// SPDX-License-Identifier: GPL-2.0-only
/*
* Copyright (C) 2012 Invensense, Inc.
*/

#include <linux/module.h>
#include <linux/slab.h>
#include <linux/i2c.h>
#include <linux/err.h>
#include <linux/delay.h>
#include <linux/sysfs.h>
#include <linux/jiffies.h>
#include <linux/irq.h>
#include <linux/interrupt.h>
#include <linux/acpi.h>
#include <linux/platform_device.h>
#include <linux/regulator/consumer.h>
#include <linux/math64.h>
#include <linux/minmax.h>
#include <linux/pm.h>
#include <linux/pm_runtime.h>
#include <linux/property.h>

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

#include "inv_mpu_iio.h"
#include "inv_mpu_magn.h"

/*
 * this is the gyro scale translated from dynamic range plus/minus
 * {250, 500, 1000, 2000} to rad/s
 */
static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};

/*
 * this is the accel scale translated from dynamic range plus/minus
 * {2, 4, 8, 16} to m/s^2
 */
static const int accel_scale[] = {598, 1196, 2392, 4785};

static const struct inv_mpu6050_reg_map reg_set_icm20602 = {
        .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
        .lpf                    = INV_MPU6050_REG_CONFIG,
        .accel_lpf              = INV_MPU6500_REG_ACCEL_CONFIG_2,
        .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
        .fifo_en                = INV_MPU6050_REG_FIFO_EN,
        .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
        .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
        .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
        .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
        .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
        .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
        .temperature            = INV_MPU6050_REG_TEMPERATURE,
        .int_enable             = INV_MPU6050_REG_INT_ENABLE,
        .int_status             = INV_MPU6050_REG_INT_STATUS,
        .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
        .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
        .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
        .accl_offset            = INV_MPU6500_REG_ACCEL_OFFSET,
        .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
        .i2c_if                 = INV_ICM20602_REG_I2C_IF,
};

static const struct inv_mpu6050_reg_map reg_set_6500 = {
        .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
        .lpf                    = INV_MPU6050_REG_CONFIG,
        .accel_lpf              = INV_MPU6500_REG_ACCEL_CONFIG_2,
        .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
        .fifo_en                = INV_MPU6050_REG_FIFO_EN,
        .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
        .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
        .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
        .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
        .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
        .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
        .temperature            = INV_MPU6050_REG_TEMPERATURE,
        .int_enable             = INV_MPU6050_REG_INT_ENABLE,
        .int_status             = INV_MPU6050_REG_INT_STATUS,
        .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
        .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
        .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
        .accl_offset            = INV_MPU6500_REG_ACCEL_OFFSET,
        .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
        .i2c_if                 = 0,
};

static const struct inv_mpu6050_reg_map reg_set_6050 = {
        .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
        .lpf                    = INV_MPU6050_REG_CONFIG,
        .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
        .fifo_en                = INV_MPU6050_REG_FIFO_EN,
        .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
        .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
        .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
        .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
        .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
        .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
        .temperature            = INV_MPU6050_REG_TEMPERATURE,
        .int_enable             = INV_MPU6050_REG_INT_ENABLE,
        .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
        .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
        .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
        .accl_offset            = INV_MPU6050_REG_ACCEL_OFFSET,
        .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
        .i2c_if                 = 0,
};

static const struct inv_mpu6050_chip_config chip_config_6050 = {
        .clk = INV_CLK_INTERNAL,
        .fsr = INV_MPU6050_FSR_2000DPS,
        .lpf = INV_MPU6050_FILTER_20HZ,
        .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
        .gyro_en = true,
        .accl_en = true,
        .temp_en = true,
        .magn_en = false,
        .gyro_fifo_enable = false,
        .accl_fifo_enable = false,
        .temp_fifo_enable = false,
        .magn_fifo_enable = false,
        .accl_fs = INV_MPU6050_FS_02G,
        .user_ctrl = 0,
};

static const struct inv_mpu6050_chip_config chip_config_6500 = {
        .clk = INV_CLK_PLL,
        .fsr = INV_MPU6050_FSR_2000DPS,
        .lpf = INV_MPU6050_FILTER_20HZ,
        .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
        .gyro_en = true,
        .accl_en = true,
        .temp_en = true,
        .magn_en = false,
        .gyro_fifo_enable = false,
        .accl_fifo_enable = false,
        .temp_fifo_enable = false,
        .magn_fifo_enable = false,
        .accl_fs = INV_MPU6050_FS_02G,
        .user_ctrl = 0,
};

/* Indexed by enum inv_devices */
static const struct inv_mpu6050_hw hw_info[] = {
        {
                .whoami = INV_MPU6050_WHOAMI_VALUE,
                .name = "MPU6050",
                .reg = &reg_set_6050,
                .config = &chip_config_6050,
                .fifo_size = 1024,
                .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
                .startup_time = {INV_MPU6050_GYRO_STARTUP_TIME, INV_MPU6050_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_MPU6500_WHOAMI_VALUE,
                .name = "MPU6500",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_MPU6515_WHOAMI_VALUE,
                .name = "MPU6515",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_MPU6880_WHOAMI_VALUE,
                .name = "MPU6880",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 4096,
                .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_MPU6000_WHOAMI_VALUE,
                .name = "MPU6000",
                .reg = &reg_set_6050,
                .config = &chip_config_6050,
                .fifo_size = 1024,
                .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
                .startup_time = {INV_MPU6050_GYRO_STARTUP_TIME, INV_MPU6050_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_MPU9150_WHOAMI_VALUE,
                .name = "MPU9150",
                .reg = &reg_set_6050,
                .config = &chip_config_6050,
                .fifo_size = 1024,
                .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
                .startup_time = {INV_MPU6050_GYRO_STARTUP_TIME, INV_MPU6050_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_MPU9250_WHOAMI_VALUE,
                .name = "MPU9250",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_MPU9255_WHOAMI_VALUE,
                .name = "MPU9255",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_ICM20608_WHOAMI_VALUE,
                .name = "ICM20608",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_ICM20608D_WHOAMI_VALUE,
                .name = "ICM20608D",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_ICM20609_WHOAMI_VALUE,
                .name = "ICM20609",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 4 * 1024,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_ICM20689_WHOAMI_VALUE,
                .name = "ICM20689",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 4 * 1024,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_ICM20600_WHOAMI_VALUE,
                .name = "ICM20600",
                .reg = &reg_set_icm20602,
                .config = &chip_config_6500,
                .fifo_size = 1008,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
                .startup_time = {INV_ICM20602_GYRO_STARTUP_TIME, INV_ICM20602_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_ICM20602_WHOAMI_VALUE,
                .name = "ICM20602",
                .reg = &reg_set_icm20602,
                .config = &chip_config_6500,
                .fifo_size = 1008,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
                .startup_time = {INV_ICM20602_GYRO_STARTUP_TIME, INV_ICM20602_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_ICM20690_WHOAMI_VALUE,
                .name = "ICM20690",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 1024,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
                .startup_time = {INV_ICM20690_GYRO_STARTUP_TIME, INV_ICM20690_ACCEL_STARTUP_TIME},
        },
        {       .whoami = INV_IAM20380_WHOAMI_VALUE,
                .name = "IAM20380",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_IAM20680_WHOAMI_VALUE,
                .name = "IAM20680",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_IAM20680HP_WHOAMI_VALUE,
                .name = "IAM20680HP",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 4 * 1024,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
                .whoami = INV_IAM20680HT_WHOAMI_VALUE,
                .name = "IAM20680HT",
                .reg = &reg_set_6500,
                .config = &chip_config_6500,
                .fifo_size = 4 * 1024,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
};

static int inv_mpu6050_pwr_mgmt_1_write(struct inv_mpu6050_state *st, bool sleep,
                                        bool cycle, int clock, int temp_dis)
{
        u8 val;

        if (clock < 0)
                clock = st->chip_config.clk;
        if (temp_dis < 0)
                temp_dis = !st->chip_config.temp_en;

        val = clock & INV_MPU6050_BIT_CLK_MASK;
        if (temp_dis)
                val |= INV_MPU6050_BIT_TEMP_DIS;
        if (sleep)
                val |= INV_MPU6050_BIT_SLEEP;
        if (cycle)
                val |= INV_MPU6050_BIT_CYCLE;

        dev_dbg(regmap_get_device(st->map), "pwr_mgmt_1: 0x%x\n", val);
        return regmap_write(st->map, st->reg->pwr_mgmt_1, val);
}

static int inv_mpu6050_clock_switch(struct inv_mpu6050_state *st,
                                    unsigned int clock)
{
        int ret;

        switch (st->chip_type) {
        case INV_MPU6050:
        case INV_MPU6000:
        case INV_MPU9150:
                /* old chips: switch clock manually */
                ret = inv_mpu6050_pwr_mgmt_1_write(st, false, false, clock, -1);
                if (ret)
                        return ret;
                st->chip_config.clk = clock;
                break;
        default:
                /* automatic clock switching, nothing to do */
                break;
        }

        return 0;
}

int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
                              unsigned int mask)
{
        unsigned int sleep, val;
        u8 pwr_mgmt2, user_ctrl;
        int ret;

