// SPDX-License-Identifier: GPL-2.0-only
/*
 * ADIS16480 and similar IMUs driver
 *
 * Copyright 2012 Analog Devices Inc.
 */

#include <linux/clk.h>
#include <linux/bitfield.h>
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/math.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/module.h>
#include <linux/lcm.h>
#include <linux/property.h>
#include <linux/swab.h>
#include <linux/crc32.h>

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

#include <linux/debugfs.h>

#define ADIS16480_PAGE_SIZE 0x80

#define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg))

#define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */
#define ADIS16480_REG_SEQ_CNT                   ADIS16480_REG(0x00, 0x06)
#define ADIS16480_REG_SYS_E_FLA                 ADIS16480_REG(0x00, 0x08)
#define ADIS16480_REG_DIAG_STS                  ADIS16480_REG(0x00, 0x0A)
#define ADIS16480_REG_ALM_STS                   ADIS16480_REG(0x00, 0x0C)
#define ADIS16480_REG_TEMP_OUT                  ADIS16480_REG(0x00, 0x0E)
#define ADIS16480_REG_X_GYRO_OUT                ADIS16480_REG(0x00, 0x10)
#define ADIS16480_REG_Y_GYRO_OUT                ADIS16480_REG(0x00, 0x14)
#define ADIS16480_REG_Z_GYRO_OUT                ADIS16480_REG(0x00, 0x18)
#define ADIS16480_REG_X_ACCEL_OUT               ADIS16480_REG(0x00, 0x1C)
#define ADIS16480_REG_Y_ACCEL_OUT               ADIS16480_REG(0x00, 0x20)
#define ADIS16480_REG_Z_ACCEL_OUT               ADIS16480_REG(0x00, 0x24)
#define ADIS16480_REG_X_MAGN_OUT                ADIS16480_REG(0x00, 0x28)
#define ADIS16480_REG_Y_MAGN_OUT                ADIS16480_REG(0x00, 0x2A)
#define ADIS16480_REG_Z_MAGN_OUT                ADIS16480_REG(0x00, 0x2C)
#define ADIS16480_REG_BAROM_OUT                 ADIS16480_REG(0x00, 0x2E)
#define ADIS16480_REG_X_DELTAANG_OUT            ADIS16480_REG(0x00, 0x40)
#define ADIS16480_REG_Y_DELTAANG_OUT            ADIS16480_REG(0x00, 0x44)
#define ADIS16480_REG_Z_DELTAANG_OUT            ADIS16480_REG(0x00, 0x48)
#define ADIS16480_REG_X_DELTAVEL_OUT            ADIS16480_REG(0x00, 0x4C)
#define ADIS16480_REG_Y_DELTAVEL_OUT            ADIS16480_REG(0x00, 0x50)
#define ADIS16480_REG_Z_DELTAVEL_OUT            ADIS16480_REG(0x00, 0x54)
#define ADIS16480_REG_PROD_ID                   ADIS16480_REG(0x00, 0x7E)

#define ADIS16480_REG_X_GYRO_SCALE              ADIS16480_REG(0x02, 0x04)
#define ADIS16480_REG_Y_GYRO_SCALE              ADIS16480_REG(0x02, 0x06)
#define ADIS16480_REG_Z_GYRO_SCALE              ADIS16480_REG(0x02, 0x08)
#define ADIS16480_REG_X_ACCEL_SCALE             ADIS16480_REG(0x02, 0x0A)
#define ADIS16480_REG_Y_ACCEL_SCALE             ADIS16480_REG(0x02, 0x0C)
#define ADIS16480_REG_Z_ACCEL_SCALE             ADIS16480_REG(0x02, 0x0E)
#define ADIS16480_REG_X_GYRO_BIAS               ADIS16480_REG(0x02, 0x10)
#define ADIS16480_REG_Y_GYRO_BIAS               ADIS16480_REG(0x02, 0x14)
#define ADIS16480_REG_Z_GYRO_BIAS               ADIS16480_REG(0x02, 0x18)
#define ADIS16480_REG_X_ACCEL_BIAS              ADIS16480_REG(0x02, 0x1C)
#define ADIS16480_REG_Y_ACCEL_BIAS              ADIS16480_REG(0x02, 0x20)
#define ADIS16480_REG_Z_ACCEL_BIAS              ADIS16480_REG(0x02, 0x24)
#define ADIS16480_REG_X_HARD_IRON               ADIS16480_REG(0x02, 0x28)
#define ADIS16480_REG_Y_HARD_IRON               ADIS16480_REG(0x02, 0x2A)
#define ADIS16480_REG_Z_HARD_IRON               ADIS16480_REG(0x02, 0x2C)
#define ADIS16480_REG_BAROM_BIAS                ADIS16480_REG(0x02, 0x40)
#define ADIS16480_REG_FLASH_CNT                 ADIS16480_REG(0x02, 0x7C)

#define ADIS16480_REG_GLOB_CMD                  ADIS16480_REG(0x03, 0x02)
#define ADIS16480_REG_FNCTIO_CTRL               ADIS16480_REG(0x03, 0x06)
#define ADIS16480_REG_GPIO_CTRL                 ADIS16480_REG(0x03, 0x08)
#define ADIS16480_REG_CONFIG                    ADIS16480_REG(0x03, 0x0A)
#define ADIS16480_REG_DEC_RATE                  ADIS16480_REG(0x03, 0x0C)
#define ADIS16480_REG_SLP_CNT                   ADIS16480_REG(0x03, 0x10)
#define ADIS16480_REG_FILTER_BNK0               ADIS16480_REG(0x03, 0x16)
#define ADIS16480_REG_FILTER_BNK1               ADIS16480_REG(0x03, 0x18)
#define ADIS16480_REG_ALM_CNFG0                 ADIS16480_REG(0x03, 0x20)
#define ADIS16480_REG_ALM_CNFG1                 ADIS16480_REG(0x03, 0x22)
#define ADIS16480_REG_ALM_CNFG2                 ADIS16480_REG(0x03, 0x24)
#define ADIS16480_REG_XG_ALM_MAGN               ADIS16480_REG(0x03, 0x28)
#define ADIS16480_REG_YG_ALM_MAGN               ADIS16480_REG(0x03, 0x2A)
#define ADIS16480_REG_ZG_ALM_MAGN               ADIS16480_REG(0x03, 0x2C)
#define ADIS16480_REG_XA_ALM_MAGN               ADIS16480_REG(0x03, 0x2E)
#define ADIS16480_REG_YA_ALM_MAGN               ADIS16480_REG(0x03, 0x30)
#define ADIS16480_REG_ZA_ALM_MAGN               ADIS16480_REG(0x03, 0x32)
#define ADIS16480_REG_XM_ALM_MAGN               ADIS16480_REG(0x03, 0x34)
#define ADIS16480_REG_YM_ALM_MAGN               ADIS16480_REG(0x03, 0x36)
#define ADIS16480_REG_ZM_ALM_MAGN               ADIS16480_REG(0x03, 0x38)
#define ADIS16480_REG_BR_ALM_MAGN               ADIS16480_REG(0x03, 0x3A)
#define ADIS16480_REG_FIRM_REV                  ADIS16480_REG(0x03, 0x78)
#define ADIS16480_REG_FIRM_DM                   ADIS16480_REG(0x03, 0x7A)
#define ADIS16480_REG_FIRM_Y                    ADIS16480_REG(0x03, 0x7C)

/*
 * External clock scaling in PPS mode.
 * Available only for ADIS1649x devices
 */
#define ADIS16495_REG_SYNC_SCALE                ADIS16480_REG(0x03, 0x10)
#define ADIS16495_REG_BURST_CMD                 ADIS16480_REG(0x00, 0x7C)
#define ADIS16495_GYRO_ACCEL_BURST_ID           0xA5A5
#define ADIS16545_DELTA_ANG_VEL_BURST_ID        0xC3C3
/* total number of segments in burst */
#define ADIS16495_BURST_MAX_DATA                20

