[PATCH V4 03/10] iio: imu: inv_icm42607: Add I2C and SPI For icm42607

Chris Morgan
2026-05-01T22:14:24Z

From: Chris Morgan <macromorgan@hotmail.com>

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 <macromorgan@hotmail.com>
---
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 <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/i2c.h>
+#include <linux/regmap.h>
+#include <linux/property.h>
+
+#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 <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/spi/spi.h>
+#include <linux/regmap.h>
+#include <linux/property.h>
+
+#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