// SPDX-License-Identifier: GPL-2.0-or-later
/*
 * Copyright (C) 2020 Invensense, Inc.
 */

#include <linux/kernel.h>
#include <linux/device.h>
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/delay.h>
#include <linux/mutex.h>
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/regulator/consumer.h>
#include <linux/pm_runtime.h>
#include <linux/property.h>
#include <linux/regmap.h>

#include <linux/iio/iio.h>

#include "inv_icm42600.h"
#include "inv_icm42600_buffer.h"

static const struct regmap_range_cfg inv_icm42600_regmap_ranges[] = {
        {
                .name = "user banks",
                .range_min = 0x0000,
                .range_max = 0x4FFF,
                .selector_reg = INV_ICM42600_REG_BANK_SEL,
                .selector_mask = INV_ICM42600_BANK_SEL_MASK,
                .selector_shift = 0,
                .window_start = 0,
                .window_len = 0x1000,
        },
};

static const struct regmap_range inv_icm42600_regmap_volatile_yes_ranges[] = {
        /* Sensor data registers */
        regmap_reg_range(0x001D, 0x002A),
        /* INT status, FIFO, APEX data */
        regmap_reg_range(0x002D, 0x0038),
        /* Signal path reset */
        regmap_reg_range(0x004B, 0x004B),
        /* FIFO lost packets */
        regmap_reg_range(0x006C, 0x006D),
        /* Timestamp value */
        regmap_reg_range(0x1062, 0x1064),
};

static const struct regmap_range inv_icm42600_regmap_volatile_no_ranges[] = {
        regmap_reg_range(0x0000, 0x001C),
        regmap_reg_range(0x006E, 0x1061),
        regmap_reg_range(0x1065, 0x4FFF),
};

static const struct regmap_access_table inv_icm42600_regmap_volatile_accesses[] = {
        {
                .yes_ranges = inv_icm42600_regmap_volatile_yes_ranges,
                .n_yes_ranges = ARRAY_SIZE(inv_icm42600_regmap_volatile_yes_ranges),
                .no_ranges = inv_icm42600_regmap_volatile_no_ranges,
                .n_no_ranges = ARRAY_SIZE(inv_icm42600_regmap_volatile_no_ranges),
        },
};

static const struct regmap_range inv_icm42600_regmap_rd_noinc_no_ranges[] = {
        regmap_reg_range(0x0000, INV_ICM42600_REG_FIFO_DATA - 1),
        regmap_reg_range(INV_ICM42600_REG_FIFO_DATA + 1, 0x4FFF),
};

static const struct regmap_access_table inv_icm42600_regmap_rd_noinc_accesses[] = {
        {
                .no_ranges = inv_icm42600_regmap_rd_noinc_no_ranges,
                .n_no_ranges = ARRAY_SIZE(inv_icm42600_regmap_rd_noinc_no_ranges),
        },
};

const struct regmap_config inv_icm42600_regmap_config = {
        .name = "inv_icm42600",
        .reg_bits = 8,
        .val_bits = 8,
        .max_register = 0x4FFF,
        .ranges = inv_icm42600_regmap_ranges,
        .num_ranges = ARRAY_SIZE(inv_icm42600_regmap_ranges),
        .volatile_table = inv_icm42600_regmap_volatile_accesses,
        .rd_noinc_table = inv_icm42600_regmap_rd_noinc_accesses,
        .cache_type = REGCACHE_MAPLE,
};
EXPORT_SYMBOL_NS_GPL(inv_icm42600_regmap_config, "IIO_ICM42600");

/* define specific regmap for SPI not supporting burst write */
const struct regmap_config inv_icm42600_spi_regmap_config = {
        .name = "inv_icm42600",
        .reg_bits = 8,
        .val_bits = 8,
        .max_register = 0x4FFF,
        .ranges = inv_icm42600_regmap_ranges,
        .num_ranges = ARRAY_SIZE(inv_icm42600_regmap_ranges),
        .volatile_table = inv_icm42600_regmap_volatile_accesses,
        .rd_noinc_table = inv_icm42600_regmap_rd_noinc_accesses,
        .cache_type = REGCACHE_MAPLE,
        .use_single_write = true,
};
EXPORT_SYMBOL_NS_GPL(inv_icm42600_spi_regmap_config, "IIO_ICM42600");

struct inv_icm42600_hw {
        u8 whoami;
        const char *name;
        const struct inv_icm42600_conf *conf;
};

