[PATCH v3 0/7] iio: accel: merge adis16203 into mainline adis16201 and remove from staging

[PATCH v3 0/7] iio: accel: merge adis16203 into mainline adis16201 and remove from staging

[Shehryar Ahmad]

This v3 series addresses review feedback on the previous attempt to move
ADIS16203 from staging into the mainline ADIS16201 driver [1].

Key changes from v2:
- Fixed channel order for buffer mode in precursor patch (patch 1)
- Updated matching tables to modern conventions
- Moved adis_data into chip_info
- Added separate adis16203_data instance and dropped runtime copy in
  probe
- Fixed Kconfig help text format 

Patches 6 and 7 carry Reviewed-by tags from prior review.

[1] https://lore.kernel.org/all/20260913085307.13846-1-shehryar.amd@gmail.com/

Shehryar Ahmad (7):
  iio: accel: adis16201: fix channel order for buffer mode
  iio: accel: adis16201: add SPI device ID table
  iio: accel: adis16201: add OF device ID table
  iio: accel: adis16201: prepare driver to support additional parts
  iio: accel: adis16201: add ADIS16203 support
  staging: iio: accel: remove adis16203, merged into mainline adis16201
    driver
  dt-bindings: iio: accel: adi,adis16201: add adis16203 compatible

 .../bindings/iio/accel/adi,adis16201.yaml     |   6 +-
 drivers/iio/accel/Kconfig                     |   8 +-
 drivers/iio/accel/adis16201.c                 | 133 ++++++--
 drivers/staging/iio/Kconfig                   |   1 -
 drivers/staging/iio/Makefile                  |   1 -
 drivers/staging/iio/accel/Kconfig             |  19 --
 drivers/staging/iio/accel/Makefile            |   6 -
 drivers/staging/iio/accel/adis16203.c         | 315 ------------------
 8 files changed, 117 insertions(+), 372 deletions(-)
 delete mode 100644 drivers/staging/iio/accel/Kconfig
 delete mode 100644 drivers/staging/iio/accel/Makefile
 delete mode 100644 drivers/staging/iio/accel/adis16203.c

-- 
2.43.0

[PATCH v3 1/7] iio: accel: adis16201: fix channel order for buffer mode

[Shehryar Ahmad]

Reshuffle adis16201_channels to ascending scan_index order to avoid data
corruption during IIO core demultiplexing since the ADIS driver builds
the buffer in channel array order, while the IIO core demultiplexes it
in scan_index order.

This changes the raw buffer byte layout for existing adis16201 users
reading buffered data directly.

Fixes: 591298e54cea ("Staging: iio: accel: adis16201: Move adis16201 driver out of staging")
Cc: stable@vger.kernel.org
Signed-off-by: Shehryar Ahmad <shehryar.amd@gmail.com>
---
 drivers/iio/accel/adis16201.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/drivers/iio/accel/adis16201.c b/drivers/iio/accel/adis16201.c
index ba0f97944..834714fb9 100644
--- a/drivers/iio/accel/adis16201.c
+++ b/drivers/iio/accel/adis16201.c
@@ -202,19 +202,19 @@ static int adis16201_write_raw(struct iio_dev *indio_dev,
 }
 
 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)
+	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_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(7),
 };
 
 static const struct iio_info adis16201_info = {
-- 
2.43.0

[PATCH v3 2/7] iio: accel: adis16201: add SPI device ID table

[Shehryar Ahmad]

Add spi_device_id table for ADIS16201. Replace MODULE_ALIAS() with
MODULE_DEVICE_TABLE() which automatically generates the same module
alias.

Signed-off-by: Shehryar Ahmad <shehryar.amd@gmail.com>
---
 drivers/iio/accel/adis16201.c | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/drivers/iio/accel/adis16201.c b/drivers/iio/accel/adis16201.c
index 834714fb9..2b76a6b3d 100644
--- a/drivers/iio/accel/adis16201.c
+++ b/drivers/iio/accel/adis16201.c
@@ -288,16 +288,22 @@ static int adis16201_probe(struct spi_device *spi)
 	return devm_iio_device_register(&spi->dev, indio_dev);
 }
 
+static const struct spi_device_id adis16201_ids[] = {
+	{ .name = "adis16201" },
+	{ }
+};
+MODULE_DEVICE_TABLE(spi, adis16201_ids);
+
 static struct spi_driver adis16201_driver = {
 	.driver = {
 		.name = "adis16201",
 	},
 	.probe = adis16201_probe,
+	.id_table = adis16201_ids,
 };
 module_spi_driver(adis16201_driver);
 
 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer");
 MODULE_LICENSE("GPL v2");
-MODULE_ALIAS("spi:adis16201");
 MODULE_IMPORT_NS("IIO_ADISLIB");
-- 
2.43.0

[PATCH v3 3/7] iio: accel: adis16201: add OF device ID table

[Shehryar Ahmad]

Add of_device_id table for adis16201 and register it with
MODULE_DEVICE_TABLE() to enable device tree based matching.

