/*
 * adis16400.h	support Analog Devices ADIS16400
 *		3d 18g accelerometers,
 *		3d gyroscopes,
 *		3d 2.5gauss magnetometers via SPI
 *
 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
 *
 * Loosely based upon lis3l02dq.h
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 */

#ifndef SPI_ADIS16400_H_
#define SPI_ADIS16400_H_

#define ADIS16400_STARTUP_DELAY	290 /* ms */
#define ADIS16400_MTEST_DELAY 90 /* ms */

#define ADIS16400_READ_REG(a)    a
#define ADIS16400_WRITE_REG(a) ((a) | 0x80)

#define ADIS16400_FLASH_CNT  0x00 /* Flash memory write count */
#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
#define ADIS16400_TEMP_OUT  0x16 /* Temperature output */
#define ADIS16400_AUX_ADC   0x18 /* Auxiliary ADC measurement */

#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */

#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
#define ADIS16300_ROLL_OUT  0x14 /* Y axis inclinometer output measurement */
#define ADIS16300_AUX_ADC   0x16 /* Auxiliary ADC measurement */

/* Calibration parameters */
#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */

#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
#define ADIS16400_MSC_CTRL  0x34 /* Miscellaneous control */
#define ADIS16400_SMPL_PRD  0x36 /* Internal sample period (rate) control */
#define ADIS16400_SENS_AVG  0x38 /* Dynamic range and digital filter control */
#define ADIS16400_SLP_CNT   0x3A /* Sleep mode control */
#define ADIS16400_DIAG_STAT 0x3C /* System status */

/* Alarm functions */
#define ADIS16400_GLOB_CMD  0x3E /* System command */
#define ADIS16400_ALM_MAG1  0x40 /* Alarm 1 amplitude threshold */
#define ADIS16400_ALM_MAG2  0x42 /* Alarm 2 amplitude threshold */
#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
#define ADIS16400_ALM_CTRL  0x48 /* Alarm control */
#define ADIS16400_AUX_DAC   0x4A /* Auxiliary DAC data */

#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */

#define ADIS16400_ERROR_ACTIVE			(1<<14)
#define ADIS16400_NEW_DATA			(1<<14)

/* MSC_CTRL */
#define ADIS16400_MSC_CTRL_MEM_TEST		(1<<11)
#define ADIS16400_MSC_CTRL_INT_SELF_TEST	(1<<10)
#define ADIS16400_MSC_CTRL_NEG_SELF_TEST	(1<<9)
#define ADIS16400_MSC_CTRL_POS_SELF_TEST	(1<<8)
#define ADIS16400_MSC_CTRL_GYRO_BIAS		(1<<7)
#define ADIS16400_MSC_CTRL_ACCL_ALIGN		(1<<6)
#define ADIS16400_MSC_CTRL_DATA_RDY_EN		(1<<2)
#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)
#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2	(1<<0)

/* SMPL_PRD */
#define ADIS16400_SMPL_PRD_TIME_BASE	(1<<7)
#define ADIS16400_SMPL_PRD_DIV_MASK	0x7F

/* DIAG_STAT */
#define ADIS16400_DIAG_STAT_ZACCL_FAIL	(1<<15)
#define ADIS16400_DIAG_STAT_YACCL_FAIL	(1<<14)
#define ADIS16400_DIAG_STAT_XACCL_FAIL	(1<<13)
#define ADIS16400_DIAG_STAT_XGYRO_FAIL	(1<<12)
#define ADIS16400_DIAG_STAT_YGYRO_FAIL	(1<<11)
#define ADIS16400_DIAG_STAT_ZGYRO_FAIL	(1<<10)
#define ADIS16400_DIAG_STAT_ALARM2	(1<<9)
#define ADIS16400_DIAG_STAT_ALARM1	(1<<8)
#define ADIS16400_DIAG_STAT_FLASH_CHK	(1<<6)
#define ADIS16400_DIAG_STAT_SELF_TEST	(1<<5)
#define ADIS16400_DIAG_STAT_OVERFLOW	(1<<4)
#define ADIS16400_DIAG_STAT_SPI_FAIL	(1<<3)
#define ADIS16400_DIAG_STAT_FLASH_UPT	(1<<2)
#define ADIS16400_DIAG_STAT_POWER_HIGH	(1<<1)
#define ADIS16400_DIAG_STAT_POWER_LOW	(1<<0)

