Add Invensense ICM42607

From: Chris Morgan <[email protected]>

Add devicetree binding for the Invensense ICM42607 and Invensense ICM42607P inertial measurement unit. This unit is a combined accelerometer, gyroscope, and thermometer available via I2C or SPI.

This device is functionally very similar to the icm42600 series with a very different register layout.

Signed-off-by Chris Morgan <[email protected]>

---
 .../bindings/iio/imu/invensense,icm42607.yaml | 95 +++++++++++++++++++
 1 file changed, 95 insertions(+)
 create mode 100644 Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml

Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml new file +2 -0

new file mode 100644
index 000000000000..bbacdee5b906
@@ -0,0 +1,95 @@
+# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+%YAML 1.2

Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml new file +75 -0

+  reg:
+    maxItems: 1
+
+  interrupts:
+    minItems: 1
+    maxItems: 2
+
+  interrupt-names:
+    minItems: 1
+    maxItems: 2
+    items:
+      enum:
+        - INT1
+        - INT2
+
+  drive-open-drain:
+    type: boolean
+
+  mount-matrix: true
+
+  spi-cpha: true
+  spi-cpol: true
+
+  vdd-supply:
+    description: Regulator that provides power to the sensor
+
+  vddio-supply:
+    description: Regulator that provides power to the bus
+
+required:
+  - compatible
+  - reg
+  - interrupts
+
+allOf:
+  - $ref: /schemas/spi/spi-peripheral-props.yaml#
+
+unevaluatedProperties: false
+
+examples:
+  - |
+    #include <dt-bindings/interrupt-controller/irq.h>
+    i2c {
+        #address-cells = <1>;
+        #size-cells = <0>;
+
+        icm42607p@68 {
+            compatible = "invensense,icm42607p";
+            reg = <0x68>;
+            interrupt-parent = <&gpio2>;
+            interrupts = <7 IRQ_TYPE_EDGE_FALLING>;
+            interrupt-names = "INT1";
+            vdd-supply = <&vdd>;
+            vddio-supply = <&vddio>;
+        };
+    };
+  - |
+    #include <dt-bindings/interrupt-controller/irq.h>
+    spi {
+        #address-cells = <1>;
+        #size-cells = <0>;
+
+        icm42607p@0 {
+            compatible = "invensense,icm42607p";
+            reg = <0>;
+            spi-max-frequency = <24000000>;
+            spi-cpha;
+            spi-cpol;
+            interrupt-parent = <&gpio1>;
+            interrupts = <2 IRQ_TYPE_EDGE_FALLING>;
+            interrupt-names = "INT1";
+            vdd-supply = <&vdd>;
+            vddio-supply = <&vddio>;
+        };
+    };

Signature · 1 line

2.43.0

Quoted 2 lines · Chris Morgan

From: Chris Morgan <[email protected]>

Subject space is limited, so don't say devicetree binding twice:

dt-bindings: iio: imu: Add Invensense ICM42607

Quoted 6 lines

Add devicetree binding for the Invensense ICM42607 and Invensense ICM42607P inertial measurement unit. This unit is a combined accelerometer, gyroscope, and thermometer available via I2C or SPI.

This device is functionally very similar to the icm42600 series with a very different register layout.

Similar enough to use the same binding schema?

Quoted 15 lines

Signed-off-by Chris Morgan <[email protected]>

---
 .../bindings/iio/imu/invensense,icm42607.yaml | 95 +++++++++++++++++++
 1 file changed, 95 insertions(+)
 create mode 100644 Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml

Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml new file +2 -0

new file mode 100644
index 000000000000..bbacdee5b906
@@ -0,0 +1,95 @@
+# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+%YAML 1.2

Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml line 12

Quoted 10 lines

Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml new file +10 -0

+---
+$id: http://devicetree.org/schemas/iio/imu/invensense,icm42607.yaml#
+$schema: http://devicetree.org/meta-schemas/core.yaml#
+
+title: InvenSense ICM-42607 Inertial Measurement Unit
+
+maintainers:
+  - Chris Morgan <[email protected]>
+
+description: |

Don't need '|'.

Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml line 20

Quoted 8 lines

Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml new file +8 -0

+  6-axis MotionTracking device that combines a 3-axis gyroscope and a 3-axis
+  accelerometer.
+
+properties:
+  compatible:
+    enum:
+      - invensense,icm42607
+      - invensense,icm42607p

blank line

Quoted 78 lines

Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml new file +75 -0

+  reg:
+    maxItems: 1
+
+  interrupts:
+    minItems: 1
+    maxItems: 2
+
+  interrupt-names:
+    minItems: 1
+    maxItems: 2
+    items:
+      enum:
+        - INT1
+        - INT2
+
+  drive-open-drain:
+    type: boolean
+
+  mount-matrix: true
+
+  spi-cpha: true
+  spi-cpol: true
+
+  vdd-supply:
+    description: Regulator that provides power to the sensor
+
+  vddio-supply:
+    description: Regulator that provides power to the bus
+
+required:
+  - compatible
+  - reg
+  - interrupts
+
+allOf:
+  - $ref: /schemas/spi/spi-peripheral-props.yaml#
+
+unevaluatedProperties: false
+
+examples:
+  - |
+    #include <dt-bindings/interrupt-controller/irq.h>
+    i2c {
+        #address-cells = <1>;
+        #size-cells = <0>;
+
+        icm42607p@68 {
+            compatible = "invensense,icm42607p";
+            reg = <0x68>;
+            interrupt-parent = <&gpio2>;
+            interrupts = <7 IRQ_TYPE_EDGE_FALLING>;
+            interrupt-names = "INT1";
+            vdd-supply = <&vdd>;
+            vddio-supply = <&vddio>;
+        };
+    };
+  - |
+    #include <dt-bindings/interrupt-controller/irq.h>
+    spi {
+        #address-cells = <1>;
+        #size-cells = <0>;
+
+        icm42607p@0 {
+            compatible = "invensense,icm42607p";
+            reg = <0>;
+            spi-max-frequency = <24000000>;
+            spi-cpha;
+            spi-cpol;
+            interrupt-parent = <&gpio1>;
+            interrupts = <2 IRQ_TYPE_EDGE_FALLING>;
+            interrupt-names = "INT1";
+            vdd-supply = <&vdd>;
+            vddio-supply = <&vddio>;
+        };
+    };

Signature · 1 line

2.43.0

Quoted 11 lines · Rob Herring

Quoted 2 lines · Chris Morgan

From: Chris Morgan <[email protected]>

Subject space is limited, so don't say devicetree binding twice:

dt-bindings: iio: imu: Add Invensense ICM42607

Quoted 4 lines

Add devicetree binding for the Invensense ICM42607 and Invensense ICM42607P inertial measurement unit. This unit is a combined accelerometer, gyroscope, and thermometer available via I2C or SPI.

Quoted 4 lines

Quoted 2 lines

This device is functionally very similar to the icm42600 series with a very different register layout.

Similar enough to use the same binding schema?

Yes. I was under the (possibly mistaken) impression that different drivers required different binding schemas, but these should be similar enough to use the same schema if it's allowed.

drivers/iio/imu/inv_icm42607/inv_icm42607.h new file +4 -0

+#define INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK		GENMASK(1, 0)
+#define INV_ICM42607_PWR_MGMT0_ACCEL(_mode)		\
+	FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, (_mode))
+

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +18 -0

+u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr)
+{
+	static 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 */

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +15 -0

+
+	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);

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +58 -0

+	/*
+	 * 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 = INV_ICM42607_GYRO_CONFIG0_FS_SEL(conf->gyro.fs) |
+	INV_ICM42607_GYRO_CONFIG0_ODR(conf->gyro.odr);
+	ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	val = INV_ICM42607_ACCEL_CONFIG0_FS_SEL(conf->accel.fs) |
+	INV_ICM42607_ACCEL_CONFIG0_ODR(conf->accel.odr);
+	ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	val = INV_ICM42607_GYRO_CONFIG1_FILTER(conf->gyro.filter);
+	ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG1, val);
+	if (ret)
+		return ret;
+
+	val = INV_ICM42607_ACCEL_CONFIG1_FILTER(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)

