* [PATCH 0/3] Add Invensense ICM42607
@ 2026-02-24 16:31 Chris Morgan
2026-02-24 16:31 ` [PATCH 1/3] dt-bindings: iio: imu: icm42607: Add devicetree binding Chris Morgan
` (3 more replies)
0 siblings, 4 replies; 12+ messages in thread
From: Chris Morgan @ 2026-02-24 16:31 UTC (permalink / raw)
To: linux-iio
Cc: andy, nuno.sa, dlechner, jic23, jean-baptiste.maneyrol,
linux-rockchip, devicetree, heiko, conor+dt, krzk+dt, robh,
Chris Morgan
From: Chris Morgan <macromorgan@hotmail.com>
Add support for the ICM42607 IMU. This sensor shares the same
functionality but a different register layout with the existing
ICM42600.
This driver should work with the ICM42607 and ICM42607P over both I2C
and SPI, however only the ICM42607P over I2C could be tested.
Chris Morgan (3):
dt-bindings: iio: imu: icm42607: Add devicetree binding
iio: imu: inv_icm42607: add new inv_icm42607 driver
arm64: dts: rockchip: Add icm42607p IMU for RG-DS
.../bindings/iio/imu/invensense,icm42607.yaml | 92 ++
.../dts/rockchip/rk3568-anbernic-rg-ds.dts | 20 +-
drivers/iio/imu/Kconfig | 1 +
drivers/iio/imu/Makefile | 1 +
drivers/iio/imu/inv_icm42607/Kconfig | 30 +
drivers/iio/imu/inv_icm42607/Makefile | 14 +
drivers/iio/imu/inv_icm42607/inv_icm42607.h | 472 ++++++++
.../iio/imu/inv_icm42607/inv_icm42607_accel.c | 1025 +++++++++++++++++
.../imu/inv_icm42607/inv_icm42607_buffer.c | 566 +++++++++
.../imu/inv_icm42607/inv_icm42607_buffer.h | 100 ++
.../iio/imu/inv_icm42607/inv_icm42607_core.c | 811 +++++++++++++
.../iio/imu/inv_icm42607/inv_icm42607_gyro.c | 578 ++++++++++
.../iio/imu/inv_icm42607/inv_icm42607_i2c.c | 93 ++
.../iio/imu/inv_icm42607/inv_icm42607_spi.c | 100 ++
.../iio/imu/inv_icm42607/inv_icm42607_temp.c | 82 ++
.../iio/imu/inv_icm42607/inv_icm42607_temp.h | 30 +
16 files changed, 4014 insertions(+), 1 deletion(-)
create mode 100644 Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml
create mode 100644 drivers/iio/imu/inv_icm42607/Kconfig
create mode 100644 drivers/iio/imu/inv_icm42607/Makefile
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607.h
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h
--
2.43.0
^ permalink raw reply [flat|nested] 12+ messages in thread
* [PATCH 1/3] dt-bindings: iio: imu: icm42607: Add devicetree binding
2026-02-24 16:31 [PATCH 0/3] Add Invensense ICM42607 Chris Morgan
@ 2026-02-24 16:31 ` Chris Morgan
2026-02-24 17:29 ` Rob Herring (Arm)
2026-02-24 16:31 ` [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver Chris Morgan
` (2 subsequent siblings)
3 siblings, 1 reply; 12+ messages in thread
From: Chris Morgan @ 2026-02-24 16:31 UTC (permalink / raw)
To: linux-iio
Cc: andy, nuno.sa, dlechner, jic23, jean-baptiste.maneyrol,
linux-rockchip, devicetree, heiko, conor+dt, krzk+dt, robh,
Chris Morgan
From: Chris Morgan <macromorgan@hotmail.com>
Add devicetree binding for the Invensense ICM42607 and Invensense
ICM42607P inertial measurement unit. This unit is a combined
accelerometer, gyroscope, and thermometer available via I2C or SPI.
This device is functionally very similar to the icm42600 series with a
very different register layout.
Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
.../bindings/iio/imu/invensense,icm42607.yaml | 92 +++++++++++++++++++
1 file changed, 92 insertions(+)
create mode 100644 Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml
diff --git a/Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml b/Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml
new file mode 100644
index 000000000000..d783ef063f5c
--- /dev/null
+++ b/Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml
@@ -0,0 +1,92 @@
+# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+%YAML 1.2
+---
+$id: http://devicetree.org/schemas/iio/imu/invensense,icm42607.yaml#
+$schema: http://devicetree.org/meta-schemas/core.yaml#
+
+title: InvenSense ICM-42607 Inertial Measurement Unit
+
+description: |
+ 6-axis MotionTracking device that combines a 3-axis gyroscope and a 3-axis
+ accelerometer.
+
+properties:
+ compatible:
+ enum:
+ - invensense,icm42607
+ - invensense,icm42607p
+ reg:
+ maxItems: 1
+
+ interrupts:
+ minItems: 1
+ maxItems: 2
+
+ interrupt-names:
+ minItems: 1
+ maxItems: 2
+ items:
+ enum:
+ - INT1
+ - INT2
+
+ drive-open-drain:
+ type: boolean
+
+ mount-matrix: true
+
+ spi-cpha: true
+ spi-cpol: true
+
+ vdd-supply:
+ description: Regulator that provides power to the sensor
+
+ vddio-supply:
+ description: Regulator that provides power to the bus
+
+required:
+ - compatible
+ - reg
+ - interrupts
+
+allOf:
+ - $ref: /schemas/spi/spi-peripheral-props.yaml#
+
+unevaluatedProperties: false
+
+examples:
+ - |
+ #include <dt-bindings/interrupt-controller/irq.h>
+ i2c {
+ #address-cells = <1>;
+ #size-cells = <0>;
+
+ icm42607p@68 {
+ compatible = "invensense,icm42607p";
+ reg = <0x68>;
+ interrupt-parent = <&gpio2>;
+ interrupts = <7 IRQ_TYPE_EDGE_FALLING>;
+ interrupt-names = "INT1";
+ vdd-supply = <&vdd>;
+ vddio-supply = <&vddio>;
+ };
+ };
+ - |
+ #include <dt-bindings/interrupt-controller/irq.h>
+ spi {
+ #address-cells = <1>;
+ #size-cells = <0>;
+
+ icm42607p@0 {
+ compatible = "invensense,icm42607p";
+ reg = <0>;
+ spi-max-frequency = <24000000>;
+ spi-cpha;
+ spi-cpol;
+ interrupt-parent = <&gpio1>;
+ interrupts = <2 IRQ_TYPE_EDGE_FALLING>;
+ interrupt-names = "INT1";
+ vdd-supply = <&vdd>;
+ vddio-supply = <&vddio>;
+ };
+ };
--
2.43.0
^ permalink raw reply related [flat|nested] 12+ messages in thread
* [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver
2026-02-24 16:31 [PATCH 0/3] Add Invensense ICM42607 Chris Morgan
2026-02-24 16:31 ` [PATCH 1/3] dt-bindings: iio: imu: icm42607: Add devicetree binding Chris Morgan
@ 2026-02-24 16:31 ` Chris Morgan
2026-02-24 20:05 ` kernel test robot
` (3 more replies)
2026-02-24 16:31 ` [PATCH 3/3] arm64: dts: rockchip: Add icm42607p IMU for RG-DS Chris Morgan
2026-02-24 17:41 ` [PATCH 0/3] Add Invensense ICM42607 Andy Shevchenko
3 siblings, 4 replies; 12+ messages in thread
From: Chris Morgan @ 2026-02-24 16:31 UTC (permalink / raw)
To: linux-iio
Cc: andy, nuno.sa, dlechner, jic23, jean-baptiste.maneyrol,
linux-rockchip, devicetree, heiko, conor+dt, krzk+dt, robh,
Chris Morgan
From: Chris Morgan <macromorgan@hotmail.com>
Add a new driver for the Invensense ICM42607 IMU. This device is
extremely similar to the existing ICM42600 but with a very different
register layout.
This driver was built based on the existing icm42600 along with
the datasheet from Invensense and out-of-tree sources included
in the LineageOS kernels [1] and Rockchip kernels [2], both derived
from sources provided by Invensense. The driver is structured
identically to the in-tree ICM42600 driver.
It should work for the ICM42607 and ICM42607P on both the I2C and
SPI busses, however only the ICM42607P over I2C has been tested
as it is the only hardware I have available.
[1] https://github.com/LineageOS/android_kernel_nvidia_kernel-nx/tree/lineage-23.0/drivers/iio/imu/inv_icm42607x
[2] https://github.com/rockchip-linux/kernel/tree/develop-6.6/drivers/iio/imu/inv_icm42670
Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
drivers/iio/imu/Kconfig | 1 +
drivers/iio/imu/Makefile | 1 +
drivers/iio/imu/inv_icm42607/Kconfig | 30 +
drivers/iio/imu/inv_icm42607/Makefile | 14 +
drivers/iio/imu/inv_icm42607/inv_icm42607.h | 472 ++++++++
.../iio/imu/inv_icm42607/inv_icm42607_accel.c | 1025 +++++++++++++++++
.../imu/inv_icm42607/inv_icm42607_buffer.c | 566 +++++++++
.../imu/inv_icm42607/inv_icm42607_buffer.h | 100 ++
.../iio/imu/inv_icm42607/inv_icm42607_core.c | 811 +++++++++++++
.../iio/imu/inv_icm42607/inv_icm42607_gyro.c | 578 ++++++++++
.../iio/imu/inv_icm42607/inv_icm42607_i2c.c | 93 ++
.../iio/imu/inv_icm42607/inv_icm42607_spi.c | 100 ++
.../iio/imu/inv_icm42607/inv_icm42607_temp.c | 82 ++
.../iio/imu/inv_icm42607/inv_icm42607_temp.h | 30 +
14 files changed, 3903 insertions(+)
create mode 100644 drivers/iio/imu/inv_icm42607/Kconfig
create mode 100644 drivers/iio/imu/inv_icm42607/Makefile
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607.h
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h
diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
index 7e0181c27bb6..8bab4616be20 100644
--- a/drivers/iio/imu/Kconfig
+++ b/drivers/iio/imu/Kconfig
@@ -109,6 +109,7 @@ config KMX61
be called kmx61.
source "drivers/iio/imu/inv_icm42600/Kconfig"
+source "drivers/iio/imu/inv_icm42607/Kconfig"
source "drivers/iio/imu/inv_icm45600/Kconfig"
source "drivers/iio/imu/inv_mpu6050/Kconfig"
diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
index 13fb7846e9c9..3268dc2371ae 100644
--- a/drivers/iio/imu/Makefile
+++ b/drivers/iio/imu/Makefile
@@ -25,6 +25,7 @@ obj-$(CONFIG_FXOS8700_I2C) += fxos8700_i2c.o
obj-$(CONFIG_FXOS8700_SPI) += fxos8700_spi.o
obj-y += inv_icm42600/
+obj-y += inv_icm42607/
obj-y += inv_icm45600/
obj-y += inv_mpu6050/
diff --git a/drivers/iio/imu/inv_icm42607/Kconfig b/drivers/iio/imu/inv_icm42607/Kconfig
new file mode 100644
index 000000000000..b7c533d1a6be
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/Kconfig
@@ -0,0 +1,30 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+config INV_ICM42607
+ tristate
+ select IIO_BUFFER
+ select IIO_INV_SENSORS_TIMESTAMP
+
+config INV_ICM42607_I2C
+ tristate "InvenSense ICM-42607X I2C driver"
+ depends on I2C
+ select INV_ICM42607
+ select REGMAP_I2C
+ help
+ This driver supports the InvenSense ICM-42607 motion tracking
+ device over I2C.
+
+ This driver can be built as a module. The module will be called
+ inv-icm42607-i2c.
+
+config INV_ICM42607_SPI
+ tristate "InvenSense ICM-42607X SPI driver"
+ depends on SPI_MASTER
+ select INV_ICM42607
+ select REGMAP_SPI
+ help
+ This driver supports the InvenSense ICM-42607 motion tracking
+ device over SPI.
+
+ This driver can be built as a module. The module will be called
+ inv-icm42607-spi.
diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile
new file mode 100644
index 000000000000..fc66e580fe99
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/Makefile
@@ -0,0 +1,14 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o
+inv-icm42607-y += inv_icm42607_core.o
+inv-icm42607-y += inv_icm42607_gyro.o
+inv-icm42607-y += inv_icm42607_accel.o
+inv-icm42607-y += inv_icm42607_buffer.o
+inv-icm42607-y += inv_icm42607_temp.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.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
new file mode 100644
index 000000000000..a275f24bf291
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -0,0 +1,472 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#ifndef INV_ICM42607_H_
+#define INV_ICM42607_H_
+
+#include <linux/bitops.h>
+#include <linux/bitfield.h>
+#include <linux/regmap.h>
+#include <linux/mutex.h>
+#include <linux/regulator/consumer.h>
+#include <linux/pm.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+
+#include "inv_icm42607_buffer.h"
+
+enum inv_icm42607_chip {
+ INV_CHIP_INVALID,
+ INV_CHIP_ICM42607P,
+ INV_CHIP_ICM42607,
+ INV_CHIP_NB,
+};
+
+/* serial bus slew rates */
+enum inv_icm42607_slew_rate {
+ INV_ICM42607_SLEW_RATE_20_60NS,
+ INV_ICM42607_SLEW_RATE_12_36NS,
+ INV_ICM42607_SLEW_RATE_6_18NS,
+ INV_ICM42607_SLEW_RATE_4_12NS,
+ INV_ICM42607_SLEW_RATE_2_6NS,
+ INV_ICM42607_SLEW_RATE_INF_2NS,
+};
+
+enum inv_icm42607_sensor_mode {
+ INV_ICM42607_SENSOR_MODE_OFF,
+ INV_ICM42607_SENSOR_MODE_STANDBY,
+ INV_ICM42607_SENSOR_MODE_LOW_POWER,
+ INV_ICM42607_SENSOR_MODE_LOW_NOISE,
+ INV_ICM42607_SENSOR_MODE_NB,
+};
+
+/* gyroscope fullscale values */
+enum inv_icm42607_gyro_fs {
+ INV_ICM42607_GYRO_FS_2000DPS,
+ INV_ICM42607_GYRO_FS_1000DPS,
+ INV_ICM42607_GYRO_FS_500DPS,
+ INV_ICM42607_GYRO_FS_250DPS,
+ INV_ICM42607_GYRO_FS_NB,
+};
+
+/* accelerometer fullscale values */
+enum inv_icm42607_accel_fs {
+ INV_ICM42607_ACCEL_FS_16G,
+ INV_ICM42607_ACCEL_FS_8G,
+ INV_ICM42607_ACCEL_FS_4G,
+ INV_ICM42607_ACCEL_FS_2G,
+ INV_ICM42607_ACCEL_FS_NB,
+};
+
+/* ODR values */
+enum inv_icm42607_odr {
+ INV_ICM42607_ODR_1600HZ = 5,
+ INV_ICM42607_ODR_800HZ,
+ INV_ICM42607_ODR_400HZ,
+ INV_ICM42607_ODR_200HZ,
+ INV_ICM42607_ODR_100HZ,
+ INV_ICM42607_ODR_50HZ,
+ INV_ICM42607_ODR_25HZ,
+ INV_ICM42607_ODR_12_5HZ,
+ INV_ICM42607_ODR_6_25HZ_LP,
+ INV_ICM42607_ODR_3_125HZ_LP,
+ INV_ICM42607_ODR_1_5625HZ_LP,
+ INV_ICM42607_ODR_NB,
+};
+
+enum inv_icm42607_filter {
+ /* Low-Noise mode sensor data filter */
+ INV_ICM42607_FILTER_BYPASS,
+ INV_ICM42607_FILTER_BW_180HZ,
+ INV_ICM42607_FILTER_BW_121HZ,
+ INV_ICM42607_FILTER_BW_73HZ,
+ INV_ICM42607_FILTER_BW_53HZ,
+ INV_ICM42607_FILTER_BW_34HZ,
+ INV_ICM42607_FILTER_BW_25HZ,
+ INV_ICM42607_FILTER_BW_16HZ,
+
+ /* Low-Power mode sensor data filter (averaging) */
+ INV_ICM42607_FILTER_AVG_2X = 0,
+ INV_ICM42607_FILTER_AVG_4X,
+ INV_ICM42607_FILTER_AVG_8X,
+ INV_ICM42607_FILTER_AVG_16X,
+ INV_ICM42607_FILTER_AVG_32X,
+ INV_ICM42607_FILTER_AVG_64X,
+};
+
+struct inv_icm42607_sensor_conf {
+ int mode;
+ int fs;
+ int odr;
+ int filter;
+};
+#define INV_ICM42607_SENSOR_CONF_INIT {-1, -1, -1, -1}
+
+struct inv_icm42607_conf {
+ struct inv_icm42607_sensor_conf gyro;
+ struct inv_icm42607_sensor_conf accel;
+ bool temp_en;
+};
+
+struct inv_icm42607_suspended {
+ enum inv_icm42607_sensor_mode gyro;
+ enum inv_icm42607_sensor_mode accel;
+ bool temp;
+};
+
+struct inv_icm42607_apex {
+ unsigned int on;
+ struct {
+ u64 value;
+ bool enable;
+ } wom;
+};
+
+/**
+ * struct inv_icm42607_state - driver state variables
+ * @lock: lock for serializing multiple registers access.
+ * @chip: chip identifier.
+ * @name: chip name.
+ * @map: regmap pointer.
+ * @vddio_supply: I/O voltage regulator for the chip.
+ * @irq: chip irq, required to enable/disable and set wakeup
+ * @orientation: sensor chip orientation relative to main hardware.
+ * @conf: chip sensors configurations.
+ * @suspended: suspended sensors configuration.
+ * @indio_gyro: gyroscope IIO device.
+ * @indio_accel: accelerometer IIO device.
+ * @timestamp: interrupt timestamps.
+ * @apex: APEX (Advanced Pedometer and Event detection) management
+ * @fifo: FIFO management structure.
+ * @buffer: data transfer buffer aligned for DMA.
+ */
+struct inv_icm42607_state {
+ struct mutex lock;
+ enum inv_icm42607_chip chip;
+ const char *name;
+ struct regmap *map;
+ struct regulator *vddio_supply;
+ int irq;
+ struct iio_mount_matrix orientation;
+ struct inv_icm42607_conf conf;
+ struct inv_icm42607_suspended suspended;
+ struct iio_dev *indio_gyro;
+ struct iio_dev *indio_accel;
+ struct {
+ s64 gyro;
+ s64 accel;
+ } timestamp;
+ struct inv_icm42607_apex apex;
+ struct inv_icm42607_fifo fifo;
+ u8 buffer[3] __aligned(IIO_DMA_MINALIGN);
+};
+
+/**
+ * struct inv_icm42607_sensor_state - sensor state variables
+ * @scales: table of scales.
+ * @scales_len: length (nb of items) of the scales table.
+ * @power_mode: sensor requested power mode (for common frequencies)
+ * @filter: sensor filter.
+ * @ts: timestamp module states.
