From mboxrd@z Thu Jan 1 00:00:00 1970 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org Received: from bombadil.infradead.org (bombadil.infradead.org [198.137.202.133]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.lore.kernel.org (Postfix) with ESMTPS id 7D6DECD3427 for ; Fri, 1 May 2026 22:14:31 +0000 (UTC) DKIM-Signature: v=1; a=rsa-sha256; q=dns/txt; c=relaxed/relaxed; d=lists.infradead.org; s=bombadil.20210309; h=Sender: Content-Transfer-Encoding:Content-Type:List-Subscribe:List-Help:List-Post: List-Archive:List-Unsubscribe:List-Id:MIME-Version:References:In-Reply-To: Message-ID:Date:Subject:Cc:To:From:Reply-To:Content-ID:Content-Description: Resent-Date:Resent-From:Resent-Sender:Resent-To:Resent-Cc:Resent-Message-ID: List-Owner; bh=etLUsEZrp7YFTPUojrPsf1BM/5OT5k6XlzxaGqXC2F8=; b=rPcpBoLtYTiSAv zoB4Aim6fVl8SSl+R52a6oewncx8kcJgi8mX8ZblzE/HMsDCnxerT/hmlRufVhQ/uy9Pf1W17mZN8 YNvLv+IQVFR6Ifkb4quyc08I9QrZJYDd2M11obUn3zeL0vE2cX1wFp5lv2aAiOb3MWg8wvODuiCgK KkSul2SuB8xHxvxEKOL4bQkmrf2KHgZGvx/gzOjLFeyTvGzRnWNCJIYWp0lIhuIgL/Drx9ZYyGmGf dkordrysFkBGjXLlDysKZYynZ/6cQGzXSgu2uzTbH+9xJEL3pOghiAQKXLVEIxKRLP1lp+lYcomx5 4MVc7oHsVOoR6n8R6BhA==; Received: from localhost ([::1] helo=bombadil.infradead.org) by bombadil.infradead.org with esmtp (Exim 4.98.2 #2 (Red Hat Linux)) id 1wIw7u-00000007kTV-2fZU; Fri, 01 May 2026 22:14:26 +0000 Received: from mail-ot1-x32c.google.com ([2607:f8b0:4864:20::32c]) by bombadil.infradead.org with esmtps (Exim 4.98.2 #2 (Red Hat Linux)) id 1wIw7r-00000007kRl-2WcQ for linux-rockchip@lists.infradead.org; Fri, 01 May 2026 22:14:25 +0000 Received: by mail-ot1-x32c.google.com with SMTP id 46e09a7af769-7de4be15125so2040421a34.0 for ; Fri, 01 May 2026 15:14:23 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20251104; t=1777673663; x=1778278463; darn=lists.infradead.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; bh=TmQp9O4ScWjgZ4BEQylODtuAG4nlhH/YHfouXWqv4OE=; b=ZZni/FW2RzURKljbvvd3kGCI5xA8AfnaYasSTfd8rXRUvR2kOZINTycNmRftkn1r+W z+5Jyn6djmE5tDAJbKhVLmAKf4XtD97E9k84WpHW7Yz9l7PXl5qx7xHK6RLHJLFb6/Y2 eHLn3CTMcadMkOWmvpl++qJcSXZ4QNgBMmJgQgCGbaIyaPYgyvsA/MKQyz03Tea/BJgf AAJ4X5oVnNT0GhWshU12ZiXLM08i1zKRGqk09poTR9bVD+4X26n4Iw5ELfSozSOxY5VN GrRIG1CLhVE37x1sysaAprW7l+DgpudpzGtEQd+8WkttqkBjUlLLHst9EI9vJPi5aFP5 CUPA== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20251104; t=1777673663; x=1778278463; 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; bh=TmQp9O4ScWjgZ4BEQylODtuAG4nlhH/YHfouXWqv4OE=; b=oBzsP2VR0LsBnnVh/jZOLVFQ90kjpMTmWcDuQg+eUPG8a7VxnfOB+uxfzeaZR9ANDu /oG+BStpo4Vcy3llHF9LucoyuPCozGU35xxtmH5QdXxu4S5/SJfQCjHDLc3CiCFSJPgJ ARAm5rkiPhuigXkhQ+c/SjcMlJ/XujycD1Y1uC3rUujfhFN+Cwwv37BJmI1XMEglz478 xb6Pzjtu5rSivZOFhYtIV2kxv5Q/fxTONdXx0K+rIxFsKuMpta1LCk3UL/dko4D3nyps 2zAqj4kCVz884J5MfSs+ThK6IRU0OykdeCrKeOND93CDNbWDT/5Dk+sOCa7u3fUEhbSG 2mJQ== X-Forwarded-Encrypted: i=1; AFNElJ/F5SdQiSMNJoL0DraOipQb44XSD9F0OzOw2OfgtOWhtSx6BpSM0+0sqrPswnF9aDmItgegnv/gtChkAyO06w==@lists.infradead.org X-Gm-Message-State: AOJu0Yy+hYVA4UBju5aILaGpWF3QG9U3CvWpoPTBqhKognd3bR/Fwi77 rcR07TvZei8jtzRqdrrlIrDECKc92Xy2yp7/Ex6ar+zPOrHR6tSeV3CV70P1Dw== X-Gm-Gg: AeBDieulmxzZGaK33MuJi4UPxnaSj4i4+MIFSBtpykevJk6WCjphJyl968Ql/j1PoOu 3pMXPw1QdHz4voTk70KDD5W/gOeenrNRnpTgPSbN4vcHyiHf7qwn9ykqhrJaJun3UcQastM4yYt h0cXq4N5PqN9j5vxWtnf4coV8tfR9WIFrElTFUFpgIaugvn/0Bjb0H84elwtGdmEM7KxgFnSHET Tq6F0f7+fs5nhDrBvmqX7qysZs1wGZDJI3j7dphLaW+Eh+8kJYDlSMGSMVY8OKUTboRAbHQ6PdU qXRXR94NyFeaHkhAkZ9YVmwCKSdw8XzVTaZ7xkxBL62ifPY45lcfUgryCFhfIybnVUSJidpevxf CBmlBH7kXRhowl5Qkw33DU63G79h4MoiO8w9yeEiBGj7h2jS1a/H+ndHEM8V4GvkGXv81kE2MgZ m8GdVjOFXE3Wex3U/9F6kItw7NoHdBdjQ= X-Received: by 2002:a05:6830:63ca:b0:7dc:de0f:b640 with SMTP id 46e09a7af769-7dee12afa83mr872716a34.6.1777673662701; Fri, 01 May 2026 15:14:22 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0::54]) by smtp.gmail.com with ESMTPSA id 46e09a7af769-7ded51a9612sm1827337a34.26.2026.05.01.15.14.21 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Fri, 01 May 2026 15:14:22 -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 