/* chip initial default configuration */
static const struct inv_icm42600_conf inv_icm42600_default_conf = {
        .gyro = {
                .mode = INV_ICM42600_SENSOR_MODE_OFF,
                .fs = INV_ICM42600_GYRO_FS_2000DPS,
                .odr = INV_ICM42600_ODR_50HZ,
                .filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
        },
        .accel = {
                .mode = INV_ICM42600_SENSOR_MODE_OFF,
                .fs = INV_ICM42600_ACCEL_FS_16G,
                .odr = INV_ICM42600_ODR_50HZ,
                .filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
        },
        .temp_en = false,
};

static const struct inv_icm42600_conf inv_icm42686_default_conf = {
        .gyro = {
                .mode = INV_ICM42600_SENSOR_MODE_OFF,
                .fs = INV_ICM42686_GYRO_FS_4000DPS,
                .odr = INV_ICM42600_ODR_50HZ,
                .filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
        },
        .accel = {
                .mode = INV_ICM42600_SENSOR_MODE_OFF,
                .fs = INV_ICM42686_ACCEL_FS_32G,
                .odr = INV_ICM42600_ODR_50HZ,
                .filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
        },
        .temp_en = false,
};

static const struct inv_icm42600_hw inv_icm42600_hw[INV_CHIP_NB] = {
        [INV_CHIP_ICM42600] = {
                .whoami = INV_ICM42600_WHOAMI_ICM42600,
                .name = "icm42600",
                .conf = &inv_icm42600_default_conf,
        },
        [INV_CHIP_ICM42602] = {
                .whoami = INV_ICM42600_WHOAMI_ICM42602,
                .name = "icm42602",
                .conf = &inv_icm42600_default_conf,
        },
        [INV_CHIP_ICM42605] = {
                .whoami = INV_ICM42600_WHOAMI_ICM42605,
                .name = "icm42605",
                .conf = &inv_icm42600_default_conf,
        },
        [INV_CHIP_ICM42686] = {
                .whoami = INV_ICM42600_WHOAMI_ICM42686,
                .name = "icm42686",
                .conf = &inv_icm42686_default_conf,
        },
        [INV_CHIP_ICM42622] = {
                .whoami = INV_ICM42600_WHOAMI_ICM42622,
                .name = "icm42622",
                .conf = &inv_icm42600_default_conf,
        },
        [INV_CHIP_ICM42688] = {
                .whoami = INV_ICM42600_WHOAMI_ICM42688,
                .name = "icm42688",
                .conf = &inv_icm42600_default_conf,
        },
        [INV_CHIP_ICM42631] = {
                .whoami = INV_ICM42600_WHOAMI_ICM42631,
                .name = "icm42631",
                .conf = &inv_icm42600_default_conf,
        },
};

const struct iio_mount_matrix *
inv_icm42600_get_mount_matrix(const struct iio_dev *indio_dev,
                              const struct iio_chan_spec *chan)
{
        const struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);

        return &st->orientation;
}

u32 inv_icm42600_odr_to_period(enum inv_icm42600_odr odr)
{
        static u32 odr_periods[INV_ICM42600_ODR_NB] = {
                /* reserved values */
                0, 0, 0,
                /* 8kHz */
                125000,
                /* 4kHz */
                250000,
                /* 2kHz */
                500000,
                /* 1kHz */
                1000000,
                /* 200Hz */
                5000000,
                /* 100Hz */
                10000000,
                /* 50Hz */
                20000000,
                /* 25Hz */
                40000000,
                /* 12.5Hz */
                80000000,
                /* 6.25Hz */
                160000000,
                /* 3.125Hz */
                320000000,
                /* 1.5625Hz */
                640000000,
                /* 500Hz */
                2000000,
        };

        return odr_periods[odr];
}

static int inv_icm42600_set_pwr_mgmt0(struct inv_icm42600_state *st,
                                      enum inv_icm42600_sensor_mode gyro,
                                      enum inv_icm42600_sensor_mode accel,
                                      bool temp, unsigned int *sleep_ms)
{
        enum inv_icm42600_sensor_mode oldgyro = st->conf.gyro.mode;
        enum inv_icm42600_sensor_mode oldaccel = st->conf.accel.mode;
        bool oldtemp = st->conf.temp_en;
        unsigned int sleepval;
        unsigned int val;
        int ret;

