[PATCH V4 00/10] Add Invensense ICM42607

[PATCH V4 00/10] Add Invensense ICM42607

[Chris Morgan]

From: Chris Morgan <macromorgan@hotmail.com>

Add support for the ICM42607 IMU. This sensor shares the same
functionality but a different register layout with the existing
ICM42600.

This driver should work with the ICM42607 and ICM42607P over both I2C
and SPI, however only the ICM42607P over I2C could be tested.

Changes Since V1:
 - Instead of creating a new driver, merged with the existing inv_icm42600
   driver. This necessitated adding some code to the existing driver to
   permit using a different register layout for the same functionality.
 - Split changes up a bit more to decrease the size of the individual
   patches. Note that patch 0004 is still pretty hefty; if I need to split
   further I may need to create some temporary stub functions.
 - Used guard() and PM_RUNTIME_ACQUIRE_AUTOSUSPEND() on the new functions
   per Jonathan's recommendations.

Changes Since V2:
 - Went back to using a new driver on advice from Invensense engineer.
 - Further split changes up into smaller chunks of functionality. Note
   still that the largest patch is approximately 900 lines, and that while
   the driver compiles cleanly at each commit it is not able to drive the
   hardware until the commit that adds the Interrupt (as it also adds the
   Makefile).
 - Change the error to a warning when the devicetree binding does not match
   the hardware ID.
 - Dropped the ack on the devicetree bindings, as I am creating a new file
   (for a new driver) instead of modifying the existing one.

Changes Since V3:
 - Numerous small fixes (too many to list here). Thank you to everyone who
   provided feedback.
 - Split power management additions into an additional commit to break
   things up further.
 - Consolidated devicetree documentation in existing
   invensense,icm42600.yaml file.
 - Removed most of the FIELD_PREP from header file to c files to make code
   easier to read.
 - Changed scale values to 2D arrays for Gyro and Accelerometer.
 - Removed IIO_CHAN_INFO_CALIBBIAS attribute.

Chris Morgan (10):
  dt-bindings: iio: imu: icm42600: Add icm42607 binding
  iio: imu: inv_icm42607: Add inv_icm42607 Core Driver
  iio: imu: inv_icm42607: Add I2C and SPI For icm42607
  iio: imu: inv_icm42607: Add PM support for icm42607
  iio: imu: inv_icm42607: Add Buffer support for icm42607
  iio: imu: inv_icm42607: Add Temp Support in icm42607
  iio: imu: inv_icm42607: Add Accelerometer for icm42607
  iio: imu: inv_icm42607: Add Wake on Movement for icm42607
  iio: imu: inv_icm42607: Add Gyroscope to icm42607
  arm64: dts: rockchip: Add icm42607p IMU for RG-DS

 .../bindings/iio/imu/invensense,icm42600.yaml |   4 +
 .../dts/rockchip/rk3568-anbernic-rg-ds.dts    |  20 +-
 drivers/iio/imu/Kconfig                       |   1 +
 drivers/iio/imu/Makefile                      |   1 +
 drivers/iio/imu/inv_icm42607/Kconfig          |  30 +
 drivers/iio/imu/inv_icm42607/Makefile         |  14 +
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   | 438 ++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_accel.c | 989 ++++++++++++++++++
 .../imu/inv_icm42607/inv_icm42607_buffer.c    | 559 ++++++++++
 .../imu/inv_icm42607/inv_icm42607_buffer.h    | 101 ++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 809 ++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_gyro.c  | 536 ++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_i2c.c   |  91 ++
 .../iio/imu/inv_icm42607/inv_icm42607_spi.c   |  97 ++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.c  |  81 ++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.h  |  30 +
 16 files changed, 3800 insertions(+), 1 deletion(-)
 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.h
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h

-- 
2.43.0

[PATCH V4 01/10] dt-bindings: iio: imu: icm42600: Add icm42607 binding

[Chris Morgan]

From: Chris Morgan <macromorgan@hotmail.com>

Add devicetree binding for the Invensense ICM42607 and Invensense
ICM42607P inertial measurement unit. This unit is a combined
accelerometer, gyroscope, and thermometer available via I2C or SPI.

This device is functionally very similar to the icm42600 series with a
very different register layout. Additionally, add mount-matrix
attribute to schema.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
 .../devicetree/bindings/iio/imu/invensense,icm42600.yaml      | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/Documentation/devicetree/bindings/iio/imu/invensense,icm42600.yaml b/Documentation/devicetree/bindings/iio/imu/invensense,icm42600.yaml
index 119e28a833fd..b69c6bbb6f6b 100644
--- a/Documentation/devicetree/bindings/iio/imu/invensense,icm42600.yaml
+++ b/Documentation/devicetree/bindings/iio/imu/invensense,icm42600.yaml
@@ -30,6 +30,8 @@ properties:
       - invensense,icm42600
       - invensense,icm42602
       - invensense,icm42605
+      - invensense,icm42607
+      - invensense,icm42607p
       - invensense,icm42622
       - invensense,icm42631
       - invensense,icm42686
@@ -53,6 +55,8 @@ properties:
   drive-open-drain:
     type: boolean
 
+  mount-matrix: true
+
   vdd-supply:
     description: Regulator that provides power to the sensor
 
-- 
2.43.0

[PATCH V4 02/10] iio: imu: inv_icm42607: Add inv_icm42607 Core Driver

[Chris Morgan]

From: Chris Morgan <macromorgan@hotmail.com>

Add the core component of a new inv_icm42607 driver. This includes
a few setup functions and the full register definition in the
header file.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   | 400 ++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 303 +++++++++++++
 2 files changed, 703 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607.h
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_core.c

diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
new file mode 100644
index 000000000000..f6b3cad8064a
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -0,0 +1,400 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#ifndef INV_ICM42607_H_
+#define INV_ICM42607_H_
+
+#include <linux/bitfield.h>
+#include <linux/bitops.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+#include <linux/mutex.h>
+#include <linux/regmap.h>
+#include <linux/regulator/consumer.h>
+
+enum inv_icm42607_chip {
+	INV_CHIP_INVALID,
+	INV_CHIP_ICM42607P,
+	INV_CHIP_ICM42607,
+	INV_CHIP_NB
+};
+
+/* serial bus slew rates */
+enum inv_icm42607_slew_rate {
+	INV_ICM42607_SLEW_RATE_20_60NS,
+	INV_ICM42607_SLEW_RATE_12_36NS,
+	INV_ICM42607_SLEW_RATE_6_18NS,
+	INV_ICM42607_SLEW_RATE_4_12NS,
+	INV_ICM42607_SLEW_RATE_2_6NS,
+	INV_ICM42607_SLEW_RATE_INF_2NS
+};
+
+enum inv_icm42607_sensor_mode {
+	INV_ICM42607_SENSOR_MODE_OFF,
+	INV_ICM42607_SENSOR_MODE_STANDBY,
+	INV_ICM42607_SENSOR_MODE_LOW_POWER,
+	INV_ICM42607_SENSOR_MODE_LOW_NOISE,
+	INV_ICM42607_SENSOR_MODE_NB
+};
+
+/* gyroscope fullscale values */
+enum inv_icm42607_gyro_fs {
+	INV_ICM42607_GYRO_FS_2000DPS,
+	INV_ICM42607_GYRO_FS_1000DPS,
+	INV_ICM42607_GYRO_FS_500DPS,
+	INV_ICM42607_GYRO_FS_250DPS,
+	INV_ICM42607_GYRO_FS_NB
+};
+
+/* accelerometer fullscale values */
+enum inv_icm42607_accel_fs {
+	INV_ICM42607_ACCEL_FS_16G,
+	INV_ICM42607_ACCEL_FS_8G,
+	INV_ICM42607_ACCEL_FS_4G,
+	INV_ICM42607_ACCEL_FS_2G,
+	INV_ICM42607_ACCEL_FS_NB
+};
+
+/* ODR values */
+enum inv_icm42607_odr {
+	INV_ICM42607_ODR_1600HZ = 5,
+	INV_ICM42607_ODR_800HZ,
+	INV_ICM42607_ODR_400HZ,
+	INV_ICM42607_ODR_200HZ,
+	INV_ICM42607_ODR_100HZ,
+	INV_ICM42607_ODR_50HZ,
+	INV_ICM42607_ODR_25HZ,
+	INV_ICM42607_ODR_12_5HZ,
+	INV_ICM42607_ODR_6_25HZ_LP,
+	INV_ICM42607_ODR_3_125HZ_LP,
+	INV_ICM42607_ODR_1_5625HZ_LP,
+	INV_ICM42607_ODR_NB
+};
+
+enum inv_icm42607_filter_bw {
+	/* Low-Noise mode sensor data filter (bandwidth) */
+	INV_ICM42607_FILTER_BYPASS,
+	INV_ICM42607_FILTER_BW_180HZ,
+	INV_ICM42607_FILTER_BW_121HZ,
+	INV_ICM42607_FILTER_BW_73HZ,
+	INV_ICM42607_FILTER_BW_53HZ,
+	INV_ICM42607_FILTER_BW_34HZ,
+	INV_ICM42607_FILTER_BW_25HZ,
+	INV_ICM42607_FILTER_BW_16HZ
+};
+
+enum inv_icm42607_filter_avg {
+	/* Low-Power mode sensor data filter (averaging) */
+	INV_ICM42607_FILTER_AVG_2X = 0,
+	INV_ICM42607_FILTER_AVG_4X,
+	INV_ICM42607_FILTER_AVG_8X,
+	INV_ICM42607_FILTER_AVG_16X,
+	INV_ICM42607_FILTER_AVG_32X,
+	INV_ICM42607_FILTER_AVG_64X
+	/* values 7 and 8 also correspond to 64x. */
+};
+
+struct inv_icm42607_sensor_conf {
+	int mode;
+	int fs;
+	int odr;
+	int filter;
+};
+#define INV_ICM42607_SENSOR_CONF_INIT		{-1, -1, -1, -1}
+
+struct inv_icm42607_conf {
+	struct inv_icm42607_sensor_conf gyro;
+	struct inv_icm42607_sensor_conf accel;
+	bool temp_en;
+};
+
+struct inv_icm42607_suspended {
+	enum inv_icm42607_sensor_mode gyro;
+	enum inv_icm42607_sensor_mode accel;
+	bool temp;
+};
+
+struct inv_icm42607_apex {
+	unsigned int on;
+	struct {
+		u64 value;
+		bool enable;
+	} wom;
+};
+
+/**
+ *  struct inv_icm42607_state - driver state variables
+ *  @lock:		lock for serializing multiple registers access.
+ *  @chip:		chip identifier.
+ *  @name:		chip name.
+ *  @map:		regmap pointer.
+ *  @vddio_supply:	I/O voltage regulator for the chip.
+ *  @irq:		chip irq, required to enable/disable and set wakeup
+ *  @orientation:	sensor chip orientation relative to main hardware.
+ *  @conf:		chip sensors configurations.
+ *  @suspended:		suspended sensors configuration.
+ *  @indio_gyro:	gyroscope IIO device.
+ *  @indio_accel:	accelerometer IIO device.
+ *  @timestamp:         interrupt timestamps.
+ *  @apex:		APEX (Advanced Pedometer and Event detection) management
+ *  @buffer:		data transfer buffer aligned for DMA.
+ */
+struct inv_icm42607_state {
+	struct mutex lock;
+	enum inv_icm42607_chip chip;
+	const char *name;
+	struct regmap *map;
+	struct regulator *vddio_supply;
+	int irq;
+	struct iio_mount_matrix orientation;
+	struct inv_icm42607_conf conf;
+	struct inv_icm42607_suspended suspended;
+	struct iio_dev *indio_gyro;
+	struct iio_dev *indio_accel;
+	struct {
+		s64 gyro;
+		s64 accel;
+	} timestamp;
+	struct inv_icm42607_apex apex;
+	__be16 buffer[3] __aligned(IIO_DMA_MINALIGN);
+};
+
+/**
+ * struct inv_icm42607_sensor_state - sensor state variables
+ * @power_mode:		sensor requested power mode (for common frequencies)
+ * @filter:		sensor filter.
+ * @ts:			timestamp module states.
+ */
+struct inv_icm42607_sensor_state {
+	enum inv_icm42607_sensor_mode power_mode;
+	int filter;
+	struct inv_sensors_timestamp ts;
+};
+
+/* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
+
+/* Register Map for User Bank 0 */
+#define INV_ICM42607_REG_DEVICE_CONFIG			0x01
+#define INV_ICM42607_DEVICE_CONFIG_SPI_AP_4WIRE		BIT(2)
+#define INV_ICM42607_DEVICE_CONFIG_SPI_MODE		BIT(0)
+
+#define INV_ICM42607_REG_SIGNAL_PATH_RESET		0x02
+#define INV_ICM42607_SIGNAL_PATH_RESET_SOFT_RESET	BIT(4)
+#define INV_ICM42607_SIGNAL_PATH_RESET_FIFO_FLUSH	BIT(2)
+
+#define INV_ICM42607_REG_DRIVE_CONFIG1			0x03
+#define INV_ICM42607_DRIVE_CONFIG1_I3C_DDR_MASK		GENMASK(5, 3)
+#define INV_ICM42607_DRIVE_CONFIG1_I3C_SDR_MASK		GENMASK(2, 0)
+
+#define INV_ICM42607_REG_DRIVE_CONFIG2			0x04
+#define INV_ICM42607_DRIVE_CONFIG2_I2C_MASK		GENMASK(5, 3)
+#define INV_ICM42607_DRIVE_CONFIG2_ALL_MASK		GENMASK(2, 0)
+
+#define INV_ICM42607_REG_DRIVE_CONFIG3			0x05
+#define INV_ICM42607_DRIVE_CONFIG3_SPI_MASK		GENMASK(2, 0)
+
+#define INV_ICM42607_REG_INT_CONFIG			0x06
+#define INV_ICM42607_INT_CONFIG_INT2_LATCHED		BIT(5)
+#define INV_ICM42607_INT_CONFIG_INT2_PUSH_PULL		BIT(4)
+#define INV_ICM42607_INT_CONFIG_INT2_ACTIVE_HIGH	BIT(3)
+#define INV_ICM42607_INT_CONFIG_INT2_ACTIVE_LOW		0x00
+#define INV_ICM42607_INT_CONFIG_INT1_LATCHED		BIT(2)
+#define INV_ICM42607_INT_CONFIG_INT1_PUSH_PULL		BIT(1)
+#define INV_ICM42607_INT_CONFIG_INT1_ACTIVE_HIGH	BIT(0)
+#define INV_ICM42607_INT_CONFIG_INT1_ACTIVE_LOW		0x00
+
+/* all sensor data are 16 bits (2 registers wide) in big-endian */
+#define INV_ICM42607_REG_TEMP_DATA1			0x09
+#define INV_ICM42607_REG_TEMP_DATA0			0x0A
+#define INV_ICM42607_REG_ACCEL_DATA_X1			0x0B
+#define INV_ICM42607_REG_ACCEL_DATA_X0			0x0C
+#define INV_ICM42607_REG_ACCEL_DATA_Y1			0x0D
+#define INV_ICM42607_REG_ACCEL_DATA_Y0			0x0E
+#define INV_ICM42607_REG_ACCEL_DATA_Z1			0x0F
+#define INV_ICM42607_REG_ACCEL_DATA_Z0			0x10
+#define INV_ICM42607_REG_GYRO_DATA_X1			0x11
+#define INV_ICM42607_REG_GYRO_DATA_X0			0x12
+#define INV_ICM42607_REG_GYRO_DATA_Y1			0x13
+#define INV_ICM42607_REG_GYRO_DATA_Y0			0x14
+#define INV_ICM42607_REG_GYRO_DATA_Z1			0x15
+#define INV_ICM42607_REG_GYRO_DATA_Z0			0x16
+#define INV_ICM42607_DATA_INVALID			-32768
+
+#define INV_ICM42607_REG_TMST_FSYNCH			0x17
+#define INV_ICM42607_REG_TMST_FSYNCL			0x18
+
+/* APEX Data Registers */
+#define INV_ICM42607_REG_APEX_DATA0			0x31
+#define INV_ICM42607_REG_APEX_DATA1			0x32
+#define INV_ICM42607_REG_APEX_DATA2			0x33
+#define INV_ICM42607_REG_APEX_DATA3			0x34
+#define INV_ICM42607_REG_APEX_DATA4			0x1D
+#define INV_ICM42607_REG_APEX_DATA5			0x1E
+
+#define INV_ICM42607_REG_PWR_MGMT0			0x1F
+#define INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL		BIT(7)
+#define INV_ICM42607_PWR_MGMT0_IDLE			BIT(4)
+#define INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK		GENMASK(3, 2)
+#define INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK		GENMASK(1, 0)
+
+#define INV_ICM42607_REG_GYRO_CONFIG0			0x20
+#define INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK		GENMASK(6, 5)
+#define INV_ICM42607_GYRO_CONFIG0_ODR_MASK		GENMASK(3, 0)
+
+#define INV_ICM42607_REG_ACCEL_CONFIG0			0x21
+#define INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK		GENMASK(6, 5)
+#define INV_ICM42607_ACCEL_CONFIG0_ODR_MASK		GENMASK(3, 0)
+
+#define INV_ICM42607_REG_TEMP_CONFIG0			0x22
+#define INV_ICM42607_TEMP_CONFIG0_FILTER_MASK		GENMASK(6, 4)
+
+#define INV_ICM42607_REG_GYRO_CONFIG1			0x23
+#define INV_ICM42607_GYRO_CONFIG1_FILTER_MASK		GENMASK(2, 0)
+
+#define INV_ICM42607_REG_ACCEL_CONFIG1			0x24
+#define INV_ICM42607_ACCEL_CONFIG1_AVG_MASK		GENMASK(6, 4)
+#define INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK		GENMASK(2, 0)
+
+#define INV_ICM42607_REG_APEX_CONFIG0			0x25
+#define INV_ICM42607_APEX_CONFIG0_DMP_POWER_SAVE_EN	BIT(3)
+#define INV_ICM42607_APEX_CONFIG0_DMP_INIT_EN		BIT(2)
+#define INV_ICM42607_APEX_CONFIG0_DMP_MEM_RESET_EN	BIT(0)
+
+#define INV_ICM42607_REG_APEX_CONFIG1			0x26
+#define INV_ICM42607_APEX_CONFIG1_SMD_ENABLE		BIT(6)
+#define INV_ICM42607_APEX_CONFIG1_FF_ENABLE		BIT(5)
+#define INV_ICM42607_APEX_CONFIG1_TILT_ENABLE		BIT(4)
+#define INV_ICM42607_APEX_CONFIG1_PED_ENABLE		BIT(3)
+#define INV_ICM42607_APEX_CONFIG1_DMP_ODR_MASK		GENMASK(1, 0)
+
+#define INV_ICM42607_REG_WOM_CONFIG			0x27
+#define INV_ICM42607_WOM_CONFIG_INT_DUR_MASK		GENMASK(4, 3)
+#define INV_ICM42607_WOM_CONFIG_INT_MODE		BIT(2)
+#define INV_ICM42607_WOM_CONFIG_MODE			BIT(1)
+#define INV_ICM42607_WOM_CONFIG_EN			BIT(0)
+
+#define INV_ICM42607_REG_FIFO_CONFIG1			0x28
+#define INV_ICM42607_FIFO_CONFIG1_MODE			BIT(1)
+#define INV_ICM42607_FIFO_CONFIG1_BYPASS		BIT(0)
+
+#define INV_ICM42607_REG_FIFO_CONFIG2			0x29
+#define INV_ICM42607_REG_FIFO_CONFIG3			0x2A
+#define INV_ICM42607_FIFO_WATERMARK_VAL(_wm)		\
+		cpu_to_le16((_wm) & GENMASK(11, 0))
+/* FIFO is 2048 bytes, let 12 samples for reading latency */
+#define INV_ICM42607_FIFO_WATERMARK_MAX			(2048 - 12 * 16)
+
+#define INV_ICM42607_REG_INT_SOURCE0			0x2B
+#define INV_ICM42607_INT_SOURCE0_ST_INT1_EN		BIT(7)
+#define INV_ICM42607_INT_SOURCE0_FSYNC_INT1_EN		BIT(6)
+#define INV_ICM42607_INT_SOURCE0_PLL_RDY_INT1_EN	BIT(5)
+#define INV_ICM42607_INT_SOURCE0_RESET_DONE_INT1_EN	BIT(4)
+#define INV_ICM42607_INT_SOURCE0_DRDY_INT1_EN		BIT(3)
+#define INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN	BIT(2)
+#define INV_ICM42607_INT_SOURCE0_FIFO_FULL_INT1_EN	BIT(1)
+#define INV_ICM42607_INT_SOURCE0_AGC_RDY_INT1_EN	BIT(0)
+
+#define INV_ICM42607_REG_INT_SOURCE1			0x2C
+#define INV_ICM42607_INT_SOURCE1_I3C_ERROR_INT1_EN	BIT(6)
+#define INV_ICM42607_INT_SOURCE1_SMD_INT1_EN		BIT(3)
+#define INV_ICM42607_INT_SOURCE1_WOM_INT1_EN		GENMASK(2, 0)
+
+#define INV_ICM42607_REG_INT_SOURCE3			0x2D
+#define INV_ICM42607_INT_SOURCE3_ST_INT2_EN		BIT(7)
+#define INV_ICM42607_INT_SOURCE3_FSYNC_INT2_EN		BIT(6)
+#define INV_ICM42607_INT_SOURCE3_PLL_RDY_INT2_EN	BIT(5)
+#define INV_ICM42607_INT_SOURCE3_RESET_DONE_INT2_EN	BIT(4)
+#define INV_ICM42607_INT_SOURCE3_DRDY_INT2_EN		BIT(3)
+#define INV_ICM42607_INT_SOURCE3_FIFO_THS_INT2_EN	BIT(2)
+#define INV_ICM42607_INT_SOURCE3_FIFO_FULL_INT2_EN	BIT(1)
+#define INV_ICM42607_INT_SOURCE3_AGC_RDY_INT2_EN	BIT(0)
+
+#define INV_ICM42607_REG_INT_SOURCE4			0x2E
+#define INV_ICM42607_INT_SOURCE4_I3C_ERROR_INT2_EN	BIT(6)
+#define INV_ICM42607_INT_SOURCE4_SMD_INT2_EN		BIT(3)
+#define INV_ICM42607_INT_SOURCE4_WOM_Z_INT2_EN		BIT(2)
+#define INV_ICM42607_INT_SOURCE4_WOM_Y_INT2_EN		BIT(1)
+#define INV_ICM42607_INT_SOURCE4_WOM_X_INT2_EN		BIT(0)
+
+#define INV_ICM42607_REG_FIFO_LOST_PKT0			0x2F
+#define INV_ICM42607_REG_FIFO_LOST_PKT1			0x30
+
+#define INV_ICM42607_REG_INTF_CONFIG0			0x35
+#define INV_ICM42607_INTF_CONFIG0_FIFO_COUNT_FORMAT	BIT(6)
+#define INV_ICM42607_INTF_CONFIG0_FIFO_COUNT_ENDIAN	BIT(5)
+#define INV_ICM42607_INTF_CONFIG0_SENSOR_DATA_ENDIAN	BIT(4)
+#define INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK	GENMASK(1, 0)
+#define INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_SPI_DIS	\
+	FIELD_PREP(INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, 2)
+#define INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS	\
+	FIELD_PREP(INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, 3)
+
+#define INV_ICM42607_REG_INTF_CONFIG1			0x36
+#define INV_ICM42607_INTF_CONFIG1_I3C_SDR_EN		BIT(3)
+#define INV_ICM42607_INTF_CONFIG1_I3C_DDR_EN		BIT(2)
+#define INV_ICM42607_INTF_CONFIG1_CLKSEL_MASK		GENMASK(1, 0)
+#define INV_ICM42607_INTF_CONFIG1_CLKSEL_INT		0
+#define INV_ICM42607_INTF_CONFIG1_CLKSEL_PLL		1
+#define INV_ICM42607_INTF_CONFIG1_CLKSEL_OFF		2
+
+#define INV_ICM42607_REG_INT_STATUS_DRDY		0x39
+#define INV_ICM42607_INT_STATUS_DRDY_DATA_RDY		BIT(0)
+
+#define INV_ICM42607_REG_INT_STATUS			0x3A
+#define INV_ICM42607_INT_STATUS_ST			BIT(7)
+#define INV_ICM42607_INT_STATUS_FSYNC			BIT(6)
+#define INV_ICM42607_INT_STATUS_PLL_RDY			BIT(5)
+#define INV_ICM42607_INT_STATUS_RESET_DONE		BIT(4)
+#define INV_ICM42607_INT_STATUS_FIFO_THS		BIT(2)
+#define INV_ICM42607_INT_STATUS_FIFO_FULL		BIT(1)
+#define INV_ICM42607_INT_STATUS_AGC_RDY			BIT(0)
+
+#define INV_ICM42607_REG_INT_STATUS2			0x3B
+#define INV_ICM42607_INT_STATUS2_SMD			BIT(3)
+#define INV_ICM42607_INT_STATUS2_WOM_INT		GENMASK(2, 0)
+
+#define INV_ICM42607_REG_INT_STATUS3			0x3C
+#define INV_ICM42607_INT_STATUS3_STEP_DET		BIT(5)
+#define INV_ICM42607_INT_STATUS3_STEP_CNT_OVF		BIT(4)
+#define INV_ICM42607_INT_STATUS3_TILT_DET		BIT(3)
+#define INV_ICM42607_INT_STATUS3_FF_DET			BIT(2)
+
+/*
+ * FIFO access registers
+ * FIFO count is 16 bits (2 registers) big-endian
+ * FIFO data is a continuous read register to read FIFO content
+ */
+#define INV_ICM42607_REG_FIFO_COUNTH			0x3D
+#define INV_ICM42607_REG_FIFO_COUNTL			0x3E
+#define INV_ICM42607_REG_FIFO_DATA			0x3F
+
+#define INV_ICM42607_REG_ACCEL_WOM_X_THR		0x4b
+#define INV_ICM42607_REG_ACCEL_WOM_Y_THR		0x4c
+#define INV_ICM42607_REG_ACCEL_WOM_Z_THR		0x4d
+
+#define INV_ICM42607_REG_WHOAMI				0x75
+#define INV_ICM42607P_WHOAMI				0x60
+#define INV_ICM42607_WHOAMI				0x67
+
+/* Sleep times required by the driver */
+#define INV_ICM42607_POWER_UP_TIME_US			100000
+#define INV_ICM42607_RESET_TIME_MS			1
+#define INV_ICM42607_ACCEL_STARTUP_TIME_MS		20
+#define INV_ICM42607_GYRO_STARTUP_TIME_MS		60
+#define INV_ICM42607_GYRO_STOP_TIME_MS			150
+#define INV_ICM42607_TEMP_STARTUP_TIME_MS		14
+#define INV_ICM42607_SUSPEND_DELAY_MS			2000
+
+typedef int (*inv_icm42607_bus_setup)(struct inv_icm42607_state *);
+
+u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr);
+
+int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
+			     unsigned int writeval, unsigned int *readval);
+
+int inv_icm42607_core_probe(struct regmap *regmap, int chip,
+			    inv_icm42607_bus_setup bus_setup);
+
+#endif
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
new file mode 100644
index 000000000000..a0bbd8a7ea4b
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -0,0 +1,303 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/delay.h>
+#include <linux/interrupt.h>
+#include <linux/iio/iio.h>
+#include <linux/irq.h>
+#include <linux/module.h>
+#include <linux/mutex.h>
+#include <linux/property.h>
+#include <linux/regmap.h>
+#include <linux/regulator/consumer.h>
+#include <linux/slab.h>
+
+#include "inv_icm42607.h"
+
+struct inv_icm42607_hw {
+	uint8_t whoami;
+	const char *name;
+	const struct inv_icm42607_conf *conf;
+};
+
+/* chip initial default configuration */
+static const struct inv_icm42607_conf inv_icm42607_default_conf = {
+	.gyro = {
+		.mode = INV_ICM42607_SENSOR_MODE_OFF,
+		.fs = INV_ICM42607_GYRO_FS_1000DPS,
+		.odr = INV_ICM42607_ODR_100HZ,
+		.filter = INV_ICM42607_FILTER_BW_25HZ,
+	},
+	.accel = {
+		.mode = INV_ICM42607_SENSOR_MODE_OFF,
+		.fs = INV_ICM42607_ACCEL_FS_4G,
+		.odr = INV_ICM42607_ODR_100HZ,
+		.filter = INV_ICM42607_FILTER_BW_25HZ,
+	},
+	.temp_en = false,
+};
+
+static const struct inv_icm42607_hw inv_icm42607_hw[INV_CHIP_NB] = {
+	[INV_CHIP_ICM42607] = {
+		.whoami = INV_ICM42607_WHOAMI,
+		.name = "icm42607",
+		.conf = &inv_icm42607_default_conf,
+	},
+	[INV_CHIP_ICM42607P] = {
+		.whoami = INV_ICM42607P_WHOAMI,
+		.name = "icm42607p",
+		.conf = &inv_icm42607_default_conf,
+	},
+};
+
+u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr)
+{
+	static const u32 odr_periods[INV_ICM42607_ODR_NB] = {
+		/* Reserved values */
+		0, 0, 0, 0, 0,
+		/* 1600Hz */
+		625000,
+		/* 800Hz */
+		1250000,
+		/* 400Hz */
+		2500000,
+		/* 200Hz */
+		5000000,
+		/* 100 Hz */
+		10000000,
+		/* 50Hz */
+		20000000,
+		/* 25Hz */
+		40000000,
+		/* 12.5Hz */
+		80000000,
+		/* 6.25Hz */
+		160000000,
+		/* 3.125Hz */
+		320000000,
+		/* 1.5625Hz */
+		640000000,
+	};
+
+	odr = clamp(odr, INV_ICM42607_ODR_1600HZ, INV_ICM42607_ODR_1_5625HZ_LP);
+
+	return odr_periods[odr];
+}
+
+int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
+			     unsigned int writeval, unsigned int *readval)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+
+	guard(mutex)(&st->lock);
+
+	if (readval)
+		return regmap_read(st->map, reg, readval);
+
+	return regmap_write(st->map, reg, writeval);
+}
+
+static int inv_icm42607_set_conf(struct inv_icm42607_state *st,
+				 const struct inv_icm42607_conf *conf)
+{
+	unsigned int val;
+	int ret;
+
+	val = FIELD_PREP(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK,
+			 conf->gyro.mode);
+	val |= FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK,
+			  conf->accel.mode);
+	/*
+	 * No temperature enable reg in datasheet, but BSP driver
+	 * selected RC oscillator clock in LP mode when temperature
+	 * was disabled.
+	 */
+	if (!conf->temp_en)
+		val |= INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL;
+	ret = regmap_write(st->map, INV_ICM42607_REG_PWR_MGMT0, val);
+	if (ret)
+		return ret;
+
+	val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK,
+			 conf->gyro.fs);
+	val |= FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_ODR_MASK,
+			  conf->gyro.odr);
+	ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK, conf->accel.fs);
+	val |= FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_ODR_MASK, conf->accel.odr);
+	ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG1_FILTER_MASK,
+			 conf->gyro.filter);
+	ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG1, val);
+	if (ret)
+		return ret;
+
+	val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK,
+			 conf->accel.filter);
+	ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG1, val);
+	if (ret)
+		return ret;
+
+	st->conf = *conf;
+
+	return 0;
+}
+
+/**
+ *  inv_icm42607_setup() - check and setup chip
+ *  @st:	driver internal state
+ *  @bus_setup:	callback for setting up bus specific registers
+ *
+ *  Returns 0 on success, a negative error code otherwise.
+ */
+static int inv_icm42607_setup(struct inv_icm42607_state *st,
+			      inv_icm42607_bus_setup bus_setup)
+{
+	const struct inv_icm42607_hw *hw = &inv_icm42607_hw[st->chip];
+	const struct device *dev = regmap_get_device(st->map);
+	unsigned int val;
+	int ret;
+
+	ret = regmap_read(st->map, INV_ICM42607_REG_WHOAMI, &val);
+	if (ret)
+		return ret;
+
+	if (val != hw->whoami)
+		dev_warn_probe(dev, -ENODEV,
+			       "invalid whoami %#02x expected %#02x (%s)\n",
+			       val, hw->whoami, hw->name);
+
+	st->name = hw->name;
+
+	ret = regmap_write(st->map, INV_ICM42607_REG_SIGNAL_PATH_RESET,
+			   INV_ICM42607_SIGNAL_PATH_RESET_SOFT_RESET);
+	if (ret)
+		return ret;
+
+	ret = regmap_read_poll_timeout(st->map, INV_ICM42607_REG_INT_STATUS,
+				       val, val & INV_ICM42607_INT_STATUS_RESET_DONE,
+				       INV_ICM42607_RESET_TIME_MS * 100,
+				       INV_ICM42607_RESET_TIME_MS * 1000);
+
+	if (ret)
+		return dev_err_probe(dev, ret,
+				     "reset error, reset done bit not set\n");
+
+	ret = bus_setup(st);
+	if (ret)
+		return ret;
+
+	ret = regmap_set_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+			      INV_ICM42607_INTF_CONFIG0_SENSOR_DATA_ENDIAN);
+	if (ret)
+		return ret;
+
+	ret = regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1,
+				 INV_ICM42607_INTF_CONFIG1_CLKSEL_MASK,
+				 INV_ICM42607_INTF_CONFIG1_CLKSEL_PLL);
+	if (ret)
+		return ret;
+
+	return inv_icm42607_set_conf(st, hw->conf);
+}
+
+static int inv_icm42607_enable_vddio_reg(struct inv_icm42607_state *st)
+{
+	int ret;
+
+	ret = regulator_enable(st->vddio_supply);
+	if (ret)
+		return ret;
+
+	fsleep(INV_ICM42607_POWER_UP_TIME_US);
+
+	return 0;
+}
+
+static void inv_icm42607_disable_vddio_reg(void *_data)
+{
+	struct inv_icm42607_state *st = _data;
+
+	regulator_disable(st->vddio_supply);
+}
+
+int inv_icm42607_core_probe(struct regmap *regmap, int chip,
+			    inv_icm42607_bus_setup bus_setup)
+{
+	struct device *dev = regmap_get_device(regmap);
+	struct fwnode_handle *fwnode = dev_fwnode(dev);
+	struct inv_icm42607_state *st;
+	int irq;
+	bool open_drain;
+	int ret;
+
+	/*
+	 * Keep bounds checking in case more chips are added, for now only
+	 * 2 are supported.
+	 */
+	if (chip < INV_CHIP_INVALID || chip >= INV_CHIP_NB)
+		dev_warn_probe(dev, -ENODEV, "Invalid chip = %d\n", chip);
+
+	irq = fwnode_irq_get_byname(fwnode, "INT1");
+	if (irq < 0)
+		return dev_err_probe(dev, irq, "error missing INT1 interrupt\n");
+
+	open_drain = device_property_read_bool(dev, "drive-open-drain");
+
+	st = devm_kzalloc(dev, sizeof(*st), GFP_KERNEL);
+	if (!st)
+		return -ENOMEM;
+
+	dev_set_drvdata(dev, st);
+
+	ret = devm_mutex_init(dev, &st->lock);
+	if (ret)
+		return ret;
+
+	st->chip = chip;
+	st->map = regmap;
+	st->irq = irq;
+
+	ret = iio_read_mount_matrix(dev, &st->orientation);
+	if (ret)
+		return dev_err_probe(dev, ret,
+				     "failed to retrieve mounting matrix %d\n", ret);
+
+	ret = devm_regulator_get_enable(dev, "vdd");
+	if (ret)
+		return dev_err_probe(dev, ret,
+				     "Failed to get vdd regulator\n");
+
+	st->vddio_supply = devm_regulator_get(dev, "vddio");
+	if (IS_ERR(st->vddio_supply))
+		return PTR_ERR(st->vddio_supply);
+
+	ret = inv_icm42607_enable_vddio_reg(st);
+	if (ret)
+		return ret;
+
+	ret = devm_add_action_or_reset(dev, inv_icm42607_disable_vddio_reg, st);
+	if (ret)
+		return ret;
+
+	/* Setup chip registers (includes WHOAMI check, reset check, bus setup) */
+	ret = inv_icm42607_setup(st, bus_setup);
+	if (ret)
+		return ret;
+
+	return 0;
+}
+EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607");
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-42607x device driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_INV_SENSORS_TIMESTAMP");
-- 
2.43.0

