// SPDX-License-Identifier: GPL-2.0-or-later
/*
 * Common library for ADIS16XXX devices
 *
 * Copyright 2012 Analog Devices Inc.
 *   Author: Lars-Peter Clausen <lars@metafoo.de>
 */

#include <linux/delay.h>
#include <linux/gpio/consumer.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/module.h>
#include <asm/unaligned.h>

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

#define ADIS_MSC_CTRL_DATA_RDY_EN       BIT(2)
#define ADIS_MSC_CTRL_DATA_RDY_POL_HIGH BIT(1)
#define ADIS_MSC_CTRL_DATA_RDY_DIO2     BIT(0)
#define ADIS_GLOB_CMD_SW_RESET          BIT(7)

/**
 * __adis_write_reg() - write N bytes to register (unlocked version)
 * @adis: The adis device
 * @reg: The address of the lower of the two registers
 * @value: The value to write to device (up to 4 bytes)
 * @size: The size of the @value (in bytes)
 */
int __adis_write_reg(struct adis *adis, unsigned int reg,
        unsigned int value, unsigned int size)
{
        unsigned int page = reg / ADIS_PAGE_SIZE;
        int ret, i;
        struct spi_message msg;
        struct spi_transfer xfers[] = {
                {
                        .tx_buf = adis->tx,
                        .bits_per_word = 8,
                        .len = 2,
                        .cs_change = 1,
                        .delay.value = adis->data->write_delay,
                        .delay.unit = SPI_DELAY_UNIT_USECS,
                        .cs_change_delay.value = adis->data->cs_change_delay,
                        .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
                }, {
                        .tx_buf = adis->tx + 2,
                        .bits_per_word = 8,
                        .len = 2,
                        .cs_change = 1,
                        .delay.value = adis->data->write_delay,
                        .delay.unit = SPI_DELAY_UNIT_USECS,
                        .cs_change_delay.value = adis->data->cs_change_delay,
                        .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
                }, {
                        .tx_buf = adis->tx + 4,
                        .bits_per_word = 8,
                        .len = 2,
                        .cs_change = 1,
                        .delay.value = adis->data->write_delay,
                        .delay.unit = SPI_DELAY_UNIT_USECS,
                        .cs_change_delay.value = adis->data->cs_change_delay,
                        .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
                }, {
                        .tx_buf = adis->tx + 6,
                        .bits_per_word = 8,
                        .len = 2,
                        .delay.value = adis->data->write_delay,
                        .delay.unit = SPI_DELAY_UNIT_USECS,
                }, {
                        .tx_buf = adis->tx + 8,
                        .bits_per_word = 8,
                        .len = 2,
                        .delay.value = adis->data->write_delay,
                        .delay.unit = SPI_DELAY_UNIT_USECS,
                },
        };

        spi_message_init(&msg);

        if (adis->current_page != page) {
                adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
                adis->tx[1] = page;
                spi_message_add_tail(&xfers[0], &msg);
        }

        switch (size) {
        case 4:
                adis->tx[8] = ADIS_WRITE_REG(reg + 3);
                adis->tx[9] = (value >> 24) & 0xff;
                adis->tx[6] = ADIS_WRITE_REG(reg + 2);
                adis->tx[7] = (value >> 16) & 0xff;
                fallthrough;
        case 2:
                adis->tx[4] = ADIS_WRITE_REG(reg + 1);
                adis->tx[5] = (value >> 8) & 0xff;
                fallthrough;
        case 1:
                adis->tx[2] = ADIS_WRITE_REG(reg);
                adis->tx[3] = value & 0xff;
                break;
        default:
                return -EINVAL;
        }

        xfers[size].cs_change = 0;

        for (i = 1; i <= size; i++)
                spi_message_add_tail(&xfers[i], &msg);

        ret = spi_sync(adis->spi, &msg);
        if (ret) {
                dev_err(&adis->spi->dev, "Failed to write register 0x%02X: %d\n",
                                reg, ret);
        } else {
                adis->current_page = page;
        }

        return ret;
}
EXPORT_SYMBOL_GPL(__adis_write_reg);

