diff mbox series

[2/2] iio: imu: inv_icm42600: add support of ICM-42686-P

Message ID 20240422152240.85974-3-inv.git-commit@tdk.com (mailing list archive)
State Accepted
Headers show
Series iio: imu: inv_icm42600: add support of ICM-42686-P | expand

Commit Message

inv.git-commit@tdk.com April 22, 2024, 3:22 p.m. UTC 
From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>

Add ICM-42686-P chip supporting high FSRs (32G, 4000dps).

Create accel and gyro iio device states with dynamic scales table
set at device init.

Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
---
 drivers/iio/imu/inv_icm42600/inv_icm42600.h   | 35 ++++++++
 .../iio/imu/inv_icm42600/inv_icm42600_accel.c | 75 ++++++++++++-----
 .../imu/inv_icm42600/inv_icm42600_buffer.c    | 15 ++--
 .../iio/imu/inv_icm42600/inv_icm42600_core.c  | 20 +++++
 .../iio/imu/inv_icm42600/inv_icm42600_gyro.c  | 84 ++++++++++++++-----
 .../iio/imu/inv_icm42600/inv_icm42600_i2c.c   |  3 +
 .../iio/imu/inv_icm42600/inv_icm42600_spi.c   |  3 +
 7 files changed, 192 insertions(+), 43 deletions(-)

Comments

Jonathan Cameron April 28, 2024, 4:03 p.m. UTC | #1 
On Mon, 22 Apr 2024 15:22:40 +0000
inv.git-commit@tdk.com wrote:

> From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
> 
> Add ICM-42686-P chip supporting high FSRs (32G, 4000dps).
> 
> Create accel and gyro iio device states with dynamic scales table
> set at device init.
> 
> Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
Some comments inline, but given this is in line with the existing driver
approaches, those can wait for another day. I'll tidy up the blank line
comment.

Applied to the togreg branch of iio.git and pushed out initially as
testing for all the normal boring reasons.

Jonathan


> diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
> index 82e0a2e2ad70..42316fb72674 100644
> --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
> +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
> @@ -65,6 +65,21 @@ static const struct inv_icm42600_conf inv_icm42600_default_conf = {
>  	},
>  	.temp_en = false,
>  };
Blank line here.

> +static const struct inv_icm42600_conf inv_icm42686_default_conf = {
> +	.gyro = {
> +		.mode = INV_ICM42600_SENSOR_MODE_OFF,
> +		.fs = INV_ICM42686_GYRO_FS_4000DPS,
> +		.odr = INV_ICM42600_ODR_50HZ,
> +		.filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
> +	},
> +	.accel = {
> +		.mode = INV_ICM42600_SENSOR_MODE_OFF,
> +		.fs = INV_ICM42686_ACCEL_FS_32G,
> +		.odr = INV_ICM42600_ODR_50HZ,
> +		.filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
> +	},
> +	.temp_en = false,
> +};
>  
>  static const struct inv_icm42600_hw inv_icm42600_hw[INV_CHIP_NB] = {
>  	[INV_CHIP_ICM42600] = {
> @@ -82,6 +97,11 @@ static const struct inv_icm42600_hw inv_icm42600_hw[INV_CHIP_NB] = {
>  		.name = "icm42605",
>  		.conf = &inv_icm42600_default_conf,
>  	},
> +	[INV_CHIP_ICM42686] = {
> +		.whoami = INV_ICM42600_WHOAMI_ICM42686,
> +		.name = "icm42686",
> +		.conf = &inv_icm42686_default_conf,
> +	},
>  	[INV_CHIP_ICM42622] = {
>  		.whoami = INV_ICM42600_WHOAMI_ICM42622,
>  		.name = "icm42622",
> diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
> index 3df0a715e885..e6f8de80128c 100644
> --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
> +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c

> @@ -716,8 +750,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
>  {
>  	struct device *dev = regmap_get_device(st->map);
>  	const char *name;
> +	struct inv_icm42600_sensor_state *gyro_st;
>  	struct inv_sensors_timestamp_chip ts_chip;
> -	struct inv_sensors_timestamp *ts;
>  	struct iio_dev *indio_dev;
>  	int ret;
>  
> @@ -725,9 +759,21 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
>  	if (!name)
>  		return ERR_PTR(-ENOMEM);
>  
> -	indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
> +	indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st));
>  	if (!indio_dev)
>  		return ERR_PTR(-ENOMEM);
> +	gyro_st = iio_priv(indio_dev);
> +
> +	switch (st->chip) {
> +	case INV_CHIP_ICM42686:
> +		gyro_st->scales = inv_icm42686_gyro_scale;
> +		gyro_st->scales_len = ARRAY_SIZE(inv_icm42686_gyro_scale);

I'd have preferred this data being in the inv_icm42600_hw structures but that
is a more major refactor.   Longer term having any cases like this be simple
'data' rather than code would make for a cleaner and more flexible driver.

