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Fri, 01 May 2026 15:14:23 -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 V4 03/10] iio: imu: inv_icm42607: Add I2C and SPI For icm42607 Date: Fri, 1 May 2026 17:11:42 -0500 Message-ID: <20260501221152.194251-4-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260501221152.194251-1-macroalpha82@gmail.com> References: <20260501221152.194251-1-macroalpha82@gmail.com> Precedence: bulk X-Mailing-List: devicetree@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: 8bit From: Chris Morgan Add I2C and SPI driver support for InvenSense ICM-42607 devices. Add necessary Kconfig and Makefile to allow building of (incomplete) driver. Signed-off-by: Chris Morgan --- drivers/iio/imu/Kconfig | 1 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/inv_icm42607/Kconfig | 30 ++++++ drivers/iio/imu/inv_icm42607/Makefile | 10 ++ drivers/iio/imu/inv_icm42607/inv_icm42607.h | 2 + .../iio/imu/inv_icm42607/inv_icm42607_core.c | 20 ++++ .../iio/imu/inv_icm42607/inv_icm42607_i2c.c | 90 +++++++++++++++++ .../iio/imu/inv_icm42607/inv_icm42607_spi.c | 96 +++++++++++++++++++ 8 files changed, 250 insertions(+) create mode 100644 drivers/iio/imu/inv_icm42607/Kconfig create mode 100644 drivers/iio/imu/inv_icm42607/Makefile create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 7e0181c27bb6..8bab4616be20 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -109,6 +109,7 @@ config KMX61 be called kmx61. source "drivers/iio/imu/inv_icm42600/Kconfig" +source "drivers/iio/imu/inv_icm42607/Kconfig" source "drivers/iio/imu/inv_icm45600/Kconfig" source "drivers/iio/imu/inv_mpu6050/Kconfig" diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index 13fb7846e9c9..3268dc2371ae 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -25,6 +25,7 @@ obj-$(CONFIG_FXOS8700_I2C) += fxos8700_i2c.o obj-$(CONFIG_FXOS8700_SPI) += fxos8700_spi.o obj-y += inv_icm42600/ +obj-y += inv_icm42607/ obj-y += inv_icm45600/ obj-y += inv_mpu6050/ diff --git a/drivers/iio/imu/inv_icm42607/Kconfig b/drivers/iio/imu/inv_icm42607/Kconfig new file mode 100644 index 000000000000..7ba64e6e8d80 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/Kconfig @@ -0,0 +1,30 @@ +# SPDX-License-Identifier: GPL-2.0-or-later + +config INV_ICM42607 + tristate + select IIO_BUFFER + select IIO_INV_SENSORS_TIMESTAMP + +config INV_ICM42607_I2C + tristate "InvenSense ICM-42607X I2C driver" + depends on I2C + select INV_ICM42607 + select REGMAP_I2C + help + This driver supports the InvenSense ICM-42607 motion tracking + device over I2C. + + This driver can be built as a module. The module will be called + inv-icm42607-i2c. + +config INV_ICM42607_SPI + tristate "InvenSense ICM-42607X 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 new file mode 100644 index 000000000000..be109102e203 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/Makefile @@ -0,0 +1,10 @@ +# SPDX-License-Identifier: GPL-2.0-or-later + +obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o +inv-icm42607-y += inv_icm42607_core.o + +obj-$(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.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h index f6b3cad8064a..763d731ccc60 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -389,6 +389,8 @@ struct inv_icm42607_sensor_state { typedef int (*inv_icm42607_bus_setup)(struct inv_icm42607_state *); +extern const struct regmap_config inv_icm42607_regmap_config; + u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr); int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg, diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index a0bbd8a7ea4b..1ac3a573863c 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -16,6 +16,26 @@ #include "inv_icm42607.h" +static const struct regmap_range_cfg inv_icm42607_regmap_ranges[] = { + { + .name = "user bank", + .range_min = 0x0000, + .range_max = 0x00FF, + .window_start = 0, + .window_len = 0x0100, + }, +}; + +const struct regmap_config inv_icm42607_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + .max_register = 0x00FF, + .ranges = inv_icm42607_regmap_ranges, + .num_ranges = ARRAY_SIZE(inv_icm42607_regmap_ranges), + .cache_type = REGCACHE_NONE, +}; +EXPORT_SYMBOL_NS_GPL(inv_icm42607_regmap_config, "IIO_ICM42607"); + struct inv_icm42607_hw { uint8_t whoami; const char *name; diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c new file mode 100644 index 000000000000..83cdb9c87167 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c @@ -0,0 +1,90 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include +#include +#include +#include + +#include "inv_icm42607.h" + +static int inv_icm42607_i2c_bus_setup(struct inv_icm42607_state *st) +{ + unsigned int val; + int 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_CONFIG2_I2C_MASK, + INV_ICM42607_SLEW_RATE_12_36NS); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG2, + INV_ICM42607_DRIVE_CONFIG2_I2C_MASK, val); + if (ret) + return ret; + + return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0, + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_SPI_DIS); +} + +static int inv_icm42607_probe(struct i2c_client *client) +{ + const void *match; + enum inv_icm42607_chip chip; + struct regmap *regmap; + + if (!i2c_check_functionality(client->adapter, I2C_FUNC_SMBUS_I2C_BLOCK)) + return -EOPNOTSUPP; + + match = i2c_get_match_data(client); + chip = (kernel_ulong_t)match; + + regmap = devm_regmap_init_i2c(client, &inv_icm42607_regmap_config); + if (IS_ERR(regmap)) + return PTR_ERR(regmap); + + return inv_icm42607_core_probe(regmap, chip, inv_icm42607_i2c_bus_setup); +} + +static const struct i2c_device_id inv_icm42607_id[] = { + { "icm42607", INV_CHIP_ICM42607 }, + { "icm42607p", INV_CHIP_ICM42607P }, + { } +}; +MODULE_DEVICE_TABLE(i2c, inv_icm42607_id); + +static const struct of_device_id inv_icm42607_of_matches[] = { + { + .compatible = "invensense,icm42607", + .data = (void *)INV_CHIP_ICM42607, + }, { + .compatible = "invensense,icm42607p", + .data = (void *)INV_CHIP_ICM42607P, + }, + { } +}; +MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches); + +static struct i2c_driver inv_icm42607_driver = { + .driver = { + .name = "inv-icm42607-i2c", + .of_match_table = inv_icm42607_of_matches, + }, + .id_table = inv_icm42607_id, + .probe = inv_icm42607_probe, +}; +module_i2c_driver(inv_icm42607_driver); + +MODULE_AUTHOR("InvenSense, Inc."); +MODULE_DESCRIPTION("InvenSense ICM-42607x I2C driver"); +MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS("IIO_ICM42607"); 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..7a02bbab3a63 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c @@ -0,0 +1,96 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#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; + + 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_INF_2NS); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG3, + INV_ICM42607_DRIVE_CONFIG3_SPI_MASK, val); + if (ret) + return ret; + + return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0, + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS); +} + +static int inv_icm42607_probe(struct spi_device *spi) +{ + const void *match; + enum inv_icm42607_chip chip; + struct regmap *regmap; + + match = spi_get_device_match_data(spi); + chip = (kernel_ulong_t)match; + + regmap = devm_regmap_init_spi(spi, &inv_icm42607_regmap_config); + if (IS_ERR(regmap)) + return dev_err_probe(&spi->dev, PTR_ERR(regmap), + "Failed to register spi regmap %ld\n", + PTR_ERR(regmap)); + + return inv_icm42607_core_probe(regmap, chip, + inv_icm42607_spi_bus_setup); +} + +static const struct of_device_id inv_icm42607_of_matches[] = { + { + .compatible = "invensense,icm42607", + .data = (void *)INV_CHIP_ICM42607, + }, + { + .compatible = "invensense,icm42607p", + .data = (void *)INV_CHIP_ICM42607P, + }, + { } +}; +MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches); + +static const struct spi_device_id inv_icm42607_spi_id_table[] = { + { "icm42607", INV_CHIP_ICM42607 }, + { "icm42607p", INV_CHIP_ICM42607P }, + { } +}; +MODULE_DEVICE_TABLE(spi, inv_icm42607_spi_id_table); + +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-42607x SPI driver"); +MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS("IIO_ICM42607"); -- 2.43.0