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SubjectRe: [PATCH v2 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU
On Mon, 28 Jan 2019 19:50:03 +0100
Randolph Maaßen <gaireg@gaireg.de> wrote:

> The Invensense ICM-20602 is a 6-axis MotionTracking device that
> combines a 3-axis gyroscope and an 3-axis accelerometer. It is very
> similar to the ICM-20608 imu which is already supported by the mpu6050
> driver. The main difference is that the ICM-20602 has the i2c bus
> disable bit in a separate register.
>
> Signed-off-by: Randolph Maaßen <gaireg@gaireg.de>
I'm not sure this particular approach will prove extensible for
future devices (seems likely that the bit may move around within
the 'different' register) but who knows and we can deal with that
when it happens.

Applied to the togreg branch of iio.git and pushed out as testing
for the autobuilders to play with it.

Thanks

Jonathan

> ---
> drivers/iio/imu/inv_mpu6050/Kconfig | 8 ++++----
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 31 ++++++++++++++++++++++++++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 6 ++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 8 ++++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 12 +++++++++---
> 5 files changed, 58 insertions(+), 7 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
> index 5483b2ea754d..d2fe9dbddda7 100644
> --- a/drivers/iio/imu/inv_mpu6050/Kconfig
> +++ b/drivers/iio/imu/inv_mpu6050/Kconfig
> @@ -13,8 +13,8 @@ config INV_MPU6050_I2C
> select INV_MPU6050_IIO
> select REGMAP_I2C
> help
> - This driver supports the Invensense MPU6050/6500/9150 and ICM20608
> - motion tracking devices over I2C.
> + This driver supports the Invensense MPU6050/6500/9150 and
> + ICM20608/20602 motion tracking devices over I2C.
> This driver can be built as a module. The module will be called
> inv-mpu6050-i2c.
>
> @@ -24,7 +24,7 @@ config INV_MPU6050_SPI
> select INV_MPU6050_IIO
> select REGMAP_SPI
> help
> - This driver supports the Invensense MPU6050/6500/9150 and ICM20608
> - motion tracking devices over SPI.
> + This driver supports the Invensense MPU6050/6500/9150 and
> + ICM20608/20602 motion tracking devices over SPI.
> This driver can be built as a module. The module will be called
> inv-mpu6050-spi.
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index 1e428c196a82..650de0fefb7b 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -38,6 +38,29 @@ static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
> */
> static const int accel_scale[] = {598, 1196, 2392, 4785};
>
> +static const struct inv_mpu6050_reg_map reg_set_icm20602 = {
> + .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
> + .lpf = INV_MPU6050_REG_CONFIG,
> + .accel_lpf = INV_MPU6500_REG_ACCEL_CONFIG_2,
> + .user_ctrl = INV_MPU6050_REG_USER_CTRL,
> + .fifo_en = INV_MPU6050_REG_FIFO_EN,
> + .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
> + .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
> + .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
> + .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
> + .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
> + .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
> + .temperature = INV_MPU6050_REG_TEMPERATURE,
> + .int_enable = INV_MPU6050_REG_INT_ENABLE,
> + .int_status = INV_MPU6050_REG_INT_STATUS,
> + .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
> + .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
> + .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
> + .accl_offset = INV_MPU6500_REG_ACCEL_OFFSET,
> + .gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
> + .i2c_if = INV_ICM20602_REG_I2C_IF,
> +};
> +
> static const struct inv_mpu6050_reg_map reg_set_6500 = {
> .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
> .lpf = INV_MPU6050_REG_CONFIG,
> @@ -58,6 +81,7 @@ static const struct inv_mpu6050_reg_map reg_set_6500 = {
> .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
> .accl_offset = INV_MPU6500_REG_ACCEL_OFFSET,
