From mboxrd@z Thu Jan 1 00:00:00 1970 Received: from mail-oa1-f43.google.com (mail-oa1-f43.google.com [209.85.160.43]) (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 2213442FCDD for ; Mon, 27 Jul 2026 16:50:47 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=209.85.160.43 ARC-Seal:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1785171050; cv=none; b=ceVI1jPBehidVnw4spR3sF6gVRJF5Gnb+p1rRQv8iK+yp0xiBml0SnkGCQs6kZTfbQiT3fajUkvaBx/sD55T+B2ZInOk2ujrVOx6aARmxWkpXSFdBaqOdBkC+BnQ6YfXeY9kRfJw/MXPc/4jgzTK9aCGFUT3YMd2OcYKuVL9VwI= ARC-Message-Signature:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1785171050; c=relaxed/simple; bh=u8sqJFwDMCgRXeJu9/AxLtYBFuVF587TRulRfeDXXMY=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=BvfQLO4alHyRtOho40PUCdELbRayrGZsptDvFwyYBZlUB1OyeHJwh/Cln/nWVOvP8pvHRotGn+ri+8K6uZ1U5FtjNa6UfKJR6LcijRjhgnHfQM7yL99fabC4xbfvlmB+CrWBODitNV3XEzPHT3jsGJ5Uf2iNv5LrP+FNlBf+QFk= 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=iXi82Nmn; arc=none smtp.client-ip=209.85.160.43 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="iXi82Nmn" Received: by mail-oa1-f43.google.com with SMTP id 586e51a60fabf-456f7012050so88613fac.0 for ; Mon, 27 Jul 2026 09:50:47 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20251104; t=1785171046; x=1785775846; 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:content-type; bh=X7cKInG3LvCx702WPltJ7pIgcjx5mq1L90Yz6/fhnzA=; b=iXi82NmnE5ufPgB6OlNRYGJy+Cq5BcBERKVoGeUbF5ZifsukFPw4DWrVNzU1X+D4gw tZGNrnQmut0m9OIHZLmhwtNA8+9cadEqP/L3vTZkztyMkhWproEvEBxDI1cxYv1uQgZv wpKwzhrrQV17boi2SrnW9gIqBNzgP0Q/Ny8fl+yTLp+kGbwaxNqlQz26zNvSo62muyAV X6gv7WC0h6fK1TR/Eay1BY8YKhvOOP00DTJ1REYJl2ZqS9xuKzt5SDB6JgYx364VoQOK KhPwbJAv2sbWp52GOvLKrCegY1wwB2RD+tcTPG3Z/FuB0kTJk0+szc2/dbd0WEFxvXzB cZCQ== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20251104; t=1785171046; x=1785775846; 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:content-type; bh=X7cKInG3LvCx702WPltJ7pIgcjx5mq1L90Yz6/fhnzA=; b=i8B6qBH44CKYksGJYC5llot1VumpeXD9UZfp++68/3Gkov0pBiqoboZ4/X1PV1Oh3k ctsvcCM5UOkMZ7zwA/1H11Go9zszAxUvXHRK9TxflooFKPPAxKSSzbDcdGmMaW3+3bIf nzDlUrcf09LJrkjc4gyvRcuHsHBatorlU1M+mzpsqpK4Od5AVgGNxEfHPhI7BYYftLvp jECBrMi+MwsCmQIWX5Q8l2aXqP1fxJLGjsmzxYGVqjs/4pDheJ43zKGyvNklV2QRamnt gly50/4DxoD7tvw1/FLFtiYVlBG8A/YIMmX6PIigC+x5jasu5yG7vJ53eei+0S7sJRG6 UvXA== X-Gm-Message-State: AOJu0YyuMq62acuj+Huqm/7io1evNF9XQR0z/srw2+Kgzjt/GzS2a9IP CFRuZyCwlTAoz1vUkd82z2eFo09S58nu/xvvkWMcRRtL6yM/Xbh6bVb3/bhJWA== X-Gm-Gg: AR+sD12SYG8vOiOdCsjPVD21ief1cFulaXg9U0iZaO2YslzEwrAQgmxPuG9ykfn7v2J GvbkfMHhgNEgAle7tUwCSfm6x6cYxr5HzuSZ/6Biu9fFDmcQx7LU4pI28ow8PU8v9xz3BFEf2JU 8X+mUknfq3ApbKv7P+0Yh2ERUL4tvGEckUSuTSN+agFjzOJv4Ao5qyLpLICn1IDtLCUKSAbWpww jTEWXE1SRAKArTcDgn+yQ5x2zffUA6TeQrhNbXbOsYbfVObTvsoTzEccQ85cBZa2varcPIJoyGp 4af/b07zvRO08JWIIR9X4N0yCxuL6XTwoymyNptnFy3d8YBpkSCLFy4RuPHkTk91wbIFs5DFL9z MYme0kY6VeC7ERa/2rfL3sYGQTtiSSUPxvYPTZ+lNchm7RyvCeLwL8p23FbhVAQ8af71BSr3mIy lKO6a0K8hQHT5Jw7EOF+YQ X-Received: by 2002:a05:6808:f89:b0:49a:7714:ed25 with SMTP id 5614622812f47-4ad55117708mr186818b6e.3.1785171046578; Mon, 27 Jul 2026 09:50:46 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0:30e7:7cd7:b59:5863]) by smtp.gmail.com with ESMTPSA id 5614622812f47-4ab0c7a1912sm11395050b6e.2.2026.07.27.09.50.45 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Mon, 