Resguardo inicial

linux-7.2.3/drivers/iio/imu/inv_icm45600/Kconfig

@@ -0,0 +1,70 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+config INV_ICM45600
+	tristate
+	select IIO_BUFFER
+	select IIO_KFIFO_BUF
+	select IIO_INV_SENSORS_TIMESTAMP
+
+config INV_ICM45600_I2C
+	tristate "InvenSense ICM-456xx I2C driver"
+	depends on I2C
+	select INV_ICM45600
+	select REGMAP_I2C
+	help
+	  This driver supports the InvenSense ICM-456xx motion tracking
+	  devices over I2C.
+	  Supported devices:
+	  - ICM-45605
+	  - ICM-45606
+	  - ICM-45608
+	  - ICM-45634
+	  - ICM-45686
+	  - ICM-45687
+	  - ICM-45688-P
+	  - ICM-45689
+
+	  This driver can be built as a module. The module will be called
+	  inv-icm45600-i2c.
+
+config INV_ICM45600_SPI
+	tristate "InvenSense ICM-456xx SPI driver"
+	depends on SPI_MASTER
+	select INV_ICM45600
+	select REGMAP_SPI
+	help
+	  This driver supports the InvenSense ICM-456xx motion tracking
+	  devices over SPI.
+	  Supported devices:
+	  - ICM-45605
+	  - ICM-45606
+	  - ICM-45608
+	  - ICM-45634
+	  - ICM-45686
+	  - ICM-45687
+	  - ICM-45688-P
+	  - ICM-45689
+
+	  This driver can be built as a module. The module will be called
+	  inv-icm45600-spi.
+
+config INV_ICM45600_I3C
+	tristate "InvenSense ICM-456xx I3C driver"
+	depends on I3C
+	select INV_ICM45600
+	select REGMAP_I3C
+	help
+	  This driver supports the InvenSense ICM-456xx motion tracking
+	  devices over I3C.
+	  Supported devices:
+	  - ICM-45605
+	  - ICM-45606
+	  - ICM-45608
+	  - ICM-45634
+	  - ICM-45686
+	  - ICM-45687
+	  - ICM-45688-P
+	  - ICM-45689
+
+	  This driver can be built as a module. The module will be called
+	  inv-icm45600-i3c.

linux-7.2.3/drivers/iio/imu/inv_icm45600/Makefile

@@ -0,0 +1,16 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+obj-$(CONFIG_INV_ICM45600) += inv-icm45600.o
+inv-icm45600-y += inv_icm45600_core.o
+inv-icm45600-y += inv_icm45600_buffer.o
+inv-icm45600-y += inv_icm45600_gyro.o
+inv-icm45600-y += inv_icm45600_accel.o
+
+obj-$(CONFIG_INV_ICM45600_I2C) += inv-icm45600-i2c.o
+inv-icm45600-i2c-y += inv_icm45600_i2c.o
+
+obj-$(CONFIG_INV_ICM45600_SPI) += inv-icm45600-spi.o
+inv-icm45600-spi-y += inv_icm45600_spi.o
+
+obj-$(CONFIG_INV_ICM45600_I3C) += inv-icm45600-i3c.o
+inv-icm45600-i3c-y += inv_icm45600_i3c.o

linux-7.2.3/drivers/iio/imu/inv_icm45600/inv_icm45600.h

@@ -0,0 +1,385 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/* Copyright (C) 2025 Invensense, Inc. */
+
+#ifndef INV_ICM45600_H_
+#define INV_ICM45600_H_
+
+#include <linux/bits.h>
+#include <linux/limits.h>
+#include <linux/mutex.h>
+#include <linux/regmap.h>
+#include <linux/regulator/consumer.h>
+#include <linux/sizes.h>
+#include <linux/types.h>
+
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+
+#include "inv_icm45600_buffer.h"
+
+#define INV_ICM45600_REG_BANK_MASK	GENMASK(15, 8)
+#define INV_ICM45600_REG_ADDR_MASK	GENMASK(7, 0)
+
+enum inv_icm45600_sensor_mode {
+	INV_ICM45600_SENSOR_MODE_OFF,
+	INV_ICM45600_SENSOR_MODE_STANDBY,
+	INV_ICM45600_SENSOR_MODE_LOW_POWER,
+	INV_ICM45600_SENSOR_MODE_LOW_NOISE,
+	INV_ICM45600_SENSOR_MODE_MAX
+};
+
+/* gyroscope fullscale values */
+enum inv_icm45600_gyro_fs {
+	INV_ICM45600_GYRO_FS_2000DPS,
+	INV_ICM45600_GYRO_FS_1000DPS,
+	INV_ICM45600_GYRO_FS_500DPS,
+	INV_ICM45600_GYRO_FS_250DPS,
+	INV_ICM45600_GYRO_FS_125DPS,
+	INV_ICM45600_GYRO_FS_62_5DPS,
+	INV_ICM45600_GYRO_FS_31_25DPS,
+	INV_ICM45600_GYRO_FS_15_625DPS,
+	INV_ICM45600_GYRO_FS_MAX
+};
+
+enum inv_icm45686_gyro_fs {
+	INV_ICM45686_GYRO_FS_4000DPS,
+	INV_ICM45686_GYRO_FS_2000DPS,
+	INV_ICM45686_GYRO_FS_1000DPS,
+	INV_ICM45686_GYRO_FS_500DPS,
+	INV_ICM45686_GYRO_FS_250DPS,
+	INV_ICM45686_GYRO_FS_125DPS,
+	INV_ICM45686_GYRO_FS_62_5DPS,
+	INV_ICM45686_GYRO_FS_31_25DPS,
+	INV_ICM45686_GYRO_FS_15_625DPS,
+	INV_ICM45686_GYRO_FS_MAX
+};
+
+/* accelerometer fullscale values */
+enum inv_icm45600_accel_fs {
+	INV_ICM45600_ACCEL_FS_16G,
+	INV_ICM45600_ACCEL_FS_8G,
+	INV_ICM45600_ACCEL_FS_4G,
+	INV_ICM45600_ACCEL_FS_2G,
+	INV_ICM45600_ACCEL_FS_MAX
+};
+
+enum inv_icm45686_accel_fs {
+	INV_ICM45686_ACCEL_FS_32G,
+	INV_ICM45686_ACCEL_FS_16G,
+	INV_ICM45686_ACCEL_FS_8G,
+	INV_ICM45686_ACCEL_FS_4G,
+	INV_ICM45686_ACCEL_FS_2G,
+	INV_ICM45686_ACCEL_FS_MAX
+};
+
+/* ODR suffixed by LN or LP are Low-Noise or Low-Power mode only */
+enum inv_icm45600_odr {
+	INV_ICM45600_ODR_6400HZ_LN = 0x03,
+	INV_ICM45600_ODR_3200HZ_LN,
+	INV_ICM45600_ODR_1600HZ_LN,
+	INV_ICM45600_ODR_800HZ_LN,
+	INV_ICM45600_ODR_400HZ,
+	INV_ICM45600_ODR_200HZ,
+	INV_ICM45600_ODR_100HZ,
+	INV_ICM45600_ODR_50HZ,
+	INV_ICM45600_ODR_25HZ,
+	INV_ICM45600_ODR_12_5HZ,
+	INV_ICM45600_ODR_6_25HZ_LP,
+	INV_ICM45600_ODR_3_125HZ_LP,
+	INV_ICM45600_ODR_1_5625HZ_LP,
+	INV_ICM45600_ODR_MAX
+};
+
+struct inv_icm45600_sensor_conf {
+	u8 mode;
+	u8 fs;
+	u8 odr;
+	u8 filter;
+};
+
+#define INV_ICM45600_SENSOR_CONF_KEEP_VALUES { U8_MAX, U8_MAX, U8_MAX, U8_MAX }
+
+struct inv_icm45600_conf {
+	struct inv_icm45600_sensor_conf gyro;
+	struct inv_icm45600_sensor_conf accel;
+};
+
+struct inv_icm45600_suspended {
+	enum inv_icm45600_sensor_mode gyro;
+	enum inv_icm45600_sensor_mode accel;
+};
+
+struct inv_icm45600_chip_info {
+	u8 whoami;
+	const char *name;
+	const struct inv_icm45600_conf *conf;
+	const int *accel_scales;
+	const int accel_scales_len;
+	const int *gyro_scales;
+	const int gyro_scales_len;
+};
+
+extern const struct inv_icm45600_chip_info inv_icm45605_chip_info;
+extern const struct inv_icm45600_chip_info inv_icm45606_chip_info;
+extern const struct inv_icm45600_chip_info inv_icm45608_chip_info;
+extern const struct inv_icm45600_chip_info inv_icm45634_chip_info;
+extern const struct inv_icm45600_chip_info inv_icm45686_chip_info;
+extern const struct inv_icm45600_chip_info inv_icm45687_chip_info;
+extern const struct inv_icm45600_chip_info inv_icm45688p_chip_info;
+extern const struct inv_icm45600_chip_info inv_icm45689_chip_info;
+
+extern const int inv_icm45600_accel_scale[][2];
+extern const int inv_icm45686_accel_scale[][2];
+extern const int inv_icm45600_gyro_scale[][2];
+extern const int inv_icm45686_gyro_scale[][2];
+
+/**
+ *  struct inv_icm45600_state - driver state variables
+ *  @lock:		lock for serializing multiple registers access.
+ *  @map:		regmap pointer.
+ *  @vddio_supply:	I/O voltage regulator for the chip.
+ *  @orientation:	sensor chip orientation relative to main hardware.
+ *  @conf:		chip sensors configurations.
+ *  @suspended:		suspended sensors configuration.
+ *  @indio_gyro:	gyroscope IIO device.
+ *  @indio_accel:	accelerometer IIO device.
+ *  @chip_info:		chip driver data.
+ *  @timestamp:		interrupt timestamps.
+ *  @fifo:		FIFO management structure.
+ *  @buffer:		data transfer buffer aligned for DMA.
+ */
+struct inv_icm45600_state {
+	struct mutex lock;
+	struct regmap *map;
+	struct regulator *vddio_supply;
+	struct iio_mount_matrix orientation;
+	struct inv_icm45600_conf conf;
+	struct inv_icm45600_suspended suspended;
+	struct iio_dev *indio_gyro;
+	struct iio_dev *indio_accel;
+	const struct inv_icm45600_chip_info *chip_info;
+	struct {
+		s64 gyro;
+		s64 accel;
+	} timestamp;
+	struct inv_icm45600_fifo fifo;
+	union {
+		u8 buff[2];
+		__le16 u16;
+		u8 ireg[3];
+	} buffer __aligned(IIO_DMA_MINALIGN);
+};
+
+/**
+ * struct inv_icm45600_sensor_state - sensor state variables
+ * @scales:		table of scales.
+ * @scales_len:		length (nb of items) of the scales table.
+ * @power_mode:		sensor requested power mode (for common frequencies)
+ * @ts:			timestamp module states.
+ */
+struct inv_icm45600_sensor_state {
+	const int *scales;
+	size_t scales_len;
+	enum inv_icm45600_sensor_mode power_mode;
+	struct inv_sensors_timestamp ts;
+};
+
+/* Virtual register addresses: @bank on MSB (16 bits), @address on LSB */
+
+/* Indirect register access */
+#define INV_ICM45600_REG_IREG_ADDR			0x7C
+#define INV_ICM45600_REG_IREG_DATA			0x7E
+
+/* Direct acces registers */
+#define INV_ICM45600_REG_MISC2				0x007F
+#define INV_ICM45600_MISC2_SOFT_RESET			BIT(1)
+
+#define INV_ICM45600_REG_DRIVE_CONFIG0			0x0032
+#define INV_ICM45600_DRIVE_CONFIG0_SPI_MASK		GENMASK(3, 1)
+#define INV_ICM45600_SPI_SLEW_RATE_0_5NS		6
+#define INV_ICM45600_SPI_SLEW_RATE_4NS			5
+#define INV_ICM45600_SPI_SLEW_RATE_5NS			4
+#define INV_ICM45600_SPI_SLEW_RATE_7NS			3
+#define INV_ICM45600_SPI_SLEW_RATE_10NS			2
+#define INV_ICM45600_SPI_SLEW_RATE_14NS			1
+#define INV_ICM45600_SPI_SLEW_RATE_38NS			0
+
+#define INV_ICM45600_REG_INT1_CONFIG2			0x0018
+#define INV_ICM45600_INT1_CONFIG2_OPEN_DRAIN		BIT(2)
+#define INV_ICM45600_INT1_CONFIG2_LATCHED		BIT(1)
+#define INV_ICM45600_INT1_CONFIG2_ACTIVE_HIGH		BIT(0)
+#define INV_ICM45600_INT1_CONFIG2_ACTIVE_LOW		0x00
+
+#define INV_ICM45600_REG_FIFO_CONFIG0			0x001D
+#define INV_ICM45600_FIFO_CONFIG0_MODE_MASK		GENMASK(7, 6)
+#define INV_ICM45600_FIFO_CONFIG0_MODE_BYPASS		0
+#define INV_ICM45600_FIFO_CONFIG0_MODE_STREAM		1
+#define INV_ICM45600_FIFO_CONFIG0_MODE_STOP_ON_FULL	2
+#define INV_ICM45600_FIFO_CONFIG0_FIFO_DEPTH_MASK	GENMASK(5, 0)
+#define INV_ICM45600_FIFO_CONFIG0_FIFO_DEPTH_MAX	0x1F
+
+#define INV_ICM45600_REG_FIFO_CONFIG2			0x0020
+#define INV_ICM45600_REG_FIFO_CONFIG2_FIFO_FLUSH	BIT(7)
+#define INV_ICM45600_REG_FIFO_CONFIG2_WM_GT_TH		BIT(3)
+
+#define INV_ICM45600_REG_FIFO_CONFIG3			0x0021
+#define INV_ICM45600_FIFO_CONFIG3_ES1_EN		BIT(5)
+#define INV_ICM45600_FIFO_CONFIG3_ES0_EN		BIT(4)
+#define INV_ICM45600_FIFO_CONFIG3_HIRES_EN		BIT(3)
+#define INV_ICM45600_FIFO_CONFIG3_GYRO_EN		BIT(2)
+#define INV_ICM45600_FIFO_CONFIG3_ACCEL_EN		BIT(1)
+#define INV_ICM45600_FIFO_CONFIG3_IF_EN			BIT(0)
+
+#define INV_ICM45600_REG_FIFO_CONFIG4			0x0022
+#define INV_ICM45600_FIFO_CONFIG4_COMP_EN		BIT(2)
+#define INV_ICM45600_FIFO_CONFIG4_TMST_FSYNC_EN		BIT(1)
+#define INV_ICM45600_FIFO_CONFIG4_ES0_9B		BIT(0)
+
+/* all sensor data are 16 bits (2 registers wide) in big-endian */
+#define INV_ICM45600_REG_TEMP_DATA			0x000C
+#define INV_ICM45600_REG_ACCEL_DATA_X			0x0000
+#define INV_ICM45600_REG_ACCEL_DATA_Y			0x0002
+#define INV_ICM45600_REG_ACCEL_DATA_Z			0x0004
+#define INV_ICM45600_REG_GYRO_DATA_X			0x0006
+#define INV_ICM45600_REG_GYRO_DATA_Y			0x0008
+#define INV_ICM45600_REG_GYRO_DATA_Z			0x000A
+
+#define INV_ICM45600_REG_INT_STATUS			0x0019
+#define INV_ICM45600_INT_STATUS_RESET_DONE		BIT(7)
+#define INV_ICM45600_INT_STATUS_AUX1_AGC_RDY		BIT(6)
+#define INV_ICM45600_INT_STATUS_AP_AGC_RDY		BIT(5)
+#define INV_ICM45600_INT_STATUS_AP_FSYNC		BIT(4)
+#define INV_ICM45600_INT_STATUS_AUX1_DRDY		BIT(3)
+#define INV_ICM45600_INT_STATUS_DATA_RDY		BIT(2)
+#define INV_ICM45600_INT_STATUS_FIFO_THS		BIT(1)
+#define INV_ICM45600_INT_STATUS_FIFO_FULL		BIT(0)
+
+/*
+ * FIFO access registers
+ * FIFO count is 16 bits (2 registers)
+ * FIFO data is a continuous read register to read FIFO content
+ */
+#define INV_ICM45600_REG_FIFO_COUNT			0x0012
+#define INV_ICM45600_REG_FIFO_DATA			0x0014
+
+#define INV_ICM45600_REG_PWR_MGMT0			0x0010
+#define INV_ICM45600_PWR_MGMT0_GYRO_MODE_MASK		GENMASK(3, 2)
+#define INV_ICM45600_PWR_MGMT0_ACCEL_MODE_MASK		GENMASK(1, 0)
+
+#define INV_ICM45600_REG_ACCEL_CONFIG0			0x001B
+#define INV_ICM45600_ACCEL_CONFIG0_FS_MASK		GENMASK(6, 4)
+#define INV_ICM45600_ACCEL_CONFIG0_ODR_MASK		GENMASK(3, 0)
+#define INV_ICM45600_REG_GYRO_CONFIG0			0x001C
+#define INV_ICM45600_GYRO_CONFIG0_FS_MASK		GENMASK(7, 4)
+#define INV_ICM45600_GYRO_CONFIG0_ODR_MASK		GENMASK(3, 0)
+
+#define INV_ICM45600_REG_SMC_CONTROL_0			0xA258
+#define INV_ICM45600_SMC_CONTROL_0_ACCEL_LP_CLK_SEL	BIT(4)
+#define INV_ICM45600_SMC_CONTROL_0_TMST_EN		BIT(0)
+
+/* FIFO watermark is 16 bits (2 registers wide) in little-endian */
+#define INV_ICM45600_REG_FIFO_WATERMARK			0x001E
+
+/* FIFO is configured for 8kb */
+#define INV_ICM45600_FIFO_SIZE_MAX			SZ_8K
+
+#define INV_ICM45600_REG_INT1_CONFIG0			0x0016
+#define INV_ICM45600_INT1_CONFIG0_RESET_DONE_EN		BIT(7)
+#define INV_ICM45600_INT1_CONFIG0_AUX1_AGC_RDY_EN	BIT(6)
+#define INV_ICM45600_INT1_CONFIG0_AP_AGC_RDY_EN		BIT(5)
+#define INV_ICM45600_INT1_CONFIG0_AP_FSYNC_EN		BIT(4)
+#define INV_ICM45600_INT1_CONFIG0_AUX1_DRDY_EN		BIT(3)
+#define INV_ICM45600_INT1_CONFIG0_DRDY_EN		BIT(2)
+#define INV_ICM45600_INT1_CONFIG0_FIFO_THS_EN		BIT(1)
+#define INV_ICM45600_INT1_CONFIG0_FIFO_FULL_EN		BIT(0)
+
+#define INV_ICM45600_REG_WHOAMI				0x0072
+#define INV_ICM45600_WHOAMI_ICM45605			0xE5
+#define INV_ICM45600_WHOAMI_ICM45686			0xE9
+#define INV_ICM45600_WHOAMI_ICM45688P			0xE7
+#define INV_ICM45600_WHOAMI_ICM45608			0x81
+#define INV_ICM45600_WHOAMI_ICM45634			0x82
+#define INV_ICM45600_WHOAMI_ICM45689			0x83
+#define INV_ICM45600_WHOAMI_ICM45606			0x84
+#define INV_ICM45600_WHOAMI_ICM45687			0x85
+
+/* Gyro USER offset */
+#define INV_ICM45600_IPREG_SYS1_REG_42			0xA42A
+#define INV_ICM45600_IPREG_SYS1_REG_56			0xA438
+#define INV_ICM45600_IPREG_SYS1_REG_70			0xA446
+#define INV_ICM45600_GYRO_OFFUSER_MASK			GENMASK(13, 0)
+/* Gyro Averaging filter */
+#define INV_ICM45600_IPREG_SYS1_REG_170			0xA4AA
+#define INV_ICM45600_IPREG_SYS1_170_GYRO_LP_AVG_MASK	GENMASK(4, 1)
+#define INV_ICM45600_GYRO_LP_AVG_SEL_8X			5
+#define INV_ICM45600_GYRO_LP_AVG_SEL_2X			1
+/* Accel USER offset */
+#define INV_ICM45600_IPREG_SYS2_REG_24			0xA518
+#define INV_ICM45600_IPREG_SYS2_REG_32			0xA520
+#define INV_ICM45600_IPREG_SYS2_REG_40			0xA528
+#define INV_ICM45600_ACCEL_OFFUSER_MASK			GENMASK(13, 0)
+/* Accel averaging filter */
+#define INV_ICM45600_IPREG_SYS2_REG_129			0xA581
+#define INV_ICM45600_ACCEL_LP_AVG_SEL_1X		0x0000
+#define INV_ICM45600_ACCEL_LP_AVG_SEL_4X		0x0002
+
+/* Sleep times required by the driver */
+#define INV_ICM45600_ACCEL_STARTUP_TIME_MS	60
+#define INV_ICM45600_GYRO_STARTUP_TIME_MS	60
+#define INV_ICM45600_GYRO_STOP_TIME_MS		150
+#define INV_ICM45600_IREG_DELAY_US		4
+
+typedef int (*inv_icm45600_bus_setup)(struct inv_icm45600_state *);
+
+extern const struct dev_pm_ops inv_icm45600_pm_ops;
+
+const struct iio_mount_matrix *
+inv_icm45600_get_mount_matrix(const struct iio_dev *indio_dev,
+			      const struct iio_chan_spec *chan);
+
+#define INV_ICM45600_TEMP_CHAN(_index)					\
+	{								\
+		.type = IIO_TEMP,					\
+		.info_mask_separate =					\
+			BIT(IIO_CHAN_INFO_RAW) |			\
+			BIT(IIO_CHAN_INFO_OFFSET) |			\
+			BIT(IIO_CHAN_INFO_SCALE),			\
+		.scan_index = _index,					\
+		.scan_type = {						\
+			.sign = 's',					\
+			.realbits = 16,					\
+			.storagebits = 16,				\
+			.endianness = IIO_LE,				\
+		},							\
+	}
+
+int inv_icm45600_temp_read_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int *val, int *val2, long mask);
+
+u32 inv_icm45600_odr_to_period(enum inv_icm45600_odr odr);
+
+int inv_icm45600_set_accel_conf(struct inv_icm45600_state *st,
+				struct inv_icm45600_sensor_conf *conf,
+				unsigned int *sleep_ms);
+
+int inv_icm45600_set_gyro_conf(struct inv_icm45600_state *st,
+			       struct inv_icm45600_sensor_conf *conf,
+			       unsigned int *sleep_ms);
+
+int inv_icm45600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
+			     unsigned int writeval, unsigned int *readval);
+
+int inv_icm45600_core_probe(struct regmap *regmap,
+				const struct inv_icm45600_chip_info *chip_info,
+				bool reset, inv_icm45600_bus_setup bus_setup);
+
+struct iio_dev *inv_icm45600_gyro_init(struct inv_icm45600_state *st);
+
+int inv_icm45600_gyro_parse_fifo(struct iio_dev *indio_dev);
+
+struct iio_dev *inv_icm45600_accel_init(struct inv_icm45600_state *st);
+
+int inv_icm45600_accel_parse_fifo(struct iio_dev *indio_dev);
+
+#endif

