<<5)
 #define INV_MPU6050_BIT_INT_RD_CLEAR	    (1<<4)
 #define INV_MPU6050_BIT_FSYNC_INT_LEVEL	    (1<<3)
 #define INV_MPU6050_BIT_FSYNC_INT_EN	    (1<<2)
 #define INV_MPU6050_BIT_I2C_BYPASS_EN	    (1<<1)


 #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_MPU6050_REG_RAW_ACCEL           0x3B
 #define INV_MPU6050_REG_TEMPERATURE         0x41
 #define INV_MPU6050_REG_RAW_GYRO            0x43

 #define INV_MPU6050_REG_USER_CTRL           0x6A
 #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_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            0x07

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

 #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
 #define INV_MPU6050_FIFO_THRESHOLD           500
 #define INV_MPU6050_POWER_UP_TIME            100
 #define INV_MPU6050_TEMP_UP_TIME             100
 #define INV_MPU6050_SENSOR_UP_TIME           30
 #define INV_MPU6050_REG_UP_TIME              5

 #define INV_MPU6050_TEMP_SENSITIVITY	     340L
 #define INV_MPU6050_TEMP_OFFSET_C	     35
 #define INV_MPU6050_TEMP_OFFSET_LSB	     -521

 #define INV_MPU6050_TEMP_OFFSET	             ((INV_MPU6050_TEMP_OFFSET_C \
 					      *INV_MPU6050_TEMP_SENSITIVITY) \
 					      -INV_MPU6050_TEMP_OFFSET_LSB)

 /* decimal part of IIO_VAL_INT_PLUS_MICRO */
 #define INV_MPU6050_TEMP_SCALE               (1000000L/INV_MPU6050_TEMP_SENSITIVITY)

 #define INV_MPU6500_TEMP_SENSITIVITY	     333.87
 #define INV_MPU6500_TEMP_OFFSET_C	     21
 #define INV_MPU6500_TEMP_OFFSET_LSB	     0

 #define INV_MPU6500_TEMP_OFFSET	             ((INV_MPU6500_TEMP_OFFSET_C \
 					      *INV_MPU6500_TEMP_SENSITIVITY) \
 					      -INV_MPU6500_TEMP_OFFSET_LSB)

 /* decimal part of IIO_VAL_INT_PLUS_MICRO */
 #define INV_MPU6500_TEMP_SCALE               (1000000L/INV_MPU6500_TEMP_SENSITIVITY)

 #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_MPU6050_ACCL_CONFIG_FSR_SHIFT    3

 /* 6 + 6 round up and plus 8 */
 #define INV_MPU6050_OUTPUT_DATA_SIZE         24

 /* init parameters */
 #define INV_MPU6050_INIT_FIFO_RATE           1000
 #define INV_MPU6050_TIME_STAMP_TOR           5
 #define INV_MPU6050_MAX_FIFO_RATE            1000
 #define INV_MPU6050_MIN_FIFO_RATE            4
 #define INV_MPU6050_ONE_K_HZ                 1000

 /* scan element definition */
 enum inv_mpu6050_scan {
 	INV_MPU6050_SCAN_ACCL_X,
 	INV_MPU6050_SCAN_ACCL_Y,
 	INV_MPU6050_SCAN_ACCL_Z,
 	INV_MPU6050_SCAN_GYRO_X,
 	INV_MPU6050_SCAN_GYRO_Y,
 	INV_MPU6050_SCAN_GYRO_Z,
 	INV_MPU6050_SCAN_TIMESTAMP,
 };

 enum inv_mpu6050_filter_e {
 	INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
 	INV_MPU6050_FILTER_188HZ,
 	INV_MPU6050_FILTER_98HZ,
 	INV_MPU6050_FILTER_42HZ,
 	INV_MPU6050_FILTER_20HZ,
 	INV_MPU6050_FILTER_10HZ,
 	INV_MPU6050_FILTER_5HZ,
 	INV_MPU6050_FILTER_2100HZ_NOLPF,
 	NUM_MPU6050_FILTER
 };

 /*
  * An external signal connected to the FSYNC pin can be sampled by configuring EXT_SYNC_SET.
  * Signal changes to the FSYNC pin are latched so that short strobes may be captured. The latched
  * FSYNC signal will be sampled at the Sampling Rate, as defined in register 25. After sampling, the
  * latch will reset to the current FSYNC signal state.
  * The sampled value will be reported in place of the least significant bit in a sensor data register
  * determined by the value of EXT_SYNC_SET according to enum inv_mpu6050_ext_sync_set_e.
  */
 enum inv_mpu6050_ext_sync_set_e {
 	INV_MPU6050_FSYNC_DISABLED=0,
 	INV_MPU6050_FSYNC_TEMP_OUT,
 	INV_MPU6050_FSYNC_GYRO_XOUT,
 	INV_MPU6050_FSYNC_GYRO_YOUT,
 	INV_MPU6050_FSYNC_GYRO_ZOUT,
 	INV_MPU6050_FSYNC_ACCEL_XOUT,
 	INV_MPU6050_FSYNC_ACCEL_YOUT,
 	INV_MPU6050_FSYNC_ACCEL_ZOUT,
 	INV_MPU6050_FSYNC_NR
 };

