Add Invensense ICM42607

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, as well as the bits necessary to compile and probe the device when used on an i2c bus.

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

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

+	case INV_ICM42607_REG_WHOAMI:
+		return true;
+	}
+
+	return false;
+}
+
+static bool inv_icm42607_is_writeable_reg(struct device *dev, unsigned int reg)
+{
+	switch (reg) {
+	case INV_ICM42607_REG_DEVICE_CONFIG ... INV_ICM42607_REG_INT_CONFIG:
+	case INV_ICM42607_REG_PWR_MGMT0 ... INV_ICM42607_REG_INT_SOURCE4:
+	case INV_ICM42607_REG_INTF_CONFIG0 ... INV_ICM42607_REG_INTF_CONFIG1:
+		return true;
+	}
+
+	return false;
+}

Quoted 8 lines · On Thu, 11 Jun 2026 15:26:00 -0500 Chris Morgan <[email protected]> wrote:

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, as well as the bits necessary to compile and probe the device when used on an i2c bus.

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

Hi Chris,

Given this is nearly ready to merge I took a look at Sashiko and seems it has found a few more things.

Other than those, looks good to me.

Jonathan

Quoted 6 lines

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

new file mode 100644
index 000000000000..c85d3b74166f

drivers/iio/imu/inv_icm42607/inv_icm42607.h line 284

Quoted 8 lines

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

 
+#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 this as simply 2.

drivers/iio/imu/inv_icm42607/inv_icm42607.h line 286

Quoted 2 lines

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

+#define INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS	\
+	FIELD_PREP(INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK, 3)

and 3
not the FIELD_PREPified version

Sashiko correctly called out that it is field_prepped again at the callsite. As the mask includes lowest bit this is will 'work' but definitely isn't what you intended!

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c line 26

Quoted 13 lines

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

new file mode 100644
index 000000000000..5d40f1ee53d6
 
+static bool inv_icm42607_is_readable_reg(struct device *dev, unsigned int reg)
+{
+	switch (reg) {
+	case INV_ICM42607_REG_MCLK_RDY ... INV_ICM42607_REG_INT_CONFIG:
+	case INV_ICM42607_REG_TEMP_DATA1 ... INV_ICM42607_REG_TMST_FSYNCL:
+	case INV_ICM42607_REG_APEX_DATA4 ... INV_ICM42607_REG_INTF_CONFIG1:
+	case INV_ICM42607_REG_INT_STATUS_DRDY ... INV_ICM42607_REG_FIFO_DATA:

Sashiko pointed out that the WOM_ registers, 4b to 4d are in the defines, but not readable or writeable which seems like an omission.

So far only matters for debug, but perhaps better to add them from the start.

Quoted 18 lines

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

+	case INV_ICM42607_REG_WHOAMI:
+		return true;
+	}
+
+	return false;
+}
+
+static bool inv_icm42607_is_writeable_reg(struct device *dev, unsigned int reg)
+{
+	switch (reg) {
+	case INV_ICM42607_REG_DEVICE_CONFIG ... INV_ICM42607_REG_INT_CONFIG:
+	case INV_ICM42607_REG_PWR_MGMT0 ... INV_ICM42607_REG_INT_SOURCE4:
+	case INV_ICM42607_REG_INTF_CONFIG0 ... INV_ICM42607_REG_INTF_CONFIG1:
+		return true;
+	}
+
+	return false;
+}

Add SPI driver support for InvenSense ICM-42607 devices.

drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c new file +7 -0

+#include <linux/bitfield.h>
+#include <linux/dev_printk.h>
+#include <linux/err.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>

drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c new file +3 -0

+	},
+	{ }
+};

Add power management support for the ICM42607 device driver.

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

+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)

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +16 -0

+	val = FIELD_PREP(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, gyro);
+	val |= FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, accel);
+	/*
+	 * Note that temp being enabled here doesn't affect PM since
+	 * per 10.25 of the datasheet the clock will be off by default
+	 * if both the gyro and accel modes are off.
+	 */
+	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;

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

+	if (sleep_ms)
+		*sleep_ms = sleepval_ms;
+	else if (sleepval_ms)
+		fsleep(sleepval_ms * USEC_PER_MSEC);
+
+	return 0;
+}

Quoted 1 line · Chris Morgan

Add power management support for the ICM42607 device driver.

...

Quoted 4 lines

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

+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)

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c const struct inv_icm42607_hw inv_icm42607p_hw_data = { · line 119

Quoted 10 lines

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

+{
+	enum inv_icm42607_sensor_mode oldaccel = st->conf.accel.mode;
+	enum inv_icm42607_sensor_mode oldgyro = st->conf.gyro.mode;
+	bool oldtemp = st->conf.temp_en;
+	unsigned int sleepval_ms;
+	unsigned int val;
+	int ret;
+
+	if (gyro == oldgyro && accel == oldaccel && temp == oldtemp)
+		return 0;

This validation seems weak, see below why.

