// 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/iio/iio.h>
#include <linux/acpi.h>
#include <linux/platform_device.h>
#include <linux/regulator/consumer.h>
#include "inv_mpu_iio.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 = {
        .fsr = INV_MPU6050_FSR_2000DPS,
        .lpf = INV_MPU6050_FILTER_20HZ,
        .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE),
        .gyro_fifo_enable = false,
        .accl_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,
        },
        {
                .whoami = INV_MPU6500_WHOAMI_VALUE,
                .name = "MPU6500",
                .reg = &reg_set_6500,
                .config = &chip_config_6050,
                .fifo_size = 512,
        },
        {
                .whoami = INV_MPU6515_WHOAMI_VALUE,
                .name = "MPU6515",
                .reg = &reg_set_6500,
                .config = &chip_config_6050,
                .fifo_size = 512,
        },
        {
                .whoami = INV_MPU6000_WHOAMI_VALUE,
                .name = "MPU6000",
                .reg = &reg_set_6050,
                .config = &chip_config_6050,
                .fifo_size = 1024,
        },
        {
                .whoami = INV_MPU9150_WHOAMI_VALUE,
                .name = "MPU9150",
                .reg = &reg_set_6050,
                .config = &chip_config_6050,
                .fifo_size = 1024,
        },
        {
                .whoami = INV_MPU9250_WHOAMI_VALUE,
                .name = "MPU9250",
                .reg = &reg_set_6500,
                .config = &chip_config_6050,
                .fifo_size = 512,
        },
        {
                .whoami = INV_MPU9255_WHOAMI_VALUE,
                .name = "MPU9255",
                .reg = &reg_set_6500,
                .config = &chip_config_6050,
                .fifo_size = 512,
        },
        {
                .whoami = INV_ICM20608_WHOAMI_VALUE,
                .name = "ICM20608",
                .reg = &reg_set_6500,
                .config = &chip_config_6050,
                .fifo_size = 512,
        },
        {
                .whoami = INV_ICM20602_WHOAMI_VALUE,
                .name = "ICM20602",
                .reg = &reg_set_icm20602,
                .config = &chip_config_6050,
                .fifo_size = 1008,
        },
};

int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
{
        unsigned int d, mgmt_1;
        int result;
        /*
         * switch clock needs to be careful. Only when gyro is on, can
         * clock source be switched to gyro. Otherwise, it must be set to
         * internal clock
         */
        if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
                result = regmap_read(st->map, st->reg->pwr_mgmt_1, &mgmt_1);
                if (result)
                        return result;

                mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
        }

        if ((mask == INV_MPU6050_BIT_PWR_GYRO_STBY) && (!en)) {
                /*
                 * turning off gyro requires switch to internal clock first.
                 * Then turn off gyro engine
                 */
                mgmt_1 |= INV_CLK_INTERNAL;
                result = regmap_write(st->map, st->reg->pwr_mgmt_1, mgmt_1);
                if (result)
                        return result;
        }

        result = regmap_read(st->map, st->reg->pwr_mgmt_2, &d);
        if (result)
                return result;
        if (en)
                d &= ~mask;
        else
                d |= mask;
        result = regmap_write(st->map, st->reg->pwr_mgmt_2, d);
        if (result)
                return result;

        if (en) {
                /* Wait for output to stabilize */
                msleep(INV_MPU6050_TEMP_UP_TIME);
                if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
                        /* switch internal clock to PLL */
                        mgmt_1 |= INV_CLK_PLL;
                        result = regmap_write(st->map,
                                              st->reg->pwr_mgmt_1, mgmt_1);
                        if (result)
                                return result;
                }
        }

        return 0;
}

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

        if (power_on) {
                if (!st->powerup_count) {
                        result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);
                        if (result)
                                return result;
                        usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
                                     INV_MPU6050_REG_UP_TIME_MAX);
                }
                st->powerup_count++;
        } else {
                if (st->powerup_count == 1) {
                        result = regmap_write(st->map, st->reg->pwr_mgmt_1,
                                              INV_MPU6050_BIT_SLEEP);
                        if (result)
                                return result;
                }
                st->powerup_count--;
        }

        dev_dbg(regmap_get_device(st->map), "set power %d, count=%u\n",
                power_on, st->powerup_count);

        return 0;
}
EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);

