Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 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 | |
Michael Hennerich | c59c95c | 2011-03-21 16:44:36 +0100 | [diff] [blame] | 20 | #define ADIS16400_STARTUP_DELAY 290 /* ms */ |
| 21 | #define ADIS16400_MTEST_DELAY 90 /* ms */ |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 22 | |
| 23 | #define ADIS16400_READ_REG(a) a |
| 24 | #define ADIS16400_WRITE_REG(a) ((a) | 0x80) |
| 25 | |
| 26 | #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */ |
| 27 | #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */ |
| 28 | #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */ |
| 29 | #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */ |
| 30 | #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */ |
| 31 | #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */ |
| 32 | #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */ |
| 33 | #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ |
| 34 | #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */ |
| 35 | #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */ |
| 36 | #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */ |
| 37 | #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */ |
| 38 | #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */ |
| 39 | |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 40 | #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */ |
| 41 | #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */ |
| 42 | #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */ |
| 43 | |
Jonathan Cameron | 91ab3fc | 2011-07-13 12:51:58 +0100 | [diff] [blame] | 44 | #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */ |
Lars-Peter Clausen | 791de67 | 2012-06-15 18:11:49 +0200 | [diff] [blame] | 45 | #define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */ |
Lars-Peter Clausen | 07a8329 | 2012-06-15 18:11:52 +0200 | [diff] [blame^] | 46 | #define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */ |
Jonathan Cameron | 91ab3fc | 2011-07-13 12:51:58 +0100 | [diff] [blame] | 47 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 48 | /* Calibration parameters */ |
| 49 | #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ |
| 50 | #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ |
| 51 | #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ |
| 52 | #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ |
| 53 | #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ |
| 54 | #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ |
| 55 | #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */ |
| 56 | #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */ |
| 57 | #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */ |
| 58 | #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */ |
| 59 | #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */ |
| 60 | #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */ |
| 61 | |
| 62 | #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ |
| 63 | #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */ |
| 64 | #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */ |
| 65 | #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */ |
| 66 | #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */ |
| 67 | #define ADIS16400_DIAG_STAT 0x3C /* System status */ |
| 68 | |
| 69 | /* Alarm functions */ |
| 70 | #define ADIS16400_GLOB_CMD 0x3E /* System command */ |
| 71 | #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */ |
| 72 | #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */ |
| 73 | #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */ |
| 74 | #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */ |
| 75 | #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */ |
| 76 | #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */ |
| 77 | |
| 78 | #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */ |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 79 | |
| 80 | #define ADIS16400_ERROR_ACTIVE (1<<14) |
| 81 | #define ADIS16400_NEW_DATA (1<<14) |
| 82 | |
| 83 | /* MSC_CTRL */ |
| 84 | #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11) |
| 85 | #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10) |
| 86 | #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9) |
| 87 | #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8) |
| 88 | #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7) |
| 89 | #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6) |
| 90 | #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2) |
| 91 | #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) |
| 92 | #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0) |
| 93 | |
| 94 | /* SMPL_PRD */ |
| 95 | #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7) |
| 96 | #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F |
| 97 | |
| 98 | /* DIAG_STAT */ |
| 99 | #define ADIS16400_DIAG_STAT_ZACCL_FAIL (1<<15) |
| 100 | #define ADIS16400_DIAG_STAT_YACCL_FAIL (1<<14) |
| 101 | #define ADIS16400_DIAG_STAT_XACCL_FAIL (1<<13) |
| 102 | #define ADIS16400_DIAG_STAT_XGYRO_FAIL (1<<12) |
| 103 | #define ADIS16400_DIAG_STAT_YGYRO_FAIL (1<<11) |
| 104 | #define ADIS16400_DIAG_STAT_ZGYRO_FAIL (1<<10) |
| 105 | #define ADIS16400_DIAG_STAT_ALARM2 (1<<9) |
| 106 | #define ADIS16400_DIAG_STAT_ALARM1 (1<<8) |
| 107 | #define ADIS16400_DIAG_STAT_FLASH_CHK (1<<6) |
| 108 | #define ADIS16400_DIAG_STAT_SELF_TEST (1<<5) |
| 109 | #define ADIS16400_DIAG_STAT_OVERFLOW (1<<4) |
| 110 | #define ADIS16400_DIAG_STAT_SPI_FAIL (1<<3) |
| 111 | #define ADIS16400_DIAG_STAT_FLASH_UPT (1<<2) |
| 112 | #define ADIS16400_DIAG_STAT_POWER_HIGH (1<<1) |
| 113 | #define ADIS16400_DIAG_STAT_POWER_LOW (1<<0) |
| 114 | |
| 115 | /* GLOB_CMD */ |
| 116 | #define ADIS16400_GLOB_CMD_SW_RESET (1<<7) |
| 117 | #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4) |
