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Mon, 30 Mar 2026 13:01:08 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0::54]) by smtp.gmail.com with ESMTPSA id 46e09a7af769-7da0a336353sm6601068a34.2.2026.03.30.13.01.07 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Mon, 30 Mar 2026 13:01:07 -0700 (PDT) From: Chris Morgan To: linux-iio@vger.kernel.org Cc: andy@kernel.org, nuno.sa@analog.com, dlechner@baylibre.com, jic23@kernel.org, jean-baptiste.maneyrol@tdk.com, linux-rockchip@lists.infradead.org, devicetree@vger.kernel.org, heiko@sntech.de, conor+dt@kernel.org, krzk+dt@kernel.org, robh@kernel.org, andriy.shevchenko@intel.com, Chris Morgan Subject: [PATCH V3 3/9] iio: imu: inv_icm42607: Add I2C and SPI For icm42607 Date: Mon, 30 Mar 2026 14:58:47 -0500 Message-ID: <20260330195853.392877-4-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260330195853.392877-1-macroalpha82@gmail.com> References: <20260330195853.392877-1-macroalpha82@gmail.com> Precedence: bulk X-Mailing-List: linux-iio@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: 8bit From: Chris Morgan Add I2C and SPI driver support for InvenSense ICM-42607 devices. Include runtime power management on each device. Signed-off-by: Chris Morgan --- drivers/iio/imu/inv_icm42607/inv_icm42607.h | 14 ++ .../iio/imu/inv_icm42607/inv_icm42607_core.c | 204 ++++++++++++++++++ .../iio/imu/inv_icm42607/inv_icm42607_i2c.c | 93 ++++++++ .../iio/imu/inv_icm42607/inv_icm42607_spi.c | 100 +++++++++ 4 files changed, 411 insertions(+) create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h index 609188c40ffc..7d13091aa8df 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -11,6 +11,7 @@ #include #include #include +#include #include #include @@ -21,6 +22,16 @@ enum inv_icm42607_chip { 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, @@ -413,6 +424,9 @@ struct inv_icm42607_sensor_state { 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; + u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr); int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg, diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index 6b7078387568..da04c820dab2 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -12,12 +12,33 @@ #include #include #include +#include #include #include #include #include "inv_icm42607.h" +static const struct regmap_range_cfg inv_icm42607_regmap_ranges[] = { + { + .name = "user bank", + .range_min = 0x0000, + .range_max = 0x00FF, + .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; @@ -86,6 +107,62 @@ u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr) 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_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg, unsigned int writeval, unsigned int *readval) { @@ -219,6 +296,10 @@ static int inv_icm42607_enable_vddio_reg(struct inv_icm42607_state *st) 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); } @@ -289,11 +370,134 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip, /* 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) */ + + /* 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; + + /* 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 { + 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 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); + return ret; +} + +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"); 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..eb72973debc5 --- /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 +#include +#include +#include +#include +#include +#include + +#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 +#include +#include +#include +#include +#include +#include + +#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"); -- 2.43.0