From cede2f899d8f85baea32ff2e8a89a97aaac339b9 Mon Sep 17 00:00:00 2001
From: Stefan Popa <stefan.popa@analog.com>
Date: Wed, 27 Feb 2019 18:14:22 +0200
Subject: iio: imu: adis16480: Add support for configurable drdy indicator

The FNCTIO_CTRL register provides configuration control for each I/O pin
(DIO1, DIO2, DIO3 and DIO4).

This patch adds the option to configure each DIOx pin as data ready
indicator with positive or negative polarity by reading the 'interrupts'
and 'interrupt-names' properties from the devicetree. The
'interrupt-names' property is optional, if it is not specified, then the
DIO1 pin is used as default data ready signal.

Although the factory default assigns DIO2 as data ready signal, in the
versions previous this patch, DIO1 pin was used. We should leave this
configuration as is, since some devices might be expecting the interrupt
on the wrong physical pin.

Signed-off-by: Stefan Popa <stefan.popa@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/adis16480.c | 97 ++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 95 insertions(+), 2 deletions(-)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index a27fe208f3ae..98a23ac50266 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -9,6 +9,8 @@
  *
  */
 
+#include <linux/bitfield.h>
+#include <linux/of_irq.h>
 #include <linux/interrupt.h>
 #include <linux/delay.h>
 #include <linux/mutex.h>
@@ -107,6 +109,14 @@
 #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)
+
 struct adis16480_chip_info {
 	unsigned int num_channels;
 	const struct iio_chan_spec *channels;
@@ -116,12 +126,26 @@ struct adis16480_chip_info {
 	unsigned int accel_max_scale;
 };
 
+enum adis16480_int_pin {
+	ADIS16480_PIN_DIO1,
+	ADIS16480_PIN_DIO2,
+	ADIS16480_PIN_DIO3,
+	ADIS16480_PIN_DIO4
+};
+
 struct adis16480 {
 	const struct adis16480_chip_info *chip_info;
 
 	struct adis adis;
 };
 
+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",
+};
+
 #ifdef CONFIG_DEBUG_FS
 
 static ssize_t adis16480_show_firmware_revision(struct file *file,
@@ -741,8 +765,17 @@ static int adis16480_stop_device(struct iio_dev *indio_dev)
 
 static int adis16480_enable_irq(struct adis *adis, bool enable)
 {
-	return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL,
-		enable ? BIT(3) : 0);
+	uint16_t val;
+	int ret;
+
+	ret = adis_read_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, &val);
+	if (ret < 0)
+		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_initial_setup(struct iio_dev *indio_dev)
@@ -826,6 +859,62 @@ static const struct adis_data adis16480_data = {
 	.enable_irq = adis16480_enable_irq,
 };
 
+static int adis16480_config_irq_pin(struct device_node *of_node,
+				    struct adis16480 *st)
+{
+	struct irq_data *desc;
+	enum adis16480_int_pin pin;
+	unsigned int irq_type;
+	uint16_t val;
+	int i, irq = 0;
+
+	desc = irq_get_irq_data(st->adis.spi->irq);
+	if (!desc) {
+		dev_err(&st->adis.spi->dev, "Could not find IRQ %d\n", irq);
+		return -EINVAL;
+	}
+
+	/* 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 = of_irq_get_byname(of_node, 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
+	 * IRQF_TRIGGER_RISING or IRQF_TRIGGER_FALLING respectively.
+	 */
+	irq_type = irqd_get_trigger_type(desc);
+	if (irq_type == IRQF_TRIGGER_RISING) { /* Default */
+		val |= ADIS16480_DRDY_POL(1);
+	} else if (irq_type == IRQF_TRIGGER_FALLING) {
+		val |= ADIS16480_DRDY_POL(0);
+	} else {
+		dev_err(&st->adis.spi->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_probe(struct spi_device *spi)
 {
 	const struct spi_device_id *id = spi_get_device_id(spi);
@@ -853,6 +942,10 @@ static int adis16480_probe(struct spi_device *spi)
 	if (ret)
 		return ret;
 
+	ret = adis16480_config_irq_pin(spi->dev.of_node, st);
+	if (ret)
+		return ret;
+
 	ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
 	if (ret)
 		return ret;
-- 
cgit v1.2.3


From 304840c476ee84ef21f57f284922040ab0d0ce41 Mon Sep 17 00:00:00 2001
From: Stefan Popa <stefan.popa@analog.com>
Date: Wed, 27 Feb 2019 18:14:23 +0200
Subject: iio: imu: adis16480: Add OF device ID table

The driver does not have a struct of_device_id table, but supported
devices are registered via Device Trees. This patch adds OF device ID
table.

Signed-off-by: Stefan Popa <stefan.popa@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/adis16480.c | 10 ++++++++++
 1 file changed, 10 insertions(+)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index 98a23ac50266..150d814aee29 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -991,9 +991,19 @@ static const struct spi_device_id adis16480_ids[] = {
 };
 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,adis16488" },
+	{ },
+};
+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,
-- 
cgit v1.2.3


From 6cf7b866bdd5cfbeb401cb65b928ebd46440490d Mon Sep 17 00:00:00 2001
From: Stefan Popa <stefan.popa@analog.com>
Date: Wed, 27 Feb 2019 18:14:24 +0200
Subject: iio: imu: adis16480: Treat temperature scale in a generic way

All supported devices provide internal temperature measurement from -40 C
to +85 C, with +25 C representing value 0x00.

This patch treats the temperature scale in a generic way, similar to the
accelerometer and gyroscope scales. So far, there are no temperature max
scale differences between the supported devices. However, devices that
will make use of this feature will be added in the future.

Signed-off-by: Stefan Popa <stefan.popa@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/adis16480.c | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index 150d814aee29..5a2864abfc3d 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -124,6 +124,7 @@ struct adis16480_chip_info {
 	unsigned int gyro_max_scale;
 	unsigned int accel_max_val;
 	unsigned int accel_max_scale;
+	unsigned int temp_scale;
 };
 
 enum adis16480_int_pin {
@@ -530,6 +531,7 @@ 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:
@@ -549,8 +551,13 @@ static int adis16480_read_raw(struct iio_dev *indio_dev,
 			*val2 = 100; /* 0.0001 gauss */
 			return IIO_VAL_INT_PLUS_MICRO;
 		case IIO_TEMP:
-			*val = 5;
-			*val2 = 650000; /* 5.65 milli degree Celsius */
+			/*
+			 * +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:
 			*val = 0;
@@ -561,7 +568,8 @@ static int adis16480_read_raw(struct iio_dev *indio_dev,
 		}
 	case IIO_CHAN_INFO_OFFSET:
 		/* Only the temperature channel has a offset */
-		*val = 4425; /* 25 degree Celsius = 0x0000 */
+		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);
@@ -717,6 +725,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.gyro_max_scale = 300,
 		.accel_max_val = IIO_M_S_2_TO_G(21973),
 		.accel_max_scale = 18,
+		.temp_scale = 5650, /* 5.65 milli degree Celsius */
 	},
 	[ADIS16480] = {
 		.channels = adis16480_channels,
@@ -725,6 +734,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.gyro_max_scale = 450,
 		.accel_max_val = IIO_M_S_2_TO_G(12500),
 		.accel_max_scale = 10,
+		.temp_scale = 5650, /* 5.65 milli degree Celsius */
 	},
 	[ADIS16485] = {
 		.channels = adis16485_channels,
@@ -733,6 +743,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.gyro_max_scale = 450,
 		.accel_max_val = IIO_M_S_2_TO_G(20000),
 		.accel_max_scale = 5,
+		.temp_scale = 5650, /* 5.65 milli degree Celsius */
 	},
 	[ADIS16488] = {
 		.channels = adis16480_channels,
@@ -741,6 +752,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.gyro_max_scale = 450,
 		.accel_max_val = IIO_M_S_2_TO_G(22500),
 		.accel_max_scale = 18,
+		.temp_scale = 5650, /* 5.65 milli degree Celsius */
 	},
 };
 
-- 
cgit v1.2.3


From e0e6398e1e4e27b06307457be8a85a7a5c0f9ef0 Mon Sep 17 00:00:00 2001
From: Stefan Popa <stefan.popa@analog.com>
Date: Wed, 27 Feb 2019 18:14:25 +0200
Subject: iio: imu: adis16480: Calculate the sampling frequency in a generic
 way

The adis1648x devices have an internal clock of 2.46 kSPS. The sampling
frequency is calculated by applying a decimation rate which can take the
maximum value of 2047.

Although all adis1648x devices are similar in this regard, devices that
will use this feature will be added in the future.

Signed-off-by: Stefan Popa <stefan.popa@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/adis16480.c | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index 5a2864abfc3d..92abc95d31dc 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -125,6 +125,8 @@ struct adis16480_chip_info {
 	unsigned int accel_max_val;
 	unsigned int accel_max_scale;
 	unsigned int temp_scale;
+	unsigned int int_clk;
+	unsigned int max_dec_rate;
 };
 
 enum adis16480_int_pin {
@@ -299,9 +301,9 @@ static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
 	if (t <= 0)
 		return -EINVAL;
 
-	t = 2460000 / t;
-	if (t > 2048)
-		t = 2048;
+	t = st->chip_info->int_clk / t;
+	if (t > st->chip_info->max_dec_rate)
+		t = st->chip_info->max_dec_rate;
 
 	if (t != 0)
 		t--;
@@ -320,7 +322,7 @@ static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
 	if (ret < 0)
 		return ret;
 
-	freq = 2460000 / (t + 1);
+	freq = st->chip_info->int_clk / (t + 1);
 	*val = freq / 1000;
 	*val2 = (freq % 1000) * 1000;
 
@@ -726,6 +728,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(21973),
 		.accel_max_scale = 18,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.int_clk = 2460000,
+		.max_dec_rate = 2048,
 	},
 	[ADIS16480] = {
 		.channels = adis16480_channels,
@@ -735,6 +739,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(12500),
 		.accel_max_scale = 10,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.int_clk = 2460000,
+		.max_dec_rate = 2048,
 	},
 	[ADIS16485] = {
 		.channels = adis16485_channels,
@@ -744,6 +750,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(20000),
 		.accel_max_scale = 5,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.int_clk = 2460000,
+		.max_dec_rate = 2048,
 	},
 	[ADIS16488] = {
 		.channels = adis16480_channels,
@@ -753,6 +761,8 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.accel_max_val = IIO_M_S_2_TO_G(22500),
 		.accel_max_scale = 18,
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
+		.int_clk = 2460000,
+		.max_dec_rate = 2048,
 	},
 };
 
-- 
cgit v1.2.3


From 83ec2d5404bfdf3aa67abfc594d0e6118d16ac06 Mon Sep 17 00:00:00 2001
From: Stefan Popa <stefan.popa@analog.com>
Date: Wed, 27 Feb 2019 18:14:26 +0200
Subject: iio: imu: adis16480: Deal with filter freq in a generic way

When setting the filter frequency, the driver looks into the
adis16480_def_filter_freqs table for the best match. Pass this table to
the chip_info struct since future devices will need to use a different
table.

Signed-off-by: Stefan Popa <stefan.popa@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/adis16480.c | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index 92abc95d31dc..c90375da8129 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -127,6 +127,7 @@ struct adis16480_chip_info {
 	unsigned int temp_scale;
 	unsigned int int_clk;
 	unsigned int max_dec_rate;
+	const unsigned int *filter_freqs;
 };
 
 enum adis16480_int_pin {
@@ -483,7 +484,7 @@ static int adis16480_get_filter_freq(struct iio_dev *indio_dev,
 	if (!(val & enable_mask))
 		*freq = 0;
 	else
-		*freq = adis16480_def_filter_freqs[(val >> offset) & 0x3];
+		*freq = st->chip_info->filter_freqs[(val >> offset) & 0x3];
 
 	return IIO_VAL_INT;
 }
@@ -510,10 +511,10 @@ static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
 		val &= ~enable_mask;
 	} else {
 		best_freq = 0;
-		best_diff = 310;
+		best_diff = st->chip_info->filter_freqs[0];
 		for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) {
-			if (adis16480_def_filter_freqs[i] >= freq) {
-				diff = adis16480_def_filter_freqs[i] - freq;
+			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;
@@ -730,6 +731,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
+		.filter_freqs = adis16480_def_filter_freqs,
 	},
 	[ADIS16480] = {
 		.channels = adis16480_channels,
@@ -741,6 +743,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
+		.filter_freqs = adis16480_def_filter_freqs,
 	},
 	[ADIS16485] = {
 		.channels = adis16485_channels,
@@ -752,6 +755,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
+		.filter_freqs = adis16480_def_filter_freqs,
 	},
 	[ADIS16488] = {
 		.channels = adis16480_channels,
@@ -763,6 +767,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.temp_scale = 5650, /* 5.65 milli degree Celsius */
 		.int_clk = 2460000,
 		.max_dec_rate = 2048,
+		.filter_freqs = adis16480_def_filter_freqs,
 	},
 };
 
-- 
cgit v1.2.3


From 82e7a1b2501709cce9294b744224e70cc3be96cd Mon Sep 17 00:00:00 2001
From: Stefan Popa <stefan.popa@analog.com>
Date: Wed, 27 Feb 2019 18:14:27 +0200
Subject: iio: imu: adis16480: Add support for ADIS1649x family of devices

The ADIS16495 and ADIS16497 are inertial systems that include a triaxis
gyroscope and a triaxis accelerometer. The serial peripheral interface
(SPI) provide a simple interface for data collection and configuration
control. The devices are similar to ADIS16475, ADIS16480, ADIS16485 and
ADIS16488, the main differences are highlighted below:

* The temperature data scale is 0.00565 C/LSB for ADIS16475 and ADIS1648x
  devices, while for ADIS1649x 0.0125 C/LSB.

* ADIS1649x devices support different gyroscope measurement ranges which
  are dependent on the dash number (-1, -2, -3), see Table 24 in the
  ADIS16495 datasheet. However, the ADIS16497 gyroscopes have the same
  scale as ADIS16495.

* ADIS16495 devices support the acceleration maximum range of 8g, while
  ADIS16497 devices go up to 40g.

* The internal clock for ADIS1649x devices is 4.25 kSPS. The sampling
  frequency is calculated by applying a decimation rate which can take a
  maximum value of 4250.

* ADIS1649x devices support different default filter frequencies.

Datasheets:
Link: https://www.analog.com/media/en/technical-documentation/data-sheets/adis16495.pdf
Link: https://www.analog.com/media/en/technical-documentation/data-sheets/adis16497.pdf

Signed-off-by: Stefan Popa <stefan.popa@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/adis16480.c | 97 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 97 insertions(+)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index c90375da8129..28cece3cc868 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -453,6 +453,13 @@ static const unsigned int adis16480_def_filter_freqs[] = {
 	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 },
@@ -713,6 +720,12 @@ enum adis16480_variant {
 	ADIS16480,
 	ADIS16485,
 	ADIS16488,
+	ADIS16495_1,
+	ADIS16495_2,
+	ADIS16495_3,
+	ADIS16497_1,
+	ADIS16497_2,
+	ADIS16497_3,
 };
 
 static const struct adis16480_chip_info adis16480_chip_info[] = {
@@ -769,6 +782,78 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.max_dec_rate = 2048,
 		.filter_freqs = adis16480_def_filter_freqs,
 	},
+	[ADIS16495_1] = {
+		.channels = adis16485_channels,
+		.num_channels = ARRAY_SIZE(adis16485_channels),
+		.gyro_max_val = IIO_RAD_TO_DEGREE(20000),
+		.gyro_max_scale = 125,
+		.accel_max_val = IIO_M_S_2_TO_G(32000),
+		.accel_max_scale = 8,
+		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.int_clk = 4250000,
+		.max_dec_rate = 4250,
+		.filter_freqs = adis16495_def_filter_freqs,
+	},
+	[ADIS16495_2] = {
+		.channels = adis16485_channels,
+		.num_channels = ARRAY_SIZE(adis16485_channels),
+		.gyro_max_val = IIO_RAD_TO_DEGREE(18000),
+		.gyro_max_scale = 450,
+		.accel_max_val = IIO_M_S_2_TO_G(32000),
+		.accel_max_scale = 8,
+		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.int_clk = 4250000,
+		.max_dec_rate = 4250,
+		.filter_freqs = adis16495_def_filter_freqs,
+	},
+	[ADIS16495_3] = {
+		.channels = adis16485_channels,
+		.num_channels = ARRAY_SIZE(adis16485_channels),
+		.gyro_max_val = IIO_RAD_TO_DEGREE(20000),
+		.gyro_max_scale = 2000,
+		.accel_max_val = IIO_M_S_2_TO_G(32000),
+		.accel_max_scale = 8,
+		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.int_clk = 4250000,
+		.max_dec_rate = 4250,
+		.filter_freqs = adis16495_def_filter_freqs,
+	},
+	[ADIS16497_1] = {
+		.channels = adis16485_channels,
+		.num_channels = ARRAY_SIZE(adis16485_channels),
+		.gyro_max_val = IIO_RAD_TO_DEGREE(20000),
+		.gyro_max_scale = 125,
+		.accel_max_val = IIO_M_S_2_TO_G(32000),
+		.accel_max_scale = 40,
+		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.int_clk = 4250000,
+		.max_dec_rate = 4250,
+		.filter_freqs = adis16495_def_filter_freqs,
+	},
+	[ADIS16497_2] = {
+		.channels = adis16485_channels,
+		.num_channels = ARRAY_SIZE(adis16485_channels),
+		.gyro_max_val = IIO_RAD_TO_DEGREE(18000),
+		.gyro_max_scale = 450,
+		.accel_max_val = IIO_M_S_2_TO_G(32000),
+		.accel_max_scale = 40,
+		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.int_clk = 4250000,
+		.max_dec_rate = 4250,
+		.filter_freqs = adis16495_def_filter_freqs,
+	},
+	[ADIS16497_3] = {
+		.channels = adis16485_channels,
+		.num_channels = ARRAY_SIZE(adis16485_channels),
+		.gyro_max_val = IIO_RAD_TO_DEGREE(20000),
+		.gyro_max_scale = 2000,
+		.accel_max_val = IIO_M_S_2_TO_G(32000),
+		.accel_max_scale = 40,
+		.temp_scale = 12500, /* 12.5 milli degree Celsius */
+		.int_clk = 4250000,
+		.max_dec_rate = 4250,
+		.filter_freqs = adis16495_def_filter_freqs,
+	},
 };
 
 static const struct iio_info adis16480_info = {
@@ -1014,6 +1099,12 @@ static const struct spi_device_id adis16480_ids[] = {
 	{ "adis16480", ADIS16480 },
 	{ "adis16485", ADIS16485 },
 	{ "adis16488", ADIS16488 },
+	{ "adis16495-1", ADIS16495_1 },
+	{ "adis16495-2", ADIS16495_2 },
+	{ "adis16495-3", ADIS16495_3 },
+	{ "adis16497-1", ADIS16497_1 },
+	{ "adis16497-2", ADIS16497_2 },
+	{ "adis16497-3", ADIS16497_3 },
 	{ }
 };
 MODULE_DEVICE_TABLE(spi, adis16480_ids);
@@ -1023,6 +1114,12 @@ static const struct of_device_id adis16480_of_match[] = {
 	{ .compatible = "adi,adis16480" },
 	{ .compatible = "adi,adis16485" },
 	{ .compatible = "adi,adis16488" },
+	{ .compatible = "adi,adis16495-1" },
+	{ .compatible = "adi,adis16495-2" },
+	{ .compatible = "adi,adis16495-3" },
+	{ .compatible = "adi,adis16497-1" },
+	{ .compatible = "adi,adis16497-2" },
+	{ .compatible = "adi,adis16497-3" },
 	{ },
 };
 MODULE_DEVICE_TABLE(of, adis16480_of_match);
-- 
cgit v1.2.3


