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a9d26f00 BS |
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> | |
0f8c9620 | 8 | * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org> |
a9d26f00 BS |
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 | ||
cd888a17 LPC |
20 | #include <linux/iio/imu/adis.h> |
21 | ||
c59c95ce MH |
22 | #define ADIS16400_STARTUP_DELAY 290 /* ms */ |
23 | #define ADIS16400_MTEST_DELAY 90 /* ms */ | |
a9d26f00 | 24 | |
a9d26f00 BS |
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 | ||
2a29a90b JC |
39 | #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */ |
40 | #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */ | |
41 | #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */ | |
42 | ||
91ab3fc9 | 43 | #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */ |
791de677 | 44 | #define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */ |
07a8329c | 45 | #define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */ |
91ab3fc9 | 46 | |
76ada52f LPC |
47 | #define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */ |
48 | #define ADIS16448_TEMP_OUT 0x18 /* Temperature output */ | |
49 | ||
a9d26f00 BS |
50 | /* Calibration parameters */ |
51 | #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ | |
52 | #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ | |
53 | #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ | |
54 | #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ | |
55 | #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ | |
56 | #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ | |
57 | #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */ | |
58 | #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */ | |
59 | #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */ | |
60 | #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */ | |
61 | #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */ | |
62 | #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */ | |
63 | ||
64 | #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ | |
65 | #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */ | |
66 | #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */ | |
67 | #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */ | |
68 | #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */ | |
69 | #define ADIS16400_DIAG_STAT 0x3C /* System status */ | |
70 | ||
71 | /* Alarm functions */ | |
72 | #define ADIS16400_GLOB_CMD 0x3E /* System command */ | |
73 | #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */ | |
74 | #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */ | |
75 | #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */ | |
76 | #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */ | |
77 | #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */ | |
78 | #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */ | |
79 | ||
1db18bb4 LPC |
80 | #define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */ |
81 | #define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */ | |
a9d26f00 | 82 | #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */ |
1db18bb4 | 83 | #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */ |
a9d26f00 BS |
84 | |
85 | #define ADIS16400_ERROR_ACTIVE (1<<14) | |
86 | #define ADIS16400_NEW_DATA (1<<14) | |
87 | ||
88 | /* MSC_CTRL */ | |
89 | #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11) | |
90 | #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10) | |
91 | #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9) | |
92 | #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8) | |
93 | #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7) | |
94 | #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6) | |
95 | #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2) | |
96 | #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) | |
97 | #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0) | |
98 | ||
99 | /* SMPL_PRD */ | |
100 | #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7) | |
101 | #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F | |
102 | ||
103 | /* DIAG_STAT */ | |
cd888a17 LPC |
104 | #define ADIS16400_DIAG_STAT_ZACCL_FAIL 15 |
105 | #define ADIS16400_DIAG_STAT_YACCL_FAIL 14 | |