        /* if nothing changed, exit */
        if (gyro == oldgyro && accel == oldaccel && temp == oldtemp)
                return 0;

        val = INV_ICM42600_PWR_MGMT0_GYRO(gyro) |
              INV_ICM42600_PWR_MGMT0_ACCEL(accel);
        if (!temp)
                val |= INV_ICM42600_PWR_MGMT0_TEMP_DIS;
        ret = regmap_write(st->map, INV_ICM42600_REG_PWR_MGMT0, val);
        if (ret)
                return ret;

        st->conf.gyro.mode = gyro;
        st->conf.accel.mode = accel;
        st->conf.temp_en = temp;

        /* compute required wait time for sensors to stabilize */
        sleepval = 0;
        /* temperature stabilization time */
        if (temp && !oldtemp) {
                if (sleepval < INV_ICM42600_TEMP_STARTUP_TIME_MS)
                        sleepval = INV_ICM42600_TEMP_STARTUP_TIME_MS;
        }
        /* accel startup time */
        if (accel != oldaccel && oldaccel == INV_ICM42600_SENSOR_MODE_OFF) {
                /* block any register write for at least 200 µs */
                usleep_range(200, 300);
                if (sleepval < INV_ICM42600_ACCEL_STARTUP_TIME_MS)
                        sleepval = INV_ICM42600_ACCEL_STARTUP_TIME_MS;
        }
        if (gyro != oldgyro) {
                /* gyro startup time */
                if (oldgyro == INV_ICM42600_SENSOR_MODE_OFF) {
                        /* block any register write for at least 200 µs */
                        usleep_range(200, 300);
                        if (sleepval < INV_ICM42600_GYRO_STARTUP_TIME_MS)
                                sleepval = INV_ICM42600_GYRO_STARTUP_TIME_MS;
                /* gyro stop time */
                } else if (gyro == INV_ICM42600_SENSOR_MODE_OFF) {
                        if (sleepval < INV_ICM42600_GYRO_STOP_TIME_MS)
                                sleepval =  INV_ICM42600_GYRO_STOP_TIME_MS;
                }
        }

        /* deferred sleep value if sleep pointer is provided or direct sleep */
        if (sleep_ms)
                *sleep_ms = sleepval;
        else if (sleepval)
                msleep(sleepval);

        return 0;
}

int inv_icm42600_set_accel_conf(struct inv_icm42600_state *st,
                                struct inv_icm42600_sensor_conf *conf,
                                unsigned int *sleep_ms)
{
        struct inv_icm42600_sensor_conf *oldconf = &st->conf.accel;
        unsigned int val;
        int ret;

        /* Sanitize missing values with current values */
        if (conf->mode < 0)
                conf->mode = oldconf->mode;
        if (conf->fs < 0)
                conf->fs = oldconf->fs;
        if (conf->odr < 0)
                conf->odr = oldconf->odr;
        if (conf->filter < 0)
                conf->filter = oldconf->filter;

        /* force power mode against ODR when sensor is on */
        switch (conf->mode) {
        case INV_ICM42600_SENSOR_MODE_LOW_POWER:
        case INV_ICM42600_SENSOR_MODE_LOW_NOISE:
                if (conf->odr <= INV_ICM42600_ODR_1KHZ_LN) {
                        conf->mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
                        conf->filter = INV_ICM42600_FILTER_BW_ODR_DIV_2;
                } else if (conf->odr >= INV_ICM42600_ODR_6_25HZ_LP &&
                           conf->odr <= INV_ICM42600_ODR_1_5625HZ_LP) {
                        conf->mode = INV_ICM42600_SENSOR_MODE_LOW_POWER;
                        conf->filter = INV_ICM42600_FILTER_AVG_16X;
                }
                break;
        default:
                break;
        }

        /* set ACCEL_CONFIG0 register (accel fullscale & odr) */
        if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {
                val = INV_ICM42600_ACCEL_CONFIG0_FS(conf->fs) |
                      INV_ICM42600_ACCEL_CONFIG0_ODR(conf->odr);
                ret = regmap_write(st->map, INV_ICM42600_REG_ACCEL_CONFIG0, val);
                if (ret)
                        return ret;
                oldconf->fs = conf->fs;
                oldconf->odr = conf->odr;
        }

