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 | 92 +++++++++++++++++++
 1 file changed, 92 insertions(+)
 create mode 100644 Documentation/devicetree/bindings/iio/imu/invensense,icm42607.yaml

From: Chris Morgan <[email protected]>

Add a new driver for the Invensense ICM42607 IMU. This device is extremely similar to the existing ICM42600 but with a very different register layout.

This driver was built based on the existing icm42600 along with the datasheet from Invensense and out-of-tree sources included in the LineageOS kernels [1] and Rockchip kernels [2], both derived from sources provided by Invensense. The driver is structured identically to the in-tree ICM42600 driver.

It should work for the ICM42607 and ICM42607P on both the I2C and SPI busses, however only the ICM42607P over I2C has been tested as it is the only hardware I have available.

[1] https://github.com/LineageOS/android_kernel_nvidia_kernel-nx/tree/lineage-23.0/drivers/iio/imu/inv_icm42607x
[2] https://github.com/rockchip-linux/kernel/tree/develop-6.6/drivers/iio/imu/inv_icm42670

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

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

new file mode 100644
index 000000000000..a275f24bf291
@@ -0,0 +1,472 @@
 
+
+/* 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 +1 -0

+};

drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c new file +2 -0

new file mode 100644
index 000000000000..92cf7ffe5077
@@ -0,0 +1,566 @@
 
+
+static size_t inv_icm42607_get_packet_size(unsigned int fifo_en)

drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c new file +2 -0

+}
+

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

new file mode 100644
index 000000000000..6d8d7fa7bd13

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

new file mode 100644
index 000000000000..9b69ccb1d101
@@ -0,0 +1,811 @@
+// 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/slab.h>
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#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"

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +24 -0

+		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 +32 -0

+
+	if (st->apex.on) {
+		unsigned int status2, status3;
+
+		/* read INT_STATUS2 and INT_STATUS3 in 1 operation */
+		ret = regmap_bulk_read(st->map, INV_ICM42607_REG_INT_STATUS2, st->buffer, 2);
+		if (ret)
+			goto out_unlock;
+		status2 = st->buffer[0];
+		status3 = st->buffer[1];
+		inv_icm42607_accel_handle_events(st->indio_accel, status2, status3,
+						 st->timestamp.accel);
+	}
+
+	ret = regmap_read(st->map, INV_ICM42607_REG_INT_STATUS, &status);
+	if (ret)
+		goto out_unlock;
+
+	if (status & INV_ICM42607_INT_STATUS_FIFO_FULL)
+		dev_warn(dev, "FIFO full data lost!\n");
+
+	if (status & INV_ICM42607_INT_STATUS_FIFO_THS) {
+		ret = inv_icm42607_buffer_fifo_read(st, 0);
+		if (ret) {
+			dev_err(dev, "FIFO read error %d\n", ret);
+			goto out_unlock;
+		}
+		ret = inv_icm42607_buffer_fifo_parse(st);
+		if (ret)
+			dev_err(dev, "FIFO parsing error %d\n", ret);
+	}
+

drivers/iio/imu/inv_icm42607/inv_icm42607_core.c new file +13 -0

+
+	guard(mutex)(&st->lock);
+
+	ret = inv_icm42607_set_pwr_mgmt0(st, INV_ICM42607_SENSOR_MODE_OFF,
+					 INV_ICM42607_SENSOR_MODE_OFF, false,
+					 NULL);
+	if (ret)
+		return ret;
+
+	regulator_disable(st->vddio_supply);
+
+	return 0;
+}

drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c new file +7 -0

new file mode 100644
index 000000000000..e3a873185569
@@ -0,0 +1,578 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>

drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c new file +5 -0

+};
 
+/*
+ * IIO buffer data: size must be a power of 2 and timestamp aligned
+ * 16 bytes: 6 bytes angular velocity, 2 bytes temperature, 8 bytes timestamp
+ */

drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c new file +27 -0

+};
+
+/* enable gyroscope sensor and FIFO write */
+static int inv_icm42607_gyro_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_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+	unsigned int fifo_en = 0;
+	unsigned int sleep_gyro = 0;
+	unsigned int sleep_temp = 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_GYRO_3AXIS) {
+		/* enable gyro sensor */
+		conf.mode = INV_ICM42607_SENSOR_MODE_LOW_NOISE;

drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c new file +22 -0

+
+out_unlock:
+	mutex_unlock(&st->lock);
+	/* sleep maximum required time */
+	sleep = max(sleep_gyro, sleep_temp);
+	if (sleep)
+		msleep(sleep);
+	return ret;
+}
+
 
