Merge tag 'iio-for-5.8b' of git://git.kernel.org/pub/scm/linux/kernel/git/jic23/iio into staging-next

Jonathan writes:

Second set of new device support, cleanups and features for IIO in the 5.8 cycle

Usual mixed back but with a few subsystem wide or device type
wide cleanups.

New device support

* adis16475
  - New driver supporting adis16470, adis16475, adis16477, adis16465,
    adis16467, adis16500, adis16505 and adis16507.
    Includes some rework of the adis library to simplify using it
    for this new driver.
* ak8974
  - Add support for Alps hscdt008a. ID only. Related patches add support
    for scale.
* atlas-sensor
  - Add support for RTD-SM OEM temperature sensor.
* cm32181
  - Add support for CM3218 including support for SMBUS alert via
    ACPI resources.
* ltc2632
  - Add support for ltc2634-12/10/8 DACS including handling per
    device type numbers of channels.

Major Features

* cm32181
  - ACPI bindings including parsing CPM0 and CPM1 custom ACPI tables.
    Includes minor tidy ups and fixes.
* vcnl4000
  - Add event support
  - Add buffered data capture support
  - Add control of sampling frequency

Cleanups and minor fixes.

* core
  - Trivial rework of iio_device_alloc to use an early return and
    improve readability.
  - Precursors to addition of multiple buffer support. So far
    minor refactoring.
* subsystem wide
  - Use get_unaligned_be24 slightly improve readability over open
    coding it.
* adis drivers
  - Use iio_get_debugfs_dentry access function.
* bh1780, cm32181, cm3232, gp2ap02a00f, opt3001, st_uvis25, vl6180,
  dmard06, kxsd9
  - Drop use of of_match_ptr to allow ACPI based probing via PRP0001.
    Part of clear out of this to avoid cut and paste into new drivers.
* ad5592r, ad5593r
  - Fix typos
* ad5933
  - Use managed interfaces to automate error handling and remove.
* ak8974
  - Fix wrong number of 'real bits' for buffered data.
  - Refactor to pull measurement code out as separate function.
    bmp280
  - Fix lack of clamp on range during data capture.
* at91-sama5d2_adc
  - Handle unfinished conversions correctly.
  - Allow use of triggers other than it's own.
  - Reorganize buffer setup and tear down as part of long running
    subsystem wide rework.
* ccs811
  - Add DT binding docs and match table.
  - Support external reset and wakeup pins.
* hid-sensors
  - Reorganize buffer setup and tear down as part of long running
    subsystem wide rework.
* ltr501
  - Constify some structs.
* vcnl4000
  - Fix an endian issue by using explicit byte swapped i2c accessors.

* tag 'iio-for-5.8b' of git://git.kernel.org/pub/scm/linux/kernel/git/jic23/iio: (74 commits)
  iio: light: ltr501: Constify structs
  staging: iio: ad5933: attach life-cycle of kfifo buffer to parent device and use managed calls throughout
  iio: bmp280: fix compensation of humidity
  iio: light: cm32181: Fix integartion time typo
  iio: light: cm32181: Add support for parsing CPM0 and CPM1 ACPI tables
  iio: light: cm32181: Make lux_per_bit and lux_per_bit_base_it runtime settings
  iio: light: cm32181: Use units of 1/100000th for calibscale and lux_per_bit
  iio: light: cm32181: Change reg_init to use a bitmap of which registers to init
  iio: light: cm32181: Handle CM3218 ACPI devices with 2 I2C resources
  iio: light: cm32181: Clean up the probe function a bit
  iio: light: cm32181: Add support for the CM3218
  iio: light: cm32181: Add some extra register defines
  iio: light: cm32181: Add support for ACPI enumeration
  iio: light: cm32181: Switch to new style i2c-driver probe function
  iio: hid-sensors: move triggered buffer setup into hid_sensor_setup_trigger
  iio: vcnl4000: Add buffer support for VCNL4010/20.
  iio: vcnl4000: Add sampling frequency support for VCNL4010/20.
  iio: vcnl4000: Add event support for VCNL4010/20.
  iio: vcnl4000: Factorize data reading and writing.
  iio: vcnl4000: Fix i2c swapped word reading.
  ...

10 files changed, 1528 insertions, 38 deletions

diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
index 60bb1029e759..fc4123d518bc 100644
--- a/drivers/iio/imu/Kconfig
+++ b/drivers/iio/imu/Kconfig
@@ -29,6 +29,19 @@ config ADIS16460
 	  To compile this driver as a module, choose M here: the module will be
 	  called adis16460.
 
