[v2] iio: imu: new inv_icm45600 driver

[PATCH v2 6/8] iio: imu: inv_icm45600: add SPI driver for inv_icm45600 driver

Posted by Remi Buisson via B4 Relay 2 months, 4 weeks ago

From: Remi Buisson <remi.buisson@tdk.com>

Add SPI driver for InvenSense ICM-456000 devices.

Signed-off-by: Remi Buisson <remi.buisson@tdk.com>
---
 drivers/iio/imu/inv_icm45600/Kconfig            |  21 +++++
 drivers/iio/imu/inv_icm45600/Makefile           |   5 +-
 drivers/iio/imu/inv_icm45600/inv_icm45600_spi.c | 106 ++++++++++++++++++++++++
 3 files changed, 131 insertions(+), 1 deletion(-)

diff --git a/drivers/iio/imu/inv_icm45600/Kconfig b/drivers/iio/imu/inv_icm45600/Kconfig
index 5b044a954e952ffa8e44507eea42872e1f3161bc..01399d136a7ea3aa92a3a18ea455c95c0a6578b3 100644
--- a/drivers/iio/imu/inv_icm45600/Kconfig
+++ b/drivers/iio/imu/inv_icm45600/Kconfig
@@ -26,3 +26,24 @@ config INV_ICM45600_I2C
 
 	  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.
diff --git a/drivers/iio/imu/inv_icm45600/Makefile b/drivers/iio/imu/inv_icm45600/Makefile
index 371585e29e92e78a30c7d40c1389548fa22a999a..244cc8aa1f79e3367ac6925504cfd9d5b918a0e6 100644
--- a/drivers/iio/imu/inv_icm45600/Makefile
+++ b/drivers/iio/imu/inv_icm45600/Makefile
@@ -7,4 +7,7 @@ inv-icm45600-y += inv_icm45600_accel.o
 inv-icm45600-y += inv_icm45600_gyro.o
 
 obj-$(CONFIG_INV_ICM45600_I2C) += inv-icm45600-i2c.o
-inv-icm45600-i2c-y += inv_icm45600_i2c.o
\ No newline at end of file
+inv-icm45600-i2c-y += inv_icm45600_i2c.o
+
+obj-$(CONFIG_INV_ICM45600_SPI) += inv-icm45600-spi.o
+inv-icm45600-spi-y += inv_icm45600_spi.o
diff --git a/drivers/iio/imu/inv_icm45600/inv_icm45600_spi.c b/drivers/iio/imu/inv_icm45600/inv_icm45600_spi.c
new file mode 100644
index 0000000000000000000000000000000000000000..2fd4ecce24bd60aa2112e1bcae3f7196504df637
--- /dev/null
+++ b/drivers/iio/imu/inv_icm45600/inv_icm45600_spi.c
@@ -0,0 +1,106 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/* Copyright (C) 2025 InvenSense, Inc. */
+
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.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");

-- 
2.34.1

Re: [PATCH v2 6/8] iio: imu: inv_icm45600: add SPI driver for inv_icm45600 driver

Posted by kernel test robot 2 months, 4 weeks ago

Hi Remi,

kernel test robot noticed the following build warnings:

[auto build test WARNING on f8f559752d573a051a984adda8d2d1464f92f954]

url:    https://github.com/intel-lab-lkp/linux/commits/Remi-Buisson-via-B4-Relay/dt-bindings-iio-imu-Add-inv_icm45600/20250710-170143
base:   f8f559752d573a051a984adda8d2d1464f92f954
patch link:    https://lore.kernel.org/r/20250710-add_newport_driver-v2-6-bf76d8142ef2%40tdk.com
patch subject: [PATCH v2 6/8] iio: imu: inv_icm45600: add SPI driver for inv_icm45600 driver
config: mips-randconfig-r072-20250711 (https://download.01.org/0day-ci/archive/20250711/202507111201.r62j5rb6-lkp@intel.com/config)
compiler: clang version 21.0.0git (https://github.com/llvm/llvm-project 01c97b4953e87ae455bd4c41e3de3f0f0f29c61c)
reproduce (this is a W=1 build): (https://download.01.org/0day-ci/archive/20250711/202507111201.r62j5rb6-lkp@intel.com/reproduce)

If you fix the issue in a separate patch/commit (i.e. not just a new version of
the same patch/commit), kindly add following tags
| Reported-by: kernel test robot <lkp@intel.com>
| Closes: https://lore.kernel.org/oe-kbuild-all/202507111201.r62j5rb6-lkp@intel.com/

