// SPDX-License-Identifier: GPL-2.0
/*
 * ADIS16475 IMU driver
 *
 * Copyright 2019 Analog Devices Inc.
 */
#include <linux/bitfield.h>
#include <linux/bitops.h>
#include <linux/clk.h>
#include <linux/debugfs.h>
#include <linux/delay.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/iio/buffer.h>
#include <linux/iio/iio.h>
#include <linux/iio/imu/adis.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/irq.h>
#include <linux/lcm.h>
#include <linux/math.h>
#include <linux/module.h>
#include <linux/mod_devicetable.h>
#include <linux/property.h>
#include <linux/spi/spi.h>

#define ADIS16475_REG_DIAG_STAT         0x02
#define ADIS16475_REG_X_GYRO_L          0x04
#define ADIS16475_REG_Y_GYRO_L          0x08
#define ADIS16475_REG_Z_GYRO_L          0x0C
#define ADIS16475_REG_X_ACCEL_L         0x10
#define ADIS16475_REG_Y_ACCEL_L         0x14
#define ADIS16475_REG_Z_ACCEL_L         0x18
#define ADIS16475_REG_TEMP_OUT          0x1c
#define ADIS16475_REG_X_GYRO_BIAS_L     0x40
#define ADIS16475_REG_Y_GYRO_BIAS_L     0x44
#define ADIS16475_REG_Z_GYRO_BIAS_L     0x48
#define ADIS16475_REG_X_ACCEL_BIAS_L    0x4c
#define ADIS16475_REG_Y_ACCEL_BIAS_L    0x50
#define ADIS16475_REG_Z_ACCEL_BIAS_L    0x54
#define ADIS16475_REG_FILT_CTRL         0x5c
#define ADIS16475_FILT_CTRL_MASK        GENMASK(2, 0)
#define ADIS16475_FILT_CTRL(x)          FIELD_PREP(ADIS16475_FILT_CTRL_MASK, x)
#define ADIS16475_REG_MSG_CTRL          0x60
#define ADIS16475_MSG_CTRL_DR_POL_MASK  BIT(0)
#define ADIS16475_MSG_CTRL_DR_POL(x) \
                                FIELD_PREP(ADIS16475_MSG_CTRL_DR_POL_MASK, x)
#define ADIS16475_SYNC_MODE_MASK        GENMASK(4, 2)
#define ADIS16475_SYNC_MODE(x)          FIELD_PREP(ADIS16475_SYNC_MODE_MASK, x)
#define ADIS16475_REG_UP_SCALE          0x62
#define ADIS16475_REG_DEC_RATE          0x64
#define ADIS16475_REG_GLOB_CMD          0x68
#define ADIS16475_REG_FIRM_REV          0x6c
#define ADIS16475_REG_FIRM_DM           0x6e
#define ADIS16475_REG_FIRM_Y            0x70
#define ADIS16475_REG_PROD_ID           0x72
#define ADIS16475_REG_SERIAL_NUM        0x74
#define ADIS16475_REG_FLASH_CNT         0x7c
#define ADIS16500_BURST32_MASK          BIT(9)
#define ADIS16500_BURST32(x)            FIELD_PREP(ADIS16500_BURST32_MASK, x)
/* number of data elements in burst mode */
#define ADIS16475_BURST32_MAX_DATA      32
#define ADIS16475_BURST_MAX_DATA        20
#define ADIS16475_MAX_SCAN_DATA         20
/* spi max speed in brust mode */
#define ADIS16475_BURST_MAX_SPEED       1000000
#define ADIS16475_LSB_DEC_MASK          BIT(0)
#define ADIS16475_LSB_FIR_MASK          BIT(1)

enum {
        ADIS16475_SYNC_DIRECT = 1,
        ADIS16475_SYNC_SCALED,
        ADIS16475_SYNC_OUTPUT,
        ADIS16475_SYNC_PULSE = 5,
};

struct adis16475_sync {
        u16 sync_mode;
        u16 min_rate;
        u16 max_rate;
};

struct adis16475_chip_info {
        const struct iio_chan_spec *channels;
        const struct adis16475_sync *sync;
        const struct adis_data adis_data;
        const char *name;
        u32 num_channels;
        u32 gyro_max_val;
        u32 gyro_max_scale;
        u32 accel_max_val;
        u32 accel_max_scale;
        u32 temp_scale;
        u32 int_clk;
        u16 max_dec;
        u8 num_sync;
        bool has_burst32;
};

struct adis16475 {
        const struct adis16475_chip_info *info;
        struct adis adis;
        u32 clk_freq;
        bool burst32;
        unsigned long lsb_flag;
        u16 sync_mode;
        /* Alignment needed for the timestamp */
        __be16 data[ADIS16475_MAX_SCAN_DATA] __aligned(8);
};

enum {
        ADIS16475_SCAN_GYRO_X,
        ADIS16475_SCAN_GYRO_Y,
        ADIS16475_SCAN_GYRO_Z,
        ADIS16475_SCAN_ACCEL_X,
        ADIS16475_SCAN_ACCEL_Y,
        ADIS16475_SCAN_ACCEL_Z,
        ADIS16475_SCAN_TEMP,
        ADIS16475_SCAN_DIAG_S_FLAGS,
        ADIS16475_SCAN_CRC_FAILURE,
};

static bool low_rate_allow;
module_param(low_rate_allow, bool, 0444);
MODULE_PARM_DESC(low_rate_allow,
                 "Allow IMU rates below the minimum advisable when external clk is used in SCALED mode (default: N)");

