Bootlin logo

Elixir Cross Referencer

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
/*
 * adis16400.c	support Analog Devices ADIS16400/5
 *		3d 2g Linear Accelerometers,
 *		3d Gyroscopes,
 *		3d Magnetometers via SPI
 *
 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
 * Copyright (c) 2011 Analog Devices Inc.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 */

#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/delay.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include <linux/module.h>
#include <linux/debugfs.h>
#include <linux/bitops.h>

#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/buffer.h>

#include "adis16400.h"

#ifdef CONFIG_DEBUG_FS

static ssize_t adis16400_show_serial_number(struct file *file,
		char __user *userbuf, size_t count, loff_t *ppos)
{
	struct adis16400_state *st = file->private_data;
	u16 lot1, lot2, serial_number;
	char buf[16];
	size_t len;
	int ret;

	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
	if (ret < 0)
		return ret;

	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
	if (ret < 0)
		return ret;

	ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
			&serial_number);
	if (ret < 0)
		return ret;

	len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
			serial_number);

	return simple_read_from_buffer(userbuf, count, ppos, buf, len);
}

static const struct file_operations adis16400_serial_number_fops = {
	.open = simple_open,
	.read = adis16400_show_serial_number,
	.llseek = default_llseek,
	.owner = THIS_MODULE,
};

static int adis16400_show_product_id(void *arg, u64 *val)
{
	struct adis16400_state *st = arg;
	uint16_t prod_id;
	int ret;

	ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
	if (ret < 0)
		return ret;

	*val = prod_id;

	return 0;
}
DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
	adis16400_show_product_id, NULL, "%lld\n");

static int adis16400_show_flash_count(void *arg, u64 *val)
{
	struct adis16400_state *st = arg;
	uint16_t flash_count;
	int ret;

	ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
	if (ret < 0)
		return ret;

	*val = flash_count;

	return 0;
}
DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
	adis16400_show_flash_count, NULL, "%lld\n");

static int adis16400_debugfs_init(struct iio_dev *indio_dev)
{
	struct adis16400_state *st = iio_priv(indio_dev);

	if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
		debugfs_create_file("serial_number", 0400,
			indio_dev->debugfs_dentry, st,
			&adis16400_serial_number_fops);
	if (st->variant->flags & ADIS16400_HAS_PROD_ID)
		debugfs_create_file("product_id", 0400,
			indio_dev->debugfs_dentry, st,
			&adis16400_product_id_fops);
	debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
		st, &adis16400_flash_count_fops);

	return 0;
}

#else

static int adis16400_debugfs_init(struct iio_dev *indio_dev)
{
	return 0;
}

#endif

enum adis16400_chip_variant {
	ADIS16300,
	ADIS16334,
	ADIS16350,
	ADIS16360,
	ADIS16362,
	ADIS16364,
	ADIS16400,
	ADIS16448,
};

static int adis16334_get_freq(struct adis16400_state *st)
{
	int ret;
	uint16_t t;

	ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
	if (ret < 0)
		return ret;

	t >>= ADIS16334_RATE_DIV_SHIFT;

	return 819200 >> t;
}

static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
{
	unsigned int t;

	if (freq < 819200)
		t = ilog2(819200 / freq);
	else
		t = 0;

	if (t > 0x31)
		t = 0x31;

	t <<= ADIS16334_RATE_DIV_SHIFT;
	t |= ADIS16334_RATE_INT_CLK;

	return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
}

static int adis16400_get_freq(struct adis16400_state *st)
{
	int sps, ret;
	uint16_t t;

	ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
	if (ret < 0)
		return ret;

	sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
	sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;

	return sps;
}

static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
{
	unsigned int t;
	uint8_t val = 0;

	t = 1638404 / freq;
	if (t >= 128) {
		val |= ADIS16400_SMPL_PRD_TIME_BASE;
		t = 52851 / freq;
		if (t >= 128)
			t = 127;
	} else if (t != 0) {
		t--;
	}

	val |= t;

	if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
	else
		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;

	return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
}

static ssize_t adis16400_read_frequency(struct device *dev,
		struct device_attribute *attr,
		char *buf)
{
	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	struct adis16400_state *st = iio_priv(indio_dev);
	int ret;

	ret = st->variant->get_freq(st);
	if (ret < 0)
		return ret;

	return sprintf(buf, "%d.%.3d\n", ret / 1000, ret % 1000);
}

static const unsigned adis16400_3db_divisors[] = {
	[0] = 2, /* Special case */
	[1] = 6,
	[2] = 12,
	[3] = 25,
	[4] = 50,
	[5] = 100,
	[6] = 200,
	[7] = 200, /* Not a valid setting */
};

static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
{
	struct adis16400_state *st = iio_priv(indio_dev);
	uint16_t val16;
	int i, ret;

	for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
		if (sps / adis16400_3db_divisors[i] >= val)
			break;
	}

	ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
	if (ret < 0)
		return ret;

	ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
					 (val16 & ~0x07) | i);
	return ret;
}

static ssize_t adis16400_write_frequency(struct device *dev,
	struct device_attribute *attr, const char *buf, size_t len)
{
	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	struct adis16400_state *st = iio_priv(indio_dev);
	int i, f, val;
	int ret;

	ret = iio_str_to_fixpoint(buf, 100, &i, &f);
	if (ret)
		return ret;

	val = i * 1000 + f;

	if (val <= 0)
		return -EINVAL;

	mutex_lock(&indio_dev->mlock);
	st->variant->set_freq(st, val);
	mutex_unlock(&indio_dev->mlock);

	return ret ? ret : len;
}

/* Power down the device */
static int adis16400_stop_device(struct iio_dev *indio_dev)
{
	struct adis16400_state *st = iio_priv(indio_dev);
	int ret;

	ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
			ADIS16400_SLP_CNT_POWER_OFF);
	if (ret)
		dev_err(&indio_dev->dev,
			"problem with turning device off: SLP_CNT");

	return ret;
}

static int adis16400_initial_setup(struct iio_dev *indio_dev)
{
	struct adis16400_state *st = iio_priv(indio_dev);
	uint16_t prod_id, smp_prd;
	unsigned int device_id;
	int ret;

	/* use low spi speed for init if the device has a slow mode */
	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
	else
		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
	st->adis.spi->mode = SPI_MODE_3;
	spi_setup(st->adis.spi);

	ret = adis_initial_startup(&st->adis);
	if (ret)
		return ret;

	if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
		ret = adis_read_reg_16(&st->adis,
						ADIS16400_PRODUCT_ID, &prod_id);
		if (ret)
			goto err_ret;

		sscanf(indio_dev->name, "adis%u\n", &device_id);

		if (prod_id != device_id)
			dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
					device_id, prod_id);

		dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
			indio_dev->name, prod_id,
			st->adis.spi->chip_select, st->adis.spi->irq);
	}
	/* use high spi speed if possible */
	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
		ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
		if (ret)
			goto err_ret;

		if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
			st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
			spi_setup(st->adis.spi);
		}
	}

err_ret:
	return ret;
}

static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
			      adis16400_read_frequency,
			      adis16400_write_frequency);

static const uint8_t adis16400_addresses[] = {
	[ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
	[ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
	[ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
	[ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
	[ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
	[ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
};

static int adis16400_write_raw(struct iio_dev *indio_dev,
	struct iio_chan_spec const *chan, int val, int val2, long info)
{
	struct adis16400_state *st = iio_priv(indio_dev);
	int ret, sps;

	switch (info) {
	case IIO_CHAN_INFO_CALIBBIAS:
		mutex_lock(&indio_dev->mlock);
		ret = adis_write_reg_16(&st->adis,
				adis16400_addresses[chan->scan_index], val);
		mutex_unlock(&indio_dev->mlock);
		return ret;
	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
		/*
		 * Need to cache values so we can update if the frequency
		 * changes.
		 */
		mutex_lock(&indio_dev->mlock);
		st->filt_int = val;
		/* Work out update to current value */
		sps = st->variant->get_freq(st);
		if (sps < 0) {
			mutex_unlock(&indio_dev->mlock);
			return sps;
		}

		ret = adis16400_set_filter(indio_dev, sps,
			val * 1000 + val2 / 1000);
		mutex_unlock(&indio_dev->mlock);
		return ret;
	default:
		return -EINVAL;
	}
}

static int adis16400_read_raw(struct iio_dev *indio_dev,
	struct iio_chan_spec const *chan, int *val, int *val2, long info)
{
	struct adis16400_state *st = iio_priv(indio_dev);
	int16_t val16;
	int ret;