#define ADIS16480_REG_SERIAL_NUM                ADIS16480_REG(0x04, 0x20)

/* Each filter coefficent bank spans two pages */
#define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \
                ADIS16480_REG((page) + 1, (x) - 60 + 8))
#define ADIS16480_FIR_COEF_A(x)                 ADIS16480_FIR_COEF(0x05, (x))
#define ADIS16480_FIR_COEF_B(x)                 ADIS16480_FIR_COEF(0x07, (x))
#define ADIS16480_FIR_COEF_C(x)                 ADIS16480_FIR_COEF(0x09, (x))
#define ADIS16480_FIR_COEF_D(x)                 ADIS16480_FIR_COEF(0x0B, (x))

/* ADIS16480_REG_FNCTIO_CTRL */
#define ADIS16480_DRDY_SEL_MSK          GENMASK(1, 0)
#define ADIS16480_DRDY_SEL(x)           FIELD_PREP(ADIS16480_DRDY_SEL_MSK, x)
#define ADIS16480_DRDY_POL_MSK          BIT(2)
#define ADIS16480_DRDY_POL(x)           FIELD_PREP(ADIS16480_DRDY_POL_MSK, x)
#define ADIS16480_DRDY_EN_MSK           BIT(3)
#define ADIS16480_DRDY_EN(x)            FIELD_PREP(ADIS16480_DRDY_EN_MSK, x)
#define ADIS16480_SYNC_SEL_MSK          GENMASK(5, 4)
#define ADIS16480_SYNC_SEL(x)           FIELD_PREP(ADIS16480_SYNC_SEL_MSK, x)
#define ADIS16480_SYNC_EN_MSK           BIT(7)
#define ADIS16480_SYNC_EN(x)            FIELD_PREP(ADIS16480_SYNC_EN_MSK, x)
#define ADIS16480_SYNC_MODE_MSK         BIT(8)
#define ADIS16480_SYNC_MODE(x)          FIELD_PREP(ADIS16480_SYNC_MODE_MSK, x)

#define ADIS16545_BURST_DATA_SEL_0_CHN_MASK     GENMASK(5, 0)
#define ADIS16545_BURST_DATA_SEL_1_CHN_MASK     GENMASK(16, 11)
#define ADIS16545_BURST_DATA_SEL_MASK           BIT(8)

struct adis16480_chip_info {
        unsigned int num_channels;
        const struct iio_chan_spec *channels;
        unsigned int gyro_max_val;
        unsigned int gyro_max_scale;
        unsigned int accel_max_val;
        unsigned int accel_max_scale;
        unsigned int temp_scale;
        unsigned int deltang_max_val;
        unsigned int deltvel_max_val;
        unsigned int int_clk;
        unsigned int max_dec_rate;
        const unsigned int *filter_freqs;
        bool has_pps_clk_mode;
        bool has_sleep_cnt;
        bool has_burst_delta_data;
        const struct adis_data adis_data;
};

enum adis16480_int_pin {
        ADIS16480_PIN_DIO1,
        ADIS16480_PIN_DIO2,
        ADIS16480_PIN_DIO3,
        ADIS16480_PIN_DIO4
};

enum adis16480_clock_mode {
        ADIS16480_CLK_SYNC,
        ADIS16480_CLK_PPS,
        ADIS16480_CLK_INT
};

struct adis16480 {
        const struct adis16480_chip_info *chip_info;

        struct adis adis;
        struct clk *ext_clk;
        enum adis16480_clock_mode clk_mode;
        unsigned int clk_freq;
        u16 burst_id;
        /* Alignment needed for the timestamp */
        __be16 data[ADIS16495_BURST_MAX_DATA] __aligned(8);
};

static const char * const adis16480_int_pin_names[4] = {
        [ADIS16480_PIN_DIO1] = "DIO1",
        [ADIS16480_PIN_DIO2] = "DIO2",
        [ADIS16480_PIN_DIO3] = "DIO3",
        [ADIS16480_PIN_DIO4] = "DIO4",
};

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 PPS mode (default: N)");

static ssize_t adis16480_show_firmware_revision(struct file *file,
                char __user *userbuf, size_t count, loff_t *ppos)
{
        struct adis16480 *adis16480 = file->private_data;
        char buf[7];
        size_t len;
        u16 rev;
        int ret;

        ret = adis_read_reg_16(&adis16480->adis, ADIS16480_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 adis16480_firmware_revision_fops = {
        .open = simple_open,
        .read = adis16480_show_firmware_revision,
        .llseek = default_llseek,
        .owner = THIS_MODULE,
};

static ssize_t adis16480_show_firmware_date(struct file *file,
                char __user *userbuf, size_t count, loff_t *ppos)
{
        struct adis16480 *adis16480 = file->private_data;
        u16 md, year;
        char buf[12];
        size_t len;
        int ret;

        ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year);
        if (ret)
                return ret;

        ret = adis_read_reg_16(&adis16480->adis, ADIS16480_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 adis16480_firmware_date_fops = {
        .open = simple_open,
        .read = adis16480_show_firmware_date,
        .llseek = default_llseek,
        .owner = THIS_MODULE,
};

static int adis16480_show_serial_number(void *arg, u64 *val)
{
        struct adis16480 *adis16480 = arg;
        u16 serial;
        int ret;

        ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM,
                &serial);
        if (ret)
                return ret;

        *val = serial;

        return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16480_serial_number_fops,
        adis16480_show_serial_number, NULL, "0x%.4llx\n");

static int adis16480_show_product_id(void *arg, u64 *val)
{
        struct adis16480 *adis16480 = arg;
        u16 prod_id;
        int ret;

        ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID,
                &prod_id);
        if (ret)
                return ret;

        *val = prod_id;

        return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16480_product_id_fops,
        adis16480_show_product_id, NULL, "%llu\n");

static int adis16480_show_flash_count(void *arg, u64 *val)
{
        struct adis16480 *adis16480 = arg;
        u32 flash_count;
        int ret;

        ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT,
                &flash_count);
        if (ret)
                return ret;

        *val = flash_count;

        return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16480_flash_count_fops,
        adis16480_show_flash_count, NULL, "%lld\n");

static void adis16480_debugfs_init(struct iio_dev *indio_dev)
{
        struct adis16480 *adis16480 = iio_priv(indio_dev);
        struct dentry *d = iio_get_debugfs_dentry(indio_dev);

        if (!IS_ENABLED(CONFIG_DEBUG_FS))
                return;

        debugfs_create_file_unsafe("firmware_revision", 0400,
                d, adis16480, &adis16480_firmware_revision_fops);
        debugfs_create_file_unsafe("firmware_date", 0400,
                d, adis16480, &adis16480_firmware_date_fops);
        debugfs_create_file_unsafe("serial_number", 0400,
                d, adis16480, &adis16480_serial_number_fops);
        debugfs_create_file_unsafe("product_id", 0400,
                d, adis16480, &adis16480_product_id_fops);
        debugfs_create_file_unsafe("flash_count", 0400,
                d, adis16480, &adis16480_flash_count_fops);
}

static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
{
        struct adis16480 *st = iio_priv(indio_dev);
        unsigned int t, sample_rate = st->clk_freq;
        int ret;

        if (val < 0 || val2 < 0)
                return -EINVAL;

        t =  val * 1000 + val2 / 1000;
        if (t == 0)
                return -EINVAL;

        adis_dev_auto_lock(&st->adis);
        /*
         * When using PPS mode, the input clock needs to be scaled so that we have an IMU
         * sample rate between (optimally) 4000 and 4250. 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->clk_mode == ADIS16480_CLK_PPS) {
                unsigned long scaled_rate = lcm(st->clk_freq, t);
                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 > st->chip_info->int_clk)
                        scaled_rate = st->chip_info->int_clk / st->clk_freq * st->clk_freq;
                else
                        scaled_rate = st->chip_info->int_clk / 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 4000Hz 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 4KHz. By default, we won't allow this and we just roundup
                 * the rate to the next multiple of the input clock bigger than 4KHz. 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 < 4000000 && !low_rate_allow)
                        scaled_rate = roundup(4000000, st->clk_freq);

                sync_scale = scaled_rate / st->clk_freq;
                ret = __adis_write_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, sync_scale);
                if (ret)
                        return ret;

                sample_rate = scaled_rate;
        }

        t = DIV_ROUND_CLOSEST(sample_rate, t);
        if (t)
                t--;

        if (t > st->chip_info->max_dec_rate)
                t = st->chip_info->max_dec_rate;

        return __adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
}

static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
{
        struct adis16480 *st = iio_priv(indio_dev);
        uint16_t t;
        int ret;
        unsigned int freq, sample_rate = st->clk_freq;

        adis_dev_auto_lock(&st->adis);

        if (st->clk_mode == ADIS16480_CLK_PPS) {
                u16 sync_scale;

                ret = __adis_read_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, &sync_scale);
                if (ret)
                        return ret;

                sample_rate = st->clk_freq * sync_scale;
        }

        ret = __adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
        if (ret)
                return ret;

        freq = DIV_ROUND_CLOSEST(sample_rate, (t + 1));