27 Jul 2026 09:50:45 -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 V20 4/9] iio: imu: inv_icm42607: Add SPI For icm42607 Date: Mon, 27 Jul 2026 11:48:08 -0500 Message-ID: <20260727164815.65190-5-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260727164815.65190-1-macroalpha82@gmail.com> References: <20260727164815.65190-1-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 SPI driver support for InvenSense ICM-42607 devices. Signed-off-by: Chris Morgan Reviewed-by: Andy Shevchenko --- drivers/iio/imu/inv_icm42607/Kconfig | 12 ++ drivers/iio/imu/inv_icm42607/Makefile | 3 + .../iio/imu/inv_icm42607/inv_icm42607_spi.c | 106 ++++++++++++++++++ 3 files changed, 121 insertions(+) create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c diff --git a/drivers/iio/imu/inv_icm42607/Kconfig b/drivers/iio/imu/inv_icm42607/Kconfig index 083c212087ab..23f461f57afc 100644 --- a/drivers/iio/imu/inv_icm42607/Kconfig +++ b/drivers/iio/imu/inv_icm42607/Kconfig @@ -16,3 +16,15 @@ config INV_ICM42607_I2C This driver can be built as a module. The module will be called inv-icm42607-i2c. + +config INV_ICM42607_SPI + tristate "InvenSense ICM-42607 SPI driver" + depends on SPI_MASTER + select INV_ICM42607 + select REGMAP_SPI + help + This driver supports the InvenSense ICM-42607 motion tracking + device over SPI. + + This driver can be built as a module. The module will be called + inv-icm42607-spi. diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile index 32046e2727d7..be109102e203 100644 --- a/drivers/iio/imu/inv_icm42607/Makefile +++ b/drivers/iio/imu/inv_icm42607/Makefile @@ -5,3 +5,6 @@ inv-icm42607-y += inv_icm42607_core.o obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o inv-icm42607-i2c-y += inv_icm42607_i2c.o + +obj-$(CONFIG_INV_ICM42607_SPI) += inv-icm42607-spi.o +inv-icm42607-spi-y += inv_icm42607_spi.o diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c new file mode 100644 index 000000000000..eb04036a6712 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c @@ -0,0 +1,106 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include +#include +#include + +#include "inv_icm42607.h" + +static int inv_icm42607_spi_bus_setup(struct inv_icm42607_state *st) +{ + unsigned int val; + int ret; + + /* Only support 4-wire mode for now. */ + ret = regmap_set_bits(st->map, INV_ICM42607_REG_DEVICE_CONFIG, + INV_ICM42607_DEVICE_CONFIG_SPI_AP_4WIRE); + if (ret) + return ret; + + ret = regmap_clear_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1, + INV_ICM42607_INTF_CONFIG1_I3C_DDR_EN | + INV_ICM42607_INTF_CONFIG1_I3C_SDR_EN); + if (ret) + return ret; + + val = FIELD_PREP(INV_ICM42607_DRIVE_CONFIG3_SPI_MASK, + INV_ICM42607_SLEW_RATE_2NS); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG3, + INV_ICM42607_DRIVE_CONFIG3_SPI_MASK, val); + if (ret) + return ret; + + val = FIELD_PREP(INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS); + + return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0, + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, + val); +} + +static int inv_icm42607_probe(struct spi_device *spi) +{ + const struct inv_icm42607_hw *hw; + struct device *dev = &spi->dev; + struct regmap *regmap; + + hw = spi_get_device_match_data(spi); + if (!hw) + return