// SPDX-License-Identifier: GPL-2.0-only
/*
 * adis16400.c  support Analog Devices ADIS16400/5
 *              3d 2g Linear Accelerometers,
 *              3d Gyroscopes,
 *              3d Magnetometers via SPI
 *
 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
 * Copyright (c) 2011 Analog Devices Inc.
 */

#include <linux/irq.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/module.h>
#include <linux/debugfs.h>
#include <linux/bitops.h>

#include <linux/iio/iio.h>
#include <linux/iio/buffer.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/iio/imu/adis.h>

#define ADIS16400_STARTUP_DELAY 290 /* ms */
#define ADIS16400_MTEST_DELAY 90 /* ms */

#define ADIS16400_FLASH_CNT  0x00 /* Flash memory write count */
#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
#define ADIS16400_TEMP_OUT  0x16 /* Temperature output */
#define ADIS16400_AUX_ADC   0x18 /* Auxiliary ADC measurement */

#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */

#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
#define ADIS16300_ROLL_OUT  0x14 /* Y axis inclinometer output measurement */
#define ADIS16300_AUX_ADC   0x16 /* Auxiliary ADC measurement */

#define ADIS16448_BARO_OUT      0x16 /* Barometric pressure output */
#define ADIS16448_TEMP_OUT  0x18 /* Temperature output */

/* Calibration parameters */
#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */

#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
#define ADIS16400_MSC_CTRL  0x34 /* Miscellaneous control */
#define ADIS16400_SMPL_PRD  0x36 /* Internal sample period (rate) control */
#define ADIS16400_SENS_AVG  0x38 /* Dynamic range and digital filter control */
#define ADIS16400_SLP_CNT   0x3A /* Sleep mode control */
#define ADIS16400_DIAG_STAT 0x3C /* System status */

/* Alarm functions */
#define ADIS16400_GLOB_CMD  0x3E /* System command */
#define ADIS16400_ALM_MAG1  0x40 /* Alarm 1 amplitude threshold */
#define ADIS16400_ALM_MAG2  0x42 /* Alarm 2 amplitude threshold */
#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
#define ADIS16400_ALM_CTRL  0x48 /* Alarm control */
#define ADIS16400_AUX_DAC   0x4A /* Auxiliary DAC data */

#define ADIS16334_LOT_ID1   0x52 /* Lot identification code 1 */
#define ADIS16334_LOT_ID2   0x54 /* Lot identification code 2 */
#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */

#define ADIS16400_ERROR_ACTIVE                  (1<<14)
#define ADIS16400_NEW_DATA                      (1<<14)

/* MSC_CTRL */
#define ADIS16400_MSC_CTRL_MEM_TEST             (1<<11)
#define ADIS16400_MSC_CTRL_INT_SELF_TEST        (1<<10)
#define ADIS16400_MSC_CTRL_NEG_SELF_TEST        (1<<9)
#define ADIS16400_MSC_CTRL_POS_SELF_TEST        (1<<8)
#define ADIS16400_MSC_CTRL_GYRO_BIAS            (1<<7)
#define ADIS16400_MSC_CTRL_ACCL_ALIGN           (1<<6)
#define ADIS16400_MSC_CTRL_DATA_RDY_EN          (1<<2)
#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH    (1<<1)
#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2        (1<<0)

/* SMPL_PRD */
#define ADIS16400_SMPL_PRD_TIME_BASE    (1<<7)
#define ADIS16400_SMPL_PRD_DIV_MASK     0x7F

