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Message-Id: <20220523062312.1401944-6-Qing-wu.Li@leica-geosystems.com.cn>
Date: Mon, 23 May 2022 06:23:12 +0000
From: LI Qingwu <Qing-wu.Li@...ca-geosystems.com.cn>
To: jic23@...nel.org, lars@...afoo.de, robh+dt@...nel.org,
tomas.melin@...sala.com, andy.shevchenko@...il.com,
devicetree@...r.kernel.org, linux-kernel@...r.kernel.org,
Qing-wu.Li@...ca-geosystems.com.cn
Cc: thomas.haemmerle@...ca-geosystems.com, linux-iio@...r.kernel.org
Subject: [PATCH V8 5/5] iio: accel: sca3300: Add inclination channels
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 <Qing-wu.Li@...ca-geosystems.com.cn>
---
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 74e780a7ffcd..c7fcb0de5462 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;
};
/**
@@ -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 = 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 = true,
},
};
@@ -401,6 +454,11 @@ 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];
@@ -488,6 +546,13 @@ static int sca3300_init(struct sca3300_data *sca_data,
sca_data->chip = &sca3300_chip_tbl[i];
+ if (sca_data->chip->angle) {
+ ret = sca3300_write_reg(sca_data, SCL3300_REG_ANG_CTRL,
+ SCL3300_ANG_ENABLE);
+ if (ret)
+ return ret;
+ }
+
return 0;
}
@@ -523,6 +588,11 @@ 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;
--
2.25.1
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