From fb1589710efe73228c9acdd1479a520a609c08a0 Mon Sep 17 00:00:00 2001
From: Andy Shevchenko <andriy.shevchenko@linux.intel.com>
Date: Thu, 21 Feb 2019 18:02:46 +0100
Subject: iio: Allow to read mount matrix from ACPI

Currently mount matrix is allowed in Device Tree, though there is
no technical issue to extend it to support ACPI.

Convert the function to use device_property_read_string_array() and
thus allow to read mount matrix from ACPI if available.

Example of use in _DSD method:

  Name (_DSD, Package ()
  {
     ToUUID("daffd814-6eba-4d8c-8a91-bc9bbf4aa301"),
     Package ()
     {
        Package () { "mount-matrix", Package() {
                "1", "0",     "0",
                "0", "0.866", "0.5",
                "0", "-0.5",  "0.866",
        } },
     }
  })

At the same time drop the "of" prefix from its name and
convert current users.

No functional change intended.

Signed-off-by: Andy Shevchenko <andriy.shevchenko@linux.intel.com>
Reviewed-by: Linus Walleij <linus.walleij@linaro.org>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/accel/kxsd9.c                  |  4 +--
 drivers/iio/gyro/mpu3050-core.c            |  3 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c |  4 +--
 drivers/iio/industrialio-core.c            | 46 ++++++++++++------------------
 drivers/iio/magnetometer/ak8974.c          |  5 ++--
 drivers/iio/magnetometer/ak8975.c          |  5 ++--
 include/linux/iio/iio.h                    |  4 +--
 7 files changed, 28 insertions(+), 43 deletions(-)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/accel/kxsd9.c b/drivers/iio/accel/kxsd9.c
index 0c0df4fce420..70c60db62247 100644
--- a/drivers/iio/accel/kxsd9.c
+++ b/drivers/iio/accel/kxsd9.c
@@ -420,9 +420,7 @@ int kxsd9_common_probe(struct device *dev,
 	indio_dev->available_scan_masks = kxsd9_scan_masks;
 
 	/* Read the mounting matrix, if present */
-	ret = of_iio_read_mount_matrix(dev,
-				       "mount-matrix",
-				       &st->orientation);
+	ret = iio_read_mount_matrix(dev, "mount-matrix", &st->orientation);
 	if (ret)
 		return ret;
 
diff --git a/drivers/iio/gyro/mpu3050-core.c b/drivers/iio/gyro/mpu3050-core.c
index 77fac81a3adc..8200e48f561b 100644
--- a/drivers/iio/gyro/mpu3050-core.c
+++ b/drivers/iio/gyro/mpu3050-core.c
@@ -1149,8 +1149,7 @@ int mpu3050_common_probe(struct device *dev,
 	mpu3050->divisor = 99;
 
 	/* Read the mounting matrix, if present */
-	ret = of_iio_read_mount_matrix(dev, "mount-matrix",
-				       &mpu3050->orientation);
+	ret = iio_read_mount_matrix(dev, "mount-matrix", &mpu3050->orientation);
 	if (ret)
 		return ret;
 
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 650de0fefb7b..069219804334 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -1021,8 +1021,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 
 	pdata = dev_get_platdata(dev);
 	if (!pdata) {
-		result = of_iio_read_mount_matrix(dev, "mount-matrix",
-						  &st->orientation);
+		result = iio_read_mount_matrix(dev, "mount-matrix",
+					       &st->orientation);
 		if (result) {
 			dev_err(dev, "Failed to retrieve mounting matrix %d\n",
 				result);
diff --git a/drivers/iio/industrialio-core.c b/drivers/iio/industrialio-core.c
index 4700fd5d8c90..f2ebca65f964 100644
--- a/drivers/iio/industrialio-core.c
+++ b/drivers/iio/industrialio-core.c
@@ -19,6 +19,7 @@
 #include <linux/device.h>
 #include <linux/fs.h>
 #include <linux/poll.h>
+#include <linux/property.h>
 #include <linux/sched.h>
 #include <linux/wait.h>
 #include <linux/cdev.h>
@@ -530,8 +531,8 @@ ssize_t iio_show_mount_matrix(struct iio_dev *indio_dev, uintptr_t priv,
 EXPORT_SYMBOL_GPL(iio_show_mount_matrix);
 
 /**
- * of_iio_read_mount_matrix() - retrieve iio device mounting matrix from
- *                              device-tree "mount-matrix" property
+ * iio_read_mount_matrix() - retrieve iio device mounting matrix from
+ *                           device "mount-matrix" property
  * @dev:	device the mounting matrix property is assigned to
  * @propname:	device specific mounting matrix property name
  * @matrix:	where to store retrieved matrix
@@ -541,40 +542,29 @@ EXPORT_SYMBOL_GPL(iio_show_mount_matrix);
  *
  * Return: 0 if success, or a negative error code on failure.
  */
-#ifdef CONFIG_OF
-int of_iio_read_mount_matrix(const struct device *dev,
-			     const char *propname,
-			     struct iio_mount_matrix *matrix)
+int iio_read_mount_matrix(struct device *dev, const char *propname,
+			  struct iio_mount_matrix *matrix)
 {
-	if (dev->of_node) {
-		int err = of_property_read_string_array(dev->of_node,
-				propname, matrix->rotation,
-				ARRAY_SIZE(iio_mount_idmatrix.rotation));
+	size_t len = ARRAY_SIZE(iio_mount_idmatrix.rotation);
+	int err;
 
-		if (err == ARRAY_SIZE(iio_mount_idmatrix.rotation))
-			return 0;
+	err = device_property_read_string_array(dev, propname,
+						matrix->rotation, len);
+	if (err == len)
+		return 0;
 
-		if (err >= 0)
-			/* Invalid number of matrix entries. */
-			return -EINVAL;
+	if (err >= 0)
+		/* Invalid number of matrix entries. */
+		return -EINVAL;
 
-		if (err != -EINVAL)
-			/* Invalid matrix declaration format. */
-			return err;
-	}
+	if (err != -EINVAL)
+		/* Invalid matrix declaration format. */
+		return err;
 
 	/* Matrix was not declared at all: fallback to identity. */
 	return iio_setup_mount_idmatrix(dev, matrix);
 }
-#else
-int of_iio_read_mount_matrix(const struct device *dev,
-			     const char *propname,
-			     struct iio_mount_matrix *matrix)
-{
-	return iio_setup_mount_idmatrix(dev, matrix);
-}
-#endif
-EXPORT_SYMBOL(of_iio_read_mount_matrix);
+EXPORT_SYMBOL(iio_read_mount_matrix);
 
 static ssize_t __iio_format_value(char *buf, size_t len, unsigned int type,
 				  int size, const int *vals)
diff --git a/drivers/iio/magnetometer/ak8974.c b/drivers/iio/magnetometer/ak8974.c
index 93be1f4c0f27..f4d0a6c0fde7 100644
--- a/drivers/iio/magnetometer/ak8974.c
+++ b/drivers/iio/magnetometer/ak8974.c
@@ -733,9 +733,8 @@ static int ak8974_probe(struct i2c_client *i2c,
 	ak8974->i2c = i2c;
 	mutex_init(&ak8974->lock);
 
-	ret = of_iio_read_mount_matrix(&i2c->dev,
-				       "mount-matrix",
-				       &ak8974->orientation);
+	ret = iio_read_mount_matrix(&i2c->dev, "mount-matrix",
+				    &ak8974->orientation);
 	if (ret)
 		return ret;
 
diff --git a/drivers/iio/magnetometer/ak8975.c b/drivers/iio/magnetometer/ak8975.c
index d430b80808ef..db7214ac514c 100644
--- a/drivers/iio/magnetometer/ak8975.c
+++ b/drivers/iio/magnetometer/ak8975.c
@@ -911,9 +911,8 @@ static int ak8975_probe(struct i2c_client *client,
 	data->eoc_irq = 0;
 
 	if (!pdata) {
-		err = of_iio_read_mount_matrix(&client->dev,
-					       "mount-matrix",
-					       &data->orientation);
+		err = iio_read_mount_matrix(&client->dev, "mount-matrix",
+					    &data->orientation);
 		if (err)
 			return err;
 	} else
diff --git a/include/linux/iio/iio.h b/include/linux/iio/iio.h
index a74cb177dc6f..bb10c1bee301 100644
--- a/include/linux/iio/iio.h
+++ b/include/linux/iio/iio.h
@@ -130,8 +130,8 @@ struct iio_mount_matrix {
 
 ssize_t iio_show_mount_matrix(struct iio_dev *indio_dev, uintptr_t priv,
 			      const struct iio_chan_spec *chan, char *buf);
-int of_iio_read_mount_matrix(const struct device *dev, const char *propname,
-			     struct iio_mount_matrix *matrix);
+int iio_read_mount_matrix(struct device *dev, const char *propname,
+			  struct iio_mount_matrix *matrix);
 
 typedef const struct iio_mount_matrix *
 	(iio_get_mount_matrix_t)(const struct iio_dev *indio_dev,
-- 
cgit v1.2.3


From 28799ceac014a1a349e0371f5dec136bccf72fb7 Mon Sep 17 00:00:00 2001
From: "H. Nikolaus Schaller" <hns@goldelico.com>
Date: Thu, 21 Feb 2019 18:02:54 +0100
Subject: iio: mpu6050: improve code readability

- use temporary variable in get_mount_matrix()
- remove , after { }

Signed-off-by: H. Nikolaus Schaller <hns@goldelico.com>
Reviewed-by: Linus Walleij <linus.walleij@linaro.org>
Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 069219804334..6138a6d86afb 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -796,12 +796,14 @@ static const struct iio_mount_matrix *
 inv_get_mount_matrix(const struct iio_dev *indio_dev,
 		     const struct iio_chan_spec *chan)
 {
-	return &((struct inv_mpu6050_state *)iio_priv(indio_dev))->orientation;
+	struct inv_mpu6050_state *data = iio_priv(indio_dev);
+
+	return &data->orientation;
 }
 
 static const struct iio_chan_spec_ext_info inv_ext_info[] = {
 	IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
-	{ },
+	{ }
 };
 
 #define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
-- 
cgit v1.2.3


From 3054c4ff28bfdb37fdb5dc077ee611bfa5547e99 Mon Sep 17 00:00:00 2001
From: Lorenzo Bianconi <lorenzo@kernel.org>
Date: Thu, 21 Feb 2019 16:20:20 +0100
Subject: iio: imu: st_lsm6dsx: add support to ASM330LHH

Add support to STM ASM330LHH 6-axis (acc + gyro) Mems sensor
https://www.st.com/resource/en/datasheet/asm330lhh.pdf

Tested-by: Mario Tesi <mario.tesi@st.com>
Signed-off-by: Lorenzo Bianconi <lorenzo@kernel.org>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/st_lsm6dsx/Kconfig             |  2 +-
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h        |  2 ++
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c |  8 ++---
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c   | 41 +++++++++++++++++++++++++-
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c    |  5 ++++
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c    |  5 ++++
 6 files changed, 57 insertions(+), 6 deletions(-)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig
index 094fd006b63d..36048bf0455a 100644
--- a/drivers/iio/imu/st_lsm6dsx/Kconfig
+++ b/drivers/iio/imu/st_lsm6dsx/Kconfig
@@ -9,7 +9,7 @@ config IIO_ST_LSM6DSX
 	help
 	  Say yes here to build support for STMicroelectronics LSM6DSx imu
 	  sensor. Supported devices: lsm6ds3, lsm6ds3h, lsm6dsl, lsm6dsm,
-	  ism330dlc, lsm6dso
+	  ism330dlc, lsm6dso, asm330lhh
 
 	  To compile this driver as a module, choose M here: the module
 	  will be called st_lsm6dsx.
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index d1d8d07a0714..de2a0dc39353 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -20,6 +20,7 @@
 #define ST_LSM6DSM_DEV_NAME	"lsm6dsm"
 #define ST_ISM330DLC_DEV_NAME	"ism330dlc"
 #define ST_LSM6DSO_DEV_NAME	"lsm6dso"
+#define ST_ASM330LHH_DEV_NAME	"asm330lhh"
 
 enum st_lsm6dsx_hw_id {
 	ST_LSM6DS3_ID,
@@ -28,6 +29,7 @@ enum st_lsm6dsx_hw_id {
 	ST_LSM6DSM_ID,
 	ST_ISM330DLC_ID,
 	ST_LSM6DSO_ID,
+	ST_ASM330LHH_ID,
 	ST_LSM6DSX_MAX_ID,
 };
 
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
index 2c0d3763405a..8f443bdb5b51 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
@@ -13,9 +13,9 @@
  * (e.g. Gx, Gy, Gz, Ax, Ay, Az), then data are repeated depending on the
  * value of the decimation factor and ODR set for each FIFO data set.
  *
- * LSM6DSO: The FIFO buffer can be configured to store data from gyroscope and
- * accelerometer. Each sample is queued with a tag (1B) indicating data source
- * (gyroscope, accelerometer, hw timer).
+ * LSM6DSO/ASM330LHH: The FIFO buffer can be configured to store data
+ * from gyroscope and accelerometer. Each sample is queued with a tag (1B)
+ * indicating data source (gyroscope, accelerometer, hw timer).
  *
  * FIFO supported modes:
  *  - BYPASS: FIFO disabled
@@ -506,7 +506,7 @@ st_lsm6dsx_push_tagged_data(struct st_lsm6dsx_hw *hw, u8 tag,
 }
 
 /**
- * st_lsm6dsx_read_tagged_fifo() - LSM6DSO read FIFO routine
+ * st_lsm6dsx_read_tagged_fifo() - LSM6DSO/ASM330LHH read FIFO routine
  * @hw: Pointer to instance of struct st_lsm6dsx_hw.
  *
  * Read samples from the hw FIFO and push them to IIO buffers.
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index 12e29dda9b98..50cab3531b11 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -23,7 +23,7 @@
  *   - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
  *   - FIFO size: 4KB
  *
- * - LSM6DSO
+ * - LSM6DSO/ASM330LHH
  *   - Accelerometer/Gyroscope supported ODR [Hz]: 13, 26, 52, 104, 208, 416
  *   - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
  *   - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
@@ -347,6 +347,45 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 			.batch_en = BIT(3),
 		}
 	},
+	{
+		.wai = 0x6b,
+		.max_fifo_size = 512,
+		.id = {
+			[0] = ST_ASM330LHH_ID,
+		},
+		.batch = {
+			[ST_LSM6DSX_ID_ACC] = {
+				.addr = 0x09,
+				.mask = GENMASK(3, 0),
+			},
+			[ST_LSM6DSX_ID_GYRO] = {
+				.addr = 0x09,
+				.mask = GENMASK(7, 4),
+			},
+		},
+		.fifo_ops = {
+			.read_fifo = st_lsm6dsx_read_tagged_fifo,
+			.fifo_th = {
+				.addr = 0x07,
+				.mask = GENMASK(8, 0),
+			},
+			.fifo_diff = {
+				.addr = 0x3a,
+				.mask = GENMASK(8, 0),
+			},
+			.th_wl = 1,
+		},
+		.ts_settings = {
+			.timer_en = {
+				.addr = 0x19,
+				.mask = BIT(5),
+			},
+			.decimator = {
+				.addr = 0x0a,
+				.mask = GENMASK(7, 6),
+			},
+		},
+	},
 };
 
 static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
index 448b7bc1e578..00b4b702645a 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
@@ -65,6 +65,10 @@ static const struct of_device_id st_lsm6dsx_i2c_of_match[] = {
 		.compatible = "st,lsm6dso",
 		.data = (void *)ST_LSM6DSO_ID,
 	},
+	{
+		.compatible = "st,asm330lhh",
+		.data = (void *)ST_ASM330LHH_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match);
@@ -76,6 +80,7 @@ static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = {
 	{ ST_LSM6DSM_DEV_NAME, ST_LSM6DSM_ID },
 	{ ST_ISM330DLC_DEV_NAME, ST_ISM330DLC_ID },
 	{ ST_LSM6DSO_DEV_NAME, ST_LSM6DSO_ID },
+	{ ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
 	{},
 };
 MODULE_DEVICE_TABLE(i2c, st_lsm6dsx_i2c_id_table);
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
index b1df8a6973e6..836256c2ac7d 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
@@ -65,6 +65,10 @@ static const struct of_device_id st_lsm6dsx_spi_of_match[] = {
 		.compatible = "st,lsm6dso",
 		.data = (void *)ST_LSM6DSO_ID,
 	},
+	{
+		.compatible = "st,asm330lhh",
+		.data = (void *)ST_ASM330LHH_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match);
@@ -76,6 +80,7 @@ static const struct spi_device_id st_lsm6dsx_spi_id_table[] = {
 	{ ST_LSM6DSM_DEV_NAME, ST_LSM6DSM_ID },
 	{ ST_ISM330DLC_DEV_NAME, ST_ISM330DLC_ID },
 	{ ST_LSM6DSO_DEV_NAME, ST_LSM6DSO_ID },
+	{ ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
 	{},
 };
 MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table);
-- 
cgit v1.2.3


From 326e2357553d39769aacf737fd19650f2d81671a Mon Sep 17 00:00:00 2001
From: Stefan Popa <stefan.popa@analog.com>
Date: Mon, 11 Mar 2019 11:45:29 +0200
Subject: iio: imu: adis16480: Add support for external clock

Inertial sensor data collection and processing can be controlled by
configuring one of the DIOx lines as an external clock input. This
option is available for all devices supported by this driver. However,
only adis1649x devices support different modes for the external clock.

