- 根目录:
- drivers
- iio
- imu
- adis16400.h
#ifndef SPI_ADIS16400_H_
#define SPI_ADIS16400_H_
#include <linux/iio/imu/adis.h>
#define ADIS16400_STARTUP_DELAY 290
#define ADIS16400_MTEST_DELAY 90
#define ADIS16400_FLASH_CNT 0x00
#define ADIS16400_SUPPLY_OUT 0x02
#define ADIS16400_XGYRO_OUT 0x04
#define ADIS16400_YGYRO_OUT 0x06
#define ADIS16400_ZGYRO_OUT 0x08
#define ADIS16400_XACCL_OUT 0x0A
#define ADIS16400_YACCL_OUT 0x0C
#define ADIS16400_ZACCL_OUT 0x0E
#define ADIS16400_XMAGN_OUT 0x10
#define ADIS16400_YMAGN_OUT 0x12
#define ADIS16400_ZMAGN_OUT 0x14
#define ADIS16400_TEMP_OUT 0x16
#define ADIS16400_AUX_ADC 0x18
#define ADIS16350_XTEMP_OUT 0x10
#define ADIS16350_YTEMP_OUT 0x12
#define ADIS16350_ZTEMP_OUT 0x14
#define ADIS16300_PITCH_OUT 0x12
#define ADIS16300_ROLL_OUT 0x14
#define ADIS16300_AUX_ADC 0x16
#define ADIS16448_BARO_OUT 0x16
#define ADIS16448_TEMP_OUT 0x18
#define ADIS16400_XGYRO_OFF 0x1A
#define ADIS16400_YGYRO_OFF 0x1C
#define ADIS16400_ZGYRO_OFF 0x1E
#define ADIS16400_XACCL_OFF 0x20
#define ADIS16400_YACCL_OFF 0x22
#define ADIS16400_ZACCL_OFF 0x24
#define ADIS16400_XMAGN_HIF 0x26
#define ADIS16400_YMAGN_HIF 0x28
#define ADIS16400_ZMAGN_HIF 0x2A
#define ADIS16400_XMAGN_SIF 0x2C
#define ADIS16400_YMAGN_SIF 0x2E
#define ADIS16400_ZMAGN_SIF 0x30
#define ADIS16400_GPIO_CTRL 0x32
#define ADIS16400_MSC_CTRL 0x34
#define ADIS16400_SMPL_PRD 0x36
#define ADIS16400_SENS_AVG 0x38
#define ADIS16400_SLP_CNT 0x3A
#define ADIS16400_DIAG_STAT 0x3C
#define ADIS16400_GLOB_CMD 0x3E
#define ADIS16400_ALM_MAG1 0x40
#define ADIS16400_ALM_MAG2 0x42
#define ADIS16400_ALM_SMPL1 0x44
#define ADIS16400_ALM_SMPL2 0x46
#define ADIS16400_ALM_CTRL 0x48
#define ADIS16400_AUX_DAC 0x4A
#define ADIS16334_LOT_ID1 0x52
#define ADIS16334_LOT_ID2 0x54
#define ADIS16400_PRODUCT_ID 0x56
#define ADIS16334_SERIAL_NUMBER 0x58
#define ADIS16400_ERROR_ACTIVE (1<<14)
#define ADIS16400_NEW_DATA (1<<14)
#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)
#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
#define ADIS16400_DIAG_STAT_YACCL_FAIL 14
#define ADIS16400_DIAG_STAT_XACCL_FAIL 13
#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
#define ADIS16400_DIAG_STAT_ALARM2 9
#define ADIS16400_DIAG_STAT_ALARM1 8
#define ADIS16400_DIAG_STAT_FLASH_CHK 6
#define ADIS16400_DIAG_STAT_SELF_TEST 5
#define ADIS16400_DIAG_STAT_OVERFLOW 4
#define ADIS16400_DIAG_STAT_SPI_FAIL 3
#define ADIS16400_DIAG_STAT_FLASH_UPT 2
#define ADIS16400_DIAG_STAT_POWER_HIGH 1
#define ADIS16400_DIAG_STAT_POWER_LOW 0
#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)
#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
#define ADIS16334_RATE_DIV_SHIFT 8
#define ADIS16334_RATE_INT_CLK BIT(0)
#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
#define ADIS16400_HAS_PROD_ID BIT(0)
#define ADIS16400_NO_BURST BIT(1)
#define ADIS16400_HAS_SLOW_MODE BIT(2)
#define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
struct adis16400_state;
struct adis16400_chip_info {
const struct iio_chan_spec *channels;
const int num_channels;
const long flags;
unsigned int gyro_scale_micro;
unsigned int accel_scale_micro;
int temp_scale_nano;
int temp_offset;
int (*set_freq)(struct adis16400_state *st, unsigned int freq);
int (*get_freq)(struct adis16400_state *st);
};
struct adis16400_state {
struct adis16400_chip_info *variant;
int filt_int;
struct adis adis;
};
enum {
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_BARO,
ADIS16350_SCAN_TEMP_X,
ADIS16350_SCAN_TEMP_Y,
ADIS16350_SCAN_TEMP_Z,
ADIS16300_SCAN_INCLI_X,
ADIS16300_SCAN_INCLI_Y,
ADIS16400_SCAN_ADC,
ADIS16400_SCAN_TIMESTAMP,
};
#ifdef CONFIG_IIO_BUFFER
ssize_t adis16400_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf);
int adis16400_update_scan_mode(struct iio_dev *indio_dev,
const unsigned long *scan_mask);
irqreturn_t adis16400_trigger_handler(int irq, void *p);
#else
#define adis16400_update_scan_mode NULL
#define adis16400_trigger_handler NULL
#endif
#endif
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