+config ADIS16475
+	tristate "Analog Devices ADIS16475 and similar IMU driver"
+	depends on SPI
+	select IIO_ADIS_LIB
+	select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
+	help
+	  Say yes here to build support for Analog Devices ADIS16470, ADIS16475,
+	  ADIS16477, ADIS16465, ADIS16467, ADIS16500, ADIS16505, ADIS16507 inertial
+	  sensors.
+
+	  To compile this driver as a module, choose M here: the module will be
+	  called adis16475.
+
 config ADIS16480
 	tristate "Analog Devices ADIS16480 and similar IMU driver"
 	depends on SPI
diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
index 5237fd4bc384..88b2c4555230 100644
--- a/drivers/iio/imu/Makefile
+++ b/drivers/iio/imu/Makefile
@@ -6,6 +6,7 @@
 # When adding new entries keep the list in alphabetical order
 obj-$(CONFIG_ADIS16400) += adis16400.o
 obj-$(CONFIG_ADIS16460) += adis16460.o
+obj-$(CONFIG_ADIS16475) += adis16475.o
 obj-$(CONFIG_ADIS16480) += adis16480.o
 
 adis_lib-y += adis.o
diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c
index 2e7d0d337f8f..c539dfa3b8d3 100644
--- a/drivers/iio/imu/adis.c
+++ b/drivers/iio/imu/adis.c
@@ -223,6 +223,31 @@ int __adis_read_reg(struct adis *adis, unsigned int reg,
 	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
 
diff --git a/drivers/iio/imu/adis16400.c b/drivers/iio/imu/adis16400.c
index 4445c242709c..229f2ff98469 100644
--- a/drivers/iio/imu/adis16400.c
+++ b/drivers/iio/imu/adis16400.c
@@ -281,18 +281,16 @@ DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
 {
 	struct adis16400_state *st = iio_priv(indio_dev);
+	struct dentry *d = iio_get_debugfs_dentry(indio_dev);
 
 	if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
 		debugfs_create_file_unsafe("serial_number", 0400,
-				indio_dev->debugfs_dentry, st,
-				&adis16400_serial_number_fops);
+				d, st, &adis16400_serial_number_fops);
 	if (st->variant->flags & ADIS16400_HAS_PROD_ID)
 		debugfs_create_file_unsafe("product_id", 0400,
-				indio_dev->debugfs_dentry, st,
-				&adis16400_product_id_fops);
+				d, st, &adis16400_product_id_fops);
 	debugfs_create_file_unsafe("flash_count", 0400,
-			indio_dev->debugfs_dentry, st,
-			&adis16400_flash_count_fops);
+			d, st, &adis16400_flash_count_fops);
 
 	return 0;
 }
@@ -1195,7 +1193,7 @@ static int adis16400_probe(struct spi_device *spi)
 		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);
+			st->adis.burst_extra_len = sizeof(u16);
 	}
 
 	adis16400_data = &st->variant->adis_data;
diff --git a/drivers/iio/imu/adis16460.c b/drivers/iio/imu/adis16460.c
index 0957f5cfe9c0..ad20c488a3ba 100644
--- a/drivers/iio/imu/adis16460.c
+++ b/drivers/iio/imu/adis16460.c
@@ -129,16 +129,14 @@ DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops,
 static int adis16460_debugfs_init(struct iio_dev *indio_dev)
 {
 	struct adis16460 *adis16460 = iio_priv(indio_dev);
+	struct dentry *d = iio_get_debugfs_dentry(indio_dev);
 
 	debugfs_create_file_unsafe("serial_number", 0400,
-			indio_dev->debugfs_dentry, adis16460,
-			&adis16460_serial_number_fops);
+			d, adis16460, &adis16460_serial_number_fops);
 	debugfs_create_file_unsafe("product_id", 0400,
-			indio_dev->debugfs_dentry, adis16460,
-			&adis16460_product_id_fops);
+			d, adis16460, &adis16460_product_id_fops);
 	debugfs_create_file_unsafe("flash_count", 0400,
-			indio_dev->debugfs_dentry, adis16460,
-			&adis16460_flash_count_fops);
+			d, adis16460, &adis16460_flash_count_fops);
 
 	return 0;
 }
diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
new file mode 100644
index 000000000000..c6dac4fc67a1
--- /dev/null
+++ b/drivers/iio/imu/adis16475.c
@@ -0,0 +1,1338 @@
+// 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/sysfs.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/irq.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;
+	/* 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,
+};
+
+#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;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, &dec);
+	if (ret)
+		return -EINVAL;
+
+	*freq = DIV_ROUND_CLOSEST(st->clk_freq, dec + 1);
+
+	return 0;
+}
+
+static int adis16475_set_freq(struct adis16475 *st, const u32 freq)
+{
+	u16 dec;
+	int ret;
+
+	if (!freq)
+		return -EINVAL;
+
+	dec = DIV_ROUND_CLOSEST(st->clk_freq, 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)
+		return ret;
+
+	/*
+	 * 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;
+}
+
+/* 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),					\
+}
+
+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, &adis165