From mboxrd@z Thu Jan 1 00:00:00 1970 Received: from mail-ot1-f43.google.com (mail-ot1-f43.google.com [209.85.210.43]) (using TLSv1.2 with cipher ECDHE-RSA-AES128-GCM-SHA256 (128/128 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id B96D13FE370 for ; Fri, 26 Jun 2026 16:14:59 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=209.85.210.43 ARC-Seal:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1782490501; cv=none; b=owDuQ1gnJkbKYyllVl8nQfuqnTvW1iwMUWGSCMIxKREHlaXVUMLRtdxbYRtL0g9M7ZHmARWN7hfM0rUGD3VQ1YrkTJBgYVuEPNhKXJLAzbsuOT04i1x8nxUf7E74LuzlhB1Tsqx+V4f+45P3nAE4h3oAIgZAoFDciEG3BjYHV4k= ARC-Message-Signature:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1782490501; c=relaxed/simple; bh=JxR8QQqf2UTb30tYBu5xEMyvBUOAu0oxH94x+PZt9d8=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=uu/OVZti+yOH9FTQk/aIVmH4R7YMiaRu61vnOTfq5LSJ7Tg3dyMh8cHou2Bjic4/ehKMp0k1/2gw0NrlAtw04qjE6nk5m9P4/DKvRyYaROjq3DIYRz9XTSy9fMGQAmN3/IUw3b5e0uqCUfcIQuOXfTqxLn4Q4r5vD+eyjNbRYPk= ARC-Authentication-Results:i=1; smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gmail.com; spf=pass smtp.mailfrom=gmail.com; dkim=pass (2048-bit key) header.d=gmail.com header.i=@gmail.com header.b=YWb+JAMK; arc=none smtp.client-ip=209.85.210.43 Authentication-Results: smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gmail.com Authentication-Results: smtp.subspace.kernel.org; spf=pass smtp.mailfrom=gmail.com Authentication-Results: smtp.subspace.kernel.org; dkim=pass (2048-bit key) header.d=gmail.com header.i=@gmail.com header.b="YWb+JAMK" Received: by mail-ot1-f43.google.com with SMTP id 46e09a7af769-7e9b895ee02so21645a34.0 for ; Fri, 26 Jun 2026 09:14:59 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20251104; t=1782490499; x=1783095299; darn=vger.kernel.org; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:from:to:cc:subject:date :message-id:reply-to; bh=VzgAoFdSqIf7TpHRkOM2bWAZYOBgJXsnvGmA20qNxUM=; b=YWb+JAMK0SgJ0efFV94xEwoUg+O2T+Smvu0PPV+4BpBz5GP8ElCJ0Qw7g7iQkklLIf W68KWZMWkBIP0zZbmisKe9i0zOxm/lDoEWitSDe4cLf5AmsNAskWivd7bLaHPreNLl4m emIsOxRkf9zNzjcnTO50ZcsFtLvhWRZxTZmHj6MrsNn3L/1ueekfwxq+vpRHq2c5uWdB yJb+rEdcDVxyZSTk44m6p4MTBogj9U5brmNCEwUfsWI9PCXWFWOOgW+ZmNxZLklS/9en kSSMbhd20+8//rqdbRW5K7W7OApKGlx+a3xXz8a5jrEY+JP5AEBaQvD8FvLIx3gMRrOt 4Oxw== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20251104; t=1782490499; x=1783095299; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:x-gm-gg:x-gm-message-state:from :to:cc:subject:date:message-id:reply-to; bh=VzgAoFdSqIf7TpHRkOM2bWAZYOBgJXsnvGmA20qNxUM=; b=GRBcOkPZtSGqnbiJwonCn8Wzf/QLNN24mxotHPnrLuQjJxyP6xhHxsR8LogDx7u6Jb HUq9jDPfAxwyXJuR3VURz3LD1ZmioGgjUt/plHP3n0R8Zj/SeXh17kswwfyrpNfvhJbM ZEfbIEDyjZ+5T/2ZewtiYACWBGY8IjwnPMGDgtv9HTpaWI1AEZEVxxbjnAICR8gOq8vQ xDoqh/Uw6ej/6Qp43CyWSBFt37rbY6zVSGaSnkhwkyD4dOkLC1AjlkbJ1J6frsL9q+B6 K6JNo2ixLWETDwkX83Kthh1+i09hXLdTQDXr3pX364sZs02/CdD317lbRPjpa4gzdQRb c7XQ== X-Gm-Message-State: AOJu0Yx7pgyKQPlKh60p/nvBkRB5Psvj4XA1McPKrx2x7ZBGch9Sc4ru IpkbrM+ezqRPcB5Xl3oH0ze1Oa/xk94JKEodkKFVz4vUuZI4EI5jWHGmC7cpsQxg X-Gm-Gg: AfdE7cnH1c2GgATyZjekn7FwcQc3DJoieN9dwNrCWSRhW/Z5shPjkH266spLh6Yxce4 