	switch (info) {
	case IIO_CHAN_INFO_RAW:
		return adis_single_conversion(indio_dev, chan, 0, val);
	case IIO_CHAN_INFO_SCALE:
		switch (chan->type) {
		case IIO_ANGL_VEL:
			*val = 0;
			*val2 = st->variant->gyro_scale_micro;
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_VOLTAGE:
			*val = 0;
			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;
			*val2 = st->variant->accel_scale_micro;
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_MAGN:
			*val = 0;
			*val2 = 500; /* 0.5 mgauss */
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_TEMP:
			*val = st->variant->temp_scale_nano / 1000000;
			*val2 = (st->variant->temp_scale_nano % 1000000);
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_PRESSURE:
			/* 20 uBar = 0.002kPascal */
			*val = 0;
			*val2 = 2000;
			return IIO_VAL_INT_PLUS_MICRO;
		default:
			return -EINVAL;
		}
	case IIO_CHAN_INFO_CALIBBIAS:
		mutex_lock(&indio_dev->mlock);
		ret = adis_read_reg_16(&st->adis,
				adis16400_addresses[chan->scan_index], &val16);
		mutex_unlock(&indio_dev->mlock);
		if (ret)
			return ret;
		val16 = sign_extend32(val16, 11);
		*val = val16;
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_OFFSET:
		/* currently only temperature */
		*val = st->variant->temp_offset;
		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 */
		ret = adis_read_reg_16(&st->adis,
						ADIS16400_SENS_AVG,
						&val16);
		if (ret < 0) {
			mutex_unlock(&indio_dev->mlock);
			return ret;
		}
		ret = st->variant->get_freq(st);
		if (ret >= 0) {
			ret /= adis16400_3db_divisors[val16 & 0x07];
			*val = ret / 1000;
			*val2 = (ret % 1000) * 1000;
		}
		mutex_unlock(&indio_dev->mlock);
		if (ret < 0)
			return ret;
		return IIO_VAL_INT_PLUS_MICRO;
	default:
		return -EINVAL;
	}
}

#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
	.type = IIO_VOLTAGE, \
	.indexed = 1, \
	.channel = chn, \
	.extend_name = name, \
	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
		BIT(IIO_CHAN_INFO_SCALE), \
	.address = (addr), \
	.scan_index = (si), \
	.scan_type = { \
		.sign = 'u', \
		.realbits = (bits), \
		.storagebits = 16, \
		.shift = 0, \
		.endianness = IIO_BE, \
	}, \
}

#define ADIS16400_SUPPLY_CHAN(addr, bits) \
	ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)

#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
	ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)

#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
	.type = IIO_ANGL_VEL, \
	.modified = 1, \
	.channel2 = IIO_MOD_ ## mod, \
	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
		BIT(IIO_CHAN_INFO_CALIBBIAS),		  \
	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
	.address = addr, \
	.scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
	.scan_type = { \
		.sign = 's', \
		.realbits = (bits), \
		.storagebits = 16, \
		.shift = 0, \
		.endianness = IIO_BE, \
	}, \
}

#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
	.type = IIO_ACCEL, \
	.modified = 1, \
	.channel2 = IIO_MOD_ ## mod, \
	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
		BIT(IIO_CHAN_INFO_CALIBBIAS), \
	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
	.address = (addr), \
	.scan_index = ADIS16400_SCAN_ACC_ ## mod, \
	.scan_type = { \
		.sign = 's', \
		.realbits = (bits), \
		.storagebits = 16, \
		.shift = 0, \
		.endianness = IIO_BE, \
	}, \
}

#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
	.type = IIO_MAGN, \
	.modified = 1, \
	.channel2 = IIO_MOD_ ## mod, \
	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
	.address = (addr), \
	.scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
	.scan_type = { \
		.sign = 's', \
		.realbits = (bits), \
		.storagebits = 16, \
		.shift = 0, \
		.endianness = IIO_BE, \
	}, \
}

#define ADIS16400_MOD_TEMP_NAME_X "x"
#define ADIS16400_MOD_TEMP_NAME_Y "y"
#define ADIS16400_MOD_TEMP_NAME_Z "z"

#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
	.type = IIO_TEMP, \
	.indexed = 1, \
	.channel = 0, \
	.extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
		BIT(IIO_CHAN_INFO_OFFSET) | \
		BIT(IIO_CHAN_INFO_SCALE), \
	.info_mask_shared_by_type = \
		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
	.address = (addr), \
	.scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
	.scan_type = { \
		.sign = 's', \
		.realbits = (bits), \
		.storagebits = 16, \
		.shift = 0, \
		.endianness = IIO_BE, \
	}, \
}

#define ADIS16400_TEMP_CHAN(addr, bits) { \
	.type = IIO_TEMP, \
	.indexed = 1, \
	.channel = 0, \
	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
		BIT(IIO_CHAN_INFO_OFFSET) | \
		BIT(IIO_CHAN_INFO_SCALE), \
	.address = (addr), \
	.scan_index = ADIS16350_SCAN_TEMP_X, \
	.scan_type = { \
		.sign = 's', \
		.realbits = (bits), \
		.storagebits = 16, \
		.shift = 0, \
		.endianness = IIO_BE, \
	}, \
}

