From: Kanak Shilledar <kanak.shilledar@axis.com>
To: "Henrik Grimler" <henrik.grimler@axis.com>,
"Jonathan Cameron" <jic23@kernel.org>,
"David Lechner" <dlechner@baylibre.com>,
"Nuno Sá" <nuno.sa@analog.com>,
"Andy Shevchenko" <andy@kernel.org>,
"Rob Herring" <robh@kernel.org>,
"Krzysztof Kozlowski" <krzk+dt@kernel.org>,
"Conor Dooley" <conor+dt@kernel.org>,
"Jean-Baptiste Maneyrol" <jean-baptiste.maneyrol@tdk.com>,
"Joshua Crofts" <joshua.crofts1@gmail.com>,
"Marcelo Schmitt" <marcelo.schmitt1@gmail.com>,
"Chris Morgan" <macromorgan@hotmail.com>
Cc: Kanak Shilledar <kanak.shilledar@axis.com>, <kernel@axis.com>,
<linux-iio@vger.kernel.org>, <devicetree@vger.kernel.org>,
<linux-kernel@vger.kernel.org>
Subject: [PATCH v6 3/6] iio: imu: inv_icm42607: Initialize gyro based on chip_info
Date: Fri, 9 Oct 2026 16:12:08 +0200 [thread overview]
Message-ID: <20261009-b4-inv_icm42370p-v6-3-e53884f185ff@axis.com> (raw)
In-Reply-To: <20261009-b4-inv_icm42370p-v6-0-e53884f185ff@axis.com>
Update the chip_info struct with a new `has_gyro` property to support,
devices which do not have gyro functionality. This is a precursor for
adding support for the Invensense, ICM-42370-P. It is similar to the
existing device except it only has accelerometer. Check all operations
related to gyro with the boolean.
Signed-off-by: Kanak Shilledar <kanak.shilledar@axis.com>
---
drivers/iio/imu/inv_icm42607/inv_icm42607.h | 1 +
drivers/iio/imu/inv_icm42607/inv_icm42607_core.c | 57 ++++++++++++++++--------
2 files changed, 39 insertions(+), 19 deletions(-)
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
index 4d51b0da1aa16..e4075288247b8 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -130,6 +130,7 @@ struct inv_icm42607_hw {
const char *name;
const struct inv_icm42607_conf *conf;
u8 whoami;
+ bool has_gyro;
};
/**
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
index 190e998f7b8ef..46274ecfa7b94 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -96,6 +96,7 @@ const struct inv_icm42607_hw inv_icm42607_hw_data = {
.whoami = INV_ICM42607_WHOAMI,
.name = "icm42607",
.conf = &inv_icm42607_default_conf,
+ .has_gyro = true,
};
EXPORT_SYMBOL_NS_GPL(inv_icm42607_hw_data, "IIO_ICM42607");
@@ -103,6 +104,7 @@ const struct inv_icm42607_hw inv_icm42607p_hw_data = {
.whoami = INV_ICM42607P_WHOAMI,
.name = "icm42607p",
.conf = &inv_icm42607_default_conf,
+ .has_gyro = true,
};
EXPORT_SYMBOL_NS_GPL(inv_icm42607p_hw_data, "IIO_ICM42607");
@@ -160,7 +162,11 @@ int inv_icm42607_get_pwr_mgmt0(struct inv_icm42607_state *st,
if (ret)
return ret;
- *gyro = FIELD_GET(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, val);
+ if (st->hw->has_gyro)
+ *gyro = FIELD_GET(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, val);
+ else
+ *gyro = INV_ICM42607_SENSOR_MODE_OFF;
+
*accel = FIELD_GET(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, val);
return 0;
@@ -176,6 +182,10 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
s64 disable_wait;
int ret;
+ /* Disable gyro if has_gyro is not set */
+ if (!st->hw->has_gyro)
+ gyro = INV_ICM42607_SENSOR_MODE_OFF;
+
ret = inv_icm42607_get_pwr_mgmt0(st, &oldgyro, &oldaccel);
if (ret)
return ret;
@@ -417,29 +427,37 @@ static int inv_icm42607_set_init_conf(struct inv_icm42607_state *st,
unsigned int val;
int ret;
- val = FIELD_PREP(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, conf->gyro.mode);
- val |= FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, conf->accel.mode);
+ if (st->hw->has_gyro)
+ val = FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, conf->accel.mode) |
+ FIELD_PREP(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, conf->gyro.mode);
+ else
+ val = FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, conf->accel.mode);
+
ret = regmap_write(st->map, INV_ICM42607_REG_PWR_MGMT0, val);
if (ret)
return ret;
- val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK, conf->gyro.fs);
- val |= FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_ODR_MASK, conf->gyro.odr);
- ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val);
- if (ret)
- return ret;
+ if (st->hw->has_gyro) {
