[PATCH v5 0/3] Add new channels for adis16475

[PATCH v5 0/3] Add new channels for adis16475

[Ramona Bolboaca]

changes in v5:
  patch 1: added documentation for all supported attributes
  patch 2: added documentation for all supported attributes
  patch 3: no changes

Ramona Bolboaca (3):
  iio: Add IIO_DELTA_ANGL channel type
  iio: Add IIO_DELTA_VELOCITY channel type
  iio: imu: adis16475.c: Add delta angle and delta velocity channels

 Documentation/ABI/testing/sysfs-bus-iio |  45 +++++++
 drivers/iio/imu/adis16475.c             | 165 +++++++++++++++++++++---
 drivers/iio/industrialio-core.c         |   2 +
 include/uapi/linux/iio/types.h          |   2 +
 tools/iio/iio_event_monitor.c           |   4 +
 5 files changed, 199 insertions(+), 19 deletions(-)

-- 
2.34.1

[PATCH v5 1/3] iio: Add IIO_DELTA_ANGL channel type

[Ramona Bolboaca]

The delta angle is defined as a piece-wise integration of angular
velocity data. The delta angle represents the amount of
angular displacement between two consecutive measurements and it
is measured in radians.

In order to track the total angular displacement during a desired
period of time, simply sum-up the delta angle samples acquired
during that time.

IIO currently does not offer a suitable channel type for this
type of measurements hence this patch adds it.

Signed-off-by: Ramona Bolboaca <ramona.bolboaca@analog.com>
---
 Documentation/ABI/testing/sysfs-bus-iio | 22 ++++++++++++++++++++++
 drivers/iio/industrialio-core.c         |  1 +
 include/uapi/linux/iio/types.h          |  1 +
 tools/iio/iio_event_monitor.c           |  2 ++
 4 files changed, 26 insertions(+)

diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio
index a2854dc9a839..363dd4b09930 100644
--- a/Documentation/ABI/testing/sysfs-bus-iio
+++ b/Documentation/ABI/testing/sysfs-bus-iio
@@ -279,6 +279,20 @@ Description:
 		but should match other such assignments on device).
 		Units after application of scale and offset are m/s^2.
 
+What:		/sys/bus/iio/devices/iio:deviceX/in_deltaangl_x_raw
+What:		/sys/bus/iio/devices/iio:deviceX/in_deltaangl_y_raw
+What:		/sys/bus/iio/devices/iio:deviceX/in_deltaangl_z_raw
+KernelVersion:	6.5
+Contact:	linux-iio@vger.kernel.org
+Description:
+		Angular displacement between two consecutive samples on x, y or
+		z (may be arbitrarily assigned but should match other such
+		assignments on device).
+		In order to compute the total angular displacement during a
+		desired period of time, the application should sum-up the delta
+		angle samples acquired during that time.
+		Units after application of scale and offset are radians.
+
 What:		/sys/bus/iio/devices/iio:deviceX/in_angl_raw
 What:		/sys/bus/iio/devices/iio:deviceX/in_anglY_raw
 KernelVersion:	4.17
@@ -461,6 +475,7 @@ What:		/sys/bus/iio/devices/iio:deviceX/in_humidityrelative_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_velocity_sqrt(x^2+y^2+z^2)_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_illuminance_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_countY_scale
+What:		/sys/bus/iio/devices/iio:deviceX/in_deltaangl_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_angl_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_intensity_x_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_intensity_y_scale
@@ -1332,6 +1347,9 @@ Description:
 What:		/sys/.../iio:deviceX/bufferY/in_accel_x_en
 What:		/sys/.../iio:deviceX/bufferY/in_accel_y_en
 What:		/sys/.../iio:deviceX/bufferY/in_accel_z_en
+What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_x_en
+What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_y_en
+What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_z_en
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_x_en
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_y_en
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_z_en
@@ -1362,6 +1380,7 @@ Description:
 		Scan element control for triggered data capture.
 
