Add Invensense ICM42607

new file mode 100644
index 000000000000..1916e0b08bca
@@ -0,0 +1,334 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#ifndef INV_ICM42607_H_
+#define INV_ICM42607_H_
+
+#include <linux/bitfield.h>
+#include <linux/bitops.h>
+#include <linux/iio/iio.h>
+#include <linux/mutex.h>
+#include <linux/regmap.h>
+#include <linux/regulator/consumer.h>
+
+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
+};
+
+struct inv_icm42607_sensor_conf {
+	int mode;
+	int fs;
+	int odr;
+	int filter;
+};
+
+struct inv_icm42607_conf {
+	struct inv_icm42607_sensor_conf gyro;
+	struct inv_icm42607_sensor_conf accel;
+	bool temp_en;
+};
+
+struct inv_icm42607_hw {
+	uint8_t whoami;
+	const char *name;
+	const struct inv_icm42607_conf *conf;
+};
+
+/**
+ *  struct inv_icm42607_state - driver state variables
+ *  @lock:		lock for serializing multiple registers access.
+ *  @hw:		Hardware specific data.
+ *  @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.
+ */
+struct inv_icm42607_state {
+	struct mutex lock;
+	const struct inv_icm42607_hw *hw;
+	struct regmap *map;
+	struct regulator *vddio_supply;
+	int irq;
+	struct iio_mount_matrix orientation;
+	struct inv_icm42607_conf conf;
+};
+
+/* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
+
+/* Register Map for User Bank 0 */
+#define INV_ICM42607_REG_MCLK_RDY			0x00
+
+#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_FIFO_1SENSOR_PACKET_SIZE		8
+#define INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE		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 *);
+
+extern const struct regmap_config inv_icm42607_regmap_config;
+
+int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw,
+			    inv_icm42607_bus_setup bus_setup);
+
+#endif

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index 1916e0b08bca..2c20e95b237a 100644
@@ -13,6 +13,16 @@
 #include <linux/regmap.h>
 #include <linux/regulator/consumer.h>
 
+/* 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,

@@ -327,6 +337,8 @@ struct inv_icm42607_state {
 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;
 
 int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw,
 			    inv_icm42607_bus_setup bus_setup);

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index 2c20e95b237a..5f37999e39a5 100644
@@ -10,6 +10,7 @@
 #include <linux/bitops.h>
 #include <linux/iio/iio.h>
 #include <linux/mutex.h>
+#include <linux/pm.h>
 #include <linux/regmap.h>
 #include <linux/regulator/consumer.h>
 

@@ -96,24 +97,34 @@ struct inv_icm42607_hw {
 	const struct inv_icm42607_conf *conf;
 };
 
+struct inv_icm42607_suspended {
+	enum inv_icm42607_sensor_mode gyro;
+	enum inv_icm42607_sensor_mode accel;
+	bool temp;
+};
+
 /**
  *  struct inv_icm42607_state - driver state variables
  *  @lock:		lock for serializing multiple registers access.
  *  @hw:		Hardware specific data.
  *  @map:		regmap pointer.
  *  @vddio_supply:	I/O voltage regulator for the chip.
+ *  @vddio_en:		I/O voltage status for runtime PM.
  *  @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.
  */
 struct inv_icm42607_state {
 	struct mutex lock;
 	const struct inv_icm42607_hw *hw;
 	struct regmap *map;
 	struct regulator *vddio_supply;
+	bool vddio_en;
 	int irq;
 	struct iio_mount_matrix orientation;
 	struct inv_icm42607_conf conf;
+	struct inv_icm42607_suspended suspended;
 };
 
 /* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */

@@ -339,6 +350,7 @@ 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,
 			    inv_icm42607_bus_setup bus_setup);

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index 8631579a609a..a51c764bf1dc 100644
@@ -77,6 +77,7 @@ 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,

index 49438fa6f867..9ba3dd0c689a 100644
@@ -90,6 +90,7 @@ 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,

index 5f37999e39a5..b00ee6a4d451 100644
@@ -14,6 +14,10 @@
 #include <linux/regmap.h>
 #include <linux/regulator/consumer.h>
 
+#include <linux/iio/common/inv_sensors_timestamp.h>
+
+#include "inv_icm42607_buffer.h"
+
 /* serial bus slew rates */
 enum inv_icm42607_slew_rate {
 	INV_ICM42607_SLEW_RATE_20_60NS,

@@ -84,6 +88,7 @@ struct inv_icm42607_sensor_conf {
 	int odr;
 	int filter;
 };
+#define INV_ICM42607_SENSOR_CONF_INIT		{-1, -1, -1, -1}
 
 struct inv_icm42607_conf {
 	struct inv_icm42607_sensor_conf gyro;

@@ -114,6 +119,10 @@ struct inv_icm42607_suspended {
  *  @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.
+ *  @fifo:		FIFO management structure.
+ *  @buffer:		data transfer buffer aligned for DMA.
  */
 struct inv_icm42607_state {
 	struct mutex lock;

