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@cam.ac.uk>
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 #define ADIS16400_STARTUP_DELAY 290 /* ms */
21 #define ADIS16400_MTEST_DELAY 90 /* ms */
23 #define ADIS16400_READ_REG(a) a
24 #define ADIS16400_WRITE_REG(a) ((a) | 0x80)
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 */
40 /* Calibration parameters */
41 #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
42 #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
43 #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
44 #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
45 #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
46 #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
47 #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
48 #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
49 #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
50 #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
51 #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
52 #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
54 #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
55 #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
56 #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
57 #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
58 #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
59 #define ADIS16400_DIAG_STAT 0x3C /* System status */
62 #define ADIS16400_GLOB_CMD 0x3E /* System command */
63 #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
64 #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
65 #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
66 #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
67 #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
68 #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
70 #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
71 #define ADIS16400_PRODUCT_ID_DEFAULT 0x4015 /* Datasheet says 0x4105, I get 0x4015 */
73 #define ADIS16400_ERROR_ACTIVE (1<<14)
74 #define ADIS16400_NEW_DATA (1<<14)
77 #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
78 #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
79 #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
80 #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
81 #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
82 #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
83 #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
84 #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
85 #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
88 #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
89 #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
92 #define ADIS16400_DIAG_STAT_ZACCL_FAIL (1<<15)
93 #define ADIS16400_DIAG_STAT_YACCL_FAIL (1<<14)
94 #define ADIS16400_DIAG_STAT_XACCL_FAIL (1<<13)
95 #define ADIS16400_DIAG_STAT_XGYRO_FAIL (1<<12)
96 #define ADIS16400_DIAG_STAT_YGYRO_FAIL (1<<11)
97 #define ADIS16400_DIAG_STAT_ZGYRO_FAIL (1<<10)
98 #define ADIS16400_DIAG_STAT_ALARM2 (1<<9)
99 #define ADIS16400_DIAG_STAT_ALARM1 (1<<8)
100 #define ADIS16400_DIAG_STAT_FLASH_CHK (1<<6)
101 #define ADIS16400_DIAG_STAT_SELF_TEST (1<<5)
102 #define ADIS16400_DIAG_STAT_OVERFLOW (1<<4)
103 #define ADIS16400_DIAG_STAT_SPI_FAIL (1<<3)
104 #define ADIS16400_DIAG_STAT_FLASH_UPT (1<<2)
105 #define ADIS16400_DIAG_STAT_POWER_HIGH (1<<1)
106 #define ADIS16400_DIAG_STAT_POWER_LOW (1<<0)
109 #define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
110 #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
111 #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
112 #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
113 #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
114 #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
117 #define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
119 #define ADIS16400_MAX_TX 24
120 #define ADIS16400_MAX_RX 24
122 #define ADIS16400_SPI_SLOW (u32)(300 * 1000)
123 #define ADIS16400_SPI_BURST (u32)(1000 * 1000)
124 #define ADIS16400_SPI_FAST (u32)(2000 * 1000)
127 * struct adis16400_state - device instance specific data
128 * @us: actual spi_device
129 * @work_trigger_to_ring: bh for triggered event handling
130 * @inter: used to check if new interrupt has been triggered
131 * @last_timestamp: passing timestamp from th to bh of interrupt handler
132 * @indio_dev: industrial I/O device structure
133 * @trig: data ready trigger registered with iio
134 * @tx: transmit buffer
135 * @rx: receive buffer
136 * @buf_lock: mutex to protect tx and rx
138 struct adis16400_state {
139 struct spi_device *us;
140 struct work_struct work_trigger_to_ring;
142 struct iio_dev *indio_dev;
143 struct iio_trigger *trig;
146 struct mutex buf_lock;
149 int adis16400_set_irq(struct device *dev, bool enable);
151 #ifdef CONFIG_IIO_RING_BUFFER
152 /* At the moment triggers are only used for ring buffer
153 * filling. This may change!
156 #define ADIS16400_SCAN_SUPPLY 0
157 #define ADIS16400_SCAN_GYRO_X 1
158 #define ADIS16400_SCAN_GYRO_Y 2
159 #define ADIS16400_SCAN_GYRO_Z 3
160 #define ADIS16400_SCAN_ACC_X 4
161 #define ADIS16400_SCAN_ACC_Y 5
162 #define ADIS16400_SCAN_ACC_Z 6
163 #define ADIS16400_SCAN_MAGN_X 7
164 #define ADIS16400_SCAN_MAGN_Y 8
165 #define ADIS16400_SCAN_MAGN_Z 9
166 #define ADIS16400_SCAN_TEMP 10
167 #define ADIS16400_SCAN_ADC_0 11
169 void adis16400_remove_trigger(struct iio_dev *indio_dev);
170 int adis16400_probe_trigger(struct iio_dev *indio_dev);
172 ssize_t adis16400_read_data_from_ring(struct device *dev,
173 struct device_attribute *attr,
177 int adis16400_configure_ring(struct iio_dev *indio_dev);
178 void adis16400_unconfigure_ring(struct iio_dev *indio_dev);
180 #else /* CONFIG_IIO_RING_BUFFER */
182 static inline void adis16400_remove_trigger(struct iio_dev *indio_dev)
186 static inline int adis16400_probe_trigger(struct iio_dev *indio_dev)
191 static inline ssize_t
192 adis16400_read_data_from_ring(struct device *dev,
193 struct device_attribute *attr,
199 static int adis16400_configure_ring(struct iio_dev *indio_dev)
204 static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
208 #endif /* CONFIG_IIO_RING_BUFFER */
209 #endif /* SPI_ADIS16400_H_ */