[PATCH 1/3] iio: accel: adis16201: merge adis16203 support from staging
From: Shehryar Ahmad
Date: Mon Aug 31 2026 - 16:58:30 EST
Merge the ADIS16203 360 degree inclinometer driver from staging to
mainline ADIS16201 driver. Register addresses and external SPI interface
are identical between both. Some things that differ like write mask, and
calibbias bit width are handled by per chip struct differ_info, handled
by of_device_id match data in probe, following the same pattern used in
adis16475 which selects per-chip data directly via of_device_id.data and
spi_get_device_match_data(), adis16480 does similar but via a different
mechanism (index into an array via the SPI ID table).
Channels arrays are kept separate to avoid dropping const and kmemdup
would be extra failure point if memory allocation fails and is memory
inefficient.
GENMASK is still same instead of range check to keep adis16201 behaviour
unchanged
Signed-off-by: Shehryar Ahmad <shehryar.amd@xxxxxxxxx>
---
drivers/iio/accel/adis16201.c | 289 ++++++++++++++++++++--------------
1 file changed, 174 insertions(+), 115 deletions(-)
diff --git a/drivers/iio/accel/adis16201.c b/drivers/iio/accel/adis16201.c
index ba0f97944..ee8efeed2 100644
--- a/drivers/iio/accel/adis16201.c
+++ b/drivers/iio/accel/adis16201.c
@@ -1,6 +1,6 @@
// SPDX-License-Identifier: GPL-2.0-or-later
/*
- * ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer
+ * Analog Devices ADIS16201 Inclinometer/Accelerometer and ADIS16203 Inclinometer Driver
*
* Copyright 2010 Analog Devices Inc.
*/
@@ -13,93 +13,187 @@
#include <linux/iio/iio.h>
#include <linux/iio/imu/adis.h>
-#define ADIS16201_STARTUP_DELAY_MS 220
-#define ADIS16201_FLASH_CNT 0x00
+#define ADIS16201_STARTUP_DELAY_MS 220
+#define ADIS16201_FLASH_CNT 0x00
/* Data Output Register Information */
-#define ADIS16201_SUPPLY_OUT_REG 0x02
-#define ADIS16201_XACCL_OUT_REG 0x04
-#define ADIS16201_YACCL_OUT_REG 0x06
-#define ADIS16201_AUX_ADC_REG 0x08
-#define ADIS16201_TEMP_OUT_REG 0x0A
-#define ADIS16201_XINCL_OUT_REG 0x0C
-#define ADIS16201_YINCL_OUT_REG 0x0E
+#define ADIS16201_SUPPLY_OUT_REG 0x02
+#define ADIS16201_XACCL_OUT_REG 0x04
+#define ADIS16201_YACCL_OUT_REG 0x06
+#define ADIS16201_AUX_ADC_REG 0x08
+#define ADIS16201_TEMP_OUT_REG 0x0A
+#define ADIS16201_INCL_OUT_REG 0x0C
+#define ADIS16201_YINCL_OUT_REG 0x0E
/* Calibration Register Definition */
-#define ADIS16201_XACCL_OFFS_REG 0x10
-#define ADIS16201_YACCL_OFFS_REG 0x12
-#define ADIS16201_XACCL_SCALE_REG 0x14
-#define ADIS16201_YACCL_SCALE_REG 0x16
-#define ADIS16201_XINCL_OFFS_REG 0x18
-#define ADIS16201_YINCL_OFFS_REG 0x1A
-#define ADIS16201_XINCL_SCALE_REG 0x1C
-#define ADIS16201_YINCL_SCALE_REG 0x1E
+#define ADIS16201_XACCL_OFFS_REG 0x10
+#define ADIS16201_YACCL_OFFS_REG 0x12
+#define ADIS16201_XACCL_SCALE_REG 0x14
+#define ADIS16201_YACCL_SCALE_REG 0x16
+#define ADIS16201_INCL_OFFS_REG 0x18
+#define ADIS16201_YINCL_OFFS_REG 0x1A
+#define ADIS16201_XINCL_SCALE_REG 0x1C
+#define ADIS16201_YINCL_SCALE_REG 0x1E
/* Alarm Register Definition */
-#define ADIS16201_ALM_MAG1_REG 0x20
-#define ADIS16201_ALM_MAG2_REG 0x22
-#define ADIS16201_ALM_SMPL1_REG 0x24
-#define ADIS16201_ALM_SMPL2_REG 0x26
-#define ADIS16201_ALM_CTRL_REG 0x28
-
-#define ADIS16201_AUX_DAC_REG 0x30
-#define ADIS16201_GPIO_CTRL_REG 0x32
-#define ADIS16201_SMPL_PRD_REG 0x36
+#define ADIS16201_ALM_MAG1_REG 0x20
+#define ADIS16201_ALM_MAG2_REG 0x22
+#define ADIS16201_ALM_SMPL1_REG 0x24
+#define ADIS16201_ALM_SMPL2_REG 0x26
+#define ADIS16201_ALM_CTRL_REG 0x28
+
+#define ADIS16201_AUX_DAC_REG 0x30
+#define ADIS16201_GPIO_CTRL_REG 0x32
+#define ADIS16201_SMPL_PRD_REG 0x36
+
/* Operation, filter configuration */
-#define ADIS16201_AVG_CNT_REG 0x38