linux-7.2.3/drivers/iio/imu/inv_icm45600/inv_icm45600_accel.c

@@ -0,0 +1,782 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2025 Invensense, Inc.
+ */
+
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/math64.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/types.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/kfifo_buf.h>
+
+#include "inv_icm45600_buffer.h"
+#include "inv_icm45600.h"
+
+enum inv_icm45600_accel_scan {
+	INV_ICM45600_ACCEL_SCAN_X,
+	INV_ICM45600_ACCEL_SCAN_Y,
+	INV_ICM45600_ACCEL_SCAN_Z,
+	INV_ICM45600_ACCEL_SCAN_TEMP,
+	INV_ICM45600_ACCEL_SCAN_TIMESTAMP,
+};
+
+static const struct iio_chan_spec_ext_info inv_icm45600_accel_ext_infos[] = {
+	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm45600_get_mount_matrix),
+	{ }
+};
+
+#define INV_ICM45600_ACCEL_CHAN(_modifier, _index, _ext_info)		\
+	{								\
+		.type = IIO_ACCEL,					\
+		.modified = 1,						\
+		.channel2 = _modifier,					\
+		.info_mask_separate =					\
+			BIT(IIO_CHAN_INFO_RAW) |			\
+			BIT(IIO_CHAN_INFO_CALIBBIAS),			\
+		.info_mask_shared_by_type =				\
+			BIT(IIO_CHAN_INFO_SCALE),			\
+		.info_mask_shared_by_type_available =			\
+			BIT(IIO_CHAN_INFO_SCALE) |			\
+			BIT(IIO_CHAN_INFO_CALIBBIAS),			\
+		.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_LE,				\
+		},							\
+		.ext_info = _ext_info,					\
+	}
+
+static const struct iio_chan_spec inv_icm45600_accel_channels[] = {
+	INV_ICM45600_ACCEL_CHAN(IIO_MOD_X, INV_ICM45600_ACCEL_SCAN_X,
+				inv_icm45600_accel_ext_infos),
+	INV_ICM45600_ACCEL_CHAN(IIO_MOD_Y, INV_ICM45600_ACCEL_SCAN_Y,
+				inv_icm45600_accel_ext_infos),
+	INV_ICM45600_ACCEL_CHAN(IIO_MOD_Z, INV_ICM45600_ACCEL_SCAN_Z,
+				inv_icm45600_accel_ext_infos),
+	INV_ICM45600_TEMP_CHAN(INV_ICM45600_ACCEL_SCAN_TEMP),
+	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM45600_ACCEL_SCAN_TIMESTAMP),
+};
+
+/*
+ * IIO buffer data: size must be a power of 2 and timestamp aligned
+ * 16 bytes: 6 bytes acceleration, 2 bytes temperature, 8 bytes timestamp
+ */
+struct inv_icm45600_accel_buffer {
+	struct inv_icm45600_fifo_sensor_data accel;
+	s16 temp;
+	aligned_s64 timestamp;
+};
+
+static const unsigned long inv_icm45600_accel_scan_masks[] = {
+	/* 3-axis accel + temperature */
+	BIT(INV_ICM45600_ACCEL_SCAN_X) |
+	BIT(INV_ICM45600_ACCEL_SCAN_Y) |
+	BIT(INV_ICM45600_ACCEL_SCAN_Z) |
+	BIT(INV_ICM45600_ACCEL_SCAN_TEMP),
+	0
+};
+
+/* enable accelerometer sensor and FIFO write */
+static int inv_icm45600_accel_update_scan_mode(struct iio_dev *indio_dev,
+					       const unsigned long *scan_mask)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
+	struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
+	unsigned int fifo_en = 0;
+	unsigned int sleep = 0;
+	int ret;
+
+	scoped_guard(mutex, &st->lock) {
+		if (*scan_mask & BIT(INV_ICM45600_ACCEL_SCAN_TEMP))
+			fifo_en |= INV_ICM45600_SENSOR_TEMP;
+
+		if (*scan_mask & (BIT(INV_ICM45600_ACCEL_SCAN_X) |
+				 BIT(INV_ICM45600_ACCEL_SCAN_Y) |
+				 BIT(INV_ICM45600_ACCEL_SCAN_Z))) {
+			/* enable accel sensor */
+			conf.mode = accel_st->power_mode;
+			ret = inv_icm45600_set_accel_conf(st, &conf, &sleep);
+			if (ret)
+				return ret;
+			fifo_en |= INV_ICM45600_SENSOR_ACCEL;
+		}
+
+		/* Update data FIFO write. */
+		ret = inv_icm45600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
+	}
+
+	/* Sleep required time. */
+	if (sleep)
+		msleep(sleep);
+
+	return ret;
+}
+
+static int _inv_icm45600_accel_read_sensor(struct inv_icm45600_state *st,
+					   struct inv_icm45600_sensor_state *accel_st,
+					   unsigned int reg, int *val)
+{
+	struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
+	int ret;
+
+	/* enable accel sensor */
+	conf.mode = accel_st->power_mode;
+	ret = inv_icm45600_set_accel_conf(st, &conf, NULL);
+	if (ret)
+		return ret;
+
+	/* read accel register data */
+	ret = regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffer.u16));
+	if (ret)
+		return ret;
+
+	*val = sign_extend32(le16_to_cpup(&st->buffer.u16), 15);
+	if (*val == INV_ICM45600_DATA_INVALID)
+		return -ENODATA;
+
+	return 0;
+}
+
+static int inv_icm45600_accel_read_sensor(struct iio_dev *indio_dev,
+					  struct iio_chan_spec const *chan,
+					  int *val)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int reg;
+	int ret;
+
+	if (chan->type != IIO_ACCEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM45600_REG_ACCEL_DATA_X;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM45600_REG_ACCEL_DATA_Y;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM45600_REG_ACCEL_DATA_Z;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock)
+		ret = _inv_icm45600_accel_read_sensor(st, accel_st, reg, val);
+
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+/* IIO format int + nano */
+const int inv_icm45600_accel_scale[][2] = {
+	/* +/- 16G => 0.004788403 m/s-2 */
+	[INV_ICM45600_ACCEL_FS_16G] = { 0, 4788403 },
+	/* +/- 8G => 0.002394202 m/s-2 */
+	[INV_ICM45600_ACCEL_FS_8G] = { 0, 2394202 },
+	/* +/- 4G => 0.001197101 m/s-2 */
+	[INV_ICM45600_ACCEL_FS_4G] = { 0, 1197101 },
+	/* +/- 2G => 0.000598550 m/s-2 */
+	[INV_ICM45600_ACCEL_FS_2G] = { 0, 598550 },
+};
+
+const int inv_icm45686_accel_scale[][2] = {
+	/* +/- 32G => 0.009576806 m/s-2 */
+	[INV_ICM45686_ACCEL_FS_32G] = { 0, 9576806 },
+	/* +/- 16G => 0.004788403 m/s-2 */
+	[INV_ICM45686_ACCEL_FS_16G] = { 0, 4788403 },
+	/* +/- 8G => 0.002394202 m/s-2 */
+	[INV_ICM45686_ACCEL_FS_8G] = { 0, 2394202 },
+	/* +/- 4G => 0.001197101 m/s-2 */
+	[INV_ICM45686_ACCEL_FS_4G] = { 0, 1197101 },
+	/* +/- 2G => 0.000598550 m/s-2 */
+	[INV_ICM45686_ACCEL_FS_2G] = { 0, 598550 },
+};
+
+static int inv_icm45600_accel_read_scale(struct iio_dev *indio_dev,
+					 int *val, int *val2)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
+	unsigned int idx;
+
+	idx = st->conf.accel.fs;
+
+	/* Full scale register starts at 1 for not High FSR parts */
+	if (accel_st->scales == (const int *)&inv_icm45600_accel_scale)
+		idx--;
+
+	*val = accel_st->scales[2 * idx];
+	*val2 = accel_st->scales[2 * idx + 1];
+	return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm45600_accel_write_scale(struct iio_dev *indio_dev,
+					  int val, int val2)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int idx;
+	struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
+	int ret;
+
+	for (idx = 0; idx < accel_st->scales_len; idx += 2) {
+		if (val == accel_st->scales[idx] &&
+		    val2 == accel_st->scales[idx + 1])
+			break;
+	}
+	if (idx == accel_st->scales_len)
+		return -EINVAL;
+
+	conf.fs = idx / 2;
+
+	/* Full scale register starts at 1 for not High FSR parts */
+	if (accel_st->scales == (const int *)&inv_icm45600_accel_scale)
+		conf.fs++;
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock)
+		ret = inv_icm45600_set_accel_conf(st, &conf, NULL);
+
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+/* IIO format int + micro */
+static const int inv_icm45600_accel_odr[] = {
+	1, 562500,	/* 1.5625Hz */
+	3, 125000,	/* 3.125Hz */
+	6, 250000,	/* 6.25Hz */
+	12, 500000,	/* 12.5Hz */
+	25, 0,		/* 25Hz */
+	50, 0,		/* 50Hz */
+	100, 0,		/* 100Hz */
+	200, 0,		/* 200Hz */
+	400, 0,		/* 400Hz */
+	800, 0,		/* 800Hz */
+	1600, 0,	/* 1.6kHz */
+	3200, 0,	/* 3.2kHz */
+	6400, 0,	/* 6.4kHz */
+};
+
+static const int inv_icm45600_accel_odr_conv[] = {
+	INV_ICM45600_ODR_1_5625HZ_LP,
+	INV_ICM45600_ODR_3_125HZ_LP,
+	INV_ICM45600_ODR_6_25HZ_LP,
+	INV_ICM45600_ODR_12_5HZ,
+	INV_ICM45600_ODR_25HZ,
+	INV_ICM45600_ODR_50HZ,
+	INV_ICM45600_ODR_100HZ,
+	INV_ICM45600_ODR_200HZ,
+	INV_ICM45600_ODR_400HZ,
+	INV_ICM45600_ODR_800HZ_LN,
+	INV_ICM45600_ODR_1600HZ_LN,
+	INV_ICM45600_ODR_3200HZ_LN,
+	INV_ICM45600_ODR_6400HZ_LN,
+};
+
+static int inv_icm45600_accel_read_odr(struct inv_icm45600_state *st,
+				       int *val, int *val2)
+{
+	unsigned int odr;
+	unsigned int i;
+
+	odr = st->conf.accel.odr;
+
+	for (i = 0; i < ARRAY_SIZE(inv_icm45600_accel_odr_conv); ++i) {
+		if (inv_icm45600_accel_odr_conv[i] == odr)
+			break;
+	}
+	if (i >= ARRAY_SIZE(inv_icm45600_accel_odr_conv))
+		return -EINVAL;
+
+	*val = inv_icm45600_accel_odr[2 * i];
+	*val2 = inv_icm45600_accel_odr[2 * i + 1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int _inv_icm45600_accel_write_odr(struct iio_dev *indio_dev, int odr)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &accel_st->ts;
+	struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
+	int ret;
+
+	conf.odr = odr;
+	ret = inv_sensors_timestamp_update_odr(ts, inv_icm45600_odr_to_period(conf.odr),
+						iio_buffer_enabled(indio_dev));
+	if (ret)
+		return ret;
+
+	if (st->conf.accel.mode != INV_ICM45600_SENSOR_MODE_OFF)
+		conf.mode = accel_st->power_mode;
+
+	ret = inv_icm45600_set_accel_conf(st, &conf, NULL);
+	if (ret)
+		return ret;
+
+	inv_icm45600_buffer_update_fifo_period(st);
+	inv_icm45600_buffer_update_watermark(st);
+
+	return 0;
+}
+
+static int inv_icm45600_accel_write_odr(struct iio_dev *indio_dev,
+					int val, int val2)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int idx;
+	int odr;
+	int ret;
+
+	for (idx = 0; idx < ARRAY_SIZE(inv_icm45600_accel_odr); idx += 2) {
+		if (val == inv_icm45600_accel_odr[idx] &&
+		    val2 == inv_icm45600_accel_odr[idx + 1])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm45600_accel_odr))
+		return -EINVAL;
+
+	odr = inv_icm45600_accel_odr_conv[idx / 2];
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock)
+		ret = _inv_icm45600_accel_write_odr(indio_dev, odr);
+
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+/*
+ * Calibration bias values, IIO range format int + micro.
+ * Value is limited to +/-1g coded on 14 bits signed. Step is 0.125mg.
+ */
+static int inv_icm45600_accel_calibbias[] = {
+	-9, 806650,		/* min: -9.806650 m/s² */
+	0, 1197,		/* step: 0.001197 m/s² */
+	9, 805453,		/* max: 9.805453 m/s² */
+};
+
+static int inv_icm45600_accel_read_offset(struct inv_icm45600_state *st,
+					  struct iio_chan_spec const *chan,
+					  int *val, int *val2)
+{
+	struct device *dev = regmap_get_device(st->map);
+	s64 val64;
+	s32 bias;
+	unsigned int reg;
+	s16 offset;
+	int ret;
+
+	if (chan->type != IIO_ACCEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM45600_IPREG_SYS2_REG_24;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM45600_IPREG_SYS2_REG_32;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM45600_IPREG_SYS2_REG_40;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock)
+		ret = regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffer.u16));
+
+	pm_runtime_put_autosuspend(dev);
+	if (ret)
+		return ret;
+
+	offset = le16_to_cpup(&st->buffer.u16) & INV_ICM45600_ACCEL_OFFUSER_MASK;
+	/* 14 bits signed value */
+	offset = sign_extend32(offset, 13);
+
+	/*
+	 * convert raw offset to g then to m/s²
+	 * 14 bits signed raw step 1/8192g
+	 * g to m/s²: 9.806650
+	 * result in micro (* 1000000)
+	 * (offset * 9806650) / 8192
+	 */
+	val64 = (s64)offset * 9806650LL;
+	/* for rounding, add + or - divisor (8192) divided by 2 */
+	if (val64 >= 0)
+		val64 += 8192LL / 2LL;
+	else
+		val64 -= 8192LL / 2LL;
+	bias = div_s64(val64, 8192L);
+	*val = bias / 1000000L;
+	*val2 = bias % 1000000L;
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int inv_icm45600_accel_write_offset(struct inv_icm45600_state *st,
+					   struct iio_chan_spec const *chan,
+					   int val, int val2)
+{
+	struct device *dev = regmap_get_device(st->map);
+	s64 val64;
+	s32 min, max;
+	unsigned int reg;
+	s16 offset;
+	int ret;
+
+	if (chan->type != IIO_ACCEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM45600_IPREG_SYS2_REG_24;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM45600_IPREG_SYS2_REG_32;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM45600_IPREG_SYS2_REG_40;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	/* inv_icm45600_accel_calibbias: min - step - max in micro */
+	min = inv_icm45600_accel_calibbias[0] * 1000000L -
+	      inv_icm45600_accel_calibbias[1];
+	max = inv_icm45600_accel_calibbias[4] * 1000000L +
+	      inv_icm45600_accel_calibbias[5];
+	val64 = (s64)val * 1000000LL;
+	if (val >= 0)
+		val64 += (s64)val2;
+	else
+		val64 -= (s64)val2;
+	if (val64 < min || val64 > max)
+		return -EINVAL;
+
+	/*
+	 * convert m/s² to g then to raw value
+	 * m/s² to g: 1 / 9.806650
+	 * g to raw 14 bits signed, step 1/8192g: * 8192
+	 * val in micro (1000000)
+	 * val * 8192 / (9.806650 * 1000000)
+	 */
+	val64 = val64 * 8192LL;
+	/* for rounding, add + or - divisor (9806650) divided by 2 */
+	if (val64 >= 0)
+		val64 += 9806650 / 2;
+	else
+		val64 -= 9806650 / 2;
+	offset = div_s64(val64, 9806650);
+
+	/* clamp value limited to 14 bits signed */
+	offset = clamp(offset, -8192, 8191);
+
+	st->buffer.u16 = cpu_to_le16(offset & INV_ICM45600_ACCEL_OFFUSER_MASK);
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock)
+		ret = regmap_bulk_write(st->map, reg, &st->buffer.u16, sizeof(st->buffer.u16));
+
+	pm_runtime_put_autosuspend(dev);
+	return ret;
+}
+
+static int inv_icm45600_accel_read_raw(struct iio_dev *indio_dev,
+				       struct iio_chan_spec const *chan,
+				       int *val, int *val2, long mask)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	switch (chan->type) {
+	case IIO_ACCEL:
+		break;
+	case IIO_TEMP:
+		return inv_icm45600_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_icm45600_accel_read_sensor(indio_dev, chan, val);
+		iio_device_release_direct(indio_dev);
+		if (ret)
+			return ret;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_SCALE:
+		return inv_icm45600_accel_read_scale(indio_dev, val, val2);
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm45600_accel_read_odr(st, val, val2);
+	case IIO_CHAN_INFO_CALIBBIAS:
+		return inv_icm45600_accel_read_offset(st, chan, val, val2);
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm45600_accel_read_avail(struct iio_dev *indio_dev,
+					 struct iio_chan_spec const *chan,
+					 const int **vals,
+					 int *type, int *length, long mask)
+{
+	struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
+
+	if (chan->type != IIO_ACCEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		*vals = accel_st->scales;
+		*type = IIO_VAL_INT_PLUS_NANO;
+		*length = accel_st->scales_len;
+		return IIO_AVAIL_LIST;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		*vals = inv_icm45600_accel_odr;
+		*type = IIO_VAL_INT_PLUS_MICRO;
+		*length = ARRAY_SIZE(inv_icm45600_accel_odr);
+		return IIO_AVAIL_LIST;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		*vals = inv_icm45600_accel_calibbias;
+		*type = IIO_VAL_INT_PLUS_MICRO;
+		return IIO_AVAIL_RANGE;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm45600_accel_write_raw(struct iio_dev *indio_dev,
+					struct iio_chan_spec const *chan,
+					int val, int val2, long mask)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	if (chan->type != IIO_ACCEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm45600_accel_write_scale(indio_dev, val, val2);
+		iio_device_release_direct(indio_dev);
+		return ret;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm45600_accel_write_odr(indio_dev, val, val2);
+	case IIO_CHAN_INFO_CALIBBIAS:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm45600_accel_write_offset(st, chan, val, val2);
+		iio_device_release_direct(indio_dev);
+		return ret;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm45600_accel_write_raw_get_fmt(struct iio_dev *indio_dev,
+						struct iio_chan_spec const *chan,
+						long mask)
+{
+	if (chan->type != IIO_ACCEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		return IIO_VAL_INT_PLUS_NANO;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		return IIO_VAL_INT_PLUS_MICRO;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm45600_accel_hwfifo_set_watermark(struct iio_dev *indio_dev,
+						   unsigned int val)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+
+	guard(mutex)(&st->lock);
+
+	st->fifo.watermark.accel = val;
+	return inv_icm45600_buffer_update_watermark(st);
+}
+
+static int inv_icm45600_accel_hwfifo_flush(struct iio_dev *indio_dev,
+					   unsigned int count)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	if (count == 0)
+		return 0;
+
+	guard(mutex)(&st->lock);
+
+	ret = inv_icm45600_buffer_hwfifo_flush(st, count);
+	if (ret)
+		return ret;
+
+	return st->fifo.nb.accel;
+}
+
+static const struct iio_info inv_icm45600_accel_info = {
+	.read_raw = inv_icm45600_accel_read_raw,
+	.read_avail = inv_icm45600_accel_read_avail,
+	.write_raw = inv_icm45600_accel_write_raw,
+	.write_raw_get_fmt = inv_icm45600_accel_write_raw_get_fmt,
+	.debugfs_reg_access = inv_icm45600_debugfs_reg,
+	.update_scan_mode = inv_icm45600_accel_update_scan_mode,
+	.hwfifo_set_watermark = inv_icm45600_accel_hwfifo_set_watermark,
+	.hwfifo_flush_to_buffer = inv_icm45600_accel_hwfifo_flush,
+};
+
+struct iio_dev *inv_icm45600_accel_init(struct inv_icm45600_state *st)
+{
+	struct device *dev = regmap_get_device(st->map);
+	struct inv_icm45600_sensor_state *accel_st;
+	struct inv_sensors_timestamp_chip ts_chip;
+	struct iio_dev *indio_dev;
+	const char *name;
+	int ret;
+
+	name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->chip_info->name);
+	if (!name)
+		return ERR_PTR(-ENOMEM);
+
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st));
+	if (!indio_dev)
+		return ERR_PTR(-ENOMEM);
+	accel_st = iio_priv(indio_dev);
+
+	accel_st->scales = st->chip_info->accel_scales;
+	accel_st->scales_len = st->chip_info->accel_scales_len * 2;
+
+	/* low-power (LP) mode by default at init, no ULP mode */
+	accel_st->power_mode = INV_ICM45600_SENSOR_MODE_LOW_POWER;
+	ret = regmap_set_bits(st->map, INV_ICM45600_REG_SMC_CONTROL_0,
+			      INV_ICM45600_SMC_CONTROL_0_ACCEL_LP_CLK_SEL);
+	if (ret)
+		return ERR_PTR(ret);
+
+	/*
+	 * 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_icm45600_odr_to_period(st->conf.accel.odr);
+	inv_sensors_timestamp_init(&accel_st->ts, &ts_chip);
+
+	iio_device_set_drvdata(indio_dev, st);
+	indio_dev->name = name;
+	indio_dev->info = &inv_icm45600_accel_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->channels = inv_icm45600_accel_channels;
+	indio_dev->num_channels = ARRAY_SIZE(inv_icm45600_accel_channels);
+	indio_dev->available_scan_masks = inv_icm45600_accel_scan_masks;
+
+	ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
+					  &inv_icm45600_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_icm45600_accel_parse_fifo(struct iio_dev *indio_dev)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &accel_st->ts;
+	ssize_t i, size;
+	unsigned int no;
+
+	/* parse all fifo packets */
+	for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
+		struct inv_icm45600_accel_buffer buffer = { };
+		const struct inv_icm45600_fifo_sensor_data *accel, *gyro;
+		const __le16 *timestamp;
+		const s8 *temp;
+		unsigned int odr;
+		s64 ts_val;
+
+		size = inv_icm45600_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 accel data or data is invalid */
+		if (accel == NULL || !inv_icm45600_fifo_is_data_valid(accel))
+			continue;
+
+		/* update odr */
+		if (odr & INV_ICM45600_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_ts(indio_dev, &buffer, sizeof(buffer), ts_val);
+	}
+
+	return 0;
+}

