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git.proxmox.com Git - mirror_ubuntu-artful-kernel.git/blob - drivers/iio/imu/adis16400.h
2 * adis16400.h support Analog Devices ADIS16400
3 * 3d 18g accelerometers,
5 * 3d 2.5gauss magnetometers via SPI
7 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
8 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
10 * Loosely based upon lis3l02dq.h
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.
17 #ifndef SPI_ADIS16400_H_
18 #define SPI_ADIS16400_H_
20 #include <linux/iio/imu/adis.h>
22 #define ADIS16400_STARTUP_DELAY 290 /* ms */
23 #define ADIS16400_MTEST_DELAY 90 /* ms */
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 */
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 */
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 */
47 #define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
48 #define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
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 */
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 */
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 */
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 */
85 #define ADIS16400_ERROR_ACTIVE (1<<14)
86 #define ADIS16400_NEW_DATA (1<<14)
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)
100 #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
101 #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
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
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)
129 #define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
131 #define ADIS16334_RATE_DIV_SHIFT 8
132 #define ADIS16334_RATE_INT_CLK BIT(0)
134 #define ADIS16400_SPI_SLOW (u32)(300 * 1000)
135 #define ADIS16400_SPI_BURST (u32)(1000 * 1000)
136 #define ADIS16400_SPI_FAST (u32)(2000 * 1000)
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)
144 struct adis16400_state
;
146 struct adis16400_chip_info
{
147 const struct iio_chan_spec
*channels
;
148 const int num_channels
;
150 unsigned int gyro_scale_micro
;
151 unsigned int accel_scale_micro
;
154 int (*set_freq
)(struct adis16400_state
*st
, unsigned int freq
);
155 int (*get_freq
)(struct adis16400_state
*st
);
159 * struct adis16400_state - device instance specific data
160 * @variant: chip variant info
161 * @filt_int: integer part of requested filter frequency
164 struct adis16400_state
{
165 struct adis16400_chip_info
*variant
;
169 unsigned long avail_scan_mask
[2];
172 /* At the moment triggers are only used for ring buffer
173 * filling. This may change!
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
,
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
,
194 ADIS16400_SCAN_TIMESTAMP
,
197 #ifdef CONFIG_IIO_BUFFER
199 ssize_t
adis16400_read_data_from_ring(struct device
*dev
,
200 struct device_attribute
*attr
,
204 int adis16400_update_scan_mode(struct iio_dev
*indio_dev
,
205 const unsigned long *scan_mask
);
206 irqreturn_t
adis16400_trigger_handler(int irq
, void *p
);
208 #else /* CONFIG_IIO_BUFFER */
210 #define adis16400_update_scan_mode NULL
211 #define adis16400_trigger_handler NULL
213 #endif /* CONFIG_IIO_BUFFER */
215 #endif /* SPI_ADIS16400_H_ */