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0001 // SPDX-License-Identifier: GPL-2.0-only
0002 /*
0003  * adis16400.c  support Analog Devices ADIS16400/5
0004  *      3d 2g Linear Accelerometers,
0005  *      3d Gyroscopes,
0006  *      3d Magnetometers via SPI
0007  *
0008  * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
0009  * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
0010  * Copyright (c) 2011 Analog Devices Inc.
0011  */
0012 
0013 #include <linux/irq.h>
0014 #include <linux/device.h>
0015 #include <linux/kernel.h>
0016 #include <linux/spi/spi.h>
0017 #include <linux/module.h>
0018 #include <linux/debugfs.h>
0019 #include <linux/bitops.h>
0020 
0021 #include <linux/iio/iio.h>
0022 #include <linux/iio/buffer.h>
0023 #include <linux/iio/trigger_consumer.h>
0024 #include <linux/iio/imu/adis.h>
0025 
0026 #define ADIS16400_STARTUP_DELAY 290 /* ms */
0027 #define ADIS16400_MTEST_DELAY 90 /* ms */
0028 
0029 #define ADIS16400_FLASH_CNT  0x00 /* Flash memory write count */
0030 #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
0031 #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
0032 #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
0033 #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
0034 #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
0035 #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
0036 #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
0037 #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
0038 #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
0039 #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
0040 #define ADIS16400_TEMP_OUT  0x16 /* Temperature output */
0041 #define ADIS16400_AUX_ADC   0x18 /* Auxiliary ADC measurement */
0042 
0043 #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
0044 #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
0045 #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
0046 
0047 #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
0048 #define ADIS16300_ROLL_OUT  0x14 /* Y axis inclinometer output measurement */
0049 #define ADIS16300_AUX_ADC   0x16 /* Auxiliary ADC measurement */
0050 
0051 #define ADIS16448_BARO_OUT  0x16 /* Barometric pressure output */
0052 #define ADIS16448_TEMP_OUT  0x18 /* Temperature output */
0053 
0054 /* Calibration parameters */
0055 #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
0056 #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
0057 #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
0058 #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
0059 #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
0060 #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
0061 #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
0062 #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
0063 #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
0064 #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
0065 #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
0066 #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
0067 
0068 #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
0069 #define ADIS16400_MSC_CTRL  0x34 /* Miscellaneous control */
0070 #define ADIS16400_SMPL_PRD  0x36 /* Internal sample period (rate) control */
0071 #define ADIS16400_SENS_AVG  0x38 /* Dynamic range and digital filter control */
0072 #define ADIS16400_SLP_CNT   0x3A /* Sleep mode control */
0073 #define ADIS16400_DIAG_STAT 0x3C /* System status */
0074 
0075 /* Alarm functions */
0076 #define ADIS16400_GLOB_CMD  0x3E /* System command */
0077 #define ADIS16400_ALM_MAG1  0x40 /* Alarm 1 amplitude threshold */
0078 #define ADIS16400_ALM_MAG2  0x42 /* Alarm 2 amplitude threshold */
0079 #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
0080 #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
0081 #define ADIS16400_ALM_CTRL  0x48 /* Alarm control */
0082 #define ADIS16400_AUX_DAC   0x4A /* Auxiliary DAC data */
0083 
0084 #define ADIS16334_LOT_ID1   0x52 /* Lot identification code 1 */
0085 #define ADIS16334_LOT_ID2   0x54 /* Lot identification code 2 */
0086 #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
0087 #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
0088 
0089 #define ADIS16400_ERROR_ACTIVE          (1<<14)
0090 #define ADIS16400_NEW_DATA          (1<<14)
0091 
0092 /* MSC_CTRL */
0093 #define ADIS16400_MSC_CTRL_MEM_TEST     (1<<11)
0094 #define ADIS16400_MSC_CTRL_INT_SELF_TEST    (1<<10)
0095 #define ADIS16400_MSC_CTRL_NEG_SELF_TEST    (1<<9)
0096 #define ADIS16400_MSC_CTRL_POS_SELF_TEST    (1<<8)
0097 #define ADIS16400_MSC_CTRL_GYRO_BIAS        (1<<7)
0098 #define ADIS16400_MSC_CTRL_ACCL_ALIGN       (1<<6)
0099 #define ADIS16400_MSC_CTRL_DATA_RDY_EN      (1<<2)
0100 #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH    (1<<1)
0101 #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2    (1<<0)
0102 
0103 /* SMPL_PRD */
0104 #define ADIS16400_SMPL_PRD_TIME_BASE    (1<<7)
0105 #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
0106 
0107 /* DIAG_STAT */
0108 #define ADIS16400_DIAG_STAT_ZACCL_FAIL  15
0109 #define ADIS16400_DIAG_STAT_YACCL_FAIL  14
0110 #define ADIS16400_DIAG_STAT_XACCL_FAIL  13
0111 #define ADIS16400_DIAG_STAT_XGYRO_FAIL  12
0112 #define ADIS16400_DIAG_STAT_YGYRO_FAIL  11
0113 #define ADIS16400_DIAG_STAT_ZGYRO_FAIL  10
0114 #define ADIS16400_DIAG_STAT_ALARM2  9
0115 #define ADIS16400_DIAG_STAT_ALARM1  8
0116 #define ADIS16400_DIAG_STAT_FLASH_CHK   6
0117 #define ADIS16400_DIAG_STAT_SELF_TEST   5
0118 #define ADIS16400_DIAG_STAT_OVERFLOW    4
0119 #define ADIS16400_DIAG_STAT_SPI_FAIL    3
0120 #define ADIS16400_DIAG_STAT_FLASH_UPT   2
0121 #define ADIS16400_DIAG_STAT_POWER_HIGH  1
0122 #define ADIS16400_DIAG_STAT_POWER_LOW   0
0123 
0124 /* GLOB_CMD */
0125 #define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
0126 #define ADIS16400_GLOB_CMD_P_AUTO_NULL  (1<<4)
0127 #define ADIS16400_GLOB_CMD_FLASH_UPD    (1<<3)
0128 #define ADIS16400_GLOB_CMD_DAC_LATCH    (1<<2)
0129 #define ADIS16400_GLOB_CMD_FAC_CALIB    (1<<1)
