[linux-block.git] / drivers / staging / iio / imu / adis16350.h

#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
 * @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 adis16350_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 adis16350_set_irq(struct device *dev, bool enable);

#ifdef CONFIG_IIO_RING_BUFFER

#define ADIS16350_SCAN_SUPPLY	0
#define ADIS16350_SCAN_GYRO_X	1
#define ADIS16350_SCAN_GYRO_Y	2
#define ADIS16350_SCAN_GYRO_Z	3
#define ADIS16350_SCAN_ACC_X	4
#define ADIS16350_SCAN_ACC_Y	5
#define ADIS16350_SCAN_ACC_Z	6
#define ADIS16350_SCAN_TEMP_X	7
#define ADIS16350_SCAN_TEMP_Y	8
#define ADIS16350_SCAN_TEMP_Z	9
#define ADIS16350_SCAN_ADC_0	10

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);

#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 inline int adis16350_configure_ring(struct iio_dev *indio_dev)
{
	return 0;
}

static inline void adis16350_unconfigure_ring(struct iio_dev *indio_dev)
{
}
#endif /* CONFIG_IIO_RING_BUFFER */
#endif /* SPI_ADIS16350_H_ */
Commit	Line	Data
5763dcab BS	1	#ifndef SPI_ADIS16350_H_
	2	#define SPI_ADIS16350_H_
	3
	4	#define ADIS16350_STARTUP_DELAY 220 /* ms */
	5
	6	#define ADIS16350_READ_REG(a) a
	7	#define ADIS16350_WRITE_REG(a) ((a) \| 0x80)
	8
	9	#define ADIS16350_FLASH_CNT 0x00 /* Flash memory write count */
	10	#define ADIS16350_SUPPLY_OUT 0x02 /* Power supply measurement */
	11	#define ADIS16350_XGYRO_OUT 0x04 /* X-axis gyroscope output */
	12	#define ADIS16350_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
	13	#define ADIS16350_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
	14	#define ADIS16350_XACCL_OUT 0x0A /* X-axis accelerometer output */
	15	#define ADIS16350_YACCL_OUT 0x0C /* Y-axis accelerometer output */
	16	#define ADIS16350_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
	17	#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
	18	#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
	19	#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
	20	#define ADIS16350_AUX_ADC 0x16 /* Auxiliary ADC measurement */
	21
	22	/* Calibration parameters */
	23	#define ADIS16350_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
	24	#define ADIS16350_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
	25	#define ADIS16350_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
	26	#define ADIS16350_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
	27	#define ADIS16350_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
	28	#define ADIS16350_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
	29
	30	#define ADIS16350_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
	31	#define ADIS16350_MSC_CTRL 0x34 /* Miscellaneous control */
	32	#define ADIS16350_SMPL_PRD 0x36 /* Internal sample period (rate) control */
	33	#define ADIS16350_SENS_AVG 0x38 /* Dynamic range and digital filter control */
	34	#define ADIS16350_SLP_CNT 0x3A /* Sleep mode control */
	35	#define ADIS16350_DIAG_STAT 0x3C /* System status */
	36
	37	/* Alarm functions */
	38	#define ADIS16350_GLOB_CMD 0x3E /* System command */
	39	#define ADIS16350_ALM_MAG1 0x26 /* Alarm 1 amplitude threshold */
	40	#define ADIS16350_ALM_MAG2 0x28 /* Alarm 2 amplitude threshold */
	41	#define ADIS16350_ALM_SMPL1 0x2A /* Alarm 1 sample size */
	42	#define ADIS16350_ALM_SMPL2 0x2C /* Alarm 2 sample size */
	43	#define ADIS16350_ALM_CTRL 0x2E /* Alarm control */
	44	#define ADIS16350_AUX_DAC 0x30 /* Auxiliary DAC data */
	45
	46	#define ADIS16350_ERROR_ACTIVE (1<<14)
	47	#define ADIS16350_NEW_DATA (1<<15)
	48
	49	/* MSC_CTRL */
	50	#define ADIS16350_MSC_CTRL_MEM_TEST (1<<11)
	51	#define ADIS16350_MSC_CTRL_INT_SELF_TEST (1<<10)
	52	#define ADIS16350_MSC_CTRL_NEG_SELF_TEST (1<<9)
	53	#define ADIS16350_MSC_CTRL_POS_SELF_TEST (1<<8)
	54	#define ADIS16350_MSC_CTRL_GYRO_BIAS (1<<7)
	55	#define ADIS16350_MSC_CTRL_ACCL_ALIGN (1<<6)
	56	#define ADIS16350_MSC_CTRL_DATA_RDY_EN (1<<2)
	57	#define ADIS16350_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