dev_err_probe(dev, -ENODATA, "Failed to get SPI data\n"); + + if (spi->mode & SPI_3WIRE) + return dev_err_probe(dev, -ENODEV, "SPI 3-wire mode not supported\n"); + + regmap = devm_regmap_init_spi(spi, &inv_icm42607_regmap_config); + if (IS_ERR(regmap)) + return dev_err_probe(dev, PTR_ERR(regmap), + "Failed to register spi regmap\n"); + + return inv_icm42607_core_probe(regmap, hw, inv_icm42607_spi_bus_setup); +} + +static const struct spi_device_id inv_icm42607_spi_id_table[] = { + { + .name = "icm42607", + .driver_data = (kernel_ulong_t)&inv_icm42607_hw_data, + }, { + .name = "icm42607p", + .driver_data = (kernel_ulong_t)&inv_icm42607p_hw_data, + }, + { } +}; +MODULE_DEVICE_TABLE(spi, inv_icm42607_spi_id_table); + +static const struct of_device_id inv_icm42607_of_matches[] = { + { + .compatible = "invensense,icm42607", + .data = &inv_icm42607_hw_data, + }, + { + .compatible = "invensense,icm42607p", + .data = &inv_icm42607p_hw_data, + }, + { } +}; +MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches); + +static struct spi_driver inv_icm42607_driver = { + .driver = { + .name = "inv-icm42607-spi", + .of_match_table = inv_icm42607_of_matches, + }, + .id_table = inv_icm42607_spi_id_table, + .probe = inv_icm42607_probe, +}; +module_spi_driver(inv_icm42607_driver); + +MODULE_AUTHOR("InvenSense, Inc."); +MODULE_DESCRIPTION("InvenSense ICM-42607 SPI driver"); +MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS("IIO_ICM42607"); -- 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 6997FC531D0 for ; Mon, 27 Jul 2026 16:50:54 +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=mLUlISiGsBepD3Txc2hKIVfv62zEqo3AYrdaZAUlnOU=; b=bh6uJyPvjc02Xi Cc7sQxhmFuI9mHgU54IzEMsSprNtbfbGieFNT9adplZeYjJhOnsJdu9p8WuKDB7LgXkGkrScgoF/L WQoE30RR1oSl+M5yDHJIYx5yTOlFY8o6PzLaxF2p17bDThGUOh2O2EX5jIwVB5EWjZuDwI9PPk5KF tBdvpCcJcci8Q4GEjN2lr5ihT/SkLOdNBlpi93Y7l396L6X0h1GSDB8kdCCNAH+AfkqfYxP3NJk2u Qo+iLC4TDBLD8vugEj+ynwL4i+ehzX0G/mNBiRacml7KzyTOIduNX0WPLqv3Zy8Unlnjyns8OoZnT /Ds4mPTfGVcTJqNkLtHw==; Received: from localhost ([::1] helo=bombadil.infradead.org) by bombadil.infradead.org with esmtp (Exim 4.99.1 #2 (Red Hat Linux)) id 1woOXU-00000003RfX-1Yrf; Mon, 27 Jul 2026 16:50:52 +0000 Received: from mail-oi1-x235.google.com ([2607:f8b0:4864:20::235]) by bombadil.infradead.org with esmtps (Exim 4.99.1 #2 (Red Hat Linux)) id 1woOXP-00000003RaR-1OIe for linux-rockchip@lists.infradead.org; Mon, 27 Jul 2026 16:50:48 +0000 Received: by mail-oi1-x235.google.com with SMTP id 5614622812f47-497e6956acfso72334b6e.1 for ; Mon, 27 Jul 2026 09:50:47 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20251104; t=1785171046; x=1785775846; 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:content-type; bh=X7cKInG3LvCx702WPltJ7pIgcjx5mq1L90Yz6/fhnzA=; b=Gn8YSXarOwz134fUHH/fG9NOcZhRHQPA4XUpXA4X+lR5B8GjNjHxZIeMKXlG0XhxiC wjABpvZNg/lMzjitlZlxrFHsR82ibgCE1rQbkZla9ZiwUDPoTNNyXBlAApwLWt0AaLNS Lsmpg5leHNEkrQwzoeO8nJx65YbucHDcBH9RFS9t7at0ocJKCDOxZbF3oqoZofDML1L8 JKov0WqD9cYPwkH9RgdBW9tCuCvI7WYtUFgybGtrY6Pha0DUqNq/NKsPIXuWp53enIzF CBCBaPHUYybnO/iDWtNDzV1Dno/6ZeF7a9DUIF0yBSlEv7mq5ZVqroQCIbFGZ1b35rYz ZgYQ== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20251104; t=1785171046; x=1785775846; 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:content-type; bh=X7cKInG3LvCx702WPltJ7pIgcjx5mq1L90Yz6/fhnzA=; b=tNIHqLLVV+zUBlINhK4RopPJb1Pdacbk22ypf9j/THZ7TFdr1yX116EO/R4DmYKlUx