@@ -125,6 +134,22 @@ struct inv_icm42607_state {
 	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 inv_icm42607_fifo fifo;
+	__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 */

@@ -352,6 +377,8 @@ 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;
 
+u32 inv_icm42607_odr_to_period(enum inv_icm42607_odr odr);
+
 int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw,
 			    inv_icm42607_bus_setup bus_setup);
 

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index b00ee6a4d451..4e053281dc55 100644
@@ -379,6 +379,9 @@ 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_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw,
 			    inv_icm42607_bus_setup bus_setup);
 

index 3b5d5722ae39..9b10722af3ae 100644
@@ -164,6 +164,24 @@ 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 = FIELD_PREP(INV_ICM42607_TEMP_CONFIG0_FILTER_MASK,
+			 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);
+}
+
 static int inv_icm42607_set_conf(struct inv_icm42607_state *st,
 				 const struct inv_icm42607_conf *conf)
 {

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new file mode 100644
index 000000000000..e03924e30866
@@ -0,0 +1,33 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#ifndef INV_ICM42607_TEMP_H_
+#define INV_ICM42607_TEMP_H_
+
+#include <linux/bitops.h>
+
+struct iio_dev;
+struct iio_chan_spec;
+
+#define INV_ICM42607_TEMP_CHAN(_index)				\
+{								\
+	.type = IIO_TEMP,					\
+	.info_mask_separate =					\
+		BIT(IIO_CHAN_INFO_RAW) |			\
+		BIT(IIO_CHAN_INFO_OFFSET) |			\
+		BIT(IIO_CHAN_INFO_SCALE),			\
+	.scan_index = _index,					\
+	.scan_type = {						\
+		.sign = 's',					\
+		.realbits = 16,					\
+		.storagebits = 16,				\
+	},							\
+}
+
+int inv_icm42607_temp_read_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int *val, int *val2, long mask);
+
+#endif

index 4e053281dc55..095f4a495e3f 100644
@@ -82,6 +82,17 @@ enum inv_icm42607_filter_bw {
 	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;

@@ -121,6 +132,7 @@ struct inv_icm42607_suspended {
  *  @suspended:		suspended sensors configuration.
  *  @indio_gyro:	gyroscope IIO device.
  *  @indio_accel:	accelerometer IIO device.
+ *  @timestamp:         interrupt timestamps.
  *  @fifo:		FIFO management structure.
  *  @buffer:		data transfer buffer aligned for DMA.
  */

@@ -136,6 +148,9 @@ struct inv_icm42607_state {
 	struct inv_icm42607_suspended suspended;
 	struct iio_dev *indio_gyro;
 	struct iio_dev *indio_accel;
+	struct {
+		s64 accel;
+	} timestamp;
 	struct inv_icm42607_fifo fifo;
 	__be16 buffer[3] __aligned(IIO_DMA_MINALIGN);
 };

@@ -377,12 +392,24 @@ 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;
 
+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);
 
 int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw,
 			    inv_icm42607_bus_setup bus_setup);
 
+struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st);
+
+int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev);
+
 #endif

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index b77deb66f8bd..4160076bbf77 100644
@@ -71,7 +71,7 @@ inv_icm42607_fifo_is_data_valid(const struct inv_icm42607_fifo_sensor_data *s)
 
 ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel,
 					const void **gyro, const s8 **temp,
-					const void **timestamp);
+					const void **timestamp, unsigned int *odr);
 
 extern const struct iio_buffer_setup_ops inv_icm42607_buffer_ops;
 

@@ -87,6 +87,8 @@ 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);
 

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index 095f4a495e3f..16f7929d3d0e 100644
@@ -119,6 +119,14 @@ struct inv_icm42607_suspended {
 	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.

@@ -133,6 +141,7 @@ struct inv_icm42607_suspended {
  *  @indio_gyro:	gyroscope IIO device.
  *  @indio_accel:	accelerometer IIO device.
  *  @timestamp:         interrupt timestamps.
+ *  @apex:		APEX (Advanced Pedometer and Event detection) management
  *  @fifo:		FIFO management structure.
  *  @buffer:		data transfer buffer aligned for DMA.
  */

@@ -151,6 +160,7 @@ struct inv_icm42607_state {
 	struct {
 		s64 accel;
 	} timestamp;
+	struct inv_icm42607_apex apex;
 	struct inv_icm42607_fifo fifo;
 	__be16 buffer[3] __aligned(IIO_DMA_MINALIGN);
 };

@@ -376,6 +386,18 @@ struct inv_icm42607_sensor_state {
 #define INV_ICM42607P_WHOAMI				0x60
 #define INV_ICM42607_WHOAMI				0x67
 
