diff mbox series

[1/1] drivers: imu: adis16475.c: Remove scan index from delta channels

Message ID 20231012122456.765709-2-ramona.gradinariu@analog.com
State New
Headers
Series adis16475.c: Remove scan index from delta channels |

Commit Message

Ramona Gradinariu Oct. 12, 2023, 12:24 p.m. UTC 
  Some devices do not support delta angle and delta velocity
burst readings, which means there should be no buffer support
for these types of channels.
A new list of channels is created which contains the delta
channels structures with the scan index equal to -1 to allow
for raw register readings, without buffer support.
This list of channels is assigned to the devices which
do not support delta angle and delta velocity burst
readings.

Fixes: 8f6bc87d67c0 ("iio: imu: adis16475.c: Add delta angle and delta velocity channels")
Signed-off-by: Ramona Gradinariu <ramona.gradinariu@analog.com>
---
 drivers/iio/imu/adis16475.c | 67 +++++++++++++++++++++++++------------
 1 file changed, 46 insertions(+), 21 deletions(-)

Comments

Nuno Sá Oct. 12, 2023, 3:09 p.m. UTC | #1 
Hi Ramona,

There are some odd stuff...

On Thu, 2023-10-12 at 15:24 +0300, Ramona Gradinariu wrote:
> Some devices do not support delta angle and delta velocity
> burst readings, which means there should be no buffer support
> for these types of channels.
> A new list of channels is created which contains the delta
> channels structures with the scan index equal to -1 to allow
> for raw register readings, without buffer support.
> This list of channels is assigned to the devices which
> do not support delta angle and delta velocity burst
> readings.
> 
> Fixes: 8f6bc87d67c0 ("iio: imu: adis16475.c: Add delta angle and delta velocity
> channels")
> Signed-off-by: Ramona Gradinariu <ramona.gradinariu@analog.com>
> ---
>  drivers/iio/imu/adis16475.c | 67 +++++++++++++++++++++++++------------
>  1 file changed, 46 insertions(+), 21 deletions(-)
> 
> diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
> index 9af07fec0d89..b7cbe1565aee 100644
> --- a/drivers/iio/imu/adis16475.c
> +++ b/drivers/iio/imu/adis16475.c
> @@ -604,7 +604,15 @@ static int adis16475_write_raw(struct iio_dev *indio_dev,
>         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[] = {
> +#define ADIS16475_DELTANG_CHAN_NO_SCAN(_mod) \
> +       ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
> +                          ADIS16475_REG_ ## _mod ## _DELTANG_L, -1, 32, 32)
> +
> +#define ADIS16475_DELTVEL_CHAN_NO_SCAN(_mod) \
> +       ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
> +                          ADIS16475_REG_ ## _mod ## _DELTVEL_L, -1, 32, 32)
> +
> +static const struct iio_chan_spec adis16477_channels[] = {
>         ADIS16475_GYRO_CHANNEL(X),
>         ADIS16475_GYRO_CHANNEL(Y),
>         ADIS16475_GYRO_CHANNEL(Z),
> @@ -621,6 +629,23 @@ static const struct iio_chan_spec adis16475_channels[] = {
>         IIO_CHAN_SOFT_TIMESTAMP(13)
>  };
>  
> +static const struct iio_chan_spec adis16475_channels[] = {

I guess you mean adis16477_channels?