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +11 -0

+	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);
+}

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +12 -0

+
+	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,

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +32 -0

+		dev_warn_probe(dev, -ENODEV,
+			       "Invalid chip = %d\n", chip);
+
+	/* get INT1 only supported interrupt or fallback to first interrupt */
+	irq = fwnode_irq_get_byname(fwnode, "INT1");
+	if (irq < 0 && irq != -EPROBE_DEFER) {
+		dev_info(dev, "no INT1 interrupt defined, fallback to first interrupt\n");
+		irq = fwnode_irq_get(fwnode, 0);
+	}
+	if (irq < 0)
+		return dev_err_probe(dev, irq, "error missing INT1 interrupt\n");
+
+	irq_type = irq_get_trigger_type(irq);
+	if (!irq_type)
+		irq_type = IRQF_TRIGGER_FALLING;
+
+	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);
+	mutex_init(&st->lock);
+	st->chip = chip;
+	st->map = regmap;
+	st->irq = irq;
+
+	ret = iio_read_mount_matrix(dev, &st->orientation);
+	if (ret) {
+		dev_err(dev, "failed to retrieve mounting matrix %d\n", ret);
+		return ret;

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +4 -0

+	ret = inv_icm42607_setup(st, bus_setup);
+
+	return ret;
+}

From: Chris Morgan <[email protected]>

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 <[email protected]>

---
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   | 424 ++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 300 +++++++++++++
 2 files changed, 724 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607.h
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_core.c

drivers/iio/imu/inv_icm42607/inv_icm42607.h new file +3 -0

new file mode 100644
index 000000000000..609188c40ffc
@@ -0,0 +1,424 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2026 InvenSense, Inc.

drivers/iio/imu/inv_icm42607/inv_icm42607.h new file +6 -0

+#include <linux/iio/iio.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
 
+/* ODR values */
+enum inv_icm42607_odr {
+	INV_ICM42607_ODR_1600HZ = 5,
+	INV_ICM42607_ODR_800HZ,

drivers/iio/imu/inv_icm42607/inv_icm42607.h new file +10 -0

+};
+
+enum inv_icm42607_filter {
+	/* Low-Noise mode sensor data filter */
+	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,

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +28 -0

+		/* 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,
+	};
+
+	return odr_periods[odr];
+}

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +46 -0

+	ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	val = INV_ICM42607_ACCEL_CONFIG0_FS_SEL(conf->accel.fs) |
+	INV_ICM42607_ACCEL_CONFIG0_ODR(conf->accel.odr);
+	ret = regmap_write(st->map, INV_ICM42607_REG_ACCEL_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	val = INV_ICM42607_GYRO_CONFIG1_FILTER(conf->gyro.filter);
+	ret = regmap_write(st->map, INV_ICM42607_REG_GYRO_CONFIG1, val);
+	if (ret)
+		return ret;
+
+	val = INV_ICM42607_ACCEL_CONFIG1_FILTER(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,

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +26 -0

+
+	ret = regmap_read(st->map, INV_ICM42607_REG_INT_STATUS, &val);
+	if (ret)
+		return ret;
+	if (!(val & INV_ICM42607_INT_STATUS_RESET_DONE))
+		return dev_err_probe(dev, -ENODEV,
+				     "reset error, reset done bit not set\n");
+
+	ret = bus_setup(st);
+	if (ret)
+		return ret;
+
+	ret = regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+				 INV_ICM42607_INTF_CONFIG0_SENSOR_DATA_ENDIAN,
+				 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);
+}

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +7 -0

+
+	return 0;
+}
 
+
+int inv_icm42607_core_probe(struct regmap *regmap, int chip,
+			    inv_icm42607_bus_setup bus_setup)
+{

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +15 -0

+	}
+
+	ret = devm_regulator_get_enable(dev, "vdd");
+	if (ret)
+		return dev_err_probe(dev, ret,
+				     "Failed to get vdd regulator\n");
+
+	msleep(INV_ICM42607_POWER_UP_TIME_MS);
+
+	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)

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +2 -0

+}
+EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607");

On Mon, 30 Mar 2026 14:58:46 -0500
Chris Morgan <[email protected]> wrote:

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c line 116

Quoted 2 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +2 -0

+	if (!conf->temp_en)
+		val |= INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL;

Could make this

	val |= FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL,
			  !conf->temp_en);

Not particularly important though if you prefer the if.

