// SPDX-License-Identifier: GPL-2.0-or-later
/*
 * Copyright (C) 2025 Invensense, Inc.
 */

#include <linux/delay.h>
#include <linux/device.h>
#include <linux/err.h>
#include <linux/math64.h>
#include <linux/mutex.h>
#include <linux/pm_runtime.h>
#include <linux/regmap.h>
#include <linux/types.h>

#include <linux/iio/buffer.h>
#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/iio.h>
#include <linux/iio/kfifo_buf.h>

#include "inv_icm45600_buffer.h"
#include "inv_icm45600.h"

enum inv_icm45600_accel_scan {
        INV_ICM45600_ACCEL_SCAN_X,
        INV_ICM45600_ACCEL_SCAN_Y,
        INV_ICM45600_ACCEL_SCAN_Z,
        INV_ICM45600_ACCEL_SCAN_TEMP,
        INV_ICM45600_ACCEL_SCAN_TIMESTAMP,
};

static const struct iio_chan_spec_ext_info inv_icm45600_accel_ext_infos[] = {
        IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm45600_get_mount_matrix),
        { }
};

#define INV_ICM45600_ACCEL_CHAN(_modifier, _index, _ext_info)           \
        {                                                               \
                .type = IIO_ACCEL,                                      \
                .modified = 1,                                          \
                .channel2 = _modifier,                                  \
                .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_type_available =                   \
                        BIT(IIO_CHAN_INFO_SCALE) |                      \
                        BIT(IIO_CHAN_INFO_CALIBBIAS),                   \
                .info_mask_shared_by_all =                              \
                        BIT(IIO_CHAN_INFO_SAMP_FREQ),                   \
                .info_mask_shared_by_all_available =                    \
                        BIT(IIO_CHAN_INFO_SAMP_FREQ),                   \
                .scan_index = _index,                                   \
                .scan_type = {                                          \
                        .sign = 's',                                    \
                        .realbits = 16,                                 \
                        .storagebits = 16,                              \
                        .endianness = IIO_LE,                           \
                },                                                      \
                .ext_info = _ext_info,                                  \
        }

static const struct iio_chan_spec inv_icm45600_accel_channels[] = {
        INV_ICM45600_ACCEL_CHAN(IIO_MOD_X, INV_ICM45600_ACCEL_SCAN_X,
                                inv_icm45600_accel_ext_infos),
        INV_ICM45600_ACCEL_CHAN(IIO_MOD_Y, INV_ICM45600_ACCEL_SCAN_Y,
                                inv_icm45600_accel_ext_infos),
        INV_ICM45600_ACCEL_CHAN(IIO_MOD_Z, INV_ICM45600_ACCEL_SCAN_Z,
                                inv_icm45600_accel_ext_infos),
        INV_ICM45600_TEMP_CHAN(INV_ICM45600_ACCEL_SCAN_TEMP),
        IIO_CHAN_SOFT_TIMESTAMP(INV_ICM45600_ACCEL_SCAN_TIMESTAMP),
};

/*
 * IIO buffer data: size must be a power of 2 and timestamp aligned
 * 16 bytes: 6 bytes acceleration, 2 bytes temperature, 8 bytes timestamp
 */
struct inv_icm45600_accel_buffer {
        struct inv_icm45600_fifo_sensor_data accel;
        s16 temp;
        aligned_s64 timestamp;
};

static const unsigned long inv_icm45600_accel_scan_masks[] = {
        /* 3-axis accel + temperature */
        BIT(INV_ICM45600_ACCEL_SCAN_X) |
        BIT(INV_ICM45600_ACCEL_SCAN_Y) |
        BIT(INV_ICM45600_ACCEL_SCAN_Z) |
        BIT(INV_ICM45600_ACCEL_SCAN_TEMP),
        0
};

