Adding upstream version 5.10.209.upstream/5.10.209upstream

Signed-off-by: Daniel Baumann <daniel.baumann@progress-linux.org>

1 files changed, 1255 insertions, 0 deletions

diff --git a/drivers/iio/imu/adis16400.c b/drivers/iio/imu/adis16400.c
new file mode 100644
index 000000000..c52551169
--- /dev/null
+++ b/drivers/iio/imu/adis16400.c
@@ -0,0 +1,1255 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * adis16400.c	support Analog Devices ADIS16400/5
+ *		3d 2g Linear Accelerometers,
+ *		3d Gyroscopes,
+ *		3d Magnetometers via SPI
+ *
+ * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
+ * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
+ * Copyright (c) 2011 Analog Devices Inc.
+ */
+
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+#include <linux/list.h>
+#include <linux/module.h>
+#include <linux/debugfs.h>
+#include <linux/bitops.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/imu/adis.h>
+
+#define ADIS16400_STARTUP_DELAY	290 /* ms */
+#define ADIS16400_MTEST_DELAY 90 /* ms */
+
+#define ADIS16400_FLASH_CNT  0x00 /* Flash memory write count */
+#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
+#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
+#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
+#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
+#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
+#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
+#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
+#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
+#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
+#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
+#define ADIS16400_TEMP_OUT  0x16 /* Temperature output */
+#define ADIS16400_AUX_ADC   0x18 /* Auxiliary ADC measurement */
+
+#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
+#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
+#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
+
+#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
+#define ADIS16300_ROLL_OUT  0x14 /* Y axis inclinometer output measurement */
+#define ADIS16300_AUX_ADC   0x16 /* Auxiliary ADC measurement */
+
+#define ADIS16448_BARO_OUT	0x16 /* Barometric pressure output */
+#define ADIS16448_TEMP_OUT  0x18 /* Temperature output */
+
+/* Calibration parameters */
+#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
+#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
+#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
+#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
+#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
+#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
+#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
+#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
+#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
+#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
+#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
+#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
+
+#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
+#define ADIS16400_MSC_CTRL  0x34 /* Miscellaneous control */
+#define ADIS16400_SMPL_PRD  0x36 /* Internal sample period (rate) control */
+#define ADIS16400_SENS_AVG  0x38 /* Dynamic range and digital filter control */
+#define ADIS16400_SLP_CNT   0x3A /* Sleep mode control */
+#define ADIS16400_DIAG_STAT 0x3C /* System status */
+
+/* Alarm functions */
+#define ADIS16400_GLOB_CMD  0x3E /* System command */
+#define ADIS16400_ALM_MAG1  0x40 /* Alarm 1 amplitude threshold */
+#define ADIS16400_ALM_MAG2  0x42 /* Alarm 2 amplitude threshold */