-#define ADIS16201_SLP_CNT_REG 0x3A
+#define ADIS16201_AVG_CNT_REG 0x38
+#define ADIS16201_SLP_CNT_REG 0x3A
/* Miscellaneous Control Register Definition */
-#define ADIS16201_MSC_CTRL_REG 0x34
-#define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8)
+#define ADIS16201_MSC_CTRL_REG 0x34
+#define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8)
/* Data-ready enable: 1 = enabled, 0 = disabled */
-#define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2)
+#define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2)
/* Data-ready polarity: 1 = active high, 0 = active low */
#define ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH BIT(1)
/* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
-#define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
+#define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
/* Diagnostics System Status Register Definition */
-#define ADIS16201_DIAG_STAT_REG 0x3C
-#define ADIS16201_DIAG_STAT_ALARM2 BIT(9)
-#define ADIS16201_DIAG_STAT_ALARM1 BIT(8)
-#define ADIS16201_DIAG_STAT_SPI_FAIL_BIT 3
+#define ADIS16201_DIAG_STAT_REG 0x3C
+#define ADIS16201_DIAG_STAT_ALARM2 BIT(9)
+#define ADIS16201_DIAG_STAT_ALARM1 BIT(8)
+#define ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT 5
+#define ADIS16201_DIAG_STAT_SPI_FAIL_BIT 3
#define ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT 2
/* Power supply above 3.625 V */
-#define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1
+#define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1
/* Power supply below 2.975 V */
-#define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0
+#define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0
/* System Command Register Definition */
-#define ADIS16201_GLOB_CMD_REG 0x3E
-#define ADIS16201_GLOB_CMD_SW_RESET BIT(7)
-#define ADIS16201_GLOB_CMD_FACTORY_RESET BIT(1)
+#define ADIS16201_GLOB_CMD_REG 0x3E
+#define ADIS16201_GLOB_CMD_SW_RESET BIT(7)
+#define ADIS16203_GLOB_CMD_CLEAR_STAT BIT(4)
+#define ADIS16201_GLOB_CMD_FACTORY_RESET BIT(1)
-#define ADIS16201_ERROR_ACTIVE BIT(14)
+#define ADIS16201_ERROR_ACTIVE BIT(14)
enum adis16201_scan {
- ADIS16201_SCAN_ACC_X,
- ADIS16201_SCAN_ACC_Y,
- ADIS16201_SCAN_INCLI_X,
- ADIS16201_SCAN_INCLI_Y,
ADIS16201_SCAN_SUPPLY,
- ADIS16201_SCAN_AUX_ADC,
ADIS16201_SCAN_TEMP,
+ ADIS16201_SCAN_AUX_ADC,
+ ADIS16201_SCAN_INCLI,
+ ADIS16201_SCAN_INCLI_Y,
+ ADIS16201_SCAN_ACC_X,
+ ADIS16201_SCAN_ACC_Y,
};
static const u8 adis16201_addresses[] = {
[ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG,
[ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG,
- [ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS_REG,
+ [ADIS16201_SCAN_INCLI] = ADIS16201_INCL_OFFS_REG,
[ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS_REG,
};
+static const struct iio_chan_spec adis16201_channels[] = {
+ ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY,
+ 0, 12),
+ ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12),
+ ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X,
+ BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
+ ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y,
+ BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
+ ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12),
+ ADIS_INCLI_CHAN(X, ADIS16201_INCL_OUT_REG, ADIS16201_SCAN_INCLI,
+ BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 12),
+ ADIS_INCLI_CHAN(Y, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y,
+ BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(7)
+};
+
+static const struct iio_chan_spec adis16203_channels[] = {
+ ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0, 12),
+ ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12),
