drivers/iio/imu/adis16460.c - third_party/linux - Git at Google

 // SPDX-License-Identifier: GPL-2.0+
 /*
  * ADIS16460 IMU driver
  *
  * Copyright 2019 Analog Devices Inc.
  */

 #include <linux/delay.h>
 #include <linux/module.h>
 #include <linux/spi/spi.h>

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

 #include <linux/debugfs.h>

 #define ADIS16460_REG_FLASH_CNT		0x00
 #define ADIS16460_REG_DIAG_STAT		0x02
 #define ADIS16460_REG_X_GYRO_LOW	0x04
 #define ADIS16460_REG_X_GYRO_OUT	0x06
 #define ADIS16460_REG_Y_GYRO_LOW	0x08
 #define ADIS16460_REG_Y_GYRO_OUT	0x0A
 #define ADIS16460_REG_Z_GYRO_LOW	0x0C
 #define ADIS16460_REG_Z_GYRO_OUT	0x0E
 #define ADIS16460_REG_X_ACCL_LOW	0x10
 #define ADIS16460_REG_X_ACCL_OUT	0x12
 #define ADIS16460_REG_Y_ACCL_LOW	0x14
 #define ADIS16460_REG_Y_ACCL_OUT	0x16
 #define ADIS16460_REG_Z_ACCL_LOW	0x18
 #define ADIS16460_REG_Z_ACCL_OUT	0x1A
 #define ADIS16460_REG_SMPL_CNTR		0x1C
 #define ADIS16460_REG_TEMP_OUT		0x1E
 #define ADIS16460_REG_X_DELT_ANG	0x24
 #define ADIS16460_REG_Y_DELT_ANG	0x26
 #define ADIS16460_REG_Z_DELT_ANG	0x28
 #define ADIS16460_REG_X_DELT_VEL	0x2A
 #define ADIS16460_REG_Y_DELT_VEL	0x2C
 #define ADIS16460_REG_Z_DELT_VEL	0x2E
 #define ADIS16460_REG_MSC_CTRL		0x32
 #define ADIS16460_REG_SYNC_SCAL		0x34
 #define ADIS16460_REG_DEC_RATE		0x36
 #define ADIS16460_REG_FLTR_CTRL		0x38
 #define ADIS16460_REG_GLOB_CMD		0x3E
 #define ADIS16460_REG_X_GYRO_OFF	0x40
 #define ADIS16460_REG_Y_GYRO_OFF	0x42
 #define ADIS16460_REG_Z_GYRO_OFF	0x44
 #define ADIS16460_REG_X_ACCL_OFF	0x46
 #define ADIS16460_REG_Y_ACCL_OFF	0x48
 #define ADIS16460_REG_Z_ACCL_OFF	0x4A
 #define ADIS16460_REG_LOT_ID1		0x52
 #define ADIS16460_REG_LOT_ID2		0x54
 #define ADIS16460_REG_PROD_ID		0x56
 #define ADIS16460_REG_SERIAL_NUM	0x58
 #define ADIS16460_REG_CAL_SGNTR		0x60
 #define ADIS16460_REG_CAL_CRC		0x62
 #define ADIS16460_REG_CODE_SGNTR	0x64
 #define ADIS16460_REG_CODE_CRC		0x66

 struct adis16460_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;
 };

 struct adis16460 {
 	const struct adis16460_chip_info *chip_info;
 	struct adis adis;
 };

 #ifdef CONFIG_DEBUG_FS

 static int adis16460_show_serial_number(void *arg, u64 *val)
 {
 	struct adis16460 *adis16460 = arg;
 	u16 serial;
 	int ret;

 	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
 		&serial);
 	if (ret < 0)
 		return ret;

 	*val = serial;

 	return 0;
 }
 DEFINE_SIMPLE_ATTRIBUTE(adis16460_serial_number_fops,
 	adis16460_show_serial_number, NULL, "0x%.4llx\n");

 static int adis16460_show_product_id(void *arg, u64 *val)
 {
 	struct adis16460 *adis16460 = arg;
 	u16 prod_id;
 	int ret;

