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-rw-r--r--arch/blackfin/include/asm/bfin_spi3.h258
-rw-r--r--arch/blackfin/mach-bf609/boards/ezkit.c22
2 files changed, 11 insertions, 269 deletions
diff --git a/arch/blackfin/include/asm/bfin_spi3.h b/arch/blackfin/include/asm/bfin_spi3.h
deleted file mode 100644
index 0957e65a54be..000000000000
--- a/arch/blackfin/include/asm/bfin_spi3.h
+++ /dev/null
@@ -1,258 +0,0 @@
-/*
- * Analog Devices SPI3 controller driver
- *
- * Copyright (c) 2011 Analog Devices Inc.
- *
- * 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.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
- */
-
-#ifndef _SPI_CHANNEL_H_
-#define _SPI_CHANNEL_H_
-
-#include <linux/types.h>
-
-/* SPI_CONTROL */
-#define SPI_CTL_EN 0x00000001 /* Enable */
-#define SPI_CTL_MSTR 0x00000002 /* Master/Slave */
-#define SPI_CTL_PSSE 0x00000004 /* controls modf error in master mode */
-#define SPI_CTL_ODM 0x00000008 /* Open Drain Mode */
-#define SPI_CTL_CPHA 0x00000010 /* Clock Phase */
-#define SPI_CTL_CPOL 0x00000020 /* Clock Polarity */
-#define SPI_CTL_ASSEL 0x00000040 /* Slave Select Pin Control */
-#define SPI_CTL_SELST 0x00000080 /* Slave Select Polarity in-between transfers */
-#define SPI_CTL_EMISO 0x00000100 /* Enable MISO */
-#define SPI_CTL_SIZE 0x00000600 /* Word Transfer Size */
-#define SPI_CTL_SIZE08 0x00000000 /* SIZE: 8 bits */
-#define SPI_CTL_SIZE16 0x00000200 /* SIZE: 16 bits */
-#define SPI_CTL_SIZE32 0x00000400 /* SIZE: 32 bits */
-#define SPI_CTL_LSBF 0x00001000 /* LSB First */
-#define SPI_CTL_FCEN 0x00002000 /* Flow-Control Enable */
-#define SPI_CTL_FCCH 0x00004000 /* Flow-Control Channel Selection */
-#define SPI_CTL_FCPL 0x00008000 /* Flow-Control Polarity */
-#define SPI_CTL_FCWM 0x00030000 /* Flow-Control Water-Mark */
-#define SPI_CTL_FIFO0 0x00000000 /* FCWM: TFIFO empty or RFIFO Full */
-#define SPI_CTL_FIFO1 0x00010000 /* FCWM: TFIFO 75% or more empty or RFIFO 75% or more full */
-#define SPI_CTL_FIFO2 0x00020000 /* FCWM: TFIFO 50% or more empty or RFIFO 50% or more full */
-#define SPI_CTL_FMODE 0x00040000 /* Fast-mode Enable */
-#define SPI_CTL_MIOM 0x00300000 /* Multiple I/O Mode */
-#define SPI_CTL_MIO_DIS 0x00000000 /* MIOM: Disable */
-#define SPI_CTL_MIO_DUAL 0x00100000 /* MIOM: Enable DIOM (Dual I/O Mode) */
-#define SPI_CTL_MIO_QUAD 0x00200000 /* MIOM: Enable QUAD (Quad SPI Mode) */
-#define SPI_CTL_SOSI 0x00400000 /* Start on MOSI */
-/* SPI_RX_CONTROL */
-#define SPI_RXCTL_REN 0x00000001 /* Receive Channel Enable */
-#define SPI_RXCTL_RTI 0x00000004 /* Receive Transfer Initiate */
-#define SPI_RXCTL_RWCEN 0x00000008 /* Receive Word Counter Enable */
-#define SPI_RXCTL_RDR 0x00000070 /* Receive Data Request */
