From mboxrd@z Thu Jan 1 00:00:00 1970 Received: from mail-oi1-f173.google.com (mail-oi1-f173.google.com [209.85.167.173]) (using TLSv1.2 with cipher ECDHE-RSA-AES128-GCM-SHA256 (128/128 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id F13A6386453 for ; Mon, 13 Jul 2026 22:01:13 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=209.85.167.173 ARC-Seal:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1783980076; cv=none; b=OUv/D372gErNMXSOQQkO6SSa85ZJ03VCqPxU6Ts4xjpSaqxhhftX3RTpsc/NZXAccsMSi+qh05ltLw3QVRztuSWE1XBZ37SKz+su8IUQvAKx8MPqBI8t9wzdA3AJLsxQiJ6glzdhpMA2hqaYe09Re8WkDvOzUyAZvgq7s2HKjIE= ARC-Message-Signature:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1783980076; c=relaxed/simple; bh=b/rYgYHEwImjgjewA/gOrHoZNUtFrUXITtlaolU6d4E=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=P1ZnZYOSzGvy3jaxromTTepiA6p1Tuyjmvsc3zwxbJt1l/eZ4mP+Bdskp3yIILxA6at3f/LO1cTvLgKxLqRMKg4HbmRud8TdkgHP55C1PVoS3ufP4c7vjXPmZQ6qjVEzzHWoM4jzNzPVqDAuw34fms8/p/yBA+5+zfxkynBPdBg= ARC-Authentication-Results:i=1; smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gmail.com; spf=pass smtp.mailfrom=gmail.com; dkim=pass (2048-bit key) header.d=gmail.com header.i=@gmail.com header.b=J6jEJYAW; arc=none smtp.client-ip=209.85.167.173 Authentication-Results: smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gmail.com Authentication-Results: smtp.subspace.kernel.org; spf=pass smtp.mailfrom=gmail.com Authentication-Results: smtp.subspace.kernel.org; dkim=pass (2048-bit key) header.d=gmail.com header.i=@gmail.com header.b="J6jEJYAW" Received: by mail-oi1-f173.google.com with SMTP id 5614622812f47-4a458daacfbso994801b6e.3 for ; Mon, 13 Jul 2026 15:01:13 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20251104; t=1783980073; x=1784584873; darn=vger.kernel.org; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:from:to:cc:subject:date :message-id:reply-to:content-type; bh=qttCYRFl+mqN2wBPCfWjD3lIUKzhdcUmJaMoB/zjxOA=; b=J6jEJYAWXieOIRHxKb4w6jHHNREm634VnO+yjCpg0Xm+PSjxNc3lC5QPcKq5HYH+CW ora5Bs9wOlsgOUhQmMlW+G1aCF2gINc4dK2y6ghtnT+uXPWEMs1EEZSlivDAHNE3o22y KRgFKpvtSu0ghIPNieW3PHhQjo8NM+4q77EQach+7IgFVDA5l+U4sf35WY+tPG+wKTFY M7Zpj8K0J8EV6oDHhYyMsDBqxF7BLxyardiBBwS3HNzNIfduzsTmXTSphZk18bFwj6gB 3DX7HGfS27VBckhrIdCjM1L2L5qjdufI9FzJQABWNPEn+ah5M/PQebSf+y+lEklhNJIv ALDA== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20251104; t=1783980073; x=1784584873; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:x-gm-gg:x-gm-message-state:from :to:cc:subject:date:message-id:reply-to:content-type; bh=qttCYRFl+mqN2wBPCfWjD3lIUKzhdcUmJaMoB/zjxOA=; b=ZYTIaCgAh4aDR03fiSyuUA3Ko21uMtLTaoMP+TqemdchbjbcCFzykEswBk3l8vo/92 WwJ9WUyctFIhY+8eEx1bVh5Eb/JSLVJsQ4JC7TVXC0kiJ1rmyD8xC8g+7YklGNjLPn0W V24QHmQ769U0MeqjukbpAhONIN6Z/R+gUl/cfK6/EXZQWgMxfr1Rl3dfnItAoUfMAODC EJbV/Q6zwQVqwitPthXTlukj0EXlaQLFypCOKefsNqkgfpG7anJva8+kavSS3E/Un7Cz RXLmRWuNyr5ZoQSPqV23YXrJ5FVjQI8zwIXo1ugNMyFn87IF8X+OEVwc4bwlcizPEyV+ FrXw== X-Gm-Message-State: AOJu0YyKe19VpflKzpBYkKDgGpyiVq25XiEQYOgK5Zl40fPdSRtJYyg5 ll9mKWfe3xgKDLWZHL2anThOhXR0Jatw4X+mdFHtvq3HGFRJIqiwqsRfvzbYWw== X-Gm-Gg: AfdE7clkV2GG6pbTYnR8TpAOIbSKXsbR66LLXqO4Xd3s6+y8YbtJYHMUbosIlz7xn3s 9GvSSwdQizogBvGo3zYo2pGDQltzj+2qYqQ3Md+xD1FB0fkMqQJUuxyCCca99cpGk+u/B249afA Hm4lILLTOBvUgD/gRY1Gvx28GWvCqLLQcxVimox9AX5leLpDRbeSLSxU+p2cOlIzDyCW4npW9T+ YnlEVyoOfb7dw8o84SKr0x/PX8ftKLUovP4Kgpas2mkTSk/kMCXMkfPSlPXMvrzBvt8x5RHQDDc 6t1J4P3LTju0EcMbw+buFQYZJeRmFWdbXNY8P3g5rnaUJ09Fsnw1MC+inAffpuwc+UpqxYQB7Ut aawWQPMJpznthXC89td/MZgYwp48uul3Eq/2C54b/+OFVjNxaGFPaF+Hd5ZDKGiawkITC9i1e6e ubBE7YFJF6LBw= X-Received: by 2002:a05:6808:344c:b0:4a3:fb6c:a3d0 with SMTP id 5614622812f47-4a42ac4c499mr7864052b6e.9.1783980073067; Mon, 13 Jul 2026 15:01:13 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0::54]) by smtp.gmail.com with ESMTPSA id 5614622812f47-4a1acc82f3csm12939785b6e.3.2026.07.13.15.01.12 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Mon, 13 Jul 2026 15:01:12 -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 v16 08/10] iio: imu: inv_icm42607: Add Gyroscope to icm42607 Date: Mon, 13 Jul 2026 16:58:38 -0500 Message-ID: <20260713215842.69097-9-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260713215842.69097-1-macroalpha82@gmail.com> References: <20260713215842.69097-1-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 gyroscope functions to the icm42607 driver. Signed-off-by: Chris Morgan --- drivers/iio/imu/inv_icm42607/Makefile | 1 + drivers/iio/imu/inv_icm42607/inv_icm42607.h | 4 + .../iio/imu/inv_icm42607/inv_icm42607_core.c | 5 + .../iio/imu/inv_icm42607/inv_icm42607_gyro.c | 299 ++++++++++++++++++ 4 files changed, 309 insertions(+) create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile index 372c6d6bdcec..8e73385c8f4b 100644 --- a/drivers/iio/imu/inv_icm42607/Makefile +++ b/drivers/iio/imu/inv_icm42607/Makefile @@ -2,6 +2,7 @@ obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o inv-icm42607-y += inv_icm42607_core.o +inv-icm42607-y += inv_icm42607_gyro.o inv-icm42607-y += inv_icm42607_accel.o obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h index decd7c7baad8..f3e05d9c468c 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -143,6 +143,7 @@ struct inv_icm42607_suspended { * @lock: lock for serializing multiple registers access. * @map: regmap pointer. * @indio_accel: accelerometer IIO device. + * @indio_gyro: gyroscope IIO device. * @vddio_supply: I/O voltage regulator for the chip. * @vddio_en: I/O voltage status for runtime PM. * @suspended: suspended sensors configuration. @@ -154,6 +155,7 @@ struct inv_icm42607_state { struct mutex lock; struct regmap *map; struct iio_dev *indio_accel; + struct iio_dev *indio_gyro; struct regulator *vddio_supply; bool vddio_en; struct inv_icm42607_suspended suspended; @@ -419,6 +421,8 @@ int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw, inv_icm42607_bus_setup bus_setup); +struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st); + struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st); #endif diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index 45e031cefd4a..1712af58d8a3 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -571,6 +571,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, if (IS_ERR(st->indio_accel)) return PTR_ERR(st->indio_accel); + /* Initialize IIO device for Gyro */ + st->indio_gyro = inv_icm42607_gyro_init(st); + if (IS_ERR(st->indio_gyro)) + return PTR_ERR(st->indio_gyro); + return 0; } EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607"); 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..e4b674070ed9 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c @@ -0,0 +1,299 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "inv_icm42607.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), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_type_available = BIT(IIO_CHAN_INFO_SCALE), \ + .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, \ +} + +enum inv_icm42607_gyro_scan { + INV_ICM42607_GYRO_SCAN_X, + INV_ICM42607_GYRO_SCAN_Y, + INV_ICM42607_GYRO_SCAN_Z, +}; + +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), +}; + +static const int inv_icm42607_gyro_scale_nano[][2] = { + [INV_ICM42607_GYRO_FS_2000DPS] = { 0, 1065264 }, + [INV_ICM42607_GYRO_FS_1000DPS] = { 0, 532632 }, + [INV_ICM42607_GYRO_FS_500DPS] = { 0, 266316 }, + [INV_ICM42607_GYRO_FS_250DPS] = { 0, 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); + unsigned int idx; + + guard(mutex)(&st->lock); + + idx = st->conf.gyro.fs; + + *val = inv_icm42607_gyro_scale_nano[idx][0]; + *val2 = inv_icm42607_gyro_scale_nano[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 device *dev = regmap_get_device(st->map); + unsigned int idx; + struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT; + size_t scales_len = ARRAY_SIZE(inv_icm42607_gyro_scale_nano); + int ret; + + for (idx = 0; idx < scales_len; idx++) { + if (val == inv_icm42607_gyro_scale_nano[idx][0] && + val2 == inv_icm42607_gyro_scale_nano[idx][1]) + break; + } + if (idx >= scales_len) + return -EINVAL; + + conf.fs = idx; + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_sensor_conf(st, &conf, IIO_ANGL_VEL); +} + +/* IIO format int + micro , values 0-4 reserved. */ +static const int inv_icm42607_gyro_odr[][2] = { + [INV_ICM42607_ODR_1600HZ] = { 1600, 0 }, + [INV_ICM42607_ODR_800HZ] = { 800, 0 }, + [INV_ICM42607_ODR_400HZ] = { 400, 0 }, + [INV_ICM42607_ODR_200HZ] = { 200, 0 }, + [INV_ICM42607_ODR_100HZ] = { 100, 0 }, + [INV_ICM42607_ODR_50HZ] = { 50, 0 }, + [INV_ICM42607_ODR_25HZ] = { 25, 0 }, + [INV_ICM42607_ODR_12_5HZ] = { 12, 500000 }, +}; + +static int inv_icm42607_gyro_read_odr(struct inv_icm42607_state *st, + int *val, int *val2) +{ + unsigned int odr; + unsigned int i; + + guard(mutex)(&st->lock); + + odr = st->conf.gyro.odr; + + for (i = INV_ICM42607_ODR_1600HZ; i < ARRAY_SIZE(inv_icm42607_gyro_odr); i++) { + if (i == odr) + break; + } + if (i >= ARRAY_SIZE(inv_icm42607_gyro_odr)) + return -EINVAL; + + *val = inv_icm42607_gyro_odr[i][0]; + *val2 = inv_icm42607_gyro_odr[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 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 = INV_ICM42607_ODR_1600HZ; + idx < ARRAY_SIZE(inv_icm42607_gyro_odr); idx++) { + if (val == inv_icm42607_gyro_odr[idx][0] && + val2 == inv_icm42607_gyro_odr[idx][1]) + break; + } + if (idx >= ARRAY_SIZE(inv_icm42607_gyro_odr)) + return -EINVAL; + + conf.odr = idx; + + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm); + ret = PM_RUNTIME_ACQUIRE_ERR(&pm); + if (ret) + return ret; + + guard(mutex)(&st->lock); + + return inv_icm42607_set_sensor_conf(st, &conf, IIO_ANGL_VEL); +} + +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 (mask) { + case IIO_CHAN_INFO_RAW: + ret = inv_icm42607_read_sensor(indio_dev, chan, &data); + if (ret) + return ret; + *val = data; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ANGL_VEL) + return -EINVAL; + 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); + default: + return -EINVAL; + } +} + +static int inv_icm42607_gyro_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, + int *type, int *length, long mask) +{ + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ANGL_VEL) + return -EINVAL; + *vals = (const int *)inv_icm42607_gyro_scale_nano; + *type = IIO_VAL_INT_PLUS_NANO; + *length = ARRAY_SIZE(inv_icm42607_gyro_scale_nano) * 2; + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_SAMP_FREQ: + *vals = (const int *)inv_icm42607_gyro_odr[5]; + *type = IIO_VAL_INT_PLUS_MICRO; + *length = (ARRAY_SIZE(inv_icm42607_gyro_odr) - 5) * 2; + return IIO_AVAIL_LIST; + 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) +{ + int ret; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ANGL_VEL) + return -EINVAL; + ret = inv_icm42607_gyro_write_scale(indio_dev, val, val2); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + return inv_icm42607_gyro_write_odr(indio_dev, val, val2); + 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) +{ + switch (mask) { + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ANGL_VEL) + return -EINVAL; + return IIO_VAL_INT_PLUS_NANO; + case IIO_CHAN_INFO_SAMP_FREQ: + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static const struct iio_info inv_icm42607_gyro_info = { + .read_raw = inv_icm42607_gyro_read_raw, + .read_avail = inv_icm42607_gyro_read_avail, + .write_raw = inv_icm42607_gyro_write_raw, + .write_raw_get_fmt = inv_icm42607_gyro_write_raw_get_fmt, +}; + +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 iio_dev *indio_dev; + int ret; + + name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->hw->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->power_mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE; + gyro_st->filter = INV_ICM42607_FILTER_BW_73HZ; + + 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_dev->channels = inv_icm42607_gyro_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_gyro_channels); + + ret = devm_iio_device_register(dev, indio_dev); + if (ret) + return ERR_PTR(ret); + + return indio_dev; +} -- 2.43.0