1 files changed, 547 insertions, 88 deletions

diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
index c3f433ad3af6..54760d8f92a2 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
@@ -10,14 +10,18 @@
 #include <linux/regmap.h>
 #include <linux/delay.h>
 #include <linux/math64.h>
-#include <linux/iio/iio.h>
+#include <linux/minmax.h>
+#include <linux/units.h>
+
 #include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/events.h>
+#include <linux/iio/iio.h>
 #include <linux/iio/kfifo_buf.h>
 
 #include "inv_icm42600.h"
 #include "inv_icm42600_temp.h"
 #include "inv_icm42600_buffer.h"
-#include "inv_icm42600_timestamp.h"
 
 #define INV_ICM42600_ACCEL_CHAN(_modifier, _index, _ext_info)		\
 	{								\
@@ -46,6 +50,16 @@
 		.ext_info = _ext_info,					\
 	}
 
+#define INV_ICM42600_ACCEL_EVENT_CHAN(_modifier, _events, _events_nb)	\
+	{								\
+		.type = IIO_ACCEL,					\
+		.modified = 1,						\
+		.channel2 = _modifier,					\
+		.event_spec = _events,					\
+		.num_event_specs = _events_nb,				\
+		.scan_index = -1,					\
+	}
+
 enum inv_icm42600_accel_scan {
 	INV_ICM42600_ACCEL_SCAN_X,
 	INV_ICM42600_ACCEL_SCAN_Y,
@@ -54,9 +68,120 @@ enum inv_icm42600_accel_scan {
 	INV_ICM42600_ACCEL_SCAN_TIMESTAMP,
 };
 
+static const char * const inv_icm42600_accel_power_mode_items[] = {
+	"low-noise",
+	"low-power",
+};
+static const int inv_icm42600_accel_power_mode_values[] = {
+	INV_ICM42600_SENSOR_MODE_LOW_NOISE,
+	INV_ICM42600_SENSOR_MODE_LOW_POWER,
+};
+static const int inv_icm42600_accel_filter_values[] = {
+	INV_ICM42600_FILTER_BW_ODR_DIV_2,
+	INV_ICM42600_FILTER_AVG_16X,
+};
+
+static int inv_icm42600_accel_power_mode_set(struct iio_dev *indio_dev,
+					     const struct iio_chan_spec *chan,
+					     unsigned int idx)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+	int power_mode, filter;
+
+	if (chan->type != IIO_ACCEL)
+		return -EINVAL;
+
+	if (idx >= ARRAY_SIZE(inv_icm42600_accel_power_mode_values))
+		return -EINVAL;
+
+	power_mode = inv_icm42600_accel_power_mode_values[idx];
+	filter = inv_icm42600_accel_filter_values[idx];
+
+	guard(mutex)(&st->lock);
+
+	/* cannot change if accel sensor is on */
+	if (st->conf.accel.mode != INV_ICM42600_SENSOR_MODE_OFF)
+		return -EBUSY;
+
+	/* prevent change if power mode is not supported by the ODR */
+	switch (power_mode) {
+	case INV_ICM42600_SENSOR_MODE_LOW_NOISE:
+		if (st->conf.accel.odr >= INV_ICM42600_ODR_6_25HZ_LP &&
+		    st->conf.accel.odr <= INV_ICM42600_ODR_1_5625HZ_LP)
+			return -EPERM;
+		break;
+	case INV_ICM42600_SENSOR_MODE_LOW_POWER:
+	default:
+		if (st->conf.accel.odr <= INV_ICM42600_ODR_1KHZ_LN)
+			return -EPERM;
+		break;
+	}
+
+	accel_st->power_mode = power_mode;
+	accel_st->filter = filter;
+
+	return 0;
+}
+
+static int inv_icm42600_accel_power_mode_get(struct iio_dev *indio_dev,
+					     const struct iio_chan_spec *chan)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+	unsigned int idx;
+	int power_mode;
+
+	if (chan->type != IIO_ACCEL)
+		return -EINVAL;
+
+	guard(mutex)(&st->lock);
+
+	/* if sensor is on, returns actual power mode and not configured one */
+	switch (st->conf.accel.mode) {
+	case INV_ICM42600_SENSOR_MODE_LOW_POWER:
+	case INV_ICM42600_SENSOR_MODE_LOW_NOISE:
+		power_mode = st->conf.accel.mode;
+		break;
+	default:
+		power_mode = accel_st->power_mode;
+		break;
+	}
+
+	for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_power_mode_values); ++idx) {
+		if (power_mode == inv_icm42600_accel_power_mode_values[idx])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm42600_accel_power_mode_values))
+		return -EINVAL;
+
+	return idx;
+}
+
+static const struct iio_enum inv_icm42600_accel_power_mode_enum = {
+	.items = inv_icm42600_accel_power_mode_items,
+	.num_items = ARRAY_SIZE(inv_icm42600_accel_power_mode_items),
+	.set = inv_icm42600_accel_power_mode_set,
+	.get = inv_icm42600_accel_power_mode_get,
+};
+
 static const struct iio_chan_spec_ext_info inv_icm42600_accel_ext_infos[] = {
 	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
-	{},
+	IIO_ENUM_AVAILABLE("power_mode", IIO_SHARED_BY_TYPE,
+			   &inv_icm42600_accel_power_mode_enum),
+	IIO_ENUM("power_mode", IIO_SHARED_BY_TYPE,
+		 &inv_icm42600_accel_power_mode_enum),
+	{ }
+};
+
+/* WoM event: rising ROC */
+static const struct iio_event_spec inv_icm42600_wom_events[] = {
+	{
+		.type = IIO_EV_TYPE_ROC,
+		.dir = IIO_EV_DIR_RISING,
+		.mask_separate = BIT(IIO_EV_INFO_ENABLE) |
+				 BIT(IIO_EV_INFO_VALUE),
+	},
 };
 