+#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
+#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
+#define ADIS16400_ALM_CTRL  0x48 /* Alarm control */
+#define ADIS16400_AUX_DAC   0x4A /* Auxiliary DAC data */
+
+#define ADIS16334_LOT_ID1   0x52 /* Lot identification code 1 */
+#define ADIS16334_LOT_ID2   0x54 /* Lot identification code 2 */
+#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
+#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
+
+#define ADIS16400_ERROR_ACTIVE			(1<<14)
+#define ADIS16400_NEW_DATA			(1<<14)
+
+/* MSC_CTRL */
+#define ADIS16400_MSC_CTRL_MEM_TEST		(1<<11)
+#define ADIS16400_MSC_CTRL_INT_SELF_TEST	(1<<10)
+#define ADIS16400_MSC_CTRL_NEG_SELF_TEST	(1<<9)
+#define ADIS16400_MSC_CTRL_POS_SELF_TEST	(1<<8)
+#define ADIS16400_MSC_CTRL_GYRO_BIAS		(1<<7)
+#define ADIS16400_MSC_CTRL_ACCL_ALIGN		(1<<6)
+#define ADIS16400_MSC_CTRL_DATA_RDY_EN		(1<<2)
+#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)
+#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2	(1<<0)
+
+/* SMPL_PRD */
+#define ADIS16400_SMPL_PRD_TIME_BASE	(1<<7)
+#define ADIS16400_SMPL_PRD_DIV_MASK	0x7F
+
+/* DIAG_STAT */
+#define ADIS16400_DIAG_STAT_ZACCL_FAIL	15
+#define ADIS16400_DIAG_STAT_YACCL_FAIL	14
+#define ADIS16400_DIAG_STAT_XACCL_FAIL	13
+#define ADIS16400_DIAG_STAT_XGYRO_FAIL	12
+#define ADIS16400_DIAG_STAT_YGYRO_FAIL	11
+#define ADIS16400_DIAG_STAT_ZGYRO_FAIL	10
+#define ADIS16400_DIAG_STAT_ALARM2	9
+#define ADIS16400_DIAG_STAT_ALARM1	8
+#define ADIS16400_DIAG_STAT_FLASH_CHK	6
+#define ADIS16400_DIAG_STAT_SELF_TEST	5
+#define ADIS16400_DIAG_STAT_OVERFLOW	4
+#define ADIS16400_DIAG_STAT_SPI_FAIL	3
+#define ADIS16400_DIAG_STAT_FLASH_UPT	2
+#define ADIS16400_DIAG_STAT_POWER_HIGH	1
+#define ADIS16400_DIAG_STAT_POWER_LOW	0
+
+/* GLOB_CMD */
+#define ADIS16400_GLOB_CMD_SW_RESET	(1<<7)
+#define ADIS16400_GLOB_CMD_P_AUTO_NULL	(1<<4)
+#define ADIS16400_GLOB_CMD_FLASH_UPD	(1<<3)
+#define ADIS16400_GLOB_CMD_DAC_LATCH	(1<<2)
+#define ADIS16400_GLOB_CMD_FAC_CALIB	(1<<1)
+#define ADIS16400_GLOB_CMD_AUTO_NULL	(1<<0)
+
+/* SLP_CNT */
+#define ADIS16400_SLP_CNT_POWER_OFF	(1<<8)
+
+#define ADIS16334_RATE_DIV_SHIFT 8
+#define ADIS16334_RATE_INT_CLK BIT(0)
+
+#define ADIS16400_SPI_SLOW	(u32)(300 * 1000)
+#define ADIS16400_SPI_BURST	(u32)(1000 * 1000)
+#define ADIS16400_SPI_FAST	(u32)(2000 * 1000)
+
+#define ADIS16400_HAS_PROD_ID		BIT(0)
+#define ADIS16400_NO_BURST		BIT(1)
+#define ADIS16400_HAS_SLOW_MODE		BIT(2)
+#define ADIS16400_HAS_SERIAL_NUMBER	BIT(3)
+#define ADIS16400_BURST_DIAG_STAT	BIT(4)
+
+struct adis16400_state;
+
+struct adis16400_chip_info {
+	const struct iio_chan_spec *channels;
+	const struct adis_data adis_data;
+	const int num_channels;
+	const long flags;
+	unsigned int gyro_scale_micro;
+	unsigned int accel_scale_micro;
+	int temp_scale_nano;
+	int temp_offset;
+	/* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
+	int (*set_freq)(struct adis16400_state *st, unsigned int freq);
+	int (*get_freq)(struct adis16400_state *st);
+};
+
+/**
+ * struct adis16400_state - device instance specific data
+ * @variant:	chip variant info
+ * @filt_int:	integer part of requested filter frequency
+ * @adis:	adis device
+ * @avail_scan_mask:	NULL terminated array of bitmaps of channels
+ *			that must be enabled together
+ **/
+struct adis16400_state {
+	struct adis16400_chip_info	*variant;
+	int				filt_int;
+
+	struct adis adis;
+	unsigned long avail_scan_mask[2];
+};
+
+/* At the moment triggers are only used for ring buffer
+ * filling. This may change!
