Merge tag 'net-next-6.3' of git://git.kernel.org/pub/scm/linux/kernel/git/netdev/net-nextgrafted

Pull networking updates from Jakub Kicinski:
 "Core:

   - Add dedicated kmem_cache for typical/small skb->head, avoid having
     to access struct page at kfree time, and improve memory use.

   - Introduce sysctl to set default RPS configuration for new netdevs.

   - Define Netlink protocol specification format which can be used to
     describe messages used by each family and auto-generate parsers.
     Add tools for generating kernel data structures and uAPI headers.

   - Expose all net/core sysctls inside netns.

   - Remove 4s sleep in netpoll if carrier is instantly detected on
     boot.

   - Add configurable limit of MDB entries per port, and port-vlan.

   - Continue populating drop reasons throughout the stack.

   - Retire a handful of legacy Qdiscs and classifiers.

  Protocols:

   - Support IPv4 big TCP (TSO frames larger than 64kB).

   - Add IP_LOCAL_PORT_RANGE socket option, to control local port range
     on socket by socket basis.

   - Track and report in procfs number of MPTCP sockets used.

   - Support mixing IPv4 and IPv6 flows in the in-kernel MPTCP path
     manager.

   - IPv6: don't check net.ipv6.route.max_size and rely on garbage
     collection to free memory (similarly to IPv4).

   - Support Penultimate Segment Pop (PSP) flavor in SRv6 (RFC8986).

   - ICMP: add per-rate limit counters.

   - Add support for user scanning requests in ieee802154.

   - Remove static WEP support.

   - Support minimal Wi-Fi 7 Extremely High Throughput (EHT) rate
     reporting.

   - WiFi 7 EHT channel puncturing support (client & AP).

  BPF:

   - Add a rbtree data structure following the "next-gen data structure"
     precedent set by recently added linked list, that is, by using
     kfunc + kptr instead of adding a new BPF map type.

   - Expose XDP hints via kfuncs with initial support for RX hash and
     timestamp metadata.

   - Add BPF_F_NO_TUNNEL_KEY extension to bpf_skb_set_tunnel_key to
     better support decap on GRE tunnel devices not operating in collect
     metadata.

   - Improve x86 JIT's codegen for PROBE_MEM runtime error checks.

   - Remove the need for trace_printk_lock for bpf_trace_printk and
     bpf_trace_vprintk helpers.

   - Extend libbpf's bpf_tracing.h support for tracing arguments of
     kprobes/uprobes and syscall as a special case.

   - Significantly reduce the search time for module symbols by
     livepatch and BPF.

   - Enable cpumasks to be used as kptrs, which is useful for tracing
     programs tracking which tasks end up running on which CPUs in
     different time intervals.

   - Add support for BPF trampoline on s390x and riscv64.

   - Add capability to export the XDP features supported by the NIC.

   - Add __bpf_kfunc tag for marking kernel functions as kfuncs.

   - Add cgroup.memory=nobpf kernel parameter option to disable BPF
     memory accounting for container environments.

  Netfilter:

   - Remove the CLUSTERIP target. It has been marked as obsolete for
     years, and we still have WARN splats wrt races of the out-of-band
     /proc interface installed by this target.

   - Add 'destroy' commands to nf_tables. They are identical to the
     existing 'delete' commands, but do not return an error if the
     referenced object (set, chain, rule...) did not exist.

  Driver API:

   - Improve cpumask_local_spread() locality to help NICs set the right
     IRQ affinity on AMD platforms.

   - Separate C22 and C45 MDIO bus transactions more clearly.

   - Introduce new DCB table to control DSCP rewrite on egress.

   - Support configuration of Physical Layer Collision Avoidance (PLCA)
     Reconciliation Sublayer (RS) (802.3cg-2019). Modern version of
     shared medium Ethernet.

   - Support for MAC Merge layer (IEEE 802.3-2018 clause 99). Allowing
     preemption of low priority frames by high priority frames.

   - Add support for controlling MACSec offload using netlink SET.

   - Rework devlink instance refcounts to allow registration and
     de-registration under the instance lock. Split the code into
     multiple files, drop some of the unnecessarily granular locks and
     factor out common parts of netlink operation handling.

   - Add TX frame aggregation parameters (for USB drivers).

   - Add a new attr TCA_EXT_WARN_MSG to report TC (offload) warning
     messages with notifications for debug.