+ ADIS_INCLI_CHAN(X, ADIS16201_INCL_OUT_REG, ADIS16201_SCAN_INCLI,
+ BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
+ ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(4)
+};
+
+struct differ_info {
+ u16 write_mask_incli;
+ unsigned int incli_scale_val2;
+ unsigned int read_bits_incli;
+ const struct iio_chan_spec *arr_chans;
+ u16 diag_stat_mask;
+ unsigned int num_chans;
+};
+
+static const struct differ_info adis16201_diff = {
+ .write_mask_incli = GENMASK(8, 0),
+ .incli_scale_val2 = 100000,
+ .read_bits_incli = 9,
+ .arr_chans = adis16201_channels,
+ .diag_stat_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) |
+ BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) |
+ BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) |
+ BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
+ .num_chans = ARRAY_SIZE(adis16201_channels)
+};
+
+static const struct differ_info adis16203_diff = {
+ .write_mask_incli = GENMASK(13, 0),
+ .incli_scale_val2 = 25000,
+ .read_bits_incli = 14,
+ .arr_chans = adis16203_channels,
+ .diag_stat_mask = BIT(ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT) |
+ BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) |
+ BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) |
+ BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) |
+ BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
+ .num_chans = ARRAY_SIZE(adis16203_channels)
+};
+
+struct adis16201_state {
+ struct adis adis;
+ const struct differ_info *info;
+};
+
+static int adis16201_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val,
+ int val2,
+ long mask)
+{
+ struct adis16201_state *st = iio_priv(indio_dev);
+ int m;
+
+ if (mask != IIO_CHAN_INFO_CALIBBIAS)
+ return -EINVAL;
+
+ switch (chan->type) {
+ case IIO_ACCEL:
+ m = GENMASK(11, 0);
+ break;
+ case IIO_INCLI:
+ m = st->info->write_mask_incli;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ return adis_write_reg_16(&st->adis, adis16201_addresses[chan->scan_index],
+ val & m);
+}
+
static int adis16201_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
- int *val, int *val2,
- long mask)
+ int *val,
+ int *val2, long mask)
{
- struct adis *st = iio_priv(indio_dev);
+ struct adis16201_state *st = iio_priv(indio_dev);
int ret;
int bits;
u8 addr;
@@ -126,6 +220,11 @@ static int adis16201_read_raw(struct iio_dev *indio_dev,
*val = -470;
*val2 = 0;
return IIO_VAL_INT_PLUS_MICRO;
+
+ case IIO_INCLI:
+ *val = 0;
+ *val2 = st->info->incli_scale_val2;
+ return IIO_VAL_INT_PLUS_MICRO;
case IIO_ACCEL:
/*
* IIO base unit for sensitivity of accelerometer
@@ -135,10 +234,6 @@ static int adis16201_read_raw(struct iio_dev *indio_dev,
*val = 0;
*val2 = IIO_G_TO_M_S_2(462400);
return IIO_VAL_INT_PLUS_NANO;
- case IIO_INCLI:
- *val = 0;
- *val2 = 100000;
- return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
@@ -157,13 +252,13 @@ static int adis16201_read_raw(struct iio_dev *indio_dev,
bits = 12;
break;
case IIO_INCLI:
- bits = 9;
+ bits = st->info->read_bits_incli;
break;
default:
return -EINVAL;
}
addr = adis16201_addresses[chan->scan_index];
- ret = adis_read_reg_16(st, addr, &val16);
+ ret = adis_read_reg_16(&st->adis, addr, &val16);
if (ret)
return ret;
@@ -174,49 +269,6 @@ static int adis16201_read_raw(struct iio_dev *indio_dev,
return -EINVAL;
}
-static int adis16201_write_raw(struct iio_dev *indio_dev,
- struct iio_chan_spec const *chan,
- int val,
- int val2,
- long mask)
-{
- struct adis *st = iio_priv(indio_dev);
- int m;
-
- if (mask != IIO_CHAN_INFO_CALIBBIAS)
- return -EINVAL;
-
- switch (chan->type) {
- case IIO_ACCEL:
- m = GENMASK(11, 0);
- break;
- case IIO_INCLI:
- m = GENMASK(8, 0);
- break;
- default:
- return -EINVAL;
- }
-