> +		break;
> +	default:
> +		gyro_st->scales = inv_icm42600_gyro_scale;
> +		gyro_st->scales_len = ARRAY_SIZE(inv_icm42600_gyro_scale);
> +		break;
> +	}
diff mbox series

Patch

diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
index 0566340b2660..c4ac91f6bafe 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
@@ -13,6 +13,7 @@ 
 #include <linux/regulator/consumer.h>
 #include <linux/pm.h>
 #include <linux/iio/iio.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
 
 #include "inv_icm42600_buffer.h"
 
@@ -21,6 +22,7 @@  enum inv_icm42600_chip {
 	INV_CHIP_ICM42600,
 	INV_CHIP_ICM42602,
 	INV_CHIP_ICM42605,
+	INV_CHIP_ICM42686,
 	INV_CHIP_ICM42622,
 	INV_CHIP_ICM42688,
 	INV_CHIP_ICM42631,
@@ -57,6 +59,17 @@  enum inv_icm42600_gyro_fs {
 	INV_ICM42600_GYRO_FS_15_625DPS,
 	INV_ICM42600_GYRO_FS_NB,
 };
+enum inv_icm42686_gyro_fs {
+	INV_ICM42686_GYRO_FS_4000DPS,
+	INV_ICM42686_GYRO_FS_2000DPS,
+	INV_ICM42686_GYRO_FS_1000DPS,
+	INV_ICM42686_GYRO_FS_500DPS,
+	INV_ICM42686_GYRO_FS_250DPS,
+	INV_ICM42686_GYRO_FS_125DPS,
+	INV_ICM42686_GYRO_FS_62_5DPS,
+	INV_ICM42686_GYRO_FS_31_25DPS,
+	INV_ICM42686_GYRO_FS_NB,
+};
 
 /* accelerometer fullscale values */
 enum inv_icm42600_accel_fs {
@@ -66,6 +79,14 @@  enum inv_icm42600_accel_fs {
 	INV_ICM42600_ACCEL_FS_2G,
 	INV_ICM42600_ACCEL_FS_NB,
 };
+enum inv_icm42686_accel_fs {
+	INV_ICM42686_ACCEL_FS_32G,
+	INV_ICM42686_ACCEL_FS_16G,
+	INV_ICM42686_ACCEL_FS_8G,
+	INV_ICM42686_ACCEL_FS_4G,
+	INV_ICM42686_ACCEL_FS_2G,
+	INV_ICM42686_ACCEL_FS_NB,
+};
 
 /* ODR suffixed by LN or LP are Low-Noise or Low-Power mode only */
 enum inv_icm42600_odr {
@@ -151,6 +172,19 @@  struct inv_icm42600_state {
 	} timestamp;
 };
 
+
+/**
+ * struct inv_icm42600_sensor_state - sensor state variables
+ * @scales:		table of scales.
+ * @scales_len:		length (nb of items) of the scales table.
+ * @ts:			timestamp module states.
+ */
+struct inv_icm42600_sensor_state {
+	const int *scales;
+	size_t scales_len;
+	struct inv_sensors_timestamp ts;
+};
+
 /* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
 