        /* delete useless requests */
        if (mask & INV_MPU6050_SENSOR_ACCL && en == st->chip_config.accl_en)
                mask &= ~INV_MPU6050_SENSOR_ACCL;
        if (mask & INV_MPU6050_SENSOR_GYRO && en == st->chip_config.gyro_en)
                mask &= ~INV_MPU6050_SENSOR_GYRO;
        if (mask & INV_MPU6050_SENSOR_TEMP && en == st->chip_config.temp_en)
                mask &= ~INV_MPU6050_SENSOR_TEMP;
        if (mask & INV_MPU6050_SENSOR_MAGN && en == st->chip_config.magn_en)
                mask &= ~INV_MPU6050_SENSOR_MAGN;
        if (mask & INV_MPU6050_SENSOR_WOM && en == st->chip_config.wom_en)
                mask &= ~INV_MPU6050_SENSOR_WOM;

        /* force accel on if WoM is on and not going off */
        if (!en && (mask & INV_MPU6050_SENSOR_ACCL) && st->chip_config.wom_en &&
                        !(mask & INV_MPU6050_SENSOR_WOM))
                mask &= ~INV_MPU6050_SENSOR_ACCL;

        if (mask == 0)
                return 0;

        /* turn on/off temperature sensor */
        if (mask & INV_MPU6050_SENSOR_TEMP) {
                ret = inv_mpu6050_pwr_mgmt_1_write(st, false, false, -1, !en);
                if (ret)
                        return ret;
                st->chip_config.temp_en = en;
        }

        /* update user_crtl for driving magnetometer */
        if (mask & INV_MPU6050_SENSOR_MAGN) {
                user_ctrl = st->chip_config.user_ctrl;
                if (en)
                        user_ctrl |= INV_MPU6050_BIT_I2C_MST_EN;
                else
                        user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN;
                ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
                if (ret)
                        return ret;
                st->chip_config.user_ctrl = user_ctrl;
                st->chip_config.magn_en = en;
        }

        /* manage accel & gyro engines */
        if (mask & (INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO)) {
                /* compute power management 2 current value */
                pwr_mgmt2 = 0;
                if (!st->chip_config.accl_en)
                        pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
                if (!st->chip_config.gyro_en)
                        pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;

                /* update to new requested value */
                if (mask & INV_MPU6050_SENSOR_ACCL) {
                        if (en)
                                pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_ACCL_STBY;
                        else
                                pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
                }
                if (mask & INV_MPU6050_SENSOR_GYRO) {
                        if (en)
                                pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_GYRO_STBY;
                        else
                                pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;
                }

                /* switch clock to internal when turning gyro off */
                if (mask & INV_MPU6050_SENSOR_GYRO && !en) {
                        ret = inv_mpu6050_clock_switch(st, INV_CLK_INTERNAL);
                        if (ret)
                                return ret;
                }

                /* update sensors engine */
                dev_dbg(regmap_get_device(st->map), "pwr_mgmt_2: 0x%x\n",
                        pwr_mgmt2);
                ret = regmap_write(st->map, st->reg->pwr_mgmt_2, pwr_mgmt2);
                if (ret)
                        return ret;
                if (mask & INV_MPU6050_SENSOR_ACCL)
                        st->chip_config.accl_en = en;
                if (mask & INV_MPU6050_SENSOR_GYRO)
                        st->chip_config.gyro_en = en;

                /* compute required time to have sensors stabilized */
                sleep = 0;
                if (en) {
                        if (mask & INV_MPU6050_SENSOR_ACCL) {
                                if (sleep < st->hw->startup_time.accel)
                                        sleep = st->hw->startup_time.accel;
                        }
                        if (mask & INV_MPU6050_SENSOR_GYRO) {
                                if (sleep < st->hw->startup_time.gyro)
                                        sleep = st->hw->startup_time.gyro;
                        }
                } else {
                        if (mask & INV_MPU6050_SENSOR_GYRO) {
                                if (sleep < INV_MPU6050_GYRO_DOWN_TIME)
                                        sleep = INV_MPU6050_GYRO_DOWN_TIME;
                        }
                }
                if (sleep)
                        msleep(sleep);

                /* switch clock to PLL when turning gyro on */
                if (mask & INV_MPU6050_SENSOR_GYRO && en) {
                        ret = inv_mpu6050_clock_switch(st, INV_CLK_PLL);
                        if (ret)
                                return ret;
                }
        }

        /* enable/disable accel intelligence control */
        if (mask & INV_MPU6050_SENSOR_WOM) {
                val = en ? INV_MPU6500_BIT_ACCEL_INTEL_EN |
                           INV_MPU6500_BIT_ACCEL_INTEL_MODE : 0;
                ret = regmap_write(st->map, INV_MPU6500_REG_ACCEL_INTEL_CTRL, val);
                if (ret)
                        return ret;
                st->chip_config.wom_en = en;
        }

        return 0;
}

static int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st,
                                     bool power_on)
{
        int result;

        result = inv_mpu6050_pwr_mgmt_1_write(st, !power_on, false, -1, -1);
        if (result)
                return result;

        if (power_on)
                usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
                             INV_MPU6050_REG_UP_TIME_MAX);

        return 0;
}

static int inv_mpu6050_set_gyro_fsr(struct inv_mpu6050_state *st,
                                    enum inv_mpu6050_fsr_e val)
{
        unsigned int gyro_shift;
        u8 data;

        switch (st->chip_type) {
        case INV_ICM20690:
                gyro_shift = INV_ICM20690_GYRO_CONFIG_FSR_SHIFT;
                break;
        default:
                gyro_shift = INV_MPU6050_GYRO_CONFIG_FSR_SHIFT;
                break;
        }

        data = val << gyro_shift;
        return regmap_write(st->map, st->reg->gyro_config, data);
}

static int inv_mpu6050_set_accel_lpf_regs(struct inv_mpu6050_state *st,
                                          enum inv_mpu6050_filter_e val)
{
        switch (st->chip_type) {
        case INV_MPU6050:
        case INV_MPU6000:
        case INV_MPU9150:
                /* old chips, nothing to do */
                return 0;
        case INV_ICM20689:
        case INV_ICM20690:
        case INV_IAM20680HT:
        case INV_IAM20680HP:
                /* set FIFO size to maximum value */
                val |= INV_ICM20689_BITS_FIFO_SIZE_MAX;
                break;
        default:
                break;
        }

        return regmap_write(st->map, st->reg->accel_lpf, val);
}

/*
 *  inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
 *
 *  MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope
 *  MPU6500 and above have a dedicated register for accelerometer
 */
static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
                                    enum inv_mpu6050_filter_e val)
{
        int result;

        result = regmap_write(st->map, st->reg->lpf, val);
        if (result)
                return result;

        /* set accel lpf */
        return inv_mpu6050_set_accel_lpf_regs(st, val);
}

/*
 *  inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
 *
 *  Initial configuration:
 *  FSR: ± 2000DPS
 *  DLPF: 20Hz
 *  FIFO rate: 50Hz
 *  Clock source: Gyro PLL
 */
static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
{
        int result;
        u8 d;
        struct inv_mpu6050_state *st = iio_priv(indio_dev);
        struct inv_sensors_timestamp_chip timestamp;

        result = inv_mpu6050_set_gyro_fsr(st, st->chip_config.fsr);
        if (result)
                return result;

        result = inv_mpu6050_set_lpf_regs(st, st->chip_config.lpf);
        if (result)
                return result;

        d = st->chip_config.divider;
        result = regmap_write(st->map, st->reg->sample_rate_div, d);
        if (result)
                return result;

        d = (st->chip_config.accl_fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
        result = regmap_write(st->map, st->reg->accl_config, d);
        if (result)
                return result;

        result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
        if (result)
                return result;