/* enable accelerometer sensor and FIFO write */
static int inv_icm45600_accel_update_scan_mode(struct iio_dev *indio_dev,
                                               const unsigned long *scan_mask)
{
        struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
        struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
        struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
        unsigned int fifo_en = 0;
        unsigned int sleep = 0;
        int ret;

        scoped_guard(mutex, &st->lock) {
                if (*scan_mask & BIT(INV_ICM45600_ACCEL_SCAN_TEMP))
                        fifo_en |= INV_ICM45600_SENSOR_TEMP;

                if (*scan_mask & (BIT(INV_ICM45600_ACCEL_SCAN_X) |
                                 BIT(INV_ICM45600_ACCEL_SCAN_Y) |
                                 BIT(INV_ICM45600_ACCEL_SCAN_Z))) {
                        /* enable accel sensor */
                        conf.mode = accel_st->power_mode;
                        ret = inv_icm45600_set_accel_conf(st, &conf, &sleep);
                        if (ret)
                                return ret;
                        fifo_en |= INV_ICM45600_SENSOR_ACCEL;
                }

                /* Update data FIFO write. */
                ret = inv_icm45600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
        }

        /* Sleep required time. */
        if (sleep)
                msleep(sleep);

        return ret;
}

static int _inv_icm45600_accel_read_sensor(struct inv_icm45600_state *st,
                                           struct inv_icm45600_sensor_state *accel_st,
                                           unsigned int reg, int *val)
{
        struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
        int ret;

        /* enable accel sensor */
        conf.mode = accel_st->power_mode;
        ret = inv_icm45600_set_accel_conf(st, &conf, NULL);
        if (ret)
                return ret;

        /* read accel register data */
        ret = regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffer.u16));
        if (ret)
                return ret;

        *val = sign_extend32(le16_to_cpup(&st->buffer.u16), 15);
        if (*val == INV_ICM45600_DATA_INVALID)
                return -ENODATA;

        return 0;
}

static int inv_icm45600_accel_read_sensor(struct iio_dev *indio_dev,
                                          struct iio_chan_spec const *chan,
                                          int *val)
{
        struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
        struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
        struct device *dev = regmap_get_device(st->map);
        unsigned int reg;
        int ret;

        if (chan->type != IIO_ACCEL)
                return -EINVAL;

        switch (chan->channel2) {
        case IIO_MOD_X:
                reg = INV_ICM45600_REG_ACCEL_DATA_X;
                break;
        case IIO_MOD_Y:
                reg = INV_ICM45600_REG_ACCEL_DATA_Y;
                break;
        case IIO_MOD_Z:
                reg = INV_ICM45600_REG_ACCEL_DATA_Z;
                break;
        default:
                return -EINVAL;
        }

        ret = pm_runtime_resume_and_get(dev);
        if (ret)
                return ret;

        scoped_guard(mutex, &st->lock)
                ret = _inv_icm45600_accel_read_sensor(st, accel_st, reg, val);

        pm_runtime_put_autosuspend(dev);

        return ret;
}

/* IIO format int + nano */
const int inv_icm45600_accel_scale[][2] = {
        /* +/- 16G => 0.004788403 m/s-2 */
        [INV_ICM45600_ACCEL_FS_16G] = { 0, 4788403 },
        /* +/- 8G => 0.002394202 m/s-2 */
        [INV_ICM45600_ACCEL_FS_8G] = { 0, 2394202 },
        /* +/- 4G => 0.001197101 m/s-2 */
        [INV_ICM45600_ACCEL_FS_4G] = { 0, 1197101 },
        /* +/- 2G => 0.000598550 m/s-2 */
        [INV_ICM45600_ACCEL_FS_2G] = { 0, 598550 },
};

const int inv_icm45686_accel_scale[][2] = {
        /* +/- 32G => 0.009576806 m/s-2 */
        [INV_ICM45686_ACCEL_FS_32G] = { 0, 9576806 },
        /* +/- 16G => 0.004788403 m/s-2 */
        [INV_ICM45686_ACCEL_FS_16G] = { 0, 4788403 },
        /* +/- 8G => 0.002394202 m/s-2 */
        [INV_ICM45686_ACCEL_FS_8G] = { 0, 2394202 },
        /* +/- 4G => 0.001197101 m/s-2 */
        [INV_ICM45686_ACCEL_FS_4G] = { 0, 1197101 },
        /* +/- 2G => 0.000598550 m/s-2 */
        [INV_ICM45686_ACCEL_FS_2G] = { 0, 598550 },
};