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

[Chris Morgan]

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

[PATCH V4 04/10] iio: imu: inv_icm42607: Add PM support for icm42607

[Chris Morgan]

From: Chris Morgan <macromorgan@hotmail.com>

Add power management support for the ICM42607 device driver.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |   2 +
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 177 ++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_i2c.c   |   1 +
 .../iio/imu/inv_icm42607/inv_icm42607_spi.c   |   1 +
 4 files changed, 181 insertions(+)

diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
index 763d731ccc60..7facc114adc5 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -11,6 +11,7 @@
 #include <linux/iio/common/inv_sensors_timestamp.h>
 #include <linux/iio/iio.h>
 #include <linux/mutex.h>
+#include <linux/pm.h>
 #include <linux/regmap.h>
 #include <linux/regulator/consumer.h>
 
@@ -390,6 +391,7 @@ struct inv_icm42607_sensor_state {
 typedef int (*inv_icm42607_bus_setup)(struct inv_icm42607_state *);
 
 extern const struct regmap_config inv_icm42607_regmap_config;
+extern const struct dev_pm_ops inv_icm42607_pm_ops;
 
 u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr);
 
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
index 1ac3a573863c..af3784040b7a 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -9,6 +9,7 @@
 #include <linux/irq.h>
 #include <linux/module.h>
 #include <linux/mutex.h>
+#include <linux/pm_runtime.h>
 #include <linux/property.h>
 #include <linux/regmap.h>
 #include <linux/regulator/consumer.h>
@@ -106,6 +107,62 @@ u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr)
 	return odr_periods[odr];
 }
 
+static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
+				      enum inv_icm42607_sensor_mode gyro,
+				      enum inv_icm42607_sensor_mode accel,
+				      bool temp, unsigned int *sleep_ms)
+{
+	enum inv_icm42607_sensor_mode oldgyro = st->conf.gyro.mode;
+	enum inv_icm42607_sensor_mode oldaccel = st->conf.accel.mode;
+	bool oldtemp = st->conf.temp_en;
+	unsigned int sleepval;
+	unsigned int val;
+	int ret;
+
+	if (gyro == oldgyro && accel == oldaccel && temp == oldtemp)
+		return 0;
+
+	val = FIELD_PREP(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, gyro);
+	val |= FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, accel);
+	if (!temp)
+		val |= INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL;
+	ret = regmap_write(st->map, INV_ICM42607_REG_PWR_MGMT0, val);
+	if (ret)
+		return ret;
+
+	st->conf.gyro.mode = gyro;
+	st->conf.accel.mode = accel;
+	st->conf.temp_en = temp;
+
+	sleepval = 0;
+	if (temp && !oldtemp) {
+		if (sleepval < INV_ICM42607_TEMP_STARTUP_TIME_MS)
+			sleepval = INV_ICM42607_TEMP_STARTUP_TIME_MS;
+	}
+	if (accel != oldaccel && oldaccel == INV_ICM42607_SENSOR_MODE_OFF) {
+		usleep_range(200, 300);
+		if (sleepval < INV_ICM42607_ACCEL_STARTUP_TIME_MS)
+			sleepval = INV_ICM42607_ACCEL_STARTUP_TIME_MS;
+	}
+	if (gyro != oldgyro) {
+		if (oldgyro == INV_ICM42607_SENSOR_MODE_OFF) {
+			usleep_range(200, 300);
+			if (sleepval < INV_ICM42607_GYRO_STARTUP_TIME_MS)
+				sleepval = INV_ICM42607_GYRO_STARTUP_TIME_MS;
+		} else if (gyro == INV_ICM42607_SENSOR_MODE_OFF) {
+			if (sleepval < INV_ICM42607_GYRO_STOP_TIME_MS)
+				sleepval = INV_ICM42607_GYRO_STOP_TIME_MS;
+		}
+	}
+
+	if (sleep_ms)
+		*sleep_ms = sleepval;
+	else if (sleepval)
+		msleep(sleepval);
+
+	return 0;
+}
+
 int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 			     unsigned int writeval, unsigned int *readval)
 {
@@ -313,10 +370,130 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip,
 	if (ret)
 		return ret;
 
+	ret = devm_pm_runtime_set_active_enabled(dev);
+	if (ret)
+		return ret;
+
+	pm_runtime_set_autosuspend_delay(dev, INV_ICM42607_SUSPEND_DELAY_MS);
+	pm_runtime_use_autosuspend(dev);
+
 	return 0;
 }
 EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607");
 
+/*
+ * Suspend saves sensors state and turns everything off.
+ * Check first if runtime suspend has not already done the job.
+ */
+static int inv_icm42607_suspend(struct device *dev)
+{
+	struct inv_icm42607_state *st = dev_get_drvdata(dev);
+	struct device *accel_dev;
+	bool wakeup;
+	int accel_conf;
+	int ret = 0;
+
+	guard(mutex)(&st->lock);
+
+	st->suspended.gyro = st->conf.gyro.mode;
+	st->suspended.accel = st->conf.accel.mode;
+	st->suspended.temp = st->conf.temp_en;
+	if (pm_runtime_suspended(dev))
+		return 0;
+
+	/* keep chip on and wake-up capable if APEX and wakeup on */
+	accel_dev = &st->indio_accel->dev;
+	wakeup = st->apex.on && device_may_wakeup(accel_dev);
+	if (wakeup) {
+		/* keep accel on and setup irq for wakeup */
+		accel_conf = st->conf.accel.mode;
+		enable_irq_wake(st->irq);
+		disable_irq(st->irq);
+	} else {
+		accel_conf = INV_ICM42607_SENSOR_MODE_OFF;
+	}
+
+	ret = inv_icm42607_set_pwr_mgmt0(st, INV_ICM42607_SENSOR_MODE_OFF,
+					 INV_ICM42607_SENSOR_MODE_OFF, false,
+					 NULL);
+	if (ret)
+		return ret;
+
+	if (!wakeup)
+		regulator_disable(st->vddio_supply);
+
+	return 0;
+}
+
+/*
+ * System resume gets the system back on and restores the sensors state.
+ * Manually put runtime power management in system active state.
+ */
+static int inv_icm42607_resume(struct device *dev)
+{
+	struct inv_icm42607_state *st = dev_get_drvdata(dev);
+	struct device *accel_dev;
+	bool wakeup;
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	if (pm_runtime_suspended(dev))
+		return 0;
+
+	/* check wakeup capability */
+	accel_dev = &st->indio_accel->dev;
+	wakeup = st->apex.on && device_may_wakeup(accel_dev);
+	/* restore irq state */
+	if (wakeup) {
+		enable_irq(st->irq);
+		disable_irq_wake(st->irq);
+	} else {
+		ret = inv_icm42607_enable_vddio_reg(st);
+		if (ret)
+			return ret;
+	}
+
+	/* restore sensors state */
+	ret = inv_icm42607_set_pwr_mgmt0(st, st->suspended.gyro,
+					 st->suspended.accel,
+					 st->suspended.temp, NULL);
+	return ret;
+}
+
+static int inv_icm42607_runtime_suspend(struct device *dev)
+{
+	struct inv_icm42607_state *st = dev_get_drvdata(dev);
+	int ret = 0;
+
+	guard(mutex)(&st->lock);
+
+	ret = inv_icm42607_set_pwr_mgmt0(st, INV_ICM42607_SENSOR_MODE_OFF,
+					 INV_ICM42607_SENSOR_MODE_OFF, false,
+					 NULL);
+	if (ret)
+		return ret;
+
+	regulator_disable(st->vddio_supply);
+
+	return 0;
+}
+
+static int inv_icm42607_runtime_resume(struct device *dev)
+{
+	struct inv_icm42607_state *st = dev_get_drvdata(dev);
+
+	guard(mutex)(&st->lock);
+
+	return inv_icm42607_enable_vddio_reg(st);
+}
+
+EXPORT_NS_GPL_DEV_PM_OPS(inv_icm42607_pm_ops, IIO_ICM42607) = {
+	SYSTEM_SLEEP_PM_OPS(inv_icm42607_suspend, inv_icm42607_resume)
+	RUNTIME_PM_OPS(inv_icm42607_runtime_suspend,
+		       inv_icm42607_runtime_resume, NULL)
+};
+
 MODULE_AUTHOR("InvenSense, Inc.");
 MODULE_DESCRIPTION("InvenSense ICM-42607x device driver");
 MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
index 83cdb9c87167..24cf39d52592 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
@@ -78,6 +78,7 @@ static struct i2c_driver inv_icm42607_driver = {
 	.driver = {
 		.name = "inv-icm42607-i2c",
 		.of_match_table = inv_icm42607_of_matches,
+		.pm = pm_ptr(&inv_icm42607_pm_ops),
 	},
 	.id_table = inv_icm42607_id,
 	.probe = inv_icm42607_probe,
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
index 7a02bbab3a63..9ee3b39b1b08 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
@@ -84,6 +84,7 @@ static struct spi_driver inv_icm42607_driver = {
 	.driver = {
 		.name = "inv-icm42607-spi",
 		.of_match_table = inv_icm42607_of_matches,
+		.pm = &inv_icm42607_pm_ops,
 	},
 	.id_table = inv_icm42607_spi_id_table,
 	.probe = inv_icm42607_probe,
-- 
2.43.0

[PATCH V4 05/10] iio: imu: inv_icm42607: Add Buffer support for icm42607

[Chris Morgan]

From: Chris Morgan <macromorgan@hotmail.com>

Add all FIFO parsing and reading functions to support
inv_icm42607 hardware.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
 drivers/iio/imu/inv_icm42607/Makefile         |   1 +
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |   4 +
 .../imu/inv_icm42607/inv_icm42607_buffer.c    | 489 ++++++++++++++++++
 .../imu/inv_icm42607/inv_icm42607_buffer.h    | 101 ++++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  |  26 +
 5 files changed, 621 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h

diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile
index be109102e203..3c9d08509793 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_buffer.o
 
 obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o
 inv-icm42607-i2c-y += 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 7facc114adc5..fd860685d0ad 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -15,6 +15,8 @@
 #include <linux/regmap.h>
 #include <linux/regulator/consumer.h>
 
+#include "inv_icm42607_buffer.h"
+
 enum inv_icm42607_chip {
 	INV_CHIP_INVALID,
 	INV_CHIP_ICM42607P,
@@ -140,6 +142,7 @@ struct inv_icm42607_apex {
  *  @indio_accel:	accelerometer IIO device.
  *  @timestamp:         interrupt timestamps.
  *  @apex:		APEX (Advanced Pedometer and Event detection) management
+ *  @fifo:		FIFO management structure.
  *  @buffer:		data transfer buffer aligned for DMA.
  */
 struct inv_icm42607_state {
@@ -159,6 +162,7 @@ struct inv_icm42607_state {
 		s64 accel;
 	} timestamp;
 	struct inv_icm42607_apex apex;
+	struct inv_icm42607_fifo fifo;
 	__be16 buffer[3] __aligned(IIO_DMA_MINALIGN);
 };
 
