drivers/iio/imu/adis16475.c

// SPDX-License-Identifier: GPL-2.0
/*
 * ADIS16475 IMU driver
 *
 * Copyright 2019 Analog Devices Inc.
 */
#include <linux/bitfield.h>
#include <linux/bitops.h>
#include <linux/clk.h>
#include <linux/debugfs.h>
#include <linux/delay.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/iio/buffer.h>
#include <linux/iio/iio.h>
#include <linux/iio/imu/adis.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/irq.h>
#include <linux/lcm.h>
#include <linux/math.h>
#include <linux/module.h>
#include <linux/mod_devicetable.h>
#include <linux/property.h>
#include <linux/spi/spi.h>

#define ADIS16475_REG_DIAG_STAT		0x02
#define ADIS16475_REG_X_GYRO_L		0x04
#define ADIS16475_REG_Y_GYRO_L		0x08
#define ADIS16475_REG_Z_GYRO_L		0x0C
#define ADIS16475_REG_X_ACCEL_L		0x10
#define ADIS16475_REG_Y_ACCEL_L		0x14
#define ADIS16475_REG_Z_ACCEL_L		0x18
#define ADIS16475_REG_TEMP_OUT		0x1c
#define ADIS16475_REG_X_DELTANG_L	0x24
#define ADIS16475_REG_Y_DELTANG_L	0x28
#define ADIS16475_REG_Z_DELTANG_L	0x2C
#define ADIS16475_REG_X_DELTVEL_L	0x30
#define ADIS16475_REG_Y_DELTVEL_L	0x34
#define ADIS16475_REG_Z_DELTVEL_L	0x38
#define ADIS16475_REG_X_GYRO_BIAS_L	0x40
#define ADIS16475_REG_Y_GYRO_BIAS_L	0x44
#define ADIS16475_REG_Z_GYRO_BIAS_L	0x48
#define ADIS16475_REG_X_ACCEL_BIAS_L	0x4c
#define ADIS16475_REG_Y_ACCEL_BIAS_L	0x50
#define ADIS16475_REG_Z_ACCEL_BIAS_L	0x54
#define ADIS16475_REG_FILT_CTRL		0x5c
#define ADIS16475_FILT_CTRL_MASK	GENMASK(2, 0)
#define ADIS16475_FILT_CTRL(x)		FIELD_PREP(ADIS16475_FILT_CTRL_MASK, x)
#define ADIS16475_REG_MSG_CTRL		0x60
#define ADIS16475_MSG_CTRL_DR_POL_MASK	BIT(0)
#define ADIS16475_MSG_CTRL_DR_POL(x) \
				FIELD_PREP(ADIS16475_MSG_CTRL_DR_POL_MASK, x)
#define ADIS16475_SYNC_MODE_MASK	GENMASK(4, 2)
#define ADIS16475_SYNC_MODE(x)		FIELD_PREP(ADIS16475_SYNC_MODE_MASK, x)
#define ADIS16575_SYNC_4KHZ_MASK	BIT(11)
#define ADIS16575_SYNC_4KHZ(x)		FIELD_PREP(ADIS16575_SYNC_4KHZ_MASK, x)
#define ADIS16475_REG_UP_SCALE		0x62
#define ADIS16475_REG_DEC_RATE		0x64
#define ADIS16475_REG_GLOB_CMD		0x68
#define ADIS16475_REG_FIRM_REV		0x6c
#define ADIS16475_REG_FIRM_DM		0x6e
#define ADIS16475_REG_FIRM_Y		0x70
#define ADIS16475_REG_PROD_ID		0x72
#define ADIS16475_REG_SERIAL_NUM	0x74
#define ADIS16475_REG_FLASH_CNT		0x7c
#define ADIS16500_BURST_DATA_SEL_MASK	BIT(8)
#define ADIS16500_BURST32_MASK		BIT(9)
#define ADIS16500_BURST32(x)		FIELD_PREP(ADIS16500_BURST32_MASK, x)
/* number of data elements in burst mode */
#define ADIS16475_BURST32_MAX_DATA_NO_TS32	32
#define ADIS16575_BURST32_DATA_TS32		34
#define ADIS16475_BURST_MAX_DATA	20
#define ADIS16475_MAX_SCAN_DATA		20
/* spi max speed in brust mode */
#define ADIS16475_BURST_MAX_SPEED	1000000
#define ADIS16575_BURST_MAX_SPEED	8000000
#define ADIS16475_LSB_DEC_MASK		0
#define ADIS16475_LSB_FIR_MASK		1
#define ADIS16500_BURST_DATA_SEL_0_CHN_MASK	GENMASK(5, 0)
#define ADIS16500_BURST_DATA_SEL_1_CHN_MASK	GENMASK(12, 7)
#define ADIS16575_MAX_FIFO_WM		511UL
#define ADIS16475_REG_FIFO_CTRL		0x5A
#define ADIS16575_WM_LVL_MASK		GENMASK(15, 4)
#define ADIS16575_WM_LVL(x)		FIELD_PREP(ADIS16575_WM_LVL_MASK, x)
#define ADIS16575_WM_POL_MASK		BIT(3)
#define ADIS16575_WM_POL(x)		FIELD_PREP(ADIS16575_WM_POL_MASK, x)
#define ADIS16575_WM_EN_MASK		BIT(2)
#define ADIS16575_WM_EN(x)		FIELD_PREP(ADIS16575_WM_EN_MASK, x)
#define ADIS16575_OVERFLOW_MASK		BIT(1)
#define ADIS16575_STOP_ENQUEUE		FIELD_PREP(ADIS16575_OVERFLOW_MASK, 0)
#define ADIS16575_OVERWRITE_OLDEST	FIELD_PREP(ADIS16575_OVERFLOW_MASK, 1)
#define ADIS16575_FIFO_EN_MASK		BIT(0)
#define ADIS16575_FIFO_EN(x)		FIELD_PREP(ADIS16575_FIFO_EN_MASK, x)
#define ADIS16575_FIFO_FLUSH_CMD	BIT(5)
#define ADIS16575_REG_FIFO_CNT		0x3C

enum {
	ADIS16475_SYNC_DIRECT = 1,
	ADIS16475_SYNC_SCALED,
	ADIS16475_SYNC_OUTPUT,
	ADIS16475_SYNC_PULSE = 5,
};

struct adis16475_sync {
	u16 sync_mode;
	u16 min_rate;
	u16 max_rate;
};

struct adis16475_chip_info {
	const struct iio_chan_spec *channels;
	const struct adis16475_sync *sync;
	const struct adis_data adis_data;
	const char *name;
#define ADIS16475_HAS_BURST32		BIT(0)
#define ADIS16475_HAS_BURST_DELTA_DATA	BIT(1)
#define ADIS16475_HAS_TIMESTAMP32	BIT(2)
#define ADIS16475_NEEDS_BURST_REQUEST	BIT(3)
	const long flags;
	u32 num_channels;
	u32 gyro_max_val;
	u32 gyro_max_scale;
	u32 accel_max_val;
	u32 accel_max_scale;
	u32 temp_scale;
	u32 deltang_max_val;
	u32 deltvel_max_val;
	u32 int_clk;
	u16 max_dec;
	u8 num_sync;
};

struct adis16475 {
	const struct adis16475_chip_info *info;
	struct adis adis;
	u32 clk_freq;
	bool burst32;
	unsigned long lsb_flag;
	u16 sync_mode;
	u16 fifo_watermark;
	/* Alignment needed for the timestamp */
	__be16 data[ADIS16475_MAX_SCAN_DATA] __aligned(8);
};

enum {
	ADIS16475_SCAN_GYRO_X,
	ADIS16475_SCAN_GYRO_Y,
	ADIS16475_SCAN_GYRO_Z,
	ADIS16475_SCAN_ACCEL_X,
	ADIS16475_SCAN_ACCEL_Y,
	ADIS16475_SCAN_ACCEL_Z,
	ADIS16475_SCAN_TEMP,
	ADIS16475_SCAN_DELTANG_X,
	ADIS16475_SCAN_DELTANG_Y,
	ADIS16475_SCAN_DELTANG_Z,
	ADIS16475_SCAN_DELTVEL_X,
	ADIS16475_SCAN_DELTVEL_Y,
	ADIS16475_SCAN_DELTVEL_Z,
};

static bool low_rate_allow;
module_param(low_rate_allow, bool, 0444);
MODULE_PARM_DESC(low_rate_allow,
		 "Allow IMU rates below the minimum advisable when external clk is used in SCALED mode (default: N)");