linux-7.2.3/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.c

@@ -0,0 +1,558 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/* Copyright (C) 2025 Invensense, Inc. */
+
+#include <linux/bitfield.h>
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/minmax.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/time.h>
+#include <linux/types.h>
+
+#include <asm/byteorder.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+
+#include "inv_icm45600_buffer.h"
+#include "inv_icm45600.h"
+
+/* FIFO header: 1 byte */
+#define INV_ICM45600_FIFO_EXT_HEADER		BIT(7)
+#define INV_ICM45600_FIFO_HEADER_ACCEL		BIT(6)
+#define INV_ICM45600_FIFO_HEADER_GYRO		BIT(5)
+#define INV_ICM45600_FIFO_HEADER_HIGH_RES	BIT(4)
+#define INV_ICM45600_FIFO_HEADER_TMST_FSYNC	GENMASK(3, 2)
+#define INV_ICM45600_FIFO_HEADER_ODR_ACCEL	BIT(1)
+#define INV_ICM45600_FIFO_HEADER_ODR_GYRO	BIT(0)
+
+struct inv_icm45600_fifo_1sensor_packet {
+	u8 header;
+	struct inv_icm45600_fifo_sensor_data data;
+	s8 temp;
+} __packed;
+
+struct inv_icm45600_fifo_2sensors_packet {
+	u8 header;
+	struct inv_icm45600_fifo_sensor_data accel;
+	struct inv_icm45600_fifo_sensor_data gyro;
+	s8 temp;
+	__le16 timestamp;
+} __packed;
+
+ssize_t inv_icm45600_fifo_decode_packet(const void *packet,
+					const struct inv_icm45600_fifo_sensor_data **accel,
+					const struct inv_icm45600_fifo_sensor_data **gyro,
+					const s8 **temp,
+					const __le16 **timestamp, unsigned int *odr)
+{
+	const struct inv_icm45600_fifo_1sensor_packet *pack1 = packet;
+	const struct inv_icm45600_fifo_2sensors_packet *pack2 = packet;
+	u8 header = *((const u8 *)packet);
+
+	/* FIFO extended header */
+	if (header & INV_ICM45600_FIFO_EXT_HEADER) {
+		/* Not yet supported */
+		return 0;
+	}
+
+	/* handle odr flags. */
+	*odr = 0;
+	if (header & INV_ICM45600_FIFO_HEADER_ODR_GYRO)
+		*odr |= INV_ICM45600_SENSOR_GYRO;
+	if (header & INV_ICM45600_FIFO_HEADER_ODR_ACCEL)
+		*odr |= INV_ICM45600_SENSOR_ACCEL;
+
+	/* Accel + Gyro data are present. */
+	if ((header & INV_ICM45600_FIFO_HEADER_ACCEL) &&
+	    (header & INV_ICM45600_FIFO_HEADER_GYRO)) {
+		*accel = &pack2->accel;
+		*gyro = &pack2->gyro;
+		*temp = &pack2->temp;
+		*timestamp = &pack2->timestamp;
+		return sizeof(*pack2);
+	}
+
+	/* Accel data only. */
+	if (header & INV_ICM45600_FIFO_HEADER_ACCEL) {
+		*accel = &pack1->data;
+		*gyro = NULL;
+		*temp = &pack1->temp;
+		*timestamp = NULL;
+		return sizeof(*pack1);
+	}
+
+	/* Gyro data only. */
+	if (header & INV_ICM45600_FIFO_HEADER_GYRO) {
+		*accel = NULL;
+		*gyro = &pack1->data;
+		*temp = &pack1->temp;
+		*timestamp = NULL;
+		return sizeof(*pack1);
+	}
+
+	/* Invalid packet if here. */
+	return -EINVAL;
+}
+
+void inv_icm45600_buffer_update_fifo_period(struct inv_icm45600_state *st)
+{
+	u32 period_gyro, period_accel;
+
+	if (st->fifo.en & INV_ICM45600_SENSOR_GYRO)
+		period_gyro = inv_icm45600_odr_to_period(st->conf.gyro.odr);
+	else
+		period_gyro = U32_MAX;
+
+	if (st->fifo.en & INV_ICM45600_SENSOR_ACCEL)
+		period_accel = inv_icm45600_odr_to_period(st->conf.accel.odr);
+	else
+		period_accel = U32_MAX;
+
+	st->fifo.period = min(period_gyro, period_accel);
+}
+
+int inv_icm45600_buffer_set_fifo_en(struct inv_icm45600_state *st,
+				    unsigned int fifo_en)
+{
+	unsigned int mask;
+	int ret;
+
+	mask = INV_ICM45600_FIFO_CONFIG3_GYRO_EN |
+	       INV_ICM45600_FIFO_CONFIG3_ACCEL_EN;
+
+	ret = regmap_assign_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG3, mask,
+				 (fifo_en & INV_ICM45600_SENSOR_GYRO) ||
+				 (fifo_en & INV_ICM45600_SENSOR_ACCEL));
+	if (ret)
+		return ret;
+
+	st->fifo.en = fifo_en;
+	inv_icm45600_buffer_update_fifo_period(st);
+
+	return 0;
+}
+
+static unsigned int inv_icm45600_wm_truncate(unsigned int watermark, size_t packet_size,
+					     unsigned int fifo_period)
+{
+	size_t watermark_max, grace_samples;
+
+	/* Keep 20ms for processing FIFO.*/
+	grace_samples = (20U * NSEC_PER_MSEC) / fifo_period;
+	if (grace_samples < 1)
+		grace_samples = 1;
+
+	watermark_max = INV_ICM45600_FIFO_SIZE_MAX / packet_size;
+	watermark_max -= grace_samples;
+
+	return min(watermark, watermark_max);
+}
+
+/**
+ * inv_icm45600_buffer_update_watermark - update watermark FIFO threshold
+ * @st:	driver internal state
+ *
+ * FIFO watermark threshold is computed based on the required watermark values
+ * set for gyro and accel sensors. Since watermark is all about acceptable data
+ * latency, use the smallest setting between the 2. It means choosing the
+ * smallest latency but this is not as simple as choosing the smallest watermark
+ * value. Latency depends on watermark and ODR. It requires several steps:
+ * 1) compute gyro and accel latencies and choose the smallest value.
+ * 2) adapt the chosen latency so that it is a multiple of both gyro and accel
+ *    ones. Otherwise it is possible that you don't meet a requirement. (for
+ *    example with gyro @100Hz wm 4 and accel @100Hz with wm 6, choosing the
+ *    value of 4 will not meet accel latency requirement because 6 is not a
+ *    multiple of 4. You need to use the value 2.)
+ * 3) Since all periods are multiple of each others, watermark is computed by
+ *    dividing this computed latency by the smallest period, which corresponds
+ *    to the FIFO frequency.
+ *
+ * Returns: 0 on success, a negative error code otherwise.
+ */
+int inv_icm45600_buffer_update_watermark(struct inv_icm45600_state *st)
+{
+	const size_t packet_size = sizeof(struct inv_icm45600_fifo_2sensors_packet);
+	unsigned int wm_gyro, wm_accel, watermark;
+	u32 period_gyro, period_accel, period;
+	u32 latency_gyro, latency_accel, latency;
+
+	/* Compute sensors latency, depending on sensor watermark and odr. */
+	wm_gyro = inv_icm45600_wm_truncate(st->fifo.watermark.gyro, packet_size,
+					   st->fifo.period);
+	wm_accel = inv_icm45600_wm_truncate(st->fifo.watermark.accel, packet_size,
+					    st->fifo.period);
+	/* Use us for odr to avoid overflow using 32 bits values. */
+	period_gyro = inv_icm45600_odr_to_period(st->conf.gyro.odr) / NSEC_PER_USEC;
+	period_accel = inv_icm45600_odr_to_period(st->conf.accel.odr) / NSEC_PER_USEC;
+	latency_gyro = period_gyro * wm_gyro;
+	latency_accel = period_accel * wm_accel;
+
+	/* 0 value for watermark means that the sensor is turned off. */
+	if (wm_gyro == 0 && wm_accel == 0)
+		return 0;
+
+	if (latency_gyro == 0) {
+		watermark = wm_accel;
+		st->fifo.watermark.eff_accel = wm_accel;
+	} else if (latency_accel == 0) {
+		watermark = wm_gyro;
+		st->fifo.watermark.eff_gyro = wm_gyro;
+	} else {
+		/* Compute the smallest latency that is a multiple of both. */
+		if (latency_gyro <= latency_accel)
+			latency = latency_gyro - (latency_accel % latency_gyro);
+		else
+			latency = latency_accel - (latency_gyro % latency_accel);
+		/* Use the shortest period. */
+		period = min(period_gyro, period_accel);
+		/* All this works because periods are multiple of each others. */
+		watermark = max(latency / period, 1);
+		/* Update effective watermark. */
+		st->fifo.watermark.eff_gyro = max(latency / period_gyro, 1);
+		st->fifo.watermark.eff_accel = max(latency / period_accel, 1);
+	}
+
+	st->buffer.u16 = cpu_to_le16(watermark);
+	return regmap_bulk_write(st->map, INV_ICM45600_REG_FIFO_WATERMARK,
+				 &st->buffer.u16, sizeof(st->buffer.u16));
+}
+
+static int inv_icm45600_buffer_preenable(struct iio_dev *indio_dev)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	struct inv_icm45600_sensor_state *sensor_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &sensor_st->ts;
+	int ret;
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	guard(mutex)(&st->lock);
+	inv_sensors_timestamp_reset(ts);
+
+	return 0;
+}
+
+/*
+ * Update_scan_mode callback is turning sensors on and setting data FIFO enable
+ * bits.
+ */
+static int inv_icm45600_buffer_postenable(struct iio_dev *indio_dev)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	unsigned int val;
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	/* Exit if FIFO is already on. */
+	if (st->fifo.on) {
+		st->fifo.on++;
+		return 0;
+	}
+
+	ret = regmap_set_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG2,
+			      INV_ICM45600_REG_FIFO_CONFIG2_FIFO_FLUSH);
+	if (ret)
+		return ret;
+
+	ret = regmap_set_bits(st->map, INV_ICM45600_REG_INT1_CONFIG0,
+			      INV_ICM45600_INT1_CONFIG0_FIFO_THS_EN |
+			      INV_ICM45600_INT1_CONFIG0_FIFO_FULL_EN);
+	if (ret)
+		return ret;
+
+	val = FIELD_PREP(INV_ICM45600_FIFO_CONFIG0_MODE_MASK,
+			 INV_ICM45600_FIFO_CONFIG0_MODE_STREAM);
+	ret = regmap_update_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG0,
+				 INV_ICM45600_FIFO_CONFIG0_MODE_MASK, val);
+	if (ret)
+		return ret;
+
+	/* Enable writing sensor data to FIFO. */
+	ret = regmap_set_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG3,
+			      INV_ICM45600_FIFO_CONFIG3_IF_EN);
+	if (ret)
+		return ret;
+
+	st->fifo.on++;
+	return 0;
+}
+
+static int inv_icm45600_buffer_predisable(struct iio_dev *indio_dev)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	unsigned int val;
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	/* Exit if there are several sensors using the FIFO. */
+	if (st->fifo.on > 1) {
+		st->fifo.on--;
+		return 0;
+	}
+
+	/* Disable writing sensor data to FIFO. */
+	ret = regmap_clear_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG3,
+				INV_ICM45600_FIFO_CONFIG3_IF_EN);
+	if (ret)
+		return ret;
+
+	val = FIELD_PREP(INV_ICM45600_FIFO_CONFIG0_MODE_MASK,
+			 INV_ICM45600_FIFO_CONFIG0_MODE_BYPASS);