Signed-off-by: Shehryar Ahmad <shehryar.amd@gmail.com>
---
 drivers/iio/accel/adis16201.c | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/drivers/iio/accel/adis16201.c b/drivers/iio/accel/adis16201.c
index 2b76a6b3d..cbac23d4d 100644
--- a/drivers/iio/accel/adis16201.c
+++ b/drivers/iio/accel/adis16201.c
@@ -288,6 +288,12 @@ static int adis16201_probe(struct spi_device *spi)
 	return devm_iio_device_register(&spi->dev, indio_dev);
 }
 
+static const struct of_device_id adis16201_of_match[] = {
+	{ .compatible = "adi,adis16201" },
+	{ }
+};
+MODULE_DEVICE_TABLE(of, adis16201_of_match);
+
 static const struct spi_device_id adis16201_ids[] = {
 	{ .name = "adis16201" },
 	{ }
@@ -297,6 +303,7 @@ MODULE_DEVICE_TABLE(spi, adis16201_ids);
 static struct spi_driver adis16201_driver = {
 	.driver = {
 		.name = "adis16201",
+		.of_match_table = adis16201_of_match,
 	},
 	.probe = adis16201_probe,
 	.id_table = adis16201_ids,
-- 
2.43.0

[PATCH v3 4/7] iio: accel: adis16201: prepare driver to support additional parts

[Shehryar Ahmad]

Introduce adis16201_chip_info to hold per chip data and adis16201_state
to wrap struct adis. Move adis16201 to this infrastructure. This
prepares the driver to support additional chip variants by keeping
chip-specific parameters in adis16201_chip_info. Additionally,
adis16201_write_raw applies mask directly on value.

Signed-off-by: Shehryar Ahmad <shehryar.amd@gmail.com>
---
 drivers/iio/accel/adis16201.c | 66 +++++++++++++++++++++++++----------
 1 file changed, 47 insertions(+), 19 deletions(-)

diff --git a/drivers/iio/accel/adis16201.c b/drivers/iio/accel/adis16201.c
index cbac23d4d..592dc6451 100644
--- a/drivers/iio/accel/adis16201.c
+++ b/drivers/iio/accel/adis16201.c
@@ -87,6 +87,21 @@ enum adis16201_scan {
 	ADIS16201_SCAN_TEMP,
 };
 
+struct adis16201_chip_info {
+	const char *name;
+	const struct iio_chan_spec *arr_channels;
+	const struct adis_data *data;
+	unsigned int incli_scale_val2;
+	unsigned int read_bits_incli;
+	unsigned int num_channels;
+	u16 write_mask_incli;
+};
+
+struct adis16201_state {
+	struct adis adis;
+	const struct adis16201_chip_info *info;
+};
+
 static const u8 adis16201_addresses[] = {
 	[ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG,
 	[ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG,
@@ -99,7 +114,7 @@ static int adis16201_read_raw(struct iio_dev *indio_dev,
 			      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;
@@ -137,7 +152,7 @@ static int adis16201_read_raw(struct iio_dev *indio_dev,
 			return IIO_VAL_INT_PLUS_NANO;
 		case IIO_INCLI:
 			*val = 0;
-			*val2 = 100000;
+			*val2 = st->info->incli_scale_val2;
 			return IIO_VAL_INT_PLUS_MICRO;
 		default:
 			return -EINVAL;
@@ -157,13 +172,13 @@ 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;
 
@@ -180,25 +195,24 @@ static int adis16201_write_raw(struct iio_dev *indio_dev,
 			       int val2,
 			       long mask)
 {
-	struct adis *st = iio_priv(indio_dev);
-	int m;
+	struct adis16201_state *st = iio_priv(indio_dev);
 
 	if (mask != IIO_CHAN_INFO_CALIBBIAS)
 		return -EINVAL;
 
 	switch (chan->type) {
 	case IIO_ACCEL:
-		m = GENMASK(11, 0);
+		val &= GENMASK(11, 0);
 		break;
 	case IIO_INCLI:
-		m = GENMASK(8, 0);
+		val &= st->info->write_mask_incli;
 		break;
 	default:
 		return -EINVAL;
 	}
 
