diff options
Diffstat (limited to 'drivers/iio/imu/adis16400.h')
| -rw-r--r-- | drivers/iio/imu/adis16400.h | 215 |
1 files changed, 215 insertions, 0 deletions
diff --git a/drivers/iio/imu/adis16400.h b/drivers/iio/imu/adis16400.h new file mode 100644 index 000000000..73b189c1c --- /dev/null +++ b/drivers/iio/imu/adis16400.h @@ -0,0 +1,215 @@ +/* + * 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) +#define ADIS16400_BURST_DIAG_STAT BIT(4) + +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; + unsigned long avail_scan_mask[2]; +}; + +/* 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_ */ |