text: // SPDX-License-Identifier: GPL-2.0-or-later
  /*
   * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
   *
   * Copyright 2010 Analog Devices Inc.
   */
  
  #include <linux/device.h>
  #include <linux/kernel.h>
  #include <linux/spi/spi.h>
  #include <linux/module.h>
  
  #include <linux/iio/iio.h>
  #include <linux/iio/imu/adis.h>
  
  #define ADIS16260_STARTUP_DELAY	220 /* ms */
  
  #define ADIS16260_FLASH_CNT  0x00 /* Flash memory write count */
  #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
  #define ADIS16260_GYRO_OUT   0x04 /* X-axis gyroscope output */
  #define ADIS16260_AUX_ADC    0x0A /* analog input channel measurement */
  #define ADIS16260_TEMP_OUT   0x0C /* internal temperature measurement */
  #define ADIS16260_ANGL_OUT   0x0E /* angle displacement */
  #define ADIS16260_GYRO_OFF   0x14 /* Calibration, offset/bias adjustment */
  #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
  #define ADIS16260_ALM_MAG1   0x20 /* Alarm 1 magnitude/polarity setting */
  #define ADIS16260_ALM_MAG2   0x22 /* Alarm 2 magnitude/polarity setting */
  #define ADIS16260_ALM_SMPL1  0x24 /* Alarm 1 dynamic rate of change setting */
  #define ADIS16260_ALM_SMPL2  0x26 /* Alarm 2 dynamic rate of change setting */
  #define ADIS16260_ALM_CTRL   0x28 /* Alarm control */
  #define ADIS16260_AUX_DAC    0x30 /* Auxiliary DAC data */
  #define ADIS16260_GPIO_CTRL  0x32 /* Control, digital I/O line */
  #define ADIS16260_MSC_CTRL   0x34 /* Control, data ready, self-test settings */
  #define ADIS16260_SMPL_PRD   0x36 /* Control, internal sample rate */
  #define ADIS16260_SENS_AVG   0x38 /* Control, dynamic range, filtering */
  #define ADIS16260_SLP_CNT    0x3A /* Control, sleep mode initiation */
  #define ADIS16260_DIAG_STAT  0x3C /* Diagnostic, error flags */
  #define ADIS16260_GLOB_CMD   0x3E /* Control, global commands */
  #define ADIS16260_LOT_ID1    0x52 /* Lot Identification Code 1 */
  #define ADIS16260_LOT_ID2    0x54 /* Lot Identification Code 2 */
  #define ADIS16260_PROD_ID    0x56 /* Product identifier;
  				   * convert to decimal = 16,265/16,260 */
  #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
  
  #define ADIS16260_ERROR_ACTIVE			(1<<14)
  #define ADIS16260_NEW_DATA			(1<<15)
  
  /* MSC_CTRL */
  #define ADIS16260_MSC_CTRL_MEM_TEST		(1<<11)
  /* Internal self-test enable */
  #define ADIS16260_MSC_CTRL_INT_SELF_TEST	(1<<10)
  #define ADIS16260_MSC_CTRL_NEG_SELF_TEST	(1<<9)
  #define ADIS16260_MSC_CTRL_POS_SELF_TEST	(1<<8)
  #define ADIS16260_MSC_CTRL_DATA_RDY_EN		(1<<2)
  #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)
  #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2	(1<<0)
  
  /* SMPL_PRD */
  /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
  #define ADIS16260_SMPL_PRD_TIME_BASE	(1<<7)
  #define ADIS16260_SMPL_PRD_DIV_MASK	0x7F
  
  /* SLP_CNT */
  #define ADIS16260_SLP_CNT_POWER_OFF     0x80
  
  /* DIAG_STAT */
  #define ADIS16260_DIAG_STAT_ALARM2	(1<<9)
  #define ADIS16260_DIAG_STAT_ALARM1	(1<<8)
  #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT	6
  #define ADIS16260_DIAG_STAT_SELF_TEST_BIT	5
  #define ADIS16260_DIAG_STAT_OVERFLOW_BIT	4
  #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT	3
  #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT	2
  #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT	1
  #define ADIS16260_DIAG_STAT_POWER_LOW_BIT	0
  