- return adis_write_reg_16(st, adis16201_addresses[chan->scan_index],
- val & m);
-}
-
-static const struct iio_chan_spec adis16201_channels[] = {
- ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0,
- 12),
- ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12),
- ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X,
- BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
- ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y,
- BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
- ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12),
- ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X,
- BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 12),
- ADIS_INCLI_CHAN(Y, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y,
- BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 12),
- IIO_CHAN_SOFT_TIMESTAMP(7)
-};
-
static const struct iio_info adis16201_info = {
.read_raw = adis16201_read_raw,
.write_raw = adis16201_write_raw,
@@ -224,6 +276,7 @@ static const struct iio_info adis16201_info = {
};
static const char * const adis16201_status_error_msgs[] = {
+ [ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
[ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
[ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
[ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
@@ -248,56 +301,62 @@ static const struct adis_data adis16201_data = {
.timeouts = &adis16201_timeouts,
.status_error_msgs = adis16201_status_error_msgs,
- .status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) |
- BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) |
- BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) |
- BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
};
static int adis16201_probe(struct spi_device *spi)
{
struct iio_dev *indio_dev;
- struct adis *st;
+ struct adis16201_state *st;
+ struct adis_data data = adis16201_data;
int ret;
- indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
+ indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(struct adis16201_state));
if (!indio_dev)
return -ENOMEM;
st = iio_priv(indio_dev);
+ st->info = spi_get_device_match_data(spi);
indio_dev->name = spi->dev.driver->name;
indio_dev->info = &adis16201_info;
-
- indio_dev->channels = adis16201_channels;
- indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
+ indio_dev->channels = st->info->arr_chans;
+ indio_dev->num_channels = st->info->num_chans;
indio_dev->modes = INDIO_DIRECT_MODE;
- ret = adis_init(st, indio_dev, spi, &adis16201_data);
+ data.status_error_mask = st->info->diag_stat_mask;
+ ret = adis_init(&st->adis, indio_dev, spi, &data);
if (ret)
return ret;
- ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
+ ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
if (ret)
return ret;
- ret = __adis_initial_startup(st);
+ ret = __adis_initial_startup(&st->adis);
if (ret)
return ret;
return devm_iio_device_register(&spi->dev, indio_dev);
}
+static const struct of_device_id adis16201_of_match[] = {
+ { .compatible = "adi,adis16201", .data = &adis16201_diff },
+ { .compatible = "adi,adis16203", .data = &adis16203_diff },
+ { }
+};
+
static struct spi_driver adis16201_driver = {
.driver = {
- .name = "adis16201",
+ .name = "adis16201_adis16203",
+ .of_match_table = adis16201_of_match,
},
.probe = adis16201_probe,
};
module_spi_driver(adis16201_driver);
MODULE_AUTHOR("Barry Song <21cnbao@xxxxxxxxx>");
-MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer");
+MODULE_DESCRIPTION("Analog Devices ADIS16201 Inclinometer/Accelerometer and ADIS16203 Inclinometer Driver");
MODULE_LICENSE("GPL v2");
MODULE_ALIAS("spi:adis16201");
+MODULE_ALIAS("spi:adis16203");
MODULE_IMPORT_NS("IIO_ADISLIB");
--
2.43.0