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 220 /* ms */ 21 22#define ADIS16400_READ_REG(a) a 23#define ADIS16400_WRITE_REG(a) ((a) | 0x80) 24 25#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */ 26#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */ 27#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */ 28#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */ 29#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */ 30#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */ 31#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */ 32#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ 33#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */ 34#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */ 35#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */ 36#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */ 37#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */ 38 39/* Calibration parameters */ 40#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ 41#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ 42#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ 43#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ 44#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ 45#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ 46#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */ 47#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */ 48#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */ 49#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */ 50#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */ 51#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */ 52 53#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ 54#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */ 55#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */ 56#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */ 57#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */ 58#define ADIS16400_DIAG_STAT 0x3C /* System status */ 59 60/* Alarm functions */ 61#define ADIS16400_GLOB_CMD 0x3E /* System command */ 62#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */ 63#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */ 64#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */ 65#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */ 66#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */ 67#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */ 68 69#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */ 70#define ADIS16400_PRODUCT_ID_DEFAULT 0x4015 /* Datasheet says 0x4105, I get 0x4015 */ 71 72#define ADIS16400_ERROR_ACTIVE (1<<14) 73#define ADIS16400_NEW_DATA (1<<14) 74 75/* MSC_CTRL */ 76#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11) 77#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10) 78#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9) 79#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8) 80#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7) 81#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6) 82#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2) 83#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) 84#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0) 85 86/* SMPL_PRD */ 87#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7) 88#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F 89 90/* DIAG_STAT */ 91#define ADIS16400_DIAG_STAT_ZACCL_FAIL (1<<15) 92#define ADIS16400_DIAG_STAT_YACCL_FAIL (1<<14) 93#define ADIS16400_DIAG_STAT_XACCL_FAIL (1<<13) 94#define ADIS16400_DIAG_STAT_XGYRO_FAIL (1<<12) 95#define ADIS16400_DIAG_STAT_YGYRO_FAIL (1<<11) 96#define ADIS16400_DIAG_STAT_ZGYRO_FAIL (1<<10) 97#define ADIS16400_DIAG_STAT_ALARM2 (1<<9) 98#define ADIS16400_DIAG_STAT_ALARM1 (1<<8) 99#define ADIS16400_DIAG_STAT_FLASH_CHK (1<<6) 100#define ADIS16400_DIAG_STAT_SELF_TEST (1<<5) 101#define ADIS16400_DIAG_STAT_OVERFLOW (1<<4) 102#define ADIS16400_DIAG_STAT_SPI_FAIL (1<<3) 103#define ADIS16400_DIAG_STAT_FLASH_UPT (1<<2) 104#define ADIS16400_DIAG_STAT_POWER_HIGH (1<<1) 105#define ADIS16400_DIAG_STAT_POWER_LOW (1<<0) 106 107/* GLOB_CMD */ 108#define ADIS16400_GLOB_CMD_SW_RESET (1<<7) 109#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4) 110#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3) 111#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2) 112#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1) 113#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0) 114 115/* SLP_CNT */ 116#define ADIS16400_SLP_CNT_POWER_OFF (1<<8) 117 118#define ADIS16400_MAX_TX 24 119#define ADIS16400_MAX_RX 24 120 121#define ADIS16400_SPI_SLOW (u32)(300 * 1000) 122#define ADIS16400_SPI_BURST (u32)(1000 * 1000) 123#define ADIS16400_SPI_FAST (u32)(2000 * 1000) 124 125/** 126 * struct adis16400_state - device instance specific data 127 * @us: actual spi_device 128 * @work_trigger_to_ring: bh for triggered event handling 129 * @inter: used to check if new interrupt has been triggered 130 * @last_timestamp: passing timestamp from th to bh of interrupt handler 131 * @indio_dev: industrial I/O device structure 132 * @trig: data ready trigger registered with iio 133 * @tx: transmit buffer 134 * @rx: recieve buffer 135 * @buf_lock: mutex to protect tx and rx 136 **/ 137struct adis16400_state { 138 struct spi_device *us; 139 struct work_struct work_trigger_to_ring; 140 s64 last_timestamp; 141 struct iio_dev *indio_dev; 142 struct iio_trigger *trig; 143 u8 *tx; 144 u8 *rx; 145 struct mutex buf_lock; 146}; 147 148int adis16400_set_irq(struct device *dev, bool enable); 149 150#ifdef CONFIG_IIO_RING_BUFFER 151/* At the moment triggers are only used for ring buffer 152 * filling. This may change! 153 */ 154 155#define ADIS16400_SCAN_SUPPLY 0 156#define ADIS16400_SCAN_GYRO_X 1 157#define ADIS16400_SCAN_GYRO_Y 2 158#define ADIS16400_SCAN_GYRO_Z 3 159#define ADIS16400_SCAN_ACC_X 4 160#define ADIS16400_SCAN_ACC_Y 5 161#define ADIS16400_SCAN_ACC_Z 6 162#define ADIS16400_SCAN_MAGN_X 7 163#define ADIS16400_SCAN_MAGN_Y 8 164#define ADIS16400_SCAN_MAGN_Z 9 165#define ADIS16400_SCAN_TEMP 10 166#define ADIS16400_SCAN_ADC_0 11 167 168void adis16400_remove_trigger(struct iio_dev *indio_dev); 169int adis16400_probe_trigger(struct iio_dev *indio_dev); 170 171ssize_t adis16400_read_data_from_ring(struct device *dev, 172 struct device_attribute *attr, 173 char *buf); 174 175 176int adis16400_configure_ring(struct iio_dev *indio_dev); 177void adis16400_unconfigure_ring(struct iio_dev *indio_dev); 178 179#else /* CONFIG_IIO_RING_BUFFER */ 180 181static inline void adis16400_remove_trigger(struct iio_dev *indio_dev) 182{ 183} 184 185static inline int adis16400_probe_trigger(struct iio_dev *indio_dev) 186{ 187 return 0; 188} 189 190static inline ssize_t 191adis16400_read_data_from_ring(struct device *dev, 192 struct device_attribute *attr, 193 char *buf) 194{ 195 return 0; 196} 197 198static int adis16400_configure_ring(struct iio_dev *indio_dev) 199{ 200 return 0; 201} 202 203static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev) 204{ 205} 206 207#endif /* CONFIG_IIO_RING_BUFFER */ 208#endif /* SPI_ADIS16400_H_ */ 209