	58	#define ADIS16350_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
	59
	60	/* SMPL_PRD */
	61	#define ADIS16350_SMPL_PRD_TIME_BASE (1<<7)
	62	#define ADIS16350_SMPL_PRD_DIV_MASK 0x7F
	63
	64	/* DIAG_STAT */
65	#define ADIS16350_DIAG_STAT_ZACCL_FAIL (1<<15)
66	#define ADIS16350_DIAG_STAT_YACCL_FAIL (1<<14)
67	#define ADIS16350_DIAG_STAT_XACCL_FAIL (1<<13)
68	#define ADIS16350_DIAG_STAT_XGYRO_FAIL (1<<12)
69	#define ADIS16350_DIAG_STAT_YGYRO_FAIL (1<<11)
70	#define ADIS16350_DIAG_STAT_ZGYRO_FAIL (1<<10)
71	#define ADIS16350_DIAG_STAT_ALARM2 (1<<9)
72	#define ADIS16350_DIAG_STAT_ALARM1 (1<<8)
73	#define ADIS16350_DIAG_STAT_FLASH_CHK (1<<6)
74	#define ADIS16350_DIAG_STAT_SELF_TEST (1<<5)
75	#define ADIS16350_DIAG_STAT_OVERFLOW (1<<4)
76	#define ADIS16350_DIAG_STAT_SPI_FAIL (1<<3)
77	#define ADIS16350_DIAG_STAT_FLASH_UPT (1<<2)
78	#define ADIS16350_DIAG_STAT_POWER_HIGH (1<<1)
79	#define ADIS16350_DIAG_STAT_POWER_LOW (1<<0)
80
81	/* GLOB_CMD */
82	#define ADIS16350_GLOB_CMD_SW_RESET (1<<7)
83	#define ADIS16350_GLOB_CMD_P_AUTO_NULL (1<<4)
84	#define ADIS16350_GLOB_CMD_FLASH_UPD (1<<3)
85	#define ADIS16350_GLOB_CMD_DAC_LATCH (1<<2)
86	#define ADIS16350_GLOB_CMD_FAC_CALIB (1<<1)
87	#define ADIS16350_GLOB_CMD_AUTO_NULL (1<<0)
88
89	/* SLP_CNT */
90	#define ADIS16350_SLP_CNT_POWER_OFF (1<<8)
91
92	#define ADIS16350_MAX_TX 24
93	#define ADIS16350_MAX_RX 24
94
95	#define ADIS16350_SPI_SLOW (u32)(300 * 1000)
96	#define ADIS16350_SPI_BURST (u32)(1000 * 1000)
97	#define ADIS16350_SPI_FAST (u32)(2000 * 1000)
98
99	/**
100	* struct adis16350_state - device instance specific data
101	* @us: actual spi_device
102	* @work_trigger_to_ring: bh for triggered event handling
5763dcab BS	103	* @inter: used to check if new interrupt has been triggered
	104	* @last_timestamp: passing timestamp from th to bh of interrupt handler
	105	* @indio_dev: industrial I/O device structure
	106	* @trig: data ready trigger registered with iio
	107	* @tx: transmit buffer
25985edc	108	* @rx: receive buffer
5763dcab BS	109	* @buf_lock: mutex to protect tx and rx
	110	**/
	111	struct adis16350_state {
	112	struct spi_device *us;
	113	struct work_struct work_trigger_to_ring;
5763dcab BS	114	s64 last_timestamp;
	115	struct iio_dev *indio_dev;
	116	struct iio_trigger *trig;
	117	u8 *tx;
	118	u8 *rx;
	119	struct mutex buf_lock;
	120	};
	121
	122	int adis16350_set_irq(struct device *dev, bool enable);
	123
	124	#ifdef CONFIG_IIO_RING_BUFFER
	125
69584bd6 JC	126	#define ADIS16350_SCAN_SUPPLY 0
	127	#define ADIS16350_SCAN_GYRO_X 1
	128	#define ADIS16350_SCAN_GYRO_Y 2
	129	#define ADIS16350_SCAN_GYRO_Z 3
	130	#define ADIS16350_SCAN_ACC_X 4
	131	#define ADIS16350_SCAN_ACC_Y 5
	132	#define ADIS16350_SCAN_ACC_Z 6
	133	#define ADIS16350_SCAN_TEMP_X 7
	134	#define ADIS16350_SCAN_TEMP_Y 8
	135	#define ADIS16350_SCAN_TEMP_Z 9
	136	#define ADIS16350_SCAN_ADC_0 10
5763dcab BS	137
	138	void adis16350_remove_trigger(struct iio_dev *indio_dev);
	139	int adis16350_probe_trigger(struct iio_dev *indio_dev);
	140
	141	ssize_t adis16350_read_data_from_ring(struct device *dev,
	142	struct device_attribute *attr,
	143	char *buf);
	144
	145
	146	int adis16350_configure_ring(struct iio_dev *indio_dev);
	147	void adis16350_unconfigure_ring(struct iio_dev *indio_dev);
	148
5763dcab BS	149	#else /* CONFIG_IIO_RING_BUFFER */
	150
	151	static inline void adis16350_remove_trigger(struct iio_dev *indio_dev)
	152	{
	153	}
	154
	155	static inline int adis16350_probe_trigger(struct iio_dev *indio_dev)
	156	{
	157	return 0;
	158	}
	159
	160	static inline ssize_t
	161	adis16350_read_data_from_ring(struct device *dev,
	162	struct device_attribute *attr,
	163	char *buf)
	164	{
	165	return 0;
	166	}
	167
073e5371 JC	168	static inline int adis16350_configure_ring(struct iio_dev *indio_dev)
	169	{
	170	return 0;
	171	}
	172
	173	static inline void adis16350_unconfigure_ring(struct iio_dev *indio_dev)
	174	{
	175	}
5763dcab BS	176	#endif /* CONFIG_IIO_RING_BUFFER */
5763dcab BS	177	#endif /* SPI_ADIS16350_H_ */