 /* IIO attribute address */
 enum INV_MPU6050_IIO_ATTR_ADDR {
 	ATTR_GYRO_MATRIX,
 	ATTR_ACCL_MATRIX,
 	ATTR_GYRO_SCALE_AVAILABLE,
 	ATTR_ACCEL_SCALE_AVAILABLE,
 	ATTR_CLOCK_SOURCE_AVAILABLE,
 	ATTR_CLOCK_SOURCE,
 	ATTR_FRAME_SYNCHRONISATION_AVAILABLE,
 	ATTR_FRAME_SYNCHRONISATION
 };

 enum INV_MPU6050_IIO_TRIGGER_ATTR_ADDR {
 	TRIGGER_ATTR_ENABLE,
 };

 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_X,
 	INV_CLK_PLL_Y,
 	INV_CLK_PLL_Z,
 	INV_CLK_EXTERNAL_32_KHZ,
 	INV_CLK_EXTERNAL_19_MHZ,
 	NUM_CLK,

 	NUM_CLK_MPU6050 = NUM_CLK,
 	NUM_CLK_MPU6500 = 2,
 	INV_CLK_RESET	= 7, /* Stops the clock and keeps timing generator in reset */
 	INV_CLK_PLL	= INV_CLK_PLL_X /* for MPU6500 */
 };

 irqreturn_t inv_mpu6050_irq_handler(int irq, void *p);
 irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev);
 void inv_mpu6050_remove_trigger(struct inv_mpu6050_state *st);
 int inv_reset_fifo(struct iio_dev *indio_dev);
 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
 int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
	/*
	* Copyright (C) 2012 Invensense, Inc.
	*
	* This software is licensed under the terms of the GNU General Public
	* License version 2, as published by the Free Software Foundation, and
	* may be copied, distributed, and modified under those terms.
	*
	* 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.
	*/
	#include <linux/i2c.h>
	#include <linux/kfifo.h>
	#include <linux/spinlock.h>
	#include <linux/iio/iio.h>
	#include <linux/iio/buffer.h>
	#include <linux/iio/sysfs.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 <iio/platform_data/invensense_mpu6050.h>

	/**
	* struct inv_mpu6050_reg_map - Notable registers.
	* @sample_rate_div: Divider applied to gyro output rate.
	* @config: Configures internal low pass filter/external frame synchronisation.
	* @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_pin_cfg: INT Pin / Bypass Enable Configuration
	* @int_pin_cfg_set: Setting of INT Pin / Bypass Enable Configuration
	* @int_enable: Interrupt enable register.
	* @pwr_mgmt_1: Controls chip's power state and clock source.
	* @pwr_mgmt_2: Controls power state of individual sensors.
	*/
	struct inv_mpu6050_reg_map {
	u8 sample_rate_div;
	u8 config;
	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_pin_cfg;
	u8 int_pin_cfg_set;
	u8 int_enable;
	u8 pwr_mgmt_1;
	u8 pwr_mgmt_2;
	};

	/device enum /
	enum inv_devices {
	INV_MPU6050,
	INV_MPU6500,
	INV_NUM_PARTS
	};

	/**
	* struct inv_mpu6050_chip_config - Cached chip configuration data.
	* @clksel: Clock source select
	* @fsync: external Frame Synchronization select
	* @fsr: Full scale range.
	* @lpf: Digital low pass filter frequency.
	* @accl_fs: accel full scale range.
	* @enable: master enable state.
	* @accl_fifo_enable: enable accel data output
	* @gyro_fifo_enable: enable gyro data output
	* @fifo_rate: FIFO update rate.
	* @fifo_period_ns: FIFO update period (inverse in nanoseconds of fifo_rate)
	* @filter_period_ns: interrupt filter: platform_data.filter_rate * fifo_period_ns
	*/
	struct inv_mpu6050_chip_config {
	unsigned int clksel:3;
	unsigned int fsync:3;
	unsigned int fsr:2;
	unsigned int lpf:3;
	unsigned int accl_fs:2;
	unsigned int enable:1;
	unsigned int accl_fifo_enable:1;
	unsigned int gyro_fifo_enable:1;
	u16 fifo_rate;
	s64 fifo_period_ns;
	s64 filter_period_ns;
	};