+ */
+struct inv_icm42607_sensor_state {
+ const int *scales;
+ size_t scales_len;
+ enum inv_icm42607_sensor_mode power_mode;
+ enum inv_icm42607_filter filter;
+ struct inv_sensors_timestamp ts;
+};
+
+/* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
+
+/* Register Map for User Bank 0 */
+#define INV_ICM42607_REG_DEVICE_CONFIG 0x01
+#define INV_ICM42607_DEVICE_CONFIG_SPI_AP_4WIRE BIT(2)
+#define INV_ICM42607_DEVICE_CONFIG_SPI_MODE BIT(0)
+
+#define INV_ICM42607_REG_SIGNAL_PATH_RESET 0x02
+#define INV_ICM42607_SIGNAL_PATH_RESET_SOFT_RESET BIT(4)
+#define INV_ICM42607_SIGNAL_PATH_RESET_FIFO_FLUSH BIT(2)
+
+#define INV_ICM42607_REG_DRIVE_CONFIG1 0x03
+#define INV_ICM42607_DRIVE_CONFIG1_I3C_DDR_MASK GENMASK(5, 3)
+#define INV_ICM42607_DRIVE_CONFIG1_I3C_DDR(_rate) \
+FIELD_PREP(INV_ICM42607_DRIVE_CONFIG1_I3C_DDR_MASK, (_rate))
+#define INV_ICM42607_DRIVE_CONFIG1_I3C_SDR_MASK GENMASK(2, 0)
+#define INV_ICM42607_DRIVE_CONFIG1_I3C_SDR(_rate) \
+FIELD_PREP(INV_ICM42607_DRIVE_CONFIG1_I3C_SDR_MASK, (_rate))
+
+#define INV_ICM42607_REG_DRIVE_CONFIG2 0x04
+#define INV_ICM42607_DRIVE_CONFIG2_I2C_MASK GENMASK(5, 3)
+#define INV_ICM42607_DRIVE_CONFIG2_I2C(_rate) \
+FIELD_PREP(INV_ICM42607_DRIVE_CONFIG2_I2C_MASK, (_rate))
+#define INV_ICM42607_DRIVE_CONFIG2_ALL_MASK GENMASK(2, 0)
+#define INV_ICM42607_DRIVE_CONFIG2_ALL(_rate) \
+FIELD_PREP(INV_ICM42607_DRIVE_CONFIG2_ALL_MASK, (_rate))
+
+#define INV_ICM42607_REG_DRIVE_CONFIG3 0x05
+#define INV_ICM42607_DRIVE_CONFIG3_SPI_MASK GENMASK(2, 0)
+#define INV_ICM42607_DRIVE_CONFIG3_SPI(_rate) \
+FIELD_PREP(INV_ICM42607_DRIVE_CONFIG3_SPI_MASK, (_rate))
+
+#define INV_ICM42607_REG_INT_CONFIG 0x06
+#define INV_ICM42607_INT_CONFIG_INT2_LATCHED BIT(5)
+#define INV_ICM42607_INT_CONFIG_INT2_PUSH_PULL BIT(4)
+#define INV_ICM42607_INT_CONFIG_INT2_ACTIVE_HIGH BIT(3)
+#define INV_ICM42607_INT_CONFIG_INT2_ACTIVE_LOW 0x00
+#define INV_ICM42607_INT_CONFIG_INT1_LATCHED BIT(2)
+#define INV_ICM42607_INT_CONFIG_INT1_PUSH_PULL BIT(1)
+#define INV_ICM42607_INT_CONFIG_INT1_ACTIVE_HIGH BIT(0)
+#define INV_ICM42607_INT_CONFIG_INT1_ACTIVE_LOW 0x00
+
+/* all sensor data are 16 bits (2 registers wide) in big-endian */
+#define INV_ICM42607_REG_TEMP_DATA1 0x09
+#define INV_ICM42607_REG_TEMP_DATA0 0x0A
+#define INV_ICM42607_REG_ACCEL_DATA_X1 0x0B
+#define INV_ICM42607_REG_ACCEL_DATA_X0 0x0C
+#define INV_ICM42607_REG_ACCEL_DATA_Y1 0x0D
+#define INV_ICM42607_REG_ACCEL_DATA_Y0 0x0E
+#define INV_ICM42607_REG_ACCEL_DATA_Z1 0x0F
+#define INV_ICM42607_REG_ACCEL_DATA_Z0 0x10
+#define INV_ICM42607_REG_GYRO_DATA_X1 0x11
+#define INV_ICM42607_REG_GYRO_DATA_X0 0x12
+#define INV_ICM42607_REG_GYRO_DATA_Y1 0x13
+#define INV_ICM42607_REG_GYRO_DATA_Y0 0x14
+#define INV_ICM42607_REG_GYRO_DATA_Z1 0x15
+#define INV_ICM42607_REG_GYRO_DATA_Z0 0x16
+#define INV_ICM42607_DATA_INVALID -32768
+
+#define INV_ICM42607_REG_TMST_FSYNCH 0x17
+#define INV_ICM42607_REG_TMST_FSYNCL 0x18
+
+/* APEX Data Registers */
+#define INV_ICM42607_REG_APEX_DATA0 0x31
+#define INV_ICM42607_REG_APEX_DATA1 0x32
+#define INV_ICM42607_REG_APEX_DATA2 0x33
+#define INV_ICM42607_REG_APEX_DATA3 0x34
+#define INV_ICM42607_REG_APEX_DATA4 0x1D
+#define INV_ICM42607_REG_APEX_DATA5 0x1E
+
+#define INV_ICM42607_REG_PWR_MGMT0 0x1F
+#define INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL BIT(7)
+#define INV_ICM42607_PWR_MGMT0_IDLE BIT(4)
+#define INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK GENMASK(3, 2)
+#define INV_ICM42607_PWR_MGMT0_GYRO(_mode) \
+FIELD_PREP(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, (_mode))
+#define INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK GENMASK(1, 0)
+#define INV_ICM42607_PWR_MGMT0_ACCEL(_mode) \
+FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, (_mode))
+
+#define INV_ICM42607_REG_GYRO_CONFIG0 0x20
+#define INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK GENMASK(6, 5)
+#define INV_ICM42607_GYRO_CONFIG0_FS_SEL(_fs) \
+FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK, (_fs))
+#define INV_ICM42607_GYRO_CONFIG0_ODR_MASK GENMASK(3, 0)
+#define INV_ICM42607_GYRO_CONFIG0_ODR(_odr) \
+FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_ODR_MASK, (_odr))
+
+#define INV_ICM42607_REG_ACCEL_CONFIG0 0x21
+#define INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK GENMASK(6, 5)
+#define INV_ICM42607_ACCEL_CONFIG0_FS_SEL(_fs) \
+FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK, (_fs))
+#define INV_ICM42607_ACCEL_CONFIG0_ODR_MASK GENMASK(3, 0)
+#define INV_ICM42607_ACCEL_CONFIG0_ODR(_odr) \
+FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_ODR_MASK, (_odr))
+
+#define INV_ICM42607_REG_TEMP_CONFIG0 0x22
+#define INV_ICM42607_TEMP_CONFIG0_FILTER_MASK GENMASK(6, 4)
+#define INV_ICM42607_TEMP_CONFIG0_FILTER(_filter) \
+FIELD_PREP(INV_ICM42607_TEMP_CONFIG0_FILTER_MASK, (_filter))
+
+#define INV_ICM42607_REG_GYRO_CONFIG1 0x23
+#define INV_ICM42607_GYRO_CONFIG1_FILTER_MASK GENMASK(2, 0)
+#define INV_ICM42607_GYRO_CONFIG1_FILTER(_filter) \
+FIELD_PREP(INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, (_filter))
+
+#define INV_ICM42607_REG_ACCEL_CONFIG1 0x24
+#define INV_ICM42607_ACCEL_CONFIG1_AVG_MASK GENMASK(6, 4)
+#define INV_ICM42607_ACCEL_CONFIG1_AVG(_avg) \
+FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_AVG_MASK, (_avg))
+#define INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK GENMASK(2, 0)
+#define INV_ICM42607_ACCEL_CONFIG1_FILTER(_filter) \
+FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK, (_filter))
+
+#define INV_ICM42607_REG_APEX_CONFIG0 0x25
+#define INV_ICM42607_APEX_CONFIG0_DMP_POWER_SAVE_EN BIT(3)
+#define INV_ICM42607_APEX_CONFIG0_DMP_INIT_EN BIT(2)
+#define INV_ICM42607_APEX_CONFIG0_DMP_MEM_RESET_EN BIT(0)
+
+#define INV_ICM42607_REG_APEX_CONFIG1 0x26
+#define INV_ICM42607_APEX_CONFIG1_SMD_ENABLE BIT(6)
+#define INV_ICM42607_APEX_CONFIG1_FF_ENABLE BIT(5)
+#define INV_ICM42607_APEX_CONFIG1_TILT_ENABLE BIT(4)
+#define INV_ICM42607_APEX_CONFIG1_PED_ENABLE BIT(3)
+#define INV_ICM42607_APEX_CONFIG1_DMP_ODR_MASK GENMASK(1, 0)
+#define INV_ICM42607_APEX_CONFIG1_DMP_ODR(_odr) \
+FIELD_PREP(INV_ICM42607_APEX_CONFIG1_DMP_ODR_MASK, (_odr))
+
+#define INV_ICM42607_REG_WOM_CONFIG 0x27
+#define INV_ICM42607_WOM_CONFIG_INT_DUR_MASK GENMASK(4, 3)
+#define INV_ICM42607_WOM_CONFIG_INT_DUR(_dur) \
+FIELD_PREP(INV_ICM42607_WOM_CONFIG_INT_DUR_MASK, (_dur))
+#define INV_ICM42607_WOM_CONFIG_INT_MODE BIT(2)
+#define INV_ICM42607_WOM_CONFIG_MODE BIT(1)
+#define INV_ICM42607_WOM_CONFIG_EN BIT(0)
+
+#define INV_ICM42607_REG_FIFO_CONFIG1 0x28
+#define INV_ICM42607_FIFO_CONFIG1_MODE BIT(1)
+#define INV_ICM42607_FIFO_CONFIG1_BYPASS BIT(0)
+
+#define INV_ICM42607_REG_FIFO_CONFIG2 0x29
+#define INV_ICM42607_REG_FIFO_CONFIG3 0x2A
+#define INV_ICM42607_FIFO_WATERMARK_VAL(_wm) \
+ cpu_to_le16((_wm) & GENMASK(11, 0))
+/* FIFO is 2048 bytes, let 12 samples for reading latency */
+#define INV_ICM42607_FIFO_WATERMARK_MAX (2048 - 12 * 16)
+
+#define INV_ICM42607_REG_INT_SOURCE0 0x2B
+#define INV_ICM42607_INT_SOURCE0_ST_INT1_EN BIT(7)
+#define INV_ICM42607_INT_SOURCE0_FSYNC_INT1_EN BIT(6)
+#define INV_ICM42607_INT_SOURCE0_PLL_RDY_INT1_EN BIT(5)
+#define INV_ICM42607_INT_SOURCE0_RESET_DONE_INT1_EN BIT(4)
+#define INV_ICM42607_INT_SOURCE0_DRDY_INT1_EN BIT(3)
+#define INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN BIT(2)
+#define INV_ICM42607_INT_SOURCE0_FIFO_FULL_INT1_EN BIT(1)
+#define INV_ICM42607_INT_SOURCE0_AGC_RDY_INT1_EN BIT(0)
+
+#define INV_ICM42607_REG_INT_SOURCE1 0x2C
+#define INV_ICM42607_INT_SOURCE1_I3C_ERROR_INT1_EN BIT(6)
+#define INV_ICM42607_INT_SOURCE1_SMD_INT1_EN BIT(3)
+#define INV_ICM42607_INT_SOURCE1_WOM_INT1_EN GENMASK(2, 0)
+
+#define INV_ICM42607_REG_INT_SOURCE3 0x2D
+#define INV_ICM42607_INT_SOURCE3_ST_INT2_EN BIT(7)
+#define INV_ICM42607_INT_SOURCE3_FSYNC_INT2_EN BIT(6)
+#define INV_ICM42607_INT_SOURCE3_PLL_RDY_INT2_EN BIT(5)
+#define INV_ICM42607_INT_SOURCE3_RESET_DONE_INT2_EN BIT(4)
+#define INV_ICM42607_INT_SOURCE3_DRDY_INT2_EN BIT(3)
+#define INV_ICM42607_INT_SOURCE3_FIFO_THS_INT2_EN BIT(2)
+#define INV_ICM42607_INT_SOURCE3_FIFO_FULL_INT2_EN BIT(1)
+#define INV_ICM42607_INT_SOURCE3_AGC_RDY_INT2_EN BIT(0)
+
+#define INV_ICM42607_REG_INT_SOURCE4 0x2E
+#define INV_ICM42607_INT_SOURCE4_I3C_ERROR_INT2_EN BIT(6)
+#define INV_ICM42607_INT_SOURCE4_SMD_INT2_EN BIT(3)
+#define INV_ICM42607_INT_SOURCE4_WOM_Z_INT2_EN BIT(2)
+#define INV_ICM42607_INT_SOURCE4_WOM_Y_INT2_EN BIT(1)
+#define INV_ICM42607_INT_SOURCE4_WOM_X_INT2_EN BIT(0)
+
+#define INV_ICM42607_REG_FIFO_LOST_PKT0 0x2F
+#define INV_ICM42607_REG_FIFO_LOST_PKT1 0x30
+
+#define INV_ICM42607_REG_INTF_CONFIG0 0x35
+#define INV_ICM42607_INTF_CONFIG0_FIFO_COUNT_FORMAT BIT(6)
+#define INV_ICM42607_INTF_CONFIG0_FIFO_COUNT_ENDIAN BIT(5)
+#define INV_ICM42607_INTF_CONFIG0_SENSOR_DATA_ENDIAN BIT(4)
+#define INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK GENMASK(1, 0)
+#define INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_SPI_DIS \
+FIELD_PREP(INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, 2)
+#define INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS \
+FIELD_PREP(INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, 3)
+
+#define INV_ICM42607_REG_INTF_CONFIG1 0x36
+#define INV_ICM42607_INTF_CONFIG1_I3C_SDR_EN BIT(3)
+#define INV_ICM42607_INTF_CONFIG1_I3C_DDR_EN BIT(2)
+#define INV_ICM42607_INTF_CONFIG1_CLKSEL_MASK GENMASK(1, 0)
+#define INV_ICM42607_INTF_CONFIG1_CLKSEL_PLL \
+FIELD_PREP(INV_ICM42607_INTF_CONFIG1_CLKSEL_MASK, 1)
+
+#define INV_ICM42607_REG_INT_STATUS_DRDY 0x39
+#define INV_ICM42607_INT_STATUS_DRDY_DATA_RDY BIT(0)
+
+#define INV_ICM42607_REG_INT_STATUS 0x3A
+#define INV_ICM42607_INT_STATUS_ST BIT(7)
+#define INV_ICM42607_INT_STATUS_FSYNC BIT(6)
+#define INV_ICM42607_INT_STATUS_PLL_RDY BIT(5)
+#define INV_ICM42607_INT_STATUS_RESET_DONE BIT(4)
+#define INV_ICM42607_INT_STATUS_FIFO_THS BIT(2)
+#define INV_ICM42607_INT_STATUS_FIFO_FULL BIT(1)
+#define INV_ICM42607_INT_STATUS_AGC_RDY BIT(0)
+
+#define INV_ICM42607_REG_INT_STATUS2 0x3B
+#define INV_ICM42607_INT_STATUS2_SMD BIT(3)
+#define INV_ICM42607_INT_STATUS2_WOM_INT GENMASK(2, 0)
+
+#define INV_ICM42607_REG_INT_STATUS3 0x3C
+#define INV_ICM42607_INT_STATUS3_STEP_DET BIT(5)
+#define INV_ICM42607_INT_STATUS3_STEP_CNT_OVF BIT(4)
+#define INV_ICM42607_INT_STATUS3_TILT_DET BIT(3)
+#define INV_ICM42607_INT_STATUS3_FF_DET BIT(2)
+
+/*
+ * FIFO access registers
+ * FIFO count is 16 bits (2 registers) big-endian
+ * FIFO data is a continuous read register to read FIFO content
+ */
+#define INV_ICM42607_REG_FIFO_COUNTH 0x3D
+#define INV_ICM42607_REG_FIFO_COUNTL 0x3E
+#define INV_ICM42607_REG_FIFO_DATA 0x3F
+
+#define INV_ICM42607_REG_ACCEL_WOM_X_THR 0x4b
+#define INV_ICM42607_REG_ACCEL_WOM_Y_THR 0x4c
+#define INV_ICM42607_REG_ACCEL_WOM_Z_THR 0x4d
+
+#define INV_ICM42607_REG_WHOAMI 0x75
+#define INV_ICM42607P_WHOAMI 0x60
+#define INV_ICM42607_WHOAMI 0x67
+
+/* Sleep times required by the driver */
+#define INV_ICM42607_POWER_UP_TIME_MS 100
+#define INV_ICM42607_RESET_TIME_MS 1
+#define INV_ICM42607_ACCEL_STARTUP_TIME_MS 20
+#define INV_ICM42607_GYRO_STARTUP_TIME_MS 60
+#define INV_ICM42607_GYRO_STOP_TIME_MS 150
+#define INV_ICM42607_TEMP_STARTUP_TIME_MS 14
+#define INV_ICM42607_SUSPEND_DELAY_MS 2000
+
+typedef int (*inv_icm42607_bus_setup)(struct inv_icm42607_state *);
+
+extern const struct regmap_config inv_icm42607_regmap_config;
+extern const struct dev_pm_ops inv_icm42607_pm_ops;
+
+const struct iio_mount_matrix *
+inv_icm42607_get_mount_matrix(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan);
+
+u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr);
+
+int inv_icm42607_set_accel_conf(struct inv_icm42607_state *st,
+ struct inv_icm42607_sensor_conf *conf,
+ unsigned int *sleep_ms);
+
+int inv_icm42607_set_gyro_conf(struct inv_icm42607_state *st,
+ struct inv_icm42607_sensor_conf *conf,
+ unsigned int *sleep_ms);
+
+int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
+ unsigned int *sleep_ms);
+
+int inv_icm42607_enable_wom(struct inv_icm42607_state *st);
+int inv_icm42607_disable_wom(struct inv_icm42607_state *st);
+
+int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
+ unsigned int writeval, unsigned int *readval);
+
+int inv_icm42607_core_probe(struct regmap *regmap, int chip,
+ inv_icm42607_bus_setup bus_setup);
+
+struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st);
+
+int inv_icm42607_gyro_parse_fifo(struct iio_dev *indio_dev);
+
+struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st);
+
+int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev);
+
+void inv_icm42607_accel_handle_events(struct iio_dev *indio_dev,
+ unsigned int status2, unsigned int status3,
+ s64 timestamp);
+
+#endif
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
new file mode 100644
index 000000000000..f07ec6a522f3
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
@@ -0,0 +1,1025 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+#include <linux/math64.h>
+#include <linux/minmax.h>
+#include <linux/units.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/events.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/kfifo_buf.h>
+
+#include "inv_icm42607.h"
+#include "inv_icm42607_temp.h"
+#include "inv_icm42607_buffer.h"
+
+#define INV_ICM42607_ACCEL_CHAN(_modifier, _index, _ext_info) \
+{ \
+ .type = IIO_ACCEL, \
+ .modified = 1, \
+ .channel2 = _modifier, \
+ .info_mask_separate = \
+ BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .info_mask_shared_by_type = \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_type_available = \
+ BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .info_mask_shared_by_all = \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .info_mask_shared_by_all_available = \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_BE, \
+ }, \
+ .ext_info = _ext_info, \
+}
+
+#define INV_ICM42607_ACCEL_EVENT_CHAN(_modifier, _events, _events_nb) \
+ { \
+ .type = IIO_ACCEL, \
+ .modified = 1, \
+ .channel2 = _modifier, \
+ .event_spec = _events, \
+ .num_event_specs = _events_nb, \
+ .scan_index = -1, \
+ }
+
+enum inv_icm42607_accel_scan {
+ INV_ICM42607_ACCEL_SCAN_X,
+ INV_ICM42607_ACCEL_SCAN_Y,
+ INV_ICM42607_ACCEL_SCAN_Z,
+ INV_ICM42607_ACCEL_SCAN_TEMP,
+ INV_ICM42607_ACCEL_SCAN_TIMESTAMP,
+};
+
+static const char * const inv_icm42607_accel_power_mode_items[] = {
+ "low-noise",
+ "low-power",
+};
+
+static const int inv_icm42607_accel_power_mode_values[] = {
+ INV_ICM42607_SENSOR_MODE_LOW_NOISE,
+ INV_ICM42607_SENSOR_MODE_LOW_POWER,
+};
+static const int inv_icm42607_accel_filter_values[] = {
+ INV_ICM42607_FILTER_BW_25HZ,
+ INV_ICM42607_FILTER_AVG_16X,
+};
+
+static int inv_icm42607_accel_power_mode_set(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ unsigned int idx)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+ int power_mode, filter;
+
+ if (chan->type != IIO_ACCEL)
+ return -EINVAL;
+
+ if (idx >= ARRAY_SIZE(inv_icm42607_accel_power_mode_values))
+ return -EINVAL;
+
+ power_mode = inv_icm42607_accel_power_mode_values[idx];
+ filter = inv_icm42607_accel_filter_values[idx];
+
+ guard(mutex)(&st->lock);
+
+ /* cannot change if accel sensor is on */
+ if (st->conf.accel.mode != INV_ICM42607_SENSOR_MODE_OFF)
+ return -EBUSY;
+
+ /* prevent change if power mode is not supported by the ODR */
+ switch (power_mode) {
+ case INV_ICM42607_SENSOR_MODE_LOW_NOISE:
+ if (st->conf.accel.odr >= INV_ICM42607_ODR_6_25HZ_LP)
+ return -EPERM;
+ break;
+ case INV_ICM42607_SENSOR_MODE_LOW_POWER:
+ default:
+ if (st->conf.accel.odr <= INV_ICM42607_ODR_800HZ)
+ return -EPERM;
+ break;
+ }
+
+ accel_st->power_mode = power_mode;
+ accel_st->filter = filter;
+
+ return 0;
+}
+
+static int inv_icm42607_accel_power_mode_get(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+ unsigned int idx;
+ int power_mode;
+
+ if (chan->type != IIO_ACCEL)
+ return -EINVAL;
+
+ guard(mutex)(&st->lock);
+
+ /* if sensor is on, returns actual power mode and not configured one */
+ switch (st->conf.accel.mode) {
+ case INV_ICM42607_SENSOR_MODE_LOW_POWER:
+ case INV_ICM42607_SENSOR_MODE_LOW_NOISE:
+ power_mode = st->conf.accel.mode;
+ break;
+ default:
+ power_mode = accel_st->power_mode;
+ break;
+ }
+
+ for (idx = 0; idx < ARRAY_SIZE(inv_icm42607_accel_power_mode_values); ++idx) {
+ if (power_mode == inv_icm42607_accel_power_mode_values[idx])
+ break;
+ }
+ if (idx >= ARRAY_SIZE(inv_icm42607_accel_power_mode_values))
+ return -EINVAL;
+
+ return idx;
+}
+
+static const struct iio_enum inv_icm42607_accel_power_mode_enum = {
+ .items = inv_icm42607_accel_power_mode_items,
+ .num_items = ARRAY_SIZE(inv_icm42607_accel_power_mode_items),
+ .set = inv_icm42607_accel_power_mode_set,
+ .get = inv_icm42607_accel_power_mode_get,
+};
+
+static const struct iio_chan_spec_ext_info inv_icm42607_accel_ext_infos[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix),
+ IIO_ENUM_AVAILABLE("power_mode", IIO_SHARED_BY_TYPE,
+ &inv_icm42607_accel_power_mode_enum),
+ IIO_ENUM("power_mode", IIO_SHARED_BY_TYPE,
+ &inv_icm42607_accel_power_mode_enum),
+ { },
+};
+
+/* WoM event: rising ROC */
+static const struct iio_event_spec inv_icm42607_wom_events[] = {
+ {
+ .type = IIO_EV_TYPE_ROC,
+ .dir = IIO_EV_DIR_RISING,
+ .mask_separate = BIT(IIO_EV_INFO_ENABLE) |
+ BIT(IIO_EV_INFO_VALUE),
+ },
+};
+
+static const struct iio_chan_spec inv_icm42607_accel_channels[] = {
+ INV_ICM42607_ACCEL_CHAN(IIO_MOD_X, INV_ICM42607_ACCEL_SCAN_X,
+ inv_icm42607_accel_ext_infos),
+ INV_ICM42607_ACCEL_CHAN(IIO_MOD_Y, INV_ICM42607_ACCEL_SCAN_Y,
+ inv_icm42607_accel_ext_infos),
+ INV_ICM42607_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42607_ACCEL_SCAN_Z,
+ inv_icm42607_accel_ext_infos),
+ INV_ICM42607_TEMP_CHAN(INV_ICM42607_ACCEL_SCAN_TEMP),
+ IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42607_ACCEL_SCAN_TIMESTAMP),
+ INV_ICM42607_ACCEL_EVENT_CHAN(IIO_MOD_X_OR_Y_OR_Z, inv_icm42607_wom_events,
+ ARRAY_SIZE(inv_icm42607_wom_events)),
+};
+
+static const struct iio_event_spec inv_icm42607_motion_events[] = {
+ {
+ .type = IIO_EV_TYPE_THRESH,
+ .dir = IIO_EV_DIR_EITHER,
+ .mask_separate = BIT(IIO_EV_INFO_ENABLE) | BIT(IIO_EV_INFO_VALUE),
+ },
+};
+
+/*
+ * IIO buffer data: size must be a power of 2 and timestamp aligned
+ * 16 bytes: 6 bytes acceleration, 2 bytes temperature, 8 bytes timestamp
+ */
+struct inv_icm42607_accel_buffer {
+ struct inv_icm42607_fifo_sensor_data accel;
+ s16 temp;
+ aligned_s64 timestamp;
+};
+
+#define INV_ICM42607_SCAN_MASK_ACCEL_3AXIS \
+ (BIT(INV_ICM42607_ACCEL_SCAN_X) | \
+ BIT(INV_ICM42607_ACCEL_SCAN_Y) | \
+ BIT(INV_ICM42607_ACCEL_SCAN_Z))
+
+#define INV_ICM42607_SCAN_MASK_TEMP BIT(INV_ICM42607_ACCEL_SCAN_TEMP)
+
+static const unsigned long inv_icm42607_accel_scan_masks[] = {
+ /* 3-axis accel + temperature */
+ INV_ICM42607_SCAN_MASK_ACCEL_3AXIS | INV_ICM42607_SCAN_MASK_TEMP,
+ 0,
+};
+
+/* enable accelerometer sensor and FIFO write */
+static int inv_icm42607_accel_update_scan_mode(struct iio_dev *indio_dev,
+ const unsigned long *scan_mask)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+ struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+ unsigned int fifo_en = 0;
+ unsigned int sleep_temp = 0;
+ unsigned int sleep_accel = 0;
+ unsigned int sleep;
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ if (*scan_mask & INV_ICM42607_SCAN_MASK_TEMP) {
+ /* enable temp sensor */
+ ret = inv_icm42607_set_temp_conf(st, true, &sleep_temp);
+ if (ret)
+ goto out_unlock;
+ fifo_en |= INV_ICM42607_SENSOR_TEMP;
+ }
+
+ if (*scan_mask & INV_ICM42607_SCAN_MASK_ACCEL_3AXIS) {
+ /* enable accel sensor */
+ conf.mode = accel_st->power_mode;
+ conf.filter = accel_st->filter;
+ ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_accel);
+ if (ret)
+ goto out_unlock;
+ fifo_en |= INV_ICM42607_SENSOR_ACCEL;
+ }
+
+ /* update data FIFO write */
+ ret = inv_icm42607_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ /* sleep maximum required time */
+ sleep = max(sleep_accel, sleep_temp);
+ if (sleep)
+ msleep(sleep);
+ return ret;
+}
+
+static int inv_icm42607_accel_read_sensor(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ s16 *val)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+ struct device *dev = regmap_get_device(st->map);
+ struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+ unsigned int reg;
+ __be16 *data;
+ int ret;
+
+ if (chan->type != IIO_ACCEL)
+ return -EINVAL;
+
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ reg = INV_ICM42607_REG_ACCEL_DATA_X1;
+ break;
+ case IIO_MOD_Y:
+ reg = INV_ICM42607_REG_ACCEL_DATA_Y1;
+ break;
+ case IIO_MOD_Z:
+ reg = INV_ICM42607_REG_ACCEL_DATA_Z1;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ /* enable accel sensor */
+ conf.mode = accel_st->power_mode;
+ conf.filter = accel_st->filter;
+ ret = inv_icm42607_set_accel_conf(st, &conf, NULL);
+ if (ret)
+ goto exit;
+
+ /* read accel register data */
+ data = (__be16 *)&st->buffer[0];
+ ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
+ if (ret)
+ goto exit;
+
+ *val = (int16_t)be16_to_cpup(data);
+ if (*val == INV_ICM42607_DATA_INVALID)
+ ret = -EINVAL;
+exit:
+ mutex_unlock(&st->lock);
+ pm_runtime_put_autosuspend(dev);
+ return ret;
+}
+
+static unsigned int inv_icm42607_accel_convert_roc_to_wom(u64 roc,
+ int accel_hz, int accel_uhz)
+{
+ /* 1000/256mg per LSB converted in µm/s² */
+ const unsigned int convert = (9807U * (MICRO / MILLI)) / 256U;
+ u64 value;
+ u64 freq_uhz;
+
+ /* return 0 only if roc is 0 */
+ if (roc == 0)
+ return 0;
+
+ freq_uhz = (u64)accel_hz * MICRO + (u64)accel_uhz;
+ value = div64_u64(roc * MICRO, freq_uhz * (u64)convert);
+
+ /* limit value to 8 bits and prevent 0 */
+ return clamp(value, 1, 255);
+}
+
+static u64 inv_icm42607_accel_convert_wom_to_roc(unsigned int threshold,
+ int accel_hz, int accel_uhz)
+{
+ /* 1000/256mg per LSB converted in µm/s² */
+ const unsigned int convert = (9807U * (MICRO / MILLI)) / 256U;
+ u64 value;
+ u64 freq_uhz;
+
+ value = threshold * convert;
+ freq_uhz = (u64)accel_hz * MICRO + (u64)accel_uhz;
+
+ /* compute the differential by multiplying by the frequency */
+ return div_u64(value * freq_uhz, MICRO);
+}
+
+static int inv_icm42607_accel_set_wom_threshold(struct inv_icm42607_state *st,
+ u64 value,
+ int accel_hz, int accel_uhz)
+{
+ unsigned int threshold;
+ int ret;
+
+ /* convert roc to wom threshold and convert back to handle clipping */
+ threshold = inv_icm42607_accel_convert_roc_to_wom(value, accel_hz, accel_uhz);
+ value = inv_icm42607_accel_convert_wom_to_roc(threshold, accel_hz, accel_uhz);
+
+ dev_dbg(regmap_get_device(st->map), "wom_threshold: 0x%x\n", threshold);
+
+ /* set accel WoM threshold for the 3 axes */
+ st->buffer[0] = threshold;
+ st->buffer[1] = threshold;
+ st->buffer[2] = threshold;
+ ret = regmap_bulk_write(st->map, INV_ICM42607_REG_ACCEL_WOM_X_THR, st->buffer, 3);
+ if (ret)
+ return ret;
+
+ st->apex.wom.value = value;
+
+ return 0;
+}
+
+static int _inv_icm42607_accel_enable_wom(struct iio_dev *indio_dev)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+ struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+ unsigned int sleep_ms = 0;
+ int ret;
+
+ scoped_guard(mutex, &st->lock) {
+ /* turn on accel sensor */
+ conf.mode = accel_st->power_mode;
+ conf.filter = accel_st->filter;
+ ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_ms);
+ if (ret)
+ return ret;
+ }
+
+ if (sleep_ms)
+ msleep(sleep_ms);
+
+ scoped_guard(mutex, &st->lock) {
+ ret = inv_icm42607_enable_wom(st);
+ if (ret)
+ return ret;
+ st->apex.on++;
+ st->apex.wom.enable = true;
+ }
+
+ return 0;
+}
+
+static int inv_icm42607_accel_enable_wom(struct iio_dev *indio_dev)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct device *pdev = regmap_get_device(st->map);
+ int ret;
+
+ ret = pm_runtime_resume_and_get(pdev);
+ if (ret)
+ return ret;
+
+ ret = _inv_icm42607_accel_enable_wom(indio_dev);
+ if (ret) {
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
+ return ret;
+ }
+
+ return 0;
+}
+
+static int _inv_icm42607_accel_disable_wom(struct iio_dev *indio_dev)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+ unsigned int sleep_ms = 0;
+ int ret;
+
+ scoped_guard(mutex, &st->lock) {
+ /*
+ * Consider that turning off WoM is always working to avoid
+ * blocking the chip in on mode and prevent going back to sleep.