+ */
+
+enum {
+	ADIS16400_SCAN_SUPPLY,
+	ADIS16400_SCAN_GYRO_X,
+	ADIS16400_SCAN_GYRO_Y,
+	ADIS16400_SCAN_GYRO_Z,
+	ADIS16400_SCAN_ACC_X,
+	ADIS16400_SCAN_ACC_Y,
+	ADIS16400_SCAN_ACC_Z,
+	ADIS16400_SCAN_MAGN_X,
+	ADIS16400_SCAN_MAGN_Y,
+	ADIS16400_SCAN_MAGN_Z,
+	ADIS16400_SCAN_BARO,
+	ADIS16350_SCAN_TEMP_X,
+	ADIS16350_SCAN_TEMP_Y,
+	ADIS16350_SCAN_TEMP_Z,
+	ADIS16300_SCAN_INCLI_X,
+	ADIS16300_SCAN_INCLI_Y,
+	ADIS16400_SCAN_ADC,
+	ADIS16400_SCAN_TIMESTAMP,
+};
+
+#ifdef CONFIG_DEBUG_FS
+
+static ssize_t adis16400_show_serial_number(struct file *file,
+		char __user *userbuf, size_t count, loff_t *ppos)
+{
+	struct adis16400_state *st = file->private_data;
+	u16 lot1, lot2, serial_number;
+	char buf[16];
+	size_t len;
+	int ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
+	if (ret)
+		return ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
+	if (ret)
+		return ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
+			&serial_number);
+	if (ret)
+		return ret;
+
+	len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
+			serial_number);
+
+	return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
+
+static const struct file_operations adis16400_serial_number_fops = {
+	.open = simple_open,
+	.read = adis16400_show_serial_number,
+	.llseek = default_llseek,
+	.owner = THIS_MODULE,
+};
+
+static int adis16400_show_product_id(void *arg, u64 *val)
+{
+	struct adis16400_state *st = arg;
+	uint16_t prod_id;
+	int ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
+	if (ret)
+		return ret;
+
+	*val = prod_id;
+
+	return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
+	adis16400_show_product_id, NULL, "%lld\n");
+
+static int adis16400_show_flash_count(void *arg, u64 *val)
+{
+	struct adis16400_state *st = arg;
+	uint16_t flash_count;
+	int ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
+	if (ret)
+		return ret;
+
+	*val = flash_count;
+
+	return 0;
+}
+DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
+	adis16400_show_flash_count, NULL, "%lld\n");
+
+static int adis16400_debugfs_init(struct iio_dev *indio_dev)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	struct dentry *d = iio_get_debugfs_dentry(indio_dev);
+
+	if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
+		debugfs_create_file_unsafe("serial_number", 0400,
+				d, st, &adis16400_serial_number_fops);
+	if (st->variant->flags & ADIS16400_HAS_PROD_ID)
+		debugfs_create_file_unsafe("product_id", 0400,
+				d, st, &adis16400_product_id_fops);
+	debugfs_create_file_unsafe("flash_count", 0400,
+			d, st, &adis16400_flash_count_fops);
+
+	return 0;
+}
+
+#else
+
+static int adis16400_debugfs_init(struct iio_dev *indio_dev)
+{
+	return 0;
+}
+
+#endif
+
+enum adis16400_chip_variant {
+	ADIS16300,
+	ADIS16334,
+	ADIS16350,
+	ADIS16360,
+	ADIS16362,
+	ADIS16364,
+	ADIS16367,
+	ADIS16400,
+	ADIS16445,
+	ADIS16448,
+};
+
+static int adis16334_get_freq(struct adis16400_state *st)
+{
+	int ret;
+	uint16_t t;
+
+	ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+	if (ret)
+		return ret;
+
+	t >>= ADIS16334_RATE_DIV_SHIFT;
+
+	return 819200 >> t;
+}
+
+static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
+{
+	unsigned int t;
+
+	if (freq < 819200)
+		t = ilog2(819200 / freq);
+	else
+		t = 0;
+
+	if (t > 0x31)
+		t = 0x31;
+
+	t <<= ADIS16334_RATE_DIV_SHIFT;
+	t |= ADIS16334_RATE_INT_CLK;
+
+	return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
+}
+
+static int adis16400_get_freq(struct adis16400_state *st)
+{
+	int sps, ret;
+	uint16_t t;
+
+	ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+	if (ret)
+		return ret;
+
+	sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
+	sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
+
+	return sps;
+}
+