 What:		/sys/.../iio:deviceX/bufferY/in_accel_type
+What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_type
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_type
 What:		/sys/.../iio:deviceX/bufferY/in_magn_type
 What:		/sys/.../iio:deviceX/bufferY/in_incli_type
@@ -1416,6 +1435,9 @@ What:		/sys/.../iio:deviceX/bufferY/in_voltage_q_index
 What:		/sys/.../iio:deviceX/bufferY/in_accel_x_index
 What:		/sys/.../iio:deviceX/bufferY/in_accel_y_index
 What:		/sys/.../iio:deviceX/bufferY/in_accel_z_index
+What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_x_index
+What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_y_index
+What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_z_index
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_x_index
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_y_index
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_z_index
diff --git a/drivers/iio/industrialio-core.c b/drivers/iio/industrialio-core.c
index a92b8b6ad647..2e2fd0be2504 100644
--- a/drivers/iio/industrialio-core.c
+++ b/drivers/iio/industrialio-core.c
@@ -89,6 +89,7 @@ static const char * const iio_chan_type_name_spec[] = {
 	[IIO_POSITIONRELATIVE]  = "positionrelative",
 	[IIO_PHASE] = "phase",
 	[IIO_MASSCONCENTRATION] = "massconcentration",
+	[IIO_DELTA_ANGL] = "deltaangl",
 };
 
 static const char * const iio_modifier_names[] = {
diff --git a/include/uapi/linux/iio/types.h b/include/uapi/linux/iio/types.h
index c79f2f046a0b..55666a17d311 100644
--- a/include/uapi/linux/iio/types.h
+++ b/include/uapi/linux/iio/types.h
@@ -47,6 +47,7 @@ enum iio_chan_type {
 	IIO_POSITIONRELATIVE,
 	IIO_PHASE,
 	IIO_MASSCONCENTRATION,
+	IIO_DELTA_ANGL,
 };
 
 enum iio_modifier {
diff --git a/tools/iio/iio_event_monitor.c b/tools/iio/iio_event_monitor.c
index 0a5c2bb60030..3505450060e6 100644
--- a/tools/iio/iio_event_monitor.c
+++ b/tools/iio/iio_event_monitor.c
@@ -59,6 +59,7 @@ static const char * const iio_chan_type_name_spec[] = {
 	[IIO_POSITIONRELATIVE] = "positionrelative",
 	[IIO_PHASE] = "phase",
 	[IIO_MASSCONCENTRATION] = "massconcentration",
+	[IIO_DELTA_ANGL] = "deltaangl",
 };
 
 static const char * const iio_ev_type_text[] = {
@@ -173,6 +174,7 @@ static bool event_is_known(struct iio_event_data *event)
 	case IIO_POSITIONRELATIVE:
 	case IIO_PHASE:
 	case IIO_MASSCONCENTRATION:
+	case IIO_DELTA_ANGL:
 		break;
 	default:
 		return false;
-- 
2.34.1

[PATCH v5 2/3] iio: Add IIO_DELTA_VELOCITY channel type

[Ramona Bolboaca]

The delta velocity is defined as a piece-wise integration of
acceleration data. The delta velocity represents the linear velocity
change between two consecutive measurements and it
is measured in m / s (meters per second).

In order to track the total linear velocity change during a desired
period of time, simply sum-up the delta velocity samples acquired
during that time.

IIO currently does not offer a suitable channel type for this
type of measurements hence this patch adds it.

Signed-off-by: Ramona Bolboaca <ramona.bolboaca@analog.com>
---
 Documentation/ABI/testing/sysfs-bus-iio | 23 +++++++++++++++++++++++
 drivers/iio/industrialio-core.c         |  1 +
 include/uapi/linux/iio/types.h          |  1 +
 tools/iio/iio_event_monitor.c           |  2 ++
 4 files changed, 27 insertions(+)

diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio
index 363dd4b09930..59968b745518 100644
--- a/Documentation/ABI/testing/sysfs-bus-iio
+++ b/Documentation/ABI/testing/sysfs-bus-iio
@@ -293,6 +293,21 @@ Description:
 		angle samples acquired during that time.
 		Units after application of scale and offset are radians.
 
