// SPDX-License-Identifier: GPL-2.0-or-later
/*
 * ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer
 *
 * Copyright 2010 Analog Devices Inc.
 */

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

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

#define ADIS16209_STARTUP_DELAY_MS      220
#define ADIS16209_FLASH_CNT_REG         0x00

/* Data Output Register Definitions */
#define ADIS16209_SUPPLY_OUT_REG        0x02
#define ADIS16209_XACCL_OUT_REG         0x04
#define ADIS16209_YACCL_OUT_REG         0x06
/* Output, auxiliary ADC input */
#define ADIS16209_AUX_ADC_REG           0x08
/* Output, temperature */
#define ADIS16209_TEMP_OUT_REG          0x0A
/* Output, +/- 90 degrees X-axis inclination */
#define ADIS16209_XINCL_OUT_REG         0x0C
#define ADIS16209_YINCL_OUT_REG         0x0E
/* Output, +/-180 vertical rotational position */
#define ADIS16209_ROT_OUT_REG           0x10

/*
 * Calibration Register Definitions.
 * Acceleration, inclination or rotation offset null.
 */
#define ADIS16209_XACCL_NULL_REG        0x12
#define ADIS16209_YACCL_NULL_REG        0x14
#define ADIS16209_XINCL_NULL_REG        0x16
#define ADIS16209_YINCL_NULL_REG        0x18
#define ADIS16209_ROT_NULL_REG          0x1A

/* Alarm Register Definitions */
#define ADIS16209_ALM_MAG1_REG          0x20
#define ADIS16209_ALM_MAG2_REG          0x22
#define ADIS16209_ALM_SMPL1_REG         0x24
#define ADIS16209_ALM_SMPL2_REG         0x26
#define ADIS16209_ALM_CTRL_REG          0x28

#define ADIS16209_AUX_DAC_REG           0x30
#define ADIS16209_GPIO_CTRL_REG         0x32
#define ADIS16209_SMPL_PRD_REG          0x36
#define ADIS16209_AVG_CNT_REG           0x38
#define ADIS16209_SLP_CNT_REG           0x3A

#define ADIS16209_MSC_CTRL_REG                  0x34
#define  ADIS16209_MSC_CTRL_PWRUP_SELF_TEST     BIT(10)
#define  ADIS16209_MSC_CTRL_SELF_TEST_EN        BIT(8)
#define  ADIS16209_MSC_CTRL_DATA_RDY_EN         BIT(2)
/* Data-ready polarity: 1 = active high, 0 = active low */
#define  ADIS16209_MSC_CTRL_ACTIVE_HIGH         BIT(1)
#define  ADIS16209_MSC_CTRL_DATA_RDY_DIO2       BIT(0)

#define ADIS16209_STAT_REG                      0x3C
#define  ADIS16209_STAT_ALARM2                  BIT(9)
#define  ADIS16209_STAT_ALARM1                  BIT(8)
#define  ADIS16209_STAT_SELFTEST_FAIL_BIT       5
#define  ADIS16209_STAT_SPI_FAIL_BIT            3
#define  ADIS16209_STAT_FLASH_UPT_FAIL_BIT      2
/* Power supply above 3.625 V */
#define  ADIS16209_STAT_POWER_HIGH_BIT          1
/* Power supply below 2.975 V */
#define  ADIS16209_STAT_POWER_LOW_BIT           0

#define ADIS16209_CMD_REG                       0x3E
#define  ADIS16209_CMD_SW_RESET                 BIT(7)
#define  ADIS16209_CMD_CLEAR_STAT               BIT(4)
#define  ADIS16209_CMD_FACTORY_CAL              BIT(1)

#define ADIS16209_ERROR_ACTIVE                  BIT(14)

enum adis16209_scan {
        ADIS16209_SCAN_SUPPLY,
        ADIS16209_SCAN_ACC_X,
        ADIS16209_SCAN_ACC_Y,
        ADIS16209_SCAN_AUX_ADC,
        ADIS16209_SCAN_TEMP,
        ADIS16209_SCAN_INCLI_X,
        ADIS16209_SCAN_INCLI_Y,
        ADIS16209_SCAN_ROT,
};

static const u8 adis16209_addresses[8][1] = {
        [ADIS16209_SCAN_SUPPLY] = { },
        [ADIS16209_SCAN_AUX_ADC] = { },
        [ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG },
        [ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG },
        [ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG },
        [ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG },
        [ADIS16209_SCAN_ROT] = { },
        [ADIS16209_SCAN_TEMP] = { },
};

static int adis16209_write_raw(struct iio_dev *indio_dev,
                               struct iio_chan_spec const *chan,
                               int val,
                               int val2,
                               long mask)
{
        struct adis *st = iio_priv(indio_dev);
        int m;

        if (mask != IIO_CHAN_INFO_CALIBBIAS)
                return -EINVAL;

        switch (chan->type) {
        case IIO_ACCEL:
        case IIO_INCLI:
                m = GENMASK(13, 0);
                break;
        default:
                return -EINVAL;
        }

        return adis_write_reg_16(st, adis16209_addresses[chan->scan_index][0],
                                 val & m);
}

static int adis16209_read_raw(struct iio_dev *indio_dev,
                              struct iio_chan_spec const *chan,
                              int *val, int *val2,
                              long mask)
{
        struct adis *st = iio_priv(indio_dev);
        int ret;
        int bits;
        u8 addr;
        s16 val16;