 	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
 		&prod_id);
 	if (ret < 0)
 		return ret;

 	*val = prod_id;

 	return 0;
 }
 DEFINE_SIMPLE_ATTRIBUTE(adis16460_product_id_fops,
 	adis16460_show_product_id, NULL, "%llu\n");

 static int adis16460_show_flash_count(void *arg, u64 *val)
 {
 	struct adis16460 *adis16460 = arg;
 	u32 flash_count;
 	int ret;

 	ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
 		&flash_count);
 	if (ret < 0)
 		return ret;

 	*val = flash_count;

 	return 0;
 }
 DEFINE_SIMPLE_ATTRIBUTE(adis16460_flash_count_fops,
 	adis16460_show_flash_count, NULL, "%lld\n");

 static int adis16460_debugfs_init(struct iio_dev *indio_dev)
 {
 	struct adis16460 *adis16460 = iio_priv(indio_dev);

 	debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
 		adis16460, &adis16460_serial_number_fops);
 	debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
 		adis16460, &adis16460_product_id_fops);
 	debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
 		adis16460, &adis16460_flash_count_fops);

 	return 0;
 }

 #else

 static int adis16460_debugfs_init(struct iio_dev *indio_dev)
 {
 	return 0;
 }

 #endif

 static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
 {
 	struct adis16460 *st = iio_priv(indio_dev);
 	int t;

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

 	t = 2048000 / t;
 	if (t > 2048)
 		t = 2048;

 	if (t != 0)
 		t--;

 	return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
 }

 static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
 {
 	struct adis16460 *st = iio_priv(indio_dev);
 	uint16_t t;
 	int ret;
 	unsigned int freq;

 	ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
 	if (ret < 0)
 		return ret;

 	freq = 2048000 / (t + 1);
 	*val = freq / 1000;
 	*val2 = (freq % 1000) * 1000;

 	return IIO_VAL_INT_PLUS_MICRO;
 }

 static int adis16460_read_raw(struct iio_dev *indio_dev,
 	const struct iio_chan_spec *chan, int *val, int *val2, long info)
 {
 	struct adis16460 *st = iio_priv(indio_dev);

 	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_TEMP:
 			*val = 50; /* 50 milli degrees Celsius/LSB */
 			return IIO_VAL_INT;
 		default:
 			return -EINVAL;
 		}
 	case IIO_CHAN_INFO_OFFSET:
 		*val = 500; /* 25 degrees Celsius = 0x0000 */
 		return IIO_VAL_INT;
 	case IIO_CHAN_INFO_SAMP_FREQ:
 		return adis16460_get_freq(indio_dev, val, val2);
 	default:
 		return -EINVAL;
 	}
 }

 static int adis16460_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_SAMP_FREQ:
 		return adis16460_set_freq(indio_dev, val, val2);
 	default:
 		return -EINVAL;
 	}
 }

 enum {
 	ADIS16460_SCAN_GYRO_X,
 	ADIS16460_SCAN_GYRO_Y,
 	ADIS16460_SCAN_GYRO_Z,
 	ADIS16460_SCAN_ACCEL_X,
 	ADIS16460_SCAN_ACCEL_Y,
 	ADIS16460_SCAN_ACCEL_Z,
 	ADIS16460_SCAN_TEMP,
 };

 #define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
 	{ \
 		.type = (_type), \
 		.modified = 1, \
 		.channel2 = (_mod), \
 		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
 		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 		.address = (_address), \
 		.scan_index = (_si), \
 		.scan_type = { \
 			.sign = 's', \
 			.realbits = (_bits), \
 			.storagebits = (_bits), \
 			.endianness = IIO_BE, \
 		}, \
 	}

 #define ADIS16460_GYRO_CHANNEL(_mod) \
 	ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
 	ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
 	32)

