[PATCH V9 10/11] iio: imu: inv_icm42607: Add Gyroscope to icm42607

[Jonathan Cameron]

On Fri, 29 May 2026 22:17:37 -0500
Chris Morgan <macroalpha82 at gmail.com> wrote:

> From: Chris Morgan <macromorgan at hotmail.com>
> 
> Add gyroscope functions to the icm42607 driver.
> 
> Signed-off-by: Chris Morgan <macromorgan at hotmail.com>

Hi Chris,
Various things inline.

Thanks,

Jonathan

> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
> index 5b69bf895b35..c45239613344 100644
> --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c

>  int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st)
>  {
> +	struct inv_icm42607_sensor_state *gyro_st = iio_priv(st->indio_gyro);
>  	struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel);
>  	struct inv_sensors_timestamp *ts;
>  	int ret;
> @@ -491,6 +494,16 @@ int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st)
>  	if (st->fifo.nb.total == 0)
>  		return 0;
>  
> +	/* handle gyroscope timestamp and FIFO data parsing */
> +	if (st->fifo.nb.gyro > 0) {
> +		ts = &gyro_st->ts;
> +		inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_gyro,
> +						st->timestamp.gyro);
> +		ret = inv_icm42607_gyro_parse_fifo(st->indio_gyro);
> +		if (ret)
> +			return ret;
> +	}
> +
>  	/* handle accelerometer timestamp and FIFO data parsing */
>  	if (st->fifo.nb.accel > 0) {
>  		ts = &accel_st->ts;
> @@ -507,12 +520,14 @@ int inv_icm42607_buffer_fifo_parse(struct inv_icm42607_state *st)
>  int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st,
>  				     unsigned int count)
>  {
> +	struct inv_icm42607_sensor_state *gyro_st = iio_priv(st->indio_gyro);
>  	struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel);
>  	struct inv_sensors_timestamp *ts;
> -	s64 accel_ts;
> +	s64 gyro_ts, accel_ts;
>  	int ret;
>  
>  	accel_ts = iio_get_time_ns(st->indio_accel);
> +	gyro_ts = iio_get_time_ns(st->indio_gyro);

Sashiko calls out correctly that there is a race with devices finishing
coming up that might be hit here.  Probably need some sort of presence
check and locking to be sure those are both valid.



>  
>  	ret = inv_icm42607_buffer_fifo_read(st, count);
>  	if (ret)


> diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c
> new file mode 100644
> index 000000000000..8d59156086b1
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_gyro.c

> +
> +static const struct iio_chan_spec_ext_info inv_icm42607_gyro_ext_infos[] = {
> +	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42607_get_mount_matrix),
> +	{ },
No comma. Check for any other commas after terminating entries like this one.
> +};


> +
> +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;
> +	ssize_t i, size;
> +	unsigned int no;
> +	const void *accel, *gyro, *timestamp;
> +	const s8 *temp;
> +	unsigned int odr;
> +	s64 ts_val;
> +	struct inv_icm42607_gyro_buffer buffer = { };
> +
> +	guard(mutex)(&st->lock);
Sashiko thinks there is a deadlock here as this lock will already
be held.  Report looks correct to me + same bug in the accelerometer case.

I'm surprised you didn't see them in testing as deadlocks tend to be obvious!


> +
> +	/* 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, &timestamp, &odr);
> +		/* quit if error or FIFO is empty */
> +		if (size <= 0)
> +			return size;
> +
> +		/* If the packet size could cause us to overflow, return. */
> +		if (i + size > st->fifo.count)
> +			return -EIO;
> +
> +		/* skip packet if no gyro data or data is invalid */
> +		if (gyro == NULL || !inv_icm42607_fifo_is_data_valid(gyro))
> +			continue;
> +
> +		/* update odr */
> +		if (odr & INV_ICM42607_SENSOR_GYRO)
> +			inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
> +							st->fifo.nb.total, no);
> +
> +		memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro));
> +		/* 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_ts(indio_dev, &buffer,
> +					    sizeof(buffer), ts_val);
> +	}
> +
> +	return 0;
> +}