/* DIAG_STAT */
#define ADIS16400_DIAG_STAT_ZACCL_FAIL  15
#define ADIS16400_DIAG_STAT_YACCL_FAIL  14
#define ADIS16400_DIAG_STAT_XACCL_FAIL  13
#define ADIS16400_DIAG_STAT_XGYRO_FAIL  12
#define ADIS16400_DIAG_STAT_YGYRO_FAIL  11
#define ADIS16400_DIAG_STAT_ZGYRO_FAIL  10
#define ADIS16400_DIAG_STAT_ALARM2      9
#define ADIS16400_DIAG_STAT_ALARM1      8
#define ADIS16400_DIAG_STAT_FLASH_CHK   6
#define ADIS16400_DIAG_STAT_SELF_TEST   5
#define ADIS16400_DIAG_STAT_OVERFLOW    4
#define ADIS16400_DIAG_STAT_SPI_FAIL    3
#define ADIS16400_DIAG_STAT_FLASH_UPT   2
#define ADIS16400_DIAG_STAT_POWER_HIGH  1
#define ADIS16400_DIAG_STAT_POWER_LOW   0

/* GLOB_CMD */
#define ADIS16400_GLOB_CMD_SW_RESET     (1<<7)
#define ADIS16400_GLOB_CMD_P_AUTO_NULL  (1<<4)
#define ADIS16400_GLOB_CMD_FLASH_UPD    (1<<3)
#define ADIS16400_GLOB_CMD_DAC_LATCH    (1<<2)
#define ADIS16400_GLOB_CMD_FAC_CALIB    (1<<1)
#define ADIS16400_GLOB_CMD_AUTO_NULL    (1<<0)

/* SLP_CNT */
#define ADIS16400_SLP_CNT_POWER_OFF     (1<<8)

#define ADIS16334_RATE_DIV_SHIFT 8
#define ADIS16334_RATE_INT_CLK BIT(0)

#define ADIS16400_SPI_SLOW      (u32)(300 * 1000)
#define ADIS16400_SPI_BURST     (u32)(1000 * 1000)
#define ADIS16400_SPI_FAST      (u32)(2000 * 1000)

#define ADIS16400_HAS_PROD_ID           BIT(0)
#define ADIS16400_NO_BURST              BIT(1)
#define ADIS16400_HAS_SLOW_MODE         BIT(2)
#define ADIS16400_HAS_SERIAL_NUMBER     BIT(3)
#define ADIS16400_BURST_DIAG_STAT       BIT(4)

struct adis16400_state;

struct adis16400_chip_info {
        const struct iio_chan_spec *channels;
        const struct adis_data adis_data;
        const int num_channels;
        const long flags;
        unsigned int gyro_scale_micro;
        unsigned int accel_scale_micro;
        int temp_scale_nano;
        int temp_offset;
        /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
        int (*set_freq)(struct adis16400_state *st, unsigned int freq);
        int (*get_freq)(struct adis16400_state *st);
};

/**
 * struct adis16400_state - device instance specific data
 * @variant:    chip variant info
 * @filt_int:   integer part of requested filter frequency
 * @adis:       adis device
 * @avail_scan_mask:    NULL terminated array of bitmaps of channels
 *                      that must be enabled together
 **/
struct adis16400_state {
        const struct adis16400_chip_info *variant;
        int                             filt_int;

        struct adis adis;
        unsigned long avail_scan_mask[2];
};

/* At the moment triggers are only used for ring buffer
 * filling. This may change!
 */

enum {
        ADIS16400_SCAN_SUPPLY,
        ADIS16400_SCAN_GYRO_X,
        ADIS16400_SCAN_GYRO_Y,
        ADIS16400_SCAN_GYRO_Z,
        ADIS16400_SCAN_ACC_X,
        ADIS16400_SCAN_ACC_Y,
        ADIS16400_SCAN_ACC_Z,
        ADIS16400_SCAN_MAGN_X,
        ADIS16400_SCAN_MAGN_Y,
        ADIS16400_SCAN_MAGN_Z,
        ADIS16400_SCAN_BARO,
        ADIS16350_SCAN_TEMP_X,
        ADIS16350_SCAN_TEMP_Y,
        ADIS16350_SCAN_TEMP_Z,
        ADIS16300_SCAN_INCLI_X,
        ADIS16300_SCAN_INCLI_Y,
        ADIS16400_SCAN_ADC,
        ADIS16400_SCAN_TIMESTAMP,
};