   - Allow offloading of UDP NEW connections via act_ct.

   - Add support for per action HW stats in TC.

   - Support hardware miss to TC action (continue processing in SW from
     a specific point in the action chain).

   - Warn if old Wireless Extension user space interface is used with
     modern cfg80211/mac80211 drivers. Do not support Wireless
     Extensions for Wi-Fi 7 devices at all. Everyone should switch to
     using nl80211 interface instead.

   - Improve the CAN bit timing configuration. Use extack to return
     error messages directly to user space, update the SJW handling,
     including the definition of a new default value that will benefit
     CAN-FD controllers, by increasing their oscillator tolerance.

  New hardware / drivers:

   - Ethernet:
      - nVidia BlueField-3 support (control traffic driver)
      - Ethernet support for imx93 SoCs
      - Motorcomm yt8531 gigabit Ethernet PHY
      - onsemi NCN26000 10BASE-T1S PHY (with support for PLCA)
      - Microchip LAN8841 PHY (incl. cable diagnostics and PTP)
      - Amlogic gxl MDIO mux

   - WiFi:
      - RealTek RTL8188EU (rtl8xxxu)
      - Qualcomm Wi-Fi 7 devices (ath12k)

   - CAN:
      - Renesas R-Car V4H

  Drivers:

   - Bluetooth:
      - Set Per Platform Antenna Gain (PPAG) for Intel controllers.

   - Ethernet NICs:
      - Intel (1G, igc):
         - support TSN / Qbv / packet scheduling features of i226 model
      - Intel (100G, ice):
         - use GNSS subsystem instead of TTY
         - multi-buffer XDP support
         - extend support for GPIO pins to E823 devices
      - nVidia/Mellanox:
         - update the shared buffer configuration on PFC commands
         - implement PTP adjphase function for HW offset control
         - TC support for Geneve and GRE with VF tunnel offload
         - more efficient crypto key management method
         - multi-port eswitch support
      - Netronome/Corigine:
         - add DCB IEEE support
         - support IPsec offloading for NFP3800
      - Freescale/NXP (enetc):
         - support XDP_REDIRECT for XDP non-linear buffers
         - improve reconfig, avoid link flap and waiting for idle
         - support MAC Merge layer
      - Other NICs:
         - sfc/ef100: add basic devlink support for ef100
         - ionic: rx_push mode operation (writing descriptors via MMIO)
         - bnxt: use the auxiliary bus abstraction for RDMA
         - r8169: disable ASPM and reset bus in case of tx timeout
         - cpsw: support QSGMII mode for J721e CPSW9G
         - cpts: support pulse-per-second output
         - ngbe: add an mdio bus driver
         - usbnet: optimize usbnet_bh() by avoiding unnecessary queuing
         - r8152: handle devices with FW with NCM support
         - amd-xgbe: support 10Mbps, 2.5GbE speeds and rx-adaptation
         - virtio-net: support multi buffer XDP
         - virtio/vsock: replace virtio_vsock_pkt with sk_buff
         - tsnep: XDP support

   - Ethernet high-speed switches:
      - nVidia/Mellanox (mlxsw):
         - add support for latency TLV (in FW control messages)
      - Microchip (sparx5):
         - separate explicit and implicit traffic forwarding rules, make
           the implicit rules always active
         - add support for egress DSCP rewrite
         - IS0 VCAP support (Ingress Classification)
         - IS2 VCAP filters (protos, L3 addrs, L4 ports, flags, ToS
           etc.)
         - ES2 VCAP support (Egress Access Control)
         - support for Per-Stream Filtering and Policing (802.1Q,
           8.6.5.1)

   - Ethernet embedded switches:
      - Marvell (mv88e6xxx):
         - add MAB (port auth) offload support
         - enable PTP receive for mv88e6390
      - NXP (ocelot):
         - support MAC Merge layer
         - support for the the vsc7512 internal copper phys
      - Microchip:
         - lan9303: convert to PHYLINK
         - lan966x: support TC flower filter statistics
         - lan937x: PTP support for KSZ9563/KSZ8563 and LAN937x
         - lan937x: support Credit Based Shaper configuration
         - ksz9477: support Energy Efficient Ethernet
      - other:
         - qca8k: convert to regmap read/write API, use bulk operations
         - rswitch: Improve TX timestamp accuracy

   - Intel WiFi (iwlwifi):
      - EHT (Wi-Fi 7) rate reporting
      - STEP equalizer support: transfer some STEP (connection to radio
        on platforms with integrated wifi) related parameters from the
        BIOS to the firmware.

