Add Invensense ICM42607

From: Chris Morgan <[email protected]>

Add support for the ICM42607 IMU. This sensor shares the same functionality but a different register layout with the existing ICM42600.

This driver should work with the ICM42607 and ICM42607P over both I2C and SPI, however only the ICM42607P over I2C could be tested.

Changes Since V1:
- Instead of creating a new driver, merged with the existing inv_icm42600 driver. This necessitated adding some code to the existing driver to permit using a different register layout for the same functionality.
- Split changes up a bit more to decrease the size of the individual patches. Note that patch 0004 is still pretty hefty; if I need to split further I may need to create some temporary stub functions.
- Used guard() and PM_RUNTIME_ACQUIRE_AUTOSUSPEND() on the new functions per Jonathan's recommendations.

Changes Since V2:
- Went back to using a new driver on advice from Invensense engineer.
- Further split changes up into smaller chunks of functionality. Note still that the largest patch is approximately 900 lines, and that while the driver compiles cleanly at each commit it is not able to drive the hardware until the commit that adds the Interrupt (as it also adds the Makefile).
- Change the error to a warning when the devicetree binding does not match the hardware ID.
- Dropped the ack on the devicetree bindings, as I am creating a new file (for a new driver) instead of modifying the existing one.

Changes Since V3:
- Numerous small fixes (too many to list here). Thank you to everyone who provided feedback.
- Split power management additions into an additional commit to break things up further.
- Consolidated devicetree documentation in existing invensense,icm42600.yaml file.
- Removed most of the FIELD_PREP from header file to c files to make code easier to read.
- Changed scale values to 2D arrays for Gyro and Accelerometer.
- Removed IIO_CHAN_INFO_CALIBBIAS attribute.

Changes Since V4:
- Additional numerous small fixes, thank you again for all the feedback.
- Dropped power control API and instead run device in low noise mode.
- Split devicetree bindings into two distinct changes.
- Reordered adding of enums and structs to main header file so that they are only brought in when needed.
- Stopped using enum for driver data and instead am using pointer to device specific driver data.

Changes Since V5:
- Corrected use of "dev_warn_probe" to just "dev_warn".
- Fixed some return scenarios which would unconditionally return 0 when an error was present.
- Corrected use of max() to min() for bounds checking. max() was incorrect.
- Fixed using "st->conf.accel.odr" in the gyroscope function. It should have been "st->conf.gyro.odr" which it now is.
- Additional small fixes suggested by "sashiko.dev".
- Added a regmap cache. I used the datasheet to try and determine which registers might change without explicit writes.

Changes Since V6:
- Corrected additional errors identified by sashiko.dev, mostly fixing potential deadlocks, missing calls for pm runtime, and potential overflow issues.

Changes Since V7:
- Dropped Wake on Movement patches, since some of the functionality was only available for a device on which I cannot test.
- Dropped support for SPI 3-Wire mode, since it complicated the bus setup (and I lack the hardware to test such features anyway).
- Fixed a few additional bugs identified by sashiko.dev bot.

Changes Since V8:
- Added back IRQ dropped accidentally when dropping wake on movement patches.
- Dropped "Reviewed-By" tag on patch 2 because of substantial changes made to devicetree binding documentation.
- Additional small fixes as suggested.

Changes Since V9:
- Removed interrupts (and buffers) from the driver. I previously was unable to detect deadlocks because it turns out my IRQ was not even wired correctly in my device.
- Updated devicetree binding commits to make interrupts optional for users of the icm42607 driver.

Changes Since V10:
- Explicitly specified enum values in header file.
- Removed additional dead code for buffer handling.
- Cleaned up headers.
- Added additional locks as requested by sashiko.dev bot.