| 118 | #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3) |
| 119 | #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2) |
| 120 | #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1) |
| 121 | #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0) |
| 122 | |
| 123 | /* SLP_CNT */ |
| 124 | #define ADIS16400_SLP_CNT_POWER_OFF (1<<8) |
| 125 | |
| 126 | #define ADIS16400_MAX_TX 24 |
| 127 | #define ADIS16400_MAX_RX 24 |
| 128 | |
| 129 | #define ADIS16400_SPI_SLOW (u32)(300 * 1000) |
| 130 | #define ADIS16400_SPI_BURST (u32)(1000 * 1000) |
| 131 | #define ADIS16400_SPI_FAST (u32)(2000 * 1000) |
| 132 | |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 133 | #define ADIS16400_HAS_PROD_ID 1 |
| 134 | #define ADIS16400_NO_BURST 2 |
| 135 | struct adis16400_chip_info { |
| 136 | const struct iio_chan_spec *channels; |
| 137 | const int num_channels; |
| 138 | const int product_id; |
| 139 | const long flags; |
| 140 | unsigned int gyro_scale_micro; |
| 141 | unsigned int accel_scale_micro; |
| 142 | unsigned long default_scan_mask; |
| 143 | }; |
| 144 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 145 | /** |
| 146 | * struct adis16400_state - device instance specific data |
| 147 | * @us: actual spi_device |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 148 | * @trig: data ready trigger registered with iio |
| 149 | * @tx: transmit buffer |
Lucas De Marchi | 25985ed | 2011-03-30 22:57:33 -0300 | [diff] [blame] | 150 | * @rx: receive buffer |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 151 | * @buf_lock: mutex to protect tx and rx |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 152 | * @filt_int: integer part of requested filter frequency |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 153 | **/ |
| 154 | struct adis16400_state { |
| 155 | struct spi_device *us; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 156 | struct iio_trigger *trig; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 157 | struct mutex buf_lock; |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 158 | struct adis16400_chip_info *variant; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 159 | int filt_int; |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 160 | |
| 161 | u8 tx[ADIS16400_MAX_TX] ____cacheline_aligned; |
| 162 | u8 rx[ADIS16400_MAX_RX] ____cacheline_aligned; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 163 | }; |
| 164 | |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 165 | int adis16400_set_irq(struct iio_dev *indio_dev, bool enable); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 166 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 167 | /* At the moment triggers are only used for ring buffer |
| 168 | * filling. This may change! |
| 169 | */ |
| 170 | |
Jonathan Cameron | 69584bd | 2010-07-11 16:39:15 +0100 | [diff] [blame] | 171 | #define ADIS16400_SCAN_SUPPLY 0 |
| 172 | #define ADIS16400_SCAN_GYRO_X 1 |
| 173 | #define ADIS16400_SCAN_GYRO_Y 2 |
| 174 | #define ADIS16400_SCAN_GYRO_Z 3 |
| 175 | #define ADIS16400_SCAN_ACC_X 4 |
| 176 | #define ADIS16400_SCAN_ACC_Y 5 |
| 177 | #define ADIS16400_SCAN_ACC_Z 6 |
| 178 | #define ADIS16400_SCAN_MAGN_X 7 |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 179 | #define ADIS16350_SCAN_TEMP_X 7 |
Jonathan Cameron | 69584bd | 2010-07-11 16:39:15 +0100 | [diff] [blame] | 180 | #define ADIS16400_SCAN_MAGN_Y 8 |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 181 | #define ADIS16350_SCAN_TEMP_Y 8 |
Jonathan Cameron | 69584bd | 2010-07-11 16:39:15 +0100 | [diff] [blame] | 182 | #define ADIS16400_SCAN_MAGN_Z 9 |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 183 | #define ADIS16350_SCAN_TEMP_Z 9 |
Jonathan Cameron | 69584bd | 2010-07-11 16:39:15 +0100 | [diff] [blame] | 184 | #define ADIS16400_SCAN_TEMP 10 |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 185 | #define ADIS16350_SCAN_ADC_0 10 |
Jonathan Cameron | 69584bd | 2010-07-11 16:39:15 +0100 | [diff] [blame] | 186 | #define ADIS16400_SCAN_ADC_0 11 |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 187 | #define ADIS16300_SCAN_INCLI_X 12 |
| 188 | #define ADIS16300_SCAN_INCLI_Y 13 |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 189 | |
Jonathan Cameron | f2a9624 | 2011-09-21 11:15:55 +0100 | [diff] [blame] | 190 | #ifdef CONFIG_IIO_BUFFER |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 191 | void adis16400_remove_trigger(struct iio_dev *indio_dev); |
| 192 | int adis16400_probe_trigger(struct iio_dev *indio_dev); |
| 193 | |
| 194 | ssize_t adis16400_read_data_from_ring(struct device *dev, |
| 195 | struct device_attribute *attr, |
| 196 | char *buf); |
| 197 | |
| 198 | |
| 199 | int adis16400_configure_ring(struct iio_dev *indio_dev); |
| 200 | void adis16400_unconfigure_ring(struct iio_dev *indio_dev); |
| 201 | |
Jonathan Cameron | f2a9624 | 2011-09-21 11:15:55 +0100 | [diff] [blame] | 202 | #else /* CONFIG_IIO_BUFFER */ |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 203 | |
| 204 | static inline void adis16400_remove_trigger(struct iio_dev *indio_dev) |
| 205 | { |
| 206 | } |
| 207 | |
| 208 | static inline int adis16400_probe_trigger(struct iio_dev *indio_dev) |
| 209 | { |
| 210 | return 0; |
| 211 | } |
| 212 | |
| 213 | static inline ssize_t |
| 214 | adis16400_read_data_from_ring(struct device *dev, |
| 215 | struct device_attribute *attr, |
| 216 | char *buf) |
| 217 | { |
| 218 | return 0; |
| 219 | } |
| 220 | |
| 221 | static int adis16400_configure_ring(struct iio_dev *indio_dev) |
| 222 | { |
| 223 | return 0; |
| 224 | } |
| 225 | |
| 226 | static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev) |
| 227 | { |
| 228 | } |
| 229 | |
Jonathan Cameron | f2a9624 | 2011-09-21 11:15:55 +0100 | [diff] [blame] | 230 | #endif /* CONFIG_IIO_BUFFER */ |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 231 | #endif /* SPI_ADIS16400_H_ */ |