Quoted 16 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +16 -0

+	val = FIELD_PREP(INV_ICM42607_PWR_MGMT0_GYRO_MODE_MASK, gyro);
+	val |= FIELD_PREP(INV_ICM42607_PWR_MGMT0_ACCEL_MODE_MASK, accel);
+	/*
+	 * Note that temp being enabled here doesn't affect PM since
+	 * per 10.25 of the datasheet the clock will be off by default
+	 * if both the gyro and accel modes are off.
+	 */
+	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;

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c const struct inv_icm42607_hw inv_icm42607p_hw_data = { · line 146

Quoted 9 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +9 -0

+	sleepval_ms = 0;
+	if (temp && !oldtemp)
+		sleepval_ms = max(sleepval_ms, INV_ICM42607_TEMP_STARTUP_TIME_MS);
+
+	if (accel != oldaccel)
+		sleepval_ms = max(sleepval_ms, INV_ICM42607_ACCEL_STARTUP_TIME_MS);
+
+	if (gyro != oldgyro)
+		sleepval_ms = max(sleepval_ms, INV_ICM42607_GYRO_STARTUP_TIME_MS);

Does it mean that it might be more than a single conditional to become true? If so, the last code wins, which is most likely buggy approach. Can you put a comment, and possible convert this to if-else-if, to clarify what's going on here?

Quoted 8 lines

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

+	if (sleep_ms)
+		*sleep_ms = sleepval_ms;
+	else if (sleepval_ms)
+		fsleep(sleepval_ms * USEC_PER_MSEC);
+
+	return 0;
+}

Signature · 2 lines

With Best Regards,
Andy Shevchenko

From: Chris Morgan <[email protected]>

Add functions for reading temperature sensor data.

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

---
 drivers/iio/imu/inv_icm42607/Makefile         |  1 +
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |  5 ++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 18 +++++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.c  | 76 +++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.h  | 37 +++++++++
 5 files changed, 137 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/Makefile +1 -0

index be109102e203..c04953ed42ce 100644
@@ -2,6 +2,7 @@
 
 obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o
 inv-icm42607-y += inv_icm42607_core.o
+inv-icm42607-y += inv_icm42607_temp.o
 
 obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o
 inv-icm42607-i2c-y += inv_icm42607_i2c.o

drivers/iio/imu/inv_icm42607/inv_icm42607.h +1 -0

index 28edc12d5373..53dd23509a53 100644
@@ -114,6 +114,7 @@ struct inv_icm42607_suspended {
 
 /**
  *  struct inv_icm42607_state - driver state variables
+ *  @buffer:		data transfer buffer aligned for DMA.
  *  @hw:		Hardware specific data.
  *  @map:		regmap pointer.
  *  @vddio_supply:	I/O voltage regulator for the chip.

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

 	const struct inv_icm42607_hw *hw;
 	struct regmap *map;
 	struct regulator *vddio_supply;

@@ -363,6 +365,9 @@ 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;
 

From: Chris Morgan <[email protected]>

Add icm42607 accelerometer sensor for icm42607.

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

---
 drivers/iio/imu/inv_icm42607/Makefile         |   1 +
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |  34 ++
 .../iio/imu/inv_icm42607/inv_icm42607_accel.c | 376 ++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  |  61 +++
 4 files changed, 472 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +18 -0

new file mode 100644
index 000000000000..5e260ddad641
@@ -0,0 +1,376 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/iio/iio.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+
+#include "inv_icm42607.h"
+#include "inv_icm42607_temp.h"
+
+#define INV_ICM42607_ACCEL_CHAN(_modifier, _index, _ext_info)		\
+{									\
+	.type = IIO_ACCEL,						\
+	.modified = 1,							\
+	.channel2 = _modifier,						\

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +29 -0

+	.scan_index = _index,						\
+	.scan_type = {							\
+		.sign = 's',						\
+		.realbits = 16,						\
+		.storagebits = 16,					\
+		.endianness = IIO_BE,					\
+	},								\
+	.ext_info = _ext_info,						\
+}
 
 
+
+static int inv_icm42607_accel_write_odr(struct iio_dev *indio_dev,
+					int val, int val2)
+{
+	struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int idx;
+	int ret;
+
+	for (idx = 5; idx < ARRAY_SIZE(inv_icm42607_accel_odr); ++idx) {
+		if (val == inv_icm42607_accel_odr[idx][0] &&
+		    val2 == inv_icm42607_accel_odr[idx][1])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm42607_accel_odr))
+		return -EINVAL;
+
+	conf.odr = idx;
+

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

+
+	return 0;
+}

Add icm42607 accelerometer sensor for icm42607.

+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +11 -0

+		if (i == odr)
+			break;
+	}
+	if (i >= ARRAY_SIZE(inv_icm42607_accel_odr))
+		return -EINVAL;
+
+	*val = inv_icm42607_accel_odr[i][0];
+	*val2 = inv_icm42607_accel_odr[i][1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}

Quoted 1 line · Chris Morgan

Add icm42607 accelerometer sensor for icm42607.

...

Quoted 1 line

+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c

Please, please, use IWYU! So many headers are missing... (Same comment to all files in this series.)