-	return adis_write_reg_16(st, adis16201_addresses[chan->scan_index],
-				 val & m);
+	return adis_write_reg_16(&st->adis, adis16201_addresses[chan->scan_index],
+				 val);
 }
 
 static const struct iio_chan_spec adis16201_channels[] = {
@@ -254,10 +268,20 @@ static const struct adis_data adis16201_data = {
 		BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
 };
 
+static const struct adis16201_chip_info adis16201_chip_data = {
+	.arr_channels = adis16201_channels,
+	.incli_scale_val2 = 100000,
+	.write_mask_incli = GENMASK(8, 0),
+	.read_bits_incli = 9,
+	.num_channels = ARRAY_SIZE(adis16201_channels),
+	.name = "adis16201",
+	.data = &adis16201_data,
+};
+
 static int adis16201_probe(struct spi_device *spi)
 {
 	struct iio_dev *indio_dev;
-	struct adis *st;
+	struct adis16201_state *st;
 	int ret;
 
 	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
@@ -266,22 +290,26 @@ static int adis16201_probe(struct spi_device *spi)
 
 	st = iio_priv(indio_dev);
 
-	indio_dev->name = spi->dev.driver->name;
+	st->info = spi_get_device_match_data(spi);
+	if (!st->info)
+		return -ENODATA;
+
+	indio_dev->name = st->info->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_channels;
+	indio_dev->num_channels = st->info->num_channels;
 	indio_dev->modes = INDIO_DIRECT_MODE;
 
-	ret = adis_init(st, indio_dev, spi, &adis16201_data);
+	ret = adis_init(&st->adis, indio_dev, spi, st->info->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;
 
@@ -289,13 +317,13 @@ static int adis16201_probe(struct spi_device *spi)
 }
 
 static const struct of_device_id adis16201_of_match[] = {
-	{ .compatible = "adi,adis16201" },
+	{ .compatible = "adi,adis16201", .data = &adis16201_chip_data },
 	{ }
 };
 MODULE_DEVICE_TABLE(of, adis16201_of_match);
 
 static const struct spi_device_id adis16201_ids[] = {
-	{ .name = "adis16201" },
+	{ .name = "adis16201", .driver_data = (kernel_ulong_t)&adis16201_chip_data },
 	{ }
 };
 MODULE_DEVICE_TABLE(spi, adis16201_ids);
-- 
2.43.0

[PATCH v3 5/7] iio: accel: adis16201: add ADIS16203 support

[Shehryar Ahmad]

Add ADIS16203 from staging to mainline ADIS16201. ADIS16203 shares same
SPI protocol and register addresses. Differing parameters are handled by
adis16201_chip_info structure.

ADIS16203 specific support includes DIAG_STAT_SELFTEST_FAIL_BIT, which
is supported only on ADIS16203, a separate channel array and separate
adis_data struct.

Kconfig is updated accordingly.

Signed-off-by: Shehryar Ahmad <shehryar.amd@gmail.com>
---
 drivers/iio/accel/Kconfig     |  7 +++---
 drivers/iio/accel/adis16201.c | 46 +++++++++++++++++++++++++++++++++--
 2 files changed, 48 insertions(+), 5 deletions(-)

diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig
index 4094299e2..141ac9842 100644
--- a/drivers/iio/accel/Kconfig
+++ b/drivers/iio/accel/Kconfig
@@ -7,13 +7,14 @@
 menu "Accelerometers"
 
 config ADIS16201
-	tristate "Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer"
+	tristate "ADIS16201 Digital Inclinometer and similar"
 	depends on SPI
 	select IIO_ADIS_LIB
 	select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
 	help
-	  Say Y here to build support for Analog Devices adis16201 dual-axis
-	  digital inclinometer and accelerometer.
+	  Say Y here to build support for Analog Devices Digital Inclinometers:
+	  - ADIS16201
+	  - ADIS16203
 
 	  To compile this driver as a module, say M here: the module will
 	  be called adis16201.
diff --git a/drivers/iio/accel/adis16201.c b/drivers/iio/accel/adis16201.c
index 592dc6451..6d5a7b696 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
+ * ADIS16201 Digital Inclinometer and similar
  *
  * Copyright 2010 Analog Devices Inc.
  */
@@ -63,6 +63,7 @@
 #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 */
@@ -231,6 +232,15 @@ static const struct iio_chan_spec adis16201_channels[] = {
 	IIO_CHAN_SOFT_TIMESTAMP(7),
 };
 