/**
 * __adis_read_reg() - read N bytes from register (unlocked version)
 * @adis: The adis device
 * @reg: The address of the lower of the two registers
 * @val: The value read back from the device
 * @size: The size of the @val buffer
 */
int __adis_read_reg(struct adis *adis, unsigned int reg,
        unsigned int *val, unsigned int size)
{
        unsigned int page = reg / ADIS_PAGE_SIZE;
        struct spi_message msg;
        int ret;
        struct spi_transfer xfers[] = {
                {
                        .tx_buf = adis->tx,
                        .bits_per_word = 8,
                        .len = 2,
                        .cs_change = 1,
                        .delay.value = adis->data->write_delay,
                        .delay.unit = SPI_DELAY_UNIT_USECS,
                        .cs_change_delay.value = adis->data->cs_change_delay,
                        .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
                }, {
                        .tx_buf = adis->tx + 2,
                        .bits_per_word = 8,
                        .len = 2,
                        .cs_change = 1,
                        .delay.value = adis->data->read_delay,
                        .delay.unit = SPI_DELAY_UNIT_USECS,
                        .cs_change_delay.value = adis->data->cs_change_delay,
                        .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
                }, {
                        .tx_buf = adis->tx + 4,
                        .rx_buf = adis->rx,
                        .bits_per_word = 8,
                        .len = 2,
                        .cs_change = 1,
                        .delay.value = adis->data->read_delay,
                        .delay.unit = SPI_DELAY_UNIT_USECS,
                        .cs_change_delay.value = adis->data->cs_change_delay,
                        .cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
                }, {
                        .rx_buf = adis->rx + 2,
                        .bits_per_word = 8,
                        .len = 2,
                        .delay.value = adis->data->read_delay,
                        .delay.unit = SPI_DELAY_UNIT_USECS,
                },
        };

        spi_message_init(&msg);

        if (adis->current_page != page) {
                adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
                adis->tx[1] = page;
                spi_message_add_tail(&xfers[0], &msg);
        }

        switch (size) {
        case 4:
                adis->tx[2] = ADIS_READ_REG(reg + 2);
                adis->tx[3] = 0;
                spi_message_add_tail(&xfers[1], &msg);
                fallthrough;
        case 2:
                adis->tx[4] = ADIS_READ_REG(reg);
                adis->tx[5] = 0;
                spi_message_add_tail(&xfers[2], &msg);
                spi_message_add_tail(&xfers[3], &msg);
                break;
        default:
                return -EINVAL;
        }

        ret = spi_sync(adis->spi, &msg);
        if (ret) {
                dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n",
                                reg, ret);
                return ret;
        } else {
                adis->current_page = page;
        }

        switch (size) {
        case 4:
                *val = get_unaligned_be32(adis->rx);
                break;
        case 2:
                *val = get_unaligned_be16(adis->rx + 2);
                break;
        }

        return ret;
}
EXPORT_SYMBOL_GPL(__adis_read_reg);
/**
 * __adis_update_bits_base() - ADIS Update bits function - Unlocked version
 * @adis: The adis device
 * @reg: The address of the lower of the two registers
 * @mask: Bitmask to change
 * @val: Value to be written
 * @size: Size of the register to update
 *
 * Updates the desired bits of @reg in accordance with @mask and @val.
 */
int __adis_update_bits_base(struct adis *adis, unsigned int reg, const u32 mask,
                            const u32 val, u8 size)
{
        int ret;
        u32 __val;

        ret = __adis_read_reg(adis, reg, &__val, size);
        if (ret)
                return ret;

        __val = (__val & ~mask) | (val & mask);

        return __adis_write_reg(adis, reg, __val, size);
}
EXPORT_SYMBOL_GPL(__adis_update_bits_base);