 static const struct iio_chan_spec inv_icm42600_accel_channels[] = {
@@ -68,6 +193,8 @@ static const struct iio_chan_spec inv_icm42600_accel_channels[] = {
 				inv_icm42600_accel_ext_infos),
 	INV_ICM42600_TEMP_CHAN(INV_ICM42600_ACCEL_SCAN_TEMP),
 	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_ACCEL_SCAN_TIMESTAMP),
+	INV_ICM42600_ACCEL_EVENT_CHAN(IIO_MOD_X_OR_Y_OR_Z, inv_icm42600_wom_events,
+				      ARRAY_SIZE(inv_icm42600_wom_events)),
 };
 
 /*
@@ -76,8 +203,8 @@ static const struct iio_chan_spec inv_icm42600_accel_channels[] = {
  */
 struct inv_icm42600_accel_buffer {
 	struct inv_icm42600_fifo_sensor_data accel;
-	int16_t temp;
-	int64_t timestamp __aligned(8);
+	s16 temp;
+	aligned_s64 timestamp;
 };
 
 #define INV_ICM42600_SCAN_MASK_ACCEL_3AXIS				\
@@ -98,7 +225,7 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
 					       const unsigned long *scan_mask)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 	unsigned int fifo_en = 0;
 	unsigned int sleep_temp = 0;
@@ -118,7 +245,8 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
 
 	if (*scan_mask & INV_ICM42600_SCAN_MASK_ACCEL_3AXIS) {
 		/* enable accel sensor */
-		conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+		conf.mode = accel_st->power_mode;
+		conf.filter = accel_st->filter;
 		ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_accel);
 		if (ret)
 			goto out_unlock;
@@ -126,29 +254,23 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
 	}
 
 	/* update data FIFO write */
-	inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
 	ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
-	if (ret)
-		goto out_unlock;
-
-	ret = inv_icm42600_buffer_update_watermark(st);
 
 out_unlock:
 	mutex_unlock(&st->lock);
 	/* sleep maximum required time */
-	if (sleep_accel > sleep_temp)
-		sleep = sleep_accel;
-	else
-		sleep = sleep_temp;
+	sleep = max(sleep_accel, sleep_temp);
 	if (sleep)
 		msleep(sleep);
 	return ret;
 }
 