+static const struct iio_chan_spec adis16203_channels[] = {
+	ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X,
+			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
+	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_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(7),
+};
+
 static const struct iio_info adis16201_info = {
 	.read_raw = adis16201_read_raw,
 	.write_raw = adis16201_write_raw,
@@ -238,6 +248,7 @@ 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",
@@ -268,6 +279,25 @@ static const struct adis_data adis16201_data = {
 		BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
 };
 
+static const struct adis_data adis16203_data = {
+	.read_delay = 20,
+	.msc_ctrl_reg = ADIS16201_MSC_CTRL_REG,
+	.glob_cmd_reg = ADIS16201_GLOB_CMD_REG,
+	.diag_stat_reg = ADIS16201_DIAG_STAT_REG,
+
+	.self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN,
+	.self_test_reg = ADIS16201_MSC_CTRL_REG,
+	.self_test_no_autoclear = true,
+	.timeouts = &adis16201_timeouts,
+
+	.status_error_msgs = adis16201_status_error_msgs,
+	.status_error_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),
+};
+
 static const struct adis16201_chip_info adis16201_chip_data = {
 	.arr_channels = adis16201_channels,
 	.incli_scale_val2 = 100000,
@@ -278,6 +308,16 @@ static const struct adis16201_chip_info adis16201_chip_data = {
 	.data = &adis16201_data,
 };
 
+static const struct adis16201_chip_info adis16203_chip_data = {
+	.arr_channels = adis16203_channels,
+	.incli_scale_val2 = 25000,
+	.write_mask_incli = GENMASK(13, 0),
+	.read_bits_incli = 14,
+	.num_channels = ARRAY_SIZE(adis16203_channels),
+	.name = "adis16203",
+	.data = &adis16203_data,
+};
+
 static int adis16201_probe(struct spi_device *spi)
 {
 	struct iio_dev *indio_dev;
@@ -318,12 +358,14 @@ static int adis16201_probe(struct spi_device *spi)
 
 static const struct of_device_id adis16201_of_match[] = {
 	{ .compatible = "adi,adis16201", .data = &adis16201_chip_data },
+	{ .compatible = "adi,adis16203", .data = &adis16203_chip_data },
 	{ }
 };
 MODULE_DEVICE_TABLE(of, adis16201_of_match);
 
 static const struct spi_device_id adis16201_ids[] = {
 	{ .name = "adis16201", .driver_data = (kernel_ulong_t)&adis16201_chip_data },
+	{ .name = "adis16203", .driver_data = (kernel_ulong_t)&adis16203_chip_data },
 	{ }
 };
 MODULE_DEVICE_TABLE(spi, adis16201_ids);
@@ -339,6 +381,6 @@ static struct spi_driver adis16201_driver = {
 module_spi_driver(adis16201_driver);
 
 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
-MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer");
+MODULE_DESCRIPTION("Analog Devices ADIS16201 Inclinometer and similar");
 MODULE_LICENSE("GPL v2");
 MODULE_IMPORT_NS("IIO_ADISLIB");
-- 
2.43.0

[PATCH v3 6/7] staging: iio: accel: remove adis16203, merged into mainline adis16201 driver

[Shehryar Ahmad]

The ADIS16203 is merged with mainline ADIS16201 in previous patch of
series, remove the staging copy and its build system entries.

Signed-off-by: Shehryar Ahmad <shehryar.amd@gmail.com>
Reviewed-by: Andy Shevchenko <andriy.shevchenko@intel.com>
---
 drivers/staging/iio/Kconfig           |   1 -
 drivers/staging/iio/Makefile          |   1 -
 drivers/staging/iio/accel/Kconfig     |  19 --
 drivers/staging/iio/accel/Makefile    |   6 -
 drivers/staging/iio/accel/adis16203.c | 315 --------------------------
 5 files changed, 342 deletions(-)
 delete mode 100644 drivers/staging/iio/accel/Kconfig
 delete mode 100644 drivers/staging/iio/accel/Makefile
 delete mode 100644 drivers/staging/iio/accel/adis16203.c

diff --git a/drivers/staging/iio/Kconfig b/drivers/staging/iio/Kconfig
index a60631c1f..bf6addf29 100644
--- a/drivers/staging/iio/Kconfig
+++ b/drivers/staging/iio/Kconfig
@@ -5,7 +5,6 @@
 menu "IIO staging drivers"
 	depends on IIO
 
