From cd8c11add73d7096be8bffc6683862b1c883f24a Mon Sep 17 00:00:00 2001 From: Ramona Bolboaca Date: Tue, 8 Aug 2023 10:50:59 +0300 Subject: [PATCH] iio: imu: adis16475.c: Add delta angle and delta velocity channels Add support for delta angle and delta velocity raw and buffer readings to adis16475 driver. Signed-off-by: Ramona Bolboaca Reviewed-by: Nuno Sa Link: https://lore.kernel.org/r/20230808075059.645525-4-ramona.bolboaca@analog.com Signed-off-by: Jonathan Cameron --- 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 1f2294c98c55c9..c10b73b9fb2ad2 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;