> +       ADIS16475_GYRO_CHANNEL(X),
> +       ADIS16475_GYRO_CHANNEL(Y),
> +       ADIS16475_GYRO_CHANNEL(Z),
> +       ADIS16475_ACCEL_CHANNEL(X),
> +       ADIS16475_ACCEL_CHANNEL(Y),
> +       ADIS16475_ACCEL_CHANNEL(Z),
> +       ADIS16475_TEMP_CHANNEL(),
> +       ADIS16475_DELTANG_CHAN_NO_SCAN(X),
> +       ADIS16475_DELTANG_CHAN_NO_SCAN(Y),
> +       ADIS16475_DELTANG_CHAN_NO_SCAN(Z),
> +       ADIS16475_DELTVEL_CHAN_NO_SCAN(X),
> +       ADIS16475_DELTVEL_CHAN_NO_SCAN(Y),
> +       ADIS16475_DELTVEL_CHAN_NO_SCAN(Z),
> +       IIO_CHAN_SOFT_TIMESTAMP(7)
> +};
> +
>  enum adis16475_variant {
>         ADIS16470,
>         ADIS16475_1,
> @@ -782,8 +807,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
>         },
>         [ADIS16477_1] = {
>                 .name = "adis16477-1",
> -               .num_channels = ARRAY_SIZE(adis16475_channels),
> -               .channels = adis16475_channels,
> +               .num_channels = ARRAY_SIZE(adis16477_channels),
> +               .channels = adis16477_channels,
>                 .gyro_max_val = 1,
>                 .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
>                 .accel_max_val = 1,
> @@ -800,8 +825,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
>         },
>         [ADIS16477_2] = {
>                 .name = "adis16477-2",
> -               .num_channels = ARRAY_SIZE(adis16475_channels),
> -               .channels = adis16475_channels,
> +               .num_channels = ARRAY_SIZE(adis16477_channels),
> +               .channels = adis16477_channels,
>                 .gyro_max_val = 1,
>                 .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
>                 .accel_max_val = 1,
> @@ -818,8 +843,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
>         },
>         [ADIS16477_3] = {
>                 .name = "adis16477-3",
> -               .num_channels = ARRAY_SIZE(adis16475_channels),
> -               .channels = adis16475_channels,
> +               .num_channels = ARRAY_SIZE(adis16477_channels),
> +               .channels = adis16477_channels,
>                 .gyro_max_val = 1,
>                 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
>                 .accel_max_val = 1,
> @@ -938,8 +963,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
>         },
>         [ADIS16500] = {
>                 .name = "adis16500",
> -               .num_channels = ARRAY_SIZE(adis16475_channels),
> -               .channels = adis16475_channels,
> +               .num_channels = ARRAY_SIZE(adis16477_channels),
> +               .channels = adis16477_channels,
>                 .gyro_max_val = 1,
>                 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
>                 .accel_max_val = 392,
> @@ -957,8 +982,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
>         },
>         [ADIS16505_1] = {
>                 .name = "adis16505-1",
> -               .num_channels = ARRAY_SIZE(adis16475_channels),
> -               .channels = adis16475_channels,
> +               .num_channels = ARRAY_SIZE(adis16477_channels),
> +               .channels = adis16477_channels,

AFAICS, this supports delta channels in burst mode... right? Please make sure to go
again through the datasheets so we make this right...