+	ret = regmap_update_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG0,
+				 INV_ICM45600_FIFO_CONFIG0_MODE_MASK, val);
+	if (ret)
+		return ret;
+
+	ret = regmap_clear_bits(st->map, INV_ICM45600_REG_INT1_CONFIG0,
+				INV_ICM45600_INT1_CONFIG0_FIFO_THS_EN |
+				INV_ICM45600_INT1_CONFIG0_FIFO_FULL_EN);
+	if (ret)
+		return ret;
+
+	ret = regmap_set_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG2,
+			      INV_ICM45600_REG_FIFO_CONFIG2_FIFO_FLUSH);
+	if (ret)
+		return ret;
+
+	st->fifo.on--;
+	return 0;
+}
+
+static int _inv_icm45600_buffer_postdisable(struct inv_icm45600_state *st,
+					    unsigned int sensor, unsigned int *watermark,
+					    unsigned int *sleep)
+{
+	struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
+	int ret;
+
+	ret = inv_icm45600_buffer_set_fifo_en(st, st->fifo.en & ~sensor);
+	if (ret)
+		return ret;
+
+	*watermark = 0;
+	ret = inv_icm45600_buffer_update_watermark(st);
+	if (ret)
+		return ret;
+
+	conf.mode = INV_ICM45600_SENSOR_MODE_OFF;
+	if (sensor == INV_ICM45600_SENSOR_GYRO)
+		return inv_icm45600_set_gyro_conf(st, &conf, sleep);
+	else
+		return inv_icm45600_set_accel_conf(st, &conf, sleep);
+}
+
+static int inv_icm45600_buffer_postdisable(struct iio_dev *indio_dev)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int sensor;
+	unsigned int *watermark;
+	unsigned int sleep;
+	int ret;
+
+	if (indio_dev == st->indio_gyro) {
+		sensor = INV_ICM45600_SENSOR_GYRO;
+		watermark = &st->fifo.watermark.gyro;
+	} else if (indio_dev == st->indio_accel) {
+		sensor = INV_ICM45600_SENSOR_ACCEL;
+		watermark = &st->fifo.watermark.accel;
+	} else {
+		return -EINVAL;
+	}
+
+	sleep = 0;
+	scoped_guard(mutex, &st->lock)
+		ret = _inv_icm45600_buffer_postdisable(st, sensor, watermark, &sleep);
+
+	/* Sleep required time. */
+	if (sleep)
+		msleep(sleep);
+
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+const struct iio_buffer_setup_ops inv_icm45600_buffer_ops = {
+	.preenable = inv_icm45600_buffer_preenable,
+	.postenable = inv_icm45600_buffer_postenable,
+	.predisable = inv_icm45600_buffer_predisable,
+	.postdisable = inv_icm45600_buffer_postdisable,
+};
+
+int inv_icm45600_buffer_fifo_read(struct inv_icm45600_state *st,
+				  unsigned int max)
+{
+	const ssize_t packet_size = sizeof(struct inv_icm45600_fifo_2sensors_packet);
+	__le16 *raw_fifo_count;
+	size_t fifo_nb, i;
+	ssize_t size;
+	const struct inv_icm45600_fifo_sensor_data *accel, *gyro;
+	const __le16 *timestamp;
+	const s8 *temp;
+	unsigned int odr;
+	int ret;
+
+	/* Reset all samples counters. */
+	st->fifo.count = 0;
+	st->fifo.nb.gyro = 0;
+	st->fifo.nb.accel = 0;
+	st->fifo.nb.total = 0;
+
+	raw_fifo_count = &st->buffer.u16;
+	ret = regmap_bulk_read(st->map, INV_ICM45600_REG_FIFO_COUNT,
+			       raw_fifo_count, sizeof(*raw_fifo_count));
+	if (ret)
+		return ret;
+
+	/* Check and limit number of samples if requested. */
+	fifo_nb = le16_to_cpup(raw_fifo_count);
+	if (fifo_nb == 0)
+		return 0;
+	if (max > 0 && fifo_nb > max)
+		fifo_nb = max;
+
+	/* Try to read all FIFO data in internal buffer. */
+	st->fifo.count = fifo_nb * packet_size;
+	ret = regmap_noinc_read(st->map, INV_ICM45600_REG_FIFO_DATA,
+				st->fifo.data, st->fifo.count);
+	if (ret == -ENOTSUPP || ret == -EFBIG) {
+		/* Read full fifo is not supported, read samples one by one. */
+		ret = 0;
+		for (i = 0; i < st->fifo.count && ret == 0; i += packet_size)
+			ret = regmap_noinc_read(st->map, INV_ICM45600_REG_FIFO_DATA,
+						&st->fifo.data[i], packet_size);
+	}
+	if (ret)
+		return ret;
+
+	for (i = 0; i < st->fifo.count; i += size) {
+		size = inv_icm45600_fifo_decode_packet(&st->fifo.data[i], &accel, &gyro,
+						       &temp, &timestamp, &odr);
+		if (size <= 0)
+			/* No more sample in buffer */
+			break;
+		if (gyro && inv_icm45600_fifo_is_data_valid(gyro))
+			st->fifo.nb.gyro++;
+		if (accel && inv_icm45600_fifo_is_data_valid(accel))
+			st->fifo.nb.accel++;
+		st->fifo.nb.total++;
+	}
+
+	return 0;
+}
+
+int inv_icm45600_buffer_fifo_parse(struct inv_icm45600_state *st)
+{
+	struct inv_icm45600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+	struct inv_icm45600_sensor_state *accel_st = iio_priv(st->indio_accel);
+	struct inv_sensors_timestamp *ts;
+	int ret;
+
+	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_icm45600_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;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_accel,
+						st->timestamp.accel);
+		ret = inv_icm45600_accel_parse_fifo(st->indio_accel);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
+int inv_icm45600_buffer_hwfifo_flush(struct inv_icm45600_state *st,
+				     unsigned int count)
+{
+	struct inv_icm45600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+	struct inv_icm45600_sensor_state *accel_st = iio_priv(st->indio_accel);
+	struct inv_sensors_timestamp *ts;
+	s64 gyro_ts, accel_ts;
+	int ret;
+
+	gyro_ts = iio_get_time_ns(st->indio_gyro);
+	accel_ts = iio_get_time_ns(st->indio_accel);
+
+	ret = inv_icm45600_buffer_fifo_read(st, count);
+	if (ret)
+		return ret;
+
+	if (st->fifo.nb.total == 0)
+		return 0;
+
+	if (st->fifo.nb.gyro > 0) {
+		ts = &gyro_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.nb.gyro, gyro_ts);
+		ret = inv_icm45600_gyro_parse_fifo(st->indio_gyro);
+		if (ret)
+			return ret;
+	}
+
+	if (st->fifo.nb.accel > 0) {
+		ts = &accel_st->ts;
+		inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts);
+		ret = inv_icm45600_accel_parse_fifo(st->indio_accel);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
+int inv_icm45600_buffer_init(struct inv_icm45600_state *st)
+{
+	int ret;
+	unsigned int val;
+
+	st->fifo.watermark.eff_gyro = 1;
+	st->fifo.watermark.eff_accel = 1;
+
+	/* Disable all FIFO EN bits. */
+	ret = regmap_write(st->map, INV_ICM45600_REG_FIFO_CONFIG3, 0);
+	if (ret)
+		return ret;
+
+	/* Disable FIFO and set depth. */
+	val = FIELD_PREP(INV_ICM45600_FIFO_CONFIG0_MODE_MASK,
+			 INV_ICM45600_FIFO_CONFIG0_MODE_BYPASS) |
+	      FIELD_PREP(INV_ICM45600_FIFO_CONFIG0_FIFO_DEPTH_MASK,
+			 INV_ICM45600_FIFO_CONFIG0_FIFO_DEPTH_MAX);
+
+	ret = regmap_write(st->map, INV_ICM45600_REG_FIFO_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	/* Enable only timestamp in fifo, disable compression. */
+	ret = regmap_write(st->map, INV_ICM45600_REG_FIFO_CONFIG4,
+			   INV_ICM45600_FIFO_CONFIG4_TMST_FSYNC_EN);
+	if (ret)
+		return ret;
+
+	/* Enable FIFO continuous watermark interrupt. */
+	return regmap_set_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG2,
+			       INV_ICM45600_REG_FIFO_CONFIG2_WM_GT_TH);
+}

linux-7.2.3/drivers/iio/imu/inv_icm45600/inv_icm45600_buffer.h

@@ -0,0 +1,101 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/* Copyright (C) 2025 Invensense, Inc. */
+
+#ifndef INV_ICM45600_BUFFER_H_
+#define INV_ICM45600_BUFFER_H_
+
+#include <linux/bits.h>
+#include <linux/limits.h>
+#include <linux/types.h>
+
+#include <asm/byteorder.h>
+
+#include <linux/iio/iio.h>
+
+struct inv_icm45600_state;
+
+#define INV_ICM45600_SENSOR_GYRO	BIT(0)
+#define INV_ICM45600_SENSOR_ACCEL	BIT(1)
+#define INV_ICM45600_SENSOR_TEMP	BIT(2)
+
+/**
+ * struct inv_icm45600_fifo - FIFO state variables
+ * @on:		reference counter for FIFO on.
+ * @en:		bits field of INV_ICM45600_SENSOR_* for FIFO EN bits.
+ * @period:	FIFO internal period.
+ * @watermark:	watermark configuration values for accel and gyro.
+ * @watermark.gyro:	 requested watermark for gyro.
+ * @watermark.accel:	 requested watermark for accel.
+ * @watermark.eff_gyro:	 effective watermark for gyro.
+ * @watermark.eff_accel: effective watermark for accel.
+ * @count:	number of bytes in the FIFO data buffer.
+ * @nb:		gyro, accel and total samples in the FIFO data buffer.
+ * @data:	FIFO data buffer aligned for DMA (8kB)
+ */
+struct inv_icm45600_fifo {
+	unsigned int on;
+	unsigned int en;
+	u32 period;
+	struct {
+		unsigned int gyro;
+		unsigned int accel;
+		unsigned int eff_gyro;
+		unsigned int eff_accel;
+	} watermark;
+	size_t count;
+	struct {
+		size_t gyro;
+		size_t accel;
+		size_t total;
+	} nb;
+	u8 *data;
+};
+
+/* FIFO data packet */
+struct inv_icm45600_fifo_sensor_data {
+	__le16 x;
+	__le16 y;
+	__le16 z;
+} __packed;
+#define INV_ICM45600_DATA_INVALID		S16_MIN
+
+static inline bool
+inv_icm45600_fifo_is_data_valid(const struct inv_icm45600_fifo_sensor_data *s)
+{
+	s16 x, y, z;
+
+	x = le16_to_cpu(s->x);
+	y = le16_to_cpu(s->y);
+	z = le16_to_cpu(s->z);
+
+	return (x != INV_ICM45600_DATA_INVALID ||
+		y != INV_ICM45600_DATA_INVALID ||
+		z != INV_ICM45600_DATA_INVALID);
+}
+
+ssize_t inv_icm45600_fifo_decode_packet(const void *packet,
+					const struct inv_icm45600_fifo_sensor_data **accel,
+					const struct inv_icm45600_fifo_sensor_data **gyro,
+					const s8 **temp,
+					const __le16 **timestamp, unsigned int *odr);
+
+extern const struct iio_buffer_setup_ops inv_icm45600_buffer_ops;
+
+int inv_icm45600_buffer_init(struct inv_icm45600_state *st);
+
+void inv_icm45600_buffer_update_fifo_period(struct inv_icm45600_state *st);
+
+int inv_icm45600_buffer_set_fifo_en(struct inv_icm45600_state *st,
+				    unsigned int fifo_en);
+
+int inv_icm45600_buffer_update_watermark(struct inv_icm45600_state *st);
+
+int inv_icm45600_buffer_fifo_read(struct inv_icm45600_state *st,
+				  unsigned int max);
+
+int inv_icm45600_buffer_fifo_parse(struct inv_icm45600_state *st);
+
+int inv_icm45600_buffer_hwfifo_flush(struct inv_icm45600_state *st,
+				     unsigned int count);
+
+#endif

