From patchwork Fri Aug 4 06:45:57 2023 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Ramona Bolboaca X-Patchwork-Id: 130982 Return-Path: Delivered-To: ouuuleilei@gmail.com Received: by 2002:a05:612c:44a:b0:3f2:4152:657d with SMTP id ez10csp80479vqb; Fri, 4 Aug 2023 00:11:26 -0700 (PDT) X-Google-Smtp-Source: AGHT+IGC808aschBCsC3iLa3z/PSyrizb2fVyc2Az6CKpkZICSr4B+rZ8E2BNIE1FsO6EccbHyJb X-Received: by 2002:a17:906:5a56:b0:994:56d3:8a42 with SMTP id my22-20020a1709065a5600b0099456d38a42mr798081ejc.27.1691133086393; Fri, 04 Aug 2023 00:11:26 -0700 (PDT) ARC-Seal: i=1; a=rsa-sha256; t=1691133086; cv=none; d=google.com; s=arc-20160816; b=zAw3XDiSubRYHPGV3ftKKIQUcEkhR9nqB1HSlyIO1ngaDqDAmJvf+lfmWmTSGT4018 sDfLW9uZrGPpc2g3c6LhhKoRsUtGXppP3I2ktogFVlCeytOWin7Xe36lehDDYfF6i7/W HKx2biHd4YfypCtMFeP6eFrlFzjKKiycM26mHQhTfFXshKju2SRVZ4vEbYXMONOFKwto wqS+G18csrr/d0TekCh3EVJSP7VqHKWqlMs1lgdsHtfPSKBvw2KaiCN6+PkmXA5Kxyh4 eo8aiyvIi14lBYI7ZO6lxIiZr9NpNkg6l+M9N6U5NG9zZMpA1VED1yd6s1yIq0znWYqB KNdA== ARC-Message-Signature: i=1; a=rsa-sha256; c=relaxed/relaxed; d=google.com; s=arc-20160816; h=list-id:precedence:content-transfer-encoding:mime-version :references:in-reply-to:message-id:date:subject:cc:to:from; bh=pQTz4VA5TEos6JDrPUhwPNAd342hFPmet+agdSxzZNM=; fh=x8TsL9VIYp0Xcf0wTz2ewHmPUWmJa27GhEFUlttMH2A=; b=VeaKSDqv7NAyJDc1rY1saWIaY3DS8DvqKAp3jA4qKkFMsFjdFZmD1VviYIOZA8oNhb 5UEqI7O4c1//lYUEUNvpR+dtPqcNwWXRLD3v5yqB3JznT7D10e8mtixt9o4SzpLHN7DW QvRZ2jcAlCG2GCeMRQqfPVv9snw6vt/QrpehJjbWukfH5d365LZBNyWVcomtZxjmCeLh FcGXWVRZUSg5UqZGvpWpLkrhv658LXHC/4t1dar6PQpEUC2dsNfQRzjGhdxYbbHmwRbZ 8r8MEsdu9KZ3Gitxm4tZnef3kYwyWiagE+jARA1THkJsD9GaMMdxcmro6nhoUVb55m/Y wdAg== ARC-Authentication-Results: i=1; mx.google.com; spf=pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 2620:137:e000::1:20 as permitted sender) smtp.mailfrom=linux-kernel-owner@vger.kernel.org; dmarc=fail (p=NONE sp=NONE dis=NONE) header.from=analog.com Received: from out1.vger.email (out1.vger.email. [2620:137:e000::1:20]) by mx.google.com with ESMTP id k16-20020a170906579000b0098d5b21121dsi1181950ejq.804.2023.08.04.00.11.02; Fri, 04 Aug 2023 00:11:26 -0700 (PDT) Received-SPF: pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 2620:137:e000::1:20 as permitted sender) client-ip=2620:137:e000::1:20; Authentication-Results: mx.google.com; spf=pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 2620:137:e000::1:20 as permitted sender) smtp.mailfrom=linux-kernel-owner@vger.kernel.org; dmarc=fail (p=NONE sp=NONE dis=NONE) header.from=analog.com Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S233508AbjHDGqg (ORCPT + 99 others); Fri, 4 Aug 2023 02:46:36 -0400 Received: from lindbergh.monkeyblade.net ([23.128.96.19]:43716 "EHLO lindbergh.monkeyblade.net" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S233285AbjHDGq2 (ORCPT ); Fri, 4 Aug 2023 02:46:28 -0400 Received: from mx0a-00128a01.pphosted.com (mx0a-00128a01.pphosted.com [148.163.135.77]) by lindbergh.monkeyblade.net (Postfix) with ESMTPS id 81BA2E53; Thu, 3 Aug 2023 23:46:27 -0700 (PDT) Received: from pps.filterd (m0167089.ppops.net [127.0.0.1]) by mx0a-00128a01.pphosted.com (8.17.1.22/8.17.1.22) with ESMTP id 3745ovC3011277; Fri, 4 Aug 2023 02:46:19 -0400 Received: from nwd2mta4.analog.com ([137.71.173.58]) by mx0a-00128a01.pphosted.com (PPS) with ESMTPS id 3s8gfs3sr3-1 (version=TLSv1.2 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=NOT); Fri, 04 Aug 2023 02:46:18 -0400 (EDT) Received: from