- Nuno Sá
>
Nuno Sá Oct. 12, 2023, 3:35 p.m. UTC | #2 
On Thu, 2023-10-12 at 17:09 +0200, Nuno Sá wrote:
> Hi Ramona,
> 
> There are some odd stuff...
> 
> On Thu, 2023-10-12 at 15:24 +0300, Ramona Gradinariu wrote:
> > Some devices do not support delta angle and delta velocity
> > burst readings, which means there should be no buffer support
> > for these types of channels.
> > A new list of channels is created which contains the delta
> > channels structures with the scan index equal to -1 to allow
> > for raw register readings, without buffer support.
> > This list of channels is assigned to the devices which
> > do not support delta angle and delta velocity burst
> > readings.
> > 
> > Fixes: 8f6bc87d67c0 ("iio: imu: adis16475.c: Add delta angle and delta velocity
> > channels")
> > Signed-off-by: Ramona Gradinariu <ramona.gradinariu@analog.com>
> > ---
> >  drivers/iio/imu/adis16475.c | 67 +++++++++++++++++++++++++------------
> >  1 file changed, 46 insertions(+), 21 deletions(-)
> > 
> > diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
> > index 9af07fec0d89..b7cbe1565aee 100644
> > --- a/drivers/iio/imu/adis16475.c
> > +++ b/drivers/iio/imu/adis16475.c
> > @@ -604,7 +604,15 @@ static int adis16475_write_raw(struct iio_dev *indio_dev,
> >         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[] = {
> > +#define ADIS16475_DELTANG_CHAN_NO_SCAN(_mod) \
> > +       ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
> > +                          ADIS16475_REG_ ## _mod ## _DELTANG_L, -1, 32, 32)
> > +
> > +#define ADIS16475_DELTVEL_CHAN_NO_SCAN(_mod) \
> > +       ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
> > +                          ADIS16475_REG_ ## _mod ## _DELTVEL_L, -1, 32, 32)
> > +
> > +static const struct iio_chan_spec adis16477_channels[] = {
> >         ADIS16475_GYRO_CHANNEL(X),
> >         ADIS16475_GYRO_CHANNEL(Y),
> >         ADIS16475_GYRO_CHANNEL(Z),
> > @@ -621,6 +629,23 @@ static const struct iio_chan_spec adis16475_channels[] = {
> >         IIO_CHAN_SOFT_TIMESTAMP(13)
> >  };
> >  
> > +static const struct iio_chan_spec adis16475_channels[] = {
> 
> I guess you mean adis16477_channels?
> 
> > +       ADIS16475_GYRO_CHANNEL(X),
> > +       ADIS16475_GYRO_CHANNEL(Y),
> > +       ADIS16475_GYRO_CHANNEL(Z),
> > +       ADIS16475_ACCEL_CHANNEL(X),
> > +       ADIS16475_ACCEL_CHANNEL(Y),
> > +       ADIS16475_ACCEL_CHANNEL(Z),
> > +       ADIS16475_TEMP_CHANNEL(),
> > +       ADIS16475_DELTANG_CHAN_NO_SCAN(X),
> > +       ADIS16475_DELTANG_CHAN_NO_SCAN(Y),
> > +       ADIS16475_DELTANG_CHAN_NO_SCAN(Z),
> > +       ADIS16475_DELTVEL_CHAN_NO_SCAN(X),
> > +       ADIS16475_DELTVEL_CHAN_NO_SCAN(Y),
> > +       ADIS16475_DELTVEL_CHAN_NO_SCAN(Z),
> > +       IIO_CHAN_SOFT_TIMESTAMP(7)
> > +};
> > +
> >  enum adis16475_variant {
> >         ADIS16470,
> >         ADIS16475_1,
> > @@ -782,8 +807,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> > =
> > {
> >         },
> >         [ADIS16477_1] = {
> >                 .name = "adis16477-1",
> > -               .num_channels = ARRAY_SIZE(adis16475_channels),
> > -               .channels = adis16475_channels,
> > +               .num_channels = ARRAY_SIZE(adis16477_channels),
> > +               .channels = adis16477_channels,
> >                 .gyro_max_val = 1,
> >                 .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
> >                 .accel_max_val = 1,
> > @@ -800,8 +825,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> > =
> > {
> >         },
> >         [ADIS16477_2] = {
> >                 .name = "adis16477-2",
> > -               .num_channels = ARRAY_SIZE(adis16475_channels),
> > -               .channels = adis16475_channels,
> > +               .num_channels = ARRAY_SIZE(adis16477_channels),
> > +               .channels = adis16477_channels,
> >                 .gyro_max_val = 1,
> >                 .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
> >                 .accel_max_val = 1,
> > @@ -818,8 +843,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> > =
> > {
> >         },
> >         [ADIS16477_3] = {
> >                 .name = "adis16477-3",
> > -               .num_channels = ARRAY_SIZE(adis16475_channels),
> > -               .channels = adis16475_channels,
> > +               .num_channels = ARRAY_SIZE(adis16477_channels),
> > +               .channels = adis16477_channels,
> >                 .gyro_max_val = 1,
> >                 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
> >                 .accel_max_val = 1,
> > @@ -938,8 +963,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> > =
> > {
> >         },
> >         [ADIS16500] = {
> >                 .name = "adis16500",
> > -               .num_channels = ARRAY_SIZE(adis16475_channels),
> > -               .channels = adis16475_channels,
> > +               .num_channels = ARRAY_SIZE(adis16477_channels),
> > +               .channels = adis16477_channels,
> >                 .gyro_max_val = 1,
> >                 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
> >                 .accel_max_val = 392,
> > @@ -957,8 +982,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> > =
> > {
> >         },
> >         [ADIS16505_1] = {
> >                 .name = "adis16505-1",
> > -               .num_channels = ARRAY_SIZE(adis16475_channels),
> > -               .channels = adis16475_channels,
> > +               .num_channels = ARRAY_SIZE(adis16477_channels),
> > +               .channels = adis16477_channels,
> 
> AFAICS, this supports delta channels in burst mode... right? Please make sure to go
> again through the datasheets so we make this right...
> 

