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1 | /* |
2 | * adis16400.h support Analog Devices ADIS16400 | |
3 | * 3d 18g accelerometers, | |
4 | * 3d gyroscopes, | |
5 | * 3d 2.5gauss magnetometers via SPI | |
6 | * | |
7 | * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> | |
8 | * Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk> | |
9 | * | |
10 | * Loosely based upon lis3l02dq.h | |
11 | * | |
12 | * This program is free software; you can redistribute it and/or modify | |
13 | * it under the terms of the GNU General Public License version 2 as | |
14 | * published by the Free Software Foundation. | |
15 | */ | |
16 | ||
17 | #ifndef SPI_ADIS16400_H_ | |
18 | #define SPI_ADIS16400_H_ | |
19 | ||
20 | #define ADIS16400_STARTUP_DELAY 220 /* ms */ | |
21 | ||
22 | #define ADIS16400_READ_REG(a) a | |
23 | #define ADIS16400_WRITE_REG(a) ((a) | 0x80) | |
24 | ||
25 | #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */ | |
26 | #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */ | |
27 | #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */ | |
28 | #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */ | |
29 | #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */ | |
30 | #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */ | |
31 | #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */ | |
32 | #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ | |
33 | #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */ | |
34 | #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */ | |
35 | #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */ | |
36 | #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */ | |
37 | #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */ | |
38 | ||
39 | /* Calibration parameters */ | |
40 | #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ | |
41 | #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ | |
42 | #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ | |
43 | #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ | |
44 | #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ | |
45 | #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ | |
46 | #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */ | |
47 | #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */ | |
48 | #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */ | |
49 | #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */ | |
50 | #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */ | |
51 | #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */ | |
52 | ||
53 | #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ | |
54 | #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */ | |
55 | #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */ | |
56 | #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */ | |
57 | #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */ | |
58 | #define ADIS16400_DIAG_STAT 0x3C /* System status */ | |
59 | ||
60 | /* Alarm functions */ | |
61 | #define ADIS16400_GLOB_CMD 0x3E /* System command */ | |
62 | #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */ | |
63 | #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */ | |
64 | #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */ | |
65 | #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */ | |
66 | #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */ | |
67 | #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */ | |
68 | ||
69 | #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */ | |
70 | #define ADIS16400_PRODUCT_ID_DEFAULT 0x4015 /* Datasheet says 0x4105, I get 0x4015 */ | |
71 | ||
72 | #define ADIS16400_ERROR_ACTIVE (1<<14) | |
73 | #define ADIS16400_NEW_DATA (1<<14) | |
74 | ||
75 | /* MSC_CTRL */ | |
76 | #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11) | |
77 | #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10) | |
78 | #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9) | |
79 | #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8) | |
80 | #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7) | |
81 | #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6) | |
82 | #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2) | |
83 | #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) | |
84 | #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0) | |
85 | ||
86 | /* SMPL_PRD */ | |
87 | #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7) | |
88 | #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F | |
89 | ||
90 | /* DIAG_STAT */ | |
91 | #define ADIS16400_DIAG_STAT_ZACCL_FAIL (1<<15) | |
92 | #define ADIS16400_DIAG_STAT_YACCL_FAIL (1<<14) | |
93 | #define ADIS16400_DIAG_STAT_XACCL_FAIL (1<<13) | |
