Re: [PATCH 1/1] iio: imu: adis16475.c: Add delta angle and delta velocity channels
From: Nuno Sá
Date: Thu Jul 13 2023 - 02:57:45 EST
On Wed, 2023-07-12 at 10:50 +0300, Ramona Bolboaca wrote:
> Add delta angle and delta velocity channels to adis16475 driver.
> All supported devices offer the capabilities to read this data
> by performing raw register reads.
>
> Signed-off-by: Ramona Bolboaca <ramona.bolboaca@xxxxxxxxxx>
> ---
To note that for some devices (like adis1505) these channels can also be buffered
(not together with normal accel and gyro data) so we should support it as we have
everything needed. I honestly think it should be done right now but it would be a
more complex change, yes. Anyways, I don't feel too strong about it, so:
Reviewed-by: Nuno Sa <nuno.sa@xxxxxxxxxx>
(ABI related, we're also not completely sure IIO_ROT is a perfect fit but hopefully
good enough).
> drivers/iio/imu/adis16475.c | 88 +++++++++++++++++++++++++++++++++++++
> 1 file changed, 88 insertions(+)
>
> diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
> index 3abffb01ba31..84bee9e155bd 100644
> --- a/drivers/iio/imu/adis16475.c
> +++ b/drivers/iio/imu/adis16475.c
> @@ -31,6 +31,12 @@
> #define ADIS16475_REG_Y_ACCEL_L 0x14
> #define ADIS16475_REG_Z_ACCEL_L 0x18
> #define ADIS16475_REG_TEMP_OUT 0x1c
> +#define ADIS16475_REG_X_DELTANG_L 0x24
> +#define ADIS16475_REG_Y_DELTANG_L 0x28
> +#define ADIS16475_REG_Z_DELTANG_L 0x2C
> +#define ADIS16475_REG_X_DELTVEL_L 0x30
> +#define ADIS16475_REG_Y_DELTVEL_L 0x34
> +#define ADIS16475_REG_Z_DELTVEL_L 0x38
> #define ADIS16475_REG_X_GYRO_BIAS_L 0x40
> #define ADIS16475_REG_Y_GYRO_BIAS_L 0x44
> #define ADIS16475_REG_Z_GYRO_BIAS_L 0x48
> @@ -90,6 +96,8 @@ struct adis16475_chip_info {
> u32 accel_max_val;
> u32 accel_max_scale;
> u32 temp_scale;
> + u32 deltang_max_val;
> + u32 deltvel_max_val;
> u32 int_clk;
> u16 max_dec;
> u8 num_sync;
> @@ -453,6 +461,14 @@ static int adis16475_read_raw(struct iio_dev *indio_dev,
> case IIO_TEMP:
> *val = st->info->temp_scale;
> return IIO_VAL_INT;
> + case IIO_ROT:
> + *val = st->info->deltang_max_val;
> + *val2 = 31;
> + return IIO_VAL_FRACTIONAL_LOG2;
> + case IIO_VELOCITY:
> + *val = st->info->deltvel_max_val;
> + *val2 = 31;
> + return IIO_VAL_FRACTIONAL_LOG2;
> default:
> return -EINVAL;
> }
> @@ -553,6 +569,32 @@ static int adis16475_write_raw(struct iio_dev *indio_dev,
> }, \
> }
>
> +#define ADIS16475_MOD_CHAN_DELTA(_type, _mod, _address, _r_bits, _s_bits) { \
> + .type = (_type), \
> + .modified = 1, \
> + .channel2 = (_mod), \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
> + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
> + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
> + .address = (_address), \
> + .scan_index = -1, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = (_r_bits), \
> + .storagebits = (_s_bits), \
> + .endianness = IIO_BE, \
> + }, \
> + }
> +
> +#define ADIS16475_DELTANG_CHAN(_mod) \
> + ADIS16475_MOD_CHAN_DELTA(IIO_ROT, IIO_MOD_ ## _mod, \
> + ADIS16475_REG_ ## _mod ## _DELTANG_L, 32, 32)
> +
> +#define ADIS16475_DELTVEL_CHAN(_mod) \
> + ADIS16475_MOD_CHAN_DELTA(IIO_VELOCITY, IIO_MOD_ ## _mod, \
> + ADIS16475_REG_ ## _mod ## _DELTVEL_L, 32, 32)
> +
> static const struct iio_chan_spec adis16475_channels[] = {
> ADIS16475_GYRO_CHANNEL(X),
> ADIS16475_GYRO_CHANNEL(Y),
> @@ -561,6 +603,12 @@ static const struct iio_chan_spec adis16475_channels[] = {
> ADIS16475_ACCEL_CHANNEL(Y),
> ADIS16475_ACCEL_CHANNEL(Z),
> ADIS16475_TEMP_CHANNEL(),
> + ADIS16475_DELTANG_CHAN(X),
> + ADIS16475_DELTANG_CHAN(Y),
> + ADIS16475_DELTANG_CHAN(Z),
> + ADIS16475_DELTVEL_CHAN(X),
> + ADIS16475_DELTVEL_CHAN(Y),
> + ADIS16475_DELTVEL_CHAN(Z),
> IIO_CHAN_SOFT_TIMESTAMP(7)
> };
>
> @@ -664,6 +712,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 2160,