106 | #define ADIS16400_DIAG_STAT_XACCL_FAIL 13 | |
107 | #define ADIS16400_DIAG_STAT_XGYRO_FAIL 12 | |
108 | #define ADIS16400_DIAG_STAT_YGYRO_FAIL 11 | |
109 | #define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10 | |
110 | #define ADIS16400_DIAG_STAT_ALARM2 9 | |
111 | #define ADIS16400_DIAG_STAT_ALARM1 8 | |
112 | #define ADIS16400_DIAG_STAT_FLASH_CHK 6 | |
113 | #define ADIS16400_DIAG_STAT_SELF_TEST 5 | |
114 | #define ADIS16400_DIAG_STAT_OVERFLOW 4 | |
115 | #define ADIS16400_DIAG_STAT_SPI_FAIL 3 | |
116 | #define ADIS16400_DIAG_STAT_FLASH_UPT 2 | |
117 | #define ADIS16400_DIAG_STAT_POWER_HIGH 1 | |
118 | #define ADIS16400_DIAG_STAT_POWER_LOW 0 | |
a9d26f00 BS |
119 | |
120 | /* GLOB_CMD */ | |
121 | #define ADIS16400_GLOB_CMD_SW_RESET (1<<7) | |
122 | #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4) | |
123 | #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3) | |
124 | #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2) | |
125 | #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1) | |
126 | #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0) | |
127 | ||
128 | /* SLP_CNT */ | |
129 | #define ADIS16400_SLP_CNT_POWER_OFF (1<<8) | |
130 | ||
ea2ccb3e LPC |
131 | #define ADIS16334_RATE_DIV_SHIFT 8 |
132 | #define ADIS16334_RATE_INT_CLK BIT(0) | |
133 | ||
a9d26f00 BS |
134 | #define ADIS16400_SPI_SLOW (u32)(300 * 1000) |
135 | #define ADIS16400_SPI_BURST (u32)(1000 * 1000) | |
136 | #define ADIS16400_SPI_FAST (u32)(2000 * 1000) | |
137 | ||
ea2ccb3e LPC |
138 | #define ADIS16400_HAS_PROD_ID BIT(0) |
139 | #define ADIS16400_NO_BURST BIT(1) | |
140 | #define ADIS16400_HAS_SLOW_MODE BIT(2) | |
1db18bb4 | 141 | #define ADIS16400_HAS_SERIAL_NUMBER BIT(3) |
ea2ccb3e | 142 | |
cd888a17 LPC |
143 | struct adis16400_state; |
144 | ||
2a29a90b JC |
145 | struct adis16400_chip_info { |
146 | const struct iio_chan_spec *channels; | |
147 | const int num_channels; | |
2a29a90b JC |
148 | const long flags; |
149 | unsigned int gyro_scale_micro; | |
150 | unsigned int accel_scale_micro; | |
760ebc0d LPC |
151 | int temp_scale_nano; |
152 | int temp_offset; | |
cd888a17 LPC |
153 | int (*set_freq)(struct adis16400_state *st, unsigned int freq); |
154 | int (*get_freq)(struct adis16400_state *st); | |
2a29a90b JC |
155 | }; |
156 | ||
a9d26f00 BS |
157 | /** |
158 | * struct adis16400_state - device instance specific data | |
cd888a17 LPC |
159 | * @variant: chip variant info |
160 | * @filt_int: integer part of requested filter frequency | |
161 | * @adis: adis device | |
a9d26f00 BS |
162 | **/ |
163 | struct adis16400_state { | |
2a29a90b | 164 | struct adis16400_chip_info *variant; |
98c9373d | 165 | int filt_int; |
38d15f06 | 166 | |
cd888a17 | 167 | struct adis adis; |
a9d26f00 BS |
168 | }; |
169 | ||
a9d26f00 BS |
170 | /* At the moment triggers are only used for ring buffer |
171 | * filling. This may change! | |
172 | */ | |
173 | ||
cd888a17 LPC |
174 | enum { |
175 | ADIS16400_SCAN_SUPPLY, | |
176 | ADIS16400_SCAN_GYRO_X, | |
177 | ADIS16400_SCAN_GYRO_Y, | |
178 | ADIS16400_SCAN_GYRO_Z, | |
179 | ADIS16400_SCAN_ACC_X, | |
180 | ADIS16400_SCAN_ACC_Y, | |
181 | ADIS16400_SCAN_ACC_Z, | |
182 | ADIS16400_SCAN_MAGN_X, | |
183 | ADIS16400_SCAN_MAGN_Y, | |
184 | ADIS16400_SCAN_MAGN_Z, | |
76ada52f | 185 | ADIS16400_SCAN_BARO, |
cd888a17 LPC |
186 | ADIS16350_SCAN_TEMP_X, |
187 | ADIS16350_SCAN_TEMP_Y, | |
188 | ADIS16350_SCAN_TEMP_Z, | |
189 | ADIS16300_SCAN_INCLI_X, | |
190 | ADIS16300_SCAN_INCLI_Y, | |
191 | ADIS16400_SCAN_ADC, | |
192 | }; | |
a9d26f00 | 193 | |
f2a96245 | 194 | #ifdef CONFIG_IIO_BUFFER |
a9d26f00 BS |
195 | |
196 | ssize_t adis16400_read_data_from_ring(struct device *dev, | |
197 | struct device_attribute *attr, | |
198 | char *buf); | |
199 | ||
200 | ||
5eda3550 LPC |
201 | int adis16400_update_scan_mode(struct iio_dev *indio_dev, |
202 | const unsigned long *scan_mask); | |
203 | irqreturn_t adis16400_trigger_handler(int irq, void *p); | |
a9d26f00 | 204 | |
f2a96245 | 205 | #else /* CONFIG_IIO_BUFFER */ |
a9d26f00 | 206 | |
5eda3550 LPC |
207 | #define adis16400_update_scan_mode NULL |
208 | #define adis16400_trigger_handler NULL | |
a9d26f00 | 209 | |
f2a96245 | 210 | #endif /* CONFIG_IIO_BUFFER */ |
cd888a17 | 211 | |
a9d26f00 | 212 | #endif /* SPI_ADIS16400_H_ */ |