#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
	.type = IIO_INCLI, \
	.modified = 1, \
	.channel2 = IIO_MOD_ ## mod, \
	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
	.address = (addr), \
	.scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
	.scan_type = { \
		.sign = 's', \
		.realbits = (bits), \
		.storagebits = 16, \
		.shift = 0, \
		.endianness = IIO_BE, \
	}, \
}

static const struct iio_chan_spec adis16400_channels[] = {
	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
	ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
	ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};

static const struct iio_chan_spec adis16448_channels[] = {
	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
	{
		.type = IIO_PRESSURE,
		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
		.address = ADIS16448_BARO_OUT,
		.scan_index = ADIS16400_SCAN_BARO,
		.scan_type = {
			.sign = 's',
			.realbits = 16,
			.storagebits = 16,
			.endianness = IIO_BE,
		},
	},
	ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};

static const struct iio_chan_spec adis16350_channels[] = {
	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
	ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
	ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
	ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
	ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};

static const struct iio_chan_spec adis16300_channels[] = {
	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
	ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
	ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
	ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
	ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};

static const struct iio_chan_spec adis16334_channels[] = {
	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
	ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};

static struct attribute *adis16400_attributes[] = {
	&iio_dev_attr_sampling_frequency.dev_attr.attr,
	NULL
};

static const struct attribute_group adis16400_attribute_group = {
	.attrs = adis16400_attributes,
};

static struct adis16400_chip_info adis16400_chips[] = {
	[ADIS16300] = {
		.channels = adis16300_channels,
		.num_channels = ARRAY_SIZE(adis16300_channels),
		.flags = ADIS16400_HAS_SLOW_MODE,
		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
		.accel_scale_micro = 5884,
		.temp_scale_nano = 140000000, /* 0.14 C */
		.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
		.set_freq = adis16400_set_freq,
		.get_freq = adis16400_get_freq,
	},
	[ADIS16334] = {
		.channels = adis16334_channels,
		.num_channels = ARRAY_SIZE(adis16334_channels),
		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
				ADIS16400_HAS_SERIAL_NUMBER,
		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
		.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
		.temp_scale_nano = 67850000, /* 0.06785 C */
		.temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
		.set_freq = adis16334_set_freq,
		.get_freq = adis16334_get_freq,
	},
	[ADIS16350] = {
		.channels = adis16350_channels,
		.num_channels = ARRAY_SIZE(adis16350_channels),
		.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 */
		.temp_scale_nano = 145300000, /* 0.1453 C */
		.temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
		.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
		.set_freq = adis16400_set_freq,
		.get_freq = adis16400_get_freq,
	},
	[ADIS16360] = {
		.channels = adis16350_channels,
		.num_channels = ARRAY_SIZE(adis16350_channels),
		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
				ADIS16400_HAS_SERIAL_NUMBER,
		.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 */
		.temp_scale_nano = 136000000, /* 0.136 C */
		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
		.set_freq = adis16400_set_freq,
		.get_freq = adis16400_get_freq,
	},
	[ADIS16362] = {
		.channels = adis16350_channels,
		.num_channels = ARRAY_SIZE(adis16350_channels),
		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
				ADIS16400_HAS_SERIAL_NUMBER,
		.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 */
		.temp_scale_nano = 136000000, /* 0.136 C */
		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
		.set_freq = adis16400_set_freq,
		.get_freq = adis16400_get_freq,
	},
	[ADIS16364] = {
		.channels = adis16350_channels,
		.num_channels = ARRAY_SIZE(adis16350_channels),
		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
				ADIS16400_HAS_SERIAL_NUMBER,
		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
		.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
		.temp_scale_nano = 136000000, /* 0.136 C */
		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
		.set_freq = adis16400_set_freq,
		.get_freq = adis16400_get_freq,
	},
	[ADIS16400] = {
		.channels = adis16400_channels,
		.num_channels = ARRAY_SIZE(adis16400_channels),
		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
		.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 */
		.temp_scale_nano = 140000000, /* 0.14 C */
		.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
		.set_freq = adis16400_set_freq,
		.get_freq = adis16400_get_freq,
	},
	[ADIS16448] = {
		.channels = adis16448_channels,
		.num_channels = ARRAY_SIZE(adis16448_channels),
		.flags = ADIS16400_HAS_PROD_ID |
				ADIS16400_HAS_SERIAL_NUMBER,
		.gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
		.accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
		.temp_scale_nano = 73860000, /* 0.07386 C */
		.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
		.set_freq = adis16334_set_freq,
		.get_freq = adis16334_get_freq,
	}
};

