[PATCH V21 0/9] Add Invensense ICM42607
Chris Morgan
macromorgan at hotmail.com
Tue Jul 28 17:12:47 PDT 2026
On Tue, Jul 28, 2026 at 05:55:31PM -0500, Chris Morgan wrote:
> From: Chris Morgan <macromorgan at hotmail.com>
>
> 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
>
Woot! Perfect sashiko score. 21st time's the charm...
Thank you,
Chris
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