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Date:   Thu, 20 Jul 2023 19:34:57 +0100
From:   Jonathan Cameron <jic23@kernel.org>
To:     Nuno =?UTF-8?B?U8Oh?= <noname.nuno@gmail.com>
Cc:     Ramona Bolboaca <ramona.bolboaca@analog.com>, nuno.sa@analog.com,
        linux-iio@vger.kernel.org, linux-kernel@vger.kernel.org
Subject: Re: [PATCH 1/1] iio: imu: adis16475.c: Add delta angle and delta
 velocity channels
Message-ID: <20230720193457.272f02a9@jic23-huawei>
In-Reply-To: <348244b1eb676047055fcc08d380b001d5de9796.camel@gmail.com>
References: <20230712075054.953421-1-ramona.bolboaca@analog.com>
        <20230712075054.953421-2-ramona.bolboaca@analog.com>
        <a88df73e0abda8da0a4af82a6ae5b79083bcc14b.camel@gmail.com>
        <20230716150424.50936ff1@jic23-huawei>
        <348244b1eb676047055fcc08d380b001d5de9796.camel@gmail.com>
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On Mon, 17 Jul 2023 09:09:39 +0200
Nuno S=C3=A1 <noname.nuno@gmail.com> wrote:

> Hi Jonathan,
>=20
> On Sun, 2023-07-16 at 15:04 +0100, Jonathan Cameron wrote:
> > On Thu, 13 Jul 2023 08:57:34 +0200
> > Nuno S=C3=A1 <noname.nuno@gmail.com> wrote:
> >  =20
> > > On Wed, 2023-07-12 at 10:50 +0300, Ramona Bolboaca wrote: =20
> > > > 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.
> > > >=20
> > > > Signed-off-by: Ramona Bolboaca <ramona.bolboaca@analog.com>
> > > > ---=C2=A0  =20
> > >=20
> > > 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 i=
t as we have
> > > everything needed. I honestly think it should be done right now but i=
t would be a
> > > more complex change, yes. Anyways, I don't feel too strong about it, =
so: =20
> >=20
> > Sounds like multiple buffer support needed etc, so definitely a bigger =
change.
> >  =20
> > >=20
> > > Reviewed-by: Nuno Sa <nuno.sa@analog.com>
> > >=20
> > > (ABI related, we're also not completely sure IIO_ROT is a perfect fit=
 but
> > > hopefully
> > > good enough). =20
> >=20
> > That's a good point.=C2=A0 ROT is used in two ways previously:
> > 1) Rotation from magnetic / true north
> > 2) Quaternion absolute rotation.
> >=20
> > A delta value like this isn't even close to the same.=C2=A0 In fact, gi=
ven I assume
> > this operates when the device is self clocking, they seem to be rotatio=
n in
> > a fixed time - (so in units, scaled version of radians per second - whe=
re scale
> > involves the sampling period).
> > That unit set is same as anglvel which we already have from the gyrosco=
pe
> > (though as an instantaneous measurement)
> >  =20
>=20
> I think we really get angles in these channels..
>=20
> > I guess the intent here is that a driver would probably 'sum' the value=
s from
> > each sample from the fifo to establish what we'd expect from IIO_ROT ch=
annels
> > (rotation wrt some fixed location)=C2=A0 We could do that - but then yo=
u'd need =20
>=20
> These looks like the roll, pitch, yaw modifiers (see below).

Those are wrt to an absolute orientation (kind of because they interact hor=
ribly
and it depends on starting point, but lets ignore those subtleties.  Quater=
nions
people - learn the maths! - or use the appropriate Lie Group / Geometric al=
gebra
form of your choice).

>=20
> > to support the buffer.=C2=A0=C2=A0 That raises the question - is this u=
seful without
> > buffered support?=C2=A0 Is it helpful to know a single reading from thi=
s?
> >=20
> > In their raw form I'm not sure what is a good way to represent these.=
=C2=A0 They
> > aren't IIO_ROT and they aren't IIO_ANG_VEL.
> >=20
> > Much as I don't like adding them with out good reason I think we may ne=
ed a new
> > channel type for this.
> >=20
> > Same applies to delta velocity.
> >=20
> >  =20
>=20
> Hmm, at least this one I though it was a good fit. From the datasheet:
>=20
> "The delta velocity outputs represent an integration of the
> acceleration measurements and use the following formula for
> all three axes (x-axis displayed):"
>=20
> So this reads velocity (at least from a math point of view :)) and the un=
its are
> indeed in m/s.
>=20
> For the gyroscope data, it's the same but I'm not sure if the integration=
 of the data
> directly fits in IIO_ROT (even though we are getting angles). From quickl=
y googling
> it, things like roll, pitch, yaw started to pop up (and we do have those =
modifiers
> for IIO_ROT in the ABI). But from [1] (which is actually and ADI support =
forum :)),
> it seems those refer to accumulating these samples (as you mentioned) whi=
ch I guess
> it would be up to the application to deal with... So even though
> in_rot_{yaw|pitch|roll}_raw seems it could fit I'm not so sure since we a=
re not
> really doing any accumulation (unless adding buffer support implies it)?
>=20
> We also have in in_angl_raw (IIO_ANGL):
>=20
> "Angle of rotation. Units after application of scale and offset are radia=
ns."
>=20
> Would this fit? We would need to extend the ABI to document the x,y,z mod=
ifiers...