+/* Bank 2/3 register access */
+#define INV_ICM42607_BLK_SEL_W				0x79
+#define INV_ICM42607_MADDR_W				0x7A
+#define INV_ICM42607_M_W				0x7B
+#define INV_ICM42607_BLK_SEL_R				0x7C
+#define INV_ICM42607_MADDR_R				0x7D
+#define INV_ICM42607_M_R				0x7E
+
+#define INV_ICM42607_MREG_1				0x00
+#define INV_ICM42607_MREG_2				0x28
+#define INV_ICM42607_MREG_3				0x50
+
 /* Sleep times required by the driver */
 #define INV_ICM42607_POWER_UP_TIME_US			100000
 #define INV_ICM42607_RESET_TIME_MS			1

@@ -384,6 +406,7 @@ struct inv_icm42607_sensor_state {
 #define INV_ICM42607_GYRO_STOP_TIME_MS			150
 #define INV_ICM42607_TEMP_STARTUP_TIME_MS		14
 #define INV_ICM42607_SUSPEND_DELAY_MS			2000
+#define INV_ICM42607_MREG_DELAY_US			10
 
 typedef int (*inv_icm42607_bus_setup)(struct inv_icm42607_state *);
 

@@ -392,6 +415,9 @@ 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_mreg_write(struct regmap *map, unsigned int bank,
+			    u8 reg, u8 data);
+
 const struct iio_mount_matrix *
 inv_icm42607_get_mount_matrix(struct iio_dev *indio_dev,
 			      const struct iio_chan_spec *chan);

@@ -405,6 +431,9 @@ int inv_icm42607_set_accel_conf(struct inv_icm42607_state *st,
 int inv_icm42607_set_temp_conf(struct inv_icm42607_state *st, bool enable,
 			       unsigned int *sleep_ms);
 
+int inv_icm42607_enable_wom(struct inv_icm42607_state *st);
+int inv_icm42607_disable_wom(struct inv_icm42607_state *st);
+
 int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw,
 			    inv_icm42607_bus_setup bus_setup);
 

@@ -412,4 +441,8 @@ struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st);
 
 int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev);
 
+void inv_icm42607_accel_handle_events(struct iio_dev *indio_dev,
+				      unsigned int status2, unsigned int status3,
+				      s64 timestamp);
+
 #endif

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index 16f7929d3d0e..158a0385f0b9 100644
@@ -158,6 +158,7 @@ struct inv_icm42607_state {
 	struct iio_dev *indio_gyro;
 	struct iio_dev *indio_accel;
 	struct {
+		s64 gyro;
 		s64 accel;
 	} timestamp;
 	struct inv_icm42607_apex apex;

@@ -428,6 +429,10 @@ 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_gyro_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);
 

@@ -437,6 +442,10 @@ int inv_icm42607_disable_wom(struct inv_icm42607_state *st);
 int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw,
 			    inv_icm42607_bus_setup bus_setup);
 
+struct iio_dev *inv_icm42607_gyro_init(struct inv_icm42607_state *st);
+
+int inv_icm42607_gyro_parse_fifo(struct iio_dev *indio_dev);
+
 struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st);
 
 int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev);

index 42a3211a1dfb..0d892ef97eab 100644
@@ -384,7 +384,9 @@ static int inv_icm42607_buffer_postdisable(struct iio_dev *indio_dev)
 		goto out_unlock;
 
 	conf.mode = INV_ICM42607_SENSOR_MODE_OFF;
-	if (sensor != INV_ICM42607_SENSOR_GYRO)
+	if (sensor == INV_ICM42607_SENSOR_GYRO)
+		ret = inv_icm42607_set_gyro_conf(st, &conf, &sleep_sensor);
+	else
 		ret = inv_icm42607_set_accel_conf(st, &conf, &sleep_sensor);
 	if (ret)
 		goto out_unlock;

@@ -475,6 +477,7 @@ int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st,
 
 int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st)
 {
+	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 inv_sensors_timestamp *ts;
 	int ret;

@@ -482,6 +485,16 @@ int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st)
 	if (st->fifo.nb.total == 0)
 		return 0;
 
+	/* handle gyroscope timestamp and FIFO data parsing */
+	if (st->fifo.nb.gyro > 0) {
+		ts = &gyro_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_gyro,
+						st->timestamp.gyro);
+		ret = inv_icm42607_gyro_parse_fifo(st->indio_gyro);
+		if (ret)
+			return ret;
+	}
+
 	/* handle accelerometer timestamp and FIFO data parsing */
 	if (st->fifo.nb.accel > 0) {
 		ts = &accel_st->ts;

@@ -498,6 +511,7 @@ 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)
 {
+	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 inv_sensors_timestamp *ts;
 	s64 gyro_ts, accel_ts;

@@ -513,6 +527,14 @@ int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
 	if (st->fifo.nb.total == 0)
 		return 0;
 
+	if (st->fifo.nb.gyro > 0) {
+		ts = &gyro_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.nb.gyro, gyro_ts);
+		ret = inv_icm42607_gyro_parse_fifo(st->indio_gyro);
+		if (ret)
+			return ret;
+	}
+
 	if (st->fifo.nb.accel > 0) {
 		ts = &accel_st->ts;
 		inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts);

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