[PATCH v2 2/6] iio: imu: adis16480.c: Add delta angle and delta velocity channels

Linux Documentation
 help / color / mirror / Atom feed

From: Ramona Gradinariu <ramona.bolboaca13@gmail.com>
To: linux-kernel@vger.kernel.org, jic23@kernel.org,
	linux-iio@vger.kernel.org, linux-doc@vger.kernel.org,
	devicetree@vger.kernel.org, corbet@lwn.net, conor+dt@kernel.org,
	krzysztof.kozlowski+dt@linaro.org, robh@kernel.org
Cc: Ramona Gradinariu <ramona.gradinariu@analog.com>
Subject: [PATCH v2 2/6] iio: imu: adis16480.c: Add delta angle and delta velocity channels
Date: Tue, 28 May 2024 17:24:05 +0300	[thread overview]
Message-ID: <20240528142409.239187-3-ramona.gradinariu@analog.com> (raw)
In-Reply-To: <20240528142409.239187-1-ramona.gradinariu@analog.com>

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>
---
changes in v2:
 - updated commit message
 drivers/iio/imu/adis16480.c | 72 +++++++++++++++++++++++++++++++++++--
 1 file changed, 70 insertions(+), 2 deletions(-)

diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index bc6cbd00cd4b..0cd55040db93 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -140,6 +140,8 @@ struct adis16480_chip_info {
 	unsigned int accel_max_val;
 	unsigned int accel_max_scale;
 	unsigned int temp_scale;
+	unsigned int deltang_max_val;
+	unsigned int deltvel_max_val;
 	unsigned int int_clk;
 	unsigned int max_dec_rate;
 	const unsigned int *filter_freqs;
@@ -445,6 +447,12 @@ enum {
 	ADIS16480_SCAN_MAGN_Z,
 	ADIS16480_SCAN_BARO,
 	ADIS16480_SCAN_TEMP,
+	ADIS16480_SCAN_DELTANG_X,
+	ADIS16480_SCAN_DELTANG_Y,
+	ADIS16480_SCAN_DELTANG_Z,
+	ADIS16480_SCAN_DELTVEL_X,
+	ADIS16480_SCAN_DELTVEL_Y,
+	ADIS16480_SCAN_DELTVEL_Z,
 };

 static const unsigned int adis16480_calibbias_regs[] = {
@@ -688,6 +696,14 @@ static int adis16480_read_raw(struct iio_dev *indio_dev,
 			*val = 131; /* 1310mbar = 131 kPa */
 			*val2 = 32767 << 16;
 			return IIO_VAL_FRACTIONAL;
+		case IIO_DELTA_ANGL:
+			*val = st->chip_info->deltang_max_val;
+			*val2 = 31;
+			return IIO_VAL_FRACTIONAL_LOG2;
+		case IIO_DELTA_VELOCITY:
+			*val = st->chip_info->deltvel_max_val;
+			*val2 = 31;
+			return IIO_VAL_FRACTIONAL_LOG2;
 		default:
 			return -EINVAL;
 		}
@@ -761,6 +777,24 @@ static int adis16480_write_raw(struct iio_dev *indio_dev,
 	BIT(IIO_CHAN_INFO_CALIBSCALE), \
 	32)

+#define ADIS16480_DELTANG_CHANNEL(_mod) \
+	ADIS16480_MOD_CHANNEL(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
+	ADIS16480_REG_ ## _mod ## _DELTAANG_OUT, ADIS16480_SCAN_DELTANG_ ## _mod, \
+	0, 32)
+
+#define ADIS16480_DELTANG_CHANNEL_NO_SCAN(_mod) \
+	ADIS16480_MOD_CHANNEL(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
+	ADIS16480_REG_ ## _mod ## _DELTAANG_OUT, -1, 0, 32)
+
+#define ADIS16480_DELTVEL_CHANNEL(_mod) \
+	ADIS16480_MOD_CHANNEL(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
+	ADIS16480_REG_ ## _mod ## _DELTAVEL_OUT, ADIS16480_SCAN_DELTVEL_ ## _mod, \
+	0, 32)
+
+#define ADIS16480_DELTVEL_CHANNEL_NO_SCAN(_mod) \
+	ADIS16480_MOD_CHANNEL(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
+	ADIS16480_REG_ ## _mod ## _DELTAVEL_OUT, -1, 0,	32)
+
 #define ADIS16480_MAGN_CHANNEL(_mod) \
 	ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
 	ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
@@ -816,7 +850,13 @@ static const struct iio_chan_spec adis16480_channels[] = {
 	ADIS16480_MAGN_CHANNEL(Z),
 	ADIS16480_PRESSURE_CHANNEL(),
 	ADIS16480_TEMP_CHANNEL(),
-	IIO_CHAN_SOFT_TIMESTAMP(11)
+	IIO_CHAN_SOFT_TIMESTAMP(11),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(X),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(Y),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(Z),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(X),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Y),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Z),
 };