        /* clock jitter is +/- 2% */
        timestamp.clock_period = NSEC_PER_SEC / INV_MPU6050_INTERNAL_FREQ_HZ;
        timestamp.jitter = 20;
        timestamp.init_period =
                        NSEC_PER_SEC / INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
        inv_sensors_timestamp_init(&st->timestamp, &timestamp);

        /* magn chip init, noop if not present in the chip */
        result = inv_mpu_magn_probe(st);
        if (result)
                return result;

        return 0;
}

static int inv_mpu6050_sensor_set(struct inv_mpu6050_state  *st, int reg,
                                int axis, int val)
{
        int ind;
        __be16 d = cpu_to_be16(val);

        ind = (axis - IIO_MOD_X) * 2;

        return regmap_bulk_write(st->map, reg + ind, &d, sizeof(d));
}

static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
                                   int axis, int *val)
{
        int ind, result;
        __be16 d;

        ind = (axis - IIO_MOD_X) * 2;
        result = regmap_bulk_read(st->map, reg + ind, &d, sizeof(d));
        if (result)
                return result;
        *val = (short)be16_to_cpup(&d);

        return IIO_VAL_INT;
}

static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
                                         struct iio_chan_spec const *chan,
                                         int *val)
{
        struct inv_mpu6050_state *st = iio_priv(indio_dev);
        struct device *pdev = regmap_get_device(st->map);
        unsigned int freq_hz, period_us, min_sleep_us, max_sleep_us;
        int result;
        int ret;

        /* compute sample period */
        freq_hz = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
        period_us = 1000000 / freq_hz;

        result = pm_runtime_resume_and_get(pdev);
        if (result)
                return result;

        switch (chan->type) {
        case IIO_ANGL_VEL:
                if (!st->chip_config.gyro_en) {
                        result = inv_mpu6050_switch_engine(st, true,
                                        INV_MPU6050_SENSOR_GYRO);
                        if (result)
                                goto error_power_off;
                        /* need to wait 2 periods to have first valid sample */
                        min_sleep_us = 2 * period_us;
                        max_sleep_us = 2 * (period_us + period_us / 2);
                        usleep_range(min_sleep_us, max_sleep_us);
                }
                ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
                                              chan->channel2, val);
                break;
        case IIO_ACCEL:
                if (!st->chip_config.accl_en) {
                        result = inv_mpu6050_switch_engine(st, true,
                                        INV_MPU6050_SENSOR_ACCL);
                        if (result)
                                goto error_power_off;
                        /* wait 1 period for first sample availability */
                        min_sleep_us = period_us;
                        max_sleep_us = period_us + period_us / 2;
                        usleep_range(min_sleep_us, max_sleep_us);
                }
                ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
                                              chan->channel2, val);
                break;
        case IIO_TEMP:
                /* temperature sensor work only with accel and/or gyro */
                if (!st->chip_config.accl_en && !st->chip_config.gyro_en) {
                        result = -EBUSY;
                        goto error_power_off;
                }
                if (!st->chip_config.temp_en) {
                        result = inv_mpu6050_switch_engine(st, true,
                                        INV_MPU6050_SENSOR_TEMP);
                        if (result)
                                goto error_power_off;
                        /* wait 1 period for first sample availability */
                        min_sleep_us = period_us;
                        max_sleep_us = period_us + period_us / 2;
                        usleep_range(min_sleep_us, max_sleep_us);
                }
                ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
                                              IIO_MOD_X, val);
                break;
        case IIO_MAGN:
                if (!st->chip_config.magn_en) {
                        result = inv_mpu6050_switch_engine(st, true,
                                        INV_MPU6050_SENSOR_MAGN);
                        if (result)
                                goto error_power_off;
                        /* frequency is limited for magnetometer */
                        if (freq_hz > INV_MPU_MAGN_FREQ_HZ_MAX) {
                                freq_hz = INV_MPU_MAGN_FREQ_HZ_MAX;
                                period_us = 1000000 / freq_hz;
                        }
                        /* need to wait 2 periods to have first valid sample */
                        min_sleep_us = 2 * period_us;
                        max_sleep_us = 2 * (period_us + period_us / 2);
                        usleep_range(min_sleep_us, max_sleep_us);
                }
                ret = inv_mpu_magn_read(st, chan->channel2, val);
                break;
        default:
                ret = -EINVAL;
                break;
        }

        pm_runtime_put_autosuspend(pdev);

        return ret;

error_power_off:
        pm_runtime_put_autosuspend(pdev);
        return result;
}

static int
inv_mpu6050_read_raw(struct iio_dev *indio_dev,
                     struct iio_chan_spec const *chan,
                     int *val, int *val2, long mask)
{
        struct inv_mpu6050_state  *st = iio_priv(indio_dev);
        int ret = 0;

        switch (mask) {
        case IIO_CHAN_INFO_RAW:
                if (!iio_device_claim_direct(indio_dev))
                        return -EBUSY;
                mutex_lock(&st->lock);
                ret = inv_mpu6050_read_channel_data(indio_dev, chan, val);
                mutex_unlock(&st->lock);
                iio_device_release_direct(indio_dev);
                return ret;
        case IIO_CHAN_INFO_SCALE:
                switch (chan->type) {
                case IIO_ANGL_VEL:
                        mutex_lock(&st->lock);
                        *val  = 0;
                        *val2 = gyro_scale_6050[st->chip_config.fsr];
                        mutex_unlock(&st->lock);

                        return IIO_VAL_INT_PLUS_NANO;
                case IIO_ACCEL:
                        mutex_lock(&st->lock);
                        *val = 0;
                        *val2 = accel_scale[st->chip_config.accl_fs];
                        mutex_unlock(&st->lock);

                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_TEMP:
                        *val = st->hw->temp.scale / 1000000;
                        *val2 = st->hw->temp.scale % 1000000;
                        return IIO_VAL_INT_PLUS_MICRO;
                case IIO_MAGN:
                        return inv_mpu_magn_get_scale(st, chan, val, val2);
                default:
                        return -EINVAL;
                }
        case IIO_CHAN_INFO_OFFSET:
                switch (chan->type) {
                case IIO_TEMP:
                        *val = st->hw->temp.offset;
                        return IIO_VAL_INT;
                default:
                        return -EINVAL;
                }
        case IIO_CHAN_INFO_CALIBBIAS:
                switch (chan->type) {
                case IIO_ANGL_VEL:
                        mutex_lock(&st->lock);
                        ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
                                                chan->channel2, val);
                        mutex_unlock(&st->lock);
                        return ret;
                case IIO_ACCEL:
                        mutex_lock(&st->lock);
                        ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
                                                chan->channel2, val);
                        mutex_unlock(&st->lock);
                        return ret;

                default:
                        return -EINVAL;
                }
        default:
                return -EINVAL;
        }
}

static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val,
                                        int val2)
{
        int result, i;

        if (val != 0)
                return -EINVAL;

        for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
                if (gyro_scale_6050[i] == val2) {
                        result = inv_mpu6050_set_gyro_fsr(st, i);
                        if (result)
                                return result;

                        st->chip_config.fsr = i;
                        return 0;
                }
        }

        return -EINVAL;
}

static int inv_write_raw_get_fmt(struct iio_dev *indio_dev,
                                 struct iio_chan_spec const *chan, long mask)
{
        switch (mask) {
        case IIO_CHAN_INFO_SCALE:
                switch (chan->type) {
                case IIO_ANGL_VEL:
                        return IIO_VAL_INT_PLUS_NANO;
                default:
                        return IIO_VAL_INT_PLUS_MICRO;
                }
        default:
                return IIO_VAL_INT_PLUS_MICRO;
        }

        return -EINVAL;
}

static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val,
                                         int val2)
{
        int result, i;
        u8 d;

        if (val != 0)
                return -EINVAL;

        for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
                if (accel_scale[i] == val2) {
                        d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
                        result = regmap_write(st->map, st->reg->accl_config, d);
                        if (result)
                                return result;

                        st->chip_config.accl_fs = i;
                        return 0;
                }
        }

        return -EINVAL;
}

static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
                                 struct iio_chan_spec const *chan,
                                 int val, int val2, long mask)
{
        struct inv_mpu6050_state  *st = iio_priv(indio_dev);
        struct device *pdev = regmap_get_device(st->map);
        int result;