0130 #define ADIS16400_GLOB_CMD_AUTO_NULL    (1<<0)
0131 
0132 /* SLP_CNT */
0133 #define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
0134 
0135 #define ADIS16334_RATE_DIV_SHIFT 8
0136 #define ADIS16334_RATE_INT_CLK BIT(0)
0137 
0138 #define ADIS16400_SPI_SLOW  (u32)(300 * 1000)
0139 #define ADIS16400_SPI_BURST (u32)(1000 * 1000)
0140 #define ADIS16400_SPI_FAST  (u32)(2000 * 1000)
0141 
0142 #define ADIS16400_HAS_PROD_ID       BIT(0)
0143 #define ADIS16400_NO_BURST      BIT(1)
0144 #define ADIS16400_HAS_SLOW_MODE     BIT(2)
0145 #define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
0146 #define ADIS16400_BURST_DIAG_STAT   BIT(4)
0147 
0148 struct adis16400_state;
0149 
0150 struct adis16400_chip_info {
0151     const struct iio_chan_spec *channels;
0152     const struct adis_data adis_data;
0153     const int num_channels;
0154     const long flags;
0155     unsigned int gyro_scale_micro;
0156     unsigned int accel_scale_micro;
0157     int temp_scale_nano;
0158     int temp_offset;
0159     /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
0160     int (*set_freq)(struct adis16400_state *st, unsigned int freq);
0161     int (*get_freq)(struct adis16400_state *st);
0162 };
0163 
0164 /**
0165  * struct adis16400_state - device instance specific data
0166  * @variant:    chip variant info
0167  * @filt_int:   integer part of requested filter frequency
0168  * @adis:   adis device
0169  * @avail_scan_mask:    NULL terminated array of bitmaps of channels
0170  *          that must be enabled together
0171  **/
0172 struct adis16400_state {
0173     struct adis16400_chip_info  *variant;
0174     int             filt_int;
0175 
0176     struct adis adis;
0177     unsigned long avail_scan_mask[2];
0178 };
0179 
0180 /* At the moment triggers are only used for ring buffer
0181  * filling. This may change!
0182  */
0183 
0184 enum {
0185     ADIS16400_SCAN_SUPPLY,
0186     ADIS16400_SCAN_GYRO_X,
0187     ADIS16400_SCAN_GYRO_Y,
0188     ADIS16400_SCAN_GYRO_Z,
0189     ADIS16400_SCAN_ACC_X,
0190     ADIS16400_SCAN_ACC_Y,
0191     ADIS16400_SCAN_ACC_Z,
0192     ADIS16400_SCAN_MAGN_X,
0193     ADIS16400_SCAN_MAGN_Y,
0194     ADIS16400_SCAN_MAGN_Z,
0195     ADIS16400_SCAN_BARO,
0196     ADIS16350_SCAN_TEMP_X,
0197     ADIS16350_SCAN_TEMP_Y,
0198     ADIS16350_SCAN_TEMP_Z,
0199     ADIS16300_SCAN_INCLI_X,
0200     ADIS16300_SCAN_INCLI_Y,
0201     ADIS16400_SCAN_ADC,
0202     ADIS16400_SCAN_TIMESTAMP,
0203 };
0204 
0205 #ifdef CONFIG_DEBUG_FS
0206 
0207 static ssize_t adis16400_show_serial_number(struct file *file,
0208         char __user *userbuf, size_t count, loff_t *ppos)
0209 {
0210     struct adis16400_state *st = file->private_data;
0211     u16 lot1, lot2, serial_number;
0212     char buf[16];
0213     size_t len;
0214     int ret;
0215 
0216     ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
0217     if (ret)
0218         return ret;
0219 
0220     ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
0221     if (ret)
0222         return ret;
0223 
0224     ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
0225             &serial_number);
0226     if (ret)
0227         return ret;
0228 
0229     len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
0230             serial_number);
0231 
0232     return simple_read_from_buffer(userbuf, count, ppos, buf, len);
0233 }
0234 
0235 static const struct file_operations adis16400_serial_number_fops = {
0236     .open = simple_open,
0237     .read = adis16400_show_serial_number,
0238     .llseek = default_llseek,
0239     .owner = THIS_MODULE,
0240 };
0241 
0242 static int adis16400_show_product_id(void *arg, u64 *val)
0243 {
0244     struct adis16400_state *st = arg;
0245     uint16_t prod_id;
0246     int ret;
0247 
0248     ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
0249     if (ret)
0250         return ret;
0251 
0252     *val = prod_id;
0253 
0254     return 0;
0255 }
0256 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
0257     adis16400_show_product_id, NULL, "%lld\n");
0258 
0259 static int adis16400_show_flash_count(void *arg, u64 *val)
0260 {
0261     struct adis16400_state *st = arg;
0262     uint16_t flash_count;
0263     int ret;
0264 
0265     ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
0266     if (ret)
0267         return ret;
0268 
0269     *val = flash_count;
0270 
0271     return 0;
0272 }
0273 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
0274     adis16400_show_flash_count, NULL, "%lld\n");
0275 
0276 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
0277 {
0278     struct adis16400_state *st = iio_priv(indio_dev);
0279     struct dentry *d = iio_get_debugfs_dentry(indio_dev);
0280 
0281     if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
0282         debugfs_create_file_unsafe("serial_number", 0400,
0283                 d, st, &adis16400_serial_number_fops);
0284     if (st->variant->flags & ADIS16400_HAS_PROD_ID)
0285         debugfs_create_file_unsafe("product_id", 0400,
0286                 d, st, &adis16400_product_id_fops);
0287     debugfs_create_file_unsafe("flash_count", 0400,
0288             d, st, &adis16400_flash_count_fops);
0289 
0290     return 0;
0291 }
0292 
0293 #else
0294 
0295 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
0296 {
0297     return 0;
0298 }
0299 
0300 #endif
0301 
0302 enum adis16400_chip_variant {
0303     ADIS16300,
0304     ADIS16334,
0305     ADIS16350,
0306     ADIS16360,
0307     ADIS16362,
0308     ADIS16364,
0309     ADIS16367,
0310     ADIS16400,
0311     ADIS16445,
0312     ADIS16448,
0313 };
0314 
0315 static int adis16334_get_freq(struct adis16400_state *st)
0316 {
0317     int ret;
0318     uint16_t t;
0319 
0320     ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
0321     if (ret)
0322         return ret;
0323 
0324     t >>= ADIS16334_RATE_DIV_SHIFT;
0325 
0326     return 819200 >> t;
0327 }
0328 
0329 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
0330 {
0331     unsigned int t;
0332 
0333     if (freq < 819200)
0334         t = ilog2(819200 / freq);
0335     else