        /* set GYRO_ACCEL_CONFIG0 register (accel filter) */
        if (conf->filter != oldconf->filter) {
                val = INV_ICM42600_GYRO_ACCEL_CONFIG0_ACCEL_FILT(conf->filter) |
                      INV_ICM42600_GYRO_ACCEL_CONFIG0_GYRO_FILT(st->conf.gyro.filter);
                ret = regmap_write(st->map, INV_ICM42600_REG_GYRO_ACCEL_CONFIG0, val);
                if (ret)
                        return ret;
                oldconf->filter = conf->filter;
        }

        /* set PWR_MGMT0 register (accel sensor mode) */
        return inv_icm42600_set_pwr_mgmt0(st, st->conf.gyro.mode, conf->mode,
                                          st->conf.temp_en, sleep_ms);
}

int inv_icm42600_set_gyro_conf(struct inv_icm42600_state *st,
                               struct inv_icm42600_sensor_conf *conf,
                               unsigned int *sleep_ms)
{
        struct inv_icm42600_sensor_conf *oldconf = &st->conf.gyro;
        unsigned int val;
        int ret;

        /* sanitize missing values with current values */
        if (conf->mode < 0)
                conf->mode = oldconf->mode;
        if (conf->fs < 0)
                conf->fs = oldconf->fs;
        if (conf->odr < 0)
                conf->odr = oldconf->odr;
        if (conf->filter < 0)
                conf->filter = oldconf->filter;

        /* set GYRO_CONFIG0 register (gyro fullscale & odr) */
        if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {
                val = INV_ICM42600_GYRO_CONFIG0_FS(conf->fs) |
                      INV_ICM42600_GYRO_CONFIG0_ODR(conf->odr);
                ret = regmap_write(st->map, INV_ICM42600_REG_GYRO_CONFIG0, val);
                if (ret)
                        return ret;
                oldconf->fs = conf->fs;
                oldconf->odr = conf->odr;
        }

        /* set GYRO_ACCEL_CONFIG0 register (gyro filter) */
        if (conf->filter != oldconf->filter) {
                val = INV_ICM42600_GYRO_ACCEL_CONFIG0_ACCEL_FILT(st->conf.accel.filter) |
                      INV_ICM42600_GYRO_ACCEL_CONFIG0_GYRO_FILT(conf->filter);
                ret = regmap_write(st->map, INV_ICM42600_REG_GYRO_ACCEL_CONFIG0, val);
                if (ret)
                        return ret;
                oldconf->filter = conf->filter;
        }

        /* set PWR_MGMT0 register (gyro sensor mode) */
        return inv_icm42600_set_pwr_mgmt0(st, conf->mode, st->conf.accel.mode,
                                          st->conf.temp_en, sleep_ms);

        return 0;
}

int inv_icm42600_set_temp_conf(struct inv_icm42600_state *st, bool enable,
                               unsigned int *sleep_ms)
{
        return inv_icm42600_set_pwr_mgmt0(st, st->conf.gyro.mode,
                                          st->conf.accel.mode, enable,
                                          sleep_ms);
}

int inv_icm42600_enable_wom(struct inv_icm42600_state *st)
{
        int ret;

        /* enable WoM hardware */
        ret = regmap_write(st->map, INV_ICM42600_REG_SMD_CONFIG,
                           INV_ICM42600_SMD_CONFIG_SMD_MODE_WOM |
                           INV_ICM42600_SMD_CONFIG_WOM_MODE);
        if (ret)
                return ret;

        /* enable WoM interrupt */
        return regmap_set_bits(st->map, INV_ICM42600_REG_INT_SOURCE1,
                              INV_ICM42600_INT_SOURCE1_WOM_INT1_EN);
}

int inv_icm42600_disable_wom(struct inv_icm42600_state *st)
{
        int ret;

        /* disable WoM interrupt */
        ret = regmap_clear_bits(st->map, INV_ICM42600_REG_INT_SOURCE1,
                                INV_ICM42600_INT_SOURCE1_WOM_INT1_EN);
        if (ret)
                return ret;

        /* disable WoM hardware */
        return regmap_write(st->map, INV_ICM42600_REG_SMD_CONFIG,
                            INV_ICM42600_SMD_CONFIG_SMD_MODE_OFF);
}

int inv_icm42600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
                             unsigned int writeval, unsigned int *readval)
{
        struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);

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

        if (readval)
                return regmap_read(st->map, reg, readval);

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

static int inv_icm42600_set_conf(struct inv_icm42600_state *st,
                                 const struct inv_icm42600_conf *conf)
{
        unsigned int val;
        int ret;