 /* Bank selection register, available in all banks */
@@ -304,6 +338,7 @@  struct inv_icm42600_state {
 #define INV_ICM42600_WHOAMI_ICM42600			0x40
 #define INV_ICM42600_WHOAMI_ICM42602			0x41
 #define INV_ICM42600_WHOAMI_ICM42605			0x42
+#define INV_ICM42600_WHOAMI_ICM42686			0x44
 #define INV_ICM42600_WHOAMI_ICM42622			0x46
 #define INV_ICM42600_WHOAMI_ICM42688			0x47
 #define INV_ICM42600_WHOAMI_ICM42631			0x5C
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
index f67bd5a39beb..83d8504ebfff 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
@@ -99,7 +99,8 @@  static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
 					       const unsigned long *scan_mask)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &accel_st->ts;
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 	unsigned int fifo_en = 0;
 	unsigned int sleep_temp = 0;
@@ -210,33 +211,54 @@  static const int inv_icm42600_accel_scale[] = {
 	[2 * INV_ICM42600_ACCEL_FS_2G] = 0,
 	[2 * INV_ICM42600_ACCEL_FS_2G + 1] = 598550,
 };
+static const int inv_icm42686_accel_scale[] = {
+	/* +/- 32G => 0.009576807 m/s-2 */
+	[2 * INV_ICM42686_ACCEL_FS_32G] = 0,
+	[2 * INV_ICM42686_ACCEL_FS_32G + 1] = 9576807,
+	/* +/- 16G => 0.004788403 m/s-2 */
+	[2 * INV_ICM42686_ACCEL_FS_16G] = 0,
+	[2 * INV_ICM42686_ACCEL_FS_16G + 1] = 4788403,
+	/* +/- 8G => 0.002394202 m/s-2 */
+	[2 * INV_ICM42686_ACCEL_FS_8G] = 0,
+	[2 * INV_ICM42686_ACCEL_FS_8G + 1] = 2394202,
+	/* +/- 4G => 0.001197101 m/s-2 */
+	[2 * INV_ICM42686_ACCEL_FS_4G] = 0,
+	[2 * INV_ICM42686_ACCEL_FS_4G + 1] = 1197101,
+	/* +/- 2G => 0.000598550 m/s-2 */
+	[2 * INV_ICM42686_ACCEL_FS_2G] = 0,
+	[2 * INV_ICM42686_ACCEL_FS_2G + 1] = 598550,
+};
 
-static int inv_icm42600_accel_read_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_accel_read_scale(struct iio_dev *indio_dev,
 					 int *val, int *val2)
 {
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
 	unsigned int idx;
 
 	idx = st->conf.accel.fs;
 
-	*val = inv_icm42600_accel_scale[2 * idx];
-	*val2 = inv_icm42600_accel_scale[2 * idx + 1];
+	*val = accel_st->scales[2 * idx];
+	*val2 = accel_st->scales[2 * idx + 1];
 	return IIO_VAL_INT_PLUS_NANO;
 }
 
-static int inv_icm42600_accel_write_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_accel_write_scale(struct iio_dev *indio_dev,
 					  int val, int val2)
 {
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
 	struct device *dev = regmap_get_device(st->map);
 	unsigned int idx;
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 	int ret;
 
-	for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_scale); idx += 2) {
-		if (val == inv_icm42600_accel_scale[idx] &&
-		    val2 == inv_icm42600_accel_scale[idx + 1])
+	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 >= ARRAY_SIZE(inv_icm42600_accel_scale))
+	if (idx >= accel_st->scales_len)
 		return -EINVAL;
 
 	conf.fs = idx / 2;
@@ -309,7 +331,8 @@  static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev,
 					int val, int val2)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &accel_st->ts;
 	struct device *dev = regmap_get_device(st->map);
 	unsigned int idx;
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
@@ -565,7 +588,7 @@  static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev,
 		*val = data;
 		return IIO_VAL_INT;
 	case IIO_CHAN_INFO_SCALE:
-		return inv_icm42600_accel_read_scale(st, val, val2);
+		return inv_icm42600_accel_read_scale(indio_dev, val, val2);
 	case IIO_CHAN_INFO_SAMP_FREQ:
 		return inv_icm42600_accel_read_odr(st, val, val2);
 	case IIO_CHAN_INFO_CALIBBIAS:
@@ -580,14 +603,16 @@  static int inv_icm42600_accel_read_avail(struct iio_dev *indio_dev,
 					 const int **vals,
 					 int *type, int *length, long mask)
 {
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+
 	if (chan->type != IIO_ACCEL)
 		return -EINVAL;
 