	/**
	* struct inv_mpu6050_hw - Other important hardware information.
	* @num_reg: Number of registers on device.
	* @name: name of the chip.
	* @reg: register map of the chip.
	* @config: configuration of the chip.
	*/
	struct inv_mpu6050_hw {
	u8 num_reg;
	u8 *name;
	const struct inv_mpu6050_reg_map *reg;
	const struct inv_mpu6050_chip_config *config;
	};

	/*
	* struct inv_mpu6050_state - Driver state variables.
	* @TIMESTAMP_FIFO_SIZE: fifo size for timestamp.
	* @trig: IIO trigger.
	* @chip_config: Cached attribute information.
	* @reg: Map of important registers.
	* @hw: Other hardware-specific information.
	* @chip_type: chip type.
	* @time_stamp_lock: spin lock to time stamp.
	* @client: i2c client handle.
	* @plat_data: platform data.
	* @timestamps: kfifo queue to store time stamp.
	* @rx_buffer buffer used to store received samples from I2C
	* @rx_buffer_size size of rx_buffer
	* @rx_buffer_ts buffer used to store received samples from I2C,
	* with timestamps
	* @rx_buffer_ts_size size of rx_buffer_ts
	*/
	struct inv_mpu6050_state {
	#define TIMESTAMP_FIFO_SIZE 16
	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;
	spinlock_t time_stamp_lock;
	struct i2c_client *client;
	struct inv_mpu6050_platform_data plat_data;
	char name[32];
	DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
	u8 *rx_buffer;
	size_t rx_buffer_size;
	u8 *rx_buffer_ts;
	size_t rx_buffer_ts_size;
	};

	/register and associated bit definition/
	#define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19
	#define INV_MPU6050_REG_CONFIG 0x1A
	#define INV_MPU6050_BIT_DLPF_CFG_MASK 0x07
	#define INV_MPU6050_BIT_DLPF_CFG_SHIFT 0
	#define INV_MPU6050_BIT_EXT_SYNC_SET_MASK 0x07
	#define INV_MPU6050_BIT_EXT_SYNC_SET_SHIFT 3

	#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_ACCEL_OUT 0x08
	#define INV_MPU6050_BITS_GYRO_OUT 0x70

	#define INV_MPU6050_REG_INT_PIN_CFG 0x37
	#define INV_MPU6050_BIT_INT_LEVEL (1<<7)
	#define INV_MPU6050_BIT_INT_OPEN (1<<6)
	#define INV_MPU6050_BIT_LATCH_INT_EN (1<<5)
	#define INV_MPU6050_BIT_INT_RD_CLEAR (1<<4)
	#define INV_MPU6050_BIT_FSYNC_INT_LEVEL (1<<3)
	#define INV_MPU6050_BIT_FSYNC_INT_EN (1<<2)
	#define INV_MPU6050_BIT_I2C_BYPASS_EN (1<<1)


	#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_MPU6050_REG_RAW_ACCEL 0x3B
	#define INV_MPU6050_REG_TEMPERATURE 0x41
	#define INV_MPU6050_REG_RAW_GYRO 0x43

	#define INV_MPU6050_REG_USER_CTRL 0x6A
	#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_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 0x07

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

	#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
	#define INV_MPU6050_FIFO_THRESHOLD 500
	#define INV_MPU6050_POWER_UP_TIME 100
	#define INV_MPU6050_TEMP_UP_TIME 100
	#define INV_MPU6050_SENSOR_UP_TIME 30
	#define INV_MPU6050_REG_UP_TIME 5

	#define INV_MPU6050_TEMP_SENSITIVITY 340L
	#define INV_MPU6050_TEMP_OFFSET_C 35
	#define INV_MPU6050_TEMP_OFFSET_LSB -521

	#define INV_MPU6050_TEMP_OFFSET ((INV_MPU6050_TEMP_OFFSET_C \
	*INV_MPU6050_TEMP_SENSITIVITY) \
	-INV_MPU6050_TEMP_OFFSET_LSB)

	/* decimal part of IIO_VAL_INT_PLUS_MICRO */
	#define INV_MPU6050_TEMP_SCALE (1000000L/INV_MPU6050_TEMP_SENSITIVITY)

	#define INV_MPU6500_TEMP_SENSITIVITY 333.87
	#define INV_MPU6500_TEMP_OFFSET_C 21
	#define INV_MPU6500_TEMP_OFFSET_LSB 0

