1 #ifndef SPI_ADIS16260_H_
2 #define SPI_ADIS16260_H_
3 #include "adis16260_platform_data.h"
4
5 #define ADIS16260_STARTUP_DELAY 220 /* ms */
6
7 #define ADIS16260_READ_REG(a) a
8 #define ADIS16260_WRITE_REG(a) ((a) | 0x80)
9
10 #define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
11 #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
12 #define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
13 #define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
14 #define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
15 #define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
16 #define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
17 #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
18 #define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
19 #define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
20 #define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
21 #define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
22 #define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
23 #define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
24 #define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
25 #define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
26 #define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
27 #define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
28 #define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
29 #define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
30 #define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
31 #define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
32 #define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
33 #define ADIS16260_PROD_ID 0x56 /* Product identifier;
34 * convert to decimal = 16,265/16,260 */
35 #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
36
37 #define ADIS16260_OUTPUTS 5
38
39 #define ADIS16260_ERROR_ACTIVE (1<<14)
40 #define ADIS16260_NEW_DATA (1<<15)
41
42 /* MSC_CTRL */
43 #define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
44 /* Internal self-test enable */
45 #define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
46 #define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
47 #define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
48 #define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
49 #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
50 #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
51
52 /* SMPL_PRD */
53 /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
54 #define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
55 #define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
56
57 /* SLP_CNT */
58 #define ADIS16260_SLP_CNT_POWER_OFF 0x80
59
60 /* DIAG_STAT */
61 #define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
62 #define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
63 #define ADIS16260_DIAG_STAT_FLASH_CHK (1<<6)
64 #define ADIS16260_DIAG_STAT_SELF_TEST (1<<5)
65 #define ADIS16260_DIAG_STAT_OVERFLOW (1<<4)
66 #define ADIS16260_DIAG_STAT_SPI_FAIL (1<<3)
67 #define ADIS16260_DIAG_STAT_FLASH_UPT (1<<2)
68 #define ADIS16260_DIAG_STAT_POWER_HIGH (1<<1)
69 #define ADIS16260_DIAG_STAT_POWER_LOW (1<<0)
70
71 /* GLOB_CMD */
72 #define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
73 #define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
74 #define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
75 #define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
76 #define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
77
78 #define ADIS16260_MAX_TX 24
79 #define ADIS16260_MAX_RX 24
80
81 #define ADIS16260_SPI_SLOW (u32)(300 * 1000)
82 #define ADIS16260_SPI_BURST (u32)(1000 * 1000)
83 #define ADIS16260_SPI_FAST (u32)(2000 * 1000)
84
85 /**
86 * struct adis16260_state - device instance specific data
87 * @us: actual spi_device
88 * @work_trigger_to_ring: bh for triggered event handling
89 * @inter: used to check if new interrupt has been triggered
90 * @last_timestamp: passing timestamp from th to bh of interrupt handler
91 * @indio_dev: industrial I/O device structure
92 * @trig: data ready trigger registered with iio
93 * @tx: transmit buffer
94 * @rx: receive buffer
95 * @buf_lock: mutex to protect tx and rx
96 * @negate: negate the scale parameter
97 **/
98 struct adis16260_state {
99 struct spi_device *us;
100 struct work_struct work_trigger_to_ring;
101 s64 last_timestamp;
102 struct iio_dev *indio_dev;
103 struct iio_trigger *trig;
104 u8 *tx;
105 u8 *rx;
106 struct mutex buf_lock;
107 unsigned negate:1;
108 };
109
110 int adis16260_set_irq(struct device *dev, bool enable);
111
112 #ifdef CONFIG_IIO_RING_BUFFER
113 /* At the moment triggers are only used for ring buffer
114 * filling. This may change!
115 */
116
117 #define ADIS16260_SCAN_SUPPLY 0
118 #define ADIS16260_SCAN_GYRO 1
119 #define ADIS16260_SCAN_AUX_ADC 2
120 #define ADIS16260_SCAN_TEMP 3
121 #define ADIS16260_SCAN_ANGL 4
122
123 void adis16260_remove_trigger(struct iio_dev *indio_dev);
124 int adis16260_probe_trigger(struct iio_dev *indio_dev);
125
126 ssize_t adis16260_read_data_from_ring(struct device *dev,
127 struct device_attribute *attr,
128 char *buf);
129
130
131 int adis16260_configure_ring(struct iio_dev *indio_dev);
132 void adis16260_unconfigure_ring(struct iio_dev *indio_dev);
133
134 #else /* CONFIG_IIO_RING_BUFFER */
135
adis16260_remove_trigger(struct iio_dev * indio_dev)136 static inline void adis16260_remove_trigger(struct iio_dev *indio_dev)
137 {
138 }
139
adis16260_probe_trigger(struct iio_dev * indio_dev)140 static inline int adis16260_probe_trigger(struct iio_dev *indio_dev)
141 {
142 return 0;
143 }
144
145 static inline ssize_t
adis16260_read_data_from_ring(struct device * dev,struct device_attribute * attr,char * buf)146 adis16260_read_data_from_ring(struct device *dev,
147 struct device_attribute *attr,
148 char *buf)
149 {
150 return 0;
151 }
152
adis16260_configure_ring(struct iio_dev * indio_dev)153 static int adis16260_configure_ring(struct iio_dev *indio_dev)
154 {
155 return 0;
156 }
157
adis16260_unconfigure_ring(struct iio_dev * indio_dev)158 static inline void adis16260_unconfigure_ring(struct iio_dev *indio_dev)
159 {
160 }
161
162 #endif /* CONFIG_IIO_RING_BUFFER */
163 #endif /* SPI_ADIS16260_H_ */
164