// SPDX-License-Identifier: GPL-2.0-or-later
/*
 * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
 *
 * Copyright 2010 Analog Devices Inc.
 */

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

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

#define ADIS16260_STARTUP_DELAY 220 /* ms */

#define ADIS16260_FLASH_CNT  0x00 /* Flash memory write count */
#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16260_GYRO_OUT   0x04 /* X-axis gyroscope output */
#define ADIS16260_AUX_ADC    0x0A /* analog input channel measurement */
#define ADIS16260_TEMP_OUT   0x0C /* internal temperature measurement */
#define ADIS16260_ANGL_OUT   0x0E /* angle displacement */
#define ADIS16260_GYRO_OFF   0x14 /* Calibration, offset/bias adjustment */
#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
#define ADIS16260_ALM_MAG1   0x20 /* Alarm 1 magnitude/polarity setting */
#define ADIS16260_ALM_MAG2   0x22 /* Alarm 2 magnitude/polarity setting */
#define ADIS16260_ALM_SMPL1  0x24 /* Alarm 1 dynamic rate of change setting */
#define ADIS16260_ALM_SMPL2  0x26 /* Alarm 2 dynamic rate of change setting */
#define ADIS16260_ALM_CTRL   0x28 /* Alarm control */
#define ADIS16260_AUX_DAC    0x30 /* Auxiliary DAC data */
#define ADIS16260_GPIO_CTRL  0x32 /* Control, digital I/O line */
#define ADIS16260_MSC_CTRL   0x34 /* Control, data ready, self-test settings */
#define ADIS16260_SMPL_PRD   0x36 /* Control, internal sample rate */
#define ADIS16260_SENS_AVG   0x38 /* Control, dynamic range, filtering */
#define ADIS16260_SLP_CNT    0x3A /* Control, sleep mode initiation */
#define ADIS16260_DIAG_STAT  0x3C /* Diagnostic, error flags */
#define ADIS16260_GLOB_CMD   0x3E /* Control, global commands */
#define ADIS16260_LOT_ID1    0x52 /* Lot Identification Code 1 */
#define ADIS16260_LOT_ID2    0x54 /* Lot Identification Code 2 */
#define ADIS16260_PROD_ID    0x56 /* Product identifier;
                                   * convert to decimal = 16,265/16,260 */
#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */

#define ADIS16260_ERROR_ACTIVE                  (1<<14)
#define ADIS16260_NEW_DATA                      (1<<15)

/* MSC_CTRL */
#define ADIS16260_MSC_CTRL_MEM_TEST             (1<<11)
/* Internal self-test enable */
#define ADIS16260_MSC_CTRL_INT_SELF_TEST        (1<<10)
#define ADIS16260_MSC_CTRL_NEG_SELF_TEST        (1<<9)
#define ADIS16260_MSC_CTRL_POS_SELF_TEST        (1<<8)
#define ADIS16260_MSC_CTRL_DATA_RDY_EN          (1<<2)
#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH    (1<<1)
#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2        (1<<0)

/* SMPL_PRD */
/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
#define ADIS16260_SMPL_PRD_TIME_BASE    (1<<7)
#define ADIS16260_SMPL_PRD_DIV_MASK     0x7F

/* SLP_CNT */
#define ADIS16260_SLP_CNT_POWER_OFF     0x80

/* DIAG_STAT */
#define ADIS16260_DIAG_STAT_ALARM2      (1<<9)
#define ADIS16260_DIAG_STAT_ALARM1      (1<<8)
#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT       6
#define ADIS16260_DIAG_STAT_SELF_TEST_BIT       5
#define ADIS16260_DIAG_STAT_OVERFLOW_BIT        4
#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT        3
#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT       2
#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT      1
#define ADIS16260_DIAG_STAT_POWER_LOW_BIT       0

/* GLOB_CMD */
#define ADIS16260_GLOB_CMD_SW_RESET     (1<<7)
#define ADIS16260_GLOB_CMD_FLASH_UPD    (1<<3)
#define ADIS16260_GLOB_CMD_DAC_LATCH    (1<<2)
#define ADIS16260_GLOB_CMD_FAC_CALIB    (1<<1)
#define ADIS16260_GLOB_CMD_AUTO_NULL    (1<<0)

#define ADIS16260_SPI_SLOW      (u32)(300 * 1000)
#define ADIS16260_SPI_BURST     (u32)(1000 * 1000)
#define ADIS16260_SPI_FAST      (u32)(2000 * 1000)

