76ada52f7f
The adis16448 is more or less from the same family of devices as supported by this driver. It features three acceleration channels, three angular velocity channels, three magnetometer channels, one temperature channels and one barometric pressure channel. Signed-off-by: Lars-Peter Clausen <lars@metafoo.de> Signed-off-by: Jonathan Cameron <jic23@kernel.org>
213 lines
7.6 KiB
C
213 lines
7.6 KiB
C
/*
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* adis16400.h support Analog Devices ADIS16400
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* 3d 18g accelerometers,
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* 3d gyroscopes,
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* 3d 2.5gauss magnetometers via SPI
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*
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* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
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* Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
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*
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* Loosely based upon lis3l02dq.h
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*/
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#ifndef SPI_ADIS16400_H_
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#define SPI_ADIS16400_H_
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#include <linux/iio/imu/adis.h>
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#define ADIS16400_STARTUP_DELAY 290 /* ms */
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#define ADIS16400_MTEST_DELAY 90 /* ms */
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#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
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#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
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#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
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#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
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#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
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#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
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#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
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#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
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#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
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#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
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#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
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#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
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#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
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#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
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#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
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#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
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#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
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#define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
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#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
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#define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
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#define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
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/* Calibration parameters */
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#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
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#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
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#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
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#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
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#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
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#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
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#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
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#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
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#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
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#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
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#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
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#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
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#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
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#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
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#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
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#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
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#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
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#define ADIS16400_DIAG_STAT 0x3C /* System status */
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/* Alarm functions */
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#define ADIS16400_GLOB_CMD 0x3E /* System command */
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#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
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#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
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#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
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#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
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#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
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#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
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#define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
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#define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
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#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
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#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
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#define ADIS16400_ERROR_ACTIVE (1<<14)
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#define ADIS16400_NEW_DATA (1<<14)
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/* MSC_CTRL */
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#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
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#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
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#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
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#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
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#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
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#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
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#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
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#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
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#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
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/* SMPL_PRD */
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#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
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#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
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/* DIAG_STAT */
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#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
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#define ADIS16400_DIAG_STAT_YACCL_FAIL 14
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#define ADIS16400_DIAG_STAT_XACCL_FAIL 13
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#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
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#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
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#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
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#define ADIS16400_DIAG_STAT_ALARM2 9
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#define ADIS16400_DIAG_STAT_ALARM1 8
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#define ADIS16400_DIAG_STAT_FLASH_CHK 6
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#define ADIS16400_DIAG_STAT_SELF_TEST 5
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#define ADIS16400_DIAG_STAT_OVERFLOW 4
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#define ADIS16400_DIAG_STAT_SPI_FAIL 3
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#define ADIS16400_DIAG_STAT_FLASH_UPT 2
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#define ADIS16400_DIAG_STAT_POWER_HIGH 1
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#define ADIS16400_DIAG_STAT_POWER_LOW 0
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/* GLOB_CMD */
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#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
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#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
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#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
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#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
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#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
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#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
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/* SLP_CNT */
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#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
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#define ADIS16334_RATE_DIV_SHIFT 8
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#define ADIS16334_RATE_INT_CLK BIT(0)
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#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
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#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
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#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
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#define ADIS16400_HAS_PROD_ID BIT(0)
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#define ADIS16400_NO_BURST BIT(1)
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#define ADIS16400_HAS_SLOW_MODE BIT(2)
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#define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
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struct adis16400_state;
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struct adis16400_chip_info {
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const struct iio_chan_spec *channels;
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const int num_channels;
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const long flags;
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unsigned int gyro_scale_micro;
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unsigned int accel_scale_micro;
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int temp_scale_nano;
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int temp_offset;
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int (*set_freq)(struct adis16400_state *st, unsigned int freq);
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int (*get_freq)(struct adis16400_state *st);
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};
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/**
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* struct adis16400_state - device instance specific data
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* @variant: chip variant info
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* @filt_int: integer part of requested filter frequency
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* @adis: adis device
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**/
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struct adis16400_state {
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struct adis16400_chip_info *variant;
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int filt_int;
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struct adis adis;
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};
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/* At the moment triggers are only used for ring buffer
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* filling. This may change!
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*/
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enum {
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ADIS16400_SCAN_SUPPLY,
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ADIS16400_SCAN_GYRO_X,
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ADIS16400_SCAN_GYRO_Y,
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ADIS16400_SCAN_GYRO_Z,
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ADIS16400_SCAN_ACC_X,
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ADIS16400_SCAN_ACC_Y,
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ADIS16400_SCAN_ACC_Z,
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ADIS16400_SCAN_MAGN_X,
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ADIS16400_SCAN_MAGN_Y,
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ADIS16400_SCAN_MAGN_Z,
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ADIS16400_SCAN_BARO,
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ADIS16350_SCAN_TEMP_X,
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ADIS16350_SCAN_TEMP_Y,
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ADIS16350_SCAN_TEMP_Z,
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ADIS16300_SCAN_INCLI_X,
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ADIS16300_SCAN_INCLI_Y,
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ADIS16400_SCAN_ADC,
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};
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#ifdef CONFIG_IIO_BUFFER
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ssize_t adis16400_read_data_from_ring(struct device *dev,
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struct device_attribute *attr,
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char *buf);
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int adis16400_update_scan_mode(struct iio_dev *indio_dev,
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const unsigned long *scan_mask);
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irqreturn_t adis16400_trigger_handler(int irq, void *p);
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#else /* CONFIG_IIO_BUFFER */
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#define adis16400_update_scan_mode NULL
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#define adis16400_trigger_handler NULL
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#endif /* CONFIG_IIO_BUFFER */
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#endif /* SPI_ADIS16400_H_ */
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