linux-7.2.3/drivers/iio/imu/inv_icm45600/inv_icm45600_core.c

@@ -0,0 +1,994 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/* Copyright (C) 2025 Invensense, Inc. */
+
+#include <linux/bitfield.h>
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/limits.h>
+#include <linux/minmax.h>
+#include <linux/module.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/property.h>
+#include <linux/regmap.h>
+#include <linux/regulator/consumer.h>
+#include <linux/time.h>
+#include <linux/types.h>
+
+#include <asm/byteorder.h>
+
+#include <linux/iio/iio.h>
+
+#include "inv_icm45600_buffer.h"
+#include "inv_icm45600.h"
+
+static int inv_icm45600_ireg_read(struct regmap *map, unsigned int reg,
+				   u8 *data, size_t count)
+{
+	const struct device *dev = regmap_get_device(map);
+	struct inv_icm45600_state *st = dev_get_drvdata(dev);
+	unsigned int d;
+	size_t i;
+	int ret;
+
+	st->buffer.ireg[0] = FIELD_GET(INV_ICM45600_REG_BANK_MASK, reg);
+	st->buffer.ireg[1] = FIELD_GET(INV_ICM45600_REG_ADDR_MASK, reg);
+
+	/* Burst write address. */
+	ret = regmap_bulk_write(map, INV_ICM45600_REG_IREG_ADDR, st->buffer.ireg, 2);
+	/*
+	 * Wait while the device is busy processing the address.
+	 * Datasheet: 13.3 MINIMUM WAIT TIME-GAP
+	 */
+	fsleep(INV_ICM45600_IREG_DELAY_US);
+	if (ret)
+		return ret;
+
+	/* Read the data. */
+	for (i = 0; i < count; i++) {
+		ret = regmap_read(map, INV_ICM45600_REG_IREG_DATA, &d);
+		/*
+		 * Wait while the device is busy processing the address.
+		 * Datasheet: 13.3 MINIMUM WAIT TIME-GAP
+		 */
+		fsleep(INV_ICM45600_IREG_DELAY_US);
+		if (ret)
+			return ret;
+		data[i] = d;
+	}
+
+	return 0;
+}
+
+static int inv_icm45600_ireg_write(struct regmap *map, unsigned int reg,
+				   const u8 *data, size_t count)
+{
+	const struct device *dev = regmap_get_device(map);
+	struct inv_icm45600_state *st = dev_get_drvdata(dev);
+	size_t i;
+	int ret;
+
+	st->buffer.ireg[0] = FIELD_GET(INV_ICM45600_REG_BANK_MASK, reg);
+	st->buffer.ireg[1] = FIELD_GET(INV_ICM45600_REG_ADDR_MASK, reg);
+	st->buffer.ireg[2] = data[0];
+
+	/* Burst write address and first byte. */
+	ret = regmap_bulk_write(map, INV_ICM45600_REG_IREG_ADDR, st->buffer.ireg, 3);
+	/*
+	 * Wait while the device is busy processing the address.
+	 * Datasheet: 13.3 MINIMUM WAIT TIME-GAP
+	 */
+	fsleep(INV_ICM45600_IREG_DELAY_US);
+	if (ret)
+		return ret;
+
+	/* Write the remaining bytes. */
+	for (i = 1; i < count; i++) {
+		ret = regmap_write(map, INV_ICM45600_REG_IREG_DATA, data[i]);
+		/*
+		 * Wait while the device is busy processing the address.
+		 * Datasheet: 13.3 MINIMUM WAIT TIME-GAP
+		 */
+		fsleep(INV_ICM45600_IREG_DELAY_US);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
+static int inv_icm45600_read(void *context, const void *reg_buf, size_t reg_size,
+			  void *val_buf, size_t val_size)
+{
+	unsigned int reg = be16_to_cpup(reg_buf);
+	struct regmap *map = context;
+
+	if (FIELD_GET(INV_ICM45600_REG_BANK_MASK, reg))
+		return inv_icm45600_ireg_read(map, reg, val_buf, val_size);
+
+	return regmap_bulk_read(map, FIELD_GET(INV_ICM45600_REG_ADDR_MASK, reg),
+				val_buf, val_size);
+}
+
+static int inv_icm45600_write(void *context, const void *data, size_t count)
+{
+	const u8 *d = data;
+	unsigned int reg = be16_to_cpup(data);
+	struct regmap *map = context;
+
+	if (FIELD_GET(INV_ICM45600_REG_BANK_MASK, reg))
+		return inv_icm45600_ireg_write(map, reg, d + 2, count - 2);
+
+	return regmap_bulk_write(map, FIELD_GET(INV_ICM45600_REG_ADDR_MASK, reg),
+				 d + 2, count - 2);
+}
+
+static const struct regmap_bus inv_icm45600_regmap_bus = {
+	.read = inv_icm45600_read,
+	.write = inv_icm45600_write,
+};
+
+static const struct regmap_config inv_icm45600_regmap_config = {
+	.reg_bits = 16,
+	.val_bits = 8,
+};
+
+/* These are the chip initial default configurations (default FS value is based on icm45686) */
+static const struct inv_icm45600_conf inv_icm45600_default_conf = {
+	.gyro = {
+		.mode = INV_ICM45600_SENSOR_MODE_OFF,
+		.fs = INV_ICM45686_GYRO_FS_2000DPS,
+		.odr = INV_ICM45600_ODR_800HZ_LN,
+		.filter = INV_ICM45600_GYRO_LP_AVG_SEL_8X,
+	},
+	.accel = {
+		.mode = INV_ICM45600_SENSOR_MODE_OFF,
+		.fs = INV_ICM45686_ACCEL_FS_16G,
+		.odr = INV_ICM45600_ODR_800HZ_LN,
+		.filter = INV_ICM45600_ACCEL_LP_AVG_SEL_4X,
+	},
+};
+
+static const struct inv_icm45600_conf inv_icm45686_default_conf = {
+	.gyro = {
+		.mode = INV_ICM45600_SENSOR_MODE_OFF,
+		.fs = INV_ICM45686_GYRO_FS_4000DPS,
+		.odr = INV_ICM45600_ODR_800HZ_LN,
+		.filter = INV_ICM45600_GYRO_LP_AVG_SEL_8X,
+	},
+	.accel = {
+		.mode = INV_ICM45600_SENSOR_MODE_OFF,
+		.fs = INV_ICM45686_ACCEL_FS_32G,
+		.odr = INV_ICM45600_ODR_800HZ_LN,
+		.filter = INV_ICM45600_ACCEL_LP_AVG_SEL_4X,
+	},
+};
+
+const struct inv_icm45600_chip_info inv_icm45605_chip_info = {
+	.whoami = INV_ICM45600_WHOAMI_ICM45605,
+	.name = "icm45605",
+	.conf = &inv_icm45600_default_conf,
+	.accel_scales = (const int *)inv_icm45600_accel_scale,
+	.accel_scales_len = INV_ICM45600_ACCEL_FS_MAX,
+	.gyro_scales = (const int *)inv_icm45600_gyro_scale,
+	.gyro_scales_len = INV_ICM45600_GYRO_FS_MAX,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm45605_chip_info, "IIO_ICM45600");
+
+const struct inv_icm45600_chip_info inv_icm45606_chip_info = {
+	.whoami = INV_ICM45600_WHOAMI_ICM45606,
+	.name = "icm45606",
+	.conf = &inv_icm45600_default_conf,
+	.accel_scales = (const int *)inv_icm45600_accel_scale,
+	.accel_scales_len = INV_ICM45600_ACCEL_FS_MAX,
+	.gyro_scales = (const int *)inv_icm45600_gyro_scale,
+	.gyro_scales_len = INV_ICM45600_GYRO_FS_MAX,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm45606_chip_info, "IIO_ICM45600");
+
+const struct inv_icm45600_chip_info inv_icm45608_chip_info = {
+	.whoami = INV_ICM45600_WHOAMI_ICM45608,
+	.name = "icm45608",
+	.conf = &inv_icm45600_default_conf,
+	.accel_scales = (const int *)inv_icm45600_accel_scale,
+	.accel_scales_len = INV_ICM45600_ACCEL_FS_MAX,
+	.gyro_scales = (const int *)inv_icm45600_gyro_scale,
+	.gyro_scales_len = INV_ICM45600_GYRO_FS_MAX,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm45608_chip_info, "IIO_ICM45600");
+
+const struct inv_icm45600_chip_info inv_icm45634_chip_info = {
+	.whoami = INV_ICM45600_WHOAMI_ICM45634,
+	.name = "icm45634",
+	.conf = &inv_icm45600_default_conf,
+	.accel_scales = (const int *)inv_icm45600_accel_scale,
+	.accel_scales_len = INV_ICM45600_ACCEL_FS_MAX,
+	.gyro_scales = (const int *)inv_icm45600_gyro_scale,
+	.gyro_scales_len = INV_ICM45600_GYRO_FS_MAX,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm45634_chip_info, "IIO_ICM45600");
+
+const struct inv_icm45600_chip_info inv_icm45686_chip_info = {
+	.whoami = INV_ICM45600_WHOAMI_ICM45686,
+	.name = "icm45686",
+	.conf = &inv_icm45686_default_conf,
+	.accel_scales = (const int *)inv_icm45686_accel_scale,
+	.accel_scales_len = INV_ICM45686_ACCEL_FS_MAX,
+	.gyro_scales = (const int *)inv_icm45686_gyro_scale,
+	.gyro_scales_len = INV_ICM45686_GYRO_FS_MAX,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm45686_chip_info, "IIO_ICM45600");
+
+const struct inv_icm45600_chip_info inv_icm45687_chip_info = {
+	.whoami = INV_ICM45600_WHOAMI_ICM45687,
+	.name = "icm45687",
+	.conf = &inv_icm45686_default_conf,
+	.accel_scales = (const int *)inv_icm45686_accel_scale,
+	.accel_scales_len = INV_ICM45686_ACCEL_FS_MAX,
+	.gyro_scales = (const int *)inv_icm45686_gyro_scale,
+	.gyro_scales_len = INV_ICM45686_GYRO_FS_MAX,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm45687_chip_info, "IIO_ICM45600");
+
+const struct inv_icm45600_chip_info inv_icm45688p_chip_info = {
+	.whoami = INV_ICM45600_WHOAMI_ICM45688P,
+	.name = "icm45688p",
+	.conf = &inv_icm45686_default_conf,
+	.accel_scales = (const int *)inv_icm45686_accel_scale,
+	.accel_scales_len = INV_ICM45686_ACCEL_FS_MAX,
+	.gyro_scales = (const int *)inv_icm45686_gyro_scale,
+	.gyro_scales_len = INV_ICM45686_GYRO_FS_MAX,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm45688p_chip_info, "IIO_ICM45600");
+
+const struct inv_icm45600_chip_info inv_icm45689_chip_info = {
+	.whoami = INV_ICM45600_WHOAMI_ICM45689,
+	.name = "icm45689",
+	.conf = &inv_icm45686_default_conf,
+	.accel_scales = (const int *)inv_icm45686_accel_scale,
+	.accel_scales_len = INV_ICM45686_ACCEL_FS_MAX,
+	.gyro_scales = (const int *)inv_icm45686_gyro_scale,
+	.gyro_scales_len = INV_ICM45686_GYRO_FS_MAX,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm45689_chip_info, "IIO_ICM45600");
+
+const struct iio_mount_matrix *
+inv_icm45600_get_mount_matrix(const struct iio_dev *indio_dev,
+			      const struct iio_chan_spec *chan)
+{
+	const struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+
+	return &st->orientation;
+}
+
+u32 inv_icm45600_odr_to_period(enum inv_icm45600_odr odr)
+{
+	static const u32 odr_periods[INV_ICM45600_ODR_MAX] = {
+		/* 3 first values are reserved, left to 0 */
+		[INV_ICM45600_ODR_6400HZ_LN]   = 156250,
+		[INV_ICM45600_ODR_3200HZ_LN]   = 312500,
+		[INV_ICM45600_ODR_1600HZ_LN]   = 625000,
+		[INV_ICM45600_ODR_800HZ_LN]    = 1250000,
+		[INV_ICM45600_ODR_400HZ]       = 2500000,
+		[INV_ICM45600_ODR_200HZ]       = 5000000,
+		[INV_ICM45600_ODR_100HZ]       = 10000000,
+		[INV_ICM45600_ODR_50HZ]        = 20000000,
+		[INV_ICM45600_ODR_25HZ]        = 40000000,
+		[INV_ICM45600_ODR_12_5HZ]      = 80000000,
+		[INV_ICM45600_ODR_6_25HZ_LP]   = 160000000,
+		[INV_ICM45600_ODR_3_125HZ_LP]  = 320000000,
+		[INV_ICM45600_ODR_1_5625HZ_LP] = 640000000,
+	};
+
+	return odr_periods[odr];
+}
+
+static int inv_icm45600_set_pwr_mgmt0(struct inv_icm45600_state *st,
+				      enum inv_icm45600_sensor_mode gyro,
+				      enum inv_icm45600_sensor_mode accel,
+				      unsigned int *sleep_ms)
+{
+	enum inv_icm45600_sensor_mode oldgyro = st->conf.gyro.mode;
+	enum inv_icm45600_sensor_mode oldaccel = st->conf.accel.mode;
+	unsigned int sleepval;
+	unsigned int val;
+	int ret;
+
+	/* if nothing changed, exit */
+	if (gyro == oldgyro && accel == oldaccel)
+		return 0;
+
+	val = FIELD_PREP(INV_ICM45600_PWR_MGMT0_GYRO_MODE_MASK, gyro) |
+	      FIELD_PREP(INV_ICM45600_PWR_MGMT0_ACCEL_MODE_MASK, accel);
+	ret = regmap_write(st->map, INV_ICM45600_REG_PWR_MGMT0, val);
+	if (ret)
+		return ret;
+
+	st->conf.gyro.mode = gyro;
+	st->conf.accel.mode = accel;
+
+	/* Compute the required wait time for sensors to stabilize. */
+	sleepval = 0;
+	if (accel != oldaccel && oldaccel == INV_ICM45600_SENSOR_MODE_OFF)
+		sleepval = max(sleepval, INV_ICM45600_ACCEL_STARTUP_TIME_MS);
+
+	if (gyro != oldgyro) {
+		if (oldgyro == INV_ICM45600_SENSOR_MODE_OFF)
+			sleepval = max(sleepval, INV_ICM45600_GYRO_STARTUP_TIME_MS);
+		else if (gyro == INV_ICM45600_SENSOR_MODE_OFF)
+			sleepval = max(sleepval, INV_ICM45600_GYRO_STOP_TIME_MS);
+	}
+
+	/* Deferred sleep value if sleep pointer is provided or direct sleep */
+	if (sleep_ms)
+		*sleep_ms = sleepval;
+	else if (sleepval)
+		msleep(sleepval);
+
+	return 0;
+}
+
+static void inv_icm45600_set_default_conf(struct inv_icm45600_sensor_conf *conf,
+					  struct inv_icm45600_sensor_conf *oldconf)
+{
+	/* Sanitize missing values with current values. */
+	if (conf->mode == U8_MAX)
+		conf->mode = oldconf->mode;
+	if (conf->fs == U8_MAX)
+		conf->fs = oldconf->fs;
+	if (conf->odr == U8_MAX)
+		conf->odr = oldconf->odr;
+	if (conf->filter == U8_MAX)
+		conf->filter = oldconf->filter;
+}
+
+int inv_icm45600_set_accel_conf(struct inv_icm45600_state *st,
+				struct inv_icm45600_sensor_conf *conf,
+				unsigned int *sleep_ms)
+{
+	struct inv_icm45600_sensor_conf *oldconf = &st->conf.accel;
+	unsigned int val;
+	int ret;
+
+	inv_icm45600_set_default_conf(conf, oldconf);
+
+	/* Force the power mode against the ODR when sensor is on. */
+	if (conf->mode > INV_ICM45600_SENSOR_MODE_STANDBY) {
+		if (conf->odr <= INV_ICM45600_ODR_800HZ_LN) {
+			conf->mode = INV_ICM45600_SENSOR_MODE_LOW_NOISE;
+		} else {
+			conf->mode = INV_ICM45600_SENSOR_MODE_LOW_POWER;
+			/* sanitize averaging value depending on ODR for low-power mode */
+			/* maximum 1x @400Hz */
+			if (conf->odr == INV_ICM45600_ODR_400HZ)
+				conf->filter = INV_ICM45600_ACCEL_LP_AVG_SEL_1X;
+			else
+				conf->filter = INV_ICM45600_ACCEL_LP_AVG_SEL_4X;
+		}
+	}
+
+	/* Set accel fullscale & odr. */
+	if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {
+		val = FIELD_PREP(INV_ICM45600_ACCEL_CONFIG0_FS_MASK, conf->fs) |
+		      FIELD_PREP(INV_ICM45600_ACCEL_CONFIG0_ODR_MASK, conf->odr);
+		ret = regmap_write(st->map, INV_ICM45600_REG_ACCEL_CONFIG0, val);
+		if (ret)
+			return ret;
+		oldconf->fs = conf->fs;
+		oldconf->odr = conf->odr;
+	}
+
+	/* Set accel low-power average filter. */
+	if (conf->filter != oldconf->filter) {
+		ret = regmap_write(st->map, INV_ICM45600_IPREG_SYS2_REG_129,
+				   conf->filter);
+		if (ret)
+			return ret;
+		oldconf->filter = conf->filter;
+	}
+
+	/* Update the sensor accel mode. */
+	return inv_icm45600_set_pwr_mgmt0(st, st->conf.gyro.mode, conf->mode,
+					  sleep_ms);
+}
+
+int inv_icm45600_set_gyro_conf(struct inv_icm45600_state *st,
+			       struct inv_icm45600_sensor_conf *conf,
+			       unsigned int *sleep_ms)
+{
+	struct inv_icm45600_sensor_conf *oldconf = &st->conf.gyro;
+	unsigned int val;
+	int ret;
+
+	inv_icm45600_set_default_conf(conf, oldconf);
+
+	/* Force the power mode against ODR when sensor is on. */
+	if (conf->mode > INV_ICM45600_SENSOR_MODE_STANDBY) {
+		if (conf->odr >= INV_ICM45600_ODR_6_25HZ_LP) {
+			conf->mode = INV_ICM45600_SENSOR_MODE_LOW_POWER;
+			conf->filter = INV_ICM45600_GYRO_LP_AVG_SEL_8X;
+		} else {
+			conf->mode = INV_ICM45600_SENSOR_MODE_LOW_NOISE;
+		}
+	}
+
+	/* Set gyro fullscale & odr. */
+	if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) {
+		val = FIELD_PREP(INV_ICM45600_GYRO_CONFIG0_FS_MASK, conf->fs) |
+		      FIELD_PREP(INV_ICM45600_GYRO_CONFIG0_ODR_MASK, conf->odr);
+		ret = regmap_write(st->map, INV_ICM45600_REG_GYRO_CONFIG0, val);
+		if (ret)
+			return ret;
+		oldconf->fs = conf->fs;
+		oldconf->odr = conf->odr;
+	}
+
+	/* Set gyro low-power average filter. */
+	if (conf->filter != oldconf->filter) {
+		val = FIELD_PREP(INV_ICM45600_IPREG_SYS1_170_GYRO_LP_AVG_MASK, conf->filter);
+		ret = regmap_update_bits(st->map, INV_ICM45600_IPREG_SYS1_REG_170,
+					 INV_ICM45600_IPREG_SYS1_170_GYRO_LP_AVG_MASK, val);
+		if (ret)
+			return ret;
+		oldconf->filter = conf->filter;
+	}
+
+	/* Update the sensor gyro mode. */
+	return inv_icm45600_set_pwr_mgmt0(st, conf->mode, st->conf.accel.mode,
+					  sleep_ms);
+}
+
+int inv_icm45600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
