Linux kernel mirror (for testing)
git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git
kernel
os
linux
iio: imu: adis16475.c: Add delta angle and delta velocity channels
Add support for delta angle and delta velocity raw and buffer
readings to adis16475 driver.
Signed-off-by: Ramona Bolboaca <ramona.bolboaca@analog.com>
Reviewed-by: Nuno Sa <nuno.sa@analog.com>
Link: https://lore.kernel.org/r/20230808075059.645525-4-ramona.bolboaca@analog.com
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
authored by
Ramona Bolboaca
and committed by
Jonathan Cameron
8f6bc87d
94a39f2c
+146
-19
+146
-19
drivers/iio/imu/adis16475.c
+146
-19
drivers/iio/imu/adis16475.c
···
31
31
#define ADIS16475_REG_Y_ACCEL_L 0x14
32
32
#define ADIS16475_REG_Z_ACCEL_L 0x18
33
33
#define ADIS16475_REG_TEMP_OUT 0x1c
34
+
#define ADIS16475_REG_X_DELTANG_L 0x24
35
+
#define ADIS16475_REG_Y_DELTANG_L 0x28
36
+
#define ADIS16475_REG_Z_DELTANG_L 0x2C
37
+
#define ADIS16475_REG_X_DELTVEL_L 0x30
38
+
#define ADIS16475_REG_Y_DELTVEL_L 0x34
39
+
#define ADIS16475_REG_Z_DELTVEL_L 0x38
34
40
#define ADIS16475_REG_X_GYRO_BIAS_L 0x40
35
41
#define ADIS16475_REG_Y_GYRO_BIAS_L 0x44
36
42
#define ADIS16475_REG_Z_GYRO_BIAS_L 0x48
···
61
55
#define ADIS16475_REG_PROD_ID 0x72
62
56
#define ADIS16475_REG_SERIAL_NUM 0x74
63
57
#define ADIS16475_REG_FLASH_CNT 0x7c
58
+
#define ADIS16500_BURST_DATA_SEL_MASK BIT(8)
64
59
#define ADIS16500_BURST32_MASK BIT(9)
65
60
#define ADIS16500_BURST32(x) FIELD_PREP(ADIS16500_BURST32_MASK, x)
66
61
/* number of data elements in burst mode */
···
72
65
#define ADIS16475_BURST_MAX_SPEED 1000000
73
66
#define ADIS16475_LSB_DEC_MASK BIT(0)
74
67
#define ADIS16475_LSB_FIR_MASK BIT(1)
68
+
#define ADIS16500_BURST_DATA_SEL_0_CHN_MASK GENMASK(5, 0)
69
+
#define ADIS16500_BURST_DATA_SEL_1_CHN_MASK GENMASK(12, 7)
75
70
76
71
enum {
77
72
ADIS16475_SYNC_DIRECT = 1,
···
93
84
const struct adis16475_sync *sync;
94
85
const struct adis_data adis_data;
95
86
const char *name;
87
+
#define ADIS16475_HAS_BURST32 BIT(0)
88
+
#define ADIS16475_HAS_BURST_DELTA_DATA BIT(1)
89
+
const long flags;
96
90
u32 num_channels;
97
91
u32 gyro_max_val;
98
92
u32 gyro_max_scale;
99
93
u32 accel_max_val;
100
94
u32 accel_max_scale;
101
95
u32 temp_scale;
96
+
u32 deltang_max_val;
97
+
u32 deltvel_max_val;
102
98
u32 int_clk;
103
99
u16 max_dec;
104
100
u8 num_sync;
105
-
bool has_burst32;
106
101
};
107
102
108
103
struct adis16475 {
···
128
115
ADIS16475_SCAN_ACCEL_Y,
129
116
ADIS16475_SCAN_ACCEL_Z,
130
117
ADIS16475_SCAN_TEMP,
118
+
ADIS16475_SCAN_DELTANG_X,
119
+
ADIS16475_SCAN_DELTANG_Y,
120
+
ADIS16475_SCAN_DELTANG_Z,
121
+
ADIS16475_SCAN_DELTVEL_X,
122
+
ADIS16475_SCAN_DELTVEL_Y,
123
+
ADIS16475_SCAN_DELTVEL_Z,
131
124
};
132
125
133
126
static bool low_rate_allow;
···
470
451
case IIO_TEMP:
471
452
*val = st->info->temp_scale;
472
453
return IIO_VAL_INT;
454
+
case IIO_DELTA_ANGL:
455
+
*val = st->info->deltang_max_val;
456
+
*val2 = 31;
457
+
return IIO_VAL_FRACTIONAL_LOG2;
458
+
case IIO_DELTA_VELOCITY:
459
+
*val = st->info->deltvel_max_val;
460
+
*val2 = 31;
461
+
return IIO_VAL_FRACTIONAL_LOG2;
473
462
default:
474
463
return -EINVAL;
475
464
}
···
578
551
}, \
579
552
}
580
553
554
+