static const struct iio_info adis16400_info = {
	.driver_module = THIS_MODULE,
	.read_raw = &adis16400_read_raw,
	.write_raw = &adis16400_write_raw,
	.attrs = &adis16400_attribute_group,
	.update_scan_mode = adis16400_update_scan_mode,
	.debugfs_reg_access = adis_debugfs_reg_access,
};

static const char * const adis16400_status_error_msgs[] = {
	[ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
	[ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
	[ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
	[ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
	[ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
	[ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
	[ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
	[ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
	[ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
	[ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
	[ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
	[ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
	[ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
	[ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
	[ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
};

static const struct adis_data adis16400_data = {
	.msc_ctrl_reg = ADIS16400_MSC_CTRL,
	.glob_cmd_reg = ADIS16400_GLOB_CMD,
	.diag_stat_reg = ADIS16400_DIAG_STAT,

	.read_delay = 50,
	.write_delay = 50,

	.self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
	.startup_delay = ADIS16400_STARTUP_DELAY,

	.status_error_msgs = adis16400_status_error_msgs,
	.status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
		BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
		BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
		BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
		BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
		BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
		BIT(ADIS16400_DIAG_STAT_ALARM2) |
		BIT(ADIS16400_DIAG_STAT_ALARM1) |
		BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
		BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
		BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
		BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
		BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
		BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
		BIT(ADIS16400_DIAG_STAT_POWER_LOW),
};

static void adis16400_setup_chan_mask(struct adis16400_state *st)
{
	const struct adis16400_chip_info *chip_info = st->variant;
	unsigned i;

	for (i = 0; i < chip_info->num_channels; i++) {
		const struct iio_chan_spec *ch = &chip_info->channels[i];

		if (ch->scan_index >= 0 &&
		    ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
			st->avail_scan_mask[0] |= BIT(ch->scan_index);
	}
}

static int adis16400_probe(struct spi_device *spi)
{
	struct adis16400_state *st;
	struct iio_dev *indio_dev;
	int ret;

	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
	if (indio_dev == NULL)
		return -ENOMEM;

	st = iio_priv(indio_dev);
	/* this is only used for removal purposes */
	spi_set_drvdata(spi, indio_dev);

	/* setup the industrialio driver allocated elements */
	st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
	indio_dev->dev.parent = &spi->dev;
	indio_dev->name = spi_get_device_id(spi)->name;
	indio_dev->channels = st->variant->channels;
	indio_dev->num_channels = st->variant->num_channels;
	indio_dev->info = &adis16400_info;
	indio_dev->modes = INDIO_DIRECT_MODE;

	if (!(st->variant->flags & ADIS16400_NO_BURST)) {
		adis16400_setup_chan_mask(st);
		indio_dev->available_scan_masks = st->avail_scan_mask;
	}

	ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
	if (ret)
		return ret;

	ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
			adis16400_trigger_handler);
	if (ret)
		return ret;

	/* Get the device into a sane initial state */
	ret = adis16400_initial_setup(indio_dev);
	if (ret)
		goto error_cleanup_buffer;
	ret = iio_device_register(indio_dev);
	if (ret)
		goto error_cleanup_buffer;

	adis16400_debugfs_init(indio_dev);
	return 0;

error_cleanup_buffer:
	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
	return ret;
}

static int adis16400_remove(struct spi_device *spi)
{
	struct iio_dev *indio_dev = spi_get_drvdata(spi);
	struct adis16400_state *st = iio_priv(indio_dev);

	iio_device_unregister(indio_dev);
	adis16400_stop_device(indio_dev);

	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);

	return 0;
}

static const struct spi_device_id adis16400_id[] = {
	{"adis16300", ADIS16300},
	{"adis16334", ADIS16334},
	{"adis16350", ADIS16350},
	{"adis16354", ADIS16350},
	{"adis16355", ADIS16350},
	{"adis16360", ADIS16360},
	{"adis16362", ADIS16362},
	{"adis16364", ADIS16364},
	{"adis16365", ADIS16360},
	{"adis16400", ADIS16400},
	{"adis16405", ADIS16400},
	{"adis16448", ADIS16448},
	{}
};
MODULE_DEVICE_TABLE(spi, adis16400_id);

static struct spi_driver adis16400_driver = {
	.driver = {
		.name = "adis16400",
		.owner = THIS_MODULE,
	},
	.id_table = adis16400_id,
	.probe = adis16400_probe,
	.remove = adis16400_remove,
};
module_spi_driver(adis16400_driver);

MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
MODULE_LICENSE("GPL v2");