        /*
         * we should only update scale when the chip is disabled, i.e.
         * not running
         */
        if (!iio_device_claim_direct(indio_dev))
                return -EBUSY;

        mutex_lock(&st->lock);
        result = pm_runtime_resume_and_get(pdev);
        if (result)
                goto error_write_raw_unlock;

        switch (mask) {
        case IIO_CHAN_INFO_SCALE:
                switch (chan->type) {
                case IIO_ANGL_VEL:
                        result = inv_mpu6050_write_gyro_scale(st, val, val2);
                        break;
                case IIO_ACCEL:
                        result = inv_mpu6050_write_accel_scale(st, val, val2);
                        break;
                default:
                        result = -EINVAL;
                        break;
                }
                break;
        case IIO_CHAN_INFO_CALIBBIAS:
                switch (chan->type) {
                case IIO_ANGL_VEL:
                        result = inv_mpu6050_sensor_set(st,
                                                        st->reg->gyro_offset,
                                                        chan->channel2, val);
                        break;
                case IIO_ACCEL:
                        result = inv_mpu6050_sensor_set(st,
                                                        st->reg->accl_offset,
                                                        chan->channel2, val);
                        break;
                default:
                        result = -EINVAL;
                        break;
                }
                break;
        default:
                result = -EINVAL;
                break;
        }

        pm_runtime_put_autosuspend(pdev);
error_write_raw_unlock:
        mutex_unlock(&st->lock);
        iio_device_release_direct(indio_dev);

        return result;
}

static u64 inv_mpu6050_convert_wom_to_roc(unsigned int threshold, unsigned int freq_div)
{
        /* 4mg per LSB converted in m/s² in micro (1000000) */
        const unsigned int convert = 4U * 9807U;
        u64 value;

        value = threshold * convert;

        /* compute the differential by multiplying by the frequency */
        return div_u64(value * INV_MPU6050_INTERNAL_FREQ_HZ, freq_div);
}

static unsigned int inv_mpu6050_convert_roc_to_wom(u64 roc, unsigned int freq_div)
{
        /* 4mg per LSB converted in m/s² in micro (1000000) */
        const unsigned int convert = 4U * 9807U;
        u64 value;

        /* return 0 only if roc is 0 */
        if (roc == 0)
                return 0;

        value = div_u64(roc * freq_div, convert * INV_MPU6050_INTERNAL_FREQ_HZ);

        /* limit value to 8 bits and prevent 0 */
        return min(255, max(1, value));
}

static int inv_mpu6050_set_wom_int(struct inv_mpu6050_state *st, bool on)
{
        unsigned int reg_val, val;

        switch (st->chip_type) {
        case INV_MPU6050:
        case INV_MPU6500:
        case INV_MPU6515:
        case INV_MPU6880:
        case INV_MPU6000:
        case INV_MPU9150:
        case INV_MPU9250:
        case INV_MPU9255:
                reg_val = INV_MPU6500_BIT_WOM_INT_EN;
                break;
        default:
                reg_val = INV_ICM20608_BIT_WOM_INT_EN;
                break;
        }

        val = on ? reg_val : 0;

        return regmap_update_bits(st->map, st->reg->int_enable, reg_val, val);
}

static int inv_mpu6050_set_wom_threshold(struct inv_mpu6050_state *st, u64 value,
                                         unsigned int freq_div)
{
        unsigned int threshold;
        int result;

        /* convert roc to wom threshold and convert back to handle clipping */
        threshold = inv_mpu6050_convert_roc_to_wom(value, freq_div);
        value = inv_mpu6050_convert_wom_to_roc(threshold, freq_div);

        dev_dbg(regmap_get_device(st->map), "wom_threshold: 0x%x\n", threshold);

        switch (st->chip_type) {
        case INV_ICM20609:
        case INV_ICM20689:
        case INV_ICM20600:
        case INV_ICM20602:
        case INV_ICM20690:
                st->data[0] = threshold;
                st->data[1] = threshold;
                st->data[2] = threshold;
                result = regmap_bulk_write(st->map, INV_ICM20609_REG_ACCEL_WOM_X_THR,
                                           st->data, 3);
                break;
        default:
                result = regmap_write(st->map, INV_MPU6500_REG_WOM_THRESHOLD, threshold);
                break;
        }
        if (result)
                return result;

        st->chip_config.roc_threshold = value;

        return 0;
}

static int inv_mpu6050_set_lp_odr(struct inv_mpu6050_state *st, unsigned int freq_div,
                                  unsigned int *lp_div)
{
        static const unsigned int freq_dividers[] = {2, 4, 8, 16, 32, 64, 128, 256};
        static const unsigned int reg_values[] = {
                INV_MPU6050_LPOSC_500HZ, INV_MPU6050_LPOSC_250HZ,
                INV_MPU6050_LPOSC_125HZ, INV_MPU6050_LPOSC_62HZ,
                INV_MPU6050_LPOSC_31HZ, INV_MPU6050_LPOSC_16HZ,
                INV_MPU6050_LPOSC_8HZ, INV_MPU6050_LPOSC_4HZ,
        };
        unsigned int val, i;

        switch (st->chip_type) {
        case INV_ICM20609:
        case INV_ICM20689:
        case INV_ICM20600:
        case INV_ICM20602:
        case INV_ICM20690:
                /* nothing to do */
                *lp_div = INV_MPU6050_FREQ_DIVIDER(st);
                return 0;
        default:
                break;
        }

        /* found the nearest superior frequency divider */
        i = ARRAY_SIZE(reg_values) - 1;
        val = reg_values[i];
        *lp_div = freq_dividers[i];
        for (i = 0; i < ARRAY_SIZE(freq_dividers); ++i) {
                if (freq_div <= freq_dividers[i]) {
                        val = reg_values[i];
                        *lp_div = freq_dividers[i];
                        break;
                }
        }

        dev_dbg(regmap_get_device(st->map), "lp_odr: 0x%x\n", val);
        return regmap_write(st->map, INV_MPU6500_REG_LP_ODR, val);
}

static int inv_mpu6050_set_wom_lp(struct inv_mpu6050_state *st, bool on)
{
        unsigned int lp_div;
        int result;

        if (on) {
                /* set low power ODR */
                result = inv_mpu6050_set_lp_odr(st, INV_MPU6050_FREQ_DIVIDER(st), &lp_div);
                if (result)
                        return result;
                /* disable accel low pass filter */
                result = inv_mpu6050_set_accel_lpf_regs(st, INV_MPU6050_FILTER_NOLPF);
                if (result)
                        return result;
                /* update wom threshold with new low-power frequency divider */
                result = inv_mpu6050_set_wom_threshold(st, st->chip_config.roc_threshold, lp_div);
                if (result)
                        return result;
                /* set cycle mode */
                result = inv_mpu6050_pwr_mgmt_1_write(st, false, true, -1, -1);
        } else {
                /* disable cycle mode */
                result = inv_mpu6050_pwr_mgmt_1_write(st, false, false, -1, -1);
                if (result)
                        return result;
                /* restore wom threshold */
                result = inv_mpu6050_set_wom_threshold(st, st->chip_config.roc_threshold,
                                                       INV_MPU6050_FREQ_DIVIDER(st));
                if (result)
                        return result;
                /* restore accel low pass filter */
                result = inv_mpu6050_set_accel_lpf_regs(st, st->chip_config.lpf);
        }

        return result;
}

static int inv_mpu6050_enable_wom(struct inv_mpu6050_state *st, bool en)
{
        struct device *pdev = regmap_get_device(st->map);
        unsigned int mask;
        int result;

        if (en) {
                result = pm_runtime_resume_and_get(pdev);
                if (result)
                        return result;

                mask = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_WOM;
                result = inv_mpu6050_switch_engine(st, true, mask);
                if (result)
                        goto error_suspend;

                result = inv_mpu6050_set_wom_int(st, true);
                if (result)
                        goto error_suspend;
        } else {
                result = inv_mpu6050_set_wom_int(st, false);
                if (result)
                        dev_err(pdev, "error %d disabling WoM interrupt bit", result);