+static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
+{
+	unsigned int t;
+	uint8_t val = 0;
+
+	t = 1638404 / freq;
+	if (t >= 128) {
+		val |= ADIS16400_SMPL_PRD_TIME_BASE;
+		t = 52851 / freq;
+		if (t >= 128)
+			t = 127;
+	} else if (t != 0) {
+		t--;
+	}
+
+	val |= t;
+
+	if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
+	else
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+
+	return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
+}
+
+static const unsigned int adis16400_3db_divisors[] = {
+	[0] = 2, /* Special case */
+	[1] = 6,
+	[2] = 12,
+	[3] = 25,
+	[4] = 50,
+	[5] = 100,
+	[6] = 200,
+	[7] = 200, /* Not a valid setting */
+};
+
+static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	uint16_t val16;
+	int i, ret;
+
+	for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
+		if (sps / adis16400_3db_divisors[i] >= val)
+			break;
+	}
+
+	ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
+	if (ret)
+		return ret;
+
+	ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
+					 (val16 & ~0x07) | i);
+	return ret;
+}
+
+/* Power down the device */
+static int adis16400_stop_device(struct iio_dev *indio_dev)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	int ret;
+
+	ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
+			ADIS16400_SLP_CNT_POWER_OFF);
+	if (ret)
+		dev_err(&indio_dev->dev,
+			"problem with turning device off: SLP_CNT");
+
+	return ret;
+}
+
+static int adis16400_initial_setup(struct iio_dev *indio_dev)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	uint16_t prod_id, smp_prd;
+	unsigned int device_id;
+	int ret;
+
+	/* use low spi speed for init if the device has a slow mode */
+	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
+	else
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+	st->adis.spi->mode = SPI_MODE_3;
+	spi_setup(st->adis.spi);
+
+	ret = adis_initial_startup(&st->adis);
+	if (ret)
+		return ret;
+
+	if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
+		ret = adis_read_reg_16(&st->adis,
+						ADIS16400_PRODUCT_ID, &prod_id);
+		if (ret)
+			goto err_ret;
+
+		if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
+			ret = -EINVAL;
+			goto err_ret;
+		}
+
+		if (prod_id != device_id)
+			dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
+					device_id, prod_id);
+
+		dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
+			indio_dev->name, prod_id,
+			st->adis.spi->chip_select, st->adis.spi->irq);
+	}
+	/* use high spi speed if possible */
+	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
+		ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
+		if (ret)
+			goto err_ret;
+
+		if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
+			st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+			spi_setup(st->adis.spi);
+		}
+	}
+
+err_ret:
+	return ret;
+}
+
+static const uint8_t adis16400_addresses[] = {
+	[ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
+	[ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
+	[ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
+	[ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
+	[ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
+	[ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
+};
+
+static int adis16400_write_raw(struct iio_dev *indio_dev,
+	struct iio_chan_spec const *chan, int val, int val2, long info)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	struct mutex *slock = &st->adis.state_lock;
+	int ret, sps;
+
+	switch (info) {
+	case IIO_CHAN_INFO_CALIBBIAS:
+		ret = adis_write_reg_16(&st->adis,
+				adis16400_addresses[chan->scan_index], val);
+		return ret;
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		/*
+		 * Need to cache values so we can update if the frequency
+		 * changes.