        /* set PWR_MGMT0 register (gyro & accel sensor mode, temp enabled) */
        val = INV_ICM42600_PWR_MGMT0_GYRO(conf->gyro.mode) |
              INV_ICM42600_PWR_MGMT0_ACCEL(conf->accel.mode);
        if (!conf->temp_en)
                val |= INV_ICM42600_PWR_MGMT0_TEMP_DIS;
        ret = regmap_write(st->map, INV_ICM42600_REG_PWR_MGMT0, val);
        if (ret)
                return ret;

        /* set GYRO_CONFIG0 register (gyro fullscale & odr) */
        val = INV_ICM42600_GYRO_CONFIG0_FS(conf->gyro.fs) |
              INV_ICM42600_GYRO_CONFIG0_ODR(conf->gyro.odr);
        ret = regmap_write(st->map, INV_ICM42600_REG_GYRO_CONFIG0, val);
        if (ret)
                return ret;

        /* set ACCEL_CONFIG0 register (accel fullscale & odr) */
        val = INV_ICM42600_ACCEL_CONFIG0_FS(conf->accel.fs) |
              INV_ICM42600_ACCEL_CONFIG0_ODR(conf->accel.odr);
        ret = regmap_write(st->map, INV_ICM42600_REG_ACCEL_CONFIG0, val);
        if (ret)
                return ret;

        /* set GYRO_ACCEL_CONFIG0 register (gyro & accel filters) */
        val = INV_ICM42600_GYRO_ACCEL_CONFIG0_ACCEL_FILT(conf->accel.filter) |
              INV_ICM42600_GYRO_ACCEL_CONFIG0_GYRO_FILT(conf->gyro.filter);
        ret = regmap_write(st->map, INV_ICM42600_REG_GYRO_ACCEL_CONFIG0, val);
        if (ret)
                return ret;

        /* update internal conf */
        st->conf = *conf;

        return 0;
}

/**
 *  inv_icm42600_setup() - check and setup chip
 *  @st:        driver internal state
 *  @bus_setup: callback for setting up bus specific registers
 *
 *  Returns 0 on success, a negative error code otherwise.
 */
static int inv_icm42600_setup(struct inv_icm42600_state *st,
                              inv_icm42600_bus_setup bus_setup)
{
        const struct inv_icm42600_hw *hw = &inv_icm42600_hw[st->chip];
        const struct device *dev = regmap_get_device(st->map);
        unsigned int val;
        int ret;

        /* check chip self-identification value */
        ret = regmap_read(st->map, INV_ICM42600_REG_WHOAMI, &val);
        if (ret)
                return ret;
        if (val != hw->whoami) {
                dev_err(dev, "invalid whoami %#02x expected %#02x (%s)\n",
                        val, hw->whoami, hw->name);
                return -ENODEV;
        }
        st->name = hw->name;

        /* reset to make sure previous state are not there */
        ret = regmap_write(st->map, INV_ICM42600_REG_DEVICE_CONFIG,
                           INV_ICM42600_DEVICE_CONFIG_SOFT_RESET);
        if (ret)
                return ret;
        msleep(INV_ICM42600_RESET_TIME_MS);

        ret = regmap_read(st->map, INV_ICM42600_REG_INT_STATUS, &val);
        if (ret)
                return ret;
        if (!(val & INV_ICM42600_INT_STATUS_RESET_DONE)) {
                dev_err(dev, "reset error, reset done bit not set\n");
                return -ENODEV;
        }

        /* set chip bus configuration */
        ret = bus_setup(st);
        if (ret)
                return ret;

        /* sensor data in big-endian (default) */
        ret = regmap_set_bits(st->map, INV_ICM42600_REG_INTF_CONFIG0,
                              INV_ICM42600_INTF_CONFIG0_SENSOR_DATA_ENDIAN);
        if (ret)
                return ret;