+What:		/sys/bus/iio/devices/iio:deviceX/in_deltavelocity_x_raw
+What:		/sys/bus/iio/devices/iio:deviceX/in_deltavelocity_y_raw
+What:		/sys/bus/iio/devices/iio:deviceX/in_deltavelocity_z_raw
+KernelVersion:	6.5
+Contact:	linux-iio@vger.kernel.org
+Description:
+		The linear velocity change between two consecutive samples on x,
+		y or z (may be arbitrarily assigned but should match other such
+		assignments on device).
+		In order to compute the total linear velocity change during a
+		desired period of time, the application should sum-up the delta
+		velocity samples acquired during that time.
+		Units after application of scale and offset are meters per
+		second.
+
 What:		/sys/bus/iio/devices/iio:deviceX/in_angl_raw
 What:		/sys/bus/iio/devices/iio:deviceX/in_anglY_raw
 KernelVersion:	4.17
@@ -476,6 +491,7 @@ What:		/sys/bus/iio/devices/iio:deviceX/in_velocity_sqrt(x^2+y^2+z^2)_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_illuminance_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_countY_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_deltaangl_scale
+What:		/sys/bus/iio/devices/iio:deviceX/in_deltavelocity_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_angl_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_intensity_x_scale
 What:		/sys/bus/iio/devices/iio:deviceX/in_intensity_y_scale
@@ -1350,6 +1366,9 @@ What:		/sys/.../iio:deviceX/bufferY/in_accel_z_en
 What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_x_en
 What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_y_en
 What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_z_en
+What:		/sys/.../iio:deviceX/bufferY/in_deltavelocity_x_en
+What:		/sys/.../iio:deviceX/bufferY/in_deltavelocity_y_en
+What:		/sys/.../iio:deviceX/bufferY/in_deltavelocity_z_en
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_x_en
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_y_en
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_z_en
@@ -1381,6 +1400,7 @@ Description:
 
 What:		/sys/.../iio:deviceX/bufferY/in_accel_type
 What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_type
+What:		/sys/.../iio:deviceX/bufferY/in_deltavelocity_type
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_type
 What:		/sys/.../iio:deviceX/bufferY/in_magn_type
 What:		/sys/.../iio:deviceX/bufferY/in_incli_type
@@ -1438,6 +1458,9 @@ What:		/sys/.../iio:deviceX/bufferY/in_accel_z_index
 What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_x_index
 What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_y_index
 What:		/sys/.../iio:deviceX/bufferY/in_deltaangl_z_index
+What:		/sys/.../iio:deviceX/bufferY/in_deltavelocity_x_index
+What:		/sys/.../iio:deviceX/bufferY/in_deltavelocity_y_index
+What:		/sys/.../iio:deviceX/bufferY/in_deltavelocity_z_index
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_x_index
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_y_index
 What:		/sys/.../iio:deviceX/bufferY/in_anglvel_z_index
diff --git a/drivers/iio/industrialio-core.c b/drivers/iio/industrialio-core.c
index 2e2fd0be2504..ba694b049629 100644
--- a/drivers/iio/industrialio-core.c
+++ b/drivers/iio/industrialio-core.c
@@ -90,6 +90,7 @@ static const char * const iio_chan_type_name_spec[] = {
 	[IIO_PHASE] = "phase",
 	[IIO_MASSCONCENTRATION] = "massconcentration",
 	[IIO_DELTA_ANGL] = "deltaangl",
+	[IIO_DELTA_VELOCITY] = "deltavelocity",
 };
 
 static const char * const iio_modifier_names[] = {
diff --git a/include/uapi/linux/iio/types.h b/include/uapi/linux/iio/types.h
index 55666a17d311..9a341bd07702 100644
--- a/include/uapi/linux/iio/types.h
+++ b/include/uapi/linux/iio/types.h
@@ -48,6 +48,7 @@ enum iio_chan_type {
 	IIO_PHASE,
 	IIO_MASSCONCENTRATION,
 	IIO_DELTA_ANGL,
+	IIO_DELTA_VELOCITY,
 };
 
 enum iio_modifier {
diff --git a/tools/iio/iio_event_monitor.c b/tools/iio/iio_event_monitor.c
index 3505450060e6..7e6761612246 100644
--- a/tools/iio/iio_event_monitor.c
+++ b/tools/iio/iio_event_monitor.c
@@ -60,6 +60,7 @@ static const char * const iio_chan_type_name_spec[] = {
 	[IIO_PHASE] = "phase",
 	[IIO_MASSCONCENTRATION] = "massconcentration",
 	[IIO_DELTA_ANGL] = "deltaangl",
+	[IIO_DELTA_VELOCITY] = "deltavelocity",
 };
 
 static const char * const iio_ev_type_text[] = {
@@ -175,6 +176,7 @@ static bool event_is_known(struct iio_event_data *event)
 	case IIO_PHASE:
 	case IIO_MASSCONCENTRATION:
 	case IIO_DELTA_ANGL:
+	case IIO_DELTA_VELOCITY:
 		break;
 	default:
 		return false;
-- 
2.34.1

[PATCH v5 3/3] iio: imu: adis16475.c: Add delta angle and delta velocity channels

[Ramona Bolboaca]

Add support for delta angle and delta velocity raw and buffer
readings to adis16475 driver.