#ifdef CONFIG_DEBUG_FS
static ssize_t adis16475_show_firmware_revision(struct file *file,
						char __user *userbuf,
						size_t count, loff_t *ppos)
{
	struct adis16475 *st = file->private_data;
	char buf[7];
	size_t len;
	u16 rev;
	int ret;

	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_REV, &rev);
	if (ret)
		return ret;

	len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff);

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

static const struct file_operations adis16475_firmware_revision_fops = {
	.open = simple_open,
	.read = adis16475_show_firmware_revision,
	.llseek = default_llseek,
	.owner = THIS_MODULE,
};

static ssize_t adis16475_show_firmware_date(struct file *file,
					    char __user *userbuf,
					    size_t count, loff_t *ppos)
{
	struct adis16475 *st = file->private_data;
	u16 md, year;
	char buf[12];
	size_t len;
	int ret;

	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_Y, &year);
	if (ret)
		return ret;

	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_DM, &md);
	if (ret)
		return ret;

	len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n", md >> 8, md & 0xff,
		       year);

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

static const struct file_operations adis16475_firmware_date_fops = {
	.open = simple_open,
	.read = adis16475_show_firmware_date,
	.llseek = default_llseek,
	.owner = THIS_MODULE,
};

static int adis16475_show_serial_number(void *arg, u64 *val)
{
	struct adis16475 *st = arg;
	u16 serial;
	int ret;

	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_SERIAL_NUM, &serial);
	if (ret)
		return ret;

	*val = serial;

	return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16475_serial_number_fops,
			 adis16475_show_serial_number, NULL, "0x%.4llx\n");

static int adis16475_show_product_id(void *arg, u64 *val)
{
	struct adis16475 *st = arg;
	u16 prod_id;
	int ret;

	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_PROD_ID, &prod_id);
	if (ret)
		return ret;

	*val = prod_id;

	return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16475_product_id_fops,
			 adis16475_show_product_id, NULL, "%llu\n");

static int adis16475_show_flash_count(void *arg, u64 *val)
{
	struct adis16475 *st = arg;
	u32 flash_count;
	int ret;

	ret = adis_read_reg_32(&st->adis, ADIS16475_REG_FLASH_CNT,
			       &flash_count);
	if (ret)
		return ret;

	*val = flash_count;

	return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16475_flash_count_fops,
			 adis16475_show_flash_count, NULL, "%lld\n");

static void adis16475_debugfs_init(struct iio_dev *indio_dev)
{
	struct adis16475 *st = iio_priv(indio_dev);
	struct dentry *d = iio_get_debugfs_dentry(indio_dev);

	debugfs_create_file_unsafe("serial_number", 0400,
				   d, st, &adis16475_serial_number_fops);
	debugfs_create_file_unsafe("product_id", 0400,
				   d, st, &adis16475_product_id_fops);
	debugfs_create_file_unsafe("flash_count", 0400,
				   d, st, &adis16475_flash_count_fops);
	debugfs_create_file("firmware_revision", 0400,
			    d, st, &adis16475_firmware_revision_fops);
	debugfs_create_file("firmware_date", 0400, d,
			    st, &adis16475_firmware_date_fops);
}
#else
static void adis16475_debugfs_init(struct iio_dev *indio_dev)
{
}
#endif

static int adis16475_get_freq(struct adis16475 *st, u32 *freq)
{
	int ret;
	u16 dec;
	u32 sample_rate = st->clk_freq;

	adis_dev_auto_lock(&st->adis);

	if (st->sync_mode == ADIS16475_SYNC_SCALED) {
		u16 sync_scale;

		ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, &sync_scale);
		if (ret)
			return ret;

		sample_rate = st->clk_freq * sync_scale;
	}

	ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, &dec);
	if (ret)
		return ret;

	*freq = DIV_ROUND_CLOSEST(sample_rate, dec + 1);

	return 0;
}

static int adis16475_set_freq(struct adis16475 *st, const u32 freq)
{
	u16 dec;
	int ret;
	u32 sample_rate = st->clk_freq;
	/* The optimal sample rate for the supported IMUs is between int_clk - 100 and int_clk + 100. */
	u32 max_sample_rate =  st->info->int_clk * 1000 + 100000;
	u32 min_sample_rate =  st->info->int_clk * 1000 - 100000;

	if (!freq)
		return -EINVAL;

	adis_dev_auto_lock(&st->adis);
	/*
	 * When using sync scaled mode, the input clock needs to be scaled so that we have
	 * an IMU sample rate between (optimally) int_clk - 100 and int_clk + 100.
	 * After this, we can use the decimation filter to lower the sampling rate in order
	 * to get what the user wants.
	 * Optimally, the user sample rate is a multiple of both the IMU sample rate and
	 * the input clock. Hence, calculating the sync_scale dynamically gives us better
	 * chances of achieving a perfect/integer value for DEC_RATE. The math here is:
	 *	1. lcm of the input clock and the desired output rate.
	 *	2. get the highest multiple of the previous result lower than the adis max rate.
	 *	3. The last result becomes the IMU sample rate. Use that to calculate SYNC_SCALE
	 *	   and DEC_RATE (to get the user output rate)
	 */
	if (st->sync_mode == ADIS16475_SYNC_SCALED) {
		unsigned long scaled_rate = lcm(st->clk_freq, freq);
		int sync_scale;

		/*
		 * If lcm is bigger than the IMU maximum sampling rate there's no perfect
		 * solution. In this case, we get the highest multiple of the input clock
		 * lower than the IMU max sample rate.
		 */
		if (scaled_rate > max_sample_rate)
			scaled_rate = max_sample_rate / st->clk_freq * st->clk_freq;
		else
			scaled_rate = max_sample_rate / scaled_rate * scaled_rate;

		/*
		 * This is not an hard requirement but it's not advised to run the IMU
		 * with a sample rate lower than internal clock frequency, due to possible
		 * undersampling issues. However, there are users that might really want
		 * to take the risk. Hence, we provide a module parameter for them. If set,
		 * we allow sample rates lower than internal clock frequency.
		 * By default, we won't allow this and we just roundup the rate to the next
		 *  multiple of the input clock. This is done like this as in some cases
		 * (when DEC_RATE is 0) might give us the closest value to the one desired
		 * by the user...
		 */
		if (scaled_rate < min_sample_rate && !low_rate_allow)
			scaled_rate = roundup(min_sample_rate, st->clk_freq);

		sync_scale = scaled_rate / st->clk_freq;
		ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, sync_scale);
		if (ret)
			return ret;

		sample_rate = scaled_rate;
	}

	dec = DIV_ROUND_CLOSEST(sample_rate, freq);

	if (dec)
		dec--;

	if (dec > st->info->max_dec)
		dec = st->info->max_dec;

	ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, dec);
	if (ret)
		return ret;

	/*
	 * If decimation is used, then gyro and accel data will have meaningful
	 * bits on the LSB registers. This info is used on the trigger handler.
	 */
	assign_bit(ADIS16475_LSB_DEC_MASK, &st->lsb_flag, dec);

	return 0;
}

/* The values are approximated. */
static const u32 adis16475_3db_freqs[] = {
	[0] = 720, /* Filter disabled, full BW (~720Hz) */
	[1] = 360,
	[2] = 164,
	[3] = 80,
	[4] = 40,
	[5] = 20,
	[6] = 10,
};

static int adis16475_get_filter(struct adis16475 *st, u32 *filter)
{
	u16 filter_sz;
	int ret;
	const int mask = ADIS16475_FILT_CTRL_MASK;

	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL, &filter_sz);
	if (ret)
		return ret;

	*filter = adis16475_3db_freqs[filter_sz & mask];

	return 0;
}

static int adis16475_set_filter(struct adis16475 *st, const u32 filter)
{
	int i = ARRAY_SIZE(adis16475_3db_freqs);
	int ret;

	while (--i) {
		if (adis16475_3db_freqs[i] >= filter)
			break;
	}

	ret = adis_write_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL,
				ADIS16475_FILT_CTRL(i));
	if (ret)
		return ret;

	/*
	 * If FIR is used, then gyro and accel data will have meaningful
	 * bits on the LSB registers. This info is used on the trigger handler.
	 */
	assign_bit(ADIS16475_LSB_FIR_MASK, &st->lsb_flag, i);

	return 0;
}

static ssize_t adis16475_get_fifo_enabled(struct device *dev,
					  struct device_attribute *attr,
					  char *buf)
{
	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	struct adis16475 *st = iio_priv(indio_dev);
	int ret;
	u16 val;