   - Qualcomm 802.11ax WiFi (ath11k):
      - IPQ5018 support
      - Fine Timing Measurement (FTM) responder role support
      - channel 177 support

   - MediaTek WiFi (mt76):
      - per-PHY LED support
      - mt7996: EHT (Wi-Fi 7) support
      - Wireless Ethernet Dispatch (WED) reset support
      - switch to using page pool allocator

   - RealTek WiFi (rtw89):
      - support new version of Bluetooth co-existance

   - Mobile:
      - rmnet: support TX aggregation"

* tag 'net-next-6.3' of git://git.kernel.org/pub/scm/linux/kernel/git/netdev/net-next: (1872 commits)
  page_pool: add a comment explaining the fragment counter usage
  net: ethtool: fix __ethtool_dev_mm_supported() implementation
  ethtool: pse-pd: Fix double word in comments
  xsk: add linux/vmalloc.h to xsk.c
  sefltests: netdevsim: wait for devlink instance after netns removal
  selftest: fib_tests: Always cleanup before exit
  net/mlx5e: Align IPsec ASO result memory to be as required by hardware
  net/mlx5e: TC, Set CT miss to the specific ct action instance
  net/mlx5e: Rename CHAIN_TO_REG to MAPPED_OBJ_TO_REG
  net/mlx5: Refactor tc miss handling to a single function
  net/mlx5: Kconfig: Make tc offload depend on tc skb extension
  net/sched: flower: Support hardware miss to tc action
  net/sched: flower: Move filter handle initialization earlier
  net/sched: cls_api: Support hardware miss to tc action
  net/sched: Rename user cookie and act cookie
  sfc: fix builds without CONFIG_RTC_LIB
  sfc: clean up some inconsistent indentings
  net/mlx4_en: Introduce flexible array to silence overflow warning
  net: lan966x: Fix possible deadlock inside PTP
  net/ulp: Remove redundant ->clone() test in inet_clone_ulp().
  ...