I think it only fits if integrated another time in the driver (which we don=
't want to do
based on general approach in IIO of leaving that sort of complexity to user=
space).
Otherwise we have a set of delta angles over time which is not what IIO_ANG=
L is for.
Mostly it's been used for tilt sensors IIRC and those have a measurement re=
lative to
a fixed point (rather than the last sample)



>=20
> Anyways, these were just my 5 cents and 5min googling is far from being a=
ccurate :).=20
>=20
> [1]: https://ez.analog.com/mems/f/q-a/90988/adis16488bmlz-what-is-the-del=
ta-angles
>=20
> - Nuno S=C3=A1
>=20
> > >  =20
> > > > =C2=A0drivers/iio/imu/adis16475.c | 88 ++++++++++++++++++++++++++++=
+++++++++
> > > > =C2=A01 file changed, 88 insertions(+)
> > > >=20
> > > > diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis1647=
5.c
> > > > index 3abffb01ba31..84bee9e155bd 100644
> > > > --- a/drivers/iio/imu/adis16475.c
> > > > +++ b/drivers/iio/imu/adis16475.c
> > > > @@ -31,6 +31,12 @@
> > > > =C2=A0#define ADIS16475_REG_Y_ACCEL_L=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A00x14
> > > > =C2=A0#define ADIS16475_REG_Z_ACCEL_L=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A00x18
> > > > =C2=A0#define ADIS16475_REG_TEMP_OUT=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A00x1c
> > > > +#define ADIS16475_REG_X_DELTANG_L=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A00x24
> > > > +#define ADIS16475_REG_Y_DELTANG_L=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A00x28
> > > > +#define ADIS16475_REG_Z_DELTANG_L=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A00x2C
> > > > +#define ADIS16475_REG_X_DELTVEL_L=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A00x30
> > > > +#define ADIS16475_REG_Y_DELTVEL_L=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A00x34
> > > > +#define ADIS16475_REG_Z_DELTVEL_L=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A00x38
> > > > =C2=A0#define ADIS16475_REG_X_GYRO_BIAS_L=C2=A0=C2=A0=C2=A0=C2=A00x=
40
> > > > =C2=A0#define ADIS16475_REG_Y_GYRO_BIAS_L=C2=A0=C2=A0=C2=A0=C2=A00x=
44
> > > > =C2=A0#define ADIS16475_REG_Z_GYRO_BIAS_L=C2=A0=C2=A0=C2=A0=C2=A00x=
48
> > > > @@ -90,6 +96,8 @@ struct adis16475_chip_info {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0u32 accel_max_val;
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0u32 accel_max_scale;
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0u32 temp_scale;
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0u32 deltang_max_val;
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0u32 deltvel_max_val;
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0u32 int_clk;
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0u16 max_dec;
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0u8 num_sync;
> > > > @@ -453,6 +461,14 @@ static int adis16475_read_raw(struct iio_dev *=
indio_dev,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0case IIO_TEMP:
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A0*val =3D st->info->temp_scale;
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A0return IIO_VAL_INT;
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0case IIO_ROT:
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0*va=
l =3D st->info->deltang_max_val;
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0*va=
l2 =3D 31;
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ret=
urn IIO_VAL_FRACTIONAL_LOG2;
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0case IIO_VELOCITY:
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0*va=
l =3D st->info->deltvel_max_val;
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0*va=
l2 =3D 31;
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ret=
urn IIO_VAL_FRACTIONAL_LOG2;
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0default:
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A0return -EINVAL;
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0}
> > > > @@ -553,6 +569,32 @@ static int adis16475_write_raw(struct iio_dev =
*indio_dev,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0}, \
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0}
> > > > =C2=A0
> > > > +#define ADIS16475_MOD_CHAN_DELTA(_type, _mod, _address, _r_bits, _=
s_bits) { \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.type =3D (_type), \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.modified =3D 1, \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.channel2 =3D (_mod), \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.info_mask_separate =3D BIT(IIO_CHAN_INFO_RAW), \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.info_mask_shared_by_type =3D BIT(IIO_CHAN_INFO_SCA=
LE), \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.info_mask_shared_by_all =3D BIT(IIO_CHAN_INFO_SAMP=
_FREQ) | \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0BIT=
(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.address =3D (_address), \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.scan_index =3D -1, \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.scan_type =3D { \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.si=
gn =3D 's', \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.re=
albits =3D (_r_bits), \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.st=
oragebits =3D (_s_bits), \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.en=
dianness =3D IIO_BE, \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0}, \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0}
> > > > +
> > > > +#define ADIS16475_DELTANG_CHAN(_mod) \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_MOD_CHAN_DELTA=
(IIO_ROT, IIO_MOD_ ## _mod, \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A0=C2=A0 ADIS16475_REG_ ## _mod ## _DELTANG_L, 32, 32)
> > > > +
> > > > +#define ADIS16475_DELTVEL_CHAN(_mod) \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_MOD_CHAN_DELTA=
(IIO_VELOCITY, IIO_MOD_ ## _mod, \
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A0=C2=A0 ADIS16475_REG_ ## _mod ## _DELTVEL_L, 32, 32)
> > > > +
> > > > =C2=A0static const struct iio_chan_spec adis16475_channels[] =3D {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_GYRO_CHAN=
NEL(X),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_GYRO_CHAN=
NEL(Y),
> > > > @@ -561,6 +603,12 @@ static const struct iio_chan_spec adis16475_ch=
annels[] =3D {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_ACCEL_CHA=
NNEL(Y),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_ACCEL_CHA=
NNEL(Z),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_TEMP_CHAN=
NEL(),
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_DELTANG_CHAN(X=
