On Fri, 20 Apr 2018 21:31:09 +0200
David Veenstra <davidjulianveenstra@xxxxxxxxx> wrote:
> The sysfs iio ABI states radians per second is expected as the unit for
> angular velocity, but the 12-bit angular velocity register has rps
> as its unit. So a fractional scaling factor of approximately 2 * Pi is
> added to the angular velocity channel.
>
> The added comments will also be relevant for the scaling factor of
> the angle channel.
>
> Signed-off-by: David Veenstra <davidjulianveenstra@xxxxxxxxx>
Comment inline. The function you are talking about isn't used
in the majority of likely use cases for this part. The maths will actually
be done in userspace (which can use floating point).
Thanks,
Jonathan
> ---
> Changes in v2:
> - Move explanation of Pi approximation to top of switch statement,
> as this will also be relevant to angle channel.
> - Replaced 33102 / 2 with 16551 on line 84.
>
> drivers/staging/iio/resolver/ad2s1200.c | 84 +++++++++++++++++++++++----------
> 1 file changed, 59 insertions(+), 25 deletions(-)
>
> diff --git a/drivers/staging/iio/resolver/ad2s1200.c b/drivers/staging/iio/resolver/ad2s1200.c
> index 29a9bb666e7b..6c56257be3b1 100644
> --- a/drivers/staging/iio/resolver/ad2s1200.c
> +++ b/drivers/staging/iio/resolver/ad2s1200.c
> @@ -60,38 +60,71 @@ static int ad2s1200_read_raw(struct iio_dev *indio_dev,
> int ret = 0;
> u16 vel;
>
> - mutex_lock(&st->lock);
> - gpiod_set_value(st->sample, 0);
> + /*
> + * Below a fractional approximation of Pi is needed.
> + * The following approximation will be used: 103993 / 33102.
> + * This is accurate in 9 decimals places.
> + *
> + * This fraction is based on OEIS series of nominator/denominator
> + * of convergents to Pi (A002485 and A002486).
> + */
> + switch (m) {
> + case IIO_CHAN_INFO_SCALE:
> + switch (chan->type) {
> + case IIO_ANGL_VEL:
> + /*
> + * 2 * Pi ~= 2 * 103993 / 33102
> + *
> + * iio_convert_raw_to_processed uses integer
> + * division. This will cause at most 5% error
> + * (for very small values). But for 99.5% of the values
> + * it will cause less that 1% error.
This is an interesting comment, but relies on anyone actually
using iio_convert_raw_to_processed with this device.
I would imagine that 'in kernel' users of a resolver (who would use
that function) will be few and far between. Mostly this will just
get passed to userspace. That involves this being converted to
a decimal. I would just specify it as one in the first place.
> + */
> + *val = 103993;
> + *val2 = 16551;
> + return IIO_VAL_FRACTIONAL;
> + default:
> + return -EINVAL;
> + }
> + break;
> + case IIO_CHAN_INFO_RAW:
> + mutex_lock(&st->lock);
> + gpiod_set_value(st->sample, 0);
> +
> + /* delay (6 * AD2S1200_TSCLK + 20) nano seconds */
> + udelay(1);
> + gpiod_set_value(st->sample, 1);
> + gpiod_set_value(st->rdvel, !!(chan->type == IIO_ANGL));
> +
> + ret = spi_read(st->sdev, st->rx, 2);
> + if (ret < 0) {
> + mutex_unlock(&st->lock);
> + return ret;
> + }
>
> - /* delay (6 * AD2S1200_TSCLK + 20) nano seconds */
> - udelay(1);
> - gpiod_set_value(st->sample, 1);
> - gpiod_set_value(st->rdvel, !!(chan->type == IIO_ANGL));
> + vel = be16_to_cpup((__be16 *)st->rx);
> + switch (chan->type) {
> + case IIO_ANGL:
> + *val = vel >> 4;
> + break;
> + case IIO_ANGL_VEL:
> + *val = sign_extend32((s16)vel >> 4, 11);
> + break;
> + default:
> + mutex_unlock(&st->lock);
> + return -EINVAL;
> + }
>
> - ret = spi_read(st->sdev, st->rx, 2);
> - if (ret < 0) {
> + /* delay (2 * AD2S1200_TSCLK + 20) ns for sample pulse */
> + udelay(1);
> mutex_unlock(&st->lock);
> - return ret;
> - }
>
> - vel = be16_to_cpup((__be16 *)st->rx);
> - switch (chan->type) {
> - case IIO_ANGL:
> - *val = vel >> 4;
> - break;
> - case IIO_ANGL_VEL:
> - *val = sign_extend32((s16)vel >> 4, 11);
> - break;
> + return IIO_VAL_INT;
> default:
> - mutex_unlock(&st->lock);
> - return -EINVAL;
> + break;
> }
>
> - /* delay (2 * AD2S1200_TSCLK + 20) ns for sample pulse */
> - udelay(1);
> - mutex_unlock(&st->lock);
> -
> - return IIO_VAL_INT;
> + return -EINVAL;
> }
>
> static const struct iio_chan_spec ad2s1200_channels[] = {
> @@ -105,6 +138,7 @@ static const struct iio_chan_spec ad2s1200_channels[] = {
> .indexed = 1,
> .channel = 0,
> .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
> }
> };
>
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