All warnings (new ones prefixed by >>):

>> drivers/iio/imu/inv_icm45600/inv_icm45600_accel.c:107:7: warning: variable 'sleep' is used uninitialized whenever 'if' condition is false [-Wsometimes-uninitialized]
     107 |                 if (*scan_mask & (BIT(INV_ICM45600_ACCEL_SCAN_X) |
         |                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     108 |                                  BIT(INV_ICM45600_ACCEL_SCAN_Y) |
         |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     109 |                                  BIT(INV_ICM45600_ACCEL_SCAN_Z))) {
         |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   drivers/iio/imu/inv_icm45600/inv_icm45600_accel.c:123:6: note: uninitialized use occurs here
     123 |         if (sleep)
         |             ^~~~~
   drivers/iio/imu/inv_icm45600/inv_icm45600_accel.c:107:3: note: remove the 'if' if its condition is always true
     107 |                 if (*scan_mask & (BIT(INV_ICM45600_ACCEL_SCAN_X) |
         |                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     108 |                                  BIT(INV_ICM45600_ACCEL_SCAN_Y) |
         |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     109 |                                  BIT(INV_ICM45600_ACCEL_SCAN_Z))) {
         |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   drivers/iio/imu/inv_icm45600/inv_icm45600_accel.c:100:20: note: initialize the variable 'sleep' to silence this warning
     100 |         unsigned int sleep;
         |                           ^
         |                            = 0
   1 warning generated.
--
>> drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c:107:7: warning: variable 'sleep' is used uninitialized whenever 'if' condition is false [-Wsometimes-uninitialized]
     107 |                 if (*scan_mask & (BIT(INV_ICM45600_GYRO_SCAN_X) |
         |                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     108 |                                  BIT(INV_ICM45600_GYRO_SCAN_Y) |
         |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     109 |                                  BIT(INV_ICM45600_GYRO_SCAN_Z))) {
         |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c:121:6: note: uninitialized use occurs here
     121 |         if (sleep)
         |             ^~~~~
   drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c:107:3: note: remove the 'if' if its condition is always true
     107 |                 if (*scan_mask & (BIT(INV_ICM45600_GYRO_SCAN_X) |
         |                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     108 |                                  BIT(INV_ICM45600_GYRO_SCAN_Y) |
         |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     109 |                                  BIT(INV_ICM45600_GYRO_SCAN_Z))) {
         |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c:100:20: note: initialize the variable 'sleep' to silence this warning
     100 |         unsigned int sleep;
         |                           ^
         |                            = 0
   1 warning generated.


