Re: [PATCH 1/1] drivers: imu: adis16475.c: Remove scan index from delta channels

[Nuno Sá]

Hi Ramona,

There are some odd stuff...

On Thu, 2023-10-12 at 15:24 +0300, Ramona Gradinariu wrote:
> Some devices do not support delta angle and delta velocity
> burst readings, which means there should be no buffer support
> for these types of channels.
> A new list of channels is created which contains the delta
> channels structures with the scan index equal to -1 to allow
> for raw register readings, without buffer support.
> This list of channels is assigned to the devices which
> do not support delta angle and delta velocity burst
> readings.
> 
> Fixes: 8f6bc87d67c0 ("iio: imu: adis16475.c: Add delta angle and delta velocity
> channels")
> Signed-off-by: Ramona Gradinariu <ramona.gradinariu@xxxxxxxxxx>
> ---
>  drivers/iio/imu/adis16475.c | 67 +++++++++++++++++++++++++------------
>  1 file changed, 46 insertions(+), 21 deletions(-)
> 
> diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
> index 9af07fec0d89..b7cbe1565aee 100644
> --- a/drivers/iio/imu/adis16475.c
> +++ b/drivers/iio/imu/adis16475.c
> @@ -604,7 +604,15 @@ static int adis16475_write_raw(struct iio_dev *indio_dev,
>         ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
>                            ADIS16475_REG_ ## _mod ## _DELTVEL_L,
> ADIS16475_SCAN_DELTVEL_ ## _mod, 32, 32)
>  
> -static const struct iio_chan_spec adis16475_channels[] = {
> +#define ADIS16475_DELTANG_CHAN_NO_SCAN(_mod) \
> +       ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
> +                          ADIS16475_REG_ ## _mod ## _DELTANG_L, -1, 32, 32)
> +
> +#define ADIS16475_DELTVEL_CHAN_NO_SCAN(_mod) \
> +       ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
> +                          ADIS16475_REG_ ## _mod ## _DELTVEL_L, -1, 32, 32)
> +
> +static const struct iio_chan_spec adis16477_channels[] = {
>         ADIS16475_GYRO_CHANNEL(X),
>         ADIS16475_GYRO_CHANNEL(Y),
>         ADIS16475_GYRO_CHANNEL(Z),
> @@ -621,6 +629,23 @@ static const struct iio_chan_spec adis16475_channels[] = {
>         IIO_CHAN_SOFT_TIMESTAMP(13)
>  };
>  
> +static const struct iio_chan_spec adis16475_channels[] = {

I guess you mean adis16477_channels?

> +       ADIS16475_GYRO_CHANNEL(X),
> +       ADIS16475_GYRO_CHANNEL(Y),
> +       ADIS16475_GYRO_CHANNEL(Z),
> +       ADIS16475_ACCEL_CHANNEL(X),
> +       ADIS16475_ACCEL_CHANNEL(Y),
> +       ADIS16475_ACCEL_CHANNEL(Z),
> +       ADIS16475_TEMP_CHANNEL(),
> +       ADIS16475_DELTANG_CHAN_NO_SCAN(X),
> +       ADIS16475_DELTANG_CHAN_NO_SCAN(Y),
> +       ADIS16475_DELTANG_CHAN_NO_SCAN(Z),
> +       ADIS16475_DELTVEL_CHAN_NO_SCAN(X),
> +       ADIS16475_DELTVEL_CHAN_NO_SCAN(Y),
> +       ADIS16475_DELTVEL_CHAN_NO_SCAN(Z),
> +       IIO_CHAN_SOFT_TIMESTAMP(7)
> +};
> +
>  enum adis16475_variant {
>         ADIS16470,
>         ADIS16475_1,
> @@ -782,8 +807,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
>         },
>         [ADIS16477_1] = {
>                 .name = "adis16477-1",
> -               .num_channels = ARRAY_SIZE(adis16475_channels),
> -               .channels = adis16475_channels,
> +               .num_channels = ARRAY_SIZE(adis16477_channels),
> +               .channels = adis16477_channels,
>                 .gyro_max_val = 1,
>                 .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
>                 .accel_max_val = 1,
> @@ -800,8 +825,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
>         },
>         [ADIS16477_2] = {
>                 .name = "adis16477-2",
> -               .num_channels = ARRAY_SIZE(adis16475_channels),
> -               .channels = adis16475_channels,
> +               .num_channels = ARRAY_SIZE(adis16477_channels),
> +               .channels = adis16477_channels,
>                 .gyro_max_val = 1,
>                 .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
>                 .accel_max_val = 1,
> @@ -818,8 +843,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
>         },
>         [ADIS16477_3] = {
>                 .name = "adis16477-3",
> -               .num_channels = ARRAY_SIZE(adis16475_channels),
> -               .channels = adis16475_channels,
> +               .num_channels = ARRAY_SIZE(adis16477_channels),
> +               .channels = adis16477_channels,
>                 .gyro_max_val = 1,
>                 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
>                 .accel_max_val = 1,
> @@ -938,8 +963,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
>         },
>         [ADIS16500] = {
>                 .name = "adis16500",
> -               .num_channels = ARRAY_SIZE(adis16475_channels),
> -               .channels = adis16475_channels,
> +               .num_channels = ARRAY_SIZE(adis16477_channels),
> +               .channels = adis16477_channels,
>                 .gyro_max_val = 1,
>                 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
>                 .accel_max_val = 392,
> @@ -957,8 +982,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] =
> {
>         },
>         [ADIS16505_1] = {
>                 .name = "adis16505-1",
> -               .num_channels = ARRAY_SIZE(adis16475_channels),
> -               .channels = adis16475_channels,
> +               .num_channels = ARRAY_SIZE(adis16477_channels),
> +               .channels = adis16477_channels,

AFAICS, this supports delta channels in burst mode... right? Please make sure to go
again through the datasheets so we make this right...

- Nuno Sá
>