Linux-Rockchip Archive on lore.kernel.org

* [PATCH V14 5/9] iio: imu: inv_icm42607: Add PM support for icm42607
From: Chris Morgan @ 2026-06-24 18:23 UTC (permalink / raw)
  To: linux-iio
  Cc: andy, nuno.sa, dlechner, jic23, jean-baptiste.maneyrol,
	linux-rockchip, devicetree, heiko, conor+dt, krzk+dt, robh,
	andriy.shevchenko, Chris Morgan
In-Reply-To: <20260624182350.50467-1-macroalpha82@gmail.com>

From: Chris Morgan <macromorgan@hotmail.com>

Add power management support for the ICM42607 device driver.

Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |  17 ++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 146 ++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_i2c.c   |   1 +
 .../iio/imu/inv_icm42607/inv_icm42607_spi.c   |   1 +
 4 files changed, 165 insertions(+)

diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
index 88d35323bade..219cfcf7ac99 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -10,6 +10,7 @@
 #include <linux/bits.h>
 #include <linux/iio/iio.h>
 #include <linux/mutex.h>
+#include <linux/pm.h>
 #include <linux/regmap.h>
 #include <linux/regulator/consumer.h>
 #include <linux/time.h>
@@ -118,12 +119,19 @@ struct inv_icm42607_hw {
 	u8 whoami;
 };
 
+struct inv_icm42607_suspended {
+	enum inv_icm42607_sensor_mode gyro;
+	enum inv_icm42607_sensor_mode accel;
+};
+
 /**
  *  struct inv_icm42607_state - driver state variables
  *  @hw:		Hardware specific data.
  *  @lock:		lock for serializing multiple registers access.
  *  @map:		regmap pointer.
  *  @vddio_supply:	I/O voltage regulator for the chip.
+ *  @vddio_en:		I/O voltage status for runtime PM.
+ *  @suspended:		suspended sensors configuration.
  *  @conf:		chip sensors configurations.
  *  @orientation:	sensor chip orientation relative to main hardware.
  */
@@ -132,6 +140,8 @@ struct inv_icm42607_state {
 	struct mutex lock;
 	struct regmap *map;
 	struct regulator *vddio_supply;
+	bool vddio_en;
+	struct inv_icm42607_suspended suspended;
 	struct inv_icm42607_conf conf;
 	struct iio_mount_matrix orientation;
 };
@@ -351,11 +361,18 @@ struct inv_icm42607_state {
 #define INV_ICM42607_GYRO_STOP_TIME_US			(45 * USEC_PER_MSEC)
 #define INV_ICM42607_TEMP_STARTUP_TIME_US		77
 
+/*
+ * Suspend delay assumed from other icm42600 series device, not
+ * documented in datasheet.
+ */
+#define INV_ICM42607_SUSPEND_DELAY_MS			2000
+
 typedef int (*inv_icm42607_bus_setup)(struct inv_icm42607_state *);
 
 extern const struct regmap_config inv_icm42607_regmap_config;
 extern const struct inv_icm42607_hw inv_icm42607_hw_data;
 extern const struct inv_icm42607_hw inv_icm42607p_hw_data;
+extern const struct dev_pm_ops inv_icm42607_pm_ops;
 
 int inv_icm42607_core_probe(struct regmap *regmap,
 			    const struct inv_icm42607_hw *hw,
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
index 9b82a0499d35..ad23386a37b7 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -4,16 +4,20 @@
  */
 
 #include <linux/bitfield.h>
+#include <linux/cleanup.h>
 #include <linux/delay.h>
 #include <linux/dev_printk.h>
 #include <linux/device/devres.h>
 #include <linux/err.h>
 #include <linux/iio/iio.h>
+#include <linux/ktime.h>
 #include <linux/module.h>
 #include <linux/mutex.h>
+#include <linux/pm_runtime.h>
 #include <linux/regmap.h>
 #include <linux/regulator/consumer.h>
 #include <linux/time.h>
+#include <linux/timekeeping.h>
 #include <linux/types.h>
 
 #include "inv_icm42607.h"
@@ -102,6 +106,71 @@ const struct inv_icm42607_hw inv_icm42607p_hw_data = {
 };
 EXPORT_SYMBOL_NS_GPL(inv_icm42607p_hw_data, "IIO_ICM42607");
 