 	switch (mask) {
 	case IIO_CHAN_INFO_SCALE:
-		*vals = inv_icm42600_accel_scale;
+		*vals = accel_st->scales;
 		*type = IIO_VAL_INT_PLUS_NANO;
-		*length = ARRAY_SIZE(inv_icm42600_accel_scale);
+		*length = accel_st->scales_len;
 		return IIO_AVAIL_LIST;
 	case IIO_CHAN_INFO_SAMP_FREQ:
 		*vals = inv_icm42600_accel_odr;
@@ -618,7 +643,7 @@  static int inv_icm42600_accel_write_raw(struct iio_dev *indio_dev,
 		ret = iio_device_claim_direct_mode(indio_dev);
 		if (ret)
 			return ret;
-		ret = inv_icm42600_accel_write_scale(st, val, val2);
+		ret = inv_icm42600_accel_write_scale(indio_dev, val, val2);
 		iio_device_release_direct_mode(indio_dev);
 		return ret;
 	case IIO_CHAN_INFO_SAMP_FREQ:
@@ -705,8 +730,8 @@  struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
 {
 	struct device *dev = regmap_get_device(st->map);
 	const char *name;
+	struct inv_icm42600_sensor_state *accel_st;
 	struct inv_sensors_timestamp_chip ts_chip;
-	struct inv_sensors_timestamp *ts;
 	struct iio_dev *indio_dev;
 	int ret;
 
@@ -714,9 +739,21 @@  struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
 	if (!name)
 		return ERR_PTR(-ENOMEM);
 
-	indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st));
 	if (!indio_dev)
 		return ERR_PTR(-ENOMEM);
+	accel_st = iio_priv(indio_dev);
+
+	switch (st->chip) {
+	case INV_CHIP_ICM42686:
+		accel_st->scales = inv_icm42686_accel_scale;
+		accel_st->scales_len = ARRAY_SIZE(inv_icm42686_accel_scale);
+		break;
+	default:
+		accel_st->scales = inv_icm42600_accel_scale;
+		accel_st->scales_len = ARRAY_SIZE(inv_icm42600_accel_scale);
+		break;
+	}
 
 	/*
 	 * clock period is 32kHz (31250ns)
@@ -725,8 +762,7 @@  struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
 	ts_chip.clock_period = 31250;
 	ts_chip.jitter = 20;
 	ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
-	ts = iio_priv(indio_dev);
-	inv_sensors_timestamp_init(ts, &ts_chip);
+	inv_sensors_timestamp_init(&accel_st->ts, &ts_chip);
 
 	iio_device_set_drvdata(indio_dev, st);
 	indio_dev->name = name;
@@ -751,7 +787,8 @@  struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
 int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &accel_st->ts;
 	ssize_t i, size;
 	unsigned int no;
 	const void *accel, *gyro, *timestamp;
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
index b52f328fd26c..cfb4a41ab7c1 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
@@ -276,7 +276,8 @@  static int inv_icm42600_buffer_preenable(struct iio_dev *indio_dev)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 	struct device *dev = regmap_get_device(st->map);
-	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *sensor_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &sensor_st->ts;
 
 	pm_runtime_get_sync(dev);
 
@@ -502,6 +503,8 @@  int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st,
 
 int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
 {
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel);
 	struct inv_sensors_timestamp *ts;
 	int ret;
 
@@ -509,7 +512,7 @@  int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
 		return 0;
 
 	/* handle gyroscope timestamp and FIFO data parsing */
-	ts = iio_priv(st->indio_gyro);
+	ts = &gyro_st->ts;
 	inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
 					st->fifo.nb.gyro, st->timestamp.gyro);
 	if (st->fifo.nb.gyro > 0) {
@@ -519,7 +522,7 @@  int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
 	}
 
 	/* handle accelerometer timestamp and FIFO data parsing */
-	ts = iio_priv(st->indio_accel);
+	ts = &accel_st->ts;
 	inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
 					st->fifo.nb.accel, st->timestamp.accel);
 	if (st->fifo.nb.accel > 0) {
@@ -534,6 +537,8 @@  int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
 int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
 				     unsigned int count)
 {
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+	struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel);
 	struct inv_sensors_timestamp *ts;
 	int64_t gyro_ts, accel_ts;
 	int ret;
@@ -549,7 +554,7 @@  int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
 		return 0;
 
 	if (st->fifo.nb.gyro > 0) {
-		ts = iio_priv(st->indio_gyro);
+		ts = &gyro_st->ts;
 		inv_sensors_timestamp_interrupt(ts, st->fifo.period,
 						st->fifo.nb.total, st->fifo.nb.gyro,
 						gyro_ts);
@@ -559,7 +564,7 @@  int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
 	}
 