1 files changed, 796 insertions, 0 deletions

diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
new file mode 100644
index 000000000..9d94a8518
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -0,0 +1,796 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+#include <linux/math64.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.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_GYRO_CHAN(_modifier, _index, _ext_info)		\
+	{								\
+		.type = IIO_ANGL_VEL,					\
+		.modified = 1,						\
+		.channel2 = _modifier,					\
+		.info_mask_separate =					\
+			BIT(IIO_CHAN_INFO_RAW) |			\
+			BIT(IIO_CHAN_INFO_CALIBBIAS),			\
+		.info_mask_shared_by_type =				\
+			BIT(IIO_CHAN_INFO_SCALE),			\
+		.info_mask_shared_by_type_available =			\
+			BIT(IIO_CHAN_INFO_SCALE) |			\
+			BIT(IIO_CHAN_INFO_CALIBBIAS),			\
+		.info_mask_shared_by_all =				\
+			BIT(IIO_CHAN_INFO_SAMP_FREQ),			\
+		.info_mask_shared_by_all_available =			\
+			BIT(IIO_CHAN_INFO_SAMP_FREQ),			\
+		.scan_index = _index,					\
+		.scan_type = {						\
+			.sign = 's',					\
+			.realbits = 16,					\
+			.storagebits = 16,				\
+			.endianness = IIO_BE,				\
+		},							\
+		.ext_info = _ext_info,					\
+	}
+
+enum inv_icm42600_gyro_scan {
+	INV_ICM42600_GYRO_SCAN_X,
+	INV_ICM42600_GYRO_SCAN_Y,
+	INV_ICM42600_GYRO_SCAN_Z,
+	INV_ICM42600_GYRO_SCAN_TEMP,
+	INV_ICM42600_GYRO_SCAN_TIMESTAMP,
+};
+
+static const struct iio_chan_spec_ext_info inv_icm42600_gyro_ext_infos[] = {
+	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
+	{},
+};
+
+static const struct iio_chan_spec inv_icm42600_gyro_channels[] = {
+	INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X,
+			       inv_icm42600_gyro_ext_infos),
+	INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y,
+			       inv_icm42600_gyro_ext_infos),
+	INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z,
+			       inv_icm42600_gyro_ext_infos),
+	INV_ICM42600_TEMP_CHAN(INV_ICM42600_GYRO_SCAN_TEMP),
+	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42600_GYRO_SCAN_TIMESTAMP),
+};
+
+/*
+ * IIO buffer data: size must be a power of 2 and timestamp aligned
+ * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp
+ */
+struct inv_icm42600_gyro_buffer {
+	struct inv_icm42600_fifo_sensor_data gyro;
+	int16_t temp;
+	int64_t timestamp __aligned(8);
+};
+
+#define INV_ICM42600_SCAN_MASK_GYRO_3AXIS				\
+	(BIT(INV_ICM42600_GYRO_SCAN_X) |				\
+	BIT(INV_ICM42600_GYRO_SCAN_Y) |					\
+	BIT(INV_ICM42600_GYRO_SCAN_Z))
+
+#define INV_ICM42600_SCAN_MASK_TEMP	BIT(INV_ICM42600_GYRO_SCAN_TEMP)
+
+static const unsigned long inv_icm42600_gyro_scan_masks[] = {
+	/* 3-axis gyro + temperature */
+	INV_ICM42600_SCAN_MASK_GYRO_3AXIS | INV_ICM42600_SCAN_MASK_TEMP,
+	0,
+};
+
+/* enable gyroscope sensor and FIFO write */
+static int inv_icm42600_gyro_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_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+	unsigned int fifo_en = 0;
+	unsigned int sleep_gyro = 0;
+	unsigned int sleep_temp = 0;
+	unsigned int sleep;
+	int ret;
+
+	mutex_lock(&st->lock);
+
+	if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) {
+		/* enable temp sensor */
+		ret = inv_icm42600_set_temp_conf(st, true, &sleep_temp);
+		if (ret)
+			goto out_unlock;
+		fifo_en |= INV_ICM42600_SENSOR_TEMP;
+	}
+
+	if (*scan_mask & INV_ICM42600_SCAN_MASK_GYRO_3AXIS) {
+		/* enable gyro sensor */
+		conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+		ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_gyro);
+		if (ret)
+			goto out_unlock;
+		fifo_en |= INV_ICM42600_SENSOR_GYRO;
+	}
+
+	/* 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_gyro > sleep_temp)
+		sleep = sleep_gyro;
+	else
+		sleep = sleep_temp;
+	if (sleep)
+		msleep(sleep);
+	return ret;
+}
+
+static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st,
+					 struct iio_chan_spec const *chan,
+					 int16_t *val)
+{
+	struct device *dev = regmap_get_device(st->map);
+	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+	unsigned int reg;
+	__be16 *data;
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM42600_REG_GYRO_DATA_X;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM42600_REG_GYRO_DATA_Y;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM42600_REG_GYRO_DATA_Z;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	/* enable gyro sensor */
+	conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+	ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+	if (ret)
+		goto exit;
+
+	/* read gyro register data */
+	data = (__be16 *)&st->buffer[0];
+	ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
+	if (ret)
+		goto exit;
+