-static int inv_icm42600_accel_read_sensor(struct inv_icm42600_state *st,
+static int inv_icm42600_accel_read_sensor(struct iio_dev *indio_dev,
 					  struct iio_chan_spec const *chan,
-					  int16_t *val)
+					  s16 *val)
 {
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
 	struct device *dev = regmap_get_device(st->map);
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 	unsigned int reg;
@@ -176,7 +298,8 @@ static int inv_icm42600_accel_read_sensor(struct inv_icm42600_state *st,
 	mutex_lock(&st->lock);
 
 	/* enable accel sensor */
-	conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+	conf.mode = accel_st->power_mode;
+	conf.filter = accel_st->filter;
 	ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
 	if (ret)
 		goto exit;
@@ -187,16 +310,189 @@ static int inv_icm42600_accel_read_sensor(struct inv_icm42600_state *st,
 	if (ret)
 		goto exit;
 
-	*val = (int16_t)be16_to_cpup(data);
+	*val = (s16)be16_to_cpup(data);
 	if (*val == INV_ICM42600_DATA_INVALID)
 		ret = -EINVAL;
 exit:
 	mutex_unlock(&st->lock);
-	pm_runtime_mark_last_busy(dev);
 	pm_runtime_put_autosuspend(dev);
 	return ret;
 }
 
