From mboxrd@z Thu Jan 1 00:00:00 1970 Received: from mail-oa1-f48.google.com (mail-oa1-f48.google.com [209.85.160.48]) (using TLSv1.2 with cipher ECDHE-RSA-AES128-GCM-SHA256 (128/128 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id 6904C32E72F for ; Wed, 24 Jun 2026 18:32:51 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=209.85.160.48 ARC-Seal:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1782325972; cv=none; b=MjprlIFoDJLlFXB9j0dXkXXTKuJmchLYVs9QpC0LaIDRTrnXQdntprKym7kIjg6/aDfd9BxlTfgP5N817hrJBp2SelNlLL0Z9rSQmShRTuzuBsog1+c09SMqzYwNrfQdnWL8GFh70O0E9i0OBBblPormhxubjFThUOIEyRQrbqg= ARC-Message-Signature:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1782325972; c=relaxed/simple; bh=7hJ+FTl6h+6fyNcy5OF/K7CW2W/fE3cMOF+DresIZGY=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=hXiUnipGaSGTi1zZnxhI9N4aeYG0JFX+TKA1KF7s7DGcUTANC/CVqk+h2HTbAJqWsApyqmRXOPiM4VXhVoV3ftLo7JG6i2rAddalMNUqiU82iAlE36jo+rF4OsK7SddJ8S6/j4H1ge0pq5cgm7csdISx3LqqmAK0PBd8zUcUTSc= ARC-Authentication-Results:i=1; smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gmail.com; spf=pass smtp.mailfrom=gmail.com; dkim=pass (2048-bit key) header.d=gmail.com header.i=@gmail.com header.b=AHwJC7QW; arc=none smtp.client-ip=209.85.160.48 Authentication-Results: smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gmail.com Authentication-Results: smtp.subspace.kernel.org; spf=pass smtp.mailfrom=gmail.com Authentication-Results: smtp.subspace.kernel.org; dkim=pass (2048-bit key) header.d=gmail.com header.i=@gmail.com header.b="AHwJC7QW" Received: by mail-oa1-f48.google.com with SMTP id 586e51a60fabf-44793168d3bso1070495fac.0 for ; Wed, 24 Jun 2026 11:32:51 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20251104; t=1782325970; x=1782930770; darn=vger.kernel.org; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:from:to:cc:subject:date :message-id:reply-to; bh=MdGvXpxhZV3aMifO6F6NzYEcuT1/loZxmdAdWZDr/EU=; b=AHwJC7QWuuXuAKs4/sPJN2/gNttUMxSXof01v3yH+FNEG2R9rCaf3Os9uG9O2JUlLm BPUWYTf3npgF/DIo8d+znt99LbTeRF4i/FrrY3kM7zdMUMNfwyNh3J4BCkzGiVIBTZ+N M5yemAeMe5dme3jLf8nY65ysbXR9cZ2H+RP+8gQd/Or/PWPnHHFLaXxHMRY2sJzpC4Py 9kAD0ftbmvPbrEfGpGa2UQQ8Tu67BYiS9dm/TzGSoV3SAG/JRk/U1iRqHgOVE2Fx0V2g I0CvJieGa+7t5347gfPNHIlSL2uXFP/XmKkp6AVy4Hnd9ZlLGZsaskeQUvzsZsQnMlM6 KgBQ== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20251104; t=1782325970; x=1782930770; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:x-gm-gg:x-gm-message-state:from :to:cc:subject:date:message-id:reply-to; bh=MdGvXpxhZV3aMifO6F6NzYEcuT1/loZxmdAdWZDr/EU=; b=mgkcfGIOA4WN9FurwKBDerutZ1DjumhftD7GNO14eQUAcNiJourIbZOw6259n0KaNU lMZ4tzwjIjd2F3IgxmzDx9Opw9csnH2HYx6oOGCogCJE9mW9z1myDC8rQ47/w+6vHh56 /OaxTF0oy8xZVfXzJCsS2eWvlraHwIXby/na8JJG9Fs91whdkZD7ksjX0Qwgh6PVYtt1 IfCqdxdc5Q29Ogsta9UK9xluAeDrN0uSDs01BSJB5RJWFFZEjYeQfnIFGjRIiCi2U63E QCW68SAjgu5HEQZmind8IclM49OJBU9UqaVJZZ38cIXosuRNSNCeV86kLBUoN+oUHGBy YKTw== X-Forwarded-Encrypted: i=1; AHgh+Rpgs1HS1soexDWzwGw1Uguf39w7ivEE5q94WAzrq/SuuJPpuWH/yohuCyyziqtzGpSmFsC/GZoaVa0E@vger.kernel.org X-Gm-Message-State: AOJu0YzsZyPV09GH/H56zUs18sohf7iIW/BnkGHLBlyCPJtJpJETtq0p c43u9IOHgANA65LBJ9GROt4bOiTlWHpbVwv5yJzNyGRQlxq0XkxtLj7b X-Gm-Gg: AfdE7cks6ABckbw7LqO4eJxBnwWZQJtKSwlXZhO3JZgZtT/rycWej1awHFABURXR4Vo Ey8zrwxWBqYO6ZmgLbnOIiG3SGtRocg/i36s1vTsCD66bjx9+UHxi0TtRbIInkbfzHWhgkn9Bbw RGUTFTjerww4SRXcdyzCZkbX3taMOllyU+XdRAEdFQR2EM/xjrsjy3LNlHh0MfkOdydl/CHrrJj fFOjyMiti740SaL65r+EX3vLPfRmd0utpxu1Tm1diJZmtvpj3O8i8fqYBEbrVY/RpsVlbP/st5u 8mYLJ1bBtAD2of7O6a52fqXDNFACS3gRBv7Oef9FfcF/7w+QCCQWkhuSvqGRGq1PiisCf8f0YeP KzaTrcUEfcyR9OkDuyj7bvw1gOkw/bvx3AG7S7sMY3YArDNY10XFY1UpVxAUcSDOlZmAALopOBh Jwcj79SwPVDhg= X-Received: by 2002:a05:6870:8254:b0:43b:4d09:5bab with SMTP id 586e51a60fabf-44732105f4fmr16336868fac.4.1782325970370; Wed, 24 Jun 2026 11:32:50 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0::54]) by smtp.gmail.com with ESMTPSA id 586e51a60fabf-4472f042517sm9968060fac.13.2026.06.24.11.32.49 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Wed, 24 Jun 2026 11:32:50 -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 V14 4/9] iio: imu: inv_icm42607: Add SPI For icm42607 Date: Wed, 24 Jun 2026 13:23:43 -0500 Message-ID: <20260624182350.50467-5-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260624182350.50467-1-macroalpha82@gmail.com> References: <20260624182350.50467-1-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 SPI driver support for InvenSense ICM-42607 devices. Signed-off-by: Chris Morgan --- 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..6072ed7adc86 --- /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 +#include +#include +#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; + + 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-42607 SPI driver"); +MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS("IIO_ICM42607"); -- 2.43.0