Sync mode is supported by all devices. In this mode, the output data
rate is equal with the clock frequency divided by DEC_RATE + 1. This
mode of calculation is similar with the case when the internal clock is
used.

Pulse Per Second (PPS) Mode, is only supported by adis1649x devices. In
this mode, the output data rate is equal to the product of the external
clock frequency and the scale factor in the SYNC_SCALE register.

This patch uses the "clock-names" property to enable the external clock
in one of the two supported modes: "sync" or "pps". This property is
optional. If it is not specified, the internal clock is used.

This patch also offers the option to select the DIOx line to be used as
an external clock input via the custom "adi,ext-clk-pin" property. If this
field is left empty, DIO2 is assigned as default external clock input pin.
Each DIOx pin supports only one function at a time (data ready line
selection or external clock input).

Signed-off-by: Stefan Popa <stefan.popa@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/adis16480.c | 186 ++++++++++++++++++++++++++++++++++++++++++--
 1 file changed, 179 insertions(+), 7 deletions(-)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index 28cece3cc868..ab137c1bbe7b 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -9,6 +9,7 @@
  *
  */
 
+#include <linux/clk.h>
 #include <linux/bitfield.h>
 #include <linux/of_irq.h>
 #include <linux/interrupt.h>
@@ -99,6 +100,12 @@
 #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 ADIS16480_REG_SERIAL_NUM		ADIS16480_REG(0x04, 0x20)
 
 /* Each filter coefficent bank spans two pages */
@@ -116,6 +123,12 @@
 #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)
 
 struct adis16480_chip_info {
 	unsigned int num_channels;
@@ -128,6 +141,7 @@ struct adis16480_chip_info {
 	unsigned int int_clk;
 	unsigned int max_dec_rate;
 	const unsigned int *filter_freqs;
+	bool has_pps_clk_mode;
 };
 
 enum adis16480_int_pin {
@@ -137,10 +151,19 @@ enum adis16480_int_pin {
 	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;
 };
 
 static const char * const adis16480_int_pin_names[4] = {
@@ -296,20 +319,34 @@ static int adis16480_debugfs_init(struct iio_dev *indio_dev)
 static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
 {
 	struct adis16480 *st = iio_priv(indio_dev);
-	unsigned int t;
+	unsigned int t, reg;
 
 	t =  val * 1000 + val2 / 1000;
 	if (t <= 0)
 		return -EINVAL;
 
-	t = st->chip_info->int_clk / t;
+	/*
+	 * When using PPS mode, the rate of data collection is equal to the
+	 * product of the external clock frequency and the scale factor in the
+	 * SYNC_SCALE register.
+	 * When using sync mode, or internal clock, the output data rate is
+	 * equal with  the clock frequency divided by DEC_RATE + 1.
+	 */
+	if (st->clk_mode == ADIS16480_CLK_PPS) {
+		t = t / st->clk_freq;
+		reg = ADIS16495_REG_SYNC_SCALE;
+	} else {
+		t = st->clk_freq / t;
+		reg = ADIS16480_REG_DEC_RATE;
+	}
+
 	if (t > st->chip_info->max_dec_rate)
 		t = st->chip_info->max_dec_rate;
 
-	if (t != 0)
+	if ((t != 0) && (st->clk_mode != ADIS16480_CLK_PPS))
 		t--;
 
-	return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
+	return adis_write_reg_16(&st->adis, reg, t);
 }
 
 static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
@@ -318,12 +355,29 @@ static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
 	uint16_t t;
 	int ret;
 	unsigned freq;
+	unsigned int reg;
+
+	if (st->clk_mode == ADIS16480_CLK_PPS)
+		reg = ADIS16495_REG_SYNC_SCALE;
+	else
+		reg = ADIS16480_REG_DEC_RATE;
 
-	ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
+	ret = adis_read_reg_16(&st->adis, reg, &t);
 	if (ret < 0)
 		return ret;
 
-	freq = st->chip_info->int_clk / (t + 1);
+	/*
+	 * When using PPS mode, the rate of data collection is equal to the
+	 * product of the external clock frequency and the scale factor in the
+	 * SYNC_SCALE register.
+	 * When using sync mode, or internal clock, the output data rate is
+	 * equal with  the clock frequency divided by DEC_RATE + 1.
+	 */
+	if (st->clk_mode == ADIS16480_CLK_PPS)
+		freq = st->clk_freq * t;
+	else
+		freq = st->clk_freq / (t + 1);
+
 	*val = freq / 1000;
 	*val2 = (freq % 1000) * 1000;
 
@@ -793,6 +847,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
+		.has_pps_clk_mode = true,
 	},
 	[ADIS16495_2] = {
 		.channels = adis16485_channels,
@@ -805,6 +860,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
+		.has_pps_clk_mode = true,
 	},
 	[ADIS16495_3] = {
 		.channels = adis16485_channels,
@@ -817,6 +873,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
+		.has_pps_clk_mode = true,
 	},
 	[ADIS16497_1] = {
 		.channels = adis16485_channels,
@@ -829,6 +886,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
+		.has_pps_clk_mode = true,
 	},
 	[ADIS16497_2] = {
 		.channels = adis16485_channels,
@@ -841,6 +899,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
+		.has_pps_clk_mode = true,
 	},
 	[ADIS16497_3] = {
 		.channels = adis16485_channels,
@@ -853,6 +912,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
 		.int_clk = 4250000,
 		.max_dec_rate = 4250,
 		.filter_freqs = adis16495_def_filter_freqs,
+		.has_pps_clk_mode = true,
 	},
 };
 
@@ -1027,6 +1087,100 @@ static int adis16480_config_irq_pin(struct device_node *of_node,
 	return adis_write_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, val);
 }
 
+static int adis16480_of_get_ext_clk_pin(struct adis16480 *st,
+					struct device_node *of_node)
+{
+	const char *ext_clk_pin;
+	enum adis16480_int_pin pin;
+	int i;
+
+	pin = ADIS16480_PIN_DIO2;
+	if (of_property_read_string(of_node, "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(&st->adis.spi->dev,
+		"clk input line not specified, using DIO2\n");
+	return pin;
+}
+
+static int adis16480_ext_clk_config(struct adis16480 *st,
+				    struct device_node *of_node,
+				    bool enable)
+{
+	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 < 0)
+		return ret;
+
+	pin = adis16480_of_get_ext_clk_pin(st, of_node);
+	/*
+	 * 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(&st->adis.spi->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 < 0)
+		return ret;
+
+	return clk_prepare_enable(st->ext_clk);
+}
+
+static int adis16480_get_ext_clocks(struct adis16480 *st)
+{
+	st->clk_mode = ADIS16480_CLK_INT;
+	st->ext_clk = devm_clk_get(&st->adis.spi->dev, "sync");
+	if (!IS_ERR_OR_NULL(st->ext_clk)) {
+		st->clk_mode = ADIS16480_CLK_SYNC;
+		return 0;
+	}
+
+	if (PTR_ERR(st->ext_clk) != -ENOENT) {
+		dev_err(&st->adis.spi->dev, "failed to get ext clk\n");
+		return PTR_ERR(st->ext_clk);
+	}
+
+	if (st->chip_info->has_pps_clk_mode) {
+		st->ext_clk = devm_clk_get(&st->adis.spi->dev, "pps");
+		if (!IS_ERR_OR_NULL(st->ext_clk)) {
+			st->clk_mode = ADIS16480_CLK_PPS;
+			return 0;
+		}
+
+		if (PTR_ERR(st->ext_clk) != -ENOENT) {
+			dev_err(&st->adis.spi->dev, "failed to get ext clk\n");
+			return PTR_ERR(st->ext_clk);
+		}
+	}
+
+	return 0;
+}
+
 static int adis16480_probe(struct spi_device *spi)
 {
 	const struct spi_device_id *id = spi_get_device_id(spi);
@@ -1058,10 +1212,25 @@ static int adis16480_probe(struct spi_device *spi)
 	if (ret)
 		return ret;
 
-	ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
+	ret = adis16480_get_ext_clocks(st);
 	if (ret)
 		return ret;
 
+	if (!IS_ERR_OR_NULL(st->ext_clk)) {
+		ret = adis16480_ext_clk_config(st, spi->dev.of_node, true);
+		if (ret)
+			return ret;
+
+		st->clk_freq = clk_get_rate(st->ext_clk);
+		st->clk_freq *= 1000; /* micro */
+	} else {
+		st->clk_freq = st->chip_info->int_clk;
+	}
+
+	ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
+	if (ret)
+		goto error_clk_disable_unprepare;
+
 	ret = adis16480_initial_setup(indio_dev);
 	if (ret)
 		goto error_cleanup_buffer;
@@ -1078,6 +1247,8 @@ error_stop_device:
 	adis16480_stop_device(indio_dev);
 error_cleanup_buffer:
 	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+error_clk_disable_unprepare:
+	clk_disable_unprepare(st->ext_clk);
 	return ret;
 }
 
@@ -1090,6 +1261,7 @@ static int adis16480_remove(struct spi_device *spi)
 	adis16480_stop_device(indio_dev);
 
 	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+	clk_disable_unprepare(st->ext_clk);
 
 	return 0;
 }
-- 
cgit v1.2.3


From 6af0e8a9a7a5ec324dbc32bc81feea81e44908dc Mon Sep 17 00:00:00 2001
From: Lorenzo Bianconi <lorenzo@kernel.org>
Date: Fri, 15 Mar 2019 11:08:24 +0100
Subject: iio: imu: st_lsm6dsx: add support to LSM6DSOX

Add support to STM LSM6DSOX 6-axis (acc + gyro) Mems sensor
https://www.st.com/resource/en/datasheet/lsm6dsox.pdf

Signed-off-by: Lorenzo Bianconi <lorenzo@kernel.org>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/st_lsm6dsx/Kconfig             | 2 +-
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h        | 2 ++
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 4 ++--
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c   | 3 ++-
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c    | 5 +++++
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c    | 5 +++++
 6 files changed, 17 insertions(+), 4 deletions(-)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig
index 36048bf0455a..8dcf5137b8da 100644
--- a/drivers/iio/imu/st_lsm6dsx/Kconfig
+++ b/drivers/iio/imu/st_lsm6dsx/Kconfig
@@ -9,7 +9,7 @@ config IIO_ST_LSM6DSX
 	help
 	  Say yes here to build support for STMicroelectronics LSM6DSx imu
 	  sensor. Supported devices: lsm6ds3, lsm6ds3h, lsm6dsl, lsm6dsm,
-	  ism330dlc, lsm6dso, asm330lhh
+	  ism330dlc, lsm6dso, lsm6dsox, asm330lhh
 
 	  To compile this driver as a module, choose M here: the module
 	  will be called st_lsm6dsx.
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index de2a0dc39353..0a0c56c1701d 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -21,6 +21,7 @@
 #define ST_ISM330DLC_DEV_NAME	"ism330dlc"
 #define ST_LSM6DSO_DEV_NAME	"lsm6dso"
 #define ST_ASM330LHH_DEV_NAME	"asm330lhh"
+#define ST_LSM6DSOX_DEV_NAME	"lsm6dsox"
 
 enum st_lsm6dsx_hw_id {
 	ST_LSM6DS3_ID,
@@ -30,6 +31,7 @@ enum st_lsm6dsx_hw_id {
 	ST_ISM330DLC_ID,
 	ST_LSM6DSO_ID,
 	ST_ASM330LHH_ID,
+	ST_LSM6DSOX_ID,
 	ST_LSM6DSX_MAX_ID,
 };
 
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
index 8f443bdb5b51..2da8c5ff699a 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
@@ -13,7 +13,7 @@
  * (e.g. Gx, Gy, Gz, Ax, Ay, Az), then data are repeated depending on the
  * value of the decimation factor and ODR set for each FIFO data set.
  *
- * LSM6DSO/ASM330LHH: The FIFO buffer can be configured to store data
+ * LSM6DSO/LSM6DSOX/ASM330LHH: The FIFO buffer can be configured to store data
  * from gyroscope and accelerometer. Each sample is queued with a tag (1B)
  * indicating data source (gyroscope, accelerometer, hw timer).
  *
@@ -506,7 +506,7 @@ st_lsm6dsx_push_tagged_data(struct st_lsm6dsx_hw *hw, u8 tag,
 }
 
 /**
- * st_lsm6dsx_read_tagged_fifo() - LSM6DSO/ASM330LHH read FIFO routine
+ * st_lsm6dsx_read_tagged_fifo() - LSM6DSO/LSM6DSOX/ASM330LHH read FIFO routine
  * @hw: Pointer to instance of struct st_lsm6dsx_hw.
  *
  * Read samples from the hw FIFO and push them to IIO buffers.
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index 50cab3531b11..c167ae2c21ab 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -23,7 +23,7 @@
  *   - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
  *   - FIFO size: 4KB
  *
- * - LSM6DSO/ASM330LHH
+ * - LSM6DSO/LSM6DSOX/ASM330LHH
  *   - Accelerometer/Gyroscope supported ODR [Hz]: 13, 26, 52, 104, 208, 416
  *   - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
  *   - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
@@ -287,6 +287,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 		.max_fifo_size = 512,
 		.id = {
 			[0] = ST_LSM6DSO_ID,
+			[1] = ST_LSM6DSOX_ID,
 		},
 		.batch = {
 			[ST_LSM6DSX_ID_ACC] = {
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
index 00b4b702645a..0bfc66d2d772 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
@@ -69,6 +69,10 @@ static const struct of_device_id st_lsm6dsx_i2c_of_match[] = {
 		.compatible = "st,asm330lhh",
 		.data = (void *)ST_ASM330LHH_ID,
 	},
+	{
+		.compatible = "st,lsm6dsox",
+		.data = (void *)ST_LSM6DSOX_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match);
@@ -81,6 +85,7 @@ static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = {
 	{ ST_ISM330DLC_DEV_NAME, ST_ISM330DLC_ID },
 	{ ST_LSM6DSO_DEV_NAME, ST_LSM6DSO_ID },
 	{ ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
+	{ ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
 	{},
 };
 MODULE_DEVICE_TABLE(i2c, st_lsm6dsx_i2c_id_table);
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
index 836256c2ac7d..9f46d4ce9fc1 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
@@ -69,6 +69,10 @@ static const struct of_device_id st_lsm6dsx_spi_of_match[] = {
 		.compatible = "st,asm330lhh",
 		.data = (void *)ST_ASM330LHH_ID,
 	},
+	{
+		.compatible = "st,lsm6dsox",
+		.data = (void *)ST_LSM6DSOX_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match);
@@ -81,6 +85,7 @@ static const struct spi_device_id st_lsm6dsx_spi_id_table[] = {
 	{ ST_ISM330DLC_DEV_NAME, ST_ISM330DLC_ID },
 	{ ST_LSM6DSO_DEV_NAME, ST_LSM6DSO_ID },
 	{ ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
+	{ ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
 	{},
 };
 MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table);
-- 
cgit v1.2.3


From 74878d4fa816443716bd8adf4f9f6986f5c6f256 Mon Sep 17 00:00:00 2001
From: Alexandru Ardelean <alexandru.ardelean@analog.com>
Date: Fri, 22 Mar 2019 22:44:38 +0200
Subject: iio: imu: adis16400: move trigger handler into adis16400_core

The trigger handler for the ADIS16400 is very different from the generic
one in the ADIS library. Keeping it in a separate file won't make much
sense once the update_scan_mode function will be made more generic and
moved into the ADIS library.