+static unsigned int inv_icm42600_accel_convert_roc_to_wom(u64 roc,
+							  int accel_hz, int accel_uhz)
+{
+	/* 1000/256mg per LSB converted in µm/s² */
+	const unsigned int convert = (9807U * (MICRO / MILLI)) / 256U;
+	u64 value;
+	u64 freq_uhz;
+
+	/* return 0 only if roc is 0 */
+	if (roc == 0)
+		return 0;
+
+	freq_uhz = (u64)accel_hz * MICRO + (u64)accel_uhz;
+	value = div64_u64(roc * MICRO, freq_uhz * (u64)convert);
+
+	/* limit value to 8 bits and prevent 0 */
+	return clamp(value, 1, 255);
+}
+
+static u64 inv_icm42600_accel_convert_wom_to_roc(unsigned int threshold,
+						 int accel_hz, int accel_uhz)
+{
+	/* 1000/256mg per LSB converted in µm/s² */
+	const unsigned int convert = (9807U * (MICRO / MILLI)) / 256U;
+	u64 value;
+	u64 freq_uhz;
+
+	value = threshold * convert;
+	freq_uhz = (u64)accel_hz * MICRO + (u64)accel_uhz;
+
+	/* compute the differential by multiplying by the frequency */
+	return div_u64(value * freq_uhz, MICRO);
+}
+
+static int inv_icm42600_accel_set_wom_threshold(struct inv_icm42600_state *st,
+						u64 value,
+						int accel_hz, int accel_uhz)
+{
+	unsigned int threshold;
+	int ret;
+
+	/* convert roc to wom threshold and convert back to handle clipping */
+	threshold = inv_icm42600_accel_convert_roc_to_wom(value, accel_hz, accel_uhz);
+	value = inv_icm42600_accel_convert_wom_to_roc(threshold, accel_hz, accel_uhz);
+
+	dev_dbg(regmap_get_device(st->map), "wom_threshold: 0x%x\n", threshold);
+
+	/* set accel WoM threshold for the 3 axes */
+	st->buffer[0] = threshold;
+	st->buffer[1] = threshold;
+	st->buffer[2] = threshold;
+	ret = regmap_bulk_write(st->map, INV_ICM42600_REG_ACCEL_WOM_X_THR, st->buffer, 3);
+	if (ret)
+		return ret;
+
+	st->apex.wom.value = value;
+
+	return 0;
+}
+
+static int _inv_icm42600_accel_enable_wom(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+	unsigned int sleep_ms = 0;
+	int ret;
+
+	scoped_guard(mutex, &st->lock) {
+		/* turn on accel sensor */
+		conf.mode = accel_st->power_mode;
+		conf.filter = accel_st->filter;
+		ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_ms);
+		if (ret)
+			return ret;
+	}
+
+	if (sleep_ms)
+		msleep(sleep_ms);
+
+	scoped_guard(mutex, &st->lock) {
+		ret = inv_icm42600_enable_wom(st);
+		if (ret)
+			return ret;
+		st->apex.on++;
+		st->apex.wom.enable = true;
+	}
+
+	return 0;
+}
+
+static int inv_icm42600_accel_enable_wom(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *pdev = regmap_get_device(st->map);
+	int ret;
+
+	ret = pm_runtime_resume_and_get(pdev);
+	if (ret)
+		return ret;
+
+	ret = _inv_icm42600_accel_enable_wom(indio_dev);
+	if (ret) {
+		pm_runtime_mark_last_busy(pdev);
+		pm_runtime_put_autosuspend(pdev);
+		return ret;
+	}
+
+	return 0;
+}
+
+static int _inv_icm42600_accel_disable_wom(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+	unsigned int sleep_ms = 0;
+	int ret;
+
+	scoped_guard(mutex, &st->lock) {
+		/*
+		 * Consider that turning off WoM is always working to avoid
+		 * blocking the chip in on mode and prevent going back to sleep.
+		 * If there is an error, the chip will anyway go back to sleep
+		 * and the feature will not work anymore.
+		 */
+		st->apex.wom.enable = false;
+		st->apex.on--;
+		ret = inv_icm42600_disable_wom(st);
+		if (ret)
+			return ret;
+		/* turn off accel sensor if not used */
+		if (!st->apex.on && !iio_buffer_enabled(indio_dev)) {
+			conf.mode = INV_ICM42600_SENSOR_MODE_OFF;
+			ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_ms);
+			if (ret)
+				return ret;
+		}
+	}
+
+	if (sleep_ms)
+		msleep(sleep_ms);
+
+	return 0;
+}
+
+static int inv_icm42600_accel_disable_wom(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *pdev = regmap_get_device(st->map);
+	int ret;
+
+	ret = _inv_icm42600_accel_disable_wom(indio_dev);
+
+	pm_runtime_mark_last_busy(pdev);
+	pm_runtime_put_autosuspend(pdev);
+
+	return ret;
+}
+
+void inv_icm42600_accel_handle_events(struct iio_dev *indio_dev,
+				      unsigned int status2, unsigned int status3,
+				      s64 timestamp)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	u64 ev_code;
+
+	/* handle WoM event */
+	if (st->apex.wom.enable && (status2 & INV_ICM42600_INT_STATUS2_WOM_INT)) {
+		ev_code = IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, IIO_MOD_X_OR_Y_OR_Z,
+					     IIO_EV_TYPE_ROC, IIO_EV_DIR_RISING);
+		iio_push_event(indio_dev, ev_code, timestamp);
+	}
+}
+
 /* IIO format int + nano */
 static const int inv_icm42600_accel_scale[] = {
 	/* +/- 16G => 0.004788403 m/s-2 */
@@ -212,44 +508,63 @@ static const int inv_icm42600_accel_scale[] = {
 	[2 * INV_ICM42600_ACCEL_FS_2G] = 0,
 	[2 * INV_ICM42600_ACCEL_FS_2G + 1] = 598550,
 };
+static const int inv_icm42686_accel_scale[] = {
+	/* +/- 32G => 0.009576807 m/s-2 */
+	[2 * INV_ICM42686_ACCEL_FS_32G] = 0,
+	[2 * INV_ICM42686_ACCEL_FS_32G + 1] = 9576807,
+	/* +/- 16G => 0.004788403 m/s-2 */
+	[2 * INV_ICM42686_ACCEL_FS_16G] = 0,
+	[2 * INV_ICM42686_ACCEL_FS_16G + 1] = 4788403,
+	/* +/- 8G => 0.002394202 m/s-2 */
+	[2 * INV_ICM42686_ACCEL_FS_8G] = 0,
+	[2 * INV_ICM42686_ACCEL_FS_8G + 1] = 2394202,
+	/* +/- 4G => 0.001197101 m/s-2 */
+	[2 * INV_ICM42686_ACCEL_FS_4G] = 0,
+	[2 * INV_ICM42686_ACCEL_FS_4G + 1] = 1197101,
+	/* +/- 2G => 0.000598550 m/s-2 */
+	[2 * INV_ICM42686_ACCEL_FS_2G] = 0,
+	[2 * INV_ICM42686_ACCEL_FS_2G + 1] = 598550,
+};
 
-static int inv_icm42600_accel_read_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_accel_read_scale(struct iio_dev *indio_dev,
 					 int *val, int *val2)
 {
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
 	unsigned int idx;
 
 	idx = st->conf.accel.fs;
 