	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIFO_CTRL, &val);
	if (ret)
		return ret;

	return sysfs_emit(buf, "%lu\n", FIELD_GET(ADIS16575_FIFO_EN_MASK, val));
}

static ssize_t adis16475_get_fifo_watermark(struct device *dev,
					    struct device_attribute *attr,
					    char *buf)
{
	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	struct adis16475 *st = iio_priv(indio_dev);
	int ret;
	u16 val;

	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIFO_CTRL, &val);
	if (ret)
		return ret;

	return sysfs_emit(buf, "%lu\n", FIELD_GET(ADIS16575_WM_LVL_MASK, val) + 1);
}

static ssize_t hwfifo_watermark_min_show(struct device *dev,
					 struct device_attribute *attr,
					 char *buf)
{
	return sysfs_emit(buf, "1\n");
}

static ssize_t hwfifo_watermark_max_show(struct device *dev,
					 struct device_attribute *attr,
					 char *buf)
{
	return sysfs_emit(buf, "%lu\n", ADIS16575_MAX_FIFO_WM);
}

static IIO_DEVICE_ATTR_RO(hwfifo_watermark_min, 0);
static IIO_DEVICE_ATTR_RO(hwfifo_watermark_max, 0);
static IIO_DEVICE_ATTR(hwfifo_watermark, 0444,
		       adis16475_get_fifo_watermark, NULL, 0);
static IIO_DEVICE_ATTR(hwfifo_enabled, 0444,
		       adis16475_get_fifo_enabled, NULL, 0);

static const struct iio_dev_attr *adis16475_fifo_attributes[] = {
	&iio_dev_attr_hwfifo_watermark_min,
	&iio_dev_attr_hwfifo_watermark_max,
	&iio_dev_attr_hwfifo_watermark,
	&iio_dev_attr_hwfifo_enabled,
	NULL
};

static int adis16475_buffer_postenable(struct iio_dev *indio_dev)
{
	struct adis16475 *st = iio_priv(indio_dev);
	struct adis *adis = &st->adis;

	return adis_update_bits(adis, ADIS16475_REG_FIFO_CTRL,
				ADIS16575_FIFO_EN_MASK, (u16)ADIS16575_FIFO_EN(1));
}

static int adis16475_buffer_postdisable(struct iio_dev *indio_dev)
{
	struct adis16475 *st = iio_priv(indio_dev);
	struct adis *adis = &st->adis;
	int ret;

	adis_dev_auto_lock(&st->adis);

	ret = __adis_update_bits(adis, ADIS16475_REG_FIFO_CTRL,
				 ADIS16575_FIFO_EN_MASK, (u16)ADIS16575_FIFO_EN(0));
	if (ret)
		return ret;

	return __adis_write_reg_16(adis, ADIS16475_REG_GLOB_CMD,
				   ADIS16575_FIFO_FLUSH_CMD);
}

static const struct iio_buffer_setup_ops adis16475_buffer_ops = {
	.postenable = adis16475_buffer_postenable,
	.postdisable = adis16475_buffer_postdisable,
};

static int adis16475_set_watermark(struct iio_dev *indio_dev, unsigned int val)
{
	struct adis16475 *st  = iio_priv(indio_dev);
	int ret;
	u16 wm_lvl;

	adis_dev_auto_lock(&st->adis);

	val = min_t(unsigned int, val, ADIS16575_MAX_FIFO_WM);

	wm_lvl = ADIS16575_WM_LVL(val - 1);
	ret = __adis_update_bits(&st->adis, ADIS16475_REG_FIFO_CTRL, ADIS16575_WM_LVL_MASK, wm_lvl);
	if (ret)
		return ret;

	st->fifo_watermark = val;

	return 0;
}

static const u32 adis16475_calib_regs[] = {
	[ADIS16475_SCAN_GYRO_X] = ADIS16475_REG_X_GYRO_BIAS_L,
	[ADIS16475_SCAN_GYRO_Y] = ADIS16475_REG_Y_GYRO_BIAS_L,
	[ADIS16475_SCAN_GYRO_Z] = ADIS16475_REG_Z_GYRO_BIAS_L,
	[ADIS16475_SCAN_ACCEL_X] = ADIS16475_REG_X_ACCEL_BIAS_L,
	[ADIS16475_SCAN_ACCEL_Y] = ADIS16475_REG_Y_ACCEL_BIAS_L,
	[ADIS16475_SCAN_ACCEL_Z] = ADIS16475_REG_Z_ACCEL_BIAS_L,
};

static int adis16475_read_raw(struct iio_dev *indio_dev,
			      const struct iio_chan_spec *chan,
			      int *val, int *val2, long info)
{
	struct adis16475 *st = iio_priv(indio_dev);
	int ret;
	u32 tmp;

	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 = st->info->gyro_max_val;
			*val2 = st->info->gyro_max_scale;
			return IIO_VAL_FRACTIONAL;
		case IIO_ACCEL:
			*val = st->info->accel_max_val;
			*val2 = st->info->accel_max_scale;
			return IIO_VAL_FRACTIONAL;
		case IIO_TEMP:
			*val = st->info->temp_scale;
			return IIO_VAL_INT;
		case IIO_DELTA_ANGL:
			*val = st->info->deltang_max_val;
			*val2 = 31;
			return IIO_VAL_FRACTIONAL_LOG2;
		case IIO_DELTA_VELOCITY:
			*val = st->info->deltvel_max_val;
			*val2 = 31;
			return IIO_VAL_FRACTIONAL_LOG2;
		default:
			return -EINVAL;
		}
	case IIO_CHAN_INFO_CALIBBIAS:
		ret = adis_read_reg_32(&st->adis,
				       adis16475_calib_regs[chan->scan_index],
				       val);
		if (ret)
			return ret;

		return IIO_VAL_INT;
	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
		ret = adis16475_get_filter(st, val);
		if (ret)
			return ret;

		return IIO_VAL_INT;
	case IIO_CHAN_INFO_SAMP_FREQ:
		ret = adis16475_get_freq(st, &tmp);
		if (ret)
			return ret;

		*val = tmp / 1000;
		*val2 = (tmp % 1000) * 1000;
		return IIO_VAL_INT_PLUS_MICRO;
	default:
		return -EINVAL;
	}
}

static int adis16475_write_raw(struct iio_dev *indio_dev,
			       const struct iio_chan_spec *chan,
			       int val, int val2, long info)
{
	struct adis16475 *st = iio_priv(indio_dev);
	u32 tmp;

	switch (info) {
	case IIO_CHAN_INFO_SAMP_FREQ:
		tmp = val * 1000 + val2 / 1000;
		return adis16475_set_freq(st, tmp);
	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
		return adis16475_set_filter(st, val);
	case IIO_CHAN_INFO_CALIBBIAS:
		return adis_write_reg_32(&st->adis,
					 adis16475_calib_regs[chan->scan_index],
					 val);
	default:
		return -EINVAL;
	}
}

#define ADIS16475_MOD_CHAN(_type, _mod, _address, _si, _r_bits, _s_bits) \
	{ \
		.type = (_type), \
		.modified = 1, \
		.channel2 = (_mod), \
		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
			BIT(IIO_CHAN_INFO_CALIBBIAS), \
		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
			BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
		.address = (_address), \
		.scan_index = (_si), \
		.scan_type = { \
			.sign = 's', \
			.realbits = (_r_bits), \
			.storagebits = (_s_bits), \
			.endianness = IIO_BE, \
		}, \
	}

#define ADIS16475_GYRO_CHANNEL(_mod) \
	ADIS16475_MOD_CHAN(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
			   ADIS16475_REG_ ## _mod ## _GYRO_L, \
			   ADIS16475_SCAN_GYRO_ ## _mod, 32, 32)

#define ADIS16475_ACCEL_CHANNEL(_mod) \
	ADIS16475_MOD_CHAN(IIO_ACCEL, IIO_MOD_ ## _mod, \
			   ADIS16475_REG_ ## _mod ## _ACCEL_L, \
			   ADIS16475_SCAN_ACCEL_ ## _mod, 32, 32)

#define ADIS16475_TEMP_CHANNEL() { \
		.type = IIO_TEMP, \
		.indexed = 1, \
		.channel = 0, \
		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
			BIT(IIO_CHAN_INFO_SCALE), \
		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
			BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
		.address = ADIS16475_REG_TEMP_OUT, \
		.scan_index = ADIS16475_SCAN_TEMP, \
		.scan_type = { \
			.sign = 's', \
			.realbits = 16, \
			.storagebits = 16, \
			.endianness = IIO_BE, \
		}, \
	}