  /* GLOB_CMD */
  #define ADIS16260_GLOB_CMD_SW_RESET	(1<<7)
  #define ADIS16260_GLOB_CMD_FLASH_UPD	(1<<3)
  #define ADIS16260_GLOB_CMD_DAC_LATCH	(1<<2)
  #define ADIS16260_GLOB_CMD_FAC_CALIB	(1<<1)
  #define ADIS16260_GLOB_CMD_AUTO_NULL	(1<<0)
  
  #define ADIS16260_SPI_SLOW	(u32)(300 * 1000)
  #define ADIS16260_SPI_BURST	(u32)(1000 * 1000)
  #define ADIS16260_SPI_FAST	(u32)(2000 * 1000)
  
  /* At the moment triggers are only used for ring buffer
   * filling. This may change!
   */
  
  #define ADIS16260_SCAN_GYRO	0
  #define ADIS16260_SCAN_SUPPLY	1
  #define ADIS16260_SCAN_AUX_ADC	2
  #define ADIS16260_SCAN_TEMP	3
  #define ADIS16260_SCAN_ANGL	4
  
  struct adis16260_chip_info {
  	unsigned int gyro_max_val;
  	unsigned int gyro_max_scale;
  	const struct iio_chan_spec *channels;
  	unsigned int num_channels;
  };
  
  struct adis16260 {
  	const struct adis16260_chip_info *info;
  
  	struct adis adis;
  };
  
  enum adis16260_type {
  	ADIS16251,
  	ADIS16260,
  	ADIS16266,
  };
  
  static const struct iio_chan_spec adis16260_channels[] = {
  	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
  		BIT(IIO_CHAN_INFO_CALIBBIAS) |
  		BIT(IIO_CHAN_INFO_CALIBSCALE),
  		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
  	ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
  		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
  	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
  		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
  		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
  		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  	IIO_CHAN_SOFT_TIMESTAMP(5),
  };
  
  static const struct iio_chan_spec adis16266_channels[] = {
  	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
  		BIT(IIO_CHAN_INFO_CALIBBIAS) |
  		BIT(IIO_CHAN_INFO_CALIBSCALE),
  		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
  	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
  		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
  		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
  		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  	IIO_CHAN_SOFT_TIMESTAMP(4),
  };
  
  static const struct adis16260_chip_info adis16260_chip_info_table[] = {
  	[ADIS16251] = {
  		.gyro_max_scale = 80,
  		.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
  		.channels = adis16260_channels,
  		.num_channels = ARRAY_SIZE(adis16260_channels),
  	},
  	[ADIS16260] = {
  		.gyro_max_scale = 320,
  		.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
  		.channels = adis16260_channels,
  		.num_channels = ARRAY_SIZE(adis16260_channels),
  	},
  	[ADIS16266] = {
  		.gyro_max_scale = 14000,
  		.gyro_max_val = IIO_RAD_TO_DEGREE(3357),
  		.channels = adis16266_channels,
  		.num_channels = ARRAY_SIZE(adis16266_channels),
  	},
  };
  
  /* Power down the device */
  static int adis16260_stop_device(struct iio_dev *indio_dev)
  {
  	struct adis16260 *adis16260 = iio_priv(indio_dev);
  	int ret;
  	u16 val = ADIS16260_SLP_CNT_POWER_OFF;
  