Changes Since V11:
- Since driver has shrunk in size considerably, moved i2c bits into first code commit. This ensures that the very first commit with code can now be compiled. The commit after that adds SPI support as it was in the previous versions.
- Used pahole to optimize inv_icm42607_state. Reordering elements reduced size in memory from 384 bytes to 256 bytes.
- Added a map of all readable registers and all writeable registers according to the datasheet.
- Added back some missing headers pointed out by the maintainers.
- Added FIELD_PREP in a few more places to make the code more obvious on what it's doing.
- Added a comment to the power management code to note that temperature sensor being enabled doesn't matter as the clocks are off by default when the gyro and accel channels are off.
- Removed iio_device_claim_direct() calls since it was no longer needed.
- Fixed shared_by_all attributes for temperature sensor.
- Additional miscellanous fixes as requested.

Changes Since V12:
- Removed aligned buffer from inv_icm42607_state struct as we do not currently have the need for it.
- Corrected the order of the odr values in the accel and gyro files as the values were out of order (the place in the array corresponds to the register value).
- Stopped setting the clock value depending upon the temp config. The datasheet advised to keep using the default value.
- Corrected logic when changing between states. We only need to pause when a sensor changes from off to an on state or when the gyro changes from an on state to off.
- Added missing includes for several files.

Changes Since V13:
- Refactored inv_icm42607_set_accel_conf() and inv_icm42607_set_gyro_conf() into a single function.
- Refactored inv_icm42607_accel_read_sensor() and inv_icm42607_gyro_read_sensor() into a single function.
- Merged inv_icm42607_set_temp_conf() into initial init function since it only really needs to be called once.
- Saved adding temp sensor for last and updated inv_icm42607_temp_read() to either confirm other sensors are already enabled or enable the accelerometer so it can get a reading.
- Updated inv_icm42607_set_pwr_mgmt0() so that it does not update the sensor mode and forcibly keep the sensor enabled.
- Added inv_icm42607_temp_filter_bw enums since it appears to use different values than the accel or gyro sensor.
- Set the temp startup time from 77ms to 77us, as I previously misread the datasheet.
- Additional minor fixes.

Changes Since V14:
- Added IIO_BE for temp sensor.
- Switched from ktime_get_real() to ktime_get().

Changes Since V15:
- Removed interrupts from required property per note from Jonathan. As a result of this change I've also removed one of Krzysztof's Reviewed-By tags as this change probably requires further review from them.
- Corrected a comment about reserved values from 0-5 to 0-4.
- Reordered some operations so that only runtime power management turns off the sensors now. This removes the "ping-pong" effect when switching between the accel and gyro sensor, at the expense of leaving either the accel or gyro sensor enabled until runtime power management turns it off.
- Fixed the shared frequency value not being available for the temp sensor.

Changes Since V16:
- Reverted devicetree changes back to removing interrupts only for icm42607. Added back "Reviewed-By" tag, hope that's okay since it's what was initally agreed upon.
- Removed PM runtime resume code, as there is currently no need to resume; instead the raw read/write calls will enable sensors as needed. This also allows us to remove storing the sensor state prior to runtime suspend and instead we just use runtime suspend to disable sensors while not being used.
- Additional formatting and minor fixes.

Changes Since V17:
- Added remove routine to ensure device is properly powered down when driver removed.
- Corrected issue with reading scale and offset values for temp sensor.
- Set regcache as dirty and re-sync when resuming from suspend.
- Added back driver data to of_device_id table for I2C driver. While Uwe told me to remove this in a prior commit Jonathan requested it back and it is consistent with other drivers to be there.
- Removed linux/mod_devicetable.h header for SPI driver.

Changes Since V18:
- Changed driver remove function to call a new function dedicated to setting sensors to "off" instead of calling PM to shutdown sensors.
- Corrected to add an exception so that read_raw() functions will still call the accel/gyro sample frequency.

Changes Since v19:
- Removed remove routines and converted call to sensors_off to void, and then added a devm_add_action_or_reset() to call it on device teardown.