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
new file mode 100644
index 000000000000..5c67f6a37520
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
@@ -0,0 +1,489 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/delay.h>
+#include <linux/minmax.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+
+#include "inv_icm42607.h"
+#include "inv_icm42607_buffer.h"
+
+/* FIFO header: 1 byte */
+#define INV_ICM42607_FIFO_HEADER_MSG		BIT(7)
+#define INV_ICM42607_FIFO_HEADER_ACCEL		BIT(6)
+#define INV_ICM42607_FIFO_HEADER_GYRO		BIT(5)
+#define INV_ICM42607_FIFO_HEADER_TMST_FSYNC	GENMASK(3, 2)
+#define INV_ICM42607_FIFO_HEADER_ODR_ACCEL	BIT(1)
+#define INV_ICM42607_FIFO_HEADER_ODR_GYRO	BIT(0)
+
+struct inv_icm42607_fifo_1sensor_packet {
+	u8 header;
+	struct inv_icm42607_fifo_sensor_data data;
+	s8 temp;
+} __packed;
+#define INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE		8
+
+struct inv_icm42607_fifo_2sensors_packet {
+	u8 header;
+	struct inv_icm42607_fifo_sensor_data accel;
+	struct inv_icm42607_fifo_sensor_data gyro;
+	s8 temp;
+	__be16 timestamp;
+} __packed;
+#define INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE		16
+
+ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel,
+					const void **gyro, const int8_t **temp,
+					const void **timestamp, unsigned int *odr)
+{
+	const struct inv_icm42607_fifo_1sensor_packet *pack1 = packet;
+	const struct inv_icm42607_fifo_2sensors_packet *pack2 = packet;
+	u8 header = *((const u8 *)packet);
+
+	/* FIFO empty */
+	if (header & INV_ICM42607_FIFO_HEADER_MSG) {
+		*accel = NULL;
+		*gyro = NULL;
+		*temp = NULL;
+		*timestamp = NULL;
+		*odr = 0;
+		return 0;
+	}
+
+	/* handle odr flags */
+	*odr = 0;
+	if (header & INV_ICM42607_FIFO_HEADER_ODR_GYRO)
+		*odr |= INV_ICM42607_SENSOR_GYRO;
+	if (header & INV_ICM42607_FIFO_HEADER_ODR_ACCEL)
+		*odr |= INV_ICM42607_SENSOR_ACCEL;
+
+	/* accel + gyro */
+	if ((header & INV_ICM42607_FIFO_HEADER_ACCEL) &&
+	    (header & INV_ICM42607_FIFO_HEADER_GYRO)) {
+		*accel = &pack2->accel;
+		*gyro = &pack2->gyro;
+		*temp = &pack2->temp;
+		*timestamp = &pack2->timestamp;
+		return INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE;
+		}
+
+	/* accel only */
+	if (header & INV_ICM42607_FIFO_HEADER_ACCEL) {
+		*accel = &pack1->data;
+		*gyro = NULL;
+		*temp = &pack1->temp;
+		*timestamp = NULL;
+		return INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE;
+	}
+
+	/* gyro only */
+	if (header & INV_ICM42607_FIFO_HEADER_GYRO) {
+		*accel = NULL;
+		*gyro = &pack1->data;
+		*temp = &pack1->temp;
+		*timestamp = NULL;
+		return INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE;
+	}
+
+	/* invalid packet if here */
+	return -EINVAL;
+}
+
+void inv_icm42607_buffer_update_fifo_period(struct inv_icm42607_state *st)
+{
+	u32 period_gyro, period_accel;
+
+	if (st->fifo.en & INV_ICM42607_SENSOR_GYRO)
+		period_gyro = inv_icm42607_odr_to_period(st->conf.gyro.odr);
+	else
+		period_gyro = U32_MAX;
+
+	if (st->fifo.en & INV_ICM42607_SENSOR_ACCEL)
+		period_accel = inv_icm42607_odr_to_period(st->conf.accel.odr);
+	else
+		period_accel = U32_MAX;
+
+	st->fifo.period = min(period_gyro, period_accel);
+}
+
+int inv_icm42607_buffer_set_fifo_en(struct inv_icm42607_state *st,
+				    unsigned int fifo_en)
+{
+	unsigned int val;
+	int ret;
+
+	/* update FIFO EN bits for accel and gyro */
+	val = 0;
+	if (fifo_en & INV_ICM42607_SENSOR_GYRO)
+		val |= INV_ICM42607_FIFO_CONFIG1_MODE;
+	if (fifo_en & INV_ICM42607_SENSOR_ACCEL)
+		val |= INV_ICM42607_FIFO_CONFIG1_MODE;
+	if (fifo_en & INV_ICM42607_SENSOR_TEMP)
+		val |= INV_ICM42607_FIFO_CONFIG1_MODE;
+
+	ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1, val);
+	if (ret)
+		return ret;
+
+	st->fifo.en = fifo_en;
+	inv_icm42607_buffer_update_fifo_period(st);
+
+	return 0;
+}
+
+static size_t inv_icm42607_get_packet_size(unsigned int fifo_en)
+{
+	size_t packet_size;
+
+	if ((fifo_en & INV_ICM42607_SENSOR_GYRO) &&
+	    (fifo_en & INV_ICM42607_SENSOR_ACCEL))
+		packet_size = INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE;
+	else
+		packet_size = INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE;
+
+	return packet_size;
+}
+
+static unsigned int inv_icm42607_wm_truncate(unsigned int watermark,
+					     size_t packet_size)
+{
+	size_t wm_size;
+
+	wm_size = watermark * packet_size;
+	if (wm_size > INV_ICM42607_FIFO_WATERMARK_MAX)
+		wm_size = INV_ICM42607_FIFO_WATERMARK_MAX;
+
+	return wm_size / packet_size;
+}
+
+/**
+ * inv_icm42607_buffer_update_watermark - update watermark FIFO threshold
+ * @st:	driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+int inv_icm42607_buffer_update_watermark(struct inv_icm42607_state *st)
+{
+	size_t packet_size, wm_size;
+	unsigned int wm_gyro, wm_accel, watermark;
+	u32 period_gyro, period_accel;
+	u32 latency_gyro, latency_accel, latency;
+	bool restore;
+	__le16 raw_wm;
+	int ret;
+
+	packet_size = inv_icm42607_get_packet_size(st->fifo.en);
+
+	/* compute sensors latency, depending on sensor watermark and odr */
+	wm_gyro = inv_icm42607_wm_truncate(st->fifo.watermark.gyro, packet_size);
+	wm_accel = inv_icm42607_wm_truncate(st->fifo.watermark.accel, packet_size);
+	/* use us for odr to avoid overflow using 32 bits values */
+	period_gyro = inv_icm42607_odr_to_period(st->conf.gyro.odr) / 1000UL;
+	period_accel = inv_icm42607_odr_to_period(st->conf.accel.odr) / 1000UL;
+	latency_gyro = period_gyro * wm_gyro;
+	latency_accel = period_accel * wm_accel;
+
+	/* 0 value for watermark means that the sensor is turned off */
+	if (wm_gyro == 0 && wm_accel == 0)
+		return 0;
+
+	if (latency_gyro == 0) {
+		watermark = wm_accel;
+		st->fifo.watermark.eff_accel = wm_accel;
+	} else if (latency_accel == 0) {
+		watermark = wm_gyro;
+		st->fifo.watermark.eff_gyro = wm_gyro;
+	} else {
+		/* compute the smallest latency that is a multiple of both */
+		if (latency_gyro <= latency_accel)
+			latency = latency_gyro - (latency_accel % latency_gyro);
+		else
+			latency = latency_accel - (latency_gyro % latency_accel);
+		/* all this works because periods are multiple of each others */
+		watermark = latency / min(period_gyro, period_accel);
+		if (watermark < 1)
+			watermark = 1;
+		/* update effective watermark */
+		st->fifo.watermark.eff_gyro = latency / period_gyro;
+		if (st->fifo.watermark.eff_gyro < 1)
+			st->fifo.watermark.eff_gyro = 1;
+		st->fifo.watermark.eff_accel = latency / period_accel;
+		if (st->fifo.watermark.eff_accel < 1)
+			st->fifo.watermark.eff_accel = 1;
+	}
+
+	/* compute watermark value in bytes */
+	wm_size = watermark * packet_size;
+
+	/* changing FIFO watermark requires to turn off watermark interrupt */
+	ret = regmap_update_bits_check(st->map, INV_ICM42607_REG_INT_SOURCE0,
+				       INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN,
+				       0, &restore);
+	if (ret)
+		return ret;
+
+	raw_wm = INV_ICM42607_FIFO_WATERMARK_VAL(wm_size);
+	memcpy(st->buffer, &raw_wm, sizeof(raw_wm));
+	ret = regmap_bulk_write(st->map, INV_ICM42607_REG_FIFO_CONFIG2,
+				st->buffer, sizeof(raw_wm));
+	if (ret)
+		return ret;
+
+	/* restore watermark interrupt */
+	if (restore) {
+		ret = regmap_update_bits(st->map, INV_ICM42607_REG_INT_SOURCE0,
+					 INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN,
+					 INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
+static int inv_icm42607_buffer_preenable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	struct inv_icm42607_sensor_state *sensor_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &sensor_st->ts;
+
+	pm_runtime_get_sync(dev);
+
+	guard(mutex)(&st->lock);
+	inv_sensors_timestamp_reset(ts);
+
+	return 0;
+}
+
+/*
+ * update_scan_mode callback is turning sensors on and setting data FIFO enable
+ * bits.
+ */
+static int inv_icm42607_buffer_postenable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	/* exit if FIFO is already on */
+	if (st->fifo.on) {
+		st->fifo.on++;
+		return 0;
+	}
+
+	/* set FIFO threshold interrupt */
+	ret = regmap_update_bits(st->map, INV_ICM42607_REG_INT_SOURCE0,
+				 INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN,
+				 INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN);
+	if (ret)
+		return ret;
+
+	/* flush FIFO data */
+	ret = regmap_write(st->map, INV_ICM42607_REG_SIGNAL_PATH_RESET,
+			   INV_ICM42607_SIGNAL_PATH_RESET_FIFO_FLUSH);
+	if (ret)
+		return ret;
+
+	/* set FIFO in streaming mode */
+	ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+			   INV_ICM42607_FIFO_CONFIG1_MODE);
+	if (ret)
+		return ret;
+
+	/* workaround: first read of FIFO count after reset is always 0 */
+	ret = regmap_bulk_read(st->map, INV_ICM42607_REG_FIFO_COUNTH, st->buffer, 2);
+	if (ret)
+		return ret;
+
+	st->fifo.on++;
+
+	return 0;
+}
+
+static int inv_icm42607_buffer_predisable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	if (st->fifo.on > 1) {
+		st->fifo.on--;
+		return 0;
+	}
+
+	/* set FIFO in bypass mode */
+	ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+			   INV_ICM42607_FIFO_CONFIG1_BYPASS);
+	if (ret)
+		return ret;
+
+	/* flush FIFO data */
+	ret = regmap_write(st->map, INV_ICM42607_REG_SIGNAL_PATH_RESET,
+			   INV_ICM42607_SIGNAL_PATH_RESET_FIFO_FLUSH);
+	if (ret)
+		return ret;
+
+	/* disable FIFO threshold interrupt */
+	ret = regmap_update_bits(st->map, INV_ICM42607_REG_INT_SOURCE0,
+				 INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN, 0);
+	if (ret)
+		return ret;
+
+	st->fifo.on--;
+
+	return 0;
+}
+
+static int inv_icm42607_buffer_postdisable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int sensor;
+	unsigned int *watermark;
+	unsigned int sleep_temp = 0;
+	unsigned int sleep_sensor = 0;
+	unsigned int sleep;
+	int ret;
+
+	if (indio_dev == st->indio_gyro) {
+		sensor = INV_ICM42607_SENSOR_GYRO;
+		watermark = &st->fifo.watermark.gyro;
+	} else if (indio_dev == st->indio_accel) {
+		sensor = INV_ICM42607_SENSOR_ACCEL;
+		watermark = &st->fifo.watermark.accel;
+	} else {
+		return -EINVAL;
+	}
+
+	mutex_lock(&st->lock);
+
+	ret = inv_icm42607_buffer_set_fifo_en(st, st->fifo.en & ~sensor);
+	if (ret)
+		goto out_unlock;
+
+	*watermark = 0;
+	ret = inv_icm42607_buffer_update_watermark(st);
+	if (ret)
+		goto out_unlock;
+
+out_unlock:
+	mutex_unlock(&st->lock);
+
+	/* sleep maximum required time */
+	sleep = max(sleep_sensor, sleep_temp);
+	if (sleep)
+		msleep(sleep);
+
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+const struct iio_buffer_setup_ops inv_icm42607_buffer_ops = {
+	.preenable = inv_icm42607_buffer_preenable,
+	.postenable = inv_icm42607_buffer_postenable,
+	.predisable = inv_icm42607_buffer_predisable,
+	.postdisable = inv_icm42607_buffer_postdisable,
+};
+
+int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st,
+				  unsigned int max)
+{
+	size_t max_count;
+	__be16 *raw_fifo_count;
+	ssize_t i, size;
+	const void *accel, *gyro, *timestamp;
+	const s8 *temp;
+	unsigned int odr;
+	int ret;
+
+	/* reset all samples counters */
+	st->fifo.count = 0;
+	st->fifo.nb.gyro = 0;
+	st->fifo.nb.accel = 0;
+	st->fifo.nb.total = 0;
+
+	/* compute maximum FIFO read size */
+	if (max == 0)
+		max_count = sizeof(st->fifo.data);
+	else
+		max_count = max * inv_icm42607_get_packet_size(st->fifo.en);
+
+	/* read FIFO count value */
+	raw_fifo_count = (__be16 *)st->buffer;
+	ret = regmap_bulk_read(st->map, INV_ICM42607_REG_FIFO_COUNTH,
+			       raw_fifo_count, sizeof(*raw_fifo_count));
+	if (ret)
+		return ret;
+	st->fifo.count = be16_to_cpup(raw_fifo_count);
+
+	/* check and clamp FIFO count value */
+	if (st->fifo.count == 0)
+		return 0;
+	if (st->fifo.count > max_count)
+		st->fifo.count = max_count;
+
+	/* read all FIFO data in internal buffer */
+	ret = regmap_noinc_read(st->map, INV_ICM42607_REG_FIFO_DATA,
+				st->fifo.data, st->fifo.count);
+	if (ret)
+		return ret;
+
+	/* compute number of samples for each sensor */
+	for (i = 0; i < st->fifo.count; i += size) {
+		size = inv_icm42607_fifo_decode_packet(&st->fifo.data[i],
+				&accel, &gyro, &temp, &timestamp, &odr);
+		if (size <= 0)
+			break;
+		if (gyro != NULL && inv_icm42607_fifo_is_data_valid(gyro))
+			st->fifo.nb.gyro++;
+		if (accel != NULL && inv_icm42607_fifo_is_data_valid(accel))
+			st->fifo.nb.accel++;
+		st->fifo.nb.total++;
+	}
+
+	return 0;
+}
+
+int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
+				     unsigned int count)
+{
+	s64 gyro_ts, accel_ts;
+	int ret;
+
+	gyro_ts = iio_get_time_ns(st->indio_gyro);
+	accel_ts = iio_get_time_ns(st->indio_accel);
+
+	ret = inv_icm42607_buffer_fifo_read(st, count);
+
+	return ret;
+}
+
+int inv_icm42607_buffer_init(struct inv_icm42607_state *st)
+{
+	int ret;
+
+	st->fifo.watermark.eff_gyro = 1;
+	st->fifo.watermark.eff_accel = 1;
+
+	/* Configure FIFO_COUNT format in bytes and big endian */
+	ret = regmap_set_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+			      INV_ICM42607_INTF_CONFIG0_FIFO_COUNT_ENDIAN);
+	if (ret)
+		return ret;
+
+	/* Initialize FIFO in bypass mode */
+	return regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+			    INV_ICM42607_FIFO_CONFIG1_BYPASS);
+}
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
new file mode 100644
index 000000000000..2df49e795ad1
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
@@ -0,0 +1,101 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#ifndef INV_ICM42607_BUFFER_H_
+#define INV_ICM42607_BUFFER_H_
+
+#include <linux/kernel.h>
+#include <linux/bitops.h>
+
+struct inv_icm42607_state;
+
+#define INV_ICM42607_SENSOR_GYRO	BIT(0)
+#define INV_ICM42607_SENSOR_ACCEL	BIT(1)
+#define INV_ICM42607_SENSOR_TEMP	BIT(2)
+
+/**
+ * struct inv_icm42607_fifo - FIFO state variables
+ * @on:		reference counter for FIFO on.
+ * @en:		bits field of INV_ICM42607_SENSOR_* for FIFO EN bits.
+ * @period:	FIFO internal period.
+ * @watermark:	watermark configuration values for accel and gyro.
+ * @count:	number of bytes in the FIFO data buffer.
+ * @nb:		gyro, accel and total samples in the FIFO data buffer.
+ * @data:	FIFO data buffer aligned for DMA (2kB + 32 bytes of read cache).
+ */
+struct inv_icm42607_fifo {
+	unsigned int on;
+	unsigned int en;
+	u32 period;
+	struct {
+		unsigned int gyro;
+		unsigned int accel;
+		unsigned int eff_gyro;
+		unsigned int eff_accel;
+	} watermark;
+	size_t count;
+	struct {
+		size_t gyro;
+		size_t accel;
+		size_t total;
+	} nb;
+	u8 data[2080] __aligned(IIO_DMA_MINALIGN);
+};
+
+/* FIFO data packet */
+struct inv_icm42607_fifo_sensor_data {
+	__be16 x;
+	__be16 y;
+	__be16 z;
+};
+
+#define INV_ICM42607_FIFO_DATA_INVALID		-32768
+
+static inline s16 inv_icm42607_fifo_get_sensor_data(__be16 d)
+{
+	return be16_to_cpu(d);
+}
+
+static inline bool
+inv_icm42607_fifo_is_data_valid(const struct inv_icm42607_fifo_sensor_data *s)
+{
+	s16 x, y, z;
+
+	x = inv_icm42607_fifo_get_sensor_data(s->x);
+	y = inv_icm42607_fifo_get_sensor_data(s->y);
+	z = inv_icm42607_fifo_get_sensor_data(s->z);
+
+	if (x == INV_ICM42607_FIFO_DATA_INVALID &&
+		y == INV_ICM42607_FIFO_DATA_INVALID &&
+		z == INV_ICM42607_FIFO_DATA_INVALID)
+		return false;
+
+	return true;
+}
+
+ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel,
+					const void **gyro, const s8 **temp,
+					const void **timestamp, unsigned int *odr);
+
+extern const struct iio_buffer_setup_ops inv_icm42607_buffer_ops;
+
+int inv_icm42607_buffer_init(struct inv_icm42607_state *st);
+
+void inv_icm42607_buffer_update_fifo_period(struct inv_icm42607_state *st);
+
+int inv_icm42607_buffer_set_fifo_en(struct inv_icm42607_state *st,
+				    unsigned int fifo_en);
+
+int inv_icm42607_buffer_update_watermark(struct inv_icm42607_state *st);
+
+int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st,
+				  unsigned int max);
+
+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);
+
+#endif
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
index af3784040b7a..7b9c05df820a 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -16,6 +16,7 @@
 #include <linux/slab.h>
 
 #include "inv_icm42607.h"
+#include "inv_icm42607_buffer.h"
 
 static const struct regmap_range_cfg inv_icm42607_regmap_ranges[] = {
 	{
@@ -163,6 +164,7 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
 	return 0;
 }
 
+
 int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 			     unsigned int writeval, unsigned int *readval)
 {
@@ -370,6 +372,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip,
 	if (ret)
 		return ret;
 
+	/* Initialize buffer/FIFO handling */
+	ret = inv_icm42607_buffer_init(st);
+	if (ret)
+		return ret;
+
 	ret = devm_pm_runtime_set_active_enabled(dev);
 	if (ret)
 		return ret;
@@ -401,6 +408,13 @@ static int inv_icm42607_suspend(struct device *dev)
 	if (pm_runtime_suspended(dev))
 		return 0;
 
+	if (st->fifo.on) {
+		ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+				   INV_ICM42607_FIFO_CONFIG1_BYPASS);
+		if (ret)
+			return ret;
+	}
+
 	/* keep chip on and wake-up capable if APEX and wakeup on */
 	accel_dev = &st->indio_accel->dev;
 	wakeup = st->apex.on && device_may_wakeup(accel_dev);
@@ -432,6 +446,8 @@ static int inv_icm42607_suspend(struct device *dev)
 static int inv_icm42607_resume(struct device *dev)
 {
 	struct inv_icm42607_state *st = dev_get_drvdata(dev);
+	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 device *accel_dev;
 	bool wakeup;
 	int ret;
@@ -458,6 +474,16 @@ static int inv_icm42607_resume(struct device *dev)
 	ret = inv_icm42607_set_pwr_mgmt0(st, st->suspended.gyro,
 					 st->suspended.accel,
 					 st->suspended.temp, NULL);
+	if (ret)
+		return ret;
+
+	if (st->fifo.on) {
+		inv_sensors_timestamp_reset(&gyro_st->ts);
+		inv_sensors_timestamp_reset(&accel_st->ts);
+		ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+				   INV_ICM42607_FIFO_CONFIG1_MODE);
+	}
+
 	return ret;
 }
 
-- 
2.43.0

[PATCH V4 06/10] iio: imu: inv_icm42607: Add Temp Support in icm42607

[Chris Morgan]

From: Chris Morgan <macromorgan@hotmail.com>

Add functions for reading temperature sensor data.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
 drivers/iio/imu/inv_icm42607/Makefile         |  1 +
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |  3 +
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 17 ++++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.c  | 81 +++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.h  | 30 +++++++
 5 files changed, 132 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h

diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile
index 3c9d08509793..ccb8e007cdeb 100644
--- a/drivers/iio/imu/inv_icm42607/Makefile
+++ b/drivers/iio/imu/inv_icm42607/Makefile
@@ -3,6 +3,7 @@
 obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o
 inv-icm42607-y += inv_icm42607_core.o
 inv-icm42607-y += inv_icm42607_buffer.o
+inv-icm42607-y += inv_icm42607_temp.o
 
 obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o
 inv-icm42607-i2c-y += 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 fd860685d0ad..05b5a246e384 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -399,6 +399,9 @@ extern const struct dev_pm_ops inv_icm42607_pm_ops;
 
 u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr);
 
+int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
+			       unsigned int *sleep_ms);
+
 int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 			     unsigned int writeval, unsigned int *readval);
 
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
index 7b9c05df820a..77b9a633d31a 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -164,6 +164,23 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
 	return 0;
 }
 