+ * If there is an error, the chip will anyway go back to sleep
+ * and the feature will not work anymore.
+ */
+ st->apex.wom.enable = false;
+ st->apex.on--;
+ ret = inv_icm42607_disable_wom(st);
+ if (ret)
+ return ret;
+ /* turn off accel sensor if not used */
+ if (!st->apex.on && !iio_buffer_enabled(indio_dev)) {
+ conf.mode = INV_ICM42607_SENSOR_MODE_OFF;
+ ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_ms);
+ if (ret)
+ return ret;
+ }
+ }
+
+ if (sleep_ms)
+ msleep(sleep_ms);
+
+ return 0;
+}
+
+static int inv_icm42607_accel_disable_wom(struct iio_dev *indio_dev)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct device *pdev = regmap_get_device(st->map);
+ int ret;
+
+ ret = _inv_icm42607_accel_disable_wom(indio_dev);
+
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
+
+ return ret;
+}
+
+void inv_icm42607_accel_handle_events(struct iio_dev *indio_dev,
+ unsigned int status2, unsigned int status3,
+ s64 timestamp)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ u64 ev_code;
+
+ /* handle WoM event */
+ if (st->apex.wom.enable && (status2 & INV_ICM42607_INT_STATUS2_WOM_INT)) {
+ ev_code = IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, IIO_MOD_X_OR_Y_OR_Z,
+ IIO_EV_TYPE_ROC, IIO_EV_DIR_RISING);
+ iio_push_event(indio_dev, ev_code, timestamp);
+ }
+}
+
+/* IIO format int + nano */
+static const int inv_icm42607_accel_scale[] = {
+ /* +/- 16G => 0.004788403 m/s-2 */
+ [2 * INV_ICM42607_ACCEL_FS_16G] = 0,
+ [2 * INV_ICM42607_ACCEL_FS_16G + 1] = 4788403,
+ /* +/- 8G => 0.002394202 m/s-2 */
+ [2 * INV_ICM42607_ACCEL_FS_8G] = 0,
+ [2 * INV_ICM42607_ACCEL_FS_8G + 1] = 2394202,
+ /* +/- 4G => 0.001197101 m/s-2 */
+ [2 * INV_ICM42607_ACCEL_FS_4G] = 0,
+ [2 * INV_ICM42607_ACCEL_FS_4G + 1] = 1197101,
+ /* +/- 2G => 0.000598550 m/s-2 */
+ [2 * INV_ICM42607_ACCEL_FS_2G] = 0,
+ [2 * INV_ICM42607_ACCEL_FS_2G + 1] = 598550,
+};
+
+static int inv_icm42607_accel_read_scale(struct iio_dev *indio_dev,
+ int *val, int *val2)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+ unsigned int idx;
+
+ idx = st->conf.accel.fs;
+
+ *val = accel_st->scales[2 * idx];
+ *val2 = accel_st->scales[2 * idx + 1];
+ return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm42607_accel_write_scale(struct iio_dev *indio_dev,
+ int val, int val2)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+ struct device *dev = regmap_get_device(st->map);
+ unsigned int idx;
+ struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+ int ret;
+
+ for (idx = 0; idx < accel_st->scales_len; idx += 2) {
+ if (val == accel_st->scales[idx] &&
+ val2 == accel_st->scales[idx + 1])
+ break;
+ }
+ if (idx >= accel_st->scales_len)
+ return -EINVAL;
+
+ conf.fs = idx / 2;
+
+ pm_runtime_get_sync(dev);
+ scoped_guard(mutex, &st->lock)
+ ret = inv_icm42607_set_accel_conf(st, &conf, NULL);
+
+ pm_runtime_put_autosuspend(dev);
+
+ return ret;
+}
+
+/* IIO format int + micro */
+static const int inv_icm42607_accel_odr[] = {
+ /* 1.5625Hz */
+ 1, 562500,
+ /* 3.125Hz */
+ 3, 125000,
+ /* 6.25Hz */
+ 6, 250000,
+ /* 12.5Hz */
+ 12, 500000,
+ /* 25Hz */
+ 25, 0,
+ /* 50Hz */
+ 50, 0,
+ /* 100Hz */
+ 100, 0,
+ /* 200Hz */
+ 200, 0,
+ /* 400Hz */
+ 400, 0,
+ /* 800Hz */
+ 800, 0,
+ /* 1600Hz */
+ 1600, 0,
+};
+
+static const int inv_icm42607_accel_odr_conv[] = {
+ INV_ICM42607_ODR_1_5625HZ_LP,
+ INV_ICM42607_ODR_3_125HZ_LP,
+ INV_ICM42607_ODR_6_25HZ_LP,
+ INV_ICM42607_ODR_12_5HZ,
+ INV_ICM42607_ODR_25HZ,
+ INV_ICM42607_ODR_50HZ,
+ INV_ICM42607_ODR_100HZ,
+ INV_ICM42607_ODR_200HZ,
+ INV_ICM42607_ODR_400HZ,
+ INV_ICM42607_ODR_800HZ,
+ INV_ICM42607_ODR_1600HZ,
+};
+
+static int inv_icm42607_accel_read_odr(struct inv_icm42607_state *st,
+ int *val, int *val2)
+{
+ unsigned int odr;
+ unsigned int i;
+
+ odr = st->conf.accel.odr;
+
+ for (i = 0; i < ARRAY_SIZE(inv_icm42607_accel_odr_conv); ++i) {
+ if (inv_icm42607_accel_odr_conv[i] == odr)
+ break;
+ }
+ if (i >= ARRAY_SIZE(inv_icm42607_accel_odr_conv))
+ return -EINVAL;
+
+ *val = inv_icm42607_accel_odr[2 * i];
+ *val2 = inv_icm42607_accel_odr[2 * i + 1];
+
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int inv_icm42607_accel_write_odr(struct iio_dev *indio_dev,
+ int val, int val2)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &accel_st->ts;
+ struct device *dev = regmap_get_device(st->map);
+ unsigned int idx;
+ struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+ int ret;
+
+ for (idx = 0; idx < ARRAY_SIZE(inv_icm42607_accel_odr); idx += 2) {
+ if (val == inv_icm42607_accel_odr[idx] &&
+ val2 == inv_icm42607_accel_odr[idx + 1])
+ break;
+ }
+ if (idx >= ARRAY_SIZE(inv_icm42607_accel_odr))
+ return -EINVAL;
+
+ conf.odr = inv_icm42607_accel_odr_conv[idx / 2];
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ ret = inv_sensors_timestamp_update_odr(ts, inv_icm42607_odr_to_period(conf.odr),
+ iio_buffer_enabled(indio_dev));
+ if (ret)
+ goto out_unlock;
+
+ ret = inv_icm42607_set_accel_conf(st, &conf, NULL);
+ if (ret)
+ goto out_unlock;
+ ret = inv_icm42607_accel_set_wom_threshold(st, st->apex.wom.value, val, val2);
+ if (ret)
+ goto out_unlock;
+ inv_icm42607_buffer_update_fifo_period(st);
+ inv_icm42607_buffer_update_watermark(st);
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ pm_runtime_put_autosuspend(dev);
+
+ return ret;
+}
+
+/*
+ * Calibration bias values, IIO range format int + micro.
+ * Not actually supported in the ICM-42607P registers.
+ */
+static int inv_icm42607_accel_write_calibbias(struct inv_icm42607_state *st,
+ struct iio_chan_spec const *chan,
+ int val, int val2)
+{
+ /* Not actually supported in the ICM-42607P registers */
+ return -EOPNOTSUPP;
+}
+
+static int inv_icm42607_accel_read_calibbias(struct inv_icm42607_state *st,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2)
+{
+ /* Not actually supported in the ICM-42607P registers */
+ return -EOPNOTSUPP;
+}
+
+static int inv_icm42607_accel_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ s16 data;
+ int ret;
+
+ switch (chan->type) {
+ case IIO_ACCEL:
+ break;
+ case IIO_TEMP:
+ return inv_icm42607_temp_read_raw(indio_dev, chan, val, val2, mask);
+ default:
+ return -EINVAL;
+ }
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ if (!iio_device_claim_direct(indio_dev))
+ return -EBUSY;
+ ret = inv_icm42607_accel_read_sensor(indio_dev, chan, &data);
+ iio_device_release_direct(indio_dev);
+ if (ret)
+ return ret;
+ *val = data;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ return inv_icm42607_accel_read_scale(indio_dev, val, val2);
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return inv_icm42607_accel_read_odr(st, val, val2);
+ case IIO_CHAN_INFO_CALIBBIAS:
+ return inv_icm42607_accel_read_calibbias(st, chan, val, val2);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42607_accel_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ int ret;
+
+ if (chan->type != IIO_ACCEL)
+ return -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ if (!iio_device_claim_direct(indio_dev))
+ return -EBUSY;
+ ret = inv_icm42607_accel_write_scale(indio_dev, val, val2);
+ iio_device_release_direct(indio_dev);
+ return ret;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return inv_icm42607_accel_write_odr(indio_dev, val, val2);
+ case IIO_CHAN_INFO_CALIBBIAS:
+ if (!iio_device_claim_direct(indio_dev))
+ return -EBUSY;
+ ret = inv_icm42607_accel_write_calibbias(st, chan, val, val2);
+ iio_device_release_direct(indio_dev);
+ return ret;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42607_accel_write_raw_get_fmt(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ long mask)
+{
+ if (chan->type != IIO_ACCEL)
+ return -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ return IIO_VAL_INT_PLUS_NANO;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_CHAN_INFO_CALIBBIAS:
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42607_accel_hwfifo_set_watermark(struct iio_dev *indio_dev,
+ unsigned int val)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+
+ guard(mutex)(&st->lock);
+
+ st->fifo.watermark.accel = val;
+ return inv_icm42607_buffer_update_watermark(st);
+}
+
+static int inv_icm42607_accel_hwfifo_flush(struct iio_dev *indio_dev,
+ unsigned int count)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ int ret;
+
+ if (count == 0)
+ return 0;
+
+ guard(mutex)(&st->lock);
+
+ ret = inv_icm42607_buffer_hwfifo_flush(st, count);
+ if (ret)
+ return ret;
+
+ return st->fifo.nb.accel;
+}
+
+static int inv_icm42607_accel_read_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+
+ /* handle only WoM (roc rising) event */
+ if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+ return -EINVAL;
+
+ guard(mutex)(&st->lock);
+
+ return st->apex.wom.enable ? 1 : 0;
+}
+
+static int inv_icm42607_accel_write_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ bool state)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+
+ /* handle only WoM (roc rising) event */
+ if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+ return -EINVAL;
+
+ scoped_guard(mutex, &st->lock) {
+ if (st->apex.wom.enable == state)
+ return 0;
+ }
+
+ if (state)
+ return inv_icm42607_accel_enable_wom(indio_dev);
+
+ return inv_icm42607_accel_disable_wom(indio_dev);
+}
+
+static int inv_icm42607_accel_read_event_value(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info,
+ int *val, int *val2)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ u32 rem;
+
+ /* handle only WoM (roc rising) event value */
+ if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+ return -EINVAL;
+
+ guard(mutex)(&st->lock);
+
+ /* return value in micro */
+ *val = div_u64_rem(st->apex.wom.value, MICRO, &rem);
+ *val2 = rem;
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int _inv_icm42607_accel_wom_value(struct inv_icm42607_state *st,
+ int val, int val2)
+{
+ u64 value;
+ unsigned int accel_hz, accel_uhz;
+ int ret;
+
+ guard(mutex)(&st->lock);
+
+ ret = inv_icm42607_accel_read_odr(st, &accel_hz, &accel_uhz);
+ if (ret < 0)
+ return ret;
+
+ value = (u64)val * MICRO + (u64)val2;
+
+ return inv_icm42607_accel_set_wom_threshold(st, value,
+ accel_hz, accel_uhz);
+}
+
+static int inv_icm42607_accel_write_event_value(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info,
+ int val, int val2)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct device *dev = regmap_get_device(st->map);
+ int ret;
+
+ /* handle only WoM (roc rising) event value */
+ if (type != IIO_EV_TYPE_ROC || dir != IIO_EV_DIR_RISING)
+ return -EINVAL;
+
+ if (val < 0 || val2 < 0)
+ return -EINVAL;
+
+ ret = pm_runtime_resume_and_get(dev);
+ if (ret)
+ return ret;
+
+ ret = _inv_icm42607_accel_wom_value(st, val, val2);
+
+ pm_runtime_mark_last_busy(dev);
+ pm_runtime_put_autosuspend(dev);
+
+ return ret;
+}
+
+static const struct iio_info inv_icm42607_accel_info = {
+ .read_raw = inv_icm42607_accel_read_raw,
+ .write_raw = inv_icm42607_accel_write_raw,
+ .write_raw_get_fmt = inv_icm42607_accel_write_raw_get_fmt,
+ .debugfs_reg_access = inv_icm42607_debugfs_reg,
+ .update_scan_mode = inv_icm42607_accel_update_scan_mode,
+ .hwfifo_set_watermark = inv_icm42607_accel_hwfifo_set_watermark,
+ .hwfifo_flush_to_buffer = inv_icm42607_accel_hwfifo_flush,
+ .read_event_config = inv_icm42607_accel_read_event_config,
+ .write_event_config = inv_icm42607_accel_write_event_config,
+ .read_event_value = inv_icm42607_accel_read_event_value,
+ .write_event_value = inv_icm42607_accel_write_event_value,
+};
+
+struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st)
+{
+ struct device *dev = regmap_get_device(st->map);
+ const char *name;
+ struct inv_icm42607_sensor_state *accel_st;
+ struct inv_sensors_timestamp_chip ts_chip;
+ struct iio_dev *indio_dev;
+ int ret;
+
+ name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->name);
+ if (!name)
+ return ERR_PTR(-ENOMEM);
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st));
+ if (!indio_dev)
+ return ERR_PTR(-ENOMEM);
+ accel_st = iio_priv(indio_dev);
+
+ accel_st->scales = inv_icm42607_accel_scale;
+ accel_st->scales_len = ARRAY_SIZE(inv_icm42607_accel_scale);
+ accel_st->power_mode = INV_ICM42607_SENSOR_MODE_LOW_POWER;
+ accel_st->filter = INV_ICM42607_FILTER_AVG_16X;
+
+ /*
+ * clock period is 32kHz (31250ns)
+ * jitter is +/- 2% (20 per mille)
+ */
+ ts_chip.clock_period = 31250;
+ ts_chip.jitter = 20;
+ ts_chip.init_period = inv_icm42607_odr_to_period(st->conf.accel.odr);
+ inv_sensors_timestamp_init(&accel_st->ts, &ts_chip);
+
+ iio_device_set_drvdata(indio_dev, st);
+ indio_dev->name = name;
+ indio_dev->info = &inv_icm42607_accel_info;
+ indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE;
+ indio_dev->channels = inv_icm42607_accel_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_accel_channels);
+ indio_dev->available_scan_masks = inv_icm42607_accel_scan_masks;
+
+ ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
+ &inv_icm42607_buffer_ops);
+ if (ret)
+ return ERR_PTR(ret);
+
+ ret = devm_iio_device_register(dev, indio_dev);
+ if (ret)
+ return ERR_PTR(ret);
+
+ /* accel events are wakeup capable */
+ ret = devm_device_init_wakeup(&indio_dev->dev);
+ if (ret)
+ return ERR_PTR(ret);
+
+ return indio_dev;
+}
+
+int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &accel_st->ts;
+ ssize_t i, size;
+ unsigned int no;
+ const void *accel, *gyro, *timestamp;
+ const int8_t *temp;
+ unsigned int odr;
+ int64_t ts_val;
+ struct inv_icm42607_accel_buffer buffer = { };
+
+ /* parse all fifo packets */
+ for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
+ size = inv_icm42607_fifo_decode_packet(&st->fifo.data[i],
+ &accel, &gyro, &temp, ×tamp, &odr);
+ /* quit if error or FIFO is empty */
+ if (size <= 0)
+ return size;
+
+ /* skip packet if no accel data or data is invalid */
+ if (accel == NULL || !inv_icm42607_fifo_is_data_valid(accel))
+ continue;
+
+ /* update odr */
+ if (odr & INV_ICM42607_SENSOR_ACCEL) {
+ inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
+ st->fifo.nb.total, no);
+ }
+
+ memcpy(&buffer.accel, accel, sizeof(buffer.accel));
+ /* convert 8 bits FIFO temperature in high resolution format */
+ buffer.temp = temp ? (*temp * 64) : 0;
+ ts_val = inv_sensors_timestamp_pop(ts);
+ iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
+ }
+
+ return 0;
+}
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
new file mode 100644
index 000000000000..92cf7ffe5077
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
@@ -0,0 +1,566 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/minmax.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+
+#include "inv_icm42607.h"
+#include "inv_icm42607_buffer.h"
+
+/* FIFO header: 1 byte */
+#define INV_ICM42607_FIFO_HEADER_MSG BIT(7)
+#define INV_ICM42607_FIFO_HEADER_ACCEL BIT(6)
+#define INV_ICM42607_FIFO_HEADER_GYRO BIT(5)
+#define INV_ICM42607_FIFO_HEADER_TMST_FSYNC GENMASK(3, 2)
+#define INV_ICM42607_FIFO_HEADER_ODR_ACCEL BIT(1)
+#define INV_ICM42607_FIFO_HEADER_ODR_GYRO BIT(0)
+
+struct inv_icm42607_fifo_1sensor_packet {
+ u8 header;
+ struct inv_icm42607_fifo_sensor_data data;
+ s8 temp;
+} __packed;
+#define INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE 8
+
