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Mon, 13 Jul 2026 15:01:10 -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 v16 06/10] iio: imu: inv_icm42607: Add PM support for icm42607 Date: Mon, 13 Jul 2026 16:58:36 -0500 Message-ID: <20260713215842.69097-7-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260713215842.69097-1-macroalpha82@gmail.com> References: <20260713215842.69097-1-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 power management support for the ICM42607 device driver. Signed-off-by: Chris Morgan --- drivers/iio/imu/inv_icm42607/inv_icm42607.h | 21 +++ .../iio/imu/inv_icm42607/inv_icm42607_core.c | 165 ++++++++++++++++++ .../iio/imu/inv_icm42607/inv_icm42607_i2c.c | 1 + .../iio/imu/inv_icm42607/inv_icm42607_spi.c | 1 + 4 files changed, 188 insertions(+) diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h index 169e848caf2e..cb6369cc1bfc 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -9,6 +9,7 @@ #include #include #include +#include #include #include #include @@ -119,12 +120,19 @@ struct inv_icm42607_hw { u8 whoami; }; +struct inv_icm42607_suspended { + enum inv_icm42607_sensor_mode gyro; + enum inv_icm42607_sensor_mode accel; +}; + /** * struct inv_icm42607_state - driver state variables * @hw: Hardware specific data. * @lock: lock for serializing multiple registers access. * @map: regmap pointer. * @vddio_supply: I/O voltage regulator for the chip. + * @vddio_en: I/O voltage status for runtime PM. + * @suspended: suspended sensors configuration. * @conf: chip sensors configurations. * @orientation: sensor chip orientation relative to main hardware. */ @@ -133,6 +141,8 @@ struct inv_icm42607_state { struct mutex lock; struct regmap *map; struct regulator *vddio_supply; + bool vddio_en; + struct inv_icm42607_suspended suspended; struct inv_icm42607_conf conf; struct iio_mount_matrix orientation; }; @@ -352,11 +362,22 @@ struct inv_icm42607_state { #define INV_ICM42607_GYRO_STOP_TIME_US (45 * USEC_PER_MSEC) #define INV_ICM42607_TEMP_STARTUP_TIME_US 77 +/* + * Suspend delay assumed from other icm42600 series device, not + * documented in datasheet. + */ +#define INV_ICM42607_SUSPEND_DELAY_MS (2 * MSEC_PER_SEC) + typedef int (*inv_icm42607_bus_setup)(struct inv_icm42607_state *); extern const struct regmap_config inv_icm42607_regmap_config; 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; + +int inv_icm42607_get_pwr_mgmt0(struct inv_icm42607_state *st, + enum inv_icm42607_sensor_mode *gyro, + enum inv_icm42607_sensor_mode *accel); int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw, diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index b90e578c3fb2..303a6a0b1b21 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -4,16 +4,20 @@ */ #include +#include #include #include #include #include #include +#include #include #include +#include #include #include #include +#include #include #include "inv_icm42607.h" @@ -102,6 +106,90 @@ const struct inv_icm42607_hw inv_icm42607p_hw_data = { }; EXPORT_SYMBOL_NS_GPL(inv_icm42607p_hw_data, "IIO_ICM42607"); +int inv_icm42607_get_pwr_mgmt0(struct inv_icm42607_state *st, + enum inv_icm42607_sensor_mode *gyro, + enum inv_icm42607_sensor_mode *accel) +{ + unsigned int val; + int ret; + + ret = regmap_read(st->map, INV_ICM42607_REG_PWR_MGMT0, &val); + if (ret) + return ret; + + *gyro = FIELD_GET(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, val); + *accel = FIELD_GET(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, val); + + return 0; +} + +static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, + enum inv_icm42607_sensor_mode gyro, + enum inv_icm42607_sensor_mode accel) +{ + unsigned int oldaccel, oldgyro; + unsigned int sleepval_us; + unsigned int val; + s64 disable_wait; + int ret; + + ret = inv_icm42607_get_pwr_mgmt0(st, &oldgyro, &oldaccel); + if (ret) + return ret; + + if (gyro == oldgyro && accel == oldaccel) + return 0; + + /* + * Datasheet on page 14.26 says we need to ensure the gyro sensor is on + * for a minimum of 45ms. So if we transition from an on state to an + * off state make sure at least 45ms have passed before power off and + * wait if it hasn't. + */ + if (!gyro && oldgyro) { + disable_wait = ktime_us_delta(st->conf.gyro_stop, ktime_get()); + disable_wait = clamp(disable_wait, + 0, INV_ICM42607_GYRO_STOP_TIME_US); + fsleep(disable_wait); + } + + val = FIELD_PREP(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, gyro) | + FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, accel); + ret = regmap_write(st->map, INV_ICM42607_REG_PWR_MGMT0, val); + if (ret) + return ret; + + /* + * If a state change occurs from off to on, sleep for the startup + * time of the sensor, unless a sleep_ms is specified. Since more + * than one sensor can be transitioned from off to on, select the + * maximum time from each of the sensors changing from off to on. + * The startup time for the temp sensor is considerably smaller + * than the startup time for the other sensors and one or more are + * required to be on for the temp sensor to function, so any start + * delay should be enough. + */ + sleepval_us = 0; + if (accel && !oldaccel) + sleepval_us = max(sleepval_us, INV_ICM42607_ACCEL_STARTUP_TIME_US); + + if (gyro && !oldgyro) { + sleepval_us = max(sleepval_us, INV_ICM42607_GYRO_STARTUP_TIME_US); + /* Track the earliest we can turn off the gyroscope. */ + st->conf.gyro_stop = ktime_add_us(ktime_get(), + INV_ICM42607_GYRO_STOP_TIME_US); + } + + /* Only sleep if sleepval_us is greater than 0 in case some + * platforms have issues with a 0 delay. The 0 delay can happen + * if one or both sensors is shut down. + */ + if (sleepval_us > 0) + fsleep(sleepval_us); + + return 0; +} + static int inv_icm42607_set_init_conf(struct inv_icm42607_state *st, const struct inv_icm42607_conf *conf) { @@ -214,12 +302,17 @@ static int inv_icm42607_enable_vddio_reg(struct inv_icm42607_state *st) { int ret; + if (st->vddio_en) + return 0; + ret = regulator_enable(st->vddio_supply); if (ret) return ret; fsleep(INV_ICM42607_POWER_UP_TIME_US); + st->vddio_en = true; + return 0; } @@ -227,7 +320,12 @@ static void inv_icm42607_disable_vddio_reg(void *_data) { struct inv_icm42607_state *st = _data; + if (!st->vddio_en) + return; + regulator_disable(st->vddio_supply); + + st->vddio_en = false; } int inv_icm42607_core_probe(struct regmap *regmap, @@ -242,6 +340,8 @@ int inv_icm42607_core_probe(struct regmap *regmap, if (!st) return -ENOMEM; + dev_set_drvdata(dev, st); + ret = devm_mutex_init(dev, &st->lock); if (ret) return ret; @@ -277,10 +377,75 @@ int inv_icm42607_core_probe(struct regmap *regmap, 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"); +static int inv_icm42607_suspend(struct device *dev) +{ + struct inv_icm42607_state *st = dev_get_drvdata(dev); + int ret; + + ret = pm_runtime_force_suspend(dev); + if (ret) + return ret; + + inv_icm42607_disable_vddio_reg(st); + + return 0; +} + +static int inv_icm42607_resume(struct device *dev) +{ + struct inv_icm42607_state *st = dev_get_drvdata(dev); + int ret; + + ret = inv_icm42607_enable_vddio_reg(st); + if (ret) + return ret; + + return pm_runtime_force_resume(dev); +} + +static int inv_icm42607_runtime_suspend(struct device *dev) +{ + struct inv_icm42607_state *st = dev_get_drvdata(dev); + + guard(mutex)(&st->lock); + + /* save sensors state */ + st->suspended.gyro = st->conf.gyro.mode; + st->suspended.accel = st->conf.accel.mode; + + return inv_icm42607_set_pwr_mgmt0(st, INV_ICM42607_SENSOR_MODE_OFF, + INV_ICM42607_SENSOR_MODE_OFF); +} + +static int inv_icm42607_runtime_resume(struct device *dev) +{ + struct inv_icm42607_state *st = dev_get_drvdata(dev); + + guard(mutex)(&st->lock); + + /* restore sensors state */ + return inv_icm42607_set_pwr_mgmt0(st, st->suspended.gyro, + st->suspended.accel); +} + +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-42607 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 87524e05c3fe..02f4e46caf69 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c @@ -84,6 +84,7 @@ 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 6072ed7adc86..137cd34582d8 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c @@ -95,6 +95,7 @@ static struct spi_driver inv_icm42607_driver = { .driver = { .name = "inv-icm42607-spi", .of_match_table = inv_icm42607_of_matches, + .pm = pm_ptr(&inv_icm42607_pm_ops), }, .id_table = inv_icm42607_spi_id_table, .probe = inv_icm42607_probe, -- 2.43.0