[PATCH V4 09/10] iio: imu: inv_icm42607: Add Gyroscope to icm42607

[Chris Morgan <macroalpha82@gmail.com>]

From: Chris Morgan <macromorgan@hotmail.com>

Add gyroscope functions to the icm42607 driver.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
 drivers/iio/imu/inv_icm42607/Makefile         |   1 +
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |   8 +
 .../imu/inv_icm42607/inv_icm42607_buffer.c    |  25 +-
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  |  48 ++
 .../iio/imu/inv_icm42607/inv_icm42607_gyro.c  | 536 ++++++++++++++++++
 5 files changed, 617 insertions(+), 1 deletion(-)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c

diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile
index e908d77c4219..fc66e580fe99 100644
--- a/drivers/iio/imu/inv_icm42607/Makefile
+++ b/drivers/iio/imu/inv_icm42607/Makefile
@@ -2,6 +2,7 @@
 
 obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o
 inv-icm42607-y += inv_icm42607_core.o
+inv-icm42607-y += inv_icm42607_gyro.o
 inv-icm42607-y += inv_icm42607_accel.o
 inv-icm42607-y += inv_icm42607_buffer.o
 inv-icm42607-y += inv_icm42607_temp.o
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
index a0123e062820..02715dded326 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -407,6 +407,10 @@ int inv_icm42607_set_accel_conf(struct inv_icm42607_state *st,
 				struct inv_icm42607_sensor_conf *conf,
 				unsigned int *sleep_ms);
 
+int inv_icm42607_set_gyro_conf(struct inv_icm42607_state *st,
+			       struct inv_icm42607_sensor_conf *conf,
+			       unsigned int *sleep_ms);
+
 int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
 			       unsigned int *sleep_ms);
 
@@ -419,6 +423,10 @@ int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 int inv_icm42607_core_probe(struct regmap *regmap, int chip,
 			    inv_icm42607_bus_setup bus_setup);
 
+struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st);
+
+int inv_icm42607_gyro_parse_fifo(struct iio_dev *indio_dev);
+
 struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st);
 
 int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev);
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
index 34698b429c2e..1017439fa65c 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
@@ -379,7 +379,10 @@ static int inv_icm42607_buffer_postdisable(struct iio_dev *indio_dev)
 		goto out_unlock;
 
 	conf.mode = INV_ICM42607_SENSOR_MODE_OFF;
-	ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_sensor);
+	if (sensor == INV_ICM42607_SENSOR_GYRO)
+		ret = inv_icm42607_set_gyro_conf(st, &conf, &sleep_sensor);
+	else
+		ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_sensor);
 	if (ret)
 		goto out_unlock;
 
@@ -468,6 +471,7 @@ int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st,
 
 int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st)
 {
+	struct inv_icm42607_sensor_state *gyro_st = iio_priv(st->indio_gyro);
 	struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel);
 	struct inv_sensors_timestamp *ts;
 	int ret;
@@ -475,6 +479,16 @@ int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st)
 	if (st->fifo.nb.total == 0)
 		return 0;
 
+	/* handle gyroscope timestamp and FIFO data parsing */
+	if (st->fifo.nb.gyro > 0) {
+		ts = &gyro_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_gyro,
+						st->timestamp.gyro);
+		ret = inv_icm42607_gyro_parse_fifo(st->indio_gyro);
+		if (ret)
+			return ret;
+	}
+
 	/* handle accelerometer timestamp and FIFO data parsing */
 	if (st->fifo.nb.accel > 0) {
 		ts = &accel_st->ts;
@@ -491,6 +505,7 @@ int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st)
 int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
 				     unsigned int count)
 {
+	struct inv_icm42607_sensor_state *gyro_st = iio_priv(st->indio_gyro);
 	struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel);
 	struct inv_sensors_timestamp *ts;
 	s64 gyro_ts, accel_ts;
@@ -506,6 +521,14 @@ int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
 	if (st->fifo.nb.total == 0)
 		return 0;
 
