From mboxrd@z Thu Jan 1 00:00:00 1970 Received: from mail-oi1-f171.google.com (mail-oi1-f171.google.com [209.85.167.171]) (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 EB93E3C061C for ; Mon, 20 Jul 2026 20:26:16 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=209.85.167.171 ARC-Seal:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1784579180; cv=none; b=OA2G6DO1S6jdzQBWp98fPpnoUsel8v1otAgwZiLtJdjvgbEkfOs5OlDYYKHbTu/+WWZeO/CPk0iU6Kn9SmKKGpwArBdycNziycaUR//tRp96JIKJLZCnP7/FU3B9CKefUQoz2xDuCyLfjs8TndvcMDd/PCqP1lwY80WPYeYk19E= ARC-Message-Signature:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1784579180; c=relaxed/simple; bh=6pMLrK6ArEUktgpGgmtTSkOHZK32YJF0OlLMjxrcOiU=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=gBcZWZSZpEVcsVdvY9axfe1bxKmBssf/a6+07+TyO59ZgWrceo1hf+p/sZqWxgReDfiY6kQBJLFITOHQnJnghFRS5fN4K7zvSA8AMfNwYoRSAnTcpo1ufagtMj1hSOG1I8yz8z3awHtKklMyevO3yp8BfYE5OqvUuNmXKDrXJTE= 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=l4XJj/MR; arc=none smtp.client-ip=209.85.167.171 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="l4XJj/MR" Received: by mail-oi1-f171.google.com with SMTP id 5614622812f47-495c63c41ceso5114692b6e.2 for ; Mon, 20 Jul 2026 13:26:16 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20251104; t=1784579175; x=1785183975; 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=GJz4Fbmia0uNtdaDaptCQfeUH/df7Iagccu2zoYpIyA=; b=l4XJj/MRMVrFFEFZfAhKMZ6qH4+62T3bG811OkGkYitSimVdPnO1M2UuxeTPM02jQd xQ1W36yntm2EwbtSdJ+pQjPb18dgJ+NqQ0+bZ/6oH/MpoM33qji3zGdaB5uXHGqNnVRA HuINadHGzsFTkMz0fPmMQbmoumBpfAoh/8YXGh5vUEl//Aly1xYFV+DtHA7aPA5gM46V uE5TzxqT7KO0o5CThDWdbN1WwzhgPtEnA+8yEH0m/Ztx1EpsM+/phg+ifLC1tmqWZCcZ +DYv8TMzkH0EOMrj0iAC3EFrNMLb7bcpY3O8GJffF1PKb6RMFmUFKcwFFwvU/N22zaGp /5mg== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20251104; t=1784579175; x=1785183975; 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=GJz4Fbmia0uNtdaDaptCQfeUH/df7Iagccu2zoYpIyA=; b=dsHSV+8UzShiApi5AIEqzKiZC0i2Ok5WqGzsb9eJIZxNKrg5wl/fmWtxxH270qI72+ dfhFHt57EG4CrWly8+F+mQfSD+B9Dw8s5gG/DXdI7UzVGA8/HmBTduvGdOf04iawebif 6jCoGOBRZaRRudKJPKEP/EsFlA8kXLNIh1nRXVMbZsrAf6aztBVfoA3S7oBUZaq6S3An z0QeJi6d1kB0Wi9Iik9RSWJr9c5DD2KUh09zfD/oTQROyQ8Kd9Lc7c/A+tmikpf6VrH6 PYQWOq8p2XwYKuKzx4ag2mFRGZv4olBxBpgswYL4gbILsMD1hyyxUS1oZ4kZlW/DVZ9N xxdA== X-Gm-Message-State: AOJu0Yy9fklMr3CWkUVd3MGzt4hMC5zWbtUX3itx3vvZ+ReyVkWzCSQp KZEhfXzJB3gIfQ+M9FmmLkUwTOQu4MW0mrPRCbxdafKpASjGzEJMQj7fAD3eAg== X-Gm-Gg: AfdE7cmUHzx5e4DGiO8zIeuYUIq32W5WeHB397cbs36GRFVzETSC5FmAXJj3bRtMViB kj/7DbGxm2+h0xBzMDe508nS+ISmFWHeuKiJ01/DwBel3qY4XQ/nSXZ+WJUvTuueMULmtIDBNKY +iny9D00CjxgcZw2ENt2DOjSfgnLoGkze2DJB85WLxg/SHQW7wPL5TlUvPlVvKKwoArSV5VngWp l+gF7HhaM3flMSKfuiFKNKiqURYYgxw04U+wShioGJjqARpMQxkUNxIRG8U5oxzD5UwbmZZVsP1 WtPBoqzUDG+Ri/Ta1kVzzc4+aWOLzyJGKEYu9yMzd/5DwYIVzh3bVBgvF2hzO6dMNS67uacwnul JgTCatCJOJw77TE0smceZr4LT1wAL2rumcrhfWzzqNScbY+UxevOQqWr+qTfdpGdjJQhnB1VsIk 0UUVLVUdNzBvvfPCLVDztF0w== X-Received: by 2002:a05:6808:1389:b0:49b:9a35:f725 with SMTP id 5614622812f47-4a4d039d0ecmr9619131b6e.35.1784579175128; Mon, 20 Jul 2026 13:26:15 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0:9988:5abf:3c51:d168]) by smtp.gmail.com with ESMTPSA id 5614622812f47-4a4d3e5a0cdsm8029550b6e.18.2026.07.20.13.26.13 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Mon, 20 Jul 2026 13:26:13 -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 V18 7/9] iio: imu: inv_icm42607: Add Gyroscope to icm42607 Date: Mon, 20 Jul 2026 15:23:39 -0500 Message-ID: <20260720202343.70138-8-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260720202343.70138-1-macroalpha82@gmail.com> References: <20260720202343.70138-1-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 | 304 ++++++++++++++++++ 4 files changed, 314 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 fd3e57ee4f14..4d51b0da1aa1 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -138,6 +138,7 @@ struct inv_icm42607_hw { * @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. * @conf: chip sensors configurations. @@ -148,6 +149,7 @@ 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_conf conf; @@ -412,6 +414,8 @@ 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 924a3698dfbc..d9e924f3ca93 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -569,6 +569,11 @@ 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..6af7b143e6a1 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c @@ -0,0 +1,304 @@ +// 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 (chan->type) { + case IIO_ANGL_VEL: + break; + default: + return -EINVAL; + } + + 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: + 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; + + 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); + iio_device_set_drvdata(indio_dev, st); + + ret = devm_iio_device_register(dev, indio_dev); + if (ret) + return ERR_PTR(ret); + + return indio_dev; +} -- 2.43.0