#define ADIS16475_MOD_CHAN_DELTA(_type, _mod, _address, _si, _r_bits, _s_bits) { \
555
+
.type = (_type), \
556
+
.modified = 1, \
557
+
.channel2 = (_mod), \
558
+
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
559
+
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
560
+
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
561
+
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
562
+
.address = (_address), \
563
+
.scan_index = _si, \
564
+
.scan_type = { \
565
+
.sign = 's', \
566
+
.realbits = (_r_bits), \
567
+
.storagebits = (_s_bits), \
568
+
.endianness = IIO_BE, \
569
+
}, \
570
+
}
571
+
572
+
#define ADIS16475_DELTANG_CHAN(_mod) \
573
+
ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
574
+
ADIS16475_REG_ ## _mod ## _DELTANG_L, ADIS16475_SCAN_DELTANG_ ## _mod, 32, 32)
575
+
576
+
#define ADIS16475_DELTVEL_CHAN(_mod) \
577
+
ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
578
+
ADIS16475_REG_ ## _mod ## _DELTVEL_L, ADIS16475_SCAN_DELTVEL_ ## _mod, 32, 32)
579
+
581
580
static const struct iio_chan_spec adis16475_channels[] = {
582
581
ADIS16475_GYRO_CHANNEL(X),
583
582
ADIS16475_GYRO_CHANNEL(Y),
···
612
559
ADIS16475_ACCEL_CHANNEL(Y),
613
560
ADIS16475_ACCEL_CHANNEL(Z),
614
561
ADIS16475_TEMP_CHANNEL(),
615
-
IIO_CHAN_SOFT_TIMESTAMP(7)
562
+
ADIS16475_DELTANG_CHAN(X),
563
+
ADIS16475_DELTANG_CHAN(Y),
564
+
ADIS16475_DELTANG_CHAN(Z),
565
+
ADIS16475_DELTVEL_CHAN(X),
566
+
ADIS16475_DELTVEL_CHAN(Y),
567
+
ADIS16475_DELTVEL_CHAN(Z),
568
+
IIO_CHAN_SOFT_TIMESTAMP(13)
616
569
};
617
570
618
571
enum adis16475_variant {
···
721
662
.accel_max_val = 1,
722
663
.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
723
664
.temp_scale = 100,
665
+
.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
666
+
.deltvel_max_val = 400,
724
667
.int_clk = 2000,
725
668
.max_dec = 1999,
726
669
.sync = adis16475_sync_mode,
···
738
677
.accel_max_val = 1,
739
678
.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
740
679
.temp_scale = 100,
680
+
.deltang_max_val = IIO_DEGREE_TO_RAD(360),
681
+
.deltvel_max_val = 100,
741
682
.int_clk = 2000,
742
683
.max_dec = 1999,
743
684
.sync = adis16475_sync_mode,
···
755
692
.accel_max_val = 1,
756
693
.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
757
694
.temp_scale = 100,
695
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
696
+
.deltvel_max_val = 100,
758
697
.int_clk = 2000,
759
698
.max_dec = 1999,
760
699
.sync = adis16475_sync_mode,
···
772
707
.accel_max_val = 1,
773
708
.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
774
709
.temp_scale = 100,
710
+
.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
711
+
.deltvel_max_val = 100,
775
712
.int_clk = 2000,
776
713
.max_dec = 1999,
777
714
.sync = adis16475_sync_mode,
···
789
722
.accel_max_val = 1,
790
723
.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
791
724
.temp_scale = 100,
725
+
.deltang_max_val = IIO_DEGREE_TO_RAD(360),
726
+
.deltvel_max_val = 400,
792
727
.int_clk = 2000,
793
728
.max_dec = 1999,
794
729
.sync = adis16475_sync_mode,
795
730
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
796
-
.has_burst32 = true,
731
+
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
797
732
.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
798
733
},
799
734