Quoted 2 lines · Jonathan Cameron

On Mon, 30 Mar 2026 14:58:46 -0500
Chris Morgan <[email protected]> wrote:

...

Quoted 7 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c line 116

Quoted 2 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +2 -0

+	if (!conf->temp_en)
+		val |= INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL;  

Could make this

	val |= FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL,
			  !conf->temp_en);

Not particularly important though if you prefer the if.

Isn't this becomes FIELD_MODIFY()?

From: Chris Morgan <[email protected]>

Add I2C and SPI driver support for InvenSense ICM-42607 devices.

Include runtime power management on each device.

Signed-off-by Chris Morgan <[email protected]>

---
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |  14 ++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 204 ++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_i2c.c   |  93 ++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_spi.c   | 100 +++++++++
 4 files changed, 411 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c

drivers/iio/imu/inv_icm42607/inv_icm42607.h +14 -0

index 609188c40ffc..7d13091aa8df 100644
@@ -11,6 +11,7 @@
 #include <linux/regmap.h>
 #include <linux/mutex.h>
 #include <linux/regulator/consumer.h>
+#include <linux/pm.h>
 #include <linux/iio/iio.h>
 #include <linux/iio/common/inv_sensors_timestamp.h>
 

@@ -21,6 +22,16 @@ enum inv_icm42607_chip {
 	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,

@@ -413,6 +424,9 @@ struct inv_icm42607_sensor_state {
 
 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;
+
 u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr);
 
 int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +10 -0

index 6b7078387568..da04c820dab2 100644
@@ -12,12 +12,33 @@
 #include <linux/interrupt.h>
 #include <linux/irq.h>
 #include <linux/regulator/consumer.h>
+#include <linux/pm_runtime.h>
 #include <linux/property.h>
 #include <linux/regmap.h>
 #include <linux/iio/iio.h>
 
 #include "inv_icm42607.h"
 
+static const struct regmap_range_cfg inv_icm42607_regmap_ranges[] = {
+	{
+		.name = "user bank",
+		.range_min = 0x0000,
+		.range_max = 0x00FF,
+		.window_start = 0,
+		.window_len = 0x0100,
+	},
+};

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +61 -0

+
 struct inv_icm42607_hw {
 	uint8_t whoami;
 	const char *name;

@@ -86,6 +107,62 @@ u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr)
 	return odr_periods[odr];
 }
 