Changes Since V20:
- Added missing include to inv_icm42607_temp.c.
- Corrected note pointed out by Sashiko.dev as incorrect.
- Added an additional delay for poweron based on the odr value of the given sensor. After doing an extensive amount of testing with low odr values (and even the default value for the gyro sensor) I was able to intermittently create EINVAL conditions because the driver was not waiting long enough after enabling the sensor, even accounting for the sleep delay. Adding a delay for the time it takes for the sensor to register a value corrected this intermittent issue as best I can tell.

Chris Morgan (9):
dt-bindings: iio: imu: icm42600: Add mount-matrix
dt-bindings: iio: imu: icm42600: Add icm42607
iio: imu: inv_icm42607: Add inv_icm42607 Core Driver
iio: imu: inv_icm42607: Add SPI For icm42607
iio: imu: inv_icm42607: Add PM support for icm42607
iio: imu: inv_icm42607: Add Accelerometer for icm42607
iio: imu: inv_icm42607: Add Gyroscope to icm42607
iio: imu: inv_icm42607: Add Temp Support in icm42607
arm64: dts: rockchip: Add icm42607p IMU for RG-DS

 .../bindings/iio/imu/invensense,icm42600.yaml |  20 +-
 .../dts/rockchip/rk3568-anbernic-rg-ds.dts    |   8 +-
 drivers/iio/imu/Kconfig                       |   1 +
 drivers/iio/imu/Makefile                      |   1 +
 drivers/iio/imu/inv_icm42607/Kconfig          |  30 +
 drivers/iio/imu/inv_icm42607/Makefile         |  13 +
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   | 421 +++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_accel.c | 316 ++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 702 ++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_gyro.c  | 313 ++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_i2c.c   |  97 +++
 .../iio/imu/inv_icm42607/inv_icm42607_spi.c   | 107 +++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.c  |  99 +++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.h  |  38 +
 14 files changed, 2164 insertions(+), 2 deletions(-)
 create mode 100644 drivers/iio/imu/inv_icm42607/Kconfig
 create mode 100644 drivers/iio/imu/inv_icm42607/Makefile
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607.h
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h

2.43.0

From: Chris Morgan <[email protected]>

Add mount-matrix attribute to schema. This attribute has been supported since the first revision of this driver, but was not documented.

---
 .../devicetree/bindings/iio/imu/invensense,icm42600.yaml        | 2 ++
 1 file changed, 2 insertions(+)

index 119e28a833fd..9b2af104f186 100644
@@ -53,6 +53,8 @@ properties:
   drive-open-drain:
     type: boolean
 
+  mount-matrix: true
+
   vdd-supply:
     description: Regulator that provides power to the sensor
 

2.43.0

From: Chris Morgan <[email protected]>

Add the ICM42607 and ICM42607P inertial measurement unit.

This device is functionally very similar to the icm42600 series with a very different register layout. The icm42607 currently does not use an interrupt because wake on movement and buffers are not supported, and cannot be implemented on my test device which lacks an interrupt line.

---
 .../bindings/iio/imu/invensense,icm42600.yaml  | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

index 9b2af104f186..81b6e85decd5 100644
@@ -30,6 +30,8 @@ properties:
       - invensense,icm42600
       - invensense,icm42602
       - invensense,icm42605
+      - invensense,icm42607
+      - invensense,icm42607p
       - invensense,icm42622
       - invensense,icm42631
       - invensense,icm42686

@@ -67,10 +69,24 @@ properties:
 required:
   - compatible
   - reg
-  - interrupts
 
 allOf:
   - $ref: /schemas/spi/spi-peripheral-props.yaml#
+  - if:
+      properties:
+        compatible:
+          contains:
+            enum:
+              - invensense,icm42600
+              - invensense,icm42602
+              - invensense,icm42605
+              - invensense,icm42622
+              - invensense,icm42631
+              - invensense,icm42686
+              - invensense,icm42688
+    then:
+      required:
+        - interrupts
 
 unevaluatedProperties: false
 

2.43.0

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.

