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/*
$License:
Copyright 2011 InvenSense, Inc.
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
$
*/
#ifndef __MLSL_H__
#define __MLSL_H__
/**
* @defgroup MLSL
* @brief Motion Library - Serial Layer.
* The Motion Library System Layer provides the Motion Library
* with the communication interface to the hardware.
*
* The communication interface is assumed to support serial
* transfers in burst of variable length up to
* SERIAL_MAX_TRANSFER_SIZE.
* The default value for SERIAL_MAX_TRANSFER_SIZE is 128 bytes.
* Transfers of length greater than SERIAL_MAX_TRANSFER_SIZE, will
* be subdivided in smaller transfers of length <=
* SERIAL_MAX_TRANSFER_SIZE.
* The SERIAL_MAX_TRANSFER_SIZE definition can be modified to
* overcome any host processor transfer size limitation down to
* 1 B, the minimum.
* An higher value for SERIAL_MAX_TRANSFER_SIZE will favor
* performance and efficiency while requiring higher resource usage
* (mostly buffering). A smaller value will increase overhead and
* decrease efficiency but allows to operate with more resource
* constrained processor and master serial controllers.
* The SERIAL_MAX_TRANSFER_SIZE definition can be found in the
* mlsl.h header file and master serial controllers.
* The SERIAL_MAX_TRANSFER_SIZE definition can be found in the
* mlsl.h header file.
*
* @{
* @file mlsl.h
* @brief The Motion Library System Layer.
*
*/
#include "mltypes.h"
#include <linux/mpu.h>
#ifdef __cplusplus
extern "C" {
#endif
/*
* NOTE : to properly support Yamaha compass reads,
* the max transfer size should be at least 9 B.
* Length in bytes, typically a power of 2 >= 2
*/
#define SERIAL_MAX_TRANSFER_SIZE 128
#ifndef __KERNEL__
/**
* inv_serial_open() - used to open the serial port.
* @port The COM port specification associated with the device in use.
* @sl_handle a pointer to the file handle to the serial device to be open
* for the communication.
* This port is used to send and receive data to the device.
*
* This function is called by inv_serial_start().
* Unlike previous MPL Software releases, explicitly calling
* inv_serial_start() is mandatory to instantiate the communication
* with the device.
*
* returns INV_SUCCESS if successful, a non-zero error code otherwise.
*/
inv_error_t inv_serial_open(char const *port, void **sl_handle);
/**
* inv_serial_close() - used to close the serial port.
* @sl_handle a file handle to the serial device used for the communication.
*
* This port is used to send and receive data to the device.
*
* This function is called by inv_serial_stop().
* Unlike previous MPL Software releases, explicitly calling
* inv_serial_stop() is mandatory to properly shut-down the
* communication with the device.
*
* returns INV_SUCCESS if successful, a non-zero error code otherwise.
*/
inv_error_t inv_serial_close(void *sl_handle);
/**
* inv_serial_reset() - used to reset any buffering the driver may be doing
* returns INV_SUCCESS if successful, a non-zero error code otherwise.
*/
inv_error_t inv_serial_reset(void *sl_handle);
#endif
/**
* inv_serial_single_write() - used to write a single byte of data.
* @sl_handle pointer to the serial device used for the communication.
* @slave_addr I2C slave address of device.
* @register_addr Register address to write.
* @data Single byte of data to write.
*
* It is called by the MPL to write a single byte of data to the MPU.
*
* returns INV_SUCCESS if successful, a non-zero error code otherwise.
*/
inv_error_t inv_serial_single_write(
void *sl_handle,
unsigned char slave_addr,
unsigned char register_addr,
unsigned char data);
/**
* inv_serial_write() - used to write multiple bytes of data to registers.
* @sl_handle a file handle to the serial device used for the communication.
* @slave_addr I2C slave address of device.
* @register_addr Register address to write.
* @length Length of burst of data.
* @data Pointer to block of data.
*
* returns INV_SUCCESS if successful, a non-zero error code otherwise.
*/
inv_error_t inv_serial_write(
void *sl_handle,
unsigned char slave_addr,
unsigned short length,
unsigned char const *data);
/**
* inv_serial_read() - used to read multiple bytes of data from registers.
* @sl_handle a file handle to the serial device used for the communication.
* @slave_addr I2C slave address of device.