+static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
+				      enum inv_icm42607_sensor_mode gyro,
+				      enum inv_icm42607_sensor_mode accel,
+				      bool temp, unsigned int *sleep_ms)
+{
+	enum inv_icm42607_sensor_mode oldgyro = st->conf.gyro.mode;
+	enum inv_icm42607_sensor_mode oldaccel = st->conf.accel.mode;
+	bool oldtemp = st->conf.temp_en;
+	unsigned int sleepval;
+	unsigned int val;
+	int ret;
+
+	if (gyro == oldgyro && accel == oldaccel && temp == oldtemp)
+		return 0;
+
+	val = INV_ICM42607_PWR_MGMT0_GYRO(gyro) |
+	INV_ICM42607_PWR_MGMT0_ACCEL(accel);
+	if (!temp)
+		val |= INV_ICM42607_PWR_MGMT0_ACCEL_LP_CLK_SEL;
+	ret = regmap_write(st->map, INV_ICM42607_REG_PWR_MGMT0, val);
+	if (ret)
+		return ret;
+
+	st->conf.gyro.mode = gyro;
+	st->conf.accel.mode = accel;
+	st->conf.temp_en = temp;
+
+	sleepval = 0;
+	if (temp && !oldtemp) {
+		if (sleepval < INV_ICM42607_TEMP_STARTUP_TIME_MS)
+			sleepval = INV_ICM42607_TEMP_STARTUP_TIME_MS;
+	}
+	if (accel != oldaccel && oldaccel == INV_ICM42607_SENSOR_MODE_OFF) {
+		usleep_range(200, 300);
+		if (sleepval < INV_ICM42607_ACCEL_STARTUP_TIME_MS)
+			sleepval = INV_ICM42607_ACCEL_STARTUP_TIME_MS;
+	}
+	if (gyro != oldgyro) {
+		if (oldgyro == INV_ICM42607_SENSOR_MODE_OFF) {
+			usleep_range(200, 300);
+			if (sleepval < INV_ICM42607_GYRO_STARTUP_TIME_MS)
+				sleepval = INV_ICM42607_GYRO_STARTUP_TIME_MS;
+		} else if (gyro == INV_ICM42607_SENSOR_MODE_OFF) {
+			if (sleepval < INV_ICM42607_GYRO_STOP_TIME_MS)
+				sleepval = INV_ICM42607_GYRO_STOP_TIME_MS;
+		}
+	}
+
+	if (sleep_ms)
+		*sleep_ms = sleepval;
+	else if (sleepval)
+		msleep(sleepval);
+
+	return 0;
+}
+
 int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 			     unsigned int writeval, unsigned int *readval)
 {

@@ -219,6 +296,10 @@ static int inv_icm42607_enable_vddio_reg(struct inv_icm42607_state *st)
 static void inv_icm42607_disable_vddio_reg(void *_data)
 {
 	struct inv_icm42607_state *st = _data;
+	struct device *dev = regmap_get_device(st->map);
+
+	if (pm_runtime_status_suspended(dev))
+		return;
 
 	regulator_disable(st->vddio_supply);
 }

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +6 -0

+	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 ret;
 }
 EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607");
 

drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c new file +13 -0

new file mode 100644
index 000000000000..eb72973debc5
@@ -0,0 +1,93 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/i2c.h>
+#include <linux/regmap.h>
+#include <linux/property.h>
+

drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c new file +11 -0

+	val = INV_ICM42607_DRIVE_CONFIG2_I2C(INV_ICM42607_SLEW_RATE_12_36NS);
+	ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG2,
+				 mask, val);
+	if (ret)
+		return ret;
+
+	return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+				  INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK,
+				  INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_SPI_DIS);
+}
+

drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c new file +45 -0

+	if (!match)
+		return -EINVAL;
+	chip = (uintptr_t)match;
+
+	regmap = devm_regmap_init_i2c(client, &inv_icm42607_regmap_config);
+	if (IS_ERR(regmap))
+		return PTR_ERR(regmap);
+
+	return inv_icm42607_core_probe(regmap, chip, inv_icm42607_i2c_bus_setup);
+}
+
+static const struct i2c_device_id inv_icm42607_id[] = {
+	{ "icm42607", INV_CHIP_ICM42607 },
+	{ "icm42607p", INV_CHIP_ICM42607P },
+	{ }
+};
+MODULE_DEVICE_TABLE(i2c, inv_icm42607_id);
+
+static const struct of_device_id inv_icm42607_of_matches[] = {
+	{
+		.compatible = "invensense,icm42607",
+		.data = (void *)INV_CHIP_ICM42607,
+	}, {
+		.compatible = "invensense,icm42607p",
+		.data = (void *)INV_CHIP_ICM42607P,
+	},
+	{ }
+};
+MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches);
+
+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,
+};
+module_i2c_driver(inv_icm42607_driver);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-42607x I2C driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_ICM42607");

drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c new file +13 -0

new file mode 100644
index 000000000000..51ce3deeb706
@@ -0,0 +1,100 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/spi/spi.h>
+#include <linux/regmap.h>
+#include <linux/property.h>
+

drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c new file +14 -0

+	if (ret)
+		return ret;
+
+	mask = INV_ICM42607_DRIVE_CONFIG3_SPI_MASK;
+	val = INV_ICM42607_DRIVE_CONFIG3_SPI(INV_ICM42607_SLEW_RATE_INF_2NS);
+	ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG3,
+				 mask, val);
+	if (ret)
+		return ret;
+
+	return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+				  INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK,
+				  INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS);
+}

drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c new file +18 -0

+
+	regmap = devm_regmap_init_spi(spi, &inv_icm42607_regmap_config);
+	if (IS_ERR(regmap))
+		return dev_err_probe(&spi->dev, PTR_ERR(regmap),
+				     "Failed to register spi regmap %ld\n",
+				     PTR_ERR(regmap));
+
+	return inv_icm42607_core_probe(regmap, chip,
+				       inv_icm42607_spi_bus_setup);
+}
+
+static const struct of_device_id inv_icm42607_of_matches[] = {
+	{
+		.compatible = "invensense,icm42607",
+		.data = (void *)INV_CHIP_ICM42607,
+	},
+	{
+		.compatible = "invensense,icm42607p",

drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c new file +18 -0

+};
+MODULE_DEVICE_TABLE(spi, inv_icm42607_spi_id_table);
+
+static struct spi_driver inv_icm42607_driver = {
+	.driver = {
+		.name = "inv-icm42607-spi",
+		.of_match_table = inv_icm42607_of_matches,
+		.pm = &inv_icm42607_pm_ops,
+	},
+	.id_table = inv_icm42607_spi_id_table,
+	.probe = inv_icm42607_probe,
+};
+module_spi_driver(inv_icm42607_driver);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-42607x SPI driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_ICM42607");

From: Chris Morgan <[email protected]>

Add all FIFO parsing and reading functions to support inv_icm42607 hardware.

Signed-off-by Chris Morgan <[email protected]>

---
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |   4 +
 .../imu/inv_icm42607/inv_icm42607_buffer.c    | 496 ++++++++++++++++++
 .../imu/inv_icm42607/inv_icm42607_buffer.h    |  98 ++++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  |  25 +
 4 files changed, 623 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h

drivers/iio/imu/inv_icm42607/inv_icm42607.h +0 -0

index 7d13091aa8df..5530fd3bc03f 100644

drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c new file +6 -0

new file mode 100644
index 000000000000..4f5f199586fc
@@ -0,0 +1,496 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>

drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c new file +4 -0

+
+static unsigned int inv_icm42607_wm_truncate(unsigned int watermark,
+					     size_t packet_size)
+{

drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c new file +3 -0

+}
 
 
+int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
+				     unsigned int count)

drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c new file +4 -0

+}
+
+int inv_icm42607_buffer_init(struct inv_icm42607_state *st)
+{

drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c new file +7 -0

+	if (ret)
+		return ret;
+
+	/* Initialize FIFO in bypass mode */
+	return regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+			    INV_ICM42607_FIFO_CONFIG1_BYPASS);
+}

drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h new file +0 -0

new file mode 100644
index 000000000000..64a66c00a861

drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h new file +1 -0

+#define INV_ICM42607_FIFO_DATA_INVALID		-32768

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +0 -0

index da04c820dab2..344071089042 100644

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +2 -0

@@ -436,6 +449,8 @@ static int inv_icm42607_suspend(struct device *dev)
 static int inv_icm42607_resume(struct device *dev)
 {
 	struct inv_icm42607_state *st = dev_get_drvdata(dev);
+	struct inv_icm42607_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+	struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel);
 	struct device *accel_dev;
 	bool wakeup;
 	int ret;

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +6 -0

+		inv_sensors_timestamp_reset(&gyro_st->ts);
+		inv_sensors_timestamp_reset(&accel_st->ts);
+		ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1,
+				   INV_ICM42607_FIFO_CONFIG1_MODE);
+	}
+
 	return ret;
 }
 

From: Chris Morgan <[email protected]>

Add functions for reading temperature sensor data.