static int inv_icm45600_accel_read_scale(struct iio_dev *indio_dev,
                                         int *val, int *val2)
{
        struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
        struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
        unsigned int idx;

        idx = st->conf.accel.fs;

        /* Full scale register starts at 1 for not High FSR parts */
        if (accel_st->scales == (const int *)&inv_icm45600_accel_scale)
                idx--;

        *val = accel_st->scales[2 * idx];
        *val2 = accel_st->scales[2 * idx + 1];
        return IIO_VAL_INT_PLUS_NANO;
}

static int inv_icm45600_accel_write_scale(struct iio_dev *indio_dev,
                                          int val, int val2)
{
        struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
        struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
        struct device *dev = regmap_get_device(st->map);
        unsigned int idx;
        struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
        int ret;

        for (idx = 0; idx < accel_st->scales_len; idx += 2) {
                if (val == accel_st->scales[idx] &&
                    val2 == accel_st->scales[idx + 1])
                        break;
        }
        if (idx == accel_st->scales_len)
                return -EINVAL;

        conf.fs = idx / 2;

        /* Full scale register starts at 1 for not High FSR parts */
        if (accel_st->scales == (const int *)&inv_icm45600_accel_scale)
                conf.fs++;

        ret = pm_runtime_resume_and_get(dev);
        if (ret)
                return ret;

        scoped_guard(mutex, &st->lock)
                ret = inv_icm45600_set_accel_conf(st, &conf, NULL);

        pm_runtime_put_autosuspend(dev);

        return ret;
}

/* IIO format int + micro */
static const int inv_icm45600_accel_odr[] = {
        1, 562500,      /* 1.5625Hz */
        3, 125000,      /* 3.125Hz */
        6, 250000,      /* 6.25Hz */
        12, 500000,     /* 12.5Hz */
        25, 0,          /* 25Hz */
        50, 0,          /* 50Hz */
        100, 0,         /* 100Hz */
        200, 0,         /* 200Hz */
        400, 0,         /* 400Hz */
        800, 0,         /* 800Hz */
        1600, 0,        /* 1.6kHz */
        3200, 0,        /* 3.2kHz */
        6400, 0,        /* 6.4kHz */
};

static const int inv_icm45600_accel_odr_conv[] = {
        INV_ICM45600_ODR_1_5625HZ_LP,
        INV_ICM45600_ODR_3_125HZ_LP,
        INV_ICM45600_ODR_6_25HZ_LP,
        INV_ICM45600_ODR_12_5HZ,
        INV_ICM45600_ODR_25HZ,
        INV_ICM45600_ODR_50HZ,
        INV_ICM45600_ODR_100HZ,
        INV_ICM45600_ODR_200HZ,
        INV_ICM45600_ODR_400HZ,
        INV_ICM45600_ODR_800HZ_LN,
        INV_ICM45600_ODR_1600HZ_LN,
        INV_ICM45600_ODR_3200HZ_LN,
        INV_ICM45600_ODR_6400HZ_LN,
};

static int inv_icm45600_accel_read_odr(struct inv_icm45600_state *st,
                                       int *val, int *val2)
{
        unsigned int odr;
        unsigned int i;

        odr = st->conf.accel.odr;

        for (i = 0; i < ARRAY_SIZE(inv_icm45600_accel_odr_conv); ++i) {
                if (inv_icm45600_accel_odr_conv[i] == odr)
                        break;
        }
        if (i >= ARRAY_SIZE(inv_icm45600_accel_odr_conv))
                return -EINVAL;