0336         t = 0;
0337 
0338     if (t > 0x31)
0339         t = 0x31;
0340 
0341     t <<= ADIS16334_RATE_DIV_SHIFT;
0342     t |= ADIS16334_RATE_INT_CLK;
0343 
0344     return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
0345 }
0346 
0347 static int adis16400_get_freq(struct adis16400_state *st)
0348 {
0349     int sps, ret;
0350     uint16_t t;
0351 
0352     ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
0353     if (ret)
0354         return ret;
0355 
0356     sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
0357     sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
0358 
0359     return sps;
0360 }
0361 
0362 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
0363 {
0364     unsigned int t;
0365     uint8_t val = 0;
0366 
0367     t = 1638404 / freq;
0368     if (t >= 128) {
0369         val |= ADIS16400_SMPL_PRD_TIME_BASE;
0370         t = 52851 / freq;
0371         if (t >= 128)
0372             t = 127;
0373     } else if (t != 0) {
0374         t--;
0375     }
0376 
0377     val |= t;
0378 
0379     if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
0380         st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
0381     else
0382         st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
0383 
0384     return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
0385 }
0386 
0387 static const unsigned int adis16400_3db_divisors[] = {
0388     [0] = 2, /* Special case */
0389     [1] = 6,
0390     [2] = 12,
0391     [3] = 25,
0392     [4] = 50,
0393     [5] = 100,
0394     [6] = 200,
0395     [7] = 200, /* Not a valid setting */
0396 };
0397 
0398 static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
0399 {
0400     struct adis16400_state *st = iio_priv(indio_dev);
0401     uint16_t val16;
0402     int i, ret;
0403 
0404     for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
0405         if (sps / adis16400_3db_divisors[i] >= val)
0406             break;
0407     }
0408 
0409     ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
0410     if (ret)
0411         return ret;
0412 
0413     ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
0414                      (val16 & ~0x07) | i);
0415     return ret;
0416 }
0417 
0418 /* Power down the device */
0419 static int adis16400_stop_device(struct iio_dev *indio_dev)
0420 {
0421     struct adis16400_state *st = iio_priv(indio_dev);
0422     int ret;
0423 
0424     ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
0425             ADIS16400_SLP_CNT_POWER_OFF);
0426     if (ret)
0427         dev_err(&indio_dev->dev,
0428             "problem with turning device off: SLP_CNT");
0429 
0430     return ret;
0431 }
0432 
0433 static int adis16400_initial_setup(struct iio_dev *indio_dev)
0434 {
0435     struct adis16400_state *st = iio_priv(indio_dev);
0436     uint16_t prod_id, smp_prd;
0437     unsigned int device_id;
0438     int ret;
0439 
0440     /* use low spi speed for init if the device has a slow mode */
0441     if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
0442         st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
0443     else
0444         st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
0445     st->adis.spi->mode = SPI_MODE_3;
0446     spi_setup(st->adis.spi);
0447 
0448     ret = adis_initial_startup(&st->adis);
0449     if (ret)
0450         return ret;
0451 
0452     if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
0453         ret = adis_read_reg_16(&st->adis,
0454                         ADIS16400_PRODUCT_ID, &prod_id);
0455         if (ret)
0456             goto err_ret;
0457 
0458         if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
0459             ret = -EINVAL;
0460             goto err_ret;
0461         }
0462 
0463         if (prod_id != device_id)
0464             dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
0465                     device_id, prod_id);
0466 
0467         dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
0468             indio_dev->name, prod_id,
0469             st->adis.spi->chip_select, st->adis.spi->irq);
0470     }
0471     /* use high spi speed if possible */
0472     if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
0473         ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
0474         if (ret)
0475             goto err_ret;
0476 
0477         if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
0478             st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
0479             spi_setup(st->adis.spi);
0480         }
0481     }
0482 
0483 err_ret:
0484     return ret;
0485 }
0486 
0487 static const uint8_t adis16400_addresses[] = {
0488     [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
0489     [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
0490     [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
0491     [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
0492     [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
0493     [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
0494 };
0495 
0496 static int adis16400_write_raw(struct iio_dev *indio_dev,
0497     struct iio_chan_spec const *chan, int val, int val2, long info)
0498 {
0499     struct adis16400_state *st = iio_priv(indio_dev);
0500     int ret, sps;
0501 
0502     switch (info) {
0503     case IIO_CHAN_INFO_CALIBBIAS:
0504         ret = adis_write_reg_16(&st->adis,
0505                 adis16400_addresses[chan->scan_index], val);
0506         return ret;
0507     case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
0508         /*
0509          * Need to cache values so we can update if the frequency
0510          * changes.
0511          */
0512         adis_dev_lock(&st->adis);
0513         st->filt_int = val;
0514         /* Work out update to current value */
0515         sps = st->variant->get_freq(st);
0516         if (sps < 0) {
0517             adis_dev_unlock(&st->adis);
0518             return sps;
0519         }
0520 
0521         ret = __adis16400_set_filter(indio_dev, sps,