#define ADIS16475_MOD_CHAN_DELTA(_type, _mod, _address, _si, _r_bits, _s_bits) { \
		.type = (_type), \
		.modified = 1, \
		.channel2 = (_mod), \
		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
			BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
		.address = (_address), \
		.scan_index = _si, \
		.scan_type = { \
			.sign = 's', \
			.realbits = (_r_bits), \
			.storagebits = (_s_bits), \
			.endianness = IIO_BE, \
		}, \
	}

#define ADIS16475_DELTANG_CHAN(_mod) \
	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
			   ADIS16475_REG_ ## _mod ## _DELTANG_L, ADIS16475_SCAN_DELTANG_ ## _mod, 32, 32)

#define ADIS16475_DELTVEL_CHAN(_mod) \
	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
			   ADIS16475_REG_ ## _mod ## _DELTVEL_L, ADIS16475_SCAN_DELTVEL_ ## _mod, 32, 32)

#define ADIS16475_DELTANG_CHAN_NO_SCAN(_mod) \
	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
			   ADIS16475_REG_ ## _mod ## _DELTANG_L, -1, 32, 32)

#define ADIS16475_DELTVEL_CHAN_NO_SCAN(_mod) \
	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
			   ADIS16475_REG_ ## _mod ## _DELTVEL_L, -1, 32, 32)

static const struct iio_chan_spec adis16477_channels[] = {
	ADIS16475_GYRO_CHANNEL(X),
	ADIS16475_GYRO_CHANNEL(Y),
	ADIS16475_GYRO_CHANNEL(Z),
	ADIS16475_ACCEL_CHANNEL(X),
	ADIS16475_ACCEL_CHANNEL(Y),
	ADIS16475_ACCEL_CHANNEL(Z),
	ADIS16475_TEMP_CHANNEL(),
	ADIS16475_DELTANG_CHAN(X),
	ADIS16475_DELTANG_CHAN(Y),
	ADIS16475_DELTANG_CHAN(Z),
	ADIS16475_DELTVEL_CHAN(X),
	ADIS16475_DELTVEL_CHAN(Y),
	ADIS16475_DELTVEL_CHAN(Z),
	IIO_CHAN_SOFT_TIMESTAMP(13)
};

static const struct iio_chan_spec adis16475_channels[] = {
	ADIS16475_GYRO_CHANNEL(X),
	ADIS16475_GYRO_CHANNEL(Y),
	ADIS16475_GYRO_CHANNEL(Z),
	ADIS16475_ACCEL_CHANNEL(X),
	ADIS16475_ACCEL_CHANNEL(Y),
	ADIS16475_ACCEL_CHANNEL(Z),
	ADIS16475_TEMP_CHANNEL(),
	ADIS16475_DELTANG_CHAN_NO_SCAN(X),
	ADIS16475_DELTANG_CHAN_NO_SCAN(Y),
	ADIS16475_DELTANG_CHAN_NO_SCAN(Z),
	ADIS16475_DELTVEL_CHAN_NO_SCAN(X),
	ADIS16475_DELTVEL_CHAN_NO_SCAN(Y),
	ADIS16475_DELTVEL_CHAN_NO_SCAN(Z),
	IIO_CHAN_SOFT_TIMESTAMP(7)
};

static const struct iio_chan_spec adis16575_channels[] = {
	ADIS16475_GYRO_CHANNEL(X),
	ADIS16475_GYRO_CHANNEL(Y),
	ADIS16475_GYRO_CHANNEL(Z),
	ADIS16475_ACCEL_CHANNEL(X),
	ADIS16475_ACCEL_CHANNEL(Y),
	ADIS16475_ACCEL_CHANNEL(Z),
	ADIS16475_TEMP_CHANNEL(),
	ADIS16475_DELTANG_CHAN(X),
	ADIS16475_DELTANG_CHAN(Y),
	ADIS16475_DELTANG_CHAN(Z),
	ADIS16475_DELTVEL_CHAN(X),
	ADIS16475_DELTVEL_CHAN(Y),
	ADIS16475_DELTVEL_CHAN(Z),
};

enum adis16475_variant {
	ADIS16470,
	ADIS16475_1,
	ADIS16475_2,
	ADIS16475_3,
	ADIS16477_1,
	ADIS16477_2,
	ADIS16477_3,
	ADIS16465_1,
	ADIS16465_2,
	ADIS16465_3,
	ADIS16467_1,
	ADIS16467_2,
	ADIS16467_3,
	ADIS16500,
	ADIS16501,
	ADIS16505_1,
	ADIS16505_2,
	ADIS16505_3,
	ADIS16507_1,
	ADIS16507_2,
	ADIS16507_3,
	ADIS16575_2,
	ADIS16575_3,
	ADIS16576_2,
	ADIS16576_3,
	ADIS16577_2,
	ADIS16577_3,
};

enum {
	ADIS16475_DIAG_STAT_DATA_PATH = 1,
	ADIS16475_DIAG_STAT_FLASH_MEM,
	ADIS16475_DIAG_STAT_SPI,
	ADIS16475_DIAG_STAT_STANDBY,
	ADIS16475_DIAG_STAT_SENSOR,
	ADIS16475_DIAG_STAT_MEMORY,
	ADIS16475_DIAG_STAT_CLK,
};

static const char * const adis16475_status_error_msgs[] = {
	[ADIS16475_DIAG_STAT_DATA_PATH] = "Data Path Overrun",
	[ADIS16475_DIAG_STAT_FLASH_MEM] = "Flash memory update failure",
	[ADIS16475_DIAG_STAT_SPI] = "SPI communication error",
	[ADIS16475_DIAG_STAT_STANDBY] = "Standby mode",
	[ADIS16475_DIAG_STAT_SENSOR] = "Sensor failure",
	[ADIS16475_DIAG_STAT_MEMORY] = "Memory failure",
	[ADIS16475_DIAG_STAT_CLK] = "Clock error",
};

#define ADIS16475_DATA(_prod_id, _timeouts, _burst_max_len, _burst_max_speed_hz, _has_fifo)	\
{												\
	.msc_ctrl_reg = ADIS16475_REG_MSG_CTRL,							\
	.glob_cmd_reg = ADIS16475_REG_GLOB_CMD,							\
	.diag_stat_reg = ADIS16475_REG_DIAG_STAT,						\
	.prod_id_reg = ADIS16475_REG_PROD_ID,							\
	.prod_id = (_prod_id),									\
	.self_test_mask = BIT(2),								\
	.self_test_reg = ADIS16475_REG_GLOB_CMD,						\
	.cs_change_delay = 16,									\
	.read_delay = 5,									\
	.write_delay = 5,									\
	.status_error_msgs = adis16475_status_error_msgs,					\
	.status_error_mask = BIT(ADIS16475_DIAG_STAT_DATA_PATH) |				\
		BIT(ADIS16475_DIAG_STAT_FLASH_MEM) |						\
		BIT(ADIS16475_DIAG_STAT_SPI) |							\
		BIT(ADIS16475_DIAG_STAT_STANDBY) |						\
		BIT(ADIS16475_DIAG_STAT_SENSOR) |						\
		BIT(ADIS16475_DIAG_STAT_MEMORY) |						\
		BIT(ADIS16475_DIAG_STAT_CLK),							\
	.unmasked_drdy = true,									\
	.has_fifo = _has_fifo,									\
	.timeouts = (_timeouts),								\
	.burst_reg_cmd = ADIS16475_REG_GLOB_CMD,						\
	.burst_len = ADIS16475_BURST_MAX_DATA,							\
	.burst_max_len = _burst_max_len,							\
	.burst_max_speed_hz = _burst_max_speed_hz						\
}

static const struct adis16475_sync adis16475_sync_mode[] = {
	{ ADIS16475_SYNC_OUTPUT },
	{ ADIS16475_SYNC_DIRECT, 1900, 2100 },
	{ ADIS16475_SYNC_SCALED, 1, 128 },
	{ ADIS16475_SYNC_PULSE, 1000, 2100 },
};

static const struct adis16475_sync adis16575_sync_mode[] = {
	{ ADIS16475_SYNC_OUTPUT },
	{ ADIS16475_SYNC_DIRECT, 1900, 4100 },
	{ ADIS16475_SYNC_SCALED, 1, 400 },
};

static const struct adis_timeout adis16475_timeouts = {
	.reset_ms = 200,
	.sw_reset_ms = 200,
	.self_test_ms = 20,
};

static const struct adis_timeout adis1650x_timeouts = {
	.reset_ms = 260,
	.sw_reset_ms = 260,
	.self_test_ms = 30,
};