-	*val = inv_icm42600_accel_scale[2 * idx];
-	*val2 = inv_icm42600_accel_scale[2 * idx + 1];
+	*val = accel_st->scales[2 * idx];
+	*val2 = accel_st->scales[2 * idx + 1];
 	return IIO_VAL_INT_PLUS_NANO;
 }
 
-static int inv_icm42600_accel_write_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_accel_write_scale(struct iio_dev *indio_dev,
 					  int val, int val2)
 {
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
 	struct device *dev = regmap_get_device(st->map);
 	unsigned int idx;
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 	int ret;
 
-	for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_scale); idx += 2) {
-		if (val == inv_icm42600_accel_scale[idx] &&
-		    val2 == inv_icm42600_accel_scale[idx + 1])
+	for (idx = 0; idx < accel_st->scales_len; idx += 2) {
+		if (val == accel_st->scales[idx] &&
+		    val2 == accel_st->scales[idx + 1])
 			break;
 	}
-	if (idx >= ARRAY_SIZE(inv_icm42600_accel_scale))
+	if (idx >= accel_st->scales_len)
 		return -EINVAL;
 
 	conf.fs = idx / 2;
 
 	pm_runtime_get_sync(dev);
-	mutex_lock(&st->lock);
 
-	ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
+	scoped_guard(mutex, &st->lock)
+		ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
 
-	mutex_unlock(&st->lock);
-	pm_runtime_mark_last_busy(dev);
 	pm_runtime_put_autosuspend(dev);
 
 	return ret;
@@ -257,6 +572,12 @@ static int inv_icm42600_accel_write_scale(struct inv_icm42600_state *st,
 
 /* IIO format int + micro */
 static const int inv_icm42600_accel_odr[] = {
+	/* 1.5625Hz */
+	1, 562500,
+	/* 3.125Hz */
+	3, 125000,
+	/* 6.25Hz */
+	6, 250000,
 	/* 12.5Hz */
 	12, 500000,
 	/* 25Hz */
@@ -276,6 +597,9 @@ static const int inv_icm42600_accel_odr[] = {
 };
 
 static const int inv_icm42600_accel_odr_conv[] = {
+	INV_ICM42600_ODR_1_5625HZ_LP,
+	INV_ICM42600_ODR_3_125HZ_LP,
+	INV_ICM42600_ODR_6_25HZ_LP,
 	INV_ICM42600_ODR_12_5HZ,
 	INV_ICM42600_ODR_25HZ,
 	INV_ICM42600_ODR_50HZ,
@@ -311,7 +635,8 @@ static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev,
 					int val, int val2)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &accel_st->ts;
 	struct device *dev = regmap_get_device(st->map);
 	unsigned int idx;
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
@@ -330,20 +655,23 @@ static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev,
 	pm_runtime_get_sync(dev);
 	mutex_lock(&st->lock);
 
-	ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
-						iio_buffer_enabled(indio_dev));
+	ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
+					       iio_buffer_enabled(indio_dev));
 	if (ret)
 		goto out_unlock;
 
 	ret = inv_icm42600_set_accel_conf(st, &conf, NULL);
 	if (ret)
 		goto out_unlock;
+	/* update wom threshold since roc is dependent on sampling frequency */
+	ret = inv_icm42600_accel_set_wom_threshold(st, st->apex.wom.value, val, val2);
+	if (ret)
+		goto out_unlock;
 	inv_icm42600_buffer_update_fifo_period(st);
 	inv_icm42600_buffer_update_watermark(st);
 
 out_unlock:
 	mutex_unlock(&st->lock);
-	pm_runtime_mark_last_busy(dev);
 	pm_runtime_put_autosuspend(dev);
 
 	return ret;
@@ -364,11 +692,11 @@ static int inv_icm42600_accel_read_offset(struct inv_icm42600_state *st,
 					  int *val, int *val2)
 {
 	struct device *dev = regmap_get_device(st->map);
-	int64_t val64;
-	int32_t bias;
+	s64 val64;
+	s32 bias;
 	unsigned int reg;
-	int16_t offset;
-	uint8_t data[2];
+	s16 offset;
+	u8 data[2];
 	int ret;
 