[ADIS16477_2] = {
···
807
738
.accel_max_val = 1,
808
739
.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
809
740
.temp_scale = 100,
741
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
742
+
.deltvel_max_val = 400,
810
743
.int_clk = 2000,
811
744
.max_dec = 1999,
812
745
.sync = adis16475_sync_mode,
813
746
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
814
-
.has_burst32 = true,
747
+
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
815
748
.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
816
749
},
817
750
[ADIS16477_3] = {
···
825
754
.accel_max_val = 1,
826
755
.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
827
756
.temp_scale = 100,
757
+
.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
758
+
.deltvel_max_val = 400,
828
759
.int_clk = 2000,
829
760
.max_dec = 1999,
830
761
.sync = adis16475_sync_mode,
831
762
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
832
-
.has_burst32 = true,
763
+
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
833
764
.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
834
765
},
835
766
[ADIS16465_1] = {
···
843
770
.accel_max_val = 1,
844
771
.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
845
772
.temp_scale = 100,
773
+
.deltang_max_val = IIO_DEGREE_TO_RAD(360),
774
+
.deltvel_max_val = 100,
846
775
.int_clk = 2000,
847
776
.max_dec = 1999,
848
777
.sync = adis16475_sync_mode,
···
860
785
.accel_max_val = 1,
861
786
.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
862
787
.temp_scale = 100,
788
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
789
+
.deltvel_max_val = 100,
863
790
.int_clk = 2000,
864
791
.max_dec = 1999,
865
792
.sync = adis16475_sync_mode,
···
877
800
.accel_max_val = 1,
878
801
.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
879
802
.temp_scale = 100,
803
+
.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
804
+
.deltvel_max_val = 100,
880
805
.int_clk = 2000,
881
806
.max_dec = 1999,
882
807
.sync = adis16475_sync_mode,
···
894
815
.accel_max_val = 1,
895
816
.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
896
817
.temp_scale = 100,
818
+
.deltang_max_val = IIO_DEGREE_TO_RAD(360),
819
+
.deltvel_max_val = 400,
897
820
.int_clk = 2000,
898
821
.max_dec = 1999,
899
822
.sync = adis16475_sync_mode,
···
911
830
.accel_max_val = 1,
912
831
.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
913
832
.temp_scale = 100,
833
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
834
+
.deltvel_max_val = 400,
914
835
.int_clk = 2000,
915
836
.max_dec = 1999,
916
837
.sync = adis16475_sync_mode,
···
928
845
.accel_max_val = 1,
929
846
.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
930
847
.temp_scale = 100,
848
+
.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
849
+
.deltvel_max_val = 400,
931
850
.int_clk = 2000,
932
851
.max_dec = 1999,
933
852
.sync = adis16475_sync_mode,
···
945
860
.accel_max_val = 392,
946
861
.accel_max_scale = 32000 << 16,
947
862
.temp_scale = 100,
863
+
.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
864
+
.deltvel_max_val = 400,
948
865
.int_clk = 2000,
949
866
.max_dec = 1999,
950
867
.sync = adis16475_sync_mode,
951
868
/* pulse sync not supported */
952
869
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
