ADIS16550

Documentation/devicetree/bindings/iio/imu/adi,adis16550.yaml

@@ -0,0 +1,95 @@
+# SPDX-License-Identifier: (GPL-2.0 OR BSD-2-Clause)
+%YAML 1.2
+---
+$id: http://devicetree.org/schemas/iio/imu/adi,adis16550.yaml#
+$schema: http://devicetree.org/meta-schemas/core.yaml#
+
+title: Analog Devices ADIS16550 and similar IMUs
+
+maintainers:
+  - Nuno Sa <[email protected]>
+  - Ramona Gradinariu <[email protected]>
+  - Antoniu Miclaus <[email protected]>
+
+properties:
+  compatible:
+    enum:
+      - adi,adis16550
+      - adi,adis16550w
+
+  reg:
+    maxItems: 1
+
+  spi-cpha: true
+
+  spi-cpol: true
+
+  spi-max-frequency:
+    maximum: 15000000
+
+  vdd-supply: true
+
+  interrupts:
+    maxItems: 1
+
+  reset-gpios:
+    description:
+      Must be the device tree identifier of the RESET pin. If specified,
+      it will be asserted during driver probe. As the line is active low,
+      it should be marked GPIO_ACTIVE_LOW.
+    maxItems: 1
+
+  clocks:
+    maxItems: 1
+    description: If not provided, then the internal clock is used.
+
+  adi,sync-mode:
+    $ref: /schemas/types.yaml#/definitions/string
+    description: |
+      Configures the device SYNC pin.
+    enum:
+      - direct_sync
+      - scaled_sync
+
+required:
+  - compatible
+  - reg
+  - interrupts
+  - spi-cpha
+  - spi-cpol
+  - spi-max-frequency
+  - vdd-supply
+
+allOf:
+  - if:
+      properties:
+        adi,sync-mode:
+          enum: [direct_sync, scaled_sync]
+
+    then:
+      dependencies:
+        adi,sync-mode: [ clocks ]
+
+  - $ref: /schemas/spi/spi-peripheral-props.yaml#
+
+additionalProperties: false
+
+examples:
+  - |
+    #include <dt-bindings/interrupt-controller/irq.h>
+    spi {
+        #address-cells = <1>;
+        #size-cells = <0>;
+
+        imu@0 {
+            compatible = "adi,adis16550";
+            reg = <0>;
+            spi-max-frequency = <15000000>;
+            spi-cpol;
+            spi-cpha;
+            vdd-supply = <&vdd>;
+            interrupts = <4 IRQ_TYPE_EDGE_FALLING>;
+            interrupt-parent = <&gpio>;
+        };
+    };
+...

Documentation/iio/index.rst

@@ -19,6 +19,7 @@ Industrial I/O Kernel Drivers
 
    adis16475
    adis16480
+   adis16550
    adxl380
    bno055
    ep93xx_adc

MAINTAINERS

@@ -1304,6 +1304,16 @@ S:	Supported
 F:	drivers/iio/imu/adis16475.c
 F:	Documentation/devicetree/bindings/iio/imu/adi,adis16475.yaml
 
+ANALOG DEVICES INC ADIS16550 DRIVER
+M:	Nuno Sa <[email protected]>
+M:	Ramona Gradinariu <[email protected]>
+M:	Antoniu Miclaus <[email protected]>
+L:	[email protected]
+S:	Supported
+W:	https://ez.analog.com/linux-software-drivers
+F:	Documentation/devicetree/bindings/iio/imu/adi,adis16550.yaml
+F:	drivers/iio/imu/adis16550.c
+
 ANALOG DEVICES INC ADM1177 DRIVER
 M:	Michael Hennerich <[email protected]>
 L:	[email protected]

drivers/iio/Kconfig.adi

@@ -151,6 +151,7 @@ config IIO_ALL_ADI_DRIVERS
 	imply ADIS16460
 	imply ADIS16475
 	imply ADIS16480
+	imply ADIS16550
 	imply M2K_LOGIC_ANALYZER
 	imply AD5272
 	imply IIO_REGMAP_I2C

drivers/iio/imu/Kconfig

@@ -51,6 +51,19 @@ config ADIS16480
 	  Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
 	  ADIS16485, ADIS16488 inertial sensors.
 