-#define SPI_RXCTL_RDR_DIS 0x00000000 /* RDR: Disabled */
-#define SPI_RXCTL_RDR_NE 0x00000010 /* RDR: RFIFO not empty */
-#define SPI_RXCTL_RDR_25 0x00000020 /* RDR: RFIFO 25% full */
-#define SPI_RXCTL_RDR_50 0x00000030 /* RDR: RFIFO 50% full */
-#define SPI_RXCTL_RDR_75 0x00000040 /* RDR: RFIFO 75% full */
-#define SPI_RXCTL_RDR_FULL 0x00000050 /* RDR: RFIFO full */
-#define SPI_RXCTL_RDO 0x00000100 /* Receive Data Over-Run */
-#define SPI_RXCTL_RRWM 0x00003000 /* FIFO Regular Water-Mark */
-#define SPI_RXCTL_RWM_0 0x00000000 /* RRWM: RFIFO Empty */
-#define SPI_RXCTL_RWM_25 0x00001000 /* RRWM: RFIFO 25% full */
-#define SPI_RXCTL_RWM_50 0x00002000 /* RRWM: RFIFO 50% full */
-#define SPI_RXCTL_RWM_75 0x00003000 /* RRWM: RFIFO 75% full */
-#define SPI_RXCTL_RUWM 0x00070000 /* FIFO Urgent Water-Mark */
-#define SPI_RXCTL_UWM_DIS 0x00000000 /* RUWM: Disabled */
-#define SPI_RXCTL_UWM_25 0x00010000 /* RUWM: RFIFO 25% full */
-#define SPI_RXCTL_UWM_50 0x00020000 /* RUWM: RFIFO 50% full */
-#define SPI_RXCTL_UWM_75 0x00030000 /* RUWM: RFIFO 75% full */
-#define SPI_RXCTL_UWM_FULL 0x00040000 /* RUWM: RFIFO full */
-/* SPI_TX_CONTROL */
-#define SPI_TXCTL_TEN 0x00000001 /* Transmit Channel Enable */
-#define SPI_TXCTL_TTI 0x00000004 /* Transmit Transfer Initiate */
-#define SPI_TXCTL_TWCEN 0x00000008 /* Transmit Word Counter Enable */
-#define SPI_TXCTL_TDR 0x00000070 /* Transmit Data Request */
-#define SPI_TXCTL_TDR_DIS 0x00000000 /* TDR: Disabled */
-#define SPI_TXCTL_TDR_NF 0x00000010 /* TDR: TFIFO not full */
-#define SPI_TXCTL_TDR_25 0x00000020 /* TDR: TFIFO 25% empty */
-#define SPI_TXCTL_TDR_50 0x00000030 /* TDR: TFIFO 50% empty */
-#define SPI_TXCTL_TDR_75 0x00000040 /* TDR: TFIFO 75% empty */
-#define SPI_TXCTL_TDR_EMPTY 0x00000050 /* TDR: TFIFO empty */
-#define SPI_TXCTL_TDU 0x00000100 /* Transmit Data Under-Run */
-#define SPI_TXCTL_TRWM 0x00003000 /* FIFO Regular Water-Mark */
-#define SPI_TXCTL_RWM_FULL 0x00000000 /* TRWM: TFIFO full */
-#define SPI_TXCTL_RWM_25 0x00001000 /* TRWM: TFIFO 25% empty */
-#define SPI_TXCTL_RWM_50 0x00002000 /* TRWM: TFIFO 50% empty */
-#define SPI_TXCTL_RWM_75 0x00003000 /* TRWM: TFIFO 75% empty */
-#define SPI_TXCTL_TUWM 0x00070000 /* FIFO Urgent Water-Mark */
-#define SPI_TXCTL_UWM_DIS 0x00000000 /* TUWM: Disabled */
-#define SPI_TXCTL_UWM_25 0x00010000 /* TUWM: TFIFO 25% empty */
-#define SPI_TXCTL_UWM_50 0x00020000 /* TUWM: TFIFO 50% empty */
-#define SPI_TXCTL_UWM_75 0x00030000 /* TUWM: TFIFO 75% empty */
-#define SPI_TXCTL_UWM_EMPTY 0x00040000 /* TUWM: TFIFO empty */
-/* SPI_CLOCK */
-#define SPI_CLK_BAUD 0x0000FFFF /* Baud Rate */
-/* SPI_DELAY */
-#define SPI_DLY_STOP 0x000000FF /* Transfer delay time in multiples of SCK period */
-#define SPI_DLY_LEADX 0x00000100 /* Extended (1 SCK) LEAD Control */