Signed-off-by: Ramona Bolboaca <ramona.bolboaca@analog.com>
---
 drivers/iio/imu/adis16475.c | 165 +++++++++++++++++++++++++++++++-----
 1 file changed, 146 insertions(+), 19 deletions(-)

diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
index 17275a53ca2c..00e4e09cdafb 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
@@ -55,6 +61,7 @@
 #define ADIS16475_REG_PROD_ID		0x72
 #define ADIS16475_REG_SERIAL_NUM	0x74
 #define ADIS16475_REG_FLASH_CNT		0x7c
+#define ADIS16500_BURST_DATA_SEL_MASK	BIT(8)
 #define ADIS16500_BURST32_MASK		BIT(9)
 #define ADIS16500_BURST32(x)		FIELD_PREP(ADIS16500_BURST32_MASK, x)
 /* number of data elements in burst mode */
@@ -65,6 +72,8 @@
 #define ADIS16475_BURST_MAX_SPEED	1000000
 #define ADIS16475_LSB_DEC_MASK		BIT(0)
 #define ADIS16475_LSB_FIR_MASK		BIT(1)
+#define ADIS16500_BURST_DATA_SEL_0_CHN_MASK	GENMASK(5, 0)
+#define ADIS16500_BURST_DATA_SEL_1_CHN_MASK	GENMASK(12, 7)
 
 enum {
 	ADIS16475_SYNC_DIRECT = 1,
@@ -84,16 +93,20 @@ struct adis16475_chip_info {
 	const struct adis16475_sync *sync;
 	const struct adis_data adis_data;
 	const char *name;
+#define ADIS16475_HAS_BURST32		BIT(0)
+#define ADIS16475_HAS_BURST_DELTA_DATA	BIT(1)
+	const long flags;
 	u32 num_channels;
 	u32 gyro_max_val;
 	u32 gyro_max_scale;
 	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;
-	bool has_burst32;
 };
 
 struct adis16475 {
@@ -115,6 +128,12 @@ enum {
 	ADIS16475_SCAN_ACCEL_Y,
 	ADIS16475_SCAN_ACCEL_Z,
 	ADIS16475_SCAN_TEMP,
+	ADIS16475_SCAN_DELTANG_X,
+	ADIS16475_SCAN_DELTANG_Y,
+	ADIS16475_SCAN_DELTANG_Z,
+	ADIS16475_SCAN_DELTVEL_X,
+	ADIS16475_SCAN_DELTVEL_Y,
+	ADIS16475_SCAN_DELTVEL_Z,
 };
 
 static bool low_rate_allow;
@@ -451,6 +470,14 @@ static int adis16475_read_raw(struct iio_dev *indio_dev,
 		case IIO_TEMP:
 			*val = st->info->temp_scale;
 			return IIO_VAL_INT;
+		case IIO_DELTA_ANGL:
+			*val = st->info->deltang_max_val;
+			*val2 = 31;
+			return IIO_VAL_FRACTIONAL_LOG2;
+		case IIO_DELTA_VELOCITY:
+			*val = st->info->deltvel_max_val;
+			*val2 = 31;
+			return IIO_VAL_FRACTIONAL_LOG2;
 		default:
 			return -EINVAL;
 		}
@@ -551,6 +578,32 @@ static int adis16475_write_raw(struct iio_dev *indio_dev,
 		}, \
 	}
 
+#define ADIS16475_MOD_CHAN_DELTA(_type, _mod, _address, _si, _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 = _si, \
+		.scan_type = { \
+			.sign = 's', \
+			.realbits = (_r_bits), \
+			.storagebits = (_s_bits), \
+			.endianness = IIO_BE, \
+		}, \
+	}
+
+#define ADIS16475_DELTANG_CHAN(_mod) \
+	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
+			   ADIS16475_REG_ ## _mod ## _DELTANG_L, ADIS16475_SCAN_DELTANG_ ## _mod, 32, 32)
+
+#define ADIS16475_DELTVEL_CHAN(_mod) \
+	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
+			   ADIS16475_REG_ ## _mod ## _DELTVEL_L, ADIS16475_SCAN_DELTVEL_ ## _mod, 32, 32)
+
 static const struct iio_chan_spec adis16475_channels[] = {
 	ADIS16475_GYRO_CHANNEL(X),
 	ADIS16475_GYRO_CHANNEL(Y),
@@ -559,7 +612,13 @@ static const struct iio_chan_spec adis16475_channels[] = {
 	ADIS16475_ACCEL_CHANNEL(Y),
 	ADIS16475_ACCEL_CHANNEL(Z),
 	ADIS16475_TEMP_CHANNEL(),
-	IIO_CHAN_SOFT_TIMESTAMP(7)
+	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(13)
 };
 