        *val = freq / 1000;
        *val2 = (freq % 1000) * 1000;

        return IIO_VAL_INT_PLUS_MICRO;
}

enum {
        ADIS16480_SCAN_GYRO_X,
        ADIS16480_SCAN_GYRO_Y,
        ADIS16480_SCAN_GYRO_Z,
        ADIS16480_SCAN_ACCEL_X,
        ADIS16480_SCAN_ACCEL_Y,
        ADIS16480_SCAN_ACCEL_Z,
        ADIS16480_SCAN_MAGN_X,
        ADIS16480_SCAN_MAGN_Y,
        ADIS16480_SCAN_MAGN_Z,
        ADIS16480_SCAN_BARO,
        ADIS16480_SCAN_TEMP,
        ADIS16480_SCAN_DELTANG_X,
        ADIS16480_SCAN_DELTANG_Y,
        ADIS16480_SCAN_DELTANG_Z,
        ADIS16480_SCAN_DELTVEL_X,
        ADIS16480_SCAN_DELTVEL_Y,
        ADIS16480_SCAN_DELTVEL_Z,
};

static const unsigned int adis16480_calibbias_regs[] = {
        [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS,
        [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS,
        [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS,
        [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS,
        [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS,
        [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS,
        [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON,
        [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON,
        [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON,
        [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS,
};

static const unsigned int adis16480_calibscale_regs[] = {
        [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE,
        [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE,
        [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE,
        [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE,
        [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE,
        [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE,
};

static int adis16480_set_calibbias(struct iio_dev *indio_dev,
        const struct iio_chan_spec *chan, int bias)
{
        unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
        struct adis16480 *st = iio_priv(indio_dev);

        switch (chan->type) {
        case IIO_MAGN:
        case IIO_PRESSURE:
                if (bias < -0x8000 || bias >= 0x8000)
                        return -EINVAL;
                return adis_write_reg_16(&st->adis, reg, bias);
        case IIO_ANGL_VEL:
        case IIO_ACCEL:
                return adis_write_reg_32(&st->adis, reg, bias);
        default:
                break;
        }

        return -EINVAL;
}

static int adis16480_get_calibbias(struct iio_dev *indio_dev,
        const struct iio_chan_spec *chan, int *bias)
{
        unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
        struct adis16480 *st = iio_priv(indio_dev);
        uint16_t val16;
        uint32_t val32;
        int ret;

        switch (chan->type) {
        case IIO_MAGN:
        case IIO_PRESSURE:
                ret = adis_read_reg_16(&st->adis, reg, &val16);
                if (ret == 0)
                        *bias = sign_extend32(val16, 15);
                break;
        case IIO_ANGL_VEL:
        case IIO_ACCEL:
                ret = adis_read_reg_32(&st->adis, reg, &val32);
                if (ret == 0)
                        *bias = sign_extend32(val32, 31);
                break;
        default:
                ret = -EINVAL;
        }

        if (ret)
                return ret;

        return IIO_VAL_INT;
}

static int adis16480_set_calibscale(struct iio_dev *indio_dev,
        const struct iio_chan_spec *chan, int scale)
{
        unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
        struct adis16480 *st = iio_priv(indio_dev);

        if (scale < -0x8000 || scale >= 0x8000)
                return -EINVAL;

        return adis_write_reg_16(&st->adis, reg, scale);
}

static int adis16480_get_calibscale(struct iio_dev *indio_dev,
        const struct iio_chan_spec *chan, int *scale)
{
        unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
        struct adis16480 *st = iio_priv(indio_dev);
        uint16_t val16;
        int ret;

        ret = adis_read_reg_16(&st->adis, reg, &val16);
        if (ret)
                return ret;

        *scale = sign_extend32(val16, 15);
        return IIO_VAL_INT;
}

static const unsigned int adis16480_def_filter_freqs[] = {
        310,
        55,
        275,
        63,
};

static const unsigned int adis16495_def_filter_freqs[] = {
        300,
        100,
        300,
        100,
};

static const unsigned int ad16480_filter_data[][2] = {
        [ADIS16480_SCAN_GYRO_X]         = { ADIS16480_REG_FILTER_BNK0, 0 },
        [ADIS16480_SCAN_GYRO_Y]         = { ADIS16480_REG_FILTER_BNK0, 3 },
        [ADIS16480_SCAN_GYRO_Z]         = { ADIS16480_REG_FILTER_BNK0, 6 },
        [ADIS16480_SCAN_ACCEL_X]        = { ADIS16480_REG_FILTER_BNK0, 9 },
        [ADIS16480_SCAN_ACCEL_Y]        = { ADIS16480_REG_FILTER_BNK0, 12 },
        [ADIS16480_SCAN_ACCEL_Z]        = { ADIS16480_REG_FILTER_BNK1, 0 },
        [ADIS16480_SCAN_MAGN_X]         = { ADIS16480_REG_FILTER_BNK1, 3 },
        [ADIS16480_SCAN_MAGN_Y]         = { ADIS16480_REG_FILTER_BNK1, 6 },
        [ADIS16480_SCAN_MAGN_Z]         = { ADIS16480_REG_FILTER_BNK1, 9 },
};

static int adis16480_get_filter_freq(struct iio_dev *indio_dev,
        const struct iio_chan_spec *chan, int *freq)
{
        struct adis16480 *st = iio_priv(indio_dev);
        unsigned int enable_mask, offset, reg;
        uint16_t val;
        int ret;

        reg = ad16480_filter_data[chan->scan_index][0];
        offset = ad16480_filter_data[chan->scan_index][1];
        enable_mask = BIT(offset + 2);

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

        if (!(val & enable_mask))
                *freq = 0;
        else
                *freq = st->chip_info->filter_freqs[(val >> offset) & 0x3];

        return IIO_VAL_INT;
}

static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
        const struct iio_chan_spec *chan, unsigned int freq)
{
        struct adis16480 *st = iio_priv(indio_dev);
        unsigned int enable_mask, offset, reg;
        unsigned int diff, best_diff;
        unsigned int i, best_freq;
        uint16_t val;
        int ret;

        reg = ad16480_filter_data[chan->scan_index][0];
        offset = ad16480_filter_data[chan->scan_index][1];
        enable_mask = BIT(offset + 2);

        adis_dev_auto_lock(&st->adis);

        ret = __adis_read_reg_16(&st->adis, reg, &val);
        if (ret)
                return ret;

        if (freq == 0) {
                val &= ~enable_mask;
        } else {
                best_freq = 0;
                best_diff = st->chip_info->filter_freqs[0];
                for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) {
                        if (st->chip_info->filter_freqs[i] >= freq) {
                                diff = st->chip_info->filter_freqs[i] - freq;
                                if (diff < best_diff) {
                                        best_diff = diff;
                                        best_freq = i;
                                }
                        }
                }

                val &= ~(0x3 << offset);
                val |= best_freq << offset;
                val |= enable_mask;
        }

        return __adis_write_reg_16(&st->adis, reg, val);
}

static int adis16480_read_raw(struct iio_dev *indio_dev,
        const struct iio_chan_spec *chan, int *val, int *val2, long info)
{
        struct adis16480 *st = iio_priv(indio_dev);
        unsigned int temp;