Signed-off-by: Alexandru Ardelean <alexandru.ardelean@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/adis16400.h        |  2 --
 drivers/iio/imu/adis16400_buffer.c | 41 ---------------------------------
 drivers/iio/imu/adis16400_core.c   | 46 ++++++++++++++++++++++++++++++++++++++
 3 files changed, 46 insertions(+), 43 deletions(-)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/adis16400.h b/drivers/iio/imu/adis16400.h
index 73b189c1c0fb..93b6c0c41fdd 100644
--- a/drivers/iio/imu/adis16400.h
+++ b/drivers/iio/imu/adis16400.h
@@ -203,12 +203,10 @@ ssize_t adis16400_read_data_from_ring(struct device *dev,
 
 int adis16400_update_scan_mode(struct iio_dev *indio_dev,
 	const unsigned long *scan_mask);
-irqreturn_t adis16400_trigger_handler(int irq, void *p);
 
 #else /* CONFIG_IIO_BUFFER */
 
 #define adis16400_update_scan_mode NULL
-#define adis16400_trigger_handler NULL
 
 #endif /* CONFIG_IIO_BUFFER */
 
diff --git a/drivers/iio/imu/adis16400_buffer.c b/drivers/iio/imu/adis16400_buffer.c
index e70a5339acb1..268349eb51c7 100644
--- a/drivers/iio/imu/adis16400_buffer.c
+++ b/drivers/iio/imu/adis16400_buffer.c
@@ -58,44 +58,3 @@ int adis16400_update_scan_mode(struct iio_dev *indio_dev,
 
 	return 0;
 }
-
-irqreturn_t adis16400_trigger_handler(int irq, void *p)
-{
-	struct iio_poll_func *pf = p;
-	struct iio_dev *indio_dev = pf->indio_dev;
-	struct adis16400_state *st = iio_priv(indio_dev);
-	struct adis *adis = &st->adis;
-	u32 old_speed_hz = st->adis.spi->max_speed_hz;
-	void *buffer;
-	int ret;
-
-	if (!adis->buffer)
-		return -ENOMEM;
-
-	if (!(st->variant->flags & ADIS16400_NO_BURST) &&
-		st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
-		st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
-		spi_setup(st->adis.spi);
-	}
-
-	ret = spi_sync(adis->spi, &adis->msg);
-	if (ret)
-		dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
-
-	if (!(st->variant->flags & ADIS16400_NO_BURST)) {
-		st->adis.spi->max_speed_hz = old_speed_hz;
-		spi_setup(st->adis.spi);
-	}
-
-	if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
-		buffer = adis->buffer + sizeof(u16);
-	else
-		buffer = adis->buffer;
-
-	iio_push_to_buffers_with_timestamp(indio_dev, buffer,
-		pf->timestamp);
-
-	iio_trigger_notify_done(indio_dev->trig);
-
-	return IRQ_HANDLED;
-}
diff --git a/drivers/iio/imu/adis16400_core.c b/drivers/iio/imu/adis16400_core.c
index 46a569005a13..f9cb9e11e636 100644
--- a/drivers/iio/imu/adis16400_core.c
+++ b/drivers/iio/imu/adis16400_core.c
@@ -31,6 +31,7 @@
 #include <linux/iio/iio.h>
 #include <linux/iio/sysfs.h>
 #include <linux/iio/buffer.h>
+#include <linux/iio/trigger_consumer.h>
 
 #include "adis16400.h"
 
@@ -465,6 +466,51 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
 	}
 }
 
+#if IS_ENABLED(CONFIG_IIO_BUFFER)
+static irqreturn_t adis16400_trigger_handler(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct adis16400_state *st = iio_priv(indio_dev);
+	struct adis *adis = &st->adis;
+	u32 old_speed_hz = st->adis.spi->max_speed_hz;
+	void *buffer;
+	int ret;
+
+	if (!adis->buffer)
+		return -ENOMEM;
+
+	if (!(st->variant->flags & ADIS16400_NO_BURST) &&
+		st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
+		spi_setup(st->adis.spi);
+	}
+
+	ret = spi_sync(adis->spi, &adis->msg);
+	if (ret)
+		dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
+
+	if (!(st->variant->flags & ADIS16400_NO_BURST)) {
+		st->adis.spi->max_speed_hz = old_speed_hz;
+		spi_setup(st->adis.spi);
+	}
+
+	if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
+		buffer = adis->buffer + sizeof(u16);
+	else
+		buffer = adis->buffer;
+
+	iio_push_to_buffers_with_timestamp(indio_dev, buffer,
+		pf->timestamp);
+
+	iio_trigger_notify_done(indio_dev->trig);
+
+	return IRQ_HANDLED;
+}
+#else
+#define adis16400_trigger_handler	NULL
+#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
+
 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
 	.type = IIO_VOLTAGE, \
 	.indexed = 1, \
-- 
cgit v1.2.3


From 5075e0720d93a84e059759c5d8c6a78613d0face Mon Sep 17 00:00:00 2001
From: Alexandru Ardelean <alexandru.ardelean@analog.com>
Date: Fri, 22 Mar 2019 22:44:39 +0200
Subject: iio: imu: adis: generalize burst mode support

Some variants in the ADIS16400 family support burst mode. This mechanism is
implemented in the `adis16400_buffer.c` file.

Some variants in ADIS16480 are also adding burst mode, which is
functionally similar to ADIS16400, but with different parameters. To get
there, a `adis_burst` struct is added to parametrize certain bits of the
SPI communication to setup: the register that triggers burst-mode, and the
extra-data-length that needs be accounted for when building the bust-length
buffer.

The trigger handler cannot be made generic, since it's very specific to
each ADIS164XX family.

A future enhancement of this `adis_burst` mode will be the possibility to
enable/disable burst-mode. For the ADIS16400 family it's hard-coded to on
by default. But for ADIS16480 there will be a need to disable this.

When that will be implemented, both ADIS16400 & ADIS16480 will have the
burst-mode enable-able/disable-able.

Signed-off-by: Alexandru Ardelean <alexandru.ardelean@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/adis16400_buffer.c |  7 +++----
 drivers/iio/imu/adis16400_core.c   |  8 ++++++++
 include/linux/iio/imu/adis.h       | 14 ++++++++++++++
 3 files changed, 25 insertions(+), 4 deletions(-)

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/adis16400_buffer.c b/drivers/iio/imu/adis16400_buffer.c
index 268349eb51c7..199bd72348eb 100644
--- a/drivers/iio/imu/adis16400_buffer.c
+++ b/drivers/iio/imu/adis16400_buffer.c
@@ -22,7 +22,7 @@ int adis16400_update_scan_mode(struct iio_dev *indio_dev,
 	unsigned int burst_length;
 	u8 *tx;
 
-	if (st->variant->flags & ADIS16400_NO_BURST)
+	if (!adis->burst || !adis->burst->en)
 		return adis_update_scan_mode(indio_dev, scan_mask);
 
 	kfree(adis->xfer);
@@ -30,8 +30,7 @@ int adis16400_update_scan_mode(struct iio_dev *indio_dev,
 
 	/* All but the timestamp channel */
 	burst_length = (indio_dev->num_channels - 1) * sizeof(u16);
-	if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
-		burst_length += sizeof(u16);
+	burst_length += adis->burst->extra_len;
 
 	adis->xfer = kcalloc(2, sizeof(*adis->xfer), GFP_KERNEL);
 	if (!adis->xfer)
@@ -42,7 +41,7 @@ int adis16400_update_scan_mode(struct iio_dev *indio_dev,
 		return -ENOMEM;
 
 	tx = adis->buffer + burst_length;
-	tx[0] = ADIS_READ_REG(ADIS16400_GLOB_CMD);
+	tx[0] = ADIS_READ_REG(adis->burst->reg_cmd);
 	tx[1] = 0;
 
 	adis->xfer[0].tx_buf = tx;
diff --git a/drivers/iio/imu/adis16400_core.c b/drivers/iio/imu/adis16400_core.c
index f9cb9e11e636..093c809dae50 100644
--- a/drivers/iio/imu/adis16400_core.c
+++ b/drivers/iio/imu/adis16400_core.c
@@ -146,6 +146,11 @@ enum adis16400_chip_variant {
 	ADIS16448,
 };
 
+static struct adis_burst adis16400_burst = {
+	.en = true,
+	.reg_cmd = ADIS16400_GLOB_CMD,
+};
+
 static int adis16334_get_freq(struct adis16400_state *st)
 {
 	int ret;
@@ -972,6 +977,9 @@ static int adis16400_probe(struct spi_device *spi)
 	if (!(st->variant->flags & ADIS16400_NO_BURST)) {
 		adis16400_setup_chan_mask(st);
 		indio_dev->available_scan_masks = st->avail_scan_mask;
+		st->adis.burst = &adis16400_burst;
+		if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
+			st->adis.burst->extra_len = sizeof(u16);
 	}
 
 	ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h
index 360da7d18a3d..469a493f7ae0 100644
--- a/include/linux/iio/imu/adis.h
+++ b/include/linux/iio/imu/adis.h
@@ -21,6 +21,7 @@
 #define ADIS_REG_PAGE_ID 0x00
 
 struct adis;
+struct adis_burst;
 
 /**
  * struct adis_data - ADIS chip variant specific data
@@ -57,6 +58,7 @@ struct adis {
 	struct iio_trigger	*trig;
 
 	const struct adis_data	*data;
+	struct adis_burst	*burst;
 
 	struct mutex		txrx_lock;
 	struct spi_message	msg;
@@ -232,6 +234,18 @@ int adis_single_conversion(struct iio_dev *indio_dev,
 
 #ifdef CONFIG_IIO_ADIS_LIB_BUFFER
 
+/**
+ * struct adis_burst - ADIS data for burst transfers
+ * @en			burst mode enabled
+ * @reg_cmd		register command that triggers burst
+ * @extra_len		extra length to account in the SPI RX buffer
+ */
+struct adis_burst {
+	bool		en;
+	unsigned int	reg_cmd;
+	unsigned int	extra_len;
+};
+
 int adis_setup_buffer_and_trigger(struct adis *adis,
 	struct iio_dev *indio_dev, irqreturn_t (*trigger_handler)(int, void *));
 void adis_cleanup_buffer_and_trigger(struct adis *adis,
-- 
cgit v1.2.3


From 0e92e2d036232da1543599dc9b7acc1ce4289d1b Mon Sep 17 00:00:00 2001
From: Alexandru Ardelean <alexandru.ardelean@analog.com>
Date: Fri, 22 Mar 2019 22:44:40 +0200
Subject: iio: imu: adis16400: move burst logic to ADIS lib

This change has been done separately, so that it's easier to visualize the
changed logic in the adis_scan_update() function.

Most of the function in this `adis16400_update_scan_mode()` that deals with
burst-mode will be re-used in the ADIS16480, but with different parameters.

Signed-off-by: Alexandru Ardelean <alexandru.ardelean@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/Makefile           |  1 -
 drivers/iio/imu/adis16400.h        | 16 -----------
 drivers/iio/imu/adis16400_buffer.c | 59 --------------------------------------
 drivers/iio/imu/adis16400_core.c   |  2 +-
 drivers/iio/imu/adis_buffer.c      | 40 ++++++++++++++++++++++++++
 5 files changed, 41 insertions(+), 77 deletions(-)
 delete mode 100644 drivers/iio/imu/adis16400_buffer.c

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
index 68629c68b19b..4898799347d5 100644
--- a/drivers/iio/imu/Makefile
+++ b/drivers/iio/imu/Makefile
@@ -5,7 +5,6 @@
 
 # When adding new entries keep the list in alphabetical order
 adis16400-y             := adis16400_core.o
-adis16400-$(CONFIG_IIO_BUFFER) += adis16400_buffer.o
 obj-$(CONFIG_ADIS16400) += adis16400.o
 obj-$(CONFIG_ADIS16480) += adis16480.o
 
diff --git a/drivers/iio/imu/adis16400.h b/drivers/iio/imu/adis16400.h
index 93b6c0c41fdd..7e2e0dbaa2e1 100644
--- a/drivers/iio/imu/adis16400.h
+++ b/drivers/iio/imu/adis16400.h
@@ -194,20 +194,4 @@ enum {
 	ADIS16400_SCAN_TIMESTAMP,
 };
 
-#ifdef CONFIG_IIO_BUFFER
-
-ssize_t adis16400_read_data_from_ring(struct device *dev,
-				      struct device_attribute *attr,
-				      char *buf);
-
-
-int adis16400_update_scan_mode(struct iio_dev *indio_dev,
-	const unsigned long *scan_mask);
-
-#else /* CONFIG_IIO_BUFFER */
-
-#define adis16400_update_scan_mode NULL
-
-#endif /* CONFIG_IIO_BUFFER */
-
 #endif /* SPI_ADIS16400_H_ */
diff --git a/drivers/iio/imu/adis16400_buffer.c b/drivers/iio/imu/adis16400_buffer.c
deleted file mode 100644
index 199bd72348eb..000000000000
--- a/drivers/iio/imu/adis16400_buffer.c
+++ /dev/null
@@ -1,59 +0,0 @@
-// SPDX-License-Identifier: GPL-2.0
-#include <linux/interrupt.h>
-#include <linux/mutex.h>
-#include <linux/kernel.h>
-#include <linux/spi/spi.h>
-#include <linux/slab.h>
-#include <linux/bitops.h>
-#include <linux/export.h>
-
-#include <linux/iio/iio.h>
-#include <linux/iio/buffer.h>
-#include <linux/iio/triggered_buffer.h>
-#include <linux/iio/trigger_consumer.h>
-
-#include "adis16400.h"
-
-int adis16400_update_scan_mode(struct iio_dev *indio_dev,
-	const unsigned long *scan_mask)
-{
-	struct adis16400_state *st = iio_priv(indio_dev);
-	struct adis *adis = &st->adis;
-	unsigned int burst_length;
-	u8 *tx;
-
-	if (!adis->burst || !adis->burst->en)
-		return adis_update_scan_mode(indio_dev, scan_mask);
-
-	kfree(adis->xfer);
-	kfree(adis->buffer);
-
-	/* All but the timestamp channel */
-	burst_length = (indio_dev->num_channels - 1) * sizeof(u16);
-	burst_length += adis->burst->extra_len;
-
-	adis->xfer = kcalloc(2, sizeof(*adis->xfer), GFP_KERNEL);
-	if (!adis->xfer)
-		return -ENOMEM;
-
-	adis->buffer = kzalloc(burst_length + sizeof(u16), GFP_KERNEL);
-	if (!adis->buffer)
-		return -ENOMEM;
-
-	tx = adis->buffer + burst_length;
-	tx[0] = ADIS_READ_REG(adis->burst->reg_cmd);
-	tx[1] = 0;
-
-	adis->xfer[0].tx_buf = tx;
-	adis->xfer[0].bits_per_word = 8;
-	adis->xfer[0].len = 2;
-	adis->xfer[1].rx_buf = adis->buffer;
-	adis->xfer[1].bits_per_word = 8;
-	adis->xfer[1].len = burst_length;
-
-	spi_message_init(&adis->msg);
-	spi_message_add_tail(&adis->xfer[0], &adis->msg);
-	spi_message_add_tail(&adis->xfer[1], &adis->msg);
-
-	return 0;
-}
diff --git a/drivers/iio/imu/adis16400_core.c b/drivers/iio/imu/adis16400_core.c
index 093c809dae50..c75d23bc49bf 100644
--- a/drivers/iio/imu/adis16400_core.c
+++ b/drivers/iio/imu/adis16400_core.c
@@ -886,7 +886,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
 static const struct iio_info adis16400_info = {
 	.read_raw = &adis16400_read_raw,
 	.write_raw = &adis16400_write_raw,
-	.update_scan_mode = adis16400_update_scan_mode,
+	.update_scan_mode = adis_update_scan_mode,
 	.debugfs_reg_access = adis_debugfs_reg_access,
 };
 
diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c
index 76643c5571aa..3a7c970568dc 100644
--- a/drivers/iio/imu/adis_buffer.c
+++ b/drivers/iio/imu/adis_buffer.c
@@ -20,6 +20,43 @@
 #include <linux/iio/triggered_buffer.h>
 #include <linux/iio/imu/adis.h>
 
+static int adis_update_scan_mode_burst(struct iio_dev *indio_dev,
+	const unsigned long *scan_mask)
+{
+	struct adis *adis = iio_device_get_drvdata(indio_dev);
+	unsigned int burst_length;
+	u8 *tx;
+
+	/* All but the timestamp channel */
+	burst_length = (indio_dev->num_channels - 1) * sizeof(u16);
+	burst_length += adis->burst->extra_len;
+
+	adis->xfer = kcalloc(2, sizeof(*adis->xfer), GFP_KERNEL);
+	if (!adis->xfer)
+		return -ENOMEM;
+
+	adis->buffer = kzalloc(burst_length + sizeof(u16), GFP_KERNEL);
+	if (!adis->buffer)
+		return -ENOMEM;
+
+	tx = adis->buffer + burst_length;
+	tx[0] = ADIS_READ_REG(adis->burst->reg_cmd);
+	tx[1] = 0;
+
+	adis->xfer[0].tx_buf = tx;
+	adis->xfer[0].bits_per_word = 8;
+	adis->xfer[0].len = 2;
+	adis->xfer[1].rx_buf = adis->buffer;
+	adis->xfer[1].bits_per_word = 8;
+	adis->xfer[1].len = burst_length;
+
+	spi_message_init(&adis->msg);
+	spi_message_add_tail(&adis->xfer[0], &adis->msg);
+	spi_message_add_tail(&adis->xfer[1], &adis->msg);
+
+	return 0;
+}
+
 int adis_update_scan_mode(struct iio_dev *indio_dev,
 	const unsigned long *scan_mask)
 {
@@ -32,6 +69,9 @@ int adis_update_scan_mode(struct iio_dev *indio_dev,
 	kfree(adis->xfer);
 	kfree(adis->buffer);
 
+	if (adis->burst && adis->burst->en)
+		return adis_update_scan_mode_burst(indio_dev, scan_mask);
+
 	scan_count = indio_dev->scan_bytes / 2;
 
 	adis->xfer = kcalloc(scan_count + 1, sizeof(*adis->xfer), GFP_KERNEL);
-- 
cgit v1.2.3


From 5447e3f15c4339f53c4a86e0a1bd6476f6baf051 Mon Sep 17 00:00:00 2001
From: Alexandru Ardelean <alexandru.ardelean@analog.com>
Date: Fri, 22 Mar 2019 22:44:41 +0200
Subject: iio: imu: adis16400: rename adis16400_core.c -> adi16400.c

This change does a simple 1-to-1 rename of the adis16400_core.c file. Now
that the `adis16400_buffer.c` file was removed, everything can be moved
into a single driver file.
But first, this rename.