#ifdef CONFIG_DEBUG_FS
static ssize_t adis16475_show_firmware_revision(struct file *file,
                                                char __user *userbuf,
                                                size_t count, loff_t *ppos)
{
        struct adis16475 *st = file->private_data;
        char buf[7];
        size_t len;
        u16 rev;
        int ret;

        ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_REV, &rev);
        if (ret)
                return ret;

        len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff);

        return simple_read_from_buffer(userbuf, count, ppos, buf, len);
}

static const struct file_operations adis16475_firmware_revision_fops = {
        .open = simple_open,
        .read = adis16475_show_firmware_revision,
        .llseek = default_llseek,
        .owner = THIS_MODULE,
};

static ssize_t adis16475_show_firmware_date(struct file *file,
                                            char __user *userbuf,
                                            size_t count, loff_t *ppos)
{
        struct adis16475 *st = file->private_data;
        u16 md, year;
        char buf[12];
        size_t len;
        int ret;

        ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_Y, &year);
        if (ret)
                return ret;

        ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_DM, &md);
        if (ret)
                return ret;

        len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n", md >> 8, md & 0xff,
                       year);

        return simple_read_from_buffer(userbuf, count, ppos, buf, len);
}

static const struct file_operations adis16475_firmware_date_fops = {
        .open = simple_open,
        .read = adis16475_show_firmware_date,
        .llseek = default_llseek,
        .owner = THIS_MODULE,
};

static int adis16475_show_serial_number(void *arg, u64 *val)
{
        struct adis16475 *st = arg;
        u16 serial;
        int ret;

        ret = adis_read_reg_16(&st->adis, ADIS16475_REG_SERIAL_NUM, &serial);
        if (ret)
                return ret;

        *val = serial;

        return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16475_serial_number_fops,
                         adis16475_show_serial_number, NULL, "0x%.4llx\n");

static int adis16475_show_product_id(void *arg, u64 *val)
{
        struct adis16475 *st = arg;
        u16 prod_id;
        int ret;

        ret = adis_read_reg_16(&st->adis, ADIS16475_REG_PROD_ID, &prod_id);
        if (ret)
                return ret;

        *val = prod_id;

        return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16475_product_id_fops,
                         adis16475_show_product_id, NULL, "%llu\n");

static int adis16475_show_flash_count(void *arg, u64 *val)
{
        struct adis16475 *st = arg;
        u32 flash_count;
        int ret;

        ret = adis_read_reg_32(&st->adis, ADIS16475_REG_FLASH_CNT,
                               &flash_count);
        if (ret)
                return ret;

        *val = flash_count;

        return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16475_flash_count_fops,
                         adis16475_show_flash_count, NULL, "%lld\n");

static void adis16475_debugfs_init(struct iio_dev *indio_dev)
{
        struct adis16475 *st = iio_priv(indio_dev);
        struct dentry *d = iio_get_debugfs_dentry(indio_dev);

        debugfs_create_file_unsafe("serial_number", 0400,
                                   d, st, &adis16475_serial_number_fops);
        debugfs_create_file_unsafe("product_id", 0400,
                                   d, st, &adis16475_product_id_fops);
        debugfs_create_file_unsafe("flash_count", 0400,
                                   d, st, &adis16475_flash_count_fops);
        debugfs_create_file("firmware_revision", 0400,
                            d, st, &adis16475_firmware_revision_fops);
        debugfs_create_file("firmware_date", 0400, d,
                            st, &adis16475_firmware_date_fops);
}
#else
static void adis16475_debugfs_init(struct iio_dev *indio_dev)
{
}
#endif

static int adis16475_get_freq(struct adis16475 *st, u32 *freq)
{
        int ret;
        u16 dec;
        u32 sample_rate = st->clk_freq;

        adis_dev_lock(&st->adis);

        if (st->sync_mode == ADIS16475_SYNC_SCALED) {
                u16 sync_scale;

                ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, &sync_scale);
                if (ret)
                        goto error;

                sample_rate = st->clk_freq * sync_scale;
        }

        ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, &dec);
        if (ret)
                goto error;

        adis_dev_unlock(&st->adis);

