iio: imu: adis16480.c: Add delta angle and delta velocity channels

Add support for delta angle and delta velocity raw readings to
adis16480 driver.
The following devices do not support delta readings in burst mode:
ADIS16375, ADIS16480, ADIS16485, ADIS16488, ADIS16490, ADIS16495-1,
ADIS16495-2, ADIS16495-3, ADIS16497-1, ADIS16497-2, ADIS16497-3, thus
they cannot be retrieved via the buffer interface.
For these devices, the delta measurements are retrieved by performing
normal register readings and are made available through the raw
attributes of the specific channels.

Signed-off-by: Ramona Gradinariu <ramona.gradinariu@analog.com>
Reviewed-by: Nuno Sa <nuno.sa@analog.com>
Link: https://lore.kernel.org/r/20240528142409.239187-3-ramona.gradinariu@analog.com
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index bc6cbd00cd4b0dd66c5a67edacd3c770b59fc68d..0cd55040db93b97ebfe01124b326bc4e5d0df22e 100644 (file)
--- 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 +777,24 @@ 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 +850,13 @@ 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 +867,13 @@ 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 +984,8 @@ 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 +1000,8 @@ 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 +1016,8 @@ 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 +1032,8 @@ 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 +1048,8 @@ 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 +1064,8 @@ 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 +1083,8 @@ 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 +1102,8 @@ 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 +1121,8 @@ 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 +1140,8 @@ 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 +1159,8 @@ 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,