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/* SPDX-License-Identifier: GPL-2.0 */
/*
* Definitions for icm2060x chip.
*/
#ifndef __ICM2060X_H
#define __ICM2060X_H
#include <linux/ioctl.h>
#define ICM2060X_PRECISION 16
#define ICM2060X_RANGE 2000000
#define ICM2060X_SMPLRT_DIV 0x19
#define ICM2060X_CONFIG 0x1A
#define ICM2060X_GYRO_CONFIG 0x1B
#define ICM2060X_ACCEL_CONFIG 0x1C
#define ICM2060X_ACCEL_CONFIG2 0x1D
#define ICM2060X_LP_ACCEL_ODR 0x1E
#define ICM2060X_WOM_THRESH 0x1F
#define ICM2060X_FIFO_EN 0x23
#define ICM2060X_INT_PIN_CFG 0x37
#define ICM2060X_INT_ENABLE 0x38
#define ICM2060X_DMP_INT_STATUS 0x39
#define ICM2060X_INT_STATUS 0x3A
#define ICM2060X_ACCEL_XOUT_H 0x3B
#define ICM2060X_TEMP_OUT_H 0x41
#define ICM2060X_GYRO_XOUT_H 0x43
#define ICM2060X_ACCEL_INTEL_CTRL 0x69
#define ICM2060X_USER_CTRL 0x6A
#define ICM2060X_PWR_MGMT_1 0x6B
#define ICM2060X_PWR_MGMT_2 0x6C
#define ICM2060X_PRGM_STRT_ADDRH 0x70
#define ICM2060X_FIFO_COUNTH 0x72
#define ICM2060X_FIFO_R_W 0x74
#define ICM2060X_WHOAMI 0x75
/* DEVICE ID */
#define ICM20600_DEVICE_ID 0x11
#define ICM20607_DEVICE_ID 0x05
/* ICM2060X_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
/* ICM2060X_GYRO_CONFIG */
#define GFSR_250DPS (0 << 3)
#define GFSR_500DPS (1 << 3)
#define GFSR_1000DPS (2 << 3)
#define GFSR_2000DPS (3 << 3)
/* ICM2060X_ACCEL_CONFIG */
#define AFSR_2G (0 << 3)
#define AFSR_4G (1 << 3)
#define AFSR_8G (2 << 3)
#define AFSR_16G (3 << 3)
/* ICM2060X_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
/* ICM2060X_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
/* ICM2060X_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
/* ICM2060X_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 ICM2060X_PWRM1_SLEEP 0x40
#define ICM2060X_PWRM1_GYRO_STANDBY 0x10
#define ICM2060X_PWRM2_ACCEL_DISABLE 0x38
#define ICM2060X_PWRM2_GYRO_DISABLE 0x07
/* ICM2060X_ACCEL_INTEL_CTRL */
#define BIT_ACCEL_INTEL_EN 0x80
#define BIT_ACCEL_INTEL_MODE 0x40
/* ICM2060X_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
/* ICM2060X_FIFO_EN */
#define BIT_ACCEL_OUT 0x08
#define BITS_GYRO_OUT 0x70
/* ICM2060X_INT_PIN_CFG */
#define BIT_BYPASS_EN 0x2
/* ICM2060X_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_ICM2060X_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_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_SCAL (1L << 15)
/*---- ICM2060X 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_ICM2060X_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)
#endif
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