        *freq = DIV_ROUND_CLOSEST(sample_rate, dec + 1);

        return 0;
error:
        adis_dev_unlock(&st->adis);
        return ret;
}

static int adis16475_set_freq(struct adis16475 *st, const u32 freq)
{
        u16 dec;
        int ret;
        u32 sample_rate = st->clk_freq;

        if (!freq)
                return -EINVAL;

        adis_dev_lock(&st->adis);
        /*
         * When using sync scaled mode, the input clock needs to be scaled so that we have
         * an IMU sample rate between (optimally) 1900 and 2100. After this, we can use the
         * decimation filter to lower the sampling rate in order to get what the user wants.
         * Optimally, the user sample rate is a multiple of both the IMU sample rate and
         * the input clock. Hence, calculating the sync_scale dynamically gives us better
         * chances of achieving a perfect/integer value for DEC_RATE. The math here is:
         *      1. lcm of the input clock and the desired output rate.
         *      2. get the highest multiple of the previous result lower than the adis max rate.
         *      3. The last result becomes the IMU sample rate. Use that to calculate SYNC_SCALE
         *         and DEC_RATE (to get the user output rate)
         */
        if (st->sync_mode == ADIS16475_SYNC_SCALED) {
                unsigned long scaled_rate = lcm(st->clk_freq, freq);
                int sync_scale;

                /*
                 * If lcm is bigger than the IMU maximum sampling rate there's no perfect
                 * solution. In this case, we get the highest multiple of the input clock
                 * lower than the IMU max sample rate.
                 */
                if (scaled_rate > 2100000)
                        scaled_rate = 2100000 / st->clk_freq * st->clk_freq;
                else
                        scaled_rate = 2100000 / scaled_rate * scaled_rate;

                /*
                 * This is not an hard requirement but it's not advised to run the IMU
                 * with a sample rate lower than 4000Hz due to possible undersampling
                 * issues. However, there are users that might really want to take the risk.
                 * Hence, we provide a module parameter for them. If set, we allow sample
                 * rates lower than 4KHz. By default, we won't allow this and we just roundup
                 * the rate to the next multiple of the input clock bigger than 4KHz. This
                 * is done like this as in some cases (when DEC_RATE is 0) might give
                 * us the closest value to the one desired by the user...
                 */
                if (scaled_rate < 1900000 && !low_rate_allow)
                        scaled_rate = roundup(1900000, st->clk_freq);

                sync_scale = scaled_rate / st->clk_freq;
                ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, sync_scale);
                if (ret)
                        goto error;

                sample_rate = scaled_rate;
        }

        dec = DIV_ROUND_CLOSEST(sample_rate, freq);

        if (dec)
                dec--;

        if (dec > st->info->max_dec)
                dec = st->info->max_dec;

        ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, dec);
        if (ret)
                goto error;

        adis_dev_unlock(&st->adis);
        /*
         * If decimation is used, then gyro and accel data will have meaningful
         * bits on the LSB registers. This info is used on the trigger handler.
         */
        assign_bit(ADIS16475_LSB_DEC_MASK, &st->lsb_flag, dec);

        return 0;
error:
        adis_dev_unlock(&st->adis);
        return ret;
}

/* The values are approximated. */
static const u32 adis16475_3db_freqs[] = {
        [0] = 720, /* Filter disabled, full BW (~720Hz) */
        [1] = 360,
        [2] = 164,
        [3] = 80,
        [4] = 40,
        [5] = 20,
        [6] = 10,
};

static int adis16475_get_filter(struct adis16475 *st, u32 *filter)
{
        u16 filter_sz;
        int ret;
        const int mask = ADIS16475_FILT_CTRL_MASK;

        ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL, &filter_sz);
        if (ret)
                return ret;

        *filter = adis16475_3db_freqs[filter_sz & mask];

        return 0;
}

static int adis16475_set_filter(struct adis16475 *st, const u32 filter)
{
        int i = ARRAY_SIZE(adis16475_3db_freqs);
        int ret;

        while (--i) {
                if (adis16475_3db_freqs[i] >= filter)
                        break;
        }

        ret = adis_write_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL,
                                ADIS16475_FILT_CTRL(i));
        if (ret)
                return ret;

        /*
         * If FIR is used, then gyro and accel data will have meaningful
         * bits on the LSB registers. This info is used on the trigger handler.
         */
        assign_bit(ADIS16475_LSB_FIR_MASK, &st->lsb_flag, i);

        return 0;
}

static const u32 adis16475_calib_regs[] = {
        [ADIS16475_SCAN_GYRO_X] = ADIS16475_REG_X_GYRO_BIAS_L,
        [ADIS16475_SCAN_GYRO_Y] = ADIS16475_REG_Y_GYRO_BIAS_L,
        [ADIS16475_SCAN_GYRO_Z] = ADIS16475_REG_Z_GYRO_BIAS_L,
        [ADIS16475_SCAN_ACCEL_X] = ADIS16475_REG_X_ACCEL_BIAS_L,
        [ADIS16475_SCAN_ACCEL_Y] = ADIS16475_REG_Y_ACCEL_BIAS_L,
        [ADIS16475_SCAN_ACCEL_Z] = ADIS16475_REG_Z_ACCEL_BIAS_L,
};

static int adis16475_read_raw(struct iio_dev *indio_dev,
                              const struct iio_chan_spec *chan,
                              int *val, int *val2, long info)
{
        struct adis16475 *st = iio_priv(indio_dev);
        int ret;
        u32 tmp;