ASHBMBX8.ad.analog.com (ASHBMBX8.ad.analog.com [10.64.17.5]) by nwd2mta4.analog.com (8.14.7/8.14.7) with ESMTP id 3746kHd3016042 (version=TLSv1/SSLv3 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=FAIL); Fri, 4 Aug 2023 02:46:17 -0400 Received: from ASHBCASHYB5.ad.analog.com (10.64.17.133) by ASHBMBX8.ad.analog.com (10.64.17.5) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.2.986.14; Fri, 4 Aug 2023 02:46:16 -0400 Received: from ASHBMBX8.ad.analog.com (10.64.17.5) by ASHBCASHYB5.ad.analog.com (10.64.17.133) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.2.986.14; Fri, 4 Aug 2023 02:46:16 -0400 Received: from zeus.spd.analog.com (10.66.68.11) by ashbmbx8.ad.analog.com (10.64.17.5) with Microsoft SMTP Server id 15.2.986.14 via Frontend Transport; Fri, 4 Aug 2023 02:46:16 -0400 Received: from rbolboac.ad.analog.com ([10.48.65.173]) by zeus.spd.analog.com (8.15.1/8.15.1) with ESMTP id 3746k49j009664; Fri, 4 Aug 2023 02:46:10 -0400 From: Ramona Bolboaca To: , , , CC: Ramona Bolboaca Subject: [PATCH v3 1/3] iio: Add IIO_DELTA_ANGL channel type Date: Fri, 4 Aug 2023 09:45:57 +0300 Message-ID: <20230804064559.47192-2-ramona.bolboaca@analog.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20230804064559.47192-1-ramona.bolboaca@analog.com> References: <20230804064559.47192-1-ramona.bolboaca@analog.com> MIME-Version: 1.0 X-ADIRuleOP-NewSCL: Rule Triggered X-Proofpoint-ORIG-GUID: 8kpibsnuR9a0-he7WcavLGgTfMTdImQ- X-Proofpoint-GUID: 8kpibsnuR9a0-he7WcavLGgTfMTdImQ- X-Proofpoint-Virus-Version: vendor=baseguard engine=ICAP:2.0.254,Aquarius:18.0.957,Hydra:6.0.591,FMLib:17.11.176.26 definitions=2023-08-04_04,2023-08-03_01,2023-05-22_02 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 spamscore=0 adultscore=0 mlxlogscore=999 impostorscore=0 phishscore=0 suspectscore=0 bulkscore=0 lowpriorityscore=0 clxscore=1015 mlxscore=0 malwarescore=0 priorityscore=1501 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.19.0-2306200000 definitions=main-2308040059 X-Spam-Status: No, score=-1.9 required=5.0 tests=BAYES_00, RCVD_IN_DNSWL_BLOCKED,SPF_HELO_NONE,SPF_PASS,T_SCC_BODY_TEXT_LINE autolearn=ham autolearn_force=no version=3.4.6 X-Spam-Checker-Version: SpamAssassin 3.4.6 (2021-04-09) on lindbergh.monkeyblade.net Precedence: bulk List-ID: X-Mailing-List: linux-kernel@vger.kernel.org X-getmail-retrieved-from-mailbox: INBOX X-GMAIL-THRID: 1773281567089217295 X-GMAIL-MSGID: 1773281567089217295 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 degrees. 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 --- Documentation/ABI/testing/sysfs-bus-iio | 14 ++++++++++++++ drivers/iio/industrialio-core.c | 1 + include/uapi/linux/iio/types.h | 1 + tools/iio/iio_event_monitor.c | 2 ++ 4 files changed, 18 insertions(+) diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio index a2854dc9a839..1561c33b05a1 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 angles. + What: /sys/bus/iio/devices/iio:deviceX/in_angl_raw What: /sys/bus/iio/devices/iio:deviceX/in_anglY_raw KernelVersion: 4.17 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; From patchwork Fri Aug 4 06:45:58 2023 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Ramona Bolboaca X-Patchwork-Id: 130980 Return-Path: Delivered-To: ouuuleilei@gmail.com Received: by 2002:a05:612c:44a:b0:3f2:4152:657d with SMTP id ez10csp80073vqb; Fri, 4 Aug 2023 00:10:31 -0700 (PDT) X-Google-Smtp-Source: AGHT+IFDYKS+A2jQ2CW2w6bzaNRsL71gz4hI7raDdRcHA5Ccw/kraE/6rnyVaH5n4UAeJ6jbXEA3 X-Received: by 2002:a17:907:2d87:b0:99c:2e3:cad7 with SMTP id gt7-20020a1709072d8700b0099c02e3cad7mr1165529ejc.5.1691133031685; Fri, 04 Aug 2023 00:10:31 -0700 (PDT) ARC-Seal: i=1; a=rsa-sha256; t=1691133031; cv=none; d=google.com; s=arc-20160816; b=AiRMFJM805lDcM/Uc24iJokkJCpNgfzU1k4HsJccsi/xrUEkfCEKzWv6jptWBMtHNg 06Rmwzm2Ij1gXZNW8ZTZWo8T6Vy85i0sRulYNZ4Z8o0BO0AjVxGwHwP6ZKGDZP6NqGqC tyOyzTFVwjpreJ/VGaXZPpZj3FXKCmqxW126O9oIVOb+uWbgH1xEiXD+TfANJWjMCP0o TLRltgm2YT9mWWlrQA/z6DxgPBCbalotX8Cz1QUajvBd6R29dalHwJDME7CMnP0nUUBt fvwLPAkS8rJg5FYeYhVNXiBsl4C2zMlXh28vnXPOeXFwRM1WIV+BLAzhrw00f9P8Frnz Y+NQ== ARC-Message-Signature: i=1; a=rsa-sha256; c=relaxed/relaxed; d=google.com; s=arc-20160816; h=list-id:precedence:content-transfer-encoding:mime-version :references:in-reply-to:message-id:date:subject:cc:to:from; bh=i4sbytWXl71maV7Uor/oOE1IVjCl9uXS5J4csRcB/vE=; fh=x8TsL9VIYp0Xcf0wTz2ewHmPUWmJa27GhEFUlttMH2A=; b=M+WQLAvuMwYAp/+/NKteBKChPrsN6CqYYpJ0mKB+NW3HzAYwUP2zcxvFh1jNXmHFtL azygbg8Q5q/6YXgVI8Sm8jr+mw6n0pgZYUlsFrcjCaccI4k/CWVv9C1UK+u6/i8hnyvZ 2gMnuBMr1JxGxdN3xy3iHo9ghfSlXhB0i3Rdc3MOOwzfInL8hHWYx3JDmqt0j0wFtGMq qYOLHt9NDJ29Gt/p8D1ZwLxOpD40Ik1WCRHd6EvSv/Gq+Kob7FRXiC/UeCK1TVm9U8xz Eid8k6Xol7ozZ1CsDetEfJ7QiwaqdTVEepFRSyLbazdGiM5C3U7DY5MAUKpnLyquf4PL k7HQ== ARC-Authentication-Results: i=1; mx.google.com; spf=pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 2620:137:e000::1:20 as permitted sender) smtp.mailfrom=linux-kernel-owner@vger.kernel.org; dmarc=fail (p=NONE sp=NONE dis=NONE) header.from=analog.com Received: from out1.vger.email (out1.vger.email. [2620:137:e000::1:20]) by mx.google.com with ESMTP id x11-20020a170906134b00b00992e51fe33bsi1278626ejb.118.2023.08.04.00.10.08; Fri, 04 Aug 2023 00:10:31 -0700 (PDT) Received-SPF: pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 2620:137:e000::1:20 as permitted sender) client-ip=2620:137:e000::1:20; Authentication-Results: mx.google.com; spf=pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 2620:137:e000::1:20 as permitted sender) smtp.mailfrom=linux-kernel-owner@vger.kernel.org; dmarc=fail (p=NONE sp=NONE dis=NONE) header.from=analog.com Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S233475AbjHDGqc (ORCPT + 99 others); Fri, 4 Aug 2023 02:46:32 -0400 Received: from lindbergh.monkeyblade.net ([23.128.96.19]:43706 "EHLO lindbergh.monkeyblade.net" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S232064AbjHDGq0 (ORCPT ); Fri, 4 Aug 2023 02:46:26 -0400 Received: from mx0a-00128a01.pphosted.com (mx0a-00128a01.pphosted.com [148.163.135.77]) by lindbergh.monkeyblade.net (Postfix) with ESMTPS id 4B937E53; Thu, 3 Aug 2023 23:46:25 -0700 (PDT) Received: from pps.filterd (m0167089.ppops.net [127.0.0.1]) by mx0a-00128a01.pphosted.com (8.17.1.22/8.17.1.22) with ESMTP id 3745KTCN011320; Fri, 4 Aug 2023 02:46:17 -0400 Received: from nwd2mta4.analog.com ([137.71.173.58]) by mx0a-00128a01.pphosted.com (PPS) with ESMTPS id 3s8gfs3sqx-1 (version=TLSv1.2 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=NOT); Fri, 04 Aug 2023 02:46:17 -0400 (EDT) Received: from ASHBMBX8.ad.analog.com (ASHBMBX8.ad.analog.com [10.64.17.5]) by nwd2mta4.analog.com (8.14.7/8.14.7) with ESMTP id 3746kGxq016039 (version=TLSv1/SSLv3 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=FAIL); Fri, 4 Aug 2023 02:46:16 -0400 Received: from ASHBMBX8.ad.analog.com (10.64.17.5) by ASHBMBX8.ad.analog.com (10.64.17.5) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.2.986.14; Fri, 4 Aug 2023 02:46:15 -0400 Received: from zeus.spd.analog.com (10.66.68.11) by ashbmbx8.ad.analog.com (10.64.17.5) with Microsoft SMTP Server id 15.2.986.14 via Frontend Transport; Fri, 4 Aug 2023 02:46:15 -0400 Received: from rbolboac.ad.analog.com ([10.48.65.173]) by zeus.spd.analog.com (8.15.1/8.15.1) with ESMTP id 3746k49k009664; Fri, 4 Aug 2023 02:46:11 -0400 From: Ramona Bolboaca To: , , , CC: Ramona Bolboaca Subject: [PATCH v3 2/3] iio: Add IIO_DELTA_VELOCITY channel type Date: Fri, 4 Aug 2023 09:45:58 +0300 Message-ID: <20230804064559.47192-3-ramona.bolboaca@analog.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20230804064559.47192-1-ramona.bolboaca@analog.com> References: <20230804064559.47192-1-ramona.bolboaca@analog.com> MIME-Version: 1.0 X-ADIRuleOP-NewSCL: Rule Triggered X-Proofpoint-ORIG-GUID: 1SMUo-GU5JojnBDeMfkDqxmqZlexDi4e X-Proofpoint-GUID: 1SMUo-GU5JojnBDeMfkDqxmqZlexDi4e X-Proofpoint-Virus-Version: vendor=baseguard engine=ICAP:2.0.254,Aquarius:18.0.957,Hydra:6.0.591,FMLib:17.11.176.26 definitions=2023-08-04_04,2023-08-03_01,2023-05-22_02 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 spamscore=0 adultscore=0 mlxlogscore=999 impostorscore=0 phishscore=0 suspectscore=0 bulkscore=0 lowpriorityscore=0 clxscore=1015 mlxscore=0 malwarescore=0 priorityscore=1501 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.19.0-2306200000 definitions=main-2308040059 X-Spam-Status: No, score=-1.9 required=5.0 tests=BAYES_00, RCVD_IN_DNSWL_BLOCKED,SPF_HELO_NONE,SPF_PASS,T_SCC_BODY_TEXT_LINE autolearn=ham autolearn_force=no version=3.4.6 X-Spam-Checker-Version: SpamAssassin 3.4.6 (2021-04-09) on lindbergh.monkeyblade.net Precedence: bulk List-ID: X-Mailing-List: linux-kernel@vger.kernel.org X-getmail-retrieved-from-mailbox: INBOX X-GMAIL-THRID: 1773281509922969346 X-GMAIL-MSGID: 1773281509922969346 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 --- Documentation/ABI/testing/sysfs-bus-iio | 15 +++++++++++++++ drivers/iio/industrialio-core.c | 1 + include/uapi/linux/iio/types.h | 1 + tools/iio/iio_event_monitor.c | 2 ++ 4 files changed, 19 insertions(+) diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio index 1561c33b05a1..dab53d5d7dcf 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 angles. +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 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; From patchwork Fri Aug 4 06:45:59 2023 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Ramona Bolboaca X-Patchwork-Id: 130983 Return-Path: Delivered-To: ouuuleilei@gmail.com Received: by 2002:a05:612c:44a:b0:3f2:4152:657d with SMTP id ez10csp80760vqb; Fri, 4 Aug 2023 00:12:03 -0700 (PDT) X-Google-Smtp-Source: AGHT+IG9G2YTisJbkBAts06CE6c4IaI9mBj70l+7h4bRuycK3AP4lCzgCzIzE7BjfJloEKZlJDRX X-Received: by 2002:a17:907:7708:b0:99c:2535:372d with SMTP id kw8-20020a170907770800b0099c2535372dmr767579ejc.33.1691133123439; Fri, 04 Aug 2023 00:12:03 -0700 (PDT) ARC-Seal: i=1; a=rsa-sha256; t=1691133123; cv=none; d=google.com; s=arc-20160816; b=ULb+hr/mSwRv3QPqMgvYgEf13ZbvTjYTF63xS+cvy393B3Tqm1ySkyoGwsakotH/wE yB/tr4pHdiovbhM63qvxDhui+EeHNaj705UNGe/jniRVTNMyCqowoi2OCpGHNq71Vc7h LUddFOE3MqMBj9Gz2RDMryUZmaxj5G5BrtNpjzFzRXi23QpMMwP8Vp5fdkB38KblHc6A b1I/f/be6fNKcwMA2tLpcFUuvvbcnni0AEn9TNMNB5oKSWniYEXZAOOE7sW7bopwQZIw joVomqE8L7wjaHst6OUNaaosWWXMcWXvrkamS8Pz1J0TuoudgHOZ4NLZ0NevRhNkzSGU cKbA== ARC-Message-Signature: