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git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git
kernel
os
linux
iio: imu: adis16480.c: Add delta angle and delta velocity channels
Add support for delta angle and delta velocity raw readings to
adis16480 driver.
The following devices do not support delta readings in burst mode:
ADIS16375, ADIS16480, ADIS16485, ADIS16488, ADIS16490, ADIS16495-1,
ADIS16495-2, ADIS16495-3, ADIS16497-1, ADIS16497-2, ADIS16497-3, thus
they cannot be retrieved via the buffer interface.
For these devices, the delta measurements are retrieved by performing
normal register readings and are made available through the raw
attributes of the specific channels.
Signed-off-by: Ramona Gradinariu <ramona.gradinariu@analog.com>
Reviewed-by: Nuno Sa <nuno.sa@analog.com>
Link: https://lore.kernel.org/r/20240528142409.239187-3-ramona.gradinariu@analog.com
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
authored by
Ramona Gradinariu
and committed by
Jonathan Cameron
196f5406
8c0a438f
+70
-2
+70
-2
drivers/iio/imu/adis16480.c
+70
-2
drivers/iio/imu/adis16480.c
···
140
140
unsigned int accel_max_val;
141
141
unsigned int accel_max_scale;
142
142
unsigned int temp_scale;
143
+
unsigned int deltang_max_val;
144
+
unsigned int deltvel_max_val;
143
145
unsigned int int_clk;
144
146
unsigned int max_dec_rate;
145
147
const unsigned int *filter_freqs;
···
447
445
ADIS16480_SCAN_MAGN_Z,
448
446
ADIS16480_SCAN_BARO,
449
447
ADIS16480_SCAN_TEMP,
448
+
ADIS16480_SCAN_DELTANG_X,
449
+
ADIS16480_SCAN_DELTANG_Y,
450
+
ADIS16480_SCAN_DELTANG_Z,
451
+
ADIS16480_SCAN_DELTVEL_X,
452
+
ADIS16480_SCAN_DELTVEL_Y,
453
+
ADIS16480_SCAN_DELTVEL_Z,
450
454
};
451
455
452
456
static const unsigned int adis16480_calibbias_regs[] = {
···
696
688
*val = 131; /* 1310mbar = 131 kPa */
697
689
*val2 = 32767 << 16;
698
690
return IIO_VAL_FRACTIONAL;
691
+
case IIO_DELTA_ANGL:
692
+
*val = st->chip_info->deltang_max_val;
693
+
*val2 = 31;
694
+
return IIO_VAL_FRACTIONAL_LOG2;
695
+
case IIO_DELTA_VELOCITY:
696
+
*val = st->chip_info->deltvel_max_val;
697
+
*val2 = 31;
698
+
return IIO_VAL_FRACTIONAL_LOG2;
699
699
default:
700
700
return -EINVAL;
701
701
}
···
777
761
BIT(IIO_CHAN_INFO_CALIBSCALE), \
778
762
32)
779
763
764
+
#define ADIS16480_DELTANG_CHANNEL(_mod) \
765
+
ADIS16480_MOD_CHANNEL(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
766
+
ADIS16480_REG_ ## _mod ## _DELTAANG_OUT, ADIS16480_SCAN_DELTANG_ ## _mod, \
767
+
0, 32)
768
+
769
+
#define ADIS16480_DELTANG_CHANNEL_NO_SCAN(_mod) \
770
+
ADIS16480_MOD_CHANNEL(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
771
+
ADIS16480_REG_ ## _mod ## _DELTAANG_OUT, -1, 0, 32)
772
+
773
+
#define ADIS16480_DELTVEL_CHANNEL(_mod) \
774
+
ADIS16480_MOD_CHANNEL(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
775
+
ADIS16480_REG_ ## _mod ## _DELTAVEL_OUT, ADIS16480_SCAN_DELTVEL_ ## _mod, \
776
+
0, 32)
777
+
778
+
#define ADIS16480_DELTVEL_CHANNEL_NO_SCAN(_mod) \
779
+
ADIS16480_MOD_CHANNEL(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
780
+
ADIS16480_REG_ ## _mod ## _DELTAVEL_OUT, -1, 0, 32)
781
+
780
782
#define ADIS16480_MAGN_CHANNEL(_mod) \
781
783
ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
782
784
ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
···
850
816
ADIS16480_MAGN_CHANNEL(Z),
851
817
ADIS16480_PRESSURE_CHANNEL(),
852
818
ADIS16480_TEMP_CHANNEL(),
853
-
IIO_CHAN_SOFT_TIMESTAMP(11)
819
+
IIO_CHAN_SOFT_TIMESTAMP(11),
820
+
ADIS16480_DELTANG_CHANNEL_NO_SCAN(X),
821
+
ADIS16480_DELTANG_CHANNEL_NO_SCAN(Y),
822
+
ADIS16480_DELTANG_CHANNEL_NO_SCAN(Z),
823
+
ADIS16480_DELTVEL_CHANNEL_NO_SCAN(X),
824
+
ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Y),
825
+
ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Z),
854
826
};
855
827
856
828
static const struct iio_chan_spec adis16485_channels[] = {
···
867
827
ADIS16480_ACCEL_CHANNEL(Y),
868
828
ADIS16480_ACCEL_CHANNEL(Z),
869
829
ADIS16480_TEMP_CHANNEL(),
870
-
IIO_CHAN_SOFT_TIMESTAMP(7)
830
+
IIO_CHAN_SOFT_TIMESTAMP(7),
831
+
ADIS16480_DELTANG_CHANNEL_NO_SCAN(X),
832
+
ADIS16480_DELTANG_CHANNEL_NO_SCAN(Y),
833
+