Signed-off-by Chris Morgan <[email protected]>

---
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |  3 +
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 17 ++++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.c  | 81 +++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.h  | 30 +++++++
 4 files changed, 131 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h

drivers/iio/imu/inv_icm42607/inv_icm42607.h +3 -0

index 5530fd3bc03f..086848c8fd3b 100644
@@ -433,6 +433,9 @@ extern const struct dev_pm_ops inv_icm42607_pm_ops;
 
 u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr);
 
+int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
+			       unsigned int *sleep_ms);
+
 int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 			     unsigned int writeval, unsigned int *readval);
 

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +17 -0

index 344071089042..735a262dc103 100644
@@ -164,6 +164,23 @@ static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st,
 	return 0;
 }
 
+int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
+			       unsigned int *sleep_ms)
+{
+	unsigned int val;
+	int ret;
+
+	val = INV_ICM42607_TEMP_CONFIG0_FILTER(INV_ICM42607_FILTER_BW_34HZ);
+	ret = regmap_update_bits(st->map, INV_ICM42607_REG_TEMP_CONFIG0,
+				 INV_ICM42607_TEMP_CONFIG0_FILTER_MASK, val);
+	if (ret)
+		return ret;
+
+	return inv_icm42607_set_pwr_mgmt0(st, st->conf.gyro.mode,
+					  st->conf.accel.mode, enable,
+					  sleep_ms);
+}
+
 int inv_icm42607_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 			     unsigned int writeval, unsigned int *readval)
 {

drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c new file +22 -0

new file mode 100644
index 000000000000..b42eb78cd960
@@ -0,0 +1,81 @@
+// 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/iio/iio.h>
+
+#include "inv_icm42607.h"
+#include "inv_icm42607_temp.h"
+
+static int inv_icm42607_temp_read(struct inv_icm42607_state *st, s16 *temp)
+{
+	struct device *dev = regmap_get_device(st->map);
+	__be16 *raw;
+	int ret;
+
+	PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);

drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c new file +27 -0

+	if (*temp == INV_ICM42607_DATA_INVALID)
+		ret = -EINVAL;
+
+	return ret;
+}
+
+int inv_icm42607_temp_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 temp;
+	int ret;
+
+	if (chan->type != IIO_TEMP)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm42607_temp_read(st, &temp);
+		iio_device_release_direct(indio_dev);
+		if (ret)
+			return ret;
+		*val = temp;
+		return IIO_VAL_INT;

drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c new file +7 -0

+	case IIO_CHAN_INFO_OFFSET:
+		*val = 25000;
+		return IIO_VAL_INT;
+	default:
+		return -EINVAL;
+	}
+}

From: Chris Morgan <[email protected]>

Add icm42607 accelerometer sensor for icm42607.

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +32 -0

+	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)

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +43 -0

+		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);

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +15 -0

+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,
+};
+

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +4 -0

+static int inv_icm42607_accel_write_raw_get_fmt(struct iio_dev *indio_dev,
+						struct iio_chan_spec const *chan,
+						long mask)
+{

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +5 -0

+	default:
+		return -EINVAL;
+	}
+}
+

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +8 -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;
+

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +28 -0

+		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);
+}
+

Quoted 4 lines · Chris Morgan

From: Chris Morgan <[email protected]>

Add icm42607 accelerometer sensor for icm42607.

...

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 215

Quoted 3 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +3 -0

+static const unsigned long inv_icm42607_accel_scan_masks[] = {
+	/* 3-axis accel + temperature */
+	INV_ICM42607_SCAN_MASK_ACCEL_3AXIS | INV_ICM42607_SCAN_MASK_TEMP,

This is going to make it so that the temperature channel is always read even if it isn't enabled and additional work is needed when pushing to buffers to remove it again.

It looks like it is possible to read accel and temp separatly, so there shuold be two more lines here,

	INV_ICM42607_SCAN_MASK_ACCEL_3AXIS,
	INV_ICM42607_SCAN_MASK_TEMP,

I forget what the correct order is though.

Quoted 32 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +32 -0

+	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)

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 257

Quoted 10 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +10 -0

+			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 */

Would be better if the comment explain _why_ we need to sleep.

The code is pretty obvious that it does what the comment says, so it doesn't add much.