        *val = inv_icm45600_accel_odr[2 * i];
        *val2 = inv_icm45600_accel_odr[2 * i + 1];

        return IIO_VAL_INT_PLUS_MICRO;
}

static int _inv_icm45600_accel_write_odr(struct iio_dev *indio_dev, int odr)
{
        struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
        struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
        struct inv_sensors_timestamp *ts = &accel_st->ts;
        struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
        int ret;

        conf.odr = odr;
        ret = inv_sensors_timestamp_update_odr(ts, inv_icm45600_odr_to_period(conf.odr),
                                                iio_buffer_enabled(indio_dev));
        if (ret)
                return ret;

        if (st->conf.accel.mode != INV_ICM45600_SENSOR_MODE_OFF)
                conf.mode = accel_st->power_mode;

        ret = inv_icm45600_set_accel_conf(st, &conf, NULL);
        if (ret)
                return ret;

        inv_icm45600_buffer_update_fifo_period(st);
        inv_icm45600_buffer_update_watermark(st);

        return 0;
}

static int inv_icm45600_accel_write_odr(struct iio_dev *indio_dev,
                                        int val, int val2)
{
        struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
        struct device *dev = regmap_get_device(st->map);
        unsigned int idx;
        int odr;
        int ret;

        for (idx = 0; idx < ARRAY_SIZE(inv_icm45600_accel_odr); idx += 2) {
                if (val == inv_icm45600_accel_odr[idx] &&
                    val2 == inv_icm45600_accel_odr[idx + 1])
                        break;
        }
        if (idx >= ARRAY_SIZE(inv_icm45600_accel_odr))
                return -EINVAL;

        odr = inv_icm45600_accel_odr_conv[idx / 2];

        ret = pm_runtime_resume_and_get(dev);
        if (ret)
                return ret;

        scoped_guard(mutex, &st->lock)
                ret = _inv_icm45600_accel_write_odr(indio_dev, odr);

        pm_runtime_put_autosuspend(dev);

        return ret;
}

/*
 * Calibration bias values, IIO range format int + micro.
 * Value is limited to +/-1g coded on 14 bits signed. Step is 0.125mg.
 */
static int inv_icm45600_accel_calibbias[] = {
        -9, 806650,             /* min: -9.806650 m/s² */
        0, 1197,                /* step: 0.001197 m/s² */
        9, 805453,              /* max: 9.805453 m/s² */
};

static int inv_icm45600_accel_read_offset(struct inv_icm45600_state *st,
                                          struct iio_chan_spec const *chan,
                                          int *val, int *val2)
{
        struct device *dev = regmap_get_device(st->map);
        s64 val64;
        s32 bias;
        unsigned int reg;
        s16 offset;
        int ret;

        if (chan->type != IIO_ACCEL)
                return -EINVAL;

        switch (chan->channel2) {
        case IIO_MOD_X:
                reg = INV_ICM45600_IPREG_SYS2_REG_24;
                break;
        case IIO_MOD_Y:
                reg = INV_ICM45600_IPREG_SYS2_REG_32;
                break;
        case IIO_MOD_Z:
                reg = INV_ICM45600_IPREG_SYS2_REG_40;
                break;
        default:
                return -EINVAL;
        }

        ret = pm_runtime_resume_and_get(dev);
        if (ret)
                return ret;

        scoped_guard(mutex, &st->lock)
                ret = regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffer.u16));

        pm_runtime_put_autosuspend(dev);
        if (ret)
                return ret;

        offset = le16_to_cpup(&st->buffer.u16) & INV_ICM45600_ACCEL_OFFUSER_MASK;
        /* 14 bits signed value */
        offset = sign_extend32(offset, 13);