Signed-off-by: Alexandru Ardelean <alexandru.ardelean@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/Makefile         |    1 -
 drivers/iio/imu/adis16400.c      | 1055 ++++++++++++++++++++++++++++++++++++++
 drivers/iio/imu/adis16400_core.c | 1055 --------------------------------------
 3 files changed, 1055 insertions(+), 1056 deletions(-)
 create mode 100644 drivers/iio/imu/adis16400.c
 delete mode 100644 drivers/iio/imu/adis16400_core.c

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
index 4898799347d5..9e452fce1aaf 100644
--- a/drivers/iio/imu/Makefile
+++ b/drivers/iio/imu/Makefile
@@ -4,7 +4,6 @@
 #
 
 # When adding new entries keep the list in alphabetical order
-adis16400-y             := adis16400_core.o
 obj-$(CONFIG_ADIS16400) += adis16400.o
 obj-$(CONFIG_ADIS16480) += adis16480.o
 
diff --git a/drivers/iio/imu/adis16400.c b/drivers/iio/imu/adis16400.c
new file mode 100644
index 000000000000..c75d23bc49bf
--- /dev/null
+++ b/drivers/iio/imu/adis16400.c
@@ -0,0 +1,1055 @@
+/*
+ * adis16400.c	support Analog Devices ADIS16400/5
+ *		3d 2g Linear Accelerometers,
+ *		3d Gyroscopes,
+ *		3d Magnetometers via SPI
+ *
+ * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
+ * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
+ * Copyright (c) 2011 Analog Devices Inc.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ */
+
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+#include <linux/list.h>
+#include <linux/module.h>
+#include <linux/debugfs.h>
+#include <linux/bitops.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger_consumer.h>
+
+#include "adis16400.h"
+
+#ifdef CONFIG_DEBUG_FS
+
+static ssize_t adis16400_show_serial_number(struct file *file,
+		char __user *userbuf, size_t count, loff_t *ppos)
+{
+	struct adis16400_state *st = file->private_data;
+	u16 lot1, lot2, serial_number;
+	char buf[16];
+	size_t len;
+	int ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
+	if (ret < 0)
+		return ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
+	if (ret < 0)
+		return ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
+			&serial_number);
+	if (ret < 0)
+		return ret;
+
+	len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
+			serial_number);
+
+	return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
+
+static const struct file_operations adis16400_serial_number_fops = {
+	.open = simple_open,
+	.read = adis16400_show_serial_number,
+	.llseek = default_llseek,
+	.owner = THIS_MODULE,
+};
+
+static int adis16400_show_product_id(void *arg, u64 *val)
+{
+	struct adis16400_state *st = arg;
+	uint16_t prod_id;
+	int ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
+	if (ret < 0)
+		return ret;
+
+	*val = prod_id;
+
+	return 0;
+}
+DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
+	adis16400_show_product_id, NULL, "%lld\n");
+
+static int adis16400_show_flash_count(void *arg, u64 *val)
+{
+	struct adis16400_state *st = arg;
+	uint16_t flash_count;
+	int ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
+	if (ret < 0)
+		return ret;
+
+	*val = flash_count;
+
+	return 0;
+}
+DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
+	adis16400_show_flash_count, NULL, "%lld\n");
+
+static int adis16400_debugfs_init(struct iio_dev *indio_dev)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+
+	if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
+		debugfs_create_file("serial_number", 0400,
+			indio_dev->debugfs_dentry, st,
+			&adis16400_serial_number_fops);
+	if (st->variant->flags & ADIS16400_HAS_PROD_ID)
+		debugfs_create_file("product_id", 0400,
+			indio_dev->debugfs_dentry, st,
+			&adis16400_product_id_fops);
+	debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
+		st, &adis16400_flash_count_fops);
+
+	return 0;
+}
+
+#else
+
+static int adis16400_debugfs_init(struct iio_dev *indio_dev)
+{
+	return 0;
+}
+
+#endif
+
+enum adis16400_chip_variant {
+	ADIS16300,
+	ADIS16334,
+	ADIS16350,
+	ADIS16360,
+	ADIS16362,
+	ADIS16364,
+	ADIS16367,
+	ADIS16400,
+	ADIS16445,
+	ADIS16448,
+};
+
+static struct adis_burst adis16400_burst = {
+	.en = true,
+	.reg_cmd = ADIS16400_GLOB_CMD,
+};
+
+static int adis16334_get_freq(struct adis16400_state *st)
+{
+	int ret;
+	uint16_t t;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+	if (ret < 0)
+		return ret;
+
+	t >>= ADIS16334_RATE_DIV_SHIFT;
+
+	return 819200 >> t;
+}
+
+static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
+{
+	unsigned int t;
+
+	if (freq < 819200)
+		t = ilog2(819200 / freq);
+	else
+		t = 0;
+
+	if (t > 0x31)
+		t = 0x31;
+
+	t <<= ADIS16334_RATE_DIV_SHIFT;
+	t |= ADIS16334_RATE_INT_CLK;
+
+	return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
+}
+
+static int adis16400_get_freq(struct adis16400_state *st)
+{
+	int sps, ret;
+	uint16_t t;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+	if (ret < 0)
+		return ret;
+
+	sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
+	sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
+
+	return sps;
+}
+
+static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
+{
+	unsigned int t;
+	uint8_t val = 0;
+
+	t = 1638404 / freq;
+	if (t >= 128) {
+		val |= ADIS16400_SMPL_PRD_TIME_BASE;
+		t = 52851 / freq;
+		if (t >= 128)
+			t = 127;
+	} else if (t != 0) {
+		t--;
+	}
+
+	val |= t;
+
+	if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
+	else
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+
+	return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
+}
+
+static const unsigned int adis16400_3db_divisors[] = {
+	[0] = 2, /* Special case */
+	[1] = 6,
+	[2] = 12,
+	[3] = 25,
+	[4] = 50,
+	[5] = 100,
+	[6] = 200,
+	[7] = 200, /* Not a valid setting */
+};
+
+static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	uint16_t val16;
+	int i, ret;
+
+	for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
+		if (sps / adis16400_3db_divisors[i] >= val)
+			break;
+	}
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
+	if (ret < 0)
+		return ret;
+
+	ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
+					 (val16 & ~0x07) | i);
+	return ret;
+}
+
+/* Power down the device */
+static int adis16400_stop_device(struct iio_dev *indio_dev)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	int ret;
+
+	ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
+			ADIS16400_SLP_CNT_POWER_OFF);
+	if (ret)
+		dev_err(&indio_dev->dev,
+			"problem with turning device off: SLP_CNT");
+
+	return ret;
+}
+
+static int adis16400_initial_setup(struct iio_dev *indio_dev)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	uint16_t prod_id, smp_prd;
+	unsigned int device_id;
+	int ret;
+
+	/* use low spi speed for init if the device has a slow mode */
+	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
+	else
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+	st->adis.spi->mode = SPI_MODE_3;
+	spi_setup(st->adis.spi);
+
+	ret = adis_initial_startup(&st->adis);
+	if (ret)
+		return ret;
+
+	if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
+		ret = adis_read_reg_16(&st->adis,
+						ADIS16400_PRODUCT_ID, &prod_id);
+		if (ret)
+			goto err_ret;
+
+		ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
+		if (ret != 1) {
+			ret = -EINVAL;
+			goto err_ret;
+		}
+
+		if (prod_id != device_id)
+			dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
+					device_id, prod_id);
+
+		dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
+			indio_dev->name, prod_id,
+			st->adis.spi->chip_select, st->adis.spi->irq);
+	}
+	/* use high spi speed if possible */
+	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
+		ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
+		if (ret)
+			goto err_ret;
+
+		if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
+			st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+			spi_setup(st->adis.spi);
+		}
+	}
+
+err_ret:
+	return ret;
+}
+
+static const uint8_t adis16400_addresses[] = {
+	[ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
+	[ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
+	[ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
+	[ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
+	[ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
+	[ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
+};
+
+static int adis16400_write_raw(struct iio_dev *indio_dev,
+	struct iio_chan_spec const *chan, int val, int val2, long info)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	int ret, sps;
+
+	switch (info) {
+	case IIO_CHAN_INFO_CALIBBIAS:
+		mutex_lock(&indio_dev->mlock);
+		ret = adis_write_reg_16(&st->adis,
+				adis16400_addresses[chan->scan_index], val);
+		mutex_unlock(&indio_dev->mlock);
+		return ret;
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		/*
+		 * Need to cache values so we can update if the frequency
+		 * changes.
+		 */
+		mutex_lock(&indio_dev->mlock);
+		st->filt_int = val;
+		/* Work out update to current value */
+		sps = st->variant->get_freq(st);
+		if (sps < 0) {
+			mutex_unlock(&indio_dev->mlock);
+			return sps;
+		}
+
+		ret = adis16400_set_filter(indio_dev, sps,
+			val * 1000 + val2 / 1000);
+		mutex_unlock(&indio_dev->mlock);
+		return ret;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		sps = val * 1000 + val2 / 1000;
+
+		if (sps <= 0)
+			return -EINVAL;
+
+		mutex_lock(&indio_dev->mlock);
+		ret = st->variant->set_freq(st, sps);
+		mutex_unlock(&indio_dev->mlock);
+		return ret;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int adis16400_read_raw(struct iio_dev *indio_dev,
+	struct iio_chan_spec const *chan, int *val, int *val2, long info)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	int16_t val16;
+	int ret;
+
+	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 = 0;
+			*val2 = st->variant->gyro_scale_micro;
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_VOLTAGE:
+			*val = 0;
+			if (chan->channel == 0) {
+				*val = 2;
+				*val2 = 418000; /* 2.418 mV */
+			} else {
+				*val = 0;
+				*val2 = 805800; /* 805.8 uV */
+			}
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_ACCEL:
+			*val = 0;
+			*val2 = st->variant->accel_scale_micro;
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_MAGN:
+			*val = 0;
+			*val2 = 500; /* 0.5 mgauss */
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_TEMP:
+			*val = st->variant->temp_scale_nano / 1000000;
+			*val2 = (st->variant->temp_scale_nano % 1000000);
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_PRESSURE:
+			/* 20 uBar = 0.002kPascal */
+			*val = 0;
+			*val2 = 2000;
+			return IIO_VAL_INT_PLUS_MICRO;
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_CALIBBIAS:
+		mutex_lock(&indio_dev->mlock);
+		ret = adis_read_reg_16(&st->adis,
+				adis16400_addresses[chan->scan_index], &val16);
+		mutex_unlock(&indio_dev->mlock);
+		if (ret)
+			return ret;
+		val16 = sign_extend32(val16, 11);
+		*val = val16;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_OFFSET:
+		/* currently only temperature */
+		*val = st->variant->temp_offset;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		mutex_lock(&indio_dev->mlock);
+		/* Need both the number of taps and the sampling frequency */
+		ret = adis_read_reg_16(&st->adis,
+						ADIS16400_SENS_AVG,
+						&val16);
+		if (ret < 0) {
+			mutex_unlock(&indio_dev->mlock);
+			return ret;
+		}
+		ret = st->variant->get_freq(st);
+		if (ret >= 0) {
+			ret /= adis16400_3db_divisors[val16 & 0x07];
+			*val = ret / 1000;
+			*val2 = (ret % 1000) * 1000;
+		}
+		mutex_unlock(&indio_dev->mlock);
+		if (ret < 0)
+			return ret;
+		return IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		ret = st->variant->get_freq(st);
+		if (ret < 0)
+			return ret;
+		*val = ret / 1000;
+		*val2 = (ret % 1000) * 1000;
+		return IIO_VAL_INT_PLUS_MICRO;
+	default:
+		return -EINVAL;
+	}
+}
+
+#if IS_ENABLED(CONFIG_IIO_BUFFER)
+static irqreturn_t adis16400_trigger_handler(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct adis16400_state *st = iio_priv(indio_dev);
+	struct adis *adis = &st->adis;
+	u32 old_speed_hz = st->adis.spi->max_speed_hz;
+	void *buffer;
+	int ret;
+
+	if (!adis->buffer)
+		return -ENOMEM;
+
+	if (!(st->variant->flags & ADIS16400_NO_BURST) &&
+		st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
+		spi_setup(st->adis.spi);
+	}
+
+	ret = spi_sync(adis->spi, &adis->msg);
+	if (ret)
+		dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
+
+	if (!(st->variant->flags & ADIS16400_NO_BURST)) {
+		st->adis.spi->max_speed_hz = old_speed_hz;
+		spi_setup(st->adis.spi);
+	}
+
+	if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
+		buffer = adis->buffer + sizeof(u16);
+	else
+		buffer = adis->buffer;
+
+	iio_push_to_buffers_with_timestamp(indio_dev, buffer,
+		pf->timestamp);
+
+	iio_trigger_notify_done(indio_dev->trig);
+
+	return IRQ_HANDLED;
+}
+#else
+#define adis16400_trigger_handler	NULL
+#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
+
+#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
+	.type = IIO_VOLTAGE, \
+	.indexed = 1, \
+	.channel = chn, \
+	.extend_name = name, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_SCALE), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = (addr), \
+	.scan_index = (si), \
+	.scan_type = { \
+		.sign = 'u', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_SUPPLY_CHAN(addr, bits) \
+	ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
+
+#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
+	ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
+
+#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
+	.type = IIO_ANGL_VEL, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_CALIBBIAS),		  \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = addr, \
+	.scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
+	.type = IIO_ACCEL, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_CALIBBIAS), \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = (addr), \
+	.scan_index = ADIS16400_SCAN_ACC_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
+	.type = IIO_MAGN, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = (addr), \
+	.scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_MOD_TEMP_NAME_X "x"
+#define ADIS16400_MOD_TEMP_NAME_Y "y"
+#define ADIS16400_MOD_TEMP_NAME_Z "z"
+
+#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
+	.type = IIO_TEMP, \
+	.indexed = 1, \
+	.channel = 0, \
+	.extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_OFFSET) | \
+		BIT(IIO_CHAN_INFO_SCALE), \
+	.info_mask_shared_by_type = \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = (addr), \
+	.scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_TEMP_CHAN(addr, bits) { \
+	.type = IIO_TEMP, \
+	.indexed = 1, \
+	.channel = 0, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_OFFSET) | \
+		BIT(IIO_CHAN_INFO_SCALE), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = (addr), \
+	.scan_index = ADIS16350_SCAN_TEMP_X, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
+	.type = IIO_INCLI, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## 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 = (addr), \
+	.scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+static const struct iio_chan_spec adis16400_channels[] = {
+	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
+	ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
+	ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16445_channels[] = {
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
+	ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16448_channels[] = {
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
+	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
+	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
+	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
+	{
+		.type = IIO_PRESSURE,
+		.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 = ADIS16448_BARO_OUT,
+		.scan_index = ADIS16400_SCAN_BARO,
+		.scan_type = {
+			.sign = 's',
+			.realbits = 16,
+			.storagebits = 16,
+			.endianness = IIO_BE,
+		},
+	},
+	ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16350_channels[] = {
+	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
+	ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
+	ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
+	ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
+	ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16300_channels[] = {
+	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
+	ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
+	ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
+	ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16334_channels[] = {
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static struct adis16400_chip_info adis16400_chips[] = {
+	[ADIS16300] = {
+		.channels = adis16300_channels,
+		.num_channels = ARRAY_SIZE(adis16300_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = 5884,
+		.temp_scale_nano = 140000000, /* 0.14 C */
+		.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16334] = {
+		.channels = adis16334_channels,
+		.num_channels = ARRAY_SIZE(adis16334_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
+		.temp_scale_nano = 67850000, /* 0.06785 C */
+		.temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
+		.set_freq = adis16334_set_freq,
+		.get_freq = adis16334_get_freq,
+	},
+	[ADIS16350] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
+		.temp_scale_nano = 145300000, /* 0.1453 C */
+		.temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
+		.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16360] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+		.temp_scale_nano = 136000000, /* 0.136 C */
+		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16362] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
+		.temp_scale_nano = 136000000, /* 0.136 C */
+		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16364] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
+		.temp_scale_nano = 136000000, /* 0.136 C */
+		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16367] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+		.temp_scale_nano = 136000000, /* 0.136 C */
+		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16400] = {
+		.channels = adis16400_channels,
+		.num_channels = ARRAY_SIZE(adis16400_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+		.temp_scale_nano = 140000000, /* 0.14 C */
+		.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16445] = {
+		.channels = adis16445_channels,
+		.num_channels = ARRAY_SIZE(adis16445_channels),
+		.flags = ADIS16400_HAS_PROD_ID |
+				ADIS16400_HAS_SERIAL_NUMBER |
+				ADIS16400_BURST_DIAG_STAT,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