static const struct adis16475_chip_info adis16475_chip_info[] = {
	[ADIS16470] = {
		.name = "adis16470",
		.num_channels = ARRAY_SIZE(adis16475_channels),
		.channels = adis16475_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
		.deltvel_max_val = 400,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.adis_data = ADIS16475_DATA(16470, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16475_1] = {
		.name = "adis16475-1",
		.num_channels = ARRAY_SIZE(adis16475_channels),
		.channels = adis16475_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
		.deltvel_max_val = 100,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.adis_data = ADIS16475_DATA(16475, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16475_2] = {
		.name = "adis16475-2",
		.num_channels = ARRAY_SIZE(adis16475_channels),
		.channels = adis16475_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
		.deltvel_max_val = 100,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.adis_data = ADIS16475_DATA(16475, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16475_3] = {
		.name = "adis16475-3",
		.num_channels = ARRAY_SIZE(adis16475_channels),
		.channels = adis16475_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
		.deltvel_max_val = 100,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.adis_data = ADIS16475_DATA(16475, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16477_1] = {
		.name = "adis16477-1",
		.num_channels = ARRAY_SIZE(adis16477_channels),
		.channels = adis16477_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
		.deltvel_max_val = 400,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16477_2] = {
		.name = "adis16477-2",
		.num_channels = ARRAY_SIZE(adis16477_channels),
		.channels = adis16477_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
		.deltvel_max_val = 400,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16477_3] = {
		.name = "adis16477-3",
		.num_channels = ARRAY_SIZE(adis16477_channels),
		.channels = adis16477_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
		.deltvel_max_val = 400,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16465_1] = {
		.name = "adis16465-1",
		.num_channels = ARRAY_SIZE(adis16475_channels),
		.channels = adis16475_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
		.deltvel_max_val = 100,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.adis_data = ADIS16475_DATA(16465, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16465_2] = {
		.name = "adis16465-2",
		.num_channels = ARRAY_SIZE(adis16475_channels),
		.channels = adis16475_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
		.deltvel_max_val = 100,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.adis_data = ADIS16475_DATA(16465, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16465_3] = {
		.name = "adis16465-3",
		.num_channels = ARRAY_SIZE(adis16475_channels),
		.channels = adis16475_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
		.deltvel_max_val = 100,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.adis_data = ADIS16475_DATA(16465, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16467_1] = {
		.name = "adis16467-1",
		.num_channels = ARRAY_SIZE(adis16475_channels),
		.channels = adis16475_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
		.deltvel_max_val = 400,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.adis_data = ADIS16475_DATA(16467, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16467_2] = {
		.name = "adis16467-2",
		.num_channels = ARRAY_SIZE(adis16475_channels),
		.channels = adis16475_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
		.deltvel_max_val = 400,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.adis_data = ADIS16475_DATA(16467, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16467_3] = {
		.name = "adis16467-3",
		.num_channels = ARRAY_SIZE(adis16475_channels),
		.channels = adis16475_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
		.deltvel_max_val = 400,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
		.adis_data = ADIS16475_DATA(16467, &adis16475_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16500] = {
		.name = "adis16500",
		.num_channels = ARRAY_SIZE(adis16477_channels),
		.channels = adis16477_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
		.accel_max_val = 392,
		.accel_max_scale = 32000 << 16,
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
		.deltvel_max_val = 400,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		/* pulse sync not supported */
		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
		.adis_data = ADIS16475_DATA(16500, &adis1650x_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16501] = {
		.name = "adis16501",
		.num_channels = ARRAY_SIZE(adis16477_channels),
		.channels = adis16477_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
		.accel_max_val = 1,
		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
		.deltvel_max_val = 125,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		/* pulse sync not supported */
		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
		.adis_data = ADIS16475_DATA(16501, &adis1650x_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16505_1] = {
		.name = "adis16505-1",
		.num_channels = ARRAY_SIZE(adis16477_channels),
		.channels = adis16477_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
		.accel_max_val = 78,
		.accel_max_scale = 32000 << 16,
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
		.deltvel_max_val = 100,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		/* pulse sync not supported */
		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
		.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16505_2] = {
		.name = "adis16505-2",
		.num_channels = ARRAY_SIZE(adis16477_channels),
		.channels = adis16477_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
		.accel_max_val = 78,
		.accel_max_scale = 32000 << 16,
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
		.deltvel_max_val = 100,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		/* pulse sync not supported */
		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
		.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16505_3] = {
		.name = "adis16505-3",
		.num_channels = ARRAY_SIZE(adis16477_channels),
		.channels = adis16477_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
		.accel_max_val = 78,
		.accel_max_scale = 32000 << 16,
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
		.deltvel_max_val = 100,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		/* pulse sync not supported */
		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
		.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16507_1] = {
		.name = "adis16507-1",
		.num_channels = ARRAY_SIZE(adis16477_channels),
		.channels = adis16477_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
		.accel_max_val = 392,
		.accel_max_scale = 32000 << 16,
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
		.deltvel_max_val = 400,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		/* pulse sync not supported */
		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
		.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16507_2] = {
		.name = "adis16507-2",
		.num_channels = ARRAY_SIZE(adis16477_channels),
		.channels = adis16477_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
		.accel_max_val = 392,
		.accel_max_scale = 32000 << 16,
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
		.deltvel_max_val = 400,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		/* pulse sync not supported */
		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
		.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16507_3] = {
		.name = "adis16507-3",
		.num_channels = ARRAY_SIZE(adis16477_channels),
		.channels = adis16477_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
		.accel_max_val = 392,
		.accel_max_scale = 32000 << 16,
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
		.deltvel_max_val = 400,
		.int_clk = 2000,
		.max_dec = 1999,
		.sync = adis16475_sync_mode,
		/* pulse sync not supported */
		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
		.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts,
					    ADIS16475_BURST32_MAX_DATA_NO_TS32,
					    ADIS16475_BURST_MAX_SPEED, false),
	},
	[ADIS16575_2] = {
		.name = "adis16575-2",
		.num_channels = ARRAY_SIZE(adis16575_channels),
		.channels = adis16575_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
		.accel_max_val = 8,
		.accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(450),
		.deltvel_max_val = 100,
		.int_clk = 4000,
		.max_dec = 3999,
		.sync = adis16575_sync_mode,
		.num_sync = ARRAY_SIZE(adis16575_sync_mode),
		.flags = ADIS16475_HAS_BURST32 |
			 ADIS16475_HAS_BURST_DELTA_DATA |
			 ADIS16475_NEEDS_BURST_REQUEST |
			 ADIS16475_HAS_TIMESTAMP32,
		.adis_data = ADIS16475_DATA(16575, &adis16475_timeouts,
					    ADIS16575_BURST32_DATA_TS32,
					    ADIS16575_BURST_MAX_SPEED, true),
	},
	[ADIS16575_3] = {
		.name = "adis16575-3",
		.num_channels = ARRAY_SIZE(adis16575_channels),
		.channels = adis16575_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
		.accel_max_val = 8,
		.accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(2000),
		.deltvel_max_val = 100,
		.int_clk = 4000,
		.max_dec = 3999,
		.sync = adis16575_sync_mode,
		.num_sync = ARRAY_SIZE(adis16575_sync_mode),
		.flags = ADIS16475_HAS_BURST32 |
			 ADIS16475_HAS_BURST_DELTA_DATA |
			 ADIS16475_NEEDS_BURST_REQUEST |
			 ADIS16475_HAS_TIMESTAMP32,
		.adis_data = ADIS16475_DATA(16575, &adis16475_timeouts,
					    ADIS16575_BURST32_DATA_TS32,
					    ADIS16575_BURST_MAX_SPEED, true),
	},
	[ADIS16576_2] = {
		.name = "adis16576-2",
		.num_channels = ARRAY_SIZE(adis16575_channels),
		.channels = adis16575_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
		.accel_max_val = 40,
		.accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(450),
		.deltvel_max_val = 125,
		.int_clk = 4000,
		.max_dec = 3999,
		.sync = adis16575_sync_mode,
		.num_sync = ARRAY_SIZE(adis16575_sync_mode),
		.flags = ADIS16475_HAS_BURST32 |
			 ADIS16475_HAS_BURST_DELTA_DATA |
			 ADIS16475_NEEDS_BURST_REQUEST |
			 ADIS16475_HAS_TIMESTAMP32,
		.adis_data = ADIS16475_DATA(16576, &adis16475_timeouts,
					    ADIS16575_BURST32_DATA_TS32,
					    ADIS16575_BURST_MAX_SPEED, true),
	},
	[ADIS16576_3] = {
		.name = "adis16576-3",
		.num_channels = ARRAY_SIZE(adis16575_channels),
		.channels = adis16575_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
		.accel_max_val = 40,
		.accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(2000),
		.deltvel_max_val = 125,
		.int_clk = 4000,
		.max_dec = 3999,
		.sync = adis16575_sync_mode,
		.num_sync = ARRAY_SIZE(adis16575_sync_mode),
		.flags = ADIS16475_HAS_BURST32 |
			 ADIS16475_HAS_BURST_DELTA_DATA |
			 ADIS16475_NEEDS_BURST_REQUEST |
			 ADIS16475_HAS_TIMESTAMP32,
		.adis_data = ADIS16475_DATA(16576, &adis16475_timeouts,
					    ADIS16575_BURST32_DATA_TS32,
					    ADIS16575_BURST_MAX_SPEED, true),
	},
	[ADIS16577_2] = {
		.name = "adis16577-2",
		.num_channels = ARRAY_SIZE(adis16575_channels),
		.channels = adis16575_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
		.accel_max_val = 40,
		.accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(450),
		.deltvel_max_val = 400,
		.int_clk = 4000,
		.max_dec = 3999,
		.sync = adis16575_sync_mode,
		.num_sync = ARRAY_SIZE(adis16575_sync_mode),
		.flags = ADIS16475_HAS_BURST32 |
			 ADIS16475_HAS_BURST_DELTA_DATA |
			 ADIS16475_NEEDS_BURST_REQUEST |
			 ADIS16475_HAS_TIMESTAMP32,
		.adis_data = ADIS16475_DATA(16577, &adis16475_timeouts,
					    ADIS16575_BURST32_DATA_TS32,
					    ADIS16575_BURST_MAX_SPEED, true),
	},
	[ADIS16577_3] = {
		.name = "adis16577-3",
		.num_channels = ARRAY_SIZE(adis16575_channels),
		.channels = adis16575_channels,
		.gyro_max_val = 1,
		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
		.accel_max_val = 40,
		.accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
		.temp_scale = 100,
		.deltang_max_val = IIO_DEGREE_TO_RAD(2000),
		.deltvel_max_val = 400,
		.int_clk = 4000,
		.max_dec = 3999,
		.sync = adis16575_sync_mode,
		.num_sync = ARRAY_SIZE(adis16575_sync_mode),
		.flags = ADIS16475_HAS_BURST32 |
			 ADIS16475_HAS_BURST_DELTA_DATA |
			 ADIS16475_NEEDS_BURST_REQUEST |
			 ADIS16475_HAS_TIMESTAMP32,
		.adis_data = ADIS16475_DATA(16577, &adis16475_timeouts,
					    ADIS16575_BURST32_DATA_TS32,
					    ADIS16575_BURST_MAX_SPEED, true),
	},
};