        /*
         * convert raw offset to g then to m/s²
         * 14 bits signed raw step 1/8192g
         * g to m/s²: 9.806650
         * result in micro (* 1000000)
         * (offset * 9806650) / 8192
         */
        val64 = (s64)offset * 9806650LL;
        /* for rounding, add + or - divisor (8192) divided by 2 */
        if (val64 >= 0)
                val64 += 8192LL / 2LL;
        else
                val64 -= 8192LL / 2LL;
        bias = div_s64(val64, 8192L);
        *val = bias / 1000000L;
        *val2 = bias % 1000000L;

        return IIO_VAL_INT_PLUS_MICRO;
}

static int inv_icm45600_accel_write_offset(struct inv_icm45600_state *st,
                                           struct iio_chan_spec const *chan,
                                           int val, int val2)
{
        struct device *dev = regmap_get_device(st->map);
        s64 val64;
        s32 min, max;
        unsigned int reg;
        s16 offset;
        int ret;

        if (chan->type != IIO_ACCEL)
                return -EINVAL;

        switch (chan->channel2) {
        case IIO_MOD_X:
                reg = INV_ICM45600_IPREG_SYS2_REG_24;
                break;
        case IIO_MOD_Y:
                reg = INV_ICM45600_IPREG_SYS2_REG_32;
                break;
        case IIO_MOD_Z:
                reg = INV_ICM45600_IPREG_SYS2_REG_40;
                break;
        default:
                return -EINVAL;
        }

        /* inv_icm45600_accel_calibbias: min - step - max in micro */
        min = inv_icm45600_accel_calibbias[0] * 1000000L -
              inv_icm45600_accel_calibbias[1];
        max = inv_icm45600_accel_calibbias[4] * 1000000L +
              inv_icm45600_accel_calibbias[5];
        val64 = (s64)val * 1000000LL;
        if (val >= 0)
                val64 += (s64)val2;
        else
                val64 -= (s64)val2;
        if (val64 < min || val64 > max)
                return -EINVAL;

        /*
         * convert m/s² to g then to raw value
         * m/s² to g: 1 / 9.806650
         * g to raw 14 bits signed, step 1/8192g: * 8192
         * val in micro (1000000)
         * val * 8192 / (9.806650 * 1000000)
         */
        val64 = val64 * 8192LL;
        /* for rounding, add + or - divisor (9806650) divided by 2 */
        if (val64 >= 0)
                val64 += 9806650 / 2;
        else
                val64 -= 9806650 / 2;
        offset = div_s64(val64, 9806650);

        /* clamp value limited to 14 bits signed */
        offset = clamp(offset, -8192, 8191);

        st->buffer.u16 = cpu_to_le16(offset & INV_ICM45600_ACCEL_OFFUSER_MASK);

        ret = pm_runtime_resume_and_get(dev);
        if (ret)
                return ret;

        scoped_guard(mutex, &st->lock)
                ret = regmap_bulk_write(st->map, reg, &st->buffer.u16, sizeof(st->buffer.u16));

        pm_runtime_put_autosuspend(dev);
        return ret;
}

static int inv_icm45600_accel_read_raw(struct iio_dev *indio_dev,
                                       struct iio_chan_spec const *chan,
                                       int *val, int *val2, long mask)
{
        struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
        int ret;

        switch (chan->type) {
        case IIO_ACCEL:
                break;
        case IIO_TEMP:
                return inv_icm45600_temp_read_raw(indio_dev, chan, val, val2, mask);
        default:
                return -EINVAL;
        }

        switch (mask) {
        case IIO_CHAN_INFO_RAW:
                if (!iio_device_claim_direct(indio_dev))
                        return -EBUSY;
                ret = inv_icm45600_accel_read_sensor(indio_dev, chan, val);
                iio_device_release_direct(indio_dev);
                if (ret)
                        return ret;
                return IIO_VAL_INT;
        case IIO_CHAN_INFO_SCALE:
                return inv_icm45600_accel_read_scale(indio_dev, val, val2);
        case IIO_CHAN_INFO_SAMP_FREQ:
                return inv_icm45600_accel_read_odr(st, val, val2);
        case IIO_CHAN_INFO_CALIBBIAS:
                return inv_icm45600_accel_read_offset(st, chan, val, val2);
        default:
                return -EINVAL;
        }
}

