iio: imu: inv_icm42600: add support of ICM-42686-P

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>
Link: https://lore.kernel.org/r/20240422152240.85974-3-inv.git-commit@tdk.com
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

7 files changed, 193 insertions, 43 deletions

diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
index 0566340b266049..c4ac91f6bafea9 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 f67bd5a39beb34..83d8504ebfff43 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 b52f328fd26ce7..cfb4a41ab7c11e 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 82e0a2e2ad706c..96116a68ab291b 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
@@ -66,6 +66,22 @@ 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] = {
 		.whoami = INV_ICM42600_WHOAMI_ICM42600,
@@ -82,6 +98,11 @@ 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 3df0a715e88560..e6f8de80128c4f 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 ebb28f84ba9853..8d33504d770f7b 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
@@ -82,6 +82,9 @@ 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 50217a10e0bbf3..cc2bf1799a4653 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
@@ -78,6 +78,9 @@ 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,
 	}, {