+int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
+			       unsigned int *sleep_ms)
+{
+	unsigned int val;
+	int ret;
+
+	val = FIELD_PREP(INV_ICM42607_TEMP_CONFIG0_FILTER_MASK,
+			 INV_ICM42607_FILTER_BW_34HZ);
+	ret = regmap_update_bits(st->map, INV_ICM42607_REG_TEMP_CONFIG0,
+				 INV_ICM42607_TEMP_CONFIG0_FILTER_MASK, val);
+	if (ret)
+		return ret;
+
+	return inv_icm42607_set_pwr_mgmt0(st, st->conf.gyro.mode,
+					  st->conf.accel.mode, enable,
+					  sleep_ms);
+}
 
 int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 			     unsigned int writeval, unsigned int *readval)
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
new file mode 100644
index 000000000000..bcc11620c74c
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
@@ -0,0 +1,81 @@
+// 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/iio/iio.h>
+
+#include "inv_icm42607.h"
+#include "inv_icm42607_temp.h"
+
+static int inv_icm42607_temp_read(struct inv_icm42607_state *st, s16 *temp)
+{
+	struct device *dev = regmap_get_device(st->map);
+	__be16 *raw;
+	int ret;
+
+	PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);
+	if (PM_RUNTIME_ACQUIRE_ERR(&pm))
+		return -ENXIO;
+
+	guard(mutex)(&st->lock);
+
+	ret = inv_icm42607_set_temp_conf(st, true, NULL);
+	if (ret)
+		return ret;
+
+	raw = &st->buffer[0];
+	ret = regmap_bulk_read(st->map, INV_ICM42607_REG_TEMP_DATA1, raw, sizeof(*raw));
+	if (ret)
+		return ret;
+
+	*temp = be16_to_cpup(raw);
+	if (*temp == INV_ICM42607_DATA_INVALID)
+		ret = -EINVAL;
+
+	return ret;
+}
+
+int inv_icm42607_temp_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 temp;
+	int ret;
+
+	if (chan->type != IIO_TEMP)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm42607_temp_read(st, &temp);
+		iio_device_release_direct(indio_dev);
+		if (ret)
+			return ret;
+		*val = temp;
+		return IIO_VAL_INT;
+	/*
+	 * T°C = (temp / 128) + 25
+	 * Tm°C = 1000 * ((temp * 100 / 12800) + 25)
+	 * scale: 100000 / 12800 ~= 7.8125
+	 * offset: 25000
+	 */
+	case IIO_CHAN_INFO_SCALE:
+		*val = 7;
+		*val2 = 812500;
+		return IIO_VAL_INT_PLUS_NANO;
+	case IIO_CHAN_INFO_OFFSET:
+		*val = 25000;
+		return IIO_VAL_INT;
+	default:
+		return -EINVAL;
+	}
+}
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h
new file mode 100644
index 000000000000..d0bd6c460ff2
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h
@@ -0,0 +1,30 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#ifndef INV_ICM42607_TEMP_H_
+#define INV_ICM42607_TEMP_H_
+
+#include <linux/iio/iio.h>
+
+#define INV_ICM42607_TEMP_CHAN(_index)				\
+{								\
+	.type = IIO_TEMP,					\
+	.info_mask_separate =					\
+		BIT(IIO_CHAN_INFO_RAW) |			\
+		BIT(IIO_CHAN_INFO_OFFSET) |			\
+		BIT(IIO_CHAN_INFO_SCALE),			\
+	.scan_index = _index,					\
+	.scan_type = {						\
+		.sign = 's',					\
+		.realbits = 16,					\
+		.storagebits = 16,				\
+	},							\
+}
+
+int inv_icm42607_temp_read_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int *val, int *val2, long mask);
+
+#endif
-- 
2.43.0

[PATCH V4 07/10] iio: imu: inv_icm42607: Add Accelerometer for icm42607

[Chris Morgan]

From: Chris Morgan <macromorgan@hotmail.com>

Add icm42607 accelerometer sensor for icm42607.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
 drivers/iio/imu/inv_icm42607/Makefile         |   1 +
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |  16 +
 .../iio/imu/inv_icm42607/inv_icm42607_accel.c | 686 ++++++++++++++++++
 .../imu/inv_icm42607/inv_icm42607_buffer.c    |  49 +-
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  |  61 ++
 5 files changed, 812 insertions(+), 1 deletion(-)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c

diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile
index ccb8e007cdeb..e908d77c4219 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_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 05b5a246e384..5768e63d1dd2 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -397,8 +397,16 @@ typedef int (*inv_icm42607_bus_setup)(struct inv_icm42607_state *);
 extern const struct regmap_config inv_icm42607_regmap_config;
 extern const struct dev_pm_ops inv_icm42607_pm_ops;
 
+const struct iio_mount_matrix *
+inv_icm42607_get_mount_matrix(struct iio_dev *indio_dev,
+			      const struct iio_chan_spec *chan);
+
 u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr);
 
+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_temp_conf(struct inv_icm42607_state *st, bool enable,
 			       unsigned int *sleep_ms);
 
@@ -408,4 +416,12 @@ 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_accel_init(struct inv_icm42607_state *st);
+
+int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev);
+
+void inv_icm42607_accel_handle_events(struct iio_dev *indio_dev,
+				      unsigned int status2, unsigned int status3,
+				      s64 timestamp);
+
 #endif
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
new file mode 100644
index 000000000000..d998d8c94eb9
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
@@ -0,0 +1,686 @@
+// 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/minmax.h>
+#include <linux/units.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/events.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_ACCEL_CHAN(_modifier, _index, _ext_info)		\
+{									\
+	.type = IIO_ACCEL,						\
+	.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,						\
+}
+
+#define INV_ICM42607_ACCEL_EVENT_CHAN(_modifier, _events, _events_nb)	\
+	{								\
+		.type = IIO_ACCEL,					\
+		.modified = 1,						\
+		.channel2 = _modifier,					\
+		.event_spec = _events,					\
+		.num_event_specs = _events_nb,				\
+		.scan_index = -1,					\
+	}
+
+enum inv_icm42607_accel_scan {
+	INV_ICM42607_ACCEL_SCAN_X,
+	INV_ICM42607_ACCEL_SCAN_Y,
+	INV_ICM42607_ACCEL_SCAN_Z,
+	INV_ICM42607_ACCEL_SCAN_TEMP,
+	INV_ICM42607_ACCEL_SCAN_TIMESTAMP,
+};
+
+static const char * const inv_icm42607_accel_power_mode_items[] = {
+	"low-noise",
+	"low-power",
+};
+
+static const int inv_icm42607_accel_power_mode_values[] = {
+	INV_ICM42607_SENSOR_MODE_LOW_NOISE,
+	INV_ICM42607_SENSOR_MODE_LOW_POWER,
+};
+
+static const int inv_icm42607_accel_filter_values[] = {
+	INV_ICM42607_FILTER_BW_25HZ,
+	INV_ICM42607_FILTER_AVG_16X,
+};
+
+static int inv_icm42607_accel_power_mode_set(struct iio_dev *indio_dev,
+					     const struct iio_chan_spec *chan,
+					     unsigned int idx)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+	int power_mode, filter;
+
+	if (chan->type != IIO_ACCEL)
+		return -EINVAL;
+
+	if (idx >= ARRAY_SIZE(inv_icm42607_accel_power_mode_values))
+		return -EINVAL;
+
+	power_mode = inv_icm42607_accel_power_mode_values[idx];
+	filter = inv_icm42607_accel_filter_values[idx];
+
+	guard(mutex)(&st->lock);
+
+	/* cannot change if accel sensor is on */
+	if (st->conf.accel.mode != INV_ICM42607_SENSOR_MODE_OFF)
+		return -EBUSY;
+
+	/* prevent change if power mode is not supported by the ODR */
+	switch (power_mode) {
+	case INV_ICM42607_SENSOR_MODE_LOW_NOISE:
+		if (st->conf.accel.odr >= INV_ICM42607_ODR_6_25HZ_LP)
+			return -EPERM;
+		break;
+	case INV_ICM42607_SENSOR_MODE_LOW_POWER:
+	default:
+		if (st->conf.accel.odr <= INV_ICM42607_ODR_800HZ)
+			return -EPERM;
+		break;
+	}
+
+	accel_st->power_mode = power_mode;
+	accel_st->filter = filter;
+
+	return 0;
+}
+
+static int inv_icm42607_accel_power_mode_get(struct iio_dev *indio_dev,
+					     const struct iio_chan_spec *chan)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+	unsigned int idx;
+	int power_mode;
+
+	if (chan->type != IIO_ACCEL)
+		return -EINVAL;
+
+	guard(mutex)(&st->lock);
+
+	/* if sensor is on, returns actual power mode and not configured one */
+	switch (st->conf.accel.mode) {
+	case INV_ICM42607_SENSOR_MODE_LOW_POWER:
+	case INV_ICM42607_SENSOR_MODE_LOW_NOISE:
+		power_mode = st->conf.accel.mode;
+		break;
+	default:
+		power_mode = accel_st->power_mode;
+		break;
+	}
+
+	for (idx = 0; idx < ARRAY_SIZE(inv_icm42607_accel_power_mode_values); ++idx) {
+		if (power_mode == inv_icm42607_accel_power_mode_values[idx])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm42607_accel_power_mode_values))
+		return -EINVAL;
+
+	return idx;
+}
+
+static const struct iio_enum inv_icm42607_accel_power_mode_enum = {
+	.items = inv_icm42607_accel_power_mode_items,
+	.num_items = ARRAY_SIZE(inv_icm42607_accel_power_mode_items),
+	.set = inv_icm42607_accel_power_mode_set,
+	.get = inv_icm42607_accel_power_mode_get,
+};
+
+static const struct iio_chan_spec_ext_info inv_icm42607_accel_ext_infos[] = {
+	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix),
+	IIO_ENUM_AVAILABLE("power_mode", IIO_SHARED_BY_TYPE,
+			   &inv_icm42607_accel_power_mode_enum),
+	IIO_ENUM("power_mode", IIO_SHARED_BY_TYPE,
+		 &inv_icm42607_accel_power_mode_enum),
+	{ }
+};
+
+static const struct iio_chan_spec inv_icm42607_accel_channels[] = {
+	INV_ICM42607_ACCEL_CHAN(IIO_MOD_X, INV_ICM42607_ACCEL_SCAN_X,
+				inv_icm42607_accel_ext_infos),
+	INV_ICM42607_ACCEL_CHAN(IIO_MOD_Y, INV_ICM42607_ACCEL_SCAN_Y,
+				inv_icm42607_accel_ext_infos),
+	INV_ICM42607_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42607_ACCEL_SCAN_Z,
+				inv_icm42607_accel_ext_infos),
+	INV_ICM42607_TEMP_CHAN(INV_ICM42607_ACCEL_SCAN_TEMP),
+	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42607_ACCEL_SCAN_TIMESTAMP),
+};
+
+static const struct iio_event_spec inv_icm42607_motion_events[] = {
+	{
+		.type = IIO_EV_TYPE_THRESH,
+		.dir = IIO_EV_DIR_EITHER,
+		.mask_separate = BIT(IIO_EV_INFO_ENABLE) | BIT(IIO_EV_INFO_VALUE),
+	},
+};
+
+/*
+ * IIO buffer data: size must be a power of 2 and timestamp aligned
+ * 16 bytes: 6 bytes acceleration, 2 bytes temperature, 8 bytes timestamp
+ */
+struct inv_icm42607_accel_buffer {
+	struct inv_icm42607_fifo_sensor_data accel;
+	s16 temp;
+	aligned_s64 timestamp;
+};
+
+#define INV_ICM42607_SCAN_MASK_ACCEL_3AXIS				\
+	(BIT(INV_ICM42607_ACCEL_SCAN_X) |				\
+	 BIT(INV_ICM42607_ACCEL_SCAN_Y) |				\
+	 BIT(INV_ICM42607_ACCEL_SCAN_Z))
+
+#define INV_ICM42607_SCAN_MASK_TEMP	BIT(INV_ICM42607_ACCEL_SCAN_TEMP)
+
+static const unsigned long inv_icm42607_accel_scan_masks[] = {
+	INV_ICM42607_SCAN_MASK_ACCEL_3AXIS,
+	INV_ICM42607_SCAN_MASK_TEMP,
+	INV_ICM42607_SCAN_MASK_ACCEL_3AXIS | INV_ICM42607_SCAN_MASK_TEMP,
+	0,
+};
+
+/* enable accelerometer sensor and FIFO write */
+static int inv_icm42607_accel_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_state *accel_st = iio_priv(indio_dev);
+	struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+	unsigned int fifo_en = 0;
+	unsigned int sleep_temp = 0;
+	unsigned int sleep_accel = 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_ACCEL_3AXIS) {
+		/* enable accel sensor */
+		conf.mode = accel_st->power_mode;
+		conf.filter = accel_st->filter;
+		ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_accel);
+		if (ret)
+			goto out_unlock;
+		fifo_en |= INV_ICM42607_SENSOR_ACCEL;
+	}
+
+	/* update data FIFO write */
+	ret = inv_icm42607_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
+
+out_unlock:
+	mutex_unlock(&st->lock);
+	/*
+	 * Choose the highest enable-delay time of the two sensors being
+	 * enabled, and sleep for that amount of time.
+	 */
+	sleep = max(sleep_accel, sleep_temp);
+	msleep(sleep);
+
+	return ret;
+}
+
+static int inv_icm42607_accel_read_sensor(struct iio_dev *indio_dev,
+					  struct iio_chan_spec const *chan,
+					  s16 *val)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+	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_ACCEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM42607_REG_ACCEL_DATA_X1;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM42607_REG_ACCEL_DATA_Y1;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM42607_REG_ACCEL_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 accel sensor */
+	conf.mode = accel_st->power_mode;
+	conf.filter = accel_st->filter;
+	ret = inv_icm42607_set_accel_conf(st, &conf, NULL);
+	if (ret)
+		return ret;
+
+	/* read accel register data */
+	data = (__be16 *)&st->buffer[0];
+	ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
+	if (ret)
+		return ret;
+
+	*val = be16_to_cpup(data);
+	if (*val == INV_ICM42607_DATA_INVALID)
+		ret = -EINVAL;
+
+	return ret;
+}
+
+static const int inv_icm42607_accel_scale_nano[][2] = {
+	[INV_ICM42607_ACCEL_FS_16G] = { 0, 4788403 },
+	[INV_ICM42607_ACCEL_FS_8G] = { 0, 2394202 },
+	[INV_ICM42607_ACCEL_FS_4G] = { 0, 1197101 },
+	[INV_ICM42607_ACCEL_FS_2G] = { 0, 598550 }
+};
+
+static int inv_icm42607_accel_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.accel.fs;
+
+	*val = inv_icm42607_accel_scale_nano[idx][0];
+	*val2 = inv_icm42607_accel_scale_nano[idx][1];
+	return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm42607_accel_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_accel_scale_nano);
+
+	for (idx = 0; idx < scales_len; idx++) {
+		if (val == inv_icm42607_accel_scale_nano[idx][0] &&
+		    val2 == inv_icm42607_accel_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_accel_conf(st, &conf, NULL);
+
+	return ret;
+}
+
+/* IIO format int + micro */
+static const int inv_icm42607_accel_odr[] = {
+	/* 1.5625Hz */
+	1, 562500,
+	/* 3.125Hz */
+	3, 125000,
+	/* 6.25Hz */
+	6, 250000,
+	/* 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_accel_odr_conv[] = {
+	INV_ICM42607_ODR_1_5625HZ_LP,
+	INV_ICM42607_ODR_3_125HZ_LP,
+	INV_ICM42607_ODR_6_25HZ_LP,
+	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_accel_read_odr(struct inv_icm42607_state *st,
+				       int *val, int *val2)
+{
+	unsigned int odr;
+	unsigned int i;
+
+	odr = st->conf.accel.odr;
+
+	for (i = 0; i < ARRAY_SIZE(inv_icm42607_accel_odr_conv); ++i) {
+		if (inv_icm42607_accel_odr_conv[i] == odr)
+			break;
+	}
+	if (i >= ARRAY_SIZE(inv_icm42607_accel_odr_conv))
+		return -EINVAL;
+
+	*val = inv_icm42607_accel_odr[2 * i];
+	*val2 = inv_icm42607_accel_odr[2 * i + 1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int inv_icm42607_accel_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 *accel_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &accel_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_accel_odr); idx += 2) {
+		if (val == inv_icm42607_accel_odr[idx] &&
+			val2 == inv_icm42607_accel_odr[idx + 1])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm42607_accel_odr))
+		return -EINVAL;
+
+	conf.odr = inv_icm42607_accel_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_accel_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_accel_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_ACCEL:
+		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_accel_read_sensor(indio_dev, 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_accel_read_scale(indio_dev, val, val2);
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm42607_accel_read_odr(st, val, val2);
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42607_accel_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_ACCEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm42607_accel_write_scale(indio_dev, val, val2);
+		iio_device_release_direct(indio_dev);
+		return ret;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm42607_accel_write_odr(indio_dev, val, val2);
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42607_accel_write_raw_get_fmt(struct iio_dev *indio_dev,
+						struct iio_chan_spec const *chan,
+						long mask)
+{
+	if (chan->type != IIO_ACCEL)
+		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_accel_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.accel = val;
+	return inv_icm42607_buffer_update_watermark(st);
+}
+
+static int inv_icm42607_accel_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.accel;
+}
+
+static const struct iio_info inv_icm42607_accel_info = {
+	.read_raw = inv_icm42607_accel_read_raw,
+	.write_raw = inv_icm42607_accel_write_raw,
+	.write_raw_get_fmt = inv_icm42607_accel_write_raw_get_fmt,
+	.debugfs_reg_access = inv_icm42607_debugfs_reg,
+	.update_scan_mode = inv_icm42607_accel_update_scan_mode,
+	.hwfifo_set_watermark = inv_icm42607_accel_hwfifo_set_watermark,
+	.hwfifo_flush_to_buffer = inv_icm42607_accel_hwfifo_flush,
+};
+
+struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st)
+{
+	struct device *dev = regmap_get_device(st->map);
+	const char *name;
+	struct inv_icm42607_sensor_state *accel_st;
+	struct inv_sensors_timestamp_chip ts_chip;
+	struct iio_dev *indio_dev;
+	int ret;
+
+	name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->name);
+	if (!name)
+		return ERR_PTR(-ENOMEM);
+
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st));
+	if (!indio_dev)
+		return ERR_PTR(-ENOMEM);
+	accel_st = iio_priv(indio_dev);
+
+	accel_st->power_mode = INV_ICM42607_SENSOR_MODE_LOW_POWER;
+	accel_st->filter = INV_ICM42607_FILTER_AVG_16X;
+
+	/*
+	 * 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(&accel_st->ts, &ts_chip);
+
+	iio_device_set_drvdata(indio_dev, st);
+	indio_dev->name = name;
+	indio_dev->info = &inv_icm42607_accel_info;
+	indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE;
+	indio_dev->channels = inv_icm42607_accel_channels;
+	indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_accel_channels);
+	indio_dev->available_scan_masks = inv_icm42607_accel_scan_masks;
+
+	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);
+
+	/* accel events are wakeup capable */
+	ret = devm_device_init_wakeup(&indio_dev->dev);
+	if (ret)
+		return ERR_PTR(ret);
+
+	return indio_dev;
+}
+
+int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &accel_st->ts;
+	ssize_t i, size;
+	unsigned int no;
+	const void *accel, *gyro, *timestamp;
+	const int8_t *temp;
+	unsigned int odr;
+	int64_t ts_val;
+	struct inv_icm42607_accel_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 accel data or data is invalid */
+		if (accel == NULL || !inv_icm42607_fifo_is_data_valid(accel))
+			continue;
+
+		/* update odr */
+		if (odr & INV_ICM42607_SENSOR_ACCEL) {
+			inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
+							st->fifo.nb.total, no);
+		}
+
+		memcpy(&buffer.accel, accel, sizeof(buffer.accel));
+		/* 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;
+}
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
index 5c67f6a37520..34698b429c2e 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
@@ -351,6 +351,7 @@ static int inv_icm42607_buffer_postdisable(struct iio_dev *indio_dev)
 	struct device *dev = regmap_get_device(st->map);
 	unsigned int sensor;
 	unsigned int *watermark;
+	struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
 	unsigned int sleep_temp = 0;
 	unsigned int sleep_sensor = 0;
 	unsigned int sleep;
@@ -377,6 +378,15 @@ static int inv_icm42607_buffer_postdisable(struct iio_dev *indio_dev)
 	if (ret)
 		goto out_unlock;
 
+	conf.mode = INV_ICM42607_SENSOR_MODE_OFF;
+	ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_sensor);
+	if (ret)
+		goto out_unlock;
+
+	/* if FIFO is off, turn temperature off */
+	if (!st->fifo.on)
+		ret = inv_icm42607_set_temp_conf(st, false, &sleep_temp);
+
 out_unlock:
 	mutex_unlock(&st->lock);
 
@@ -456,9 +466,33 @@ int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st,
 	return 0;
 }
 
+int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st)
+{
+	struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel);
+	struct inv_sensors_timestamp *ts;
+	int ret;
+
+	if (st->fifo.nb.total == 0)
+		return 0;
+
+	/* handle accelerometer timestamp and FIFO data parsing */
+	if (st->fifo.nb.accel > 0) {
+		ts = &accel_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_accel,
+						st->timestamp.accel);
+		ret = inv_icm42607_accel_parse_fifo(st->indio_accel);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
 int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
 				     unsigned int count)
 {
+	struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel);
+	struct inv_sensors_timestamp *ts;
 	s64 gyro_ts, accel_ts;
 	int ret;
 
@@ -466,8 +500,21 @@ int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
 	accel_ts = iio_get_time_ns(st->indio_accel);
 
 	ret = inv_icm42607_buffer_fifo_read(st, count);
+	if (ret)
+		return ret;
 
-	return ret;
+	if (st->fifo.nb.total == 0)
+		return 0;
+
+	if (st->fifo.nb.accel > 0) {
+		ts = &accel_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts);
+		ret = inv_icm42607_accel_parse_fifo(st->indio_accel);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
 }
 
 int inv_icm42607_buffer_init(struct inv_icm42607_state *st)
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
index 77b9a633d31a..5c2010d8256f 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -74,6 +74,15 @@ static const struct inv_icm42607_hw inv_icm42607_hw[INV_CHIP_NB] = {
 	},
 };
 
+const struct iio_mount_matrix *
+inv_icm42607_get_mount_matrix(struct iio_dev *indio_dev,
+			      const struct iio_chan_spec *chan)
+{
+	const struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+
+	return &st->orientation;
+}
+
 u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr)
 {
 	static const u32 odr_periods[INV_ICM42607_ODR_NB] = {
@@ -164,6 +173,53 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
 	return 0;
 }
 
+int inv_icm42607_set_accel_conf(struct inv_icm42607_state *st,
+				struct inv_icm42607_sensor_conf *conf,
+				unsigned int *sleep_ms)
+{
+	struct inv_icm42607_sensor_conf *oldconf = &st->conf.accel;
+	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_ACCEL_CONFIG0_FS_SEL_MASK, conf->fs);
+		val |= FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_ODR_MASK, conf->odr);
+		ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val);
+		if (ret)
+			return ret;
+		oldconf->fs = conf->fs;
+		oldconf->odr = conf->odr;
+	}
+
+	if (conf->filter != oldconf->filter) {
+		if (conf->mode == INV_ICM42607_SENSOR_MODE_LOW_POWER) {
+			val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_AVG_MASK, conf->filter);
+			ret = regmap_update_bits(st->map, INV_ICM42607_REG_ACCEL_CONFIG1,
+						 INV_ICM42607_ACCEL_CONFIG1_AVG_MASK, val);
+		} else {
+			val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK,
+					 conf->filter);
+			ret = regmap_update_bits(st->map, INV_ICM42607_REG_ACCEL_CONFIG1,
+						 INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK, val);
+		}
+		if (ret)
+			return ret;
+		oldconf->filter = conf->filter;
+	}
+
+	return inv_icm42607_set_pwr_mgmt0(st, st->conf.gyro.mode, conf->mode,
+					  st->conf.temp_en, sleep_ms);
+}
+
 int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
 			       unsigned int *sleep_ms)
 {
@@ -394,6 +450,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip,
 	if (ret)
 		return ret;
 