0522             val * 1000 + val2 / 1000);
0523         adis_dev_unlock(&st->adis);
0524         return ret;
0525     case IIO_CHAN_INFO_SAMP_FREQ:
0526         sps = val * 1000 + val2 / 1000;
0527 
0528         if (sps <= 0)
0529             return -EINVAL;
0530 
0531         adis_dev_lock(&st->adis);
0532         ret = st->variant->set_freq(st, sps);
0533         adis_dev_unlock(&st->adis);
0534         return ret;
0535     default:
0536         return -EINVAL;
0537     }
0538 }
0539 
0540 static int adis16400_read_raw(struct iio_dev *indio_dev,
0541     struct iio_chan_spec const *chan, int *val, int *val2, long info)
0542 {
0543     struct adis16400_state *st = iio_priv(indio_dev);
0544     int16_t val16;
0545     int ret;
0546 
0547     switch (info) {
0548     case IIO_CHAN_INFO_RAW:
0549         return adis_single_conversion(indio_dev, chan, 0, val);
0550     case IIO_CHAN_INFO_SCALE:
0551         switch (chan->type) {
0552         case IIO_ANGL_VEL:
0553             *val = 0;
0554             *val2 = st->variant->gyro_scale_micro;
0555             return IIO_VAL_INT_PLUS_MICRO;
0556         case IIO_VOLTAGE:
0557             *val = 0;
0558             if (chan->channel == 0) {
0559                 *val = 2;
0560                 *val2 = 418000; /* 2.418 mV */
0561             } else {
0562                 *val = 0;
0563                 *val2 = 805800; /* 805.8 uV */
0564             }
0565             return IIO_VAL_INT_PLUS_MICRO;
0566         case IIO_ACCEL:
0567             *val = 0;
0568             *val2 = st->variant->accel_scale_micro;
0569             return IIO_VAL_INT_PLUS_MICRO;
0570         case IIO_MAGN:
0571             *val = 0;
0572             *val2 = 500; /* 0.5 mgauss */
0573             return IIO_VAL_INT_PLUS_MICRO;
0574         case IIO_TEMP:
0575             *val = st->variant->temp_scale_nano / 1000000;
0576             *val2 = (st->variant->temp_scale_nano % 1000000);
0577             return IIO_VAL_INT_PLUS_MICRO;
0578         case IIO_PRESSURE:
0579             /* 20 uBar = 0.002kPascal */
0580             *val = 0;
0581             *val2 = 2000;
0582             return IIO_VAL_INT_PLUS_MICRO;
0583         default:
0584             return -EINVAL;
0585         }
0586     case IIO_CHAN_INFO_CALIBBIAS:
0587         ret = adis_read_reg_16(&st->adis,
0588                 adis16400_addresses[chan->scan_index], &val16);
0589         if (ret)
0590             return ret;
0591         val16 = sign_extend32(val16, 11);
0592         *val = val16;
0593         return IIO_VAL_INT;
0594     case IIO_CHAN_INFO_OFFSET:
0595         /* currently only temperature */
0596         *val = st->variant->temp_offset;
0597         return IIO_VAL_INT;
0598     case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
0599         adis_dev_lock(&st->adis);
0600         /* Need both the number of taps and the sampling frequency */
0601         ret = __adis_read_reg_16(&st->adis,
0602                         ADIS16400_SENS_AVG,
0603                         &val16);
0604         if (ret) {
0605             adis_dev_unlock(&st->adis);
0606             return ret;
0607         }
0608         ret = st->variant->get_freq(st);
0609         adis_dev_unlock(&st->adis);
0610         if (ret)
0611             return ret;
0612         ret /= adis16400_3db_divisors[val16 & 0x07];
0613         *val = ret / 1000;
0614         *val2 = (ret % 1000) * 1000;
0615         return IIO_VAL_INT_PLUS_MICRO;
0616     case IIO_CHAN_INFO_SAMP_FREQ:
0617         adis_dev_lock(&st->adis);
0618         ret = st->variant->get_freq(st);
0619         adis_dev_unlock(&st->adis);
0620         if (ret)
0621             return ret;
0622         *val = ret / 1000;
0623         *val2 = (ret % 1000) * 1000;
0624         return IIO_VAL_INT_PLUS_MICRO;
0625     default:
0626         return -EINVAL;
0627     }
0628 }
0629 
0630 #if IS_ENABLED(CONFIG_IIO_BUFFER)
0631 static irqreturn_t adis16400_trigger_handler(int irq, void *p)
0632 {
0633     struct iio_poll_func *pf = p;
0634     struct iio_dev *indio_dev = pf->indio_dev;
0635     struct adis16400_state *st = iio_priv(indio_dev);
0636     struct adis *adis = &st->adis;
0637     void *buffer;
0638     int ret;
0639 
0640     ret = spi_sync(adis->spi, &adis->msg);
0641     if (ret)
0642         dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
0643 
0644     if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) {
0645         buffer = adis->buffer + sizeof(u16);
0646         /*
0647          * The size here is always larger than, or equal to the true
0648          * size of the channel data. This may result in a larger copy
0649          * than necessary, but as the target buffer will be
0650          * buffer->scan_bytes this will be safe.
0651          */
0652         iio_push_to_buffers_with_ts_unaligned(indio_dev, buffer,
0653                               indio_dev->scan_bytes - sizeof(pf->timestamp),
0654                               pf->timestamp);
0655     } else {
0656         iio_push_to_buffers_with_timestamp(indio_dev,
0657                            adis->buffer,
0658                            pf->timestamp);
0659     }
0660 
0661 
0662     iio_trigger_notify_done(indio_dev->trig);
0663 
0664     return IRQ_HANDLED;
0665 }
0666 #else
0667 #define adis16400_trigger_handler   NULL
0668 #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
0669 
0670 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
0671     .type = IIO_VOLTAGE, \
0672     .indexed = 1, \
0673     .channel = chn, \
0674     .extend_name = name, \
0675     .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
0676         BIT(IIO_CHAN_INFO_SCALE), \
0677     .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
0678     .address = (addr), \
0679     .scan_index = (si), \
0680     .scan_type = { \
0681         .sign = 'u', \
0682         .realbits = (bits), \
0683         .storagebits = 16, \
0684         .shift = 0, \
0685         .endianness = IIO_BE, \
0686     }, \
0687 }
0688 
0689 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