        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->chip_info->gyro_max_scale;
                        *val2 = st->chip_info->gyro_max_val;
                        return IIO_VAL_FRACTIONAL;
                case IIO_ACCEL:
                        *val = st->chip_info->accel_max_scale;
                        *val2 = st->chip_info->accel_max_val;
                        return IIO_VAL_FRACTIONAL;
                case IIO_MAGN:
                        *val = 0;
                        *val2 = 100; /* 0.0001 gauss */
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_TEMP:
                        /*
                         * +85 degrees Celsius = temp_max_scale
                         * +25 degrees Celsius = 0
                         * LSB, 25 degrees Celsius  = 60 / temp_max_scale
                         */
                        *val = st->chip_info->temp_scale / 1000;
                        *val2 = (st->chip_info->temp_scale % 1000) * 1000;
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_PRESSURE:
                        /*
                         * max scale is 1310 mbar
                         * max raw value is 32767 shifted for 32bits
                         */
                        *val = 131; /* 1310mbar = 131 kPa */
                        *val2 = 32767 << 16;
                        return IIO_VAL_FRACTIONAL;
                case IIO_DELTA_ANGL:
                        *val = st->chip_info->deltang_max_val;
                        *val2 = 31;
                        return IIO_VAL_FRACTIONAL_LOG2;
                case IIO_DELTA_VELOCITY:
                        *val = st->chip_info->deltvel_max_val;
                        *val2 = 31;
                        return IIO_VAL_FRACTIONAL_LOG2;
                default:
                        return -EINVAL;
                }
        case IIO_CHAN_INFO_OFFSET:
                /* Only the temperature channel has a offset */
                temp = 25 * 1000000LL; /* 25 degree Celsius = 0x0000 */
                *val = DIV_ROUND_CLOSEST_ULL(temp, st->chip_info->temp_scale);
                return IIO_VAL_INT;
        case IIO_CHAN_INFO_CALIBBIAS:
                return adis16480_get_calibbias(indio_dev, chan, val);
        case IIO_CHAN_INFO_CALIBSCALE:
                return adis16480_get_calibscale(indio_dev, chan, val);
        case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
                return adis16480_get_filter_freq(indio_dev, chan, val);
        case IIO_CHAN_INFO_SAMP_FREQ:
                return adis16480_get_freq(indio_dev, val, val2);
        default:
                return -EINVAL;
        }
}

static int adis16480_write_raw(struct iio_dev *indio_dev,
        const struct iio_chan_spec *chan, int val, int val2, long info)
{
        switch (info) {
        case IIO_CHAN_INFO_CALIBBIAS:
                return adis16480_set_calibbias(indio_dev, chan, val);
        case IIO_CHAN_INFO_CALIBSCALE:
                return adis16480_set_calibscale(indio_dev, chan, val);
        case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
                return adis16480_set_filter_freq(indio_dev, chan, val);
        case IIO_CHAN_INFO_SAMP_FREQ:
                return adis16480_set_freq(indio_dev, val, val2);

        default:
                return -EINVAL;
        }
}

#define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \
        { \
                .type = (_type), \
                .modified = 1, \
                .channel2 = (_mod), \
                .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
                        BIT(IIO_CHAN_INFO_CALIBBIAS) | \
                        _info_sep, \
                .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
                .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
                .address = (_address), \
                .scan_index = (_si), \
                .scan_type = { \
                        .sign = 's', \
                        .realbits = (_bits), \
                        .storagebits = (_bits), \
                        .endianness = IIO_BE, \
                }, \
        }

#define ADIS16480_GYRO_CHANNEL(_mod) \
        ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
        ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \
        BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
        BIT(IIO_CHAN_INFO_CALIBSCALE), \
        32)

#define ADIS16480_ACCEL_CHANNEL(_mod) \
        ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
        ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \
        BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
        BIT(IIO_CHAN_INFO_CALIBSCALE), \
        32)

#define ADIS16480_DELTANG_CHANNEL(_mod) \
        ADIS16480_MOD_CHANNEL(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
        ADIS16480_REG_ ## _mod ## _DELTAANG_OUT, ADIS16480_SCAN_DELTANG_ ## _mod, \
        0, 32)

#define ADIS16480_DELTANG_CHANNEL_NO_SCAN(_mod) \
        ADIS16480_MOD_CHANNEL(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
        ADIS16480_REG_ ## _mod ## _DELTAANG_OUT, -1, 0, 32)

#define ADIS16480_DELTVEL_CHANNEL(_mod) \
        ADIS16480_MOD_CHANNEL(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
        ADIS16480_REG_ ## _mod ## _DELTAVEL_OUT, ADIS16480_SCAN_DELTVEL_ ## _mod, \
        0, 32)

#define ADIS16480_DELTVEL_CHANNEL_NO_SCAN(_mod) \
        ADIS16480_MOD_CHANNEL(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
        ADIS16480_REG_ ## _mod ## _DELTAVEL_OUT, -1, 0, 32)

#define ADIS16480_MAGN_CHANNEL(_mod) \
        ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
        ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
        BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
        16)

#define ADIS16480_PRESSURE_CHANNEL() \
        { \
                .type = IIO_PRESSURE, \
                .indexed = 1, \
                .channel = 0, \
                .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
                        BIT(IIO_CHAN_INFO_CALIBBIAS) | \
                        BIT(IIO_CHAN_INFO_SCALE), \
                .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
                .address = ADIS16480_REG_BAROM_OUT, \
                .scan_index = ADIS16480_SCAN_BARO, \
                .scan_type = { \
                        .sign = 's', \
                        .realbits = 32, \
                        .storagebits = 32, \
                        .endianness = IIO_BE, \
                }, \
        }

#define ADIS16480_TEMP_CHANNEL() { \
                .type = IIO_TEMP, \
                .indexed = 1, \
                .channel = 0, \
                .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
                        BIT(IIO_CHAN_INFO_SCALE) | \
                        BIT(IIO_CHAN_INFO_OFFSET), \
                .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
                .address = ADIS16480_REG_TEMP_OUT, \
                .scan_index = ADIS16480_SCAN_TEMP, \
                .scan_type = { \
                        .sign = 's', \
                        .realbits = 16, \
                        .storagebits = 16, \
                        .endianness = IIO_BE, \
                }, \
        }

static const struct iio_chan_spec adis16480_channels[] = {
        ADIS16480_GYRO_CHANNEL(X),
        ADIS16480_GYRO_CHANNEL(Y),
        ADIS16480_GYRO_CHANNEL(Z),
        ADIS16480_ACCEL_CHANNEL(X),
        ADIS16480_ACCEL_CHANNEL(Y),
        ADIS16480_ACCEL_CHANNEL(Z),
        ADIS16480_MAGN_CHANNEL(X),
        ADIS16480_MAGN_CHANNEL(Y),
        ADIS16480_MAGN_CHANNEL(Z),
        ADIS16480_PRESSURE_CHANNEL(),
        ADIS16480_TEMP_CHANNEL(),
        IIO_CHAN_SOFT_TIMESTAMP(11),
        ADIS16480_DELTANG_CHANNEL_NO_SCAN(X),
        ADIS16480_DELTANG_CHANNEL_NO_SCAN(Y),
        ADIS16480_DELTANG_CHANNEL_NO_SCAN(Z),
        ADIS16480_DELTVEL_CHANNEL_NO_SCAN(X),
        ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Y),
        ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Z),
};

