1 #ifndef SPI_ADIS16350_H_ 2 #define SPI_ADIS16350_H_ 3 4 #define ADIS16350_STARTUP_DELAY 220 /* ms */ 5 6 #define ADIS16350_READ_REG(a) a 7 #define ADIS16350_WRITE_REG(a) ((a) | 0x80) 8 9 #define ADIS16350_FLASH_CNT 0x00 /* Flash memory write count */ 10 #define ADIS16350_SUPPLY_OUT 0x02 /* Power supply measurement */ 11 #define ADIS16350_XGYRO_OUT 0x04 /* X-axis gyroscope output */ 12 #define ADIS16350_YGYRO_OUT 0x06 /* Y-axis gyroscope output */ 13 #define ADIS16350_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */ 14 #define ADIS16350_XACCL_OUT 0x0A /* X-axis accelerometer output */ 15 #define ADIS16350_YACCL_OUT 0x0C /* Y-axis accelerometer output */ 16 #define ADIS16350_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ 17 #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */ 18 #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */ 19 #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */ 20 #define ADIS16350_AUX_ADC 0x16 /* Auxiliary ADC measurement */ 21 22 /* Calibration parameters */ 23 #define ADIS16350_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ 24 #define ADIS16350_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ 25 #define ADIS16350_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ 26 #define ADIS16350_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ 27 #define ADIS16350_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ 28 #define ADIS16350_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ 29 30 #define ADIS16350_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ 31 #define ADIS16350_MSC_CTRL 0x34 /* Miscellaneous control */ 32 #define ADIS16350_SMPL_PRD 0x36 /* Internal sample period (rate) control */ 33 #define ADIS16350_SENS_AVG 0x38 /* Dynamic range and digital filter control */ 34 #define ADIS16350_SLP_CNT 0x3A /* Sleep mode control */ 35 #define ADIS16350_DIAG_STAT 0x3C /* System status */ 36 37 /* Alarm functions */ 38 #define ADIS16350_GLOB_CMD 0x3E /* System command */ 39 #define ADIS16350_ALM_MAG1 0x26 /* Alarm 1 amplitude threshold */ 40 #define ADIS16350_ALM_MAG2 0x28 /* Alarm 2 amplitude threshold */ 41 #define ADIS16350_ALM_SMPL1 0x2A /* Alarm 1 sample size */ 42 #define ADIS16350_ALM_SMPL2 0x2C /* Alarm 2 sample size */ 43 #define ADIS16350_ALM_CTRL 0x2E /* Alarm control */ 44 #define ADIS16350_AUX_DAC 0x30 /* Auxiliary DAC data */ 45 46 #define ADIS16350_ERROR_ACTIVE (1<<14) 47 #define ADIS16350_NEW_DATA (1<<15) 48 49 /* MSC_CTRL */ 50 #define ADIS16350_MSC_CTRL_MEM_TEST (1<<11) 51 #define ADIS16350_MSC_CTRL_INT_SELF_TEST (1<<10) 52 #define ADIS16350_MSC_CTRL_NEG_SELF_TEST (1<<9) 53 #define ADIS16350_MSC_CTRL_POS_SELF_TEST (1<<8) 54 #define ADIS16350_MSC_CTRL_GYRO_BIAS (1<<7) 55 #define ADIS16350_MSC_CTRL_ACCL_ALIGN (1<<6) 56 #define ADIS16350_MSC_CTRL_DATA_RDY_EN (1<<2) 57 #define ADIS16350_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) 58 #define ADIS16350_MSC_CTRL_DATA_RDY_DIO2 (1<<0) 59 60 /* SMPL_PRD */ 61 #define ADIS16350_SMPL_PRD_TIME_BASE (1<<7) 62 #define ADIS16350_SMPL_PRD_DIV_MASK 0x7F 63 64 /* DIAG_STAT */ 65 #define ADIS16350_DIAG_STAT_ZACCL_FAIL (1<<15) 66 #define ADIS16350_DIAG_STAT_YACCL_FAIL (1<<14) 67 #define ADIS16350_DIAG_STAT_XACCL_FAIL (1<<13) 68 #define ADIS16350_DIAG_STAT_XGYRO_FAIL (1<<12) 69 #define ADIS16350_DIAG_STAT_YGYRO_FAIL (1<<11) 70 #define ADIS16350_DIAG_STAT_ZGYRO_FAIL (1<<10) 71 #define ADIS16350_DIAG_STAT_ALARM2 (1<<9) 72 #define ADIS16350_DIAG_STAT_ALARM1 (1<<8) 73 #define ADIS16350_DIAG_STAT_FLASH_CHK (1<<6) 74 #define ADIS16350_DIAG_STAT_SELF_TEST (1<<5) 75 #define ADIS16350_DIAG_STAT_OVERFLOW (1<<4) 76 #define ADIS16350_DIAG_STAT_SPI_FAIL (1<<3) 77 #define ADIS16350_DIAG_STAT_FLASH_UPT (1<<2) 78 #define ADIS16350_DIAG_STAT_POWER_HIGH (1<<1) 79 #define ADIS16350_DIAG_STAT_POWER_LOW (1<<0) 80 81 /* GLOB_CMD */ 82 #define ADIS16350_GLOB_CMD_SW_RESET (1<<7) 83 #define ADIS16350_GLOB_CMD_P_AUTO_NULL (1<<4) 84 #define ADIS16350_GLOB_CMD_FLASH_UPD (1<<3) 85 #define ADIS16350_GLOB_CMD_DAC_LATCH (1<<2) 86 #define ADIS16350_GLOB_CMD_FAC_CALIB (1<<1) 87 #define ADIS16350_GLOB_CMD_AUTO_NULL (1<<0) 88 89 /* SLP_CNT */ 90 #define ADIS16350_SLP_CNT_POWER_OFF (1<<8) 91 92 #define ADIS16350_MAX_TX 24 93 #define ADIS16350_MAX_RX 24 94 95 #define ADIS16350_SPI_SLOW (u32)(300 * 1000) 96 #define ADIS16350_SPI_BURST (u32)(1000 * 1000) 97 #define ADIS16350_SPI_FAST (u32)(2000 * 1000) 98 99 /** 100 * struct adis16350_state - device instance specific data 101 * @us: actual spi_device 102 * @work_trigger_to_ring: bh for triggered event handling 103 * @inter: used to check if new interrupt has been triggered 104 * @last_timestamp: passing timestamp from th to bh of interrupt handler 105 * @indio_dev: industrial I/O device structure 106 * @trig: data ready trigger registered with iio 107 * @tx: transmit buffer 108 * @rx: receive buffer 109 * @buf_lock: mutex to protect tx and rx 110 **/ 111 struct adis16350_state { 112 struct spi_device *us; 113 struct work_struct work_trigger_to_ring; 114 s64 last_timestamp; 115 struct iio_dev *indio_dev; 116 struct iio_trigger *trig; 117 u8 *tx; 118 u8 *rx; 119 struct mutex buf_lock; 120 }; 121 122 int adis16350_set_irq(struct device *dev, bool enable); 123 124 #ifdef CONFIG_IIO_RING_BUFFER 125 126 #define ADIS16350_SCAN_SUPPLY 0 127 #define ADIS16350_SCAN_GYRO_X 1 128 #define ADIS16350_SCAN_GYRO_Y 2 129 #define ADIS16350_SCAN_GYRO_Z 3 130 #define ADIS16350_SCAN_ACC_X 4 131 #define ADIS16350_SCAN_ACC_Y 5 132 #define ADIS16350_SCAN_ACC_Z 6 133 #define ADIS16350_SCAN_TEMP_X 7 134 #define ADIS16350_SCAN_TEMP_Y 8 135 #define ADIS16350_SCAN_TEMP_Z 9 136 #define ADIS16350_SCAN_ADC_0 10 137 138 void adis16350_remove_trigger(struct iio_dev *indio_dev); 139 int adis16350_probe_trigger(struct iio_dev *indio_dev); 140 141 ssize_t adis16350_read_data_from_ring(struct device *dev, 142 struct device_attribute *attr, 143 char *buf); 144 145 146 int adis16350_configure_ring(struct iio_dev *indio_dev); 147 void adis16350_unconfigure_ring(struct iio_dev *indio_dev); 148 149 #else /* CONFIG_IIO_RING_BUFFER */ 150 adis16350_remove_trigger(struct iio_dev * indio_dev)151static inline void adis16350_remove_trigger(struct iio_dev *indio_dev) 152 { 153 } 154 adis16350_probe_trigger(struct iio_dev * indio_dev)155static inline int adis16350_probe_trigger(struct iio_dev *indio_dev) 156 { 157 return 0; 158 } 159 160 static inline ssize_t adis16350_read_data_from_ring(struct device * dev,struct device_attribute * attr,char * buf)161adis16350_read_data_from_ring(struct device *dev, 162 struct device_attribute *attr, 163 char *buf) 164 { 165 return 0; 166 } 167 adis16350_configure_ring(struct iio_dev * indio_dev)168static inline int adis16350_configure_ring(struct iio_dev *indio_dev) 169 { 170 return 0; 171 } 172 adis16350_unconfigure_ring(struct iio_dev * indio_dev)173static inline void adis16350_unconfigure_ring(struct iio_dev *indio_dev) 174 { 175 } 176 #endif /* CONFIG_IIO_RING_BUFFER */ 177 #endif /* SPI_ADIS16350_H_ */ 178