---
 drivers/iio/imu/Kconfig                       |   1 +
 drivers/iio/imu/Makefile                      |   1 +
 drivers/iio/imu/inv_icm42607/Kconfig          |  18 +
 drivers/iio/imu/inv_icm42607/Makefile         |   7 +
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   | 365 ++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 284 ++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_i2c.c   |  96 +++++
 7 files changed, 772 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/Kconfig
 create mode 100644 drivers/iio/imu/inv_icm42607/Makefile
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607.h
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c

index 7e0181c27bb6..8bab4616be20 100644
@@ -109,6 +109,7 @@ config KMX61
 	  be called kmx61.
 
 source "drivers/iio/imu/inv_icm42600/Kconfig"
+source "drivers/iio/imu/inv_icm42607/Kconfig"
 source "drivers/iio/imu/inv_icm45600/Kconfig"
 source "drivers/iio/imu/inv_mpu6050/Kconfig"
 

index 13fb7846e9c9..3268dc2371ae 100644
@@ -25,6 +25,7 @@ obj-$(CONFIG_FXOS8700_I2C) += fxos8700_i2c.o
 obj-$(CONFIG_FXOS8700_SPI) += fxos8700_spi.o
 
 obj-y += inv_icm42600/
+obj-y += inv_icm42607/
 obj-y += inv_icm45600/
 obj-y += inv_mpu6050/
 

new file mode 100644
index 000000000000..083c212087ab
@@ -0,0 +1,18 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+config INV_ICM42607
+	tristate
+	select IIO_BUFFER
+	select IIO_INV_SENSORS_TIMESTAMP
+
+config INV_ICM42607_I2C
+	tristate "InvenSense ICM-42607 I2C driver"
+	depends on I2C
+	select INV_ICM42607
+	select REGMAP_I2C
+	help
+	  This driver supports the InvenSense ICM-42607 motion tracking
+	  device over I2C.
+
+	  This driver can be built as a module. The module will be called
+	  inv-icm42607-i2c.

new file mode 100644
index 000000000000..32046e2727d7
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o
+inv-icm42607-y += inv_icm42607_core.o
+
+obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o
+inv-icm42607-i2c-y += inv_icm42607_i2c.o

2.43.0

From: Chris Morgan <[email protected]>

Add SPI driver support for InvenSense ICM-42607 devices.

---
 drivers/iio/imu/inv_icm42607/Kconfig          |  12 ++
 drivers/iio/imu/inv_icm42607/Makefile         |   3 +
 .../iio/imu/inv_icm42607/inv_icm42607_spi.c   | 106 ++++++++++++++++++
 3 files changed, 121 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c

index 083c212087ab..23f461f57afc 100644
@@ -16,3 +16,15 @@ config INV_ICM42607_I2C
 
 	  This driver can be built as a module. The module will be called
 	  inv-icm42607-i2c.
+
+config INV_ICM42607_SPI
+	tristate "InvenSense ICM-42607 SPI driver"
+	depends on SPI_MASTER
+	select INV_ICM42607
+	select REGMAP_SPI
+	help
+	  This driver supports the InvenSense ICM-42607 motion tracking
+	  device over SPI.
+
+	  This driver can be built as a module. The module will be called
+	  inv-icm42607-spi.

index 32046e2727d7..be109102e203 100644
@@ -5,3 +5,6 @@ inv-icm42607-y += inv_icm42607_core.o
 
 obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o
 inv-icm42607-i2c-y += inv_icm42607_i2c.o
+
+obj-$(CONFIG_INV_ICM42607_SPI) += inv-icm42607-spi.o
+inv-icm42607-spi-y += inv_icm42607_spi.o

2.43.0

From: Chris Morgan <[email protected]>

Add power management support for the ICM42607 device driver.