static int adis16475_update_scan_mode(struct iio_dev *indio_dev,
				      const unsigned long *scan_mask)
{
	u16 en;
	int ret;
	struct adis16475 *st = iio_priv(indio_dev);

	if (st->info->flags & ADIS16475_HAS_BURST_DELTA_DATA) {
		if ((*scan_mask & ADIS16500_BURST_DATA_SEL_0_CHN_MASK) &&
		    (*scan_mask & ADIS16500_BURST_DATA_SEL_1_CHN_MASK))
			return -EINVAL;
		if (*scan_mask & ADIS16500_BURST_DATA_SEL_0_CHN_MASK)
			en = FIELD_PREP(ADIS16500_BURST_DATA_SEL_MASK, 0);
		else
			en = FIELD_PREP(ADIS16500_BURST_DATA_SEL_MASK, 1);

		ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
					 ADIS16500_BURST_DATA_SEL_MASK, en);
		if (ret)
			return ret;
	}

	return adis_update_scan_mode(indio_dev, scan_mask);
}

static const struct iio_info adis16475_info = {
	.read_raw = &adis16475_read_raw,
	.write_raw = &adis16475_write_raw,
	.update_scan_mode = adis16475_update_scan_mode,
	.debugfs_reg_access = adis_debugfs_reg_access,
};

static const struct iio_info adis16575_info = {
	.read_raw = &adis16475_read_raw,
	.write_raw = &adis16475_write_raw,
	.update_scan_mode = adis16475_update_scan_mode,
	.debugfs_reg_access = adis_debugfs_reg_access,
	.hwfifo_set_watermark = adis16475_set_watermark,
};

static bool adis16475_validate_crc(const u8 *buffer, u16 crc,
				   u16 burst_size, u16 start_idx)
{
	int i;

	for (i = start_idx; i < burst_size - 2; i++)
		crc -= buffer[i];

	return crc == 0;
}

static void adis16475_burst32_check(struct adis16475 *st)
{
	int ret;
	struct adis *adis = &st->adis;
	u8 timestamp32 = 0;

	if (!(st->info->flags & ADIS16475_HAS_BURST32))
		return;

	if (st->info->flags & ADIS16475_HAS_TIMESTAMP32)
		timestamp32 = 1;

	if (st->lsb_flag && !st->burst32) {
		const u16 en = ADIS16500_BURST32(1);

		ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
					 ADIS16500_BURST32_MASK, en);
		if (ret)
			return;

		st->burst32 = true;

		/*
		 * In 32-bit mode we need extra 2 bytes for all gyro
		 * and accel channels.
		 * If the device has 32-bit timestamp value we need 2 extra
		 * bytes for it.
		 */
		adis->burst_extra_len = (6 + timestamp32) * sizeof(u16);
		adis->xfer[1].len += (6 + timestamp32) * sizeof(u16);

		dev_dbg(&adis->spi->dev, "Enable burst32 mode, xfer:%d",
			adis->xfer[1].len);

	} else if (!st->lsb_flag && st->burst32) {
		const u16 en = ADIS16500_BURST32(0);

		ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
					 ADIS16500_BURST32_MASK, en);
		if (ret)
			return;

		st->burst32 = false;

		/* Remove the extra bits */
		adis->burst_extra_len = 0;
		adis->xfer[1].len -= (6 + timestamp32) * sizeof(u16);
		dev_dbg(&adis->spi->dev, "Disable burst32 mode, xfer:%d\n",
			adis->xfer[1].len);
	}
}

static int adis16475_push_single_sample(struct iio_poll_func *pf)
{
	struct iio_dev *indio_dev = pf->indio_dev;
	struct adis16475 *st = iio_priv(indio_dev);
	struct adis *adis = &st->adis;
	int ret, bit, buff_offset = 0, i = 0;
	__be16 *buffer;
	u16 crc;
	bool valid;
	u8 crc_offset = 9;
	u16 burst_size = ADIS16475_BURST_MAX_DATA;
	u16 start_idx = (st->info->flags & ADIS16475_HAS_TIMESTAMP32) ? 2 : 0;

	/* offset until the first element after gyro and accel */
	const u8 offset = st->burst32 ? 13 : 7;

	if (st->burst32) {
		crc_offset = (st->info->flags & ADIS16475_HAS_TIMESTAMP32) ? 16 : 15;
		burst_size = adis->data->burst_max_len;
	}

	ret = spi_sync(adis->spi, &adis->msg);
	if (ret)
		return ret;

	buffer = adis->buffer;

	crc = be16_to_cpu(buffer[crc_offset]);
	valid = adis16475_validate_crc(adis->buffer, crc, burst_size, start_idx);
	if (!valid) {
		dev_err(&adis->spi->dev, "Invalid crc\n");
		return -EINVAL;
	}

	for_each_set_bit(bit, indio_dev->active_scan_mask,
			 indio_dev->masklength) {
		/*
		 * When burst mode is used, system flags is the first data
		 * channel in the sequence, but the scan index is 7.
		 */
		switch (bit) {
		case ADIS16475_SCAN_TEMP:
			st->data[i++] = buffer[offset];
			/*
			 * The temperature channel has 16-bit storage size.
			 * We need to perform the padding to have the buffer
			 * elements naturally aligned in case there are any
			 * 32-bit storage size channels enabled which have a
			 * scan index higher than the temperature channel scan
			 * index.
			 */
			if (*indio_dev->active_scan_mask & GENMASK(ADIS16475_SCAN_DELTVEL_Z, ADIS16475_SCAN_DELTANG_X))
				st->data[i++] = 0;
			break;
		case ADIS16475_SCAN_DELTANG_X ... ADIS16475_SCAN_DELTVEL_Z:
			buff_offset = ADIS16475_SCAN_DELTANG_X;
			fallthrough;
		case ADIS16475_SCAN_GYRO_X ... ADIS16475_SCAN_ACCEL_Z:
			/*
			 * The first 2 bytes on the received data are the
			 * DIAG_STAT reg, hence the +1 offset here...
			 */
			if (st->burst32) {
				/* upper 16 */
				st->data[i++] = buffer[(bit - buff_offset) * 2 + 2];
				/* lower 16 */
				st->data[i++] = buffer[(bit - buff_offset) * 2 + 1];
			} else {
				st->data[i++] = buffer[(bit - buff_offset) + 1];
				/*
				 * Don't bother in doing the manual read if the
				 * device supports burst32. burst32 will be
				 * enabled in the next call to
				 * adis16475_burst32_check()...
				 */
				if (st->lsb_flag && !(st->info->flags & ADIS16475_HAS_BURST32)) {
					u16 val = 0;
					const u32 reg = ADIS16475_REG_X_GYRO_L +
						bit * 4;

					adis_read_reg_16(adis, reg, &val);
					st->data[i++] = cpu_to_be16(val);
				} else {
					/* lower not used */
					st->data[i++] = 0;
				}
			}
			break;
		}
	}