-#define SPI_DLY_LAGX 0x00000200 /* Extended (1 SCK) LAG control */
-/* SPI_SSEL */
-#define SPI_SLVSEL_SSE1 0x00000002 /* SPISSEL1 Enable */
-#define SPI_SLVSEL_SSE2 0x00000004 /* SPISSEL2 Enable */
-#define SPI_SLVSEL_SSE3 0x00000008 /* SPISSEL3 Enable */
-#define SPI_SLVSEL_SSE4 0x00000010 /* SPISSEL4 Enable */
-#define SPI_SLVSEL_SSE5 0x00000020 /* SPISSEL5 Enable */
-#define SPI_SLVSEL_SSE6 0x00000040 /* SPISSEL6 Enable */
-#define SPI_SLVSEL_SSE7 0x00000080 /* SPISSEL7 Enable */
-#define SPI_SLVSEL_SSEL1 0x00000200 /* SPISSEL1 Value */
-#define SPI_SLVSEL_SSEL2 0x00000400 /* SPISSEL2 Value */
-#define SPI_SLVSEL_SSEL3 0x00000800 /* SPISSEL3 Value */
-#define SPI_SLVSEL_SSEL4 0x00001000 /* SPISSEL4 Value */
-#define SPI_SLVSEL_SSEL5 0x00002000 /* SPISSEL5 Value */
-#define SPI_SLVSEL_SSEL6 0x00004000 /* SPISSEL6 Value */
-#define SPI_SLVSEL_SSEL7 0x00008000 /* SPISSEL7 Value */
-/* SPI_RWC */
-#define SPI_RWC_VALUE 0x0000FFFF /* Received Word-Count */
-/* SPI_RWCR */
-#define SPI_RWCR_VALUE 0x0000FFFF /* Received Word-Count Reload */
-/* SPI_TWC */
-#define SPI_TWC_VALUE 0x0000FFFF /* Transmitted Word-Count */
-/* SPI_TWCR */
-#define SPI_TWCR_VALUE 0x0000FFFF /* Transmitted Word-Count Reload */
-/* SPI_IMASK */
-#define SPI_IMSK_RUWM 0x00000002 /* Receive Urgent Water-Mark Interrupt Mask */
-#define SPI_IMSK_TUWM 0x00000004 /* Transmit Urgent Water-Mark Interrupt Mask */
-#define SPI_IMSK_ROM 0x00000010 /* Receive Over-Run Error Interrupt Mask */
-#define SPI_IMSK_TUM 0x00000020 /* Transmit Under-Run Error Interrupt Mask */
-#define SPI_IMSK_TCM 0x00000040 /* Transmit Collision Error Interrupt Mask */
-#define SPI_IMSK_MFM 0x00000080 /* Mode Fault Error Interrupt Mask */
-#define SPI_IMSK_RSM 0x00000100 /* Receive Start Interrupt Mask */
-#define SPI_IMSK_TSM 0x00000200 /* Transmit Start Interrupt Mask */
-#define SPI_IMSK_RFM 0x00000400 /* Receive Finish Interrupt Mask */
-#define SPI_IMSK_TFM 0x00000800 /* Transmit Finish Interrupt Mask */
-/* SPI_IMASKCL */
-#define SPI_IMSK_CLR_RUW 0x00000002 /* Receive Urgent Water-Mark Interrupt Mask */
-#define SPI_IMSK_CLR_TUWM 0x00000004 /* Transmit Urgent Water-Mark Interrupt Mask */
-#define SPI_IMSK_CLR_ROM 0x00000010 /* Receive Over-Run Error Interrupt Mask */
-#define SPI_IMSK_CLR_TUM 0x00000020 /* Transmit Under-Run Error Interrupt Mask */
-#define SPI_IMSK_CLR_TCM 0x00000040 /* Transmit Collision Error Interrupt Mask */
-#define SPI_IMSK_CLR_MFM 0x00000080 /* Mode Fault Error Interrupt Mask */
-#define SPI_IMSK_CLR_RSM 0x00000100 /* Receive Start Interrupt Mask */
-#define SPI_IMSK_CLR_TSM 0x00000200 /* Transmit Start Interrupt Mask */
-#define SPI_IMSK_CLR_RFM 0x00000400 /* Receive Finish Interrupt Mask */