static const struct iio_chan_spec adis16485_channels[] = {
        ADIS16480_GYRO_CHANNEL(X),
        ADIS16480_GYRO_CHANNEL(Y),
        ADIS16480_GYRO_CHANNEL(Z),
        ADIS16480_ACCEL_CHANNEL(X),
        ADIS16480_ACCEL_CHANNEL(Y),
        ADIS16480_ACCEL_CHANNEL(Z),
        ADIS16480_TEMP_CHANNEL(),
        IIO_CHAN_SOFT_TIMESTAMP(7),
        ADIS16480_DELTANG_CHANNEL_NO_SCAN(X),
        ADIS16480_DELTANG_CHANNEL_NO_SCAN(Y),
        ADIS16480_DELTANG_CHANNEL_NO_SCAN(Z),
        ADIS16480_DELTVEL_CHANNEL_NO_SCAN(X),
        ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Y),
        ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Z),
};

static const struct iio_chan_spec adis16545_channels[] = {
        ADIS16480_GYRO_CHANNEL(X),
        ADIS16480_GYRO_CHANNEL(Y),
        ADIS16480_GYRO_CHANNEL(Z),
        ADIS16480_ACCEL_CHANNEL(X),
        ADIS16480_ACCEL_CHANNEL(Y),
        ADIS16480_ACCEL_CHANNEL(Z),
        ADIS16480_TEMP_CHANNEL(),
        ADIS16480_DELTANG_CHANNEL(X),
        ADIS16480_DELTANG_CHANNEL(Y),
        ADIS16480_DELTANG_CHANNEL(Z),
        ADIS16480_DELTVEL_CHANNEL(X),
        ADIS16480_DELTVEL_CHANNEL(Y),
        ADIS16480_DELTVEL_CHANNEL(Z),
        IIO_CHAN_SOFT_TIMESTAMP(17),
};

static const struct iio_chan_spec adis16489_channels[] = {
        ADIS16480_GYRO_CHANNEL(X),
        ADIS16480_GYRO_CHANNEL(Y),
        ADIS16480_GYRO_CHANNEL(Z),
        ADIS16480_ACCEL_CHANNEL(X),
        ADIS16480_ACCEL_CHANNEL(Y),
        ADIS16480_ACCEL_CHANNEL(Z),
        ADIS16480_PRESSURE_CHANNEL(),
        ADIS16480_TEMP_CHANNEL(),
        IIO_CHAN_SOFT_TIMESTAMP(8),
        ADIS16480_DELTANG_CHANNEL_NO_SCAN(X),
        ADIS16480_DELTANG_CHANNEL_NO_SCAN(Y),
        ADIS16480_DELTANG_CHANNEL_NO_SCAN(Z),
        ADIS16480_DELTVEL_CHANNEL_NO_SCAN(X),
        ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Y),
        ADIS16480_DELTVEL_CHANNEL_NO_SCAN(Z),
};

enum adis16480_variant {
        ADIS16375,
        ADIS16480,
        ADIS16485,
        ADIS16486,
        ADIS16487,
        ADIS16488,
        ADIS16489,
        ADIS16490,
        ADIS16495_1,
        ADIS16495_2,
        ADIS16495_3,
        ADIS16497_1,
        ADIS16497_2,
        ADIS16497_3,
        ADIS16545_1,
        ADIS16545_2,
        ADIS16545_3,
        ADIS16547_1,
        ADIS16547_2,
        ADIS16547_3
};

#define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
#define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
#define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
#define ADIS16480_DIAG_STAT_XACCL_FAIL 3
#define ADIS16480_DIAG_STAT_YACCL_FAIL 4
#define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
#define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
#define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
#define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
#define ADIS16480_DIAG_STAT_BARO_FAIL 11

static const char * const adis16480_status_error_msgs[] = {
        [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
        [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
        [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
        [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
        [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
        [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
        [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
        [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
        [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
        [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
};

static int adis16480_enable_irq(struct adis *adis, bool enable);

#define ADIS16480_DATA(_prod_id, _timeouts, _burst_len, _burst_max_speed)       \
{                                                                               \
        .diag_stat_reg = ADIS16480_REG_DIAG_STS,                                \
        .glob_cmd_reg = ADIS16480_REG_GLOB_CMD,                                 \
        .prod_id_reg = ADIS16480_REG_PROD_ID,                                   \
        .prod_id = (_prod_id),                                                  \
        .has_paging = true,                                                     \
        .read_delay = 5,                                                        \
        .write_delay = 5,                                                       \
        .self_test_mask = BIT(1),                                               \
        .self_test_reg = ADIS16480_REG_GLOB_CMD,                                \
        .status_error_msgs = adis16480_status_error_msgs,                       \
        .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) |              \
                BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) |                           \
                BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) |                           \
                BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) |                           \
                BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) |                           \
                BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) |                           \
                BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) |                           \
                BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) |                           \
                BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) |                           \
                BIT(ADIS16480_DIAG_STAT_BARO_FAIL),                             \
        .enable_irq = adis16480_enable_irq,                                     \
        .timeouts = (_timeouts),                                                \
        .burst_reg_cmd = ADIS16495_REG_BURST_CMD,                               \
        .burst_len = (_burst_len),                                              \
        .burst_max_speed_hz = _burst_max_speed                                  \
}

static const struct adis_timeout adis16485_timeouts = {
        .reset_ms = 560,
        .sw_reset_ms = 120,
        .self_test_ms = 12,
};

static const struct adis_timeout adis16480_timeouts = {
        .reset_ms = 560,
        .sw_reset_ms = 560,
        .self_test_ms = 12,
};

static const struct adis_timeout adis16495_timeouts = {
        .reset_ms = 170,
        .sw_reset_ms = 130,
        .self_test_ms = 40,
};

static const struct adis_timeout adis16495_1_timeouts = {
        .reset_ms = 250,
        .sw_reset_ms = 210,
        .self_test_ms = 20,
};

static const struct adis_timeout adis16545_timeouts = {
        .reset_ms = 315,
        .sw_reset_ms = 270,
        .self_test_ms = 35,
};