+	/* Initialize IIO device for Accel */
+	st->indio_accel = inv_icm42607_accel_init(st);
+	if (IS_ERR(st->indio_accel))
+		return PTR_ERR(st->indio_accel);
+
 	ret = devm_pm_runtime_set_active_enabled(dev);
 	if (ret)
 		return ret;
-- 
2.43.0

[PATCH V4 08/10] iio: imu: inv_icm42607: Add Wake on Movement for icm42607

[Chris Morgan]

From: Chris Morgan <macromorgan@hotmail.com>

Add support for wake on movement for the icm42607 driver.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |   3 +
 .../iio/imu/inv_icm42607/inv_icm42607_accel.c | 303 ++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 159 ++++++++-
 3 files changed, 464 insertions(+), 1 deletion(-)

diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
index 5768e63d1dd2..a0123e062820 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -410,6 +410,9 @@ int inv_icm42607_set_accel_conf(struct inv_icm42607_state *st,
 int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
 			       unsigned int *sleep_ms);
 
+int inv_icm42607_enable_wom(struct inv_icm42607_state *st);
+int inv_icm42607_disable_wom(struct inv_icm42607_state *st);
+
 int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 			     unsigned int writeval, unsigned int *readval);
 
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
index d998d8c94eb9..d056c74dcbfe 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
@@ -173,6 +173,16 @@ static const struct iio_chan_spec_ext_info inv_icm42607_accel_ext_infos[] = {
 	{ }
 };
 
+/* WoM event: rising ROC */
+static const struct iio_event_spec inv_icm42607_wom_events[] = {
+	{
+		.type = IIO_EV_TYPE_ROC,
+		.dir = IIO_EV_DIR_RISING,
+		.mask_separate = BIT(IIO_EV_INFO_ENABLE) |
+				 BIT(IIO_EV_INFO_VALUE),
+	},
+};
+
 static const struct iio_chan_spec inv_icm42607_accel_channels[] = {
 	INV_ICM42607_ACCEL_CHAN(IIO_MOD_X, INV_ICM42607_ACCEL_SCAN_X,
 				inv_icm42607_accel_ext_infos),
@@ -182,6 +192,8 @@ static const struct iio_chan_spec inv_icm42607_accel_channels[] = {
 				inv_icm42607_accel_ext_infos),
 	INV_ICM42607_TEMP_CHAN(INV_ICM42607_ACCEL_SCAN_TEMP),
 	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42607_ACCEL_SCAN_TIMESTAMP),
+	INV_ICM42607_ACCEL_EVENT_CHAN(IIO_MOD_X_OR_Y_OR_Z, inv_icm42607_wom_events,
+				      ARRAY_SIZE(inv_icm42607_wom_events)),
 };
 
 static const struct iio_event_spec inv_icm42607_motion_events[] = {
@@ -319,6 +331,180 @@ static int inv_icm42607_accel_read_sensor(struct iio_dev *indio_dev,
 	return ret;
 }
 
+static unsigned int inv_icm42607_accel_convert_roc_to_wom(u64 roc,
+							  int accel_hz, int accel_uhz)
+{
+	/* 1000/256mg per LSB converted in µm/s² */
+	const unsigned int convert = (9807U * (MICRO / MILLI)) / 256U;
+	u64 value;
+	u64 freq_uhz;
+
+	/* return 0 only if roc is 0 */
+	if (roc == 0)
+		return 0;
+
+	freq_uhz = (u64)accel_hz * MICRO + (u64)accel_uhz;
+	value = div64_u64(roc * MICRO, freq_uhz * (u64)convert);
+
+	/* limit value to 8 bits and prevent 0 */
+	return clamp(value, 1, 255);
+}
+
+static u64 inv_icm42607_accel_convert_wom_to_roc(unsigned int threshold,
+						 int accel_hz, int accel_uhz)
+{
+	/* 1000/256mg per LSB converted in µm/s² */
+	const unsigned int convert = (9807U * (MICRO / MILLI)) / 256U;
+	u64 value;
+	u64 freq_uhz;
+
+	value = threshold * convert;
+	freq_uhz = (u64)accel_hz * MICRO + (u64)accel_uhz;
+
+	/* compute the differential by multiplying by the frequency */
+	return div_u64(value * freq_uhz, MICRO);
+}
+
+static int inv_icm42607_accel_set_wom_threshold(struct inv_icm42607_state *st,
+						u64 value,
+						int accel_hz, int accel_uhz)
+{
+	unsigned int threshold;
+	int ret;
+
+	/* convert roc to wom threshold and convert back to handle clipping */
+	threshold = inv_icm42607_accel_convert_roc_to_wom(value, accel_hz, accel_uhz);
+	value = inv_icm42607_accel_convert_wom_to_roc(threshold, accel_hz, accel_uhz);
+
+	dev_dbg(regmap_get_device(st->map), "wom_threshold: 0x%x\n", threshold);
+
+	/* set accel WoM threshold for the 3 axes */
+	st->buffer[0] = threshold;
+	st->buffer[1] = threshold;
+	st->buffer[2] = threshold;
+	ret = regmap_bulk_write(st->map, INV_ICM42607_REG_ACCEL_WOM_X_THR, st->buffer, 3);
+	if (ret)
+		return ret;
+
+	st->apex.wom.value = value;
+
+	return 0;
+}
+
+static int _inv_icm42607_accel_enable_wom(struct iio_dev *indio_dev)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+	struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+	unsigned int sleep_ms = 0;
+	int ret;
+
+	scoped_guard(mutex, &st->lock) {
+		/* turn on accel sensor */
+		conf.mode = accel_st->power_mode;
+		conf.filter = accel_st->filter;
+		ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_ms);
+		if (ret)
+			return ret;
+	}
+
+	if (sleep_ms)
+		msleep(sleep_ms);
+
+	scoped_guard(mutex, &st->lock) {
+		ret = inv_icm42607_enable_wom(st);
+		if (ret)
+			return ret;
+		st->apex.on++;
+		st->apex.wom.enable = true;
+	}
+
+	return 0;
+}
+
+static int inv_icm42607_accel_enable_wom(struct iio_dev *indio_dev)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *pdev = regmap_get_device(st->map);
+	int ret;
+
+	ret = pm_runtime_resume_and_get(pdev);
+	if (ret)
+		return ret;
+
+	ret = _inv_icm42607_accel_enable_wom(indio_dev);
+	if (ret) {
+		pm_runtime_mark_last_busy(pdev);
+		pm_runtime_put_autosuspend(pdev);
+		return ret;
+	}
+
+	return 0;
+}
+
+static int _inv_icm42607_accel_disable_wom(struct iio_dev *indio_dev)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+	unsigned int sleep_ms = 0;
+	int ret;
+
+	scoped_guard(mutex, &st->lock) {
+		/*
+		 * Consider that turning off WoM is always working to avoid
+		 * blocking the chip in on mode and prevent going back to sleep.
+		 * If there is an error, the chip will anyway go back to sleep
+		 * and the feature will not work anymore.
+		 */
+		st->apex.wom.enable = false;
+		st->apex.on--;
+		ret = inv_icm42607_disable_wom(st);
+		if (ret)
+			return ret;
+		/* turn off accel sensor if not used */
+		if (!st->apex.on && !iio_buffer_enabled(indio_dev)) {
+			conf.mode = INV_ICM42607_SENSOR_MODE_OFF;
+			ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_ms);
+			if (ret)
+				return ret;
+		}
+	}
+
+	if (sleep_ms)
+		msleep(sleep_ms);
+
+	return 0;
+}
+
+static int inv_icm42607_accel_disable_wom(struct iio_dev *indio_dev)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *pdev = regmap_get_device(st->map);
+	int ret;
+
+	ret = _inv_icm42607_accel_disable_wom(indio_dev);
+
+	pm_runtime_mark_last_busy(pdev);
+	pm_runtime_put_autosuspend(pdev);
+
+	return ret;
+}
+
+void inv_icm42607_accel_handle_events(struct iio_dev *indio_dev,
+				      unsigned int status2, unsigned int status3,
+				      s64 timestamp)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	u64 ev_code;
+
+	/* handle WoM event */
+	if (st->apex.wom.enable && (status2 & INV_ICM42607_INT_STATUS2_WOM_INT)) {
+		ev_code = IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, IIO_MOD_X_OR_Y_OR_Z,
+					     IIO_EV_TYPE_ROC, IIO_EV_DIR_RISING);
+		iio_push_event(indio_dev, ev_code, timestamp);
+	}
+}
+
 static const int inv_icm42607_accel_scale_nano[][2] = {
 	[INV_ICM42607_ACCEL_FS_16G] = { 0, 4788403 },
 	[INV_ICM42607_ACCEL_FS_8G] = { 0, 2394202 },
@@ -464,6 +650,9 @@ static int inv_icm42607_accel_write_odr(struct iio_dev *indio_dev,
 		return ret;
 
 	ret = inv_icm42607_set_accel_conf(st, &conf, NULL);
+	if (ret)
+		return ret;
+	ret = inv_icm42607_accel_set_wom_threshold(st, st->apex.wom.value, val, val2);
 	if (ret)
 		return ret;
 
@@ -578,6 +767,116 @@ static int inv_icm42607_accel_hwfifo_flush(struct iio_dev *indio_dev,
 	return st->fifo.nb.accel;
 }
 
+static int inv_icm42607_accel_read_event_config(struct iio_dev *indio_dev,
+						const struct iio_chan_spec *chan,
+						enum iio_event_type type,
+						enum iio_event_direction dir)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+
+	/* handle only WoM (roc rising) event */
+	if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+		return -EINVAL;
+
+	guard(mutex)(&st->lock);
+
+	return st->apex.wom.enable ? 1 : 0;
+}
+
+static int inv_icm42607_accel_write_event_config(struct iio_dev *indio_dev,
+						 const struct iio_chan_spec *chan,
+						 enum iio_event_type type,
+						 enum iio_event_direction dir,
+						 bool state)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+
+	/* handle only WoM (roc rising) event */
+	if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+		return -EINVAL;
+
+	scoped_guard(mutex, &st->lock) {
+		if (st->apex.wom.enable == state)
+			return 0;
+	}
+
+	if (state)
+		return inv_icm42607_accel_enable_wom(indio_dev);
+
+	return inv_icm42607_accel_disable_wom(indio_dev);
+}
+
+static int inv_icm42607_accel_read_event_value(struct iio_dev *indio_dev,
+					       const struct iio_chan_spec *chan,
+					       enum iio_event_type type,
+					       enum iio_event_direction dir,
+					       enum iio_event_info info,
+					       int *val, int *val2)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	u32 rem;
+
+	/* handle only WoM (roc rising) event value */
+	if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+		return -EINVAL;
+
+	guard(mutex)(&st->lock);
+
+	/* return value in micro */
+	*val = div_u64_rem(st->apex.wom.value, MICRO, &rem);
+	*val2 = rem;
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int _inv_icm42607_accel_wom_value(struct inv_icm42607_state *st,
+					 int val, int val2)
+{
+	u64 value;
+	unsigned int accel_hz, accel_uhz;
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	ret = inv_icm42607_accel_read_odr(st, &accel_hz, &accel_uhz);
+	if (ret < 0)
+		return ret;
+
+	value = (u64)val * MICRO + (u64)val2;
+
+	return inv_icm42607_accel_set_wom_threshold(st, value,
+						    accel_hz, accel_uhz);
+}
+
+static int inv_icm42607_accel_write_event_value(struct iio_dev *indio_dev,
+						const struct iio_chan_spec *chan,
+						enum iio_event_type type,
+						enum iio_event_direction dir,
+						enum iio_event_info info,
+						int val, int val2)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	int ret;
+
+	/* handle only WoM (roc rising) event value */
+	if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+		return -EINVAL;
+
+	if (val < 0 || val2 < 0)
+		return -EINVAL;
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	ret = _inv_icm42607_accel_wom_value(st, val, val2);
+
+	pm_runtime_mark_last_busy(dev);
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
 static const struct iio_info inv_icm42607_accel_info = {
 	.read_raw = inv_icm42607_accel_read_raw,
 	.write_raw = inv_icm42607_accel_write_raw,
@@ -586,6 +885,10 @@ static const struct iio_info inv_icm42607_accel_info = {
 	.update_scan_mode = inv_icm42607_accel_update_scan_mode,
 	.hwfifo_set_watermark = inv_icm42607_accel_hwfifo_set_watermark,
 	.hwfifo_flush_to_buffer = inv_icm42607_accel_hwfifo_flush,
+	.read_event_config = inv_icm42607_accel_read_event_config,
+	.write_event_config = inv_icm42607_accel_write_event_config,
+	.read_event_value = inv_icm42607_accel_read_event_value,
+	.write_event_value = inv_icm42607_accel_write_event_value,
 };
 
 struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st)
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
index 5c2010d8256f..480fe1741a04 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -238,6 +238,39 @@ int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
 					  sleep_ms);
 }
 
+int inv_icm42607_enable_wom(struct inv_icm42607_state *st)
+{
+	int ret;
+
+	/* enable WoM hardware */
+	ret = regmap_write(st->map, INV_ICM42607_REG_WOM_CONFIG,
+			   FIELD_PREP(INV_ICM42607_WOM_CONFIG_INT_DUR_MASK, 1) |
+			   INV_ICM42607_WOM_CONFIG_MODE |
+			   INV_ICM42607_WOM_CONFIG_EN);
+	if (ret)
+		return ret;
+
+	/* enable WoM interrupt */
+	return regmap_set_bits(st->map, INV_ICM42607_REG_INT_SOURCE1,
+			       INV_ICM42607_INT_SOURCE1_WOM_INT1_EN);
+}
+
+int inv_icm42607_disable_wom(struct inv_icm42607_state *st)
+{
+	int ret;
+
+	/* disable WoM interrupt */
+	ret = regmap_clear_bits(st->map, INV_ICM42607_REG_INT_SOURCE1,
+				INV_ICM42607_INT_SOURCE1_WOM_INT1_EN);
+	if (ret)
+		return ret;
+
+	/* disable WoM hardware */
+	return regmap_clear_bits(st->map, INV_ICM42607_REG_WOM_CONFIG,
+				 INV_ICM42607_WOM_CONFIG_EN);
+}
+
+
 int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 			     unsigned int writeval, unsigned int *readval)
 {
@@ -361,6 +394,109 @@ static int inv_icm42607_setup(struct inv_icm42607_state *st,
 	return inv_icm42607_set_conf(st, hw->conf);
 }
 
+static irqreturn_t inv_icm42607_irq_timestamp(int irq, void *_data)
+{
+	struct inv_icm42607_state *st = _data;
+
+	st->timestamp.gyro = iio_get_time_ns(st->indio_gyro);
+	st->timestamp.accel = iio_get_time_ns(st->indio_accel);
+
+	return IRQ_WAKE_THREAD;
+}
+
+static irqreturn_t inv_icm42607_irq_handler(int irq, void *_data)
+{
+	struct inv_icm42607_state *st = _data;
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int status;
+	int ret;
+
+	mutex_lock(&st->lock);
+
+	if (st->apex.on) {
+		unsigned int status2, status3;
+
+		/* read INT_STATUS2 and INT_STATUS3 in 1 operation */
+		ret = regmap_bulk_read(st->map, INV_ICM42607_REG_INT_STATUS2, st->buffer, 2);
+		if (ret)
+			goto out_unlock;
+		status2 = st->buffer[0];
+		status3 = st->buffer[1];
+		inv_icm42607_accel_handle_events(st->indio_accel, status2, status3,
+						 st->timestamp.accel);
+	}
+
+	ret = regmap_read(st->map, INV_ICM42607_REG_INT_STATUS, &status);
+	if (ret)
+		goto out_unlock;
+
+	if (status & INV_ICM42607_INT_STATUS_FIFO_FULL)
+		dev_warn(dev, "FIFO full data lost!\n");
+
+	if (status & INV_ICM42607_INT_STATUS_FIFO_THS) {
+		ret = inv_icm42607_buffer_fifo_read(st, 0);
+		if (ret) {
+			dev_err(dev, "FIFO read error %d\n", ret);
+			goto out_unlock;
+		}
+		ret = inv_icm42607_buffer_fifo_parse(st);
+		if (ret)
+			dev_err(dev, "FIFO parsing error %d\n", ret);
+	}
+
+out_unlock:
+	mutex_unlock(&st->lock);
+	return IRQ_HANDLED;
+}
+
+/**
+ * inv_icm42607_irq_init() - initialize int pin and interrupt handler
+ * @st:		driver internal state
+ * @irq:	irq number
+ * @irq_type:	irq trigger type
+ * @open_drain:	true if irq is open drain, false for push-pull
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+static int inv_icm42607_irq_init(struct inv_icm42607_state *st, int irq,
+				int irq_type, bool open_drain)
+{
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int val = 0;
+	int ret;
+
+	switch (irq_type) {
+	case IRQF_TRIGGER_RISING:
+	case IRQF_TRIGGER_HIGH:
+		val = INV_ICM42607_INT_CONFIG_INT1_ACTIVE_HIGH;
+		break;
+	default:
+		val = INV_ICM42607_INT_CONFIG_INT1_ACTIVE_LOW;
+		break;
+	}
+
+	switch (irq_type) {
+	case IRQF_TRIGGER_LOW:
+	case IRQF_TRIGGER_HIGH:
+		val |= INV_ICM42607_INT_CONFIG_INT1_LATCHED;
+		break;
+	default:
+		break;
+	}
+
+	if (!open_drain)
+		val |= INV_ICM42607_INT_CONFIG_INT1_PUSH_PULL;
+
+	ret = regmap_write(st->map, INV_ICM42607_REG_INT_CONFIG, val);
+	if (ret)
+		return ret;
+
+	irq_type |= IRQF_ONESHOT;
+	return devm_request_threaded_irq(dev, irq, inv_icm42607_irq_timestamp,
+					 inv_icm42607_irq_handler, irq_type,
+					 st->name, st);
+}
+
 static int inv_icm42607_enable_vddio_reg(struct inv_icm42607_state *st)
 {
 	int ret;
@@ -387,7 +523,7 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip,
 	struct device *dev = regmap_get_device(regmap);
 	struct fwnode_handle *fwnode = dev_fwnode(dev);
 	struct inv_icm42607_state *st;
-	int irq;
+	int irq, irq_type;
 	bool open_drain;
 	int ret;
 
@@ -402,6 +538,9 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip,
 	if (irq < 0)
 		return dev_err_probe(dev, irq, "error missing INT1 interrupt\n");
 
+	irq_type = irq_get_trigger_type(irq);
+	if (!irq_type)
+		irq_type = IRQF_TRIGGER_FALLING;
 	open_drain = device_property_read_bool(dev, "drive-open-drain");
 
 	st = devm_kzalloc(dev, sizeof(*st), GFP_KERNEL);
@@ -455,6 +594,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip,
 	if (IS_ERR(st->indio_accel))
 		return PTR_ERR(st->indio_accel);
 
+	/* Initialize interrupt handling */
+	ret = inv_icm42607_irq_init(st, irq, irq_type, open_drain);
+	if (ret)
+		return ret;
+
 	ret = devm_pm_runtime_set_active_enabled(dev);
 	if (ret)
 		return ret;
@@ -502,6 +646,12 @@ static int inv_icm42607_suspend(struct device *dev)
 		enable_irq_wake(st->irq);
 		disable_irq(st->irq);
 	} else {
+		/* disable APEX features and accel if wakeup disabled */
+		if (st->apex.wom.enable) {
+			ret = inv_icm42607_disable_wom(st);
+			if (ret)
+				return ret;
+		}
 		accel_conf = INV_ICM42607_SENSOR_MODE_OFF;
 	}
 
@@ -555,6 +705,13 @@ static int inv_icm42607_resume(struct device *dev)
 	if (ret)
 		return ret;
 
+	/* restore APEX features if disabled */
+	if (!wakeup && st->apex.wom.enable) {
+		ret = inv_icm42607_enable_wom(st);
+		if (ret)
+			return ret;
+	}
+
 	if (st->fifo.on) {
 		inv_sensors_timestamp_reset(&gyro_st->ts);
 		inv_sensors_timestamp_reset(&accel_st->ts);
-- 
2.43.0

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

[Chris Morgan]

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

[PATCH V4 10/10] arm64: dts: rockchip: Add icm42607p IMU for RG-DS

[Chris Morgan]

From: Chris Morgan <macromorgan@hotmail.com>

Add the Invensense ICM42607P IMU for the Anbernic RG-DS. Mount-matrix
was tested with iio-sensor-proxy and reports correct orientation.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
 .../dts/rockchip/rk3568-anbernic-rg-ds.dts    | 20 ++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/arch/arm64/boot/dts/rockchip/rk3568-anbernic-rg-ds.dts b/arch/arm64/boot/dts/rockchip/rk3568-anbernic-rg-ds.dts
index 8d906ab02c5f..875ca884deca 100644
--- a/arch/arm64/boot/dts/rockchip/rk3568-anbernic-rg-ds.dts
+++ b/arch/arm64/boot/dts/rockchip/rk3568-anbernic-rg-ds.dts
@@ -871,7 +871,18 @@ aw87391_pa_r: audio-codec@5b {
 		sound-name-prefix = "Right Amp";
 	};
 
-	/* invensense,icm42607p at 0x68 */
+	icm42607p: imu@68 {
+		compatible = "invensense,icm42607p";
+		reg = <0x68>;
+		interrupt-names = "INT1";
+		interrupt-parent = <&gpio0>;
+		interrupts = <RK_PD6 IRQ_TYPE_EDGE_FALLING>;
+		mount-matrix = "-1", "0", "0",
+			       "0", "1", "0",
+			       "0", "0", "-1";
+		pinctrl-0 = <&accel_irq>;
+		pinctrl-names = "default";
+	};
 };
 
 &i2c3 {
@@ -932,6 +943,13 @@ &i2s1_8ch {
 };
 
 &pinctrl {
+	accel {
+		accel_irq: accel-irq {
+			rockchip,pins =
+				<0 RK_PD6 RK_FUNC_GPIO &pcfg_pull_up>;
+		};
+	};
+
 	gpio-keys {
 		vol_keys_l: vol-keys_l {
 			rockchip,pins =
-- 
2.43.0

Re: [PATCH V4 01/10] dt-bindings: iio: imu: icm42600: Add icm42607 binding

[Krzysztof Kozlowski]

On Fri, May 01, 2026 at 05:11:40PM -0500, Chris Morgan wrote:
> From: Chris Morgan <macromorgan@hotmail.com>
> 
> Add devicetree binding for the Invensense ICM42607 and Invensense
> ICM42607P inertial measurement unit. This unit is a combined
> accelerometer, gyroscope, and thermometer available via I2C or SPI.
> 
> This device is functionally very similar to the icm42600 series with a
> very different register layout. Additionally, add mount-matrix
> attribute to schema.

Why adding it? Is it something new? Is it applicable to other variants?
If not, why it is allowed for them?

Do not say WHAT you did, say why you did it.