+		 */
+		mutex_lock(slock);
+		st->filt_int = val;
+		/* Work out update to current value */
+		sps = st->variant->get_freq(st);
+		if (sps < 0) {
+			mutex_unlock(slock);
+			return sps;
+		}
+
+		ret = __adis16400_set_filter(indio_dev, sps,
+			val * 1000 + val2 / 1000);
+		mutex_unlock(slock);
+		return ret;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		sps = val * 1000 + val2 / 1000;
+
+		if (sps <= 0)
+			return -EINVAL;
+
+		mutex_lock(slock);
+		ret = st->variant->set_freq(st, sps);
+		mutex_unlock(slock);
+		return ret;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int adis16400_read_raw(struct iio_dev *indio_dev,
+	struct iio_chan_spec const *chan, int *val, int *val2, long info)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	struct mutex *slock = &st->adis.state_lock;
+	int16_t val16;
+	int ret;
+
+	switch (info) {
+	case IIO_CHAN_INFO_RAW:
+		return adis_single_conversion(indio_dev, chan, 0, val);
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			*val = 0;
+			*val2 = st->variant->gyro_scale_micro;
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_VOLTAGE:
+			*val = 0;
+			if (chan->channel == 0) {
+				*val = 2;
+				*val2 = 418000; /* 2.418 mV */
+			} else {
+				*val = 0;
+				*val2 = 805800; /* 805.8 uV */
+			}
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_ACCEL:
+			*val = 0;
+			*val2 = st->variant->accel_scale_micro;
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_MAGN:
+			*val = 0;
+			*val2 = 500; /* 0.5 mgauss */
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_TEMP:
+			*val = st->variant->temp_scale_nano / 1000000;
+			*val2 = (st->variant->temp_scale_nano % 1000000);
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_PRESSURE:
+			/* 20 uBar = 0.002kPascal */
+			*val = 0;
+			*val2 = 2000;
+			return IIO_VAL_INT_PLUS_MICRO;
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_CALIBBIAS:
+		ret = adis_read_reg_16(&st->adis,
+				adis16400_addresses[chan->scan_index], &val16);
+		if (ret)
+			return ret;
+		val16 = sign_extend32(val16, 11);
+		*val = val16;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_OFFSET:
+		/* currently only temperature */
+		*val = st->variant->temp_offset;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		mutex_lock(slock);
+		/* Need both the number of taps and the sampling frequency */
+		ret = __adis_read_reg_16(&st->adis,
+						ADIS16400_SENS_AVG,
+						&val16);
+		if (ret) {
+			mutex_unlock(slock);
+			return ret;
+		}
+		ret = st->variant->get_freq(st);
+		mutex_unlock(slock);
+		if (ret)
+			return ret;
+		ret /= adis16400_3db_divisors[val16 & 0x07];
+		*val = ret / 1000;
+		*val2 = (ret % 1000) * 1000;
+		return IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		mutex_lock(slock);
+		ret = st->variant->get_freq(st);
+		mutex_unlock(slock);
+		if (ret)
+			return ret;
+		*val = ret / 1000;
+		*val2 = (ret % 1000) * 1000;
+		return IIO_VAL_INT_PLUS_MICRO;
+	default:
+		return -EINVAL;
+	}
+}
+
+#if IS_ENABLED(CONFIG_IIO_BUFFER)
+static irqreturn_t adis16400_trigger_handler(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct adis16400_state *st = iio_priv(indio_dev);
+	struct adis *adis = &st->adis;
+	u32 old_speed_hz = st->adis.spi->max_speed_hz;
+	void *buffer;
+	int ret;
+
+	if (!(st->variant->flags & ADIS16400_NO_BURST) &&
+		st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
+		spi_setup(st->adis.spi);
+	}
+
+	ret = spi_sync(adis->spi, &adis->msg);
+	if (ret)
+		dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
+
+	if (!(st->variant->flags & ADIS16400_NO_BURST)) {
+		st->adis.spi->max_speed_hz = old_speed_hz;
+		spi_setup(st->adis.spi);
+	}
+
+	if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
+		buffer = adis->buffer + sizeof(u16);
+	else
+		buffer = adis->buffer;
+
+	iio_push_to_buffers_with_timestamp(indio_dev, buffer,
+		pf->timestamp);
+
+	iio_trigger_notify_done(indio_dev->trig);
+
+	return IRQ_HANDLED;
+}
+#else
+#define adis16400_trigger_handler	NULL
+#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
+
+#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
+	.type = IIO_VOLTAGE, \
+	.indexed = 1, \
+	.channel = chn, \
+	.extend_name = name, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_SCALE), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = (addr), \
+	.scan_index = (si), \