V4 02/10] iio: imu: inv_icm42607: Add inv_icm42607 Core Driver Date: Fri, 1 May 2026 17:11:41 -0500 Message-ID: <20260501221152.194251-3-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260501221152.194251-1-macroalpha82@gmail.com> References: <20260501221152.194251-1-macroalpha82@gmail.com> MIME-Version: 1.0 X-CRM114-Version: 20100106-BlameMichelson ( TRE 0.8.0 (BSD) ) MR-646709E3 X-CRM114-CacheID: sfid-20260501_151423_700701_D8BD70D5 X-CRM114-Status: GOOD ( 16.10 ) X-BeenThere: linux-rockchip@lists.infradead.org X-Mailman-Version: 2.1.34 Precedence: list List-Id: Upstream kernel work for Rockchip platforms List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Content-Type: text/plain; charset="us-ascii" Content-Transfer-Encoding: 7bit Sender: "Linux-rockchip" Errors-To: linux-rockchip-bounces+linux-rockchip=archiver.kernel.org@lists.infradead.org From: Chris Morgan Add the core component of a new inv_icm42607 driver. This includes a few setup functions and the full register definition in the header file. Signed-off-by: Chris Morgan --- drivers/iio/imu/inv_icm42607/inv_icm42607.h | 400 ++++++++++++++++++ .../iio/imu/inv_icm42607/inv_icm42607_core.c | 303 +++++++++++++ 2 files changed, 703 insertions(+) create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607.h create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_core.c 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..f6b3cad8064a --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -0,0 +1,400 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#ifndef INV_ICM42607_H_ +#define INV_ICM42607_H_ + +#include +#include +#include +#include +#include +#include +#include + +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_bw { + /* Low-Noise mode sensor data filter (bandwidth) */ + 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 +}; + +enum inv_icm42607_filter_avg { + /* 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 + /* values 7 and 8 also correspond to 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 + * @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; + __be16 buffer[3] __aligned(IIO_DMA_MINALIGN); +}; + +/** + * struct inv_icm42607_sensor_state - sensor state variables + * @power_mode: sensor requested power mode (for common frequencies) + * @filter: sensor filter. + * @ts: timestamp module states. + */ +struct inv_icm42607_sensor_state { + enum inv_icm42607_sensor_mode power_mode; + int 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_SDR_MASK GENMASK(2, 0) + +#define INV_ICM42607_REG_DRIVE_CONFIG2 0x04 +#define INV_ICM42607_DRIVE_CONFIG2_I2C_MASK GENMASK(5, 3) +#define INV_ICM42607_DRIVE_CONFIG2_ALL_MASK GENMASK(2, 0) + +#define INV_ICM42607_REG_DRIVE_CONFIG3 0x05 +#define INV_ICM42607_DRIVE_CONFIG3_SPI_MASK GENMASK(2, 0) + +#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_ACCEL_MODE_MASK GENMASK(1, 0) + +#define INV_ICM42607_REG_GYRO_CONFIG0 0x20 +#define INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK GENMASK(6, 5) +#define INV_ICM42607_GYRO_CONFIG0_ODR_MASK GENMASK(3, 0) + +#define INV_ICM42607_REG_ACCEL_CONFIG0 0x21 +#define INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK GENMASK(6, 5) +#define INV_ICM42607_ACCEL_CONFIG0_ODR_MASK GENMASK(3, 0) + +#define INV_ICM42607_REG_TEMP_CONFIG0 0x22 +#define INV_ICM42607_TEMP_CONFIG0_FILTER_MASK GENMASK(6, 4) + +#define INV_ICM42607_REG_GYRO_CONFIG1 0x23 +#define INV_ICM42607_GYRO_CONFIG1_FILTER_MASK GENMASK(2, 0) + +#define INV_ICM42607_REG_ACCEL_CONFIG1 0x24 +#define INV_ICM42607_ACCEL_CONFIG1_AVG_MASK GENMASK(6, 4) +#define INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK GENMASK(2, 0) + +#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_REG_WOM_CONFIG 0x27 +#define INV_ICM42607_WOM_CONFIG_INT_DUR_MASK GENMASK(4, 3) +#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_INT 0 +#define INV_ICM42607_INTF_CONFIG1_CLKSEL_PLL 1 +#define INV_ICM42607_INTF_CONFIG1_CLKSEL_OFF 2 + +#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_US 