i=1; a=rsa-sha256; c=relaxed/relaxed; d=google.com; s=arc-20160816; h=list-id:precedence:content-transfer-encoding:mime-version :references:in-reply-to:message-id:date:subject:cc:to:from; bh=WkpGVHFMF1uI2aQvsaUUnPG1HlD59d5gwUIUdUmiiVI=; fh=x8TsL9VIYp0Xcf0wTz2ewHmPUWmJa27GhEFUlttMH2A=; b=enlX47wD9UHALkCWBaCVUk9Wy6b6PkoR6Ttj/ojrt0/JPY8VPfmEqV+VjXPLiWAeUN jDYWIdNYhztl9BTvVLKBBVz0M3tM5nlSgLkMTGHngSzqbQR2hSE4jRWdY2nijJPZbILM mw8RY1RzoT1Q4oO0WlJu1HXRpjux60smMNyXsr2Xhz4ADgkzsk0TN+fT1yyqpxEmuAdu GM88z2qeUoldk082FkHHBywgeUdv7hRMxks71nz3ME8u4S37VMFcrZ5aqq8VvyTIv9j5 dlZkARs3ILF5YhcQrsvD4ubjjtnOODtlwHUPvEWqECxPvcV5X2LmbY5DNH4ASeFkGR+B nz4Q== ARC-Authentication-Results: i=1; mx.google.com; spf=pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 2620:137:e000::1:20 as permitted sender) smtp.mailfrom=linux-kernel-owner@vger.kernel.org; dmarc=fail (p=NONE sp=NONE dis=NONE) header.from=analog.com Received: from out1.vger.email (out1.vger.email. [2620:137:e000::1:20]) by mx.google.com with ESMTP id jp10-20020a170906f74a00b00992dc9d6b8bsi1116245ejb.789.2023.08.04.00.11.40; Fri, 04 Aug 2023 00:12:03 -0700 (PDT) Received-SPF: pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 2620:137:e000::1:20 as permitted sender) client-ip=2620:137:e000::1:20; Authentication-Results: mx.google.com; spf=pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 2620:137:e000::1:20 as permitted sender) smtp.mailfrom=linux-kernel-owner@vger.kernel.org; dmarc=fail (p=NONE sp=NONE dis=NONE) header.from=analog.com Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S233740AbjHDGqk (ORCPT + 99 others); Fri, 4 Aug 2023 02:46:40 -0400 Received: from lindbergh.monkeyblade.net ([23.128.96.19]:43724 "EHLO lindbergh.monkeyblade.net" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S233418AbjHDGqa (ORCPT ); Fri, 4 Aug 2023 02:46:30 -0400 Received: from mx0a-00128a01.pphosted.com (mx0a-00128a01.pphosted.com [148.163.135.77]) by lindbergh.monkeyblade.net (Postfix) with ESMTPS id CB348E77; Thu, 3 Aug 2023 23:46:28 -0700 (PDT) Received: from pps.filterd (m0167089.ppops.net [127.0.0.1]) by mx0a-00128a01.pphosted.com (8.17.1.22/8.17.1.22) with ESMTP id 3745WwcG011410; Fri, 4 Aug 2023 02:46:19 -0400 Received: from nwd2mta3.analog.com ([137.71.173.56]) by mx0a-00128a01.pphosted.com (PPS) with ESMTPS id 3s8gfs3sr6-1 (version=TLSv1.2 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=NOT); Fri, 04 Aug 2023 02:46:19 -0400 (EDT) Received: from ASHBMBX9.ad.analog.com (ASHBMBX9.ad.analog.com [10.64.17.10]) by nwd2mta3.analog.com (8.14.7/8.14.7) with ESMTP id 3746kINb025368 (version=TLSv1/SSLv3 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=FAIL); Fri, 4 Aug 2023 02:46:18 -0400 Received: from ASHBMBX9.ad.analog.com (10.64.17.10) by ASHBMBX9.ad.analog.com (10.64.17.10) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.2.986.14; Fri, 4 Aug 2023 02:46:17 -0400 Received: from zeus.spd.analog.com (10.66.68.11) by ashbmbx9.ad.analog.com (10.64.17.10) with Microsoft SMTP Server id 15.2.986.14 via Frontend Transport; Fri, 4 Aug 2023 02:46:17 -0400 Received: from rbolboac.ad.analog.com ([10.48.65.173]) by zeus.spd.analog.com (8.15.1/8.15.1) with ESMTP id 3746k49l009664; Fri, 4 Aug 2023 02:46:12 -0400 From: Ramona Bolboaca To: , , , CC: Ramona Bolboaca Subject: [PATCH v3 3/3] iio: imu: adis16475.c: Add delta angle and delta velocity channels Date: Fri, 4 Aug 2023 09:45:59 +0300 Message-ID: <20230804064559.47192-4-ramona.bolboaca@analog.