+	.scan_type = { \
+		.sign = 'u', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_SUPPLY_CHAN(addr, bits) \
+	ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
+
+#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
+	ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
+
+#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
+	.type = IIO_ANGL_VEL, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_CALIBBIAS),		  \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = addr, \
+	.scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
+	.type = IIO_ACCEL, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_CALIBBIAS), \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = (addr), \
+	.scan_index = ADIS16400_SCAN_ACC_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
+	.type = IIO_MAGN, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = (addr), \
+	.scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_MOD_TEMP_NAME_X "x"
+#define ADIS16400_MOD_TEMP_NAME_Y "y"
+#define ADIS16400_MOD_TEMP_NAME_Z "z"
+
+#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
+	.type = IIO_TEMP, \
+	.indexed = 1, \
+	.channel = 0, \
+	.extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_OFFSET) | \
+		BIT(IIO_CHAN_INFO_SCALE), \
+	.info_mask_shared_by_type = \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = (addr), \
+	.scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_TEMP_CHAN(addr, bits) { \
+	.type = IIO_TEMP, \
+	.indexed = 1, \
+	.channel = 0, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_OFFSET) | \
+		BIT(IIO_CHAN_INFO_SCALE), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = (addr), \
+	.scan_index = ADIS16350_SCAN_TEMP_X, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
+	.type = IIO_INCLI, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+	.address = (addr), \
+	.scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+static const struct iio_chan_spec adis16400_channels[] = {
+	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
+	ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
+	ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16445_channels[] = {
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
+	ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16448_channels[] = {
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
+	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
+	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
+	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
+	{
+		.type = IIO_PRESSURE,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
+		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
+		.address = ADIS16448_BARO_OUT,
+		.scan_index = ADIS16400_SCAN_BARO,
+		.scan_type = {
+			.sign = 's',
+			.realbits = 16,
+			.storagebits = 16,
+			.endianness = IIO_BE,
+		},
+	},
+	ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16350_channels[] = {
+	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
+	ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
+	ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
+	ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
+	ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16300_channels[] = {
+	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
+	ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
+	ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
+	ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16334_channels[] = {
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const char * const adis16400_status_error_msgs[] = {
+	[ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+	[ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+	[ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+	[ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+	[ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+	[ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+	[ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
+	[ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
+	[ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
+	[ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
+	[ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
+	[ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
+	[ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