+		.temp_scale_nano = 73860000, /* 0.07386 C */
+		.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
+		.set_freq = adis16334_set_freq,
+		.get_freq = adis16334_get_freq,
+	},
+	[ADIS16448] = {
+		.channels = adis16448_channels,
+		.num_channels = ARRAY_SIZE(adis16448_channels),
+		.flags = ADIS16400_HAS_PROD_ID |
+				ADIS16400_HAS_SERIAL_NUMBER |
+				ADIS16400_BURST_DIAG_STAT,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
+		.temp_scale_nano = 73860000, /* 0.07386 C */
+		.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
+		.set_freq = adis16334_set_freq,
+		.get_freq = adis16334_get_freq,
+	}
+};
+
+static const struct iio_info adis16400_info = {
+	.read_raw = &adis16400_read_raw,
+	.write_raw = &adis16400_write_raw,
+	.update_scan_mode = adis_update_scan_mode,
+	.debugfs_reg_access = adis_debugfs_reg_access,
+};
+
+static const char * const adis16400_status_error_msgs[] = {
+	[ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+	[ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+	[ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+	[ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+	[ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+	[ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+	[ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
+	[ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
+	[ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
+	[ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
+	[ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
+	[ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
+	[ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
+	[ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
+	[ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
+};
+
+static const struct adis_data adis16400_data = {
+	.msc_ctrl_reg = ADIS16400_MSC_CTRL,
+	.glob_cmd_reg = ADIS16400_GLOB_CMD,
+	.diag_stat_reg = ADIS16400_DIAG_STAT,
+
+	.read_delay = 50,
+	.write_delay = 50,
+
+	.self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
+	.startup_delay = ADIS16400_STARTUP_DELAY,
+
+	.status_error_msgs = adis16400_status_error_msgs,
+	.status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_ALARM2) |
+		BIT(ADIS16400_DIAG_STAT_ALARM1) |
+		BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
+		BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
+		BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
+		BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
+		BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
+		BIT(ADIS16400_DIAG_STAT_POWER_LOW),
+};
+
+static void adis16400_setup_chan_mask(struct adis16400_state *st)
+{
+	const struct adis16400_chip_info *chip_info = st->variant;
+	unsigned int i;
+
+	for (i = 0; i < chip_info->num_channels; i++) {
+		const struct iio_chan_spec *ch = &chip_info->channels[i];
+
+		if (ch->scan_index >= 0 &&
+		    ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
+			st->avail_scan_mask[0] |= BIT(ch->scan_index);
+	}
+}
+
+static int adis16400_probe(struct spi_device *spi)
+{
+	struct adis16400_state *st;
+	struct iio_dev *indio_dev;
+	int ret;
+
+	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
+	if (indio_dev == NULL)
+		return -ENOMEM;
+
+	st = iio_priv(indio_dev);
+	/* this is only used for removal purposes */
+	spi_set_drvdata(spi, indio_dev);
+
+	/* setup the industrialio driver allocated elements */
+	st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
+	indio_dev->dev.parent = &spi->dev;
+	indio_dev->name = spi_get_device_id(spi)->name;
+	indio_dev->channels = st->variant->channels;
+	indio_dev->num_channels = st->variant->num_channels;
+	indio_dev->info = &adis16400_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	if (!(st->variant->flags & ADIS16400_NO_BURST)) {
+		adis16400_setup_chan_mask(st);
+		indio_dev->available_scan_masks = st->avail_scan_mask;
+		st->adis.burst = &adis16400_burst;
+		if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
+			st->adis.burst->extra_len = sizeof(u16);
+	}
+
+	ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
+	if (ret)
+		return ret;
+
+	ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
+			adis16400_trigger_handler);
+	if (ret)
+		return ret;
+
+	/* Get the device into a sane initial state */
+	ret = adis16400_initial_setup(indio_dev);
+	if (ret)
+		goto error_cleanup_buffer;
+	ret = iio_device_register(indio_dev);
+	if (ret)
+		goto error_cleanup_buffer;
+
+	adis16400_debugfs_init(indio_dev);
+	return 0;
+
+error_cleanup_buffer:
+	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+	return ret;
+}
+
+static int adis16400_remove(struct spi_device *spi)
+{
+	struct iio_dev *indio_dev = spi_get_drvdata(spi);
+	struct adis16400_state *st = iio_priv(indio_dev);
+
+	iio_device_unregister(indio_dev);
+	adis16400_stop_device(indio_dev);
+
+	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+
+	return 0;
+}
+
+static const struct spi_device_id adis16400_id[] = {
+	{"adis16300", ADIS16300},
+	{"adis16305", ADIS16300},
+	{"adis16334", ADIS16334},
+	{"adis16350", ADIS16350},
+	{"adis16354", ADIS16350},
+	{"adis16355", ADIS16350},
+	{"adis16360", ADIS16360},
+	{"adis16362", ADIS16362},
+	{"adis16364", ADIS16364},
+	{"adis16365", ADIS16360},
+	{"adis16367", ADIS16367},
+	{"adis16400", ADIS16400},
+	{"adis16405", ADIS16400},
+	{"adis16445", ADIS16445},
+	{"adis16448", ADIS16448},
+	{}
+};
+MODULE_DEVICE_TABLE(spi, adis16400_id);
+
+static struct spi_driver adis16400_driver = {
+	.driver = {
+		.name = "adis16400",
+	},
+	.id_table = adis16400_id,
+	.probe = adis16400_probe,
+	.remove = adis16400_remove,
+};
+module_spi_driver(adis16400_driver);
+
+MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
+MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/adis16400_core.c b/drivers/iio/imu/adis16400_core.c
deleted file mode 100644
index c75d23bc49bf..000000000000
--- a/drivers/iio/imu/adis16400_core.c
+++ /dev/null
@@ -1,1055 +0,0 @@
-/*
- * adis16400.c	support Analog Devices ADIS16400/5
- *		3d 2g Linear Accelerometers,
- *		3d Gyroscopes,
- *		3d Magnetometers via SPI
- *
- * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
- * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
- * Copyright (c) 2011 Analog Devices Inc.
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- */
-
-#include <linux/interrupt.h>
-#include <linux/irq.h>
-#include <linux/delay.h>
-#include <linux/mutex.h>
-#include <linux/device.h>
-#include <linux/kernel.h>
-#include <linux/spi/spi.h>
-#include <linux/slab.h>
-#include <linux/sysfs.h>
-#include <linux/list.h>
-#include <linux/module.h>
-#include <linux/debugfs.h>
-#include <linux/bitops.h>
-
-#include <linux/iio/iio.h>
-#include <linux/iio/sysfs.h>
-#include <linux/iio/buffer.h>
-#include <linux/iio/trigger_consumer.h>
-
-#include "adis16400.h"
-
-#ifdef CONFIG_DEBUG_FS
-
-static ssize_t adis16400_show_serial_number(struct file *file,
-		char __user *userbuf, size_t count, loff_t *ppos)
-{
-	struct adis16400_state *st = file->private_data;
-	u16 lot1, lot2, serial_number;
-	char buf[16];
-	size_t len;
-	int ret;
-
-	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
-	if (ret < 0)
-		return ret;
-
-	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
-	if (ret < 0)
-		return ret;
-
-	ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
-			&serial_number);
-	if (ret < 0)
-		return ret;
-
-	len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
-			serial_number);
-
-	return simple_read_from_buffer(userbuf, count, ppos, buf, len);
-}
-
-static const struct file_operations adis16400_serial_number_fops = {
-	.open = simple_open,
-	.read = adis16400_show_serial_number,
-	.llseek = default_llseek,
-	.owner = THIS_MODULE,
-};
-
-static int adis16400_show_product_id(void *arg, u64 *val)
-{
-	struct adis16400_state *st = arg;
-	uint16_t prod_id;
-	int ret;
-
-	ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
-	if (ret < 0)
-		return ret;
-
-	*val = prod_id;
-
-	return 0;
-}
-DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
-	adis16400_show_product_id, NULL, "%lld\n");
-
-static int adis16400_show_flash_count(void *arg, u64 *val)
-{
-	struct adis16400_state *st = arg;
-	uint16_t flash_count;
-	int ret;
-
-	ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
-	if (ret < 0)
-		return ret;
-
-	*val = flash_count;
-
-	return 0;
-}
-DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
-	adis16400_show_flash_count, NULL, "%lld\n");
-
-static int adis16400_debugfs_init(struct iio_dev *indio_dev)
-{
-	struct adis16400_state *st = iio_priv(indio_dev);
-
-	if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
-		debugfs_create_file("serial_number", 0400,
-			indio_dev->debugfs_dentry, st,
-			&adis16400_serial_number_fops);
-	if (st->variant->flags & ADIS16400_HAS_PROD_ID)
-		debugfs_create_file("product_id", 0400,
-			indio_dev->debugfs_dentry, st,
-			&adis16400_product_id_fops);
-	debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
-		st, &adis16400_flash_count_fops);
-
-	return 0;
-}
-
-#else
-
-static int adis16400_debugfs_init(struct iio_dev *indio_dev)
-{
-	return 0;
-}
-
-#endif
-
-enum adis16400_chip_variant {
-	ADIS16300,
-	ADIS16334,
-	ADIS16350,
-	ADIS16360,
-	ADIS16362,
-	ADIS16364,
-	ADIS16367,
-	ADIS16400,
-	ADIS16445,
-	ADIS16448,
-};
-
-static struct adis_burst adis16400_burst = {
-	.en = true,
-	.reg_cmd = ADIS16400_GLOB_CMD,
-};
-
-static int adis16334_get_freq(struct adis16400_state *st)
-{
-	int ret;
-	uint16_t t;
-
-	ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
-	if (ret < 0)
-		return ret;
-
-	t >>= ADIS16334_RATE_DIV_SHIFT;
-
-	return 819200 >> t;
-}
-
-static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
-{
-	unsigned int t;
-
-	if (freq < 819200)
-		t = ilog2(819200 / freq);
-	else
-		t = 0;
-
-	if (t > 0x31)
-		t = 0x31;
-
-	t <<= ADIS16334_RATE_DIV_SHIFT;
-	t |= ADIS16334_RATE_INT_CLK;
-
-	return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
-}
-
-static int adis16400_get_freq(struct adis16400_state *st)
-{
-	int sps, ret;
-	uint16_t t;
-
-	ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
-	if (ret < 0)
-		return ret;
-
-	sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
-	sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
-
-	return sps;
-}
-
-static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
-{
-	unsigned int t;
-	uint8_t val = 0;
-
-	t = 1638404 / freq;
-	if (t >= 128) {
-		val |= ADIS16400_SMPL_PRD_TIME_BASE;
-		t = 52851 / freq;
-		if (t >= 128)
-			t = 127;
-	} else if (t != 0) {
-		t--;
-	}
-
-	val |= t;
-
-	if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
-		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
-	else
-		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
-
-	return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
-}
-
-static const unsigned int adis16400_3db_divisors[] = {
-	[0] = 2, /* Special case */
-	[1] = 6,
-	[2] = 12,
-	[3] = 25,
-	[4] = 50,
-	[5] = 100,
-	[6] = 200,
-	[7] = 200, /* Not a valid setting */
-};
-
-static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
-{
-	struct adis16400_state *st = iio_priv(indio_dev);
-	uint16_t val16;
-	int i, ret;
-
-	for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
-		if (sps / adis16400_3db_divisors[i] >= val)
-			break;
-	}
-
-	ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
-	if (ret < 0)
-		return ret;
-
-	ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
-					 (val16 & ~0x07) | i);
-	return ret;
-}
-
-/* Power down the device */
-static int adis16400_stop_device(struct iio_dev *indio_dev)
-{
-	struct adis16400_state *st = iio_priv(indio_dev);
-	int ret;
-
-	ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
-			ADIS16400_SLP_CNT_POWER_OFF);
-	if (ret)
-		dev_err(&indio_dev->dev,
-			"problem with turning device off: SLP_CNT");
-
-	return ret;
-}
-
-static int adis16400_initial_setup(struct iio_dev *indio_dev)
-{
-	struct adis16400_state *st = iio_priv(indio_dev);
-	uint16_t prod_id, smp_prd;
-	unsigned int device_id;
-	int ret;
-
-	/* use low spi speed for init if the device has a slow mode */
-	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
-		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
-	else
-		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
-	st->adis.spi->mode = SPI_MODE_3;
-	spi_setup(st->adis.spi);
-
-	ret = adis_initial_startup(&st->adis);
-	if (ret)
-		return ret;
-
-	if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
-		ret = adis_read_reg_16(&st->adis,
-						ADIS16400_PRODUCT_ID, &prod_id);
-		if (ret)
-			goto err_ret;
-
-		ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
-		if (ret != 1) {
-			ret = -EINVAL;
-			goto err_ret;
-		}
-
-		if (prod_id != device_id)
-			dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
-					device_id, prod_id);
-
-		dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
-			indio_dev->name, prod_id,
-			st->adis.spi->chip_select, st->adis.spi->irq);
-	}
-	/* use high spi speed if possible */
-	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
-		ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
-		if (ret)
-			goto err_ret;
-
-		if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
-			st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
-			spi_setup(st->adis.spi);
-		}
-	}
-
-err_ret:
-	return ret;
-}
-
-static const uint8_t adis16400_addresses[] = {
-	[ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
-	[ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
-	[ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
-	[ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
-	[ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
-	[ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
-};
-
-static int adis16400_write_raw(struct iio_dev *indio_dev,
-	struct iio_chan_spec const *chan, int val, int val2, long info)
-{
-	struct adis16400_state *st = iio_priv(indio_dev);
-	int ret, sps;
-
-	switch (info) {
-	case IIO_CHAN_INFO_CALIBBIAS:
-		mutex_lock(&indio_dev->mlock);
-		ret = adis_write_reg_16(&st->adis,
-				adis16400_addresses[chan->scan_index], val);
-		mutex_unlock(&indio_dev->mlock);
-		return ret;
-	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
-		/*
-		 * Need to cache values so we can update if the frequency
-		 * changes.
-		 */
-		mutex_lock(&indio_dev->mlock);
-		st->filt_int = val;
-		/* Work out update to current value */
-		sps = st->variant->get_freq(st);
-		if (sps < 0) {
-			mutex_unlock(&indio_dev->mlock);
-			return sps;
-		}
-
-		ret = adis16400_set_filter(indio_dev, sps,
-			val * 1000 + val2 / 1000);
-		mutex_unlock(&indio_dev->mlock);
-		return ret;
-	case IIO_CHAN_INFO_SAMP_FREQ:
-		sps = val * 1000 + val2 / 1000;
-
-		if (sps <= 0)
-			return -EINVAL;
-
-		mutex_lock(&indio_dev->mlock);
-		ret = st->variant->set_freq(st, sps);
-		mutex_unlock(&indio_dev->mlock);
-		return ret;
-	default:
-		return -EINVAL;
-	}
-}
-
-static int adis16400_read_raw(struct iio_dev *indio_dev,
-	struct iio_chan_spec const *chan, int *val, int *val2, long info)
-{
-	struct adis16400_state *st = iio_priv(indio_dev);
-	int16_t val16;
-	int ret;
-
-	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 = 0;
-			*val2 = st->variant->gyro_scale_micro;
-			return IIO_VAL_INT_PLUS_MICRO;
-		case IIO_VOLTAGE:
-			*val = 0;
-			if (chan->channel == 0) {
-				*val = 2;
-				*val2 = 418000; /* 2.418 mV */
-			} else {
-				*val = 0;
-				*val2 = 805800; /* 805.8 uV */
-			}
-			return IIO_VAL_INT_PLUS_MICRO;
-		case IIO_ACCEL:
-			*val = 0;
-			*val2 = st->variant->accel_scale_micro;
-			return IIO_VAL_INT_PLUS_MICRO;
-		case IIO_MAGN:
-			*val = 0;
-			*val2 = 500; /* 0.5 mgauss */
-			return IIO_VAL_INT_PLUS_MICRO;
-		case IIO_TEMP:
-			*val = st->variant->temp_scale_nano / 1000000;
-			*val2 = (st->variant->temp_scale_nano % 1000000);
-			return IIO_VAL_INT_PLUS_MICRO;
-		case IIO_PRESSURE:
-			/* 20 uBar = 0.002kPascal */
-			*val = 0;
-			*val2 = 2000;
-			return IIO_VAL_INT_PLUS_MICRO;
-		default:
-			return -EINVAL;
-		}
-	case IIO_CHAN_INFO_CALIBBIAS:
-		mutex_lock(&indio_dev->mlock);
-		ret = adis_read_reg_16(&st->adis,
-				adis16400_addresses[chan->scan_index], &val16);
-		mutex_unlock(&indio_dev->mlock);
-		if (ret)
-			return ret;
-		val16 = sign_extend32(val16, 11);
-		*val = val16;
-		return IIO_VAL_INT;
-	case IIO_CHAN_INFO_OFFSET:
-		/* currently only temperature */
-		*val = st->variant->temp_offset;
-		return IIO_VAL_INT;
-	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
-		mutex_lock(&indio_dev->mlock);
-		/* Need both the number of taps and the sampling frequency */
-		ret = adis_read_reg_16(&st->adis,
-						ADIS16400_SENS_AVG,
-						&val16);
-		if (ret < 0) {
-			mutex_unlock(&indio_dev->mlock);
-			return ret;
-		}
-		ret = st->variant->get_freq(st);
-		if (ret >= 0) {
-			ret /= adis16400_3db_divisors[val16 & 0x07];
-			*val = ret / 1000;
-			*val2 = (ret % 1000) * 1000;
-		}
-		mutex_unlock(&indio_dev->mlock);
-		if (ret < 0)
-			return ret;
-		return IIO_VAL_INT_PLUS_MICRO;
-	case IIO_CHAN_INFO_SAMP_FREQ:
-		ret = st->variant->get_freq(st);
-		if (ret < 0)
-			return ret;
-		*val = ret / 1000;
-		*val2 = (ret % 1000) * 1000;
-		return IIO_VAL_INT_PLUS_MICRO;
-	default:
-		return -EINVAL;
-	}
-}
-
-#if IS_ENABLED(CONFIG_IIO_BUFFER)
-static irqreturn_t adis16400_trigger_handler(int irq, void *p)
-{
-	struct iio_poll_func *pf = p;
-	struct iio_dev *indio_dev = pf->indio_dev;
-	struct adis16400_state *st = iio_priv(indio_dev);
-	struct adis *adis = &st->adis;
-	u32 old_speed_hz = st->adis.spi->max_speed_hz;
-	void *buffer;
-	int ret;
-
-	if (!adis->buffer)
-		return -ENOMEM;
-
-	if (!(st->variant->flags & ADIS16400_NO_BURST) &&
-		st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
-		st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
-		spi_setup(st->adis.spi);
-	}
-
-	ret = spi_sync(adis->spi, &adis->msg);
-	if (ret)
-		dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
-
-	if (!(st->variant->flags & ADIS16400_NO_BURST)) {
-		st->adis.spi->max_speed_hz = old_speed_hz;
-		spi_setup(st->adis.spi);
-	}
-
-	if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
-		buffer = adis->buffer + sizeof(u16);
-	else
-		buffer = adis->buffer;
-
-	iio_push_to_buffers_with_timestamp(indio_dev, buffer,
-		pf->timestamp);
-
-	iio_trigger_notify_done(indio_dev->trig);
-
-	return IRQ_HANDLED;
-}
-#else
-#define adis16400_trigger_handler	NULL
-#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
-
-#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
-	.type = IIO_VOLTAGE, \
-	.indexed = 1, \
-	.channel = chn, \
-	.extend_name = name, \
-	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
-		BIT(IIO_CHAN_INFO_SCALE), \