static int inv_icm45600_accel_read_avail(struct iio_dev *indio_dev,
                                         struct iio_chan_spec const *chan,
                                         const int **vals,
                                         int *type, int *length, long mask)
{
        struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);

        if (chan->type != IIO_ACCEL)
                return -EINVAL;

        switch (mask) {
        case IIO_CHAN_INFO_SCALE:
                *vals = accel_st->scales;
                *type = IIO_VAL_INT_PLUS_NANO;
                *length = accel_st->scales_len;
                return IIO_AVAIL_LIST;
        case IIO_CHAN_INFO_SAMP_FREQ:
                *vals = inv_icm45600_accel_odr;
                *type = IIO_VAL_INT_PLUS_MICRO;
                *length = ARRAY_SIZE(inv_icm45600_accel_odr);
                return IIO_AVAIL_LIST;
        case IIO_CHAN_INFO_CALIBBIAS:
                *vals = inv_icm45600_accel_calibbias;
                *type = IIO_VAL_INT_PLUS_MICRO;
                return IIO_AVAIL_RANGE;
        default:
                return -EINVAL;
        }
}

static int inv_icm45600_accel_write_raw(struct iio_dev *indio_dev,
                                        struct iio_chan_spec const *chan,
                                        int val, int val2, long mask)
{
        struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
        int ret;

        if (chan->type != IIO_ACCEL)
                return -EINVAL;

        switch (mask) {
        case IIO_CHAN_INFO_SCALE:
                if (!iio_device_claim_direct(indio_dev))
                        return -EBUSY;
                ret = inv_icm45600_accel_write_scale(indio_dev, val, val2);
                iio_device_release_direct(indio_dev);
                return ret;
        case IIO_CHAN_INFO_SAMP_FREQ:
                return inv_icm45600_accel_write_odr(indio_dev, val, val2);
        case IIO_CHAN_INFO_CALIBBIAS:
                if (!iio_device_claim_direct(indio_dev))
                        return -EBUSY;
                ret = inv_icm45600_accel_write_offset(st, chan, val, val2);
                iio_device_release_direct(indio_dev);
                return ret;
        default:
                return -EINVAL;
        }
}

static int inv_icm45600_accel_write_raw_get_fmt(struct iio_dev *indio_dev,
                                                struct iio_chan_spec const *chan,
                                                long mask)
{
        if (chan->type != IIO_ACCEL)
                return -EINVAL;

        switch (mask) {
        case IIO_CHAN_INFO_SCALE:
                return IIO_VAL_INT_PLUS_NANO;
        case IIO_CHAN_INFO_SAMP_FREQ:
                return IIO_VAL_INT_PLUS_MICRO;
        case IIO_CHAN_INFO_CALIBBIAS:
                return IIO_VAL_INT_PLUS_MICRO;
        default:
                return -EINVAL;
        }
}

static int inv_icm45600_accel_hwfifo_set_watermark(struct iio_dev *indio_dev,
                                                   unsigned int val)
{
        struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);

        guard(mutex)(&st->lock);

        st->fifo.watermark.accel = val;
        return inv_icm45600_buffer_update_watermark(st);
}

static int inv_icm45600_accel_hwfifo_flush(struct iio_dev *indio_dev,
                                           unsigned int count)
{
        struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
        int ret;

        if (count == 0)
                return 0;

        guard(mutex)(&st->lock);

        ret = inv_icm45600_buffer_hwfifo_flush(st, count);
        if (ret)
                return ret;

        return st->fifo.nb.accel;
}

static const struct iio_info inv_icm45600_accel_info = {
        .read_raw = inv_icm45600_accel_read_raw,
        .read_avail = inv_icm45600_accel_read_avail,
        .write_raw = inv_icm45600_accel_write_raw,
        .write_raw_get_fmt = inv_icm45600_accel_write_raw_get_fmt,
        .debugfs_reg_access = inv_icm45600_debugfs_reg,
        .update_scan_mode = inv_icm45600_accel_update_scan_mode,
        .hwfifo_set_watermark = inv_icm45600_accel_hwfifo_set_watermark,
        .hwfifo_flush_to_buffer = inv_icm45600_accel_hwfifo_flush,
};