        switch (info) {
        case IIO_CHAN_INFO_RAW:
                return adis_single_conversion(indio_dev, chan, 0, val);
        case IIO_CHAN_INFO_SCALE:
                switch (chan->type) {
                case IIO_ANGL_VEL:
                        *val = st->info->gyro_max_val;
                        *val2 = st->info->gyro_max_scale;
                        return IIO_VAL_FRACTIONAL;
                case IIO_ACCEL:
                        *val = st->info->accel_max_val;
                        *val2 = st->info->accel_max_scale;
                        return IIO_VAL_FRACTIONAL;
                case IIO_TEMP:
                        *val = st->info->temp_scale;
                        return IIO_VAL_INT;
                default:
                        return -EINVAL;
                }
        case IIO_CHAN_INFO_CALIBBIAS:
                ret = adis_read_reg_32(&st->adis,
                                       adis16475_calib_regs[chan->scan_index],
                                       val);
                if (ret)
                        return ret;

                return IIO_VAL_INT;
        case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
                ret = adis16475_get_filter(st, val);
                if (ret)
                        return ret;

                return IIO_VAL_INT;
        case IIO_CHAN_INFO_SAMP_FREQ:
                ret = adis16475_get_freq(st, &tmp);
                if (ret)
                        return ret;

                *val = tmp / 1000;
                *val2 = (tmp % 1000) * 1000;
                return IIO_VAL_INT_PLUS_MICRO;
        default:
                return -EINVAL;
        }
}

static int adis16475_write_raw(struct iio_dev *indio_dev,
                               const struct iio_chan_spec *chan,
                               int val, int val2, long info)
{
        struct adis16475 *st = iio_priv(indio_dev);
        u32 tmp;

        switch (info) {
        case IIO_CHAN_INFO_SAMP_FREQ:
                tmp = val * 1000 + val2 / 1000;
                return adis16475_set_freq(st, tmp);
        case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
                return adis16475_set_filter(st, val);
        case IIO_CHAN_INFO_CALIBBIAS:
                return adis_write_reg_32(&st->adis,
                                         adis16475_calib_regs[chan->scan_index],
                                         val);
        default:
                return -EINVAL;
        }
}

#define ADIS16475_MOD_CHAN(_type, _mod, _address, _si, _r_bits, _s_bits) \
        { \
                .type = (_type), \
                .modified = 1, \
                .channel2 = (_mod), \
                .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
                        BIT(IIO_CHAN_INFO_CALIBBIAS), \
                .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
                .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
                        BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
                .address = (_address), \
                .scan_index = (_si), \
                .scan_type = { \
                        .sign = 's', \
                        .realbits = (_r_bits), \
                        .storagebits = (_s_bits), \
                        .endianness = IIO_BE, \
                }, \
        }

#define ADIS16475_GYRO_CHANNEL(_mod) \
        ADIS16475_MOD_CHAN(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
                           ADIS16475_REG_ ## _mod ## _GYRO_L, \
                           ADIS16475_SCAN_GYRO_ ## _mod, 32, 32)

#define ADIS16475_ACCEL_CHANNEL(_mod) \
        ADIS16475_MOD_CHAN(IIO_ACCEL, IIO_MOD_ ## _mod, \
                           ADIS16475_REG_ ## _mod ## _ACCEL_L, \
                           ADIS16475_SCAN_ACCEL_ ## _mod, 32, 32)

#define ADIS16475_TEMP_CHANNEL() { \
                .type = IIO_TEMP, \
                .indexed = 1, \
                .channel = 0, \
                .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
                        BIT(IIO_CHAN_INFO_SCALE), \
                .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
                        BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
                .address = ADIS16475_REG_TEMP_OUT, \
                .scan_index = ADIS16475_SCAN_TEMP, \
                .scan_type = { \
                        .sign = 's', \
                        .realbits = 16, \
                        .storagebits = 16, \
                        .endianness = IIO_BE, \
                }, \
        }

static const struct iio_chan_spec adis16475_channels[] = {
        ADIS16475_GYRO_CHANNEL(X),
        ADIS16475_GYRO_CHANNEL(Y),
        ADIS16475_GYRO_CHANNEL(Z),
        ADIS16475_ACCEL_CHANNEL(X),
        ADIS16475_ACCEL_CHANNEL(Y),
        ADIS16475_ACCEL_CHANNEL(Z),
        ADIS16475_TEMP_CHANNEL(),
        IIO_CHAN_SOFT_TIMESTAMP(7)
};

enum adis16475_variant {
        ADIS16470,
        ADIS16475_1,
        ADIS16475_2,
        ADIS16475_3,
        ADIS16477_1,
        ADIS16477_2,
        ADIS16477_3,
        ADIS16465_1,
        ADIS16465_2,
        ADIS16465_3,
        ADIS16467_1,
        ADIS16467_2,
        ADIS16467_3,
        ADIS16500,
        ADIS16505_1,
        ADIS16505_2,
        ADIS16505_3,
        ADIS16507_1,
        ADIS16507_2,
        ADIS16507_3,
};