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

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

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

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

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

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

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

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

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

        *val = prod_id;

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

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

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

        *val = flash_count;

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

static void adis16400_debugfs_init(struct iio_dev *indio_dev)
{
        struct adis16400_state *st = iio_priv(indio_dev);
        struct dentry *d = iio_get_debugfs_dentry(indio_dev);

        if (!IS_ENABLED(CONFIG_DEBUG_FS))
                return;

        if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
                debugfs_create_file_unsafe("serial_number", 0400,
                                d, st, &adis16400_serial_number_fops);
        if (st->variant->flags & ADIS16400_HAS_PROD_ID)
                debugfs_create_file_unsafe("product_id", 0400,
                                d, st, &adis16400_product_id_fops);
        debugfs_create_file_unsafe("flash_count", 0400,
                        d, st, &adis16400_flash_count_fops);
}

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

        ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
        if (ret)
                return ret;

        t >>= ADIS16334_RATE_DIV_SHIFT;

        return 819200 >> t;
}

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

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

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

        t <<= ADIS16334_RATE_DIV_SHIFT;
        t |= ADIS16334_RATE_INT_CLK;

        return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
}

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

        ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
        if (ret)
                return ret;

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

        return sps;
}

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

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

        val |= t;

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

        return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
}

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

static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
{
        struct adis16400_state *st = iio_priv(indio_dev);
        uint16_t val16;
        int i, ret;

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

        ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
        if (ret)
                return ret;

        ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
                                         (val16 & ~0x07) | i);
        return ret;
}

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

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

        return ret;
}

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

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

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

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

                if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
                        ret = -EINVAL;
                        goto err_ret;
                }

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

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

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

err_ret:
        return ret;
}

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

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

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

                        return __adis16400_set_filter(indio_dev, sps,
                                                      val * 1000 + val2 / 1000);
                }
                unreachable();
        case IIO_CHAN_INFO_SAMP_FREQ:
                sps = val * 1000 + val2 / 1000;

                if (sps <= 0)
                        return -EINVAL;

                adis_dev_auto_scoped_lock(&st->adis)
                        return st->variant->set_freq(st, sps);
                unreachable();
        default:
                return -EINVAL;
        }
}

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

        switch (info) {
        case IIO_CHAN_INFO_RAW:
                return adis_single_conversion(indio_dev, chan, 0, val);
        case IIO_CHAN_INFO_SCALE:
                switch (chan->type) {
                case IIO_ANGL_VEL:
                        *val = 0;
                        *val2 = st->variant->gyro_scale_micro;
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_VOLTAGE:
                        *val = 0;
                        if (chan->channel == 0) {
                                *val = 2;
                                *val2 = 418000; /* 2.418 mV */
                        } else {
                                *val = 0;
                                *val2 = 805800; /* 805.8 uV */
                        }
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_ACCEL:
                        *val = 0;
                        *val2 = st->variant->accel_scale_micro;
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_MAGN:
                        *val = 0;
                        *val2 = 500; /* 0.5 mgauss */
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_TEMP:
                        *val = st->variant->temp_scale_nano / 1000000;
                        *val2 = (st->variant->temp_scale_nano % 1000000);
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_PRESSURE:
                        /* 20 uBar = 0.002kPascal */
                        *val = 0;
                        *val2 = 2000;
                        return IIO_VAL_INT_PLUS_MICRO;
                default:
                        return -EINVAL;
                }
        case IIO_CHAN_INFO_CALIBBIAS:
                ret = adis_read_reg_16(&st->adis,
                                adis16400_addresses[chan->scan_index], &val16);
                if (ret)
                        return ret;
                val16 = sign_extend32(val16, 11);
                *val = val16;
                return IIO_VAL_INT;
        case IIO_CHAN_INFO_OFFSET:
                /* currently only temperature */
                *val = st->variant->temp_offset;
                return IIO_VAL_INT;
        case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
                adis_dev_auto_scoped_lock(&st->adis) {
                        /*
                         * Need both the number of taps and the sampling
                         * frequency
                         */
                        ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG,
                                                 &val16);
                        if (ret)
                                return ret;