-	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
-	.address = (addr), \
-	.scan_index = (si), \
-	.scan_type = { \
-		.sign = 'u', \
-		.realbits = (bits), \
-		.storagebits = 16, \
-		.shift = 0, \
-		.endianness = IIO_BE, \
-	}, \
-}
-
-#define ADIS16400_SUPPLY_CHAN(addr, bits) \
-	ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
-
-#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
-	ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
-
-#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
-	.type = IIO_ANGL_VEL, \
-	.modified = 1, \
-	.channel2 = IIO_MOD_ ## mod, \
-	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
-		BIT(IIO_CHAN_INFO_CALIBBIAS),		  \
-	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
-		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
-	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
-	.address = addr, \
-	.scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
-	.scan_type = { \
-		.sign = 's', \
-		.realbits = (bits), \
-		.storagebits = 16, \
-		.shift = 0, \
-		.endianness = IIO_BE, \
-	}, \
-}
-
-#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
-	.type = IIO_ACCEL, \
-	.modified = 1, \
-	.channel2 = IIO_MOD_ ## mod, \
-	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
-		BIT(IIO_CHAN_INFO_CALIBBIAS), \
-	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
-		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
-	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
-	.address = (addr), \
-	.scan_index = ADIS16400_SCAN_ACC_ ## mod, \
-	.scan_type = { \
-		.sign = 's', \
-		.realbits = (bits), \
-		.storagebits = 16, \
-		.shift = 0, \
-		.endianness = IIO_BE, \
-	}, \
-}
-
-#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
-	.type = IIO_MAGN, \
-	.modified = 1, \
-	.channel2 = IIO_MOD_ ## mod, \
-	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
-	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
-		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
-	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
-	.address = (addr), \
-	.scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
-	.scan_type = { \
-		.sign = 's', \
-		.realbits = (bits), \
-		.storagebits = 16, \
-		.shift = 0, \
-		.endianness = IIO_BE, \
-	}, \
-}
-
-#define ADIS16400_MOD_TEMP_NAME_X "x"
-#define ADIS16400_MOD_TEMP_NAME_Y "y"
-#define ADIS16400_MOD_TEMP_NAME_Z "z"
-
-#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
-	.type = IIO_TEMP, \
-	.indexed = 1, \
-	.channel = 0, \
-	.extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
-	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
-		BIT(IIO_CHAN_INFO_OFFSET) | \
-		BIT(IIO_CHAN_INFO_SCALE), \
-	.info_mask_shared_by_type = \
-		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
-	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
-	.address = (addr), \
-	.scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
-	.scan_type = { \
-		.sign = 's', \
-		.realbits = (bits), \
-		.storagebits = 16, \
-		.shift = 0, \
-		.endianness = IIO_BE, \
-	}, \
-}
-
-#define ADIS16400_TEMP_CHAN(addr, bits) { \
-	.type = IIO_TEMP, \
-	.indexed = 1, \
-	.channel = 0, \
-	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
-		BIT(IIO_CHAN_INFO_OFFSET) | \
-		BIT(IIO_CHAN_INFO_SCALE), \
-	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
-	.address = (addr), \
-	.scan_index = ADIS16350_SCAN_TEMP_X, \
-	.scan_type = { \
-		.sign = 's', \
-		.realbits = (bits), \
-		.storagebits = 16, \
-		.shift = 0, \
-		.endianness = IIO_BE, \
-	}, \
-}
-
-#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
-	.type = IIO_INCLI, \
-	.modified = 1, \
-	.channel2 = IIO_MOD_ ## 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 = (addr), \
-	.scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
-	.scan_type = { \
-		.sign = 's', \
-		.realbits = (bits), \
-		.storagebits = 16, \
-		.shift = 0, \
-		.endianness = IIO_BE, \
-	}, \
-}
-
-static const struct iio_chan_spec adis16400_channels[] = {
-	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
-	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
-	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
-	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
-	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
-	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
-	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
-	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
-	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
-	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
-	ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
-	ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
-	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static const struct iio_chan_spec adis16445_channels[] = {
-	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
-	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
-	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
-	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
-	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
-	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
-	ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
-	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static const struct iio_chan_spec adis16448_channels[] = {
-	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
-	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
-	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
-	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
-	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
-	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
-	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
-	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
-	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
-	{
-		.type = IIO_PRESSURE,
-		.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 = ADIS16448_BARO_OUT,
-		.scan_index = ADIS16400_SCAN_BARO,
-		.scan_type = {
-			.sign = 's',
-			.realbits = 16,
-			.storagebits = 16,
-			.endianness = IIO_BE,
-		},
-	},
-	ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
-	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static const struct iio_chan_spec adis16350_channels[] = {
-	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
-	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
-	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
-	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
-	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
-	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
-	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
-	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
-	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
-	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
-	ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
-	ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
-	ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
-	ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
-	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static const struct iio_chan_spec adis16300_channels[] = {
-	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
-	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
-	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
-	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
-	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
-	ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
-	ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
-	ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
-	ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
-	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static const struct iio_chan_spec adis16334_channels[] = {
-	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
-	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
-	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
-	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
-	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
-	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
-	ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
-	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static struct adis16400_chip_info adis16400_chips[] = {
-	[ADIS16300] = {
-		.channels = adis16300_channels,
-		.num_channels = ARRAY_SIZE(adis16300_channels),
-		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
-				ADIS16400_HAS_SERIAL_NUMBER,
-		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
-		.accel_scale_micro = 5884,
-		.temp_scale_nano = 140000000, /* 0.14 C */
-		.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
-		.set_freq = adis16400_set_freq,
-		.get_freq = adis16400_get_freq,
-	},
-	[ADIS16334] = {
-		.channels = adis16334_channels,
-		.num_channels = ARRAY_SIZE(adis16334_channels),
-		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
-				ADIS16400_HAS_SERIAL_NUMBER,
-		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
-		.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
-		.temp_scale_nano = 67850000, /* 0.06785 C */
-		.temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
-		.set_freq = adis16334_set_freq,
-		.get_freq = adis16334_get_freq,
-	},
-	[ADIS16350] = {
-		.channels = adis16350_channels,
-		.num_channels = ARRAY_SIZE(adis16350_channels),
-		.gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
-		.accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
-		.temp_scale_nano = 145300000, /* 0.1453 C */
-		.temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
-		.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
-		.set_freq = adis16400_set_freq,
-		.get_freq = adis16400_get_freq,
-	},
-	[ADIS16360] = {
-		.channels = adis16350_channels,
-		.num_channels = ARRAY_SIZE(adis16350_channels),
-		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
-				ADIS16400_HAS_SERIAL_NUMBER,
-		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
-		.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
-		.temp_scale_nano = 136000000, /* 0.136 C */
-		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
-		.set_freq = adis16400_set_freq,
-		.get_freq = adis16400_get_freq,
-	},
-	[ADIS16362] = {
-		.channels = adis16350_channels,
-		.num_channels = ARRAY_SIZE(adis16350_channels),
-		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
-				ADIS16400_HAS_SERIAL_NUMBER,
-		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
-		.accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
-		.temp_scale_nano = 136000000, /* 0.136 C */
-		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
-		.set_freq = adis16400_set_freq,
-		.get_freq = adis16400_get_freq,
-	},
-	[ADIS16364] = {
-		.channels = adis16350_channels,
-		.num_channels = ARRAY_SIZE(adis16350_channels),
-		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
-				ADIS16400_HAS_SERIAL_NUMBER,
-		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
-		.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
-		.temp_scale_nano = 136000000, /* 0.136 C */
-		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
-		.set_freq = adis16400_set_freq,
-		.get_freq = adis16400_get_freq,
-	},
-	[ADIS16367] = {
-		.channels = adis16350_channels,
-		.num_channels = ARRAY_SIZE(adis16350_channels),
-		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
-				ADIS16400_HAS_SERIAL_NUMBER,
-		.gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
-		.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
-		.temp_scale_nano = 136000000, /* 0.136 C */
-		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
-		.set_freq = adis16400_set_freq,
-		.get_freq = adis16400_get_freq,
-	},
-	[ADIS16400] = {
-		.channels = adis16400_channels,
-		.num_channels = ARRAY_SIZE(adis16400_channels),
-		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
-		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
-		.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
-		.temp_scale_nano = 140000000, /* 0.14 C */
-		.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
-		.set_freq = adis16400_set_freq,
-		.get_freq = adis16400_get_freq,
-	},
-	[ADIS16445] = {
-		.channels = adis16445_channels,
-		.num_channels = ARRAY_SIZE(adis16445_channels),
-		.flags = ADIS16400_HAS_PROD_ID |
-				ADIS16400_HAS_SERIAL_NUMBER |
-				ADIS16400_BURST_DIAG_STAT,
-		.gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
-		.accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
-		.temp_scale_nano = 73860000, /* 0.07386 C */
-		.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
-		.set_freq = adis16334_set_freq,
-		.get_freq = adis16334_get_freq,
-	},
-	[ADIS16448] = {
-		.channels = adis16448_channels,
-		.num_channels = ARRAY_SIZE(adis16448_channels),
-		.flags = ADIS16400_HAS_PROD_ID |
-				ADIS16400_HAS_SERIAL_NUMBER |
-				ADIS16400_BURST_DIAG_STAT,
-		.gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
-		.accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
-		.temp_scale_nano = 73860000, /* 0.07386 C */
-		.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
-		.set_freq = adis16334_set_freq,
-		.get_freq = adis16334_get_freq,
-	}
-};
-
-static const struct iio_info adis16400_info = {
-	.read_raw = &adis16400_read_raw,
-	.write_raw = &adis16400_write_raw,
-	.update_scan_mode = adis_update_scan_mode,
-	.debugfs_reg_access = adis_debugfs_reg_access,
-};
-
-static const char * const adis16400_status_error_msgs[] = {
-	[ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
-	[ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
-	[ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
-	[ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
-	[ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
-	[ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
-	[ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
-	[ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
-	[ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
-	[ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
-	[ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
-	[ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
-	[ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
-	[ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
-	[ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
-};
-
-static const struct adis_data adis16400_data = {
-	.msc_ctrl_reg = ADIS16400_MSC_CTRL,
-	.glob_cmd_reg = ADIS16400_GLOB_CMD,
-	.diag_stat_reg = ADIS16400_DIAG_STAT,
-
-	.read_delay = 50,
-	.write_delay = 50,
-
-	.self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
-	.startup_delay = ADIS16400_STARTUP_DELAY,
-
-	.status_error_msgs = adis16400_status_error_msgs,
-	.status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
-		BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
-		BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
-		BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
-		BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
-		BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
-		BIT(ADIS16400_DIAG_STAT_ALARM2) |
-		BIT(ADIS16400_DIAG_STAT_ALARM1) |
-		BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
-		BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
-		BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
-		BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
-		BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
-		BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
-		BIT(ADIS16400_DIAG_STAT_POWER_LOW),
-};
-
-static void adis16400_setup_chan_mask(struct adis16400_state *st)
-{
-	const struct adis16400_chip_info *chip_info = st->variant;
-	unsigned int i;
-
-	for (i = 0; i < chip_info->num_channels; i++) {
-		const struct iio_chan_spec *ch = &chip_info->channels[i];
-
-		if (ch->scan_index >= 0 &&
-		    ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
-			st->avail_scan_mask[0] |= BIT(ch->scan_index);
-	}
-}
-
-static int adis16400_probe(struct spi_device *spi)
-{
-	struct adis16400_state *st;
-	struct iio_dev *indio_dev;
-	int ret;
-
-	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
-	if (indio_dev == NULL)
-		return -ENOMEM;
-
-	st = iio_priv(indio_dev);
-	/* this is only used for removal purposes */
-	spi_set_drvdata(spi, indio_dev);
-
-	/* setup the industrialio driver allocated elements */
-	st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
-	indio_dev->dev.parent = &spi->dev;
-	indio_dev->name = spi_get_device_id(spi)->name;
-	indio_dev->channels = st->variant->channels;
-	indio_dev->num_channels = st->variant->num_channels;
-	indio_dev->info = &adis16400_info;
-	indio_dev->modes = INDIO_DIRECT_MODE;
-
-	if (!(st->variant->flags & ADIS16400_NO_BURST)) {
-		adis16400_setup_chan_mask(st);
-		indio_dev->available_scan_masks = st->avail_scan_mask;
-		st->adis.burst = &adis16400_burst;
-		if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
-			st->adis.burst->extra_len = sizeof(u16);
-	}
-
-	ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
-	if (ret)
-		return ret;
-
-	ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
-			adis16400_trigger_handler);
-	if (ret)
-		return ret;
-
-	/* Get the device into a sane initial state */
-	ret = adis16400_initial_setup(indio_dev);
-	if (ret)
-		goto error_cleanup_buffer;
-	ret = iio_device_register(indio_dev);
-	if (ret)
-		goto error_cleanup_buffer;
-
-	adis16400_debugfs_init(indio_dev);
-	return 0;
-
-error_cleanup_buffer:
-	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
-	return ret;
-}
-
-static int adis16400_remove(struct spi_device *spi)
-{
-	struct iio_dev *indio_dev = spi_get_drvdata(spi);
-	struct adis16400_state *st = iio_priv(indio_dev);
-
-	iio_device_unregister(indio_dev);
-	adis16400_stop_device(indio_dev);
-
-	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
-
-	return 0;
-}
-
-static const struct spi_device_id adis16400_id[] = {
-	{"adis16300", ADIS16300},
-	{"adis16305", ADIS16300},
-	{"adis16334", ADIS16334},
-	{"adis16350", ADIS16350},
-	{"adis16354", ADIS16350},
-	{"adis16355", ADIS16350},
-	{"adis16360", ADIS16360},
-	{"adis16362", ADIS16362},
-	{"adis16364", ADIS16364},
-	{"adis16365", ADIS16360},
-	{"adis16367", ADIS16367},
-	{"adis16400", ADIS16400},
-	{"adis16405", ADIS16400},
-	{"adis16445", ADIS16445},
-	{"adis16448", ADIS16448},
-	{}
-};
-MODULE_DEVICE_TABLE(spi, adis16400_id);
-
-static struct spi_driver adis16400_driver = {
-	.driver = {
-		.name = "adis16400",
-	},
-	.id_table = adis16400_id,
-	.probe = adis16400_probe,
-	.remove = adis16400_remove,
-};
-module_spi_driver(adis16400_driver);
-
-MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
-MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
-MODULE_LICENSE("GPL v2");
-- 
cgit v1.2.3