r0MBrtXP3L4jjCj5Q4xm75Y1rcGmUmT71tWYBZecb789bG/qirmpMvnGgF8vCC6n/m47JB7a6As CfZq6rZaG1hVI54Y0a01amu7E6V/0hkq6G9VipUsW7apFGQMquZI2c3qEwJBp3CtvpqVCLHpKZm QAmZQGA7zTX8RdJiloUcWliU4WUah1EaEGInTsKa3TYFX4KjgH/n1Q8N6zBevV86n6+wWJp7I1X Mr0e17hXjmQ7D6M454+SSp+VqNafndH1YgNdUuI4LhJCf9bAoQpc4tnTvgvziYaBotAQTnWls6L yMgNbOfc5YPcI6+nTMlALhiVJv530jCgySwE8ZxNI+8fpSeu65wmOXPWersmzjzA1OXfhlXoaAU ce11IWzFvb/NA= X-Received: by 2002:a05:6830:25d4:b0:7d9:d2b6:1568 with SMTP id 46e09a7af769-7e99c1d338amr6961732a34.17.1782490498589; Fri, 26 Jun 2026 09:14:58 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0::54]) by smtp.gmail.com with ESMTPSA id 46e09a7af769-7e9aa579235sm1970211a34.1.2026.06.26.09.14.57 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Fri, 26 Jun 2026 09:14:58 -0700 (PDT) From: Chris Morgan To: linux-iio@vger.kernel.org Cc: andy@kernel.org, nuno.sa@analog.com, dlechner@baylibre.com, jic23@kernel.org, jean-baptiste.maneyrol@tdk.com, linux-rockchip@lists.infradead.org, devicetree@vger.kernel.org, heiko@sntech.de, conor+dt@kernel.org, krzk+dt@kernel.org, robh@kernel.org, andriy.shevchenko@intel.com, Chris Morgan Subject: [PATCH V15 7/9] iio: imu: inv_icm42607: Add Gyroscope to icm42607 Date: Fri, 26 Jun 2026 11:12:28 -0500 Message-ID: <20260626161230.93069-8-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260626161230.93069-1-macroalpha82@gmail.com> References: <20260626161230.93069-1-macroalpha82@gmail.com> Precedence: bulk X-Mailing-List: linux-iio@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: 8bit From: Chris Morgan Add gyroscope functions to the icm42607 driver. Signed-off-by: Chris Morgan --- drivers/iio/imu/inv_icm42607/Makefile | 1 + drivers/iio/imu/inv_icm42607/inv_icm42607.h | 4 + .../iio/imu/inv_icm42607/inv_icm42607_core.c | 5 + .../iio/imu/inv_icm42607/inv_icm42607_gyro.c | 305 ++++++++++++++++++ 4 files changed, 315 insertions(+) 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 372c6d6bdcec..8e73385c8f4b 100644 --- a/drivers/iio/imu/inv_icm42607/Makefile +++ b/drivers/iio/imu/inv_icm42607/Makefile @@ -2,6 +2,7 @@ obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o inv-icm42607-y += inv_icm42607_core.o +inv-icm42607-y += inv_icm42607_gyro.o inv-icm42607-y += inv_icm42607_accel.o obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h index cd78b43f36fa..81d56920f356 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -142,6 +142,7 @@ struct inv_icm42607_suspended { * @lock: lock for serializing multiple registers access. * @map: regmap pointer. * @indio_accel: accelerometer IIO device. + * @indio_gyro: gyroscope IIO device. * @vddio_supply: I/O voltage regulator for the chip. * @vddio_en: I/O voltage status for runtime PM. * @suspended: suspended sensors configuration. @@ -153,6 +154,7 @@ struct inv_icm42607_state { struct mutex lock; struct regmap *map; struct iio_dev *indio_accel; + struct iio_dev *indio_gyro; struct regulator *vddio_supply; bool vddio_en; struct inv_icm42607_suspended suspended; @@ -414,6 +416,8 @@ int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw, inv_icm42607_bus_setup bus_setup); +struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st); + struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st); #endif diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index 300c583aba81..b7ff98398aa5 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -534,6 +534,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, if (IS_ERR(st->indio_accel)) return PTR_ERR(st->indio_accel); + /* 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); + return 0; } EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607"); 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..c7215b3826ad --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c @@ -0,0 +1,305 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "inv_icm42607.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_type_available = BIT(IIO_CHAN_INFO_SCALE), \ + .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_icm42607_gyro_scan { + INV_ICM42607_GYRO_SCAN_X, + INV_ICM42607_GYRO_SCAN_Y, + INV_ICM42607_GYRO_SCAN_Z, +}; + +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), +}; + +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; + + guard(mutex)(&st->lock); + + 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; + size_t scales_len = ARRAY_SIZE(inv_icm42607_gyro_scale_nano); + int ret; + + 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); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_sensor_conf(st, &conf, IIO_ANGL_VEL); +} + +static const int inv_icm42607_gyro_odr[][2] = { + [INV_ICM42607_ODR_1600HZ] = { 1600, 0 }, + [INV_ICM42607_ODR_800HZ] = { 800, 0 }, + [INV_ICM42607_ODR_400HZ] = { 400, 0 }, + [INV_ICM42607_ODR_200HZ] = { 200, 0 }, + [INV_ICM42607_ODR_100HZ] = { 100, 0 }, + [INV_ICM42607_ODR_50HZ] = { 50, 0 }, + [INV_ICM42607_ODR_25HZ] = { 25, 0 }, + [INV_ICM42607_ODR_12_5HZ] = { 12, 500000 }, +}; + +static int inv_icm42607_gyro_read_odr(struct inv_icm42607_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + guard(mutex)(&st->lock); + + odr = st->conf.gyro.odr; + + for (i = 5; i < ARRAY_SIZE(inv_icm42607_gyro_odr); ++i) { + if (i == odr) + break; + } + if (i >= ARRAY_SIZE(inv_icm42607_gyro_odr)) + return -EINVAL; + + *val = inv_icm42607_gyro_odr[i][0]; + *val2 = inv_icm42607_gyro_odr[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 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 = 5; idx < ARRAY_SIZE(inv_icm42607_gyro_odr); ++idx) { + if (val == inv_icm42607_gyro_odr[idx][0] && + val2 == inv_icm42607_gyro_odr[idx][1]) + break; + } + if (idx >= ARRAY_SIZE(inv_icm42607_gyro_odr)) + return -EINVAL; + + conf.odr = idx; + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_sensor_conf(st, &conf, IIO_ANGL_VEL); +} + +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; + default: + return -EINVAL; + } + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = inv_icm42607_read_sensor(indio_dev, chan, &data); + 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_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 = (const int *)inv_icm42607_gyro_scale_nano; + *type = IIO_VAL_INT_PLUS_NANO; + *length = ARRAY_SIZE(inv_icm42607_gyro_scale_nano) * 2; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *vals = (const int *)inv_icm42607_gyro_odr[5]; + *type = IIO_VAL_INT_PLUS_MICRO; + *length = (ARRAY_SIZE(inv_icm42607_gyro_odr) - 5) * 2; + return IIO_AVAIL_LIST; + 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: + ret = inv_icm42607_gyro_write_scale(indio_dev, val, val2); + 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 const struct iio_info inv_icm42607_gyro_info = { + .read_raw = inv_icm42607_gyro_read_raw, + .read_avail = inv_icm42607_gyro_read_avail, + .write_raw = inv_icm42607_gyro_write_raw, + .write_raw_get_fmt = inv_icm42607_gyro_write_raw_get_fmt, +}; + +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 iio_dev *indio_dev; + int ret; + + name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->hw->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); + + gyro_st->power_mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE; + gyro_st->filter = INV_ICM42607_FILTER_BW_73HZ; + + 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_dev->channels = inv_icm42607_gyro_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_gyro_channels); + + ret = devm_iio_device_register(dev, indio_dev); + if (ret) + return ERR_PTR(ret); + + return indio_dev; +} -- 2.43.0 From mboxrd@z Thu Jan 1 00:00:00 1970 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org Received: from bombadil.infradead.org (bombadil.infradead.org [198.137.202.133]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.lore.kernel.org (Postfix) with ESMTPS id A64FAC44502 for ; Fri, 26 Jun 2026 16:15:05 +0000 (UTC) DKIM-Signature: v=1; a=rsa-sha256; q=dns/txt; c=relaxed/relaxed; d=lists.infradead.org; s=bombadil.20210309; h=Sender: Content-Transfer-Encoding:Content-Type:List-Subscribe:List-Help:List-Post: List-Archive:List-Unsubscribe:List-Id:MIME-Version:References:In-Reply-To: Message-ID:Date:Subject:Cc:To:From:Reply-To:Content-ID:Content-Description: Resent-Date:Resent-From:Resent-Sender:Resent-To:Resent-Cc:Resent-Message-ID: List-Owner; bh=FtgiT/5TmUX/pOOg4Bqqv4hVtL2x+EOb4drQHQThfvI=; b=DrPxF5NLbKNMY9 2sf8SLiq4NKwkH8NEBWnqUhla+M6jNsF0DVHD7avpS5u2yl4/EBl41tbDOzLY5vnYJCZaZdeNq9fm Q4cVgO6qhhC61lLqgGdNLVWBb9QOIUJJ93m6j18AitHs0wu2IZ8NrYN0/UtbEtki5En5Ewr23eafo XO5SLPyBGevcCbCmCbaL5pnjdQGM2gMwO9qaMSgAy35FYHXcnNV+A2O23vG0RuNz2k6EVvVNxITtB k4U6qvbFiyEUsS85xpMIvOWJnq1iY38rXWOWYmxevt6LjJwDsrMQ1JodbT015khIAQHmorazW56YH o/FMEuCeQLK8mxQj5uqA==; Received: from localhost ([::1] helo=bombadil.infradead.org) by bombadil.infradead.org with esmtp (Exim 4.99.1 #2 (Red Hat Linux)) id 1wd9Co-0000000Bbfr-0IT4; Fri, 26 Jun 2026 16:15:02 +0000 Received: from mail-ot1-x32e.google.com ([2607:f8b0:4864:20::32e]) by bombadil.infradead.org with esmtps (Exim 4.99.1 #2 (Red Hat Linux)) id 1wd9Cl-0000000Bbcr-1xJF for linux-rockchip@lists.infradead.org; Fri, 26 Jun 2026 16:15:00 +0000 Received: by mail-ot1-x32e.google.com with SMTP id 46e09a7af769-7e6128bd9b3so605980a34.1 for ; Fri, 26 Jun 2026 09:14:59 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20251104; t=1782490499; x=1783095299; darn=lists.infradead.org; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:from:to:cc:subject:date :message-id:reply-to; bh=VzgAoFdSqIf7TpHRkOM2bWAZYOBgJXsnvGmA20qNxUM=; b=DFEw1QDv0eydLFlS9UF084WWWfOrz5Aw6wPcQuzGktg3lUfNbM2DHPrrYA0fWMkbp6 