+ val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK, conf->gyro.fs) |
+ FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_ODR_MASK, conf->gyro.odr);
+ ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val);
+ if (ret)
+ return ret;
+ }
- val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK, conf->accel.fs);
- val |= FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_ODR_MASK, conf->accel.odr);
+ val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK, conf->accel.fs) |
+ FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_ODR_MASK, conf->accel.odr);
ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val);
if (ret)
return ret;
- val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, conf->gyro.filter);
- ret = regmap_update_bits(st->map, INV_ICM42607_REG_GYRO_CONFIG1,
- INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, val);
- if (ret)
- return ret;
+ if (st->hw->has_gyro) {
+ val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, conf->gyro.filter);
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_GYRO_CONFIG1,
+ INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, val);
+ if (ret)
+ return ret;
+ }
val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK, conf->accel.filter);
ret = regmap_update_bits(st->map, INV_ICM42607_REG_ACCEL_CONFIG1,
@@ -635,10 +653,11 @@ int inv_icm42607_core_probe(struct regmap *regmap,
if (IS_ERR(st->indio_accel))
return PTR_ERR(st->indio_accel);
- /* Initialize IIO device for Gyro */
- st->indio_gyro = inv_icm42607_gyro_init(st);
- if (IS_ERR(st->indio_gyro))
- return PTR_ERR(st->indio_gyro);
+ if (st->hw->has_gyro) {
+ st->indio_gyro = inv_icm42607_gyro_init(st);
+ if (IS_ERR(st->indio_gyro))
+ return PTR_ERR(st->indio_gyro);
+ }
return 0;
}
--
2.43.0
next prev parent reply other threads:[~2026-10-09 14:12 UTC|newest]
Thread overview: 9+ messages / expand[flat|nested] mbox.gz Atom feed top
2026-10-09 14:12 [PATCH v6 0/6] Add support for InvenSense ICM-42370-P accelerometer Kanak Shilledar
2026-10-09 14:12 ` [PATCH v6 1/6] dt-bindings: iio: imu: icm42600: Add ICM-42670-P Kanak Shilledar
2026-10-09 14:12 ` [PATCH v6 2/6] iio: imu: inv_icm42607: Simplify IIO channel macros Kanak Shilledar
2026-10-09 14:12 ` Kanak Shilledar [this message]
2026-10-09 14:24 ` [PATCH v6 3/6] iio: imu: inv_icm42607: Initialize gyro based on chip_info sashiko-bot
2026-10-09 14:12 ` [PATCH v6 4/6] iio: imu: inv_icm42607: Add support for ICM-42370-P Kanak Shilledar
2026-10-09 14:12 ` [PATCH v6 5/6] iio: imu: inv_icm42607: Implement MREGx register access Kanak Shilledar
2026-10-09 14:24 ` sashiko-bot
2026-10-09 14:12 ` [PATCH v6 6/6] iio: imu: inv_icm42607: Add accelerometer calibbias support Kanak Shilledar
Reply instructions:
You may reply publicly to this message via plain-text email
using any one of the following methods:
* Save the following mbox file, import it into your mail client,
and reply-to-all from there: mbox
Avoid top-posting and favor interleaved quoting:
https://en.wikipedia.org/wiki/Posting_style#Interleaved_style
* Reply using the --to, --cc, and --in-reply-to
switches of git-send-email(1):
git send-email \
--in-reply-to=20261009-b4-inv_icm42370p-v6-3-e53884f185ff@axis.com \
--to=kanak.shilledar@axis.com \
--cc=andy@kernel.org \
--cc=conor+dt@kernel.org \
--cc=devicetree@vger.kernel.org \
--cc=dlechner@baylibre.com \
--cc=henrik.grimler@axis.com \
--cc=jean-baptiste.maneyrol@tdk.com \
--cc=jic23@kernel.org \
--cc=joshua.crofts1@gmail.com \
--cc=kernel@axis.com \
--cc=krzk+dt@kernel.org \
--cc=linux-iio@vger.kernel.org \
--cc=linux-kernel@vger.kernel.org \
--cc=macromorgan@hotmail.com \
--cc=marcelo.schmitt1@gmail.com \
--cc=nuno.sa@analog.com \
--cc=robh@kernel.org \
/path/to/YOUR_REPLY
https://kernel.org/pub/software/scm/git/docs/git-send-email.html
* If your mail client supports setting the In-Reply-To header
via mailto: links, try the mailto: link
Be sure your reply has a Subject: header at the top and a blank line
before the message body.
This is a public inbox, see mirroring instructions
for how to clone and mirror all data and code used for this inbox