+			     unsigned int writeval, unsigned int *readval)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+
+	guard(mutex)(&st->lock);
+
+	if (readval)
+		return regmap_read(st->map, reg, readval);
+	else
+		return regmap_write(st->map, reg, writeval);
+}
+
+static int inv_icm45600_set_conf(struct inv_icm45600_state *st,
+				 const struct inv_icm45600_conf *conf)
+{
+	unsigned int val;
+	int ret;
+
+	val = FIELD_PREP(INV_ICM45600_PWR_MGMT0_GYRO_MODE_MASK, conf->gyro.mode) |
+	      FIELD_PREP(INV_ICM45600_PWR_MGMT0_ACCEL_MODE_MASK, conf->accel.mode);
+	ret = regmap_write(st->map, INV_ICM45600_REG_PWR_MGMT0, val);
+	if (ret)
+		return ret;
+
+	val = FIELD_PREP(INV_ICM45600_GYRO_CONFIG0_FS_MASK, conf->gyro.fs) |
+	      FIELD_PREP(INV_ICM45600_GYRO_CONFIG0_ODR_MASK, conf->gyro.odr);
+	ret = regmap_write(st->map, INV_ICM45600_REG_GYRO_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	val = FIELD_PREP(INV_ICM45600_ACCEL_CONFIG0_FS_MASK, conf->accel.fs) |
+	      FIELD_PREP(INV_ICM45600_ACCEL_CONFIG0_ODR_MASK, conf->accel.odr);
+	ret = regmap_write(st->map, INV_ICM45600_REG_ACCEL_CONFIG0, val);
+	if (ret)
+		return ret;
+
+	/* Save configuration. */
+	st->conf = *conf;
+
+	return 0;
+}
+
+/**
+ *  inv_icm45600_setup() - check and setup chip
+ *  @st:	driver internal state
+ *  @chip_info:	detected chip description
+ *  @reset:	define whether a reset is required or not
+ *  @bus_setup:	callback for setting up bus specific registers
+ *
+ *  Returns: 0 on success, a negative error code otherwise.
+ */
+static int inv_icm45600_setup(struct inv_icm45600_state *st,
+				const struct inv_icm45600_chip_info *chip_info,
+				bool reset, inv_icm45600_bus_setup bus_setup)
+{
+	const struct device *dev = regmap_get_device(st->map);
+	unsigned int val;
+	int ret;
+
+	/* Set chip bus configuration if specified. */
+	if (bus_setup) {
+		ret = bus_setup(st);
+		if (ret)
+			return ret;
+	}
+
+	/* Check chip self-identification value. */
+	ret = regmap_read(st->map, INV_ICM45600_REG_WHOAMI, &val);
+	if (ret)
+		return ret;
+	if (val != chip_info->whoami) {
+		/*
+		 * SPI interface has no ack mechanism.
+		 * 0xFF or 0x00 whoami means no response from the device.
+		 */
+		if (val == U8_MAX || val == 0)
+			return dev_err_probe(dev, -ENODEV,
+					     "Invalid whoami %#02x expected %#02x (%s)\n",
+					     val, chip_info->whoami, chip_info->name);
+
+		dev_warn(dev, "Unexpected whoami %#02x expected %#02x (%s)\n",
+			 val, chip_info->whoami, chip_info->name);
+	}
+
+	st->chip_info = chip_info;
+
+	if (reset) {
+		/* Reset previous state. */
+		ret = regmap_write(st->map, INV_ICM45600_REG_MISC2,
+				   INV_ICM45600_MISC2_SOFT_RESET);
+		if (ret)
+			return ret;
+		/*
+		 * IMU reset time.
+		 * Datasheet: 16.84 REG_MISC2
+		 */
+		fsleep(USEC_PER_MSEC);
+
+		if (bus_setup) {
+			ret = bus_setup(st);
+			if (ret)
+				return ret;
+		}
+
+		ret = regmap_read(st->map, INV_ICM45600_REG_INT_STATUS, &val);
+		if (ret)
+			return ret;
+		if (!(val & INV_ICM45600_INT_STATUS_RESET_DONE)) {
+			dev_err(dev, "reset error, reset done bit not set\n");
+			return -ENODEV;
+		}
+	}
+
+	return inv_icm45600_set_conf(st, chip_info->conf);
+}
+
+static irqreturn_t inv_icm45600_irq_timestamp(int irq, void *_data)
+{
+	struct inv_icm45600_state *st = _data;
+
+	st->timestamp.gyro = iio_get_time_ns(st->indio_gyro);
+	st->timestamp.accel = iio_get_time_ns(st->indio_accel);
+
+	return IRQ_WAKE_THREAD;
+}
+
+static irqreturn_t inv_icm45600_irq_handler(int irq, void *_data)
+{
+	struct inv_icm45600_state *st = _data;
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int mask, status;
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	ret = regmap_read(st->map, INV_ICM45600_REG_INT_STATUS, &status);
+	if (ret)
+		return IRQ_HANDLED;
+
+	/* Read the FIFO data. */
+	mask = INV_ICM45600_INT_STATUS_FIFO_THS | INV_ICM45600_INT_STATUS_FIFO_FULL;
+	if (status & mask) {
+		ret = inv_icm45600_buffer_fifo_read(st, 0);
+		if (ret) {
+			dev_err(dev, "FIFO read error %d\n", ret);
+			return IRQ_HANDLED;
+		}
+		ret = inv_icm45600_buffer_fifo_parse(st);
+		if (ret)
+			dev_err(dev, "FIFO parsing error %d\n", ret);
+	}
+
+	/* FIFO full warning. */
+	if (status & INV_ICM45600_INT_STATUS_FIFO_FULL)
+		dev_warn(dev, "FIFO full possible data lost!\n");
+
+	return IRQ_HANDLED;
+}
+
+/**
+ * inv_icm45600_irq_init() - initialize int pin and interrupt handler
+ * @st:		driver internal state
+ * @irq:	irq number
+ * @irq_type:	irq trigger type
+ * @open_drain:	true if irq is open drain, false for push-pull
+ *
+ * Returns: 0 on success, a negative error code otherwise.
+ */
+static int inv_icm45600_irq_init(struct inv_icm45600_state *st, int irq,
+				 int irq_type, bool open_drain)
+{
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int val;
+	int ret;
+
+	/* Configure INT1 interrupt: default is active low on edge. */
+	switch (irq_type) {
+	case IRQF_TRIGGER_RISING:
+	case IRQF_TRIGGER_HIGH:
+		val = INV_ICM45600_INT1_CONFIG2_ACTIVE_HIGH;
+		break;
+	default:
+		val = INV_ICM45600_INT1_CONFIG2_ACTIVE_LOW;
+		break;
+	}
+
+	switch (irq_type) {
+	case IRQF_TRIGGER_LOW:
+	case IRQF_TRIGGER_HIGH:
+		val |= INV_ICM45600_INT1_CONFIG2_LATCHED;
+		break;
+	default:
+		break;
+	}
+
+	if (open_drain)
+		val |= INV_ICM45600_INT1_CONFIG2_OPEN_DRAIN;
+
+	ret = regmap_write(st->map, INV_ICM45600_REG_INT1_CONFIG2, val);
+	if (ret)
+		return ret;
+
+	return devm_request_threaded_irq(dev, irq, inv_icm45600_irq_timestamp,
+					 inv_icm45600_irq_handler, irq_type | IRQF_ONESHOT,
+					 "inv_icm45600", st);
+}
+
+static int inv_icm45600_timestamp_setup(struct inv_icm45600_state *st)
+{
+	/* Enable timestamps. */
+	return regmap_set_bits(st->map, INV_ICM45600_REG_SMC_CONTROL_0,
+			       INV_ICM45600_SMC_CONTROL_0_TMST_EN);
+}
+
+static int inv_icm45600_enable_regulator_vddio(struct inv_icm45600_state *st)
+{
+	int ret;
+
+	ret = regulator_enable(st->vddio_supply);
+	if (ret)
+		return ret;
+
+	/*
+	 * Wait a little for supply ramp.
+	 * Duration is empirically defined.
+	 */
+	fsleep(3 * USEC_PER_MSEC);
+
+	return 0;
+}
+
+static void inv_icm45600_disable_vddio_reg(void *_data)
+{
+	struct inv_icm45600_state *st = _data;
+	struct device *dev = regmap_get_device(st->map);
+
+	if (pm_runtime_status_suspended(dev))
+		return;
+
+	regulator_disable(st->vddio_supply);
+}
+
+int inv_icm45600_core_probe(struct regmap *regmap, const struct inv_icm45600_chip_info *chip_info,
+			    bool reset, inv_icm45600_bus_setup bus_setup)
+{
+	struct device *dev = regmap_get_device(regmap);
+	struct inv_icm45600_state *st;
+	struct regmap *regmap_custom;
+	struct fwnode_handle *fwnode;
+	int irq, irq_type;
+	bool open_drain;
+	int ret;
+
+	/* Get INT1 only supported interrupt. */
+	fwnode = dev_fwnode(dev);
+	irq = fwnode_irq_get_byname(fwnode, "int1");
+	if (irq < 0)
+		return dev_err_probe(dev, irq, "Missing int1 interrupt\n");
+
+	irq_type = irq_get_trigger_type(irq);
+
+	open_drain = device_property_read_bool(dev, "drive-open-drain");
+
+	regmap_custom = devm_regmap_init(dev, &inv_icm45600_regmap_bus, regmap,
+					 &inv_icm45600_regmap_config);
+	if (IS_ERR(regmap_custom))
+		return dev_err_probe(dev, PTR_ERR(regmap_custom), "Failed to register regmap\n");
+
+	st = devm_kzalloc(dev, sizeof(*st), GFP_KERNEL);
+	if (!st)
+		return -ENOMEM;
+
+	dev_set_drvdata(dev, st);
+
+	st->fifo.data = devm_kzalloc(dev, 8192, GFP_KERNEL);
+	if (!st->fifo.data)
+		return -ENOMEM;
+
+	ret = devm_mutex_init(dev, &st->lock);
+	if (ret)
+		return ret;
+
+	st->map = regmap_custom;
+
+	ret = iio_read_mount_matrix(dev, &st->orientation);
+	if (ret)
+		return dev_err_probe(dev, ret, "Failed to retrieve mounting matrix\n");
+
+	st->vddio_supply = devm_regulator_get(dev, "vddio");
+	if (IS_ERR(st->vddio_supply))
+		return PTR_ERR(st->vddio_supply);
+
+	ret = devm_regulator_get_enable(dev, "vdd");
+	if (ret)
+		return dev_err_probe(dev, ret, "Failed to get vdd regulator\n");
+
+	/*
+	 * Supply ramp time + Start-up time.
+	 * Datasheet: 3.3.2 A.C. Electrical Characteristics
+	 */
+	fsleep(5 * USEC_PER_MSEC);
+
+	/* set pm_runtime active early for disable vddio resource cleanup */
+	ret = pm_runtime_set_active(dev);
+	if (ret)
+		return ret;
+
+	ret = inv_icm45600_enable_regulator_vddio(st);
+	if (ret)
+		return ret;
+
+	ret = devm_add_action_or_reset(dev, inv_icm45600_disable_vddio_reg, st);
+	if (ret)
+		return ret;
+
+	ret = inv_icm45600_setup(st, chip_info, reset, bus_setup);
+	if (ret)
+		return ret;
+
+	ret = inv_icm45600_timestamp_setup(st);
+	if (ret)
+		return ret;
+
+	ret = inv_icm45600_buffer_init(st);
+	if (ret)
+		return ret;
+
+	st->indio_gyro = inv_icm45600_gyro_init(st);
+	if (IS_ERR(st->indio_gyro))
+		return PTR_ERR(st->indio_gyro);
+
+	st->indio_accel = inv_icm45600_accel_init(st);
+	if (IS_ERR(st->indio_accel))
+		return PTR_ERR(st->indio_accel);
+
+	ret = inv_icm45600_irq_init(st, irq, irq_type, open_drain);
+	if (ret)
+		return ret;
+
+	ret = devm_pm_runtime_enable(dev);
+	if (ret)
+		return ret;
+
+	pm_runtime_get_noresume(dev);
+	pm_runtime_set_autosuspend_delay(dev, 2 * USEC_PER_MSEC);
+	pm_runtime_use_autosuspend(dev);
+	pm_runtime_put(dev);
+
+	return 0;
+}
+EXPORT_SYMBOL_NS_GPL(inv_icm45600_core_probe, "IIO_ICM45600");
+
+/*
+ * Suspend saves sensors state and turns everything off.
+ */
+static int inv_icm45600_suspend(struct device *dev)
+{
+	struct inv_icm45600_state *st = dev_get_drvdata(dev);
+	int ret;
+
+	scoped_guard(mutex, &st->lock) {
+		/* Disable FIFO data streaming. */
+		if (st->fifo.on) {
+			unsigned int val;
+
+			/* Clear FIFO_CONFIG3_IF_EN before changing the FIFO configuration */
+			ret = regmap_clear_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG3,
+						INV_ICM45600_FIFO_CONFIG3_IF_EN);
+			if (ret)
+				return ret;
+			val = FIELD_PREP(INV_ICM45600_FIFO_CONFIG0_MODE_MASK,
+					 INV_ICM45600_FIFO_CONFIG0_MODE_BYPASS);
+			ret = regmap_update_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG0,
+						 INV_ICM45600_FIFO_CONFIG0_MODE_MASK, val);
+			if (ret)
+				return ret;
+		}
+
+		/* Save sensors states */
+		st->suspended.gyro = st->conf.gyro.mode;
+		st->suspended.accel = st->conf.accel.mode;
+	}
+
+	return pm_runtime_force_suspend(dev);
+}
+
+/*
+ * System resume gets the system back on and restores the sensors state.
+ * Manually put runtime power management in system active state.
+ */
+static int inv_icm45600_resume(struct device *dev)
+{
+	struct inv_icm45600_state *st = dev_get_drvdata(dev);
+	int ret;
+
+	ret = pm_runtime_force_resume(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock) {
+		/* Restore sensors state. */
+		ret = inv_icm45600_set_pwr_mgmt0(st, st->suspended.gyro,
+						 st->suspended.accel, NULL);
+		if (ret)
+			return ret;
+
+		/* Restore FIFO data streaming. */
+		if (st->fifo.on) {
+			struct inv_icm45600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+			struct inv_icm45600_sensor_state *accel_st = iio_priv(st->indio_accel);
+			unsigned int val;
+
+			inv_sensors_timestamp_reset(&gyro_st->ts);
+			inv_sensors_timestamp_reset(&accel_st->ts);
+			val = FIELD_PREP(INV_ICM45600_FIFO_CONFIG0_MODE_MASK,
+					 INV_ICM45600_FIFO_CONFIG0_MODE_STREAM);
+			ret = regmap_update_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG0,
+						 INV_ICM45600_FIFO_CONFIG0_MODE_MASK, val);
+			if (ret)
+				return ret;
+			/* FIFO_CONFIG3_IF_EN must only be set at end of FIFO the configuration */
+			ret = regmap_set_bits(st->map, INV_ICM45600_REG_FIFO_CONFIG3,
+					      INV_ICM45600_FIFO_CONFIG3_IF_EN);
+			if (ret)
+				return ret;
+		}
+	}
+
+	return ret;
+}
+
+/* Runtime suspend will turn off sensors that are enabled by iio devices. */
+static int inv_icm45600_runtime_suspend(struct device *dev)
+{
+	struct inv_icm45600_state *st = dev_get_drvdata(dev);
+	int ret;
+
+	guard(mutex)(&st->lock);
+
+	/* disable all sensors */
+	ret = inv_icm45600_set_pwr_mgmt0(st, INV_ICM45600_SENSOR_MODE_OFF,
+					 INV_ICM45600_SENSOR_MODE_OFF, NULL);
+	if (ret)
+		return ret;
+
+	regulator_disable(st->vddio_supply);
+
+	return 0;
+}
+
+/* Sensors are enabled by iio devices, no need to turn them back on here. */
+static int inv_icm45600_runtime_resume(struct device *dev)
+{
+	struct inv_icm45600_state *st = dev_get_drvdata(dev);
+
+	guard(mutex)(&st->lock);
+
+	return inv_icm45600_enable_regulator_vddio(st);
+}
+
+static int _inv_icm45600_temp_read(struct inv_icm45600_state *st, s16 *temp)
+{
+	struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
+	int ret;
+
+	/* Make sure a sensor is on. */
+	if (st->conf.gyro.mode == INV_ICM45600_SENSOR_MODE_OFF &&
+	    st->conf.accel.mode == INV_ICM45600_SENSOR_MODE_OFF) {
+		conf.mode = INV_ICM45600_SENSOR_MODE_LOW_POWER;
+		ret = inv_icm45600_set_accel_conf(st, &conf, NULL);
+		if (ret)
+			return ret;
+	}
+
+	ret = regmap_bulk_read(st->map, INV_ICM45600_REG_TEMP_DATA,
+			       &st->buffer.u16, sizeof(st->buffer.u16));
+	if (ret)
+		return ret;
+
+	*temp = (s16)le16_to_cpup(&st->buffer.u16);
+	if (*temp == INV_ICM45600_DATA_INVALID)
+		return -EINVAL;
+
+	return 0;
+}
+
+static int inv_icm45600_temp_read(struct inv_icm45600_state *st, s16 *temp)
+{
+	struct device *dev = regmap_get_device(st->map);
+	int ret;
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock)
+		ret = _inv_icm45600_temp_read(st, temp);
+
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+int inv_icm45600_temp_read_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int *val, int *val2, long mask)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	s16 temp;
+	int ret;
+
+	if (chan->type != IIO_TEMP)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		ret = inv_icm45600_temp_read(st, &temp);
+		if (ret)
+			return ret;
+		*val = temp;
+		return IIO_VAL_INT;
+	/*
+	 * T°C = (temp / 128) + 25
+	 * Tm°C = ((temp + 25 * 128) / 128)) * 1000
+	 * Tm°C = (temp + 3200) * (1000 / 128)
+	 * scale: 1000 / 128 = 7.8125
+	 * offset: 3200
+	 */
+	case IIO_CHAN_INFO_SCALE:
+		*val = 7;
+		*val2 = 812500;
+		return IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_OFFSET:
+		*val = 3200;
+		return IIO_VAL_INT;
+	default:
+		return -EINVAL;
+	}
+}
+
+EXPORT_NS_GPL_DEV_PM_OPS(inv_icm45600_pm_ops, IIO_ICM45600) = {
+	SYSTEM_SLEEP_PM_OPS(inv_icm45600_suspend, inv_icm45600_resume)
+	RUNTIME_PM_OPS(inv_icm45600_runtime_suspend,
+			   inv_icm45600_runtime_resume, NULL)
+};
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-456xx device driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_INV_SENSORS_TIMESTAMP");