From 3cb5161317b2b7680a438910c53ba1d6befd221c Mon Sep 17 00:00:00 2001
From: Alexandru Ardelean <alexandru.ardelean@analog.com>
Date: Fri, 22 Mar 2019 22:44:42 +0200
Subject: iio: imu: adis16400: move adis16400.h into adis16400.c

Final part of the re-organization. Move the `adis16400.h` into
`adis16400.c` since it no longer needs to be shared among other files.

Signed-off-by: Alexandru Ardelean <alexandru.ardelean@analog.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
---
 drivers/iio/imu/adis16400.c | 176 ++++++++++++++++++++++++++++++++++++++-
 drivers/iio/imu/adis16400.h | 197 --------------------------------------------
 2 files changed, 175 insertions(+), 198 deletions(-)
 delete mode 100644 drivers/iio/imu/adis16400.h

(limited to 'drivers/iio/imu')

diff --git a/drivers/iio/imu/adis16400.c b/drivers/iio/imu/adis16400.c
index c75d23bc49bf..beb6919e7180 100644
--- a/drivers/iio/imu/adis16400.c
+++ b/drivers/iio/imu/adis16400.c
@@ -32,8 +32,182 @@
 #include <linux/iio/sysfs.h>
 #include <linux/iio/buffer.h>
 #include <linux/iio/trigger_consumer.h>
+#include <linux/iio/imu/adis.h>
+
+#define ADIS16400_STARTUP_DELAY	290 /* ms */
+#define ADIS16400_MTEST_DELAY 90 /* ms */
+
+#define ADIS16400_FLASH_CNT  0x00 /* Flash memory write count */
+#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
+#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
+#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
+#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
+#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
+#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
+#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
+#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
+#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
+#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
+#define ADIS16400_TEMP_OUT  0x16 /* Temperature output */
+#define ADIS16400_AUX_ADC   0x18 /* Auxiliary ADC measurement */
+
+#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
+#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
+#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
+
+#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
+#define ADIS16300_ROLL_OUT  0x14 /* Y axis inclinometer output measurement */
+#define ADIS16300_AUX_ADC   0x16 /* Auxiliary ADC measurement */
+
+#define ADIS16448_BARO_OUT	0x16 /* Barometric pressure output */
+#define ADIS16448_TEMP_OUT  0x18 /* Temperature output */
+
+/* Calibration parameters */
+#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
+#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
+#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
+#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
+#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
+#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
+#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
+#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
+#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
+#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
+#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
+#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
+
+#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
+#define ADIS16400_MSC_CTRL  0x34 /* Miscellaneous control */
+#define ADIS16400_SMPL_PRD  0x36 /* Internal sample period (rate) control */
+#define ADIS16400_SENS_AVG  0x38 /* Dynamic range and digital filter control */
+#define ADIS16400_SLP_CNT   0x3A /* Sleep mode control */
+#define ADIS16400_DIAG_STAT 0x3C /* System status */
+
+/* Alarm functions */
+#define ADIS16400_GLOB_CMD  0x3E /* System command */
+#define ADIS16400_ALM_MAG1  0x40 /* Alarm 1 amplitude threshold */
+#define ADIS16400_ALM_MAG2  0x42 /* Alarm 2 amplitude threshold */
+#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
+#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
+#define ADIS16400_ALM_CTRL  0x48 /* Alarm control */
+#define ADIS16400_AUX_DAC   0x4A /* Auxiliary DAC data */
+
+#define ADIS16334_LOT_ID1   0x52 /* Lot identification code 1 */
+#define ADIS16334_LOT_ID2   0x54 /* Lot identification code 2 */
+#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
+#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
+
+#define ADIS16400_ERROR_ACTIVE			(1<<14)
+#define ADIS16400_NEW_DATA			(1<<14)
+
+/* MSC_CTRL */
+#define ADIS16400_MSC_CTRL_MEM_TEST		(1<<11)
+#define ADIS16400_MSC_CTRL_INT_SELF_TEST	(1<<10)
+#define ADIS16400_MSC_CTRL_NEG_SELF_TEST	(1<<9)
+#define ADIS16400_MSC_CTRL_POS_SELF_TEST	(1<<8)
+#define ADIS16400_MSC_CTRL_GYRO_BIAS		(1<<7)
+#define ADIS16400_MSC_CTRL_ACCL_ALIGN		(1<<6)
+#define ADIS16400_MSC_CTRL_DATA_RDY_EN		(1<<2)
+#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)
+#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2	(1<<0)
+
+/* SMPL_PRD */
+#define ADIS16400_SMPL_PRD_TIME_BASE	(1<<7)
+#define ADIS16400_SMPL_PRD_DIV_MASK	0x7F
+
+/* DIAG_STAT */
+#define ADIS16400_DIAG_STAT_ZACCL_FAIL	15
+#define ADIS16400_DIAG_STAT_YACCL_FAIL	14
+#define ADIS16400_DIAG_STAT_XACCL_FAIL	13
+#define ADIS16400_DIAG_STAT_XGYRO_FAIL	12
+#define ADIS16400_DIAG_STAT_YGYRO_FAIL	11
+#define ADIS16400_DIAG_STAT_ZGYRO_FAIL	10
+#define ADIS16400_DIAG_STAT_ALARM2	9
+#define ADIS16400_DIAG_STAT_ALARM1	8
+#define ADIS16400_DIAG_STAT_FLASH_CHK	6
+#define ADIS16400_DIAG_STAT_SELF_TEST	5
+#define ADIS16400_DIAG_STAT_OVERFLOW	4
+#define ADIS16400_DIAG_STAT_SPI_FAIL	3
+#define ADIS16400_DIAG_STAT_FLASH_UPT	2
+#define ADIS16400_DIAG_STAT_POWER_HIGH	1
+#define ADIS16400_DIAG_STAT_POWER_LOW	0
+
+/* GLOB_CMD */
+#define ADIS16400_GLOB_CMD_SW_RESET	(1<<7)
+#define ADIS16400_GLOB_CMD_P_AUTO_NULL	(1<<4)
+#define ADIS16400_GLOB_CMD_FLASH_UPD	(1<<3)
+#define ADIS16400_GLOB_CMD_DAC_LATCH	(1<<2)
+#define ADIS16400_GLOB_CMD_FAC_CALIB	(1<<1)
+#define ADIS16400_GLOB_CMD_AUTO_NULL	(1<<0)
+
+/* SLP_CNT */
+#define ADIS16400_SLP_CNT_POWER_OFF	(1<<8)
+
+#define ADIS16334_RATE_DIV_SHIFT 8
+#define ADIS16334_RATE_INT_CLK BIT(0)
+
+#define ADIS16400_SPI_SLOW	(u32)(300 * 1000)
+#define ADIS16400_SPI_BURST	(u32)(1000 * 1000)
+#define ADIS16400_SPI_FAST	(u32)(2000 * 1000)
+
+#define ADIS16400_HAS_PROD_ID		BIT(0)
+#define ADIS16400_NO_BURST		BIT(1)
+#define ADIS16400_HAS_SLOW_MODE		BIT(2)
+#define ADIS16400_HAS_SERIAL_NUMBER	BIT(3)
+#define ADIS16400_BURST_DIAG_STAT	BIT(4)
+
+struct adis16400_state;
+
+struct adis16400_chip_info {
+	const struct iio_chan_spec *channels;
+	const int num_channels;
+	const long flags;
+	unsigned int gyro_scale_micro;
+	unsigned int accel_scale_micro;
+	int temp_scale_nano;
+	int temp_offset;
+	int (*set_freq)(struct adis16400_state *st, unsigned int freq);
+	int (*get_freq)(struct adis16400_state *st);
+};
+
+/**
+ * struct adis16400_state - device instance specific data
+ * @variant:	chip variant info
+ * @filt_int:	integer part of requested filter frequency
+ * @adis:	adis device
+ **/
+struct adis16400_state {
+	struct adis16400_chip_info	*variant;
+	int				filt_int;
+
+	struct adis adis;
+	unsigned long avail_scan_mask[2];
+};
 
-#include "adis16400.h"
+/* At the moment triggers are only used for ring buffer
+ * filling. This may change!
+ */
+
+enum {
+	ADIS16400_SCAN_SUPPLY,
+	ADIS16400_SCAN_GYRO_X,
+	ADIS16400_SCAN_GYRO_Y,
+	ADIS16400_SCAN_GYRO_Z,
+	ADIS16400_SCAN_ACC_X,
+	ADIS16400_SCAN_ACC_Y,
+	ADIS16400_SCAN_ACC_Z,
+	ADIS16400_SCAN_MAGN_X,
+	ADIS16400_SCAN_MAGN_Y,
+	ADIS16400_SCAN_MAGN_Z,
+	ADIS16400_SCAN_BARO,
+	ADIS16350_SCAN_TEMP_X,
+	ADIS16350_SCAN_TEMP_Y,
+	ADIS16350_SCAN_TEMP_Z,
+	ADIS16300_SCAN_INCLI_X,
+	ADIS16300_SCAN_INCLI_Y,
+	ADIS16400_SCAN_ADC,
+	ADIS16400_SCAN_TIMESTAMP,
+};
 
 #ifdef CONFIG_DEBUG_FS
 
diff --git a/drivers/iio/imu/adis16400.h b/drivers/iio/imu/adis16400.h
deleted file mode 100644
index 7e2e0dbaa2e1..000000000000
--- a/drivers/iio/imu/adis16400.h
+++ /dev/null
@@ -1,197 +0,0 @@
-/*
- * adis16400.h	support Analog Devices ADIS16400
- *		3d 18g accelerometers,
- *		3d gyroscopes,
- *		3d 2.5gauss magnetometers via SPI
- *
- * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
- * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
- *
- * Loosely based upon lis3l02dq.h
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- */
-
-#ifndef SPI_ADIS16400_H_
-#define SPI_ADIS16400_H_
-
-#include <linux/iio/imu/adis.h>
-
-#define ADIS16400_STARTUP_DELAY	290 /* ms */
-#define ADIS16400_MTEST_DELAY 90 /* ms */
-
-#define ADIS16400_FLASH_CNT  0x00 /* Flash memory write count */
-#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
-#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
-#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
-#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
-#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
-#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
-#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
-#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
-#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
-#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
-#define ADIS16400_TEMP_OUT  0x16 /* Temperature output */
-#define ADIS16400_AUX_ADC   0x18 /* Auxiliary ADC measurement */
-
-#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
-#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
-#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
-
-#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
-#define ADIS16300_ROLL_OUT  0x14 /* Y axis inclinometer output measurement */
-#define ADIS16300_AUX_ADC   0x16 /* Auxiliary ADC measurement */
-
-#define ADIS16448_BARO_OUT	0x16 /* Barometric pressure output */
-#define ADIS16448_TEMP_OUT  0x18 /* Temperature output */
-
-/* Calibration parameters */
-#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
-#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
-#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
-#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
-#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
-#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
-#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
-#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
-#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
-#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
-#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
-#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
-
-#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
-#define ADIS16400_MSC_CTRL  0x34 /* Miscellaneous control */
-#define ADIS16400_SMPL_PRD  0x36 /* Internal sample period (rate) control */
-#define ADIS16400_SENS_AVG  0x38 /* Dynamic range and digital filter control */
-#define ADIS16400_SLP_CNT   0x3A /* Sleep mode control */
-#define ADIS16400_DIAG_STAT 0x3C /* System status */
-
-/* Alarm functions */
-#define ADIS16400_GLOB_CMD  0x3E /* System command */
-#define ADIS16400_ALM_MAG1  0x40 /* Alarm 1 amplitude threshold */
-#define ADIS16400_ALM_MAG2  0x42 /* Alarm 2 amplitude threshold */
-#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
-#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
-#define ADIS16400_ALM_CTRL  0x48 /* Alarm control */
-#define ADIS16400_AUX_DAC   0x4A /* Auxiliary DAC data */
-
-#define ADIS16334_LOT_ID1   0x52 /* Lot identification code 1 */
-#define ADIS16334_LOT_ID2   0x54 /* Lot identification code 2 */
-#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
-#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
-
-#define ADIS16400_ERROR_ACTIVE			(1<<14)
-#define ADIS16400_NEW_DATA			(1<<14)
-
-/* MSC_CTRL */
-#define ADIS16400_MSC_CTRL_MEM_TEST		(1<<11)
-#define ADIS16400_MSC_CTRL_INT_SELF_TEST	(1<<10)
-#define ADIS16400_MSC_CTRL_NEG_SELF_TEST	(1<<9)
-#define ADIS16400_MSC_CTRL_POS_SELF_TEST	(1<<8)
-#define ADIS16400_MSC_CTRL_GYRO_BIAS		(1<<7)
-#define ADIS16400_MSC_CTRL_ACCL_ALIGN		(1<<6)
-#define ADIS16400_MSC_CTRL_DATA_RDY_EN		(1<<2)
-#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)
-#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2	(1<<0)
-
-/* SMPL_PRD */
-#define ADIS16400_SMPL_PRD_TIME_BASE	(1<<7)
-#define ADIS16400_SMPL_PRD_DIV_MASK	0x7F
-
-/* DIAG_STAT */
-#define ADIS16400_DIAG_STAT_ZACCL_FAIL	15
-#define ADIS16400_DIAG_STAT_YACCL_FAIL	14
-#define ADIS16400_DIAG_STAT_XACCL_FAIL	13
-#define ADIS16400_DIAG_STAT_XGYRO_FAIL	12
-#define ADIS16400_DIAG_STAT_YGYRO_FAIL	11
-#define ADIS16400_DIAG_STAT_ZGYRO_FAIL	10
-#define ADIS16400_DIAG_STAT_ALARM2	9
-#define ADIS16400_DIAG_STAT_ALARM1	8
-#define ADIS16400_DIAG_STAT_FLASH_CHK	6
-#define ADIS16400_DIAG_STAT_SELF_TEST	5
-#define ADIS16400_DIAG_STAT_OVERFLOW	4
-#define ADIS16400_DIAG_STAT_SPI_FAIL	3
-#define ADIS16400_DIAG_STAT_FLASH_UPT	2
-#define ADIS16400_DIAG_STAT_POWER_HIGH	1
-#define ADIS16400_DIAG_STAT_POWER_LOW	0
-
-/* GLOB_CMD */
-#define ADIS16400_GLOB_CMD_SW_RESET	(1<<7)
-#define ADIS16400_GLOB_CMD_P_AUTO_NULL	(1<<4)
-#define ADIS16400_GLOB_CMD_FLASH_UPD	(1<<3)
-#define ADIS16400_GLOB_CMD_DAC_LATCH	(1<<2)
-#define ADIS16400_GLOB_CMD_FAC_CALIB	(1<<1)
-#define ADIS16400_GLOB_CMD_AUTO_NULL	(1<<0)
-
-/* SLP_CNT */
-#define ADIS16400_SLP_CNT_POWER_OFF	(1<<8)
-
-#define ADIS16334_RATE_DIV_SHIFT 8
-#define ADIS16334_RATE_INT_CLK BIT(0)
-
-#define ADIS16400_SPI_SLOW	(u32)(300 * 1000)
-#define ADIS16400_SPI_BURST	(u32)(1000 * 1000)
-#define ADIS16400_SPI_FAST	(u32)(2000 * 1000)
-
-#define ADIS16400_HAS_PROD_ID		BIT(0)
-#define ADIS16400_NO_BURST		BIT(1)
-#define ADIS16400_HAS_SLOW_MODE		BIT(2)
-#define ADIS16400_HAS_SERIAL_NUMBER	BIT(3)
-#define ADIS16400_BURST_DIAG_STAT	BIT(4)
-
-struct adis16400_state;
-
-struct adis16400_chip_info {
-	const struct iio_chan_spec *channels;
-	const int num_channels;
-	const long flags;
-	unsigned int gyro_scale_micro;
-	unsigned int accel_scale_micro;
-	int temp_scale_nano;
-	int temp_offset;
-	int (*set_freq)(struct adis16400_state *st, unsigned int freq);
-	int (*get_freq)(struct adis16400_state *st);
-};
-
-/**
- * struct adis16400_state - device instance specific data
- * @variant:	chip variant info
- * @filt_int:	integer part of requested filter frequency
- * @adis:	adis device
- **/
-struct adis16400_state {
-	struct adis16400_chip_info	*variant;
-	int				filt_int;
-
-	struct adis adis;
-	unsigned long avail_scan_mask[2];
-};
-
-/* At the moment triggers are only used for ring buffer
- * filling. This may change!
- */
-
-enum {
-	ADIS16400_SCAN_SUPPLY,
-	ADIS16400_SCAN_GYRO_X,
-	ADIS16400_SCAN_GYRO_Y,
-	ADIS16400_SCAN_GYRO_Z,
-	ADIS16400_SCAN_ACC_X,
-	ADIS16400_SCAN_ACC_Y,
-	ADIS16400_SCAN_ACC_Z,
-	ADIS16400_SCAN_MAGN_X,
-	ADIS16400_SCAN_MAGN_Y,
-	ADIS16400_SCAN_MAGN_Z,
-	ADIS16400_SCAN_BARO,
-	ADIS16350_SCAN_TEMP_X,
-	ADIS16350_SCAN_TEMP_Y,
-	ADIS16350_SCAN_TEMP_Z,
-	ADIS16300_SCAN_INCLI_X,
-	ADIS16300_SCAN_INCLI_Y,
-	ADIS16400_SCAN_ADC,
-	ADIS16400_SCAN_TIMESTAMP,
-};
-
-#endif /* SPI_ADIS16400_H_ */
-- 
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