                /* disable only WoM and let accel be disabled by autosuspend */
                result = inv_mpu6050_switch_engine(st, false, INV_MPU6050_SENSOR_WOM);
                if (result) {
                        dev_err(pdev, "error %d disabling WoM force off", result);
                        /* force WoM off */
                        st->chip_config.wom_en = false;
                }

                pm_runtime_put_autosuspend(pdev);
        }

        return result;

error_suspend:
        pm_runtime_put_autosuspend(pdev);
        return result;
}

static int inv_mpu6050_read_event_config(struct iio_dev *indio_dev,
                                         const struct iio_chan_spec *chan,
                                         enum iio_event_type type,
                                         enum iio_event_direction dir)
{
        struct inv_mpu6050_state *st = iio_priv(indio_dev);

        /* support only WoM (accel roc rising) event */
        if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
            dir != IIO_EV_DIR_RISING)
                return -EINVAL;

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

        return st->chip_config.wom_en ? 1 : 0;
}

static int inv_mpu6050_write_event_config(struct iio_dev *indio_dev,
                                          const struct iio_chan_spec *chan,
                                          enum iio_event_type type,
                                          enum iio_event_direction dir,
                                          bool state)
{
        struct inv_mpu6050_state *st = iio_priv(indio_dev);

        /* support only WoM (accel roc rising) event */
        if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
            dir != IIO_EV_DIR_RISING)
                return -EINVAL;

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

        if (st->chip_config.wom_en == state)
                return 0;

        return inv_mpu6050_enable_wom(st, state);
}

static int inv_mpu6050_read_event_value(struct iio_dev *indio_dev,
                                        const struct iio_chan_spec *chan,
                                        enum iio_event_type type,
                                        enum iio_event_direction dir,
                                        enum iio_event_info info,
                                        int *val, int *val2)
{
        struct inv_mpu6050_state *st = iio_priv(indio_dev);
        u32 rem;

        /* support only WoM (accel roc rising) event value */
        if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
            dir != IIO_EV_DIR_RISING || info != IIO_EV_INFO_VALUE)
                return -EINVAL;

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

        /* return value in micro */
        *val = div_u64_rem(st->chip_config.roc_threshold, 1000000U, &rem);
        *val2 = rem;

        return IIO_VAL_INT_PLUS_MICRO;
}

static int inv_mpu6050_write_event_value(struct iio_dev *indio_dev,
                                         const struct iio_chan_spec *chan,
                                         enum iio_event_type type,
                                         enum iio_event_direction dir,
                                         enum iio_event_info info,
                                         int val, int val2)
{
        struct inv_mpu6050_state *st = iio_priv(indio_dev);
        struct device *pdev = regmap_get_device(st->map);
        u64 value;
        int result;

        /* support only WoM (accel roc rising) event value */
        if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
            dir != IIO_EV_DIR_RISING || info != IIO_EV_INFO_VALUE)
                return -EINVAL;

        if (val < 0 || val2 < 0)
                return -EINVAL;

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

        result = pm_runtime_resume_and_get(pdev);
        if (result)
                return result;

        value = (u64)val * 1000000ULL + (u64)val2;
        result = inv_mpu6050_set_wom_threshold(st, value, INV_MPU6050_FREQ_DIVIDER(st));

        pm_runtime_put_autosuspend(pdev);

        return result;
}

/*
 *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
 *
 *                  Based on the Nyquist principle, the bandwidth of the low
 *                  pass filter must not exceed the signal sampling rate divided
 *                  by 2, or there would be aliasing.
 *                  This function basically search for the correct low pass
 *                  parameters based on the fifo rate, e.g, sampling frequency.
 *
 *  lpf is set automatically when setting sampling rate to avoid any aliases.
 */
static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
{
        static const int hz[] = {400, 200, 90, 40, 20, 10};
        static const int d[] = {
                INV_MPU6050_FILTER_200HZ, INV_MPU6050_FILTER_100HZ,
                INV_MPU6050_FILTER_45HZ, INV_MPU6050_FILTER_20HZ,
                INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
        };
        int i, result;
        u8 data;

        data = INV_MPU6050_FILTER_5HZ;
        for (i = 0; i < ARRAY_SIZE(hz); ++i) {
                if (rate >= hz[i]) {
                        data = d[i];
                        break;
                }
        }
        result = inv_mpu6050_set_lpf_regs(st, data);
        if (result)
                return result;
        st->chip_config.lpf = data;

        return 0;
}

/*
 * inv_mpu6050_fifo_rate_store() - Set fifo rate.
 */
static ssize_t
inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
                            const char *buf, size_t count)
{
        int fifo_rate;
        u32 fifo_period;
        bool fifo_on;
        u8 d;
        int result;
        struct iio_dev *indio_dev = dev_to_iio_dev(dev);
        struct inv_mpu6050_state *st = iio_priv(indio_dev);
        struct device *pdev = regmap_get_device(st->map);

        if (kstrtoint(buf, 10, &fifo_rate))
                return -EINVAL;
        if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
            fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
                return -EINVAL;

        /* compute the chip sample rate divider */
        d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
        /* compute back the fifo rate to handle truncation cases */
        fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d);
        fifo_period = NSEC_PER_SEC / fifo_rate;

        mutex_lock(&st->lock);
        if (d == st->chip_config.divider) {
                result = 0;
                goto fifo_rate_fail_unlock;
        }

        fifo_on = st->chip_config.accl_fifo_enable ||
                  st->chip_config.gyro_fifo_enable ||
                  st->chip_config.magn_fifo_enable;
        result = inv_sensors_timestamp_update_odr(&st->timestamp, fifo_period, fifo_on);
        if (result)
                goto fifo_rate_fail_unlock;

        result = pm_runtime_resume_and_get(pdev);
        if (result)
                goto fifo_rate_fail_unlock;

        result = regmap_write(st->map, st->reg->sample_rate_div, d);
        if (result)
                goto fifo_rate_fail_power_off;
        st->chip_config.divider = d;

        result = inv_mpu6050_set_lpf(st, fifo_rate);
        if (result)
                goto fifo_rate_fail_power_off;

        /* update rate for magn, noop if not present in chip */
        result = inv_mpu_magn_set_rate(st, fifo_rate);
        if (result)
                goto fifo_rate_fail_power_off;

        /* update wom threshold since roc is dependent on sampling frequency */
        result = inv_mpu6050_set_wom_threshold(st, st->chip_config.roc_threshold,
                                               INV_MPU6050_FREQ_DIVIDER(st));
        if (result)
                goto fifo_rate_fail_power_off;

fifo_rate_fail_power_off:
        pm_runtime_put_autosuspend(pdev);
fifo_rate_fail_unlock:
        mutex_unlock(&st->lock);
        if (result)
                return result;

        return count;
}

/*
 * inv_fifo_rate_show() - Get the current sampling rate.
 */
static ssize_t
inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
                   char *buf)
{
        struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
        unsigned fifo_rate;

        mutex_lock(&st->lock);
        fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
        mutex_unlock(&st->lock);

        return sysfs_emit(buf, "%u\n", fifo_rate);
}

/*
 * inv_attr_show() - calling this function will show current
 *                    parameters.
 *
 * Deprecated in favor of IIO mounting matrix API.
 *
 * See inv_get_mount_matrix()
 */
static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
                             char *buf)
{
        struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
        struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
        s8 *m;

        switch (this_attr->address) {
        /*
         * In MPU6050, the two matrix are the same because gyro and accel
         * are integrated in one chip
         */
        case ATTR_GYRO_MATRIX:
        case ATTR_ACCL_MATRIX:
                m = st->plat_data.orientation;

                return sysfs_emit(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
                        m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
        default:
                return -EINVAL;
        }
}

/**
 * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
 *                                  MPU6050 device.
 * @indio_dev: The IIO device
 * @trig: The new trigger
 *
 * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
 * device, -EINVAL otherwise.
 */
static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
                                        struct iio_trigger *trig)
{
        struct inv_mpu6050_state *st = iio_priv(indio_dev);

        if (st->trig != trig)
                return -EINVAL;

        return 0;
}

static const struct iio_mount_matrix *
inv_get_mount_matrix(const struct iio_dev *indio_dev,
                     const struct iio_chan_spec *chan)
{
        struct inv_mpu6050_state *data = iio_priv(indio_dev);
        const struct iio_mount_matrix *matrix;

        if (chan->type == IIO_MAGN)
                matrix = &data->magn_orient;
        else
                matrix = &data->orientation;

        return matrix;
}

static const struct iio_chan_spec_ext_info inv_ext_info[] = {
        IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
        { }
};

static const struct iio_event_spec inv_wom_events[] = {
        {
                .type = IIO_EV_TYPE_ROC,
                .dir = IIO_EV_DIR_RISING,
                .mask_separate = BIT(IIO_EV_INFO_ENABLE) |
                                 BIT(IIO_EV_INFO_VALUE),
        },
};