+	if (st->fifo.nb.gyro > 0) {
+		ts = &gyro_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.nb.gyro, gyro_ts);
+		ret = inv_icm42607_gyro_parse_fifo(st->indio_gyro);
+		if (ret)
+			return ret;
+	}
+
 	if (st->fifo.nb.accel > 0) {
 		ts = &accel_st->ts;
 		inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts);
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
index 480fe1741a04..eb6513c378a8 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -220,6 +220,49 @@ int inv_icm42607_set_accel_conf(struct inv_icm42607_state *st,
 					  st->conf.temp_en, sleep_ms);
 }
 
+int inv_icm42607_set_gyro_conf(struct inv_icm42607_state *st,
+			       struct inv_icm42607_sensor_conf *conf,
+			       unsigned int *sleep_ms)
+{
+	struct inv_icm42607_sensor_conf *oldconf = &st->conf.gyro;
+	unsigned int val;
+	int ret;
+
+	if (conf->mode < 0)
+		conf->mode = oldconf->mode;
+	if (conf->fs < 0)
+		conf->fs = oldconf->fs;
+	if (conf->odr < 0)
+		conf->odr = oldconf->odr;
+	if (conf->filter < 0)
+		conf->filter = oldconf->filter;
+
+	if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {
+		val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK,
+				 conf->fs);
+		val |= FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_ODR_MASK,
+				  conf->odr);
+		ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val);
+		if (ret)
+			return ret;
+		oldconf->fs = conf->fs;
+		oldconf->odr = conf->odr;
+	}
+
+	if (conf->filter != oldconf->filter) {
+		val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG1_FILTER_MASK,
+				 conf->filter);
+		ret = regmap_update_bits(st->map, INV_ICM42607_REG_GYRO_CONFIG1,
+					 INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, val);
+		if (ret)
+			return ret;
+		oldconf->filter = conf->filter;
+	}
+
+	return inv_icm42607_set_pwr_mgmt0(st, conf->mode, st->conf.accel.mode,
+					  st->conf.temp_en, sleep_ms);
+}
+
 int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
 			       unsigned int *sleep_ms)
 {
@@ -589,6 +632,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip,
 	if (ret)
 		return ret;
 