> .gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
> + .i2c_if = 0,
> };
>
> static const struct inv_mpu6050_reg_map reg_set_6050 = {
> @@ -78,6 +102,7 @@ static const struct inv_mpu6050_reg_map reg_set_6050 = {
> .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
> .accl_offset = INV_MPU6050_REG_ACCEL_OFFSET,
> .gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
> + .i2c_if = 0,
> };
>
> static const struct inv_mpu6050_chip_config chip_config_6050 = {
> @@ -140,6 +165,12 @@ static const struct inv_mpu6050_hw hw_info[] = {
> .reg = &reg_set_6500,
> .config = &chip_config_6050,
> },
> + {
> + .whoami = INV_ICM20602_WHOAMI_VALUE,
> + .name = "ICM20602",
> + .reg = &reg_set_icm20602,
> + .config = &chip_config_6050,
> + },
> };
>
> int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> index dd758e3d403d..e46eb4ddea21 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> @@ -127,6 +127,7 @@ static int inv_mpu_probe(struct i2c_client *client,
> st = iio_priv(dev_get_drvdata(&client->dev));
> switch (st->chip_type) {
> case INV_ICM20608:
> + case INV_ICM20602:
> /* no i2c auxiliary bus on the chip */
> break;
> default:
> @@ -179,6 +180,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
> {"mpu9250", INV_MPU9250},
> {"mpu9255", INV_MPU9255},
> {"icm20608", INV_ICM20608},
> + {"icm20602", INV_ICM20602},
> {}
> };
>
> @@ -213,6 +215,10 @@ static const struct of_device_id inv_of_match[] = {
> .compatible = "invensense,icm20608",
> .data = (void *)INV_ICM20608
> },
> + {
> + .compatible = "invensense,icm20602",
> + .data = (void *)INV_ICM20602
> + },
> { }
> };
> MODULE_DEVICE_TABLE(of, inv_of_match);
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index 6bcc11fc1b88..325afd9f5f61 100644
> --- a/drivers/iio/imu/inv_mpu6050i2c_i/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -44,6 +44,7 @@
> * @int_pin_cfg; Controls interrupt pin configuration.
> * @accl_offset: Controls the accelerometer calibration offset.
> * @gyro_offset: Controls the gyroscope calibration offset.
> + * @i2c_if: Controls the i2c interface
> */
> struct inv_mpu6050_reg_map {
> u8 sample_rate_div;
> @@ -65,6 +66,7 @@ struct inv_mpu6050_reg_map {
> u8 int_pin_cfg;
> u8 accl_offset;
> u8 gyro_offset;
> + u8 i2c_if;
> };
>
> /*device enum */
> @@ -77,6 +79,7 @@ enum inv_devices {
> INV_MPU9250,
> INV_MPU9255,
> INV_ICM20608,
> + INV_ICM20602,
> INV_NUM_PARTS
> };
>
> @@ -195,6 +198,10 @@ struct inv_mpu6050_state {
> #define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
> #define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
>
> +/* ICM20602 register */
> +#define INV_ICM20602_REG_I2C_IF 0x70
> +#define INV_ICM20602_BIT_I2C_IF_DIS 0x40
> +
> #define INV_MPU6050_REG_FIFO_COUNT_H 0x72
> #define INV_MPU6050_REG_FIFO_R_W 0x74
>
> @@ -261,6 +268,7 @@ struct inv_mpu6050_state {
> #define INV_MPU9255_WHOAMI_VALUE 0x73
> #define INV_MPU6515_WHOAMI_VALUE 0x74
> #define INV_ICM20608_WHOAMI_VALUE 0xAF
> +#define INV_ICM20602_WHOAMI_VALUE 0x12
>
> /* scan element definition */
> enum inv_mpu6050_scan {
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> index 227f50afff22..a112c3f45f74 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> @@ -31,9 +31,14 @@ static int inv_mpu_i2c_disable(struct iio_dev *indio_dev)
> if (ret)
> return ret;
>
> - st->chip_config.user_ctrl |= INV_MPU6050_BIT_I2C_IF_DIS;
> - ret = regmap_write(st->map, st->reg->user_ctrl,
> - st->chip_config.user_ctrl);
> + if (st->reg->i2c_if) {
> + ret = regmap_write(st->map, st->reg->i2c_if,
> + INV_ICM20602_BIT_I2C_IF_DIS);
> + } else {
> + st->chip_config.user_ctrl |= INV_MPU6050_BIT_I2C_IF_DIS;
> + ret = regmap_write(st->map, st->reg->user_ctrl,
> + st->chip_config.user_ctrl);
> + }
> if (ret) {
> inv_mpu6050_set_power_itg(st, false);
> return ret;
> @@ -81,6 +86,7 @@ static const struct spi_device_id inv_mpu_id[] = {
> {"mpu9250", INV_MPU9250},
> {"mpu9255", INV_MPU9255},
> {"icm20608", INV_ICM20608},
> + {"icm20602", INV_ICM20602},
> {}
> };
>

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