static const struct adis16480_chip_info adis16480_chip_info[] = {
        [ADIS16375] = {
                .channels = adis16485_channels,
                .num_channels = ARRAY_SIZE(adis16485_channels),
                /*
                 * Typically we do IIO_RAD_TO_DEGREE in the denominator, which
                 * is exactly the same as IIO_DEGREE_TO_RAD in numerator, since
                 * it gives better approximation. However, in this case we
                 * cannot do it since it would not fit in a 32bit variable.
                 */
                .gyro_max_val = 22887 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(300),
                .accel_max_val = IIO_M_S_2_TO_G(21973 << 16),
                .accel_max_scale = 18,
                .temp_scale = 5650, /* 5.65 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(180),
                .deltvel_max_val = 100,
                .int_clk = 2460000,
                .max_dec_rate = 2048,
                .has_sleep_cnt = true,
                .filter_freqs = adis16480_def_filter_freqs,
                .adis_data = ADIS16480_DATA(16375, &adis16485_timeouts, 0, 0),
        },
        [ADIS16480] = {
                .channels = adis16480_channels,
                .num_channels = ARRAY_SIZE(adis16480_channels),
                .gyro_max_val = 22500 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
                .accel_max_val = IIO_M_S_2_TO_G(12500 << 16),
                .accel_max_scale = 10,
                .temp_scale = 5650, /* 5.65 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(720),
                .deltvel_max_val = 200,
                .int_clk = 2460000,
                .max_dec_rate = 2048,
                .has_sleep_cnt = true,
                .filter_freqs = adis16480_def_filter_freqs,
                .adis_data = ADIS16480_DATA(16480, &adis16480_timeouts, 0, 0),
        },
        [ADIS16485] = {
                .channels = adis16485_channels,
                .num_channels = ARRAY_SIZE(adis16485_channels),
                .gyro_max_val = 22500 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
                .accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
                .accel_max_scale = 5,
                .temp_scale = 5650, /* 5.65 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(720),
                .deltvel_max_val = 50,
                .int_clk = 2460000,
                .max_dec_rate = 2048,
                .has_sleep_cnt = true,
                .filter_freqs = adis16480_def_filter_freqs,
                .adis_data = ADIS16480_DATA(16485, &adis16485_timeouts, 0, 0),
        },
        [ADIS16486] = {
                .channels = adis16485_channels,
                .num_channels = ARRAY_SIZE(adis16485_channels),
                .gyro_max_val = 22500 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
                .accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
                .accel_max_scale = 18,
                .temp_scale = 5650, /* 5.65 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(720),
                .deltvel_max_val = 200,
                .int_clk = 2460000,
                .max_dec_rate = 2048,
                .has_sleep_cnt = true,
                .filter_freqs = adis16480_def_filter_freqs,
                .adis_data = ADIS16480_DATA(16486, &adis16480_timeouts, 0, 0),
        },
        [ADIS16487] = {
                .channels = adis16485_channels,
                .num_channels = ARRAY_SIZE(adis16485_channels),
                .gyro_max_val = 22500 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
                .accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
                .accel_max_scale = 5,
                .temp_scale = 5650, /* 5.65 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(720),
                .deltvel_max_val = 50,
                .int_clk = 2460000,
                .max_dec_rate = 2048,
                .has_sleep_cnt = true,
                .filter_freqs = adis16480_def_filter_freqs,
                .adis_data = ADIS16480_DATA(16487, &adis16485_timeouts, 0, 0),
        },
        [ADIS16488] = {
                .channels = adis16480_channels,
                .num_channels = ARRAY_SIZE(adis16480_channels),
                .gyro_max_val = 22500 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
                .accel_max_val = IIO_M_S_2_TO_G(22500 << 16),
                .accel_max_scale = 18,
                .temp_scale = 5650, /* 5.65 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(720),
                .deltvel_max_val = 200,
                .int_clk = 2460000,
                .max_dec_rate = 2048,
                .has_sleep_cnt = true,
                .filter_freqs = adis16480_def_filter_freqs,
                .adis_data = ADIS16480_DATA(16488, &adis16485_timeouts, 0, 0),
        },
        [ADIS16489] = {
                .channels = adis16489_channels,
                .num_channels = ARRAY_SIZE(adis16489_channels),
                .gyro_max_val = 22500 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
                .accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
                .accel_max_scale = 18,
                .temp_scale = 5650, /* 5.65 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(720),
                .deltvel_max_val = 200,
                .int_clk = 2460000,
                .max_dec_rate = 2048,
                .has_sleep_cnt = true,
                .filter_freqs = adis16480_def_filter_freqs,
                .adis_data = ADIS16480_DATA(16489, &adis16480_timeouts, 0, 0),
        },
        [ADIS16490] = {
                .channels = adis16485_channels,
                .num_channels = ARRAY_SIZE(adis16485_channels),
                .gyro_max_val = 20000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(100),
                .accel_max_val = IIO_M_S_2_TO_G(16000 << 16),
                .accel_max_scale = 8,
                .temp_scale = 14285, /* 14.285 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(720),
                .deltvel_max_val = 200,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                .adis_data = ADIS16480_DATA(16490, &adis16495_timeouts, 0, 0),
        },
        [ADIS16495_1] = {
                .channels = adis16485_channels,
                .num_channels = ARRAY_SIZE(adis16485_channels),
                .gyro_max_val = 20000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(125),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 8,
                .temp_scale = 12500, /* 12.5 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(360),
                .deltvel_max_val = 100,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6000000),
        },
        [ADIS16495_2] = {
                .channels = adis16485_channels,
                .num_channels = ARRAY_SIZE(adis16485_channels),
                .gyro_max_val = 18000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 8,
                .temp_scale = 12500, /* 12.5 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(720),
                .deltvel_max_val = 100,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6000000),
        },
        [ADIS16495_3] = {
                .channels = adis16485_channels,
                .num_channels = ARRAY_SIZE(adis16485_channels),
                .gyro_max_val = 20000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(2000),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 8,
                .temp_scale = 12500, /* 12.5 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(2160),
                .deltvel_max_val = 100,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6000000),
        },
        [ADIS16497_1] = {
                .channels = adis16485_channels,
                .num_channels = ARRAY_SIZE(adis16485_channels),
                .gyro_max_val = 20000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(125),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 40,
                .temp_scale = 12500, /* 12.5 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(360),
                .deltvel_max_val = 400,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6000000),
        },
        [ADIS16497_2] = {
                .channels = adis16485_channels,
                .num_channels = ARRAY_SIZE(adis16485_channels),
                .gyro_max_val = 18000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 40,
                .temp_scale = 12500, /* 12.5 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(720),
                .deltvel_max_val = 400,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6000000),
        },
        [ADIS16497_3] = {
                .channels = adis16485_channels,
                .num_channels = ARRAY_SIZE(adis16485_channels),
                .gyro_max_val = 20000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(2000),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 40,
                .temp_scale = 12500, /* 12.5 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(2160),
                .deltvel_max_val = 400,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6000000),
        },
        [ADIS16545_1] = {
                .channels = adis16545_channels,
                .num_channels = ARRAY_SIZE(adis16545_channels),
                .gyro_max_val = 20000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(125),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 8,
                .temp_scale = 7000, /* 7 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(360),
                .deltvel_max_val = 100,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                .has_burst_delta_data = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16545, &adis16545_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6500000),
        },
        [ADIS16545_2] = {
                .channels = adis16545_channels,
                .num_channels = ARRAY_SIZE(adis16545_channels),
                .gyro_max_val = 18000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 8,
                .temp_scale = 7000, /* 7 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(720),
                .deltvel_max_val = 100,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                .has_burst_delta_data = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16545, &adis16545_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6500000),
        },
        [ADIS16545_3] = {
                .channels = adis16545_channels,
                .num_channels = ARRAY_SIZE(adis16545_channels),
                .gyro_max_val = 20000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(2000),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 8,
                .temp_scale = 7000, /* 7 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(2160),
                .deltvel_max_val = 100,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                .has_burst_delta_data = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16545, &adis16545_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6500000),
        },
        [ADIS16547_1] = {
                .channels = adis16545_channels,
                .num_channels = ARRAY_SIZE(adis16545_channels),
                .gyro_max_val = 20000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(125),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 40,
                .temp_scale = 7000, /* 7 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(360),
                .deltvel_max_val = 400,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                .has_burst_delta_data = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16547, &adis16545_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6500000),
        },
        [ADIS16547_2] = {
                .channels = adis16545_channels,
                .num_channels = ARRAY_SIZE(adis16545_channels),
                .gyro_max_val = 18000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 40,
                .temp_scale = 7000, /* 7 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(720),
                .deltvel_max_val = 400,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                .has_burst_delta_data = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16547, &adis16545_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6500000),
        },
        [ADIS16547_3] = {
                .channels = adis16545_channels,
                .num_channels = ARRAY_SIZE(adis16545_channels),
                .gyro_max_val = 20000 << 16,
                .gyro_max_scale = IIO_DEGREE_TO_RAD(2000),
                .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
                .accel_max_scale = 40,
                .temp_scale = 7000, /* 7 milli degree Celsius */
                .deltang_max_val = IIO_DEGREE_TO_RAD(2160),
                .deltvel_max_val = 400,
                .int_clk = 4250000,
                .max_dec_rate = 4250,
                .filter_freqs = adis16495_def_filter_freqs,
                .has_pps_clk_mode = true,
                .has_burst_delta_data = true,
                /* 20 elements of 16bits */
                .adis_data = ADIS16480_DATA(16547, &adis16545_timeouts,
                                            ADIS16495_BURST_MAX_DATA * 2,
                                            6500000),
        },
};

static bool adis16480_validate_crc(const u16 *buf, const u8 n_elem, const u32 crc)
{
        u32 crc_calc;
        u16 crc_buf[15];
        int j;

        for (j = 0; j < n_elem; j++)
                crc_buf[j] = swab16(buf[j]);

        crc_calc = crc32(~0, crc_buf, n_elem * 2);
        crc_calc ^= ~0;

        return (crc == crc_calc);
}

static irqreturn_t adis16480_trigger_handler(int irq, void *p)
{
        struct iio_poll_func *pf = p;
        struct iio_dev *indio_dev = pf->indio_dev;
        struct adis16480 *st = iio_priv(indio_dev);
        struct adis *adis = &st->adis;
        struct device *dev = &adis->spi->dev;
        int ret, bit, offset, i = 0, buff_offset = 0;
        __be16 *buffer;
        u32 crc;
        bool valid;

        adis_dev_auto_scoped_lock(adis) {
                if (adis->current_page != 0) {
                        adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
                        adis->tx[1] = 0;
                        ret = spi_write(adis->spi, adis->tx, 2);
                        if (ret) {
                                dev_err(dev, "Failed to change device page: %d\n", ret);
                                goto irq_done;
                        }

