From patchwork Tue Aug 8 07:50:57 2023 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Ramona Bolboaca X-Patchwork-Id: 13346551 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org Received: from vger.kernel.org (vger.kernel.org [23.128.96.18]) by smtp.lore.kernel.org (Postfix) with ESMTP id DDC11C04A6A for ; Tue, 8 Aug 2023 17:37:19 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S231878AbjHHRhS (ORCPT ); Tue, 8 Aug 2023 13:37:18 -0400 Received: from lindbergh.monkeyblade.net ([23.128.96.19]:48002 "EHLO lindbergh.monkeyblade.net" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S234838AbjHHRgW (ORCPT ); Tue, 8 Aug 2023 13:36:22 -0400 Received: from mx0a-00128a01.pphosted.com (mx0a-00128a01.pphosted.com [148.163.135.77]) by lindbergh.monkeyblade.net (Postfix) with ESMTPS id E7B19BC21; Tue, 8 Aug 2023 09:15:53 -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 3785lw1X024740; Tue, 8 Aug 2023 03:51:36 -0400 Received: from nwd2mta3.analog.com ([137.71.173.56]) by mx0a-00128a01.pphosted.com (PPS) with ESMTPS id 3s9kb1yvwb-1 (version=TLSv1.2 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=NOT); Tue, 08 Aug 2023 03:51:35 -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 3787pYRS028429 (version=TLSv1/SSLv3 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=FAIL); Tue, 8 Aug 2023 03:51:34 -0400 Received: from ASHBCASHYB4.ad.analog.com (10.64.17.132) 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; Tue, 8 Aug 2023 03:51:33 -0400 Received: from ASHBMBX9.ad.analog.com (10.64.17.10) by ASHBCASHYB4.ad.analog.com (10.64.17.132) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.2.986.14; Tue, 8 Aug 2023 03:51:33 -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; Tue, 8 Aug 2023 03:51:33 -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 3787pN8w011820; Tue, 8 Aug 2023 03:51:28 -0400 From: Ramona Bolboaca To: , , , CC: Ramona Bolboaca Subject: [PATCH v5 1/3] iio: Add IIO_DELTA_ANGL channel type Date: Tue, 8 Aug 2023 10:50:57 +0300 Message-ID: <20230808075059.645525-2-ramona.bolboaca@analog.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20230808075059.645525-1-ramona.bolboaca@analog.com> References: <20230808075059.645525-1-ramona.bolboaca@analog.com> MIME-Version: 1.0 X-ADIRuleOP-NewSCL: Rule Triggered X-Proofpoint-GUID: QCXNNFfBfNRx1lxItSeiGiisGoIvXKHV X-Proofpoint-ORIG-GUID: QCXNNFfBfNRx1lxItSeiGiisGoIvXKHV 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=2023-08-08_06,2023-08-03_01,2023-05-22_02 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 spamscore=0 lowpriorityscore=0 malwarescore=0 suspectscore=0 mlxlogscore=999 priorityscore=1501 impostorscore=0 phishscore=0 adultscore=0 bulkscore=0 mlxscore=0 clxscore=1015 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.19.0-2306200000 definitions=main-2308080070 Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org 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 --- 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; From patchwork Tue Aug 8 07:50:58 2023 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Ramona Bolboaca X-Patchwork-Id: 13346839 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org Received: from vger.kernel.org (vger.kernel.org [23.128.96.18]) by smtp.lore.kernel.org (Postfix) with ESMTP id 66651C001B0 for ; Tue, 8 Aug 2023 19:08:18 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S231852AbjHHTIR (ORCPT ); Tue, 8 Aug 2023 15:08:17 -0400 Received: from lindbergh.monkeyblade.net ([23.128.96.19]:52532 "EHLO lindbergh.monkeyblade.net" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S231995AbjHHTH5 (ORCPT ); Tue, 8 Aug 2023 15:07:57 -0400 Received: from mx0a-00128a01.pphosted.com (mx0a-00128a01.pphosted.com [148.163.135.77]) by lindbergh.monkeyblade.net (Postfix) with ESMTPS id D03D031C0A; Tue, 8 Aug 2023 09:30:00 -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 3785lw1Y024740; 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Tue, 8 Aug 2023 03:51:36 -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 3787pN8x011820; Tue, 8 Aug 2023 03:51:29 -0400 From: Ramona Bolboaca To: , , , CC: Ramona Bolboaca Subject: [PATCH v5 2/3] iio: Add IIO_DELTA_VELOCITY channel type Date: Tue, 8 Aug 2023 10:50:58 +0300 Message-ID: <20230808075059.645525-3-ramona.bolboaca@analog.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20230808075059.645525-1-ramona.bolboaca@analog.com> References: <20230808075059.645525-1-ramona.bolboaca@analog.com> MIME-Version: 1.0 X-ADIRuleOP-NewSCL: Rule Triggered X-Proofpoint-GUID: gK0YNr61qDXQ4cGrP3A75IUDw1kv_s1s X-Proofpoint-ORIG-GUID: gK0YNr61qDXQ4cGrP3A75IUDw1kv_s1s 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=2023-08-08_06,2023-08-03_01,2023-05-22_02 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 spamscore=0 lowpriorityscore=0 malwarescore=0 suspectscore=0 mlxlogscore=999 priorityscore=1501 impostorscore=0 phishscore=0 adultscore=0 bulkscore=0 mlxscore=0 clxscore=1015 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.19.0-2306200000 definitions=main-2308080070 Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org 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 | 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; From patchwork Tue Aug 8 07:50:59 2023 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Ramona Bolboaca X-Patchwork-Id: 13347088 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org Received: from vger.kernel.org (vger.kernel.org [23.128.96.18]) by smtp.lore.kernel.org (Postfix) with ESMTP id 164DCC001DB for ; Tue, 8 Aug 2023 22:08:11 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S230229AbjHHWIK (ORCPT ); Tue, 8 Aug 2023 18:08:10 -0400 Received: from lindbergh.monkeyblade.net ([23.128.96.19]:38068 "EHLO lindbergh.monkeyblade.net" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S231271AbjHHWIG (ORCPT ); Tue, 8 Aug 2023 18:08:06 -0400 Received: from mx0a-00128a01.pphosted.com (mx0a-00128a01.pphosted.com [148.163.135.77]) by lindbergh.monkeyblade.net (Postfix) with ESMTPS id B7EAD46FC2; Tue, 8 Aug 2023 09:47:58 -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 3786pO7F024602; 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Tue, 8 Aug 2023 03:51:31 -0400 From: Ramona Bolboaca To: , , , CC: Ramona Bolboaca Subject: [PATCH v5 3/3] iio: imu: adis16475.c: Add delta angle and delta velocity channels Date: Tue, 8 Aug 2023 10:50:59 +0300 Message-ID: <20230808075059.645525-4-ramona.bolboaca@analog.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20230808075059.645525-1-ramona.bolboaca@analog.com> References: <20230808075059.645525-1-ramona.bolboaca@analog.com> MIME-Version: 1.0 X-ADIRuleOP-NewSCL: Rule Triggered X-Proofpoint-GUID: zMBxf7N9FDE59d4d1GmwijanXgL2wCLT X-Proofpoint-ORIG-GUID: zMBxf7N9FDE59d4d1GmwijanXgL2wCLT 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=2023-08-08_06,2023-08-03_01,2023-05-22_02 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 spamscore=0 lowpriorityscore=0 malwarescore=0 suspectscore=0 mlxlogscore=999 priorityscore=1501 impostorscore=0 phishscore=0 adultscore=0 bulkscore=0 mlxscore=0 clxscore=1015 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.19.0-2306200000 definitions=main-2308080070 Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org 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..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;