        /*
         * Use RC clock for accel low-power to fix glitches when switching
         * gyro on/off while accel low-power is on.
         */
        ret = regmap_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG1,
                                 INV_ICM42600_INTF_CONFIG1_ACCEL_LP_CLK_RC,
                                 INV_ICM42600_INTF_CONFIG1_ACCEL_LP_CLK_RC);
        if (ret)
                return ret;

        return inv_icm42600_set_conf(st, hw->conf);
}

static irqreturn_t inv_icm42600_irq_timestamp(int irq, void *_data)
{
        struct inv_icm42600_state *st = _data;

        st->timestamp.gyro = iio_get_time_ns(st->indio_gyro);
        st->timestamp.accel = iio_get_time_ns(st->indio_accel);

        return IRQ_WAKE_THREAD;
}

static irqreturn_t inv_icm42600_irq_handler(int irq, void *_data)
{
        struct inv_icm42600_state *st = _data;
        struct device *dev = regmap_get_device(st->map);
        unsigned int status;
        int ret;

        mutex_lock(&st->lock);

        if (st->apex.on) {
                unsigned int status2, status3;

                /* read INT_STATUS2 and INT_STATUS3 in 1 operation */
                ret = regmap_bulk_read(st->map, INV_ICM42600_REG_INT_STATUS2, st->buffer, 2);
                if (ret)
                        goto out_unlock;
                status2 = st->buffer[0];
                status3 = st->buffer[1];
                inv_icm42600_accel_handle_events(st->indio_accel, status2, status3,
                                                 st->timestamp.accel);
        }

        ret = regmap_read(st->map, INV_ICM42600_REG_INT_STATUS, &status);
        if (ret)
                goto out_unlock;

        /* FIFO full */
        if (status & INV_ICM42600_INT_STATUS_FIFO_FULL)
                dev_warn(dev, "FIFO full data lost!\n");

        /* FIFO threshold reached */
        if (status & INV_ICM42600_INT_STATUS_FIFO_THS) {
                ret = inv_icm42600_buffer_fifo_read(st, 0);
                if (ret) {
                        dev_err(dev, "FIFO read error %d\n", ret);
                        goto out_unlock;
                }
                ret = inv_icm42600_buffer_fifo_parse(st);
                if (ret)
                        dev_err(dev, "FIFO parsing error %d\n", ret);
        }

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

/**
 * inv_icm42600_irq_init() - initialize int pin and interrupt handler
 * @st:         driver internal state
 * @irq:        irq number
 * @irq_type:   irq trigger type
 * @open_drain: true if irq is open drain, false for push-pull
 *
 * Returns 0 on success, a negative error code otherwise.
 */
static int inv_icm42600_irq_init(struct inv_icm42600_state *st, int irq,
                                 int irq_type, bool open_drain)
{
        struct device *dev = regmap_get_device(st->map);
        unsigned int val;
        int ret;

        /* configure INT1 interrupt: default is active low on edge */
        switch (irq_type) {
        case IRQF_TRIGGER_RISING:
        case IRQF_TRIGGER_HIGH:
                val = INV_ICM42600_INT_CONFIG_INT1_ACTIVE_HIGH;
                break;
        default:
                val = INV_ICM42600_INT_CONFIG_INT1_ACTIVE_LOW;
                break;
        }

        switch (irq_type) {
        case IRQF_TRIGGER_LOW:
        case IRQF_TRIGGER_HIGH:
                val |= INV_ICM42600_INT_CONFIG_INT1_LATCHED;
                break;
        default:
                break;
        }

        if (!open_drain)
                val |= INV_ICM42600_INT_CONFIG_INT1_PUSH_PULL;

        ret = regmap_write(st->map, INV_ICM42600_REG_INT_CONFIG, val);
        if (ret)
                return ret;

        /* Deassert async reset for proper INT pin operation (cf datasheet) */
        ret = regmap_clear_bits(st->map, INV_ICM42600_REG_INT_CONFIG1,
                                INV_ICM42600_INT_CONFIG1_ASYNC_RESET);
        if (ret)
                return ret;

        irq_type |= IRQF_ONESHOT;
        return devm_request_threaded_irq(dev, irq, inv_icm42600_irq_timestamp,
                                         inv_icm42600_irq_handler, irq_type,
                                         "inv_icm42600", st);
}

static int inv_icm42600_timestamp_setup(struct inv_icm42600_state *st)
{
        unsigned int val;

        /* enable timestamp register */
        val = INV_ICM42600_TMST_CONFIG_TMST_TO_REGS_EN |
              INV_ICM42600_TMST_CONFIG_TMST_EN;
        return regmap_update_bits(st->map, INV_ICM42600_REG_TMST_CONFIG,
                                  INV_ICM42600_TMST_CONFIG_MASK, val);
}

static int inv_icm42600_enable_regulator_vddio(struct inv_icm42600_state *st)
{
        int ret;

        ret = regulator_enable(st->vddio_supply);
        if (ret)
                return ret;