 enum adis16475_variant {
@@ -662,6 +721,8 @@ 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 = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -677,6 +738,8 @@ 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 = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -692,6 +755,8 @@ 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 = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -707,6 +772,8 @@ 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 = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -722,11 +789,13 @@ 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 = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
 	},
 	[ADIS16477_2] = {
@@ -738,11 +807,13 @@ 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 = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
 	},
 	[ADIS16477_3] = {
@@ -754,11 +825,13 @@ 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 = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
 	},
 	[ADIS16465_1] = {
@@ -770,6 +843,8 @@ 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 = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -785,6 +860,8 @@ 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 = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -800,6 +877,8 @@ 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 = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -815,6 +894,8 @@ 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 = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -830,6 +911,8 @@ 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 = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -845,6 +928,8 @@ 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 = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -860,12 +945,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16500, &adis1650x_timeouts),
 	},
 	[ADIS16505_1] = {
@@ -877,12 +964,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 78,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
 	},
 	[ADIS16505_2] = {
@@ -894,12 +983,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 78,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
 	},
 	[ADIS16505_3] = {
@@ -911,12 +1002,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 78,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
 	},
 	[ADIS16507_1] = {
@@ -928,12 +1021,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
 	},
 	[ADIS16507_2] = {
@@ -945,12 +1040,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
 	},
 	[ADIS16507_3] = {
@@ -962,20 +1059,47 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
 	},
 };
 
+static int adis16475_update_scan_mode(struct iio_dev *indio_dev,
+				      const unsigned long *scan_mask)
+{
+	u16 en;
+	int ret;
+	struct adis16475 *st = iio_priv(indio_dev);
+
+	if (st->info->flags & ADIS16475_HAS_BURST_DELTA_DATA) {
+		if ((*scan_mask & ADIS16500_BURST_DATA_SEL_0_CHN_MASK) &&
+		    (*scan_mask & ADIS16500_BURST_DATA_SEL_1_CHN_MASK))
+			return -EINVAL;
+		if (*scan_mask & ADIS16500_BURST_DATA_SEL_0_CHN_MASK)
+			en = FIELD_PREP(ADIS16500_BURST_DATA_SEL_MASK, 0);
+		else
+			en = FIELD_PREP(ADIS16500_BURST_DATA_SEL_MASK, 1);
+
+		ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
+					 ADIS16500_BURST_DATA_SEL_MASK, en);
+		if (ret)
+			return ret;
+	}
+
+	return adis_update_scan_mode(indio_dev, scan_mask);
+}
+
 static const struct iio_info adis16475_info = {
 	.read_raw = &adis16475_read_raw,
 	.write_raw = &adis16475_write_raw,
-	.update_scan_mode = adis_update_scan_mode,
+	.update_scan_mode = adis16475_update_scan_mode,
 	.debugfs_reg_access = adis_debugfs_reg_access,
 };
 
@@ -998,7 +1122,7 @@ static void adis16475_burst32_check(struct adis16475 *st)
 	int ret;
 	struct adis *adis = &st->adis;
 
-	if (!st->info->has_burst32)
+	if (!(st->info->flags & ADIS16475_HAS_BURST32))
 		return;
 