/**
 *  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;

        switch (st->chip_type) {
        case INV_MPU6050:
        case INV_MPU6000:
        case INV_MPU9150:
                /* old chips, nothing to do */
                result = 0;
                break;
        default:
                /* set accel lpf */
                result = regmap_write(st->map, st->reg->accel_lpf, val);
                break;
        }

        return result;
}

/**
 *  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);

        result = inv_mpu6050_set_power_itg(st, true);
        if (result)
                return result;
        d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
        result = regmap_write(st->map, st->reg->gyro_config, d);
        if (result)
                goto error_power_off;

        result = inv_mpu6050_set_lpf_regs(st, INV_MPU6050_FILTER_20HZ);
        if (result)
                goto error_power_off;

        d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE);
        result = regmap_write(st->map, st->reg->sample_rate_div, d);
        if (result)
                goto error_power_off;

        d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
        result = regmap_write(st->map, st->reg->accl_config, d);
        if (result)
                goto error_power_off;

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

        memcpy(&st->chip_config, hw_info[st->chip_type].config,
               sizeof(struct inv_mpu6050_chip_config));

        /*
         * Internal chip period is 1ms (1kHz).
         * Let's use at the beginning the theorical value before measuring
         * with interrupt timestamps.
         */
        st->chip_period = NSEC_PER_MSEC;

        return inv_mpu6050_set_power_itg(st, false);

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

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

        ind = (axis - IIO_MOD_X) * 2;
        result = regmap_bulk_write(st->map, reg + ind, (u8 *)&d, 2);
        if (result)
                return -EINVAL;

        return 0;
}

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, (u8 *)&d, 2);
        if (result)
                return -EINVAL;
        *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);
        int result;
        int ret;

        result = inv_mpu6050_set_power_itg(st, true);
        if (result)
                return result;

        switch (chan->type) {
        case IIO_ANGL_VEL:
                result = inv_mpu6050_switch_engine(st, true,
                                INV_MPU6050_BIT_PWR_GYRO_STBY);
                if (result)
                        goto error_power_off;
                ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
                                              chan->channel2, val);
                result = inv_mpu6050_switch_engine(st, false,
                                INV_MPU6050_BIT_PWR_GYRO_STBY);
                if (result)
                        goto error_power_off;
                break;
        case IIO_ACCEL:
                result = inv_mpu6050_switch_engine(st, true,
                                INV_MPU6050_BIT_PWR_ACCL_STBY);
                if (result)
                        goto error_power_off;
                ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
                                              chan->channel2, val);
                result = inv_mpu6050_switch_engine(st, false,
                                INV_MPU6050_BIT_PWR_ACCL_STBY);
                if (result)
                        goto error_power_off;
                break;
        case IIO_TEMP:
                /* wait for stablization */
                msleep(INV_MPU6050_SENSOR_UP_TIME);
                ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
                                              IIO_MOD_X, val);
                break;
        default:
                ret = -EINVAL;
                break;
        }

        result = inv_mpu6050_set_power_itg(st, false);
        if (result)
                goto error_power_off;

        return ret;

error_power_off:
        inv_mpu6050_set_power_itg(st, false);
        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:
                ret = iio_device_claim_direct_mode(indio_dev);
                if (ret)
                        return ret;
                mutex_lock(&st->lock);
                ret = inv_mpu6050_read_channel_data(indio_dev, chan, val);
                mutex_unlock(&st->lock);
                iio_device_release_direct_mode(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 = 0;
                        if (st->chip_type == INV_ICM20602)
                                *val2 = INV_ICM20602_TEMP_SCALE;
                        else
                                *val2 = INV_MPU6050_TEMP_SCALE;

                        return IIO_VAL_INT_PLUS_MICRO;
                default:
                        return -EINVAL;
                }
        case IIO_CHAN_INFO_OFFSET:
                switch (chan->type) {
                case IIO_TEMP:
                        if (st->chip_type == INV_ICM20602)
                                *val = INV_ICM20602_TEMP_OFFSET;
                        else
                                *val = INV_MPU6050_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 IIO_VAL_INT;
                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 IIO_VAL_INT;

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

static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
{
        int result, i;
        u8 d;

        for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
                if (gyro_scale_6050[i] == val) {
                        d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
                        result = regmap_write(st->map, st->reg->gyro_config, d);
                        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 result, i;
        u8 d;

        for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
                if (accel_scale[i] == val) {
                        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);
        int result;