UCO/eg24e/VR4eUxBGFnJ8U7Jt8amBx6H9ErWmk/a22xO0UrsKR5MCCk6TDtuM8H1F1x /fGnnVbnqSbsvhjo4Qs1XDQfj39Z8N+V1BufzNQGgK0fgccTxRpptAAwMXQyFnO5Vcu/ Kbumu0zJiu5QGcUtuxGmHUVIN5wS6LNNT6Q0w3uiRBB33MxmOhnZGmn3jjW+PSTegFoX uKs3HYJxj5OVTmTRk5QuzCH4ixz9p6ozUiykgSwuMXjUTfbNn+XSMdy4ShtAphveASkC tvSw== X-Forwarded-Encrypted: i=1; AHgh+RqomTycidj7kihN6atk6mVbyN4Ez2aNfWoo8iDbWjH0qzTHWY+/Eg7u+qExTgbe6FQWRxblNiikq3E+2fL8RA==@lists.infradead.org X-Gm-Message-State: AOJu0YyzSa3r+3L02lhfIP9eKjmQzy5ehDE1ZfzL2G/viLu19PLmooAj XrJs6X8xlGgAd/SKjkLtO+PpgrrjvxCjwKvSDincOKvEcHMZQ770LA+w X-Gm-Gg: AR+sD13hnseldVJ+eIc7EUG7KF94hBvcfieEcBYAHG1xw3f+B10u3TgXJWP+NqU1c8J BZI8Y5+H2/TYi1a/1bCkr7n82DNgJPPjg9bh7mMsrWiWWEQSYBfx9EFM5uugqP+TaMuXPfrC1eg 0yP892nm7WGXS0knJhiJX/nKkuhJaCPJ6LnKpLcQ9rXAS8rIq4Ne0XQOFHGqSRUpDacPtW8clRA 10n6uzrZlhozBDAwqA9K3zrI8O8ML7+/wc4N713kDVCqPEC/gjL+6/TvSL2+jOD6z0P28ygR4Mo OebqCGDAe+L6/QotBDK1WLnI8kia8Swf5w4okbuuPpZgYecHWfoJl+nBHkduqpMZvhSUi2wz+F/ iLxaJtW+Svf4oBAkmNnij27fLe4z4KWL6JzIWlTwEqQJaqx1SOlQZjBUIaX5uXZAELMM+gYB614 7IrOqt03VKTzvZiRvZeqr5 X-Received: by 2002:a05:6808:f89:b0:49a:7714:ed25 with SMTP id 5614622812f47-4ad55117708mr186818b6e.3.1785171046578; Mon, 27 Jul 2026 09:50:46 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0:30e7:7cd7:b59:5863]) by smtp.gmail.com with ESMTPSA id 5614622812f47-4ab0c7a1912sm11395050b6e.2.2026.07.27.09.50.45 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Mon, 27 Jul 2026 09:50:45 -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 V20 4/9] iio: imu: inv_icm42607: Add SPI For icm42607 Date: Mon, 27 Jul 2026 11:48:08 -0500 Message-ID: <20260727164815.65190-5-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260727164815.65190-1-macroalpha82@gmail.com> References: <20260727164815.65190-1-macroalpha82@gmail.com> MIME-Version: 1.0 X-CRM114-Version: 20100106-BlameMichelson ( TRE 0.9.0 (BSD) ) MR-646709E3 X-CRM114-CacheID: sfid-20260727_095047_379144_BA49C05D X-CRM114-Status: GOOD ( 19.49 ) 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 SPI driver support for InvenSense ICM-42607 devices. Signed-off-by: Chris Morgan Reviewed-by: Andy Shevchenko --- drivers/iio/imu/inv_icm42607/Kconfig | 12 ++ drivers/iio/imu/inv_icm42607/Makefile | 3 + .../iio/imu/inv_icm42607/inv_icm42607_spi.c | 106 ++++++++++++++++++ 3 files changed, 121 insertions(+) create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c diff --git a/drivers/iio/imu/inv_icm42607/Kconfig b/drivers/iio/imu/inv_icm42607/Kconfig index 083c212087ab..23f461f57afc 100644 --- a/drivers/iio/imu/inv_icm42607/Kconfig +++ b/drivers/iio/imu/inv_icm42607/Kconfig @@ -16,3 +16,15 @@ config INV_ICM42607_I2C This driver can be built as a module. The module will be called inv-icm42607-i2c. + +config INV_ICM42607_SPI + tristate "InvenSense ICM-42607 SPI driver" + depends on SPI_MASTER + select INV_ICM42607 + select REGMAP_SPI + help + This driver supports the InvenSense ICM-42607 motion tracking + device over SPI. + + This driver can be built as a module. The module will be called + inv-icm42607-spi. diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile index 32046e2727d7..be109102e203 100644 --- a/drivers/iio/imu/inv_icm42607/Makefile +++ b/drivers/iio/imu/inv_icm42607/Makefile @@ -5,3 +5,6 @@ inv-icm42607-y += inv_icm42607_core.o obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o inv-icm42607-i2c-y += inv_icm42607_i2c.o + +obj-$(CONFIG_INV_ICM42607_SPI) += inv-icm42607-spi.o +inv-icm42607-spi-y += inv_icm42607_spi.o diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c new file mode 100644 index 000000000000..eb04036a6712 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c @@ -0,0 +1,106 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include +#include +#include + +#include "inv_icm42607.h" + +static int inv_icm42607_spi_bus_setup(struct inv_icm42607_state *st) +{ + unsigned int val; + int ret; + + /* Only support 4-wire mode for now. */ + ret = regmap_set_bits(st->map, INV_ICM42607_REG_DEVICE_CONFIG, + INV_ICM42607_DEVICE_CONFIG_SPI_AP_4WIRE); + if (ret) + return ret; + + ret = regmap_clear_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1, + INV_ICM42607_INTF_CONFIG1_I3C_DDR_EN | + INV_ICM42607_INTF_CONFIG1_I3C_SDR_EN); + if (ret) + return ret; + + val = FIELD_PREP(INV_ICM42607_DRIVE_CONFIG3_SPI_MASK, + INV_ICM42607_SLEW_RATE_2NS); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG3, + INV_ICM42607_DRIVE_CONFIG3_SPI_MASK, val); + if (ret) + return ret; + + val = FIELD_PREP(INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS); + + return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0, + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, + val); +} + +static int inv_icm42607_probe(struct spi_device *spi) +{ + const struct inv_icm42607_hw *hw; + struct device *dev = &spi->dev; + struct regmap *regmap; + + hw = spi_get_device_match_data(spi); + if (!hw) + return dev_err_probe(dev, -ENODATA, "Failed to get SPI data\n"); + + if (spi->mode & SPI_3WIRE) + return dev_err_probe(dev, -ENODEV, "SPI 3-wire mode not supported\n"); + + regmap = devm_regmap_init_spi(spi, &inv_icm42607_regmap_config); + if (IS_ERR(regmap)) + return dev_err_probe(dev, PTR_ERR(regmap), + "Failed to register spi regmap\n"); + + return inv_icm42607_core_probe(regmap, hw, inv_icm42607_spi_bus_setup); +} + +static const struct spi_device_id inv_icm42607_spi_id_table[] = { + { + .name = "icm42607", + .driver_data = (kernel_ulong_t)&inv_icm42607_hw_data, + }, { + .name = "icm42607p", + .driver_data = (kernel_ulong_t)&inv_icm42607p_hw_data, + }, + { } +}; +MODULE_DEVICE_TABLE(spi, inv_icm42607_spi_id_table); + +static const struct of_device_id inv_icm42607_of_matches[] = { + { + .compatible = "invensense,icm42607", + .data = &inv_icm42607_hw_data, + }, + { + .compatible = "invensense,icm42607p", + .data = &inv_icm42607p_hw_data, + }, + { } +}; +MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches); + +static struct spi_driver inv_icm42607_driver = { + .driver = { + .name = "inv-icm42607-spi", + .of_match_table = inv_icm42607_of_matches, + }, + .id_table = inv_icm42607_spi_id_table, + .probe = inv_icm42607_probe, +}; +module_spi_driver(inv_icm42607_driver); + +MODULE_AUTHOR("InvenSense, Inc."); +MODULE_DESCRIPTION("InvenSense ICM-42607 SPI driver"); +MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS("IIO_ICM42607"); -- 2.43.0 _______________________________________________ Linux-rockchip mailing list Linux-rockchip@lists.infradead.org http://lists.infradead.org/mailman/listinfo/linux-rockchip