+struct inv_icm42607_fifo_2sensors_packet {
+ u8 header;
+ struct inv_icm42607_fifo_sensor_data accel;
+ struct inv_icm42607_fifo_sensor_data gyro;
+ s8 temp;
+ __be16 timestamp;
+} __packed;
+#define INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE 16
+
+ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel,
+ const void **gyro, const int8_t **temp,
+ const void **timestamp, unsigned int *odr)
+{
+ const struct inv_icm42607_fifo_1sensor_packet *pack1 = packet;
+ const struct inv_icm42607_fifo_2sensors_packet *pack2 = packet;
+ u8 header = *((const u8 *)packet);
+
+ /* FIFO empty */
+ if (header & INV_ICM42607_FIFO_HEADER_MSG) {
+ *accel = NULL;
+ *gyro = NULL;
+ *temp = NULL;
+ *timestamp = NULL;
+ *odr = 0;
+ return 0;
+ }
+
+ /* handle odr flags */
+ *odr = 0;
+ if (header & INV_ICM42607_FIFO_HEADER_ODR_GYRO)
+ *odr |= INV_ICM42607_SENSOR_GYRO;
+ if (header & INV_ICM42607_FIFO_HEADER_ODR_ACCEL)
+ *odr |= INV_ICM42607_SENSOR_ACCEL;
+
+ /* accel + gyro */
+ if ((header & INV_ICM42607_FIFO_HEADER_ACCEL) &&
+ (header & INV_ICM42607_FIFO_HEADER_GYRO)) {
+ *accel = &pack2->accel;
+ *gyro = &pack2->gyro;
+ *temp = &pack2->temp;
+ *timestamp = &pack2->timestamp;
+ return INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE;
+ }
+
+ /* accel only */
+ if (header & INV_ICM42607_FIFO_HEADER_ACCEL) {
+ *accel = &pack1->data;
+ *gyro = NULL;
+ *temp = &pack1->temp;
+ *timestamp = NULL;
+ return INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE;
+ }
+
+ /* gyro only */
+ if (header & INV_ICM42607_FIFO_HEADER_GYRO) {
+ *accel = NULL;
+ *gyro = &pack1->data;
+ *temp = &pack1->temp;
+ *timestamp = NULL;
+ return INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE;
+ }
+
+ /* invalid packet if here */
+ return -EINVAL;
+}
+
+void inv_icm42607_buffer_update_fifo_period(struct inv_icm42607_state *st)
+{
+ u32 period_gyro, period_accel;
+
+ if (st->fifo.en & INV_ICM42607_SENSOR_GYRO)
+ period_gyro = inv_icm42607_odr_to_period(st->conf.gyro.odr);
+ else
+ period_gyro = U32_MAX;
+
+ if (st->fifo.en & INV_ICM42607_SENSOR_ACCEL)
+ period_accel = inv_icm42607_odr_to_period(st->conf.accel.odr);
+ else
+ period_accel = U32_MAX;
+
+ st->fifo.period = min(period_gyro, period_accel);
+}
+
+int inv_icm42607_buffer_set_fifo_en(struct inv_icm42607_state *st,
+ unsigned int fifo_en)
+{
+ unsigned int val;
+ int ret;
+
+ /* update FIFO EN bits for accel and gyro */
+ val = 0;
+ if (fifo_en & INV_ICM42607_SENSOR_GYRO)
+ val |= INV_ICM42607_FIFO_CONFIG1_MODE;
+ if (fifo_en & INV_ICM42607_SENSOR_ACCEL)
+ val |= INV_ICM42607_FIFO_CONFIG1_MODE;
+ if (fifo_en & INV_ICM42607_SENSOR_TEMP)
+ val |= INV_ICM42607_FIFO_CONFIG1_MODE;
+
+ ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1, val);
+ if (ret)
+ return ret;
+
+ st->fifo.en = fifo_en;
+ inv_icm42607_buffer_update_fifo_period(st);
+
+ return 0;
+}
+
+static size_t inv_icm42607_get_packet_size(unsigned int fifo_en)
+{
+ size_t packet_size;
+
+ if ((fifo_en & INV_ICM42607_SENSOR_GYRO) &&
+ (fifo_en & INV_ICM42607_SENSOR_ACCEL))
+ packet_size = INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE;
+ else
+ packet_size = INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE;
+
+ return packet_size;
+}
+
+static unsigned int inv_icm42607_wm_truncate(unsigned int watermark,
+ size_t packet_size)
+{
+ size_t wm_size;
+ unsigned int wm;
+
+ wm_size = watermark * packet_size;
+ if (wm_size > INV_ICM42607_FIFO_WATERMARK_MAX)
+ wm_size = INV_ICM42607_FIFO_WATERMARK_MAX;
+
+ wm = wm_size / packet_size;
+
+ return wm;
+}
+
+/**
+ * inv_icm42607_buffer_update_watermark - update watermark FIFO threshold
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+int inv_icm42607_buffer_update_watermark(struct inv_icm42607_state *st)
+{
+ size_t packet_size, wm_size;
+ unsigned int wm_gyro, wm_accel, watermark;
+ u32 period_gyro, period_accel;
+ u32 latency_gyro, latency_accel, latency;
+ bool restore;
+ __le16 raw_wm;
+ int ret;
+
+ packet_size = inv_icm42607_get_packet_size(st->fifo.en);
+
+ /* compute sensors latency, depending on sensor watermark and odr */
+ wm_gyro = inv_icm42607_wm_truncate(st->fifo.watermark.gyro, packet_size);
+ wm_accel = inv_icm42607_wm_truncate(st->fifo.watermark.accel, packet_size);
+ /* use us for odr to avoid overflow using 32 bits values */
+ period_gyro = inv_icm42607_odr_to_period(st->conf.gyro.odr) / 1000UL;
+ period_accel = inv_icm42607_odr_to_period(st->conf.accel.odr) / 1000UL;
+ latency_gyro = period_gyro * wm_gyro;
+ latency_accel = period_accel * wm_accel;
+
+ /* 0 value for watermark means that the sensor is turned off */
+ if (wm_gyro == 0 && wm_accel == 0)
+ return 0;
+
+ if (latency_gyro == 0) {
+ watermark = wm_accel;
+ st->fifo.watermark.eff_accel = wm_accel;
+ } else if (latency_accel == 0) {
+ watermark = wm_gyro;
+ st->fifo.watermark.eff_gyro = wm_gyro;
+ } else {
+ /* compute the smallest latency that is a multiple of both */
+ if (latency_gyro <= latency_accel)
+ latency = latency_gyro - (latency_accel % latency_gyro);
+ else
+ latency = latency_accel - (latency_gyro % latency_accel);
+ /* all this works because periods are multiple of each others */
+ watermark = latency / min(period_gyro, period_accel);
+ if (watermark < 1)
+ watermark = 1;
+ /* update effective watermark */
+ st->fifo.watermark.eff_gyro = latency / period_gyro;
+ if (st->fifo.watermark.eff_gyro < 1)
+ st->fifo.watermark.eff_gyro = 1;
+ st->fifo.watermark.eff_accel = latency / period_accel;
+ if (st->fifo.watermark.eff_accel < 1)
+ st->fifo.watermark.eff_accel = 1;
+ }
+
+ /* compute watermark value in bytes */
+ wm_size = watermark * packet_size;
+
+ /* changing FIFO watermark requires to turn off watermark interrupt */
+ ret = regmap_update_bits_check(st->map, INV_ICM42607_REG_INT_SOURCE0,
+ INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN,
+ 0, &restore);
+ if (ret)
+ return ret;
+
+ raw_wm = INV_ICM42607_FIFO_WATERMARK_VAL(wm_size);
+ memcpy(st->buffer, &raw_wm, sizeof(raw_wm));
+ ret = regmap_bulk_write(st->map, INV_ICM42607_REG_FIFO_CONFIG2,
+ st->buffer, sizeof(raw_wm));
+ if (ret)
+ return ret;
+
+ /* restore watermark interrupt */
+ if (restore) {
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_INT_SOURCE0,
+ INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN,
+ INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN);
+ if (ret)
+ return ret;
+ }
+
+ return 0;
+}
+
+static int inv_icm42607_buffer_preenable(struct iio_dev *indio_dev)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct device *dev = regmap_get_device(st->map);
+ struct inv_icm42607_sensor_state *sensor_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &sensor_st->ts;
+
+ pm_runtime_get_sync(dev);
+
+ guard(mutex)(&st->lock);
+ inv_sensors_timestamp_reset(ts);
+
+ return 0;
+}
+
+/*
+ * update_scan_mode callback is turning sensors on and setting data FIFO enable
+ * bits.
+ */
+static int inv_icm42607_buffer_postenable(struct iio_dev *indio_dev)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ int ret;
+
+ guard(mutex)(&st->lock);
+
+ /* exit if FIFO is already on */
+ if (st->fifo.on) {
+ st->fifo.on++;
+ return 0;
+ }
+
+ /* set FIFO threshold interrupt */
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_INT_SOURCE0,
+ INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN,
+ INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN);
+ if (ret)
+ return ret;
+
+ /* flush FIFO data */
+ ret = regmap_write(st->map, INV_ICM42607_REG_SIGNAL_PATH_RESET,
+ INV_ICM42607_SIGNAL_PATH_RESET_FIFO_FLUSH);
+ if (ret)
+ return ret;
+
+ /* set FIFO in streaming mode */
+ ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+ INV_ICM42607_FIFO_CONFIG1_MODE);
+ if (ret)
+ return ret;
+
+ /* workaround: first read of FIFO count after reset is always 0 */
+ ret = regmap_bulk_read(st->map, INV_ICM42607_REG_FIFO_COUNTH, st->buffer, 2);
+ if (ret)
+ return ret;
+
+ st->fifo.on++;
+
+ return 0;
+}
+
+static int inv_icm42607_buffer_predisable(struct iio_dev *indio_dev)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ int ret;
+
+ guard(mutex)(&st->lock);
+
+ if (st->fifo.on > 1) {
+ st->fifo.on--;
+ return 0;
+ }
+
+ /* set FIFO in bypass mode */
+ ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+ INV_ICM42607_FIFO_CONFIG1_BYPASS);
+ if (ret)
+ return ret;
+
+ /* flush FIFO data */
+ ret = regmap_write(st->map, INV_ICM42607_REG_SIGNAL_PATH_RESET,
+ INV_ICM42607_SIGNAL_PATH_RESET_FIFO_FLUSH);
+ if (ret)
+ return ret;
+
+ /* disable FIFO threshold interrupt */
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_INT_SOURCE0,
+ INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN, 0);
+ if (ret)
+ return ret;
+
+ st->fifo.on--;
+
+ return 0;
+}
+
+static int inv_icm42607_buffer_postdisable(struct iio_dev *indio_dev)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct device *dev = regmap_get_device(st->map);
+ unsigned int sensor;
+ unsigned int *watermark;
+ struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+ unsigned int sleep_temp = 0;
+ unsigned int sleep_sensor = 0;
+ unsigned int sleep;
+ int ret;
+
+ if (indio_dev == st->indio_gyro) {
+ sensor = INV_ICM42607_SENSOR_GYRO;
+ watermark = &st->fifo.watermark.gyro;
+ } else if (indio_dev == st->indio_accel) {
+ sensor = INV_ICM42607_SENSOR_ACCEL;
+ watermark = &st->fifo.watermark.accel;
+ } else {
+ return -EINVAL;
+ }
+
+ mutex_lock(&st->lock);
+
+ ret = inv_icm42607_buffer_set_fifo_en(st, st->fifo.en & ~sensor);
+ if (ret)
+ goto out_unlock;
+
+ *watermark = 0;
+ ret = inv_icm42607_buffer_update_watermark(st);
+ if (ret)
+ goto out_unlock;
+
+ conf.mode = INV_ICM42607_SENSOR_MODE_OFF;
+ if (sensor == INV_ICM42607_SENSOR_GYRO)
+ ret = inv_icm42607_set_gyro_conf(st, &conf, &sleep_sensor);
+ else
+ ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_sensor);
+ if (ret)
+ goto out_unlock;
+
+ /* if FIFO is off, turn temperature off */
+ if (!st->fifo.on)
+ ret = inv_icm42607_set_temp_conf(st, false, &sleep_temp);
+
+out_unlock:
+ mutex_unlock(&st->lock);
+
+ /* sleep maximum required time */
+ sleep = max(sleep_sensor, sleep_temp);
+ if (sleep)
+ msleep(sleep);
+
+ pm_runtime_put_autosuspend(dev);
+
+ return ret;
+}
+
+const struct iio_buffer_setup_ops inv_icm42607_buffer_ops = {
+ .preenable = inv_icm42607_buffer_preenable,
+ .postenable = inv_icm42607_buffer_postenable,
+ .predisable = inv_icm42607_buffer_predisable,
+ .postdisable = inv_icm42607_buffer_postdisable,
+};
+
+int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st,
+ unsigned int max)
+{
+ size_t max_count;
+ __be16 *raw_fifo_count;
+ ssize_t i, size;
+ const void *accel, *gyro, *timestamp;
+ const s8 *temp;
+ unsigned int odr;
+ int ret;
+
+ /* reset all samples counters */
+ st->fifo.count = 0;
+ st->fifo.nb.gyro = 0;
+ st->fifo.nb.accel = 0;
+ st->fifo.nb.total = 0;
+
+ /* compute maximum FIFO read size */
+ if (max == 0)
+ max_count = sizeof(st->fifo.data);
+ else
+ max_count = max * inv_icm42607_get_packet_size(st->fifo.en);
+
+ /* read FIFO count value */
+ raw_fifo_count = (__be16 *)st->buffer;
+ ret = regmap_bulk_read(st->map, INV_ICM42607_REG_FIFO_COUNTH,
+ raw_fifo_count, sizeof(*raw_fifo_count));
+ if (ret)
+ return ret;
+ st->fifo.count = be16_to_cpup(raw_fifo_count);
+
+ /* check and clamp FIFO count value */
+ if (st->fifo.count == 0)
+ return 0;
+ if (st->fifo.count > max_count)
+ st->fifo.count = max_count;
+
+ /* read all FIFO data in internal buffer */
+ ret = regmap_noinc_read(st->map, INV_ICM42607_REG_FIFO_DATA,
+ st->fifo.data, st->fifo.count);
+ if (ret)
+ return ret;
+
+ /* compute number of samples for each sensor */
+ for (i = 0; i < st->fifo.count; i += size) {
+ size = inv_icm42607_fifo_decode_packet(&st->fifo.data[i],
+ &accel, &gyro, &temp, ×tamp, &odr);
+ if (size <= 0)
+ break;
+ if (gyro != NULL && inv_icm42607_fifo_is_data_valid(gyro))
+ st->fifo.nb.gyro++;
+ if (accel != NULL && inv_icm42607_fifo_is_data_valid(accel))
+ st->fifo.nb.accel++;
+ st->fifo.nb.total++;
+ }
+
+ return 0;
+}
+
+int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st)
+{
+ struct inv_icm42607_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel);
+ struct inv_sensors_timestamp *ts;
+ int ret;
+
+ if (st->fifo.nb.total == 0)
+ return 0;
+
+ /* handle gyroscope timestamp and FIFO data parsing */
+ if (st->fifo.nb.gyro > 0) {
+ ts = &gyro_st->ts;
+ inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_gyro,
+ st->timestamp.gyro);
+ ret = inv_icm42607_gyro_parse_fifo(st->indio_gyro);
+ if (ret)
+ return ret;
+ }
+
+ /* handle accelerometer timestamp and FIFO data parsing */
+ if (st->fifo.nb.accel > 0) {
+ ts = &accel_st->ts;
+ inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_accel,
+ st->timestamp.accel);
+ ret = inv_icm42607_accel_parse_fifo(st->indio_accel);
+ if (ret)
+ return ret;
+ }
+
+ return 0;
+}
+
+int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
+ unsigned int count)
+{
+ struct inv_icm42607_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel);
+ struct inv_sensors_timestamp *ts;
+ s64 gyro_ts, accel_ts;
+ int ret;
+
+ gyro_ts = iio_get_time_ns(st->indio_gyro);
+ accel_ts = iio_get_time_ns(st->indio_accel);
+
+ ret = inv_icm42607_buffer_fifo_read(st, count);
+ if (ret)
+ return ret;
+
+ if (st->fifo.nb.total == 0)
+ return 0;
+
+ if (st->fifo.nb.gyro > 0) {
+ ts = &gyro_st->ts;
+ inv_sensors_timestamp_interrupt(ts, st->fifo.nb.gyro, gyro_ts);
+ ret = inv_icm42607_gyro_parse_fifo(st->indio_gyro);
+ if (ret)
+ return ret;
+ }
+
+ if (st->fifo.nb.accel > 0) {
+ ts = &accel_st->ts;
+ inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts);
+ ret = inv_icm42607_accel_parse_fifo(st->indio_accel);
+ if (ret)
+ return ret;
+ }
+
+ return 0;
+}
+
+int inv_icm42607_buffer_init(struct inv_icm42607_state *st)
+{
+ unsigned int val;
+ int ret;
+
+ st->fifo.watermark.eff_gyro = 1;
+ st->fifo.watermark.eff_accel = 1;
+
+ /* Configure FIFO_COUNT format in bytes and big endian */
+ val = INV_ICM42607_INTF_CONFIG0_FIFO_COUNT_ENDIAN;
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+ val, val);
+ if (ret)
+ return ret;
+
+ /* Initialize FIFO in bypass mode */
+ return regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+ INV_ICM42607_FIFO_CONFIG1_BYPASS);
+}
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
new file mode 100644
index 000000000000..6d8d7fa7bd13
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
@@ -0,0 +1,100 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#ifndef INV_ICM42607_BUFFER_H_
+#define INV_ICM42607_BUFFER_H_
+
+#include <linux/kernel.h>
+#include <linux/bitops.h>
+
+struct inv_icm42607_state;
+
+#define INV_ICM42607_SENSOR_GYRO BIT(0)
+#define INV_ICM42607_SENSOR_ACCEL BIT(1)
+#define INV_ICM42607_SENSOR_TEMP BIT(2)
+
+/**
+ * struct inv_icm42607_fifo - FIFO state variables
+ * @on: reference counter for FIFO on.
+ * @en: bits field of INV_ICM42607_SENSOR_* for FIFO EN bits.
+ * @period: FIFO internal period.
+ * @watermark: watermark configuration values for accel and gyro.
+ * @count: number of bytes in the FIFO data buffer.
+ * @nb: gyro, accel and total samples in the FIFO data buffer.
+ * @data: FIFO data buffer aligned for DMA (2kB + 32 bytes of read cache).