-source "drivers/staging/iio/accel/Kconfig"
 source "drivers/staging/iio/adc/Kconfig"
 source "drivers/staging/iio/addac/Kconfig"
 source "drivers/staging/iio/frequency/Kconfig"
diff --git a/drivers/staging/iio/Makefile b/drivers/staging/iio/Makefile
index 628583535..739e4cbf9 100644
--- a/drivers/staging/iio/Makefile
+++ b/drivers/staging/iio/Makefile
@@ -3,7 +3,6 @@
 # Makefile for the industrial I/O core.
 #
 
-obj-y += accel/
 obj-y += adc/
 obj-y += addac/
 obj-y += frequency/
diff --git a/drivers/staging/iio/accel/Kconfig b/drivers/staging/iio/accel/Kconfig
deleted file mode 100644
index cee51f64b..000000000
--- a/drivers/staging/iio/accel/Kconfig
+++ /dev/null
@@ -1,19 +0,0 @@
-# SPDX-License-Identifier: GPL-2.0
-#
-# Accelerometer drivers
-#
-menu "Accelerometers"
-
-config ADIS16203
-	tristate "Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer"
-	depends on SPI
-	select IIO_ADIS_LIB
-	select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
-	help
-	  Say Y here to build support for Analog Devices adis16203 Programmable
-	  360 Degrees Inclinometer.
-
-	  To compile this driver as a module, say M here: the module will be
-	  called adis16203.
-
-endmenu
diff --git a/drivers/staging/iio/accel/Makefile b/drivers/staging/iio/accel/Makefile
deleted file mode 100644
index acac7bc9b..000000000
--- a/drivers/staging/iio/accel/Makefile
+++ /dev/null
@@ -1,6 +0,0 @@
-# SPDX-License-Identifier: GPL-2.0
-#
-# Makefile for industrial I/O accelerometer drivers
-#
-
-obj-$(CONFIG_ADIS16203) += adis16203.o
diff --git a/drivers/staging/iio/accel/adis16203.c b/drivers/staging/iio/accel/adis16203.c
deleted file mode 100644
index 830ff38fd..000000000
--- a/drivers/staging/iio/accel/adis16203.c
+++ /dev/null
@@ -1,315 +0,0 @@
-// SPDX-License-Identifier: GPL-2.0+
-/*
- * ADIS16203 Programmable 360 Degrees Inclinometer
- *
- * Copyright 2010 Analog Devices Inc.
- */
-
-#include <linux/device.h>
-
-#include <linux/iio/iio.h>
-#include <linux/iio/imu/adis.h>
-
-#include <linux/kernel.h>
-#include <linux/module.h>
-#include <linux/spi/spi.h>
-
-#define ADIS16203_STARTUP_DELAY 220 /* ms */
-
-/* Flash memory write count */
-#define ADIS16203_FLASH_CNT      0x00
-
-/* Output, power supply */
-#define ADIS16203_SUPPLY_OUT     0x02
-
-/* Output, auxiliary ADC input */
-#define ADIS16203_AUX_ADC        0x08
-
-/* Output, temperature */
-#define ADIS16203_TEMP_OUT       0x0A
-
-/* Output, x-axis inclination */
-#define ADIS16203_XINCL_OUT      0x0C
-
-/* Output, y-axis inclination */
-#define ADIS16203_YINCL_OUT      0x0E
-
-/* Incline null calibration */
-#define ADIS16203_INCL_NULL      0x18
-
-/* Alarm 1 amplitude threshold */
-#define ADIS16203_ALM_MAG1       0x20
-
-/* Alarm 2 amplitude threshold */
-#define ADIS16203_ALM_MAG2       0x22
-
-/* Alarm 1, sample period */
-#define ADIS16203_ALM_SMPL1      0x24
-
-/* Alarm 2, sample period */
-#define ADIS16203_ALM_SMPL2      0x26
-
-/* Alarm control */
-#define ADIS16203_ALM_CTRL       0x28
-
-/* Auxiliary DAC data */
-#define ADIS16203_AUX_DAC        0x30
-
-/* General-purpose digital input/output control */
-#define ADIS16203_GPIO_CTRL      0x32
-
-/* Miscellaneous control */
-#define ADIS16203_MSC_CTRL       0x34
-
-/* Internal sample period (rate) control */
-#define ADIS16203_SMPL_PRD       0x36
-
-/* Operation, filter configuration */
-#define ADIS16203_AVG_CNT        0x38
-
-/* Operation, sleep mode control */
-#define ADIS16203_SLP_CNT        0x3A