ADIS16480_DELTANG_CHANNEL_NO_SCAN(Z),
834
+
ADIS16480_DELTVEL_CHANNEL_NO_SCAN(X),
835
+
ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Y),
836
+
ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Z),
871
837
};
872
838
873
839
enum adis16480_variant {
···
984
938
.accel_max_val = IIO_M_S_2_TO_G(21973 << 16),
985
939
.accel_max_scale = 18,
986
940
.temp_scale = 5650, /* 5.65 milli degree Celsius */
941
+
.deltang_max_val = IIO_DEGREE_TO_RAD(180),
942
+
.deltvel_max_val = 100,
987
943
.int_clk = 2460000,
988
944
.max_dec_rate = 2048,
989
945
.has_sleep_cnt = true,
···
1000
952
.accel_max_val = IIO_M_S_2_TO_G(12500 << 16),
1001
953
.accel_max_scale = 10,
1002
954
.temp_scale = 5650, /* 5.65 milli degree Celsius */
955
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
956
+
.deltvel_max_val = 200,
1003
957
.int_clk = 2460000,
1004
958
.max_dec_rate = 2048,
1005
959
.has_sleep_cnt = true,
···
1016
966
.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
1017
967
.accel_max_scale = 5,
1018
968
.temp_scale = 5650, /* 5.65 milli degree Celsius */
969
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
970
+
.deltvel_max_val = 50,
1019
971
.int_clk = 2460000,
1020
972
.max_dec_rate = 2048,
1021
973
.has_sleep_cnt = true,
···
1032
980
.accel_max_val = IIO_M_S_2_TO_G(22500 << 16),
1033
981
.accel_max_scale = 18,
1034
982
.temp_scale = 5650, /* 5.65 milli degree Celsius */
983
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
984
+
.deltvel_max_val = 200,
1035
985
.int_clk = 2460000,
1036
986
.max_dec_rate = 2048,
1037
987
.has_sleep_cnt = true,
···
1048
994
.accel_max_val = IIO_M_S_2_TO_G(16000 << 16),
1049
995
.accel_max_scale = 8,
1050
996
.temp_scale = 14285, /* 14.285 milli degree Celsius */
997
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
998
+
.deltvel_max_val = 200,
1051
999
.int_clk = 4250000,
1052
1000
.max_dec_rate = 4250,
1053
1001
.filter_freqs = adis16495_def_filter_freqs,
···
1064
1008
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
1065
1009
.accel_max_scale = 8,
1066
1010
.temp_scale = 12500, /* 12.5 milli degree Celsius */
1011
+
.deltang_max_val = IIO_DEGREE_TO_RAD(360),
1012
+
.deltvel_max_val = 100,
1067
1013
.int_clk = 4250000,
1068
1014
.max_dec_rate = 4250,
1069
1015
.filter_freqs = adis16495_def_filter_freqs,
···
1083
1025
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
1084
1026
.accel_max_scale = 8,
1085
1027
.temp_scale = 12500, /* 12.5 milli degree Celsius */
1028
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
1029
+
.deltvel_max_val = 100,
1086
1030
.int_clk = 4250000,
1087
1031
.max_dec_rate = 4250,
1088
1032
.filter_freqs = adis16495_def_filter_freqs,
···
1102
1042
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
1103
1043
.accel_max_scale = 8,
1104
1044
.temp_scale = 12500, /* 12.5 milli degree Celsius */
1045
+
.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
1046
+
.deltvel_max_val = 100,
1105
1047
.int_clk = 4250000,
1106
1048
.max_dec_rate = 4250,
1107
1049
.filter_freqs = adis16495_def_filter_freqs,
···
1121
1059
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
1122
1060
.accel_max_scale = 40,
1123
1061
.temp_scale = 12500, /* 12.5 milli degree Celsius */
1062
+
.deltang_max_val = IIO_DEGREE_TO_RAD(360),
1063
+
.deltvel_max_val = 400,
1124
1064
.int_clk = 4250000,
1125
1065
.max_dec_rate = 4250,
1126
1066
.filter_freqs = adis16495_def_filter_freqs,
···
1140
1076
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
1141
1077
.accel_max_scale = 40,
1142
1078
.temp_scale = 12500, /* 12.5 milli degree Celsius */
1079
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
1080
+
.deltvel_max_val = 400,
1143
1081
.int_clk = 4250000,
1144
1082
.max_dec_rate = 4250,
1145
1083
.filter_freqs = adis16495_def_filter_freqs,
···
1159
1093
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
1160
1094
.accel_max_scale = 40,
1161
1095
.temp_scale = 12500, /* 12.5 milli degree Celsius */
1096
+
.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
1097
+
.deltvel_max_val = 400,
1162
1098
.int_clk = 4250000,
1163
1099
.max_dec_rate = 4250,
1164
1100
.filter_freqs = adis16495_def_filter_freqs,