+ */
+struct inv_icm42607_fifo {
+ unsigned int on;
+ unsigned int en;
+ u32 period;
+ struct {
+ unsigned int gyro;
+ unsigned int accel;
+ unsigned int eff_gyro;
+ unsigned int eff_accel;
+ } watermark;
+ size_t count;
+ struct {
+ size_t gyro;
+ size_t accel;
+ size_t total;
+ } nb;
+ u8 data[2080] __aligned(IIO_DMA_MINALIGN);
+};
+
+/* FIFO data packet */
+struct inv_icm42607_fifo_sensor_data {
+ __be16 x;
+ __be16 y;
+ __be16 z;
+} __packed;
+#define INV_ICM42607_FIFO_DATA_INVALID -32768
+
+static inline s16 inv_icm42607_fifo_get_sensor_data(__be16 d)
+{
+ return be16_to_cpu(d);
+}
+
+static inline bool
+inv_icm42607_fifo_is_data_valid(const struct inv_icm42607_fifo_sensor_data *s)
+{
+ s16 x, y, z;
+
+ x = inv_icm42607_fifo_get_sensor_data(s->x);
+ y = inv_icm42607_fifo_get_sensor_data(s->y);
+ z = inv_icm42607_fifo_get_sensor_data(s->z);
+
+ if (x == INV_ICM42607_FIFO_DATA_INVALID &&
+ y == INV_ICM42607_FIFO_DATA_INVALID &&
+ z == INV_ICM42607_FIFO_DATA_INVALID)
+ return false;
+
+ return true;
+}
+
+ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel,
+ const void **gyro, const s8 **temp,
+ const void **timestamp, unsigned int *odr);
+
+extern const struct iio_buffer_setup_ops inv_icm42607_buffer_ops;
+
+int inv_icm42607_buffer_init(struct inv_icm42607_state *st);
+
+void inv_icm42607_buffer_update_fifo_period(struct inv_icm42607_state *st);
+
+int inv_icm42607_buffer_set_fifo_en(struct inv_icm42607_state *st,
+ unsigned int fifo_en);
+
+int inv_icm42607_buffer_update_watermark(struct inv_icm42607_state *st);
+
+int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st,
+ unsigned int max);
+
+int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st);
+
+int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
+ unsigned int count);
+
+#endif
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
new file mode 100644
index 000000000000..9b69ccb1d101
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -0,0 +1,811 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/regulator/consumer.h>
+#include <linux/pm_runtime.h>
+#include <linux/property.h>
+#include <linux/regmap.h>
+#include <linux/iio/iio.h>
+
+#include "inv_icm42607.h"
+#include "inv_icm42607_buffer.h"
+
+static const struct regmap_range_cfg inv_icm42607_regmap_ranges[] = {
+ {
+ .name = "user bank",
+ .range_min = 0x0000,
+ .range_max = 0x00FF,
+ .selector_reg = 0, /* not used */
+ .selector_mask = 0, /* not used */
+ .selector_shift = 0, /* not used */
+ .window_start = 0,
+ .window_len = 0x0100,
+ },
+};
+
+const struct regmap_config inv_icm42607_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+ .max_register = 0x00FF,
+ .ranges = inv_icm42607_regmap_ranges,
+ .num_ranges = ARRAY_SIZE(inv_icm42607_regmap_ranges),
+ .cache_type = REGCACHE_NONE,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm42607_regmap_config, "IIO_ICM42607");
+
+struct inv_icm42607_hw {
+ uint8_t whoami;
+ const char *name;
+ const struct inv_icm42607_conf *conf;
+};
+
+/* chip initial default configuration */
+static const struct inv_icm42607_conf inv_icm42607_default_conf = {
+ .gyro = {
+ .mode = INV_ICM42607_SENSOR_MODE_OFF,
+ .fs = INV_ICM42607_GYRO_FS_1000DPS,
+ .odr = INV_ICM42607_ODR_100HZ,
+ .filter = INV_ICM42607_FILTER_BW_25HZ,
+ },
+ .accel = {
+ .mode = INV_ICM42607_SENSOR_MODE_OFF,
+ .fs = INV_ICM42607_ACCEL_FS_4G,
+ .odr = INV_ICM42607_ODR_100HZ,
+ .filter = INV_ICM42607_FILTER_BW_25HZ,
+ },
+ .temp_en = false,
+};
+
+static const struct inv_icm42607_hw inv_icm42607_hw[INV_CHIP_NB] = {
+ [INV_CHIP_ICM42607] = {
+ .whoami = INV_ICM42607_WHOAMI,
+ .name = "icm42607",
+ .conf = &inv_icm42607_default_conf,
+ },
+ [INV_CHIP_ICM42607P] = {
+ .whoami = INV_ICM42607P_WHOAMI,
+ .name = "icm42607p",
+ .conf = &inv_icm42607_default_conf,
+ },
+};
+
+const struct iio_mount_matrix *
+inv_icm42607_get_mount_matrix(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan)
+{
+ const struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+
+ return &st->orientation;
+}
+
+u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr)
+{
+ static u32 odr_periods[INV_ICM42607_ODR_NB] = {
+ /* Reserved values */
+ 0, 0, 0, 0, 0,
+ /* 1600Hz */
+ 625000,
+ /* 800Hz */
+ 1250000,
+ /* 400Hz */
+ 2500000,
+ /* 200Hz */
+ 5000000,
+ /* 100 Hz */
+ 10000000,
+ /* 50Hz */
+ 20000000,
+ /* 25Hz */
+ 40000000,
+ /* 12.5Hz */
+ 80000000,
+ /* 6.25Hz */
+ 160000000,
+ /* 3.125Hz */
+ 320000000,
+ /* 1.5625Hz */
+ 640000000,
+ };
+
+ return odr_periods[odr];
+}
+
+static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
+ enum inv_icm42607_sensor_mode gyro,
+ enum inv_icm42607_sensor_mode accel,
+ bool temp, unsigned int *sleep_ms)
+{
+ enum inv_icm42607_sensor_mode oldgyro = st->conf.gyro.mode;
+ enum inv_icm42607_sensor_mode oldaccel = st->conf.accel.mode;
+ bool oldtemp = st->conf.temp_en;
+ unsigned int sleepval;
+ unsigned int val;
+ int ret;
+
+ if (gyro == oldgyro && accel == oldaccel && temp == oldtemp)
+ return 0;
+
+ val = INV_ICM42607_PWR_MGMT0_GYRO(gyro) |
+ INV_ICM42607_PWR_MGMT0_ACCEL(accel);
+ if (!temp)
+ val |= INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL;
+ ret = regmap_write(st->map, INV_ICM42607_REG_PWR_MGMT0, val);
+ if (ret)
+ return ret;
+
+ st->conf.gyro.mode = gyro;
+ st->conf.accel.mode = accel;
+ st->conf.temp_en = temp;
+
+ sleepval = 0;
+ if (temp && !oldtemp) {
+ if (sleepval < INV_ICM42607_TEMP_STARTUP_TIME_MS)
+ sleepval = INV_ICM42607_TEMP_STARTUP_TIME_MS;
+ }
+ if (accel != oldaccel && oldaccel == INV_ICM42607_SENSOR_MODE_OFF) {
+ usleep_range(200, 300);
+ if (sleepval < INV_ICM42607_ACCEL_STARTUP_TIME_MS)
+ sleepval = INV_ICM42607_ACCEL_STARTUP_TIME_MS;
+ }
+ if (gyro != oldgyro) {
+ if (oldgyro == INV_ICM42607_SENSOR_MODE_OFF) {
+ usleep_range(200, 300);
+ if (sleepval < INV_ICM42607_GYRO_STARTUP_TIME_MS)
+ sleepval = INV_ICM42607_GYRO_STARTUP_TIME_MS;
+ } else if (gyro == INV_ICM42607_SENSOR_MODE_OFF) {
+ if (sleepval < INV_ICM42607_GYRO_STOP_TIME_MS)
+ sleepval = INV_ICM42607_GYRO_STOP_TIME_MS;
+ }
+ }
+
+ if (sleep_ms)
+ *sleep_ms = sleepval;
+ else if (sleepval)
+ msleep(sleepval);
+
+ return 0;
+}
+
+int inv_icm42607_set_accel_conf(struct inv_icm42607_state *st,
+ struct inv_icm42607_sensor_conf *conf,
+ unsigned int *sleep_ms)
+{
+ struct inv_icm42607_sensor_conf *oldconf = &st->conf.accel;
+ unsigned int val;
+ int ret;
+
+ if (conf->mode < 0)
+ conf->mode = oldconf->mode;
+ if (conf->fs < 0)
+ conf->fs = oldconf->fs;
+ if (conf->odr < 0)
+ conf->odr = oldconf->odr;
+ if (conf->filter < 0)
+ conf->filter = oldconf->filter;
+
+ if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {
+ val = INV_ICM42607_ACCEL_CONFIG0_FS_SEL(conf->fs) |
+ INV_ICM42607_ACCEL_CONFIG0_ODR(conf->odr);
+ ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val);
+ if (ret)
+ return ret;
+ oldconf->fs = conf->fs;
+ oldconf->odr = conf->odr;
+ }
+
+ if (conf->filter != oldconf->filter) {
+ if (conf->mode == INV_ICM42607_SENSOR_MODE_LOW_POWER) {
+ val = INV_ICM42607_ACCEL_CONFIG1_AVG(conf->filter);
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_ACCEL_CONFIG1,
+ INV_ICM42607_ACCEL_CONFIG1_AVG_MASK, val);
+ } else {
+ val = INV_ICM42607_ACCEL_CONFIG1_FILTER(conf->filter);
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_ACCEL_CONFIG1,
+ INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK, val);
+ }
+ if (ret)
+ return ret;
+ oldconf->filter = conf->filter;
+ }
+
+ return inv_icm42607_set_pwr_mgmt0(st, st->conf.gyro.mode, conf->mode,
+ st->conf.temp_en, sleep_ms);
+}
+
+int inv_icm42607_set_gyro_conf(struct inv_icm42607_state *st,
+ struct inv_icm42607_sensor_conf *conf,
+ unsigned int *sleep_ms)
+{
+ struct inv_icm42607_sensor_conf *oldconf = &st->conf.gyro;
+ unsigned int val;
+ int ret;
+
+ if (conf->mode < 0)
+ conf->mode = oldconf->mode;
+ if (conf->fs < 0)
+ conf->fs = oldconf->fs;
+ if (conf->odr < 0)
+ conf->odr = oldconf->odr;
+ if (conf->filter < 0)
+ conf->filter = oldconf->filter;
+
+ if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {
+ val = INV_ICM42607_GYRO_CONFIG0_FS_SEL(conf->fs) |
+ INV_ICM42607_GYRO_CONFIG0_ODR(conf->odr);
+ ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val);
+ if (ret)
+ return ret;
+ oldconf->fs = conf->fs;
+ oldconf->odr = conf->odr;
+ }
+
+ if (conf->filter != oldconf->filter) {
+ val = INV_ICM42607_GYRO_CONFIG1_FILTER(conf->filter);
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_GYRO_CONFIG1,
+ INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, val);
+ if (ret)
+ return ret;
+ oldconf->filter = conf->filter;
+ }
+
+ return inv_icm42607_set_pwr_mgmt0(st, conf->mode, st->conf.accel.mode,
+ st->conf.temp_en, sleep_ms);
+}
+
+int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
+ unsigned int *sleep_ms)
+{
+ unsigned int val;
+ int ret;
+
+ val = INV_ICM42607_TEMP_CONFIG0_FILTER(INV_ICM42607_FILTER_BW_34HZ);
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_TEMP_CONFIG0,
+ INV_ICM42607_TEMP_CONFIG0_FILTER_MASK, val);
+ if (ret)
+ return ret;
+
+ return inv_icm42607_set_pwr_mgmt0(st, st->conf.gyro.mode,
+ st->conf.accel.mode, enable,
+ sleep_ms);
+}
+
+int inv_icm42607_enable_wom(struct inv_icm42607_state *st)
+{
+ int ret;
+
+ /* enable WoM hardware */
+ ret = regmap_write(st->map, INV_ICM42607_REG_WOM_CONFIG,
+ INV_ICM42607_WOM_CONFIG_INT_DUR(1) |
+ INV_ICM42607_WOM_CONFIG_MODE |
+ INV_ICM42607_WOM_CONFIG_EN);
+ if (ret)
+ return ret;
+
+ /* enable WoM interrupt */
+ return regmap_set_bits(st->map, INV_ICM42607_REG_INT_SOURCE1,
+ INV_ICM42607_INT_SOURCE1_WOM_INT1_EN);
+}
+
+int inv_icm42607_disable_wom(struct inv_icm42607_state *st)
+{
+ int ret;
+
+ /* disable WoM interrupt */
+ ret = regmap_clear_bits(st->map, INV_ICM42607_REG_INT_SOURCE1,
+ INV_ICM42607_INT_SOURCE1_WOM_INT1_EN);
+ if (ret)
+ return ret;
+
+ /* disable WoM hardware */
+ return regmap_clear_bits(st->map, INV_ICM42607_REG_WOM_CONFIG,
+ INV_ICM42607_WOM_CONFIG_EN);
+}
+
+
+int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
+ unsigned int writeval, unsigned int *readval)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+
+ guard(mutex)(&st->lock);
+
+ if (readval)
+ return regmap_read(st->map, reg, readval);
+
+ return regmap_write(st->map, reg, writeval);
+}
+
+static int inv_icm42607_set_conf(struct inv_icm42607_state *st,
+ const struct inv_icm42607_conf *conf)
+{
+ unsigned int val;
+ int ret;
+
+ val = INV_ICM42607_PWR_MGMT0_GYRO(conf->gyro.mode) |
+ INV_ICM42607_PWR_MGMT0_ACCEL(conf->accel.mode);
+ /*
+ * No temperature enable reg in datasheet, but BSP driver
+ * selected RC oscillator clock in LP mode when temperature
+ * was disabled.
+ */
+ if (!conf->temp_en)
+ val |= INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL;
+ ret = regmap_write(st->map, INV_ICM42607_REG_PWR_MGMT0, val);
+ if (ret)
+ return ret;
+
+ val = INV_ICM42607_GYRO_CONFIG0_FS_SEL(conf->gyro.fs) |
+ INV_ICM42607_GYRO_CONFIG0_ODR(conf->gyro.odr);
+ ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val);
+ if (ret)
+ return ret;
+
+ val = INV_ICM42607_ACCEL_CONFIG0_FS_SEL(conf->accel.fs) |
+ INV_ICM42607_ACCEL_CONFIG0_ODR(conf->accel.odr);
+ ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val);
+ if (ret)
+ return ret;
+
+ val = INV_ICM42607_GYRO_CONFIG1_FILTER(conf->gyro.filter);
+ ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG1, val);
+ if (ret)
+ return ret;
+
+ val = INV_ICM42607_ACCEL_CONFIG1_FILTER(conf->accel.filter);
+ ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG1, val);
+ if (ret)
+ return ret;
+
+ st->conf = *conf;
+
+ return 0;
+}
+
+/**
+ * inv_icm42607_setup() - check and setup chip
+ * @st: driver internal state
+ * @bus_setup: callback for setting up bus specific registers
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+static int inv_icm42607_setup(struct inv_icm42607_state *st,
+ inv_icm42607_bus_setup bus_setup)
+{
+ const struct inv_icm42607_hw *hw = &inv_icm42607_hw[st->chip];
+ const struct device *dev = regmap_get_device(st->map);
+ unsigned int val;
+ int ret;
+
+ ret = regmap_read(st->map, INV_ICM42607_REG_WHOAMI, &val);
+ if (ret)
+ return ret;
+
+ if (val != hw->whoami)
+ return dev_err_probe(dev, -ENODEV,
+ "invalid whoami %#02x expected %#02x (%s)\n",
+ val, hw->whoami, hw->name);
+
+ st->name = hw->name;
+
+ ret = regmap_write(st->map, INV_ICM42607_REG_SIGNAL_PATH_RESET,
+ INV_ICM42607_SIGNAL_PATH_RESET_SOFT_RESET);
+ if (ret)
+ return ret;
+ msleep(INV_ICM42607_RESET_TIME_MS);
+
+ ret = regmap_read(st->map, INV_ICM42607_REG_INT_STATUS, &val);
+ if (ret)
+ return ret;
+ if (!(val & INV_ICM42607_INT_STATUS_RESET_DONE))
+ return dev_err_probe(dev, -ENODEV,
+ "reset error, reset done bit not set\n");
+
+ ret = bus_setup(st);
+ if (ret)
+ return ret;
+
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+ INV_ICM42607_INTF_CONFIG0_SENSOR_DATA_ENDIAN,
+ INV_ICM42607_INTF_CONFIG0_SENSOR_DATA_ENDIAN);
+ if (ret)
+ return ret;
+
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1,
+ INV_ICM42607_INTF_CONFIG1_CLKSEL_MASK,
+ INV_ICM42607_INTF_CONFIG1_CLKSEL_PLL);
+ if (ret)
+ return ret;
+
+ return inv_icm42607_set_conf(st, hw->conf);
+}
+
+static irqreturn_t inv_icm42607_irq_timestamp(int irq, void *_data)
+{
+ struct inv_icm42607_state *st = _data;
+
+ st->timestamp.gyro = iio_get_time_ns(st->indio_gyro);
+ st->timestamp.accel = iio_get_time_ns(st->indio_accel);
+
+ return IRQ_WAKE_THREAD;
+}
+
+static irqreturn_t inv_icm42607_irq_handler(int irq, void *_data)
+{
+ struct inv_icm42607_state *st = _data;
+ struct device *dev = regmap_get_device(st->map);
+ unsigned int status;
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ if (st->apex.on) {
+ unsigned int status2, status3;
+
+ /* read INT_STATUS2 and INT_STATUS3 in 1 operation */
+ ret = regmap_bulk_read(st->map, INV_ICM42607_REG_INT_STATUS2, st->buffer, 2);
+ if (ret)
+ goto out_unlock;
+ status2 = st->buffer[0];
+ status3 = st->buffer[1];
+ inv_icm42607_accel_handle_events(st->indio_accel, status2, status3,
+ st->timestamp.accel);
+ }
+
+ ret = regmap_read(st->map, INV_ICM42607_REG_INT_STATUS, &status);
+ if (ret)
+ goto out_unlock;
+
+ if (status & INV_ICM42607_INT_STATUS_FIFO_FULL)
+ dev_warn(dev, "FIFO full data lost!\n");
+
+ if (status & INV_ICM42607_INT_STATUS_FIFO_THS) {
+ ret = inv_icm42607_buffer_fifo_read(st, 0);
+ if (ret) {
+ dev_err(dev, "FIFO read error %d\n", ret);
+ goto out_unlock;
+ }
+ ret = inv_icm42607_buffer_fifo_parse(st);
+ if (ret)
+ dev_err(dev, "FIFO parsing error %d\n", ret);
+ }
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ return IRQ_HANDLED;
+}
+
+/**
+ * inv_icm42607_irq_init() - initialize int pin and interrupt handler
+ * @st: driver internal state
+ * @irq: irq number
+ * @irq_type: irq trigger type
+ * @open_drain: true if irq is open drain, false for push-pull
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+static int inv_icm42607_irq_init(struct inv_icm42607_state *st, int irq,
+ int irq_type, bool open_drain)
+{
+ struct device *dev = regmap_get_device(st->map);
+ unsigned int val = 0;
+ int ret;
+
+ switch (irq_type) {
+ case IRQF_TRIGGER_RISING:
+ case IRQF_TRIGGER_HIGH:
+ val = INV_ICM42607_INT_CONFIG_INT1_ACTIVE_HIGH;
+ break;
+ default:
+ val = INV_ICM42607_INT_CONFIG_INT1_ACTIVE_LOW;
+ break;
+ }
+
+ switch (irq_type) {
+ case IRQF_TRIGGER_LOW:
+ case IRQF_TRIGGER_HIGH:
+ val |= INV_ICM42607_INT_CONFIG_INT1_LATCHED;
+ break;
+ default:
+ break;
+ }
+
+ if (!open_drain)
+ val |= INV_ICM42607_INT_CONFIG_INT1_PUSH_PULL;
+
+ ret = regmap_write(st->map, INV_ICM42607_REG_INT_CONFIG, val);
+ if (ret)
+ return ret;
+
+ irq_type |= IRQF_ONESHOT;
+ return devm_request_threaded_irq(dev, irq, inv_icm42607_irq_timestamp,
+ inv_icm42607_irq_handler, irq_type,
+ st->name, st);
+}
+
+
+static int inv_icm42607_enable_vddio_reg(struct inv_icm42607_state *st)
+{
+ int ret;
+
+ ret = regulator_enable(st->vddio_supply);
+ if (ret)
+ return ret;
+
+ usleep_range(3000, 4000);
+
+ return 0;
+}
+
+static void inv_icm42607_disable_vddio_reg(void *_data)
+{
+ struct inv_icm42607_state *st = _data;
+ struct device *dev = regmap_get_device(st->map);
+
+ if (pm_runtime_status_suspended(dev))
+ return;
+
+ regulator_disable(st->vddio_supply);
+}
+
+int inv_icm42607_core_probe(struct regmap *regmap, int chip,
+ inv_icm42607_bus_setup bus_setup)
+{
+ struct device *dev = regmap_get_device(regmap);
+ struct fwnode_handle *fwnode = dev_fwnode(dev);
+ struct inv_icm42607_state *st;
+ int irq, irq_type;
+ bool open_drain;
+ int ret;
+
+ if (chip < INV_CHIP_INVALID || chip >= INV_CHIP_NB)
+ return dev_err_probe(dev, -ENODEV,
+ "Invalid chip = %d\n", chip);
+
+ /* get INT1 only supported interrupt or fallback to first interrupt */
+ irq = fwnode_irq_get_byname(fwnode, "INT1");
+ if (irq < 0 && irq != -EPROBE_DEFER) {
+ dev_info(dev, "no INT1 interrupt defined, fallback to first interrupt\n");
+ irq = fwnode_irq_get(fwnode, 0);
+ }
+ if (irq < 0)
+ return dev_err_probe(dev, irq, "error missing INT1 interrupt\n");
+
+ irq_type = irq_get_trigger_type(irq);
+ if (!irq_type)
+ irq_type = IRQF_TRIGGER_FALLING;
+
+ open_drain = device_property_read_bool(dev, "drive-open-drain");
+
+ st = devm_kzalloc(dev, sizeof(*st), GFP_KERNEL);
+ if (!st)
+ return -ENOMEM;
+
+ dev_set_drvdata(dev, st);
+ mutex_init(&st->lock);
+ st->chip = chip;
+ st->map = regmap;
+ st->irq = irq;
+
+ ret = iio_read_mount_matrix(dev, &st->orientation);
+ if (ret) {
+ dev_err(dev, "failed to retrieve mounting matrix %d\n", ret);
+ return ret;
+ }
+
+ ret = devm_regulator_get_enable(dev, "vdd");
+ if (ret)
+ return dev_err_probe(dev, ret,
+ "Failed to get vdd regulator\n");
+
+ msleep(INV_ICM42607_POWER_UP_TIME_MS);
+
+ st->vddio_supply = devm_regulator_get(dev, "vddio");
+ if (IS_ERR(st->vddio_supply))
+ return PTR_ERR(st->vddio_supply);
+
+ ret = inv_icm42607_enable_vddio_reg(st);
+ if (ret)
+ return ret;
+
+ ret = devm_add_action_or_reset(dev, inv_icm42607_disable_vddio_reg, st);
+ if (ret)
+ return ret;
+
+ /* Setup chip registers (includes WHOAMI check, reset check, bus setup) */
+ ret = inv_icm42607_setup(st, bus_setup);
+ if (ret)
+ return ret; /* Return error from setup (e.g., WHOAMI fail) */
+
+ /* Initialize buffer/FIFO handling */
+ ret = inv_icm42607_buffer_init(st);
+ if (ret)
+ return ret;
+
+ /* 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);
+
+ /* Initialize IIO device for Accel */
+ st->indio_accel = inv_icm42607_accel_init(st);
+ if (IS_ERR(st->indio_accel))
+ return PTR_ERR(st->indio_accel);
+
+ /* Initialize interrupt handling */
+ ret = inv_icm42607_irq_init(st, irq, irq_type, open_drain);
+ if (ret)
+ return ret;
+
+ /* Setup runtime power management */
+ 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 ret;
+}
+EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607");
+
+/*
+ * Suspend saves sensors state and turns everything off.
+ * Check first if runtime suspend has not already done the job.
+ */
+static int inv_icm42607_suspend(struct device *dev)
+{
+ struct inv_icm42607_state *st = dev_get_drvdata(dev);
+ struct device *accel_dev;
+ bool wakeup;
+ int accel_conf;
+ int ret = 0;
+
+ guard(mutex)(&st->lock);
+
+ st->suspended.gyro = st->conf.gyro.mode;
+ st->suspended.accel = st->conf.accel.mode;
+ st->suspended.temp = st->conf.temp_en;
+ if (pm_runtime_suspended(dev))
+ return 0;
+
+ if (st->fifo.on) {
+ ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+ INV_ICM42607_FIFO_CONFIG1_BYPASS);
+ if (ret)
+ return ret;
+ }
+
+ /* keep chip on and wake-up capable if APEX and wakeup on */
+ accel_dev = &st->indio_accel->dev;
+ wakeup = st->apex.on && device_may_wakeup(accel_dev);
+ if (wakeup) {
+ /* keep accel on and setup irq for wakeup */
+ accel_conf = st->conf.accel.mode;
+ enable_irq_wake(st->irq);
+ disable_irq(st->irq);
+ } else {
+ /* disable APEX features and accel if wakeup disabled */
+ if (st->apex.wom.enable) {
+ ret = inv_icm42607_disable_wom(st);
+ if (ret)
+ return ret;
+ }
+ accel_conf = INV_ICM42607_SENSOR_MODE_OFF;
+ }
+
+ ret = inv_icm42607_set_pwr_mgmt0(st, INV_ICM42607_SENSOR_MODE_OFF,
+ INV_ICM42607_SENSOR_MODE_OFF, false,
+ NULL);
+ if (ret)
+ return ret;
+
+ if (!wakeup)
+ regulator_disable(st->vddio_supply);
+
+ return 0;
+}
+
+/*
+ * System resume gets the system back on and restores the sensors state.
+ * Manually put runtime power management in system active state.