#define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
        {                                                             \
                .type = _type,                                        \
                .modified = 1,                                        \
                .channel2 = _channel2,                                \
                .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
                .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |        \
                                      BIT(IIO_CHAN_INFO_CALIBBIAS),   \
                .scan_index = _index,                                 \
                .scan_type = {                                        \
                                .sign = 's',                          \
                                .realbits = 16,                       \
                                .storagebits = 16,                    \
                                .shift = 0,                           \
                                .endianness = IIO_BE,                 \
                             },                                       \
                .ext_info = inv_ext_info,                             \
        }

#define INV_MPU6050_TEMP_CHAN(_index)                           \
        {                                                       \
                .type = IIO_TEMP,                               \
                .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)    \
                                | BIT(IIO_CHAN_INFO_OFFSET)     \
                                | BIT(IIO_CHAN_INFO_SCALE),     \
                .scan_index = _index,                           \
                .scan_type = {                                  \
                        .sign = 's',                            \
                        .realbits = 16,                         \
                        .storagebits = 16,                      \
                        .shift = 0,                             \
                        .endianness = IIO_BE,                   \
                },                                              \
        }

#define INV_MPU6050_EVENT_CHAN(_type, _channel2, _events, _events_nb)   \
{                                                                       \
        .type = _type,                                                  \
        .modified = 1,                                                  \
        .channel2 = _channel2,                                          \
        .event_spec = _events,                                          \
        .num_event_specs = _events_nb,                                  \
        .scan_index = -1,                                               \
}

static const struct iio_chan_spec inv_mpu6050_channels[] = {
        IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),

        INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),

        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),

        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
};

static const struct iio_chan_spec inv_iam20380_channels[] = {
        IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),

        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
};

static const struct iio_chan_spec inv_mpu6500_channels[] = {
        IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),

        INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),

        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),

        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),

        INV_MPU6050_EVENT_CHAN(IIO_ACCEL, IIO_MOD_X_OR_Y_OR_Z,
                               inv_wom_events, ARRAY_SIZE(inv_wom_events)),
};

#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL       \
        (BIT(INV_MPU6050_SCAN_ACCL_X)           \
        | BIT(INV_MPU6050_SCAN_ACCL_Y)          \
        | BIT(INV_MPU6050_SCAN_ACCL_Z))

#define INV_MPU6050_SCAN_MASK_3AXIS_GYRO        \
        (BIT(INV_MPU6050_SCAN_GYRO_X)           \
        | BIT(INV_MPU6050_SCAN_GYRO_Y)          \
        | BIT(INV_MPU6050_SCAN_GYRO_Z))

#define INV_MPU6050_SCAN_MASK_TEMP              (BIT(INV_MPU6050_SCAN_TEMP))

static const unsigned long inv_mpu_scan_masks[] = {
        /* 3-axis accel */
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
        /* 3-axis gyro */
        INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
        INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
        /* 6-axis accel + gyro */
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
                | INV_MPU6050_SCAN_MASK_TEMP,
        0,
};

#define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index)                    \
        {                                                               \
                .type = IIO_MAGN,                                       \
                .modified = 1,                                          \
                .channel2 = _chan2,                                     \
                .info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) |        \
                                      BIT(IIO_CHAN_INFO_RAW),           \
                .scan_index = _index,                                   \
                .scan_type = {                                          \
                        .sign = 's',                                    \
                        .realbits = _bits,                              \
                        .storagebits = 16,                              \
                        .shift = 0,                                     \
                        .endianness = IIO_BE,                           \
                },                                                      \
                .ext_info = inv_ext_info,                               \
        }

static const struct iio_chan_spec inv_mpu9150_channels[] = {
        IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),

        INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),

        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),

        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),

        /* Magnetometer resolution is 13 bits */
        INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 13, INV_MPU9X50_SCAN_MAGN_X),
        INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 13, INV_MPU9X50_SCAN_MAGN_Y),
        INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 13, INV_MPU9X50_SCAN_MAGN_Z),
};

static const struct iio_chan_spec inv_mpu9250_channels[] = {
        IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),

        INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),

        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),

        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),

        /* Magnetometer resolution is 16 bits */
        INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
        INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),
        INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
};

#define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN        \
        (BIT(INV_MPU9X50_SCAN_MAGN_X)           \
        | BIT(INV_MPU9X50_SCAN_MAGN_Y)          \
        | BIT(INV_MPU9X50_SCAN_MAGN_Z))

static const unsigned long inv_iam20380_scan_masks[] = {
        INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
};

static const unsigned long inv_mpu9x50_scan_masks[] = {
        /* 3-axis accel */
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
        /* 3-axis gyro */
        INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
        INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
        /* 3-axis magn */
        INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
        INV_MPU9X50_SCAN_MASK_3AXIS_MAGN | INV_MPU6050_SCAN_MASK_TEMP,
        /* 6-axis accel + gyro */
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
                | INV_MPU6050_SCAN_MASK_TEMP,
        /* 6-axis accel + magn */
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
                | INV_MPU6050_SCAN_MASK_TEMP,
        /* 6-axis gyro + magn */
        INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
        INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
                | INV_MPU6050_SCAN_MASK_TEMP,
        /* 9-axis accel + gyro + magn */
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
                | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
                | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
                | INV_MPU6050_SCAN_MASK_TEMP,
        0,
};

static const unsigned long inv_icm20602_scan_masks[] = {
        /* 3-axis accel + temp (mandatory) */
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
        /* 3-axis gyro + temp (mandatory) */
        INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
        /* 6-axis accel + gyro + temp (mandatory) */
        INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
                | INV_MPU6050_SCAN_MASK_TEMP,
        0,
};

/*
 * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and
 * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the
 * low-pass filter. Specifically, each of these sampling rates are about twice
 * the bandwidth of a corresponding low-pass filter, which should eliminate
 * aliasing following the Nyquist principle. By picking a frequency different
 * from these, the user risks aliasing effects.
 */
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
static IIO_CONST_ATTR(in_anglvel_scale_available,
                                          "0.000133090 0.000266181 0.000532362 0.001064724");
static IIO_CONST_ATTR(in_accel_scale_available,
                                          "0.000598 0.001196 0.002392 0.004785");
static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
        inv_mpu6050_fifo_rate_store);

/* Deprecated: kept for userspace backward compatibility. */
static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
        ATTR_GYRO_MATRIX);
static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
        ATTR_ACCL_MATRIX);

static struct attribute *inv_attributes[] = {
        &iio_dev_attr_in_gyro_matrix.dev_attr.attr,  /* deprecated */
        &iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
        &iio_dev_attr_sampling_frequency.dev_attr.attr,
        &iio_const_attr_sampling_frequency_available.dev_attr.attr,
        &iio_const_attr_in_accel_scale_available.dev_attr.attr,
        &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
        NULL,
};

static const struct attribute_group inv_attribute_group = {
        .attrs = inv_attributes
};

static int inv_mpu6050_reg_access(struct iio_dev *indio_dev,
                                  unsigned int reg,
                                  unsigned int writeval,
                                  unsigned int *readval)
{
        struct inv_mpu6050_state *st = iio_priv(indio_dev);
        int ret;

        mutex_lock(&st->lock);
        if (readval)
                ret = regmap_read(st->map, reg, readval);
        else
                ret = regmap_write(st->map, reg, writeval);
        mutex_unlock(&st->lock);

        return ret;
}

static const struct iio_info mpu_info = {
        .read_raw = &inv_mpu6050_read_raw,
        .write_raw = &inv_mpu6050_write_raw,
        .write_raw_get_fmt = &inv_write_raw_get_fmt,
        .attrs = &inv_attribute_group,
        .read_event_config = inv_mpu6050_read_event_config,
        .write_event_config = inv_mpu6050_write_event_config,
        .read_event_value = inv_mpu6050_read_event_value,
        .write_event_value = inv_mpu6050_write_event_value,
        .validate_trigger = inv_mpu6050_validate_trigger,
        .debugfs_reg_access = &inv_mpu6050_reg_access,
};

