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Barry Songa9d26f02010-05-04 14:43:15 +01001/*
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>
Jonathan Cameron0f8c9622012-09-02 21:34:59 +01008 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
Barry Songa9d26f02010-05-04 14:43:15 +01009 *
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
Lars-Peter Clausencd888a172013-01-16 12:48:00 +000020#include <linux/iio/imu/adis.h>
21
Michael Hennerichc59c95c2011-03-21 16:44:36 +010022#define ADIS16400_STARTUP_DELAY 290 /* ms */
23#define ADIS16400_MTEST_DELAY 90 /* ms */
Barry Songa9d26f02010-05-04 14:43:15 +010024
Barry Songa9d26f02010-05-04 14:43:15 +010025#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
Jonathan Cameron2a29a902011-05-18 14:41:28 +010039#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
Jonathan Cameron91ab3fc2011-07-13 12:51:58 +010043#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
Lars-Peter Clausen791de672012-06-15 18:11:49 +020044#define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
Lars-Peter Clausen07a83292012-06-15 18:11:52 +020045#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
Jonathan Cameron91ab3fc2011-07-13 12:51:58 +010046
Lars-Peter Clausen76ada522013-01-16 12:48:00 +000047#define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
48#define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
49
Barry Songa9d26f02010-05-04 14:43:15 +010050/* 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
Lars-Peter Clausen1db18bb2013-01-16 12:48:00 +000080#define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
81#define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
Barry Songa9d26f02010-05-04 14:43:15 +010082#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
Lars-Peter Clausen1db18bb2013-01-16 12:48:00 +000083#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
Barry Songa9d26f02010-05-04 14:43:15 +010084
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 */
Lars-Peter Clausencd888a172013-01-16 12:48:00 +0000104#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
Barry Songa9d26f02010-05-04 14:43:15 +0100119
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
Lars-Peter Clausenea2ccb32012-10-30 10:26:00 +0000131#define ADIS16334_RATE_DIV_SHIFT 8
132#define ADIS16334_RATE_INT_CLK BIT(0)
133
Barry Songa9d26f02010-05-04 14:43:15 +0100134#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
135#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
136#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
137
Lars-Peter Clausenea2ccb32012-10-30 10:26:00 +0000138#define ADIS16400_HAS_PROD_ID BIT(0)
139#define ADIS16400_NO_BURST BIT(1)
140#define ADIS16400_HAS_SLOW_MODE BIT(2)
Lars-Peter Clausen1db18bb2013-01-16 12:48:00 +0000141#define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
Lars-Peter Clausenea2ccb32012-10-30 10:26:00 +0000142
Lars-Peter Clausencd888a172013-01-16 12:48:00 +0000143struct adis16400_state;
144
Jonathan Cameron2a29a902011-05-18 14:41:28 +0100145struct adis16400_chip_info {
146 const struct iio_chan_spec *channels;
147 const int num_channels;
Jonathan Cameron2a29a902011-05-18 14:41:28 +0100148 const long flags;
149 unsigned int gyro_scale_micro;
150 unsigned int accel_scale_micro;
Lars-Peter Clausen760ebc02012-10-15 10:35:00 +0100151 int temp_scale_nano;
152 int temp_offset;
Lars-Peter Clausencd888a172013-01-16 12:48:00 +0000153 int (*set_freq)(struct adis16400_state *st, unsigned int freq);
154 int (*get_freq)(struct adis16400_state *st);
Jonathan Cameron2a29a902011-05-18 14:41:28 +0100155};
156
Barry Songa9d26f02010-05-04 14:43:15 +0100157/**
158 * struct adis16400_state - device instance specific data
Lars-Peter Clausencd888a172013-01-16 12:48:00 +0000159 * @variant: chip variant info
160 * @filt_int: integer part of requested filter frequency
161 * @adis: adis device
Barry Songa9d26f02010-05-04 14:43:15 +0100162 **/
163struct adis16400_state {
Jonathan Cameron2a29a902011-05-18 14:41:28 +0100164 struct adis16400_chip_info *variant;
Jonathan Cameron98c93732011-11-27 11:39:13 +0000165 int filt_int;
Jonathan Cameron38d15f02011-05-18 14:42:23 +0100166
Lars-Peter Clausencd888a172013-01-16 12:48:00 +0000167 struct adis adis;
Barry Songa9d26f02010-05-04 14:43:15 +0100168};
169
Barry Songa9d26f02010-05-04 14:43:15 +0100170/* At the moment triggers are only used for ring buffer
171 * filling. This may change!
172 */
173
Lars-Peter Clausencd888a172013-01-16 12:48:00 +0000174enum {
175 ADIS16400_SCAN_SUPPLY,
176 ADIS16400_SCAN_GYRO_X,
177 ADIS16400_SCAN_GYRO_Y,
178 ADIS16400_SCAN_GYRO_Z,
179 ADIS16400_SCAN_ACC_X,
180 ADIS16400_SCAN_ACC_Y,
181 ADIS16400_SCAN_ACC_Z,
182 ADIS16400_SCAN_MAGN_X,
183 ADIS16400_SCAN_MAGN_Y,
184 ADIS16400_SCAN_MAGN_Z,
Lars-Peter Clausen76ada522013-01-16 12:48:00 +0000185 ADIS16400_SCAN_BARO,
Lars-Peter Clausencd888a172013-01-16 12:48:00 +0000186 ADIS16350_SCAN_TEMP_X,
187 ADIS16350_SCAN_TEMP_Y,
188 ADIS16350_SCAN_TEMP_Z,
189 ADIS16300_SCAN_INCLI_X,
190 ADIS16300_SCAN_INCLI_Y,
191 ADIS16400_SCAN_ADC,
192};
Barry Songa9d26f02010-05-04 14:43:15 +0100193
Jonathan Cameronf2a96242011-09-21 11:15:55 +0100194#ifdef CONFIG_IIO_BUFFER
Barry Songa9d26f02010-05-04 14:43:15 +0100195
196ssize_t adis16400_read_data_from_ring(struct device *dev,
197 struct device_attribute *attr,
198 char *buf);
199
200
Lars-Peter Clausen5eda3552013-01-16 12:48:00 +0000201int adis16400_update_scan_mode(struct iio_dev *indio_dev,
202 const unsigned long *scan_mask);
203irqreturn_t adis16400_trigger_handler(int irq, void *p);
Barry Songa9d26f02010-05-04 14:43:15 +0100204
Jonathan Cameronf2a96242011-09-21 11:15:55 +0100205#else /* CONFIG_IIO_BUFFER */
Barry Songa9d26f02010-05-04 14:43:15 +0100206
Lars-Peter Clausen5eda3552013-01-16 12:48:00 +0000207#define adis16400_update_scan_mode NULL
208#define adis16400_trigger_handler NULL
Barry Songa9d26f02010-05-04 14:43:15 +0100209
Jonathan Cameronf2a96242011-09-21 11:15:55 +0100210#endif /* CONFIG_IIO_BUFFER */
Lars-Peter Clausencd888a172013-01-16 12:48:00 +0000211
Barry Songa9d26f02010-05-04 14:43:15 +0100212#endif /* SPI_ADIS16400_H_ */