drivers/staging/iio/imu/adis16300.h

   1 #ifndef SPI_ADIS16300_H_
   2 #define SPI_ADIS16300_H_
   3
   4 #define ADIS16300_STARTUP_DELAY 220 /* ms */
   5
   6 #define ADIS16300_READ_REG(a)    a
   7 #define ADIS16300_WRITE_REG(a) ((a) | 0x80)
   8
   9 #define ADIS16300_FLASH_CNT  0x00 /* Flash memory write count */
  10 #define ADIS16300_SUPPLY_OUT 0x02 /* Power supply measurement */
  11 #define ADIS16300_XGYRO_OUT 0x04 /* X-axis gyroscope output */
  12 #define ADIS16300_XACCL_OUT 0x0A /* X-axis accelerometer output */
  13 #define ADIS16300_YACCL_OUT 0x0C /* Y-axis accelerometer output */
  14 #define ADIS16300_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
  15 #define ADIS16300_TEMP_OUT  0x10 /* Temperature output */
  16 #define ADIS16300_XINCLI_OUT 0x12 /* X-axis inclinometer output measurement */
  17 #define ADIS16300_YINCLI_OUT 0x14 /* Y-axis inclinometer output measurement */
  18 #define ADIS16300_AUX_ADC   0x16 /* Auxiliary ADC measurement */
  19
  20 /* Calibration parameters */
  21 #define ADIS16300_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
  22 #define ADIS16300_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
  23 #define ADIS16300_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
  24 #define ADIS16300_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
  25
  26 #define ADIS16300_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
  27 #define ADIS16300_MSC_CTRL  0x34 /* Miscellaneous control */
  28 #define ADIS16300_SMPL_PRD  0x36 /* Internal sample period (rate) control */
  29 #define ADIS16300_SENS_AVG  0x38 /* Dynamic range and digital filter control */
  30 #define ADIS16300_SLP_CNT   0x3A /* Sleep mode control */
  31 #define ADIS16300_DIAG_STAT 0x3C /* System status */
  32
  33 /* Alarm functions */
  34 #define ADIS16300_GLOB_CMD  0x3E /* System command */
  35 #define ADIS16300_ALM_MAG1  0x26 /* Alarm 1 amplitude threshold */
  36 #define ADIS16300_ALM_MAG2  0x28 /* Alarm 2 amplitude threshold */
  37 #define ADIS16300_ALM_SMPL1 0x2A /* Alarm 1 sample size */
  38 #define ADIS16300_ALM_SMPL2 0x2C /* Alarm 2 sample size */
  39 #define ADIS16300_ALM_CTRL  0x2E /* Alarm control */
  40 #define ADIS16300_AUX_DAC   0x30 /* Auxiliary DAC data */
  41
  42 #define ADIS16300_ERROR_ACTIVE                  (1<<14)
  43 #define ADIS16300_NEW_DATA                      (1<<15)
  44
  45 /* MSC_CTRL */
  46 #define ADIS16300_MSC_CTRL_MEM_TEST             (1<<11)
  47 #define ADIS16300_MSC_CTRL_INT_SELF_TEST        (1<<10)
  48 #define ADIS16300_MSC_CTRL_NEG_SELF_TEST        (1<<9)
  49 #define ADIS16300_MSC_CTRL_POS_SELF_TEST        (1<<8)
  50 #define ADIS16300_MSC_CTRL_GYRO_BIAS            (1<<7)
  51 #define ADIS16300_MSC_CTRL_ACCL_ALIGN           (1<<6)
  52 #define ADIS16300_MSC_CTRL_DATA_RDY_EN          (1<<2)
  53 #define ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH    (1<<1)
  54 #define ADIS16300_MSC_CTRL_DATA_RDY_DIO2        (1<<0)
  55
  56 /* SMPL_PRD */
  57 #define ADIS16300_SMPL_PRD_TIME_BASE    (1<<7)
  58 #define ADIS16300_SMPL_PRD_DIV_MASK     0x7F
  59
  60 /* DIAG_STAT */
  61 #define ADIS16300_DIAG_STAT_ZACCL_FAIL  (1<<15)
  62 #define ADIS16300_DIAG_STAT_YACCL_FAIL  (1<<14)
  63 #define ADIS16300_DIAG_STAT_XACCL_FAIL  (1<<13)
  64 #define ADIS16300_DIAG_STAT_XGYRO_FAIL  (1<<10)
  65 #define ADIS16300_DIAG_STAT_ALARM2      (1<<9)
  66 #define ADIS16300_DIAG_STAT_ALARM1      (1<<8)
  67 #define ADIS16300_DIAG_STAT_FLASH_CHK   (1<<6)
  68 #define ADIS16300_DIAG_STAT_SELF_TEST   (1<<5)
  69 #define ADIS16300_DIAG_STAT_OVERFLOW    (1<<4)
  70 #define ADIS16300_DIAG_STAT_SPI_FAIL    (1<<3)
  71 #define ADIS16300_DIAG_STAT_FLASH_UPT   (1<<2)
  72 #define ADIS16300_DIAG_STAT_POWER_HIGH  (1<<1)
  73 #define ADIS16300_DIAG_STAT_POWER_LOW   (1<<0)
  74
  75 /* GLOB_CMD */
  76 #define ADIS16300_GLOB_CMD_SW_RESET     (1<<7)
