From: Randolph Maaßen gaireg@gaireg.de
[ Upstream commit 22904bdff97839960bd98b3452a583b1daee628b ]
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 Signed-off-by: Jonathan Cameron Jonathan.Cameron@huawei.com Signed-off-by: Sasha Levin sashal@kernel.org --- 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 5483b2ea754dd..d2fe9dbddda74 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 d80ef468508a1..cb80c9e49fc7b 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -37,6 +37,29 @@ 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, @@ -57,6 +80,7 @@ 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 = { @@ -77,6 +101,7 @@ 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 = { @@ -139,6 +164,12 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6500, .config = &chip_config_6050, }, + { + .whoami = INV_ICM20602_WHOAMI_VALUE, + .name = "ICM20602", + .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 dd758e3d403da..e46eb4ddea210 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 e69a59659dbcf..bdbaf6e01ce3e 100644 --- a/drivers/iio/imu/inv_mpu6050/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 };
@@ -193,6 +196,10 @@ 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
@@ -259,6 +266,7 @@ 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 227f50afff22f..a112c3f45f748 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}, {} };