0690     ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
0691 
0692 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
0693     ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
0694 
0695 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
0696     .type = IIO_ANGL_VEL, \
0697     .modified = 1, \
0698     .channel2 = IIO_MOD_ ## mod, \
0699     .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
0700         BIT(IIO_CHAN_INFO_CALIBBIAS),         \
0701     .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
0702         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
0703     .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
0704     .address = addr, \
0705     .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
0706     .scan_type = { \
0707         .sign = 's', \
0708         .realbits = (bits), \
0709         .storagebits = 16, \
0710         .shift = 0, \
0711         .endianness = IIO_BE, \
0712     }, \
0713 }
0714 
0715 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
0716     .type = IIO_ACCEL, \
0717     .modified = 1, \
0718     .channel2 = IIO_MOD_ ## mod, \
0719     .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
0720         BIT(IIO_CHAN_INFO_CALIBBIAS), \
0721     .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
0722         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
0723     .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
0724     .address = (addr), \
0725     .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
0726     .scan_type = { \
0727         .sign = 's', \
0728         .realbits = (bits), \
0729         .storagebits = 16, \
0730         .shift = 0, \
0731         .endianness = IIO_BE, \
0732     }, \
0733 }
0734 
0735 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
0736     .type = IIO_MAGN, \
0737     .modified = 1, \
0738     .channel2 = IIO_MOD_ ## mod, \
0739     .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
0740     .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
0741         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
0742     .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
0743     .address = (addr), \
0744     .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
0745     .scan_type = { \
0746         .sign = 's', \
0747         .realbits = (bits), \
0748         .storagebits = 16, \
0749         .shift = 0, \
0750         .endianness = IIO_BE, \
0751     }, \
0752 }
0753 
0754 #define ADIS16400_MOD_TEMP_NAME_X "x"
0755 #define ADIS16400_MOD_TEMP_NAME_Y "y"
0756 #define ADIS16400_MOD_TEMP_NAME_Z "z"
0757 
0758 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
0759     .type = IIO_TEMP, \
0760     .indexed = 1, \
0761     .channel = 0, \
0762     .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
0763     .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
0764         BIT(IIO_CHAN_INFO_OFFSET) | \
0765         BIT(IIO_CHAN_INFO_SCALE), \
0766     .info_mask_shared_by_type = \
0767         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
0768     .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
0769     .address = (addr), \
0770     .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
0771     .scan_type = { \
0772         .sign = 's', \
0773         .realbits = (bits), \
0774         .storagebits = 16, \
0775         .shift = 0, \
0776         .endianness = IIO_BE, \
0777     }, \
0778 }
0779 
0780 #define ADIS16400_TEMP_CHAN(addr, bits) { \
0781     .type = IIO_TEMP, \
0782     .indexed = 1, \
0783     .channel = 0, \
0784     .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
0785         BIT(IIO_CHAN_INFO_OFFSET) | \
0786         BIT(IIO_CHAN_INFO_SCALE), \
0787     .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
0788     .address = (addr), \
0789     .scan_index = ADIS16350_SCAN_TEMP_X, \
0790     .scan_type = { \
0791         .sign = 's', \
0792         .realbits = (bits), \
0793         .storagebits = 16, \
0794         .shift = 0, \
0795         .endianness = IIO_BE, \
0796     }, \
0797 }
0798 
0799 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
0800     .type = IIO_INCLI, \
0801     .modified = 1, \
0802     .channel2 = IIO_MOD_ ## mod, \
0803     .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
0804     .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
0805     .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
0806     .address = (addr), \
0807     .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
0808     .scan_type = { \
0809         .sign = 's', \
0810         .realbits = (bits), \
0811         .storagebits = 16, \
0812         .shift = 0, \
0813         .endianness = IIO_BE, \
0814     }, \
0815 }
0816 
0817 static const struct iio_chan_spec adis16400_channels[] = {
0818     ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
0819     ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
0820     ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
0821     ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
0822     ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
0823     ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
0824     ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
0825     ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
0826     ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
0827     ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
0828     ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
0829     ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
0830     IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
0831 };
0832 
0833 static const struct iio_chan_spec adis16445_channels[] = {
0834     ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
0835     ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
0836     ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
0837     ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
0838     ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
0839     ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
0840     ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