OEM8ifWr2HqWXWu9E6Zb1TeRjuBUuUqTtS4YzAtSArHIkxVeN26tr1bDos4MTM+bYVpU vwBVCUUgiR/8IZNmnKWM7RG6enIwDYJgyAAdCFtWI6eds/WCjRUxtXjNu7avCTsyIVFj NxFJcV8/rongZBH3BBINBiXLYTcpxGxsd1OMcZtZI7W4FICZ3YpHP3O2IlIxGaqgWGLo Q5RMFunKmSYR3C5etQ0jVQ+PHFhMFM21jPCxI9exAkZQWtaSdBSt99qIJY3b9fMHMf9H t5mg== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20251104; t=1782490499; x=1783095299; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:x-gm-gg:x-gm-message-state:from :to:cc:subject:date:message-id:reply-to; bh=VzgAoFdSqIf7TpHRkOM2bWAZYOBgJXsnvGmA20qNxUM=; b=nK4YxYxajvgAbp7aIk63JUKzjZ1+luKFWtEaRTNfYBfjczWKeJU8GWvCErm7fH3u5t l3CuX6WssH/LCLmoq7h1jvMyAVvQsQDqjW0Aid1q/aSDVYd4ZuG10I9UgIaCsQ6ASeh3 thNuxx0fp2Ux7dNpM9JLHRIwtuX/oOXYGHgGYY67U5uz/F/ZJk/vFIQ5AuCzR58KKvzo bukjOnRiXpFRzBbCuw+IvW/2RSYMZiiamILiSwTAhRKeXmsQ2HJIVg+/S0ZaIqVfdDPg i3+UoJe/moY+Zh/TRWxqHT6/HCpOsIJbPV2FWWgUmeys77WE/C8pFST6DbtWTLXJhOg5 A/nA== X-Forwarded-Encrypted: i=1; AFNElJ8z4UXz6UJ1L7Y65L8xR1C2A1BFZ0UaIUkmxXtgLkSC9p++Lx+0rZtvGzKdsvBE+RVEJ60aT9GAJuWnoNzu9Q==@lists.infradead.org X-Gm-Message-State: AOJu0YzLjq1UHonlEBpqKheQlIEc3FvLg/MG1y66i5yQx291y8JUlZuE RiOLfJOVZ8DcYrdzxewzzhF7cRKW6r9XDoV5AHBz3NKENHldq7zM0l/y X-Gm-Gg: AfdE7cl3MfIh5r5ZdGAwYLkCUpBRjkGn0S7kULU9u7EKX6Nxd0lSUkK/mL8xh4ikrml KMJwaw0q6N8fZttu6AbRqb3vDBgXnH+LCqg1UVCTL2NRSdz5qNtRP8OuHVHaCReHDoVddJ3vra4 68tApJjFpXcgjn3WS2pBvkhPNEPY+DLV/ls4xvnU70zcHncMKXIWSwxT+cl0oYUkFzDIjO6xaSo Ptq7OIMdU9XnIA5obAlKCzxQuu4bbRTnXQ8aGmCrsAz7QsGfdzJPb+meOilqvAJWMxYEQQ6us/I FZI67l2ufIqnYZS0rTHmzJZxfmHtTD2M6EMolMDUCv4NlJg5o5/Irm8Enw1rE6p7/Ip43Z/Saup O8EhJkwjzh6oBycwwba8vdZJyrySJkUb1s6CQ4h/PJ4vetd2FgU0u1dwu9PvUqQUuJ9+YO7Lq2M ob+mJ2NqGt0ts= X-Received: by 2002:a05:6830:25d4:b0:7d9:d2b6:1568 with SMTP id 46e09a7af769-7e99c1d338amr6961732a34.17.1782490498589; Fri, 26 Jun 2026 09:14:58 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0::54]) by smtp.gmail.com with ESMTPSA id 46e09a7af769-7e9aa579235sm1970211a34.1.2026.06.26.09.14.57 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Fri, 26 Jun 2026 09:14:58 -0700 (PDT) From: Chris Morgan To: linux-iio@vger.kernel.org Cc: andy@kernel.org, nuno.sa@analog.com, dlechner@baylibre.com, jic23@kernel.org, jean-baptiste.maneyrol@tdk.com, linux-rockchip@lists.infradead.org, devicetree@vger.kernel.org, heiko@sntech.de, conor+dt@kernel.org, krzk+dt@kernel.org, robh@kernel.org, andriy.shevchenko@intel.com, Chris Morgan Subject: [PATCH V15 7/9] iio: imu: inv_icm42607: Add Gyroscope to icm42607 Date: Fri, 26 Jun 2026 11:12:28 -0500 Message-ID: <20260626161230.93069-8-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260626161230.93069-1-macroalpha82@gmail.com> References: <20260626161230.93069-1-macroalpha82@gmail.com> MIME-Version: 1.0 X-CRM114-Version: 20100106-BlameMichelson ( TRE 0.9.0 (BSD) ) MR-646709E3 X-CRM114-CacheID: sfid-20260626_091459_530698_64CC08BD X-CRM114-Status: GOOD ( 20.11 ) X-BeenThere: linux-rockchip@lists.infradead.org X-Mailman-Version: 2.1.34 Precedence: list List-Id: Upstream kernel work for Rockchip platforms List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Content-Type: text/plain; charset="us-ascii" Content-Transfer-Encoding: 7bit Sender: "Linux-rockchip" Errors-To: linux-rockchip-bounces+linux-rockchip=archiver.kernel.org@lists.infradead.org From: Chris Morgan Add gyroscope functions to the icm42607 driver. Signed-off-by: Chris Morgan --- drivers/iio/imu/inv_icm42607/Makefile | 1 + drivers/iio/imu/inv_icm42607/inv_icm42607.h | 4 + .../iio/imu/inv_icm42607/inv_icm42607_core.c | 5 + .../iio/imu/inv_icm42607/inv_icm42607_gyro.c | 305 ++++++++++++++++++ 4 files changed, 315 insertions(+) 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 372c6d6bdcec..8e73385c8f4b 100644 --- a/drivers/iio/imu/inv_icm42607/Makefile +++ b/drivers/iio/imu/inv_icm42607/Makefile @@ -2,6 +2,7 @@ obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o inv-icm42607-y += inv_icm42607_core.o +inv-icm42607-y += inv_icm42607_gyro.o inv-icm42607-y += inv_icm42607_accel.o obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h index cd78b43f36fa..81d56920f356 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -142,6 +142,7 @@ struct inv_icm42607_suspended { * @lock: lock for serializing multiple registers access. * @map: regmap pointer. * @indio_accel: accelerometer IIO device. + * @indio_gyro: gyroscope IIO device. * @vddio_supply: I/O voltage regulator for the chip. * @vddio_en: I/O voltage status for runtime PM. * @suspended: suspended sensors configuration. @@ -153,6 +154,7 @@ struct inv_icm42607_state { struct mutex lock; struct regmap *map; struct iio_dev *indio_accel; + struct iio_dev *indio_gyro; struct regulator *vddio_supply; bool vddio_en; struct inv_icm42607_suspended suspended; @@ -414,6 +416,8 @@ int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw, inv_icm42607_bus_setup bus_setup); +struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st); + struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st); #endif diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index 300c583aba81..b7ff98398aa5 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -534,6 +534,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, if (IS_ERR(st->indio_accel)) return PTR_ERR(st->indio_accel); + /* 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); + return 0; } EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607"); 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..c7215b3826ad --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c @@ -0,0 +1,305 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "inv_icm42607.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_type_available = BIT(IIO_CHAN_INFO_SCALE), \ + .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_icm42607_gyro_scan { + INV_ICM42607_GYRO_SCAN_X, + INV_ICM42607_GYRO_SCAN_Y, + INV_ICM42607_GYRO_SCAN_Z, +}; + +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), +}; + +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; + + guard(mutex)(&st->lock); + + 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; + size_t scales_len = ARRAY_SIZE(inv_icm42607_gyro_scale_nano); + int ret; + + 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); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_sensor_conf(st, &conf, IIO_ANGL_VEL); +} + +static