vim +107 drivers/iio/imu/inv_icm45600/inv_icm45600_accel.c

1fb5c2bf7348d06 Remi Buisson 2025-07-10   91  
1fb5c2bf7348d06 Remi Buisson 2025-07-10   92  /* enable accelerometer sensor and FIFO write */
1fb5c2bf7348d06 Remi Buisson 2025-07-10   93  static int inv_icm45600_accel_update_scan_mode(struct iio_dev *indio_dev,
1fb5c2bf7348d06 Remi Buisson 2025-07-10   94  					       const unsigned long *scan_mask)
1fb5c2bf7348d06 Remi Buisson 2025-07-10   95  {
1fb5c2bf7348d06 Remi Buisson 2025-07-10   96  	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
1fb5c2bf7348d06 Remi Buisson 2025-07-10   97  	struct inv_icm45600_sensor_state *accel_st = iio_priv(indio_dev);
1fb5c2bf7348d06 Remi Buisson 2025-07-10   98  	struct inv_icm45600_sensor_conf conf = INV_ICM45600_SENSOR_CONF_INIT;
1fb5c2bf7348d06 Remi Buisson 2025-07-10   99  	unsigned int fifo_en = 0;
1fb5c2bf7348d06 Remi Buisson 2025-07-10  100  	unsigned int sleep;
1fb5c2bf7348d06 Remi Buisson 2025-07-10  101  	int ret;
1fb5c2bf7348d06 Remi Buisson 2025-07-10  102  
1fb5c2bf7348d06 Remi Buisson 2025-07-10  103  	scoped_guard(mutex, &st->lock) {
1fb5c2bf7348d06 Remi Buisson 2025-07-10  104  		if (*scan_mask & BIT(INV_ICM45600_ACCEL_SCAN_TEMP))
1fb5c2bf7348d06 Remi Buisson 2025-07-10  105  			fifo_en |= INV_ICM45600_SENSOR_TEMP;
1fb5c2bf7348d06 Remi Buisson 2025-07-10  106  
1fb5c2bf7348d06 Remi Buisson 2025-07-10 @107  		if (*scan_mask & (BIT(INV_ICM45600_ACCEL_SCAN_X) |
1fb5c2bf7348d06 Remi Buisson 2025-07-10  108  				 BIT(INV_ICM45600_ACCEL_SCAN_Y) |
1fb5c2bf7348d06 Remi Buisson 2025-07-10  109  				 BIT(INV_ICM45600_ACCEL_SCAN_Z))) {
1fb5c2bf7348d06 Remi Buisson 2025-07-10  110  			/* enable accel sensor */
1fb5c2bf7348d06 Remi Buisson 2025-07-10  111  			conf.mode = accel_st->power_mode;
1fb5c2bf7348d06 Remi Buisson 2025-07-10  112  			ret = inv_icm45600_set_accel_conf(st, &conf, &sleep);
1fb5c2bf7348d06 Remi Buisson 2025-07-10  113  			if (ret)
1fb5c2bf7348d06 Remi Buisson 2025-07-10  114  				return ret;
1fb5c2bf7348d06 Remi Buisson 2025-07-10  115  			fifo_en |= INV_ICM45600_SENSOR_ACCEL;
1fb5c2bf7348d06 Remi Buisson 2025-07-10  116  		}
1fb5c2bf7348d06 Remi Buisson 2025-07-10  117  
1fb5c2bf7348d06 Remi Buisson 2025-07-10  118  		/* Update data FIFO write. */
1fb5c2bf7348d06 Remi Buisson 2025-07-10  119  		ret = inv_icm45600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
1fb5c2bf7348d06 Remi Buisson 2025-07-10  120  	}
1fb5c2bf7348d06 Remi Buisson 2025-07-10  121  
1fb5c2bf7348d06 Remi Buisson 2025-07-10  122  	/* Sleep required time. */
1fb5c2bf7348d06 Remi Buisson 2025-07-10  123  	if (sleep)
1fb5c2bf7348d06 Remi Buisson 2025-07-10  124  		msleep(sleep);
1fb5c2bf7348d06 Remi Buisson 2025-07-10  125  
1fb5c2bf7348d06 Remi Buisson 2025-07-10  126  	return ret;
1fb5c2bf7348d06 Remi Buisson 2025-07-10  127  }
1fb5c2bf7348d06 Remi Buisson 2025-07-10  128  

-- 
0-DAY CI Kernel Test Service
https://github.com/intel/lkp-tests/wiki

Re: [PATCH v2 6/8] iio: imu: inv_icm45600: add SPI driver for inv_icm45600 driver

Posted by Andy Shevchenko 2 months, 4 weeks ago

On Fri, Jul 11, 2025 at 12:55:25PM +0800, kernel test robot wrote:
> Hi Remi,
> 

>    drivers/iio/imu/inv_icm45600/inv_icm45600_accel.c:100:20: note: initialize the variable 'sleep' to silence this warning
>      100 |         unsigned int sleep;
>          |                           ^
>          |                            = 0

For the record, this is usually bad advice by the compiler. You need to either
check for errors, or do something else.

>    drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c:100:20: note: initialize the variable 'sleep' to silence this warning
>      100 |         unsigned int sleep;
>          |                           ^
>          |                            = 0

Ditto.

-- 
With Best Regards,
Andy Shevchenko

[PATCH v2 1/8] dt-bindings: iio: imu: Add inv_icm45600
[PATCH v2 2/8] iio: imu: inv_icm45600: add new inv_icm45600 driver
[PATCH v2 3/8] iio: imu: inv_icm45600: add buffer support in iio devices
[PATCH v2 4/8] iio: imu: inv_icm45600: add IMU IIO devices
[PATCH v2 5/8] iio: imu: inv_icm45600: add I2C driver for inv_icm45600 driver
[PATCH v2 6/8] iio: imu: inv_icm45600: add SPI driver for inv_icm45600 driver
[PATCH v2 7/8] iio: imu: inv_icm45600: add I3C driver for inv_icm45600 driver
[PATCH v2 8/8] MAINTAINERS: add entry for inv_icm45600 6-axis imu sensor