-
-/* Diagnostics, system status register */
-#define ADIS16203_DIAG_STAT      0x3C
-
-/* Operation, system command register */
-#define ADIS16203_GLOB_CMD       0x3E
-
-/* MSC_CTRL */
-
-/* Self-test at power-on: 1 = disabled, 0 = enabled */
-#define ADIS16203_MSC_CTRL_PWRUP_SELF_TEST      BIT(10)
-
-/* Reverses rotation of both inclination outputs */
-#define ADIS16203_MSC_CTRL_REVERSE_ROT_EN       BIT(9)
-
-/* Self-test enable */
-#define ADIS16203_MSC_CTRL_SELF_TEST_EN         BIT(8)
-
-/* Data-ready enable: 1 = enabled, 0 = disabled */
-#define ADIS16203_MSC_CTRL_DATA_RDY_EN          BIT(2)
-
-/* Data-ready polarity: 1 = active high, 0 = active low */
-#define ADIS16203_MSC_CTRL_ACTIVE_HIGH          BIT(1)
-
-/* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
-#define ADIS16203_MSC_CTRL_DATA_RDY_DIO1        BIT(0)
-
-/* DIAG_STAT */
-
-/* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
-#define ADIS16203_DIAG_STAT_ALARM2        BIT(9)
-
-/* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
-#define ADIS16203_DIAG_STAT_ALARM1        BIT(8)
-
-/* Self-test diagnostic error flag */
-#define ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT 5
-
-/* SPI communications failure */
-#define ADIS16203_DIAG_STAT_SPI_FAIL_BIT      3
-
-/* Flash update failure */
-#define ADIS16203_DIAG_STAT_FLASH_UPT_BIT     2
-
-/* Power supply above 3.625 V */
-#define ADIS16203_DIAG_STAT_POWER_HIGH_BIT    1
-
-/* Power supply below 2.975 V */
-#define ADIS16203_DIAG_STAT_POWER_LOW_BIT     0
-
-/* GLOB_CMD */
-
-#define ADIS16203_GLOB_CMD_SW_RESET     BIT(7)
-#define ADIS16203_GLOB_CMD_CLEAR_STAT   BIT(4)
-#define ADIS16203_GLOB_CMD_FACTORY_CAL  BIT(1)
-
-#define ADIS16203_ERROR_ACTIVE          BIT(14)
-
-enum adis16203_scan {
-	 ADIS16203_SCAN_INCLI_X,
-	 ADIS16203_SCAN_INCLI_Y,
-	 ADIS16203_SCAN_SUPPLY,
-	 ADIS16203_SCAN_AUX_ADC,
-	 ADIS16203_SCAN_TEMP,
-};
-
-#define DRIVER_NAME		"adis16203"
-
-static const u8 adis16203_addresses[] = {
-	[ADIS16203_SCAN_INCLI_X] = ADIS16203_INCL_NULL,
-};
-
-static int adis16203_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);
-	/* currently only one writable parameter which keeps this simple */
-	u8 addr = adis16203_addresses[chan->scan_index];
-
-	return adis_write_reg_16(st, addr, val & 0x3FFF);
-}
-
-static int adis16203_read_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 ret;
-	u8 addr;
-	s16 val16;
-
-	switch (mask) {
-	case IIO_CHAN_INFO_RAW:
-		return adis_single_conversion(indio_dev, chan,
-				ADIS16203_ERROR_ACTIVE, val);
-	case IIO_CHAN_INFO_SCALE:
-		switch (chan->type) {
-		case IIO_VOLTAGE:
-			if (chan->channel == 0) {
-				*val = 1;
-				*val2 = 220000; /* 1.22 mV */
-			} else {
-				*val = 0;
-				*val2 = 610000; /* 0.61 mV */
-			}
-			return IIO_VAL_INT_PLUS_MICRO;
-		case IIO_TEMP:
-			*val = -470; /* -0.47 C */
-			*val2 = 0;
-			return IIO_VAL_INT_PLUS_MICRO;
-		case IIO_INCLI:
-			*val = 0;
-			*val2 = 25000; /* 0.025 degree */
-			return IIO_VAL_INT_PLUS_MICRO;
-		default:
-			return -EINVAL;
-		}
-	case IIO_CHAN_INFO_OFFSET:
-		*val = 25000 / -470 - 1278; /* 25 C = 1278 */
-		return IIO_VAL_INT;
-	case IIO_CHAN_INFO_CALIBBIAS:
-		addr = adis16203_addresses[chan->scan_index];
-		ret = adis_read_reg_16(st, addr, &val16);
-		if (ret)
-			return ret;
-		*val = sign_extend32(val16, 13);
-		return IIO_VAL_INT;
-	default:
-		return -EINVAL;
-	}
-}
-
-static const struct iio_chan_spec adis16203_channels[] = {