struct iio_dev *inv_icm45600_accel_init(struct inv_icm45600_state *st)
{
        struct device *dev = regmap_get_device(st->map);
        struct inv_icm45600_sensor_state *accel_st;
        struct inv_sensors_timestamp_chip ts_chip;
        struct iio_dev *indio_dev;
        const char *name;
        int ret;

        name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->chip_info->name);
        if (!name)
                return ERR_PTR(-ENOMEM);

        indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st));
        if (!indio_dev)
                return ERR_PTR(-ENOMEM);
        accel_st = iio_priv(indio_dev);

        accel_st->scales = st->chip_info->accel_scales;
        accel_st->scales_len = st->chip_info->accel_scales_len * 2;

        /* low-power (LP) mode by default at init, no ULP mode */
        accel_st->power_mode = INV_ICM45600_SENSOR_MODE_LOW_POWER;
        ret = regmap_set_bits(st->map, INV_ICM45600_REG_SMC_CONTROL_0,
                              INV_ICM45600_SMC_CONTROL_0_ACCEL_LP_CLK_SEL);
        if (ret)
                return ERR_PTR(ret);

        /*
         * clock period is 32kHz (31250ns)
         * jitter is +/- 2% (20 per mille)
         */
        ts_chip.clock_period = 31250;
        ts_chip.jitter = 20;
        ts_chip.init_period = inv_icm45600_odr_to_period(st->conf.accel.odr);
        inv_sensors_timestamp_init(&accel_st->ts, &ts_chip);

        iio_device_set_drvdata(indio_dev, st);
        indio_dev->name = name;
        indio_dev->info = &inv_icm45600_accel_info;
        indio_dev->modes = INDIO_DIRECT_MODE;
        indio_dev->channels = inv_icm45600_accel_channels;
        indio_dev->num_channels = ARRAY_SIZE(inv_icm45600_accel_channels);
        indio_dev->available_scan_masks = inv_icm45600_accel_scan_masks;

        ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
                                          &inv_icm45600_buffer_ops);
        if (ret)
                return ERR_PTR(ret);

        ret = devm_iio_device_register(dev, indio_dev);
        if (ret)
                return ERR_PTR(ret);

        return indio_dev;
}

int inv_icm45600_accel_parse_fifo(struct iio_dev *indio_dev)
{
        struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
        struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
        struct inv_sensors_timestamp *ts = &accel_st->ts;
        ssize_t i, size;
        unsigned int no;

        /* parse all fifo packets */
        for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
                struct inv_icm45600_accel_buffer buffer = { };
                const struct inv_icm45600_fifo_sensor_data *accel, *gyro;
                const __le16 *timestamp;
                const s8 *temp;
                unsigned int odr;
                s64 ts_val;

                size = inv_icm45600_fifo_decode_packet(&st->fifo.data[i],
                                &accel, &gyro, &temp, &timestamp, &odr);
                /* quit if error or FIFO is empty */
                if (size <= 0)
                        return size;

                /* skip packet if no accel data or data is invalid */
                if (accel == NULL || !inv_icm45600_fifo_is_data_valid(accel))
                        continue;

                /* update odr */
                if (odr & INV_ICM45600_SENSOR_ACCEL)
                        inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
                                                         st->fifo.nb.total, no);

                memcpy(&buffer.accel, accel, sizeof(buffer.accel));
                /* convert 8 bits FIFO temperature in high resolution format */
                buffer.temp = temp ? (*temp * 64) : 0;
                ts_val = inv_sensors_timestamp_pop(ts);
                iio_push_to_buffers_with_ts(indio_dev, &buffer, sizeof(buffer), ts_val);
        }

        return 0;
}