Alright, I just saw I missed the diff renaming adis16475_channels >
adis16477_channels. MAybe you could state why you did it in the commit message.
Anyhow:

Reviewed-by: Nuno Sa <nuno.sa@analog.com>
Jonathan Cameron Oct. 14, 2023, 4:04 p.m. UTC | #3 
On Thu, 12 Oct 2023 17:35:02 +0200
Nuno Sá <noname.nuno@gmail.com> wrote:

> On Thu, 2023-10-12 at 17:09 +0200, Nuno Sá wrote:
> > Hi Ramona,
> > 
> > There are some odd stuff...
> > 
> > On Thu, 2023-10-12 at 15:24 +0300, Ramona Gradinariu wrote:  
> > > Some devices do not support delta angle and delta velocity
> > > burst readings, which means there should be no buffer support
> > > for these types of channels.
> > > A new list of channels is created which contains the delta
> > > channels structures with the scan index equal to -1 to allow
> > > for raw register readings, without buffer support.
> > > This list of channels is assigned to the devices which
> > > do not support delta angle and delta velocity burst
> > > readings.
> > > 
> > > Fixes: 8f6bc87d67c0 ("iio: imu: adis16475.c: Add delta angle and delta velocity
> > > channels")
> > > Signed-off-by: Ramona Gradinariu <ramona.gradinariu@analog.com>
> > > ---
> > >  drivers/iio/imu/adis16475.c | 67 +++++++++++++++++++++++++------------
> > >  1 file changed, 46 insertions(+), 21 deletions(-)
> > > 
> > > diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
> > > index 9af07fec0d89..b7cbe1565aee 100644
> > > --- a/drivers/iio/imu/adis16475.c
> > > +++ b/drivers/iio/imu/adis16475.c
> > > @@ -604,7 +604,15 @@ static int adis16475_write_raw(struct iio_dev *indio_dev,
> > >         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[] = {
> > > +#define ADIS16475_DELTANG_CHAN_NO_SCAN(_mod) \
> > > +       ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
> > > +                          ADIS16475_REG_ ## _mod ## _DELTANG_L, -1, 32, 32)
> > > +
> > > +#define ADIS16475_DELTVEL_CHAN_NO_SCAN(_mod) \
> > > +       ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
> > > +                          ADIS16475_REG_ ## _mod ## _DELTVEL_L, -1, 32, 32)
> > > +
> > > +static const struct iio_chan_spec adis16477_channels[] = {
> > >         ADIS16475_GYRO_CHANNEL(X),
> > >         ADIS16475_GYRO_CHANNEL(Y),
> > >         ADIS16475_GYRO_CHANNEL(Z),
> > > @@ -621,6 +629,23 @@ static const struct iio_chan_spec adis16475_channels[] = {
> > >         IIO_CHAN_SOFT_TIMESTAMP(13)
> > >  };
> > >  
> > > +static const struct iio_chan_spec adis16475_channels[] = {  
> > 
> > I guess you mean adis16477_channels?
> >   
> > > +       ADIS16475_GYRO_CHANNEL(X),
> > > +       ADIS16475_GYRO_CHANNEL(Y),
> > > +       ADIS16475_GYRO_CHANNEL(Z),
> > > +       ADIS16475_ACCEL_CHANNEL(X),
> > > +       ADIS16475_ACCEL_CHANNEL(Y),
> > > +       ADIS16475_ACCEL_CHANNEL(Z),
> > > +       ADIS16475_TEMP_CHANNEL(),
> > > +       ADIS16475_DELTANG_CHAN_NO_SCAN(X),
> > > +       ADIS16475_DELTANG_CHAN_NO_SCAN(Y),
> > > +       ADIS16475_DELTANG_CHAN_NO_SCAN(Z),
> > > +       ADIS16475_DELTVEL_CHAN_NO_SCAN(X),
> > > +       ADIS16475_DELTVEL_CHAN_NO_SCAN(Y),
> > > +       ADIS16475_DELTVEL_CHAN_NO_SCAN(Z),
> > > +       IIO_CHAN_SOFT_TIMESTAMP(7)
> > > +};
> > > +
> > >  enum adis16475_variant {
> > >         ADIS16470,