 #define ADIS16460_ACCEL_CHANNEL(_mod) \
 	ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
 	ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
 	32)

 #define ADIS16460_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 = ADIS16460_REG_TEMP_OUT, \
 		.scan_index = ADIS16460_SCAN_TEMP, \
 		.scan_type = { \
 			.sign = 's', \
 			.realbits = 16, \
 			.storagebits = 16, \
 			.endianness = IIO_BE, \
 		}, \
 	}

 static const struct iio_chan_spec adis16460_channels[] = {
 	ADIS16460_GYRO_CHANNEL(X),
 	ADIS16460_GYRO_CHANNEL(Y),
 	ADIS16460_GYRO_CHANNEL(Z),
 	ADIS16460_ACCEL_CHANNEL(X),
 	ADIS16460_ACCEL_CHANNEL(Y),
 	ADIS16460_ACCEL_CHANNEL(Z),
 	ADIS16460_TEMP_CHANNEL(),
 	IIO_CHAN_SOFT_TIMESTAMP(7)
 };

 static const struct adis16460_chip_info adis16460_chip_info = {
 	.channels = adis16460_channels,
 	.num_channels = ARRAY_SIZE(adis16460_channels),
 	/*
 	 * storing the value in rad/degree and the scale in degree
 	 * gives us the result in rad and better precession than
 	 * storing the scale directly in rad.
 	 */
 	.gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
 	.gyro_max_scale = 1,
 	.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
 	.accel_max_scale = 5,
 };

 static const struct iio_info adis16460_info = {
 	.read_raw = &adis16460_read_raw,
 	.write_raw = &adis16460_write_raw,
 	.update_scan_mode = adis_update_scan_mode,
 	.debugfs_reg_access = adis_debugfs_reg_access,
 };

 static int adis16460_enable_irq(struct adis *adis, bool enable)
 {
 	/*
 	 * There is no way to gate the data-ready signal internally inside the
 	 * ADIS16460 :(
 	 */
 	if (enable)
 		enable_irq(adis->spi->irq);
 	else
 		disable_irq(adis->spi->irq);

 	return 0;
 }

 static int adis16460_initial_setup(struct iio_dev *indio_dev)
 {
 	struct adis16460 *st = iio_priv(indio_dev);
 	uint16_t prod_id;
 	unsigned int device_id;
 	int ret;

 	adis_reset(&st->adis);
 	msleep(222);

 	ret = adis_write_reg_16(&st->adis, ADIS16460_REG_GLOB_CMD, BIT(1));
 	if (ret)
 		return ret;
 	msleep(75);

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

 	ret = adis_read_reg_16(&st->adis, ADIS16460_REG_PROD_ID, &prod_id);
 	if (ret)
 		return ret;

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

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

 	return 0;
 }

 #define ADIS16460_DIAG_STAT_IN_CLK_OOS	7
 #define ADIS16460_DIAG_STAT_FLASH_MEM	6
 #define ADIS16460_DIAG_STAT_SELF_TEST	5
 #define ADIS16460_DIAG_STAT_OVERRANGE	4
 #define ADIS16460_DIAG_STAT_SPI_COMM	3
 #define ADIS16460_DIAG_STAT_FLASH_UPT	2

 static const char * const adis16460_status_error_msgs[] = {
 	[ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync",
 	[ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure",
 	[ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure",
 	[ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange",
 	[ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure",
 	[ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
 };

 static const struct adis_data adis16460_data = {
 	.diag_stat_reg = ADIS16460_REG_DIAG_STAT,
 	.glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
 	.has_paging = false,
 	.read_delay = 5,
 	.write_delay = 5,
 	.cs_change_delay = 16,
 	.status_error_msgs = adis16460_status_error_msgs,
 	.status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) |
 		BIT(ADIS16460_DIAG_STAT_FLASH_MEM) |
 		BIT(ADIS16460_DIAG_STAT_SELF_TEST) |
 		BIT(ADIS16460_DIAG_STAT_OVERRANGE) |
 		BIT(ADIS16460_DIAG_STAT_SPI_COMM) |
 		BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
 	.enable_irq = adis16460_enable_irq,
 };

 static int adis16460_probe(struct spi_device *spi)
 {
 	struct iio_dev *indio_dev;
 	struct adis16460 *st;
 	int ret;