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20230804064559.47192-1-ramona.bolboaca@analog.com> References: <20230804064559.47192-1-ramona.bolboaca@analog.com> MIME-Version: 1.0 X-ADIRuleOP-NewSCL: Rule Triggered X-Proofpoint-ORIG-GUID: r3pZp_K6nYG5xzF5iDtAdQTrMIKKbayb X-Proofpoint-GUID: r3pZp_K6nYG5xzF5iDtAdQTrMIKKbayb X-Proofpoint-Virus-Version: vendor=baseguard engine=ICAP:2.0.254,Aquarius:18.0.957,Hydra:6.0.591,FMLib:17.11.176.26 definitions=2023-08-04_04,2023-08-03_01,2023-05-22_02 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 spamscore=0 adultscore=0 mlxlogscore=999 impostorscore=0 phishscore=0 suspectscore=0 bulkscore=0 lowpriorityscore=0 clxscore=1015 mlxscore=0 malwarescore=0 priorityscore=1501 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.19.0-2306200000 definitions=main-2308040059 X-Spam-Status: No, score=-1.9 required=5.0 tests=BAYES_00, RCVD_IN_DNSWL_BLOCKED,SPF_HELO_NONE,SPF_PASS,T_SCC_BODY_TEXT_LINE autolearn=ham autolearn_force=no version=3.4.6 X-Spam-Checker-Version: SpamAssassin 3.4.6 (2021-04-09) on lindbergh.monkeyblade.net Precedence: bulk List-ID: X-Mailing-List: linux-kernel@vger.kernel.org X-getmail-retrieved-from-mailbox: INBOX X-GMAIL-THRID: 1773281605723364776 X-GMAIL-MSGID: 1773281605723364776 Add support for delta angle and delta velocity raw and buffer readings to adis16475 driver. Signed-off-by: Ramona Bolboaca --- 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..dbbeb80c4d23 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 +61,8 @@ #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_BURST_DATA_SEL(x) FIELD_PREP(ADIS16500_BURST_DATA_SEL_MASK, x) #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 +73,10 @@ #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) +#define ADIS16475_HAS_BURST32 BIT(0) +#define ADIS16475_HAS_BURST_DELTA_DATA BIT(1) enum { ADIS16475_SYNC_DIRECT = 1, @@ -84,16 +96,18 @@ struct adis16475_chip_info { const struct adis16475_sync *sync; const struct adis_data adis_data; const char *name; + 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 +129,12 @@ 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 +471,14 @@ 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 +579,32 @@ 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 +613,13 @@ 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 +722,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 1, .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), .temp_scale = 100, + .deltang_max_val = 2160, + .deltvel_max_val = 400, .int_clk = 2000, .max_dec = 1999, .sync = adis16475_sync_mode, @@ -677,6 +739,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 1, .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), .temp_scale = 100, + .deltang_max_val = 360, + .deltvel_max_val = 100, .int_clk = 2000, .max_dec = 1999, .sync = adis16475_sync_mode, @@ -692,6 +756,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 1, .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), .temp_scale = 100, + .deltang_max_val = 720, + .deltvel_max_val = 100, .int_clk = 2000, .max_dec = 1999, .sync = adis16475_sync_mode, @@ -707,6 +773,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 1, .