+ */
+static int inv_icm42607_resume(struct device *dev)
+{
+ struct inv_icm42607_state *st = dev_get_drvdata(dev);
+ struct inv_icm42607_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+ struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel);
+ struct device *accel_dev;
+ bool wakeup;
+ int ret;
+
+ guard(mutex)(&st->lock);
+
+ if (pm_runtime_suspended(dev))
+ return 0;
+
+ /* check wakeup capability */
+ accel_dev = &st->indio_accel->dev;
+ wakeup = st->apex.on && device_may_wakeup(accel_dev);
+ /* restore irq state or vddio if cut off */
+ if (wakeup) {
+ enable_irq(st->irq);
+ disable_irq_wake(st->irq);
+ } else {
+ ret = inv_icm42607_enable_vddio_reg(st);
+ if (ret)
+ return ret;
+ }
+
+ /* restore sensors state */
+ ret = inv_icm42607_set_pwr_mgmt0(st, st->suspended.gyro,
+ st->suspended.accel,
+ st->suspended.temp, NULL);
+ if (ret)
+ return ret;
+
+ /* restore APEX features if disabled */
+ if (!wakeup && st->apex.wom.enable) {
+ ret = inv_icm42607_enable_wom(st);
+ if (ret)
+ return ret;
+ }
+
+ if (st->fifo.on) {
+ inv_sensors_timestamp_reset(&gyro_st->ts);
+ inv_sensors_timestamp_reset(&accel_st->ts);
+ ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+ INV_ICM42607_FIFO_CONFIG1_MODE);
+ if (ret)
+ return ret;
+ }
+
+ return 0;
+}
+
+static int inv_icm42607_runtime_suspend(struct device *dev)
+{
+ struct inv_icm42607_state *st = dev_get_drvdata(dev);
+ int ret = 0;
+
+ guard(mutex)(&st->lock);
+
+ ret = inv_icm42607_set_pwr_mgmt0(st, INV_ICM42607_SENSOR_MODE_OFF,
+ INV_ICM42607_SENSOR_MODE_OFF, false,
+ NULL);
+ if (ret)
+ return ret;
+
+ regulator_disable(st->vddio_supply);
+
+ return 0;
+}
+
+static int inv_icm42607_runtime_resume(struct device *dev)
+{
+ struct inv_icm42607_state *st = dev_get_drvdata(dev);
+
+ guard(mutex)(&st->lock);
+
+ return inv_icm42607_enable_vddio_reg(st);
+}
+
+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-42607x device driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_INV_SENSORS_TIMESTAMP");
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
new file mode 100644
index 000000000000..e3a873185569
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
@@ -0,0 +1,578 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+#include <linux/math64.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/kfifo_buf.h>
+
+#include "inv_icm42607.h"
+#include "inv_icm42607_temp.h"
+#include "inv_icm42607_buffer.h"
+
+#define INV_ICM42607_GYRO_CHAN(_modifier, _index, _ext_info) \
+{ \
+ .type = IIO_ANGL_VEL, \
+ .modified = 1, \
+ .channel2 = _modifier, \
+ .info_mask_separate = \
+ BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .info_mask_shared_by_type = \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_BE, \
+ }, \
+ .ext_info = _ext_info, \
+}
+
+enum inv_icm42607_gyro_scan {
+ INV_ICM42607_GYRO_SCAN_X,
+ INV_ICM42607_GYRO_SCAN_Y,
+ INV_ICM42607_GYRO_SCAN_Z,
+ INV_ICM42607_GYRO_SCAN_TEMP,
+ INV_ICM42607_GYRO_SCAN_TIMESTAMP,
+};
+
+static const struct iio_chan_spec_ext_info inv_icm42607_gyro_ext_infos[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix),
+ {},
+};
+
+static const struct iio_chan_spec inv_icm42607_gyro_channels[] = {
+ INV_ICM42607_GYRO_CHAN(IIO_MOD_X, INV_ICM42607_GYRO_SCAN_X,
+ inv_icm42607_gyro_ext_infos),
+ INV_ICM42607_GYRO_CHAN(IIO_MOD_Y, INV_ICM42607_GYRO_SCAN_Y,
+ inv_icm42607_gyro_ext_infos),
+ INV_ICM42607_GYRO_CHAN(IIO_MOD_Z, INV_ICM42607_GYRO_SCAN_Z,
+ inv_icm42607_gyro_ext_infos),
+ INV_ICM42607_TEMP_CHAN(INV_ICM42607_GYRO_SCAN_TEMP),
+ IIO_CHAN_SOFT_TIMESTAMP(INV_ICM42607_GYRO_SCAN_TIMESTAMP),
+};
+
+/*
+ * IIO buffer data: size must be a power of 2 and timestamp aligned
+ * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp
+ */
+struct inv_icm42607_gyro_buffer {
+ struct inv_icm42607_fifo_sensor_data gyro;
+ s16 temp;
+ aligned_s64 timestamp;
+};
+
+#define INV_ICM42607_SCAN_MASK_GYRO_3AXIS \
+ (BIT(INV_ICM42607_GYRO_SCAN_X) | \
+ BIT(INV_ICM42607_GYRO_SCAN_Y) | \
+ BIT(INV_ICM42607_GYRO_SCAN_Z))
+
+#define INV_ICM42607_SCAN_MASK_TEMP BIT(INV_ICM42607_GYRO_SCAN_TEMP)
+
+static const unsigned long inv_icm42607_gyro_scan_masks[] = {
+ /* 3-axis gyro + temperature */
+ INV_ICM42607_SCAN_MASK_GYRO_3AXIS | INV_ICM42607_SCAN_MASK_TEMP,
+ 0,
+};
+
+/* enable gyroscope sensor and FIFO write */
+static int inv_icm42607_gyro_update_scan_mode(struct iio_dev *indio_dev,
+ const unsigned long *scan_mask)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+ unsigned int fifo_en = 0;
+ unsigned int sleep_gyro = 0;
+ unsigned int sleep_temp = 0;
+ unsigned int sleep;
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ if (*scan_mask & INV_ICM42607_SCAN_MASK_TEMP) {
+ /* enable temp sensor */
+ ret = inv_icm42607_set_temp_conf(st, true, &sleep_temp);
+ if (ret)
+ goto out_unlock;
+ fifo_en |= INV_ICM42607_SENSOR_TEMP;
+ }
+
+ if (*scan_mask & INV_ICM42607_SCAN_MASK_GYRO_3AXIS) {
+ /* enable gyro sensor */
+ conf.mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE;
+ ret = inv_icm42607_set_gyro_conf(st, &conf, &sleep_gyro);
+ if (ret)
+ goto out_unlock;
+ fifo_en |= INV_ICM42607_SENSOR_GYRO;
+ }
+
+ /* update data FIFO write */
+ ret = inv_icm42607_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
+ if (ret)
+ goto out_unlock;
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ /* sleep maximum required time */
+ sleep = max(sleep_gyro, sleep_temp);
+ if (sleep)
+ msleep(sleep);
+ return ret;
+}
+
+static int inv_icm42607_gyro_read_sensor(struct inv_icm42607_state *st,
+ struct iio_chan_spec const *chan,
+ s16 *val)
+{
+ struct device *dev = regmap_get_device(st->map);
+ struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+ unsigned int reg;
+ __be16 *data;
+ int ret;
+
+ if (chan->type != IIO_ANGL_VEL)
+ return -EINVAL;
+
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ reg = INV_ICM42607_REG_GYRO_DATA_X1;
+ break;
+ case IIO_MOD_Y:
+ reg = INV_ICM42607_REG_GYRO_DATA_Y1;
+ break;
+ case IIO_MOD_Z:
+ reg = INV_ICM42607_REG_GYRO_DATA_Z1;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ /* enable gyro sensor */
+ conf.mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE;
+ ret = inv_icm42607_set_gyro_conf(st, &conf, NULL);
+ if (ret)
+ goto exit;
+
+ /* read gyro register data */
+ data = (__be16 *)&st->buffer[0];
+ ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
+ if (ret)
+ goto exit;
+
+ *val = (s16)be16_to_cpup(data);
+ if (*val == INV_ICM42607_DATA_INVALID)
+ ret = -EINVAL;
+exit:
+ mutex_unlock(&st->lock);
+ pm_runtime_put_autosuspend(dev);
+ return ret;
+}
+
+/* IIO format int + nano */
+static const int inv_icm42607_gyro_scale[] = {
+ /* +/- 2000dps => 0.001065264 rad/s */
+ [2 * INV_ICM42607_GYRO_FS_2000DPS] = 0,
+ [2 * INV_ICM42607_GYRO_FS_2000DPS + 1] = 1065264,
+ /* +/- 1000dps => 0.000532632 rad/s */
+ [2 * INV_ICM42607_GYRO_FS_1000DPS] = 0,
+ [2 * INV_ICM42607_GYRO_FS_1000DPS + 1] = 532632,
+ /* +/- 500dps => 0.000266316 rad/s */
+ [2 * INV_ICM42607_GYRO_FS_500DPS] = 0,
+ [2 * INV_ICM42607_GYRO_FS_500DPS + 1] = 266316,
+ /* +/- 250dps => 0.000133158 rad/s */
+ [2 * INV_ICM42607_GYRO_FS_250DPS] = 0,
+ [2 * INV_ICM42607_GYRO_FS_250DPS + 1] = 133158,
+};
+
+static int inv_icm42607_gyro_read_scale(struct iio_dev *indio_dev,
+ int *val, int *val2)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev);
+ unsigned int idx;
+
+ idx = st->conf.gyro.fs;
+
+ *val = gyro_st->scales[2 * idx];
+ *val2 = gyro_st->scales[2 * idx + 1];
+ return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm42607_gyro_write_scale(struct iio_dev *indio_dev,
+ int val, int val2)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct device *dev = regmap_get_device(st->map);
+ unsigned int idx;
+ struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+ int ret;
+
+ for (idx = 0; idx < gyro_st->scales_len; idx += 2) {
+ if (val == gyro_st->scales[idx] &&
+ val2 == gyro_st->scales[idx + 1])
+ break;
+ }
+ if (idx >= gyro_st->scales_len)
+ return -EINVAL;
+
+ conf.fs = idx / 2;
+
+ pm_runtime_get_sync(dev);
+
+ scoped_guard(mutex, &st->lock)
+ ret = inv_icm42607_set_gyro_conf(st, &conf, NULL);
+
+ pm_runtime_put_autosuspend(dev);
+
+ return ret;
+}
+
+/* IIO format int + micro */
+static const int inv_icm42607_gyro_odr[] = {
+ /* 12.5Hz */
+ 12, 500000,
+ /* 25Hz */
+ 25, 0,
+ /* 50Hz */
+ 50, 0,
+ /* 100Hz */
+ 100, 0,
+ /* 200Hz */
+ 200, 0,
+ /* 400Hz */
+ 400, 0,
+ /* 800Hz */
+ 800, 0,
+ /* 1600Hz */
+ 1600, 0,
+};
+
+static const int inv_icm42607_gyro_odr_conv[] = {
+ INV_ICM42607_ODR_12_5HZ,
+ INV_ICM42607_ODR_25HZ,
+ INV_ICM42607_ODR_50HZ,
+ INV_ICM42607_ODR_100HZ,
+ INV_ICM42607_ODR_200HZ,
+ INV_ICM42607_ODR_400HZ,
+ INV_ICM42607_ODR_800HZ,
+ INV_ICM42607_ODR_1600HZ,
+};
+
+static int inv_icm42607_gyro_read_odr(struct inv_icm42607_state *st,
+ int *val, int *val2)
+{
+ unsigned int odr;
+ unsigned int i;
+
+ odr = st->conf.gyro.odr;
+
+ for (i = 0; i < ARRAY_SIZE(inv_icm42607_gyro_odr_conv); ++i) {
+ if (inv_icm42607_gyro_odr_conv[i] == odr)
+ break;
+ }
+ if (i >= ARRAY_SIZE(inv_icm42607_gyro_odr_conv))
+ return -EINVAL;
+
+ *val = inv_icm42607_gyro_odr[2 * i];
+ *val2 = inv_icm42607_gyro_odr[2 * i + 1];
+
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int inv_icm42607_gyro_write_odr(struct iio_dev *indio_dev,
+ int val, int val2)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &gyro_st->ts;
+ struct device *dev = regmap_get_device(st->map);
+ unsigned int idx;
+ struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+ int ret;
+
+ for (idx = 0; idx < ARRAY_SIZE(inv_icm42607_gyro_odr); idx += 2) {
+ if (val == inv_icm42607_gyro_odr[idx] &&
+ val2 == inv_icm42607_gyro_odr[idx + 1])
+ break;
+ }
+ if (idx >= ARRAY_SIZE(inv_icm42607_gyro_odr))
+ return -EINVAL;
+
+ conf.odr = inv_icm42607_gyro_odr_conv[idx / 2];
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ ret = inv_sensors_timestamp_update_odr(ts, inv_icm42607_odr_to_period(conf.odr),
+ iio_buffer_enabled(indio_dev));
+ if (ret)
+ goto out_unlock;
+
+ ret = inv_icm42607_set_gyro_conf(st, &conf, NULL);
+ if (ret)
+ goto out_unlock;
+ inv_icm42607_buffer_update_fifo_period(st);
+ inv_icm42607_buffer_update_watermark(st);
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ pm_runtime_put_autosuspend(dev);
+
+ return ret;
+}
+
+/*
+ * Calibration bias values, IIO range format int + nano.
+ * Value is limited to +/-64dps coded on 12 bits signed. Step is 1/32 dps.
+ */
+static int inv_icm42607_gyro_write_calibbias(struct inv_icm42607_state *st,
+ struct iio_chan_spec const *chan,
+ int val, int val2)
+{
+ /* Not actually supported in the ICM-42607P registers */
+ return -EOPNOTSUPP;
+}
+
+static int inv_icm42607_gyro_read_calibbias(struct inv_icm42607_state *st,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2)
+{
+ /* Not actually supported in the ICM-42607P registers */
+ return -EOPNOTSUPP;
+}
+
+static int inv_icm42607_gyro_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ s16 data;
+ int ret;
+
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ break;
+ case IIO_TEMP:
+ return inv_icm42607_temp_read_raw(indio_dev, chan, val, val2, mask);
+ default:
+ return -EINVAL;
+ }
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ if (!iio_device_claim_direct(indio_dev))
+ return -EBUSY;
+ ret = inv_icm42607_gyro_read_sensor(st, chan, &data);
+ iio_device_release_direct(indio_dev);
+ if (ret)
+ return ret;
+ *val = data;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ return inv_icm42607_gyro_read_scale(indio_dev, val, val2);
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return inv_icm42607_gyro_read_odr(st, val, val2);
+ case IIO_CHAN_INFO_CALIBBIAS:
+ return inv_icm42607_gyro_read_calibbias(st, chan, val, val2);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42607_gyro_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ int ret;
+
+ if (chan->type != IIO_ANGL_VEL)
+ return -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ if (!iio_device_claim_direct(indio_dev))
+ return -EBUSY;
+ ret = inv_icm42607_gyro_write_scale(indio_dev, val, val2);
+ iio_device_release_direct(indio_dev);
+ return ret;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return inv_icm42607_gyro_write_odr(indio_dev, val, val2);
+ case IIO_CHAN_INFO_CALIBBIAS:
+ if (!iio_device_claim_direct(indio_dev))
+ return -EBUSY;
+ ret = inv_icm42607_gyro_write_calibbias(st, chan, val, val2);
+ iio_device_release_direct(indio_dev);
+ return ret;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42607_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ long mask)
+{
+ if (chan->type != IIO_ANGL_VEL)
+ return -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ return IIO_VAL_INT_PLUS_NANO;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_CHAN_INFO_CALIBBIAS:
+ return IIO_VAL_INT_PLUS_NANO;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_icm42607_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev,
+ unsigned int val)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+
+ guard(mutex)(&st->lock);
+
+ st->fifo.watermark.gyro = val;
+ return inv_icm42607_buffer_update_watermark(st);
+}
+
+static int inv_icm42607_gyro_hwfifo_flush(struct iio_dev *indio_dev,
+ unsigned int count)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ int ret;
+
+ if (count == 0)
+ return 0;
+
+ guard(mutex)(&st->lock);
+
+ ret = inv_icm42607_buffer_hwfifo_flush(st, count);
+ if (ret)
+ return ret;
+
+ return st->fifo.nb.gyro;
+}
+
+static const struct iio_info inv_icm42607_gyro_info = {
+ .read_raw = inv_icm42607_gyro_read_raw,
+ .write_raw = inv_icm42607_gyro_write_raw,
+ .write_raw_get_fmt = inv_icm42607_gyro_write_raw_get_fmt,
+ .debugfs_reg_access = inv_icm42607_debugfs_reg,
+ .update_scan_mode = inv_icm42607_gyro_update_scan_mode,
+ .hwfifo_set_watermark = inv_icm42607_gyro_hwfifo_set_watermark,
+ .hwfifo_flush_to_buffer = inv_icm42607_gyro_hwfifo_flush,
+};
+
+struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st)
+{
+ struct device *dev = regmap_get_device(st->map);
+ const char *name;
+ struct inv_icm42607_sensor_state *gyro_st;
+ struct inv_sensors_timestamp_chip ts_chip;
+ struct iio_dev *indio_dev;
+ int ret;
+
+ name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);
+ if (!name)
+ return ERR_PTR(-ENOMEM);
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st));
+ if (!indio_dev)
+ return ERR_PTR(-ENOMEM);
+ gyro_st = iio_priv(indio_dev);
+
+ gyro_st->scales = inv_icm42607_gyro_scale;
+ gyro_st->scales_len = ARRAY_SIZE(inv_icm42607_gyro_scale);
+
+ /*
+ * clock period is 32kHz (31250ns)
+ * jitter is +/- 2% (20 per mille)
+ */
+ ts_chip.clock_period = 31250;
+ ts_chip.jitter = 20;
+ ts_chip.init_period = inv_icm42607_odr_to_period(st->conf.accel.odr);
+ inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip);
+
+ iio_device_set_drvdata(indio_dev, st);
+ indio_dev->name = name;
+ indio_dev->info = &inv_icm42607_gyro_info;
+ indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE;
+ indio_dev->channels = inv_icm42607_gyro_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_gyro_channels);
+ indio_dev->available_scan_masks = inv_icm42607_gyro_scan_masks;
+ indio_dev->setup_ops = &inv_icm42607_buffer_ops;
+
+ ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
+ &inv_icm42607_buffer_ops);
+ if (ret)
+ return ERR_PTR(ret);
+
+ ret = devm_iio_device_register(dev, indio_dev);
+ if (ret)
+ return ERR_PTR(ret);
+
+ return indio_dev;
+}
+
+int inv_icm42607_gyro_parse_fifo(struct iio_dev *indio_dev)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &gyro_st->ts;
+ ssize_t i, size;
+ unsigned int no;
+ const void *accel, *gyro, *timestamp;
+ const s8 *temp;
+ unsigned int odr;
+ s64 ts_val;
+ struct inv_icm42607_gyro_buffer buffer = { };
+
+ /* parse all fifo packets */
+ for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
+ size = inv_icm42607_fifo_decode_packet(&st->fifo.data[i],
+ &accel, &gyro, &temp, ×tamp, &odr);
+ /* quit if error or FIFO is empty */
+ if (size <= 0)
+ return size;
+
+ /* skip packet if no gyro data or data is invalid */
+ if (gyro == NULL || !inv_icm42607_fifo_is_data_valid(gyro))
+ continue;
+
+ /* update odr */
+ if (odr & INV_ICM42607_SENSOR_GYRO) {
+ inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
+ st->fifo.nb.total, no);
+ }
+
+ memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro));
+ /* convert 8 bits FIFO temperature in high resolution format */
+ buffer.temp = temp ? (*temp * 64) : 0;
+ ts_val = inv_sensors_timestamp_pop(ts);
+ iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
+ }
+
+ return 0;
+}
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
new file mode 100644
index 000000000000..b1459edcf19a
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
@@ -0,0 +1,93 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/i2c.h>
+#include <linux/regmap.h>
+#include <linux/property.h>
+
+#include "inv_icm42607.h"
+
+static int inv_icm42607_i2c_bus_setup(struct inv_icm42607_state *st)
+{
+ unsigned int mask, val;
+ int ret;
+
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1,
+ INV_ICM42607_INTF_CONFIG1_I3C_DDR_EN |
+ INV_ICM42607_INTF_CONFIG1_I3C_SDR_EN, 0);
+ if (ret)
+ return ret;
+
+ mask = INV_ICM42607_DRIVE_CONFIG2_I2C_MASK;
+ val = INV_ICM42607_DRIVE_CONFIG2_I2C(INV_ICM42607_SLEW_RATE_12_36NS);
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG2,
+ mask, val);
+ if (ret)
+ return ret;
+
+ return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+ INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK,
+ INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_SPI_DIS);
+}
+
+static int inv_icm42607_probe(struct i2c_client *client)
+{
+ const void *match;
+ enum inv_icm42607_chip chip;
+ struct regmap *regmap;
+
+ if (!i2c_check_functionality(client->adapter, I2C_FUNC_SMBUS_I2C_BLOCK))
+ return -EOPNOTSUPP;
+
+ match = device_get_match_data(&client->dev);
+ if (!match)
+ return -EINVAL;
+ chip = (uintptr_t)match;
+
+ regmap = devm_regmap_init_i2c(client, &inv_icm42607_regmap_config);
+ if (IS_ERR(regmap))
+ return PTR_ERR(regmap);
+
+ return inv_icm42607_core_probe(regmap, chip, inv_icm42607_i2c_bus_setup);
+}
+
+static const struct i2c_device_id inv_icm42607_id[] = {
+ { "icm42607", INV_CHIP_ICM42607 },
+ { "icm42607p", INV_CHIP_ICM42607P },
+ { }
+};
+MODULE_DEVICE_TABLE(i2c, inv_icm42607_id);
+
+static const struct of_device_id inv_icm42607_of_matches[] = {
+ {
+ .compatible = "invensense,icm42607",
+ .data = (void *)INV_CHIP_ICM42607,
+ }, {
+ .compatible = "invensense,icm42607p",
+ .data = (void *)INV_CHIP_ICM42607P,
+ },
+ { }
+};
+MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches);
+
+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,
+};
+module_i2c_driver(inv_icm42607_driver);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-42607x I2C driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_ICM42607");
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..51ce3deeb706
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
@@ -0,0 +1,100 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/spi/spi.h>
+#include <linux/regmap.h>
+#include <linux/property.h>
+
+#include "inv_icm42607.h"
+
+static int inv_icm42607_spi_bus_setup(struct inv_icm42607_state *st)
+{
+ unsigned int mask, val;
+ int ret;
+
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_DEVICE_CONFIG,
+ INV_ICM42607_DEVICE_CONFIG_SPI_AP_4WIRE,
+ INV_ICM42607_DEVICE_CONFIG_SPI_AP_4WIRE);
+ if (ret)
+ return ret;
+
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1,
+ INV_ICM42607_INTF_CONFIG1_I3C_DDR_EN |
+ INV_ICM42607_INTF_CONFIG1_I3C_SDR_EN, 0);
+ if (ret)
+ return ret;
+
+ mask = INV_ICM42607_DRIVE_CONFIG3_SPI_MASK;
+ val = INV_ICM42607_DRIVE_CONFIG3_SPI(INV_ICM42607_SLEW_RATE_INF_2NS);
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG3,
+ mask, val);
+ if (ret)
+ return ret;
+
+ return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+ INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK,
+ INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS);
+}
+
+static int inv_icm42607_probe(struct spi_device *spi)
+{
+ const void *match;
+ enum inv_icm42607_chip chip;
+ struct regmap *regmap;
+
+ match = device_get_match_data(&spi->dev);
+ if (!match)
+ return -EINVAL;
+ chip = (uintptr_t)match;
+
+ regmap = devm_regmap_init_spi(spi, &inv_icm42607_regmap_config);
+ if (IS_ERR(regmap))
+ return dev_err_probe(&spi->dev, PTR_ERR(regmap),
+ "Failed to register spi regmap %ld\n",
+ PTR_ERR(regmap));
+
+ return inv_icm42607_core_probe(regmap, chip,
+ inv_icm42607_spi_bus_setup);
+}
+
+static const struct of_device_id inv_icm42607_of_matches[] = {
+ {
+ .compatible = "invensense,icm42607",
+ .data = (void *)INV_CHIP_ICM42607,
+ },
+ {
+ .compatible = "invensense,icm42607p",
+ .data = (void *)INV_CHIP_ICM42607P,
+ },
+ { }
+};
+MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches);
+
+static const struct spi_device_id inv_icm42607_spi_id_table[] = {
+ { "icm42607", INV_CHIP_ICM42607 },
+ { "icm42607p", INV_CHIP_ICM42607P },
+ { },
+};
+MODULE_DEVICE_TABLE(spi, inv_icm42607_spi_id_table);
+
+static struct spi_driver inv_icm42607_driver = {
+ .driver = {
+ .name = "inv-icm42607-spi",
+ .of_match_table = inv_icm42607_of_matches,
+ .pm = &inv_icm42607_pm_ops,
+ },
+ .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-42607x SPI driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_ICM42607");
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
new file mode 100644
index 000000000000..ae382352c861
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
@@ -0,0 +1,82 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/iio/iio.h>
+
+#include "inv_icm42607.h"
+#include "inv_icm42607_temp.h"
+
+static int inv_icm42607_temp_read(struct inv_icm42607_state *st, s16 *temp)
+{
+ struct device *dev = regmap_get_device(st->map);
+ __be16 *raw;
+ int ret;
+
+ pm_runtime_get_sync(dev);
+ mutex_lock(&st->lock);
+
+ ret = inv_icm42607_set_temp_conf(st, true, NULL);
+ if (ret)
+ goto exit;
+
+ raw = (__be16 *)&st->buffer[0];
+ ret = regmap_bulk_read(st->map, INV_ICM42607_REG_TEMP_DATA1, raw, sizeof(*raw));
+ if (ret)
+ goto exit;
+
+ *temp = (s16)be16_to_cpup(raw);
+ if (*temp == INV_ICM42607_DATA_INVALID)
+ ret = -EINVAL;
+
+exit:
+ mutex_unlock(&st->lock);
+ pm_runtime_put_autosuspend(dev);
+
+ return ret;
+}
+
+int inv_icm42607_temp_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+ s16 temp;
+ int ret;
+
+ if (chan->type != IIO_TEMP)
+ return -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ if (!iio_device_claim_direct(indio_dev))
+ return -EBUSY;
+ ret = inv_icm42607_temp_read(st, &temp);
+ iio_device_release_direct(indio_dev);
+ if (ret)
+ return ret;
+ *val = temp;
+ return IIO_VAL_INT;
+ /*
+ * T°C = (temp / 128) + 25
+ * Tm°C = 1000 * ((temp * 100 / 12800) + 25)
+ * scale: 100000 / 12800 ~= 7.8125
+ * offset: 25000
+ */
+ case IIO_CHAN_INFO_SCALE:
+ *val = 7;
+ *val2 = 812500;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_CHAN_INFO_OFFSET:
+ *val = 25000;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+}
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h
new file mode 100644
index 000000000000..d0bd6c460ff2
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h
@@ -0,0 +1,30 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#ifndef INV_ICM42607_TEMP_H_
+#define INV_ICM42607_TEMP_H_
+
+#include <linux/iio/iio.h>
+
+#define INV_ICM42607_TEMP_CHAN(_index) \
+{ \
+ .type = IIO_TEMP, \
+ .info_mask_separate = \
+ BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_OFFSET) | \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ }, \
+}
+
+int inv_icm42607_temp_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask);
+
+#endif
--
2.43.0
^ permalink raw reply related [flat|nested] 12+ messages in thread
* [PATCH 3/3] arm64: dts: rockchip: Add icm42607p IMU for RG-DS
2026-02-24 16:31 [PATCH 0/3] Add Invensense ICM42607 Chris Morgan
2026-02-24 16:31 ` [PATCH 1/3] dt-bindings: iio: imu: icm42607: Add devicetree binding Chris Morgan
2026-02-24 16:31 ` [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver Chris Morgan
@ 2026-02-24 16:31 ` Chris Morgan
2026-02-24 17:41 ` [PATCH 0/3] Add Invensense ICM42607 Andy Shevchenko
3 siblings, 0 replies; 12+ messages in thread
From: Chris Morgan @ 2026-02-24 16:31 UTC (permalink / raw)
To: linux-iio
Cc: andy, nuno.sa, dlechner, jic23, jean-baptiste.maneyrol,
linux-rockchip, devicetree, heiko, conor+dt, krzk+dt, robh,
Chris Morgan
From: Chris Morgan <macromorgan@hotmail.com>
Add the Invensense ICM42607P IMU for the Anbernic RG-DS. Mount-matrix
was tested with iio-sensor-proxy and reports correct orientation.
Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
.../dts/rockchip/rk3568-anbernic-rg-ds.dts | 20 ++++++++++++++++++-
1 file changed, 19 insertions(+), 1 deletion(-)
diff --git a/arch/arm64/boot/dts/rockchip/rk3568-anbernic-rg-ds.dts b/arch/arm64/boot/dts/rockchip/rk3568-anbernic-rg-ds.dts
index 8d906ab02c5f..dca270abc475 100644
--- a/arch/arm64/boot/dts/rockchip/rk3568-anbernic-rg-ds.dts
+++ b/arch/arm64/boot/dts/rockchip/rk3568-anbernic-rg-ds.dts
@@ -871,7 +871,18 @@ aw87391_pa_r: audio-codec@5b {
sound-name-prefix = "Right Amp";
};
- /* invensense,icm42607p at 0x68 */
+ icm42607p: imu@68 {
+ compatible = "invensense,icm42607p";
+ reg = <0x68>;
+ interrupt-names = "INT1";
+ interrupt-parent = <&gpio0>;
+ interrupts = <RK_PD6 IRQ_TYPE_EDGE_FALLING>;
+ mount-matrix = "-1", "0", "0",
+ "0", "1", "0",
+ "0", "0", "-1";
+ pinctrl-0 = <&accel_irq>;
+ pinctrl-names = "default";
+ };
};
&i2c3 {
@@ -932,6 +943,13 @@ &i2s1_8ch {
};
&pinctrl {
+ accel {
+ accel_irq: accel-irq {
+ rockchip,pins =
+ <0 RK_PD6 RK_FUNC_GPIO &pcfg_pull_up>;
+ };
+ };
+
gpio-keys {
vol_keys_l: vol-keys_l {
rockchip,pins =
--
2.43.0
^ permalink raw reply related [flat|nested] 12+ messages in thread
* Re: [PATCH 1/3] dt-bindings: iio: imu: icm42607: Add devicetree binding
2026-02-24 16:31 ` [PATCH 1/3] dt-bindings: iio: imu: icm42607: Add devicetree binding Chris Morgan
@ 2026-02-24 17:29 ` Rob Herring (Arm)
0 siblings, 0 replies; 12+ messages in thread
From: Rob Herring (Arm) @ 2026-02-24 17:29 UTC (permalink / raw)
To: Chris Morgan
Cc: linux-rockchip, krzk+dt, linux-iio, jic23, Chris Morgan,
devicetree, dlechner, conor+dt, nuno.sa, jean-baptiste.maneyrol,
heiko, andy
On Tue, 24 Feb 2026 10:31:03 -0600, Chris Morgan wrote:
> From: Chris Morgan <macromorgan@hotmail.com>
>
> Add devicetree binding for the Invensense ICM42607 and Invensense
> ICM42607P inertial measurement unit. This unit is a combined
> accelerometer, gyroscope, and thermometer available via I2C or SPI.
>
> This device is functionally very similar to the icm42600 series with a
> very different register layout.
>
> Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
> ---
> .../bindings/iio/imu/invensense,icm42607.yaml | 92 +++++++++++++++++++
> 1 file changed, 92 insertions(+)
> create mode 100644 Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml
>
My bot found errors running 'make dt_binding_check' on your patch:
yamllint warnings/errors:
dtschema/dtc warnings/errors:
/builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml: 'maintainers' is a required property
hint: Metaschema for devicetree binding documentation
from schema $id: http://devicetree.org/meta-schemas/base.yaml
doc reference errors (make refcheckdocs):
See https://patchwork.kernel.org/project/devicetree/patch/20260224163109.370930-2-macroalpha82@gmail.com
The base for the series is generally the latest rc1. A different dependency
should be noted in *this* patch.
If you already ran 'make dt_binding_check' and didn't see the above
error(s), then make sure 'yamllint' is installed and dt-schema is up to
date:
pip3 install dtschema --upgrade
Please check and re-submit after running the above command yourself. Note
that DT_SCHEMA_FILES can be set to your schema file to speed up checking
your schema. However, it must be unset to test all examples with your schema.
^ permalink raw reply [flat|nested] 12+ messages in thread
* Re: [PATCH 0/3] Add Invensense ICM42607
2026-02-24 16:31 [PATCH 0/3] Add Invensense ICM42607 Chris Morgan
` (2 preceding siblings ...)
2026-02-24 16:31 ` [PATCH 3/3] arm64: dts: rockchip: Add icm42607p IMU for RG-DS Chris Morgan
@ 2026-02-24 17:41 ` Andy Shevchenko
2026-02-25 14:20 ` Chris Morgan
3 siblings, 1 reply; 12+ messages in thread
From: Andy Shevchenko @ 2026-02-24 17:41 UTC (permalink / raw)
To: Chris Morgan
Cc: linux-iio, andy, nuno.sa, dlechner, jic23, jean-baptiste.maneyrol,
linux-rockchip, devicetree, heiko, conor+dt, krzk+dt, robh,
Chris Morgan
On Tue, Feb 24, 2026 at 10:31:02AM -0600, Chris Morgan wrote:
> Add support for the ICM42607 IMU. This sensor shares the same
> functionality but a different register layout with the existing
> ICM42600.
>
> This driver should work with the ICM42607 and ICM42607P over both I2C
> and SPI, however only the ICM42607P over I2C could be tested.
Thanks for your contribution, but...
NAK.
It's unreviewable bulk out of 4kLoC! I even won't bother looking at any other
messages in this (too mini) series.
TL;DR: reviewable code is limited at ~750 (or less) ± 150 LoC per patch.
--
With Best Regards,
Andy Shevchenko
^ permalink raw reply [flat|nested] 12+ messages in thread
* Re: [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver
2026-02-24 16:31 ` [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver Chris Morgan
@ 2026-02-24 20:05 ` kernel test robot
2026-02-25 0:04 ` kernel test robot
` (2 subsequent siblings)
3 siblings, 0 replies; 12+ messages in thread
From: kernel test robot @ 2026-02-24 20:05 UTC (permalink / raw)
To: Chris Morgan, linux-iio
Cc: oe-kbuild-all, andy, nuno.sa, dlechner, jic23,
jean-baptiste.maneyrol, linux-rockchip, devicetree, heiko,
conor+dt, krzk+dt, robh, Chris Morgan
Hi Chris,
kernel test robot noticed the following build warnings:
[auto build test WARNING on rockchip/for-next]
[also build test WARNING on linus/master v7.0-rc1 next-20260224]
[cannot apply to jic23-iio/togreg]
[If your patch is applied to the wrong git tree, kindly drop us a note.
And when submitting patch, we suggest to use '--base' as documented in
https://git-scm.com/docs/git-format-patch#_base_tree_information]
url: https://github.com/intel-lab-lkp/linux/commits/Chris-Morgan/dt-bindings-iio-imu-icm42607-Add-devicetree-binding/20260225-003610
base: https://git.kernel.org/pub/scm/linux/kernel/git/mmind/linux-rockchip.git for-next
patch link: https://lore.kernel.org/r/20260224163109.370930-3-macroalpha82%40gmail.com
patch subject: [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver
config: sh-allyesconfig (https://download.01.org/0day-ci/archive/20260225/202602250331.RTQ00zxY-lkp@intel.com/config)
compiler: sh4-linux-gcc (GCC) 15.2.0
reproduce (this is a W=1 build): (https://download.01.org/0day-ci/archive/20260225/202602250331.RTQ00zxY-lkp@intel.com/reproduce)
If you fix the issue in a separate patch/commit (i.e. not just a new version of
the same patch/commit), kindly add following tags
| Reported-by: kernel test robot <lkp@intel.com>
| Closes: https://lore.kernel.org/oe-kbuild-all/202602250331.RTQ00zxY-lkp@intel.com/
All warnings (new ones prefixed by >>):
drivers/iio/imu/inv_icm42607/inv_icm42607_core.c: In function 'inv_icm42607_suspend':
>> drivers/iio/imu/inv_icm42607/inv_icm42607_core.c:670:13: warning: variable 'accel_conf' set but not used [-Wunused-but-set-variable]
670 | int accel_conf;
| ^~~~~~~~~~
--
>> drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c:200:36: warning: 'inv_icm42607_motion_events' defined but not used [-Wunused-const-variable=]
200 | static const struct iio_event_spec inv_icm42607_motion_events[] = {
| ^~~~~~~~~~~~~~~~~~~~~~~~~~
vim +/accel_conf +670 drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
660
661 /*
662 * Suspend saves sensors state and turns everything off.
663 * Check first if runtime suspend has not already done the job.
664 */
665 static int inv_icm42607_suspend(struct device *dev)
666 {
667 struct inv_icm42607_state *st = dev_get_drvdata(dev);
668 struct device *accel_dev;
669 bool wakeup;
> 670 int accel_conf;
671 int ret = 0;
672
673 guard(mutex)(&st->lock);
674
675 st->suspended.gyro = st->conf.gyro.mode;
676 st->suspended.accel = st->conf.accel.mode;
677 st->suspended.temp = st->conf.temp_en;
678 if (pm_runtime_suspended(dev))
679 return 0;
680
681 if (st->fifo.on) {
682 ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
683 INV_ICM42607_FIFO_CONFIG1_BYPASS);
684 if (ret)
685 return ret;
686 }
687
688 /* keep chip on and wake-up capable if APEX and wakeup on */
689 accel_dev = &st->indio_accel->dev;
690 wakeup = st->apex.on && device_may_wakeup(accel_dev);
691 if (wakeup) {
692 /* keep accel on and setup irq for wakeup */
693 accel_conf = st->conf.accel.mode;
694 enable_irq_wake(st->irq);
695 disable_irq(st->irq);
696 } else {
697 /* disable APEX features and accel if wakeup disabled */
698 if (st->apex.wom.enable) {
699 ret = inv_icm42607_disable_wom(st);
700 if (ret)
701 return ret;
702 }
703 accel_conf = INV_ICM42607_SENSOR_MODE_OFF;
704 }
705
706 ret = inv_icm42607_set_pwr_mgmt0(st, INV_ICM42607_SENSOR_MODE_OFF,
707 INV_ICM42607_SENSOR_MODE_OFF, false,
708 NULL);
709 if (ret)
710 return ret;
711
712 if (!wakeup)
713 regulator_disable(st->vddio_supply);
714
715 return 0;
716 }
717
--
0-DAY CI Kernel Test Service
https://github.com/intel/lkp-tests/wiki
^ permalink raw reply [flat|nested] 12+ messages in thread
* Re: [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver
2026-02-24 16:31 ` [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver Chris Morgan
2026-02-24 20:05 ` kernel test robot
@ 2026-02-25 0:04 ` kernel test robot
2026-02-25 3:21 ` kernel test robot
2026-02-28 18:52 ` Jonathan Cameron
3 siblings, 0 replies; 12+ messages in thread
From: kernel test robot @ 2026-02-25 0:04 UTC (permalink / raw)
To: Chris Morgan, linux-iio
Cc: llvm, oe-kbuild-all, andy, nuno.sa, dlechner, jic23,
jean-baptiste.maneyrol, linux-rockchip, devicetree, heiko,
conor+dt, krzk+dt, robh, Chris Morgan
Hi Chris,
kernel test robot noticed the following build warnings:
[auto build test WARNING on rockchip/for-next]
[also build test WARNING on linus/master v7.0-rc1 next-20260224]
[cannot apply to jic23-iio/togreg]
[If your patch is applied to the wrong git tree, kindly drop us a note.
And when submitting patch, we suggest to use '--base' as documented in
https://git-scm.com/docs/git-format-patch#_base_tree_information]
url: https://github.com/intel-lab-lkp/linux/commits/Chris-Morgan/dt-bindings-iio-imu-icm42607-Add-devicetree-binding/20260225-003610
base: https://git.kernel.org/pub/scm/linux/kernel/git/mmind/linux-rockchip.git for-next
patch link: https://lore.kernel.org/r/20260224163109.370930-3-macroalpha82%40gmail.com
patch subject: [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver
config: hexagon-allmodconfig (https://download.01.org/0day-ci/archive/20260225/202602250851.I3vE5ldR-lkp@intel.com/config)
compiler: clang version 17.0.6 (https://github.com/llvm/llvm-project 6009708b4367171ccdbf4b5905cb6a803753fe18)
reproduce (this is a W=1 build): (https://download.01.org/0day-ci/archive/20260225/202602250851.I3vE5ldR-lkp@intel.com/reproduce)
If you fix the issue in a separate patch/commit (i.e. not just a new version of
the same patch/commit), kindly add following tags
| Reported-by: kernel test robot <lkp@intel.com>
| Closes: https://lore.kernel.org/oe-kbuild-all/202602250851.I3vE5ldR-lkp@intel.com/
All warnings (new ones prefixed by >>):
>> drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c:200:36: warning: unused variable 'inv_icm42607_motion_events' [-Wunused-const-variable]
200 | static const struct iio_event_spec inv_icm42607_motion_events[] = {
| ^~~~~~~~~~~~~~~~~~~~~~~~~~
1 warning generated.
vim +/inv_icm42607_motion_events +200 drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
199
> 200 static const struct iio_event_spec inv_icm42607_motion_events[] = {
201 {
202 .type = IIO_EV_TYPE_THRESH,
203 .dir = IIO_EV_DIR_EITHER,
204 .mask_separate = BIT(IIO_EV_INFO_ENABLE) | BIT(IIO_EV_INFO_VALUE),
205 },
206 };
207
--
0-DAY CI Kernel Test Service
https://github.com/intel/lkp-tests/wiki
^ permalink raw reply [flat|nested] 12+ messages in thread
* Re: [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver
2026-02-24 16:31 ` [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver Chris Morgan
2026-02-24 20:05 ` kernel test robot
2026-02-25 0:04 ` kernel test robot
@ 2026-02-25 3:21 ` kernel test robot
2026-02-28 18:52 ` Jonathan Cameron
3 siblings, 0 replies; 12+ messages in thread
From: kernel test robot @ 2026-02-25 3:21 UTC (permalink / raw)
To: Chris Morgan, linux-iio
Cc: oe-kbuild-all, andy, nuno.sa, dlechner, jic23,
jean-baptiste.maneyrol, linux-rockchip, devicetree, heiko,
conor+dt, krzk+dt, robh, Chris Morgan
Hi Chris,
kernel test robot noticed the following build errors:
[auto build test ERROR on rockchip/for-next]
[also build test ERROR on linus/master v7.0-rc1 next-20260224]
[cannot apply to jic23-iio/togreg]
[If your patch is applied to the wrong git tree, kindly drop us a note.
And when submitting patch, we suggest to use '--base' as documented in
https://git-scm.com/docs/git-format-patch#_base_tree_information]
url: https://github.com/intel-lab-lkp/linux/commits/Chris-Morgan/dt-bindings-iio-imu-icm42607-Add-devicetree-binding/20260225-003610
base: https://git.kernel.org/pub/scm/linux/kernel/git/mmind/linux-rockchip.git for-next
patch link: https://lore.kernel.org/r/20260224163109.370930-3-macroalpha82%40gmail.com
patch subject: [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver
config: parisc-allyesconfig (https://download.01.org/0day-ci/archive/20260225/202602251146.f80QkdrL-lkp@intel.com/config)
compiler: hppa-linux-gcc (GCC) 15.2.0
reproduce (this is a W=1 build): (https://download.01.org/0day-ci/archive/20260225/202602251146.f80QkdrL-lkp@intel.com/reproduce)
If you fix the issue in a separate patch/commit (i.e. not just a new version of
the same patch/commit), kindly add following tags
| Reported-by: kernel test robot <lkp@intel.com>
| Closes: https://lore.kernel.org/oe-kbuild-all/202602251146.f80QkdrL-lkp@intel.com/
All errors (new ones prefixed by >>):
>> hppa-linux-ld: drivers/iio/imu/inv_icm42607/inv_icm42607_spi.o:(.data+0x50): undefined reference to `inv_icm42607_pm_ops'
--
0-DAY CI Kernel Test Service
https://github.com/intel/lkp-tests/wiki
^ permalink raw reply [flat|nested] 12+ messages in thread
* Re: [PATCH 0/3] Add Invensense ICM42607
2026-02-24 17:41 ` [PATCH 0/3] Add Invensense ICM42607 Andy Shevchenko
@ 2026-02-25 14:20 ` Chris Morgan
2026-02-25 17:13 ` Andy Shevchenko
0 siblings, 1 reply; 12+ messages in thread
From: Chris Morgan @ 2026-02-25 14:20 UTC (permalink / raw)
To: Andy Shevchenko
Cc: Chris Morgan, linux-iio, andy, nuno.sa, dlechner, jic23,
jean-baptiste.maneyrol, linux-rockchip, devicetree, heiko,
conor+dt, krzk+dt, robh
On Tue, Feb 24, 2026 at 07:41:35PM +0200, Andy Shevchenko wrote:
> On Tue, Feb 24, 2026 at 10:31:02AM -0600, Chris Morgan wrote:
>
> > Add support for the ICM42607 IMU. This sensor shares the same
> > functionality but a different register layout with the existing
> > ICM42600.
> >
> > This driver should work with the ICM42607 and ICM42607P over both I2C
> > and SPI, however only the ICM42607P over I2C could be tested.
>
> Thanks for your contribution, but...
>
> NAK.
>
> It's unreviewable bulk out of 4kLoC! I even won't bother looking at any other
> messages in this (too mini) series.
>
> TL;DR: reviewable code is limited at ~750 (or less) ± 150 LoC per patch.
Please disregard this series then, I will do my best to split it apart
into smaller pieces and resubmit.
Thank you.
>
> --
> With Best Regards,
> Andy Shevchenko
>
>
^ permalink raw reply [flat|nested] 12+ messages in thread
* Re: [PATCH 0/3] Add Invensense ICM42607
2026-02-25 14:20 ` Chris Morgan
@ 2026-02-25 17:13 ` Andy Shevchenko
0 siblings, 0 replies; 12+ messages in thread
From: Andy Shevchenko @ 2026-02-25 17:13 UTC (permalink / raw)
To: Chris Morgan
Cc: Chris Morgan, linux-iio, andy, nuno.sa, dlechner, jic23,
jean-baptiste.maneyrol, linux-rockchip, devicetree, heiko,
conor+dt, krzk+dt, robh
On Wed, Feb 25, 2026 at 08:20:13AM -0600, Chris Morgan wrote:
> On Tue, Feb 24, 2026 at 07:41:35PM +0200, Andy Shevchenko wrote:
> > On Tue, Feb 24, 2026 at 10:31:02AM -0600, Chris Morgan wrote:
> >
> > > Add support for the ICM42607 IMU. This sensor shares the same
> > > functionality but a different register layout with the existing
> > > ICM42600.
> > >
> > > This driver should work with the ICM42607 and ICM42607P over both I2C
> > > and SPI, however only the ICM42607P over I2C could be tested.
> >
> > Thanks for your contribution, but...
> >
> > NAK.
> >
> > It's unreviewable bulk out of 4kLoC! I even won't bother looking at any other
> > messages in this (too mini) series.
> >
> > TL;DR: reviewable code is limited at ~750 (or less) ± 150 LoC per patch.
>
> Please disregard this series then, I will do my best to split it apart
> into smaller pieces and resubmit.
Please do!
Also keep in mind that from the beginning the driver should work, so the split
mustn't be by-file, it should be by-feature / documentation.
--
With Best Regards,
Andy Shevchenko
^ permalink raw reply [flat|nested] 12+ messages in thread
* Re: [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver
2026-02-24 16:31 ` [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver Chris Morgan
` (2 preceding siblings ...)
2026-02-25 3:21 ` kernel test robot
@ 2026-02-28 18:52 ` Jonathan Cameron
3 siblings, 0 replies; 12+ messages in thread
From: Jonathan Cameron @ 2026-02-28 18:52 UTC (permalink / raw)
To: Chris Morgan
Cc: linux-iio, andy, nuno.sa, dlechner, jean-baptiste.maneyrol,
linux-rockchip, devicetree, heiko, conor+dt, krzk+dt, robh,
Chris Morgan
On Tue, 24 Feb 2026 10:31:04 -0600
Chris Morgan <macroalpha82@gmail.com> wrote:
> From: Chris Morgan <macromorgan@hotmail.com>
>
> Add a new driver for the Invensense ICM42607 IMU. This device is
> extremely similar to the existing ICM42600 but with a very different
> register layout.
>
> This driver was built based on the existing icm42600 along with
> the datasheet from Invensense and out-of-tree sources included
> in the LineageOS kernels [1] and Rockchip kernels [2], both derived
> from sources provided by Invensense. The driver is structured
> identically to the in-tree ICM42600 driver.
>
> It should work for the ICM42607 and ICM42607P on both the I2C and
> SPI busses, however only the ICM42607P over I2C has been tested
> as it is the only hardware I have available.
>
> [1] https://github.com/LineageOS/android_kernel_nvidia_kernel-nx/tree/lineage-23.0/drivers/iio/imu/inv_icm42607x
> [2] https://github.com/rockchip-linux/kernel/tree/develop-6.6/drivers/iio/imu/inv_icm42670
>
> Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
Hi Chris,
I decided to take a quick look to hopefully be able to point out some minor
things that make sense to fix for your split up version.
Jonathan
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
> new file mode 100644
> index 000000000000..a275f24bf291
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
> @@ -0,0 +1,472 @@
> +
> +/* ODR values */
> +enum inv_icm42607_odr {
> + INV_ICM42607_ODR_1600HZ = 5,
> + INV_ICM42607_ODR_800HZ,
> + INV_ICM42607_ODR_400HZ,
> + INV_ICM42607_ODR_200HZ,
> + INV_ICM42607_ODR_100HZ,
> + INV_ICM42607_ODR_50HZ,
> + INV_ICM42607_ODR_25HZ,
> + INV_ICM42607_ODR_12_5HZ,
> + INV_ICM42607_ODR_6_25HZ_LP,
> + INV_ICM42607_ODR_3_125HZ_LP,
> + INV_ICM42607_ODR_1_5625HZ_LP,
> + INV_ICM42607_ODR_NB,
This is another type of terminating entry, so no comma.