+	[ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
+	[ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
+};
+
+#define ADIS16400_DATA(_timeouts, _burst_len)				\
+{									\
+	.msc_ctrl_reg = ADIS16400_MSC_CTRL,				\
+	.glob_cmd_reg = ADIS16400_GLOB_CMD,				\
+	.diag_stat_reg = ADIS16400_DIAG_STAT,				\
+	.read_delay = 50,						\
+	.write_delay = 50,						\
+	.self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,			\
+	.self_test_reg = ADIS16400_MSC_CTRL,				\
+	.status_error_msgs = adis16400_status_error_msgs,		\
+	.status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |	\
+		BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |			\
+		BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |			\
+		BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |			\
+		BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |			\
+		BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |			\
+		BIT(ADIS16400_DIAG_STAT_ALARM2) |			\
+		BIT(ADIS16400_DIAG_STAT_ALARM1) |			\
+		BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |			\
+		BIT(ADIS16400_DIAG_STAT_SELF_TEST) |			\
+		BIT(ADIS16400_DIAG_STAT_OVERFLOW) |			\
+		BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |			\
+		BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |			\
+		BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |			\
+		BIT(ADIS16400_DIAG_STAT_POWER_LOW),			\
+	.timeouts = (_timeouts),					\
+	.burst_reg_cmd = ADIS16400_GLOB_CMD,				\
+	.burst_len = (_burst_len)					\
+}
+
+static const struct adis_timeout adis16300_timeouts = {
+	.reset_ms = ADIS16400_STARTUP_DELAY,
+	.sw_reset_ms = ADIS16400_STARTUP_DELAY,
+	.self_test_ms = ADIS16400_STARTUP_DELAY,
+};
+
+static const struct adis_timeout adis16334_timeouts = {
+	.reset_ms = 60,
+	.sw_reset_ms = 60,
+	.self_test_ms = 14,
+};
+
+static const struct adis_timeout adis16362_timeouts = {
+	.reset_ms = 130,
+	.sw_reset_ms = 130,
+	.self_test_ms = 12,
+};
+
+static const struct adis_timeout adis16400_timeouts = {
+	.reset_ms = 170,
+	.sw_reset_ms = 170,
+	.self_test_ms = 12,
+};
+
+static const struct adis_timeout adis16445_timeouts = {
+	.reset_ms = 55,
+	.sw_reset_ms = 55,
+	.self_test_ms = 16,
+};
+
+static const struct adis_timeout adis16448_timeouts = {
+	.reset_ms = 90,
+	.sw_reset_ms = 90,
+	.self_test_ms = 45,
+};
+
+static struct adis16400_chip_info adis16400_chips[] = {
+	[ADIS16300] = {
+		.channels = adis16300_channels,
+		.num_channels = ARRAY_SIZE(adis16300_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = 5884,
+		.temp_scale_nano = 140000000, /* 0.14 C */
+		.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+		.adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
+	},
+	[ADIS16334] = {
+		.channels = adis16334_channels,
+		.num_channels = ARRAY_SIZE(adis16334_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
+		.temp_scale_nano = 67850000, /* 0.06785 C */
+		.temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
+		.set_freq = adis16334_set_freq,
+		.get_freq = adis16334_get_freq,
+		.adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
+	},
+	[ADIS16350] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
+		.temp_scale_nano = 145300000, /* 0.1453 C */
+		.temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
+		.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+		.adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
+	},
+	[ADIS16360] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+		.temp_scale_nano = 136000000, /* 0.136 C */
+		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+		.adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
+	},
+	[ADIS16362] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
+		.temp_scale_nano = 136000000, /* 0.136 C */
+		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+		.adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
+	},
+	[ADIS16364] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
+		.temp_scale_nano = 136000000, /* 0.136 C */
+		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+		.adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
+	},
+	[ADIS16367] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+		.temp_scale_nano = 136000000, /* 0.136 C */
+		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+		.adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
+	},
+	[ADIS16400] = {
+		.channels = adis16400_channels,