 	if (chan->type != IIO_ACCEL)
@@ -395,7 +723,6 @@ static int inv_icm42600_accel_read_offset(struct inv_icm42600_state *st,
 	memcpy(data, st->buffer, sizeof(data));
 
 	mutex_unlock(&st->lock);
-	pm_runtime_mark_last_busy(dev);
 	pm_runtime_put_autosuspend(dev);
 	if (ret)
 		return ret;
@@ -422,7 +749,7 @@ static int inv_icm42600_accel_read_offset(struct inv_icm42600_state *st,
 	 * result in micro (1000000)
 	 * (offset * 5 * 9.806650 * 1000000) / 10000
 	 */
-	val64 = (int64_t)offset * 5LL * 9806650LL;
+	val64 = (s64)offset * 5LL * 9806650LL;
 	/* for rounding, add + or - divisor (10000) divided by 2 */
 	if (val64 >= 0)
 		val64 += 10000LL / 2LL;
@@ -440,10 +767,10 @@ static int inv_icm42600_accel_write_offset(struct inv_icm42600_state *st,
 					   int val, int val2)
 {
 	struct device *dev = regmap_get_device(st->map);
-	int64_t val64;
-	int32_t min, max;
+	s64 val64;
+	s32 min, max;
 	unsigned int reg, regval;
-	int16_t offset;
+	s16 offset;
 	int ret;
 
 	if (chan->type != IIO_ACCEL)
@@ -468,7 +795,7 @@ static int inv_icm42600_accel_write_offset(struct inv_icm42600_state *st,
 	      inv_icm42600_accel_calibbias[1];
 	max = inv_icm42600_accel_calibbias[4] * 1000000L +
 	      inv_icm42600_accel_calibbias[5];
-	val64 = (int64_t)val * 1000000LL + (int64_t)val2;
+	val64 = (s64)val * 1000000LL + (s64)val2;
 	if (val64 < min || val64 > max)
 		return -EINVAL;
 
@@ -533,7 +860,6 @@ static int inv_icm42600_accel_write_offset(struct inv_icm42600_state *st,
 
 out_unlock:
 	mutex_unlock(&st->lock);
-	pm_runtime_mark_last_busy(dev);
 	pm_runtime_put_autosuspend(dev);
 	return ret;
 }
@@ -543,7 +869,7 @@ static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev,
 				       int *val, int *val2, long mask)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	int16_t data;
+	s16 data;
 	int ret;
 
 	switch (chan->type) {
@@ -557,17 +883,16 @@ static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev,
 
 	switch (mask) {
 	case IIO_CHAN_INFO_RAW:
-		ret = iio_device_claim_direct_mode(indio_dev);
-		if (ret)
-			return ret;
-		ret = inv_icm42600_accel_read_sensor(st, chan, &data);
-		iio_device_release_direct_mode(indio_dev);
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm42600_accel_read_sensor(indio_dev, chan, &data);
+		iio_device_release_direct(indio_dev);
 		if (ret)
 			return ret;
 		*val = data;
 		return IIO_VAL_INT;
 	case IIO_CHAN_INFO_SCALE:
-		return inv_icm42600_accel_read_scale(st, val, val2);
+		return inv_icm42600_accel_read_scale(indio_dev, val, val2);
 	case IIO_CHAN_INFO_SAMP_FREQ:
 		return inv_icm42600_accel_read_odr(st, val, val2);
 	case IIO_CHAN_INFO_CALIBBIAS:
@@ -582,14 +907,16 @@ static int inv_icm42600_accel_read_avail(struct iio_dev *indio_dev,
 					 const int **vals,
 					 int *type, int *length, long mask)
 {
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+
 	if (chan->type != IIO_ACCEL)
 		return -EINVAL;
 
 	switch (mask) {
 	case IIO_CHAN_INFO_SCALE:
-		*vals = inv_icm42600_accel_scale;
+		*vals = accel_st->scales;
 		*type = IIO_VAL_INT_PLUS_NANO;
-		*length = ARRAY_SIZE(inv_icm42600_accel_scale);
+		*length = accel_st->scales_len;
 		return IIO_AVAIL_LIST;
 	case IIO_CHAN_INFO_SAMP_FREQ:
 		*vals = inv_icm42600_accel_odr;
@@ -617,20 +944,18 @@ static int inv_icm42600_accel_write_raw(struct iio_dev *indio_dev,
 