                        ret = st->variant->get_freq(st);
                        if (ret)
                                return ret;
                }
                ret /= adis16400_3db_divisors[val16 & 0x07];
                *val = ret / 1000;
                *val2 = (ret % 1000) * 1000;
                return IIO_VAL_INT_PLUS_MICRO;
        case IIO_CHAN_INFO_SAMP_FREQ:
                adis_dev_auto_scoped_lock(&st->adis) {
                        ret = st->variant->get_freq(st);
                        if (ret)
                                return ret;
                }
                *val = ret / 1000;
                *val2 = (ret % 1000) * 1000;
                return IIO_VAL_INT_PLUS_MICRO;
        default:
                return -EINVAL;
        }
}

#if IS_ENABLED(CONFIG_IIO_BUFFER)
static irqreturn_t adis16400_trigger_handler(int irq, void *p)
{
        struct iio_poll_func *pf = p;
        struct iio_dev *indio_dev = pf->indio_dev;
        struct adis16400_state *st = iio_priv(indio_dev);
        struct adis *adis = &st->adis;
        void *buffer;
        int ret;

        ret = spi_sync(adis->spi, &adis->msg);
        if (ret)
                dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);

        if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) {
                buffer = adis->buffer + sizeof(u16);
                /*
                 * The size here is always larger than, or equal to the true
                 * size of the channel data. This may result in a larger copy
                 * than necessary, but as the target buffer will be
                 * buffer->scan_bytes this will be safe.
                 */
                iio_push_to_buffers_with_ts_unaligned(indio_dev, buffer,
                                                      indio_dev->scan_bytes - sizeof(pf->timestamp),
                                                      pf->timestamp);
        } else {
                iio_push_to_buffers_with_timestamp(indio_dev,
                                                   adis->buffer,
                                                   pf->timestamp);
        }


        iio_trigger_notify_done(indio_dev->trig);

        return IRQ_HANDLED;
}
#else
#define adis16400_trigger_handler       NULL
#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */

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

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

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

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

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

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

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

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

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

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

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

static const struct iio_chan_spec adis16445_channels[] = {
        ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
        ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
        ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
        ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
        ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
        ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
        ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
        IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};

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

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

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

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

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

#define ADIS16400_DATA(_timeouts, _burst_len)                           \
{                                                                       \
        .msc_ctrl_reg = ADIS16400_MSC_CTRL,                             \
        .glob_cmd_reg = ADIS16400_GLOB_CMD,                             \
        .diag_stat_reg = ADIS16400_DIAG_STAT,                           \
        .read_delay = 50,                                               \
        .write_delay = 50,                                              \
        .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,                  \
        .self_test_reg = ADIS16400_MSC_CTRL,                            \
        .status_error_msgs = adis16400_status_error_msgs,               \
        .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |      \
                BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |                   \
                BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |                   \
                BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |                   \
                BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |                   \
                BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |                   \
                BIT(ADIS16400_DIAG_STAT_ALARM2) |                       \
                BIT(ADIS16400_DIAG_STAT_ALARM1) |                       \
                BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |                    \
                BIT(ADIS16400_DIAG_STAT_SELF_TEST) |                    \
                BIT(ADIS16400_DIAG_STAT_OVERFLOW) |                     \
                BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |                     \
                BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |                    \
                BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |                   \
                BIT(ADIS16400_DIAG_STAT_POWER_LOW),                     \
        .timeouts = (_timeouts),                                        \
        .burst_reg_cmd = ADIS16400_GLOB_CMD,                            \
        .burst_len = (_burst_len),                                      \
        .burst_max_speed_hz = ADIS16400_SPI_BURST                       \
}