        /*
         * we should only update scale when the chip is disabled, i.e.
         * not running
         */
        result = iio_device_claim_direct_mode(indio_dev);
        if (result)
                return result;

        mutex_lock(&st->lock);
        result = inv_mpu6050_set_power_itg(st, true);
        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, val2);
                        break;
                case IIO_ACCEL:
                        result = inv_mpu6050_write_accel_scale(st, 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;
        }

        result |= inv_mpu6050_set_power_itg(st, false);
error_write_raw_unlock:
        mutex_unlock(&st->lock);
        iio_device_release_direct_mode(indio_dev);

        return result;
}

/**
 *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
 *
 *                  Based on the Nyquist principle, the sampling rate must
 *                  exceed twice of the bandwidth of the signal, or there
 *                  would be alising. 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[] = {188, 98, 42, 20, 10, 5};
        static const int d[] = {
                INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
                INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
                INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
        };
        int i, h, result;
        u8 data;

        h = (rate >> 1);
        i = 0;
        while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
                i++;
        data = d[i];
        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;
        u8 d;
        int result;
        struct iio_dev *indio_dev = dev_to_iio_dev(dev);
        struct inv_mpu6050_state *st = iio_priv(indio_dev);

        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;

        result = iio_device_claim_direct_mode(indio_dev);
        if (result)
                return result;

        /* 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);

        mutex_lock(&st->lock);
        if (d == st->chip_config.divider) {
                result = 0;
                goto fifo_rate_fail_unlock;
        }
        result = inv_mpu6050_set_power_itg(st, true);
        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;

fifo_rate_fail_power_off:
        result |= inv_mpu6050_set_power_itg(st, false);
fifo_rate_fail_unlock:
        mutex_unlock(&st->lock);
        iio_device_release_direct_mode(indio_dev);
        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 scnprintf(buf, PAGE_SIZE, "%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 scnprintf(buf, PAGE_SIZE,
                        "%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);

        return &data->orientation;
}

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

#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,                             \
        }

static const struct iio_chan_spec inv_mpu_channels[] = {
        IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
        /*
         * Note that temperature should only be via polled reading only,
         * not the final scan elements output.
         */
        {
                .type = IIO_TEMP,
                .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
                                | BIT(IIO_CHAN_INFO_OFFSET)
                                | BIT(IIO_CHAN_INFO_SCALE),
                .scan_index = -1,
        },
        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 unsigned long inv_mpu_scan_masks[] = {
        /* 3-axis accel */
        BIT(INV_MPU6050_SCAN_ACCL_X)
                | BIT(INV_MPU6050_SCAN_ACCL_Y)
                | BIT(INV_MPU6050_SCAN_ACCL_Z),
        /* 3-axis gyro */
        BIT(INV_MPU6050_SCAN_GYRO_X)
                | BIT(INV_MPU6050_SCAN_GYRO_Y)
                | BIT(INV_MPU6050_SCAN_GYRO_Z),
        /* 6-axis accel + gyro */
        BIT(INV_MPU6050_SCAN_ACCL_X)
                | BIT(INV_MPU6050_SCAN_ACCL_Y)
                | BIT(INV_MPU6050_SCAN_ACCL_Z)
                | BIT(INV_MPU6050_SCAN_GYRO_X)
                | BIT(INV_MPU6050_SCAN_GYRO_Y)
                | BIT(INV_MPU6050_SCAN_GYRO_Z),
        0,
};

static const struct iio_chan_spec inv_icm20602_channels[] = {
        IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
        {
                .type = IIO_TEMP,
                .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
                                | BIT(IIO_CHAN_INFO_OFFSET)
                                | BIT(IIO_CHAN_INFO_SCALE),
                .scan_index = INV_ICM20602_SCAN_TEMP,
                .scan_type = {
                                .sign = 's',
                                .realbits = 16,
                                .storagebits = 16,
                                .shift = 0,
                                .endianness = IIO_BE,
                             },
        },

        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
        INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),