+	/* Initialize IIO device for Gyro */
+	st->indio_gyro = inv_icm42607_gyro_init(st);
+	if (IS_ERR(st->indio_gyro))
+		return PTR_ERR(st->indio_gyro);
+
 	/* Initialize IIO device for Accel */
 	st->indio_accel = inv_icm42607_accel_init(st);
 	if (IS_ERR(st->indio_accel))
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
new file mode 100644
index 000000000000..4da012bc3947
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
@@ -0,0 +1,536 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 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/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/kfifo_buf.h>
+
+#include "inv_icm42607.h"
+#include "inv_icm42607_temp.h"
+#include "inv_icm42607_buffer.h"
+
+#define INV_ICM42607_GYRO_CHAN(_modifier, _index, _ext_info)	\
+{								\
+	.type = IIO_ANGL_VEL,					\
+	.modified = 1,						\
+	.channel2 = _modifier,					\
+	.info_mask_separate =					\
+		BIT(IIO_CHAN_INFO_RAW),				\
+	.info_mask_shared_by_type =				\
+		BIT(IIO_CHAN_INFO_SCALE),			\
+	.info_mask_shared_by_all =				\
+		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_icm42607_gyro_scan {
+	INV_ICM42607_GYRO_SCAN_X,
+	INV_ICM42607_GYRO_SCAN_Y,
+	INV_ICM42607_GYRO_SCAN_Z,
+	INV_ICM42607_GYRO_SCAN_TEMP,
+	INV_ICM42607_GYRO_SCAN_TIMESTAMP,
+};
+
+static const struct iio_chan_spec_ext_info inv_icm42607_gyro_ext_infos[] = {
+	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix),
+	{ },
+};
+
+static const struct iio_chan_spec inv_icm42607_gyro_channels[] = {
+	INV_ICM42607_GYRO_CHAN(IIO_MOD_X, INV_ICM42607_GYRO_SCAN_X,
+			       inv_icm42607_gyro_ext_infos),
+	INV_ICM42607_GYRO_CHAN(IIO_MOD_Y, INV_ICM42607_GYRO_SCAN_Y,
+			       inv_icm42607_gyro_ext_infos),
+	INV_ICM42607_GYRO_CHAN(IIO_MOD_Z, INV_ICM42607_GYRO_SCAN_Z,
+			       inv_icm42607_gyro_ext_infos),
+	INV_ICM42607_TEMP_CHAN(INV_ICM42607_GYRO_SCAN_TEMP),
+	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42607_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_icm42607_gyro_buffer {
+	struct inv_icm42607_fifo_sensor_data gyro;
+	s16 temp;
+	aligned_s64 timestamp;
+};
+
+#define INV_ICM42607_SCAN_MASK_GYRO_3AXIS				\
+	(BIT(INV_ICM42607_GYRO_SCAN_X) |				\
+	 BIT(INV_ICM42607_GYRO_SCAN_Y) |				\
+	 BIT(INV_ICM42607_GYRO_SCAN_Z))
+
+#define INV_ICM42607_SCAN_MASK_TEMP	BIT(INV_ICM42607_GYRO_SCAN_TEMP)
+
+static const unsigned long inv_icm42607_gyro_scan_masks[] = {
+	INV_ICM42607_SCAN_MASK_GYRO_3AXIS,
+	INV_ICM42607_SCAN_MASK_TEMP,
+	INV_ICM42607_SCAN_MASK_GYRO_3AXIS | INV_ICM42607_SCAN_MASK_TEMP,
+	0,
+};
+
+/* enable gyroscope sensor and FIFO write */
+static int inv_icm42607_gyro_update_scan_mode(struct iio_dev *indio_dev,
+					      const unsigned long *scan_mask)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42607_sensor_conf conf = INV_ICM42607_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_ICM42607_SCAN_MASK_TEMP) {
+		/* enable temp sensor */
+		ret = inv_icm42607_set_temp_conf(st, true, &sleep_temp);
+		if (ret)
+			goto out_unlock;
+		fifo_en |= INV_ICM42607_SENSOR_TEMP;
+	}
+
+	if (*scan_mask & INV_ICM42607_SCAN_MASK_GYRO_3AXIS) {
+		/* enable gyro sensor */
+		conf.mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE;
+		ret = inv_icm42607_set_gyro_conf(st, &conf, &sleep_gyro);
+		if (ret)
+			goto out_unlock;
+		fifo_en |= INV_ICM42607_SENSOR_GYRO;
+	}
+
+	/* update data FIFO write */
+	ret = inv_icm42607_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
+	if (ret)
+		goto out_unlock;
+
+out_unlock:
+	mutex_unlock(&st->lock);
+	/* sleep maximum required time */
+	sleep = max(sleep_gyro, sleep_temp);
+	if (sleep)
+		msleep(sleep);
+	return ret;
+}
+
+static int inv_icm42607_gyro_read_sensor(struct inv_icm42607_state *st,
+					 struct iio_chan_spec const *chan,
+					 s16 *val)
+{
+	struct device *dev = regmap_get_device(st->map);
+	struct inv_icm42607_sensor_conf conf = INV_ICM42607_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_ICM42607_REG_GYRO_DATA_X1;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM42607_REG_GYRO_DATA_Y1;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM42607_REG_GYRO_DATA_Z1;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);