(see below for more on this and make sure to fix all the cases of the same thing)
> +};
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
> new file mode 100644
> index 000000000000..92cf7ffe5077
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
> @@ -0,0 +1,566 @@
> +
> +static size_t inv_icm42607_get_packet_size(unsigned int fifo_en)
> +{
> + size_t packet_size;
> +
> + if ((fifo_en & INV_ICM42607_SENSOR_GYRO) &&
> + (fifo_en & INV_ICM42607_SENSOR_ACCEL))
> + packet_size = INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE;
> + else
> + packet_size = INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE;
> +
> + return packet_size;
Not a lot of point in the local variable. I'd get rid of it and just do
return INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE;
> +}
> +
>
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
> new file mode 100644
> index 000000000000..6d8d7fa7bd13
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> new file mode 100644
> index 000000000000..9b69ccb1d101
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> @@ -0,0 +1,811 @@
> +// SPDX-License-Identifier: GPL-2.0-or-later
> +/*
> + * Copyright (C) 2026 InvenSense, Inc.
> + */
> +
> +#include <linux/kernel.h>
> +#include <linux/device.h>
> +#include <linux/module.h>
> +#include <linux/slab.h>
> +#include <linux/delay.h>
> +#include <linux/mutex.h>
> +#include <linux/interrupt.h>
> +#include <linux/irq.h>
> +#include <linux/regulator/consumer.h>
> +#include <linux/pm_runtime.h>
> +#include <linux/property.h>
> +#include <linux/regmap.h>
> +#include <linux/iio/iio.h>
> +
> +#include "inv_icm42607.h"
> +#include "inv_icm42607_buffer.h"
> +
> +static const struct regmap_range_cfg inv_icm42607_regmap_ranges[] = {
> + {
> + .name = "user bank",
> + .range_min = 0x0000,
> + .range_max = 0x00FF,
> + .selector_reg = 0, /* not used */
> + .selector_mask = 0, /* not used */
> + .selector_shift = 0, /* not used */
The defaults of these are otherwise 0. So what's the point in setting
them explicitly here? I don't mind if it provides useful educational value.
> + .window_start = 0,
> + .window_len = 0x0100,
> + },
> +};
>
> +
> +u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr)
> +{
> + static u32 odr_periods[INV_ICM42607_ODR_NB] = {
> + /* Reserved values */
> + 0, 0, 0, 0, 0,
> + /* 1600Hz */
As below I'd add comments to line with the value they are referring to.
> + 625000,
> + /* 800Hz */
> + 1250000,
> + /* 400Hz */
> + 2500000,
> + /* 200Hz */
> + 5000000,
> + /* 100 Hz */
> + 10000000,
> + /* 50Hz */
> + 20000000,
> + /* 25Hz */
> + 40000000,
> + /* 12.5Hz */
> + 80000000,
> + /* 6.25Hz */
> + 160000000,
> + /* 3.125Hz */
> + 320000000,
> + /* 1.5625Hz */
> + 640000000,
> + };
> +
> + return odr_periods[odr];
> +}
> +static irqreturn_t inv_icm42607_irq_handler(int irq, void *_data)
> +{
> + struct inv_icm42607_state *st = _data;
> + struct device *dev = regmap_get_device(st->map);
> + unsigned int status;
> + int ret;
> +
> + mutex_lock(&st->lock);
guard() and direct returns should make this easier to read.
> +
> + if (st->apex.on) {
> + unsigned int status2, status3;
> +
> + /* read INT_STATUS2 and INT_STATUS3 in 1 operation */
> + ret = regmap_bulk_read(st->map, INV_ICM42607_REG_INT_STATUS2, st->buffer, 2);
> + if (ret)
> + goto out_unlock;
> + status2 = st->buffer[0];
> + status3 = st->buffer[1];
> + inv_icm42607_accel_handle_events(st->indio_accel, status2, status3,
> + st->timestamp.accel);
> + }
> +
> + ret = regmap_read(st->map, INV_ICM42607_REG_INT_STATUS, &status);
> + if (ret)
> + goto out_unlock;
> +
> + if (status & INV_ICM42607_INT_STATUS_FIFO_FULL)
> + dev_warn(dev, "FIFO full data lost!\n");
> +
> + if (status & INV_ICM42607_INT_STATUS_FIFO_THS) {
> + ret = inv_icm42607_buffer_fifo_read(st, 0);
> + if (ret) {
> + dev_err(dev, "FIFO read error %d\n", ret);
> + goto out_unlock;
> + }
> + ret = inv_icm42607_buffer_fifo_parse(st);
> + if (ret)
> + dev_err(dev, "FIFO parsing error %d\n", ret);
> + }
> +
> +out_unlock:
> + mutex_unlock(&st->lock);
> + return IRQ_HANDLED;
> +}
> +
> +static int inv_icm42607_runtime_suspend(struct device *dev)
> +{
> + struct inv_icm42607_state *st = dev_get_drvdata(dev);
> + int ret = 0;
always set, so don't initialise here.
> +
> + guard(mutex)(&st->lock);
> +
> + ret = inv_icm42607_set_pwr_mgmt0(st, INV_ICM42607_SENSOR_MODE_OFF,
> + INV_ICM42607_SENSOR_MODE_OFF, false,
> + NULL);
> + if (ret)
> + return ret;
> +
> + regulator_disable(st->vddio_supply);
> +
> + return 0;
> +}
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
> new file mode 100644
> index 000000000000..e3a873185569
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
> @@ -0,0 +1,578 @@
> +// SPDX-License-Identifier: GPL-2.0-or-later
> +/*
> + * Copyright (C) 2026 InvenSense, Inc.
> + */
> +
> +#include <linux/kernel.h>
> +#include <linux/device.h>
> +#include <linux/mutex.h>
> +#include <linux/pm_runtime.h>
> +#include <linux/regmap.h>
> +#include <linux/delay.h>
> +#include <linux/math64.h>
> +
> +#include <linux/iio/buffer.h>
> +#include <linux/iio/common/inv_sensors_timestamp.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/kfifo_buf.h>
Some of these seem unlikely. Make sure they are all used in this
file. I haven't checked, so may be fine.
> +
> +static const struct iio_chan_spec_ext_info inv_icm42607_gyro_ext_infos[] = {
> + IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix),
> + {},
{ }
> +};
> +/*
> + * IIO buffer data: size must be a power of 2 and timestamp aligned
> + * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp
> + */
> +struct inv_icm42607_gyro_buffer {
> + struct inv_icm42607_fifo_sensor_data gyro;
> + s16 temp;
> + aligned_s64 timestamp;
> +};
> +static const unsigned long inv_icm42607_gyro_scan_masks[] = {
> + /* 3-axis gyro + temperature */
> + INV_ICM42607_SCAN_MASK_GYRO_3AXIS | INV_ICM42607_SCAN_MASK_TEMP,
> + 0,
It's a terminating entry so drop the comma (more below) - note that
I review backwards so sometimes review comments may feel odd if you
read them forwards.
> +};
> +
> +/* enable gyroscope sensor and FIFO write */
> +static int inv_icm42607_gyro_update_scan_mode(struct iio_dev *indio_dev,
> + const unsigned long *scan_mask)
> +{
> + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
> + unsigned int fifo_en = 0;
> + unsigned int sleep_gyro = 0;
> + unsigned int sleep_temp = 0;
> + unsigned int sleep;
> + int ret;
> +
> + mutex_lock(&st->lock);
> +
> + if (*scan_mask & INV_ICM42607_SCAN_MASK_TEMP) {
> + /* enable temp sensor */
> + ret = inv_icm42607_set_temp_conf(st, true, &sleep_temp);
> + if (ret)
> + goto out_unlock;
> + fifo_en |= INV_ICM42607_SENSOR_TEMP;
> + }
> +
> + if (*scan_mask & INV_ICM42607_SCAN_MASK_GYRO_3AXIS) {
> + /* enable gyro sensor */
> + conf.mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE;
> + ret = inv_icm42607_set_gyro_conf(st, &conf, &sleep_gyro);
> + if (ret)
> + goto out_unlock;
> + fifo_en |= INV_ICM42607_SENSOR_GYRO;
> + }
> +
> + /* update data FIFO write */
> + ret = inv_icm42607_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
> + if (ret)
> + goto out_unlock;
Why. It's right there. Drop this gotot.
> +
> +out_unlock:
> + mutex_unlock(&st->lock);
> + /* sleep maximum required time */
> + sleep = max(sleep_gyro, sleep_temp);
> + if (sleep)
> + msleep(sleep);
> + return ret;
> +}
> +
> +
> +static int inv_icm42607_gyro_write_scale(struct iio_dev *indio_dev,
> + int val, int val2)
> +{
> + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> + struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev);
> + struct device *dev = regmap_get_device(st->map);
> + unsigned int idx;
> + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
> + int ret;
> +
> + for (idx = 0; idx < gyro_st->scales_len; idx += 2) {
> + if (val == gyro_st->scales[idx] &&
> + val2 == gyro_st->scales[idx + 1])
> + break;
> + }
> + if (idx >= gyro_st->scales_len)
> + return -EINVAL;
> +
> + conf.fs = idx / 2;
> +
> + pm_runtime_get_sync(dev);
Firstly can always fail so these all need checks.
Secondly this would be neater with the scoped based runtime pm stuff I mention
below
> +
> + scoped_guard(mutex, &st->lock)
After the other change use
guard(mutex)(&st->lock);
return inv_icm...
Applies in at least a few other places.
> + ret = inv_icm42607_set_gyro_conf(st, &conf, NULL);
> +
> + pm_runtime_put_autosuspend(dev);
> +
> + return ret;
> +}
> +
> +/* IIO format int + micro */
> +static const int inv_icm42607_gyro_odr[] = {
> + /* 12.5Hz */
> + 12, 500000,
12, 500000, /* 12.5Hz */
etc if you do want to add the comments. Too much scrolling otherwise!
> + /* 25Hz */
> + 25, 0,
> + /* 50Hz */
> + 50, 0,
> + /* 100Hz */
> + 100, 0,
> + /* 200Hz */
> + 200, 0,
> + /* 400Hz */
> + 400, 0,
> + /* 800Hz */
> + 800, 0,
> + /* 1600Hz */
> + 1600, 0,
> +};
>
> +
> +static int inv_icm42607_gyro_write_odr(struct iio_dev *indio_dev,
> + int val, int val2)
> +{
> + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> + struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev);
> + struct inv_sensors_timestamp *ts = &gyro_st->ts;
> + struct device *dev = regmap_get_device(st->map);
> + unsigned int idx;
> + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
> + int ret;
> +
> + for (idx = 0; idx < ARRAY_SIZE(inv_icm42607_gyro_odr); idx += 2) {
> + if (val == inv_icm42607_gyro_odr[idx] &&
> + val2 == inv_icm42607_gyro_odr[idx + 1])
Align as
if (val ==...
val2 == ...
> + break;
> + }
> + if (idx >= ARRAY_SIZE(inv_icm42607_gyro_odr))
> + return -EINVAL;
> +
> + conf.odr = inv_icm42607_gyro_odr_conv[idx / 2];
> +
> + pm_runtime_get_sync(dev);
> + mutex_lock(&st->lock);
> +
> + ret = inv_sensors_timestamp_update_odr(ts, inv_icm42607_odr_to_period(conf.odr),
> + iio_buffer_enabled(indio_dev));
> + if (ret)
> + goto out_unlock;
> +
> + ret = inv_icm42607_set_gyro_conf(st, &conf, NULL);
> + if (ret)
> + goto out_unlock;
> + inv_icm42607_buffer_update_fifo_period(st);
> + inv_icm42607_buffer_update_watermark(st);
> +
> +out_unlock:
> + mutex_unlock(&st->lock);
> + pm_runtime_put_autosuspend(dev);
As below. Look at whether you can use guard() and the runtime PM acquire
to simplify the code flow in this function.
> +
> + return ret;
> +}
> +struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st)
> +{
> + struct device *dev = regmap_get_device(st->map);
> + const char *name;
> + struct inv_icm42607_sensor_state *gyro_st;
> + struct inv_sensors_timestamp_chip ts_chip;
If no other order makes sense, reverse xmas tree is usually fine for kernel code.
What we don't like is lack of an obvious reason for the order.
> + struct iio_dev *indio_dev;
> + int ret;
> +
> + name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);
> + if (!name)
> + return ERR_PTR(-ENOMEM);
> +
> + indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st));
> + if (!indio_dev)
> + return ERR_PTR(-ENOMEM);
> + gyro_st = iio_priv(indio_dev);
> +
> + gyro_st->scales = inv_icm42607_gyro_scale;
> + gyro_st->scales_len = ARRAY_SIZE(inv_icm42607_gyro_scale);
> +
> + /*
> + * clock period is 32kHz (31250ns)
> + * jitter is +/- 2% (20 per mille)
> + */
> + ts_chip.clock_period = 31250;
> + ts_chip.jitter = 20;
> + ts_chip.init_period = inv_icm42607_odr_to_period(st->conf.accel.odr);
> + inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip);
> +
> + iio_device_set_drvdata(indio_dev, st);
> + indio_dev->name = name;
> + indio_dev->info = &inv_icm42607_gyro_info;
> + indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE;
> + indio_dev->channels = inv_icm42607_gyro_channels;
> + indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_gyro_channels);
> + indio_dev->available_scan_masks = inv_icm42607_gyro_scan_masks;
> + indio_dev->setup_ops = &inv_icm42607_buffer_ops;
> +
> + ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
> + &inv_icm42607_buffer_ops);
> + if (ret)
> + return ERR_PTR(ret);
> +
> + ret = devm_iio_device_register(dev, indio_dev);
> + if (ret)
> + return ERR_PTR(ret);
> +
> + return indio_dev;
> +}
> +
> +int inv_icm42607_gyro_parse_fifo(struct iio_dev *indio_dev)
> +{
> + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> + struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev);
> + struct inv_sensors_timestamp *ts = &gyro_st->ts;
> + ssize_t i, size;
> + unsigned int no;
> + const void *accel, *gyro, *timestamp;
> + const s8 *temp;
> + unsigned int odr;
> + s64 ts_val;
> + struct inv_icm42607_gyro_buffer buffer = { };
> +
> + /* parse all fifo packets */
> + for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
for (ssize_t i = 0, unsigned int no = 0; i < ...
Plus reduce the scope of some of the variables above to inside this loop
by declaring them here.
> + size = inv_icm42607_fifo_decode_packet(&st->fifo.data[i],
> + &accel, &gyro, &temp, ×tamp, &odr);
> + /* quit if error or FIFO is empty */
> + if (size <= 0)
> + return size;
> +
> + /* skip packet if no gyro data or data is invalid */
> + if (gyro == NULL || !inv_icm42607_fifo_is_data_valid(gyro))
> + continue;
> +
> + /* update odr */
> + if (odr & INV_ICM42607_SENSOR_GYRO) {
> + inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
> + st->fifo.nb.total, no);
> + }
> +
> + memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro));
> + /* convert 8 bits FIFO temperature in high resolution format */
> + buffer.temp = temp ? (*temp * 64) : 0;
> + ts_val = inv_sensors_timestamp_pop(ts);
> + iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
Please use iio_push_to_buffers_with_ts() in new code.
> + }
> +
> + return 0;
> +}
> 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..51ce3deeb706
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
> @@ -0,0 +1,100 @@
> +// SPDX-License-Identifier: GPL-2.0-or-later
> +/*
> + * Copyright (C) 2026 InvenSense, Inc.
> + */
> +
> +#include <linux/kernel.h>
Look at what is actually used. It is rare a modern driver should be including the
catch all headers kernel.h and device.h. There are much more specific headers
that are normally an improvement.
> +#include <linux/device.h>
> +#include <linux/module.h>
> +#include <linux/mod_devicetable.h>
> +#include <linux/spi/spi.h>
> +#include <linux/regmap.h>
> +#include <linux/property.h>
Not seeing this used. Check for other headers and make sure they are
only included where things they define are included.
> +
> +#include "inv_icm42607.h"
> +
> +static int inv_icm42607_spi_bus_setup(struct inv_icm42607_state *st)
> +{
> + unsigned int mask, val;
> + int ret;
> +
> + ret = regmap_update_bits(st->map, INV_ICM42607_REG_DEVICE_CONFIG,
> + INV_ICM42607_DEVICE_CONFIG_SPI_AP_4WIRE,
> + INV_ICM42607_DEVICE_CONFIG_SPI_AP_4WIRE);
regmap_set_bits() avoids duplicating that field mask.
> + if (ret)
> + return ret;
> +
> + ret = regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1,
> + INV_ICM42607_INTF_CONFIG1_I3C_DDR_EN |
> + INV_ICM42607_INTF_CONFIG1_I3C_SDR_EN, 0);
regmap_clear_bits() lets you drop the 0.
> + if (ret)
> + return ret;
> +
> + mask = INV_ICM42607_DRIVE_CONFIG3_SPI_MASK;
> + val = INV_ICM42607_DRIVE_CONFIG3_SPI(INV_ICM42607_SLEW_RATE_INF_2NS);
Even though it will be a long line, I'd put at least the mask inline
and probably even val, just to keep things consistent with other calls
around this. As long as it is under 100 chars and helps readability it is fine
to go a little wild.
> + ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG3,
> + mask, val);
> + if (ret)
> + return ret;
> +
> + return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
> + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK,
> + INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS);
> +}
> +
> +static int inv_icm42607_probe(struct spi_device *spi)
> +{
> + const void *match;
> + enum inv_icm42607_chip chip;
> + struct regmap *regmap;
> +
> + match = device_get_match_data(&spi->dev);
spi_get_device_match_data() - which will only work if you stop using an enum
below.
> + if (!match)
> + return -EINVAL;
> + chip = (uintptr_t)match;
> +
> + regmap = devm_regmap_init_spi(spi, &inv_icm42607_regmap_config);
> + if (IS_ERR(regmap))
> + return dev_err_probe(&spi->dev, PTR_ERR(regmap),
> + "Failed to register spi regmap %ld\n",
> + PTR_ERR(regmap));
> +
> + return inv_icm42607_core_probe(regmap, chip,
> + inv_icm42607_spi_bus_setup);
> +}
> +
> +static const struct of_device_id inv_icm42607_of_matches[] = {
> + {
> + .compatible = "invensense,icm42607",
> + .data = (void *)INV_CHIP_ICM42607,
Use a pointer to the structure, not an enum value.
We used to do this enum thing a lot. Experience showed it is harder
to read and encourages people to use the enum to makes stuff 'code'
that should have been 'data'. + it breaks spi_get_device_match_data()
which relies on NULL meaning no match.
> + },
> + {
> + .compatible = "invensense,icm42607p",
> + .data = (void *)INV_CHIP_ICM42607P,
> + },
> + { }
> +};
> +MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches);
> +
> +static const struct spi_device_id inv_icm42607_spi_id_table[] = {
> + { "icm42607", INV_CHIP_ICM42607 },
> + { "icm42607p", INV_CHIP_ICM42607P },
> + { },
No trailing comma for these terminating entries.
> +};
> +MODULE_DEVICE_TABLE(spi, inv_icm42607_spi_id_table);
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
> new file mode 100644
> index 000000000000..ae382352c861
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
> @@ -0,0 +1,82 @@
> +// SPDX-License-Identifier: GPL-2.0-or-later
> +/*
> + * Copyright (C) 2026 InvenSense, Inc.
> + */
> +
> +#include <linux/kernel.h>
> +#include <linux/device.h>
> +#include <linux/mutex.h>
> +#include <linux/pm_runtime.h>
> +#include <linux/regmap.h>
> +#include <linux/iio/iio.h>
> +
> +#include "inv_icm42607.h"
> +#include "inv_icm42607_temp.h"
> +
> +static int inv_icm42607_temp_read(struct inv_icm42607_state *st, s16 *temp)
> +{
> + struct device *dev = regmap_get_device(st->map);
> + __be16 *raw;
> + int ret;
> +
> + pm_runtime_get_sync(dev);
Can fail. Note we have some cleanup.h magic now to help with this.
Look at PM_RUNTIME_ACQUIRE_AUTOSUSPEND() / PM_RUNTIME_ACQUIRE_ERR()
> + mutex_lock(&st->lock);
With the acquire stuff in use for runtime PM, this can be handled
via guard(mutex)(&st->lock);
> +
> + ret = inv_icm42607_set_temp_conf(st, true, NULL);
> + if (ret)
> + goto exit;
And after we have cleanup.h handling for all the cleanup, this can be
simply return ret;
> +
> + raw = (__be16 *)&st->buffer[0];
I'm not sure why we need the pointer...
> + ret = regmap_bulk_read(st->map, INV_ICM42607_REG_TEMP_DATA1, raw, sizeof(*raw));
> + if (ret)
> + goto exit;
> +
> + *temp = (s16)be16_to_cpup(raw);
I'd just use the unaligned_get_be16() path here so the code here isn't making
alignment assumptions that are in a structure defined elsewhere.
Or, use a union so we can have the right type of buffer.
> + if (*temp == INV_ICM42607_DATA_INVALID)
> + ret = -EINVAL;
> +
> +exit:
> + mutex_unlock(&st->lock);
> + pm_runtime_put_autosuspend(dev);
> +
> + return ret;
> +}
> +
> +int inv_icm42607_temp_read_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan,
> + int *val, int *val2, long mask)
> +{
> + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
I'd expect to get to this via a pointer stashed in the structure
we get from iio_priv() rather than drvdata.
> + s16 temp;
> + int ret;
> +
> + if (chan->type != IIO_TEMP)
Given the function name, this feels like an overly paranoid check.
If it's needed, add a comment on why.
> + return -EINVAL;
> +
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h
> new file mode 100644
> index 000000000000..d0bd6c460ff2
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h
> @@ -0,0 +1,30 @@
> +/* SPDX-License-Identifier: GPL-2.0-or-later */
> +/*
> + * Copyright (C) 2026 InvenSense, Inc.
Hi Chris,
Are you working for InvenSense to upstream this driver? Or is your thought
that this is based closely on existing code so should reflect that?
If it's the latter then add comments to describe that and provide the cross
references in the driver.
> + */
^ permalink raw reply [flat|nested] 12+ messages in thread
end of thread, other threads:[~2026-02-28 18:52 UTC | newest]
Thread overview: 12+ messages (download: mbox.gz follow: Atom feed
-- links below jump to the message on this page --
2026-02-24 16:31 [PATCH 0/3] Add Invensense ICM42607 Chris Morgan
2026-02-24 16:31 ` [PATCH 1/3] dt-bindings: iio: imu: icm42607: Add devicetree binding Chris Morgan
2026-02-24 17:29 ` Rob Herring (Arm)
2026-02-24 16:31 ` [PATCH 2/3] iio: imu: inv_icm42607: add new inv_icm42607 driver Chris Morgan
2026-02-24 20:05 ` kernel test robot
2026-02-25 0:04 ` kernel test robot
2026-02-25 3:21 ` kernel test robot
2026-02-28 18:52 ` Jonathan Cameron
2026-02-24 16:31 ` [PATCH 3/3] arm64: dts: rockchip: Add icm42607p IMU for RG-DS Chris Morgan
2026-02-24 17:41 ` [PATCH 0/3] Add Invensense ICM42607 Andy Shevchenko
2026-02-25 14:20 ` Chris Morgan
2026-02-25 17:13 ` Andy Shevchenko
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