+config ADIS16550
+	tristate "Analog Devices ADIS16550 and similar IMU driver"
+	depends on SPI
+	select IIO_ADIS_LIB
+	select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
+	select CRC32
+	help
+	  Say yes here to build support for Analog Devices ADIS16550 inertial
+	  sensor.
+
+	  To compile this driver as a module, choose M here: the module will be
+	  called adis16550.
+
 source "drivers/iio/imu/bmi160/Kconfig"
 source "drivers/iio/imu/bno055/Kconfig"
 

drivers/iio/imu/Makefile

@@ -8,6 +8,7 @@ obj-$(CONFIG_ADIS16400) += adis16400.o
 obj-$(CONFIG_ADIS16460) += adis16460.o
 obj-$(CONFIG_ADIS16475) += adis16475.o
 obj-$(CONFIG_ADIS16480) += adis16480.o
+obj-$(CONFIG_ADIS16550) += adis16550.o
 
 adis_lib-y += adis.o
 adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_trigger.o

drivers/iio/imu/adis.c

@@ -223,13 +223,13 @@ int __adis_update_bits_base(struct adis *adis, unsigned int reg, const u32 mask,
 	int ret;
 	u32 __val;
 
-	ret = __adis_read_reg(adis, reg, &__val, size);
+	ret = adis->ops->read(adis, reg, &__val, size);
 	if (ret)
 		return ret;
 
 	__val = (__val & ~mask) | (val & mask);
 
-	return __adis_write_reg(adis, reg, __val, size);
+	return adis->ops->write(adis, reg, __val, size);
 }
 EXPORT_SYMBOL_NS_GPL(__adis_update_bits_base, IIO_ADISLIB);
 
@@ -304,11 +304,17 @@ EXPORT_SYMBOL_NS(__adis_enable_irq, IIO_ADISLIB);
  */
 int __adis_check_status(struct adis *adis)
 {
-	u16 status;
+	unsigned int status = 0;
 	int ret;
 	int i;
+	/* default to 2 bytes */
+	unsigned int reg_size = 2;
 
-	ret = __adis_read_reg_16(adis, adis->data->diag_stat_reg, &status);
+	if (adis->data->diag_stat_size)
+		reg_size = adis->data->diag_stat_size;
+
+	ret = adis->ops->read(adis, adis->data->diag_stat_reg, &status,
+			      reg_size);
 	if (ret)
 		return ret;
 
@@ -317,7 +323,7 @@ int __adis_check_status(struct adis *adis)
 	if (status == 0)
 		return 0;
 
-	for (i = 0; i < 16; ++i) {
+	for (i = 0; i < (reg_size * 8); ++i) {
 		if (status & BIT(i)) {
 			dev_err(&adis->spi->dev, "%s.\n",
 				adis->data->status_error_msgs[i]);
@@ -339,8 +345,11 @@ int __adis_reset(struct adis *adis)
 	int ret;
 	const struct adis_timeout *timeouts = adis->data->timeouts;
 
-	ret = __adis_write_reg_8(adis, adis->data->glob_cmd_reg,
-				 ADIS_GLOB_CMD_SW_RESET);
+	if (adis->ops->reset)
+		ret = adis->ops->reset(adis);
+	else
+		ret = __adis_write_reg_8(adis, adis->data->glob_cmd_reg,
+					 ADIS_GLOB_CMD_SW_RESET);
 	if (ret) {
 		dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret);
 		return ret;
@@ -468,7 +477,7 @@ int adis_single_conversion(struct iio_dev *indio_dev,
 
 	mutex_lock(&adis->state_lock);
 
-	ret = __adis_read_reg(adis, chan->address, &uval,
+	ret = adis->ops->read(adis, chan->address, &uval,
 			      chan->scan_type.storagebits / 8);
 	if (ret)
 		goto err_unlock;
@@ -491,6 +500,11 @@ int adis_single_conversion(struct iio_dev *indio_dev,
 }
 EXPORT_SYMBOL_NS_GPL(adis_single_conversion, IIO_ADISLIB);
 
+static const struct adis_ops adis_default_ops = {
+	.read = __adis_read_reg,
+	.write = __adis_write_reg,
+};
+
 /**
  * adis_init() - Initialize adis device structure
  * @adis:	The adis device
@@ -520,6 +534,9 @@ int adis_init(struct adis *adis, struct iio_dev *indio_dev,
 
 	adis->spi = spi;
 	adis->data = data;
+	if (!adis->ops->write || !adis->ops->read)
+		adis->ops = &adis_default_ops;
+
 	iio_device_set_drvdata(indio_dev, adis);
 
 	if (data->has_paging) {