953
-
.has_burst32 = true,
870
+
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
954
871
.adis_data = ADIS16475_DATA(16500, &adis1650x_timeouts),
955
872
},
956
873
[ADIS16505_1] = {
···
964
877
.accel_max_val = 78,
965
878
.accel_max_scale = 32000 << 16,
966
879
.temp_scale = 100,
880
+
.deltang_max_val = IIO_DEGREE_TO_RAD(360),
881
+
.deltvel_max_val = 100,
967
882
.int_clk = 2000,
968
883
.max_dec = 1999,
969
884
.sync = adis16475_sync_mode,
970
885
/* pulse sync not supported */
971
886
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
972
-
.has_burst32 = true,
887
+
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
973
888
.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
974
889
},
975
890
[ADIS16505_2] = {
···
983
894
.accel_max_val = 78,
984
895
.accel_max_scale = 32000 << 16,
985
896
.temp_scale = 100,
897
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
898
+
.deltvel_max_val = 100,
986
899
.int_clk = 2000,
987
900
.max_dec = 1999,
988
901
.sync = adis16475_sync_mode,
989
902
/* pulse sync not supported */
990
903
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
991
-
.has_burst32 = true,
904
+
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
992
905
.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
993
906
},
994
907
[ADIS16505_3] = {
···
1002
911
.accel_max_val = 78,
1003
912
.accel_max_scale = 32000 << 16,
1004
913
.temp_scale = 100,
914
+
.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
915
+
.deltvel_max_val = 100,
1005
916
.int_clk = 2000,
1006
917
.max_dec = 1999,
1007
918
.sync = adis16475_sync_mode,
1008
919
/* pulse sync not supported */
1009
920
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
1010
-
.has_burst32 = true,
921
+
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
1011
922
.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
1012
923
},
1013
924
[ADIS16507_1] = {
···
1021
928
.accel_max_val = 392,
1022
929
.accel_max_scale = 32000 << 16,
1023
930
.temp_scale = 100,
931
+
.deltang_max_val = IIO_DEGREE_TO_RAD(360),
932
+
.deltvel_max_val = 400,
1024
933
.int_clk = 2000,
1025
934
.max_dec = 1999,
1026
935
.sync = adis16475_sync_mode,
1027
936
/* pulse sync not supported */
1028
937
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
1029
-
.has_burst32 = true,
938
+
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
1030
939
.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
1031
940
},
1032
941
[ADIS16507_2] = {
···
1040
945
.accel_max_val = 392,
1041
946
.accel_max_scale = 32000 << 16,
1042
947
.temp_scale = 100,
948
+
.deltang_max_val = IIO_DEGREE_TO_RAD(720),
949
+
.deltvel_max_val = 400,
1043
950
.int_clk = 2000,
1044
951
.max_dec = 1999,
1045
952
.sync = adis16475_sync_mode,
1046
953
/* pulse sync not supported */
1047
954
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
1048
-
.has_burst32 = true,
955
+
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
1049
956
.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
1050
957
},
1051
958
[ADIS16507_3] = {
···
1059
962
.accel_max_val = 392,
1060
963
.accel_max_scale = 32000 << 16,
1061
964
.temp_scale = 100,
965
+
.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
966
+
.deltvel_max_val = 400,
1062
967
.int_clk = 2000,
1063