---
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |  14 ++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 187 ++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_i2c.c   |   1 +
 .../iio/imu/inv_icm42607/inv_icm42607_spi.c   |   1 +
 4 files changed, 203 insertions(+)

index 169e848caf2e..61927a6c2663 100644
@@ -9,6 +9,7 @@
 #include <linux/bits.h>
 #include <linux/iio/iio.h>
 #include <linux/mutex.h>
+#include <linux/pm.h>
 #include <linux/regmap.h>
 #include <linux/regulator/consumer.h>
 #include <linux/time.h>

@@ -125,6 +126,7 @@ struct inv_icm42607_hw {
  *  @lock:		lock for serializing multiple registers access.
  *  @map:		regmap pointer.
  *  @vddio_supply:	I/O voltage regulator for the chip.
+ *  @vddio_en:		I/O voltage status for runtime PM.
  *  @conf:		chip sensors configurations.
  *  @orientation:	sensor chip orientation relative to main hardware.
  */

@@ -133,6 +135,7 @@ struct inv_icm42607_state {
 	struct mutex lock;
 	struct regmap *map;
 	struct regulator *vddio_supply;
+	bool vddio_en;
 	struct inv_icm42607_conf conf;
 	struct iio_mount_matrix orientation;
 };

@@ -352,11 +355,22 @@ struct inv_icm42607_state {
 #define INV_ICM42607_GYRO_STOP_TIME_US			(45 * USEC_PER_MSEC)
 #define INV_ICM42607_TEMP_STARTUP_TIME_US		77
 
+/*
+ * Suspend delay assumed from other icm42600 series device, not
+ * documented in datasheet.
+ */
+#define INV_ICM42607_SUSPEND_DELAY_MS			(2 * MSEC_PER_SEC)
+
 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_get_pwr_mgmt0(struct inv_icm42607_state *st,
+			       enum inv_icm42607_sensor_mode *gyro,
+			       enum inv_icm42607_sensor_mode *accel);
 
 int inv_icm42607_core_probe(struct regmap *regmap,
 			    const struct inv_icm42607_hw *hw,

index f2b9067815b0..e903106af84a 100644
@@ -84,6 +84,7 @@ 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 eb04036a6712..cd739375f6b2 100644
@@ -94,6 +94,7 @@ static struct spi_driver inv_icm42607_driver = {
 	.driver = {
 		.name = "inv-icm42607-spi",
 		.of_match_table = inv_icm42607_of_matches,
+		.pm = pm_ptr(&inv_icm42607_pm_ops),
 	},
 	.id_table = inv_icm42607_spi_id_table,
 	.probe = inv_icm42607_probe,

2.43.0

From: Chris Morgan <[email protected]>

Add icm42607 accelerometer sensor for icm42607.

---
 drivers/iio/imu/inv_icm42607/Makefile         |   1 +
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |  38 +++
 .../iio/imu/inv_icm42607/inv_icm42607_accel.c | 308 ++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  | 232 ++++++++++++-
 4 files changed, 576 insertions(+), 3 deletions(-)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c

index be109102e203..372c6d6bdcec 100644
@@ -2,6 +2,7 @@
 
 obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o
 inv-icm42607-y += inv_icm42607_core.o
+inv-icm42607-y += inv_icm42607_accel.o
 
 obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o
 inv-icm42607-i2c-y += inv_icm42607_i2c.o

index 61927a6c2663..fd3e57ee4f14 100644
@@ -88,6 +88,17 @@ enum inv_icm42607_filter_bw {
 	INV_ICM42607_FILTER_BW_NB
 };
 