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

 	spi_set_drvdata(spi, indio_dev);

 	st = iio_priv(indio_dev);

 	st->chip_info = &adis16460_chip_info;
 	indio_dev->dev.parent = &spi->dev;
 	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;
 	indio_dev->info = &adis16460_info;
 	indio_dev->modes = INDIO_DIRECT_MODE;

 	ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data);
 	if (ret)
 		return ret;

 	ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
 	if (ret)
 		return ret;

 	adis16460_enable_irq(&st->adis, 0);

 	ret = adis16460_initial_setup(indio_dev);
 	if (ret)
 		goto error_cleanup_buffer;

 	ret = iio_device_register(indio_dev);
 	if (ret)
 		goto error_cleanup_buffer;

 	adis16460_debugfs_init(indio_dev);

 	return 0;

 error_cleanup_buffer:
 	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 	return ret;
 }

 static int adis16460_remove(struct spi_device *spi)
 {
 	struct iio_dev *indio_dev = spi_get_drvdata(spi);
 	struct adis16460 *st = iio_priv(indio_dev);

 	iio_device_unregister(indio_dev);

 	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);

 	return 0;
 }

 static const struct spi_device_id adis16460_ids[] = {
 	{ "adis16460", 0 },
 	{}
 };
 MODULE_DEVICE_TABLE(spi, adis16460_ids);

 static const struct of_device_id adis16460_of_match[] = {
 	{ .compatible = "adi,adis16460" },
 	{}
 };
 MODULE_DEVICE_TABLE(of, adis16460_of_match);

 static struct spi_driver adis16460_driver = {
 	.driver = {
 		.name = "adis16460",
 		.of_match_table = adis16460_of_match,
 	},
 	.id_table = adis16460_ids,
 	.probe = adis16460_probe,
 	.remove = adis16460_remove,
 };
 module_spi_driver(adis16460_driver);

 MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
 MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
 MODULE_LICENSE("GPL");
	// SPDX-License-Identifier: GPL-2.0+
	/*
	* ADIS16460 IMU driver
	*
	* Copyright 2019 Analog Devices Inc.
	*/