enum {
        ADIS16475_DIAG_STAT_DATA_PATH = 1,
        ADIS16475_DIAG_STAT_FLASH_MEM,
        ADIS16475_DIAG_STAT_SPI,
        ADIS16475_DIAG_STAT_STANDBY,
        ADIS16475_DIAG_STAT_SENSOR,
        ADIS16475_DIAG_STAT_MEMORY,
        ADIS16475_DIAG_STAT_CLK,
};

static const char * const adis16475_status_error_msgs[] = {
        [ADIS16475_DIAG_STAT_DATA_PATH] = "Data Path Overrun",
        [ADIS16475_DIAG_STAT_FLASH_MEM] = "Flash memory update failure",
        [ADIS16475_DIAG_STAT_SPI] = "SPI communication error",
        [ADIS16475_DIAG_STAT_STANDBY] = "Standby mode",
        [ADIS16475_DIAG_STAT_SENSOR] = "Sensor failure",
        [ADIS16475_DIAG_STAT_MEMORY] = "Memory failure",
        [ADIS16475_DIAG_STAT_CLK] = "Clock error",
};

static int adis16475_enable_irq(struct adis *adis, bool enable)
{
        /*
         * There is no way to gate the data-ready signal internally inside the
         * ADIS16475. We can only control it's polarity...
         */
        if (enable)
                enable_irq(adis->spi->irq);
        else
                disable_irq(adis->spi->irq);

        return 0;
}

#define ADIS16475_DATA(_prod_id, _timeouts)                             \
{                                                                       \
        .msc_ctrl_reg = ADIS16475_REG_MSG_CTRL,                         \
        .glob_cmd_reg = ADIS16475_REG_GLOB_CMD,                         \
        .diag_stat_reg = ADIS16475_REG_DIAG_STAT,                       \
        .prod_id_reg = ADIS16475_REG_PROD_ID,                           \
        .prod_id = (_prod_id),                                          \
        .self_test_mask = BIT(2),                                       \
        .self_test_reg = ADIS16475_REG_GLOB_CMD,                        \
        .cs_change_delay = 16,                                          \
        .read_delay = 5,                                                \
        .write_delay = 5,                                               \
        .status_error_msgs = adis16475_status_error_msgs,               \
        .status_error_mask = BIT(ADIS16475_DIAG_STAT_DATA_PATH) |       \
                BIT(ADIS16475_DIAG_STAT_FLASH_MEM) |                    \
                BIT(ADIS16475_DIAG_STAT_SPI) |                          \
                BIT(ADIS16475_DIAG_STAT_STANDBY) |                      \
                BIT(ADIS16475_DIAG_STAT_SENSOR) |                       \
                BIT(ADIS16475_DIAG_STAT_MEMORY) |                       \
                BIT(ADIS16475_DIAG_STAT_CLK),                           \
        .enable_irq = adis16475_enable_irq,                             \
        .timeouts = (_timeouts),                                        \
        .burst_reg_cmd = ADIS16475_REG_GLOB_CMD,                        \
        .burst_len = ADIS16475_BURST_MAX_DATA,                          \
        .burst_max_len = ADIS16475_BURST32_MAX_DATA,                    \
        .burst_max_speed_hz = ADIS16475_BURST_MAX_SPEED                 \
}

static const struct adis16475_sync adis16475_sync_mode[] = {
        { ADIS16475_SYNC_OUTPUT },
        { ADIS16475_SYNC_DIRECT, 1900, 2100 },
        { ADIS16475_SYNC_SCALED, 1, 128 },
        { ADIS16475_SYNC_PULSE, 1000, 2100 },
};

static const struct adis_timeout adis16475_timeouts = {
        .reset_ms = 200,
        .sw_reset_ms = 200,
        .self_test_ms = 20,
};

static const struct adis_timeout adis1650x_timeouts = {
        .reset_ms = 260,
        .sw_reset_ms = 260,
        .self_test_ms = 30,
};