        switch (mask) {
        case IIO_CHAN_INFO_RAW:
                return adis_single_conversion(indio_dev, chan,
                        ADIS16209_ERROR_ACTIVE, val);
        case IIO_CHAN_INFO_SCALE:
                switch (chan->type) {
                case IIO_VOLTAGE:
                        *val = 0;
                        switch (chan->channel) {
                        case 0:
                                *val2 = 305180; /* 0.30518 mV */
                                break;
                        case 1:
                                *val2 = 610500; /* 0.6105 mV */
                                break;
                        default:
                                return -EINVAL;
                        }
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_TEMP:
                        *val = -470;
                        *val2 = 0;
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_ACCEL:
                        /*
                         * IIO base unit for sensitivity of accelerometer
                         * is milli g.
                         * 1 LSB represents 0.244 mg.
                         */
                        *val = 0;
                        *val2 = IIO_G_TO_M_S_2(244140);
                        return IIO_VAL_INT_PLUS_NANO;
                case IIO_INCLI:
                case IIO_ROT:
                        /*
                         * IIO base units for rotation are degrees.
                         * 1 LSB represents 0.025 milli degrees.
                         */
                        *val = 0;
                        *val2 = 25000;
                        return IIO_VAL_INT_PLUS_MICRO;
                default:
                        return -EINVAL;
                }
                break;
        case IIO_CHAN_INFO_OFFSET:
                /*
                 * The raw ADC value is 0x4FE when the temperature
                 * is 45 degrees and the scale factor per milli
                 * degree Celsius is -470.
                 */
                *val = 25000 / -470 - 0x4FE;
                return IIO_VAL_INT;
        case IIO_CHAN_INFO_CALIBBIAS:
                switch (chan->type) {
                case IIO_ACCEL:
                        bits = 14;
                        break;
                default:
                        return -EINVAL;
                }
                addr = adis16209_addresses[chan->scan_index][0];
                ret = adis_read_reg_16(st, addr, &val16);
                if (ret)
                        return ret;

                *val = sign_extend32(val16, bits - 1);
                return IIO_VAL_INT;
        }
        return -EINVAL;
}

static const struct iio_chan_spec adis16209_channels[] = {
        ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG, ADIS16209_SCAN_SUPPLY,
                         0, 14),
        ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG, ADIS16209_SCAN_TEMP, 0, 12),
        ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG, ADIS16209_SCAN_ACC_X,
                        BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
        ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG, ADIS16209_SCAN_ACC_Y,
                        BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
        ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG, ADIS16209_SCAN_AUX_ADC, 0, 12),
        ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG, ADIS16209_SCAN_INCLI_X,
                        0, 0, 14),
        ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG, ADIS16209_SCAN_INCLI_Y,
                        0, 0, 14),
        ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG, ADIS16209_SCAN_ROT, 0, 0, 14),
        IIO_CHAN_SOFT_TIMESTAMP(8)
};

static const struct iio_info adis16209_info = {
        .read_raw = adis16209_read_raw,
        .write_raw = adis16209_write_raw,
        .update_scan_mode = adis_update_scan_mode,
};

static const char * const adis16209_status_error_msgs[] = {
        [ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
        [ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure",
        [ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
        [ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
        [ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
};

static const struct adis_timeout adis16209_timeouts = {
        .reset_ms = ADIS16209_STARTUP_DELAY_MS,
        .self_test_ms = ADIS16209_STARTUP_DELAY_MS,
        .sw_reset_ms = ADIS16209_STARTUP_DELAY_MS,
};

static const struct adis_data adis16209_data = {
        .read_delay = 30,
        .msc_ctrl_reg = ADIS16209_MSC_CTRL_REG,
        .glob_cmd_reg = ADIS16209_CMD_REG,
        .diag_stat_reg = ADIS16209_STAT_REG,

        .self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
        .self_test_reg = ADIS16209_MSC_CTRL_REG,
        .self_test_no_autoclear = true,
        .timeouts = &adis16209_timeouts,

        .status_error_msgs = adis16209_status_error_msgs,
        .status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) |
                BIT(ADIS16209_STAT_SPI_FAIL_BIT) |
                BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) |
                BIT(ADIS16209_STAT_POWER_HIGH_BIT) |
                BIT(ADIS16209_STAT_POWER_LOW_BIT),
};

static int adis16209_probe(struct spi_device *spi)
{
        struct iio_dev *indio_dev;
        struct adis *st;
        int ret;

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

        st = iio_priv(indio_dev);

        indio_dev->name = spi->dev.driver->name;
        indio_dev->info = &adis16209_info;
        indio_dev->channels = adis16209_channels;
        indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
        indio_dev->modes = INDIO_DIRECT_MODE;

        ret = adis_init(st, indio_dev, spi, &adis16209_data);
        if (ret)
                return ret;

        ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
        if (ret)
                return ret;

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

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

static struct spi_driver adis16209_driver = {
        .driver = {
                .name = "adis16209",
        },
        .probe = adis16209_probe,
};
module_spi_driver(adis16209_driver);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
MODULE_LICENSE("GPL v2");
MODULE_ALIAS("spi:adis16209");
MODULE_IMPORT_NS("IIO_ADISLIB");