drivers/staging/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@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 290 /* ms */
  21 #define ADIS16400_MTEST_DELAY 90 /* ms */
  22
  23 #define ADIS16400_READ_REG(a)    a
  24 #define ADIS16400_WRITE_REG(a) ((a) | 0x80)
  25
  26 #define ADIS16400_FLASH_CNT  0x00 /* Flash memory write count */
  27 #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
  28 #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
  29 #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
  30 #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
  31 #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
  32 #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
  33 #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
  34 #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
  35 #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
  36 #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
  37 #define ADIS16400_TEMP_OUT  0x16 /* Temperature output */
  38 #define ADIS16400_AUX_ADC   0x18 /* Auxiliary ADC measurement */
  39
  40 #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
  41 #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
  42 #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
  43
  44 #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
  45 #define ADIS16300_ROLL_OUT  0x12 /* Y axis inclinometer output measurement */
  46
  47 /* Calibration parameters */
  48 #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
  49 #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
  50 #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
  51 #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
  52 #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
  53 #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
  54 #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
  55 #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
  56 #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
  57 #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
  58 #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
  59 #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
  60
  61 #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
  62 #define ADIS16400_MSC_CTRL  0x34 /* Miscellaneous control */
  63 #define ADIS16400_SMPL_PRD  0x36 /* Internal sample period (rate) control */
  64 #define ADIS16400_SENS_AVG  0x38 /* Dynamic range and digital filter control */
  65 #define ADIS16400_SLP_CNT   0x3A /* Sleep mode control */
  66 #define ADIS16400_DIAG_STAT 0x3C /* System status */
  67
  68 /* Alarm functions */
  69 #define ADIS16400_GLOB_CMD  0x3E /* System command */
  70 #define ADIS16400_ALM_MAG1  0x40 /* Alarm 1 amplitude threshold */
  71 #define ADIS16400_ALM_MAG2  0x42 /* Alarm 2 amplitude threshold */
  72 #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
  73 #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
  74 #define ADIS16400_ALM_CTRL  0x48 /* Alarm control */
  75 #define ADIS16400_AUX_DAC   0x4A /* Auxiliary DAC data */
  76
  77 #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
  78
  79 #define ADIS16400_ERROR_ACTIVE                  (1<<14)
  80 #define ADIS16400_NEW_DATA                      (1<<14)
  81
  82 /* MSC_CTRL */
  83 #define ADIS16400_MSC_CTRL_MEM_TEST             (1<<11)
  84 #define ADIS16400_MSC_CTRL_INT_SELF_TEST        (1<<10)
  85 #define ADIS16400_MSC_CTRL_NEG_SELF_TEST        (1<<9)
  86 #define ADIS16400_MSC_CTRL_POS_SELF_TEST        (1<<8)
  87 #define ADIS16400_MSC_CTRL_GYRO_BIAS            (1<<7)
  88 #define ADIS16400_MSC_CTRL_ACCL_ALIGN           (1<<6)
  89 #define ADIS16400_MSC_CTRL_DATA_RDY_EN          (1<<2)
  90 #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH    (1<<1)
  91 #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2        (1<<0)
  92
  93 /* SMPL_PRD */
  94 #define ADIS16400_SMPL_PRD_TIME_BASE    (1<<7)
  95 #define ADIS16400_SMPL_PRD_DIV_MASK     0x7F
  96
  97 /* DIAG_STAT */
  98 #define ADIS16400_DIAG_STAT_ZACCL_FAIL  (1<<15)
  99 #define ADIS16400_DIAG_STAT_YACCL_FAIL  (1<<14)
 100 #define ADIS16400_DIAG_STAT_XACCL_FAIL  (1<<13)
 101 #define ADIS16400_DIAG_STAT_XGYRO_FAIL  (1<<12)
 102 #define ADIS16400_DIAG_STAT_YGYRO_FAIL  (1<<11)
 103 #define ADIS16400_DIAG_STAT_ZGYRO_FAIL  (1<<10)
 104 #define ADIS16400_DIAG_STAT_ALARM2      (1<<9)
 105 #define ADIS16400_DIAG_STAT_ALARM1      (1<<8)