static const struct adis16475_chip_info adis16475_chip_info[] = {
        [ADIS16470] = {
                .name = "adis16470",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16470, &adis16475_timeouts),
        },
        [ADIS16475_1] = {
                .name = "adis16475-1",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts),
        },
        [ADIS16475_2] = {
                .name = "adis16475-2",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts),
        },
        [ADIS16475_3] = {
                .name = "adis16475-3",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts),
        },
        [ADIS16477_1] = {
                .name = "adis16477-1",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
        },
        [ADIS16477_2] = {
                .name = "adis16477-2",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
        },
        [ADIS16477_3] = {
                .name = "adis16477-3",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
        },
        [ADIS16465_1] = {
                .name = "adis16465-1",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts),
        },
        [ADIS16465_2] = {
                .name = "adis16465-2",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts),
        },
        [ADIS16465_3] = {
                .name = "adis16465-3",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts),
        },
        [ADIS16467_1] = {
                .name = "adis16467-1",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts),
        },
        [ADIS16467_2] = {
                .name = "adis16467-2",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts),
        },
        [ADIS16467_3] = {
                .name = "adis16467-3",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
                .accel_max_val = 1,
                .accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                .num_sync = ARRAY_SIZE(adis16475_sync_mode),
                .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts),
        },
        [ADIS16500] = {
                .name = "adis16500",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
                .accel_max_val = 392,
                .accel_max_scale = 32000 << 16,
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                /* pulse sync not supported */
                .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
                .has_burst32 = true,
                .adis_data = ADIS16475_DATA(16500, &adis1650x_timeouts),
        },
        [ADIS16505_1] = {
                .name = "adis16505-1",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
                .accel_max_val = 78,
                .accel_max_scale = 32000 << 16,
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                /* pulse sync not supported */
                .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
                .has_burst32 = true,
                .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
        },
        [ADIS16505_2] = {
                .name = "adis16505-2",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
                .accel_max_val = 78,
                .accel_max_scale = 32000 << 16,
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                /* pulse sync not supported */
                .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
                .has_burst32 = true,
                .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
        },
        [ADIS16505_3] = {
                .name = "adis16505-3",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
                .accel_max_val = 78,
                .accel_max_scale = 32000 << 16,
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                /* pulse sync not supported */
                .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
                .has_burst32 = true,
                .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
        },
        [ADIS16507_1] = {
                .name = "adis16507-1",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
                .accel_max_val = 392,
                .accel_max_scale = 32000 << 16,
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                /* pulse sync not supported */
                .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
                .has_burst32 = true,
                .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
        },
        [ADIS16507_2] = {
                .name = "adis16507-2",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
                .accel_max_val = 392,
                .accel_max_scale = 32000 << 16,
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                /* pulse sync not supported */
                .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
                .has_burst32 = true,
                .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
        },
        [ADIS16507_3] = {
                .name = "adis16507-3",
                .num_channels = ARRAY_SIZE(adis16475_channels),
                .channels = adis16475_channels,
                .gyro_max_val = 1,
                .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
                .accel_max_val = 392,
                .accel_max_scale = 32000 << 16,
                .temp_scale = 100,
                .int_clk = 2000,
                .max_dec = 1999,
                .sync = adis16475_sync_mode,
                /* pulse sync not supported */
                .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
                .has_burst32 = true,
                .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
        },
};

static const struct iio_info adis16475_info = {
        .read_raw = &adis16475_read_raw,
        .write_raw = &adis16475_write_raw,
        .update_scan_mode = adis_update_scan_mode,
        .debugfs_reg_access = adis_debugfs_reg_access,
};

static bool adis16475_validate_crc(const u8 *buffer, u16 crc,
                                   const bool burst32)
{
        int i;
        /* extra 6 elements for low gyro and accel */
        const u16 sz = burst32 ? ADIS16475_BURST32_MAX_DATA :

                ADIS16475_BURST_MAX_DATA;

        for (i = 0; i < sz - 2; i++)
                crc -= buffer[i];

        return crc == 0;
}

static void adis16475_burst32_check(struct adis16475 *st)
{
        int ret;
        struct adis *adis = &st->adis;

        if (!st->info->has_burst32)
                return;

        if (st->lsb_flag && !st->burst32) {
                const u16 en = ADIS16500_BURST32(1);

                ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
                                         ADIS16500_BURST32_MASK, en);
                if (ret)
                        return;

                st->burst32 = true;

                /*
                 * In 32-bit mode we need extra 2 bytes for all gyro
                 * and accel channels.
                 */
                adis->burst_extra_len = 6 * sizeof(u16);
                adis->xfer[1].len += 6 * sizeof(u16);
                dev_dbg(&adis->spi->dev, "Enable burst32 mode, xfer:%d",
                        adis->xfer[1].len);

        } else if (!st->lsb_flag && st->burst32) {
                const u16 en = ADIS16500_BURST32(0);

                ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
                                         ADIS16500_BURST32_MASK, en);
                if (ret)
                        return;

                st->burst32 = false;

                /* Remove the extra bits */
                adis->burst_extra_len = 0;
                adis->xfer[1].len -= 6 * sizeof(u16);
                dev_dbg(&adis->spi->dev, "Disable burst32 mode, xfer:%d\n",
                        adis->xfer[1].len);
        }
}

static irqreturn_t adis16475_trigger_handler(int irq, void *p)
{
        struct iio_poll_func *pf = p;
        struct iio_dev *indio_dev = pf->indio_dev;
        struct adis16475 *st = iio_priv(indio_dev);
        struct adis *adis = &st->adis;
        int ret, bit, i = 0;
        __be16 *buffer;
        u16 crc;
        bool valid;
        /* offset until the first element after gyro and accel */
        const u8 offset = st->burst32 ? 13 : 7;

        ret = spi_sync(adis->spi, &adis->msg);
        if (ret)
                goto check_burst32;

        buffer = adis->buffer;

        crc = be16_to_cpu(buffer[offset + 2]);
        valid = adis16475_validate_crc(adis->buffer, crc, st->burst32);
        if (!valid) {
                dev_err(&adis->spi->dev, "Invalid crc\n");
                goto check_burst32;
        }