-#define SPI_IMSK_CLR_TFM 0x00000800 /* Transmit Finish Interrupt Mask */
-/* SPI_IMASKST */
-#define SPI_IMSK_SET_RUWM 0x00000002 /* Receive Urgent Water-Mark Interrupt Mask */
-#define SPI_IMSK_SET_TUWM 0x00000004 /* Transmit Urgent Water-Mark Interrupt Mask */
-#define SPI_IMSK_SET_ROM 0x00000010 /* Receive Over-Run Error Interrupt Mask */
-#define SPI_IMSK_SET_TUM 0x00000020 /* Transmit Under-Run Error Interrupt Mask */
-#define SPI_IMSK_SET_TCM 0x00000040 /* Transmit Collision Error Interrupt Mask */
-#define SPI_IMSK_SET_MFM 0x00000080 /* Mode Fault Error Interrupt Mask */
-#define SPI_IMSK_SET_RSM 0x00000100 /* Receive Start Interrupt Mask */
-#define SPI_IMSK_SET_TSM 0x00000200 /* Transmit Start Interrupt Mask */
-#define SPI_IMSK_SET_RFM 0x00000400 /* Receive Finish Interrupt Mask */
-#define SPI_IMSK_SET_TFM 0x00000800 /* Transmit Finish Interrupt Mask */
-/* SPI_STATUS */
-#define SPI_STAT_SPIF 0x00000001 /* SPI Finished */
-#define SPI_STAT_RUWM 0x00000002 /* Receive Urgent Water-Mark Breached */
-#define SPI_STAT_TUWM 0x00000004 /* Transmit Urgent Water-Mark Breached */
-#define SPI_STAT_ROE 0x00000010 /* Receive Over-Run Error Indication */
-#define SPI_STAT_TUE 0x00000020 /* Transmit Under-Run Error Indication */
-#define SPI_STAT_TCE 0x00000040 /* Transmit Collision Error Indication */
-#define SPI_STAT_MODF 0x00000080 /* Mode Fault Error Indication */
-#define SPI_STAT_RS 0x00000100 /* Receive Start Indication */
-#define SPI_STAT_TS 0x00000200 /* Transmit Start Indication */
-#define SPI_STAT_RF 0x00000400 /* Receive Finish Indication */
-#define SPI_STAT_TF 0x00000800 /* Transmit Finish Indication */
-#define SPI_STAT_RFS 0x00007000 /* SPI_RFIFO status */
-#define SPI_STAT_RFIFO_EMPTY 0x00000000 /* RFS: RFIFO Empty */
-#define SPI_STAT_RFIFO_25 0x00001000 /* RFS: RFIFO 25% Full */
-#define SPI_STAT_RFIFO_50 0x00002000 /* RFS: RFIFO 50% Full */
-#define SPI_STAT_RFIFO_75 0x00003000 /* RFS: RFIFO 75% Full */
-#define SPI_STAT_RFIFO_FULL 0x00004000 /* RFS: RFIFO Full */
-#define SPI_STAT_TFS 0x00070000 /* SPI_TFIFO status */
-#define SPI_STAT_TFIFO_FULL 0x00000000 /* TFS: TFIFO full */
-#define SPI_STAT_TFIFO_25 0x00010000 /* TFS: TFIFO 25% empty */
-#define SPI_STAT_TFIFO_50 0x00020000 /* TFS: TFIFO 50% empty */
-#define SPI_STAT_TFIFO_75 0x00030000 /* TFS: TFIFO 75% empty */
-#define SPI_STAT_TFIFO_EMPTY 0x00040000 /* TFS: TFIFO empty */
-#define SPI_STAT_FCS 0x00100000 /* Flow-Control Stall Indication */
-#define SPI_STAT_RFE 0x00400000 /* SPI_RFIFO Empty */
-#define SPI_STAT_TFF 0x00800000 /* SPI_TFIFO Full */
-/* SPI_ILAT */
-#define SPI_ILAT_RUWMI 0x00000002 /* Receive Urgent Water Mark Interrupt */
-#define SPI_ILAT_TUWMI 0x00000004 /* Transmit Urgent Water Mark Interrupt */