),
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_DELTANG_CHAN(Y=
),
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_DELTANG_CHAN(Z=
),
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_DELTVEL_CHAN(X=
),
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_DELTVEL_CHAN(Y=
),
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0ADIS16475_DELTVEL_CHAN(Z=
),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0IIO_CHAN_SOFT_TIMES=
TAMP(7)
> > > > =C2=A0};
> > > > =C2=A0
> > > > @@ -664,6 +712,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(800 << 16=
),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 2160,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 400,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -679,6 +729,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(4000 << 1=
6),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 360,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 100,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -694,6 +746,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(4000 << 1=
6),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 720,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 100,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -709,6 +763,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(4000 << 1=
6),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 2160,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 100,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -724,6 +780,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(800 << 16=
),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 360,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 400,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -739,6 +797,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(800 << 16=
),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 720,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 400,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -754,6 +814,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(800 << 16=
),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 2160,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 400,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -769,6 +831,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(4000 << 1=
6),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 360,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 100,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -784,6 +848,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(4000 << 1=
6),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 720,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 100,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -799,6 +865,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(4000 << 1=
6),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 2160,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 100,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -814,6 +882,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(800 << 16=
),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 360,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 400,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -829,6 +899,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(800 << 16=
),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 720,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 400,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -844,6 +916,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 1,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D IIO_M_S_2_TO_G(800 << 16=
),
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 2160,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 400,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -859,6 +933,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 392,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D 32000 << 16,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 2160,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 400,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -876,6 +952,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 78,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D 32000 << 16,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 360,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 100,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -893,6 +971,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 78,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D 32000 << 16,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 720,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 100,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -910,6 +990,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[] =3D
> > > > {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 78,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D 32000 << 16,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 2160,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 100,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -927,6 +1009,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[]
> > > > =3D {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 392,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D 32000 << 16,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 360,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 400,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -944,6 +1028,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[]
> > > > =3D {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 392,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D 32000 << 16,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 720,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 400,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,
> > > > @@ -961,6 +1047,8 @@ static const struct adis16475_chip_info
> > > > adis16475_chip_info[]
> > > > =3D {
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_val =3D 392,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.accel_max_scale =3D 32000 << 16,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.temp_scale =3D 100,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltang_max_val =3D 2160,
> > > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0.deltvel_max_val =3D 400,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.int_clk =3D 2000,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.max_dec =3D 1999,
> > > > =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0.sync =3D adis16475_sync_mode,=C2=A0  =20
> > >  =20
> >  =20
>=20