drivers/iio/imu/adis16400.h - arm/linux - Git at Google


            
            /*

            
             * 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_ */
	/*
	* 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_ */