968
.max_dec = 1999,
1064
969
.sync = adis16475_sync_mode,
1065
970
/* pulse sync not supported */
1066
971
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
1067
-
.has_burst32 = true,
972
+
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
1068
973
.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
1069
974
},
1070
975
};
1071
976
977
+
static int adis16475_update_scan_mode(struct iio_dev *indio_dev,
978
+
const unsigned long *scan_mask)
979
+
{
980
+
u16 en;
981
+
int ret;
982
+
struct adis16475 *st = iio_priv(indio_dev);
983
+
984
+
if (st->info->flags & ADIS16475_HAS_BURST_DELTA_DATA) {
985
+
if ((*scan_mask & ADIS16500_BURST_DATA_SEL_0_CHN_MASK) &&
986
+
(*scan_mask & ADIS16500_BURST_DATA_SEL_1_CHN_MASK))
987
+
return -EINVAL;
988
+
if (*scan_mask & ADIS16500_BURST_DATA_SEL_0_CHN_MASK)
989
+
en = FIELD_PREP(ADIS16500_BURST_DATA_SEL_MASK, 0);
990
+
else
991
+
en = FIELD_PREP(ADIS16500_BURST_DATA_SEL_MASK, 1);
992
+
993
+
ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
994
+
ADIS16500_BURST_DATA_SEL_MASK, en);
995
+
if (ret)
996
+
return ret;
997
+
}
998
+
999
+
return adis_update_scan_mode(indio_dev, scan_mask);
1000
+
}
1001
+
1072
1002
static const struct iio_info adis16475_info = {
1073
1003
.read_raw = &adis16475_read_raw,
1074
1004
.write_raw = &adis16475_write_raw,
1075
-
.update_scan_mode = adis_update_scan_mode,
1005
+
.update_scan_mode = adis16475_update_scan_mode,
1076
1006
.debugfs_reg_access = adis_debugfs_reg_access,
1077
1007
};
1078
1008
···
1122
998
int ret;
1123
999
struct adis *adis = &st->adis;
1124
1000
1125
-
if (!st->info->has_burst32)
1001
+
if (!(st->info->flags & ADIS16475_HAS_BURST32))
1126
1002
return;
1127
1003
1128
1004
if (st->lsb_flag && !st->burst32) {
···
1168
1044
struct iio_dev *indio_dev = pf->indio_dev;
1169
1045
struct adis16475 *st = iio_priv(indio_dev);
1170
1046
struct adis *adis = &st->adis;
1171
-
int ret, bit, i = 0;
1047
+
int ret, bit, buff_offset = 0, i = 0;
1172
1048
__be16 *buffer;
1173
1049
u16 crc;
1174
1050
bool valid;
···
1198
1074
case ADIS16475_SCAN_TEMP:
1199
1075
st->data[i++] = buffer[offset];
1200
1076
break;
1077
+
case ADIS16475_SCAN_DELTANG_X ... ADIS16475_SCAN_DELTVEL_Z:
1078
+
buff_offset = ADIS16475_SCAN_DELTANG_X;
1079
+
fallthrough;
1201
1080
case ADIS16475_SCAN_GYRO_X ... ADIS16475_SCAN_ACCEL_Z:
1202
1081
/*
1203
1082
* The first 2 bytes on the received data are the
···
1208
1081
*/
1209
1082
if (st->burst32) {
1210
1083
/* upper 16 */
1211
-
st->data[i++] = buffer[bit * 2 + 2];
1084
+
st->data[i++] = buffer[(bit - buff_offset) * 2 + 2];
1212
1085
/* lower 16 */
1213
-
st->data[i++] = buffer[bit * 2 + 1];
1086
+
st->data[i++] = buffer[(bit - buff_offset) * 2 + 1];
1214
1087
} else {
1215
-
st->data[i++] = buffer[bit + 1];
1088
+
st->data[i++] = buffer[(bit - buff_offset) + 1];
1216
1089
/*
1217
1090
* Don't bother in doing the manual read if the
1218
1091
* device supports burst32. burst32 will be
1219
1092
* enabled in the next call to
1220
1093
* adis16475_burst32_check()...
1221
1094
*/
1222
-
if (st->lsb_flag && !st->info->has_burst32) {
1095
+
if (st->lsb_flag && !(st->info->flags & ADIS16475_HAS_BURST32)) {
1223
1096
u16 val = 0;
1224
1097
const u32 reg = ADIS16475_REG_X_GYRO_L +
1225
1098
bit * 4;