	#include <linux/delay.h>
	#include <linux/module.h>
	#include <linux/spi/spi.h>

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

	#include <linux/debugfs.h>

	#define ADIS16460_REG_FLASH_CNT 0x00
	#define ADIS16460_REG_DIAG_STAT 0x02
	#define ADIS16460_REG_X_GYRO_LOW 0x04
	#define ADIS16460_REG_X_GYRO_OUT 0x06
	#define ADIS16460_REG_Y_GYRO_LOW 0x08
	#define ADIS16460_REG_Y_GYRO_OUT 0x0A
	#define ADIS16460_REG_Z_GYRO_LOW 0x0C
	#define ADIS16460_REG_Z_GYRO_OUT 0x0E
	#define ADIS16460_REG_X_ACCL_LOW 0x10
	#define ADIS16460_REG_X_ACCL_OUT 0x12
	#define ADIS16460_REG_Y_ACCL_LOW 0x14
	#define ADIS16460_REG_Y_ACCL_OUT 0x16
	#define ADIS16460_REG_Z_ACCL_LOW 0x18
	#define ADIS16460_REG_Z_ACCL_OUT 0x1A
	#define ADIS16460_REG_SMPL_CNTR 0x1C
	#define ADIS16460_REG_TEMP_OUT 0x1E
	#define ADIS16460_REG_X_DELT_ANG 0x24
	#define ADIS16460_REG_Y_DELT_ANG 0x26
	#define ADIS16460_REG_Z_DELT_ANG 0x28
	#define ADIS16460_REG_X_DELT_VEL 0x2A
	#define ADIS16460_REG_Y_DELT_VEL 0x2C
	#define ADIS16460_REG_Z_DELT_VEL 0x2E
	#define ADIS16460_REG_MSC_CTRL 0x32
	#define ADIS16460_REG_SYNC_SCAL 0x34
	#define ADIS16460_REG_DEC_RATE 0x36
	#define ADIS16460_REG_FLTR_CTRL 0x38
	#define ADIS16460_REG_GLOB_CMD 0x3E
	#define ADIS16460_REG_X_GYRO_OFF 0x40
	#define ADIS16460_REG_Y_GYRO_OFF 0x42
	#define ADIS16460_REG_Z_GYRO_OFF 0x44
	#define ADIS16460_REG_X_ACCL_OFF 0x46
	#define ADIS16460_REG_Y_ACCL_OFF 0x48
	#define ADIS16460_REG_Z_ACCL_OFF 0x4A
	#define ADIS16460_REG_LOT_ID1 0x52
	#define ADIS16460_REG_LOT_ID2 0x54
	#define ADIS16460_REG_PROD_ID 0x56
	#define ADIS16460_REG_SERIAL_NUM 0x58
	#define ADIS16460_REG_CAL_SGNTR 0x60
	#define ADIS16460_REG_CAL_CRC 0x62
	#define ADIS16460_REG_CODE_SGNTR 0x64
	#define ADIS16460_REG_CODE_CRC 0x66

	struct adis16460_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;
	};

	struct adis16460 {
	const struct adis16460_chip_info *chip_info;
	struct adis adis;
	};

	#ifdef CONFIG_DEBUG_FS

	static int adis16460_show_serial_number(void arg, u64 val)
	{
	struct adis16460 *adis16460 = arg;
	u16 serial;
	int ret;

	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
	&serial);
	if (ret < 0)
	return ret;

	*val = serial;

	return 0;
	}
	DEFINE_SIMPLE_ATTRIBUTE(adis16460_serial_number_fops,
	adis16460_show_serial_number, NULL, "0x%.4llx\n");

	static int adis16460_show_product_id(void arg, u64 val)
	{
	struct adis16460 *adis16460 = arg;
	u16 prod_id;
	int ret;

	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
	&prod_id);
	if (ret < 0)
	return ret;

	*val = prod_id;

	return 0;
	}
	DEFINE_SIMPLE_ATTRIBUTE(adis16460_product_id_fops,
	adis16460_show_product_id, NULL, "%llu\n");

	static int adis16460_show_flash_count(void arg, u64 val)
	{
	struct adis16460 *adis16460 = arg;
	u32 flash_count;
	int ret;

	ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
	&flash_count);
	if (ret < 0)
	return ret;

	*val = flash_count;

	return 0;
	}
	DEFINE_SIMPLE_ATTRIBUTE(adis16460_flash_count_fops,
	adis16460_show_flash_count, NULL, "%lld\n");

	static int adis16460_debugfs_init(struct iio_dev *indio_dev)
	{
	struct adis16460 *adis16460 = iio_priv(indio_dev);

	debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
	adis16460, &adis16460_serial_number_fops);
	debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
	adis16460, &adis16460_product_id_fops);
	debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
	adis16460, &adis16460_flash_count_fops);

	return 0;
	}

	#else

	static int adis16460_debugfs_init(struct iio_dev *indio_dev)
	{
	return 0;
	}

	#endif

	static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
	{
	struct adis16460 *st = iio_priv(indio_dev);
	int t;

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

	t = 2048000 / t;
	if (t > 2048)
	t = 2048;

	if (t != 0)
	t--;

	return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
	}

	static int adis16460_get_freq(struct iio_dev indio_dev, int val, int *val2)
	{
	struct adis16460 *st = iio_priv(indio_dev);
	uint16_t t;
	int ret;
	unsigned int freq;

	ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
	if (ret < 0)
	return ret;

	freq = 2048000 / (t + 1);
	*val = freq / 1000;
	val2 = (freq % 1000) 1000;

	return IIO_VAL_INT_PLUS_MICRO;
	}

	static int adis16460_read_raw(struct iio_dev *indio_dev,
	const struct iio_chan_spec chan, int val, int *val2, long info)
	{
	struct adis16460 *st = iio_priv(indio_dev);

	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_TEMP:
	val = 50; / 50 milli degrees Celsius/LSB */
	return IIO_VAL_INT;
	default:
	return -EINVAL;
	}
	case IIO_CHAN_INFO_OFFSET:
	val = 500; / 25 degrees Celsius = 0x0000 */
	return IIO_VAL_INT;
	case IIO_CHAN_INFO_SAMP_FREQ:
	return adis16460_get_freq(indio_dev, val, val2);
	default:
	return -EINVAL;
	}
	}

	static int adis16460_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_SAMP_FREQ:
	return adis16460_set_freq(indio_dev, val, val2);
	default:
	return -EINVAL;
	}
	}

	enum {
	ADIS16460_SCAN_GYRO_X,
	ADIS16460_SCAN_GYRO_Y,
	ADIS16460_SCAN_GYRO_Z,
	ADIS16460_SCAN_ACCEL_X,
	ADIS16460_SCAN_ACCEL_Y,
	ADIS16460_SCAN_ACCEL_Z,
	ADIS16460_SCAN_TEMP,
	};

	#define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
	{ \
	.type = (_type), \
	.modified = 1, \
	.channel2 = (_mod), \
	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
	.address = (_address), \
	.scan_index = (_si), \
	.scan_type = { \
	.sign = 's', \
	.realbits = (_bits), \
	.storagebits = (_bits), \
	.endianness = IIO_BE, \
	}, \
	}

	#define ADIS16460_GYRO_CHANNEL(_mod) \
	ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
	ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
	32)

	#define ADIS16460_ACCEL_CHANNEL(_mod) \
	ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
	ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
	32)

	#define ADIS16460_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 = ADIS16460_REG_TEMP_OUT, \
	.scan_index = ADIS16460_SCAN_TEMP, \
	.scan_type = { \
	.sign = 's', \
	.realbits = 16, \
	.storagebits = 16, \
	.endianness = IIO_BE, \
	}, \
	}

	static const struct iio_chan_spec adis16460_channels[] = {
	ADIS16460_GYRO_CHANNEL(X),
	ADIS16460_GYRO_CHANNEL(Y),
	ADIS16460_GYRO_CHANNEL(Z),
	ADIS16460_ACCEL_CHANNEL(X),
	ADIS16460_ACCEL_CHANNEL(Y),
	ADIS16460_ACCEL_CHANNEL(Z),
	ADIS16460_TEMP_CHANNEL(),
	IIO_CHAN_SOFT_TIMESTAMP(7)
	};

	static const struct adis16460_chip_info adis16460_chip_info = {
	.channels = adis16460_channels,
	.num_channels = ARRAY_SIZE(adis16460_channels),
	/*
	* storing the value in rad/degree and the scale in degree
	* gives us the result in rad and better precession than
	* storing the scale directly in rad.
	*/
	.gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
	.gyro_max_scale = 1,
	.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
	.accel_max_scale = 5,
	};

	static const struct iio_info adis16460_info = {
	.read_raw = &adis16460_read_raw,
	.write_raw = &adis16460_write_raw,
	.update_scan_mode = adis_update_scan_mode,
	.debugfs_reg_access = adis_debugfs_reg_access,
	};

	static int adis16460_enable_irq(struct adis *adis, bool enable)
	{
	/*
	* There is no way to gate the data-ready signal internally inside the
	* ADIS16460 :(
	*/
	if (enable)
	enable_irq(adis->spi->irq);
	else
	disable_irq(adis->spi->irq);

	return 0;
	}

	static int adis16460_initial_setup(struct iio_dev *indio_dev)
	{
	struct adis16460 *st = iio_priv(indio_dev);
	uint16_t prod_id;
	unsigned int device_id;
	int ret;

	adis_reset(&st->adis);
	msleep(222);

	ret = adis_write_reg_16(&st->adis, ADIS16460_REG_GLOB_CMD, BIT(1));
	if (ret)
	return ret;
	msleep(75);