/*
 *  inv_check_and_setup_chip() - check and setup chip.
 */
static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
{
        int result;
        unsigned int regval, mask;
        int i;

        st->hw  = &hw_info[st->chip_type];
        st->reg = hw_info[st->chip_type].reg;
        memcpy(&st->chip_config, hw_info[st->chip_type].config,
               sizeof(st->chip_config));
        st->data = devm_kzalloc(regmap_get_device(st->map), st->hw->fifo_size, GFP_KERNEL);
        if (st->data == NULL)
                return -ENOMEM;

        /* check chip self-identification */
        result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, &regval);
        if (result)
                return result;
        if (regval != st->hw->whoami) {
                /* check whoami against all possible values */
                for (i = 0; i < INV_NUM_PARTS; ++i) {
                        if (regval == hw_info[i].whoami) {
                                dev_warn(regmap_get_device(st->map),
                                        "whoami mismatch got 0x%02x (%s) expected 0x%02x (%s)\n",
                                        regval, hw_info[i].name,
                                        st->hw->whoami, st->hw->name);
                                break;
                        }
                }
                if (i >= INV_NUM_PARTS) {
                        dev_err(regmap_get_device(st->map),
                                "invalid whoami 0x%02x expected 0x%02x (%s)\n",
                                regval, st->hw->whoami, st->hw->name);
                        return -ENODEV;
                }
        }

        /* reset to make sure previous state are not there */
        result = regmap_write(st->map, st->reg->pwr_mgmt_1,
                              INV_MPU6050_BIT_H_RESET);
        if (result)
                return result;
        msleep(INV_MPU6050_POWER_UP_TIME);
        switch (st->chip_type) {
        case INV_MPU6000:
        case INV_MPU6500:
        case INV_MPU6515:
        case INV_MPU6880:
        case INV_MPU9250:
        case INV_MPU9255:
                /* reset signal path (required for spi connection) */
                regval = INV_MPU6050_BIT_TEMP_RST | INV_MPU6050_BIT_ACCEL_RST |
                         INV_MPU6050_BIT_GYRO_RST;
                result = regmap_write(st->map, INV_MPU6050_REG_SIGNAL_PATH_RESET,
                                      regval);
                if (result)
                        return result;
                msleep(INV_MPU6050_POWER_UP_TIME);
                break;
        default:
                break;
        }

        /*
         * Turn power on. After reset, the sleep bit could be on
         * or off depending on the OTP settings. Turning power on
         * make it in a definite state as well as making the hardware
         * state align with the software state
         */
        result = inv_mpu6050_set_power_itg(st, true);
        if (result)
                return result;
        mask = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
                        INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
        result = inv_mpu6050_switch_engine(st, false, mask);
        if (result)
                goto error_power_off;

        return 0;

error_power_off:
        inv_mpu6050_set_power_itg(st, false);
        return result;
}

static int inv_mpu_core_enable_regulator_vddio(struct inv_mpu6050_state *st)
{
        int result;

        result = regulator_enable(st->vddio_supply);
        if (result) {
                dev_err(regmap_get_device(st->map),
                        "Failed to enable vddio regulator: %d\n", result);
        } else {
                /* Give the device a little bit of time to start up. */
                usleep_range(3000, 5000);
        }

        return result;
}

static int inv_mpu_core_disable_regulator_vddio(struct inv_mpu6050_state *st)
{
        int result;

        result = regulator_disable(st->vddio_supply);
        if (result)
                dev_err(regmap_get_device(st->map),
                        "Failed to disable vddio regulator: %d\n", result);

        return result;
}

static void inv_mpu_core_disable_regulator_action(void *_data)
{
        struct inv_mpu6050_state *st = _data;
        int result;

        result = regulator_disable(st->vdd_supply);
        if (result)
                dev_err(regmap_get_device(st->map),
                        "Failed to disable vdd regulator: %d\n", result);

        inv_mpu_core_disable_regulator_vddio(st);
}

static void inv_mpu_pm_disable(void *data)
{
        struct device *dev = data;

        pm_runtime_disable(dev);
}

int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
                int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
{
        struct inv_mpu6050_state *st;
        struct iio_dev *indio_dev;
        struct inv_mpu6050_platform_data *pdata;
        struct device *dev = regmap_get_device(regmap);
        int result;
        int irq_type;

        indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
        if (!indio_dev)
                return -ENOMEM;

        BUILD_BUG_ON(ARRAY_SIZE(hw_info) != INV_NUM_PARTS);
        if (chip_type < 0 || chip_type >= INV_NUM_PARTS) {
                dev_err(dev, "Bad invensense chip_type=%d name=%s\n",
                                chip_type, name);
                return -ENODEV;
        }
        st = iio_priv(indio_dev);
        mutex_init(&st->lock);
        st->chip_type = chip_type;
        st->irq = irq;
        st->map = regmap;

        st->level_shifter = device_property_read_bool(dev,
                                                      "invensense,level-shifter");
        pdata = dev_get_platdata(dev);
        if (!pdata) {
                result = iio_read_mount_matrix(dev, &st->orientation);
                if (result) {
                        dev_err(dev, "Failed to retrieve mounting matrix %d\n",
                                result);
                        return result;
                }
        } else {
                st->plat_data = *pdata;
        }

        if (irq > 0) {
                irq_type = irq_get_trigger_type(irq);
                if (!irq_type)
                        irq_type = IRQF_TRIGGER_RISING;
        } else {
                /* Doesn't really matter, use the default */
                irq_type = IRQF_TRIGGER_RISING;
        }

        if (irq_type & IRQF_TRIGGER_RISING)     // rising or both-edge
                st->irq_mask = INV_MPU6050_ACTIVE_HIGH;
        else if (irq_type == IRQF_TRIGGER_FALLING)
                st->irq_mask = INV_MPU6050_ACTIVE_LOW;
        else if (irq_type == IRQF_TRIGGER_HIGH)
                st->irq_mask = INV_MPU6050_ACTIVE_HIGH |
                        INV_MPU6050_LATCH_INT_EN;
        else if (irq_type == IRQF_TRIGGER_LOW)
                st->irq_mask = INV_MPU6050_ACTIVE_LOW |
                        INV_MPU6050_LATCH_INT_EN;
        else {
                dev_err(dev, "Invalid interrupt type 0x%x specified\n",
                        irq_type);
                return -EINVAL;
        }

        /*
         * Acking interrupts by status register does not work reliably
         * but seem to work when this bit is set.
         */
        if (st->chip_type == INV_MPU9150)
                st->irq_mask |= INV_MPU6050_INT_RD_CLEAR;

        device_set_wakeup_capable(dev, true);

        st->vdd_supply = devm_regulator_get(dev, "vdd");
        if (IS_ERR(st->vdd_supply))
                return dev_err_probe(dev, PTR_ERR(st->vdd_supply),
                                     "Failed to get vdd regulator\n");

        st->vddio_supply = devm_regulator_get(dev, "vddio");
        if (IS_ERR(st->vddio_supply))
                return dev_err_probe(dev, PTR_ERR(st->vddio_supply),
                                     "Failed to get vddio regulator\n");

        result = regulator_enable(st->vdd_supply);
        if (result) {
                dev_err(dev, "Failed to enable vdd regulator: %d\n", result);
                return result;
        }
        msleep(INV_MPU6050_POWER_UP_TIME);

        result = inv_mpu_core_enable_regulator_vddio(st);
        if (result) {
                regulator_disable(st->vdd_supply);
                return result;
        }

        result = devm_add_action_or_reset(dev, inv_mpu_core_disable_regulator_action,
                                 st);
        if (result) {
                dev_err(dev, "Failed to setup regulator cleanup action %d\n",
                        result);
                return result;
        }

        /* fill magnetometer orientation */
        result = inv_mpu_magn_set_orient(st);
        if (result)
                return result;

        /* power is turned on inside check chip type*/
        result = inv_check_and_setup_chip(st);
        if (result)
                return result;

        result = inv_mpu6050_init_config(indio_dev);
        if (result) {
                dev_err(dev, "Could not initialize device.\n");
                goto error_power_off;
        }

        dev_set_drvdata(dev, indio_dev);
        /* name will be NULL when enumerated via ACPI */
        if (name)
                indio_dev->name = name;
        else
                indio_dev->name = dev_name(dev);

        /* requires parent device set in indio_dev */
        if (inv_mpu_bus_setup) {
                result = inv_mpu_bus_setup(indio_dev);
                if (result)
                        goto error_power_off;
        }

