Most of the channel offsets and scales in the adis16400 are incorrect:
* Voltage scale is off by a factor of 1000
* Temperature scale is off by a factor of 1000
* Temperature offset is completely wrong
* Some of the acceleration scales are either completely wrong or have the
wrong unit
* Some of the angular velocity scale are either completely wrong or have
the wrong unit
This patch fixes these issues. For consistency it also converts scales which are
correct to use the IIO_G_TO_M_S_2 and IIO_DEGREE_TO_RAD macro. This makes it
much easier to compare it to the value given in the datasheet.
Signed-off-by: Lars-Peter Clausen <lars@xxxxxxxxxx>
---
drivers/staging/iio/imu/adis16400_core.c | 53 +++++++++++++++---------------
1 file changed, 27 insertions(+), 26 deletions(-)
diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c
index b302c9b..dccea95 100644
--- a/drivers/staging/iio/imu/adis16400_core.c
+++ b/drivers/staging/iio/imu/adis16400_core.c
@@ -553,10 +553,13 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
return IIO_VAL_INT_PLUS_MICRO;
case IIO_VOLTAGE:
*val = 0;
- if (chan->channel == 0)
- *val2 = 2418;
- else
- *val2 = 806;
+ if (chan->channel == 0) {
+ *val = 2;
+ *val2 = 418000; /* 2.418 mV */
+ } else {
+ *val = 0;
+ *val2 = 805800; /* 805.8 uV */
+ }
return IIO_VAL_INT_PLUS_MICRO;
case IIO_ACCEL:
*val = 0;
@@ -564,11 +567,11 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
return IIO_VAL_INT_PLUS_MICRO;
case IIO_MAGN:
*val = 0;
- *val2 = 500;
+ *val2 = 500; /* 0.5 mgauss */
return IIO_VAL_INT_PLUS_MICRO;
case IIO_TEMP:
- *val = 0;
- *val2 = 140000;
+ *val = 140; /* 0.14 C */
+ *val2 = 0;
return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
@@ -585,10 +588,8 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
*val = val16;
return IIO_VAL_INT;
case IIO_CHAN_INFO_OFFSET:
- /* currently only temperature */
- *val = 198;
- *val2 = 160000;
- return IIO_VAL_INT_PLUS_MICRO;
+ *val = 2500 / 14; /* 25 C = 0x00 */
+ return IIO_VAL_INT;
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
mutex_lock(&indio_dev->mlock);
/* Need both the number of taps and the sampling frequency */
@@ -1058,7 +1059,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
[ADIS16300] = {
.channels = adis16300_channels,
.num_channels = ARRAY_SIZE(adis16300_channels),
- .gyro_scale_micro = 873,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = 5884,
.default_scan_mask = (1 << ADIS16400_SCAN_SUPPLY) |
(1 << ADIS16400_SCAN_GYRO_X) | (1 << ADIS16400_SCAN_ACC_X) |
@@ -1070,8 +1071,8 @@ static struct adis16400_chip_info adis16400_chips[] = {
[ADIS16334] = {
.channels = adis16334_channels,
.num_channels = ARRAY_SIZE(adis16334_channels),
- .gyro_scale_micro = 873,
- .accel_scale_micro = 981,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
.default_scan_mask = (1 << ADIS16400_SCAN_GYRO_X) |
(1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) |
(1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) |
@@ -1080,8 +1081,8 @@ static struct adis16400_chip_info adis16400_chips[] = {
[ADIS16350] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
- .gyro_scale_micro = 872664,
- .accel_scale_micro = 24732,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
.default_scan_mask = 0x7FF,
.flags = ADIS16400_NO_BURST,
},
@@ -1090,8 +1091,8 @@ static struct adis16400_chip_info adis16400_chips[] = {
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID,
.product_id = 0x3FE8,
- .gyro_scale_micro = 1279,
- .accel_scale_micro = 24732,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
.default_scan_mask = 0x7FF,
},
[ADIS16362] = {
@@ -1099,8 +1100,8 @@ static struct adis16400_chip_info adis16400_chips[] = {
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID,
.product_id = 0x3FEA,
- .gyro_scale_micro = 1279,
- .accel_scale_micro = 24732,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
.default_scan_mask = 0x7FF,
},
[ADIS16364] = {
@@ -1108,8 +1109,8 @@ static struct adis16400_chip_info adis16400_chips[] = {
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID,
.product_id = 0x3FEC,
- .gyro_scale_micro = 1279,
- .accel_scale_micro = 24732,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
.default_scan_mask = 0x7FF,
},
[ADIS16365] = {
@@ -1117,8 +1118,8 @@ static struct adis16400_chip_info adis16400_chips[] = {
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID,
.product_id = 0x3FED,
- .gyro_scale_micro = 1279,
- .accel_scale_micro = 24732,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
.default_scan_mask = 0x7FF,
},
[ADIS16400] = {
@@ -1126,8 +1127,8 @@ static struct adis16400_chip_info adis16400_chips[] = {
.num_channels = ARRAY_SIZE(adis16400_channels),
.flags = ADIS16400_HAS_PROD_ID,
.product_id = 0x4015,
- .gyro_scale_micro = 873,
- .accel_scale_micro = 32656,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
.default_scan_mask = 0xFFF,
}
};
--
1.7.10.4
--
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