100000 +#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 *); + +u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr); + +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); + +#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..a0bbd8a7ea4b --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -0,0 +1,303 @@ +// 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" + +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, + }, +}; + +u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr) +{ + static const 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, + }; + + odr = clamp(odr, INV_ICM42607_ODR_1600HZ, INV_ICM42607_ODR_1_5625HZ_LP); + + return odr_periods[odr]; +} + +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 = FIELD_PREP(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, + conf->gyro.mode); + val |= FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, + 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 = FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_FS_SEL_MASK, + conf->gyro.fs); + val |= FIELD_PREP(INV_ICM42607_GYRO_CONFIG0_ODR_MASK, + conf->gyro.odr); + ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val); + if (ret) + return ret; + + val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_FS_SEL_MASK, conf->accel.fs); + val |= FIELD_PREP(INV_ICM42607_ACCEL_CONFIG0_ODR_MASK, conf->accel.odr); + ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val); + if (ret) + return ret; + + val = FIELD_PREP(INV_ICM42607_GYRO_CONFIG1_FILTER_MASK, + conf->gyro.filter); + ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG1, val); + if (ret) + return ret; + + val = FIELD_PREP(INV_ICM42607_ACCEL_CONFIG1_FILTER_MASK, + 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) + dev_warn_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; + + ret = regmap_read_poll_timeout(st->map, INV_ICM42607_REG_INT_STATUS, + val, val & INV_ICM42607_INT_STATUS_RESET_DONE, + INV_ICM42607_RESET_TIME_MS * 100, + INV_ICM42607_RESET_TIME_MS * 1000); + + if (ret) + return dev_err_probe(dev, ret, + "reset error, reset done bit not set\n"); + + ret = bus_setup(st); + if (ret) + return ret; + + ret = regmap_set_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0, + 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 int inv_icm42607_enable_vddio_reg(struct inv_icm42607_state *st) +{ + int ret; + + ret = regulator_enable(st->vddio_supply); + if (ret) + return ret; + + fsleep(INV_ICM42607_POWER_UP_TIME_US); + + return 0; +} + +static void inv_icm42607_disable_vddio_reg(void *_data) +{ + struct inv_icm42607_state *st = _data; + + 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; + bool open_drain; + int ret; + + /* + * Keep bounds checking in case more chips are added, for now only + * 2 are supported. + */ + if (chip < INV_CHIP_INVALID || chip >= INV_CHIP_NB) + dev_warn_probe(dev, -ENODEV, "Invalid chip = %d\n", chip); + + irq = fwnode_irq_get_byname(fwnode, "INT1"); + if (irq < 0) + return dev_err_probe(dev, irq, "error missing INT1 interrupt\n"); + + 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); + + ret = devm_mutex_init(dev, &st->lock); + if (ret) + return ret; + + st->chip = chip; + st->map = regmap; + st->irq = irq; + + ret = iio_read_mount_matrix(dev, &st->orientation); + if (ret) + return dev_err_probe(dev, ret, + "failed to retrieve mounting matrix %d\n", ret); + + ret = devm_regulator_get_enable(dev, "vdd"); + if (ret) + return dev_err_probe(dev, ret, + "Failed to get vdd regulator\n"); + + 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 0; +} +EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607"); + +MODULE_AUTHOR("InvenSense, Inc."); +MODULE_DESCRIPTION("InvenSense ICM-42607x device driver"); +MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS("IIO_INV_SENSORS_TIMESTAMP"); -- 2.43.0 _______________________________________________ Linux-rockchip mailing list Linux-rockchip@lists.infradead.org http://lists.infradead.org/mailman/listinfo/linux-rockchip