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

#define ADIS16260_SCAN_GYRO     0
#define ADIS16260_SCAN_SUPPLY   1
#define ADIS16260_SCAN_AUX_ADC  2
#define ADIS16260_SCAN_TEMP     3
#define ADIS16260_SCAN_ANGL     4

struct adis16260_chip_info {
        unsigned int gyro_max_val;
        unsigned int gyro_max_scale;
        const struct iio_chan_spec *channels;
        unsigned int num_channels;
};

struct adis16260 {
        const struct adis16260_chip_info *info;

        struct adis adis;
};

enum adis16260_type {
        ADIS16251,
        ADIS16260,
        ADIS16266,
};

static const struct iio_chan_spec adis16260_channels[] = {
        ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
                BIT(IIO_CHAN_INFO_CALIBBIAS) |
                BIT(IIO_CHAN_INFO_CALIBSCALE),
                BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
        ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
                BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
        ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
                BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
        ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
                BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
        ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
                BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
        IIO_CHAN_SOFT_TIMESTAMP(5),
};

static const struct iio_chan_spec adis16266_channels[] = {
        ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
                BIT(IIO_CHAN_INFO_CALIBBIAS) |
                BIT(IIO_CHAN_INFO_CALIBSCALE),
                BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
        ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
                BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
        ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
                BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
        ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
                BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
        IIO_CHAN_SOFT_TIMESTAMP(4),
};

static const struct adis16260_chip_info adis16260_chip_info_table[] = {
        [ADIS16251] = {
                .gyro_max_scale = 80,
                .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
                .channels = adis16260_channels,
                .num_channels = ARRAY_SIZE(adis16260_channels),
        },
        [ADIS16260] = {
                .gyro_max_scale = 320,
                .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
                .channels = adis16260_channels,
                .num_channels = ARRAY_SIZE(adis16260_channels),
        },
        [ADIS16266] = {
                .gyro_max_scale = 14000,
                .gyro_max_val = IIO_RAD_TO_DEGREE(3357),
                .channels = adis16266_channels,
                .num_channels = ARRAY_SIZE(adis16266_channels),
        },
};

/* Power down the device */
static int adis16260_stop_device(struct iio_dev *indio_dev)
{
        struct adis16260 *adis16260 = iio_priv(indio_dev);
        int ret;
        u16 val = ADIS16260_SLP_CNT_POWER_OFF;

        ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
        if (ret)
                dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");

        return ret;
}

static const u8 adis16260_addresses[][2] = {
        [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
};

static int adis16260_read_raw(struct iio_dev *indio_dev,
                              struct iio_chan_spec const *chan,
                              int *val, int *val2,
                              long mask)
{
        struct adis16260 *adis16260 = iio_priv(indio_dev);
        const struct adis16260_chip_info *info = adis16260->info;
        struct adis *adis = &adis16260->adis;
        int ret;
        u8 addr;
        s16 val16;

        switch (mask) {
        case IIO_CHAN_INFO_RAW:
                return adis_single_conversion(indio_dev, chan,
                                ADIS16260_ERROR_ACTIVE, val);
        case IIO_CHAN_INFO_SCALE:
                switch (chan->type) {
                case IIO_ANGL_VEL:
                        *val = info->gyro_max_scale;
                        *val2 = info->gyro_max_val;
                        return IIO_VAL_FRACTIONAL;
                case IIO_INCLI:
                        *val = 0;
                        *val2 = IIO_DEGREE_TO_RAD(36630);
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_VOLTAGE:
                        if (chan->channel == 0) {
                                *val = 1;
                                *val2 = 831500; /* 1.8315 mV */
                        } else {
                                *val = 0;
                                *val2 = 610500; /* 610.5 uV */
                        }
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_TEMP:
                        *val = 145;
                        *val2 = 300000; /* 0.1453 C */
                        return IIO_VAL_INT_PLUS_MICRO;
                default:
                        return -EINVAL;
                }
        case IIO_CHAN_INFO_OFFSET:
                *val = 250000 / 1453; /* 25 C = 0x00 */
                return IIO_VAL_INT;
        case IIO_CHAN_INFO_CALIBBIAS:
                addr = adis16260_addresses[chan->scan_index][0];
                ret = adis_read_reg_16(adis, addr, &val16);
                if (ret)
                        return ret;

                *val = sign_extend32(val16, 11);
                return IIO_VAL_INT;
        case IIO_CHAN_INFO_CALIBSCALE:
                addr = adis16260_addresses[chan->scan_index][1];
                ret = adis_read_reg_16(adis, addr, &val16);
                if (ret)
                        return ret;