+	*val = (int16_t)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;
+}
+
+/* IIO format int + nano */
+static const int inv_icm42600_gyro_scale[] = {
+	/* +/- 2000dps => 0.001065264 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_2000DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264,
+	/* +/- 1000dps => 0.000532632 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_1000DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632,
+	/* +/- 500dps => 0.000266316 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_500DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316,
+	/* +/- 250dps => 0.000133158 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_250DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158,
+	/* +/- 125dps => 0.000066579 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_125DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579,
+	/* +/- 62.5dps => 0.000033290 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290,
+	/* +/- 31.25dps => 0.000016645 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645,
+	/* +/- 15.625dps => 0.000008322 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
+};
+
+static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
+					int *val, int *val2)
+{
+	unsigned int idx;
+
+	idx = st->conf.gyro.fs;
+
+	*val = inv_icm42600_gyro_scale[2 * idx];
+	*val2 = inv_icm42600_gyro_scale[2 * idx + 1];
+	return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
+					 int val, int val2)
+{
+	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_gyro_scale); idx += 2) {
+		if (val == inv_icm42600_gyro_scale[idx] &&
+		    val2 == inv_icm42600_gyro_scale[idx + 1])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
+		return -EINVAL;
+
+	conf.fs = idx / 2;
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+
+	mutex_unlock(&st->lock);
+	pm_runtime_mark_last_busy(dev);
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+/* IIO format int + micro */
+static const int inv_icm42600_gyro_odr[] = {
+	/* 12.5Hz */
+	12, 500000,
+	/* 25Hz */
+	25, 0,
+	/* 50Hz */
+	50, 0,
+	/* 100Hz */
+	100, 0,
+	/* 200Hz */
+	200, 0,
+	/* 1kHz */
+	1000, 0,
+	/* 2kHz */
+	2000, 0,
+	/* 4kHz */
+	4000, 0,
+};
+
+static const int inv_icm42600_gyro_odr_conv[] = {
+	INV_ICM42600_ODR_12_5HZ,
+	INV_ICM42600_ODR_25HZ,
+	INV_ICM42600_ODR_50HZ,
+	INV_ICM42600_ODR_100HZ,
+	INV_ICM42600_ODR_200HZ,
+	INV_ICM42600_ODR_1KHZ_LN,
+	INV_ICM42600_ODR_2KHZ_LN,
+	INV_ICM42600_ODR_4KHZ_LN,
+};
+
+static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st,
+				      int *val, int *val2)
+{
+	unsigned int odr;
+	unsigned int i;
+
+	odr = st->conf.gyro.odr;
+
+	for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) {
+		if (inv_icm42600_gyro_odr_conv[i] == odr)
+			break;
+	}
+	if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv))
+		return -EINVAL;
+
+	*val = inv_icm42600_gyro_odr[2 * i];
+	*val2 = inv_icm42600_gyro_odr[2 * i + 1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int inv_icm42600_gyro_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 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_gyro_odr); idx += 2) {
+		if (val == inv_icm42600_gyro_odr[idx] &&
+		    val2 == inv_icm42600_gyro_odr[idx + 1])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr))
+		return -EINVAL;
+
+	conf.odr = inv_icm42600_gyro_odr_conv[idx / 2];
+
+	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));
+	if (ret)
+		goto out_unlock;
+
+	ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+	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;
+}
+
+/*
+ * Calibration bias values, IIO range format int + nano.
+ * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps.
+ */
+static int inv_icm42600_gyro_calibbias[] = {
+	-1, 117010721,		/* min: -1.117010721 rad/s */
+	0, 545415,		/* step: 0.000545415 rad/s */
+	1, 116465306,		/* max: 1.116465306 rad/s */
+};
+
+static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st,
+					 struct iio_chan_spec const *chan,
+					 int *val, int *val2)
+{
+	struct device *dev = regmap_get_device(st->map);
+	int64_t val64;
+	int32_t bias;
+	unsigned int reg;
+	int16_t offset;
+	uint8_t data[2];
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM42600_REG_OFFSET_USER0;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM42600_REG_OFFSET_USER1;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM42600_REG_OFFSET_USER3;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	ret = regmap_bulk_read(st->map, reg, st->buffer, sizeof(data));
+	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;
+
+	/* 12 bits signed value */
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