  	ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
  	if (ret)
  		dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
  
  	return ret;
  }
  
  static const u8 adis16260_addresses[][2] = {
  	[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
  };
  
  static int adis16260_read_raw(struct iio_dev *indio_dev,
  			      struct iio_chan_spec const *chan,
  			      int *val, int *val2,
  			      long mask)
  {
  	struct adis16260 *adis16260 = iio_priv(indio_dev);
  	const struct adis16260_chip_info *info = adis16260->info;
  	struct adis *adis = &adis16260->adis;
  	int ret;
  	u8 addr;
  	s16 val16;
  
  	switch (mask) {
  	case IIO_CHAN_INFO_RAW:
  		return adis_single_conversion(indio_dev, chan,
  				ADIS16260_ERROR_ACTIVE, val);
  	case IIO_CHAN_INFO_SCALE:
  		switch (chan->type) {
  		case IIO_ANGL_VEL:
  			*val = info->gyro_max_scale;
  			*val2 = info->gyro_max_val;
  			return IIO_VAL_FRACTIONAL;
  		case IIO_INCLI:
  			*val = 0;
  			*val2 = IIO_DEGREE_TO_RAD(36630);
  			return IIO_VAL_INT_PLUS_MICRO;
  		case IIO_VOLTAGE:
  			if (chan->channel == 0) {
  				*val = 1;
  				*val2 = 831500; /* 1.8315 mV */
  			} else {
  				*val = 0;
  				*val2 = 610500; /* 610.5 uV */
  			}
  			return IIO_VAL_INT_PLUS_MICRO;
  		case IIO_TEMP:
  			*val = 145;
  			*val2 = 300000; /* 0.1453 C */
  			return IIO_VAL_INT_PLUS_MICRO;
  		default:
  			return -EINVAL;
  		}
  	case IIO_CHAN_INFO_OFFSET:
  		*val = 250000 / 1453; /* 25 C = 0x00 */
  		return IIO_VAL_INT;
  	case IIO_CHAN_INFO_CALIBBIAS:
  		addr = adis16260_addresses[chan->scan_index][0];
  		ret = adis_read_reg_16(adis, addr, &val16);
  		if (ret)
  			return ret;
  
  		*val = sign_extend32(val16, 11);
  		return IIO_VAL_INT;
  	case IIO_CHAN_INFO_CALIBSCALE:
  		addr = adis16260_addresses[chan->scan_index][1];
  		ret = adis_read_reg_16(adis, addr, &val16);
  		if (ret)
  			return ret;
  
  		*val = val16;
  		return IIO_VAL_INT;
  	case IIO_CHAN_INFO_SAMP_FREQ:
  		ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
  		if (ret)
  			return ret;
  
  		if (spi_get_device_id(adis->spi)->driver_data)
  		/* If an adis16251 */
  			*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
  				8 : 256;
  		else
  			*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
  				66 : 2048;
  		*val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
  		return IIO_VAL_INT;
  	}
  	return -EINVAL;
  }
  
  static int adis16260_write_raw(struct iio_dev *indio_dev,
  			       struct iio_chan_spec const *chan,
  			       int val,
  			       int val2,
  			       long mask)
  {
  	struct adis16260 *adis16260 = iio_priv(indio_dev);
  	struct adis *adis = &adis16260->adis;
  	int ret;
  	u8 addr;
  	u8 t;
  
  	switch (mask) {
  	case IIO_CHAN_INFO_CALIBBIAS:
  		if (val < -2048 || val >= 2048)
  			return -EINVAL;
  
  		addr = adis16260_addresses[chan->scan_index][0];
  		return adis_write_reg_16(adis, addr, val);
  	case IIO_CHAN_INFO_CALIBSCALE:
  		if (val < 0 || val >= 4096)
  			return -EINVAL;
  
  		addr = adis16260_addresses[chan->scan_index][1];
  		return adis_write_reg_16(adis, addr, val);
  	case IIO_CHAN_INFO_SAMP_FREQ:
  		adis_dev_lock(adis);
  		if (spi_get_device_id(adis->spi)->driver_data)
  			t = 256 / val;
  		else
  			t = 2048 / val;
  
  		if (t > ADIS16260_SMPL_PRD_DIV_MASK)
  			t = ADIS16260_SMPL_PRD_DIV_MASK;
  		else if (t > 0)
  			t--;
  
