[PATCH V3 6/9] iio: imu: inv_icm42607: Add Accelerometer for icm42607
Jonathan Cameron
jic23 at kernel.org
Mon Apr 13 12:32:25 PDT 2026
On Mon, 30 Mar 2026 14:58:50 -0500
Chris Morgan <macroalpha82 at gmail.com> wrote:
> From: Chris Morgan <macromorgan at hotmail.com>
>
> Add icm42607 accelerometer sensor for icm42607.
>
> Signed-off-by: Chris Morgan <macromorgan at hotmail.com>
A few more things below.
thanks
Jonathan
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
> new file mode 100644
> index 000000000000..58754af31100
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_accel.c
> +
> +static const struct iio_enum inv_icm42607_accel_power_mode_enum = {
> + .items = inv_icm42607_accel_power_mode_items,
> + .num_items = ARRAY_SIZE(inv_icm42607_accel_power_mode_items),
> + .set = inv_icm42607_accel_power_mode_set,
> + .get = inv_icm42607_accel_power_mode_get,
> +};
> +
> +static const struct iio_chan_spec_ext_info inv_icm42607_accel_ext_infos[] = {
> + IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix),
> + IIO_ENUM_AVAILABLE("power_mode", IIO_SHARED_BY_TYPE,
> + &inv_icm42607_accel_power_mode_enum),
> + IIO_ENUM("power_mode", IIO_SHARED_BY_TYPE,
> + &inv_icm42607_accel_power_mode_enum),
> + { },
No comma.
> +};
> +static int inv_icm42607_accel_read_odr(struct inv_icm42607_state *st,
> + int *val, int *val2)
> +{
> + unsigned int odr;
> + unsigned int i;
> +
> + odr = st->conf.accel.odr;
> +
> + for (i = 0; i < ARRAY_SIZE(inv_icm42607_accel_odr_conv); ++i) {
> + if (inv_icm42607_accel_odr_conv[i] == odr)
> + break;
> + }
> + if (i >= ARRAY_SIZE(inv_icm42607_accel_odr_conv))
> + return -EINVAL;
> +
> + *val = inv_icm42607_accel_odr[2 * i];
> + *val2 = inv_icm42607_accel_odr[2 * i + 1];
> +
> + return IIO_VAL_INT_PLUS_MICRO;
> +}
> +
> +static int inv_icm42607_accel_write_odr(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 *accel_st = iio_priv(indio_dev);
> + struct inv_sensors_timestamp *ts = &accel_st->ts;
> + 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 < ARRAY_SIZE(inv_icm42607_accel_odr); idx += 2) {
> + if (val == inv_icm42607_accel_odr[idx] &&
> + val2 == inv_icm42607_accel_odr[idx + 1])
> + break;
> + }
> + if (idx >= ARRAY_SIZE(inv_icm42607_accel_odr))
> + return -EINVAL;
> +
> + conf.odr = inv_icm42607_accel_odr_conv[idx / 2];
> +
> + PM_RUNTIME_ACQUIRE_AUTOSUSPEND(dev, pm);
> + if (PM_RUNTIME_ACQUIRE_ERR(&pm))
> + return -ENXIO;
> +
> + guard(mutex)(&st->lock);
> +
> + ret = inv_sensors_timestamp_update_odr(ts, inv_icm42607_odr_to_period(conf.odr),
> + iio_buffer_enabled(indio_dev));
> + if (ret)
> + return ret;
> +
> + ret = inv_icm42607_set_accel_conf(st, &conf, NULL);
> + if (ret)
> + return ret;
> +
> + inv_icm42607_buffer_update_fifo_period(st);
> + inv_icm42607_buffer_update_watermark(st);
> +
> + return ret;
> +}
> +
> +/*
> + * Calibration bias values, IIO range format int + micro.
> + * Not actually supported in the ICM-42607P registers.
> + */
> +static int inv_icm42607_accel_write_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;
> +}
> +
> +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;
> +}
> +
> +static int inv_icm42607_accel_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 data;
> + int ret;
> +
> + switch (chan->type) {
> + case IIO_ACCEL:
> + break;
> + case IIO_TEMP:
> + return inv_icm42607_temp_read_raw(indio_dev, chan, val, val2, mask);
> + default:
> + return -EINVAL;
> + }
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_RAW:
> + if (!iio_device_claim_direct(indio_dev))
> + return -EBUSY;
> + ret = inv_icm42607_accel_read_sensor(indio_dev, chan, &data);
> + iio_device_release_direct(indio_dev);
> + if (ret)
> + return ret;
> + *val = data;
> + return IIO_VAL_INT;
> + case IIO_CHAN_INFO_SCALE:
> + return inv_icm42607_accel_read_scale(indio_dev, val, val2);
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + return inv_icm42607_accel_read_odr(st, val, val2);
> + case IIO_CHAN_INFO_CALIBBIAS:
> + return inv_icm42607_accel_read_calibbias(st, chan, val, val2);
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +int inv_icm42607_accel_parse_fifo(struct iio_dev *indio_dev)
> +{
> + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev);
> + struct inv_icm42607_sensor_state *accel_st = iio_priv(indio_dev);
> + struct inv_sensors_timestamp *ts = &accel_st->ts;
> + ssize_t i, size;
> + unsigned int no;
> + const void *accel, *gyro, *timestamp;
> + const int8_t *temp;
> + unsigned int odr;
> + int64_t ts_val;
> + struct inv_icm42607_accel_buffer buffer = { };
> +
> + /* parse all fifo packets */
> + for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
> + size = inv_icm42607_fifo_decode_packet(&st->fifo.data[i],
> + &accel, &gyro, &temp, ×tamp, &odr);
> + /* quit if error or FIFO is empty */
> + if (size <= 0)
> + return size;
> +
> + /* skip packet if no accel data or data is invalid */
> + if (accel == NULL || !inv_icm42607_fifo_is_data_valid(accel))
> + continue;
> +
> + /* update odr */
> + if (odr & INV_ICM42607_SENSOR_ACCEL) {
> + inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
> + st->fifo.nb.total, no);
> + }
> +
> + memcpy(&buffer.accel, accel, sizeof(buffer.accel));
> + /* convert 8 bits FIFO temperature in high resolution format */
> + buffer.temp = temp ? (*temp * 64) : 0;
> + ts_val = inv_sensors_timestamp_pop(ts);
> + iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
For new code, always use iio_push_to_buffers_with_ts()
This one is going away in near future.
> + }
> +
> + return 0;
> +}
> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> index 735a262dc103..62a1371b0c4a 100644
> --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
> +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)
> + conf->filter = oldconf->filter;
> +
> + if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {
> + val = INV_ICM42607_ACCEL_CONFIG0_FS_SEL(conf->fs) |
> + INV_ICM42607_ACCEL_CONFIG0_ODR(conf->odr);
Another indent case that needs fixing.
> + 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);
> +}
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