+		break;
+	case IIO_MOD_Y:
+		offset = sign_extend32(((data[0] & 0xF0) << 4) | data[1], 11);
+		break;
+	case IIO_MOD_Z:
+		offset = sign_extend32(((data[1] & 0x0F) << 8) | data[0], 11);
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	/*
+	 * convert raw offset to dps then to rad/s
+	 * 12 bits signed raw max 64 to dps: 64 / 2048
+	 * dps to rad: Pi / 180
+	 * result in nano (1000000000)
+	 * (offset * 64 * Pi * 1000000000) / (2048 * 180)
+	 */
+	val64 = (int64_t)offset * 64LL * 3141592653LL;
+	/* for rounding, add + or - divisor (2048 * 180) divided by 2 */
+	if (val64 >= 0)
+		val64 += 2048 * 180 / 2;
+	else
+		val64 -= 2048 * 180 / 2;
+	bias = div_s64(val64, 2048 * 180);
+	*val = bias / 1000000000L;
+	*val2 = bias % 1000000000L;
+
+	return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st,
+					  struct iio_chan_spec const *chan,
+					  int val, int val2)
+{
+	struct device *dev = regmap_get_device(st->map);
+	int64_t val64, min, max;
+	unsigned int reg, regval;
+	int16_t offset;
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM42600_REG_OFFSET_USER0;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM42600_REG_OFFSET_USER1;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM42600_REG_OFFSET_USER3;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	/* inv_icm42600_gyro_calibbias: min - step - max in nano */
+	min = (int64_t)inv_icm42600_gyro_calibbias[0] * 1000000000LL +
+	      (int64_t)inv_icm42600_gyro_calibbias[1];
+	max = (int64_t)inv_icm42600_gyro_calibbias[4] * 1000000000LL +
+	      (int64_t)inv_icm42600_gyro_calibbias[5];
+	val64 = (int64_t)val * 1000000000LL + (int64_t)val2;
+	if (val64 < min || val64 > max)
+		return -EINVAL;
+
+	/*
+	 * convert rad/s to dps then to raw value
+	 * rad to dps: 180 / Pi
+	 * dps to raw 12 bits signed, max 64: 2048 / 64
+	 * val in nano (1000000000)
+	 * val * 180 * 2048 / (Pi * 1000000000 * 64)
+	 */
+	val64 = val64 * 180LL * 2048LL;
+	/* for rounding, add + or - divisor (3141592653 * 64) divided by 2 */
+	if (val64 >= 0)
+		val64 += 3141592653LL * 64LL / 2LL;
+	else
+		val64 -= 3141592653LL * 64LL / 2LL;
+	offset = div64_s64(val64, 3141592653LL * 64LL);
+
+	/* clamp value limited to 12 bits signed */
+	if (offset < -2048)
+		offset = -2048;
+	else if (offset > 2047)
+		offset = 2047;
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		/* OFFSET_USER1 register is shared */
+		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
+				  &regval);
+		if (ret)
+			goto out_unlock;
+		st->buffer[0] = offset & 0xFF;
+		st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
+		break;
+	case IIO_MOD_Y:
+		/* OFFSET_USER1 register is shared */
+		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
+				  &regval);
+		if (ret)
+			goto out_unlock;
+		st->buffer[0] = ((offset & 0xF00) >> 4) | (regval & 0x0F);
+		st->buffer[1] = offset & 0xFF;
+		break;
+	case IIO_MOD_Z:
+		/* OFFSET_USER4 register is shared */
+		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,
+				  &regval);
+		if (ret)
+			goto out_unlock;
+		st->buffer[0] = offset & 0xFF;
+		st->buffer[1] = (regval & 0xF0) | ((offset & 0xF00) >> 8);
+		break;
+	default:
+		ret = -EINVAL;
+		goto out_unlock;
+	}
+
+	ret = regmap_bulk_write(st->map, reg, st->buffer, 2);
+
+out_unlock:
+	mutex_unlock(&st->lock);
+	pm_runtime_mark_last_busy(dev);
+	pm_runtime_put_autosuspend(dev);
+	return ret;
+}
+
+static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
+				      struct iio_chan_spec const *chan,
+				      int *val, int *val2, long mask)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	int16_t data;
+	int ret;
+
+	switch (chan->type) {
+	case IIO_ANGL_VEL:
+		break;
+	case IIO_TEMP:
+		return inv_icm42600_temp_read_raw(indio_dev, chan, val, val2, mask);
+	default:
+		return -EINVAL;
+	}
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		ret = iio_device_claim_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		ret = inv_icm42600_gyro_read_sensor(st, chan, &data);
+		iio_device_release_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		*val = data;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_SCALE:
+		return inv_icm42600_gyro_read_scale(st, val, val2);
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm42600_gyro_read_odr(st, val, val2);
+	case IIO_CHAN_INFO_CALIBBIAS:
+		return inv_icm42600_gyro_read_offset(st, chan, val, val2);
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
+					struct iio_chan_spec const *chan,
+					const int **vals,
+					int *type, int *length, long mask)
+{
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		*vals = inv_icm42600_gyro_scale;
+		*type = IIO_VAL_INT_PLUS_NANO;