        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
        INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
};

static const unsigned long inv_icm20602_scan_masks[] = {
        /* 3-axis accel + temp (mandatory) */
        BIT(INV_ICM20602_SCAN_ACCL_X)
                | BIT(INV_ICM20602_SCAN_ACCL_Y)
                | BIT(INV_ICM20602_SCAN_ACCL_Z)
                | BIT(INV_ICM20602_SCAN_TEMP),
        /* 3-axis gyro + temp (mandatory) */
        BIT(INV_ICM20602_SCAN_GYRO_X)
                | BIT(INV_ICM20602_SCAN_GYRO_Y)
                | BIT(INV_ICM20602_SCAN_GYRO_Z)
                | BIT(INV_ICM20602_SCAN_TEMP),
        /* 6-axis accel + gyro + temp (mandatory) */
        BIT(INV_ICM20602_SCAN_ACCL_X)
                | BIT(INV_ICM20602_SCAN_ACCL_Y)
                | BIT(INV_ICM20602_SCAN_ACCL_Z)
                | BIT(INV_ICM20602_SCAN_GYRO_X)
                | BIT(INV_ICM20602_SCAN_GYRO_Y)
                | BIT(INV_ICM20602_SCAN_GYRO_Z)
                | BIT(INV_ICM20602_SCAN_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 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,
        .validate_trigger = inv_mpu6050_validate_trigger,
};

/**
 *  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;
        int i;

        st->hw  = &hw_info[st->chip_type];
        st->reg = hw_info[st->chip_type].reg;

        /* 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 %#02x (%s)"
                                        "expected %#02hhx (%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 %#02x expected %#02hhx (%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);

        /*
         * 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;

        result = inv_mpu6050_switch_engine(st, false,
                                           INV_MPU6050_BIT_PWR_ACCL_STBY);
        if (result)
                goto error_power_off;
        result = inv_mpu6050_switch_engine(st, false,
                                           INV_MPU6050_BIT_PWR_GYRO_STBY);
        if (result)
                goto error_power_off;

        return inv_mpu6050_set_power_itg(st, false);

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

static int inv_mpu_core_enable_regulator(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 regulator: %d\n", result);
        } else {
                /* Give the device a little bit of time to start up. */
                usleep_range(35000, 70000);
        }

        return result;
}

static int inv_mpu_core_disable_regulator(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 regulator: %d\n", result);

        return result;
}

static void inv_mpu_core_disable_regulator_action(void *_data)
{
        inv_mpu_core_disable_regulator(_data);
}

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;
        struct irq_data *desc;
        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->powerup_count = 0;
        st->irq = irq;
        st->map = regmap;

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

        desc = irq_get_irq_data(irq);
        if (!desc) {
                dev_err(dev, "Could not find IRQ %d\n", irq);
                return -EINVAL;
        }

        irq_type = irqd_get_trigger_type(desc);
        if (!irq_type)
                irq_type = IRQF_TRIGGER_RISING;
        if (irq_type == IRQF_TRIGGER_RISING)
                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;
        }

        st->vddio_supply = devm_regulator_get(dev, "vddio");
        if (IS_ERR(st->vddio_supply)) {
                if (PTR_ERR(st->vddio_supply) != -EPROBE_DEFER)
                        dev_err(dev, "Failed to get vddio regulator %d\n",
                                (int)PTR_ERR(st->vddio_supply));

                return PTR_ERR(st->vddio_supply);
        }

        result = inv_mpu_core_enable_regulator(st);
        if (result)
                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;
        }

        /* 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");
                return result;
        }

        if (inv_mpu_bus_setup)
                inv_mpu_bus_setup(indio_dev);

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

        if (chip_type == INV_ICM20602) {
                indio_dev->channels = inv_icm20602_channels;
                indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
                indio_dev->available_scan_masks = inv_icm20602_scan_masks;
        } else {
                indio_dev->channels = inv_mpu_channels;
                indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
                indio_dev->available_scan_masks = inv_mpu_scan_masks;
        }

        indio_dev->info = &mpu_info;
        indio_dev->modes = INDIO_BUFFER_TRIGGERED;

        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;
}
EXPORT_SYMBOL_GPL(inv_mpu_core_probe);

#ifdef CONFIG_PM_SLEEP

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

        mutex_lock(&st->lock);
        result = inv_mpu_core_enable_regulator(st);
        if (result)
                goto out_unlock;

        result = inv_mpu6050_set_power_itg(st, true);
out_unlock:
        mutex_unlock(&st->lock);

        return result;
}

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

        mutex_lock(&st->lock);
        result = inv_mpu6050_set_power_itg(st, false);
        inv_mpu_core_disable_regulator(st);
        mutex_unlock(&st->lock);

        return result;
}
#endif /* CONFIG_PM_SLEEP */

SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
EXPORT_SYMBOL_GPL(inv_mpu_pmops);

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