[PATCH V3 6/9] iio: imu: inv_icm42607: Add Accelerometer for icm42607

Chris Morgan
2026-03-30T20:01:29Z

Add icm42607 accelerometer sensor for icm42607.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
drivers/iio/imu/inv_icm42607/inv_icm42607.h | 12 +
.../iio/imu/inv_icm42607/inv_icm42607_accel.c | 725 ++++++++++++++++++
.../imu/inv_icm42607/inv_icm42607_buffer.c | 49 +-
.../imu/inv_icm42607/inv_icm42607_buffer.h | 2 +
.../iio/imu/inv_icm42607/inv_icm42607_core.c | 60 ++
5 files changed, 847 insertions(+), 1 deletion(-)
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c

diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
index 086848c8fd3b..56bb09e2c304 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -431,8 +431,16 @@ 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_temp_conf(struct inv_icm42607_state *st, bool enable,
unsigned int *sleep_ms);

@@ -442,4 +450,8 @@ int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
int inv_icm42607_core_probe(struct regmap *regmap, int chip,
inv_icm42607_bus_setup bus_setup);

+struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st);
+
+int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev);
+
#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..58754af31100
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
@@ -0,0 +1,725 @@
+// 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),
+ { },
+};
+
+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),
+};
+
+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_ACQUIRE_AUTOSUSPEND(dev, pm);
+ if (PM_RUNTIME_ACQUIRE_ERR(&pm))
+ return -ENXIO;
+
+ guard(mutex)(&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)
+ return ret;
+
+ /* read accel register data */
+ data = (__be16 *)&st->buffer[0];
+ ret = regmap_bulk_read(st->map, reg, data, sizeof(*data));
+ if (ret)
+ return ret;
+
+ *val = (int16_t)be16_to_cpup(data);
+ if (*val == INV_ICM42607_DATA_INVALID)
+ ret = -EINVAL;
+
+ return ret;
+}
+
+/* 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_ACQUIRE_AUTOSUSPEND(dev, pm);
+ if (PM_RUNTIME_ACQUIRE_ERR(&pm))
+ return -ENXIO;
+
+ guard(mutex)(&st->lock);
+
+ ret = inv_icm42607_set_accel_conf(st, &conf, NULL);
+
+ 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_ACQUIRE_AUTOSUSPEND(dev, pm);
+ if (PM_RUNTIME_ACQUIRE_ERR(&pm))
+ return -ENXIO;
+
+ guard(mutex)(&st->lock);
+
+ ret = inv_sensors_timestamp_update_odr(ts, inv_icm42607_odr_to_period(conf.odr),
+ iio_buffer_enabled(indio_dev));
+ if (ret)
+ return ret;
+
+ ret = inv_icm42607_set_accel_conf(st, &conf, NULL);
+ if (ret)
+ return ret;
+
+ inv_icm42607_buffer_update_fifo_period(st);
+ inv_icm42607_buffer_update_watermark(st);
+
+ 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 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,
+};
+
+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, &timestamp, &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
index 4f5f199586fc..b086068e56ce 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
@@ -356,6 +356,7 @@ static int inv_icm42607_buffer_postdisable(struct iio_dev *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;
@@ -382,6 +383,15 @@ static int inv_icm42607_buffer_postdisable(struct iio_dev *indio_dev)
if (ret)
goto out_unlock;

+ conf.mode = INV_ICM42607_SENSOR_MODE_OFF;
+ 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);

@@ -461,9 +471,33 @@ int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st,
return 0;
}

+int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st)
+{
+ 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 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 *accel_st = iio_priv(st->indio_accel);
+ struct inv_sensors_timestamp *ts;
s64 gyro_ts, accel_ts;
int ret;

@@ -471,8 +505,21 @@ int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
accel_ts = iio_get_time_ns(st->indio_accel);

ret = inv_icm42607_buffer_fifo_read(st, count);
+ if (ret)
+ return ret;

- return ret;
+ if (st->fifo.nb.total == 0)
+ return 0;
+
+ 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)
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
index 64a66c00a861..6d8d7fa7bd13 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h
@@ -92,6 +92,8 @@ 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);

diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
index 735a262dc103..62a1371b0c4a 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -76,6 +76,15 @@ static const struct inv_icm42607_hw inv_icm42607_hw[INV_CHIP_NB] = {
},
};

+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] = {
@@ -164,6 +173,52 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
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_temp_conf(struct inv_icm42607_state *st, bool enable,
unsigned int *sleep_ms)
{
@@ -396,6 +451,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip,
if (ret)
return ret;

+ /* 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);
+
/* Setup runtime power management */
ret = devm_pm_runtime_set_active_enabled(dev);
if (ret)