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From: Ramona Gradinariu <ramona.bolboaca13@gmail.com>
To: linux-kernel@vger.kernel.org,
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	linux-doc@vger.kernel.org,
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	robh@kernel.org
Cc: Ramona Gradinariu <ramona.gradinariu@analog.com>
Subject: [PATCH 2/5] iio: imu: adis16480.c: Add delta angle and delta velocity channels
Date: Tue, 23 Apr 2024 11:42:07 +0300
Message-Id: <20240423084210.191987-3-ramona.gradinariu@analog.com>
In-Reply-To: <20240423084210.191987-1-ramona.gradinariu@analog.com>
References: <20240423084210.191987-1-ramona.gradinariu@analog.com>
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Add support for delta angle and delta velocity raw readings to
adis16480 driver.

Signed-off-by: Ramona Gradinariu <ramona.gradinariu@analog.com>
---
 drivers/iio/imu/adis16480.c | 78 ++++++++++++++++++++++++++++++++++++-
 1 file changed, 76 insertions(+), 2 deletions(-)

diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index bc6cbd00cd4b..4adc2244a4ef 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -140,6 +140,8 @@ struct adis16480_chip_info {
 	unsigned int accel_max_val;
 	unsigned int accel_max_scale;
 	unsigned int temp_scale;
+	unsigned int deltang_max_val;
+	unsigned int deltvel_max_val;
 	unsigned int int_clk;
 	unsigned int max_dec_rate;
 	const unsigned int *filter_freqs;
@@ -445,6 +447,12 @@ enum {
 	ADIS16480_SCAN_MAGN_Z,
 	ADIS16480_SCAN_BARO,
 	ADIS16480_SCAN_TEMP,
+	ADIS16480_SCAN_DELTANG_X,
+	ADIS16480_SCAN_DELTANG_Y,
+	ADIS16480_SCAN_DELTANG_Z,
+	ADIS16480_SCAN_DELTVEL_X,
+	ADIS16480_SCAN_DELTVEL_Y,
+	ADIS16480_SCAN_DELTVEL_Z,
 };
 
 static const unsigned int adis16480_calibbias_regs[] = {
@@ -688,6 +696,14 @@ static int adis16480_read_raw(struct iio_dev *indio_dev,
 			*val = 131; /* 1310mbar = 131 kPa */
 			*val2 = 32767 << 16;
 			return IIO_VAL_FRACTIONAL;
+		case IIO_DELTA_ANGL:
+			*val = st->chip_info->deltang_max_val;
+			*val2 = 31;
+			return IIO_VAL_FRACTIONAL_LOG2;
+		case IIO_DELTA_VELOCITY:
+			*val = st->chip_info->deltvel_max_val;
+			*val2 = 31;
+			return IIO_VAL_FRACTIONAL_LOG2;
 		default:
 			return -EINVAL;
 		}
@@ -761,6 +777,30 @@ static int adis16480_write_raw(struct iio_dev *indio_dev,
 	BIT(IIO_CHAN_INFO_CALIBSCALE), \
 	32)
 
+#define ADIS16480_DELTANG_CHANNEL(_mod) \
+	ADIS16480_MOD_CHANNEL(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
+	ADIS16480_REG_ ## _mod ## _DELTAANG_OUT, ADIS16480_SCAN_DELTANG_ ## _mod, \
+	0, \
+	32)
+
+#define ADIS16480_DELTANG_CHANNEL_NO_SCAN(_mod) \
+	ADIS16480_MOD_CHANNEL(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
+	ADIS16480_REG_ ## _mod ## _DELTAANG_OUT, -1, \
+	0, \
+	32)
+
+#define ADIS16480_DELTVEL_CHANNEL(_mod) \
+	ADIS16480_MOD_CHANNEL(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
+	ADIS16480_REG_ ## _mod ## _DELTAVEL_OUT, ADIS16480_SCAN_DELTVEL_ ## _mod, \
+	0, \
+	32)
+
+#define ADIS16480_DELTVEL_CHANNEL_NO_SCAN(_mod) \
+	ADIS16480_MOD_CHANNEL(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
+	ADIS16480_REG_ ## _mod ## _DELTAVEL_OUT, -1, \
+	0, \
+	32)
+
 #define ADIS16480_MAGN_CHANNEL(_mod) \
 	ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
 	ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
@@ -816,7 +856,13 @@ static const struct iio_chan_spec adis16480_channels[] = {
 	ADIS16480_MAGN_CHANNEL(Z),
 	ADIS16480_PRESSURE_CHANNEL(),
 	ADIS16480_TEMP_CHANNEL(),
-	IIO_CHAN_SOFT_TIMESTAMP(11)
+	IIO_CHAN_SOFT_TIMESTAMP(11),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(X),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(Y),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(Z),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(X),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Y),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Z),
 };
 
 static const struct iio_chan_spec adis16485_channels[] = {
@@ -827,7 +873,13 @@ static const struct iio_chan_spec adis16485_channels[] = {
 	ADIS16480_ACCEL_CHANNEL(Y),
 	ADIS16480_ACCEL_CHANNEL(Z),
 	ADIS16480_TEMP_CHANNEL(),
-	IIO_CHAN_SOFT_TIMESTAMP(7)
+	IIO_CHAN_SOFT_TIMESTAMP(7),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(X),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(Y),
+	ADIS16480_DELTANG_CHANNEL_NO_SCAN(Z),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(X),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Y),
+	ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Z),
 };
 
 enum adis16480_variant {
@@ -938,6 +990,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(21973 << 16),
 		.accel_max_scale = 18,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(180),
+		.deltvel_max_val = 100,
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
 		.has_sleep_cnt = true,
@@ -952,6 +1006,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(12500 << 16),
 		.accel_max_scale = 10,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 200,
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
 		.has_sleep_cnt = true,
@@ -966,6 +1022,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
 		.accel_max_scale = 5,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 50,
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
 		.has_sleep_cnt = true,
@@ -980,6 +1038,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(22500 << 16),
 		.accel_max_scale = 18,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 200,
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
 		.has_sleep_cnt = true,
@@ -994,6 +1054,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(16000 << 16),
 		.accel_max_scale = 8,
 		.temp_scale = 14285, /* 14.285 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 200,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1008,6 +1070,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 8,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 100,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1025,6 +1089,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 8,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 100,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1042,6 +1108,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 8,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 100,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1059,6 +1127,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 40,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 400,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1076,6 +1146,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 40,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 400,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
@@ -1093,6 +1165,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
 		.accel_max_scale = 40,
 		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
-- 
2.34.1