static const struct adis_timeout adis16300_timeouts = {
        .reset_ms = ADIS16400_STARTUP_DELAY,
        .sw_reset_ms = ADIS16400_STARTUP_DELAY,
        .self_test_ms = ADIS16400_STARTUP_DELAY,
};

static const struct adis_timeout adis16334_timeouts = {
        .reset_ms = 60,
        .sw_reset_ms = 60,
        .self_test_ms = 14,
};

static const struct adis_timeout adis16362_timeouts = {
        .reset_ms = 130,
        .sw_reset_ms = 130,
        .self_test_ms = 12,
};

static const struct adis_timeout adis16400_timeouts = {
        .reset_ms = 170,
        .sw_reset_ms = 170,
        .self_test_ms = 12,
};

static const struct adis_timeout adis16445_timeouts = {
        .reset_ms = 55,
        .sw_reset_ms = 55,
        .self_test_ms = 16,
};

static const struct adis_timeout adis16448_timeouts = {
        .reset_ms = 90,
        .sw_reset_ms = 90,
        .self_test_ms = 45,
};

static const struct adis16400_chip_info adis16300_chip_info = {
        .channels = adis16300_channels,
        .num_channels = ARRAY_SIZE(adis16300_channels),
        .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
                 ADIS16400_HAS_SERIAL_NUMBER,
        .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
        .accel_scale_micro = 5884,
        .temp_scale_nano = 140000000, /* 0.14 C */
        .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
        .set_freq = adis16400_set_freq,
        .get_freq = adis16400_get_freq,
        .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
};

static const struct adis16400_chip_info adis16334_chip_info = {
        .channels = adis16334_channels,
        .num_channels = ARRAY_SIZE(adis16334_channels),
        .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
                 ADIS16400_HAS_SERIAL_NUMBER,
        .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
        .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
        .temp_scale_nano = 67850000, /* 0.06785 C */
        .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
        .set_freq = adis16334_set_freq,
        .get_freq = adis16334_get_freq,
        .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
};

static const struct adis16400_chip_info adis16350_chip_info = {
        .channels = adis16350_channels,
        .num_channels = ARRAY_SIZE(adis16350_channels),
        .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
        .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
        .temp_scale_nano = 145300000, /* 0.1453 C */
        .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
        .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
        .set_freq = adis16400_set_freq,
        .get_freq = adis16400_get_freq,
        .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
};

static const struct adis16400_chip_info adis16360_chip_info = {
        .channels = adis16350_channels,
        .num_channels = ARRAY_SIZE(adis16350_channels),
        .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
                 ADIS16400_HAS_SERIAL_NUMBER,
        .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
        .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
        .temp_scale_nano = 136000000, /* 0.136 C */
        .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
        .set_freq = adis16400_set_freq,
        .get_freq = adis16400_get_freq,
        .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
};

static const struct adis16400_chip_info adis16362_chip_info = {
        .channels = adis16350_channels,
        .num_channels = ARRAY_SIZE(adis16350_channels),
        .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
                 ADIS16400_HAS_SERIAL_NUMBER,
        .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
        .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
        .temp_scale_nano = 136000000, /* 0.136 C */
        .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
        .set_freq = adis16400_set_freq,
        .get_freq = adis16400_get_freq,
        .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
};

static const struct adis16400_chip_info adis16364_chip_info = {
        .channels = adis16350_channels,
        .num_channels = ARRAY_SIZE(adis16350_channels),
        .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
                 ADIS16400_HAS_SERIAL_NUMBER,
        .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
        .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
        .temp_scale_nano = 136000000, /* 0.136 C */
        .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
        .set_freq = adis16400_set_freq,
        .get_freq = adis16400_get_freq,
        .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
};

static const struct adis16400_chip_info adis16367_chip_info = {
        .channels = adis16350_channels,
        .num_channels = ARRAY_SIZE(adis16350_channels),
        .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
                 ADIS16400_HAS_SERIAL_NUMBER,
        .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
        .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
        .temp_scale_nano = 136000000, /* 0.136 C */
        .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
        .set_freq = adis16400_set_freq,
        .get_freq = adis16400_get_freq,
        .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
};