                        adis->current_page = 0;
                }

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

        /*
         * After making the burst request, the response can have one or two
         * 16-bit responses containing the BURST_ID depending on the sclk. If
         * clk > 3.6MHz, then we will have two BURST_ID in a row. If clk < 3MHZ,
         * we have only one. To manage that variation, we use the transition from the
         * BURST_ID to the SYS_E_FLAG register, which will not be equal to 0xA5A5/0xC3C3.
         * If we not find this variation in the first 4 segments, then the data should
         * not be valid.
         */
        buffer = adis->buffer;
        for (offset = 0; offset < 4; offset++) {
                u16 curr = be16_to_cpu(buffer[offset]);
                u16 next = be16_to_cpu(buffer[offset + 1]);

                if (curr == st->burst_id && next != st->burst_id) {
                        offset++;
                        break;
                }
        }

        if (offset == 4) {
                dev_err(dev, "Invalid burst data\n");
                goto irq_done;
        }

        crc = be16_to_cpu(buffer[offset + 16]) << 16 | be16_to_cpu(buffer[offset + 15]);
        valid = adis16480_validate_crc((u16 *)&buffer[offset], 15, crc);
        if (!valid) {
                dev_err(dev, "Invalid crc\n");
                goto irq_done;
        }

        iio_for_each_active_channel(indio_dev, bit) {
                /*
                 * When burst mode is used, temperature is the first data
                 * channel in the sequence, but the temperature scan index
                 * is 10.
                 */
                switch (bit) {
                case ADIS16480_SCAN_TEMP:
                        st->data[i++] = buffer[offset + 1];
                        /*
                         * 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 are added
                         * in the buffer after the temprature data. In case
                         * there is no data being added after the temperature
                         * data, the padding is harmless.
                         */
                        st->data[i++] = 0;
                        break;
                case ADIS16480_SCAN_DELTANG_X ... ADIS16480_SCAN_DELTVEL_Z:
                        buff_offset = ADIS16480_SCAN_DELTANG_X;
                        fallthrough;
                case ADIS16480_SCAN_GYRO_X ... ADIS16480_SCAN_ACCEL_Z:
                        /* The lower register data is sequenced first */
                        st->data[i++] = buffer[2 * (bit - buff_offset) + offset + 3];
                        st->data[i++] = buffer[2 * (bit - buff_offset) + offset + 2];
                        break;
                }
        }

        iio_push_to_buffers_with_timestamp(indio_dev, st->data, pf->timestamp);
irq_done:
        iio_trigger_notify_done(indio_dev->trig);

        return IRQ_HANDLED;
}

static const unsigned long adis16545_channel_masks[] = {
        ADIS16545_BURST_DATA_SEL_0_CHN_MASK | BIT(ADIS16480_SCAN_TEMP) | BIT(17),
        ADIS16545_BURST_DATA_SEL_1_CHN_MASK | BIT(ADIS16480_SCAN_TEMP) | BIT(17),
        0,
};

static int adis16480_update_scan_mode(struct iio_dev *indio_dev,
                                      const unsigned long *scan_mask)
{
        u16 en;
        int ret;
        struct adis16480 *st = iio_priv(indio_dev);

        if (st->chip_info->has_burst_delta_data) {
                if (*scan_mask & ADIS16545_BURST_DATA_SEL_0_CHN_MASK) {
                        en = FIELD_PREP(ADIS16545_BURST_DATA_SEL_MASK, 0);
                        st->burst_id = ADIS16495_GYRO_ACCEL_BURST_ID;
                } else {
                        en = FIELD_PREP(ADIS16545_BURST_DATA_SEL_MASK, 1);
                        st->burst_id = ADIS16545_DELTA_ANG_VEL_BURST_ID;
                }

                ret = __adis_update_bits(&st->adis, ADIS16480_REG_CONFIG,
                                         ADIS16545_BURST_DATA_SEL_MASK, en);
                if (ret)
                        return ret;
        }

        return adis_update_scan_mode(indio_dev, scan_mask);
}

static const struct iio_info adis16480_info = {
        .read_raw = &adis16480_read_raw,
        .write_raw = &adis16480_write_raw,
        .update_scan_mode = &adis16480_update_scan_mode,
        .debugfs_reg_access = adis_debugfs_reg_access,
};

static int adis16480_stop_device(struct iio_dev *indio_dev)
{
        struct adis16480 *st = iio_priv(indio_dev);
        struct device *dev = &st->adis.spi->dev;
        int ret;

        ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9));
        if (ret)
                dev_err(dev, "Could not power down device: %d\n", ret);

        return ret;
}

static int adis16480_enable_irq(struct adis *adis, bool enable)
{
        uint16_t val;
        int ret;

        ret = __adis_read_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, &val);
        if (ret)
                return ret;

        val &= ~ADIS16480_DRDY_EN_MSK;
        val |= ADIS16480_DRDY_EN(enable);

        return __adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, val);
}

static int adis16480_config_irq_pin(struct adis16480 *st)
{
        struct device *dev = &st->adis.spi->dev;
        struct fwnode_handle *fwnode = dev_fwnode(dev);
        enum adis16480_int_pin pin;
        unsigned int irq_type;
        uint16_t val;
        int i, irq = 0;

        /* Disable data ready since the default after reset is on */
        val = ADIS16480_DRDY_EN(0);

        /*
         * Get the interrupt from the devicetre by reading the interrupt-names
         * property. If it is not specified, use DIO1 pin as default.
         * According to the datasheet, the factory default assigns DIO2 as data
         * ready signal. However, in the previous versions of the driver, DIO1
         * pin was used. So, we should leave it as is since some devices might
         * be expecting the interrupt on the wrong physical pin.
         */
        pin = ADIS16480_PIN_DIO1;
        for (i = 0; i < ARRAY_SIZE(adis16480_int_pin_names); i++) {
                irq = fwnode_irq_get_byname(fwnode, adis16480_int_pin_names[i]);
                if (irq > 0) {
                        pin = i;
                        break;
                }
        }

        val |= ADIS16480_DRDY_SEL(pin);

        /*
         * Get the interrupt line behaviour. The data ready polarity can be
         * configured as positive or negative, corresponding to
         * IRQ_TYPE_EDGE_RISING or IRQ_TYPE_EDGE_FALLING respectively.
         */
        irq_type = irq_get_trigger_type(st->adis.spi->irq);
        if (irq_type == IRQ_TYPE_EDGE_RISING) { /* Default */
                val |= ADIS16480_DRDY_POL(1);
        } else if (irq_type == IRQ_TYPE_EDGE_FALLING) {
                val |= ADIS16480_DRDY_POL(0);
        } else {
                dev_err(dev, "Invalid interrupt type 0x%x specified\n", irq_type);
                return -EINVAL;
        }
        /* Write the data ready configuration to the FNCTIO_CTRL register */
        return adis_write_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, val);
}

static int adis16480_fw_get_ext_clk_pin(struct adis16480 *st)
{
        struct device *dev = &st->adis.spi->dev;
        const char *ext_clk_pin;
        enum adis16480_int_pin pin;
        int i;

        pin = ADIS16480_PIN_DIO2;
        if (device_property_read_string(dev, "adi,ext-clk-pin", &ext_clk_pin))
                goto clk_input_not_found;

        for (i = 0; i < ARRAY_SIZE(adis16480_int_pin_names); i++) {
                if (strcasecmp(ext_clk_pin, adis16480_int_pin_names[i]) == 0)
                        return i;
        }