-#define SPI_ILAT_ROI 0x00000010 /* Receive Over-Run Error Indication */
-#define SPI_ILAT_TUI 0x00000020 /* Transmit Under-Run Error Indication */
-#define SPI_ILAT_TCI 0x00000040 /* Transmit Collision Error Indication */
-#define SPI_ILAT_MFI 0x00000080 /* Mode Fault Error Indication */
-#define SPI_ILAT_RSI 0x00000100 /* Receive Start Indication */
-#define SPI_ILAT_TSI 0x00000200 /* Transmit Start Indication */
-#define SPI_ILAT_RFI 0x00000400 /* Receive Finish Indication */
-#define SPI_ILAT_TFI 0x00000800 /* Transmit Finish Indication */
-/* SPI_ILATCL */
-#define SPI_ILAT_CLR_RUWMI 0x00000002 /* Receive Urgent Water Mark Interrupt */
-#define SPI_ILAT_CLR_TUWMI 0x00000004 /* Transmit Urgent Water Mark Interrupt */
-#define SPI_ILAT_CLR_ROI 0x00000010 /* Receive Over-Run Error Indication */
-#define SPI_ILAT_CLR_TUI 0x00000020 /* Transmit Under-Run Error Indication */
-#define SPI_ILAT_CLR_TCI 0x00000040 /* Transmit Collision Error Indication */
-#define SPI_ILAT_CLR_MFI 0x00000080 /* Mode Fault Error Indication */
-#define SPI_ILAT_CLR_RSI 0x00000100 /* Receive Start Indication */
-#define SPI_ILAT_CLR_TSI 0x00000200 /* Transmit Start Indication */
-#define SPI_ILAT_CLR_RFI 0x00000400 /* Receive Finish Indication */
-#define SPI_ILAT_CLR_TFI 0x00000800 /* Transmit Finish Indication */
-
-/*
- * bfin spi3 registers layout
- */
-struct bfin_spi_regs {
- u32 revid;
- u32 control;
- u32 rx_control;
- u32 tx_control;
- u32 clock;
- u32 delay;
- u32 ssel;
- u32 rwc;
- u32 rwcr;
- u32 twc;
- u32 twcr;
- u32 reserved0;
- u32 emask;
- u32 emaskcl;
- u32 emaskst;
- u32 reserved1;
- u32 status;
- u32 elat;
- u32 elatcl;
- u32 reserved2;
- u32 rfifo;
- u32 reserved3;
- u32 tfifo;
-};
-
-#define MAX_CTRL_CS 8 /* cs in spi controller */
-
-/* device.platform_data for SSP controller devices */
-struct bfin_spi3_master {
- u16 num_chipselect;
- u16 pin_req[7];
-};
-
-/* spi_board_info.controller_data for SPI slave devices,
- * copied to spi_device.platform_data ... mostly for dma tuning
- */
-struct bfin_spi3_chip {
- u32 control;
- u16 cs_chg_udelay; /* Some devices require 16-bit delays */
- u32 tx_dummy_val; /* tx value for rx only transfer */
- bool enable_dma;
-};
-
-#endif /* _SPI_CHANNEL_H_ */
diff --git a/arch/blackfin/mach-bf609/boards/ezkit.c b/arch/blackfin/mach-bf609/boards/ezkit.c
index 943f7e95ec15..1ba4600de69f 100644
--- a/arch/blackfin/mach-bf609/boards/ezkit.c
+++ b/arch/blackfin/mach-bf609/boards/ezkit.c
@@ -20,7 +20,7 @@
#include <linux/pinctrl/machine.h>
#include <linux/pinctrl/pinconf-generic.h>
#include <linux/platform_data/pinctrl-adi2.h>
-#include <asm/bfin_spi3.h>
+#include <linux/spi/adi_spi3.h>
#include <asm/dma.h>
#include <asm/gpio.h>
#include <asm/nand.h>