        /* chip init is done, turning on runtime power management */
        result = pm_runtime_set_active(dev);
        if (result)
                goto error_power_off;
        pm_runtime_get_noresume(dev);
        pm_runtime_enable(dev);
        pm_runtime_set_autosuspend_delay(dev, INV_MPU6050_SUSPEND_DELAY_MS);
        pm_runtime_use_autosuspend(dev);
        pm_runtime_put(dev);
        result = devm_add_action_or_reset(dev, inv_mpu_pm_disable, dev);
        if (result)
                return result;

        switch (chip_type) {
        case INV_MPU6000:
        case INV_MPU6050:
                indio_dev->channels = inv_mpu6050_channels;
                indio_dev->num_channels = ARRAY_SIZE(inv_mpu6050_channels);
                indio_dev->available_scan_masks = inv_mpu_scan_masks;
                break;
        case INV_MPU9150:
                indio_dev->channels = inv_mpu9150_channels;
                indio_dev->num_channels = ARRAY_SIZE(inv_mpu9150_channels);
                indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
                break;
        case INV_MPU9250:
        case INV_MPU9255:
                indio_dev->channels = inv_mpu9250_channels;
                indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
                indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
                break;
        case INV_IAM20380:
                indio_dev->channels = inv_iam20380_channels;
                indio_dev->num_channels = ARRAY_SIZE(inv_iam20380_channels);
                indio_dev->available_scan_masks = inv_iam20380_scan_masks;
                break;
        case INV_ICM20600:
        case INV_ICM20602:
                indio_dev->channels = inv_mpu6500_channels;
                indio_dev->num_channels = ARRAY_SIZE(inv_mpu6500_channels);
                indio_dev->available_scan_masks = inv_icm20602_scan_masks;
                break;
        default:
                indio_dev->channels = inv_mpu6500_channels;
                indio_dev->num_channels = ARRAY_SIZE(inv_mpu6500_channels);
                indio_dev->available_scan_masks = inv_mpu_scan_masks;
                break;
        }
        /*
         * Use magnetometer inside the chip only if there is no i2c
         * auxiliary device in use. Otherwise Going back to 6-axis only.
         */
        if (st->magn_disabled) {
                switch (chip_type) {
                case INV_MPU9150:
                        indio_dev->channels = inv_mpu6050_channels;
                        indio_dev->num_channels = ARRAY_SIZE(inv_mpu6050_channels);
                        indio_dev->available_scan_masks = inv_mpu_scan_masks;
                        break;
                default:
                        indio_dev->channels = inv_mpu6500_channels;
                        indio_dev->num_channels = ARRAY_SIZE(inv_mpu6500_channels);
                        indio_dev->available_scan_masks = inv_mpu_scan_masks;
                        break;
                }
        }

        indio_dev->info = &mpu_info;

        if (irq > 0) {
                /*
                 * The driver currently only supports buffered capture with its
                 * own trigger. So no IRQ, no trigger, no buffer
                 */
                result = devm_iio_triggered_buffer_setup(dev, indio_dev,
                                                         iio_pollfunc_store_time,
                                                         inv_mpu6050_read_fifo,
                                                         NULL);
                if (result) {
                        dev_err(dev, "configure buffer fail %d\n", result);
                        return result;
                }

                result = inv_mpu6050_probe_trigger(indio_dev, irq_type);
                if (result) {
                        dev_err(dev, "trigger probe fail %d\n", result);
                        return result;
                }
        }

        result = devm_iio_device_register(dev, indio_dev);
        if (result) {
                dev_err(dev, "IIO register fail %d\n", result);
                return result;
        }

        return 0;

error_power_off:
        inv_mpu6050_set_power_itg(st, false);
        return result;
}
EXPORT_SYMBOL_NS_GPL(inv_mpu_core_probe, "IIO_MPU6050");

static int inv_mpu_resume(struct device *dev)
{
        struct iio_dev *indio_dev = dev_get_drvdata(dev);
        struct inv_mpu6050_state *st = iio_priv(indio_dev);
        bool wakeup;
        int result;

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

        wakeup = device_may_wakeup(dev) && st->chip_config.wom_en;

        if (wakeup) {
                enable_irq(st->irq);
                disable_irq_wake(st->irq);
                result = inv_mpu6050_set_wom_lp(st, false);
                if (result)
                        return result;
        } else {
                result = inv_mpu_core_enable_regulator_vddio(st);
                if (result)
                        return result;
                result = inv_mpu6050_set_power_itg(st, true);
                if (result)
                        return result;
        }

        pm_runtime_disable(dev);
        pm_runtime_set_active(dev);
        pm_runtime_enable(dev);

        result = inv_mpu6050_switch_engine(st, true, st->suspended_sensors);
        if (result)
                return result;

        if (st->chip_config.wom_en && !wakeup) {
                result = inv_mpu6050_set_wom_int(st, true);
                if (result)
                        return result;
        }

        if (iio_buffer_enabled(indio_dev))
                result = inv_mpu6050_prepare_fifo(st, true);

        return result;
}

static int inv_mpu_suspend(struct device *dev)
{
        struct iio_dev *indio_dev = dev_get_drvdata(dev);
        struct inv_mpu6050_state *st = iio_priv(indio_dev);
        bool wakeup;
        int result;

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

        st->suspended_sensors = 0;
        if (pm_runtime_suspended(dev))
                return 0;

        if (iio_buffer_enabled(indio_dev)) {
                result = inv_mpu6050_prepare_fifo(st, false);
                if (result)
                        return result;
        }

        wakeup = device_may_wakeup(dev) && st->chip_config.wom_en;

        if (st->chip_config.wom_en && !wakeup) {
                result = inv_mpu6050_set_wom_int(st, false);
                if (result)
                        return result;
        }

        if (st->chip_config.accl_en && !wakeup)
                st->suspended_sensors |= INV_MPU6050_SENSOR_ACCL;
        if (st->chip_config.gyro_en)
                st->suspended_sensors |= INV_MPU6050_SENSOR_GYRO;
        if (st->chip_config.temp_en)
                st->suspended_sensors |= INV_MPU6050_SENSOR_TEMP;
        if (st->chip_config.magn_en)
                st->suspended_sensors |= INV_MPU6050_SENSOR_MAGN;
        if (st->chip_config.wom_en && !wakeup)
                st->suspended_sensors |= INV_MPU6050_SENSOR_WOM;
        result = inv_mpu6050_switch_engine(st, false, st->suspended_sensors);
        if (result)
                return result;

        if (wakeup) {
                result = inv_mpu6050_set_wom_lp(st, true);
                if (result)
                        return result;
                enable_irq_wake(st->irq);
                disable_irq(st->irq);
        } else {
                result = inv_mpu6050_set_power_itg(st, false);
                if (result)
                        return result;
                inv_mpu_core_disable_regulator_vddio(st);
        }

        return 0;
}

static int inv_mpu_runtime_suspend(struct device *dev)
{
        struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
        unsigned int sensors;
        int ret;

        mutex_lock(&st->lock);

        sensors = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
                        INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN |
                        INV_MPU6050_SENSOR_WOM;
        ret = inv_mpu6050_switch_engine(st, false, sensors);
        if (ret)
                goto out_unlock;

        ret = inv_mpu6050_set_power_itg(st, false);
        if (ret)
                goto out_unlock;

        inv_mpu_core_disable_regulator_vddio(st);

out_unlock:
        mutex_unlock(&st->lock);
        return ret;
}

static int inv_mpu_runtime_resume(struct device *dev)
{
        struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
        int ret;

        ret = inv_mpu_core_enable_regulator_vddio(st);
        if (ret)
                return ret;

        return inv_mpu6050_set_power_itg(st, true);
}

EXPORT_NS_GPL_DEV_PM_OPS(inv_mpu_pmops, IIO_MPU6050) = {
        SYSTEM_SLEEP_PM_OPS(inv_mpu_suspend, inv_mpu_resume)
        RUNTIME_PM_OPS(inv_mpu_runtime_suspend, inv_mpu_runtime_resume, NULL)
};

MODULE_AUTHOR("Invensense Corporation");
MODULE_DESCRIPTION("Invensense device MPU6050 driver");
MODULE_LICENSE("GPL");
MODULE_IMPORT_NS("IIO_INV_SENSORS_TIMESTAMP");