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

	ret = adis_read_reg_16(&st->adis, ADIS16460_REG_PROD_ID, &prod_id);
	if (ret)
	return ret;

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

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

	return 0;
	}

	#define ADIS16460_DIAG_STAT_IN_CLK_OOS 7
	#define ADIS16460_DIAG_STAT_FLASH_MEM 6
	#define ADIS16460_DIAG_STAT_SELF_TEST 5
	#define ADIS16460_DIAG_STAT_OVERRANGE 4
	#define ADIS16460_DIAG_STAT_SPI_COMM 3
	#define ADIS16460_DIAG_STAT_FLASH_UPT 2

	static const char * const adis16460_status_error_msgs[] = {
	[ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync",
	[ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure",
	[ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure",
	[ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange",
	[ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure",
	[ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
	};

	static const struct adis_data adis16460_data = {
	.diag_stat_reg = ADIS16460_REG_DIAG_STAT,
	.glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
	.has_paging = false,
	.read_delay = 5,
	.write_delay = 5,
	.cs_change_delay = 16,
	.status_error_msgs = adis16460_status_error_msgs,
	.status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) \|
	BIT(ADIS16460_DIAG_STAT_FLASH_MEM) \|
	BIT(ADIS16460_DIAG_STAT_SELF_TEST) \|
	BIT(ADIS16460_DIAG_STAT_OVERRANGE) \|
	BIT(ADIS16460_DIAG_STAT_SPI_COMM) \|
	BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
	.enable_irq = adis16460_enable_irq,
	};

	static int adis16460_probe(struct spi_device *spi)
	{
	struct iio_dev *indio_dev;
	struct adis16460 *st;
	int ret;

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

	spi_set_drvdata(spi, indio_dev);

	st = iio_priv(indio_dev);

	st->chip_info = &adis16460_chip_info;
	indio_dev->dev.parent = &spi->dev;
	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;
	indio_dev->info = &adis16460_info;
	indio_dev->modes = INDIO_DIRECT_MODE;

	ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data);
	if (ret)
	return ret;

	ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
	if (ret)
	return ret;

	adis16460_enable_irq(&st->adis, 0);

	ret = adis16460_initial_setup(indio_dev);
	if (ret)
	goto error_cleanup_buffer;

	ret = iio_device_register(indio_dev);
	if (ret)
	goto error_cleanup_buffer;

	adis16460_debugfs_init(indio_dev);

	return 0;

	error_cleanup_buffer:
	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
	return ret;
	}

	static int adis16460_remove(struct spi_device *spi)
	{
	struct iio_dev *indio_dev = spi_get_drvdata(spi);
	struct adis16460 *st = iio_priv(indio_dev);

	iio_device_unregister(indio_dev);

	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);

	return 0;
	}

	static const struct spi_device_id adis16460_ids[] = {
	{ "adis16460", 0 },
	{}
	};
	MODULE_DEVICE_TABLE(spi, adis16460_ids);

	static const struct of_device_id adis16460_of_match[] = {
	{ .compatible = "adi,adis16460" },
	{}
	};
	MODULE_DEVICE_TABLE(of, adis16460_of_match);

	static struct spi_driver adis16460_driver = {
	.driver = {
	.name = "adis16460",
	.of_match_table = adis16460_of_match,
	},
	.id_table = adis16460_ids,
	.probe = adis16460_probe,
	.remove = adis16460_remove,
	};
	module_spi_driver(adis16460_driver);

	MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
	MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
	MODULE_LICENSE("GPL");