216 lines
7.7 KiB
C
216 lines
7.7 KiB
C
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/*
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* adis16400.h support Analog Devices ADIS16400
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* 3d 18g accelerometers,
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* 3d gyroscopes,
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* 3d 2.5gauss magnetometers via SPI
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*
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* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
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* Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
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*
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* Loosely based upon lis3l02dq.h
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*/
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#ifndef SPI_ADIS16400_H_
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#define SPI_ADIS16400_H_
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#include <linux/iio/imu/adis.h>
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#define ADIS16400_STARTUP_DELAY 290 /* ms */
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#define ADIS16400_MTEST_DELAY 90 /* ms */
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#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
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#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
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#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
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#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
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#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
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#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
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#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
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#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
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#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
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#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
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#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
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#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
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#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
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#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
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#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
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#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
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#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
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#define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
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#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
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#define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
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#define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
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/* Calibration parameters */
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#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
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#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
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#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
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#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
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#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
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#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
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#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
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#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
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#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
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#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
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#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
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#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
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#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
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#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
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#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
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#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
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#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
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#define ADIS16400_DIAG_STAT 0x3C /* System status */
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/* Alarm functions */
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#define ADIS16400_GLOB_CMD 0x3E /* System command */
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#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
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#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
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#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
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#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
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#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
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#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
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#define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
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#define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
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#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
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#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
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#define ADIS16400_ERROR_ACTIVE (1<<14)
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#define ADIS16400_NEW_DATA (1<<14)
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/* MSC_CTRL */
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#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
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#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
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#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
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#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
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#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
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#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
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#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
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#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
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#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
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/* SMPL_PRD */
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#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
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#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
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/* DIAG_STAT */
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#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
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#define ADIS16400_DIAG_STAT_YACCL_FAIL 14
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#define ADIS16400_DIAG_STAT_XACCL_FAIL 13
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#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
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#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
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#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
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#define ADIS16400_DIAG_STAT_ALARM2 9
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#define ADIS16400_DIAG_STAT_ALARM1 8
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#define ADIS16400_DIAG_STAT_FLASH_CHK 6
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#define ADIS16400_DIAG_STAT_SELF_TEST 5
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#define ADIS16400_DIAG_STAT_OVERFLOW 4
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#define ADIS16400_DIAG_STAT_SPI_FAIL 3
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#define ADIS16400_DIAG_STAT_FLASH_UPT 2
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#define ADIS16400_DIAG_STAT_POWER_HIGH 1
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#define ADIS16400_DIAG_STAT_POWER_LOW 0
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/* GLOB_CMD */
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#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
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#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
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#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
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#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
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#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
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#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
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/* SLP_CNT */
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#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
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#define ADIS16334_RATE_DIV_SHIFT 8
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#define ADIS16334_RATE_INT_CLK BIT(0)
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#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
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#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
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#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
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#define ADIS16400_HAS_PROD_ID BIT(0)
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#define ADIS16400_NO_BURST BIT(1)
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#define ADIS16400_HAS_SLOW_MODE BIT(2)
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#define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
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#define ADIS16400_BURST_DIAG_STAT BIT(4)
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struct adis16400_state;
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struct adis16400_chip_info {
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const struct iio_chan_spec *channels;
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const int num_channels;
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const long flags;
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unsigned int gyro_scale_micro;
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unsigned int accel_scale_micro;
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int temp_scale_nano;
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int temp_offset;
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int (*set_freq)(struct adis16400_state *st, unsigned int freq);
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int (*get_freq)(struct adis16400_state *st);
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};
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/**
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* struct adis16400_state - device instance specific data
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* @variant: chip variant info
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* @filt_int: integer part of requested filter frequency
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* @adis: adis device
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**/
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struct adis16400_state {
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struct adis16400_chip_info *variant;
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int filt_int;
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struct adis adis;
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unsigned long avail_scan_mask[2];
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};
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/* At the moment triggers are only used for ring buffer
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* filling. This may change!
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*/
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enum {
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ADIS16400_SCAN_SUPPLY,
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ADIS16400_SCAN_GYRO_X,
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ADIS16400_SCAN_GYRO_Y,
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ADIS16400_SCAN_GYRO_Z,
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ADIS16400_SCAN_ACC_X,
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ADIS16400_SCAN_ACC_Y,
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ADIS16400_SCAN_ACC_Z,
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ADIS16400_SCAN_MAGN_X,
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ADIS16400_SCAN_MAGN_Y,
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ADIS16400_SCAN_MAGN_Z,
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ADIS16400_SCAN_BARO,
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ADIS16350_SCAN_TEMP_X,
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ADIS16350_SCAN_TEMP_Y,
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ADIS16350_SCAN_TEMP_Z,
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ADIS16300_SCAN_INCLI_X,
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ADIS16300_SCAN_INCLI_Y,
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ADIS16400_SCAN_ADC,
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ADIS16400_SCAN_TIMESTAMP,
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};
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#ifdef CONFIG_IIO_BUFFER
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ssize_t adis16400_read_data_from_ring(struct device *dev,
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struct device_attribute *attr,
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char *buf);
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int adis16400_update_scan_mode(struct iio_dev *indio_dev,
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const unsigned long *scan_mask);
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irqreturn_t adis16400_trigger_handler(int irq, void *p);
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#else /* CONFIG_IIO_BUFFER */
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#define adis16400_update_scan_mode NULL
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#define adis16400_trigger_handler NULL
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#endif /* CONFIG_IIO_BUFFER */
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#endif /* SPI_ADIS16400_H_ */
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