[PATCH V12 4/9] iio: imu: inv_icm42607: Add SPI For icm42607

[Chris Morgan <macroalpha82@gmail.com>]

From: Chris Morgan <macromorgan@hotmail.com>

Add SPI driver support for InvenSense ICM-42607 devices.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
 drivers/iio/imu/inv_icm42607/Kconfig          |  12 ++
 drivers/iio/imu/inv_icm42607/Makefile         |   3 +
 .../iio/imu/inv_icm42607/inv_icm42607_spi.c   | 107 ++++++++++++++++++
 3 files changed, 122 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c

diff --git a/drivers/iio/imu/inv_icm42607/Kconfig b/drivers/iio/imu/inv_icm42607/Kconfig
index 083c212087ab..23f461f57afc 100644
--- a/drivers/iio/imu/inv_icm42607/Kconfig
+++ b/drivers/iio/imu/inv_icm42607/Kconfig
@@ -16,3 +16,15 @@ config INV_ICM42607_I2C
 
 	  This driver can be built as a module. The module will be called
 	  inv-icm42607-i2c.
+
+config INV_ICM42607_SPI
+	tristate "InvenSense ICM-42607 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
index 32046e2727d7..be109102e203 100644
--- a/drivers/iio/imu/inv_icm42607/Makefile
+++ b/drivers/iio/imu/inv_icm42607/Makefile
@@ -5,3 +5,6 @@ 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_spi.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
new file mode 100644
index 000000000000..0c8deb1f33e2
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
@@ -0,0 +1,107 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/bitfield.h>
+#include <linux/dev_printk.h>
+#include <linux/err.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+
+#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;
+
+	val = FIELD_PREP(INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK,
+			 INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS);
+	return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+				  INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK,
+				  val);
+}
+
+static int inv_icm42607_probe(struct spi_device *spi)
+{
+	const struct inv_icm42607_hw *hw;
+	struct device *dev = &spi->dev;
+	struct regmap *regmap;
+
+	hw = spi_get_device_match_data(spi);
+	if (!hw)
+		return dev_err_probe(dev, -ENODEV, "Failed to get SPI data\n");
+
+	if (spi->mode & SPI_3WIRE)
+		return dev_err_probe(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(dev, PTR_ERR(regmap),
+				     "Failed to register spi regmap\n");
+
+	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