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Wed, 10 Jun 2026 10:57:30 -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 7/9] iio: imu: inv_icm42607: Add Accelerometer for icm42607 Date: Wed, 10 Jun 2026 12:54:51 -0500 Message-ID: <20260610175455.19006-8-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 icm42607 accelerometer sensor for icm42607. Signed-off-by: Chris Morgan --- drivers/iio/imu/inv_icm42607/Makefile | 1 + drivers/iio/imu/inv_icm42607/inv_icm42607.h | 34 ++ .../iio/imu/inv_icm42607/inv_icm42607_accel.c | 379 ++++++++++++++++++ .../iio/imu/inv_icm42607/inv_icm42607_core.c | 61 +++ 4 files changed, 475 insertions(+) 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 c04953ed42ce..d74b23b1e1be 100644 --- a/drivers/iio/imu/inv_icm42607/Makefile +++ b/drivers/iio/imu/inv_icm42607/Makefile @@ -2,6 +2,7 @@ obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o inv-icm42607-y += inv_icm42607_core.o +inv-icm42607-y += inv_icm42607_accel.o inv-icm42607-y += inv_icm42607_temp.o obj-$(CONFIG_INV_ICM42607_I2C) += 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 1246a92edffc..52f047d96eb4 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -84,6 +84,17 @@ enum inv_icm42607_filter_bw { INV_ICM42607_FILTER_BW_NB }; +/* Low-Power mode sensor data filter (averaging) */ +enum inv_icm42607_filter_avg { + INV_ICM42607_FILTER_AVG_2X = 0, + INV_ICM42607_FILTER_AVG_4X = 1, + INV_ICM42607_FILTER_AVG_8X = 2, + INV_ICM42607_FILTER_AVG_16X = 3, + INV_ICM42607_FILTER_AVG_32X = 4, + INV_ICM42607_FILTER_AVG_64X = 5, + /* values 6 and 7 also correspond to 64x. */ +}; + /* Signed so that negative values can signify an invalid condition. */ struct inv_icm42607_sensor_conf { int mode; @@ -91,6 +102,7 @@ struct inv_icm42607_sensor_conf { int odr; int filter; }; +#define INV_ICM42607_SENSOR_CONF_INIT { -1, -1, -1, -1 } struct inv_icm42607_conf { struct inv_icm42607_sensor_conf gyro; @@ -120,6 +132,7 @@ struct inv_icm42607_suspended { * @orientation: sensor chip orientation relative to main hardware. * @conf: chip sensors configurations. * @suspended: suspended sensors configuration. + * @indio_accel: accelerometer IIO device. * @buffer: data transfer buffer aligned for DMA. */ struct inv_icm42607_state { @@ -131,9 +144,20 @@ struct inv_icm42607_state { struct iio_mount_matrix orientation; struct inv_icm42607_conf conf; struct inv_icm42607_suspended suspended; + struct iio_dev *indio_accel; __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. + */ +struct inv_icm42607_sensor_state { + enum inv_icm42607_sensor_mode power_mode; + int filter; +}; + /* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */ /* Register Map for User Bank 0 */ @@ -363,6 +387,14 @@ extern const struct inv_icm42607_hw inv_icm42607_hw_data; extern const struct inv_icm42607_hw inv_icm42607p_hw_data; 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); + +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); @@ -370,4 +402,6 @@ int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw, inv_icm42607_bus_setup bus_setup); +struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st); + #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..cb60bb5ecc14 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c @@ -0,0 +1,379 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include + +#include "inv_icm42607.h" +#include "inv_icm42607_temp.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, \ +} + +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, +}; + +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), + { } +}; + +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), +}; + +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); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + 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 = &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) + return -EINVAL; + + return 0; +} + +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; + + guard(mutex)(&st->lock); + + 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_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + size_t scales_len = ARRAY_SIZE(inv_icm42607_accel_scale_nano); + struct device *dev = regmap_get_device(st->map); + unsigned int idx; + int ret; + + 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); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_accel_conf(st, &conf, NULL); +} + +/* IIO format int + micro , values 0-5 reserved. */ +static const int inv_icm42607_accel_odr[][2] = { + [INV_ICM42607_ODR_1_5625HZ_LP] = { 1, 562500 }, + [INV_ICM42607_ODR_3_125HZ_LP] = { 3, 125000 }, + [INV_ICM42607_ODR_6_25HZ_LP] = { 6, 250000 }, + [INV_ICM42607_ODR_12_5HZ] = { 12, 500000 }, + [INV_ICM42607_ODR_25HZ] = { 25, 0 }, + [INV_ICM42607_ODR_50HZ] = { 50, 0 }, + [INV_ICM42607_ODR_100HZ] = { 100, 0 }, + [INV_ICM42607_ODR_200HZ] = { 200, 0 }, + [INV_ICM42607_ODR_400HZ] = { 400, 0 }, + [INV_ICM42607_ODR_800HZ] = { 800, 0 }, + [INV_ICM42607_ODR_1600HZ] = { 1600, 0 } +}; + +static int inv_icm42607_accel_read_odr(struct inv_icm42607_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + guard(mutex)(&st->lock); + + odr = st->conf.accel.odr; + + for (i = 5; i < ARRAY_SIZE(inv_icm42607_accel_odr); ++i) { + if (i == odr) + break; + } + if (i >= ARRAY_SIZE(inv_icm42607_accel_odr)) + return -EINVAL; + + *val = inv_icm42607_accel_odr[i][0]; + *val2 = inv_icm42607_accel_odr[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 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 = 5; idx < ARRAY_SIZE(inv_icm42607_accel_odr); ++idx) { + if (val == inv_icm42607_accel_odr[idx][0] && + val2 == inv_icm42607_accel_odr[idx][1]) + break; + } + if (idx >= ARRAY_SIZE(inv_icm42607_accel_odr)) + return -EINVAL; + + conf.odr = idx; + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + ret = inv_icm42607_set_accel_conf(st, &conf, NULL); + if (ret) + return ret; + + return 0; +} + +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_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, + int *type, int *length, long mask) +{ + if (chan->type != IIO_ACCEL) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + *vals = (const int *)inv_icm42607_accel_scale_nano; + *type = IIO_VAL_INT_PLUS_NANO; + *length = ARRAY_SIZE(inv_icm42607_accel_scale_nano) * 2; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *vals = (const int *)inv_icm42607_accel_odr[5]; + *type = IIO_VAL_INT_PLUS_MICRO; + *length = (ARRAY_SIZE(inv_icm42607_accel_odr) - 5) * 2; + return IIO_AVAIL_LIST; + 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 const struct iio_info inv_icm42607_accel_info = { + .read_raw = inv_icm42607_accel_read_raw, + .read_avail = inv_icm42607_accel_read_avail, + .write_raw = inv_icm42607_accel_write_raw, + .write_raw_get_fmt = inv_icm42607_accel_write_raw_get_fmt, +}; + +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 iio_dev *indio_dev; + int ret; + + name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->hw->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_NOISE; + accel_st->filter = INV_ICM42607_FILTER_BW_73HZ; + + 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_dev->channels = inv_icm42607_accel_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_accel_channels); + + ret = devm_iio_device_register(dev, indio_dev); + if (ret) + return ERR_PTR(ret); + + return indio_dev; +} diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index 88e3a064434b..96e170b10aa4 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -72,6 +72,15 @@ const struct inv_icm42607_hw inv_icm42607p_hw_data = { }; EXPORT_SYMBOL_NS_GPL(inv_icm42607p_hw_data, "IIO_ICM42607"); +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; +} + static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, enum inv_icm42607_sensor_mode gyro, enum inv_icm42607_sensor_mode accel, @@ -117,6 +126,53 @@ 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) { @@ -327,6 +383,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, pm_runtime_set_autosuspend_delay(dev, INV_ICM42607_SUSPEND_DELAY_MS); pm_runtime_use_autosuspend(dev); + /* 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); + return 0; } EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607"); -- 2.43.0