#include <linux/iio/imu/adis.h>
#define ADIS16209_STARTUP_DELAY_MS 220
-
-/* Flash memory write count */
#define ADIS16209_FLASH_CNT_REG 0x00
-/* Output, power supply */
+/* Data Output Register Definitions */
#define ADIS16209_SUPPLY_OUT_REG 0x02
-
-/* Output, x-axis accelerometer */
#define ADIS16209_XACCL_OUT_REG 0x04
-
-/* Output, y-axis accelerometer */
#define ADIS16209_YACCL_OUT_REG 0x06
-
/* Output, auxiliary ADC input */
#define ADIS16209_AUX_ADC_REG 0x08
-
/* Output, temperature */
#define ADIS16209_TEMP_OUT_REG 0x0A
-
-/* Output, x-axis inclination */
+/* Output, +/- 90 degrees X-axis inclination */
#define ADIS16209_XINCL_OUT_REG 0x0C
-
-/* Output, y-axis inclination */
#define ADIS16209_YINCL_OUT_REG 0x0E
-
/* Output, +/-180 vertical rotational position */
#define ADIS16209_ROT_OUT_REG 0x10
-/* Calibration, x-axis acceleration offset null */
+/*
+ * Calibration Register Definitions.
+ * Acceleration, inclination or rotation offset null.
+ */
#define ADIS16209_XACCL_NULL_REG 0x12
-
-/* Calibration, y-axis acceleration offset null */
#define ADIS16209_YACCL_NULL_REG 0x14
-
-/* Calibration, x-axis inclination offset null */
#define ADIS16209_XINCL_NULL_REG 0x16
-
-/* Calibration, y-axis inclination offset null */
#define ADIS16209_YINCL_NULL_REG 0x18
-
-/* Calibration, vertical rotation offset null */
#define ADIS16209_ROT_NULL_REG 0x1A
-/* Alarm 1 amplitude threshold */
+/* Alarm Register Definitions */
#define ADIS16209_ALM_MAG1_REG 0x20
-
-/* Alarm 2 amplitude threshold */
#define ADIS16209_ALM_MAG2_REG 0x22
-
-/* Alarm 1, sample period */
#define ADIS16209_ALM_SMPL1_REG 0x24
-
-/* Alarm 2, sample period */
#define ADIS16209_ALM_SMPL2_REG 0x26
-
-/* Alarm control */
#define ADIS16209_ALM_CTRL_REG 0x28
-/* Auxiliary DAC data */
#define ADIS16209_AUX_DAC_REG 0x30
-
-/* General-purpose digital input/output control */
#define ADIS16209_GPIO_CTRL_REG 0x32
-
-/* Miscellaneous control */
-#define ADIS16209_MSC_CTRL_REG 0x34
-
-/* Internal sample period (rate) control */
#define ADIS16209_SMPL_PRD_REG 0x36
-
-/* Operation, filter configuration */
#define ADIS16209_AVG_CNT_REG 0x38
-
-/* Operation, sleep mode control */
#define ADIS16209_SLP_CNT_REG 0x3A
-/* Diagnostics, system status register */
-#define ADIS16209_DIAG_STAT_REG 0x3C
-
-/* Operation, system command register */
-#define ADIS16209_GLOB_CMD_REG 0x3E
-
-/* MSC_CTRL */
-
-/* Self-test at power-on: 1 = disabled, 0 = enabled */
-#define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
-
-/* Self-test enable */
-#define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8)
-
-/* Data-ready enable: 1 = enabled, 0 = disabled */
-#define ADIS16209_MSC_CTRL_DATA_RDY_EN BIT(2)
-
+#define ADIS16209_MSC_CTRL_REG 0x34
+#define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
+#define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8)
+#define ADIS16209_MSC_CTRL_DATA_RDY_EN BIT(2)
/* Data-ready polarity: 1 = active high, 0 = active low */
-#define ADIS16209_MSC_CTRL_ACTIVE_HIGH BIT(1)
