Re: [PATCH 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU

From: Jonathan Cameron
Date: Sat Jan 26 2019 - 15:05:33 EST

On Tue, 22 Jan 2019 13:02:14 +0100
Randolph MaaÃen <gaireg@xxxxxxxxx> 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 MaaÃen <gaireg@xxxxxxxxx>

There is a slight oddity in here, in that you introduce a
field in the chip info to describe the register to control the i2c disable
but then don't actually use it in the code.

You should check if that is 0 and if not, write the separate
register it provides.

Jonathan
> ---
> drivers/iio/imu/inv_mpu6050/Kconfig | 8 ++++----
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 29 +++++++++++++++++++++++++++++
> 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, 56 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..01c856417d8f 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,
> @@ -140,6 +163,12 @@ 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_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

This is introduced but never actually used.

> */
> 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..e5b7213c74f9 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->chip_type == INV_ICM20602) {
> + ret = regmap_write(st->map, INV_ICM20602_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},
> {}
> };
>