+	if (PM_RUNTIME_ACQUIRE_ERR(&pm))
+		return -ENXIO;
+
+	guard(mutex)(&st->lock);
+
+	/* enable gyro sensor */
+	conf.mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE;
+	ret = inv_icm42607_set_gyro_conf(st, &conf, NULL);
+	if (ret)
+		return ret;
+
+	/* read gyro register data */
+	data = (__be16 *)&st->buffer[0];
+	ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
+	if (ret)
+		return ret;
+
+	*val = (s16)be16_to_cpup(data);
+	if (*val == INV_ICM42607_DATA_INVALID)
+		ret = -EINVAL;
+
+	return ret;
+}
+
+static const int inv_icm42607_gyro_scale_nano[][2] = {
+	[INV_ICM42607_GYRO_FS_2000DPS] = { 0, 1065264 },
+	[INV_ICM42607_GYRO_FS_1000DPS] = { 0, 532632 },
+	[INV_ICM42607_GYRO_FS_500DPS] = { 0, 266316 },
+	[INV_ICM42607_GYRO_FS_250DPS] = { 0, 133158 },
+};
+
+static int inv_icm42607_gyro_read_scale(struct iio_dev *indio_dev,
+					int *val, int *val2)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	unsigned int idx;
+
+	idx = st->conf.gyro.fs;
+
+	*val = inv_icm42607_gyro_scale_nano[idx][0];
+	*val2 = inv_icm42607_gyro_scale_nano[idx][1];
+	return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm42607_gyro_write_scale(struct iio_dev *indio_dev,
+					 int val, int val2)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int idx;
+	struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+	int ret;
+	size_t scales_len = ARRAY_SIZE(inv_icm42607_gyro_scale_nano);
+
+	for (idx = 0; idx < scales_len; idx++) {
+		if (val == inv_icm42607_gyro_scale_nano[idx][0] &&
+		    val2 == inv_icm42607_gyro_scale_nano[idx][1])
+			break;
+	}
+	if (idx >= scales_len)
+		return -EINVAL;
+
+	conf.fs = idx;
+
+	PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);
+	if (PM_RUNTIME_ACQUIRE_ERR(&pm))
+		return -ENXIO;
+
+	guard(mutex)(&st->lock);
+
+	ret = inv_icm42607_set_gyro_conf(st, &conf, NULL);
+
+	return ret;
+}
+
+/* IIO format int + micro */
+static const int inv_icm42607_gyro_odr[] = {
+	/* 12.5Hz */
+	12, 500000,
+	/* 25Hz */
+	25, 0,
+	/* 50Hz */
+	50, 0,
+	/* 100Hz */
+	100, 0,
+	/* 200Hz */
+	200, 0,
+	/* 400Hz */
+	400, 0,
+	/* 800Hz */
+	800, 0,
+	/* 1600Hz */
+	1600, 0,
+};
+
+static const int inv_icm42607_gyro_odr_conv[] = {
+	INV_ICM42607_ODR_12_5HZ,
+	INV_ICM42607_ODR_25HZ,
+	INV_ICM42607_ODR_50HZ,
+	INV_ICM42607_ODR_100HZ,
+	INV_ICM42607_ODR_200HZ,
+	INV_ICM42607_ODR_400HZ,
+	INV_ICM42607_ODR_800HZ,
+	INV_ICM42607_ODR_1600HZ,
+};
+
+static int inv_icm42607_gyro_read_odr(struct inv_icm42607_state *st,
+				      int *val, int *val2)
+{
+	unsigned int odr;
+	unsigned int i;
+
+	odr = st->conf.gyro.odr;
+
+	for (i = 0; i < ARRAY_SIZE(inv_icm42607_gyro_odr_conv); ++i) {
+		if (inv_icm42607_gyro_odr_conv[i] == odr)
+			break;
+	}
+	if (i >= ARRAY_SIZE(inv_icm42607_gyro_odr_conv))
+		return -EINVAL;
+
+	*val = inv_icm42607_gyro_odr[2 * i];
+	*val2 = inv_icm42607_gyro_odr[2 * i + 1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int inv_icm42607_gyro_write_odr(struct iio_dev *indio_dev,
+				       int val, int val2)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &gyro_st->ts;
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int idx;
+	struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+	int ret;
+
+	for (idx = 0; idx < ARRAY_SIZE(inv_icm42607_gyro_odr); idx += 2) {
+		if (val == inv_icm42607_gyro_odr[idx] &&
+			val2 == inv_icm42607_gyro_odr[idx + 1])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm42607_gyro_odr))
+		return -EINVAL;
+
+	conf.odr = inv_icm42607_gyro_odr_conv[idx / 2];
+
+	PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);
+	if (PM_RUNTIME_ACQUIRE_ERR(&pm))
+		return -ENXIO;
+
+	guard(mutex)(&st->lock);
+
+	ret = inv_sensors_timestamp_update_odr(ts, inv_icm42607_odr_to_period(conf.odr),
+					       iio_buffer_enabled(indio_dev));
+	if (ret)
+		return ret;
+
+	ret = inv_icm42607_set_gyro_conf(st, &conf, NULL);
+	if (ret)
+		return ret;
+	inv_icm42607_buffer_update_fifo_period(st);
+	inv_icm42607_buffer_update_watermark(st);
+
+	return ret;
+}
+
+static int inv_icm42607_gyro_read_raw(struct iio_dev *indio_dev,
+				      struct iio_chan_spec const *chan,