 	if (st->fifo.nb.accel > 0) {
-		ts = iio_priv(st->indio_accel);
+		ts = &accel_st->ts;
 		inv_sensors_timestamp_interrupt(ts, st->fifo.period,
 						st->fifo.nb.total, st->fifo.nb.accel,
 						accel_ts);
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
index 82e0a2e2ad70..42316fb72674 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
@@ -65,6 +65,21 @@  static const struct inv_icm42600_conf inv_icm42600_default_conf = {
 	},
 	.temp_en = false,
 };
+static const struct inv_icm42600_conf inv_icm42686_default_conf = {
+	.gyro = {
+		.mode = INV_ICM42600_SENSOR_MODE_OFF,
+		.fs = INV_ICM42686_GYRO_FS_4000DPS,
+		.odr = INV_ICM42600_ODR_50HZ,
+		.filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
+	},
+	.accel = {
+		.mode = INV_ICM42600_SENSOR_MODE_OFF,
+		.fs = INV_ICM42686_ACCEL_FS_32G,
+		.odr = INV_ICM42600_ODR_50HZ,
+		.filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
+	},
+	.temp_en = false,
+};
 
 static const struct inv_icm42600_hw inv_icm42600_hw[INV_CHIP_NB] = {
 	[INV_CHIP_ICM42600] = {
@@ -82,6 +97,11 @@  static const struct inv_icm42600_hw inv_icm42600_hw[INV_CHIP_NB] = {
 		.name = "icm42605",
 		.conf = &inv_icm42600_default_conf,
 	},
+	[INV_CHIP_ICM42686] = {
+		.whoami = INV_ICM42600_WHOAMI_ICM42686,
+		.name = "icm42686",
+		.conf = &inv_icm42686_default_conf,
+	},
 	[INV_CHIP_ICM42622] = {
 		.whoami = INV_ICM42600_WHOAMI_ICM42622,
 		.name = "icm42622",
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
index 3df0a715e885..e6f8de80128c 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -99,7 +99,8 @@  static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
 					      const unsigned long *scan_mask)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &gyro_st->ts;
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 	unsigned int fifo_en = 0;
 	unsigned int sleep_gyro = 0;
@@ -222,33 +223,63 @@  static const int inv_icm42600_gyro_scale[] = {
 	[2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
 	[2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
 };
+static const int inv_icm42686_gyro_scale[] = {
+	/* +/- 4000dps => 0.002130529 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_4000DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_4000DPS + 1] = 2130529,
+	/* +/- 2000dps => 0.001065264 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_2000DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_2000DPS + 1] = 1065264,
+	/* +/- 1000dps => 0.000532632 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_1000DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_1000DPS + 1] = 532632,
+	/* +/- 500dps => 0.000266316 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_500DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_500DPS + 1] = 266316,
+	/* +/- 250dps => 0.000133158 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_250DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_250DPS + 1] = 133158,
+	/* +/- 125dps => 0.000066579 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_125DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_125DPS + 1] = 66579,
+	/* +/- 62.5dps => 0.000033290 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_62_5DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_62_5DPS + 1] = 33290,
+	/* +/- 31.25dps => 0.000016645 rad/s */
+	[2 * INV_ICM42686_GYRO_FS_31_25DPS] = 0,
+	[2 * INV_ICM42686_GYRO_FS_31_25DPS + 1] = 16645,
+};
 
-static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_gyro_read_scale(struct iio_dev *indio_dev,
 					int *val, int *val2)
 {
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
 	unsigned int idx;
 
 	idx = st->conf.gyro.fs;
 
-	*val = inv_icm42600_gyro_scale[2 * idx];
-	*val2 = inv_icm42600_gyro_scale[2 * idx + 1];
+	*val = gyro_st->scales[2 * idx];
+	*val2 = gyro_st->scales[2 * idx + 1];
 	return IIO_VAL_INT_PLUS_NANO;
 }
 
-static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_gyro_write_scale(struct iio_dev *indio_dev,
 					 int val, int val2)
 {
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
 	struct device *dev = regmap_get_device(st->map);
 	unsigned int idx;
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 	int ret;
 