	/* There might not be a timestamp option for some devices. */
	iio_push_to_buffers_with_timestamp(indio_dev, st->data, pf->timestamp);

	return 0;
}

static irqreturn_t adis16475_trigger_handler(int irq, void *p)
{
	struct iio_poll_func *pf = p;
	struct iio_dev *indio_dev = pf->indio_dev;
	struct adis16475 *st = iio_priv(indio_dev);

	adis16475_push_single_sample(pf);
	/*
	 * We only check the burst mode at the end of the current capture since
	 * it takes a full data ready cycle for the device to update the burst
	 * array.
	 */
	adis16475_burst32_check(st);

	iio_trigger_notify_done(indio_dev->trig);

	return IRQ_HANDLED;
}

/*
 * This function updates the first tx byte from the adis message based on the
 * given burst request.
 */
static void adis16575_update_msg_for_burst(struct adis *adis, u8 burst_req)
{
	unsigned int burst_max_length;
	u8 *tx;

	if (adis->data->burst_max_len)
		burst_max_length = adis->data->burst_max_len;
	else
		burst_max_length = adis->data->burst_len + adis->burst_extra_len;

	tx = adis->buffer + burst_max_length;
	tx[0] = ADIS_READ_REG(burst_req);
}

static int adis16575_custom_burst_read(struct iio_poll_func *pf, u8 burst_req)
{
	struct iio_dev *indio_dev = pf->indio_dev;
	struct adis16475 *st = iio_priv(indio_dev);
	struct adis *adis = &st->adis;

	adis16575_update_msg_for_burst(adis, burst_req);

	if (burst_req)
		return spi_sync(adis->spi, &adis->msg);

	return adis16475_push_single_sample(pf);
}

/*
 * This handler is meant to be used for devices which support burst readings
 * from FIFO (namely devices from adis1657x family).
 * In order to pop the FIFO the 0x68 0x00 FIFO pop burst request has to be sent.
 * If the previous device command was not a FIFO pop burst request, the FIFO pop
 * burst request will simply pop the FIFO without returning valid data.
 * For the nth consecutive burst request, thedevice will send the data popped
 * with the (n-1)th consecutive burst request.
 * In order to read the data which was popped previously, without popping the
 * FIFO, the 0x00 0x00 burst request has to be sent.
 * If after a 0x68 0x00 FIFO pop burst request, there is any other device access
 * different from a 0x68 0x00 or a 0x00 0x00 burst request, the FIFO data popped
 * previously will be lost.
 */
static irqreturn_t adis16475_trigger_handler_with_fifo(int irq, void *p)
{
	struct iio_poll_func *pf = p;
	struct iio_dev *indio_dev = pf->indio_dev;
	struct adis16475 *st = iio_priv(indio_dev);
	struct adis *adis = &st->adis;
	int ret;
	u16 fifo_cnt, i;

	adis_dev_auto_lock(&st->adis);

	ret = __adis_read_reg_16(adis, ADIS16575_REG_FIFO_CNT, &fifo_cnt);
	if (ret)
		goto unlock;

	/*
	 * If no sample is available, nothing can be read. This can happen if
	 * a the used trigger has a higher frequency than the selected sample rate.
	 */
	if (!fifo_cnt)
		goto unlock;

	/*
	 * First burst request - FIFO pop: popped data will be returned in the
	 * next burst request.
	 */
	ret = adis16575_custom_burst_read(pf, adis->data->burst_reg_cmd);
	if (ret)
		goto unlock;

	for (i = 0; i < fifo_cnt - 1; i++) {
		ret = adis16475_push_single_sample(pf);
		if (ret)
			goto unlock;
	}

	/* FIFO read without popping */
	ret = adis16575_custom_burst_read(pf, 0);

unlock:
	/*
	 * We only check the burst mode at the end of the current capture since
	 * reading data from registers will impact the FIFO reading.
	 */
	adis16475_burst32_check(st);
	iio_trigger_notify_done(indio_dev->trig);

	return IRQ_HANDLED;
}

static int adis16475_config_sync_mode(struct adis16475 *st)
{
	int ret;
	struct device *dev = &st->adis.spi->dev;
	const struct adis16475_sync *sync;
	u32 sync_mode;
	u16 max_sample_rate = st->info->int_clk + 100;
	u16 val;

	/* if available, enable 4khz internal clock */
	if (st->info->int_clk == 4000) {
		ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
					 ADIS16575_SYNC_4KHZ_MASK,
					 (u16)ADIS16575_SYNC_4KHZ(1));
		if (ret)
			return ret;
	}

	/* default to internal clk */
	st->clk_freq = st->info->int_clk * 1000;

	ret = device_property_read_u32(dev, "adi,sync-mode", &sync_mode);
	if (ret)
		return 0;

	if (sync_mode >= st->info->num_sync) {
		dev_err(dev, "Invalid sync mode: %u for %s\n", sync_mode,
			st->info->name);
		return -EINVAL;
	}

	sync = &st->info->sync[sync_mode];
	st->sync_mode = sync->sync_mode;

	/* All the other modes require external input signal */
	if (sync->sync_mode != ADIS16475_SYNC_OUTPUT) {
		struct clk *clk = devm_clk_get_enabled(dev, NULL);

		if (IS_ERR(clk))
			return PTR_ERR(clk);

		st->clk_freq = clk_get_rate(clk);
		if (st->clk_freq < sync->min_rate ||
		    st->clk_freq > sync->max_rate) {
			dev_err(dev,
				"Clk rate:%u not in a valid range:[%u %u]\n",
				st->clk_freq, sync->min_rate, sync->max_rate);
			return -EINVAL;
		}

		if (sync->sync_mode == ADIS16475_SYNC_SCALED) {
			u16 up_scale;

			/*
			 * In sync scaled mode, the IMU sample rate is the clk_freq * sync_scale.
			 * Hence, default the IMU sample rate to the highest multiple of the input
			 * clock lower than the IMU max sample rate.
			 */
			up_scale = max_sample_rate / st->clk_freq;

			ret = __adis_write_reg_16(&st->adis,
						  ADIS16475_REG_UP_SCALE,
						  up_scale);
			if (ret)
				return ret;
		}

		st->clk_freq *= 1000;
	}
	/*
	 * Keep in mind that the mask for the clk modes in adis1650*
	 * chips is different (1100 instead of 11100). However, we
	 * are not configuring BIT(4) in these chips and the default
	 * value is 0, so we are fine in doing the below operations.
	 * I'm keeping this for simplicity and avoiding extra variables
	 * in chip_info.
	 */
	val = ADIS16475_SYNC_MODE(sync->sync_mode);
	ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
				 ADIS16475_SYNC_MODE_MASK, val);
	if (ret)
		return ret;

	usleep_range(250, 260);

	return 0;
}

static int adis16475_config_irq_pin(struct adis16475 *st)
{
	int ret;
	u32 irq_type;
	u16 val = 0;
	u8 polarity;
	struct spi_device *spi = st->adis.spi;

	irq_type = irq_get_trigger_type(spi->irq);

	if (st->adis.data->has_fifo) {
		/*
		 * It is possible to configure the fifo watermark pin polarity.
		 * Furthermore, we need to update the adis struct if we want the
		 * watermark pin active low.
		 */
		if (irq_type == IRQ_TYPE_LEVEL_HIGH) {
			polarity = 1;
			st->adis.irq_flag = IRQF_TRIGGER_HIGH;
		} else if (irq_type == IRQ_TYPE_LEVEL_LOW) {
			polarity = 0;
			st->adis.irq_flag = IRQF_TRIGGER_LOW;
		} else {
			dev_err(&spi->dev, "Invalid interrupt type 0x%x specified\n",
				irq_type);
			return -EINVAL;
		}