+				      int *val, int *val2, long mask)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	s16 data;
+	int ret;
+
+	switch (chan->type) {
+	case IIO_ANGL_VEL:
+		break;
+	case IIO_TEMP:
+		return inv_icm42607_temp_read_raw(indio_dev, chan, val, val2, mask);
+	default:
+		return -EINVAL;
+	}
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm42607_gyro_read_sensor(st, 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_icm42607_gyro_read_scale(indio_dev, val, val2);
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm42607_gyro_read_odr(st, val, val2);
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42607_gyro_write_raw(struct iio_dev *indio_dev,
+				       struct iio_chan_spec const *chan,
+				       int val, int val2, long mask)
+{
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm42607_gyro_write_scale(indio_dev, val, val2);
+		iio_device_release_direct(indio_dev);
+		return ret;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm42607_gyro_write_odr(indio_dev, val, val2);
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42607_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;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42607_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev,
+						  unsigned int val)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+
+	guard(mutex)(&st->lock);
+
+	st->fifo.watermark.gyro = val;
+	return inv_icm42607_buffer_update_watermark(st);
+}
+
+static int inv_icm42607_gyro_hwfifo_flush(struct iio_dev *indio_dev,
+					  unsigned int count)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	if (count == 0)
+		return 0;
+
+	guard(mutex)(&st->lock);
+
+	ret = inv_icm42607_buffer_hwfifo_flush(st, count);
+	if (ret)
+		return ret;
+
+	return st->fifo.nb.gyro;
+}
+
+static const struct iio_info inv_icm42607_gyro_info = {
+	.read_raw = inv_icm42607_gyro_read_raw,
+	.write_raw = inv_icm42607_gyro_write_raw,
+	.write_raw_get_fmt = inv_icm42607_gyro_write_raw_get_fmt,
+	.debugfs_reg_access = inv_icm42607_debugfs_reg,
+	.update_scan_mode = inv_icm42607_gyro_update_scan_mode,
+	.hwfifo_set_watermark = inv_icm42607_gyro_hwfifo_set_watermark,
+	.hwfifo_flush_to_buffer = inv_icm42607_gyro_hwfifo_flush,
+};
+
+struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st)
+{
+	struct device *dev = regmap_get_device(st->map);
+	const char *name;
+	struct inv_icm42607_sensor_state *gyro_st;
+	struct inv_sensors_timestamp_chip ts_chip;
+	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(*gyro_st));
+	if (!indio_dev)
+		return ERR_PTR(-ENOMEM);
+	gyro_st = iio_priv(indio_dev);
+
+	/*
+	 * 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_icm42607_odr_to_period(st->conf.accel.odr);
+	inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip);
+
+	iio_device_set_drvdata(indio_dev, st);
+	indio_dev->name = name;
+	indio_dev->info = &inv_icm42607_gyro_info;
+	indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE;
+	indio_dev->channels = inv_icm42607_gyro_channels;
+	indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_gyro_channels);
+	indio_dev->available_scan_masks = inv_icm42607_gyro_scan_masks;
+	indio_dev->setup_ops = &inv_icm42607_buffer_ops;
+
+	ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
+					  &inv_icm42607_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_icm42607_gyro_parse_fifo(struct iio_dev *indio_dev)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &gyro_st->ts;
+	ssize_t i, size;
+	unsigned int no;
+	const void *accel, *gyro, *timestamp;
+	const s8 *temp;
+	unsigned int odr;
+	s64 ts_val;
+	struct inv_icm42607_gyro_buffer buffer = { };
+
+	/* parse all fifo packets */
+	for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
+		size = inv_icm42607_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_icm42607_fifo_is_data_valid(gyro))
+			continue;
+
+		/* update odr */
+		if (odr & INV_ICM42607_SENSOR_GYRO) {
+			inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
+							st->fifo.nb.total, no);
+		}
+
+		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_sensors_timestamp_pop(ts);
+		iio_push_to_buffers_with_ts(indio_dev, &buffer,
+					    sizeof(buffer), ts_val);
+	}
+
+	return 0;
+}
-- 
2.43.0