-	for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) {
-		if (val == inv_icm42600_gyro_scale[idx] &&
-		    val2 == inv_icm42600_gyro_scale[idx + 1])
+	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 >= ARRAY_SIZE(inv_icm42600_gyro_scale))
+	if (idx >= gyro_st->scales_len)
 		return -EINVAL;
 
 	conf.fs = idx / 2;
@@ -321,7 +352,8 @@  static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
 				       int val, int val2)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &gyro_st->ts;
 	struct device *dev = regmap_get_device(st->map);
 	unsigned int idx;
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
@@ -576,7 +608,7 @@  static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
 		*val = data;
 		return IIO_VAL_INT;
 	case IIO_CHAN_INFO_SCALE:
-		return inv_icm42600_gyro_read_scale(st, val, val2);
+		return inv_icm42600_gyro_read_scale(indio_dev, val, val2);
 	case IIO_CHAN_INFO_SAMP_FREQ:
 		return inv_icm42600_gyro_read_odr(st, val, val2);
 	case IIO_CHAN_INFO_CALIBBIAS:
@@ -591,14 +623,16 @@  static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
 					const int **vals,
 					int *type, int *length, long mask)
 {
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+
 	if (chan->type != IIO_ANGL_VEL)
 		return -EINVAL;
 
 	switch (mask) {
 	case IIO_CHAN_INFO_SCALE:
-		*vals = inv_icm42600_gyro_scale;
+		*vals = gyro_st->scales;
 		*type = IIO_VAL_INT_PLUS_NANO;
-		*length = ARRAY_SIZE(inv_icm42600_gyro_scale);
+		*length = gyro_st->scales_len;
 		return IIO_AVAIL_LIST;
 	case IIO_CHAN_INFO_SAMP_FREQ:
 		*vals = inv_icm42600_gyro_odr;
@@ -629,7 +663,7 @@  static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
 		ret = iio_device_claim_direct_mode(indio_dev);
 		if (ret)
 			return ret;
-		ret = inv_icm42600_gyro_write_scale(st, val, val2);
+		ret = inv_icm42600_gyro_write_scale(indio_dev, val, val2);
 		iio_device_release_direct_mode(indio_dev);
 		return ret;
 	case IIO_CHAN_INFO_SAMP_FREQ:
@@ -716,8 +750,8 @@  struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 {
 	struct device *dev = regmap_get_device(st->map);
 	const char *name;
+	struct inv_icm42600_sensor_state *gyro_st;
 	struct inv_sensors_timestamp_chip ts_chip;
-	struct inv_sensors_timestamp *ts;
 	struct iio_dev *indio_dev;
 	int ret;
 
@@ -725,9 +759,21 @@  struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 	if (!name)
 		return ERR_PTR(-ENOMEM);
 
-	indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st));
 	if (!indio_dev)
 		return ERR_PTR(-ENOMEM);
+	gyro_st = iio_priv(indio_dev);
+
+	switch (st->chip) {
+	case INV_CHIP_ICM42686:
+		gyro_st->scales = inv_icm42686_gyro_scale;
+		gyro_st->scales_len = ARRAY_SIZE(inv_icm42686_gyro_scale);
+		break;
+	default:
+		gyro_st->scales = inv_icm42600_gyro_scale;
+		gyro_st->scales_len = ARRAY_SIZE(inv_icm42600_gyro_scale);
+		break;
+	}
 
 	/*
 	 * clock period is 32kHz (31250ns)
@@ -736,8 +782,7 @@  struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 	ts_chip.clock_period = 31250;
 	ts_chip.jitter = 20;
 	ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
-	ts = iio_priv(indio_dev);
-	inv_sensors_timestamp_init(ts, &ts_chip);
+	inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip);
 
 	iio_device_set_drvdata(indio_dev, st);
 	indio_dev->name = name;
@@ -763,7 +808,8 @@  struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+	struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = &gyro_st->ts;
 	ssize_t i, size;
 	unsigned int no;
 	const void *accel, *gyro, *timestamp;
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
index ebb28f84ba98..8d33504d770f 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
@@ -81,6 +81,9 @@  static const struct of_device_id inv_icm42600_of_matches[] = {
 	}, {
 		.compatible = "invensense,icm42605",
 		.data = (void *)INV_CHIP_ICM42605,
+	}, {
+		.compatible = "invensense,icm42686",
+		.data = (void *)INV_CHIP_ICM42686,
 	}, {
 		.compatible = "invensense,icm42622",
 		.data = (void *)INV_CHIP_ICM42622,
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
index 50217a10e0bb..cc2bf1799a46 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
@@ -77,6 +77,9 @@  static const struct of_device_id inv_icm42600_of_matches[] = {
 	}, {
 		.compatible = "invensense,icm42605",
 		.data = (void *)INV_CHIP_ICM42605,
+	}, {
+		.compatible = "invensense,icm42686",
+		.data = (void *)INV_CHIP_ICM42686,
 	}, {
 		.compatible = "invensense,icm42622",
 		.data = (void *)INV_CHIP_ICM42622,