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
adis16400_remove_trigger(struct iio_dev * indio_dev)203 static inline void adis16400_remove_trigger(struct iio_dev *indio_dev)
204 {
205 }
206
adis16400_probe_trigger(struct iio_dev * indio_dev)207 static inline int adis16400_probe_trigger(struct iio_dev *indio_dev)
208 {
209 return 0;
210 }
211
212 static inline ssize_t
adis16400_read_data_from_ring(struct device * dev,struct device_attribute * attr,char * buf)213 adis16400_read_data_from_ring(struct device *dev,
214 struct device_attribute *attr,
215 char *buf)
216 {
217 return 0;
218 }
219
adis16400_configure_ring(struct iio_dev * indio_dev)220 static int adis16400_configure_ring(struct iio_dev *indio_dev)
221 {
222 return 0;
223 }
224
adis16400_unconfigure_ring(struct iio_dev * indio_dev)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_ */
231