+/* Low-Power mode sensor data filter (averaging) */
+enum inv_icm42607_filter_avg {
+	INV_ICM42607_FILTER_AVG_2X = 0,
+	INV_ICM42607_FILTER_AVG_4X = 1,
+	INV_ICM42607_FILTER_AVG_8X = 2,
+	INV_ICM42607_FILTER_AVG_16X = 3,
+	INV_ICM42607_FILTER_AVG_32X = 4,
+	INV_ICM42607_FILTER_AVG_64X = 5,
+	/* values 6 and 7 also correspond to 64x. */
+};
+
 /* Temperature sensor data filter (bandwidth) */
 enum inv_icm42607_temp_filter_bw {
 	INV_ICM42607_TEMP_FILTER_BYPASS = 0,

@@ -107,6 +118,7 @@ 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;

@@ -125,6 +137,7 @@ struct inv_icm42607_hw {
  *  @hw:		Hardware specific data.
  *  @lock:		lock for serializing multiple registers access.
  *  @map:		regmap pointer.
+ *  @indio_accel:	accelerometer IIO device.
  *  @vddio_supply:	I/O voltage regulator for the chip.
  *  @vddio_en:		I/O voltage status for runtime PM.
  *  @conf:		chip sensors configurations.

@@ -134,12 +147,23 @@ struct inv_icm42607_state {
 	const struct inv_icm42607_hw *hw;
 	struct mutex lock;
 	struct regmap *map;
+	struct iio_dev *indio_accel;
 	struct regulator *vddio_supply;
 	bool vddio_en;
 	struct inv_icm42607_conf conf;
 	struct iio_mount_matrix orientation;
 };
 
+/**
+ * struct inv_icm42607_sensor_state - sensor state variables
+ * @power_mode:		sensor requested power mode (for common frequencies)
+ * @filter:		sensor filter.
+ */
+struct inv_icm42607_sensor_state {
+	enum inv_icm42607_sensor_mode power_mode;
+	int filter;
+};
+
 /* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
 
 /* Register Map for User Bank 0 */

@@ -368,12 +392,26 @@ 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);
+
 int inv_icm42607_get_pwr_mgmt0(struct inv_icm42607_state *st,
 			       enum inv_icm42607_sensor_mode *gyro,
 			       enum inv_icm42607_sensor_mode *accel);
 
+int inv_icm42607_set_sensor_conf(struct inv_icm42607_state *st,
+				 struct inv_icm42607_sensor_conf *conf,
+				 enum iio_chan_type chan_type);
+
+int inv_icm42607_read_sensor(struct iio_dev *indio_dev,
+			     struct iio_chan_spec const *chan,
+			     s16 *val);
+
 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);
+
 #endif

2.43.0

From: Chris Morgan <[email protected]>

Add gyroscope functions to the icm42607 driver.

---
 drivers/iio/imu/inv_icm42607/Makefile         |   1 +
 drivers/iio/imu/inv_icm42607/inv_icm42607.h   |   4 +
 .../iio/imu/inv_icm42607/inv_icm42607_core.c  |   5 +
 .../iio/imu/inv_icm42607/inv_icm42607_gyro.c  | 305 ++++++++++++++++++
 4 files changed, 315 insertions(+)
 create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c

index 372c6d6bdcec..8e73385c8f4b 100644
@@ -2,6 +2,7 @@
 
 obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o
 inv-icm42607-y += inv_icm42607_core.o
+inv-icm42607-y += inv_icm42607_gyro.o
 inv-icm42607-y += inv_icm42607_accel.o
 
 obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o

index fd3e57ee4f14..4d51b0da1aa1 100644
@@ -138,6 +138,7 @@ struct inv_icm42607_hw {
  *  @lock:		lock for serializing multiple registers access.
  *  @map:		regmap pointer.
  *  @indio_accel:	accelerometer IIO device.
+ *  @indio_gyro:	gyroscope IIO device.
  *  @vddio_supply:	I/O voltage regulator for the chip.
  *  @vddio_en:		I/O voltage status for runtime PM.
  *  @conf:		chip sensors configurations.