> > >         ADIS16475_1,
> > > @@ -782,8 +807,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> > > =
> > > {
> > >         },
> > >         [ADIS16477_1] = {
> > >                 .name = "adis16477-1",
> > > -               .num_channels = ARRAY_SIZE(adis16475_channels),
> > > -               .channels = adis16475_channels,
> > > +               .num_channels = ARRAY_SIZE(adis16477_channels),
> > > +               .channels = adis16477_channels,
> > >                 .gyro_max_val = 1,
> > >                 .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
> > >                 .accel_max_val = 1,
> > > @@ -800,8 +825,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> > > =
> > > {
> > >         },
> > >         [ADIS16477_2] = {
> > >                 .name = "adis16477-2",
> > > -               .num_channels = ARRAY_SIZE(adis16475_channels),
> > > -               .channels = adis16475_channels,
> > > +               .num_channels = ARRAY_SIZE(adis16477_channels),
> > > +               .channels = adis16477_channels,
> > >                 .gyro_max_val = 1,
> > >                 .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
> > >                 .accel_max_val = 1,
> > > @@ -818,8 +843,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> > > =
> > > {
> > >         },
> > >         [ADIS16477_3] = {
> > >                 .name = "adis16477-3",
> > > -               .num_channels = ARRAY_SIZE(adis16475_channels),
> > > -               .channels = adis16475_channels,
> > > +               .num_channels = ARRAY_SIZE(adis16477_channels),
> > > +               .channels = adis16477_channels,
> > >                 .gyro_max_val = 1,
> > >                 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
> > >                 .accel_max_val = 1,
> > > @@ -938,8 +963,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> > > =
> > > {
> > >         },
> > >         [ADIS16500] = {
> > >                 .name = "adis16500",
> > > -               .num_channels = ARRAY_SIZE(adis16475_channels),
> > > -               .channels = adis16475_channels,
> > > +               .num_channels = ARRAY_SIZE(adis16477_channels),
> > > +               .channels = adis16477_channels,
> > >                 .gyro_max_val = 1,
> > >                 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
> > >                 .accel_max_val = 392,
> > > @@ -957,8 +982,8 @@ static const struct adis16475_chip_info adis16475_chip_info[]
> > > =
> > > {
> > >         },
> > >         [ADIS16505_1] = {
> > >                 .name = "adis16505-1",
> > > -               .num_channels = ARRAY_SIZE(adis16475_channels),
> > > -               .channels = adis16475_channels,
> > > +               .num_channels = ARRAY_SIZE(adis16477_channels),
> > > +               .channels = adis16477_channels,  
> > 
> > AFAICS, this supports delta channels in burst mode... right? Please make sure to go
> > again through the datasheets so we make this right...
> >   
> 
> Alright, I just saw I missed the diff renaming adis16475_channels >
> adis16477_channels. MAybe you could state why you did it in the commit message.
> Anyhow:
> 
> Reviewed-by: Nuno Sa <nuno.sa@analog.com>
> 
Applied.
diff mbox series