 
+
+static int inv_icm42607_gyro_write_scale(struct iio_dev *indio_dev,
+					 int val, int val2)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int idx;
+	struct inv_icm42607_sensor_conf conf = INV_ICM42607_SENSOR_CONF_INIT;
+	int ret;
+
+	for (idx = 0; idx < gyro_st->scales_len; idx += 2) {

drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c new file +20 -0

+	/* 25Hz */
+	25, 0,
+	/* 50Hz */
+	50, 0,
+	/* 100Hz */
+	100, 0,
+	/* 200Hz */
+	200, 0,
+	/* 400Hz */
+	400, 0,
+	/* 800Hz */
+	800, 0,
+	/* 1600Hz */
+	1600, 0,
+};
 
+
+static int inv_icm42607_gyro_write_odr(struct iio_dev *indio_dev,
+				       int val, int val2)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);

drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c new file +14 -0

+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm42607_gyro_odr))
+		return -EINVAL;
+
+	conf.odr = inv_icm42607_gyro_odr_conv[idx / 2];
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	ret = inv_sensors_timestamp_update_odr(ts, inv_icm42607_odr_to_period(conf.odr),
+					       iio_buffer_enabled(indio_dev));
+	if (ret)
+		goto out_unlock;

drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c new file +50 -0

+	struct iio_dev *indio_dev;
+	int ret;
+
+	name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);
+	if (!name)
+		return ERR_PTR(-ENOMEM);
+
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st));
+	if (!indio_dev)
+		return ERR_PTR(-ENOMEM);
+	gyro_st = iio_priv(indio_dev);
+
+	gyro_st->scales = inv_icm42607_gyro_scale;
+	gyro_st->scales_len = ARRAY_SIZE(inv_icm42607_gyro_scale);
+
+	/*
+	 * clock period is 32kHz (31250ns)
+	 * jitter is +/- 2% (20 per mille)
+	 */
+	ts_chip.clock_period = 31250;
+	ts_chip.jitter = 20;
+	ts_chip.init_period = inv_icm42607_odr_to_period(st->conf.accel.odr);
+	inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip);
+
+	iio_device_set_drvdata(indio_dev, st);
+	indio_dev->name = name;
+	indio_dev->info = &inv_icm42607_gyro_info;
+	indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE;
+	indio_dev->channels = inv_icm42607_gyro_channels;
+	indio_dev->num_channels = ARRAY_SIZE(inv_icm42607_gyro_channels);
+	indio_dev->available_scan_masks = inv_icm42607_gyro_scan_masks;
+	indio_dev->setup_ops = &inv_icm42607_buffer_ops;
+
+	ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
+					  &inv_icm42607_buffer_ops);
+	if (ret)
+		return ERR_PTR(ret);
+
+	ret = devm_iio_device_register(dev, indio_dev);
+	if (ret)
+		return ERR_PTR(ret);
+
+	return indio_dev;
+}
+
+int inv_icm42607_gyro_parse_fifo(struct iio_dev *indio_dev)
+{
+	struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42607_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &gyro_st->ts;

drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c new file +11 -0

+		size = inv_icm42607_fifo_decode_packet(&st->fifo.data[i],
+				&accel, &gyro, &temp, &timestamp, &odr);
+		/* quit if error or FIFO is empty */
+		if (size <= 0)
+			return size;
+
+		/* skip packet if no gyro data or data is invalid */
+		if (gyro == NULL || !inv_icm42607_fifo_is_data_valid(gyro))
+			continue;
+
+		/* update odr */

drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c new file +4 -0

+	}
+
+	return 0;
+}

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

new file mode 100644
index 000000000000..51ce3deeb706

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

+	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,

drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c new file +8 -0

+	if (!match)
+		return -EINVAL;
+	chip = (uintptr_t)match;
+
+	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",

drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c new file +2 -0

+};
+MODULE_DEVICE_TABLE(spi, inv_icm42607_spi_id_table);

drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c new file +12 -0

new file mode 100644
index 000000000000..ae382352c861
@@ -0,0 +1,82 @@
+// 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>
+

drivers/iio/imu/inv_icm42607/inv_icm42607_temp.c new file +5 -0

+	if (*temp == INV_ICM42607_DATA_INVALID)
+		ret = -EINVAL;
+
+exit:
+	mutex_unlock(&st->lock);

drivers/iio/imu/inv_icm42607/inv_icm42607_temp.h new file +1 -0

+ */

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.

Quoted 6 lines · Chris Morgan

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.

Thanks for your contribution, but...

NAK.

It's unreviewable bulk out of 4kLoC! I even won't bother looking at any other messages in this (too mini) series.

TL;DR: reviewable code is limited at ~750 (or less) ± 150 LoC per patch.

Signature · 3 lines

-- 
With Best Regards,
Andy Shevchenko

Quoted 13 lines · Andy Shevchenko

Quoted 6 lines · Chris Morgan

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.

Thanks for your contribution, but...

NAK.

Quoted 4 lines

It's unreviewable bulk out of 4kLoC! I even won't bother looking at any other messages in this (too mini) series.

TL;DR: reviewable code is limited at ~750 (or less) ± 150 LoC per patch.

Please disregard this series then, I will do my best to split it apart into smaller pieces and resubmit.