        for_each_set_bit(bit, indio_dev->active_scan_mask,
                         indio_dev->masklength) {
                /*
                 * When burst mode is used, system flags is the first data
                 * channel in the sequence, but the scan index is 7.
                 */
                switch (bit) {
                case ADIS16475_SCAN_TEMP:
                        st->data[i++] = buffer[offset];
                        break;
                case ADIS16475_SCAN_GYRO_X ... ADIS16475_SCAN_ACCEL_Z:
                        /*
                         * The first 2 bytes on the received data are the
                         * DIAG_STAT reg, hence the +1 offset here...
                         */
                        if (st->burst32) {
                                /* upper 16 */
                                st->data[i++] = buffer[bit * 2 + 2];
                                /* lower 16 */
                                st->data[i++] = buffer[bit * 2 + 1];
                        } else {
                                st->data[i++] = buffer[bit + 1];
                                /*
                                 * Don't bother in doing the manual read if the
                                 * device supports burst32. burst32 will be
                                 * enabled in the next call to
                                 * adis16475_burst32_check()...
                                 */
                                if (st->lsb_flag && !st->info->has_burst32) {
                                        u16 val = 0;
                                        const u32 reg = ADIS16475_REG_X_GYRO_L +
                                                bit * 4;

                                        adis_read_reg_16(adis, reg, &val);
                                        st->data[i++] = cpu_to_be16(val);
                                } else {
                                        /* lower not used */
                                        st->data[i++] = 0;
                                }
                        }
                        break;
                }
        }

        iio_push_to_buffers_with_timestamp(indio_dev, st->data, pf->timestamp);
check_burst32:
        /*
         * We only check the burst mode at the end of the current capture since
         * it takes a full data ready cycle for the device to update the burst
         * array.
         */
        adis16475_burst32_check(st);
        iio_trigger_notify_done(indio_dev->trig);

        return IRQ_HANDLED;
}

static void adis16475_disable_clk(void *data)
{
        clk_disable_unprepare((struct clk *)data);
}

static int adis16475_config_sync_mode(struct adis16475 *st)
{
        int ret;
        struct device *dev = &st->adis.spi->dev;
        const struct adis16475_sync *sync;
        u32 sync_mode;

        /* default to internal clk */
        st->clk_freq = st->info->int_clk * 1000;

        ret = device_property_read_u32(dev, "adi,sync-mode", &sync_mode);
        if (ret)
                return 0;

        if (sync_mode >= st->info->num_sync) {
                dev_err(dev, "Invalid sync mode: %u for %s\n", sync_mode,
                        st->info->name);
                return -EINVAL;
        }

        sync = &st->info->sync[sync_mode];
        st->sync_mode = sync->sync_mode;

        /* All the other modes require external input signal */
        if (sync->sync_mode != ADIS16475_SYNC_OUTPUT) {
                struct clk *clk = devm_clk_get(dev, NULL);

                if (IS_ERR(clk))
                        return PTR_ERR(clk);

                ret = clk_prepare_enable(clk);
                if (ret)
                        return ret;

                ret = devm_add_action_or_reset(dev, adis16475_disable_clk, clk);
                if (ret)
                        return ret;

                st->clk_freq = clk_get_rate(clk);
                if (st->clk_freq < sync->min_rate ||
                    st->clk_freq > sync->max_rate) {
                        dev_err(dev,
                                "Clk rate:%u not in a valid range:[%u %u]\n",
                                st->clk_freq, sync->min_rate, sync->max_rate);
                        return -EINVAL;
                }

                if (sync->sync_mode == ADIS16475_SYNC_SCALED) {
                        u16 up_scale;

                        /*
                         * In sync scaled mode, the IMU sample rate is the clk_freq * sync_scale.
                         * Hence, default the IMU sample rate to the highest multiple of the input
                         * clock lower than the IMU max sample rate. The optimal range is
                         * 1900-2100 sps...
                         */
                        up_scale = 2100 / st->clk_freq;

                        ret = __adis_write_reg_16(&st->adis,
                                                  ADIS16475_REG_UP_SCALE,
                                                  up_scale);
                        if (ret)
                                return ret;
                }

                st->clk_freq *= 1000;
        }
        /*
         * Keep in mind that the mask for the clk modes in adis1650*
         * chips is different (1100 instead of 11100). However, we
         * are not configuring BIT(4) in these chips and the default
         * value is 0, so we are fine in doing the below operations.
         * I'm keeping this for simplicity and avoiding extra variables
         * in chip_info.
         */
        ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
                                 ADIS16475_SYNC_MODE_MASK, sync->sync_mode);
        if (ret)
                return ret;

        usleep_range(250, 260);

        return 0;
}

static int adis16475_config_irq_pin(struct adis16475 *st)
{
        int ret;
        struct irq_data *desc;
        u32 irq_type;
        u16 val = 0;
        u8 polarity;
        struct spi_device *spi = st->adis.spi;