        /* wait a little for supply ramp */
        usleep_range(3000, 4000);

        return 0;
}

static void inv_icm42600_disable_vddio_reg(void *_data)
{
        struct inv_icm42600_state *st = _data;
        struct device *dev = regmap_get_device(st->map);

        if (pm_runtime_status_suspended(dev))
                return;

        regulator_disable(st->vddio_supply);
}

int inv_icm42600_core_probe(struct regmap *regmap, int chip,
                            inv_icm42600_bus_setup bus_setup)
{
        struct device *dev = regmap_get_device(regmap);
        struct fwnode_handle *fwnode = dev_fwnode(dev);
        struct inv_icm42600_state *st;
        int irq, irq_type;
        bool open_drain;
        int ret;

        if (chip <= INV_CHIP_INVALID || chip >= INV_CHIP_NB) {
                dev_err(dev, "invalid chip = %d\n", chip);
                return -ENODEV;
        }

        /* get INT1 only supported interrupt or fallback to first interrupt */
        irq = fwnode_irq_get_byname(fwnode, "INT1");
        if (irq < 0 && irq != -EPROBE_DEFER) {
                dev_info(dev, "no INT1 interrupt defined, fallback to first interrupt\n");
                irq = fwnode_irq_get(fwnode, 0);
        }
        if (irq < 0)
                return dev_err_probe(dev, irq, "error missing INT1 interrupt\n");

        irq_type = irq_get_trigger_type(irq);
        if (!irq_type)
                irq_type = IRQF_TRIGGER_FALLING;

        open_drain = device_property_read_bool(dev, "drive-open-drain");

        st = devm_kzalloc(dev, sizeof(*st), GFP_KERNEL);
        if (!st)
                return -ENOMEM;

        dev_set_drvdata(dev, st);
        mutex_init(&st->lock);
        st->chip = chip;
        st->map = regmap;
        st->irq = irq;

        ret = iio_read_mount_matrix(dev, &st->orientation);
        if (ret) {
                dev_err(dev, "failed to retrieve mounting matrix %d\n", ret);
                return ret;
        }

        ret = devm_regulator_get_enable(dev, "vdd");
        if (ret)
                return dev_err_probe(dev, ret,
                                     "Failed to get vdd regulator\n");

        msleep(INV_ICM42600_POWER_UP_TIME_MS);

        st->vddio_supply = devm_regulator_get(dev, "vddio");
        if (IS_ERR(st->vddio_supply))
                return PTR_ERR(st->vddio_supply);

        ret = inv_icm42600_enable_regulator_vddio(st);
        if (ret)
                return ret;

        ret = devm_add_action_or_reset(dev, inv_icm42600_disable_vddio_reg, st);
        if (ret)
                return ret;

        /* setup chip registers */
        ret = inv_icm42600_setup(st, bus_setup);
        if (ret)
                return ret;

        ret = inv_icm42600_timestamp_setup(st);
        if (ret)
                return ret;

        ret = inv_icm42600_buffer_init(st);
        if (ret)
                return ret;

        st->indio_gyro = inv_icm42600_gyro_init(st);
        if (IS_ERR(st->indio_gyro))
                return PTR_ERR(st->indio_gyro);

        st->indio_accel = inv_icm42600_accel_init(st);
        if (IS_ERR(st->indio_accel))
                return PTR_ERR(st->indio_accel);

        ret = inv_icm42600_irq_init(st, irq, irq_type, open_drain);
        if (ret)
                return ret;

        /* setup runtime power management */
        ret = devm_pm_runtime_set_active_enabled(dev);
        if (ret)
                return ret;

        pm_runtime_set_autosuspend_delay(dev, INV_ICM42600_SUSPEND_DELAY_MS);
        pm_runtime_use_autosuspend(dev);

        return ret;
}
EXPORT_SYMBOL_NS_GPL(inv_icm42600_core_probe, "IIO_ICM42600");

/*
 * Suspend saves sensors state and turns everything off.
 * Check first if runtime suspend has not already done the job.
 */
static int inv_icm42600_suspend(struct device *dev)
{
        struct inv_icm42600_state *st = dev_get_drvdata(dev);
        struct device *accel_dev;
        bool wakeup;
        int accel_conf;
        int ret;

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

        st->suspended.gyro = st->conf.gyro.mode;
        st->suspended.accel = st->conf.accel.mode;
        st->suspended.temp = st->conf.temp_en;
        if (pm_runtime_suspended(dev))
                return 0;