Best regards,
Krzysztof

Re: [PATCH V4 01/10] dt-bindings: iio: imu: icm42600: Add icm42607 binding

[Chris Morgan]

On Sun, May 03, 2026 at 02:18:18PM +0200, Krzysztof Kozlowski wrote:
> On Fri, May 01, 2026 at 05:11:40PM -0500, Chris Morgan wrote:
> > From: Chris Morgan <macromorgan@hotmail.com>
> > 
> > Add devicetree binding for the Invensense ICM42607 and Invensense
> > ICM42607P inertial measurement unit. This unit is a combined
> > accelerometer, gyroscope, and thermometer available via I2C or SPI.
> > 
> > This device is functionally very similar to the icm42600 series with a
> > very different register layout. Additionally, add mount-matrix
> > attribute to schema.
> 
> Why adding it? Is it something new? Is it applicable to other variants?
> If not, why it is allowed for them?

It's not new, technically this is a bug/oversight from the very first
iteration of the invensense icm42600 driver. The driver requests a
mount matrix using iio_read_mount_matrix and then returns an error from
the probe function if it can't read one [1]. So it's very much required
(and for the next version I'll upgrade it to a required element). I'm
adding it because a cursory grep suggests that my use case (for the
Anbernic RG-DS and in the near future the Anbernic RG Vita Pro) are the
first devices to use this driver in mainline in a device tree based
system.

Thank you,
Chris

[1] https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c?h=v7.1-rc1#n746

> 
> Do not say WHAT you did, say why you did it.
> 
> Best regards,
> Krzysztof
> 

Re: [PATCH V4 01/10] dt-bindings: iio: imu: icm42600: Add icm42607 binding

[Jonathan Cameron]

On Sun, 3 May 2026 15:51:30 -0500
Chris Morgan <macromorgan@hotmail.com> wrote:

> On Sun, May 03, 2026 at 02:18:18PM +0200, Krzysztof Kozlowski wrote:
> > On Fri, May 01, 2026 at 05:11:40PM -0500, Chris Morgan wrote:  
> > > From: Chris Morgan <macromorgan@hotmail.com>
> > > 
> > > Add devicetree binding for the Invensense ICM42607 and Invensense
> > > ICM42607P inertial measurement unit. This unit is a combined
> > > accelerometer, gyroscope, and thermometer available via I2C or SPI.
> > > 
> > > This device is functionally very similar to the icm42600 series with a
> > > very different register layout. Additionally, add mount-matrix
> > > attribute to schema.  
> > 
> > Why adding it? Is it something new? Is it applicable to other variants?
> > If not, why it is allowed for them?  
> 
> It's not new, technically this is a bug/oversight from the very first
> iteration of the invensense icm42600 driver. The driver requests a
> mount matrix using iio_read_mount_matrix and then returns an error from

Unless it's broken (always possible) iio_read_mount_matrix() is supposed
to return an identity matrix if there isn't any info in the binding.

	/* Matrix was not declared at all: fallback to identity. */
	return iio_setup_mount_idmatrix(dev, matrix);

So not required by the linux driver at least.  Probably not something
we should require in general.

Separate patch to introduce it to the binding as optional and say something
about what it is for to justify it's inclusion.  That patch goes before
this one.

> the probe function if it can't read one [1]. So it's very much required
> (and for the next version I'll upgrade it to a required element). I'm
> adding it because a cursory grep suggests that my use case (for the
> Anbernic RG-DS and in the near future the Anbernic RG Vita Pro) are the
> first devices to use this driver in mainline in a device tree based
> system.
> 
> Thank you,
> Chris
> 
> [1] https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c?h=v7.1-rc1#n746
> 
> > 
> > Do not say WHAT you did, say why you did it.
> > 
> > Best regards,
> > Krzysztof
> >   

Re: [PATCH V4 01/10] dt-bindings: iio: imu: icm42600: Add icm42607 binding

[Chris Morgan]

On Mon, May 04, 2026 at 05:51:28PM +0100, Jonathan Cameron wrote:
> On Sun, 3 May 2026 15:51:30 -0500
> Chris Morgan <macromorgan@hotmail.com> wrote:
> 
> > On Sun, May 03, 2026 at 02:18:18PM +0200, Krzysztof Kozlowski wrote:
> > > On Fri, May 01, 2026 at 05:11:40PM -0500, Chris Morgan wrote:  
> > > > From: Chris Morgan <macromorgan@hotmail.com>
> > > > 
> > > > Add devicetree binding for the Invensense ICM42607 and Invensense
> > > > ICM42607P inertial measurement unit. This unit is a combined
> > > > accelerometer, gyroscope, and thermometer available via I2C or SPI.
> > > > 
> > > > This device is functionally very similar to the icm42600 series with a
> > > > very different register layout. Additionally, add mount-matrix
> > > > attribute to schema.  
> > > 
> > > Why adding it? Is it something new? Is it applicable to other variants?
> > > If not, why it is allowed for them?  
> > 
> > It's not new, technically this is a bug/oversight from the very first
> > iteration of the invensense icm42600 driver. The driver requests a
> > mount matrix using iio_read_mount_matrix and then returns an error from
> 
> Unless it's broken (always possible) iio_read_mount_matrix() is supposed
> to return an identity matrix if there isn't any info in the binding.
> 
> 	/* Matrix was not declared at all: fallback to identity. */
> 	return iio_setup_mount_idmatrix(dev, matrix);
> 
> So not required by the linux driver at least.  Probably not something
> we should require in general.
> 
> Separate patch to introduce it to the binding as optional and say something
> about what it is for to justify it's inclusion.  That patch goes before
> this one.

Okay, that makes more sense. I saw the return condition but didn't realize
that an empty matrix didn't result in an error.

So for the next version I'll add an additionall commit with this as a new
attribute, noting that it has always been supported with this driver but
never specified in the binding documentation.

Thank you,
Chris

> 
> > the probe function if it can't read one [1]. So it's very much required
> > (and for the next version I'll upgrade it to a required element). I'm
> > adding it because a cursory grep suggests that my use case (for the
> > Anbernic RG-DS and in the near future the Anbernic RG Vita Pro) are the
> > first devices to use this driver in mainline in a device tree based
> > system.
> > 
> > Thank you,
> > Chris
> > 
> > [1] https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c?h=v7.1-rc1#n746
> > 
> > > 
> > > Do not say WHAT you did, say why you did it.
> > > 
> > > Best regards,
> > > Krzysztof
> > >   
> 

Re: [PATCH V4 02/10] iio: imu: inv_icm42607: Add inv_icm42607 Core Driver

[Jonathan Cameron]

On Fri,  1 May 2026 17:11:41 -0500
Chris Morgan <macroalpha82@gmail.com> wrote:

> From: Chris Morgan <macromorgan@hotmail.com>
> 
> Add the core component of a new inv_icm42607 driver. This includes
> a few setup functions and the full register definition in the
> header file.
> 
> Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
Hi Chris. A few comments inline.
Biggest one is probably to shuffle when you introduce structures and
elements in other structures so they only turn up when they are used
in later patches.  You can do that with enums etc as well. I don't mind
the register defines all in the first patch but the other stuff would
ideally come later.

Thanks

Jonathan

> ---
>  drivers/iio/imu/inv_icm42607/inv_icm42607.h   | 400 ++++++++++++++++++
>  .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 303 +++++++++++++
>  2 files changed, 703 insertions(+)
>  create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607.h
>  create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> 
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
> new file mode 100644
> index 000000000000..f6b3cad8064a
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h

> +
> +struct inv_icm42607_apex {
> +	unsigned int on;
> +	struct {
> +		u64 value;
> +		bool enable;
> +	} wom;
> +};

These structures that are only used in later patches, should only
be brought in as part of those patches.

> +
> +/**
> + *  struct inv_icm42607_state - driver state variables
> + *  @lock:		lock for serializing multiple registers access.
> + *  @chip:		chip identifier.
> + *  @name:		chip name.
> + *  @map:		regmap pointer.
> + *  @vddio_supply:	I/O voltage regulator for the chip.
> + *  @irq:		chip irq, required to enable/disable and set wakeup
> + *  @orientation:	sensor chip orientation relative to main hardware.
> + *  @conf:		chip sensors configurations.
> + *  @suspended:		suspended sensors configuration.
> + *  @indio_gyro:	gyroscope IIO device.
> + *  @indio_accel:	accelerometer IIO device.
> + *  @timestamp:         interrupt timestamps.
> + *  @apex:		APEX (Advanced Pedometer and Event detection) management
> + *  @buffer:		data transfer buffer aligned for DMA.
> + */
> +struct inv_icm42607_state {
> +	struct mutex lock;
> +	enum inv_icm42607_chip chip;
> +	const char *name;
> +	struct regmap *map;
> +	struct regulator *vddio_supply;
> +	int irq;
> +	struct iio_mount_matrix orientation;
> +	struct inv_icm42607_conf conf;
> +	struct inv_icm42607_suspended suspended;
> +	struct iio_dev *indio_gyro;
> +	struct iio_dev *indio_accel;

Even these should only be added when you add something that uses them.

> +	struct {
> +		s64 gyro;
> +		s64 accel;
> +	} timestamp;
> +	struct inv_icm42607_apex apex;
> +	__be16 buffer[3] __aligned(IIO_DMA_MINALIGN);
> +};

> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> new file mode 100644
> index 000000000000..a0bbd8a7ea4b
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c

> +/**
> + *  inv_icm42607_setup() - check and setup chip
> + *  @st:	driver internal state
> + *  @bus_setup:	callback for setting up bus specific registers
> + *
> + *  Returns 0 on success, a negative error code otherwise.
> + */
> +static int inv_icm42607_setup(struct inv_icm42607_state *st,
> +			      inv_icm42607_bus_setup bus_setup)
> +{
> +	const struct inv_icm42607_hw *hw = &inv_icm42607_hw[st->chip];
> +	const struct device *dev = regmap_get_device(st->map);
> +	unsigned int val;
> +	int ret;
> +
> +	ret = regmap_read(st->map, INV_ICM42607_REG_WHOAMI, &val);
> +	if (ret)
> +		return ret;
> +
> +	if (val != hw->whoami)
> +		dev_warn_probe(dev, -ENODEV,
> +			       "invalid whoami %#02x expected %#02x (%s)\n",
> +			       val, hw->whoami, hw->name);
> +
> +	st->name = hw->name;
> +
> +	ret = regmap_write(st->map, INV_ICM42607_REG_SIGNAL_PATH_RESET,
> +			   INV_ICM42607_SIGNAL_PATH_RESET_SOFT_RESET);
> +	if (ret)
> +		return ret;
> +
> +	ret = regmap_read_poll_timeout(st->map, INV_ICM42607_REG_INT_STATUS,
> +				       val, val & INV_ICM42607_INT_STATUS_RESET_DONE,
> +				       INV_ICM42607_RESET_TIME_MS * 100,
> +				       INV_ICM42607_RESET_TIME_MS * 1000);
> +

No blank line here. Keep the error check tightly coupled with the source
of errors.

> +	if (ret)
> +		return dev_err_probe(dev, ret,
> +				     "reset error, reset done bit not set\n");
> +
> +	ret = bus_setup(st);
> +	if (ret)
> +		return ret;
> +
> +	ret = regmap_set_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
> +			      INV_ICM42607_INTF_CONFIG0_SENSOR_DATA_ENDIAN);
> +	if (ret)
> +		return ret;
> +
> +	ret = regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1,
> +				 INV_ICM42607_INTF_CONFIG1_CLKSEL_MASK,
> +				 INV_ICM42607_INTF_CONFIG1_CLKSEL_PLL);
> +	if (ret)
> +		return ret;
> +
> +	return inv_icm42607_set_conf(st, hw->conf);
> +}

> +
> +int inv_icm42607_core_probe(struct regmap *regmap, int chip,
> +			    inv_icm42607_bus_setup bus_setup)
> +{
> +	struct device *dev = regmap_get_device(regmap);
> +	struct fwnode_handle *fwnode = dev_fwnode(dev);
> +	struct inv_icm42607_state *st;
> +	int irq;
> +	bool open_drain;
> +	int ret;
> +
> +	/*
> +	 * Keep bounds checking in case more chips are added, for now only
> +	 * 2 are supported.
> +	 */
> +	if (chip < INV_CHIP_INVALID || chip >= INV_CHIP_NB)

Is INV_CHIP_INVALID valid in any sense?  If it is add a comment to the enum.
If it's not <= INV_CHIP_INVALID though I would be tempted to just make chip
unsigned and not worry about the bottom - if anyone passes a negative wrap
around will make it fail the other check.  I'm not immediately spotting any
way we can end up with an invalid chip id.


> +		dev_warn_probe(dev, -ENODEV, "Invalid chip = %d\n", chip);

We allow for fallback compatibles and hence WHOAMI reg mismatches but not for
bugs and I can't see how this is any thing other than a bug? If it's for
legacy probe paths we still want to know what it is.

> +

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

[Jonathan Cameron]

On Fri,  1 May 2026 17:11:42 -0500
Chris Morgan <macroalpha82@gmail.com> wrote:

> 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>

> 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

> +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 },
Very strong preference in new code to not use enums for the data.
That explains why you need the magic invalid in previous patch.

Can we instead just use pointers to the per chip data relevant
to each one? That usually means some externs in the header.

We used to do things how you have it here, but the enums always
end up proving a pain as drivers get more complex.  They also
encourage part specific code when it should almost always be
part specific constant data.

Currently I'm not sure what is different between these parts.
If nothing yet from point of view of what the driver supports
then don't bother providing data 'yet'.

Jonathan



> +	{ }
> +};

Re: [PATCH V4 04/10] iio: imu: inv_icm42607: Add PM support for icm42607

[Jonathan Cameron]

On Fri,  1 May 2026 17:11:43 -0500
Chris Morgan <macroalpha82@gmail.com> wrote:

> From: Chris Morgan <macromorgan@hotmail.com>
> 
> Add power management support for the ICM42607 device driver.
> 
> Signed-off-by: Chris Morgan <macromorgan@hotmail.com>

I think this suffers from usual problem we get when runtime_pm
handles a regulator that we are also registering to be turned off
via devm.  That devm path needs to check if device is already runtime
suspended. Be careful about paths in probe() where we might check
runtime suspend state that isn't set yet.

https://sashiko.dev/#/patchset/20260501221152.194251-1-macroalpha82%40gmail.com
Has quite a bit to say no the series in general. It may
not always be right but some of the stuff in this patch is.

> ---
>  drivers/iio/imu/inv_icm42607/inv_icm42607.h   |   2 +
>  .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 177 ++++++++++++++++++
>  .../iio/imu/inv_icm42607/inv_icm42607_i2c.c   |   1 +
>  .../iio/imu/inv_icm42607/inv_icm42607_spi.c   |   1 +
>  4 files changed, 181 insertions(+)
> 
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
> index 763d731ccc60..7facc114adc5 100644
> --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
> @@ -11,6 +11,7 @@
>  #include <linux/iio/common/inv_sensors_timestamp.h>
>  #include <linux/iio/iio.h>
>  #include <linux/mutex.h>
> +#include <linux/pm.h>
>  #include <linux/regmap.h>
>  #include <linux/regulator/consumer.h>
>  
> @@ -390,6 +391,7 @@ struct inv_icm42607_sensor_state {
>  typedef int (*inv_icm42607_bus_setup)(struct inv_icm42607_state *);
>  
>  extern const struct regmap_config inv_icm42607_regmap_config;
> +extern const struct dev_pm_ops inv_icm42607_pm_ops;
>  
>  u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr);
>  
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> index 1ac3a573863c..af3784040b7a 100644
> --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> @@ -9,6 +9,7 @@
>  #include <linux/irq.h>
>  #include <linux/module.h>
>  #include <linux/mutex.h>
> +#include <linux/pm_runtime.h>
>  #include <linux/property.h>
>  #include <linux/regmap.h>
>  #include <linux/regulator/consumer.h>
> @@ -106,6 +107,62 @@ u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr)
>  	return odr_periods[odr];
>  }
>  
> +static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
> +				      enum inv_icm42607_sensor_mode gyro,
> +				      enum inv_icm42607_sensor_mode accel,
> +				      bool temp, unsigned int *sleep_ms)
> +{
> +	enum inv_icm42607_sensor_mode oldgyro = st->conf.gyro.mode;
> +	enum inv_icm42607_sensor_mode oldaccel = st->conf.accel.mode;
> +	bool oldtemp = st->conf.temp_en;
> +	unsigned int sleepval;
> +	unsigned int val;
> +	int ret;
> +
> +	if (gyro == oldgyro && accel == oldaccel && temp == oldtemp)
> +		return 0;
> +
> +	val = FIELD_PREP(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, gyro);
> +	val |= FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, accel);
> +	if (!temp)
> +		val |= INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL;
> +	ret = regmap_write(st->map, INV_ICM42607_REG_PWR_MGMT0, val);
> +	if (ret)
> +		return ret;
> +
> +	st->conf.gyro.mode = gyro;
> +	st->conf.accel.mode = accel;
> +	st->conf.temp_en = temp;
> +
> +	sleepval = 0;
> +	if (temp && !oldtemp) {
> +		if (sleepval < INV_ICM42607_TEMP_STARTUP_TIME_MS)
> +			sleepval = INV_ICM42607_TEMP_STARTUP_TIME_MS;
> +	}
> +	if (accel != oldaccel && oldaccel == INV_ICM42607_SENSOR_MODE_OFF) {
> +		usleep_range(200, 300);
> +		if (sleepval < INV_ICM42607_ACCEL_STARTUP_TIME_MS)
> +			sleepval = INV_ICM42607_ACCEL_STARTUP_TIME_MS;
> +	}
> +	if (gyro != oldgyro) {
> +		if (oldgyro == INV_ICM42607_SENSOR_MODE_OFF) {
> +			usleep_range(200, 300);
> +			if (sleepval < INV_ICM42607_GYRO_STARTUP_TIME_MS)
> +				sleepval = INV_ICM42607_GYRO_STARTUP_TIME_MS;
> +		} else if (gyro == INV_ICM42607_SENSOR_MODE_OFF) {
> +			if (sleepval < INV_ICM42607_GYRO_STOP_TIME_MS)
> +				sleepval = INV_ICM42607_GYRO_STOP_TIME_MS;
> +		}
> +	}
> +
> +	if (sleep_ms)
> +		*sleep_ms = sleepval;
> +	else if (sleepval)
> +		msleep(sleepval);
> +
> +	return 0;
> +}
> +
>  int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
>  			     unsigned int writeval, unsigned int *readval)
>  {
> @@ -313,10 +370,130 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip,
>  	if (ret)
>  		return ret;
>  
> +	ret = devm_pm_runtime_set_active_enabled(dev);

This will interact with the status setup you need as mentioned above for devm
code to work right.

> +	if (ret)
> +		return ret;
> +
> +	pm_runtime_set_autosuspend_delay(dev, INV_ICM42607_SUSPEND_DELAY_MS);
> +	pm_runtime_use_autosuspend(dev);
> +
>  	return 0;
>  }
>  EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607");
>  
> +/*
> + * Suspend saves sensors state and turns everything off.
> + * Check first if runtime suspend has not already done the job.
> + */
> +static int inv_icm42607_suspend(struct device *dev)
> +{
> +	struct inv_icm42607_state *st = dev_get_drvdata(dev);
> +	struct device *accel_dev;
> +	bool wakeup;
> +	int accel_conf;
> +	int ret = 0;

Always set before use so no need to init here.

> +
> +	guard(mutex)(&st->lock);
> +
> +	st->suspended.gyro = st->conf.gyro.mode;
> +	st->suspended.accel = st->conf.accel.mode;
> +	st->suspended.temp = st->conf.temp_en;
> +	if (pm_runtime_suspended(dev))
> +		return 0;
> +
> +	/* keep chip on and wake-up capable if APEX and wakeup on */
> +	accel_dev = &st->indio_accel->dev;

Never set at this point in series. (Sashiko raised this)


> +	wakeup = st->apex.on && device_may_wakeup(accel_dev);
> +	if (wakeup) {
> +		/* keep accel on and setup irq for wakeup */
> +		accel_conf = st->conf.accel.mode;
> +		enable_irq_wake(st->irq);
> +		disable_irq(st->irq);
> +	} else {
> +		accel_conf = INV_ICM42607_SENSOR_MODE_OFF;
> +	}
> +
> +	ret = inv_icm42607_set_pwr_mgmt0(st, INV_ICM42607_SENSOR_MODE_OFF,
> +					 INV_ICM42607_SENSOR_MODE_OFF, false,
> +					 NULL);
> +	if (ret)
> +		return ret;
> +
> +	if (!wakeup)
> +		regulator_disable(st->vddio_supply);
> +
> +	return 0;
> +}

Re: [PATCH V4 05/10] iio: imu: inv_icm42607: Add Buffer support for icm42607

[Jonathan Cameron]

On Fri,  1 May 2026 17:11:44 -0500
Chris Morgan <macroalpha82@gmail.com> wrote:

> From: Chris Morgan <macromorgan@hotmail.com>
> 
> Add all FIFO parsing and reading functions to support> inv_icm42607 hardware.
Generally wrap commit messages to 75 ish characters.

> 
> Signed-off-by: Chris Morgan <macromorgan@hotmail.com>

Hi Chris

Various comments inline.  Biggest set seem to be on making
use of min() / max() to do clamping. They are generally as
easy to read as using a conditional and often more compact.

> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
> new file mode 100644
> index 000000000000..5c67f6a37520
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
> @@ -0,0 +1,489 @@
> +// SPDX-License-Identifier: GPL-2.0-or-later
> +/*
> + * Copyright (C) 2026 InvenSense, Inc.
> + */
> +
> +#include <linux/delay.h>
> +#include <linux/minmax.h>
> +#include <linux/mutex.h>
> +#include <linux/pm_runtime.h>
> +#include <linux/regmap.h>
> +
> +#include <linux/iio/buffer.h>
> +#include <linux/iio/common/inv_sensors_timestamp.h>

I'd put this one in it's own block between the iio generic headers
and the very driver specific ones given its specific to invensense
sensors.

> +#include <linux/iio/iio.h>
> +
> +#include "inv_icm42607.h"
> +#include "inv_icm42607_buffer.h"
> +
> +/* FIFO header: 1 byte */
> +#define INV_ICM42607_FIFO_HEADER_MSG		BIT(7)
> +#define INV_ICM42607_FIFO_HEADER_ACCEL		BIT(6)
> +#define INV_ICM42607_FIFO_HEADER_GYRO		BIT(5)
> +#define INV_ICM42607_FIFO_HEADER_TMST_FSYNC	GENMASK(3, 2)
> +#define INV_ICM42607_FIFO_HEADER_ODR_ACCEL	BIT(1)
> +#define INV_ICM42607_FIFO_HEADER_ODR_GYRO	BIT(0)
> +
> +struct inv_icm42607_fifo_1sensor_packet {
> +	u8 header;
> +	struct inv_icm42607_fifo_sensor_data data;
> +	s8 temp;
> +} __packed;
> +#define INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE		8
> +
> +struct inv_icm42607_fifo_2sensors_packet {
> +	u8 header;
> +	struct inv_icm42607_fifo_sensor_data accel;
> +	struct inv_icm42607_fifo_sensor_data gyro;
> +	s8 temp;
> +	__be16 timestamp;
> +} __packed;
> +#define INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE		16
> +
> +ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel,
> +					const void **gyro, const int8_t **temp,
> +					const void **timestamp, unsigned int *odr)


For now at least odr doesn't seem to be used at the caller.  So I'd drop
it from the function signature until it is useful.