* @register_addr Register address to read.
* @length Length of burst of data.
* @data Pointer to block of data.
*
* returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
*/
inv_error_t inv_serial_read(
void *sl_handle,
unsigned char slave_addr,
unsigned char register_addr,
unsigned short length,
unsigned char *data);
/**
* inv_serial_read_mem() - used to read multiple bytes of data from the memory.
* This should be sent by I2C or SPI.
*
* @sl_handle a file handle to the serial device used for the communication.
* @slave_addr I2C slave address of device.
* @mem_addr The location in the memory to read from.
* @length Length of burst data.
* @data Pointer to block of data.
*
* returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
*/
inv_error_t inv_serial_read_mem(
void *sl_handle,
unsigned char slave_addr,
unsigned short mem_addr,
unsigned short length,
unsigned char *data);
/**
* inv_serial_write_mem() - used to write multiple bytes of data to the memory.
* @sl_handle a file handle to the serial device used for the communication.
* @slave_addr I2C slave address of device.
* @mem_addr The location in the memory to write to.
* @length Length of burst data.
* @data Pointer to block of data.
*
* returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
*/
inv_error_t inv_serial_write_mem(
void *sl_handle,
unsigned char slave_addr,
unsigned short mem_addr,
unsigned short length,
unsigned char const *data);
/**
* inv_serial_read_fifo() - used to read multiple bytes of data from the fifo.
* @sl_handle a file handle to the serial device used for the communication.
* @slave_addr I2C slave address of device.
* @length Length of burst of data.
* @data Pointer to block of data.
*
* returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
*/
inv_error_t inv_serial_read_fifo(
void *sl_handle,
unsigned char slave_addr,
unsigned short length,
unsigned char *data);
/**
* inv_serial_write_fifo() - used to write multiple bytes of data to the fifo.
* @sl_handle a file handle to the serial device used for the communication.
* @slave_addr I2C slave address of device.
* @length Length of burst of data.
* @data Pointer to block of data.
*
* returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
*/
inv_error_t inv_serial_write_fifo(
void *sl_handle,
unsigned char slave_addr,
unsigned short length,
unsigned char const *data);
#ifndef __KERNEL__
/**
* inv_serial_read_cfg() - used to get the configuration data.
* @cfg Pointer to the configuration data.
* @len Length of the configuration data.
*
* Is called by the MPL to get the configuration data
* used by the motion library.
* This data would typically be saved in non-volatile memory.
*
* returns INV_SUCCESS if successful, a non-zero error code otherwise.
*/
inv_error_t inv_serial_read_cfg(unsigned char *cfg, unsigned int len);
/**
* inv_serial_write_cfg() - used to save the configuration data.
* @cfg Pointer to the configuration data.
* @len Length of the configuration data.
*
* Is called by the MPL to save the configuration data used by the
* motion library.
* This data would typically be saved in non-volatile memory.
*
* returns INV_SUCCESS if successful, a non-zero error code otherwise.
*/
inv_error_t inv_serial_write_cfg(unsigned char *cfg, unsigned int len);
/**
* inv_serial_read_cal() - used to get the calibration data.
* @cfg Pointer to the calibration data.
* @len Length of the calibration data.
*
* It is called by the MPL to get the calibration data used by the
* motion library.
* This data is typically be saved in non-volatile memory.
*
* returns INV_SUCCESS if successful, a non-zero error code otherwise.
*/
inv_error_t inv_serial_read_cal(unsigned char *cal, unsigned int len);
/**
* inv_serial_write_cal() - used to save the calibration data.
*
* @cfg Pointer to the calibration data.
* @len Length of the calibration data.
*
* It is called by the MPL to save the calibration data used by the
* motion library.
* This data is typically be saved in non-volatile memory.
* returns INV_SUCCESS if successful, a non-zero error code otherwise.
*/
inv_error_t inv_serial_write_cal(unsigned char *cal, unsigned int len);
/**
* inv_serial_get_cal_length() - Get the calibration length from the storage.
* @len lenght to be returned
*
* returns INV_SUCCESS if successful, a non-zero error code otherwise.
*/
inv_error_t inv_serial_get_cal_length(unsigned int *len);
#endif
#ifdef __cplusplus
}
#endif
/**
* @}
*/
#endif /* __MLSL_H__ */
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