clk_input_not_found:
        dev_info(dev, "clk input line not specified, using DIO2\n");
        return pin;
}

static int adis16480_ext_clk_config(struct adis16480 *st, bool enable)
{
        struct device *dev = &st->adis.spi->dev;
        unsigned int mode, mask;
        enum adis16480_int_pin pin;
        uint16_t val;
        int ret;

        ret = adis_read_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, &val);
        if (ret)
                return ret;

        pin = adis16480_fw_get_ext_clk_pin(st);
        /*
         * Each DIOx pin supports only one function at a time. When a single pin
         * has two assignments, the enable bit for a lower priority function
         * automatically resets to zero (disabling the lower priority function).
         */
        if (pin == ADIS16480_DRDY_SEL(val))
                dev_warn(dev, "DIO%x pin supports only one function at a time\n", pin + 1);

        mode = ADIS16480_SYNC_EN(enable) | ADIS16480_SYNC_SEL(pin);
        mask = ADIS16480_SYNC_EN_MSK | ADIS16480_SYNC_SEL_MSK;
        /* Only ADIS1649x devices support pps ext clock mode */
        if (st->chip_info->has_pps_clk_mode) {
                mode |= ADIS16480_SYNC_MODE(st->clk_mode);
                mask |= ADIS16480_SYNC_MODE_MSK;
        }

        val &= ~mask;
        val |= mode;

        ret = adis_write_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, val);
        if (ret)
                return ret;

        return clk_prepare_enable(st->ext_clk);
}

static int adis16480_get_ext_clocks(struct adis16480 *st)
{
        struct device *dev = &st->adis.spi->dev;

        st->ext_clk = devm_clk_get_optional(dev, "sync");
        if (IS_ERR(st->ext_clk))
                return dev_err_probe(dev, PTR_ERR(st->ext_clk), "failed to get ext clk\n");
        if (st->ext_clk) {
                st->clk_mode = ADIS16480_CLK_SYNC;
                return 0;
        }

        if (st->chip_info->has_pps_clk_mode) {
                st->ext_clk = devm_clk_get_optional(dev, "pps");
                if (IS_ERR(st->ext_clk))
                        return dev_err_probe(dev, PTR_ERR(st->ext_clk), "failed to get ext clk\n");
                if (st->ext_clk) {
                        st->clk_mode = ADIS16480_CLK_PPS;
                        return 0;
                }
        }

        st->clk_mode = ADIS16480_CLK_INT;
        return 0;
}

static void adis16480_stop(void *data)
{
        adis16480_stop_device(data);
}

static void adis16480_clk_disable(void *data)
{
        clk_disable_unprepare(data);
}

static int adis16480_probe(struct spi_device *spi)
{
        const struct spi_device_id *id = spi_get_device_id(spi);
        const struct adis_data *adis16480_data;
        irq_handler_t trigger_handler = NULL;
        struct device *dev = &spi->dev;
        struct iio_dev *indio_dev;
        struct adis16480 *st;
        int ret;

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

        st = iio_priv(indio_dev);

        st->chip_info = &adis16480_chip_info[id->driver_data];
        indio_dev->name = spi_get_device_id(spi)->name;
        indio_dev->channels = st->chip_info->channels;
        indio_dev->num_channels = st->chip_info->num_channels;
        if (st->chip_info->has_burst_delta_data)
                indio_dev->available_scan_masks = adis16545_channel_masks;
        indio_dev->info = &adis16480_info;
        indio_dev->modes = INDIO_DIRECT_MODE;

        adis16480_data = &st->chip_info->adis_data;

        ret = adis_init(&st->adis, indio_dev, spi, adis16480_data);
        if (ret)
                return ret;

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

        /*
         * By default, use burst id for gyroscope and accelerometer data.
         * This is the only option for devices which do not offer delta angle
         * and delta velocity burst readings.
         */
        st->burst_id = ADIS16495_GYRO_ACCEL_BURST_ID;

        if (st->chip_info->has_sleep_cnt) {
                ret = devm_add_action_or_reset(dev, adis16480_stop, indio_dev);
                if (ret)
                        return ret;
        }

        ret = adis16480_config_irq_pin(st);
        if (ret)
                return ret;

        ret = adis16480_get_ext_clocks(st);
        if (ret)
                return ret;

        if (st->ext_clk) {
                ret = adis16480_ext_clk_config(st, true);
                if (ret)
                        return ret;

                ret = devm_add_action_or_reset(dev, adis16480_clk_disable, st->ext_clk);
                if (ret)
                        return ret;

                st->clk_freq = clk_get_rate(st->ext_clk);
                st->clk_freq *= 1000; /* micro */
                if (st->clk_mode == ADIS16480_CLK_PPS) {
                        u16 sync_scale;

                        /*
                         * In PPS 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. The internal sample rate is the
                         * max...
                         */
                        sync_scale = st->chip_info->int_clk / st->clk_freq;
                        ret = __adis_write_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, sync_scale);
                        if (ret)
                                return ret;
                }
        } else {
                st->clk_freq = st->chip_info->int_clk;
        }

        /* Only use our trigger handler if burst mode is supported */
        if (adis16480_data->burst_len)
                trigger_handler = adis16480_trigger_handler;

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

        ret = devm_iio_device_register(dev, indio_dev);
        if (ret)
                return ret;

        adis16480_debugfs_init(indio_dev);

        return 0;
}

static const struct spi_device_id adis16480_ids[] = {
        { "adis16375", ADIS16375 },
        { "adis16480", ADIS16480 },
        { "adis16485", ADIS16485 },
        { "adis16486", ADIS16486 },
        { "adis16487", ADIS16487 },
        { "adis16488", ADIS16488 },
        { "adis16489", ADIS16489 },
        { "adis16490", ADIS16490 },
        { "adis16495-1", ADIS16495_1 },
        { "adis16495-2", ADIS16495_2 },
        { "adis16495-3", ADIS16495_3 },
        { "adis16497-1", ADIS16497_1 },
        { "adis16497-2", ADIS16497_2 },
        { "adis16497-3", ADIS16497_3 },
        { "adis16545-1", ADIS16545_1 },
        { "adis16545-2", ADIS16545_2 },
        { "adis16545-3", ADIS16545_3 },
        { "adis16547-1", ADIS16547_1 },
        { "adis16547-2", ADIS16547_2 },
        { "adis16547-3", ADIS16547_3 },
        { }
};
MODULE_DEVICE_TABLE(spi, adis16480_ids);

static const struct of_device_id adis16480_of_match[] = {
        { .compatible = "adi,adis16375" },
        { .compatible = "adi,adis16480" },
        { .compatible = "adi,adis16485" },
        { .compatible = "adi,adis16486" },
        { .compatible = "adi,adis16487" },
        { .compatible = "adi,adis16488" },
        { .compatible = "adi,adis16489" },
        { .compatible = "adi,adis16490" },
        { .compatible = "adi,adis16495-1" },
        { .compatible = "adi,adis16495-2" },
        { .compatible = "adi,adis16495-3" },
        { .compatible = "adi,adis16497-1" },
        { .compatible = "adi,adis16497-2" },
        { .compatible = "adi,adis16497-3" },
        { .compatible = "adi,adis16545-1" },
        { .compatible = "adi,adis16545-2" },
        { .compatible = "adi,adis16545-3" },
        { .compatible = "adi,adis16547-1" },
        { .compatible = "adi,adis16547-2" },
        { .compatible = "adi,adis16547-3" },
        { }
};
MODULE_DEVICE_TABLE(of, adis16480_of_match);

static struct spi_driver adis16480_driver = {
        .driver = {
                .name = "adis16480",
                .of_match_table = adis16480_of_match,
        },
        .id_table = adis16480_ids,
        .probe = adis16480_probe,
};
module_spi_driver(adis16480_driver);

MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver");
MODULE_LICENSE("GPL v2");
MODULE_IMPORT_NS("IIO_ADISLIB");