 106 #define ADIS16400_DIAG_STAT_FLASH_CHK   (1<<6)
 107 #define ADIS16400_DIAG_STAT_SELF_TEST   (1<<5)
 108 #define ADIS16400_DIAG_STAT_OVERFLOW    (1<<4)
 109 #define ADIS16400_DIAG_STAT_SPI_FAIL    (1<<3)
 110 #define ADIS16400_DIAG_STAT_FLASH_UPT   (1<<2)
 111 #define ADIS16400_DIAG_STAT_POWER_HIGH  (1<<1)
 112 #define ADIS16400_DIAG_STAT_POWER_LOW   (1<<0)
 113
 114 /* GLOB_CMD */
 115 #define ADIS16400_GLOB_CMD_SW_RESET     (1<<7)
 116 #define ADIS16400_GLOB_CMD_P_AUTO_NULL  (1<<4)
 117 #define ADIS16400_GLOB_CMD_FLASH_UPD    (1<<3)
 118 #define ADIS16400_GLOB_CMD_DAC_LATCH    (1<<2)
 119 #define ADIS16400_GLOB_CMD_FAC_CALIB    (1<<1)
 120 #define ADIS16400_GLOB_CMD_AUTO_NULL    (1<<0)
 121
 122 /* SLP_CNT */
 123 #define ADIS16400_SLP_CNT_POWER_OFF     (1<<8)
 124
 125 #define ADIS16400_MAX_TX 24
 126 #define ADIS16400_MAX_RX 24
 127
 128 #define ADIS16400_SPI_SLOW      (u32)(300 * 1000)
 129 #define ADIS16400_SPI_BURST     (u32)(1000 * 1000)
 130 #define ADIS16400_SPI_FAST      (u32)(2000 * 1000)
 131
 132 #define ADIS16400_HAS_PROD_ID 1
 133 #define ADIS16400_NO_BURST 2
 134 struct adis16400_chip_info {
 135         const struct iio_chan_spec *channels;
 136         const int num_channels;
 137         const int product_id;
 138         const long flags;
 139         unsigned int gyro_scale_micro;
 140         unsigned int accel_scale_micro;
 141         unsigned long default_scan_mask;
 142 };
 143
 144 /**
 145  * struct adis16400_state - device instance specific data
 146  * @us:                 actual spi_device
 147  * @trig:               data ready trigger registered with iio
 148  * @tx:                 transmit buffer
 149  * @rx:                 receive buffer
 150  * @buf_lock:           mutex to protect tx and rx
 151  * @filt_int:           integer part of requested filter frequency
 152  **/
 153 struct adis16400_state {
 154         struct spi_device               *us;
 155         struct iio_trigger              *trig;
 156         struct mutex                    buf_lock;
 157         struct adis16400_chip_info      *variant;
 158         int                             filt_int;
 159
 160         u8      tx[ADIS16400_MAX_TX] ____cacheline_aligned;
 161         u8      rx[ADIS16400_MAX_RX] ____cacheline_aligned;
 162 };
 163
 164 int adis16400_set_irq(struct iio_dev *indio_dev, bool enable);
 165
 166 /* At the moment triggers are only used for ring buffer
 167  * filling. This may change!
 168  */
 169
 170 #define ADIS16400_SCAN_SUPPLY   0
 171 #define ADIS16400_SCAN_GYRO_X   1
 172 #define ADIS16400_SCAN_GYRO_Y   2
 173 #define ADIS16400_SCAN_GYRO_Z   3
 174 #define ADIS16400_SCAN_ACC_X    4
 175 #define ADIS16400_SCAN_ACC_Y    5
 176 #define ADIS16400_SCAN_ACC_Z    6
 177 #define ADIS16400_SCAN_MAGN_X   7
 178 #define ADIS16350_SCAN_TEMP_X   7
 179 #define ADIS16400_SCAN_MAGN_Y   8
 180 #define ADIS16350_SCAN_TEMP_Y   8
 181 #define ADIS16400_SCAN_MAGN_Z   9
 182 #define ADIS16350_SCAN_TEMP_Z   9
 183 #define ADIS16400_SCAN_TEMP     10
 184 #define ADIS16350_SCAN_ADC_0    10
 185 #define ADIS16400_SCAN_ADC_0    11
 186 #define ADIS16300_SCAN_INCLI_X  12
 187 #define ADIS16300_SCAN_INCLI_Y  13
 188
 189 #ifdef CONFIG_IIO_BUFFER
 190 void adis16400_remove_trigger(struct iio_dev *indio_dev);
 191 int adis16400_probe_trigger(struct iio_dev *indio_dev);
 192
 193 ssize_t adis16400_read_data_from_ring(struct device *dev,
 194                                       struct device_attribute *attr,
 195                                       char *buf);
 196
 197
 198 int adis16400_configure_ring(struct iio_dev *indio_dev);
 199 void adis16400_unconfigure_ring(struct iio_dev *indio_dev);
 200
 201 #else /* CONFIG_IIO_BUFFER */
 202
 203 static inline void adis16400_remove_trigger(struct iio_dev *indio_dev)
 204 {
 205 }
 206
 207 static inline int adis16400_probe_trigger(struct iio_dev *indio_dev)
 208 {
 209         return 0;
 210 }
 211
 212 static inline ssize_t
 213 adis16400_read_data_from_ring(struct device *dev,
 214                               struct device_attribute *attr,
 215                               char *buf)
 216 {
 217         return 0;
 218 }
 219
 220 static int adis16400_configure_ring(struct iio_dev *indio_dev)
 221 {
 222         return 0;
 223 }
 224
 225 static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
 226 {
 227 }
 228
 229 #endif /* CONFIG_IIO_BUFFER */
 230 #endif /* SPI_ADIS16400_H_ */