linux-7.2.3/drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c

@@ -0,0 +1,791 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2025 Invensense, Inc.
+ */
+
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/math64.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/types.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/kfifo_buf.h>
+
+#include "inv_icm45600_buffer.h"
+#include "inv_icm45600.h"
+
+enum inv_icm45600_gyro_scan {
+	INV_ICM45600_GYRO_SCAN_X,
+	INV_ICM45600_GYRO_SCAN_Y,
+	INV_ICM45600_GYRO_SCAN_Z,
+	INV_ICM45600_GYRO_SCAN_TEMP,
+	INV_ICM45600_GYRO_SCAN_TIMESTAMP,
+};
+
+static const struct iio_chan_spec_ext_info inv_icm45600_gyro_ext_infos[] = {
+	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm45600_get_mount_matrix),
+	{ }
+};
+
+#define INV_ICM45600_GYRO_CHAN(_modifier, _index, _ext_info)		\
+	{								\
+		.type = IIO_ANGL_VEL,					\
+		.modified = 1,						\
+		.channel2 = _modifier,					\
+		.info_mask_separate =					\
+			BIT(IIO_CHAN_INFO_RAW) |			\
+			BIT(IIO_CHAN_INFO_CALIBBIAS),			\
+		.info_mask_shared_by_type =				\
+			BIT(IIO_CHAN_INFO_SCALE),			\
+		.info_mask_shared_by_type_available =			\
+			BIT(IIO_CHAN_INFO_SCALE) |			\
+			BIT(IIO_CHAN_INFO_CALIBBIAS),			\
+		.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_LE,				\
+		},							\
+		.ext_info = _ext_info,					\
+	}
+
+static const struct iio_chan_spec inv_icm45600_gyro_channels[] = {
+	INV_ICM45600_GYRO_CHAN(IIO_MOD_X, INV_ICM45600_GYRO_SCAN_X,
+			       inv_icm45600_gyro_ext_infos),
+	INV_ICM45600_GYRO_CHAN(IIO_MOD_Y, INV_ICM45600_GYRO_SCAN_Y,
+			       inv_icm45600_gyro_ext_infos),
+	INV_ICM45600_GYRO_CHAN(IIO_MOD_Z, INV_ICM45600_GYRO_SCAN_Z,
+			       inv_icm45600_gyro_ext_infos),
+	INV_ICM45600_TEMP_CHAN(INV_ICM45600_GYRO_SCAN_TEMP),
+	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM45600_GYRO_SCAN_TIMESTAMP),
+};
+
+/*
+ * 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
+ */
+struct inv_icm45600_gyro_buffer {
+	struct inv_icm45600_fifo_sensor_data gyro;
+	s16 temp;
+	aligned_s64 timestamp;
+};
+
+static const unsigned long inv_icm45600_gyro_scan_masks[] = {
+	/* 3-axis gyro + temperature */
+	BIT(INV_ICM45600_GYRO_SCAN_X) |
+	BIT(INV_ICM45600_GYRO_SCAN_Y) |
+	BIT(INV_ICM45600_GYRO_SCAN_Z) |
+	BIT(INV_ICM45600_GYRO_SCAN_TEMP),
+	0
+};
+
+/* enable gyroscope sensor and FIFO write */
+static int inv_icm45600_gyro_update_scan_mode(struct iio_dev *indio_dev,
+					      const unsigned long *scan_mask)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
+	unsigned int fifo_en = 0;
+	unsigned int sleep = 0;
+	int ret;
+
+	scoped_guard(mutex, &st->lock) {
+		if (*scan_mask & BIT(INV_ICM45600_GYRO_SCAN_TEMP))
+			fifo_en |= INV_ICM45600_SENSOR_TEMP;
+
+		if (*scan_mask & (BIT(INV_ICM45600_GYRO_SCAN_X) |
+				 BIT(INV_ICM45600_GYRO_SCAN_Y) |
+				 BIT(INV_ICM45600_GYRO_SCAN_Z))) {
+			/* enable gyro sensor */
+			conf.mode = gyro_st->power_mode;
+			ret = inv_icm45600_set_gyro_conf(st, &conf, &sleep);
+			if (ret)
+				return ret;
+			fifo_en |= INV_ICM45600_SENSOR_GYRO;
+		}
+		ret = inv_icm45600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
+	}
+	if (sleep)
+		msleep(sleep);
+
+	return ret;
+}
+
+static int _inv_icm45600_gyro_read_sensor(struct inv_icm45600_state *st,
+					  struct inv_icm45600_sensor_state *gyro_st,
+					  unsigned int reg, int *val)
+{
+	struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
+	int ret;
+
+	/* enable gyro sensor */
+	conf.mode = gyro_st->power_mode;
+	ret = inv_icm45600_set_gyro_conf(st, &conf, NULL);
+	if (ret)
+		return ret;
+
+	/* read gyro register data */
+	ret = regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffer.u16));
+	if (ret)
+		return ret;
+
+	*val = sign_extend32(le16_to_cpup(&st->buffer.u16), 15);
+	if (*val == INV_ICM45600_DATA_INVALID)
+		return -ENODATA;
+
+	return 0;
+}
+
+static int inv_icm45600_gyro_read_sensor(struct iio_dev *indio_dev,
+					 struct iio_chan_spec const *chan,
+					 int *val)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int reg;
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM45600_REG_GYRO_DATA_X;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM45600_REG_GYRO_DATA_Y;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM45600_REG_GYRO_DATA_Z;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock)
+		ret = _inv_icm45600_gyro_read_sensor(st, gyro_st, reg, val);
+
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+/* IIO format int + nano */
+const int inv_icm45600_gyro_scale[][2] = {
+	/* +/- 2000dps => 0.001065264 rad/s */
+	[INV_ICM45600_GYRO_FS_2000DPS] = { 0, 1065264 },
+	/* +/- 1000dps => 0.000532632 rad/s */
+	[INV_ICM45600_GYRO_FS_1000DPS] = { 0, 532632 },
+	/* +/- 500dps => 0.000266316 rad/s */
+	[INV_ICM45600_GYRO_FS_500DPS] = { 0, 266316 },
+	/* +/- 250dps => 0.000133158 rad/s */
+	[INV_ICM45600_GYRO_FS_250DPS] = { 0, 133158 },
+	/* +/- 125dps => 0.000066579 rad/s */
+	[INV_ICM45600_GYRO_FS_125DPS] = { 0, 66579 },
+	/* +/- 62.5dps => 0.000033290 rad/s */
+	[INV_ICM45600_GYRO_FS_62_5DPS] = { 0, 33290 },
+	/* +/- 31.25dps => 0.000016645 rad/s */
+	[INV_ICM45600_GYRO_FS_31_25DPS] = { 0, 16645 },
+	/* +/- 15.625dps => 0.000008322 rad/s */
+	[INV_ICM45600_GYRO_FS_15_625DPS] = { 0, 8322 },
+};
+
+/* IIO format int + nano */
+const int inv_icm45686_gyro_scale[][2] = {
+	/* +/- 4000dps => 0.002130529 rad/s */
+	[INV_ICM45686_GYRO_FS_4000DPS] = { 0, 2130529 },
+	/* +/- 2000dps => 0.001065264 rad/s */
+	[INV_ICM45686_GYRO_FS_2000DPS] = { 0, 1065264 },
+	/* +/- 1000dps => 0.000532632 rad/s */
+	[INV_ICM45686_GYRO_FS_1000DPS] = { 0, 532632 },
+	/* +/- 500dps => 0.000266316 rad/s */
+	[INV_ICM45686_GYRO_FS_500DPS] = { 0, 266316 },
+	/* +/- 250dps => 0.000133158 rad/s */
+	[INV_ICM45686_GYRO_FS_250DPS] = { 0, 133158 },
+	/* +/- 125dps => 0.000066579 rad/s */
+	[INV_ICM45686_GYRO_FS_125DPS] = { 0, 66579 },
+	/* +/- 62.5dps => 0.000033290 rad/s */
+	[INV_ICM45686_GYRO_FS_62_5DPS] = { 0, 33290 },
+	/* +/- 31.25dps => 0.000016645 rad/s */
+	[INV_ICM45686_GYRO_FS_31_25DPS] = { 0, 16645 },
+	/* +/- 15.625dps => 0.000008322 rad/s */
+	[INV_ICM45686_GYRO_FS_15_625DPS] = { 0, 8322 },
+};
+
+static int inv_icm45600_gyro_read_scale(struct iio_dev *indio_dev,
+					int *val, int *val2)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
+	unsigned int idx;
+
+	idx = st->conf.gyro.fs;
+
+	/* Full scale register starts at 1 for not High FSR parts */
+	if (gyro_st->scales ==  (const int *)&inv_icm45600_gyro_scale)
+		idx--;
+
+	*val = gyro_st->scales[2 * idx];
+	*val2 = gyro_st->scales[2 * idx + 1];
+	return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm45600_gyro_write_scale(struct iio_dev *indio_dev,
+					 int val, int val2)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int idx;
+	struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
+	int ret;
+
+	for (idx = 0; idx < gyro_st->scales_len; idx += 2) {
+		if (val == gyro_st->scales[idx] &&
+		    val2 == gyro_st->scales[idx + 1])
+			break;
+	}
+	if (idx == gyro_st->scales_len)
+		return -EINVAL;
+
+	conf.fs = idx / 2;
+
+	/* Full scale register starts at 1 for not High FSR parts */
+	if (gyro_st->scales == (const int *)&inv_icm45600_gyro_scale)
+		conf.fs++;
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock)
+		ret = inv_icm45600_set_gyro_conf(st, &conf, NULL);
+
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+/* IIO format int + micro */
+static const int inv_icm45600_gyro_odr[] = {
+	1, 562500,	/* 1.5625Hz */
+	3, 125000,	/* 3.125Hz */
+	6, 250000,	/* 6.25Hz */
+	12, 500000,	/* 12.5Hz */
+	25, 0,		/* 25Hz */
+	50, 0,		/* 50Hz */
+	100, 0,		/* 100Hz */
+	200, 0,		/* 200Hz */
+	400, 0,		/* 400Hz */
+	800, 0,		/* 800Hz */
+	1600, 0,	/* 1.6kHz */
+	3200, 0,	/* 3.2kHz */
+	6400, 0,	/* 6.4kHz */
+};
+
+static const int inv_icm45600_gyro_odr_conv[] = {
+	INV_ICM45600_ODR_1_5625HZ_LP,
+	INV_ICM45600_ODR_3_125HZ_LP,
+	INV_ICM45600_ODR_6_25HZ_LP,
+	INV_ICM45600_ODR_12_5HZ,
+	INV_ICM45600_ODR_25HZ,
+	INV_ICM45600_ODR_50HZ,
+	INV_ICM45600_ODR_100HZ,
+	INV_ICM45600_ODR_200HZ,
+	INV_ICM45600_ODR_400HZ,
+	INV_ICM45600_ODR_800HZ_LN,
+	INV_ICM45600_ODR_1600HZ_LN,
+	INV_ICM45600_ODR_3200HZ_LN,
+	INV_ICM45600_ODR_6400HZ_LN,
+};
+
+static int inv_icm45600_gyro_read_odr(struct inv_icm45600_state *st,
+				      int *val, int *val2)
+{
+	unsigned int odr;
+	unsigned int i;
+
+	odr = st->conf.gyro.odr;
+
+	for (i = 0; i < ARRAY_SIZE(inv_icm45600_gyro_odr_conv); ++i) {
+		if (inv_icm45600_gyro_odr_conv[i] == odr)
+			break;
+	}
+	if (i >= ARRAY_SIZE(inv_icm45600_gyro_odr_conv))
+		return -EINVAL;
+
+	*val = inv_icm45600_gyro_odr[2 * i];
+	*val2 = inv_icm45600_gyro_odr[2 * i + 1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int _inv_icm45600_gyro_write_odr(struct iio_dev *indio_dev, int odr)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &gyro_st->ts;
+	struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_KEEP_VALUES;
+	int ret;
+
+	conf.odr = odr;
+	ret = inv_sensors_timestamp_update_odr(ts, inv_icm45600_odr_to_period(conf.odr),
+						iio_buffer_enabled(indio_dev));
+	if (ret)
+		return ret;
+
+	if (st->conf.gyro.mode != INV_ICM45600_SENSOR_MODE_OFF)
+		conf.mode = gyro_st->power_mode;
+
+	ret = inv_icm45600_set_gyro_conf(st, &conf, NULL);
+	if (ret)
+		return ret;
+
+	inv_icm45600_buffer_update_fifo_period(st);
+	inv_icm45600_buffer_update_watermark(st);
+
+	return 0;
+}
+
+static int inv_icm45600_gyro_write_odr(struct iio_dev *indio_dev,
+				       int val, int val2)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int idx;
+	int odr;
+	int ret;
+
+	for (idx = 0; idx < ARRAY_SIZE(inv_icm45600_gyro_odr); idx += 2) {
+		if (val == inv_icm45600_gyro_odr[idx] &&
+		    val2 == inv_icm45600_gyro_odr[idx + 1])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm45600_gyro_odr))
+		return -EINVAL;
+
+	odr = inv_icm45600_gyro_odr_conv[idx / 2];
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock)
+		ret = _inv_icm45600_gyro_write_odr(indio_dev, odr);
+
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+/*
+ * Calibration bias values, IIO range format int + nano.
+ * Value is limited to +/-62.5dps coded on 14 bits signed. Step is 7.5mdps.
+ */
+static int inv_icm45600_gyro_calibbias[] = {
+	-1, 90830336,	/* min: -1.090830336 rad/s */
+	0, 133158,	/* step: 0.000133158 rad/s */
+	1, 90697178,	/* max: 1.090697178 rad/s */
+};
+
+static int inv_icm45600_gyro_read_offset(struct inv_icm45600_state *st,
+					 struct iio_chan_spec const *chan,
+					 int *val, int *val2)
+{
+	struct device *dev = regmap_get_device(st->map);
+	s64 val64;
+	s32 bias;
+	unsigned int reg;
+	s16 offset;
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM45600_IPREG_SYS1_REG_42;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM45600_IPREG_SYS1_REG_56;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM45600_IPREG_SYS1_REG_70;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock)
+		ret = regmap_bulk_read(st->map, reg, &st->buffer.u16, sizeof(st->buffer.u16));
+
+	pm_runtime_put_autosuspend(dev);
+	if (ret)
+		return ret;
+
+	offset = le16_to_cpup(&st->buffer.u16) & INV_ICM45600_GYRO_OFFUSER_MASK;
+	/* 14 bits signed value */
+	offset = sign_extend32(offset, 13);
+
+	/*
+	 * convert raw offset to dps then to rad/s
+	 * 14 bits signed raw max 62.5 to dps: 625 / 81920
+	 * dps to rad: Pi / 180
+	 * result in nano (1000000000)
+	 * (offset * 625 * Pi * 1000000000) / (81920 * 180)
+	 */
+	val64 = (s64)offset * 625LL * 3141592653LL;
+	/* for rounding, add + or - divisor (81920 * 180) divided by 2 */
+	if (val64 >= 0)
+		val64 += 81920 * 180 / 2;
+	else
+		val64 -= 81920 * 180 / 2;
+	bias = div_s64(val64, 81920 * 180);
+	*val = bias / 1000000000L;
+	*val2 = bias % 1000000000L;
+
+	return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm45600_gyro_write_offset(struct inv_icm45600_state *st,
+					  struct iio_chan_spec const *chan,
+					  int val, int val2)
+{
+	struct device *dev = regmap_get_device(st->map);
+	s64 val64, min, max;
+	unsigned int reg;
+	s16 offset;
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM45600_IPREG_SYS1_REG_42;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM45600_IPREG_SYS1_REG_56;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM45600_IPREG_SYS1_REG_70;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	/* inv_icm45600_gyro_calibbias: min - step - max in nano */
+	min = (s64)inv_icm45600_gyro_calibbias[0] * 1000000000LL -
+	      (s64)inv_icm45600_gyro_calibbias[1];
+	max = (s64)inv_icm45600_gyro_calibbias[4] * 1000000000LL +
+	      (s64)inv_icm45600_gyro_calibbias[5];
+	val64 = (s64)val * 1000000000LL;
+	if (val >= 0)
+		val64 += (s64)val2;
+	else
+		val64 -= (s64)val2;
+	if (val64 < min || val64 > max)
+		return -EINVAL;
+
+	/*
+	 * convert rad/s to dps then to raw value
+	 * rad to dps: 180 / Pi
+	 * dps to raw 14 bits signed, max 62.5: 8192 / 62.5
+	 * val in nano (1000000000)
+	 * val * 180 * 8192 / (Pi * 1000000000 * 62.5)
+	 */
+	val64 = val64 * 180LL * 8192;
+	/* for rounding, add + or - divisor (314159265 * 625) divided by 2 */
+	if (val64 >= 0)
+		val64 += 314159265LL * 625LL / 2LL;
+	else
+		val64 -= 314159265LL * 625LL / 2LL;
+	offset = div64_s64(val64, 314159265LL * 625LL);
+
+	/* clamp value limited to 14 bits signed */
+	offset = clamp(offset, -8192, 8191);
+
+	st->buffer.u16 = cpu_to_le16(offset & INV_ICM45600_GYRO_OFFUSER_MASK);
+
+	ret = pm_runtime_resume_and_get(dev);
+	if (ret)
+		return ret;
+
+	scoped_guard(mutex, &st->lock)
+		ret = regmap_bulk_write(st->map, reg, &st->buffer.u16, sizeof(st->buffer.u16));
+
+	pm_runtime_put_autosuspend(dev);
+	return ret;
+}
+
+static int inv_icm45600_gyro_read_raw(struct iio_dev *indio_dev,
+				      struct iio_chan_spec const *chan,
+				      int *val, int *val2, long mask)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	switch (chan->type) {
+	case IIO_ANGL_VEL:
+		break;
+	case IIO_TEMP:
+		return inv_icm45600_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_icm45600_gyro_read_sensor(indio_dev, chan, val);
+		iio_device_release_direct(indio_dev);
+		if (ret)
+			return ret;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_SCALE:
+		return inv_icm45600_gyro_read_scale(indio_dev, val, val2);
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm45600_gyro_read_odr(st, val, val2);
+	case IIO_CHAN_INFO_CALIBBIAS:
+		return inv_icm45600_gyro_read_offset(st, chan, val, val2);
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm45600_gyro_read_avail(struct iio_dev *indio_dev,
+					struct iio_chan_spec const *chan,
+					const int **vals,
+					int *type, int *length, long mask)
+{
+	struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		*vals = gyro_st->scales;
+		*type = IIO_VAL_INT_PLUS_NANO;
+		*length = gyro_st->scales_len;
+		return IIO_AVAIL_LIST;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		*vals = inv_icm45600_gyro_odr;
+		*type = IIO_VAL_INT_PLUS_MICRO;
+		*length = ARRAY_SIZE(inv_icm45600_gyro_odr);
+		return IIO_AVAIL_LIST;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		*vals = inv_icm45600_gyro_calibbias;
+		*type = IIO_VAL_INT_PLUS_NANO;
+		return IIO_AVAIL_RANGE;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm45600_gyro_write_raw(struct iio_dev *indio_dev,
+				       struct iio_chan_spec const *chan,
+				       int val, int val2, long mask)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm45600_gyro_write_scale(indio_dev, val, val2);
+		iio_device_release_direct(indio_dev);
+		return ret;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm45600_gyro_write_odr(indio_dev, val, val2);
+	case IIO_CHAN_INFO_CALIBBIAS:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = inv_icm45600_gyro_write_offset(st, chan, val, val2);
+		iio_device_release_direct(indio_dev);
+		return ret;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm45600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,
+					       struct iio_chan_spec const *chan,
+					       long mask)
+{
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		return IIO_VAL_INT_PLUS_NANO;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		return IIO_VAL_INT_PLUS_NANO;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm45600_gyro_hwfifo_set_watermark(struct iio_dev *indio_dev,
+						  unsigned int val)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+
+	guard(mutex)(&st->lock);
+
+	st->fifo.watermark.gyro = val;
+	return inv_icm45600_buffer_update_watermark(st);
+}
+
+static int inv_icm45600_gyro_hwfifo_flush(struct iio_dev *indio_dev,
+					  unsigned int count)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	if (count == 0)
+		return 0;
+
+	guard(mutex)(&st->lock);
+
+	ret = inv_icm45600_buffer_hwfifo_flush(st, count);
+	if (ret)
+		return ret;
+
+	return st->fifo.nb.gyro;
+}
+
+static const struct iio_info inv_icm45600_gyro_info = {
+	.read_raw = inv_icm45600_gyro_read_raw,
+	.read_avail = inv_icm45600_gyro_read_avail,
+	.write_raw = inv_icm45600_gyro_write_raw,
+	.write_raw_get_fmt = inv_icm45600_gyro_write_raw_get_fmt,
+	.debugfs_reg_access = inv_icm45600_debugfs_reg,
+	.update_scan_mode = inv_icm45600_gyro_update_scan_mode,
+	.hwfifo_set_watermark = inv_icm45600_gyro_hwfifo_set_watermark,
+	.hwfifo_flush_to_buffer = inv_icm45600_gyro_hwfifo_flush,
+};
+
+struct iio_dev *inv_icm45600_gyro_init(struct inv_icm45600_state *st)
+{
+	struct device *dev = regmap_get_device(st->map);
+	struct inv_icm45600_sensor_state *gyro_st;
+	struct inv_sensors_timestamp_chip ts_chip;
+	struct iio_dev *indio_dev;
+	const char *name;
+	int ret;
+
+	name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->chip_info->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 = st->chip_info->gyro_scales;
+	gyro_st->scales_len = st->chip_info->gyro_scales_len * 2;
+
+	/* low-noise by default at init */
+	gyro_st->power_mode = INV_ICM45600_SENSOR_MODE_LOW_NOISE;
+
+	/*
+	 * 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_icm45600_odr_to_period(st->conf.gyro.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_icm45600_gyro_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->channels = inv_icm45600_gyro_channels;
+	indio_dev->num_channels = ARRAY_SIZE(inv_icm45600_gyro_channels);
+	indio_dev->available_scan_masks = inv_icm45600_gyro_scan_masks;
+	indio_dev->setup_ops = &inv_icm45600_buffer_ops;
+
+	ret = devm_iio_kfifo_buffer_setup(dev, indio_dev,
+					  &inv_icm45600_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_icm45600_gyro_parse_fifo(struct iio_dev *indio_dev)
+{
+	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &gyro_st->ts;
+	ssize_t i, size;
+	unsigned int no;
+
+	/* parse all fifo packets */
+	for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
+		struct inv_icm45600_gyro_buffer buffer = { };
+		const struct inv_icm45600_fifo_sensor_data *accel, *gyro;
+		const __le16 *timestamp;
+		const s8 *temp;
+		unsigned int odr;
+		s64 ts_val;
+
+		size = inv_icm45600_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_icm45600_fifo_is_data_valid(gyro))
+			continue;
+
+		/* update odr */
+		if (odr & INV_ICM45600_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;
+}