		/* Configure the watermark pin polarity. */
		val = ADIS16575_WM_POL(polarity);
		ret = adis_update_bits(&st->adis, ADIS16475_REG_FIFO_CTRL,
				       ADIS16575_WM_POL_MASK, val);
		if (ret)
			return ret;

		/* Enable watermark interrupt pin. */
		ret = adis_update_bits(&st->adis, ADIS16475_REG_FIFO_CTRL,
				       ADIS16575_WM_EN_MASK,
				       (u16)ADIS16575_WM_EN(1));
		if (ret)
			return ret;

	} else {
		/*
		 * It is possible to configure the data ready polarity. Furthermore, we
		 * need to update the adis struct if we want data ready as active low.
		 */
		if (irq_type == IRQ_TYPE_EDGE_RISING) {
			polarity = 1;
			st->adis.irq_flag = IRQF_TRIGGER_RISING;
		} else if (irq_type == IRQ_TYPE_EDGE_FALLING) {
			polarity = 0;
			st->adis.irq_flag = IRQF_TRIGGER_FALLING;
		} else {
			dev_err(&spi->dev, "Invalid interrupt type 0x%x specified\n",
				irq_type);
			return -EINVAL;
		}

		val = ADIS16475_MSG_CTRL_DR_POL(polarity);
		ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
					 ADIS16475_MSG_CTRL_DR_POL_MASK, val);
		if (ret)
			return ret;
		/*
		 * There is a delay writing to any bits written to the MSC_CTRL
		 * register. It should not be bigger than 200us, so 250 should be more
		 * than enough!
		 */
		usleep_range(250, 260);
	}

	return 0;
}


static int adis16475_probe(struct spi_device *spi)
{
	struct iio_dev *indio_dev;
	struct adis16475 *st;
	int ret;
	u16 val;

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

	st = iio_priv(indio_dev);

	st->info = spi_get_device_match_data(spi);
	if (!st->info)
		return -EINVAL;

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

	indio_dev->name = st->info->name;
	indio_dev->channels = st->info->channels;
	indio_dev->num_channels = st->info->num_channels;
	if (st->adis.data->has_fifo)
		indio_dev->info = &adis16575_info;
	else
		indio_dev->info = &adis16475_info;
	indio_dev->modes = INDIO_DIRECT_MODE;

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

	ret = adis16475_config_irq_pin(st);
	if (ret)
		return ret;

	ret = adis16475_config_sync_mode(st);
	if (ret)
		return ret;

	if (st->adis.data->has_fifo) {
		ret = devm_adis_setup_buffer_and_trigger_with_attrs(&st->adis, indio_dev,
								    adis16475_trigger_handler_with_fifo,
								    &adis16475_buffer_ops,
								    adis16475_fifo_attributes);
		if (ret)
			return ret;

		/* Update overflow behavior to always overwrite the oldest sample. */
		val = ADIS16575_OVERWRITE_OLDEST;
		ret = adis_update_bits(&st->adis, ADIS16475_REG_FIFO_CTRL,
				       ADIS16575_OVERFLOW_MASK, val);
		if (ret)
			return ret;
	} else {
		ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev,
							 adis16475_trigger_handler);
		if (ret)
			return ret;
	}

	ret = devm_iio_device_register(&spi->dev, indio_dev);
	if (ret)
		return ret;

	adis16475_debugfs_init(indio_dev);

	return 0;
}

static const struct of_device_id adis16475_of_match[] = {
	{ .compatible = "adi,adis16470",
		.data = &adis16475_chip_info[ADIS16470] },
	{ .compatible = "adi,adis16475-1",
		.data = &adis16475_chip_info[ADIS16475_1] },
	{ .compatible = "adi,adis16475-2",
		.data = &adis16475_chip_info[ADIS16475_2] },
	{ .compatible = "adi,adis16475-3",
		.data = &adis16475_chip_info[ADIS16475_3] },
	{ .compatible = "adi,adis16477-1",
		.data = &adis16475_chip_info[ADIS16477_1] },
	{ .compatible = "adi,adis16477-2",
		.data = &adis16475_chip_info[ADIS16477_2] },
	{ .compatible = "adi,adis16477-3",
		.data = &adis16475_chip_info[ADIS16477_3] },
	{ .compatible = "adi,adis16465-1",
		.data = &adis16475_chip_info[ADIS16465_1] },
	{ .compatible = "adi,adis16465-2",
		.data = &adis16475_chip_info[ADIS16465_2] },
	{ .compatible = "adi,adis16465-3",
		.data = &adis16475_chip_info[ADIS16465_3] },
	{ .compatible = "adi,adis16467-1",
		.data = &adis16475_chip_info[ADIS16467_1] },
	{ .compatible = "adi,adis16467-2",
		.data = &adis16475_chip_info[ADIS16467_2] },
	{ .compatible = "adi,adis16467-3",
		.data = &adis16475_chip_info[ADIS16467_3] },
	{ .compatible = "adi,adis16500",
		.data = &adis16475_chip_info[ADIS16500] },
	{ .compatible = "adi,adis16501",
		.data = &adis16475_chip_info[ADIS16501] },
	{ .compatible = "adi,adis16505-1",
		.data = &adis16475_chip_info[ADIS16505_1] },
	{ .compatible = "adi,adis16505-2",
		.data = &adis16475_chip_info[ADIS16505_2] },
	{ .compatible = "adi,adis16505-3",
		.data = &adis16475_chip_info[ADIS16505_3] },
	{ .compatible = "adi,adis16507-1",
		.data = &adis16475_chip_info[ADIS16507_1] },
	{ .compatible = "adi,adis16507-2",
		.data = &adis16475_chip_info[ADIS16507_2] },
	{ .compatible = "adi,adis16507-3",
		.data = &adis16475_chip_info[ADIS16507_3] },
	{ .compatible = "adi,adis16575-2",
		.data = &adis16475_chip_info[ADIS16575_2] },
	{ .compatible = "adi,adis16575-3",
		.data = &adis16475_chip_info[ADIS16575_3] },
	{ .compatible = "adi,adis16576-2",
		.data = &adis16475_chip_info[ADIS16576_2] },
	{ .compatible = "adi,adis16576-3",
		.data = &adis16475_chip_info[ADIS16576_3] },
	{ .compatible = "adi,adis16577-2",
		.data = &adis16475_chip_info[ADIS16577_2] },
	{ .compatible = "adi,adis16577-3",
		.data = &adis16475_chip_info[ADIS16577_3] },
	{ },
};
MODULE_DEVICE_TABLE(of, adis16475_of_match);

static const struct spi_device_id adis16475_ids[] = {
	{ "adis16470", (kernel_ulong_t)&adis16475_chip_info[ADIS16470] },
	{ "adis16475-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_1] },
	{ "adis16475-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_2] },
	{ "adis16475-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_3] },
	{ "adis16477-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_1] },
	{ "adis16477-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_2] },
	{ "adis16477-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_3] },
	{ "adis16465-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_1] },
	{ "adis16465-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_2] },
	{ "adis16465-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_3] },
	{ "adis16467-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_1] },
	{ "adis16467-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_2] },
	{ "adis16467-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_3] },
	{ "adis16500", (kernel_ulong_t)&adis16475_chip_info[ADIS16500] },
	{ "adis16501", (kernel_ulong_t)&adis16475_chip_info[ADIS16501] },
	{ "adis16505-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_1] },
	{ "adis16505-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_2] },
	{ "adis16505-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_3] },
	{ "adis16507-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_1] },
	{ "adis16507-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_2] },
	{ "adis16507-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_3] },
	{ "adis16575-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16575_2] },
	{ "adis16575-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16575_3] },
	{ "adis16576-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16576_2] },
	{ "adis16576-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16576_3] },
	{ "adis16577-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16577_2] },
	{ "adis16577-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16577_3] },
	{ }
};
MODULE_DEVICE_TABLE(spi, adis16475_ids);

static struct spi_driver adis16475_driver = {
	.driver = {
		.name = "adis16475",
		.of_match_table = adis16475_of_match,
	},
	.probe = adis16475_probe,
	.id_table = adis16475_ids,
};
module_spi_driver(adis16475_driver);

MODULE_AUTHOR("Nuno Sa <nuno.sa@analog.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16475 IMU driver");
MODULE_LICENSE("GPL");
MODULE_IMPORT_NS(IIO_ADISLIB);