+ array_size.h
+ bits.h // BIT()
+ cleanup.h // guard()()
+ device/devres.h // devm_kasprintf()
+ err.h // -EINVAL, IS_ERR()

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 9

Quoted 4 lines

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

+#include <linux/iio/iio.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>

+ types.h // s16, __be16

Also you need to have

asm/byteorder.h // be16_to_cpup()

...

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 194

Quoted 11 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +11 -0

+static int inv_icm42607_accel_read_odr(struct inv_icm42607_state *st,
+				       int *val, int *val2)
+{
+	unsigned int odr;
+	unsigned int i;
+
+	guard(mutex)(&st->lock);
+
+	odr = st->conf.accel.odr;
+
+	for (i = 5; i < ARRAY_SIZE(inv_icm42607_accel_odr); ++i) {

Why pre-increment? Same for all other cases.

Quoted 12 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +11 -0

+		if (i == odr)
+			break;
+	}
+	if (i >= ARRAY_SIZE(inv_icm42607_accel_odr))
+		return -EINVAL;
+
+	*val = inv_icm42607_accel_odr[i][0];
+	*val2 = inv_icm42607_accel_odr[i][1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}

Signature · 2 lines

With Best Regards,
Andy Shevchenko

Quoted 1 line · Andy Shevchenko

On Thu, Jun 11, 2026 at 03:26:04PM -0500, Chris Morgan wrote:

Quoted 16 lines

Please, please, use IWYU! So many headers are missing... (Same comment to all files in this series.)

+ array_size.h
+ bits.h // BIT()
+ cleanup.h // guard()()
+ device/devres.h // devm_kasprintf()
+ err.h // -EINVAL, IS_ERR()

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 9

Quoted 4 lines

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

+#include <linux/iio/iio.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>

+ types.h // s16, __be16

Quoted 3 lines

Also you need to have

asm/byteorder.h // be16_to_cpup()

How are you running IWYU against the builds? So far I've tried but I can't seem to get it to run properly.

Quoted 3 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 194

Quoted 1 line

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +1 -0

+	for (i = 5; i < ARRAY_SIZE(inv_icm42607_accel_odr); ++i) {

Why pre-increment? Same for all other cases.

The register starts at 5 and all values below 5 are invalid. Starting this increment at 5 ensures we don't expose invalid values to userspace.

Quoted 3 lines

Quoted 3 lines

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

+		if (i == odr)
+			break;
+	}

Quoted 2 lines · Chris Morgan

Quoted 1 line · Andy Shevchenko

On Thu, Jun 11, 2026 at 03:26:04PM -0500, Chris Morgan wrote:

...

Quoted 18 lines

Quoted 18 lines

Please, please, use IWYU! So many headers are missing... (Same comment to all files in this series.)

+ array_size.h
+ bits.h // BIT()
+ cleanup.h // guard()()
+ device/devres.h // devm_kasprintf()
+ err.h // -EINVAL, IS_ERR()

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 9

Quoted 4 lines

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

+#include <linux/iio/iio.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>

+ types.h // s16, __be16

Also you need to have

Quoted 4 lines

Quoted 1 line

asm/byteorder.h // be16_to_cpup()

How are you running IWYU against the builds? So far I've tried but I can't seem to get it to run properly.

Sorry, I meant "use IWYU principle". I don't run the tool, I just looked into the code.

...

Quoted 4 lines

Quoted 3 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 194

Quoted 1 line

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +1 -0

+	for (i = 5; i < ARRAY_SIZE(inv_icm42607_accel_odr); ++i) {

Why pre-increment? Same for all other cases.

Quoted 3 lines

The register starts at 5 and all values below 5 are invalid. Starting this increment at 5 ensures we don't expose invalid values to userspace.

It doesn't explain pre-increment. Post-increment should work as is.

Quoted 4 lines

Quoted 4 lines

Quoted 4 lines

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

+		if (i == odr)
+			break;
+	}

Signature · 2 lines

With Best Regards,
Andy Shevchenko

Quoted 3 lines · Andy Shevchenko

Quoted 2 lines · Chris Morgan

Quoted 1 line · Andy Shevchenko

On Thu, Jun 11, 2026 at 03:26:04PM -0500, Chris Morgan wrote:

Quoted 8 lines

Quoted 7 lines

Quoted 3 lines

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c line 194

Quoted 1 line

drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c new file +1 -0

+	for (i = 5; i < ARRAY_SIZE(inv_icm42607_accel_odr); ++i) {

Why pre-increment? Same for all other cases.

The register starts at 5 and all values below 5 are invalid. Starting this increment at 5 ensures we don't expose invalid values to userspace.

Quoted 1 line

It doesn't explain pre-increment. Post-increment should work as is.

The array this references starts at 5, because those correspond to the values written to the odr register. That said, I do see a bug because the odr register is from highest to smallest and this array is backwards in the accel and gyro code. I'll fix that.

Quoted 3 lines

Quoted 3 lines

Quoted 3 lines

Quoted 3 lines

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

+		if (i == odr)
+			break;
+	}