1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
|
#ifndef SPI_ADIS16251_H_
#define SPI_ADIS16251_H_
#define ADIS16251_STARTUP_DELAY 220 /* ms */
#define ADIS16251_READ_REG(a) a
#define ADIS16251_WRITE_REG(a) ((a) | 0x80)
#define ADIS16251_ENDURANCE 0x00 /* Flash memory write count */
#define ADIS16251_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16251_GYRO_OUT 0x04 /* X-axis gyroscope output */
#define ADIS16251_AUX_ADC 0x0A /* analog input channel measurement */
#define ADIS16251_TEMP_OUT 0x0C /* internal temperature measurement */
#define ADIS16251_ANGL_OUT 0x0E /* angle displacement */
#define ADIS16251_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
#define ADIS16251_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
#define ADIS16251_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
#define ADIS16251_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
#define ADIS16251_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
#define ADIS16251_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
#define ADIS16251_ALM_CTRL 0x28 /* Alarm control */
#define ADIS16251_AUX_DAC 0x30 /* Auxiliary DAC data */
#define ADIS16251_GPIO_CTRL 0x32 /* Control, digital I/O line */
#define ADIS16251_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
#define ADIS16251_SMPL_PRD 0x36 /* Control, internal sample rate */
#define ADIS16251_SENS_AVG 0x38 /* Control, dynamic range, filtering */
#define ADIS16251_SLP_CNT 0x3A /* Control, sleep mode initiation */
#define ADIS16251_DIAG_STAT 0x3C /* Diagnostic, error flags */
#define ADIS16251_GLOB_CMD 0x3E /* Control, global commands */
#define ADIS16251_ERROR_ACTIVE (1<<14)
#define ADIS16251_NEW_DATA (1<<14)
/* MSC_CTRL */
#define ADIS16251_MSC_CTRL_INT_SELF_TEST (1<<10) /* Internal self-test enable */
#define ADIS16251_MSC_CTRL_NEG_SELF_TEST (1<<9)
#define ADIS16251_MSC_CTRL_POS_SELF_TEST (1<<8)
#define ADIS16251_MSC_CTRL_DATA_RDY_EN (1<<2)
#define ADIS16251_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
#define ADIS16251_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
/* SMPL_PRD */
#define ADIS16251_SMPL_PRD_TIME_BASE (1<<7) /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
#define ADIS16251_SMPL_PRD_DIV_MASK 0x7F
/* SLP_CNT */
#define ADIS16251_SLP_CNT_POWER_OFF 0x80
/* DIAG_STAT */
#define ADIS16251_DIAG_STAT_ALARM2 (1<<9)
#define ADIS16251_DIAG_STAT_ALARM1 (1<<8)
#define ADIS16251_DIAG_STAT_SELF_TEST (1<<5)
#define ADIS16251_DIAG_STAT_OVERFLOW (1<<4)
#define ADIS16251_DIAG_STAT_SPI_FAIL (1<<3)
#define ADIS16251_DIAG_STAT_FLASH_UPT (1<<2)
#define ADIS16251_DIAG_STAT_POWER_HIGH (1<<1)
#define ADIS16251_DIAG_STAT_POWER_LOW (1<<0)
#define ADIS16251_DIAG_STAT_ERR_MASK (ADIS16251_DIAG_STAT_ALARM2 | \
ADIS16251_DIAG_STAT_ALARM1 | \
ADIS16251_DIAG_STAT_SELF_TEST | \
ADIS16251_DIAG_STAT_OVERFLOW | \
ADIS16251_DIAG_STAT_SPI_FAIL | \
ADIS16251_DIAG_STAT_FLASH_UPT | \
ADIS16251_DIAG_STAT_POWER_HIGH | \
ADIS16251_DIAG_STAT_POWER_LOW)
/* GLOB_CMD */
#define ADIS16251_GLOB_CMD_SW_RESET (1<<7)
#define ADIS16251_GLOB_CMD_FLASH_UPD (1<<3)
#define ADIS16251_GLOB_CMD_DAC_LATCH (1<<2)
#define ADIS16251_GLOB_CMD_FAC_CALIB (1<<1)
#define ADIS16251_GLOB_CMD_AUTO_NULL (1<<0)
#define ADIS16251_MAX_TX 24
#define ADIS16251_MAX_RX 24
#define ADIS16251_SPI_SLOW (u32)(300 * 1000)
#define ADIS16251_SPI_BURST (u32)(1000 * 1000)
#define ADIS16251_SPI_FAST (u32)(2000 * 1000)
/**
* struct adis16251_state - device instance specific data
* @us: actual spi_device
* @work_trigger_to_ring: bh for triggered event handling
* @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 adis16251_state {
struct spi_device *us;
struct work_struct work_trigger_to_ring;
s64 last_timestamp;
struct iio_dev *indio_dev;
struct iio_trigger *trig;
u8 *tx;
u8 *rx;
struct mutex buf_lock;
};
int adis16251_spi_write_reg_8(struct device *dev,
u8 reg_address,
u8 val);
int adis16251_spi_read_burst(struct device *dev, u8 *rx);
int adis16251_spi_read_sequence(struct device *dev,
u8 *tx, u8 *rx, int num);
int adis16251_set_irq(struct device *dev, bool enable);
int adis16251_reset(struct device *dev);
int adis16251_stop_device(struct device *dev);
int adis16251_check_status(struct device *dev);
#if defined(CONFIG_IIO_RING_BUFFER) && defined(THIS_HAS_RING_BUFFER_SUPPORT)
/* At the moment triggers are only used for ring buffer
* filling. This may change!
*/
enum adis16251_scan {
ADIS16251_SCAN_SUPPLY,
ADIS16251_SCAN_GYRO,
ADIS16251_SCAN_TEMP,
ADIS16251_SCAN_ADC_0,
};
void adis16251_remove_trigger(struct iio_dev *indio_dev);
int adis16251_probe_trigger(struct iio_dev *indio_dev);
ssize_t adis16251_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf);
int adis16251_configure_ring(struct iio_dev *indio_dev);
void adis16251_unconfigure_ring(struct iio_dev *indio_dev);
int adis16251_initialize_ring(struct iio_ring_buffer *ring);
void adis16251_uninitialize_ring(struct iio_ring_buffer *ring);
#else /* CONFIG_IIO_RING_BUFFER */
static inline void adis16251_remove_trigger(struct iio_dev *indio_dev)
{
}
static inline int adis16251_probe_trigger(struct iio_dev *indio_dev)
{
return 0;
}
static inline ssize_t
adis16251_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf)
{
return 0;
}
static int adis16251_configure_ring(struct iio_dev *indio_dev)
{
return 0;
}
static inline void adis16251_unconfigure_ring(struct iio_dev *indio_dev)
{
}
static inline int adis16251_initialize_ring(struct iio_ring_buffer *ring)
{
return 0;
}
static inline void adis16251_uninitialize_ring(struct iio_ring_buffer *ring)
{
}
#endif /* CONFIG_IIO_RING_BUFFER */
#endif /* SPI_ADIS16251_H_ */
|