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), .temp_scale = 100, + .deltang_max_val = 2160, + .deltvel_max_val = 100, .int_clk = 2000, .max_dec = 1999, .sync = adis16475_sync_mode, @@ -722,11 +790,13 @@ 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 = 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 +808,13 @@ 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 = 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 +826,13 @@ 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 = 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 +844,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 1, .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), .temp_scale = 100, + .deltang_max_val = 360, + .deltvel_max_val = 100, .int_clk = 2000, .max_dec = 1999, .sync = adis16475_sync_mode, @@ -785,6 +861,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 1, .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), .temp_scale = 100, + .deltang_max_val = 720, + .deltvel_max_val = 100, .int_clk = 2000, .max_dec = 1999, .sync = adis16475_sync_mode, @@ -800,6 +878,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 1, .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), .temp_scale = 100, + .deltang_max_val = 2160, + .deltvel_max_val = 100, .int_clk = 2000, .max_dec = 1999, .sync = adis16475_sync_mode, @@ -815,6 +895,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 1, .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), .temp_scale = 100, + .deltang_max_val = 360, + .deltvel_max_val = 400, .int_clk = 2000, .max_dec = 1999, .sync = adis16475_sync_mode, @@ -830,6 +912,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 1, .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), .temp_scale = 100, + .deltang_max_val = 720, + .deltvel_max_val = 400, .int_clk = 2000, .max_dec = 1999, .sync = adis16475_sync_mode, @@ -845,6 +929,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 1, .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), .temp_scale = 100, + .deltang_max_val = 2160, + .deltvel_max_val = 400, .int_clk = 2000, .max_dec = 1999, .sync = adis16475_sync_mode, @@ -860,12 +946,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 392, .accel_max_scale = 32000 << 16, .temp_scale = 100, + .deltang_max_val = 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 +965,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 78, .accel_max_scale = 32000 << 16, .temp_scale = 100, + .deltang_max_val = 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 +984,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 78, .accel_max_scale = 32000 << 16, .temp_scale = 100, + .deltang_max_val = 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 +1003,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 78, .accel_max_scale = 32000 << 16, .temp_scale = 100, + .deltang_max_val = 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 +1022,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 392, .accel_max_scale = 32000 << 16, .temp_scale = 100, + .deltang_max_val = 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 +1041,14 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 392, .accel_max_scale = 32000 << 16, .temp_scale = 100, + .deltang_max_val = 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 +1060,46 @@ static const struct adis16475_chip_info adis16475_chip_info[] = { .accel_max_val = 392, .accel_max_scale = 32000 << 16, .temp_scale = 100, + .deltang_max_val = 2160, + .deltvel_max_val = 400, .int_clk = 2000, .max_dec = 1999, .sync = adis16475_sync_mode, /* 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 = ADIS16500_BURST_DATA_SEL(0); + else + en = ADIS16500_BURST_DATA_SEL(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;