@@ -148,6 +149,7 @@ struct inv_icm42607_state {
 	struct mutex lock;
 	struct regmap *map;
 	struct iio_dev *indio_accel;
+	struct iio_dev *indio_gyro;
 	struct regulator *vddio_supply;
 	bool vddio_en;
 	struct inv_icm42607_conf conf;

@@ -412,6 +414,8 @@ 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);
+
 struct iio_dev *inv_icm42607_accel_init(struct inv_icm42607_state *st);
 
 #endif

index 68e84597241a..190e998f7b8e 100644
@@ -635,6 +635,11 @@ int inv_icm42607_core_probe(struct regmap *regmap,
 	if (IS_ERR(st->indio_accel))
 		return PTR_ERR(st->indio_accel);
 
+	/* Initialize IIO device for Gyro */
+	st->indio_gyro = inv_icm42607_gyro_init(st);
+	if (IS_ERR(st->indio_gyro))
+		return PTR_ERR(st->indio_gyro);
+
 	return 0;
 }
 EXPORT_SYMBOL_NS_GPL(inv_icm42607_core_probe, "IIO_ICM42607");

2.43.0

From: Chris Morgan <[email protected]>

Add functions for reading temperature sensor data.

---
 drivers/iio/imu/inv_icm42607/Makefile         |  1 +
 .../iio/imu/inv_icm42607/inv_icm42607_accel.c |  8 ++
 .../iio/imu/inv_icm42607/inv_icm42607_gyro.c  |  8 ++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.c  | 99 +++++++++++++++++++
 .../iio/imu/inv_icm42607/inv_icm42607_temp.h  | 38 +++++++
 5 files changed, 154 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

index 8e73385c8f4b..7b907e019601 100644
@@ -4,6 +4,7 @@ obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o
 inv-icm42607-y += inv_icm42607_core.o
 inv-icm42607-y += inv_icm42607_gyro.o
 inv-icm42607-y += inv_icm42607_accel.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

index f563c7708420..0b3f035c2da0 100644
@@ -15,6 +15,7 @@
 #include <linux/types.h>
 
 #include "inv_icm42607.h"
+#include "inv_icm42607_temp.h"
 
 #define INV_ICM42607_ACCEL_CHAN(_modifier, _index, _ext_info)			\
 {										\

@@ -40,6 +41,7 @@ enum inv_icm42607_accel_scan {
 	INV_ICM42607_ACCEL_SCAN_X,
 	INV_ICM42607_ACCEL_SCAN_Y,
 	INV_ICM42607_ACCEL_SCAN_Z,
+	INV_ICM42607_ACCEL_SCAN_TEMP,
 };
 
 static const struct iio_chan_spec_ext_info inv_icm42607_accel_ext_infos[] = {

@@ -54,6 +56,7 @@ static const struct iio_chan_spec inv_icm42607_accel_channels[] = {
 				inv_icm42607_accel_ext_infos),
 	INV_ICM42607_ACCEL_CHAN(IIO_MOD_Z, INV_ICM42607_ACCEL_SCAN_Z,
 				inv_icm42607_accel_ext_infos),
+	INV_ICM42607_TEMP_CHAN(INV_ICM42607_ACCEL_SCAN_TEMP),
 };
 
 static const int inv_icm42607_accel_scale_nano[][2] = {

@@ -187,6 +190,11 @@ static int inv_icm42607_accel_read_raw(struct iio_dev *indio_dev,
 	switch (chan->type) {
 	case IIO_ACCEL:
 		break;
+	case IIO_TEMP:
+		if (mask != IIO_CHAN_INFO_SAMP_FREQ)
+			return inv_icm42607_temp_read_raw(indio_dev, chan,
+							  val, val2, mask);
+		break;
 	default:
 		return -EINVAL;
 	}

index b68d4d6f5c3f..5b4683c2dd1e 100644
@@ -15,6 +15,7 @@
 #include <linux/types.h>
 
 #include "inv_icm42607.h"
+#include "inv_icm42607_temp.h"
 
