On Thu, 6 Feb 2020 11:31:03 +0100
Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx> wrote:
> Same generation as ICM20602 but different registers.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx>
Applied.
Thanks.
> ---
> drivers/iio/imu/inv_mpu6050/Kconfig | 8 ++---
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 36 +++++++++++++++++++---
> drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 5 +++
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 3 ++
> drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 5 +++
> 5 files changed, 48 insertions(+), 9 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
> index e65474a64675..7137ea6f25db 100644
> --- a/drivers/iio/imu/inv_mpu6050/Kconfig
> +++ b/drivers/iio/imu/inv_mpu6050/Kconfig
> @@ -16,8 +16,8 @@ config INV_MPU6050_I2C
> select REGMAP_I2C
> help
> This driver supports the Invensense MPU6050/9150,
> - MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602 and IAM20680
> - motion tracking devices over I2C.
> + MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602/ICM20690 and
> + IAM20680 motion tracking devices over I2C.
> This driver can be built as a module. The module will be called
> inv-mpu6050-i2c.
>
> @@ -28,7 +28,7 @@ config INV_MPU6050_SPI
> select REGMAP_SPI
> help
> This driver supports the Invensense MPU6000,
> - MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602 and IAM20680
> - motion tracking devices over SPI.
> + MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602/ICM20690 and
> + IAM20680 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 e8e6beef3f04..9ecc667debbe 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -200,6 +200,14 @@ static const struct inv_mpu6050_hw hw_info[] = {
> .fifo_size = 1008,
> .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
> },
> + {
> + .whoami = INV_ICM20690_WHOAMI_VALUE,
> + .name = "ICM20690",
> + .reg = ®_set_icm20602,
> + .config = &chip_config_6050,
> + .fifo_size = 1024,
> + .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
> + },
> {
> .whoami = INV_IAM20680_WHOAMI_VALUE,
> .name = "IAM20680",
> @@ -295,6 +303,25 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
> }
> EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);
>
> +static int inv_mpu6050_set_gyro_fsr(struct inv_mpu6050_state *st,
> + enum inv_mpu6050_fsr_e val)
> +{
> + unsigned int gyro_shift;
> + u8 data;
> +
> + switch (st->chip_type) {
> + case INV_ICM20690:
> + gyro_shift = INV_ICM20690_GYRO_CONFIG_FSR_SHIFT;
> + break;
> + default:
> + gyro_shift = INV_MPU6050_GYRO_CONFIG_FSR_SHIFT;
> + break;
> + }
> +
> + data = val << gyro_shift;
> + return regmap_write(st->map, st->reg->gyro_config, data);
> +}
> +
> /**
> * inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
> *
> @@ -318,6 +345,7 @@ static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
> /* old chips, nothing to do */
> return 0;
> case INV_ICM20689:
> + case INV_ICM20690:
> /* set FIFO size to maximum value */
> val |= INV_ICM20689_BITS_FIFO_SIZE_MAX;
> break;
> @@ -346,8 +374,8 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
> result = inv_mpu6050_set_power_itg(st, true);
> if (result)
> return result;
> - d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
> - result = regmap_write(st->map, st->reg->gyro_config, d);
> +
> + result = inv_mpu6050_set_gyro_fsr(st, INV_MPU6050_FSR_2000DPS);
> if (result)
> goto error_power_off;
>
> @@ -559,12 +587,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
> static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
> {
> int result, i;
> - u8 d;
>
> for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
> if (gyro_scale_6050[i] == val) {
> - d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
> - result = regmap_write(st->map, st->reg->gyro_config, d);
> + result = inv_mpu6050_set_gyro_fsr(st, i);
> if (result)
> return result;
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> index cd0eeb5dc7f6..1363d3776523 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> @@ -208,6 +208,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
> {"icm20609", INV_ICM20609},
> {"icm20689", INV_ICM20689},
> {"icm20602", INV_ICM20602},
> + {"icm20690", INV_ICM20690},
> {"iam20680", INV_IAM20680},
> {}
> };
> @@ -255,6 +256,10 @@ static const struct of_device_id inv_of_match[] = {
> .compatible = "invensense,icm20602",
> .data = (void *)INV_ICM20602
> },
> + {
> + .compatible = "invensense,icm20690",
> + .data = (void *)INV_ICM20690
> + },
> {
> .compatible = "invensense,iam20680",
> .data = (void *)INV_IAM20680
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index 404c289f8c84..7ae614052210 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -78,6 +78,7 @@ enum inv_devices {
> INV_ICM20609,
> INV_ICM20689,
> INV_ICM20602,
> + INV_ICM20690,
> INV_IAM20680,
> INV_NUM_PARTS
> };
> @@ -297,6 +298,7 @@ struct inv_mpu6050_state {
> #define INV_MPU6050_MAX_ACCL_FS_PARAM 3
> #define INV_MPU6050_THREE_AXIS 3
> #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
> +#define INV_ICM20690_GYRO_CONFIG_FSR_SHIFT 2
> #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3
>
> #define INV_MPU6500_TEMP_OFFSET 7011
> @@ -347,6 +349,7 @@ struct inv_mpu6050_state {
> #define INV_ICM20609_WHOAMI_VALUE 0xA6
> #define INV_ICM20689_WHOAMI_VALUE 0x98
> #define INV_ICM20602_WHOAMI_VALUE 0x12
> +#define INV_ICM20690_WHOAMI_VALUE 0x20
> #define INV_IAM20680_WHOAMI_VALUE 0xA9
>
> /* scan element definition for generic MPU6xxx devices */
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> index 393cec555be6..bc351dd58c53 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> @@ -84,6 +84,7 @@ static const struct spi_device_id inv_mpu_id[] = {
> {"icm20609", INV_ICM20609},
> {"icm20689", INV_ICM20689},
> {"icm20602", INV_ICM20602},
> + {"icm20690", INV_ICM20690},
> {"iam20680", INV_IAM20680},
> {}
> };
> @@ -127,6 +128,10 @@ static const struct of_device_id inv_of_match[] = {
> .compatible = "invensense,icm20602",
> .data = (void *)INV_ICM20602
> },
> + {
> + .compatible = "invensense,icm20690",
> + .data = (void *)INV_ICM20690
> + },
> {
> .compatible = "invensense,iam20680",
> .data = (void *)INV_IAM20680
