drivers/iio/imu/adis16400.h

   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@kernel.org>
   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 #include <linux/iio/imu/adis.h>
  21
  22 #define ADIS16400_STARTUP_DELAY 290 /* ms */
  23 #define ADIS16400_MTEST_DELAY 90 /* ms */
  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 #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
  43 #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
  44 #define ADIS16300_ROLL_OUT  0x14 /* Y axis inclinometer output measurement */
  45 #define ADIS16300_AUX_ADC   0x16 /* Auxiliary ADC measurement */
  46
  47 #define ADIS16448_BARO_OUT      0x16 /* Barometric pressure output */
  48 #define ADIS16448_TEMP_OUT  0x18 /* Temperature output */
  49
  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
  80 #define ADIS16334_LOT_ID1   0x52 /* Lot identification code 1 */
  81 #define ADIS16334_LOT_ID2   0x54 /* Lot identification code 2 */
  82 #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
  83 #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
  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 */
 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
 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
 131 #define ADIS16334_RATE_DIV_SHIFT 8
 132 #define ADIS16334_RATE_INT_CLK BIT(0)
 133
 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
 138 #define ADIS16400_HAS_PROD_ID           BIT(0)
 139 #define ADIS16400_NO_BURST              BIT(1)
 140 #define ADIS16400_HAS_SLOW_MODE         BIT(2)
 141 #define ADIS16400_HAS_SERIAL_NUMBER     BIT(3)
 142 #define ADIS16400_BURST_DIAG_STAT       BIT(4)
 143
 144 struct adis16400_state;
 145
 146 struct adis16400_chip_info {
 147         const struct iio_chan_spec *channels;
 148         const int num_channels;
 149         const long flags;
 150         unsigned int gyro_scale_micro;
 151         unsigned int accel_scale_micro;
 152         int temp_scale_nano;
 153         int temp_offset;
 154         int (*set_freq)(struct adis16400_state *st, unsigned int freq);
 155         int (*get_freq)(struct adis16400_state *st);
 156 };
 157
 158 /**
 159  * struct adis16400_state - device instance specific data
 160  * @variant:    chip variant info
 161  * @filt_int:   integer part of requested filter frequency
 162  * @adis:       adis device
 163  **/
 164 struct adis16400_state {
 165         struct adis16400_chip_info      *variant;
 166         int                             filt_int;
 167
 168         struct adis adis;
 169         unsigned long avail_scan_mask[2];
 170 };
 171
 172 /* At the moment triggers are only used for ring buffer
 173  * filling. This may change!
 174  */
 175
 176 enum {
 177         ADIS16400_SCAN_SUPPLY,
 178         ADIS16400_SCAN_GYRO_X,
 179         ADIS16400_SCAN_GYRO_Y,
 180         ADIS16400_SCAN_GYRO_Z,
 181         ADIS16400_SCAN_ACC_X,
 182         ADIS16400_SCAN_ACC_Y,
 183         ADIS16400_SCAN_ACC_Z,
 184         ADIS16400_SCAN_MAGN_X,
 185         ADIS16400_SCAN_MAGN_Y,
 186         ADIS16400_SCAN_MAGN_Z,
 187         ADIS16400_SCAN_BARO,
 188         ADIS16350_SCAN_TEMP_X,
 189         ADIS16350_SCAN_TEMP_Y,
 190         ADIS16350_SCAN_TEMP_Z,
 191         ADIS16300_SCAN_INCLI_X,
 192         ADIS16300_SCAN_INCLI_Y,
 193         ADIS16400_SCAN_ADC,
 194         ADIS16400_SCAN_TIMESTAMP,
 195 };
 196
 197 #ifdef CONFIG_IIO_BUFFER
 198
 199 ssize_t adis16400_read_data_from_ring(struct device *dev,
 200                                       struct device_attribute *attr,
 201                                       char *buf);
 202
 203
 204 int adis16400_update_scan_mode(struct iio_dev *indio_dev,
 205         const unsigned long *scan_mask);
 206 irqreturn_t adis16400_trigger_handler(int irq, void *p);
 207
 208 #else /* CONFIG_IIO_BUFFER */
 209
 210 #define adis16400_update_scan_mode NULL
 211 #define adis16400_trigger_handler NULL
 212
 213 #endif /* CONFIG_IIO_BUFFER */
 214
 215 #endif /* SPI_ADIS16400_H_ */