| /* |
| * adis16400.h support Analog Devices ADIS16400 |
| * 3d 18g accelerometers, |
| * 3d gyroscopes, |
| * 3d 2.5gauss magnetometers via SPI |
| * |
| * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> |
| * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org> |
| * |
| * Loosely based upon lis3l02dq.h |
| * |
| * This program is free software; you can redistribute it and/or modify |
| * it under the terms of the GNU General Public License version 2 as |
| * published by the Free Software Foundation. |
| */ |
| |
| #ifndef SPI_ADIS16400_H_ |
| #define SPI_ADIS16400_H_ |
| |
| #include <linux/iio/imu/adis.h> |
| |
| #define ADIS16400_STARTUP_DELAY 290 /* ms */ |
| #define ADIS16400_MTEST_DELAY 90 /* ms */ |
| |
| #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */ |
| #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */ |
| #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */ |
| #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */ |
| #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */ |
| #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */ |
| #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */ |
| #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ |
| #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */ |
| #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */ |
| #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */ |
| #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */ |
| #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */ |
| |
| #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */ |
| #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */ |
| #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */ |
| |
| #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */ |
| #define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */ |
| #define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */ |
| |
| #define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */ |
| #define ADIS16448_TEMP_OUT 0x18 /* Temperature output */ |
| |
| /* Calibration parameters */ |
| #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ |
| #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ |
| #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ |
| #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ |
| #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ |
| #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ |
| #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */ |
| #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */ |
| #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */ |
| #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */ |
| #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */ |
| #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */ |
| |
| #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ |
| #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */ |
| #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */ |
| #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */ |
| #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */ |
| #define ADIS16400_DIAG_STAT 0x3C /* System status */ |
| |
| /* Alarm functions */ |
| #define ADIS16400_GLOB_CMD 0x3E /* System command */ |
| #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */ |
| #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */ |
| #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */ |
| #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */ |
| #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */ |
| #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */ |
| |
| #define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */ |
| #define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */ |
| #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */ |
| #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */ |
| |
| #define ADIS16400_ERROR_ACTIVE (1<<14) |
| #define ADIS16400_NEW_DATA (1<<14) |
| |
| /* MSC_CTRL */ |
| #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11) |
| #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10) |
| #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9) |
| #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8) |
| #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7) |
| #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6) |
| #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2) |
| #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) |
| #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0) |
| |
| /* SMPL_PRD */ |
| #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7) |
| #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F |
| |
| /* DIAG_STAT */ |
| #define ADIS16400_DIAG_STAT_ZACCL_FAIL 15 |
| #define ADIS16400_DIAG_STAT_YACCL_FAIL 14 |
| #define ADIS16400_DIAG_STAT_XACCL_FAIL 13 |
| #define ADIS16400_DIAG_STAT_XGYRO_FAIL 12 |
| #define ADIS16400_DIAG_STAT_YGYRO_FAIL 11 |
| #define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10 |
| #define ADIS16400_DIAG_STAT_ALARM2 9 |
| #define ADIS16400_DIAG_STAT_ALARM1 8 |
| #define ADIS16400_DIAG_STAT_FLASH_CHK 6 |
| #define ADIS16400_DIAG_STAT_SELF_TEST 5 |
| #define ADIS16400_DIAG_STAT_OVERFLOW 4 |
| #define ADIS16400_DIAG_STAT_SPI_FAIL 3 |
| #define ADIS16400_DIAG_STAT_FLASH_UPT 2 |
| #define ADIS16400_DIAG_STAT_POWER_HIGH 1 |
| #define ADIS16400_DIAG_STAT_POWER_LOW 0 |
| |
| /* GLOB_CMD */ |
| #define ADIS16400_GLOB_CMD_SW_RESET (1<<7) |
| #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4) |
| #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3) |
| #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2) |
| #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1) |
| #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0) |
| |
| /* SLP_CNT */ |
| #define ADIS16400_SLP_CNT_POWER_OFF (1<<8) |
| |
| #define ADIS16334_RATE_DIV_SHIFT 8 |
| #define ADIS16334_RATE_INT_CLK BIT(0) |
| |
| #define ADIS16400_SPI_SLOW (u32)(300 * 1000) |
| #define ADIS16400_SPI_BURST (u32)(1000 * 1000) |
| #define ADIS16400_SPI_FAST (u32)(2000 * 1000) |
| |
| #define ADIS16400_HAS_PROD_ID BIT(0) |
| #define ADIS16400_NO_BURST BIT(1) |
| #define ADIS16400_HAS_SLOW_MODE BIT(2) |
| #define ADIS16400_HAS_SERIAL_NUMBER BIT(3) |
| |
| struct adis16400_state; |
| |
| struct adis16400_chip_info { |
| const struct iio_chan_spec *channels; |
| const int num_channels; |
| const long flags; |
| unsigned int gyro_scale_micro; |
| unsigned int accel_scale_micro; |
| int temp_scale_nano; |
| int temp_offset; |
| int (*set_freq)(struct adis16400_state *st, unsigned int freq); |
| int (*get_freq)(struct adis16400_state *st); |
| }; |
| |
| /** |
| * struct adis16400_state - device instance specific data |
| * @variant: chip variant info |
| * @filt_int: integer part of requested filter frequency |
| * @adis: adis device |
| **/ |
| struct adis16400_state { |
| struct adis16400_chip_info *variant; |
| int filt_int; |
| |
| struct adis adis; |
| }; |
| |
| /* At the moment triggers are only used for ring buffer |
| * filling. This may change! |
| */ |
| |
| enum { |
| ADIS16400_SCAN_SUPPLY, |
| ADIS16400_SCAN_GYRO_X, |
| ADIS16400_SCAN_GYRO_Y, |
| ADIS16400_SCAN_GYRO_Z, |
| ADIS16400_SCAN_ACC_X, |
| ADIS16400_SCAN_ACC_Y, |
| ADIS16400_SCAN_ACC_Z, |
| ADIS16400_SCAN_MAGN_X, |
| ADIS16400_SCAN_MAGN_Y, |
| ADIS16400_SCAN_MAGN_Z, |
| ADIS16400_SCAN_BARO, |
| ADIS16350_SCAN_TEMP_X, |
| ADIS16350_SCAN_TEMP_Y, |
| ADIS16350_SCAN_TEMP_Z, |
| ADIS16300_SCAN_INCLI_X, |
| ADIS16300_SCAN_INCLI_Y, |
| ADIS16400_SCAN_ADC, |
| ADIS16400_SCAN_TIMESTAMP, |
| }; |
| |
| #ifdef CONFIG_IIO_BUFFER |
| |
| ssize_t adis16400_read_data_from_ring(struct device *dev, |
| struct device_attribute *attr, |
| char *buf); |
| |
| |
| int adis16400_update_scan_mode(struct iio_dev *indio_dev, |
| const unsigned long *scan_mask); |
| irqreturn_t adis16400_trigger_handler(int irq, void *p); |
| |
| #else /* CONFIG_IIO_BUFFER */ |
| |
| #define adis16400_update_scan_mode NULL |
| #define adis16400_trigger_handler NULL |
| |
| #endif /* CONFIG_IIO_BUFFER */ |
| |
| #endif /* SPI_ADIS16400_H_ */ |