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 259

Quoted 2 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +2 -0

+	sleep = max(sleep_accel, sleep_temp);
+	if (sleep)

Probably don't need the if here as msleep() should handle 0 without actually sleeping.

Quoted 43 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +43 -0

+		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);

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 312

Quoted 10 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +10 -0

+	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);

We don't use int16_t in the kernel (ideally). Stick with s16.

Although cast isn't needed here since val is already s16.

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 319

Quoted 7 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +7 -0

+	if (*val == INV_ICM42607_DATA_INVALID)
+		ret = -EINVAL;
+
+	return ret;
+}
+
+/* IIO format int + nano */

Usually we make these 2-D arrays for readability and then cast to int * if needed.

Quoted 5 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +5 -0

+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 */

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 334

Quoted 10 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +10 -0

+	[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,
+};
+

...

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 501

Quoted 7 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +7 -0

+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;
+}

Can we just not create the attribute instead of returning an error?

Quoted 4 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +4 -0

+static int inv_icm42607_accel_write_raw_get_fmt(struct iio_dev *indio_dev,
+						struct iio_chan_spec const *chan,
+						long mask)
+{

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 584

Quoted 10 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +10 -0

+	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;

Can write this as:

	case IIO_CHAN_INFO_SAMP_FREQ:
	case IIO_CHAN_INFO_CALIBBIAS:
		return IIO_VAL_INT_PLUS_MICRO;

Quoted 5 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +5 -0

+	default:
+		return -EINVAL;
+	}
+}
+

...

Quoted 15 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +15 -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)

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, · line 193

Quoted 3 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +3 -0

+		conf->filter = oldconf->filter;
+
+	if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {

We could use the regmap cache feature to avoid having to manual keep track of old values. Or just always write the same values anyway. I find that is nice when debugging hardware with a logic analyzer. Unless there is some measureable performance improvlment here?

Quoted 21 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +20 -0

+		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)

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, · line 221

Quoted 8 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +8 -0

+			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);
+}
+

Quoted 6 lines · David Lechner

Quoted 4 lines · Chris Morgan

From: Chris Morgan <[email protected]>

Add icm42607 accelerometer sensor for icm42607.

Quoted 18 lines

Usually we make these 2-D arrays for readability and then cast to int * if needed.

Quoted 5 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +5 -0

+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 */

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 334

Quoted 10 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +10 -0

+	[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,
+};
+

I've gone through and implemented all of the changes everyone suggested, though this is one of the few on which I had a question. Obviously this driver was cobbled together from 2 different sources and checked to the best of my ability and tested/validated against the data sheet, but there are a few bits I'm not fully clear on such as this.

What's the correct way to represent this data? Since it looks like one of the values is always 0, should I just assume it's always 0 and only represent the values that change in this scale?

Quoted 16 lines

Quoted 16 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +15 -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)

Quoted 8 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c static int inv_icm42607_set_pwr_mgmt0(struct inv_icm42607_state *st, · line 193

Quoted 3 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +3 -0

+		conf->filter = oldconf->filter;
+
+	if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {

We could use the regmap cache feature to avoid having to manual keep track of old values. Or just always write the same values anyway. I find that is nice when debugging hardware with a logic analyzer. Unless there is some measureable performance improvlment here?

This is another one I had a question on. I'm not entirely clear from the datasheet which reg values are volatile and which ones are safe to cache. Performance wise the 42607 series appears to be the *least* performant in their lineup, so I don't imagine we care much either way. Should I just not worry about the old values and always write? Do you think that would work?

Quoted 1 line · David Lechner

On 3/30/26 2:58 PM, Chris Morgan wrote:

Quoted 4 lines

Quoted 1 line

+/* IIO format int + nano */

Usually we make these 2-D arrays for readability and then cast to int * if needed.

Quoted 14 lines

Quoted 4 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +4 -0

+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,

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 333

Quoted 10 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +10 -0

+	/* +/- 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,
+};

I've gone through and implemented all of the changes everyone suggested, though this is one of the few on which I had a question. Obviously this driver was cobbled together from 2 different sources and checked to the best of my ability and tested/validated against the data sheet, but there are a few bits I'm not fully clear on such as this.