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@leica-geosystems.com.cn>
Reviewed-by: Tomas Melin <tomas.melin@vaisala.com>
Link: https://lore.kernel.org/r/20220529061853.3044893-6-Qing-wu.Li@leica-geosystems.com.cn
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

diff --git a/drivers/iio/accel/sca3300.c b/drivers/iio/accel/sca3300.c
index 9683dce..861f690 100644 (file)
--- 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;