/* GLOB_CMD */
#define ADIS16400_GLOB_CMD_SW_RESET	(1<<7)
#define ADIS16400_GLOB_CMD_P_AUTO_NULL	(1<<4)
#define ADIS16400_GLOB_CMD_FLASH_UPD	(1<<3)
#define ADIS16400_GLOB_CMD_DAC_LATCH	(1<<2)
#define ADIS16400_GLOB_CMD_FAC_CALIB	(1<<1)
#define ADIS16400_GLOB_CMD_AUTO_NULL	(1<<0)

/* SLP_CNT */
#define ADIS16400_SLP_CNT_POWER_OFF	(1<<8)

#define ADIS16334_RATE_DIV_SHIFT 8
#define ADIS16334_RATE_INT_CLK BIT(0)

#define ADIS16400_MAX_TX 24
#define ADIS16400_MAX_RX 24

#define ADIS16400_SPI_SLOW	(u32)(300 * 1000)
#define ADIS16400_SPI_BURST	(u32)(1000 * 1000)
#define ADIS16400_SPI_FAST	(u32)(2000 * 1000)

#define ADIS16400_HAS_PROD_ID		BIT(0)
#define ADIS16400_NO_BURST		BIT(1)
#define ADIS16400_HAS_SLOW_MODE		BIT(2)

struct adis16400_chip_info {
	const struct iio_chan_spec *channels;
	const int num_channels;
	const long flags;
	unsigned int gyro_scale_micro;
	unsigned int accel_scale_micro;
	int temp_scale_nano;
	int temp_offset;
	int (*set_freq)(struct iio_dev *indio_dev, unsigned int freq);
	int (*get_freq)(struct iio_dev *indio_dev);
};

/**
 * struct adis16400_state - device instance specific data
 * @us:			actual spi_device
 * @trig:		data ready trigger registered with iio
 * @tx:			transmit buffer
 * @rx:			receive buffer
 * @buf_lock:		mutex to protect tx and rx
 * @filt_int:		integer part of requested filter frequency
 **/
struct adis16400_state {
	struct spi_device		*us;
	struct iio_trigger		*trig;
	struct mutex			buf_lock;
	struct adis16400_chip_info	*variant;
	int				filt_int;

	u8	tx[ADIS16400_MAX_TX] ____cacheline_aligned;
	u8	rx[ADIS16400_MAX_RX] ____cacheline_aligned;
};

int adis16400_set_irq(struct iio_dev *indio_dev, bool enable);

/* At the moment triggers are only used for ring buffer
 * filling. This may change!
 */

#define ADIS16400_SCAN_SUPPLY	0
#define ADIS16400_SCAN_GYRO_X	1
#define ADIS16400_SCAN_GYRO_Y	2
#define ADIS16400_SCAN_GYRO_Z	3
#define ADIS16400_SCAN_ACC_X	4
#define ADIS16400_SCAN_ACC_Y	5
#define ADIS16400_SCAN_ACC_Z	6
#define ADIS16400_SCAN_MAGN_X	7
#define ADIS16350_SCAN_TEMP_X	7
#define ADIS16400_SCAN_MAGN_Y	8
#define ADIS16350_SCAN_TEMP_Y	8
#define ADIS16400_SCAN_MAGN_Z	9
#define ADIS16350_SCAN_TEMP_Z	9
#define ADIS16400_SCAN_TEMP	10
#define ADIS16350_SCAN_ADC_0	10
#define ADIS16400_SCAN_ADC_0	11
#define ADIS16300_SCAN_INCLI_X	12
#define ADIS16300_SCAN_INCLI_Y	13

#ifdef CONFIG_IIO_BUFFER
void adis16400_remove_trigger(struct iio_dev *indio_dev);
int adis16400_probe_trigger(struct iio_dev *indio_dev);

ssize_t adis16400_read_data_from_ring(struct device *dev,
				      struct device_attribute *attr,
				      char *buf);


int adis16400_configure_ring(struct iio_dev *indio_dev);
void adis16400_unconfigure_ring(struct iio_dev *indio_dev);

#else /* CONFIG_IIO_BUFFER */

static inline void adis16400_remove_trigger(struct iio_dev *indio_dev)
{
}

static inline int adis16400_probe_trigger(struct iio_dev *indio_dev)
{
	return 0;
}

static inline ssize_t
adis16400_read_data_from_ring(struct device *dev,
			      struct device_attribute *attr,
			      char *buf)
{
	return 0;
}

static int adis16400_configure_ring(struct iio_dev *indio_dev)
{
	return 0;
}

static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
{
}

#endif /* CONFIG_IIO_BUFFER */
#endif /* SPI_ADIS16400_H_ */