drivers/staging/iio/imu/adis16400.h - kernel/skids - 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@cam.ac.uk>
  *
  * 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_

 #define ADIS16400_STARTUP_DELAY	220 /* ms */

 #define ADIS16400_READ_REG(a)    a
 #define ADIS16400_WRITE_REG(a) ((a) | 0x80)

 #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 */

 /* 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 ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
 #define ADIS16400_PRODUCT_ID_DEFAULT 0x4015	/* Datasheet says 0x4105, I get 0x4015 */

 #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	(1<<15)
 #define ADIS16400_DIAG_STAT_YACCL_FAIL	(1<<14)
 #define ADIS16400_DIAG_STAT_XACCL_FAIL	(1<<13)
 #define ADIS16400_DIAG_STAT_XGYRO_FAIL	(1<<12)
 #define ADIS16400_DIAG_STAT_YGYRO_FAIL	(1<<11)
 #define ADIS16400_DIAG_STAT_ZGYRO_FAIL	(1<<10)
 #define ADIS16400_DIAG_STAT_ALARM2	(1<<9)
 #define ADIS16400_DIAG_STAT_ALARM1	(1<<8)
 #define ADIS16400_DIAG_STAT_FLASH_CHK	(1<<6)
 #define ADIS16400_DIAG_STAT_SELF_TEST	(1<<5)
 #define ADIS16400_DIAG_STAT_OVERFLOW	(1<<4)
 #define ADIS16400_DIAG_STAT_SPI_FAIL	(1<<3)
 #define ADIS16400_DIAG_STAT_FLASH_UPT	(1<<2)
 #define ADIS16400_DIAG_STAT_POWER_HIGH	(1<<1)
 #define ADIS16400_DIAG_STAT_POWER_LOW	(1<<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 ADIS16400_MAX_TX 24
 #define ADIS16400_MAX_RX 24

 #define ADIS16400_SPI_SLOW	(u32)(300 * 1000)
 #define ADIS16400_SPI_BURST	(u32)(1000 * 1000)
 #define ADIS16400_SPI_FAST	(u32)(2000 * 1000)

 /**
  * struct adis16400_state - device instance specific data
  * @us:			actual spi_device
  * @work_trigger_to_ring: bh for triggered event handling
  * @work_cont_thresh: CLEAN
  * @inter:		used to check if new interrupt has been triggered
  * @last_timestamp:	passing timestamp from th to bh of interrupt handler
  * @indio_dev:		industrial I/O device structure
  * @trig:		data ready trigger registered with iio
  * @tx:			transmit buffer
  * @rx:			recieve buffer
  * @buf_lock:		mutex to protect tx and rx
  **/
 struct adis16400_state {
 	struct spi_device		*us;
 	struct work_struct		work_trigger_to_ring;
 	struct iio_work_cont		work_cont_thresh;
 	s64				last_timestamp;
 	struct iio_dev			*indio_dev;
 	struct iio_trigger		*trig;
 	u8				*tx;
 	u8				*rx;
 	struct mutex			buf_lock;
 };

 int adis16400_spi_read_burst(struct device *dev, u8 *rx);

 int adis16400_set_irq(struct device *dev, bool enable);

 int adis16400_reset(struct device *dev);

 int adis16400_check_status(struct device *dev);

 #ifdef CONFIG_IIO_RING_BUFFER
 /* At the moment triggers are only used for ring buffer
  * filling. This may change!
  */

 enum adis16400_scan {
 	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_TEMP,
 	ADIS16400_SCAN_ADC_0
 };

 void adis16400_remove_trigger(struct iio_dev *indio_dev);
 int adis16400_probe_trigger(struct iio_dev *indio_dev);

 ssize_t adis16400_read_data_from_ring(struct device *dev,
 				      struct device_attribute *attr,
 				      char *buf);


 int adis16400_configure_ring(struct iio_dev *indio_dev);
 void adis16400_unconfigure_ring(struct iio_dev *indio_dev);

 int adis16400_initialize_ring(struct iio_ring_buffer *ring);
 void adis16400_uninitialize_ring(struct iio_ring_buffer *ring);
 #else /* CONFIG_IIO_RING_BUFFER */

 static inline void adis16400_remove_trigger(struct iio_dev *indio_dev)
 {
 }

 static inline int adis16400_probe_trigger(struct iio_dev *indio_dev)
 {
 	return 0;
 }

 static inline ssize_t
 adis16400_read_data_from_ring(struct device *dev,
 			      struct device_attribute *attr,
 			      char *buf)
 {
 	return 0;
 }

 static int adis16400_configure_ring(struct iio_dev *indio_dev)
 {
 	return 0;
 }

 static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
 {
 }

 static inline int adis16400_initialize_ring(struct iio_ring_buffer *ring)
 {
 	return 0;
 }

 static inline void adis16400_uninitialize_ring(struct iio_ring_buffer *ring)
 {
 }