> + .deltvel_max_val = 400,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -679,6 +729,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 360,
> + .deltvel_max_val = 100,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -694,6 +746,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 720,
> + .deltvel_max_val = 100,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -709,6 +763,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 2160,
> + .deltvel_max_val = 100,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -724,6 +780,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 360,
> + .deltvel_max_val = 400,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -739,6 +797,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 720,
> + .deltvel_max_val = 400,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -754,6 +814,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 2160,
> + .deltvel_max_val = 400,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -769,6 +831,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 360,
> + .deltvel_max_val = 100,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -784,6 +848,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 720,
> + .deltvel_max_val = 100,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -799,6 +865,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 2160,
> + .deltvel_max_val = 100,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -814,6 +882,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 360,
> + .deltvel_max_val = 400,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -829,6 +899,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 720,
> + .deltvel_max_val = 400,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -844,6 +916,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 1,
> .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
> .temp_scale = 100,
> + .deltang_max_val = 2160,
> + .deltvel_max_val = 400,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -859,6 +933,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 392,
> .accel_max_scale = 32000 << 16,
> .temp_scale = 100,
> + .deltang_max_val = 2160,
> + .deltvel_max_val = 400,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -876,6 +952,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 78,
> .accel_max_scale = 32000 << 16,
> .temp_scale = 100,
> + .deltang_max_val = 360,
> + .deltvel_max_val = 100,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -893,6 +971,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 78,
> .accel_max_scale = 32000 << 16,
> .temp_scale = 100,
> + .deltang_max_val = 720,
> + .deltvel_max_val = 100,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -910,6 +990,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
> .accel_max_val = 78,
> .accel_max_scale = 32000 << 16,
> .temp_scale = 100,
> + .deltang_max_val = 2160,
> + .deltvel_max_val = 100,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -927,6 +1009,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> = {
> .accel_max_val = 392,
> .accel_max_scale = 32000 << 16,
> .temp_scale = 100,
> + .deltang_max_val = 360,
> + .deltvel_max_val = 400,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -944,6 +1028,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> = {
> .accel_max_val = 392,
> .accel_max_scale = 32000 << 16,
> .temp_scale = 100,
> + .deltang_max_val = 720,
> + .deltvel_max_val = 400,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,
> @@ -961,6 +1047,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> = {
> .accel_max_val = 392,
> .accel_max_scale = 32000 << 16,
> .temp_scale = 100,
> + .deltang_max_val = 2160,
> + .deltvel_max_val = 400,
> .int_clk = 2000,
> .max_dec = 1999,
> .sync = adis16475_sync_mode,