                *val = val16;
                return IIO_VAL_INT;
        case IIO_CHAN_INFO_SAMP_FREQ:
                ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
                if (ret)
                        return ret;

                if (spi_get_device_id(adis->spi)->driver_data)
                /* If an adis16251 */
                        *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
                                8 : 256;
                else
                        *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
                                66 : 2048;
                *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
                return IIO_VAL_INT;
        }
        return -EINVAL;
}

static int adis16260_write_raw(struct iio_dev *indio_dev,
                               struct iio_chan_spec const *chan,
                               int val,
                               int val2,
                               long mask)
{
        struct adis16260 *adis16260 = iio_priv(indio_dev);
        struct adis *adis = &adis16260->adis;
        u8 addr;
        u8 t;

        switch (mask) {
        case IIO_CHAN_INFO_CALIBBIAS:
                if (val < -2048 || val >= 2048)
                        return -EINVAL;

                addr = adis16260_addresses[chan->scan_index][0];
                return adis_write_reg_16(adis, addr, val);
        case IIO_CHAN_INFO_CALIBSCALE:
                if (val < 0 || val >= 4096)
                        return -EINVAL;

                addr = adis16260_addresses[chan->scan_index][1];
                return adis_write_reg_16(adis, addr, val);
        case IIO_CHAN_INFO_SAMP_FREQ:
                if (spi_get_device_id(adis->spi)->driver_data)
                        t = 256 / val;
                else
                        t = 2048 / val;

                if (t > ADIS16260_SMPL_PRD_DIV_MASK)
                        t = ADIS16260_SMPL_PRD_DIV_MASK;
                else if (t > 0)
                        t--;
                adis_dev_auto_scoped_lock(adis) {
                        if (t >= 0x0A)
                                adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
                        else
                                adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
                        return __adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
                }
                unreachable();
        }
        return -EINVAL;
}

static const struct iio_info adis16260_info = {
        .read_raw = &adis16260_read_raw,
        .write_raw = &adis16260_write_raw,
        .update_scan_mode = adis_update_scan_mode,
};

static const char * const adis1620_status_error_msgs[] = {
        [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
        [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
        [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
        [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
        [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
        [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
        [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
};

static const struct adis_timeout adis16260_timeouts = {
        .reset_ms = ADIS16260_STARTUP_DELAY,
        .sw_reset_ms = ADIS16260_STARTUP_DELAY,
        .self_test_ms = ADIS16260_STARTUP_DELAY,
};

static const struct adis_data adis16260_data = {
        .write_delay = 30,
        .read_delay = 30,
        .msc_ctrl_reg = ADIS16260_MSC_CTRL,
        .glob_cmd_reg = ADIS16260_GLOB_CMD,
        .diag_stat_reg = ADIS16260_DIAG_STAT,

        .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
        .self_test_reg = ADIS16260_MSC_CTRL,
        .timeouts = &adis16260_timeouts,

        .status_error_msgs = adis1620_status_error_msgs,
        .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
                BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
                BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
                BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
                BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
                BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
                BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
};

static void adis16260_stop(void *data)
{
        adis16260_stop_device(data);
}

static int adis16260_probe(struct spi_device *spi)
{
        const struct spi_device_id *id;
        struct adis16260 *adis16260;
        struct iio_dev *indio_dev;
        int ret;

        id = spi_get_device_id(spi);
        if (!id)
                return -ENODEV;

        /* setup the industrialio driver allocated elements */
        indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
        if (!indio_dev)
                return -ENOMEM;
        adis16260 = iio_priv(indio_dev);
        /* this is only used for removal purposes */
        spi_set_drvdata(spi, indio_dev);

        adis16260->info = &adis16260_chip_info_table[id->driver_data];

        indio_dev->name = id->name;
        indio_dev->info = &adis16260_info;
        indio_dev->channels = adis16260->info->channels;
        indio_dev->num_channels = adis16260->info->num_channels;
        indio_dev->modes = INDIO_DIRECT_MODE;

        ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
        if (ret)
                return ret;

        ret = devm_adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
        if (ret)
                return ret;

        /* Get the device into a sane initial state */
        ret = __adis_initial_startup(&adis16260->adis);
        if (ret)
                return ret;

        ret = devm_add_action_or_reset(&spi->dev, adis16260_stop, indio_dev);
        if (ret)
                return ret;

        return devm_iio_device_register(&spi->dev, indio_dev);
}

/*
 * These parts do not need to be differentiated until someone adds
 * support for the on chip filtering.
 */
static const struct spi_device_id adis16260_id[] = {
        {"adis16260", ADIS16260},
        {"adis16265", ADIS16260},
        {"adis16266", ADIS16266},
        {"adis16250", ADIS16260},
        {"adis16255", ADIS16260},
        {"adis16251", ADIS16251},
        { }
};
MODULE_DEVICE_TABLE(spi, adis16260_id);

static struct spi_driver adis16260_driver = {
        .driver = {
                .name = "adis16260",
        },
        .probe = adis16260_probe,
        .id_table = adis16260_id,
};
module_spi_driver(adis16260_driver);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
MODULE_LICENSE("GPL v2");
MODULE_IMPORT_NS("IIO_ADISLIB");