94 | #define ADIS16400_DIAG_STAT_XGYRO_FAIL (1<<12) | |
95 | #define ADIS16400_DIAG_STAT_YGYRO_FAIL (1<<11) | |
96 | #define ADIS16400_DIAG_STAT_ZGYRO_FAIL (1<<10) | |
97 | #define ADIS16400_DIAG_STAT_ALARM2 (1<<9) | |
98 | #define ADIS16400_DIAG_STAT_ALARM1 (1<<8) | |
99 | #define ADIS16400_DIAG_STAT_FLASH_CHK (1<<6) | |
100 | #define ADIS16400_DIAG_STAT_SELF_TEST (1<<5) | |
101 | #define ADIS16400_DIAG_STAT_OVERFLOW (1<<4) | |
102 | #define ADIS16400_DIAG_STAT_SPI_FAIL (1<<3) | |
103 | #define ADIS16400_DIAG_STAT_FLASH_UPT (1<<2) | |
104 | #define ADIS16400_DIAG_STAT_POWER_HIGH (1<<1) | |
105 | #define ADIS16400_DIAG_STAT_POWER_LOW (1<<0) | |
106 | ||
107 | /* GLOB_CMD */ | |
108 | #define ADIS16400_GLOB_CMD_SW_RESET (1<<7) | |
109 | #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4) | |
110 | #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3) | |
111 | #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2) | |
112 | #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1) | |
113 | #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0) | |
114 | ||
115 | /* SLP_CNT */ | |
116 | #define ADIS16400_SLP_CNT_POWER_OFF (1<<8) | |
117 | ||
118 | #define ADIS16400_MAX_TX 24 | |
119 | #define ADIS16400_MAX_RX 24 | |
120 | ||
121 | #define ADIS16400_SPI_SLOW (u32)(300 * 1000) | |
122 | #define ADIS16400_SPI_BURST (u32)(1000 * 1000) | |
123 | #define ADIS16400_SPI_FAST (u32)(2000 * 1000) | |
124 | ||
125 | /** | |
126 | * struct adis16400_state - device instance specific data | |
127 | * @us: actual spi_device | |
128 | * @work_trigger_to_ring: bh for triggered event handling | |
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129 | * @inter: used to check if new interrupt has been triggered |
130 | * @last_timestamp: passing timestamp from th to bh of interrupt handler | |
131 | * @indio_dev: industrial I/O device structure | |
132 | * @trig: data ready trigger registered with iio | |
133 | * @tx: transmit buffer | |
25985edc | 134 | * @rx: receive buffer |
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135 | * @buf_lock: mutex to protect tx and rx |
136 | **/ | |
137 | struct adis16400_state { | |
138 | struct spi_device *us; | |
139 | struct work_struct work_trigger_to_ring; | |
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140 | s64 last_timestamp; |
141 | struct iio_dev *indio_dev; | |
142 | struct iio_trigger *trig; | |
143 | u8 *tx; | |
144 | u8 *rx; | |
145 | struct mutex buf_lock; | |
146 | }; | |
147 | ||
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148 | int adis16400_set_irq(struct device *dev, bool enable); |
149 | ||
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150 | #ifdef CONFIG_IIO_RING_BUFFER |
151 | /* At the moment triggers are only used for ring buffer | |
152 | * filling. This may change! | |
153 | */ | |
154 | ||
69584bd6 JC |
155 | #define ADIS16400_SCAN_SUPPLY 0 |
156 | #define ADIS16400_SCAN_GYRO_X 1 | |
157 | #define ADIS16400_SCAN_GYRO_Y 2 | |
158 | #define ADIS16400_SCAN_GYRO_Z 3 | |
159 | #define ADIS16400_SCAN_ACC_X 4 | |
160 | #define ADIS16400_SCAN_ACC_Y 5 | |
161 | #define ADIS16400_SCAN_ACC_Z 6 | |
162 | #define ADIS16400_SCAN_MAGN_X 7 | |
163 | #define ADIS16400_SCAN_MAGN_Y 8 | |
164 | #define ADIS16400_SCAN_MAGN_Z 9 | |
165 | #define ADIS16400_SCAN_TEMP 10 | |
166 | #define ADIS16400_SCAN_ADC_0 11 | |
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167 | |
168 | void adis16400_remove_trigger(struct iio_dev *indio_dev); | |
169 | int adis16400_probe_trigger(struct iio_dev *indio_dev); | |
170 | ||
171 | ssize_t adis16400_read_data_from_ring(struct device *dev, | |
172 | struct device_attribute *attr, | |
173 | char *buf); | |
174 | ||
175 | ||
176 | int adis16400_configure_ring(struct iio_dev *indio_dev); | |
177 | void adis16400_unconfigure_ring(struct iio_dev *indio_dev); | |
178 | ||
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179 | #else /* CONFIG_IIO_RING_BUFFER */ |
180 | ||
181 | static inline void adis16400_remove_trigger(struct iio_dev *indio_dev) | |
182 | { | |
183 | } | |
184 | ||
185 | static inline int adis16400_probe_trigger(struct iio_dev *indio_dev) | |
186 | { | |
187 | return 0; | |
188 | } | |
189 | ||
190 | static inline ssize_t | |
191 | adis16400_read_data_from_ring(struct device *dev, | |
192 | struct device_attribute *attr, | |
193 | char *buf) | |
194 | { | |
195 | return 0; | |
196 | } | |
197 | ||
198 | static int adis16400_configure_ring(struct iio_dev *indio_dev) | |
199 | { | |
200 | return 0; | |
201 | } | |
202 | ||
203 | static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev) | |
204 | { | |
205 | } | |
206 | ||
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207 | #endif /* CONFIG_IIO_RING_BUFFER */ |
208 | #endif /* SPI_ADIS16400_H_ */ |