diff options
Diffstat (limited to 'drivers/staging/iio/imu/adis16350.h')
| -rw-r--r-- | drivers/staging/iio/imu/adis16350.h | 193 |
1 files changed, 193 insertions, 0 deletions
diff --git a/drivers/staging/iio/imu/adis16350.h b/drivers/staging/iio/imu/adis16350.h new file mode 100644 index 000000000000..334b18ace38e --- /dev/null +++ b/drivers/staging/iio/imu/adis16350.h @@ -0,0 +1,193 @@ +#ifndef SPI_ADIS16350_H_ +#define SPI_ADIS16350_H_ + +#define ADIS16350_STARTUP_DELAY 220 /* ms */ + +#define ADIS16350_READ_REG(a) a +#define ADIS16350_WRITE_REG(a) ((a) | 0x80) + +#define ADIS16350_FLASH_CNT 0x00 /* Flash memory write count */ +#define ADIS16350_SUPPLY_OUT 0x02 /* Power supply measurement */ +#define ADIS16350_XGYRO_OUT 0x04 /* X-axis gyroscope output */ +#define ADIS16350_YGYRO_OUT 0x06 /* Y-axis gyroscope output */ +#define ADIS16350_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */ +#define ADIS16350_XACCL_OUT 0x0A /* X-axis accelerometer output */ +#define ADIS16350_YACCL_OUT 0x0C /* Y-axis accelerometer output */ +#define ADIS16350_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ +#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */ +#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */ +#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */ +#define ADIS16350_AUX_ADC 0x16 /* Auxiliary ADC measurement */ + +/* Calibration parameters */ +#define ADIS16350_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ +#define ADIS16350_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ +#define ADIS16350_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ +#define ADIS16350_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ +#define ADIS16350_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ +#define ADIS16350_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ + +#define ADIS16350_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ +#define ADIS16350_MSC_CTRL 0x34 /* Miscellaneous control */ +#define ADIS16350_SMPL_PRD 0x36 /* Internal sample period (rate) control */ +#define ADIS16350_SENS_AVG 0x38 /* Dynamic range and digital filter control */ +#define ADIS16350_SLP_CNT 0x3A /* Sleep mode control */ +#define ADIS16350_DIAG_STAT 0x3C /* System status */ + +/* Alarm functions */ +#define ADIS16350_GLOB_CMD 0x3E /* System command */ +#define ADIS16350_ALM_MAG1 0x26 /* Alarm 1 amplitude threshold */ +#define ADIS16350_ALM_MAG2 0x28 /* Alarm 2 amplitude threshold */ +#define ADIS16350_ALM_SMPL1 0x2A /* Alarm 1 sample size */ +#define ADIS16350_ALM_SMPL2 0x2C /* Alarm 2 sample size */ +#define ADIS16350_ALM_CTRL 0x2E /* Alarm control */ +#define ADIS16350_AUX_DAC 0x30 /* Auxiliary DAC data */ + +#define ADIS16350_ERROR_ACTIVE (1<<14) +#define ADIS16350_NEW_DATA (1<<15) + +/* MSC_CTRL */ +#define ADIS16350_MSC_CTRL_MEM_TEST (1<<11) +#define ADIS16350_MSC_CTRL_INT_SELF_TEST (1<<10) +#define ADIS16350_MSC_CTRL_NEG_SELF_TEST (1<<9) +#define ADIS16350_MSC_CTRL_POS_SELF_TEST (1<<8) +#define ADIS16350_MSC_CTRL_GYRO_BIAS (1<<7) +#define ADIS16350_MSC_CTRL_ACCL_ALIGN (1<<6) +#define ADIS16350_MSC_CTRL_DATA_RDY_EN (1<<2) +#define ADIS16350_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) +#define ADIS16350_MSC_CTRL_DATA_RDY_DIO2 (1<<0) + +/* SMPL_PRD */ +#define ADIS16350_SMPL_PRD_TIME_BASE (1<<7) +#define ADIS16350_SMPL_PRD_DIV_MASK 0x7F + +/* DIAG_STAT */ +#define ADIS16350_DIAG_STAT_ZACCL_FAIL (1<<15) +#define ADIS16350_DIAG_STAT_YACCL_FAIL (1<<14) +#define ADIS16350_DIAG_STAT_XACCL_FAIL (1<<13) +#define ADIS16350_DIAG_STAT_XGYRO_FAIL (1<<12) +#define ADIS16350_DIAG_STAT_YGYRO_FAIL (1<<11) +#define ADIS16350_DIAG_STAT_ZGYRO_FAIL (1<<10) +#define ADIS16350_DIAG_STAT_ALARM2 (1<<9) +#define ADIS16350_DIAG_STAT_ALARM1 (1<<8) +#define ADIS16350_DIAG_STAT_FLASH_CHK (1<<6) +#define ADIS16350_DIAG_STAT_SELF_TEST (1<<5) +#define ADIS16350_DIAG_STAT_OVERFLOW (1<<4) +#define ADIS16350_DIAG_STAT_SPI_FAIL (1<<3) +#define ADIS16350_DIAG_STAT_FLASH_UPT (1<<2) +#define ADIS16350_DIAG_STAT_POWER_HIGH (1<<1) +#define ADIS16350_DIAG_STAT_POWER_LOW (1<<0) + +/* GLOB_CMD */ +#define ADIS16350_GLOB_CMD_SW_RESET (1<<7) +#define ADIS16350_GLOB_CMD_P_AUTO_NULL (1<<4) +#define ADIS16350_GLOB_CMD_FLASH_UPD (1<<3) +#define ADIS16350_GLOB_CMD_DAC_LATCH (1<<2) +#define ADIS16350_GLOB_CMD_FAC_CALIB (1<<1) +#define ADIS16350_GLOB_CMD_AUTO_NULL (1<<0) + +/* SLP_CNT */ +#define ADIS16350_SLP_CNT_POWER_OFF (1<<8) + +#define ADIS16350_MAX_TX 24 +#define ADIS16350_MAX_RX 24 + +#define ADIS16350_SPI_SLOW (u32)(300 * 1000) +#define ADIS16350_SPI_BURST (u32)(1000 * 1000) +#define ADIS16350_SPI_FAST (u32)(2000 * 1000) + +/** + * struct adis16350_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 adis16350_state { + struct spi_device *us; + struct work_struct work_trigger_to_ring; + struct iio_work_cont work_cont_data_rdy; + s64 last_timestamp; + struct iio_dev *indio_dev; + struct iio_trigger *trig; + u8 *tx; + u8 *rx; + struct mutex buf_lock; +}; + +int adis16350_set_irq(struct device *dev, bool enable); + +#ifdef CONFIG_IIO_RING_BUFFER + +enum adis16350_scan { + ADIS16350_SCAN_SUPPLY, + ADIS16350_SCAN_GYRO_X, + ADIS16350_SCAN_GYRO_Y, + ADIS16350_SCAN_GYRO_Z, + ADIS16350_SCAN_ACC_X, + ADIS16350_SCAN_ACC_Y, + ADIS16350_SCAN_ACC_Z, + ADIS16350_SCAN_TEMP_X, + ADIS16350_SCAN_TEMP_Y, + ADIS16350_SCAN_TEMP_Z, + ADIS16350_SCAN_ADC_0 +}; + +void adis16350_remove_trigger(struct iio_dev *indio_dev); +int adis16350_probe_trigger(struct iio_dev *indio_dev); + +ssize_t adis16350_read_data_from_ring(struct device *dev, + struct device_attribute *attr, + char *buf); + + +int adis16350_configure_ring(struct iio_dev *indio_dev); +void adis16350_unconfigure_ring(struct iio_dev *indio_dev); + +int adis16350_initialize_ring(struct iio_ring_buffer *ring); +void adis16350_uninitialize_ring(struct iio_ring_buffer *ring); +#else /* CONFIG_IIO_RING_BUFFER */ + +static inline void adis16350_remove_trigger(struct iio_dev *indio_dev) +{ +} + +static inline int adis16350_probe_trigger(struct iio_dev *indio_dev) +{ + return 0; +} + +static inline ssize_t +adis16350_read_data_from_ring(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + return 0; +} + +static int adis16350_configure_ring(struct iio_dev *indio_dev) +{ + return 0; +} + +static inline void adis16350_unconfigure_ring(struct iio_dev *indio_dev) +{ +} + +static inline int adis16350_initialize_ring(struct iio_ring_buffer *ring) +{ + return 0; +} + +static inline void adis16350_uninitialize_ring(struct iio_ring_buffer *ring) +{ +} + +#endif /* CONFIG_IIO_RING_BUFFER */ +#endif /* SPI_ADIS16350_H_ */ |