 #define INV_ICM42607_GYRO_CHAN(_modifier, _index, _ext_info)			\
 {										\

@@ -40,6 +41,7 @@ enum inv_icm42607_gyro_scan {
 	INV_ICM42607_GYRO_SCAN_X,
 	INV_ICM42607_GYRO_SCAN_Y,
 	INV_ICM42607_GYRO_SCAN_Z,
+	INV_ICM42607_GYRO_SCAN_TEMP,
 };
 
 static const struct iio_chan_spec_ext_info inv_icm42607_gyro_ext_infos[] = {

@@ -54,6 +56,7 @@ static const struct iio_chan_spec inv_icm42607_gyro_channels[] = {
 			       inv_icm42607_gyro_ext_infos),
 	INV_ICM42607_GYRO_CHAN(IIO_MOD_Z, INV_ICM42607_GYRO_SCAN_Z,
 			       inv_icm42607_gyro_ext_infos),
+	INV_ICM42607_TEMP_CHAN(INV_ICM42607_GYRO_SCAN_TEMP),
 };
 
 static const int inv_icm42607_gyro_scale_nano[][2] = {

@@ -184,6 +187,11 @@ static int inv_icm42607_gyro_read_raw(struct iio_dev *indio_dev,
 	switch (chan->type) {
 	case IIO_ANGL_VEL:
 		break;
+	case IIO_TEMP:
+		if (mask != IIO_CHAN_INFO_SAMP_FREQ)
+			return inv_icm42607_temp_read_raw(indio_dev, chan,
+							  val, val2, mask);
+		break;
 	default:
 		return -EINVAL;
 	}

new file mode 100644
index 000000000000..18499b4d0b94
@@ -0,0 +1,38 @@
+/* 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),			\
+	.info_mask_shared_by_all =				\
+		BIT(IIO_CHAN_INFO_SAMP_FREQ),			\
+	.info_mask_shared_by_all_available =			\
+		BIT(IIO_CHAN_INFO_SAMP_FREQ),			\
+	.scan_index = _index,					\
+	.scan_type = {						\
+		.sign = 's',					\
+		.realbits = 16,					\
+		.storagebits = 16,				\
+		.endianness = IIO_BE,				\
+	},							\
+}
+
+int inv_icm42607_temp_read_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int *val, int *val2, long mask);
+
+#endif

2.43.0

From: Chris Morgan <[email protected]>

Add the Invensense ICM42607P IMU for the Anbernic RG-DS. Mount-matrix was tested with iio-sensor-proxy and reports correct orientation.

---
 arch/arm64/boot/dts/rockchip/rk3568-anbernic-rg-ds.dts | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

index 8d906ab02c5f..b770bfd5268d 100644
@@ -871,7 +871,13 @@ aw87391_pa_r: audio-codec@5b {
 		sound-name-prefix = "Right Amp";
 	};
 
-	/* invensense,icm42607p at 0x68 */
+	icm42607p: imu@68 {
+		compatible = "invensense,icm42607p";
+		reg = <0x68>;
+		mount-matrix = "-1", "0", "0",
+			       "0", "1", "0",
+			       "0", "0", "-1";
+	};
 };
 
 &i2c3 {

2.43.0

Woot! Perfect sashiko score. 21st time's the charm...

Thank you,
Chris

Nice and LGTM so applied patches 1-8. The final one should get picked up via the appropriate rockchip tree.

It was a hard slog, but having watching sashiko rip apart a driver of mine this week (long since merged) I definitely sympathise.

Congratulations. Applied to the testing branch of iio.git where the much less 'risky' 0-day build bot will check we didn't miss anything on that front.

Thanks,

Jonathan

Applied, thanks!

[9/9] arm64: dts: rockchip: Add icm42607p IMU for RG-DS

      commit: 264429dfe5294b76c7c3b4ed2c9e6cea1042255c

Best regards,

Heiko Stuebner <[email protected]>

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