 #endif /* CONFIG_IIO_RING_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@cam.ac.uk>
	*
	* 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_

	#define ADIS16400_STARTUP_DELAY 220 /* ms */

	#define ADIS16400_READ_REG(a) a
	#define ADIS16400_WRITE_REG(a) ((a) \| 0x80)

	#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 */

	/* 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 ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
	#define ADIS16400_PRODUCT_ID_DEFAULT 0x4015 /* Datasheet says 0x4105, I get 0x4015 */

	#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 (1<<15)
	#define ADIS16400_DIAG_STAT_YACCL_FAIL (1<<14)
	#define ADIS16400_DIAG_STAT_XACCL_FAIL (1<<13)
	#define ADIS16400_DIAG_STAT_XGYRO_FAIL (1<<12)
	#define ADIS16400_DIAG_STAT_YGYRO_FAIL (1<<11)
	#define ADIS16400_DIAG_STAT_ZGYRO_FAIL (1<<10)
	#define ADIS16400_DIAG_STAT_ALARM2 (1<<9)
	#define ADIS16400_DIAG_STAT_ALARM1 (1<<8)
	#define ADIS16400_DIAG_STAT_FLASH_CHK (1<<6)
	#define ADIS16400_DIAG_STAT_SELF_TEST (1<<5)
	#define ADIS16400_DIAG_STAT_OVERFLOW (1<<4)
	#define ADIS16400_DIAG_STAT_SPI_FAIL (1<<3)
	#define ADIS16400_DIAG_STAT_FLASH_UPT (1<<2)
	#define ADIS16400_DIAG_STAT_POWER_HIGH (1<<1)
	#define ADIS16400_DIAG_STAT_POWER_LOW (1<<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 ADIS16400_MAX_TX 24
	#define ADIS16400_MAX_RX 24

	#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
	#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
	#define ADIS16400_SPI_FAST (u32)(2000 * 1000)

	/**
	* struct adis16400_state - device instance specific data
	* @us: actual spi_device
	* @work_trigger_to_ring: bh for triggered event handling
	* @work_cont_thresh: CLEAN
	* @inter: used to check if new interrupt has been triggered
	* @last_timestamp: passing timestamp from th to bh of interrupt handler
	* @indio_dev: industrial I/O device structure
	* @trig: data ready trigger registered with iio
	* @tx: transmit buffer
	* @rx: recieve buffer
	* @buf_lock: mutex to protect tx and rx
	**/
	struct adis16400_state {
	struct spi_device *us;
	struct work_struct work_trigger_to_ring;
	struct iio_work_cont work_cont_thresh;
	s64 last_timestamp;
	struct iio_dev *indio_dev;
	struct iio_trigger *trig;
	u8 *tx;
	u8 *rx;
	struct mutex buf_lock;
	};

	int adis16400_spi_read_burst(struct device dev, u8 rx);

	int adis16400_set_irq(struct device *dev, bool enable);

	int adis16400_reset(struct device *dev);

	int adis16400_check_status(struct device *dev);

	#ifdef CONFIG_IIO_RING_BUFFER
	/* At the moment triggers are only used for ring buffer
	* filling. This may change!
	*/

	enum adis16400_scan {
	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_TEMP,
	ADIS16400_SCAN_ADC_0
	};

	void adis16400_remove_trigger(struct iio_dev *indio_dev);
	int adis16400_probe_trigger(struct iio_dev *indio_dev);

	ssize_t adis16400_read_data_from_ring(struct device *dev,
	struct device_attribute *attr,
	char *buf);


	int adis16400_configure_ring(struct iio_dev *indio_dev);
	void adis16400_unconfigure_ring(struct iio_dev *indio_dev);

	int adis16400_initialize_ring(struct iio_ring_buffer *ring);
	void adis16400_uninitialize_ring(struct iio_ring_buffer *ring);
	#else /* CONFIG_IIO_RING_BUFFER */

	static inline void adis16400_remove_trigger(struct iio_dev *indio_dev)
	{
	}

	static inline int adis16400_probe_trigger(struct iio_dev *indio_dev)
	{
	return 0;
	}

	static inline ssize_t
	adis16400_read_data_from_ring(struct device *dev,
	struct device_attribute *attr,
	char *buf)
	{
	return 0;
	}

	static int adis16400_configure_ring(struct iio_dev *indio_dev)
	{
	return 0;
	}

	static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
	{
	}

	static inline int adis16400_initialize_ring(struct iio_ring_buffer *ring)
	{
	return 0;
	}

	static inline void adis16400_uninitialize_ring(struct iio_ring_buffer *ring)
	{
	}

	#endif /* CONFIG_IIO_RING_BUFFER */
	#endif /* SPI_ADIS16400_H_ */