        /* disable FIFO data streaming */
        if (st->fifo.on) {
                ret = regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,
                                   INV_ICM42600_FIFO_CONFIG_BYPASS);
                if (ret)
                        return ret;
        }

        /* keep chip on and wake-up capable if APEX and wakeup on */
        accel_dev = &st->indio_accel->dev;
        wakeup = st->apex.on && device_may_wakeup(accel_dev);
        if (wakeup) {
                /* keep accel on and setup irq for wakeup */
                accel_conf = st->conf.accel.mode;
                enable_irq_wake(st->irq);
                disable_irq(st->irq);
        } else {
                /* disable APEX features and accel if wakeup disabled */
                if (st->apex.wom.enable) {
                        ret = inv_icm42600_disable_wom(st);
                        if (ret)
                                return ret;
                }
                accel_conf = INV_ICM42600_SENSOR_MODE_OFF;
        }

        ret = inv_icm42600_set_pwr_mgmt0(st, INV_ICM42600_SENSOR_MODE_OFF,
                                         accel_conf, false, NULL);
        if (ret)
                return ret;

        /* disable vddio regulator if chip is sleeping */
        if (!wakeup)
                regulator_disable(st->vddio_supply);

        return 0;
}

/*
 * System resume gets the system back on and restores the sensors state.
 * Manually put runtime power management in system active state.
 */
static int inv_icm42600_resume(struct device *dev)
{
        struct inv_icm42600_state *st = dev_get_drvdata(dev);
        struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
        struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel);
        struct device *accel_dev;
        bool wakeup;
        int ret;

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

        if (pm_runtime_suspended(dev))
                return 0;

        /* check wakeup capability */
        accel_dev = &st->indio_accel->dev;
        wakeup = st->apex.on && device_may_wakeup(accel_dev);
        /* restore irq state or vddio if cut off */
        if (wakeup) {
                enable_irq(st->irq);
                disable_irq_wake(st->irq);
        } else {
                ret = inv_icm42600_enable_regulator_vddio(st);
                if (ret)
                        return ret;
        }

        /* restore sensors state */
        ret = inv_icm42600_set_pwr_mgmt0(st, st->suspended.gyro,
                                         st->suspended.accel,
                                         st->suspended.temp, NULL);
        if (ret)
                return ret;

        /* restore APEX features if disabled */
        if (!wakeup && st->apex.wom.enable) {
                ret = inv_icm42600_enable_wom(st);
                if (ret)
                        return ret;
        }

        /* restore FIFO data streaming */
        if (st->fifo.on) {
                inv_sensors_timestamp_reset(&gyro_st->ts);
                inv_sensors_timestamp_reset(&accel_st->ts);
                ret = regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,
                                   INV_ICM42600_FIFO_CONFIG_STREAM);
        }

        return 0;
}

/* Runtime suspend will turn off sensors that are enabled by iio devices. */
static int inv_icm42600_runtime_suspend(struct device *dev)
{
        struct inv_icm42600_state *st = dev_get_drvdata(dev);
        int ret;

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

        /* disable all sensors */
        ret = inv_icm42600_set_pwr_mgmt0(st, INV_ICM42600_SENSOR_MODE_OFF,
                                         INV_ICM42600_SENSOR_MODE_OFF, false,
                                         NULL);
        if (ret)
                return ret;

        regulator_disable(st->vddio_supply);

        return 0;
}

/* Sensors are enabled by iio devices, no need to turn them back on here. */
static int inv_icm42600_runtime_resume(struct device *dev)
{
        struct inv_icm42600_state *st = dev_get_drvdata(dev);

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

        return inv_icm42600_enable_regulator_vddio(st);
}

EXPORT_NS_GPL_DEV_PM_OPS(inv_icm42600_pm_ops, IIO_ICM42600) = {
        SYSTEM_SLEEP_PM_OPS(inv_icm42600_suspend, inv_icm42600_resume)
        RUNTIME_PM_OPS(inv_icm42600_runtime_suspend,
                       inv_icm42600_runtime_resume, NULL)
};

MODULE_AUTHOR("InvenSense, Inc.");
MODULE_DESCRIPTION("InvenSense ICM-426xx device driver");
MODULE_LICENSE("GPL");
MODULE_IMPORT_NS("IIO_INV_SENSORS_TIMESTAMP");