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Wed, 10 Jun 2026 10:57:27 -0700 (PDT) From: Chris Morgan To: linux-iio@vger.kernel.org Cc: andy@kernel.org, nuno.sa@analog.com, dlechner@baylibre.com, jic23@kernel.org, jean-baptiste.maneyrol@tdk.com, linux-rockchip@lists.infradead.org, devicetree@vger.kernel.org, heiko@sntech.de, conor+dt@kernel.org, krzk+dt@kernel.org, robh@kernel.org, andriy.shevchenko@intel.com, Chris Morgan Subject: [PATCH V11 4/9] iio: imu: inv_icm42607: Add I2C and SPI For icm42607 Date: Wed, 10 Jun 2026 12:54:48 -0500 Message-ID: <20260610175455.19006-5-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260610175455.19006-1-macroalpha82@gmail.com> References: <20260610175455.19006-1-macroalpha82@gmail.com> Precedence: bulk X-Mailing-List: devicetree@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: 8bit From: Chris Morgan Add I2C and SPI driver support for InvenSense ICM-42607 devices. Add necessary Kconfig and Makefile to allow building of (incomplete) driver. Signed-off-by: Chris Morgan --- drivers/iio/imu/Kconfig | 1 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/inv_icm42607/Kconfig | 30 +++++ drivers/iio/imu/inv_icm42607/Makefile | 10 ++ drivers/iio/imu/inv_icm42607/inv_icm42607.h | 16 +++ .../iio/imu/inv_icm42607/inv_icm42607_core.c | 57 ++++++++++ .../iio/imu/inv_icm42607/inv_icm42607_i2c.c | 92 ++++++++++++++++ .../iio/imu/inv_icm42607/inv_icm42607_spi.c | 104 ++++++++++++++++++ 8 files changed, 311 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 716fc0f1c3fd..743a15fb1b89 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -12,6 +12,22 @@ #include #include +/* + * Serial bus slew rates. Rates are expressed as range between the two + * values with the midpoint as the typical rate. For the final value of + * 2ns, 2ns is considered the max value with no expressed minimum or + * typical value. + */ +enum inv_icm42607_slew_rate { + INV_ICM42607_SLEW_RATE_20_60NS = 0, + INV_ICM42607_SLEW_RATE_12_36NS = 1, + INV_ICM42607_SLEW_RATE_6_19NS = 2, + INV_ICM42607_SLEW_RATE_4_14NS = 3, + INV_ICM42607_SLEW_RATE_2_6NS = 4, + INV_ICM42607_SLEW_RATE_2NS = 5, + INV_ICM42607_SLEW_RATE_NB +}; + enum inv_icm42607_sensor_mode { INV_ICM42607_SENSOR_MODE_OFF = 0, INV_ICM42607_SENSOR_MODE_STANDBY = 1, diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index 334264120b42..26dc09bbeaed 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -14,6 +14,63 @@ #include "inv_icm42607.h" +static bool inv_icm42607_is_volatile_reg(struct device *dev, unsigned int reg) +{ + switch (reg) { + case INV_ICM42607_REG_MCLK_RDY: + case INV_ICM42607_REG_SIGNAL_PATH_RESET: + case INV_ICM42607_REG_TEMP_DATA1 ... INV_ICM42607_REG_APEX_DATA5: + case INV_ICM42607_REG_APEX_CONFIG0: + case INV_ICM42607_REG_FIFO_CONFIG2 ... INV_ICM42607_REG_FIFO_CONFIG3: + case INV_ICM42607_REG_FIFO_LOST_PKT0 ... INV_ICM42607_REG_APEX_DATA3: + case INV_ICM42607_REG_INT_STATUS_DRDY: + case INV_ICM42607_REG_INT_STATUS ... INV_ICM42607_REG_FIFO_DATA: + return true; + } + + return false; +} + +const struct regmap_config inv_icm42607_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + .max_register = INV_ICM42607_REG_WHOAMI, + .cache_type = REGCACHE_MAPLE, + .volatile_reg = inv_icm42607_is_volatile_reg, +}; +EXPORT_SYMBOL_NS_GPL(inv_icm42607_regmap_config, "IIO_ICM42607"); + +/* 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, +}; + +const struct inv_icm42607_hw inv_icm42607_hw_data = { + .whoami = INV_ICM42607_WHOAMI, + .name = "icm42607", + .conf = &inv_icm42607_default_conf, +}; +EXPORT_SYMBOL_NS_GPL(inv_icm42607_hw_data, "IIO_ICM42607"); + +const struct inv_icm42607_hw inv_icm42607p_hw_data = { + .whoami = INV_ICM42607P_WHOAMI, + .name = "icm42607p", + .conf = &inv_icm42607_default_conf, +}; +EXPORT_SYMBOL_NS_GPL(inv_icm42607p_hw_data, "IIO_ICM42607"); + static int inv_icm42607_set_conf(struct inv_icm42607_state *st, const struct inv_icm42607_conf *conf) { 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..2946d5465853 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c @@ -0,0 +1,92 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include + +#include "inv_icm42607.h" + +static int inv_icm42607_i2c_bus_setup(struct inv_icm42607_state *st) +{ + unsigned int val; + int ret; + + ret = regmap_clear_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1, + INV_ICM42607_INTF_CONFIG1_I3C_DDR_EN | + INV_ICM42607_INTF_CONFIG1_I3C_SDR_EN); + if (ret) + return ret; + + val = FIELD_PREP(INV_ICM42607_DRIVE_CONFIG2_I2C_MASK, + INV_ICM42607_SLEW_RATE_12_36NS); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG2, + INV_ICM42607_DRIVE_CONFIG2_I2C_MASK, val); + if (ret) + return ret; + + return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0, + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_SPI_DIS); +} + +static int inv_icm42607_probe(struct i2c_client *client) +{ + const struct inv_icm42607_hw *hw; + struct regmap *regmap; + + hw = i2c_get_match_data(client); + if (!hw) + return dev_err_probe(&client->dev, -ENODEV, + "Failed to get i2c data\n"); + + regmap = devm_regmap_init_i2c(client, &inv_icm42607_regmap_config); + if (IS_ERR(regmap)) + return dev_err_probe(&client->dev, PTR_ERR(regmap), + "Failed to register i2c regmap %ld\n", + PTR_ERR(regmap)); + + return inv_icm42607_core_probe(regmap, hw, inv_icm42607_i2c_bus_setup); +} + +static const struct i2c_device_id inv_icm42607_id[] = { + { + .name = "icm42607", + .driver_data = (kernel_ulong_t)&inv_icm42607_hw_data + }, { + .name = "icm42607p", + .driver_data = (kernel_ulong_t)&inv_icm42607p_hw_data + }, + { } +}; +MODULE_DEVICE_TABLE(i2c, inv_icm42607_id); + +static const struct of_device_id inv_icm42607_of_matches[] = { + { + .compatible = "invensense,icm42607", + .data = &inv_icm42607_hw_data, + }, { + .compatible = "invensense,icm42607p", + .data = &inv_icm42607p_hw_data, + }, + { } +}; +MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches); + +static struct 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..3485777ac5b6 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c @@ -0,0 +1,104 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include + +#include "inv_icm42607.h" + +static int inv_icm42607_spi_bus_setup(struct inv_icm42607_state *st) +{ + unsigned int val; + int ret; + + /* Only support 4-wire mode for now. */ + ret = regmap_set_bits(st->map, INV_ICM42607_REG_DEVICE_CONFIG, + INV_ICM42607_DEVICE_CONFIG_SPI_AP_4WIRE); + if (ret) + return ret; + + ret = regmap_clear_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1, + INV_ICM42607_INTF_CONFIG1_I3C_DDR_EN | + INV_ICM42607_INTF_CONFIG1_I3C_SDR_EN); + if (ret) + return ret; + + val = FIELD_PREP(INV_ICM42607_DRIVE_CONFIG3_SPI_MASK, + INV_ICM42607_SLEW_RATE_2NS); + ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG3, + INV_ICM42607_DRIVE_CONFIG3_SPI_MASK, val); + if (ret) + return ret; + + 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 struct inv_icm42607_hw *hw; + struct regmap *regmap; + + hw = spi_get_device_match_data(spi); + if (!hw) + return dev_err_probe(&spi->dev, -ENODEV, + "Failed to get SPI data\n"); + + if (spi->mode & SPI_3WIRE) + return dev_err_probe(&spi->dev, -ENODEV, + "SPI 3-wire mode not supported\n"); + + regmap = devm_regmap_init_spi(spi, &inv_icm42607_regmap_config); + if (IS_ERR(regmap)) + return dev_err_probe(&spi->dev, PTR_ERR(regmap), + "Failed to register spi regmap %ld\n", + PTR_ERR(regmap)); + + return inv_icm42607_core_probe(regmap, hw, + inv_icm42607_spi_bus_setup); +} + +static const struct spi_device_id inv_icm42607_spi_id_table[] = { + { + .name = "icm42607", + .driver_data = (kernel_ulong_t)&inv_icm42607_hw_data + }, { + .name = "icm42607p", + .driver_data = (kernel_ulong_t)&inv_icm42607p_hw_data + }, + { } +}; +MODULE_DEVICE_TABLE(spi, inv_icm42607_spi_id_table); + +static const struct of_device_id inv_icm42607_of_matches[] = { + { + .compatible = "invensense,icm42607", + .data = &inv_icm42607_hw_data, + }, + { + .compatible = "invensense,icm42607p", + .data = &inv_icm42607p_hw_data, + }, + { } +}; +MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches); + +static struct spi_driver inv_icm42607_driver = { + .driver = { + .name = "inv-icm42607-spi", + .of_match_table = inv_icm42607_of_matches, + }, + .id_table = inv_icm42607_spi_id_table, + .probe = inv_icm42607_probe, +}; +module_spi_driver(inv_icm42607_driver); + +MODULE_AUTHOR("InvenSense, Inc."); +MODULE_DESCRIPTION("InvenSense ICM-42607x SPI driver"); +MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS("IIO_ICM42607"); -- 2.43.0