0841     IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
0842 };
0843 
0844 static const struct iio_chan_spec adis16448_channels[] = {
0845     ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
0846     ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
0847     ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
0848     ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
0849     ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
0850     ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
0851     ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
0852     ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
0853     ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
0854     {
0855         .type = IIO_PRESSURE,
0856         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
0857         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
0858         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
0859         .address = ADIS16448_BARO_OUT,
0860         .scan_index = ADIS16400_SCAN_BARO,
0861         .scan_type = {
0862             .sign = 's',
0863             .realbits = 16,
0864             .storagebits = 16,
0865             .endianness = IIO_BE,
0866         },
0867     },
0868     ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
0869     IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
0870 };
0871 
0872 static const struct iio_chan_spec adis16350_channels[] = {
0873     ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
0874     ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
0875     ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
0876     ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
0877     ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
0878     ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
0879     ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
0880     ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
0881     ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
0882     ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
0883     ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
0884     ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
0885     ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
0886     ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
0887     IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
0888 };
0889 
0890 static const struct iio_chan_spec adis16300_channels[] = {
0891     ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
0892     ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
0893     ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
0894     ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
0895     ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
0896     ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
0897     ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
0898     ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
0899     ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
0900     IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
0901 };
0902 
0903 static const struct iio_chan_spec adis16334_channels[] = {
0904     ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
0905     ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
0906     ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
0907     ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
0908     ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
0909     ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
0910     ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
0911     IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
0912 };
0913 
0914 static const char * const adis16400_status_error_msgs[] = {
0915     [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
0916     [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
0917     [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
0918     [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
0919     [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
0920     [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
0921     [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
0922     [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
0923     [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
0924     [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
0925     [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
0926     [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
0927     [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
0928     [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
0929     [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
0930 };
0931 
0932 #define ADIS16400_DATA(_timeouts, _burst_len)               \
0933 {                                   \
0934     .msc_ctrl_reg = ADIS16400_MSC_CTRL,             \
0935     .glob_cmd_reg = ADIS16400_GLOB_CMD,             \
0936     .diag_stat_reg = ADIS16400_DIAG_STAT,               \
0937     .read_delay = 50,                       \
0938     .write_delay = 50,                      \
0939     .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,          \
0940     .self_test_reg = ADIS16400_MSC_CTRL,                \
0941     .status_error_msgs = adis16400_status_error_msgs,       \
0942     .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |  \
0943         BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |           \
0944         BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |           \
0945         BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |           \
0946         BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |           \
0947         BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |           \
0948         BIT(ADIS16400_DIAG_STAT_ALARM2) |           \
0949         BIT(ADIS16400_DIAG_STAT_ALARM1) |           \
0950         BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |            \
0951         BIT(ADIS16400_DIAG_STAT_SELF_TEST) |            \