-	ADIS_SUPPLY_CHAN(ADIS16203_SUPPLY_OUT, ADIS16203_SCAN_SUPPLY, 0, 12),
-	ADIS_AUX_ADC_CHAN(ADIS16203_AUX_ADC, ADIS16203_SCAN_AUX_ADC, 0, 12),
-	ADIS_INCLI_CHAN(X, ADIS16203_XINCL_OUT, ADIS16203_SCAN_INCLI_X,
-			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
-	/* Fixme: Not what it appears to be - see data sheet */
-	ADIS_INCLI_CHAN(Y, ADIS16203_YINCL_OUT, ADIS16203_SCAN_INCLI_Y,
-			0, 0, 14),
-	ADIS_TEMP_CHAN(ADIS16203_TEMP_OUT, ADIS16203_SCAN_TEMP, 0, 12),
-	IIO_CHAN_SOFT_TIMESTAMP(5),
-};
-
-static const struct iio_info adis16203_info = {
-	.read_raw = adis16203_read_raw,
-	.write_raw = adis16203_write_raw,
-	.update_scan_mode = adis_update_scan_mode,
-};
-
-static const char * const adis16203_status_error_msgs[] = {
-	[ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
-	[ADIS16203_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
-	[ADIS16203_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
-	[ADIS16203_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
-	[ADIS16203_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
-};
-
-static const struct adis_timeout adis16203_timeouts = {
-	.reset_ms = ADIS16203_STARTUP_DELAY,
-	.sw_reset_ms = ADIS16203_STARTUP_DELAY,
-	.self_test_ms = ADIS16203_STARTUP_DELAY
-};
-
-static const struct adis_data adis16203_data = {
-	.read_delay = 20,
-	.msc_ctrl_reg = ADIS16203_MSC_CTRL,
-	.glob_cmd_reg = ADIS16203_GLOB_CMD,
-	.diag_stat_reg = ADIS16203_DIAG_STAT,
-
-	.self_test_mask = ADIS16203_MSC_CTRL_SELF_TEST_EN,
-	.self_test_reg = ADIS16203_MSC_CTRL,
-	.self_test_no_autoclear = true,
-	.timeouts = &adis16203_timeouts,
-
-	.status_error_msgs = adis16203_status_error_msgs,
-	.status_error_mask = BIT(ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT) |
-		BIT(ADIS16203_DIAG_STAT_SPI_FAIL_BIT) |
-		BIT(ADIS16203_DIAG_STAT_FLASH_UPT_BIT) |
-		BIT(ADIS16203_DIAG_STAT_POWER_HIGH_BIT) |
-		BIT(ADIS16203_DIAG_STAT_POWER_LOW_BIT),
-};
-
-static int adis16203_probe(struct spi_device *spi)
-{
-	int ret;
-	struct iio_dev *indio_dev;
-	struct adis *st;
-
-	/* setup the industrialio driver allocated elements */
-	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
-	if (!indio_dev)
-		return -ENOMEM;
-	st = iio_priv(indio_dev);
-	/* this is only used for removal purposes */
-	spi_set_drvdata(spi, indio_dev);
-
-	indio_dev->name = spi->dev.driver->name;
-	indio_dev->channels = adis16203_channels;
-	indio_dev->num_channels = ARRAY_SIZE(adis16203_channels);
-	indio_dev->info = &adis16203_info;
-	indio_dev->modes = INDIO_DIRECT_MODE;
-
-	ret = adis_init(st, indio_dev, spi, &adis16203_data);
-	if (ret)
-		return ret;
-
-	ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
-	if (ret)
-		return ret;
-
-	/* Get the device into a sane initial state */
-	ret = __adis_initial_startup(st);
-	if (ret)
-		return ret;
-
-	return devm_iio_device_register(&spi->dev, indio_dev);
-}
-
-static const struct of_device_id adis16203_of_match[] = {
-	{ .compatible = "adi,adis16203" },
-	{ }
-};
-
-MODULE_DEVICE_TABLE(of, adis16203_of_match);
-
-static struct spi_driver adis16203_driver = {
-	.driver = {
-		.name = "adis16203",
-		.of_match_table = adis16203_of_match,
-	},
-	.probe = adis16203_probe,
-};
-module_spi_driver(adis16203_driver);
-
-MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
-MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer");
-MODULE_LICENSE("GPL v2");
-MODULE_ALIAS("spi:adis16203");
-MODULE_IMPORT_NS("IIO_ADISLIB");
-- 
2.43.0

