From mboxrd@z Thu Jan 1 00:00:00 1970 Received: from mail-oo1-f53.google.com (mail-oo1-f53.google.com [209.85.161.53]) (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 C6D4F3D6CC9 for ; Wed, 22 Jul 2026 15:42:17 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=209.85.161.53 ARC-Seal:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1784734941; cv=none; b=gIBmw82MEb9yticxXIFJsRROLdJU9rlmW/493oNT6Lv4gZd0Z4SAX7TeVvJiH4nEXw/j/JGz2Q2RMiz4BcWpuBIp7PXxjTzbkGq6PQMQU39ojtYk5wEH8R5e99F9sMCM0OSLZyuKYjMI6b/YBvWrTkGaEulrQtMB0dxoue+YEqg= ARC-Message-Signature:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1784734941; c=relaxed/simple; bh=u8sqJFwDMCgRXeJu9/AxLtYBFuVF587TRulRfeDXXMY=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=FPSIJ4f11PXZYxW1ts0BHrcozXLZf5LQgVwTjR1qv2LIIKUt3XnfjawC6wKCSF9ZhzWOATs8T7rhW2Y02v1j1QwSaTXLtJWnq4cAa5+xFfqN462jzozSn52MhA3ZocxuXRpHkp2E06JbVpr4aH4TheVUE/0ysoEMO+dlyex3G2c= 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=K+gIGhjR; arc=none smtp.client-ip=209.85.161.53 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="K+gIGhjR" Received: by mail-oo1-f53.google.com with SMTP id 006d021491bc7-6a375ba035eso5063064eaf.3 for ; Wed, 22 Jul 2026 08:42:17 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20251104; t=1784734936; x=1785339736; 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:content-type; bh=X7cKInG3LvCx702WPltJ7pIgcjx5mq1L90Yz6/fhnzA=; b=K+gIGhjRITmBN3MD14iuXhJuS/fhe3GPHfRbmn8pTLqaBXpsnWzq2z1kMlW/VuzlX5 UWXt1iXITYBbwcwx1dbVNB32BGbNMwUuKoRJ/4ygnQAz0No+SswBDDs50Y3u1sDKUisl vm6C3/mID+XrUDymOry0yBgFgfINslIOI0EBMDwSuDYoMBm+FEaNuHsaoKPTLN+ppY5J hQFJ52yUhATuAtjPnwcv0mIvRPUrhHGU6QYEN4j65S7JQqMA34uToKcf9Zfs5eyU1Rbi 9qqkYSLUsoqJCZzH+qqYKU3UdJcxbHjAWorHwoMeeWmSozzJ1+SgZ43mPU06BbA0AnRW np6g== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20251104; t=1784734936; x=1785339736; 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:content-type; bh=X7cKInG3LvCx702WPltJ7pIgcjx5mq1L90Yz6/fhnzA=; b=JcTcXghyNLiIHrS9LaeDUH22IW121boJeWGCGQ29TCjTgTAI4S9zSbJi9YL5F8i1pm BvtpFpjo2P3Vv7h7ll8o6shgtFACnqIMjTkq6sCBhK7/duQ4QhcUt0OjrB7LwA/P7AYJ jn3J/7patiJFPEOACp1u3/ZZEZTX8ehuXaRj9MDyNa+0yF85ng9wpS3UekaWaEn5vQ2g mvTlNFsCiTSl4z1ZWjxm96/q//Qg4k1A5foidScy+54IoVX5DKNVyXdMcFO/kaMGwAIj vMgs/6WiZuMW2JvScbmryDtwyAlyp0Cr0RiB7URbtrbih9U4iBdHw4+OrvJOS/My06Ka St0g== X-Forwarded-Encrypted: i=1; AHgh+RoD6UG6RJHyZ4w9F8WjC5V0UL5mGsMlOYIpKe9lgA0XzSZ0al3C4mPWWfpP6ZKH7I9UrvSH8CrSKJjt@vger.kernel.org X-Gm-Message-State: AOJu0Yx7yBFzG/CwPtBRudRNM/5YyUSKBq3HU3GY8ML4/K5f9fYJvNRd g44T6PPfa+dUlhDEtSFgzO8Zs0uJJ9TOH+FRXEc3n8zYYJp3qeqChleE X-Gm-Gg: AR+sD11AoJ0fCXzLynAOIKz4l8U3eTwDhvZhTo1K738ChNqGGUp8xSt9jnQchc2otfA wBPMdxoKvqSdkLoGL4kIHmJyE7itVjyDk/1pD5b49gnavWrk825HHB4jAWa/C5Lw/9IVCdyVTQl NjO8u/A1nX+XOFmFFlFHf7EERqpBaDfZsAjWgHOpcLvomQfKpLVm/+KdI57FUYlSWQdtouc3sHf Of8BDx1FzjCNu+gRMSG4iM7Yf+24IXr3n87JRxvKYC9FWNKWe5PhFTEqMl1ldfKNQf+wRVzAehn aeC6svYblSAjV/A+7PLm5XTwm3ykyl47CO+dhV8ctxNXyNEgFcnUoY9+Q9idyBBLyS1IhUFutgS doKgkcO4dLkYUgqQseZhcFV1SOczCqcffqRCR5ziC4Nu5rlIoRumx3ZUStDu7Dx5M2biICA6hJ7 mP X-Received: by 2002:a05:6820:4c17:b0:6a3:98e9:c975 with SMTP id 006d021491bc7-6a5366d284bmr12054356eaf.4.1784734936130; Wed, 22 Jul 2026 08:42:16 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0::54]) by smtp.gmail.com with ESMTPSA id 006d021491bc7-6aac3a494d4sm1300804eaf.3.2026.07.22.08.42.14 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Wed, 22 Jul 2026 08:42:15 -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 V19 4/9] iio: imu: inv_icm42607: Add SPI For icm42607 Date: Wed, 22 Jul 2026 10:39:35 -0500 Message-ID: <20260722153942.144387-5-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260722153942.144387-1-macroalpha82@gmail.com> References: <20260722153942.144387-1-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 Reviewed-by: Andy Shevchenko --- drivers/iio/imu/inv_icm42607/Kconfig | 12 ++ drivers/iio/imu/inv_icm42607/Makefile | 3 + .../iio/imu/inv_icm42607/inv_icm42607_spi.c | 106 ++++++++++++++++++ 3 files changed, 121 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..eb04036a6712 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c @@ -0,0 +1,106 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#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, -ENODATA, "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