+#define ADIS16209_MSC_CTRL_ACTIVE_HIGH BIT(1)
+#define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
-/* Data-ready line selection: 1 = DIO2, 0 = DIO1 */
-#define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
-
-/* DIAG_STAT */
-
-/* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
-#define ADIS16209_DIAG_STAT_ALARM2 BIT(9)
-
-/* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
-#define ADIS16209_DIAG_STAT_ALARM1 BIT(8)
-
-/* Self-test diagnostic error flag: 1 = error condition, 0 = normal operation */
+#define ADIS16209_DIAG_STAT_REG 0x3C
+#define ADIS16209_DIAG_STAT_ALARM2 BIT(9)
+#define ADIS16209_DIAG_STAT_ALARM1 BIT(8)
#define ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT 5
-
-/* SPI communications failure */
#define ADIS16209_DIAG_STAT_SPI_FAIL_BIT 3
-
-/* Flash update failure */
#define ADIS16209_DIAG_STAT_FLASH_UPT_BIT 2
-
/* Power supply above 3.625 V */
#define ADIS16209_DIAG_STAT_POWER_HIGH_BIT 1
-
/* Power supply below 3.15 V */
#define ADIS16209_DIAG_STAT_POWER_LOW_BIT 0
-/* GLOB_CMD */
-
-#define ADIS16209_GLOB_CMD_SW_RESET BIT(7)
-#define ADIS16209_GLOB_CMD_CLEAR_STAT BIT(4)
-#define ADIS16209_GLOB_CMD_FACTORY_CAL BIT(1)
+#define ADIS16209_GLOB_CMD_REG 0x3E
+#define ADIS16209_GLOB_CMD_SW_RESET BIT(7)
+#define ADIS16209_GLOB_CMD_CLEAR_STAT BIT(4)
+#define ADIS16209_GLOB_CMD_FACTORY_CAL BIT(1)
-#define ADIS16209_ERROR_ACTIVE BIT(14)
+#define ADIS16209_ERROR_ACTIVE BIT(14)
enum adis16209_scan {
ADIS16209_SCAN_SUPPLY,
*val2 = 610500; /* 0.6105 mV */
return IIO_VAL_INT_PLUS_MICRO;
case IIO_TEMP:
- *val = -470; /* -0.47 C */
+ *val = -470;
*val2 = 0;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_ACCEL:
+ /*
+ * IIO base unit for sensitivity of accelerometer
+ * is milli g.
+ * 1 LSB represents 0.244 mg.
+ */
*val = 0;
- *val2 = IIO_G_TO_M_S_2(244140); /* 0.244140 mg */
+ *val2 = IIO_G_TO_M_S_2(244140);
return IIO_VAL_INT_PLUS_NANO;
case IIO_INCLI:
case IIO_ROT:
+ /*
+ * IIO base units for rotation are degrees.
+ * 1 LSB represents 0.025 milli degrees.
+ */
*val = 0;
- *val2 = 25000; /* 0.025 degree */
+ *val2 = 25000;
return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
break;
case IIO_CHAN_INFO_OFFSET:
- *val = 25000 / -470 - 0x4FE; /* 25 C = 0x4FE */
+ /*
+ * The raw ADC value is 0x4FE when the temperature
+ * is 25 degrees and the scale factor per milli
+ * degree celcius is -470.
+ */
+ *val = 25000 / -470 - 0x4FE;
return IIO_VAL_INT;
case IIO_CHAN_INFO_CALIBBIAS:
switch (chan->type) {
struct adis *st;
struct iio_dev *indio_dev;
- /* setup the industrialio driver allocated elements */
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
if (!indio_dev)
return -ENOMEM;
st = iio_priv(indio_dev);
- /* this is only used for removal purposes */
spi_set_drvdata(spi, indio_dev);
indio_dev->name = spi->dev.driver->name;
if (ret)
return ret;
- /* Get the device into a sane initial state */
ret = adis_initial_startup(st);
if (ret)
goto error_cleanup_buffer_trigger;
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