0952         BIT(ADIS16400_DIAG_STAT_OVERFLOW) |         \
0953         BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |         \
0954         BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |            \
0955         BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |           \
0956         BIT(ADIS16400_DIAG_STAT_POWER_LOW),         \
0957     .timeouts = (_timeouts),                    \
0958     .burst_reg_cmd = ADIS16400_GLOB_CMD,                \
0959     .burst_len = (_burst_len),                  \
0960     .burst_max_speed_hz = ADIS16400_SPI_BURST           \
0961 }
0962 
0963 static const struct adis_timeout adis16300_timeouts = {
0964     .reset_ms = ADIS16400_STARTUP_DELAY,
0965     .sw_reset_ms = ADIS16400_STARTUP_DELAY,
0966     .self_test_ms = ADIS16400_STARTUP_DELAY,
0967 };
0968 
0969 static const struct adis_timeout adis16334_timeouts = {
0970     .reset_ms = 60,
0971     .sw_reset_ms = 60,
0972     .self_test_ms = 14,
0973 };
0974 
0975 static const struct adis_timeout adis16362_timeouts = {
0976     .reset_ms = 130,
0977     .sw_reset_ms = 130,
0978     .self_test_ms = 12,
0979 };
0980 
0981 static const struct adis_timeout adis16400_timeouts = {
0982     .reset_ms = 170,
0983     .sw_reset_ms = 170,
0984     .self_test_ms = 12,
0985 };
0986 
0987 static const struct adis_timeout adis16445_timeouts = {
0988     .reset_ms = 55,
0989     .sw_reset_ms = 55,
0990     .self_test_ms = 16,
0991 };
0992 
0993 static const struct adis_timeout adis16448_timeouts = {
0994     .reset_ms = 90,
0995     .sw_reset_ms = 90,
0996     .self_test_ms = 45,
0997 };
0998 
0999 static struct adis16400_chip_info adis16400_chips[] = {
1000     [ADIS16300] = {
1001         .channels = adis16300_channels,
1002         .num_channels = ARRAY_SIZE(adis16300_channels),
1003         .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1004                 ADIS16400_HAS_SERIAL_NUMBER,
1005         .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1006         .accel_scale_micro = 5884,
1007         .temp_scale_nano = 140000000, /* 0.14 C */
1008         .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1009         .set_freq = adis16400_set_freq,
1010         .get_freq = adis16400_get_freq,
1011         .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
1012     },
1013     [ADIS16334] = {
1014         .channels = adis16334_channels,
1015         .num_channels = ARRAY_SIZE(adis16334_channels),
1016         .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
1017                 ADIS16400_HAS_SERIAL_NUMBER,
1018         .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1019         .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1020         .temp_scale_nano = 67850000, /* 0.06785 C */
1021         .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
1022         .set_freq = adis16334_set_freq,
1023         .get_freq = adis16334_get_freq,
1024         .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
1025     },
1026     [ADIS16350] = {
1027         .channels = adis16350_channels,
1028         .num_channels = ARRAY_SIZE(adis16350_channels),
1029         .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
1030         .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
1031         .temp_scale_nano = 145300000, /* 0.1453 C */
1032         .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
1033         .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
1034         .set_freq = adis16400_set_freq,
1035         .get_freq = adis16400_get_freq,
1036         .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
1037     },
1038     [ADIS16360] = {
1039         .channels = adis16350_channels,
1040         .num_channels = ARRAY_SIZE(adis16350_channels),
1041         .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1042                 ADIS16400_HAS_SERIAL_NUMBER,
1043         .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1044         .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1045         .temp_scale_nano = 136000000, /* 0.136 C */
1046         .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1047         .set_freq = adis16400_set_freq,
1048         .get_freq = adis16400_get_freq,
1049         .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1050     },
1051     [ADIS16362] = {
1052         .channels = adis16350_channels,
1053         .num_channels = ARRAY_SIZE(adis16350_channels),
1054         .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1055                 ADIS16400_HAS_SERIAL_NUMBER,
1056         .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1057         .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
1058         .temp_scale_nano = 136000000, /* 0.136 C */
1059         .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1060         .set_freq = adis16400_set_freq,
1061         .get_freq = adis16400_get_freq,
1062         .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1063     },
1064     [ADIS16364] = {
1065         .channels = adis16350_channels,
1066         .num_channels = ARRAY_SIZE(adis16350_channels),
1067         .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1068                 ADIS16400_HAS_SERIAL_NUMBER,
1069         .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1070         .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1071         .temp_scale_nano = 136000000, /* 0.136 C */
1072         .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1073         .set_freq = adis16400_set_freq,
1074         .get_freq = adis16400_get_freq,
1075         .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1076     },
1077     [ADIS16367] = {
1078         .channels = adis16350_channels,
1079         .num_channels = ARRAY_SIZE(adis16350_channels),
1080         .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1081                 ADIS16400_HAS_SERIAL_NUMBER,
1082         .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