> +{
> +	const struct inv_icm42607_fifo_1sensor_packet *pack1 = packet;
> +	const struct inv_icm42607_fifo_2sensors_packet *pack2 = packet;
> +	u8 header = *((const u8 *)packet);
> +
> +	/* FIFO empty */
> +	if (header & INV_ICM42607_FIFO_HEADER_MSG) {
> +		*accel = NULL;
> +		*gyro = NULL;
> +		*temp = NULL;
> +		*timestamp = NULL;
> +		*odr = 0;
> +		return 0;
> +	}
> +
> +	/* handle odr flags */
> +	*odr = 0;
> +	if (header & INV_ICM42607_FIFO_HEADER_ODR_GYRO)
> +		*odr |= INV_ICM42607_SENSOR_GYRO;
> +	if (header & INV_ICM42607_FIFO_HEADER_ODR_ACCEL)
> +		*odr |= INV_ICM42607_SENSOR_ACCEL;
> +
> +	/* accel + gyro */
> +	if ((header & INV_ICM42607_FIFO_HEADER_ACCEL) &&
> +	    (header & INV_ICM42607_FIFO_HEADER_GYRO)) {
> +		*accel = &pack2->accel;
> +		*gyro = &pack2->gyro;
> +		*temp = &pack2->temp;
> +		*timestamp = &pack2->timestamp;
> +		return INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE;
> +		}

Odd indent.  Should be one less tab.

> +
> +	/* accel only */
> +	if (header & INV_ICM42607_FIFO_HEADER_ACCEL) {
> +		*accel = &pack1->data;
> +		*gyro = NULL;
> +		*temp = &pack1->temp;
> +		*timestamp = NULL;
> +		return INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE;
> +	}
> +
> +	/* gyro only */
> +	if (header & INV_ICM42607_FIFO_HEADER_GYRO) {
> +		*accel = NULL;
> +		*gyro = &pack1->data;
> +		*temp = &pack1->temp;
> +		*timestamp = NULL;
> +		return INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE;
> +	}
> +
> +	/* invalid packet if here */
> +	return -EINVAL;
> +}

> +
> +static unsigned int inv_icm42607_wm_truncate(unsigned int watermark,
> +					     size_t packet_size)
> +{
> +	size_t wm_size;
> +
> +	wm_size = watermark * packet_size;
> +	if (wm_size > INV_ICM42607_FIFO_WATERMARK_MAX)
> +		wm_size = INV_ICM42607_FIFO_WATERMARK_MAX;

	wm_size = min(watermark * packet_size, INV_ICM42607_FIFO_WATERMARK_MAX);

> +
> +	return wm_size / packet_size;
> +}
> +
> +/**
> + * inv_icm42607_buffer_update_watermark - update watermark FIFO threshold
> + * @st:	driver internal state
> + *
> + * Returns 0 on success, a negative error code otherwise.
> + */
> +int inv_icm42607_buffer_update_watermark(struct inv_icm42607_state *st)
> +{
> +	size_t packet_size, wm_size;
> +	unsigned int wm_gyro, wm_accel, watermark;
> +	u32 period_gyro, period_accel;
> +	u32 latency_gyro, latency_accel, latency;
> +	bool restore;
> +	__le16 raw_wm;
> +	int ret;
> +
> +	packet_size = inv_icm42607_get_packet_size(st->fifo.en);
> +
> +	/* compute sensors latency, depending on sensor watermark and odr */
> +	wm_gyro = inv_icm42607_wm_truncate(st->fifo.watermark.gyro, packet_size);
> +	wm_accel = inv_icm42607_wm_truncate(st->fifo.watermark.accel, packet_size);
> +	/* use us for odr to avoid overflow using 32 bits values */
> +	period_gyro = inv_icm42607_odr_to_period(st->conf.gyro.odr) / 1000UL;
> +	period_accel = inv_icm42607_odr_to_period(st->conf.accel.odr) / 1000UL;
> +	latency_gyro = period_gyro * wm_gyro;
> +	latency_accel = period_accel * wm_accel;
> +
> +	/* 0 value for watermark means that the sensor is turned off */
> +	if (wm_gyro == 0 && wm_accel == 0)
> +		return 0;
> +
> +	if (latency_gyro == 0) {
> +		watermark = wm_accel;
> +		st->fifo.watermark.eff_accel = wm_accel;
> +	} else if (latency_accel == 0) {
> +		watermark = wm_gyro;
> +		st->fifo.watermark.eff_gyro = wm_gyro;
> +	} else {
> +		/* compute the smallest latency that is a multiple of both */
> +		if (latency_gyro <= latency_accel)
> +			latency = latency_gyro - (latency_accel % latency_gyro);
> +		else
> +			latency = latency_accel - (latency_gyro % latency_accel);
> +		/* all this works because periods are multiple of each others */
> +		watermark = latency / min(period_gyro, period_accel);
> +		if (watermark < 1)
> +			watermark = 1;
		watermark = max(watermark, 1);

> +		/* update effective watermark */
> +		st->fifo.watermark.eff_gyro = latency / period_gyro;
> +		if (st->fifo.watermark.eff_gyro < 1)
> +			st->fifo.watermark.eff_gyro = 1;
		st->fifo.watermark.eff_gyro = max(latency / period_gyro, 1);
is clear and shorter.


> +		st->fifo.watermark.eff_accel = latency / period_accel;
> +		if (st->fifo.watermark.eff_accel < 1)
> +			st->fifo.watermark.eff_accel = 1;

same again

> +	}
> +
> +	/* compute watermark value in bytes */
> +	wm_size = watermark * packet_size;

I'd push this down to nearer where it's used.

> +
> +	/* changing FIFO watermark requires to turn off watermark interrupt */
> +	ret = regmap_update_bits_check(st->map, INV_ICM42607_REG_INT_SOURCE0,
> +				       INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN,
> +				       0, &restore);
> +	if (ret)
> +		return ret;
> +
So here.
> +	raw_wm = INV_ICM42607_FIFO_WATERMARK_VAL(wm_size);
> +	memcpy(st->buffer, &raw_wm, sizeof(raw_wm));
> +	ret = regmap_bulk_write(st->map, INV_ICM42607_REG_FIFO_CONFIG2,
> +				st->buffer, sizeof(raw_wm));
> +	if (ret)
> +		return ret;
> +
> +	/* restore watermark interrupt */
> +	if (restore) {
> +		ret = regmap_update_bits(st->map, INV_ICM42607_REG_INT_SOURCE0,
> +					 INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN,
> +					 INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN);
> +		if (ret)
> +			return ret;
> +	}
> +
> +	return 0;
> +}
> +
> +static int inv_icm42607_buffer_preenable(struct iio_dev *indio_dev)
> +{
> +	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> +	struct device *dev = regmap_get_device(st->map);
> +	struct inv_icm42607_sensor_state *sensor_st = iio_priv(indio_dev);
> +	struct inv_sensors_timestamp *ts = &sensor_st->ts;
> +
> +	pm_runtime_get_sync(dev);

Maybe check the error return from this. Though as the docs suggest
better to use
	ret = pm_runtime_resume_and_get(dev);
as that doesn't leave ref count raised on failure.

> +
> +	guard(mutex)(&st->lock);
> +	inv_sensors_timestamp_reset(ts);
> +
> +	return 0;
> +}
> +
> +/*
> + * update_scan_mode callback is turning sensors on and setting data FIFO enable
> + * bits.
> + */
> +static int inv_icm42607_buffer_postenable(struct iio_dev *indio_dev)
> +{
> +	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> +	int ret;
> +
> +	guard(mutex)(&st->lock);
> +
> +	/* exit if FIFO is already on */
> +	if (st->fifo.on) {
> +		st->fifo.on++;
> +		return 0;
> +	}
> +
> +	/* set FIFO threshold interrupt */
> +	ret = regmap_update_bits(st->map, INV_ICM42607_REG_INT_SOURCE0,
> +				 INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN,
> +				 INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN);
	ret = regmap_set_bits(st->map, INV_ICM42607_REG_INT_SOURCE0,
			      INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN);

Might as well save a line on these.


> +	if (ret)
> +		return ret;
> +
> +	/* flush FIFO data */
> +	ret = regmap_write(st->map, INV_ICM42607_REG_SIGNAL_PATH_RESET,
> +			   INV_ICM42607_SIGNAL_PATH_RESET_FIFO_FLUSH);
> +	if (ret)
> +		return ret;
> +
> +	/* set FIFO in streaming mode */
> +	ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
> +			   INV_ICM42607_FIFO_CONFIG1_MODE);
> +	if (ret)
> +		return ret;
> +
> +	/* workaround: first read of FIFO count after reset is always 0 */
> +	ret = regmap_bulk_read(st->map, INV_ICM42607_REG_FIFO_COUNTH, st->buffer, 2);

I think you read this as explicitly going into a __be16 elsewhere.
Good to size this either from sizeof(st->buffer[0]) or sizeof(__be16) rather
than a magic 2.

> +	if (ret)
> +		return ret;
> +
> +	st->fifo.on++;
> +
> +	return 0;
> +}


> +int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st,
> +				  unsigned int max)
> +{
> +	size_t max_count;
> +	__be16 *raw_fifo_count;
> +	ssize_t i, size;
> +	const void *accel, *gyro, *timestamp;

Where no other reason for ordering applies use reverse xmas tree.
If this is meant to be order of first use, that tends to be much
more fragile to code movement than reverse xmas tree hence
the preference.

> +	const s8 *temp;
> +	unsigned int odr;
> +	int ret;
> +
> +	/* reset all samples counters */
> +	st->fifo.count = 0;
> +	st->fifo.nb.gyro = 0;
> +	st->fifo.nb.accel = 0;
> +	st->fifo.nb.total = 0;
> +
> +	/* compute maximum FIFO read size */
> +	if (max == 0)
> +		max_count = sizeof(st->fifo.data);
> +	else
> +		max_count = max * inv_icm42607_get_packet_size(st->fifo.en);
> +
> +	/* read FIFO count value */
> +	raw_fifo_count = (__be16 *)st->buffer;

I think st->buffer is __be16 [3] so no cast needed here maybe make
it clear you want the first element with &st->buffer[0];

However I'd be tempted to just use that directly and drop the local
variable as adding little when we only use it so locally.

> +	ret = regmap_bulk_read(st->map, INV_ICM42607_REG_FIFO_COUNTH,
> +			       raw_fifo_count, sizeof(*raw_fifo_count));
> +	if (ret)
> +		return ret;
> +	st->fifo.count = be16_to_cpup(raw_fifo_count);
> +
> +	/* check and clamp FIFO count value */
> +	if (st->fifo.count == 0)
> +		return 0;

I'd add a blank line here, just to make it easier to spot this
successful exit path.

> +	if (st->fifo.count > max_count)
> +		st->fifo.count = max_count;

	st->fifo.count = max(st->fifo.count, max_count);
is slightly more readable.

> +
> +	/* read all FIFO data in internal buffer */
> +	ret = regmap_noinc_read(st->map, INV_ICM42607_REG_FIFO_DATA,
> +				st->fifo.data, st->fifo.count);
> +	if (ret)
> +		return ret;
> +
> +	/* compute number of samples for each sensor */
> +	for (i = 0; i < st->fifo.count; i += size) {
	for (size_t i = 0; < st->fifo.count...

I'm curious on why it's signed. Should be fine to use an unsigned iterator as
only add positive values of size.

> +		size = inv_icm42607_fifo_decode_packet(&st->fifo.data[i],
> +				&accel, &gyro, &temp, &timestamp, &odr);
> +		if (size <= 0)
> +			break;
> +		if (gyro != NULL && inv_icm42607_fifo_is_data_valid(gyro))
> +			st->fifo.nb.gyro++;
> +		if (accel != NULL && inv_icm42607_fifo_is_data_valid(accel))
> +			st->fifo.nb.accel++;
> +		st->fifo.nb.total++;
> +	}
> +
> +	return 0;
> +}
> +
> +int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
> +				     unsigned int count)
> +{
> +	s64 gyro_ts, accel_ts;
> +	int ret;
> +
> +	gyro_ts = iio_get_time_ns(st->indio_gyro);
> +	accel_ts = iio_get_time_ns(st->indio_accel);
> +
> +	ret = inv_icm42607_buffer_fifo_read(st, count);
> +

To avoid a bit of churn later you could do
	if (ret)
		return ret;

	return 0;
now but not that important.


> +	return ret;
> +}

> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
> new file mode 100644
> index 000000000000..2df49e795ad1
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
> @@ -0,0 +1,101 @@
> +/* SPDX-License-Identifier: GPL-2.0-or-later */
> +/*
> + * Copyright (C) 2026 InvenSense, Inc.

Given you are using gmail / hotmail, just to confirm, is this work
being paid for by InvenSense? If it's based on other work of theirs
then there should be more detail on why this copyright notice so
we have that recorded for the long term.

> + */
> +
> +#ifndef INV_ICM42607_BUFFER_H_
> +#define INV_ICM42607_BUFFER_H_
> +
> +#include <linux/kernel.h>

For new code we avoid including linux/kernel.h but instead
use more specific headers.  Not entirely sure what you need here
but definitely something for the endian swap.
Also you need to have a forwards def for the 
struct inv_icm42607_state; maybe others.

> +#include <linux/bitops.h>
> +
> +struct inv_icm42607_state;
> +
> +#define INV_ICM42607_SENSOR_GYRO	BIT(0)
> +#define INV_ICM42607_SENSOR_ACCEL	BIT(1)
> +#define INV_ICM42607_SENSOR_TEMP	BIT(2)
> +
> +/**
> + * struct inv_icm42607_fifo - FIFO state variables
> + * @on:		reference counter for FIFO on.
> + * @en:		bits field of INV_ICM42607_SENSOR_* for FIFO EN bits.
> + * @period:	FIFO internal period.
> + * @watermark:	watermark configuration values for accel and gyro.
> + * @count:	number of bytes in the FIFO data buffer.
> + * @nb:		gyro, accel and total samples in the FIFO data buffer.
> + * @data:	FIFO data buffer aligned for DMA (2kB + 32 bytes of read cache).
> + */
> +struct inv_icm42607_fifo {
> +	unsigned int on;
> +	unsigned int en;
> +	u32 period;
> +	struct {
> +		unsigned int gyro;
> +		unsigned int accel;
> +		unsigned int eff_gyro;
> +		unsigned int eff_accel;
> +	} watermark;
> +	size_t count;
> +	struct {
> +		size_t gyro;
> +		size_t accel;
> +		size_t total;
> +	} nb;
> +	u8 data[2080] __aligned(IIO_DMA_MINALIGN);
> +};
> +
> +/* FIFO data packet */
> +struct inv_icm42607_fifo_sensor_data {
> +	__be16 x;
> +	__be16 y;
> +	__be16 z;
> +};
> +
> +#define INV_ICM42607_FIFO_DATA_INVALID		-32768
> +
> +static inline s16 inv_icm42607_fifo_get_sensor_data(__be16 d)
> +{
> +	return be16_to_cpu(d);

Is this helper worth bothering with?  Seems like it would be pretty
clear what was going on if the be16_to_cpu() was just inline?


> +}
> +
> +static inline bool
> +inv_icm42607_fifo_is_data_valid(const struct inv_icm42607_fifo_sensor_data *s)
> +{
> +	s16 x, y, z;
> +
> +	x = inv_icm42607_fifo_get_sensor_data(s->x);
> +	y = inv_icm42607_fifo_get_sensor_data(s->y);
> +	z = inv_icm42607_fifo_get_sensor_data(s->z);
> +
> +	if (x == INV_ICM42607_FIFO_DATA_INVALID &&
> +		y == INV_ICM42607_FIFO_DATA_INVALID &&
> +		z == INV_ICM42607_FIFO_DATA_INVALID)

Align this as:
	if (x == INV_ICM42607_FIFO_DATA_INVALID &&
	    y == INV_ICM42607_FIFO_DATA_INVALID &&
	    z == INV_ICM42607_FIFO_DATA_INVALID)

You could flip this around and do
	__be16 be_inval_marker = cpu_to_be16(INV_ICM42607_FIFO_DATA_INVALID);

	if (s->x == be_inval_marker &&
	    s->y == be_inval_marker &&
	    s->z == be_inval_marker)
		return false;

> +		return false;
> +
> +	return true;
> +}
> +
> +ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel,
> +					const void **gyro, const s8 **temp,
> +					const void **timestamp, unsigned int *odr);

> +

> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> index af3784040b7a..7b9c05df820a 100644
> --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> @@ -16,6 +16,7 @@
>  #include <linux/slab.h>
>  
>  #include "inv_icm42607.h"
> +#include "inv_icm42607_buffer.h"
>  
>  static const struct regmap_range_cfg inv_icm42607_regmap_ranges[] = {
>  	{
> @@ -163,6 +164,7 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
>  	return 0;
>  }
>  
> +

Stray change. Remember to check your patches for these.
we all introduce them whilst editing a series, so it's always a case
of taking a look at the final result to catch them.

>  int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,

Re: [PATCH V4 06/10] iio: imu: inv_icm42607: Add Temp Support in icm42607

[Jonathan Cameron]

On Fri,  1 May 2026 17:11:45 -0500
Chris Morgan <macroalpha82@gmail.com> wrote:

> From: Chris Morgan <macromorgan@hotmail.com>
> 
> Add functions for reading temperature sensor data.
> 
> Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
A few minor things.

Thanks,

Jonathan

> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
> new file mode 100644
> index 000000000000..bcc11620c74c
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
> @@ -0,0 +1,81 @@
> +// SPDX-License-Identifier: GPL-2.0-or-later
> +/*
> + * Copyright (C) 2026 InvenSense, Inc.
> + */
> +
> +#include <linux/kernel.h>

As in previous avoid this by using more specific headers.

> +#include <linux/device.h>
> +#include <linux/mutex.h>
> +#include <linux/pm_runtime.h>
> +#include <linux/regmap.h>

blank line here to match other files.

> +#include <linux/iio/iio.h>
> +
> +#include "inv_icm42607.h"
> +#include "inv_icm42607_temp.h"
> +
> +static int inv_icm42607_temp_read(struct inv_icm42607_state *st, s16 *temp)
> +{
> +	struct device *dev = regmap_get_device(st->map);
> +	__be16 *raw;
> +	int ret;
> +
> +	PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);
> +	if (PM_RUNTIME_ACQUIRE_ERR(&pm))
> +		return -ENXIO;
> +
> +	guard(mutex)(&st->lock);
> +
> +	ret = inv_icm42607_set_temp_conf(st, true, NULL);
> +	if (ret)
> +		return ret;
> +
> +	raw = &st->buffer[0];
> +	ret = regmap_bulk_read(st->map, INV_ICM42607_REG_TEMP_DATA1, raw, sizeof(*raw));
> +	if (ret)
> +		return ret;
> +
> +	*temp = be16_to_cpup(raw);
> +	if (*temp == INV_ICM42607_DATA_INVALID)
> +		ret = -EINVAL;
		return -EINVAL;

	return 0;

is no longer and to me a tiny bit simpler to read.

> +
> +	return ret;
> +}

> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h
> new file mode 100644
> index 000000000000..d0bd6c460ff2
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h
> @@ -0,0 +1,30 @@
> +/* SPDX-License-Identifier: GPL-2.0-or-later */
> +/*
> + * Copyright (C) 2026 InvenSense, Inc.
> + */
> +
> +#ifndef INV_ICM42607_TEMP_H_
> +#define INV_ICM42607_TEMP_H_
> +
> +#include <linux/iio/iio.h>

Need header for BIT() and I'm not seeing a need for this one.
Just add forward defs for struct iio_dev and struct iio_chan_spec

> +
> +#define INV_ICM42607_TEMP_CHAN(_index)				\
> +{								\
> +	.type = IIO_TEMP,					\
> +	.info_mask_separate =					\
> +		BIT(IIO_CHAN_INFO_RAW) |			\
> +		BIT(IIO_CHAN_INFO_OFFSET) |			\
> +		BIT(IIO_CHAN_INFO_SCALE),			\
> +	.scan_index = _index,					\
> +	.scan_type = {						\
> +		.sign = 's',					\
> +		.realbits = 16,					\
> +		.storagebits = 16,				\
> +	},							\
> +}
> +
> +int inv_icm42607_temp_read_raw(struct iio_dev *indio_dev,
> +			       struct iio_chan_spec const *chan,
> +			       int *val, int *val2, long mask);
> +
> +#endif

Re: [PATCH V4 07/10] iio: imu: inv_icm42607: Add Accelerometer for icm42607

[Jonathan Cameron]

On Fri,  1 May 2026 17:11:46 -0500
Chris Morgan <macroalpha82@gmail.com> wrote:

> From: Chris Morgan <macromorgan@hotmail.com>
> 
> Add icm42607 accelerometer sensor for icm42607.
> 
> Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
Hi Chris

Various comments inline. For now at least drop the power
control custom ABI. I've strongly resisted this sort of thing
for a very long time because it is exceptionally hard to generalize
to anything that makes sense for userspace.   Look at what effects
that control actually has and present those as the means to pick
a mode from userspace.

Jonathan

> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
> new file mode 100644
> index 000000000000..d998d8c94eb9
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
> @@ -0,0 +1,686 @@
> +// 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/minmax.h>
> +#include <linux/units.h>
> +
> +#include <linux/iio/buffer.h>
> +#include <linux/iio/common/inv_sensors_timestamp.h>
> +#include <linux/iio/events.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/kfifo_buf.h>

> +static const char * const inv_icm42607_accel_power_mode_items[] = {

This is non standard ABI that userspace will almost never know what to do with.
So we don't present it like this.  If it is possible to work out which mode
makes sense from other characteristics that are ABI use those. Otherwise,
default to low-noise and don't provide a control for this.

If you want to present a case for a power control framework it needs
to be a lot more descriptive of what is going on than this and suitable
for generalizing to lots of devices where the trade offs can be different.
Do that as a follow up series however to avoid delaying the rest of this.