+static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
+				      enum inv_icm42607_sensor_mode gyro,
+				      enum inv_icm42607_sensor_mode accel)
+{
+	unsigned int oldaccel, oldgyro;
+	unsigned int sleepval_us = 0;
+	unsigned int val;
+	s64 disable_wait;
+	int ret;
+
+	ret = regmap_read(st->map, INV_ICM42607_REG_PWR_MGMT0, &val);
+	if (ret)
+		return ret;
+
+	oldaccel = FIELD_GET(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, val);
+	oldgyro = FIELD_GET(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, val);
+
+	if (gyro == oldgyro && accel == oldaccel)
+		return 0;
+
+	/*
+	 * Datasheet on page 14.26 says we need to ensure the gyro sensor is on
+	 * for a minimum of 45ms. So if we transition from an on state to an
+	 * off state make sure at least 45ms have passed before power off and
+	 * wait if it hasn't.
+	 */
+	if (!gyro && oldgyro) {
+		disable_wait = ktime_us_delta(st->conf.gyro_stop,
+					      ktime_get_real());
+		disable_wait = clamp(disable_wait, 0,
+				     INV_ICM42607_GYRO_STOP_TIME_US);
+		fsleep(disable_wait);
+	}
+
+	val = FIELD_PREP(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, gyro);
+	val |= FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, accel);
+	ret = regmap_write(st->map, INV_ICM42607_REG_PWR_MGMT0, val);
+	if (ret)
+		return ret;
+
+	/*
+	 * If a state change occurs from off to on, sleep for the startup
+	 * time of the sensor, unless a sleep_ms is specified. Since more
+	 * than one sensor can be transitioned from off to on, select the
+	 * maximum time from each of the sensors changing from off to on.
+	 * The startup time for the temp sensor is considerably smaller
+	 * than the startup time for the other sensors and one or more are
+	 * required to be on for the temp sensor to function, so any start
+	 * delay should be enough.
+	 */
+	if (accel && !oldaccel)
+		sleepval_us = max(sleepval_us, INV_ICM42607_ACCEL_STARTUP_TIME_US);
+
+	if (gyro && !oldgyro) {
+		sleepval_us = max(sleepval_us, INV_ICM42607_GYRO_STARTUP_TIME_US);
+		/* Track the earliest we can turn off the gyroscope. */
+		st->conf.gyro_stop = ktime_add_us(ktime_get_real(),
+						  INV_ICM42607_GYRO_STOP_TIME_US);
+	}
+
+	fsleep(sleepval_us);
+
+	return 0;
+}
+
 static int inv_icm42607_set_init_conf(struct inv_icm42607_state *st,
 				      const struct inv_icm42607_conf *conf)
 {
@@ -214,12 +283,17 @@ static int inv_icm42607_enable_vddio_reg(struct inv_icm42607_state *st)
 {
 	int ret;
 
+	if (st->vddio_en)
+		return 0;
+
 	ret = regulator_enable(st->vddio_supply);
 	if (ret)
 		return ret;
 
 	fsleep(INV_ICM42607_POWER_UP_TIME_US);
 
+	st->vddio_en = true;
+
 	return 0;
 }
 
@@ -227,7 +301,12 @@ static void inv_icm42607_disable_vddio_reg(void *_data)
 {
 	struct inv_icm42607_state *st = _data;
 
+	if (!st->vddio_en)
+		return;
+
 	regulator_disable(st->vddio_supply);
+
+	st->vddio_en = false;
 }
 
 int inv_icm42607_core_probe(struct regmap *regmap,
@@ -242,6 +321,8 @@ int inv_icm42607_core_probe(struct regmap *regmap,
 	if (!st)
 		return -ENOMEM;
 
+	dev_set_drvdata(dev, st);
+
 	ret = devm_mutex_init(dev, &st->lock);
 	if (ret)
 		return ret;
@@ -277,10 +358,75 @@ int inv_icm42607_core_probe(struct regmap *regmap,
 	if (ret)
 		return ret;
 
+	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 0;
 }
 EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607");
 
+static int inv_icm42607_suspend(struct device *dev)
+{
+	struct inv_icm42607_state *st = dev_get_drvdata(dev);
+	int ret;
+
+	ret = pm_runtime_force_suspend(dev);
+	if (ret)
+		return ret;
+
+	inv_icm42607_disable_vddio_reg(st);
+
+	return 0;
+}
+
+static int inv_icm42607_resume(struct device *dev)
+{
+	struct inv_icm42607_state *st = dev_get_drvdata(dev);
+	int ret;
+
+	ret = inv_icm42607_enable_vddio_reg(st);
+	if (ret)
+		return ret;
+
+	return pm_runtime_force_resume(dev);
+}
+
+static int inv_icm42607_runtime_suspend(struct device *dev)
+{
+	struct inv_icm42607_state *st = dev_get_drvdata(dev);
+
+	guard(mutex)(&st->lock);
+
+	/* save sensors state */
+	st->suspended.gyro = st->conf.gyro.mode;
+	st->suspended.accel = st->conf.accel.mode;
+
+	return inv_icm42607_set_pwr_mgmt0(st, INV_ICM42607_SENSOR_MODE_OFF,
+					  INV_ICM42607_SENSOR_MODE_OFF);
+}
+
+static int inv_icm42607_runtime_resume(struct device *dev)
+{
+	struct inv_icm42607_state *st = dev_get_drvdata(dev);
+
+	guard(mutex)(&st->lock);
+
+	/* restore sensors state */
+	return inv_icm42607_set_pwr_mgmt0(st, st->suspended.gyro,
+					  st->suspended.accel);
+}
+
+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-42607 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
index bde931752eb8..aed04be28528 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
@@ -85,6 +85,7 @@ 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,
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
index 6072ed7adc86..137cd34582d8 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
@@ -95,6 +95,7 @@ static struct spi_driver inv_icm42607_driver = {
 	.driver = {
 		.name = "inv-icm42607-spi",
 		.of_match_table = inv_icm42607_of_matches,
+		.pm = pm_ptr(&inv_icm42607_pm_ops),
 	},
 	.id_table = inv_icm42607_spi_id_table,
 	.probe = inv_icm42607_probe,
-- 
2.43.0


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