+		.num_channels = ARRAY_SIZE(adis16400_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+		.temp_scale_nano = 140000000, /* 0.14 C */
+		.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+		.adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
+	},
+	[ADIS16445] = {
+		.channels = adis16445_channels,
+		.num_channels = ARRAY_SIZE(adis16445_channels),
+		.flags = ADIS16400_HAS_PROD_ID |
+				ADIS16400_HAS_SERIAL_NUMBER |
+				ADIS16400_BURST_DIAG_STAT,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
+		.temp_scale_nano = 73860000, /* 0.07386 C */
+		.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
+		.set_freq = adis16334_set_freq,
+		.get_freq = adis16334_get_freq,
+		.adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
+	},
+	[ADIS16448] = {
+		.channels = adis16448_channels,
+		.num_channels = ARRAY_SIZE(adis16448_channels),
+		.flags = ADIS16400_HAS_PROD_ID |
+				ADIS16400_HAS_SERIAL_NUMBER |
+				ADIS16400_BURST_DIAG_STAT,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
+		.temp_scale_nano = 73860000, /* 0.07386 C */
+		.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
+		.set_freq = adis16334_set_freq,
+		.get_freq = adis16334_get_freq,
+		.adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
+	}
+};
+
+static const struct iio_info adis16400_info = {
+	.read_raw = &adis16400_read_raw,
+	.write_raw = &adis16400_write_raw,
+	.update_scan_mode = adis_update_scan_mode,
+	.debugfs_reg_access = adis_debugfs_reg_access,
+};
+
+static void adis16400_setup_chan_mask(struct adis16400_state *st)
+{
+	const struct adis16400_chip_info *chip_info = st->variant;
+	unsigned int i;
+
+	for (i = 0; i < chip_info->num_channels; i++) {
+		const struct iio_chan_spec *ch = &chip_info->channels[i];
+
+		if (ch->scan_index >= 0 &&
+		    ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
+			st->avail_scan_mask[0] |= BIT(ch->scan_index);
+	}
+}
+
+static void adis16400_stop(void *data)
+{
+	adis16400_stop_device(data);
+}
+
+static int adis16400_probe(struct spi_device *spi)
+{
+	struct adis16400_state *st;
+	struct iio_dev *indio_dev;
+	int ret;
+	const struct adis_data *adis16400_data;
+
+	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
+	if (indio_dev == NULL)
+		return -ENOMEM;
+
+	st = iio_priv(indio_dev);
+	/* this is only used for removal purposes */
+	spi_set_drvdata(spi, indio_dev);
+
+	/* setup the industrialio driver allocated elements */
+	st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
+	indio_dev->name = spi_get_device_id(spi)->name;
+	indio_dev->channels = st->variant->channels;
+	indio_dev->num_channels = st->variant->num_channels;
+	indio_dev->info = &adis16400_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	if (!(st->variant->flags & ADIS16400_NO_BURST)) {
+		adis16400_setup_chan_mask(st);
+		indio_dev->available_scan_masks = st->avail_scan_mask;
+	}
+
+	adis16400_data = &st->variant->adis_data;
+
+	ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
+	if (ret)
+		return ret;
+
+	ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
+	if (ret)
+		return ret;
+
+	/* Get the device into a sane initial state */
+	ret = adis16400_initial_setup(indio_dev);
+	if (ret)
+		return ret;
+
+	ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
+	if (ret)
+		return ret;
+
+	ret = devm_iio_device_register(&spi->dev, indio_dev);
+	if (ret)
+		return ret;
+
+	adis16400_debugfs_init(indio_dev);
+	return 0;
+}
+
+static const struct spi_device_id adis16400_id[] = {
+	{"adis16300", ADIS16300},
+	{"adis16305", ADIS16300},
+	{"adis16334", ADIS16334},
+	{"adis16350", ADIS16350},
+	{"adis16354", ADIS16350},
+	{"adis16355", ADIS16350},
+	{"adis16360", ADIS16360},
+	{"adis16362", ADIS16362},
+	{"adis16364", ADIS16364},
+	{"adis16365", ADIS16360},
+	{"adis16367", ADIS16367},
+	{"adis16400", ADIS16400},
+	{"adis16405", ADIS16400},
+	{"adis16445", ADIS16445},
+	{"adis16448", ADIS16448},
+	{}
+};
+MODULE_DEVICE_TABLE(spi, adis16400_id);
+
+static struct spi_driver adis16400_driver = {
+	.driver = {
+		.name = "adis16400",
+	},
+	.id_table = adis16400_id,
+	.probe = adis16400_probe,
+};
+module_spi_driver(adis16400_driver);
+
+MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
+MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
+MODULE_LICENSE("GPL v2");
+MODULE_IMPORT_NS(IIO_ADISLIB);