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Tue, 28 Jul 2026 15:58:08 -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 V21 4/9] iio: imu: inv_icm42607: Add SPI For icm42607 Date: Tue, 28 Jul 2026 17:55:35 -0500 Message-ID: <20260728225542.174825-5-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260728225542.174825-1-macroalpha82@gmail.com> References: <20260728225542.174825-1-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