+		*length = ARRAY_SIZE(inv_icm42600_gyro_scale);
+		return IIO_AVAIL_LIST;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		*vals = inv_icm42600_gyro_odr;
+		*type = IIO_VAL_INT_PLUS_MICRO;
+		*length = ARRAY_SIZE(inv_icm42600_gyro_odr);
+		return IIO_AVAIL_LIST;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		*vals = inv_icm42600_gyro_calibbias;
+		*type = IIO_VAL_INT_PLUS_NANO;
+		return IIO_AVAIL_RANGE;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
+				       struct iio_chan_spec const *chan,
+				       int val, int val2, long mask)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		ret = iio_device_claim_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		ret = inv_icm42600_gyro_write_scale(st, val, val2);
+		iio_device_release_direct_mode(indio_dev);
+		return ret;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm42600_gyro_write_odr(indio_dev, val, val2);
+	case IIO_CHAN_INFO_CALIBBIAS:
+		ret = iio_device_claim_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		ret = inv_icm42600_gyro_write_offset(st, chan, val, val2);
+		iio_device_release_direct_mode(indio_dev);
+		return ret;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,
+					       struct iio_chan_spec const *chan,
+					       long mask)
+{
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		return IIO_VAL_INT_PLUS_NANO;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		return IIO_VAL_INT_PLUS_NANO;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42600_gyro_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);
+
+	st->fifo.watermark.gyro = val;
+	ret = inv_icm42600_buffer_update_watermark(st);
+
+	mutex_unlock(&st->lock);
+
+	return ret;
+}
+
+static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev,
+					  unsigned int count)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	if (count == 0)
+		return 0;
+
+	mutex_lock(&st->lock);
+
+	ret = inv_icm42600_buffer_hwfifo_flush(st, count);
+	if (!ret)
+		ret = st->fifo.nb.gyro;
+
+	mutex_unlock(&st->lock);
+
+	return ret;
+}
+
+static const struct iio_info inv_icm42600_gyro_info = {
+	.read_raw = inv_icm42600_gyro_read_raw,
+	.read_avail = inv_icm42600_gyro_read_avail,
+	.write_raw = inv_icm42600_gyro_write_raw,
+	.write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt,
+	.debugfs_reg_access = inv_icm42600_debugfs_reg,
+	.update_scan_mode = inv_icm42600_gyro_update_scan_mode,
+	.hwfifo_set_watermark = inv_icm42600_gyro_hwfifo_set_watermark,
+	.hwfifo_flush_to_buffer = inv_icm42600_gyro_hwfifo_flush,
+};
+
+struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
+{
+	struct device *dev = regmap_get_device(st->map);
+	const char *name;
+	struct inv_icm42600_timestamp *ts;
+	struct iio_dev *indio_dev;
+	int ret;
+
+	name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);
+	if (!name)
+		return ERR_PTR(-ENOMEM);
+
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
+	if (!indio_dev)
+		return ERR_PTR(-ENOMEM);
+
+	ts = iio_priv(indio_dev);
+	inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.gyro.odr));
+
+	iio_device_set_drvdata(indio_dev, st);
+	indio_dev->name = name;
+	indio_dev->info = &inv_icm42600_gyro_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->channels = inv_icm42600_gyro_channels;
+	indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels);
+	indio_dev->available_scan_masks = inv_icm42600_gyro_scan_masks;
+	indio_dev->setup_ops = &inv_icm42600_buffer_ops;
+
+	ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
+					  &inv_icm42600_buffer_ops);
+	if (ret)
+		return ERR_PTR(ret);
+
+	ret = devm_iio_device_register(dev, indio_dev);
+	if (ret)
+		return ERR_PTR(ret);
+
+	return indio_dev;
+}
+
+int inv_icm42600_gyro_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);
+	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_gyro_buffer buffer;
+
+	/* parse all fifo packets */
+	for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
+		size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i],
+				&accel, &gyro, &temp, &timestamp, &odr);
+		/* quit if error or FIFO is empty */
+		if (size <= 0)
+			return size;
+
+		/* skip packet if no gyro data or data is invalid */
+		if (gyro == NULL || !inv_icm42600_fifo_is_data_valid(gyro))
+			continue;
+
+		/* update odr */
+		if (odr & INV_ICM42600_SENSOR_GYRO)
+			inv_icm42600_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.gyro, gyro, sizeof(buffer.gyro));
+		/* convert 8 bits FIFO temperature in high resolution format */
+		buffer.temp = temp ? (*temp * 64) : 0;
+		ts_val = inv_icm42600_timestamp_pop(ts);
+		iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
+	}
+
+	return 0;
+}