  		if (t >= 0x0A)
  			adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
  		else
  			adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
  		ret = __adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
  
  		adis_dev_unlock(adis);
  		return ret;
  	}
  	return -EINVAL;
  }
  
  static const struct iio_info adis16260_info = {
  	.read_raw = &adis16260_read_raw,
  	.write_raw = &adis16260_write_raw,
  	.update_scan_mode = adis_update_scan_mode,
  };
  
  static const char * const adis1620_status_error_msgs[] = {
  	[ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
  	[ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
  	[ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
  	[ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
  	[ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
  	[ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
  	[ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
  };
  
  static const struct adis_timeout adis16260_timeouts = {
  	.reset_ms = ADIS16260_STARTUP_DELAY,
  	.sw_reset_ms = ADIS16260_STARTUP_DELAY,
  	.self_test_ms = ADIS16260_STARTUP_DELAY,
  };
  
  static const struct adis_data adis16260_data = {
  	.write_delay = 30,
  	.read_delay = 30,
  	.msc_ctrl_reg = ADIS16260_MSC_CTRL,
  	.glob_cmd_reg = ADIS16260_GLOB_CMD,
  	.diag_stat_reg = ADIS16260_DIAG_STAT,
  
  	.self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
  	.self_test_reg = ADIS16260_MSC_CTRL,
  	.timeouts = &adis16260_timeouts,
  
  	.status_error_msgs = adis1620_status_error_msgs,
  	.status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
  		BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
  		BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
  		BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
  		BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
  		BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
  		BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
  };
  
  static void adis16260_stop(void *data)
  {
  	adis16260_stop_device(data);
  }
  
  static int adis16260_probe(struct spi_device *spi)
  {
  	const struct spi_device_id *id;
  	struct adis16260 *adis16260;
  	struct iio_dev *indio_dev;
  	int ret;
  
  	id = spi_get_device_id(spi);
  	if (!id)
  		return -ENODEV;
  
  	/* setup the industrialio driver allocated elements */
  	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
  	if (!indio_dev)
  		return -ENOMEM;
  	adis16260 = iio_priv(indio_dev);
  	/* this is only used for removal purposes */
  	spi_set_drvdata(spi, indio_dev);
  
  	adis16260->info = &adis16260_chip_info_table[id->driver_data];
  
  	indio_dev->name = id->name;
  	indio_dev->info = &adis16260_info;
  	indio_dev->channels = adis16260->info->channels;
  	indio_dev->num_channels = adis16260->info->num_channels;
  	indio_dev->modes = INDIO_DIRECT_MODE;
  
  	ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
  	if (ret)
  		return ret;
  
  	ret = devm_adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
  	if (ret)
  		return ret;
  
  	/* Get the device into a sane initial state */
  	ret = adis_initial_startup(&adis16260->adis);
  	if (ret)
  		return ret;
  
  	ret = devm_add_action_or_reset(&spi->dev, adis16260_stop, indio_dev);
  	if (ret)
  		return ret;
  
  	return devm_iio_device_register(&spi->dev, indio_dev);
  }
  
  /*
   * These parts do not need to be differentiated until someone adds
   * support for the on chip filtering.
   */
  static const struct spi_device_id adis16260_id[] = {
  	{"adis16260", ADIS16260},
  	{"adis16265", ADIS16260},
  	{"adis16266", ADIS16266},
  	{"adis16250", ADIS16260},
  	{"adis16255", ADIS16260},
  	{"adis16251", ADIS16251},
  	{}
  };
  MODULE_DEVICE_TABLE(spi, adis16260_id);
  
  static struct spi_driver adis16260_driver = {
  	.driver = {
  		.name = "adis16260",
  	},
  	.probe = adis16260_probe,
  	.id_table = adis16260_id,
  };
  module_spi_driver(adis16260_driver);
  
  MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
  MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
  MODULE_LICENSE("GPL v2");
  