@@ -767,13 +767,13 @@ static struct flash_platform_data bfin_spi_flash_data = {
.type = "w25q32",
};
-static struct bfin_spi3_chip spi_flash_chip_info = {
+static struct adi_spi3_chip spi_flash_chip_info = {
.enable_dma = true, /* use dma transfer with this chip*/
};
#endif
#if IS_ENABLED(CONFIG_SPI_SPIDEV)
-static struct bfin_spi3_chip spidev_chip_info = {
+static struct adi_spi3_chip spidev_chip_info = {
.enable_dma = true,
};
#endif
@@ -1736,7 +1736,7 @@ static struct spi_board_info bfin_spi_board_info[] __initdata = {
},
#endif
};
-#if IS_ENABLED(CONFIG_SPI_BFIN_V3)
+#if IS_ENABLED(CONFIG_SPI_ADI_V3)
/* SPI (0) */
static struct resource bfin_spi0_resource[] = {
{
@@ -1777,13 +1777,13 @@ static struct resource bfin_spi1_resource[] = {
};
/* SPI controller data */
-static struct bfin_spi3_master bf60x_spi_master_info0 = {
+static struct adi_spi3_master bf60x_spi_master_info0 = {
.num_chipselect = MAX_CTRL_CS + MAX_BLACKFIN_GPIOS,
.pin_req = {P_SPI0_SCK, P_SPI0_MISO, P_SPI0_MOSI, 0},
};
static struct platform_device bf60x_spi_master0 = {
- .name = "bfin-spi3",
+ .name = "adi-spi3",
.id = 0, /* Bus number */
.num_resources = ARRAY_SIZE(bfin_spi0_resource),
.resource = bfin_spi0_resource,
@@ -1792,13 +1792,13 @@ static struct platform_device bf60x_spi_master0 = {
},
};
-static struct bfin_spi3_master bf60x_spi_master_info1 = {
+static struct adi_spi3_master bf60x_spi_master_info1 = {
.num_chipselect = MAX_CTRL_CS + MAX_BLACKFIN_GPIOS,
.pin_req = {P_SPI1_SCK, P_SPI1_MISO, P_SPI1_MOSI, 0},
};
static struct platform_device bf60x_spi_master1 = {
- .name = "bfin-spi3",
+ .name = "adi-spi3",
.id = 1, /* Bus number */
.num_resources = ARRAY_SIZE(bfin_spi1_resource),
.resource = bfin_spi1_resource,
@@ -1990,7 +1990,7 @@ static struct platform_device *ezkit_devices[] __initdata = {
&bfin_sdh_device,
#endif
-#if IS_ENABLED(CONFIG_SPI_BFIN_V3)
+#if IS_ENABLED(CONFIG_SPI_ADI_V3)
&bf60x_spi_master0,
&bf60x_spi_master1,
#endif
@@ -2051,8 +2051,8 @@ static struct pinctrl_map __initdata bfin_pinmux_map[] = {
PIN_MAP_MUX_GROUP_DEFAULT("bfin_sir.1", "pinctrl-adi2.0", NULL, "uart1"),
PIN_MAP_MUX_GROUP_DEFAULT("bfin-sdh.0", "pinctrl-adi2.0", NULL, "rsi0"),
PIN_MAP_MUX_GROUP_DEFAULT("stmmaceth.0", "pinctrl-adi2.0", NULL, "eth0"),
- PIN_MAP_MUX_GROUP_DEFAULT("bfin-spi3.0", "pinctrl-adi2.0", NULL, "spi0"),
- PIN_MAP_MUX_GROUP_DEFAULT("bfin-spi3.1", "pinctrl-adi2.0", NULL, "spi1"),
+ PIN_MAP_MUX_GROUP_DEFAULT("adi-spi3.0", "pinctrl-adi2.0", NULL, "spi0"),
+ PIN_MAP_MUX_GROUP_DEFAULT("adi-spi3.1", "pinctrl-adi2.0", NULL, "spi1"),
PIN_MAP_MUX_GROUP_DEFAULT("i2c-bfin-twi.0", "pinctrl-adi2.0", NULL, "twi0"),
PIN_MAP_MUX_GROUP_DEFAULT("i2c-bfin-twi.1", "pinctrl-adi2.0", NULL, "twi1"),
PIN_MAP_MUX_GROUP_DEFAULT("bfin-rotary", "pinctrl-adi2.0", NULL, "rotary"),