static const struct adis16400_chip_info adis16400_chip_info = {
        .channels = adis16400_channels,
        .num_channels = ARRAY_SIZE(adis16400_channels),
        .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
        .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
        .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
        .temp_scale_nano = 140000000, /* 0.14 C */
        .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
        .set_freq = adis16400_set_freq,
        .get_freq = adis16400_get_freq,
        .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
};

static const struct adis16400_chip_info adis16445_chip_info = {
        .channels = adis16445_channels,
        .num_channels = ARRAY_SIZE(adis16445_channels),
        .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SERIAL_NUMBER |
                 ADIS16400_BURST_DIAG_STAT,
        .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
        .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
        .temp_scale_nano = 73860000, /* 0.07386 C */
        .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
        .set_freq = adis16334_set_freq,
        .get_freq = adis16334_get_freq,
        .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
};

static const struct adis16400_chip_info adis16448_chip_info = {
        .channels = adis16448_channels,
        .num_channels = ARRAY_SIZE(adis16448_channels),
        .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SERIAL_NUMBER |
                 ADIS16400_BURST_DIAG_STAT,
        .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
        .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
        .temp_scale_nano = 73860000, /* 0.07386 C */
        .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
        .set_freq = adis16334_set_freq,
        .get_freq = adis16334_get_freq,
        .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
};

static const struct iio_info adis16400_info = {
        .read_raw = &adis16400_read_raw,
        .write_raw = &adis16400_write_raw,
        .update_scan_mode = adis_update_scan_mode,
        .debugfs_reg_access = adis_debugfs_reg_access,
};

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

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

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

static void adis16400_stop(void *data)
{
        adis16400_stop_device(data);
}

static int adis16400_probe(struct spi_device *spi)
{
        struct adis16400_state *st;
        struct iio_dev *indio_dev;
        int ret;
        const struct adis_data *adis16400_data;

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

        st = iio_priv(indio_dev);

        /* setup the industrialio driver allocated elements */
        st->variant = spi_get_device_match_data(spi);
        indio_dev->name = spi_get_device_id(spi)->name;
        indio_dev->channels = st->variant->channels;
        indio_dev->num_channels = st->variant->num_channels;
        indio_dev->info = &adis16400_info;
        indio_dev->modes = INDIO_DIRECT_MODE;

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

        adis16400_data = &st->variant->adis_data;

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

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

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

        ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
        if (ret)
                return ret;

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

        adis16400_debugfs_init(indio_dev);
        return 0;
}

static const struct spi_device_id adis16400_id[] = {
        { "adis16300", (kernel_ulong_t)&adis16300_chip_info },
        { "adis16305", (kernel_ulong_t)&adis16300_chip_info },
        { "adis16334", (kernel_ulong_t)&adis16334_chip_info },
        { "adis16350", (kernel_ulong_t)&adis16350_chip_info },
        { "adis16354", (kernel_ulong_t)&adis16350_chip_info },
        { "adis16355", (kernel_ulong_t)&adis16350_chip_info },
        { "adis16360", (kernel_ulong_t)&adis16360_chip_info },
        { "adis16362", (kernel_ulong_t)&adis16362_chip_info },
        { "adis16364", (kernel_ulong_t)&adis16364_chip_info },
        { "adis16365", (kernel_ulong_t)&adis16360_chip_info },
        { "adis16367", (kernel_ulong_t)&adis16367_chip_info },
        { "adis16400", (kernel_ulong_t)&adis16400_chip_info },
        { "adis16405", (kernel_ulong_t)&adis16400_chip_info },
        { "adis16445", (kernel_ulong_t)&adis16445_chip_info },
        { "adis16448", (kernel_ulong_t)&adis16448_chip_info },
        { }
};
MODULE_DEVICE_TABLE(spi, adis16400_id);

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

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