	#define INV_MPU6500_TEMP_OFFSET ((INV_MPU6500_TEMP_OFFSET_C \
	*INV_MPU6500_TEMP_SENSITIVITY) \
	-INV_MPU6500_TEMP_OFFSET_LSB)

	/* decimal part of IIO_VAL_INT_PLUS_MICRO */
	#define INV_MPU6500_TEMP_SCALE (1000000L/INV_MPU6500_TEMP_SENSITIVITY)

	#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_MPU6050_ACCL_CONFIG_FSR_SHIFT 3

	/* 6 + 6 round up and plus 8 */
	#define INV_MPU6050_OUTPUT_DATA_SIZE 24

	/* init parameters */
	#define INV_MPU6050_INIT_FIFO_RATE 1000
	#define INV_MPU6050_TIME_STAMP_TOR 5
	#define INV_MPU6050_MAX_FIFO_RATE 1000
	#define INV_MPU6050_MIN_FIFO_RATE 4
	#define INV_MPU6050_ONE_K_HZ 1000

	/* scan element definition */
	enum inv_mpu6050_scan {
	INV_MPU6050_SCAN_ACCL_X,
	INV_MPU6050_SCAN_ACCL_Y,
	INV_MPU6050_SCAN_ACCL_Z,
	INV_MPU6050_SCAN_GYRO_X,
	INV_MPU6050_SCAN_GYRO_Y,
	INV_MPU6050_SCAN_GYRO_Z,
	INV_MPU6050_SCAN_TIMESTAMP,
	};

	enum inv_mpu6050_filter_e {
	INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
	INV_MPU6050_FILTER_188HZ,
	INV_MPU6050_FILTER_98HZ,
	INV_MPU6050_FILTER_42HZ,
	INV_MPU6050_FILTER_20HZ,
	INV_MPU6050_FILTER_10HZ,
	INV_MPU6050_FILTER_5HZ,
	INV_MPU6050_FILTER_2100HZ_NOLPF,
	NUM_MPU6050_FILTER
	};

	/*
	* An external signal connected to the FSYNC pin can be sampled by configuring EXT_SYNC_SET.
	* Signal changes to the FSYNC pin are latched so that short strobes may be captured. The latched
	* FSYNC signal will be sampled at the Sampling Rate, as defined in register 25. After sampling, the
	* latch will reset to the current FSYNC signal state.
	* The sampled value will be reported in place of the least significant bit in a sensor data register
	* determined by the value of EXT_SYNC_SET according to enum inv_mpu6050_ext_sync_set_e.
	*/
	enum inv_mpu6050_ext_sync_set_e {
	INV_MPU6050_FSYNC_DISABLED=0,
	INV_MPU6050_FSYNC_TEMP_OUT,
	INV_MPU6050_FSYNC_GYRO_XOUT,
	INV_MPU6050_FSYNC_GYRO_YOUT,
	INV_MPU6050_FSYNC_GYRO_ZOUT,
	INV_MPU6050_FSYNC_ACCEL_XOUT,
	INV_MPU6050_FSYNC_ACCEL_YOUT,
	INV_MPU6050_FSYNC_ACCEL_ZOUT,
	INV_MPU6050_FSYNC_NR
	};

	/* IIO attribute address */
	enum INV_MPU6050_IIO_ATTR_ADDR {
	ATTR_GYRO_MATRIX,
	ATTR_ACCL_MATRIX,
	ATTR_GYRO_SCALE_AVAILABLE,
	ATTR_ACCEL_SCALE_AVAILABLE,
	ATTR_CLOCK_SOURCE_AVAILABLE,
	ATTR_CLOCK_SOURCE,
	ATTR_FRAME_SYNCHRONISATION_AVAILABLE,
	ATTR_FRAME_SYNCHRONISATION
	};

	enum INV_MPU6050_IIO_TRIGGER_ATTR_ADDR {
	TRIGGER_ATTR_ENABLE,
	};

	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_X,
	INV_CLK_PLL_Y,
	INV_CLK_PLL_Z,
	INV_CLK_EXTERNAL_32_KHZ,
	INV_CLK_EXTERNAL_19_MHZ,
	NUM_CLK,

	NUM_CLK_MPU6050 = NUM_CLK,
	NUM_CLK_MPU6500 = 2,
	INV_CLK_RESET = 7, /* Stops the clock and keeps timing generator in reset */
	INV_CLK_PLL = INV_CLK_PLL_X /* for MPU6500 */
	};

	irqreturn_t inv_mpu6050_irq_handler(int irq, void *p);
	irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
	int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev);
	void inv_mpu6050_remove_trigger(struct inv_mpu6050_state *st);
	int inv_reset_fifo(struct iio_dev *indio_dev);
	int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
	int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
	int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);