1083         .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1084         .temp_scale_nano = 136000000, /* 0.136 C */
1085         .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1086         .set_freq = adis16400_set_freq,
1087         .get_freq = adis16400_get_freq,
1088         .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1089     },
1090     [ADIS16400] = {
1091         .channels = adis16400_channels,
1092         .num_channels = ARRAY_SIZE(adis16400_channels),
1093         .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1094         .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1095         .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1096         .temp_scale_nano = 140000000, /* 0.14 C */
1097         .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1098         .set_freq = adis16400_set_freq,
1099         .get_freq = adis16400_get_freq,
1100         .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
1101     },
1102     [ADIS16445] = {
1103         .channels = adis16445_channels,
1104         .num_channels = ARRAY_SIZE(adis16445_channels),
1105         .flags = ADIS16400_HAS_PROD_ID |
1106                 ADIS16400_HAS_SERIAL_NUMBER |
1107                 ADIS16400_BURST_DIAG_STAT,
1108         .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
1109         .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
1110         .temp_scale_nano = 73860000, /* 0.07386 C */
1111         .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1112         .set_freq = adis16334_set_freq,
1113         .get_freq = adis16334_get_freq,
1114         .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
1115     },
1116     [ADIS16448] = {
1117         .channels = adis16448_channels,
1118         .num_channels = ARRAY_SIZE(adis16448_channels),
1119         .flags = ADIS16400_HAS_PROD_ID |
1120                 ADIS16400_HAS_SERIAL_NUMBER |
1121                 ADIS16400_BURST_DIAG_STAT,
1122         .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
1123         .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
1124         .temp_scale_nano = 73860000, /* 0.07386 C */
1125         .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1126         .set_freq = adis16334_set_freq,
1127         .get_freq = adis16334_get_freq,
1128         .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
1129     }
1130 };
1131 
1132 static const struct iio_info adis16400_info = {
1133     .read_raw = &adis16400_read_raw,
1134     .write_raw = &adis16400_write_raw,
1135     .update_scan_mode = adis_update_scan_mode,
1136     .debugfs_reg_access = adis_debugfs_reg_access,
1137 };
1138 
1139 static void adis16400_setup_chan_mask(struct adis16400_state *st)
1140 {
1141     const struct adis16400_chip_info *chip_info = st->variant;
1142     unsigned int i;
1143 
1144     for (i = 0; i < chip_info->num_channels; i++) {
1145         const struct iio_chan_spec *ch = &chip_info->channels[i];
1146 
1147         if (ch->scan_index >= 0 &&
1148             ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1149             st->avail_scan_mask[0] |= BIT(ch->scan_index);
1150     }
1151 }
1152 
1153 static void adis16400_stop(void *data)
1154 {
1155     adis16400_stop_device(data);
1156 }
1157 
1158 static int adis16400_probe(struct spi_device *spi)
1159 {
1160     struct adis16400_state *st;
1161     struct iio_dev *indio_dev;
1162     int ret;
1163     const struct adis_data *adis16400_data;
1164 
1165     indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1166     if (indio_dev == NULL)
1167         return -ENOMEM;
1168 
1169     st = iio_priv(indio_dev);
1170 
1171     /* setup the industrialio driver allocated elements */
1172     st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1173     indio_dev->name = spi_get_device_id(spi)->name;
1174     indio_dev->channels = st->variant->channels;
1175     indio_dev->num_channels = st->variant->num_channels;
1176     indio_dev->info = &adis16400_info;
1177     indio_dev->modes = INDIO_DIRECT_MODE;
1178 
1179     if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1180         adis16400_setup_chan_mask(st);
1181         indio_dev->available_scan_masks = st->avail_scan_mask;
1182     }
1183 
1184     adis16400_data = &st->variant->adis_data;
1185 
1186     ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
1187     if (ret)
1188         return ret;
1189 
1190     ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
1191     if (ret)
1192         return ret;
1193 
1194     /* Get the device into a sane initial state */
1195     ret = adis16400_initial_setup(indio_dev);
1196     if (ret)
1197         return ret;
1198 
1199     ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
1200     if (ret)
1201         return ret;
1202 
1203     ret = devm_iio_device_register(&spi->dev, indio_dev);
1204     if (ret)
1205         return ret;
1206 
1207     adis16400_debugfs_init(indio_dev);
1208     return 0;
1209 }
1210 
1211 static const struct spi_device_id adis16400_id[] = {
1212     {"adis16300", ADIS16300},
1213     {"adis16305", ADIS16300},
1214     {"adis16334", ADIS16334},
1215     {"adis16350", ADIS16350},
1216     {"adis16354", ADIS16350},
1217     {"adis16355", ADIS16350},
1218     {"adis16360", ADIS16360},
1219     {"adis16362", ADIS16362},
1220     {"adis16364", ADIS16364},
1221     {"adis16365", ADIS16360},
1222     {"adis16367", ADIS16367},
1223     {"adis16400", ADIS16400},
1224     {"adis16405", ADIS16400},
1225     {"adis16445", ADIS16445},
1226     {"adis16448", ADIS16448},
1227     {}
1228 };
1229 MODULE_DEVICE_TABLE(spi, adis16400_id);
1230 
1231 static struct spi_driver adis16400_driver = {
1232     .driver = {
1233         .name = "adis16400",
1234     },
1235     .id_table = adis16400_id,
1236     .probe = adis16400_probe,
1237 };
1238 module_spi_driver(adis16400_driver);
1239 
1240 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1241 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1242 MODULE_LICENSE("GPL v2");
1243 MODULE_IMPORT_NS(IIO_ADISLIB);
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