Commit 38d5cd1e authored by LI Qingwu's avatar LI Qingwu Committed by Jonathan Cameron
Browse files

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: default avatarLI Qingwu <Qing-wu.Li@leica-geosystems.com.cn>
Reviewed-by: default avatarTomas Melin <tomas.melin@vaisala.com>
Link: https://lore.kernel.org/r/20220529061853.3044893-6-Qing-wu.Li@leica-geosystems.com.cn


Signed-off-by: default avatarJonathan Cameron <Jonathan.Cameron@huawei.com>
parent 24fb2d3c

drivers/iio/accel/sca3300.c

+73 −3
Original line number Diff line number Diff line
@@ -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;