> +	"low-noise",
> +	"low-power",
> +};
> +
> +static const int inv_icm42607_accel_power_mode_values[] = {
> +	INV_ICM42607_SENSOR_MODE_LOW_NOISE,
> +	INV_ICM42607_SENSOR_MODE_LOW_POWER,
> +};
> +
> +static const int inv_icm42607_accel_filter_values[] = {
> +	INV_ICM42607_FILTER_BW_25HZ,
> +	INV_ICM42607_FILTER_AVG_16X,
> +};
> +
> +static int inv_icm42607_accel_power_mode_set(struct iio_dev *indio_dev,
> +					     const struct iio_chan_spec *chan,
> +					     unsigned int idx)
> +{
> +	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> +	struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
> +	int power_mode, filter;
> +
> +	if (chan->type != IIO_ACCEL)
> +		return -EINVAL;
> +
> +	if (idx >= ARRAY_SIZE(inv_icm42607_accel_power_mode_values))
> +		return -EINVAL;
> +
> +	power_mode = inv_icm42607_accel_power_mode_values[idx];
> +	filter = inv_icm42607_accel_filter_values[idx];
> +
> +	guard(mutex)(&st->lock);
> +
> +	/* cannot change if accel sensor is on */
> +	if (st->conf.accel.mode != INV_ICM42607_SENSOR_MODE_OFF)
> +		return -EBUSY;
> +
> +	/* prevent change if power mode is not supported by the ODR */
> +	switch (power_mode) {
> +	case INV_ICM42607_SENSOR_MODE_LOW_NOISE:
> +		if (st->conf.accel.odr >= INV_ICM42607_ODR_6_25HZ_LP)
> +			return -EPERM;
> +		break;
> +	case INV_ICM42607_SENSOR_MODE_LOW_POWER:
> +	default:
> +		if (st->conf.accel.odr <= INV_ICM42607_ODR_800HZ)
> +			return -EPERM;
> +		break;
> +	}
> +
> +	accel_st->power_mode = power_mode;
> +	accel_st->filter = filter;
> +
> +	return 0;
> +}
> +
> +static int inv_icm42607_accel_power_mode_get(struct iio_dev *indio_dev,
> +					     const struct iio_chan_spec *chan)
> +{
> +	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> +	struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
> +	unsigned int idx;
> +	int power_mode;
> +
> +	if (chan->type != IIO_ACCEL)
> +		return -EINVAL;
> +
> +	guard(mutex)(&st->lock);
> +
> +	/* if sensor is on, returns actual power mode and not configured one */
> +	switch (st->conf.accel.mode) {
> +	case INV_ICM42607_SENSOR_MODE_LOW_POWER:
> +	case INV_ICM42607_SENSOR_MODE_LOW_NOISE:
> +		power_mode = st->conf.accel.mode;
> +		break;
> +	default:
> +		power_mode = accel_st->power_mode;
> +		break;
> +	}
> +
> +	for (idx = 0; idx < ARRAY_SIZE(inv_icm42607_accel_power_mode_values); ++idx) {
> +		if (power_mode == inv_icm42607_accel_power_mode_values[idx])
> +			break;
> +	}
> +	if (idx >= ARRAY_SIZE(inv_icm42607_accel_power_mode_values))
> +		return -EINVAL;
> +
> +	return idx;
> +}
> +
> +static const struct iio_enum inv_icm42607_accel_power_mode_enum = {
> +	.items = inv_icm42607_accel_power_mode_items,
> +	.num_items = ARRAY_SIZE(inv_icm42607_accel_power_mode_items),
> +	.set = inv_icm42607_accel_power_mode_set,
> +	.get = inv_icm42607_accel_power_mode_get,
> +};
> +
> +static const struct iio_chan_spec_ext_info inv_icm42607_accel_ext_infos[] = {
> +	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix),
> +	IIO_ENUM_AVAILABLE("power_mode", IIO_SHARED_BY_TYPE,
> +			   &inv_icm42607_accel_power_mode_enum),
> +	IIO_ENUM("power_mode", IIO_SHARED_BY_TYPE,
> +		 &inv_icm42607_accel_power_mode_enum),
> +	{ }
> +};
> +
> +static const struct iio_chan_spec inv_icm42607_accel_channels[] = {
> +	INV_ICM42607_ACCEL_CHAN(IIO_MOD_X, INV_ICM42607_ACCEL_SCAN_X,
> +				inv_icm42607_accel_ext_infos),
> +	INV_ICM42607_ACCEL_CHAN(IIO_MOD_Y, INV_ICM42607_ACCEL_SCAN_Y,
> +				inv_icm42607_accel_ext_infos),
> +	INV_ICM42607_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42607_ACCEL_SCAN_Z,
> +				inv_icm42607_accel_ext_infos),
> +	INV_ICM42607_TEMP_CHAN(INV_ICM42607_ACCEL_SCAN_TEMP),
> +	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42607_ACCEL_SCAN_TIMESTAMP),
> +};
> +
> +static const struct iio_event_spec inv_icm42607_motion_events[] = {
> +	{
> +		.type = IIO_EV_TYPE_THRESH,
> +		.dir = IIO_EV_DIR_EITHER,
> +		.mask_separate = BIT(IIO_EV_INFO_ENABLE) | BIT(IIO_EV_INFO_VALUE),
> +	},
> +};
> +
> +/*
> + * IIO buffer data: size must be a power of 2 and timestamp aligned

This is generally true. I don't think we need to call it out in individual drivers.

> + * 16 bytes: 6 bytes acceleration, 2 bytes temperature, 8 bytes timestamp

This is just describing what we can see in the structure. Not sure it brings
much additional value so I'd drop it.

> + */
> +struct inv_icm42607_accel_buffer {
> +	struct inv_icm42607_fifo_sensor_data accel;
> +	s16 temp;
> +	aligned_s64 timestamp;
> +};
> +
> +#define INV_ICM42607_SCAN_MASK_ACCEL_3AXIS				\
> +	(BIT(INV_ICM42607_ACCEL_SCAN_X) |				\
> +	 BIT(INV_ICM42607_ACCEL_SCAN_Y) |				\
> +	 BIT(INV_ICM42607_ACCEL_SCAN_Z))
> +
> +#define INV_ICM42607_SCAN_MASK_TEMP	BIT(INV_ICM42607_ACCEL_SCAN_TEMP)
> +
> +static const unsigned long inv_icm42607_accel_scan_masks[] = {
> +	INV_ICM42607_SCAN_MASK_ACCEL_3AXIS,
> +	INV_ICM42607_SCAN_MASK_TEMP,
> +	INV_ICM42607_SCAN_MASK_ACCEL_3AXIS | INV_ICM42607_SCAN_MASK_TEMP,
> +	0,

That 0 is a terminating entry to the array so no trailing comma.

> +};
> +
> +/* enable accelerometer sensor and FIFO write */
> +static int inv_icm42607_accel_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_state *accel_st = iio_priv(indio_dev);
> +	struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
> +	unsigned int fifo_en = 0;
> +	unsigned int sleep_temp = 0;
> +	unsigned int sleep_accel = 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_ACCEL_3AXIS) {
> +		/* enable accel sensor */
> +		conf.mode = accel_st->power_mode;
> +		conf.filter = accel_st->filter;
> +		ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_accel);
> +		if (ret)
> +			goto out_unlock;
> +		fifo_en |= INV_ICM42607_SENSOR_ACCEL;
> +	}
> +
> +	/* update data FIFO write */
> +	ret = inv_icm42607_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
> +
> +out_unlock:
> +	mutex_unlock(&st->lock);
> +	/*
> +	 * Choose the highest enable-delay time of the two sensors being
> +	 * enabled, and sleep for that amount of time.
> +	 */
> +	sleep = max(sleep_accel, sleep_temp);
> +	msleep(sleep);
Might as well do

	msleep(max(sleep_accel, sleep_temp)); and save a line or two.

> +
> +	return ret;
> +}
> +
> +static int inv_icm42607_accel_read_sensor(struct iio_dev *indio_dev,
> +					  struct iio_chan_spec const *chan,
> +					  s16 *val)
> +{
> +	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> +	struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
> +	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_ACCEL)
> +		return -EINVAL;
> +
> +	switch (chan->channel2) {
> +	case IIO_MOD_X:
> +		reg = INV_ICM42607_REG_ACCEL_DATA_X1;
> +		break;
> +	case IIO_MOD_Y:
> +		reg = INV_ICM42607_REG_ACCEL_DATA_Y1;
> +		break;
> +	case IIO_MOD_Z:
> +		reg = INV_ICM42607_REG_ACCEL_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 accel sensor */
> +	conf.mode = accel_st->power_mode;
> +	conf.filter = accel_st->filter;
> +	ret = inv_icm42607_set_accel_conf(st, &conf, NULL);
> +	if (ret)
> +		return ret;
> +
> +	/* read accel register data */
> +	data = (__be16 *)&st->buffer[0];

I believe it is already of that type so the cast isn't doing anything.

> +	ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
> +	if (ret)
> +		return ret;
> +
> +	*val = be16_to_cpup(data);
> +	if (*val == INV_ICM42607_DATA_INVALID)
> +		ret = -EINVAL;
		return -EINVAL;

	return 0;

to me is slightly easier to read as same patter as other early exits.


> +
> +	return ret;
> +}

> +
> +static int inv_icm42607_accel_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.accel.fs;
> +
> +	*val = inv_icm42607_accel_scale_nano[idx][0];
> +	*val2 = inv_icm42607_accel_scale_nano[idx][1];
> +	return IIO_VAL_INT_PLUS_NANO;
> +}
> +
> +static int inv_icm42607_accel_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_accel_scale_nano);
> +
> +	for (idx = 0; idx < scales_len; idx++) {
> +		if (val == inv_icm42607_accel_scale_nano[idx][0] &&
> +		    val2 == inv_icm42607_accel_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_accel_conf(st, &conf, NULL);
> +
> +	return ret;

If this doesn't get updated later.
	return inv_icm...

> +}
> +
> +/* IIO format int + micro */
> +static const int inv_icm42607_accel_odr[] = {
> +	/* 1.5625Hz */
> +	1, 562500,

For these we often do them in an [][2] and cast it to
int * when using it in available. Tends to make indexing a little
easier elsewhere. Same as you've done for scale_nano above.


> +	/* 3.125Hz */
> +	3, 125000,
> +	/* 6.25Hz */
> +	6, 250000,
> +	/* 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 int inv_icm42607_accel_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 *accel_st = iio_priv(indio_dev);
> +	struct inv_sensors_timestamp *ts = &accel_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_accel_odr); idx += 2) {
> +		if (val == inv_icm42607_accel_odr[idx] &&
> +			val2 == inv_icm42607_accel_odr[idx + 1])

Align as:
		if (val ==
		    val2 ==

> +			break;
> +	}
> +	if (idx >= ARRAY_SIZE(inv_icm42607_accel_odr))
> +		return -EINVAL;
> +
> +	conf.odr = inv_icm42607_accel_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_accel_conf(st, &conf, NULL);
> +	if (ret)
> +		return ret;
> +
> +	inv_icm42607_buffer_update_fifo_period(st);
> +	inv_icm42607_buffer_update_watermark(st);
> +
> +	return ret;

	return 0;

> +}

> +
> +struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st)
> +{
> +	struct device *dev = regmap_get_device(st->map);
> +	const char *name;
> +	struct inv_icm42607_sensor_state *accel_st;
> +	struct inv_sensors_timestamp_chip ts_chip;
> +	struct iio_dev *indio_dev;
> +	int ret;
> +
> +	name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->name);
> +	if (!name)
> +		return ERR_PTR(-ENOMEM);
> +
> +	indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st));
> +	if (!indio_dev)
> +		return ERR_PTR(-ENOMEM);
> +	accel_st = iio_priv(indio_dev);
> +
> +	accel_st->power_mode = INV_ICM42607_SENSOR_MODE_LOW_POWER;
> +	accel_st->filter = INV_ICM42607_FILTER_AVG_16X;
> +
> +	/*
> +	 * 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(&accel_st->ts, &ts_chip);
> +
> +	iio_device_set_drvdata(indio_dev, st);
> +	indio_dev->name = name;
> +	indio_dev->info = &inv_icm42607_accel_info;
> +	indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE;

INDIO_BUFFER_SOFTWARE is set in devm_iio_kifo_buffer_setup() so no
need to set it here.

> +	indio_dev->channels = inv_icm42607_accel_channels;
> +	indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_accel_channels);
> +	indio_dev->available_scan_masks = inv_icm42607_accel_scan_masks;
> +
> +	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);
> +
> +	/* accel events are wakeup capable */
> +	ret = devm_device_init_wakeup(&indio_dev->dev);
> +	if (ret)
> +		return ERR_PTR(ret);
> +
> +	return indio_dev;
> +}
> +
> +int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev)
> +{
> +	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> +	struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
> +	struct inv_sensors_timestamp *ts = &accel_st->ts;
> +	ssize_t i, size;
> +	unsigned int no;
> +	const void *accel, *gyro, *timestamp;
> +	const int8_t *temp;
> +	unsigned int odr;
> +	int64_t ts_val;
> +	struct inv_icm42607_accel_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 accel data or data is invalid */
> +		if (accel == NULL || !inv_icm42607_fifo_is_data_valid(accel))
> +			continue;
> +
> +		/* update odr */
> +		if (odr & INV_ICM42607_SENSOR_ACCEL) {

No {} needed for single statement.  The kernel coding style gets a bit vague
on multi line single statements but here I don't see dropping the {} as adding
an confusion.

> +			inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
> +							st->fifo.nb.total, no);
> +		}
> +
> +		memcpy(&buffer.accel, accel, sizeof(buffer.accel));
> +		/* 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;
> +}
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
> index 5c67f6a37520..34698b429c2e 100644
> --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c

>  int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
>  				     unsigned int count)
>  {
> +	struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel);
> +	struct inv_sensors_timestamp *ts;
>  	s64 gyro_ts, accel_ts;
>  	int ret;
>  
> @@ -466,8 +500,21 @@ int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
>  	accel_ts = iio_get_time_ns(st->indio_accel);
>  
>  	ret = inv_icm42607_buffer_fifo_read(st, count);
> +	if (ret)
> +		return ret;
>  
> -	return ret;
This is the change I referred to earlier when suggesting a minor edit to 
reduce churn.

> +	if (st->fifo.nb.total == 0)
> +		return 0;
> +
> +	if (st->fifo.nb.accel > 0) {
> +		ts = &accel_st->ts;
> +		inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts);
> +		ret = inv_icm42607_accel_parse_fifo(st->indio_accel);
> +		if (ret)
> +			return ret;
> +	}
> +
> +	return 0;
>  }
>  
>  int inv_icm42607_buffer_init(struct inv_icm42607_state *st)
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> index 77b9a633d31a..5c2010d8256f 100644
> --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c

> @@ -164,6 +173,53 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
>  	return 0;
>  }
>  
> +int inv_icm42607_set_accel_conf(struct inv_icm42607_state *st,
> +				struct inv_icm42607_sensor_conf *conf,
> +				unsigned int *sleep_ms)
> +{
> +	struct inv_icm42607_sensor_conf *oldconf = &st->conf.accel;

Given you update it throughout, the oldconf naming seems inconsistent.
It becomes new conf.  Maybe come up with a different name?

> +	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;

There is a patch kicking around for the older invensense drivers.
Whilst it does too much deduplication the helper for this section makes sense to me
given it's going to turn up a lot. Probably makes sense to do that here as well.


> +
> +	if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {
> +		val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK, conf->fs);
> +		val |= FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_ODR_MASK, conf->odr);
> +		ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val);
> +		if (ret)
> +			return ret;
> +		oldconf->fs = conf->fs;
> +		oldconf->odr = conf->odr;
> +	}
> +
> +	if (conf->filter != oldconf->filter) {
> +		if (conf->mode == INV_ICM42607_SENSOR_MODE_LOW_POWER) {
> +			val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_AVG_MASK, conf->filter);
> +			ret = regmap_update_bits(st->map, INV_ICM42607_REG_ACCEL_CONFIG1,
> +						 INV_ICM42607_ACCEL_CONFIG1_AVG_MASK, val);
> +		} else {
> +			val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK,
> +					 conf->filter);
> +			ret = regmap_update_bits(st->map, INV_ICM42607_REG_ACCEL_CONFIG1,
> +						 INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK, val);
> +		}
> +		if (ret)
> +			return ret;
> +		oldconf->filter = conf->filter;
> +	}
> +
> +	return inv_icm42607_set_pwr_mgmt0(st, st->conf.gyro.mode, conf->mode,
> +					  st->conf.temp_en, sleep_ms);
> +}

Re: [PATCH V4 08/10] iio: imu: inv_icm42607: Add Wake on Movement for icm42607

[Jonathan Cameron]

On Fri,  1 May 2026 17:11:47 -0500
Chris Morgan <macroalpha82@gmail.com> wrote:

> From: Chris Morgan <macromorgan@hotmail.com>
> 
> Add support for wake on movement for the icm42607 driver.
> 
> Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
One general thing as a result of change in how runtime pm
calls the stuff to track when it was last busy that I probably
missed in earlier patches.

Otherwise minor stuff inline.

Jonathan

> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
> index d998d8c94eb9..d056c74dcbfe 100644
> --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c

> +static int inv_icm42607_accel_disable_wom(struct iio_dev *indio_dev)
> +{
> +	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> +	struct device *pdev = regmap_get_device(st->map);
> +	int ret;
> +
> +	ret = _inv_icm42607_accel_disable_wom(indio_dev);
> +
> +	pm_runtime_mark_last_busy(pdev);
> +	pm_runtime_put_autosuspend(pdev);
Check for this throughout. The definition of pm_runtime_put_autosuspend() is
now:
static inline int pm_runtime_put_autosuspend(struct device *dev)
{
	pm_runtime_mark_last_busy(dev);
	return __pm_runtime_put_autosuspend(dev);
}
So drop all separate calls to mark_last_busy()
> +
> +	return ret;
> +}

>  static const int inv_icm42607_accel_scale_nano[][2] = {
>  	[INV_ICM42607_ACCEL_FS_16G] = { 0, 4788403 },
>  	[INV_ICM42607_ACCEL_FS_8G] = { 0, 2394202 },
> @@ -464,6 +650,9 @@ static int inv_icm42607_accel_write_odr(struct iio_dev *indio_dev,
>  		return ret;
>  
>  	ret = inv_icm42607_set_accel_conf(st, &conf, NULL);
> +	if (ret)

> +		return ret;
Blank line here as the two blocks aren't that closely related.
Helps readability (a tiny bit!)
> +	ret = inv_icm42607_accel_set_wom_threshold(st, st->apex.wom.value, val, val2);
>  	if (ret)
>  		return ret;
>  

> +
>  static const struct iio_info inv_icm42607_accel_info = {
>  	.read_raw = inv_icm42607_accel_read_raw,
>  	.write_raw = inv_icm42607_accel_write_raw,
> @@ -586,6 +885,10 @@ static const struct iio_info inv_icm42607_accel_info = {
>  	.update_scan_mode = inv_icm42607_accel_update_scan_mode,
>  	.hwfifo_set_watermark = inv_icm42607_accel_hwfifo_set_watermark,
>  	.hwfifo_flush_to_buffer = inv_icm42607_accel_hwfifo_flush,
> +	.read_event_config = inv_icm42607_accel_read_event_config,
> +	.write_event_config = inv_icm42607_accel_write_event_config,
> +	.read_event_value = inv_icm42607_accel_read_event_value,
> +	.write_event_value = inv_icm42607_accel_write_event_value,
>  };
>  
>  struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st)
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> index 5c2010d8256f..480fe1741a04 100644
> --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c

> +int inv_icm42607_disable_wom(struct inv_icm42607_state *st)
> +{
> +	int ret;
> +
> +	/* disable WoM interrupt */
> +	ret = regmap_clear_bits(st->map, INV_ICM42607_REG_INT_SOURCE1,
> +				INV_ICM42607_INT_SOURCE1_WOM_INT1_EN);
> +	if (ret)
> +		return ret;
> +
> +	/* disable WoM hardware */
> +	return regmap_clear_bits(st->map, INV_ICM42607_REG_WOM_CONFIG,
> +				 INV_ICM42607_WOM_CONFIG_EN);
> +}
> +
> +

Single line only between functions. 

>  int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,

> +
> +static irqreturn_t inv_icm42607_irq_handler(int irq, void *_data)
> +{
> +	struct inv_icm42607_state *st = _data;
> +	struct device *dev = regmap_get_device(st->map);
> +	unsigned int status;
> +	int ret;
> +
> +	mutex_lock(&st->lock);
> +
> +	if (st->apex.on) {
> +		unsigned int status2, status3;
> +
> +		/* read INT_STATUS2 and INT_STATUS3 in 1 operation */
> +		ret = regmap_bulk_read(st->map, INV_ICM42607_REG_INT_STATUS2, st->buffer, 2);
> +		if (ret)
> +			goto out_unlock;
> +		status2 = st->buffer[0];
> +		status3 = st->buffer[1];
> +		inv_icm42607_accel_handle_events(st->indio_accel, status2, status3,
> +						 st->timestamp.accel);
> +	}
> +
> +	ret = regmap_read(st->map, INV_ICM42607_REG_INT_STATUS, &status);
> +	if (ret)
> +		goto out_unlock;
> +
> +	if (status & INV_ICM42607_INT_STATUS_FIFO_FULL)
> +		dev_warn(dev, "FIFO full data lost!\n");
> +
> +	if (status & INV_ICM42607_INT_STATUS_FIFO_THS) {
> +		ret = inv_icm42607_buffer_fifo_read(st, 0);
> +		if (ret) {
> +			dev_err(dev, "FIFO read error %d\n", ret);
> +			goto out_unlock;
> +		}
> +		ret = inv_icm42607_buffer_fifo_parse(st);
> +		if (ret)
> +			dev_err(dev, "FIFO parsing error %d\n", ret);
> +	}
> +
> +out_unlock:
> +	mutex_unlock(&st->lock);

Looks like suitable place for guard() and early returns.


> +	return IRQ_HANDLED;
> +}
> +
> +/**
> + * inv_icm42607_irq_init() - initialize int pin and interrupt handler
> + * @st:		driver internal state
> + * @irq:	irq number
> + * @irq_type:	irq trigger type
> + * @open_drain:	true if irq is open drain, false for push-pull
> + *
> + * Returns 0 on success, a negative error code otherwise.
> + */
> +static int inv_icm42607_irq_init(struct inv_icm42607_state *st, int irq,
> +				int irq_type, bool open_drain)
> +{
> +	struct device *dev = regmap_get_device(st->map);
> +	unsigned int val = 0;
> +	int ret;
> +
> +	switch (irq_type) {
> +	case IRQF_TRIGGER_RISING:
> +	case IRQF_TRIGGER_HIGH:
> +		val = INV_ICM42607_INT_CONFIG_INT1_ACTIVE_HIGH;
> +		break;
> +	default:
> +		val = INV_ICM42607_INT_CONFIG_INT1_ACTIVE_LOW;
> +		break;
> +	}
> +
> +	switch (irq_type) {
> +	case IRQF_TRIGGER_LOW:
> +	case IRQF_TRIGGER_HIGH:
> +		val |= INV_ICM42607_INT_CONFIG_INT1_LATCHED;
> +		break;
> +	default:
> +		break;
> +	}
> +
> +	if (!open_drain)
> +		val |= INV_ICM42607_INT_CONFIG_INT1_PUSH_PULL;
> +
> +	ret = regmap_write(st->map, INV_ICM42607_REG_INT_CONFIG, val);
> +	if (ret)
> +		return ret;
> +
> +	irq_type |= IRQF_ONESHOT;
> +	return devm_request_threaded_irq(dev, irq, inv_icm42607_irq_timestamp,
> +					 inv_icm42607_irq_handler, irq_type,
> +					 st->name, st);
> +}
> +
>  static int inv_icm42607_enable_vddio_reg(struct inv_icm42607_state *st)
>  {
>  	int ret;
> @@ -387,7 +523,7 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip,
>  	struct device *dev = regmap_get_device(regmap);
>  	struct fwnode_handle *fwnode = dev_fwnode(dev);
>  	struct inv_icm42607_state *st;
> -	int irq;
> +	int irq, irq_type;
>  	bool open_drain;
>  	int ret;
>  
> @@ -402,6 +538,9 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip,
>  	if (irq < 0)
>  		return dev_err_probe(dev, irq, "error missing INT1 interrupt\n");
>  
> +	irq_type = irq_get_trigger_type(irq);
> +	if (!irq_type)
> +		irq_type = IRQF_TRIGGER_FALLING;
This is cut and pasted from elsewhere. The only reason we ever do this
is to paper over a driver that set the irq type unconditionally and we should
never have done that.  The problem in those historical cases is we don't know
if boards are relying on that behaviour. Hence this hack.

For new code just let the firmware set it up without the driver doing
anything to modify it.  Fine to read it here and fail to use the interrupt
if nothing is set.

>  	open_drain = device_property_read_bool(dev, "drive-open-drain");

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

[Jonathan Cameron]

On Fri,  1 May 2026 17:11:48 -0500
Chris Morgan <macroalpha82@gmail.com> wrote:

> From: Chris Morgan <macromorgan@hotmail.com>
> 
> Add gyroscope functions to the icm42607 driver.
> 
> Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
From a quick look, feedback will be near identical to the accelerometer
driver, so just check this for similar things to change.

Thanks,

Jonathan