[PATCH v3 7/7] dt-bindings: iio: accel: adi,adis16201: add adis16203 compatible

[Shehryar Ahmad]

The ADIS16203 has the same external interface as the already documented
ADIS16201/ADIS16209, for the properties covered by this binding
(compatible/reg, the DIO-based interrupt pin, and VDD supply), verified
by datasheets Table 5, Pin Function Descriptions, in the respective
Analog Devices datasheets. Some Auxiliary pins differ (e.g. adis16209
marks a few pins DNC where adis16201/adis16203 use them as AUX COM), but
these are not represented in this binding.  Add adis16203 to the
existing enum rather than creating a separate file.

Signed-off-by: Shehryar Ahmad <shehryar.amd@gmail.com>
Reviewed-by: Rob Herring (Arm) <robh@kernel.org>
---
 .../devicetree/bindings/iio/accel/adi,adis16201.yaml        | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/Documentation/devicetree/bindings/iio/accel/adi,adis16201.yaml b/Documentation/devicetree/bindings/iio/accel/adi,adis16201.yaml
index b6ba7ad1a..3ce5fb1be 100644
--- a/Documentation/devicetree/bindings/iio/accel/adi,adis16201.yaml
+++ b/Documentation/devicetree/bindings/iio/accel/adi,adis16201.yaml
@@ -4,21 +4,23 @@
 $id: http://devicetree.org/schemas/iio/accel/adi,adis16201.yaml#
 $schema: http://devicetree.org/meta-schemas/core.yaml#
 
-title: ADIS16201 Dual Axis Inclinometer and similar
+title: ADIS16201 Inclinometer and similar
 
 maintainers:
   - Jonathan Cameron <Jonathan.Cameron@huawei.com>
 
 description: |
-  Two similar parts from external interface point of view.
+  Three similar parts from external interface point of view.
   SPI interface.
     https://www.analog.com/en/products/adis16201.html
+    https://www.analog.com/en/products/adis16203.html
     https://www.analog.com/en/products/adis16209.html
 
 properties:
   compatible:
     enum:
       - adi,adis16201
+      - adi,adis16203
       - adi,adis16209
 
   reg:
-- 
2.43.0

Re: [PATCH v3 0/7] iio: accel: merge adis16203 into mainline adis16201 and remove from staging

[Jonathan Cameron]

On Wed, 16 Sep 2026 10:55:30 +0500
Shehryar Ahmad <shehryar.amd@gmail.com> wrote:

> This v3 series addresses review feedback on the previous attempt to move
> ADIS16203 from staging into the mainline ADIS16201 driver [1].
> 
> Key changes from v2:
> - Fixed channel order for buffer mode in precursor patch (patch 1)
> - Updated matching tables to modern conventions
> - Moved adis_data into chip_info
> - Added separate adis16203_data instance and dropped runtime copy in
>   probe
> - Fixed Kconfig help text format 
> 
> Patches 6 and 7 carry Reviewed-by tags from prior review.
> 
> [1] https://lore.kernel.org/all/20260913085307.13846-1-shehryar.amd@gmail.com/

Cover letter should have the same to and cc list as the patches.
Anyhow, hopefully that didn't really mean anyone missed much.

Series applied to the testing branch of iio.git. That will get
pushed out for linux-next to pick up once the bots have had a little
time to poke at it.

Thanks,

Jonathan

> 
> Shehryar Ahmad (7):
>   iio: accel: adis16201: fix channel order for buffer mode
>   iio: accel: adis16201: add SPI device ID table
>   iio: accel: adis16201: add OF device ID table
>   iio: accel: adis16201: prepare driver to support additional parts
>   iio: accel: adis16201: add ADIS16203 support
>   staging: iio: accel: remove adis16203, merged into mainline adis16201
>     driver
>   dt-bindings: iio: accel: adi,adis16201: add adis16203 compatible
> 
>  .../bindings/iio/accel/adi,adis16201.yaml     |   6 +-
>  drivers/iio/accel/Kconfig                     |   8 +-
>  drivers/iio/accel/adis16201.c                 | 133 ++++++--
>  drivers/staging/iio/Kconfig                   |   1 -
>  drivers/staging/iio/Makefile                  |   1 -
>  drivers/staging/iio/accel/Kconfig             |  19 --
>  drivers/staging/iio/accel/Makefile            |   6 -
>  drivers/staging/iio/accel/adis16203.c         | 315 ------------------
>  8 files changed, 117 insertions(+), 372 deletions(-)
>  delete mode 100644 drivers/staging/iio/accel/Kconfig
>  delete mode 100644 drivers/staging/iio/accel/Makefile
>  delete mode 100644 drivers/staging/iio/accel/adis16203.c
>