 	switch (mask) {
 	case IIO_CHAN_INFO_SCALE:
-		ret = iio_device_claim_direct_mode(indio_dev);
-		if (ret)
-			return ret;
-		ret = inv_icm42600_accel_write_scale(st, val, val2);
-		iio_device_release_direct_mode(indio_dev);
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm42600_accel_write_scale(indio_dev, val, val2);
+		iio_device_release_direct(indio_dev);
 		return ret;
 	case IIO_CHAN_INFO_SAMP_FREQ:
 		return inv_icm42600_accel_write_odr(indio_dev, val, val2);
 	case IIO_CHAN_INFO_CALIBBIAS:
-		ret = iio_device_claim_direct_mode(indio_dev);
-		if (ret)
-			return ret;
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
 		ret = inv_icm42600_accel_write_offset(st, chan, val, val2);
-		iio_device_release_direct_mode(indio_dev);
+		iio_device_release_direct(indio_dev);
 		return ret;
 	default:
 		return -EINVAL;
@@ -660,16 +985,11 @@ static int inv_icm42600_accel_hwfifo_set_watermark(struct iio_dev *indio_dev,
 						   unsigned int val)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	int ret;
 
-	mutex_lock(&st->lock);
+	guard(mutex)(&st->lock);
 
 	st->fifo.watermark.accel = val;
-	ret = inv_icm42600_buffer_update_watermark(st);
-
-	mutex_unlock(&st->lock);
-
-	return ret;
+	return inv_icm42600_buffer_update_watermark(st);
 }
 
 static int inv_icm42600_accel_hwfifo_flush(struct iio_dev *indio_dev,
@@ -681,13 +1001,121 @@ static int inv_icm42600_accel_hwfifo_flush(struct iio_dev *indio_dev,
 	if (count == 0)
 		return 0;
 
-	mutex_lock(&st->lock);
+	guard(mutex)(&st->lock);
 
 	ret = inv_icm42600_buffer_hwfifo_flush(st, count);
-	if (!ret)
-		ret = st->fifo.nb.accel;
+	if (ret)
+		return ret;
 
-	mutex_unlock(&st->lock);
+	return st->fifo.nb.accel;
+}
+
+static int inv_icm42600_accel_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_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+
+	/* handle only WoM (roc rising) event */
+	if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+		return -EINVAL;
+
+	guard(mutex)(&st->lock);
+
+	return st->apex.wom.enable ? 1 : 0;
+}
+
+static int inv_icm42600_accel_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_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+
+	/* handle only WoM (roc rising) event */
+	if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+		return -EINVAL;
+
+	scoped_guard(mutex, &st->lock) {
+		if (st->apex.wom.enable == state)
+			return 0;
+	}
+
+	if (state)
+		return inv_icm42600_accel_enable_wom(indio_dev);
+
+	return inv_icm42600_accel_disable_wom(indio_dev);
+}
+
+static int inv_icm42600_accel_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_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	u32 rem;
+
+	/* handle only WoM (roc rising) event value */
+	if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+		return -EINVAL;
+
+	guard(mutex)(&st->lock);
+
+	/* return value in micro */
+	*val = div_u64_rem(st->apex.wom.value, MICRO, &rem);
+	*val2 = rem;
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int _inv_icm42600_accel_wom_value(struct inv_icm42600_state *st,
+					 int val, int val2)
+{
+	u64 value;
+	unsigned int accel_hz, accel_uhz;
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	ret = inv_icm42600_accel_read_odr(st, &accel_hz, &accel_uhz);
+	if (ret < 0)
+		return ret;
+
+	value = (u64)val * MICRO + (u64)val2;
+
+	return inv_icm42600_accel_set_wom_threshold(st, value,
+						    accel_hz, accel_uhz);
+}
+
+static int inv_icm42600_accel_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_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	int ret;
+
+	/* handle only WoM (roc rising) event value */
+	if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+		return -EINVAL;
+
+	if (val < 0 || val2 < 0)
+		return -EINVAL;
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	ret = _inv_icm42600_accel_wom_value(st, val, val2);
+
+	pm_runtime_mark_last_busy(dev);
+	pm_runtime_put_autosuspend(dev);
 
