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Sun, 29 May 2022 06:19:00 +0000 X-MS-Exchange-Authentication-Results: spf=pass (sender IP is 193.8.40.94) smtp.mailfrom=leica-geosystems.com.cn; dkim=none (message not signed) header.d=none;dmarc=none action=none header.from=leica-geosystems.com.cn; Received-SPF: Pass (protection.outlook.com: domain of leica-geosystems.com.cn designates 193.8.40.94 as permitted sender) receiver=protection.outlook.com; client-ip=193.8.40.94; helo=aherlnxbspsrv01.lgs-net.com; pr=C Received: from aherlnxbspsrv01.lgs-net.com (193.8.40.94) by VE1EUR02FT016.mail.protection.outlook.com (10.152.12.90) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.20.5293.13 via Frontend Transport; Sun, 29 May 2022 06:19:00 +0000 From: LI Qingwu To: jic23@kernel.org, lars@metafoo.de, robh+dt@kernel.org, tomas.melin@vaisala.com, andy.shevchenko@gmail.com, devicetree@vger.kernel.org, linux-kernel@vger.kernel.org, Qing-wu.Li@leica-geosystems.com.cn, thomas.haemmerle@leica-geosystems.com Cc: linux-iio@vger.kernel.org Subject: [PATCH V9 5/5] iio: accel: sca3300: Add inclination channels Date: Sun, 29 May 2022 06:18:53 +0000 Message-Id: <20220529061853.3044893-6-Qing-wu.Li@leica-geosystems.com.cn> X-Mailer: git-send-email 2.25.1 In-Reply-To: <20220529061853.3044893-1-Qing-wu.Li@leica-geosystems.com.cn> References: <20220529061853.3044893-1-Qing-wu.Li@leica-geosystems.com.cn> MIME-Version: 1.0 X-EOPAttributedMessage: 0 X-MS-PublicTrafficType: Email X-MS-Office365-Filtering-Correlation-Id: 3af195a1-3923-4b59-fc6f-08da413b1f27 X-MS-TrafficTypeDiagnostic: GV1PR06MB8404:EE_ X-MS-Exchange-AtpMessageProperties: SA|SL X-Microsoft-Antispam-PRVS: X-MS-Exchange-SenderADCheck: 1 X-MS-Exchange-AntiSpam-Relay: 0 X-Microsoft-Antispam: BCL:0; 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X-OriginatorOrg: leica-geosystems.com.cn X-MS-Exchange-CrossTenant-OriginalArrivalTime: 29 May 2022 06:19:00.5592 (UTC) X-MS-Exchange-CrossTenant-Network-Message-Id: 3af195a1-3923-4b59-fc6f-08da413b1f27 X-MS-Exchange-CrossTenant-Id: 1b16ab3e-b8f6-4fe3-9f3e-2db7fe549f6a X-MS-Exchange-CrossTenant-OriginalAttributedTenantConnectingIp: TenantId=1b16ab3e-b8f6-4fe3-9f3e-2db7fe549f6a;Ip=[193.8.40.94];Helo=[aherlnxbspsrv01.lgs-net.com] X-MS-Exchange-CrossTenant-AuthSource: VE1EUR02FT016.eop-EUR02.prod.protection.outlook.com X-MS-Exchange-CrossTenant-AuthAs: Anonymous X-MS-Exchange-CrossTenant-FromEntityHeader: HybridOnPrem X-MS-Exchange-Transport-CrossTenantHeadersStamped: GV1PR06MB8404 Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org Different from SCA3300, SCL3300 can output inclination angles. Angles are formed from acceleration with following equations: ANG_X = atan2(accx , sqrt(pow(accy , 2) + pow(accz , 2))) ANG_Y = atan2(accy , sqrt(pow(accx , 2) + pow(accz , 2))) ANG_Z = atan2(accz , sqrt(pow(accx , 2) + pow(accy , 2))) The commit adds the output of the raw value, scale and scale_available of angles. New interfaces: in_incli_scale in_incli_scale_available in_incli_x_raw in_incli_y_raw in_incli_z_raw Data converted by application of scale to degrees. Signed-off-by: LI Qingwu --- drivers/iio/accel/sca3300.c | 76 +++++++++++++++++++++++++++++++++++-- 1 file changed, 73 insertions(+), 3 deletions(-) diff --git a/drivers/iio/accel/sca3300.c b/drivers/iio/accel/sca3300.c index 9683dce21073..861f6906beee 100644 --- a/drivers/iio/accel/sca3300.c +++ b/drivers/iio/accel/sca3300.c @@ -44,12 +44,18 @@ #define SCA3300_VALUE_RS_ERROR 0x3 #define SCA3300_MASK_RS_STATUS GENMASK(1, 0) +#define SCL3300_REG_ANG_CTRL 0x0C +#define SCL3300_ANG_ENABLE 0x1F + enum sca3300_scan_indexes { SCA3300_ACC_X = 0, SCA3300_ACC_Y, SCA3300_ACC_Z, SCA3300_TEMP, SCA3300_TIMESTAMP, + SCA3300_INCLI_X, + SCA3300_INCLI_Y, + SCA3300_INCLI_Z, }; #define SCA3300_ACCEL_CHANNEL(index, reg, axis) { \ @@ -73,6 +79,23 @@ enum sca3300_scan_indexes { }, \ } +#define SCA3300_INCLI_CHANNEL(index, reg, axis) { \ + .type = IIO_INCLI, \ + .address = reg, \ + .modified = 1, \ + .channel2 = IIO_MOD_##axis, \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type_available = BIT(IIO_CHAN_INFO_SCALE), \ + .scan_index = index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_CPU, \ + }, \ +} + #define SCA3300_TEMP_CHANNEL(index, reg) { \ .type = IIO_TEMP, \ .address = reg, \ @@ -106,15 +129,36 @@ static const int sca3300_accel_scale_map[] = {0, 1, 2, 2}; static const int scl3300_accel_scale[][2] = {{0, 167}, {0, 333}, {0, 83}}; static const int scl3300_accel_scale_map[] = {0, 1, 2}; +static const int scl3300_incli_scale[][2] = {{0, 5495}}; +static const int scl3300_incli_scale_map[] = {0, 0, 0}; + static const int sca3300_avail_modes_map[] = {0, 1, 2, 3}; static const int scl3300_avail_modes_map[] = {0, 1, 3}; +static const struct iio_chan_spec scl3300_channels[] = { + SCA3300_ACCEL_CHANNEL(SCA3300_ACC_X, 0x1, X), + SCA3300_ACCEL_CHANNEL(SCA3300_ACC_Y, 0x2, Y), + SCA3300_ACCEL_CHANNEL(SCA3300_ACC_Z, 0x3, Z), + SCA3300_TEMP_CHANNEL(SCA3300_TEMP, 0x05), + IIO_CHAN_SOFT_TIMESTAMP(4), + SCA3300_INCLI_CHANNEL(SCA3300_INCLI_X, 0x09, X), + SCA3300_INCLI_CHANNEL(SCA3300_INCLI_Y, 0x0A, Y), + SCA3300_INCLI_CHANNEL(SCA3300_INCLI_Z, 0x0B, Z), +}; + static const unsigned long sca3300_scan_masks[] = { BIT(SCA3300_ACC_X) | BIT(SCA3300_ACC_Y) | BIT(SCA3300_ACC_Z) | BIT(SCA3300_TEMP), 0 }; +static const unsigned long scl3300_scan_masks[] = { + BIT(SCA3300_ACC_X) | BIT(SCA3300_ACC_Y) | BIT(SCA3300_ACC_Z) | + BIT(SCA3300_TEMP) | + BIT(SCA3300_INCLI_X) | BIT(SCA3300_INCLI_Y) | BIT(SCA3300_INCLI_Z), + 0 +}; + struct sca3300_chip_info { const char *name; const unsigned long *scan_masks; @@ -123,12 +167,16 @@ struct sca3300_chip_info { u8 num_accel_scales; const int (*accel_scale)[2]; const int *accel_scale_map; + const int (*incli_scale)[2]; + const int *incli_scale_map; + u8 num_incli_scales; u8 num_freqs; const int *freq_table; const int *freq_map; const int *avail_modes_table; u8 num_avail_modes; u8 chip_id; + bool angle_supported; }; /** @@ -167,21 +215,26 @@ static const struct sca3300_chip_info sca3300_chip_tbl[] = { .avail_modes_table = sca3300_avail_modes_map, .num_avail_modes = 4, .chip_id = SCA3300_WHOAMI_ID, + .angle_supported = false, }, { .name = "scl3300", - .scan_masks = sca3300_scan_masks, - .channels = sca3300_channels, - .num_channels = ARRAY_SIZE(sca3300_channels), + .scan_masks = scl3300_scan_masks, + .channels = scl3300_channels, + .num_channels = ARRAY_SIZE(scl3300_channels), .num_accel_scales = ARRAY_SIZE(scl3300_accel_scale)*2, .accel_scale = scl3300_accel_scale, .accel_scale_map = scl3300_accel_scale_map, + .incli_scale = scl3300_incli_scale, + .incli_scale_map = scl3300_incli_scale_map, + .num_incli_scales = ARRAY_SIZE(scl3300_incli_scale)*2, .num_freqs = ARRAY_SIZE(scl3300_lp_freq), .freq_table = scl3300_lp_freq, .freq_map = scl3300_lp_freq_map, .avail_modes_table = scl3300_avail_modes_map, .num_avail_modes = 3, .chip_id = SCL3300_WHOAMI_ID, + .angle_supported = true, }, }; @@ -400,6 +453,11 @@ static int sca3300_read_raw(struct iio_dev *indio_dev, if (ret) return ret; switch (chan->type) { + case IIO_INCLI: + index = data->chip->incli_scale_map[index]; + *val = data->chip->incli_scale[index][0]; + *val2 = data->chip->incli_scale[index][1]; + return IIO_VAL_INT_PLUS_MICRO; case IIO_ACCEL: index = data->chip->accel_scale_map[index]; *val = data->chip->accel_scale[index][0]; @@ -486,6 +544,13 @@ static int sca3300_init(struct sca3300_data *sca_data, sca_data->chip = &sca3300_chip_tbl[i]; + if (sca_data->chip->angle_supported) { + ret = sca3300_write_reg(sca_data, SCL3300_REG_ANG_CTRL, + SCL3300_ANG_ENABLE); + if (ret) + return ret; + } + return 0; } @@ -521,6 +586,11 @@ static int sca3300_read_avail(struct iio_dev *indio_dev, switch (mask) { case IIO_CHAN_INFO_SCALE: switch (chan->type) { + case IIO_INCLI: + *vals = (const int *)data->chip->incli_scale; + *length = data->chip->num_incli_scales; + *type = IIO_VAL_INT_PLUS_MICRO; + return IIO_AVAIL_LIST; case IIO_ACCEL: *vals = (const int *)data->chip->accel_scale; *length = data->chip->num_accel_scales;