  77 #define ADIS16300_GLOB_CMD_P_AUTO_NULL  (1<<4)
  78 #define ADIS16300_GLOB_CMD_FLASH_UPD    (1<<3)
  79 #define ADIS16300_GLOB_CMD_DAC_LATCH    (1<<2)
  80 #define ADIS16300_GLOB_CMD_FAC_CALIB    (1<<1)
  81 #define ADIS16300_GLOB_CMD_AUTO_NULL    (1<<0)
  82
  83 /* SLP_CNT */
  84 #define ADIS16300_SLP_CNT_POWER_OFF     (1<<8)
  85
  86 #define ADIS16300_MAX_TX 18
  87 #define ADIS16300_MAX_RX 18
  88
  89 #define ADIS16300_SPI_SLOW      (u32)(300 * 1000)
  90 #define ADIS16300_SPI_BURST     (u32)(1000 * 1000)
  91 #define ADIS16300_SPI_FAST      (u32)(2000 * 1000)
  92
  93 /**
  94  * struct adis16300_state - device instance specific data
  95  * @us:                 actual spi_device
  96  * @work_trigger_to_ring: bh for triggered event handling
  97  * @inter:              used to check if new interrupt has been triggered
  98  * @last_timestamp:     passing timestamp from th to bh of interrupt handler
  99  * @indio_dev:          industrial I/O device structure
 100  * @trig:               data ready trigger registered with iio
 101  * @tx:                 transmit buffer
 102  * @rx:                 receive buffer
 103  * @buf_lock:           mutex to protect tx and rx
 104  **/
 105 struct adis16300_state {
 106         struct spi_device               *us;
 107         struct work_struct              work_trigger_to_ring;
 108         s64                             last_timestamp;
 109         struct iio_dev                  *indio_dev;
 110         struct iio_trigger              *trig;
 111         u8                              *tx;
 112         u8                              *rx;
 113         struct mutex                    buf_lock;
 114 };
 115
 116 int adis16300_set_irq(struct device *dev, bool enable);
 117
 118 #ifdef CONFIG_IIO_RING_BUFFER
 119 /* At the moment triggers are only used for ring buffer
 120  * filling. This may change!
 121  */
 122
 123 #define ADIS16300_SCAN_SUPPLY   0
 124 #define ADIS16300_SCAN_GYRO_X   1
 125 #define ADIS16300_SCAN_ACC_X    2
 126 #define ADIS16300_SCAN_ACC_Y    3
 127 #define ADIS16300_SCAN_ACC_Z    4
 128 #define ADIS16300_SCAN_TEMP     5
 129 #define ADIS16300_SCAN_ADC_0    6
 130 #define ADIS16300_SCAN_INCLI_X  7
 131 #define ADIS16300_SCAN_INCLI_Y  8
 132
 133 void adis16300_remove_trigger(struct iio_dev *indio_dev);
 134 int adis16300_probe_trigger(struct iio_dev *indio_dev);
 135
 136 ssize_t adis16300_read_data_from_ring(struct device *dev,
 137                                       struct device_attribute *attr,
 138                                       char *buf);
 139
 140
 141 int adis16300_configure_ring(struct iio_dev *indio_dev);
 142 void adis16300_unconfigure_ring(struct iio_dev *indio_dev);
 143
 144 int adis16300_initialize_ring(struct iio_ring_buffer *ring);
 145 void adis16300_uninitialize_ring(struct iio_ring_buffer *ring);
 146 #else /* CONFIG_IIO_RING_BUFFER */
 147
 148 static inline void adis16300_remove_trigger(struct iio_dev *indio_dev)
 149 {
 150 }
 151
 152 static inline int adis16300_probe_trigger(struct iio_dev *indio_dev)
 153 {
 154         return 0;
 155 }
 156
 157 static inline ssize_t
 158 adis16300_read_data_from_ring(struct device *dev,
 159                               struct device_attribute *attr,
 160                               char *buf)
 161 {
 162         return 0;
 163 }
 164
 165 static int adis16300_configure_ring(struct iio_dev *indio_dev)
 166 {
 167         return 0;
 168 }
 169
 170 static inline void adis16300_unconfigure_ring(struct iio_dev *indio_dev)
 171 {
 172 }
 173
 174 static inline int adis16300_initialize_ring(struct iio_ring_buffer *ring)
 175 {
 176         return 0;
 177 }
 178
 179 static inline void adis16300_uninitialize_ring(struct iio_ring_buffer *ring)
 180 {
 181 }
 182
 183 #endif /* CONFIG_IIO_RING_BUFFER */
 184 #endif /* SPI_ADIS16300_H_ */