#ifdef CONFIG_DEBUG_FS

int adis_debugfs_reg_access(struct iio_dev *indio_dev,
        unsigned int reg, unsigned int writeval, unsigned int *readval)
{
        struct adis *adis = iio_device_get_drvdata(indio_dev);

        if (readval) {
                uint16_t val16;
                int ret;

                ret = adis_read_reg_16(adis, reg, &val16);
                if (ret == 0)
                        *readval = val16;

                return ret;
        } else {
                return adis_write_reg_16(adis, reg, writeval);
        }
}
EXPORT_SYMBOL(adis_debugfs_reg_access);

#endif

/**
 * adis_enable_irq() - Enable or disable data ready IRQ
 * @adis: The adis device
 * @enable: Whether to enable the IRQ
 *
 * Returns 0 on success, negative error code otherwise
 */
int adis_enable_irq(struct adis *adis, bool enable)
{
        int ret = 0;
        uint16_t msc;

        mutex_lock(&adis->state_lock);

        if (adis->data->enable_irq) {
                ret = adis->data->enable_irq(adis, enable);
                goto out_unlock;
        }

        ret = __adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc);
        if (ret)
                goto out_unlock;

        msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH;
        msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2;
        if (enable)
                msc |= ADIS_MSC_CTRL_DATA_RDY_EN;
        else
                msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN;

        ret = __adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc);

out_unlock:
        mutex_unlock(&adis->state_lock);
        return ret;
}
EXPORT_SYMBOL(adis_enable_irq);

/**
 * __adis_check_status() - Check the device for error conditions (unlocked)
 * @adis: The adis device
 *
 * Returns 0 on success, a negative error code otherwise
 */
int __adis_check_status(struct adis *adis)
{
        uint16_t status;
        int ret;
        int i;

        ret = __adis_read_reg_16(adis, adis->data->diag_stat_reg, &status);
        if (ret)
                return ret;

        status &= adis->data->status_error_mask;

        if (status == 0)
                return 0;

        for (i = 0; i < 16; ++i) {
                if (status & BIT(i)) {
                        dev_err(&adis->spi->dev, "%s.\n",
                                adis->data->status_error_msgs[i]);
                }
        }

        return -EIO;
}
EXPORT_SYMBOL_GPL(__adis_check_status);

/**
 * __adis_reset() - Reset the device (unlocked version)
 * @adis: The adis device
 *
 * Returns 0 on success, a negative error code otherwise
 */
int __adis_reset(struct adis *adis)
{
        int ret;
        const struct adis_timeout *timeouts = adis->data->timeouts;

        ret = __adis_write_reg_8(adis, adis->data->glob_cmd_reg,
                        ADIS_GLOB_CMD_SW_RESET);
        if (ret) {
                dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret);
                return ret;
        }

        msleep(timeouts->sw_reset_ms);

        return 0;
}
EXPORT_SYMBOL_GPL(__adis_reset);

static int adis_self_test(struct adis *adis)
{
        int ret;
        const struct adis_timeout *timeouts = adis->data->timeouts;

        ret = __adis_write_reg_16(adis, adis->data->self_test_reg,
                                  adis->data->self_test_mask);
        if (ret) {
                dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n",
                        ret);
                return ret;
        }

        msleep(timeouts->self_test_ms);

        ret = __adis_check_status(adis);

        if (adis->data->self_test_no_autoclear)
                __adis_write_reg_16(adis, adis->data->self_test_reg, 0x00);

        return ret;
}

/**
 * __adis_initial_startup() - Device initial setup
 * @adis: The adis device
 *
 * The function performs a HW reset via a reset pin that should be specified
 * via GPIOLIB. If no pin is configured a SW reset will be performed.
 * The RST pin for the ADIS devices should be configured as ACTIVE_LOW.
 *
 * After the self-test operation is performed, the function will also check
 * that the product ID is as expected. This assumes that drivers providing
 * 'prod_id_reg' will also provide the 'prod_id'.
 *
 * Returns 0 if the device is operational, a negative error code otherwise.
 *
 * This function should be called early on in the device initialization sequence
 * to ensure that the device is in a sane and known state and that it is usable.
 */
int __adis_initial_startup(struct adis *adis)
{
        const struct adis_timeout *timeouts = adis->data->timeouts;
        struct gpio_desc *gpio;
        uint16_t prod_id;
        int ret;