linux-7.2.3/drivers/iio/imu/inv_icm45600/inv_icm45600_i2c.c

@@ -0,0 +1,97 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/* Copyright (C) 2025 InvenSense, Inc. */
+
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+
+#include "inv_icm45600.h"
+
+static const struct regmap_config inv_icm45600_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+};
+
+static int inv_icm45600_probe(struct i2c_client *client)
+{
+	const struct inv_icm45600_chip_info *chip_info;
+	struct regmap *regmap;
+
+	if (!i2c_check_functionality(client->adapter, I2C_FUNC_SMBUS_I2C_BLOCK))
+		return -ENODEV;
+
+	chip_info = device_get_match_data(&client->dev);
+	if (!chip_info)
+		return -ENODEV;
+
+	regmap = devm_regmap_init_i2c(client, &inv_icm45600_regmap_config);
+	if (IS_ERR(regmap))
+		return PTR_ERR(regmap);
+
+	return inv_icm45600_core_probe(regmap, chip_info, true, NULL);
+}
+
+/*
+ * The device id table is used to identify which device is
+ * supported by this driver.
+ */
+static const struct i2c_device_id inv_icm45600_id[] = {
+	{ .name = "icm45605", .driver_data = (kernel_ulong_t)&inv_icm45605_chip_info },
+	{ .name = "icm45606", .driver_data = (kernel_ulong_t)&inv_icm45606_chip_info },
+	{ .name = "icm45608", .driver_data = (kernel_ulong_t)&inv_icm45608_chip_info },
+	{ .name = "icm45634", .driver_data = (kernel_ulong_t)&inv_icm45634_chip_info },
+	{ .name = "icm45686", .driver_data = (kernel_ulong_t)&inv_icm45686_chip_info },
+	{ .name = "icm45687", .driver_data = (kernel_ulong_t)&inv_icm45687_chip_info },
+	{ .name = "icm45688p", .driver_data = (kernel_ulong_t)&inv_icm45688p_chip_info },
+	{ .name = "icm45689", .driver_data = (kernel_ulong_t)&inv_icm45689_chip_info },
+	{ }
+};
+MODULE_DEVICE_TABLE(i2c, inv_icm45600_id);
+
+static const struct of_device_id inv_icm45600_of_matches[] = {
+	{
+		.compatible = "invensense,icm45605",
+		.data = &inv_icm45605_chip_info,
+	}, {
+		.compatible = "invensense,icm45606",
+		.data = &inv_icm45606_chip_info,
+	}, {
+		.compatible = "invensense,icm45608",
+		.data = &inv_icm45608_chip_info,
+	}, {
+		.compatible = "invensense,icm45634",
+		.data = &inv_icm45634_chip_info,
+	}, {
+		.compatible = "invensense,icm45686",
+		.data = &inv_icm45686_chip_info,
+	}, {
+		.compatible = "invensense,icm45687",
+		.data = &inv_icm45687_chip_info,
+	}, {
+		.compatible = "invensense,icm45688p",
+		.data = &inv_icm45688p_chip_info,
+	}, {
+		.compatible = "invensense,icm45689",
+		.data = &inv_icm45689_chip_info,
+	},
+	{ }
+};
+MODULE_DEVICE_TABLE(of, inv_icm45600_of_matches);
+
+static struct i2c_driver inv_icm45600_driver = {
+	.driver = {
+		.name = "inv-icm45600-i2c",
+		.of_match_table = inv_icm45600_of_matches,
+		.pm = pm_ptr(&inv_icm45600_pm_ops),
+	},
+	.id_table = inv_icm45600_id,
+	.probe = inv_icm45600_probe,
+};
+module_i2c_driver(inv_icm45600_driver);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-456xx I2C driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_ICM45600");

linux-7.2.3/drivers/iio/imu/inv_icm45600/inv_icm45600_i3c.c

@@ -0,0 +1,78 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/* Copyright (C) 2025 InvenSense, Inc. */
+
+#include <linux/err.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+
+#include <linux/i3c/device.h>
+#include <linux/i3c/master.h>
+
+#include "inv_icm45600.h"
+
+static const struct regmap_config inv_icm45600_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+};
+
+static const struct i3c_device_id inv_icm45600_i3c_ids[] = {
+	I3C_DEVICE_EXTRA_INFO(0x0235, 0x0000, 0x0011, (void *)NULL),
+	I3C_DEVICE_EXTRA_INFO(0x0235, 0x0000, 0x0084, (void *)NULL),
+	{ /* sentinel */ }
+};
+MODULE_DEVICE_TABLE(i3c, inv_icm45600_i3c_ids);
+
+static const struct inv_icm45600_chip_info *i3c_chip_info[] = {
+	&inv_icm45605_chip_info,
+	&inv_icm45606_chip_info,
+	&inv_icm45608_chip_info,
+	&inv_icm45634_chip_info,
+	&inv_icm45686_chip_info,
+	&inv_icm45687_chip_info,
+	&inv_icm45688p_chip_info,
+	&inv_icm45689_chip_info,
+};
+
+static int inv_icm45600_i3c_probe(struct i3c_device *i3cdev)
+{
+	int ret;
+	unsigned int whoami;
+	struct regmap *regmap;
+	const int nb_chip = ARRAY_SIZE(i3c_chip_info);
+	int chip;
+
+	regmap = devm_regmap_init_i3c(i3cdev, &inv_icm45600_regmap_config);
+	if (IS_ERR(regmap))
+		return dev_err_probe(&i3cdev->dev, PTR_ERR(regmap),
+					"Failed to register i3c regmap %ld\n", PTR_ERR(regmap));
+
+	ret = regmap_read(regmap, INV_ICM45600_REG_WHOAMI, &whoami);
+	if (ret)
+		return dev_err_probe(&i3cdev->dev, ret, "Failed to read part id %d\n", whoami);
+
+	for (chip = 0; chip < nb_chip; chip++) {
+		if (whoami == i3c_chip_info[chip]->whoami)
+			break;
+	}
+
+	if (chip == nb_chip)
+		return dev_err_probe(&i3cdev->dev, -ENODEV,
+				     "Failed to match part id %d\n", whoami);
+
+	return inv_icm45600_core_probe(regmap, i3c_chip_info[chip], false, NULL);
+}
+
+static struct i3c_driver inv_icm45600_driver = {
+	.driver = {
+		.name = "inv_icm45600_i3c",
+		.pm = pm_sleep_ptr(&inv_icm45600_pm_ops),
+	},
+	.probe = inv_icm45600_i3c_probe,
+	.id_table = inv_icm45600_i3c_ids,
+};
+module_i3c_driver(inv_icm45600_driver);
+
+MODULE_AUTHOR("Remi Buisson <remi.buisson@tdk.com>");
+MODULE_DESCRIPTION("InvenSense ICM-456xx i3c driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_ICM45600");

linux-7.2.3/drivers/iio/imu/inv_icm45600/inv_icm45600_spi.c

@@ -0,0 +1,107 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/* Copyright (C) 2025 InvenSense, Inc. */
+
+#include <linux/bitfield.h>
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+
+#include <linux/spi/spi.h>
+
+#include "inv_icm45600.h"
+
+static const struct regmap_config inv_icm45600_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+};
+
+static int inv_icm45600_spi_bus_setup(struct inv_icm45600_state *st)
+{
+	/* Set slew rates for SPI. */
+	return regmap_update_bits(st->map, INV_ICM45600_REG_DRIVE_CONFIG0,
+				INV_ICM45600_DRIVE_CONFIG0_SPI_MASK,
+				FIELD_PREP(INV_ICM45600_DRIVE_CONFIG0_SPI_MASK,
+					INV_ICM45600_SPI_SLEW_RATE_5NS));
+}
+
+static int inv_icm45600_probe(struct spi_device *spi)
+{
+	const struct inv_icm45600_chip_info *chip_info;
+	struct regmap *regmap;
+
+	chip_info = spi_get_device_match_data(spi);
+	if (!chip_info)
+		return -ENODEV;
+
+	/* Use SPI specific regmap. */
+	regmap = devm_regmap_init_spi(spi, &inv_icm45600_regmap_config);
+	if (IS_ERR(regmap))
+		return PTR_ERR(regmap);
+
+	return inv_icm45600_core_probe(regmap, chip_info, true,
+				       inv_icm45600_spi_bus_setup);
+}
+
+/*
+ * The device id table is used to identify which device is
+ * supported by this driver.
+ */
+static const struct spi_device_id inv_icm45600_id[] = {
+	{ "icm45605", (kernel_ulong_t)&inv_icm45605_chip_info },
+	{ "icm45606", (kernel_ulong_t)&inv_icm45606_chip_info },
+	{ "icm45608", (kernel_ulong_t)&inv_icm45608_chip_info },
+	{ "icm45634", (kernel_ulong_t)&inv_icm45634_chip_info },
+	{ "icm45686", (kernel_ulong_t)&inv_icm45686_chip_info },
+	{ "icm45687", (kernel_ulong_t)&inv_icm45687_chip_info },
+	{ "icm45688p", (kernel_ulong_t)&inv_icm45688p_chip_info },
+	{ "icm45689", (kernel_ulong_t)&inv_icm45689_chip_info },
+	{ }
+};
+MODULE_DEVICE_TABLE(spi, inv_icm45600_id);
+
+static const struct of_device_id inv_icm45600_of_matches[] = {
+	{
+		.compatible = "invensense,icm45605",
+		.data = &inv_icm45605_chip_info,
+	}, {
+		.compatible = "invensense,icm45606",
+		.data = &inv_icm45606_chip_info,
+	}, {
+		.compatible = "invensense,icm45608",
+		.data = &inv_icm45608_chip_info,
+	}, {
+		.compatible = "invensense,icm45634",
+		.data = &inv_icm45634_chip_info,
+	}, {
+		.compatible = "invensense,icm45686",
+		.data = &inv_icm45686_chip_info,
+	}, {
+		.compatible = "invensense,icm45687",
+		.data = &inv_icm45687_chip_info,
+	}, {
+		.compatible = "invensense,icm45688p",
+		.data = &inv_icm45688p_chip_info,
+	}, {
+		.compatible = "invensense,icm45689",
+		.data = &inv_icm45689_chip_info,
+	},
+	{ }
+};
+MODULE_DEVICE_TABLE(of, inv_icm45600_of_matches);
+
+static struct spi_driver inv_icm45600_driver = {
+	.driver = {
+		.name = "inv-icm45600-spi",
+		.of_match_table = inv_icm45600_of_matches,
+		.pm = pm_ptr(&inv_icm45600_pm_ops),
+	},
+	.id_table = inv_icm45600_id,
+	.probe = inv_icm45600_probe,
+};
+module_spi_driver(inv_icm45600_driver);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-456xx SPI driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_ICM45600");