 	return ret;
 }
@@ -701,13 +1129,18 @@ static const struct iio_info inv_icm42600_accel_info = {
 	.update_scan_mode = inv_icm42600_accel_update_scan_mode,
 	.hwfifo_set_watermark = inv_icm42600_accel_hwfifo_set_watermark,
 	.hwfifo_flush_to_buffer = inv_icm42600_accel_hwfifo_flush,
+	.read_event_config = inv_icm42600_accel_read_event_config,
+	.write_event_config = inv_icm42600_accel_write_event_config,
+	.read_event_value = inv_icm42600_accel_read_event_value,
+	.write_event_value = inv_icm42600_accel_write_event_value,
 };
 
 struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
 {
 	struct device *dev = regmap_get_device(st->map);
 	const char *name;
-	struct inv_icm42600_timestamp *ts;
+	struct inv_icm42600_sensor_state *accel_st;
+	struct inv_sensors_timestamp_chip ts_chip;
 	struct iio_dev *indio_dev;
 	int ret;
 
@@ -715,12 +1148,33 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
 	if (!name)
 		return ERR_PTR(-ENOMEM);
 
-	indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st));
 	if (!indio_dev)
 		return ERR_PTR(-ENOMEM);
+	accel_st = iio_priv(indio_dev);
 
-	ts = iio_priv(indio_dev);
-	inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.accel.odr));
+	switch (st->chip) {
+	case INV_CHIP_ICM42686:
+		accel_st->scales = inv_icm42686_accel_scale;
+		accel_st->scales_len = ARRAY_SIZE(inv_icm42686_accel_scale);
+		break;
+	default:
+		accel_st->scales = inv_icm42600_accel_scale;
+		accel_st->scales_len = ARRAY_SIZE(inv_icm42600_accel_scale);
+		break;
+	}
+	/* low-power by default at init */
+	accel_st->power_mode = INV_ICM42600_SENSOR_MODE_LOW_POWER;
+	accel_st->filter = INV_ICM42600_FILTER_AVG_16X;
+
+	/*
+	 * clock period is 32kHz (31250ns)
+	 * jitter is +/- 2% (20 per mille)
+	 */
+	ts_chip.clock_period = 31250;
+	ts_chip.jitter = 20;
+	ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
+	inv_sensors_timestamp_init(&accel_st->ts, &ts_chip);
 
 	iio_device_set_drvdata(indio_dev, st);
 	indio_dev->name = name;
@@ -739,20 +1193,27 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
 	if (ret)
 		return ERR_PTR(ret);
 
+	/* accel events are wakeup capable */
+	ret = devm_device_init_wakeup(&indio_dev->dev);
+	if (ret)
+		return ERR_PTR(ret);
+
 	return indio_dev;
 }
 
 int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &accel_st->ts;
 	ssize_t i, size;
 	unsigned int no;
 	const void *accel, *gyro, *timestamp;
 	const int8_t *temp;
 	unsigned int odr;
 	int64_t ts_val;
-	struct inv_icm42600_accel_buffer buffer;
+	/* buffer is copied to userspace, zeroing it to avoid any data leak */
+	struct inv_icm42600_accel_buffer buffer = { };
 
 	/* parse all fifo packets */
 	for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
@@ -768,15 +1229,13 @@ int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
 
 		/* update odr */
 		if (odr & INV_ICM42600_SENSOR_ACCEL)
-			inv_icm42600_timestamp_apply_odr(ts, st->fifo.period,
-							 st->fifo.nb.total, no);
+			inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
+							st->fifo.nb.total, no);
 
-		/* buffer is copied to userspace, zeroing it to avoid any data leak */
-		memset(&buffer, 0, sizeof(buffer));
 		memcpy(&buffer.accel, accel, sizeof(buffer.accel));
 		/* convert 8 bits FIFO temperature in high resolution format */
 		buffer.temp = temp ? (*temp * 64) : 0;
-		ts_val = inv_icm42600_timestamp_pop(ts);
+		ts_val = inv_sensors_timestamp_pop(ts);
 		iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
 	}