 	if (st->lsb_flag && !st->burst32) {
@@ -1044,7 +1168,7 @@ static irqreturn_t adis16475_trigger_handler(int irq, void *p)
 	struct iio_dev *indio_dev = pf->indio_dev;
 	struct adis16475 *st = iio_priv(indio_dev);
 	struct adis *adis = &st->adis;
-	int ret, bit, i = 0;
+	int ret, bit, buff_offset = 0, i = 0;
 	__be16 *buffer;
 	u16 crc;
 	bool valid;
@@ -1074,6 +1198,9 @@ static irqreturn_t adis16475_trigger_handler(int irq, void *p)
 		case ADIS16475_SCAN_TEMP:
 			st->data[i++] = buffer[offset];
 			break;
+		case ADIS16475_SCAN_DELTANG_X ... ADIS16475_SCAN_DELTVEL_Z:
+			buff_offset = ADIS16475_SCAN_DELTANG_X;
+			fallthrough;
 		case ADIS16475_SCAN_GYRO_X ... ADIS16475_SCAN_ACCEL_Z:
 			/*
 			 * The first 2 bytes on the received data are the
@@ -1081,18 +1208,18 @@ static irqreturn_t adis16475_trigger_handler(int irq, void *p)
 			 */
 			if (st->burst32) {
 				/* upper 16 */
-				st->data[i++] = buffer[bit * 2 + 2];
+				st->data[i++] = buffer[(bit - buff_offset) * 2 + 2];
 				/* lower 16 */
-				st->data[i++] = buffer[bit * 2 + 1];
+				st->data[i++] = buffer[(bit - buff_offset) * 2 + 1];
 			} else {
-				st->data[i++] = buffer[bit + 1];
+				st->data[i++] = buffer[(bit - buff_offset) + 1];
 				/*
 				 * Don't bother in doing the manual read if the
 				 * device supports burst32. burst32 will be
 				 * enabled in the next call to
 				 * adis16475_burst32_check()...
 				 */
-				if (st->lsb_flag && !st->info->has_burst32) {
+				if (st->lsb_flag && !(st->info->flags & ADIS16475_HAS_BURST32)) {
 					u16 val = 0;
 					const u32 reg = ADIS16475_REG_X_GYRO_L +
 						bit * 4;
-- 
2.34.1

Re: [PATCH v5 0/3] Add new channels for adis16475

[Nuno Sá]

On Tue, 2023-08-08 at 10:50 +0300, Ramona Bolboaca wrote:
> changes in v5:
>   patch 1: added documentation for all supported attributes
>   patch 2: added documentation for all supported attributes
>   patch 3: no changes
> 
> Ramona Bolboaca (3):
>   iio: Add IIO_DELTA_ANGL channel type
>   iio: Add IIO_DELTA_VELOCITY channel type
>   iio: imu: adis16475.c: Add delta angle and delta velocity channels
> 
>  Documentation/ABI/testing/sysfs-bus-iio |  45 +++++++
>  drivers/iio/imu/adis16475.c             | 165 +++++++++++++++++++++---
>  drivers/iio/industrialio-core.c         |   2 +
>  include/uapi/linux/iio/types.h          |   2 +
>  tools/iio/iio_event_monitor.c           |   4 +
>  5 files changed, 199 insertions(+), 19 deletions(-)
> 

Reviewed-by: Nuno Sa <nuno.sa@analog.com>

Re: [PATCH v5 0/3] Add new channels for adis16475

[Jonathan Cameron]

On Thu, 10 Aug 2023 15:16:10 +0200
Nuno Sá <noname.nuno@gmail.com> wrote:

> On Tue, 2023-08-08 at 10:50 +0300, Ramona Bolboaca wrote:
> > changes in v5:
> >   patch 1: added documentation for all supported attributes
> >   patch 2: added documentation for all supported attributes
> >   patch 3: no changes
> > 
> > Ramona Bolboaca (3):
> >   iio: Add IIO_DELTA_ANGL channel type
> >   iio: Add IIO_DELTA_VELOCITY channel type
> >   iio: imu: adis16475.c: Add delta angle and delta velocity channels
> > 
> >  Documentation/ABI/testing/sysfs-bus-iio |  45 +++++++
> >  drivers/iio/imu/adis16475.c             | 165 +++++++++++++++++++++---
> >  drivers/iio/industrialio-core.c         |   2 +
> >  include/uapi/linux/iio/types.h          |   2 +
> >  tools/iio/iio_event_monitor.c           |   4 +
> >  5 files changed, 199 insertions(+), 19 deletions(-)
> >   
> 
> Reviewed-by: Nuno Sa <nuno.sa@analog.com>
> 

Series applied to the togreg branch of iio.git but given timing I plan
to rebase that on rc1. In the meantime I'll push this out as testing to
let 0-day see if it can find anything we missed.

Thanks for persisting the fiddly ABI definitions in this one!

Jonathan