216 lines
7.7 KiB
C
216 lines
7.7 KiB
C
/*
|
|
* adis16400.h support Analog Devices ADIS16400
|
|
* 3d 18g accelerometers,
|
|
* 3d gyroscopes,
|
|
* 3d 2.5gauss magnetometers via SPI
|
|
*
|
|
* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
|
|
* Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
|
|
*
|
|
* Loosely based upon lis3l02dq.h
|
|
*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License version 2 as
|
|
* published by the Free Software Foundation.
|
|
*/
|
|
|
|
#ifndef SPI_ADIS16400_H_
|
|
#define SPI_ADIS16400_H_
|
|
|
|
#include <linux/iio/imu/adis.h>
|
|
|
|
#define ADIS16400_STARTUP_DELAY 290 /* ms */
|
|
#define ADIS16400_MTEST_DELAY 90 /* ms */
|
|
|
|
#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
|
|
#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
|
|
#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
|
|
#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
|
|
#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
|
|
#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
|
|
#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
|
|
#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
|
|
#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
|
|
#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
|
|
#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
|
|
#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
|
|
#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
|
|
|
|
#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
|
|
#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
|
|
#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
|
|
|
|
#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
|
|
#define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
|
|
#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
|
|
|
|
#define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
|
|
#define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
|
|
|
|
/* Calibration parameters */
|
|
#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
|
|
#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
|
|
#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
|
|
#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
|
|
#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
|
|
#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
|
|
#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
|
|
#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
|
|
#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
|
|
#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
|
|
#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
|
|
#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
|
|
|
|
#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
|
|
#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
|
|
#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
|
|
#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
|
|
#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
|
|
#define ADIS16400_DIAG_STAT 0x3C /* System status */
|
|
|
|
/* Alarm functions */
|
|
#define ADIS16400_GLOB_CMD 0x3E /* System command */
|
|
#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
|
|
#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
|
|
#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
|
|
#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
|
|
#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
|
|
#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
|
|
|
|
#define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
|
|
#define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
|
|
#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
|
|
#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
|
|
|
|
#define ADIS16400_ERROR_ACTIVE (1<<14)
|
|
#define ADIS16400_NEW_DATA (1<<14)
|
|
|
|
/* MSC_CTRL */
|
|
#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
|
|
#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
|
|
#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
|
|
#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
|
|
#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
|
|
#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
|
|
#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
|
|
#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
|
|
#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
|
|
|
|
/* SMPL_PRD */
|
|
#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
|
|
#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
|
|
|
|
/* DIAG_STAT */
|
|
#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
|
|
#define ADIS16400_DIAG_STAT_YACCL_FAIL 14
|
|
#define ADIS16400_DIAG_STAT_XACCL_FAIL 13
|
|
#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
|
|
#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
|
|
#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
|
|
#define ADIS16400_DIAG_STAT_ALARM2 9
|
|
#define ADIS16400_DIAG_STAT_ALARM1 8
|
|
#define ADIS16400_DIAG_STAT_FLASH_CHK 6
|
|
#define ADIS16400_DIAG_STAT_SELF_TEST 5
|
|
#define ADIS16400_DIAG_STAT_OVERFLOW 4
|
|
#define ADIS16400_DIAG_STAT_SPI_FAIL 3
|
|
#define ADIS16400_DIAG_STAT_FLASH_UPT 2
|
|
#define ADIS16400_DIAG_STAT_POWER_HIGH 1
|
|
#define ADIS16400_DIAG_STAT_POWER_LOW 0
|
|
|
|
/* GLOB_CMD */
|
|
#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
|
|
#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
|
|
#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
|
|
#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
|
|
#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
|
|
#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
|
|
|
|
/* SLP_CNT */
|
|
#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
|
|
|
|
#define ADIS16334_RATE_DIV_SHIFT 8
|
|
#define ADIS16334_RATE_INT_CLK BIT(0)
|
|
|
|
#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
|
|
#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
|
|
#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
|
|
|
|
#define ADIS16400_HAS_PROD_ID BIT(0)
|
|
#define ADIS16400_NO_BURST BIT(1)
|
|
#define ADIS16400_HAS_SLOW_MODE BIT(2)
|
|
#define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
|
|
#define ADIS16400_BURST_DIAG_STAT BIT(4)
|
|
|
|
struct adis16400_state;
|
|
|
|
struct adis16400_chip_info {
|
|
const struct iio_chan_spec *channels;
|
|
const int num_channels;
|
|
const long flags;
|
|
unsigned int gyro_scale_micro;
|
|
unsigned int accel_scale_micro;
|
|
int temp_scale_nano;
|
|
int temp_offset;
|
|
int (*set_freq)(struct adis16400_state *st, unsigned int freq);
|
|
int (*get_freq)(struct adis16400_state *st);
|
|
};
|
|
|
|
/**
|
|
* struct adis16400_state - device instance specific data
|
|
* @variant: chip variant info
|
|
* @filt_int: integer part of requested filter frequency
|
|
* @adis: adis device
|
|
**/
|
|
struct adis16400_state {
|
|
struct adis16400_chip_info *variant;
|
|
int filt_int;
|
|
|
|
struct adis adis;
|
|
unsigned long avail_scan_mask[2];
|
|
};
|
|
|
|
/* At the moment triggers are only used for ring buffer
|
|
* filling. This may change!
|
|
*/
|
|
|
|
enum {
|
|
ADIS16400_SCAN_SUPPLY,
|
|
ADIS16400_SCAN_GYRO_X,
|
|
ADIS16400_SCAN_GYRO_Y,
|
|
ADIS16400_SCAN_GYRO_Z,
|
|
ADIS16400_SCAN_ACC_X,
|
|
ADIS16400_SCAN_ACC_Y,
|
|
ADIS16400_SCAN_ACC_Z,
|
|
ADIS16400_SCAN_MAGN_X,
|
|
ADIS16400_SCAN_MAGN_Y,
|
|
ADIS16400_SCAN_MAGN_Z,
|
|
ADIS16400_SCAN_BARO,
|
|
ADIS16350_SCAN_TEMP_X,
|
|
ADIS16350_SCAN_TEMP_Y,
|
|
ADIS16350_SCAN_TEMP_Z,
|
|
ADIS16300_SCAN_INCLI_X,
|
|
ADIS16300_SCAN_INCLI_Y,
|
|
ADIS16400_SCAN_ADC,
|
|
ADIS16400_SCAN_TIMESTAMP,
|
|
};
|
|
|
|
#ifdef CONFIG_IIO_BUFFER
|
|
|
|
ssize_t adis16400_read_data_from_ring(struct device *dev,
|
|
struct device_attribute *attr,
|
|
char *buf);
|
|
|
|
|
|
int adis16400_update_scan_mode(struct iio_dev *indio_dev,
|
|
const unsigned long *scan_mask);
|
|
irqreturn_t adis16400_trigger_handler(int irq, void *p);
|
|
|
|
#else /* CONFIG_IIO_BUFFER */
|
|
|
|
#define adis16400_update_scan_mode NULL
|
|
#define adis16400_trigger_handler NULL
|
|
|
|
#endif /* CONFIG_IIO_BUFFER */
|
|
|
|
#endif /* SPI_ADIS16400_H_ */
|