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@kernel.org> 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#include <linux/iio/imu/adis.h> 21 22#define ADIS16400_STARTUP_DELAY 290 /* ms */ 23#define ADIS16400_MTEST_DELAY 90 /* ms */ 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#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */ 40#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */ 41#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */ 42 43#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */ 44#define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */ 45#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */ 46 47#define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */ 48#define ADIS16448_TEMP_OUT 0x18 /* Temperature output */ 49 50/* Calibration parameters */ 51#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ 52#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ 53#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ 54#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ 55#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ 56#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ 57#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */ 58#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */ 59#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */ 60#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */ 61#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */ 62#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */ 63 64#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ 65#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */ 66#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */ 67#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */ 68#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */ 69#define ADIS16400_DIAG_STAT 0x3C /* System status */ 70 71/* Alarm functions */ 72#define ADIS16400_GLOB_CMD 0x3E /* System command */ 73#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */ 74#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */ 75#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */ 76#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */ 77#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */ 78#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */ 79 80#define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */ 81#define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */ 82#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */ 83#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */ 84 85#define ADIS16400_ERROR_ACTIVE (1<<14) 86#define ADIS16400_NEW_DATA (1<<14) 87 88/* MSC_CTRL */ 89#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11) 90#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10) 91#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9) 92#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8) 93#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7) 94#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6) 95#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2) 96#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) 97#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0) 98 99/* SMPL_PRD */ 100#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7) 101#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F 102 103/* DIAG_STAT */ 104#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15 105#define ADIS16400_DIAG_STAT_YACCL_FAIL 14 106#define ADIS16400_DIAG_STAT_XACCL_FAIL 13 107#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12 108#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11 109#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10 110#define ADIS16400_DIAG_STAT_ALARM2 9 111#define ADIS16400_DIAG_STAT_ALARM1 8 112#define ADIS16400_DIAG_STAT_FLASH_CHK 6 113#define ADIS16400_DIAG_STAT_SELF_TEST 5 114#define ADIS16400_DIAG_STAT_OVERFLOW 4 115#define ADIS16400_DIAG_STAT_SPI_FAIL 3 116#define ADIS16400_DIAG_STAT_FLASH_UPT 2 117#define ADIS16400_DIAG_STAT_POWER_HIGH 1 118#define ADIS16400_DIAG_STAT_POWER_LOW 0 119 120/* GLOB_CMD */ 121#define ADIS16400_GLOB_CMD_SW_RESET (1<<7) 122#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4) 123#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3) 124#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2) 125#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1) 126#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0) 127 128/* SLP_CNT */ 129#define ADIS16400_SLP_CNT_POWER_OFF (1<<8) 130 131#define ADIS16334_RATE_DIV_SHIFT 8 132#define ADIS16334_RATE_INT_CLK BIT(0) 133 134#define ADIS16400_SPI_SLOW (u32)(300 * 1000) 135#define ADIS16400_SPI_BURST (u32)(1000 * 1000) 136#define ADIS16400_SPI_FAST (u32)(2000 * 1000) 137 138#define ADIS16400_HAS_PROD_ID BIT(0) 139#define ADIS16400_NO_BURST BIT(1) 140#define ADIS16400_HAS_SLOW_MODE BIT(2) 141#define ADIS16400_HAS_SERIAL_NUMBER BIT(3) 142#define ADIS16400_BURST_DIAG_STAT BIT(4) 143 144struct adis16400_state; 145 146struct adis16400_chip_info { 147 const struct iio_chan_spec *channels; 148 const int num_channels; 149 const long flags; 150 unsigned int gyro_scale_micro; 151 unsigned int accel_scale_micro; 152 int temp_scale_nano; 153 int temp_offset; 154 int (*set_freq)(struct adis16400_state *st, unsigned int freq); 155 int (*get_freq)(struct adis16400_state *st); 156}; 157 158/** 159 * struct adis16400_state - device instance specific data 160 * @variant: chip variant info 161 * @filt_int: integer part of requested filter frequency 162 * @adis: adis device 163 **/ 164struct adis16400_state { 165 struct adis16400_chip_info *variant; 166 int filt_int; 167 168 struct adis adis; 169 unsigned long avail_scan_mask[2]; 170}; 171 172/* At the moment triggers are only used for ring buffer 173 * filling. This may change! 174 */ 175 176enum { 177 ADIS16400_SCAN_SUPPLY, 178 ADIS16400_SCAN_GYRO_X, 179 ADIS16400_SCAN_GYRO_Y, 180 ADIS16400_SCAN_GYRO_Z, 181 ADIS16400_SCAN_ACC_X, 182 ADIS16400_SCAN_ACC_Y, 183 ADIS16400_SCAN_ACC_Z, 184 ADIS16400_SCAN_MAGN_X, 185 ADIS16400_SCAN_MAGN_Y, 186 ADIS16400_SCAN_MAGN_Z, 187 ADIS16400_SCAN_BARO, 188 ADIS16350_SCAN_TEMP_X, 189 ADIS16350_SCAN_TEMP_Y, 190 ADIS16350_SCAN_TEMP_Z, 191 ADIS16300_SCAN_INCLI_X, 192 ADIS16300_SCAN_INCLI_Y, 193 ADIS16400_SCAN_ADC, 194 ADIS16400_SCAN_TIMESTAMP, 195}; 196 197#ifdef CONFIG_IIO_BUFFER 198 199ssize_t adis16400_read_data_from_ring(struct device *dev, 200 struct device_attribute *attr, 201 char *buf); 202 203 204int adis16400_update_scan_mode(struct iio_dev *indio_dev, 205 const unsigned long *scan_mask); 206irqreturn_t adis16400_trigger_handler(int irq, void *p); 207 208#else /* CONFIG_IIO_BUFFER */ 209 210#define adis16400_update_scan_mode NULL 211#define adis16400_trigger_handler NULL 212 213#endif /* CONFIG_IIO_BUFFER */ 214 215#endif /* SPI_ADIS16400_H_ */ 216