        /* check if the device has rst pin low */
        gpio = devm_gpiod_get_optional(&adis->spi->dev, "reset", GPIOD_OUT_HIGH);
        if (IS_ERR(gpio))
                return PTR_ERR(gpio);

        if (gpio) {
                msleep(10);
                /* bring device out of reset */
                gpiod_set_value_cansleep(gpio, 0);
                msleep(timeouts->reset_ms);
        } else {
                ret = __adis_reset(adis);
                if (ret)
                        return ret;
        }

        ret = adis_self_test(adis);
        if (ret)
                return ret;

        if (!adis->data->prod_id_reg)
                return 0;

        ret = adis_read_reg_16(adis, adis->data->prod_id_reg, &prod_id);
        if (ret)
                return ret;

        if (prod_id != adis->data->prod_id)
                dev_warn(&adis->spi->dev,
                         "Device ID(%u) and product ID(%u) do not match.\n",
                         adis->data->prod_id, prod_id);

        return 0;
}
EXPORT_SYMBOL_GPL(__adis_initial_startup);

/**
 * adis_single_conversion() - Performs a single sample conversion
 * @indio_dev: The IIO device
 * @chan: The IIO channel
 * @error_mask: Mask for the error bit
 * @val: Result of the conversion
 *
 * Returns IIO_VAL_INT on success, a negative error code otherwise.
 *
 * The function performs a single conversion on a given channel and post
 * processes the value accordingly to the channel spec. If a error_mask is given
 * the function will check if the mask is set in the returned raw value. If it
 * is set the function will perform a self-check. If the device does not report
 * a error bit in the channels raw value set error_mask to 0.
 */
int adis_single_conversion(struct iio_dev *indio_dev,
        const struct iio_chan_spec *chan, unsigned int error_mask, int *val)
{
        struct adis *adis = iio_device_get_drvdata(indio_dev);
        unsigned int uval;
        int ret;

        mutex_lock(&adis->state_lock);

        ret = __adis_read_reg(adis, chan->address, &uval,
                        chan->scan_type.storagebits / 8);
        if (ret)
                goto err_unlock;

        if (uval & error_mask) {
                ret = __adis_check_status(adis);
                if (ret)
                        goto err_unlock;
        }

        if (chan->scan_type.sign == 's')
                *val = sign_extend32(uval, chan->scan_type.realbits - 1);
        else
                *val = uval & ((1 << chan->scan_type.realbits) - 1);

        ret = IIO_VAL_INT;
err_unlock:
        mutex_unlock(&adis->state_lock);
        return ret;
}
EXPORT_SYMBOL_GPL(adis_single_conversion);

/**
 * adis_init() - Initialize adis device structure
 * @adis:       The adis device
 * @indio_dev:  The iio device
 * @spi:        The spi device
 * @data:       Chip specific data
 *
 * Returns 0 on success, a negative error code otherwise.
 *
 * This function must be called, before any other adis helper function may be
 * called.
 */
int adis_init(struct adis *adis, struct iio_dev *indio_dev,
        struct spi_device *spi, const struct adis_data *data)
{
        if (!data || !data->timeouts) {
                dev_err(&spi->dev, "No config data or timeouts not defined!\n");
                return -EINVAL;
        }

        mutex_init(&adis->state_lock);
        adis->spi = spi;
        adis->data = data;
        iio_device_set_drvdata(indio_dev, adis);

        if (data->has_paging) {
                /* Need to set the page before first read/write */
                adis->current_page = -1;
        } else {
                /* Page will always be 0 */
                adis->current_page = 0;
        }

        return adis_enable_irq(adis, false);
}
EXPORT_SYMBOL_GPL(adis_init);

MODULE_LICENSE("GPL");
MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
MODULE_DESCRIPTION("Common library code for ADIS16XXX devices");