        desc = irq_get_irq_data(spi->irq);
        if (!desc) {
                dev_err(&spi->dev, "Could not find IRQ %d\n", spi->irq);
                return -EINVAL;
        }
        /*
         * It is possible to configure the data ready polarity. Furthermore, we
         * need to update the adis struct if we want data ready as active low.
         */
        irq_type = irqd_get_trigger_type(desc);
        if (irq_type == IRQ_TYPE_EDGE_RISING) {
                polarity = 1;
                st->adis.irq_flag = IRQF_TRIGGER_RISING;
        } else if (irq_type == IRQ_TYPE_EDGE_FALLING) {
                polarity = 0;
                st->adis.irq_flag = IRQF_TRIGGER_FALLING;
        } else {
                dev_err(&spi->dev, "Invalid interrupt type 0x%x specified\n",
                        irq_type);
                return -EINVAL;
        }

        /* We cannot mask the interrupt so ensure it's not enabled at request */
        st->adis.irq_flag |= IRQF_NO_AUTOEN;

        val = ADIS16475_MSG_CTRL_DR_POL(polarity);
        ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
                                 ADIS16475_MSG_CTRL_DR_POL_MASK, val);
        if (ret)
                return ret;
        /*
         * There is a delay writing to any bits written to the MSC_CTRL
         * register. It should not be bigger than 200us, so 250 should be more
         * than enough!
         */
        usleep_range(250, 260);

        return 0;
}

static const struct of_device_id adis16475_of_match[] = {
        { .compatible = "adi,adis16470",
                .data = &adis16475_chip_info[ADIS16470] },
        { .compatible = "adi,adis16475-1",
                .data = &adis16475_chip_info[ADIS16475_1] },
        { .compatible = "adi,adis16475-2",
                .data = &adis16475_chip_info[ADIS16475_2] },
        { .compatible = "adi,adis16475-3",
                .data = &adis16475_chip_info[ADIS16475_3] },
        { .compatible = "adi,adis16477-1",
                .data = &adis16475_chip_info[ADIS16477_1] },
        { .compatible = "adi,adis16477-2",
                .data = &adis16475_chip_info[ADIS16477_2] },
        { .compatible = "adi,adis16477-3",
                .data = &adis16475_chip_info[ADIS16477_3] },
        { .compatible = "adi,adis16465-1",
                .data = &adis16475_chip_info[ADIS16465_1] },
        { .compatible = "adi,adis16465-2",
                .data = &adis16475_chip_info[ADIS16465_2] },
        { .compatible = "adi,adis16465-3",
                .data = &adis16475_chip_info[ADIS16465_3] },
        { .compatible = "adi,adis16467-1",
                .data = &adis16475_chip_info[ADIS16467_1] },
        { .compatible = "adi,adis16467-2",
                .data = &adis16475_chip_info[ADIS16467_2] },
        { .compatible = "adi,adis16467-3",
                .data = &adis16475_chip_info[ADIS16467_3] },
        { .compatible = "adi,adis16500",
                .data = &adis16475_chip_info[ADIS16500] },
        { .compatible = "adi,adis16505-1",
                .data = &adis16475_chip_info[ADIS16505_1] },
        { .compatible = "adi,adis16505-2",
                .data = &adis16475_chip_info[ADIS16505_2] },
        { .compatible = "adi,adis16505-3",
                .data = &adis16475_chip_info[ADIS16505_3] },
        { .compatible = "adi,adis16507-1",
                .data = &adis16475_chip_info[ADIS16507_1] },
        { .compatible = "adi,adis16507-2",
                .data = &adis16475_chip_info[ADIS16507_2] },
        { .compatible = "adi,adis16507-3",
                .data = &adis16475_chip_info[ADIS16507_3] },
        { },
};
MODULE_DEVICE_TABLE(of, adis16475_of_match);

static int adis16475_probe(struct spi_device *spi)
{
        struct iio_dev *indio_dev;
        struct adis16475 *st;
        int ret;

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

        st = iio_priv(indio_dev);

        st->info = device_get_match_data(&spi->dev);
        if (!st->info)
                return -EINVAL;

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

        indio_dev->name = st->info->name;
        indio_dev->channels = st->info->channels;
        indio_dev->num_channels = st->info->num_channels;
        indio_dev->info = &adis16475_info;
        indio_dev->modes = INDIO_DIRECT_MODE;

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

        ret = adis16475_config_irq_pin(st);
        if (ret)
                return ret;

        ret = adis16475_config_sync_mode(st);
        if (ret)
                return ret;

        ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev,
                                                 adis16475_trigger_handler);
        if (ret)
                return ret;

        ret = devm_iio_device_register(&spi->dev, indio_dev);
        if (ret)
                return ret;

        adis16475_debugfs_init(indio_dev);

        return 0;
}

static struct spi_driver adis16475_driver = {
        .driver = {
                .name = "adis16475",
                .of_match_table = adis16475_of_match,
        },
        .probe = adis16475_probe,
};
module_spi_driver(adis16475_driver);

MODULE_AUTHOR("Nuno Sa <nuno.sa@analog.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16475 IMU driver");
MODULE_LICENSE("GPL");