- 根目录:
- drivers
- staging
- iio
- imu
- adis16300.h
#ifndef SPI_ADIS16300_H_
#define SPI_ADIS16300_H_
#define ADIS16300_STARTUP_DELAY 220 /* ms */
#define ADIS16300_READ_REG(a) a
#define ADIS16300_WRITE_REG(a) ((a) | 0x80)
#define ADIS16300_FLASH_CNT 0x00 /* Flash memory write count */
#define ADIS16300_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16300_XGYRO_OUT 0x04 /* X-axis gyroscope output */
#define ADIS16300_XACCL_OUT 0x0A /* X-axis accelerometer output */
#define ADIS16300_YACCL_OUT 0x0C /* Y-axis accelerometer output */
#define ADIS16300_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
#define ADIS16300_TEMP_OUT 0x10 /* Temperature output */
#define ADIS16300_XINCLI_OUT 0x12 /* X-axis inclinometer output measurement */
#define ADIS16300_YINCLI_OUT 0x14 /* Y-axis inclinometer output measurement */
#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
/* Calibration parameters */
#define ADIS16300_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
#define ADIS16300_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
#define ADIS16300_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
#define ADIS16300_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
#define ADIS16300_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
#define ADIS16300_MSC_CTRL 0x34 /* Miscellaneous control */
#define ADIS16300_SMPL_PRD 0x36 /* Internal sample period (rate) control */
#define ADIS16300_SENS_AVG 0x38 /* Dynamic range and digital filter control */
#define ADIS16300_SLP_CNT 0x3A /* Sleep mode control */
#define ADIS16300_DIAG_STAT 0x3C /* System status */
/* Alarm functions */
#define ADIS16300_GLOB_CMD 0x3E /* System command */
#define ADIS16300_ALM_MAG1 0x26 /* Alarm 1 amplitude threshold */
#define ADIS16300_ALM_MAG2 0x28 /* Alarm 2 amplitude threshold */
#define ADIS16300_ALM_SMPL1 0x2A /* Alarm 1 sample size */
#define ADIS16300_ALM_SMPL2 0x2C /* Alarm 2 sample size */
#define ADIS16300_ALM_CTRL 0x2E /* Alarm control */
#define ADIS16300_AUX_DAC 0x30 /* Auxiliary DAC data */
#define ADIS16300_ERROR_ACTIVE (1<<14)
#define ADIS16300_NEW_DATA (1<<15)
/* MSC_CTRL */
#define ADIS16300_MSC_CTRL_MEM_TEST (1<<11)
#define ADIS16300_MSC_CTRL_INT_SELF_TEST (1<<10)
#define ADIS16300_MSC_CTRL_NEG_SELF_TEST (1<<9)
#define ADIS16300_MSC_CTRL_POS_SELF_TEST (1<<8)
#define ADIS16300_MSC_CTRL_GYRO_BIAS (1<<7)
#define ADIS16300_MSC_CTRL_ACCL_ALIGN (1<<6)
#define ADIS16300_MSC_CTRL_DATA_RDY_EN (1<<2)
#define ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
#define ADIS16300_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
/* SMPL_PRD */
#define ADIS16300_SMPL_PRD_TIME_BASE (1<<7)
#define ADIS16300_SMPL_PRD_DIV_MASK 0x7F
/* DIAG_STAT */
#define ADIS16300_DIAG_STAT_ZACCL_FAIL (1<<15)
#define ADIS16300_DIAG_STAT_YACCL_FAIL (1<<14)
#define ADIS16300_DIAG_STAT_XACCL_FAIL (1<<13)
#define ADIS16300_DIAG_STAT_XGYRO_FAIL (1<<10)
#define ADIS16300_DIAG_STAT_ALARM2 (1<<9)
#define ADIS16300_DIAG_STAT_ALARM1 (1<<8)
#define ADIS16300_DIAG_STAT_FLASH_CHK (1<<6)
#define ADIS16300_DIAG_STAT_SELF_TEST (1<<5)
#define ADIS16300_DIAG_STAT_OVERFLOW (1<<4)
#define ADIS16300_DIAG_STAT_SPI_FAIL (1<<3)
#define ADIS16300_DIAG_STAT_FLASH_UPT (1<<2)
#define ADIS16300_DIAG_STAT_POWER_HIGH (1<<1)
#define ADIS16300_DIAG_STAT_POWER_LOW (1<<0)
/* GLOB_CMD */
#define ADIS16300_GLOB_CMD_SW_RESET (1<<7)
#define ADIS16300_GLOB_CMD_P_AUTO_NULL (1<<4)
#define ADIS16300_GLOB_CMD_FLASH_UPD (1<<3)
#define ADIS16300_GLOB_CMD_DAC_LATCH (1<<2)
#define ADIS16300_GLOB_CMD_FAC_CALIB (1<<1)
#define ADIS16300_GLOB_CMD_AUTO_NULL (1<<0)
/* SLP_CNT */
#define ADIS16300_SLP_CNT_POWER_OFF (1<<8)
#define ADIS16300_MAX_TX 18
#define ADIS16300_MAX_RX 18
#define ADIS16300_SPI_SLOW (u32)(300 * 1000)
#define ADIS16300_SPI_BURST (u32)(1000 * 1000)
#define ADIS16300_SPI_FAST (u32)(2000 * 1000)
/**
* struct adis16300_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: receive buffer
* @buf_lock: mutex to protect tx and rx
**/
struct adis16300_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 adis16300_set_irq(struct device *dev, bool enable);
#ifdef CONFIG_IIO_RING_BUFFER
/* At the moment triggers are only used for ring buffer
* filling. This may change!
*/
#define ADIS16300_SCAN_SUPPLY 0
#define ADIS16300_SCAN_GYRO_X 1
#define ADIS16300_SCAN_ACC_X 2
#define ADIS16300_SCAN_ACC_Y 3
#define ADIS16300_SCAN_ACC_Z 4
#define ADIS16300_SCAN_TEMP 5
#define ADIS16300_SCAN_ADC_0 6
#define ADIS16300_SCAN_INCLI_X 7
#define ADIS16300_SCAN_INCLI_Y 8
void adis16300_remove_trigger(struct iio_dev *indio_dev);
int adis16300_probe_trigger(struct iio_dev *indio_dev);
ssize_t adis16300_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf);
int adis16300_configure_ring(struct iio_dev *indio_dev);
void adis16300_unconfigure_ring(struct iio_dev *indio_dev);
int adis16300_initialize_ring(struct iio_ring_buffer *ring);
void adis16300_uninitialize_ring(struct iio_ring_buffer *ring);
#else /* CONFIG_IIO_RING_BUFFER */
static inline void adis16300_remove_trigger(struct iio_dev *indio_dev)
{
}
static inline int adis16300_probe_trigger(struct iio_dev *indio_dev)
{
return 0;
}
static inline ssize_t
adis16300_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf)
{
return 0;
}
static int adis16300_configure_ring(struct iio_dev *indio_dev)
{
return 0;
}
static inline void adis16300_unconfigure_ring(struct iio_dev *indio_dev)
{
}
static inline int adis16300_initialize_ring(struct iio_ring_buffer *ring)
{
return 0;
}
static inline void adis16300_uninitialize_ring(struct iio_ring_buffer *ring)
{
}
#endif /* CONFIG_IIO_RING_BUFFER */
#endif /* SPI_ADIS16300_H_ */