const int inv_icm42607_gyro_odr[][2] = { + [INV_ICM42607_ODR_1600HZ] = { 1600, 0 }, + [INV_ICM42607_ODR_800HZ] = { 800, 0 }, + [INV_ICM42607_ODR_400HZ] = { 400, 0 }, + [INV_ICM42607_ODR_200HZ] = { 200, 0 }, + [INV_ICM42607_ODR_100HZ] = { 100, 0 }, + [INV_ICM42607_ODR_50HZ] = { 50, 0 }, + [INV_ICM42607_ODR_25HZ] = { 25, 0 }, + [INV_ICM42607_ODR_12_5HZ] = { 12, 500000 }, +}; + +static int inv_icm42607_gyro_read_odr(struct inv_icm42607_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + guard(mutex)(&st->lock); + + odr = st->conf.gyro.odr; + + for (i = 5; i < ARRAY_SIZE(inv_icm42607_gyro_odr); ++i) { + if (i == odr) + break; + } + if (i >= ARRAY_SIZE(inv_icm42607_gyro_odr)) + return -EINVAL; + + *val = inv_icm42607_gyro_odr[i][0]; + *val2 = inv_icm42607_gyro_odr[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 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 = 5; idx < ARRAY_SIZE(inv_icm42607_gyro_odr); ++idx) { + if (val == inv_icm42607_gyro_odr[idx][0] && + val2 == inv_icm42607_gyro_odr[idx][1]) + break; + } + if (idx >= ARRAY_SIZE(inv_icm42607_gyro_odr)) + return -EINVAL; + + conf.odr = idx; + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_sensor_conf(st, &conf, IIO_ANGL_VEL); +} + +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; + default: + return -EINVAL; + } + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = inv_icm42607_read_sensor(indio_dev, chan, &data); + 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_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 = (const int *)inv_icm42607_gyro_scale_nano; + *type = IIO_VAL_INT_PLUS_NANO; + *length = ARRAY_SIZE(inv_icm42607_gyro_scale_nano) * 2; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *vals = (const int *)inv_icm42607_gyro_odr[5]; + *type = IIO_VAL_INT_PLUS_MICRO; + *length = (ARRAY_SIZE(inv_icm42607_gyro_odr) - 5) * 2; + return IIO_AVAIL_LIST; + 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: + ret = inv_icm42607_gyro_write_scale(indio_dev, val, val2); + 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 const struct iio_info inv_icm42607_gyro_info = { + .read_raw = inv_icm42607_gyro_read_raw, + .read_avail = inv_icm42607_gyro_read_avail, + .write_raw = inv_icm42607_gyro_write_raw, + .write_raw_get_fmt = inv_icm42607_gyro_write_raw_get_fmt, +}; + +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 iio_dev *indio_dev; + int ret; + + name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->hw->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); + + gyro_st->power_mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE; + gyro_st->filter = INV_ICM42607_FILTER_BW_73HZ; + + 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_dev->channels = inv_icm42607_gyro_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_gyro_channels); + + ret = devm_iio_device_register(dev, indio_dev); + if (ret) + return ERR_PTR(ret); + + return indio_dev; +} -- 2.43.0 _______________________________________________ Linux-rockchip mailing list Linux-rockchip@lists.infradead.org http://lists.infradead.org/mailman/listinfo/linux-rockchip