 static const struct iio_chan_spec adis16485_channels[] = {
@@ -827,7 +867,13 @@ static const struct iio_chan_spec adis16485_channels[] = {
 	ADIS16480_ACCEL_CHANNEL(Y),
 	ADIS16480_ACCEL_CHANNEL(Z),
 	ADIS16480_TEMP_CHANNEL(),
-	IIO_CHAN_SOFT_TIMESTAMP(7)
+	IIO_CHAN_SOFT_TIMESTAMP(7),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(X),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(Y),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(Z),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(X),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Y),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Z),
 };

 enum adis16480_variant {
@@ -938,6 +984,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(21973 << 16),
 		.accel_max_scale = 18,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(180),
+		.deltvel_max_val = 100,
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
 		.has_sleep_cnt = true,
@@ -952,6 +1000,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(12500 << 16),
 		.accel_max_scale = 10,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 200,
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
 		.has_sleep_cnt = true,
@@ -966,6 +1016,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
 		.accel_max_scale = 5,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 50,
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
 		.has_sleep_cnt = true,
@@ -980,6 +1032,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(22500 << 16),
 		.accel_max_scale = 18,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 200,
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
 		.has_sleep_cnt = true,
@@ -994,6 +1048,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(16000 << 16),
 		.accel_max_scale = 8,
 		.temp_scale = 14285, /* 14.285 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 200,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1008,6 +1064,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 8,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 100,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1025,6 +1083,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 8,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 100,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1042,6 +1102,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 8,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 100,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1059,6 +1121,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 40,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 400,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1076,6 +1140,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 40,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 400,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1093,6 +1159,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 40,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
--
2.34.1

next prev parent reply	other threads:[~2024-05-28 14:24 UTC|newest]

Thread overview: 11+ messages / expand[flat|nested]  mbox.gz  Atom feed  top
2024-05-28 14:24 [PATCH v2 0/6] Add support for adis16545/47 Ramona Gradinariu
2024-05-28 14:24 ` [PATCH v2 1/6] iio: adis16480: make the burst_max_speed configurable Ramona Gradinariu
2024-05-28 14:24 ` Ramona Gradinariu [this message]
2024-05-28 14:24 ` [PATCH v2 3/6] dt-bindings: iio: imu: Add ADIS16545/47 compatibles Ramona Gradinariu
2024-05-28 15:05   ` Conor Dooley
2024-05-28 14:24 ` [PATCH v2 4/6] iio: adis16480: add support for adis16545/7 families Ramona Gradinariu
2024-05-28 14:24 ` [PATCH v2 5/6] docs: iio: add documentation for interfacing tools Ramona Gradinariu
2024-05-28 14:24 ` [PATCH v2 6/6] docs: iio: add documentation for adis16480 driver Ramona Gradinariu
2024-06-08 13:44   ` Jonathan Cameron
2024-05-29  8:40 ` [PATCH v2 0/6] Add support for adis16545/47 Nuno Sá
2024-06-02 11:16   ` Jonathan Cameron

find likely ancestor, descendant, or conflicting patches for this message:
( dfblob:bc6cbd00cd4 dfblob:0cd55040db9 )
 OR (
bs:"[PATCH v2 2/6] iio: imu: adis16480.c: Add delta angle and delta velocity channels" )
	(help)

Reply instructions:

You may reply publicly to this message via plain-text email
using any one of the following methods:

* Save the following mbox file, import it into your mail client,
  and reply-to-all from there: mbox

  Avoid top-posting and favor interleaved quoting:
  https://en.wikipedia.org/wiki/Posting_style#Interleaved_style

* Reply using the --to, --cc, and --in-reply-to
  switches of git-send-email(1):

  git send-email \
    --in-reply-to=20240528142409.239187-3-ramona.gradinariu@analog.com \
    --to=ramona.bolboaca13@gmail.com \
    --cc=conor+dt@kernel.org \
    --cc=corbet@lwn.net \
    --cc=devicetree@vger.kernel.org \
    --cc=jic23@kernel.org \
    --cc=krzysztof.kozlowski+dt@linaro.org \
    --cc=linux-doc@vger.kernel.org \
    --cc=linux-iio@vger.kernel.org \
    --cc=linux-kernel@vger.kernel.org \
    --cc=ramona.gradinariu@analog.com \
    --cc=robh@kernel.org \
    /path/to/YOUR_REPLY

  https://kernel.org/pub/software/scm/git/docs/git-send-email.html

* If your mail client supports setting the In-Reply-To header
  via mailto: links, try the mailto: link

Be sure your reply has a Subject: header at the top and a blank line before the message body.

This is a public inbox, see mirroring instructions
for how to clone and mirror all data and code used for this inbox