Patch

diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
index 9af07fec0d89..b7cbe1565aee 100644
--- a/drivers/iio/imu/adis16475.c
+++ b/drivers/iio/imu/adis16475.c
@@ -604,7 +604,15 @@  static int adis16475_write_raw(struct iio_dev *indio_dev,
 	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[] = {
+#define ADIS16475_DELTANG_CHAN_NO_SCAN(_mod) \
+	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
+			   ADIS16475_REG_ ## _mod ## _DELTANG_L, -1, 32, 32)
+
+#define ADIS16475_DELTVEL_CHAN_NO_SCAN(_mod) \
+	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
+			   ADIS16475_REG_ ## _mod ## _DELTVEL_L, -1, 32, 32)
+
+static const struct iio_chan_spec adis16477_channels[] = {
 	ADIS16475_GYRO_CHANNEL(X),
 	ADIS16475_GYRO_CHANNEL(Y),
 	ADIS16475_GYRO_CHANNEL(Z),
@@ -621,6 +629,23 @@  static const struct iio_chan_spec adis16475_channels[] = {
 	IIO_CHAN_SOFT_TIMESTAMP(13)
 };
 
+static const struct iio_chan_spec adis16475_channels[] = {
+	ADIS16475_GYRO_CHANNEL(X),
+	ADIS16475_GYRO_CHANNEL(Y),
+	ADIS16475_GYRO_CHANNEL(Z),
+	ADIS16475_ACCEL_CHANNEL(X),
+	ADIS16475_ACCEL_CHANNEL(Y),
+	ADIS16475_ACCEL_CHANNEL(Z),
+	ADIS16475_TEMP_CHANNEL(),
+	ADIS16475_DELTANG_CHAN_NO_SCAN(X),
+	ADIS16475_DELTANG_CHAN_NO_SCAN(Y),
+	ADIS16475_DELTANG_CHAN_NO_SCAN(Z),
+	ADIS16475_DELTVEL_CHAN_NO_SCAN(X),
+	ADIS16475_DELTVEL_CHAN_NO_SCAN(Y),
+	ADIS16475_DELTVEL_CHAN_NO_SCAN(Z),
+	IIO_CHAN_SOFT_TIMESTAMP(7)
+};
+
 enum adis16475_variant {
 	ADIS16470,
 	ADIS16475_1,
@@ -782,8 +807,8 @@  static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16477_1] = {
 		.name = "adis16477-1",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
 		.accel_max_val = 1,
@@ -800,8 +825,8 @@  static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16477_2] = {
 		.name = "adis16477-2",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
 		.accel_max_val = 1,
@@ -818,8 +843,8 @@  static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16477_3] = {
 		.name = "adis16477-3",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
 		.accel_max_val = 1,
@@ -938,8 +963,8 @@  static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16500] = {
 		.name = "adis16500",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
 		.accel_max_val = 392,
@@ -957,8 +982,8 @@  static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16505_1] = {
 		.name = "adis16505-1",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
 		.accel_max_val = 78,
@@ -976,8 +1001,8 @@  static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16505_2] = {
 		.name = "adis16505-2",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
 		.accel_max_val = 78,
@@ -995,8 +1020,8 @@  static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16505_3] = {
 		.name = "adis16505-3",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
 		.accel_max_val = 78,
@@ -1014,8 +1039,8 @@  static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16507_1] = {
 		.name = "adis16507-1",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
 		.accel_max_val = 392,
@@ -1033,8 +1058,8 @@  static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16507_2] = {
 		.name = "adis16507-2",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
 		.accel_max_val = 392,
@@ -1052,8 +1077,8 @@  static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16507_3] = {
 		.name = "adis16507-3",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
 		.accel_max_val = 392,