On Fri, 21 Apr 2023 15:16:29 +0800
Hermes Zhang <chenhuiz@xxxxxxxx> wrote:
> The Invensense ICM-20600 is a 6-axis MotionTracking device that combines a
> 3-axis gyroscope and an 3-axis accelerometer. It is very similar to the
> ICM20602 imu which is already supported by the mpu6050 driver. The main
> difference is that the ICM-20600 has a different WHOAMI value.
>
> Signed-off-by: Hermes Zhang <chenhuiz@xxxxxxxx>
FWIW the driver changes look good to me and the binding discussion
will have no impact on this patch.
Thanks,
Jonathan
> ---
> drivers/iio/imu/inv_mpu6050/Kconfig | 4 ++--
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 10 ++++++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 6 ++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 ++
> drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 5 +++++
> 5 files changed, 25 insertions(+), 2 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
> index 3636b1bc90f1..64dd73dcc4ba 100644
> --- a/drivers/iio/imu/inv_mpu6050/Kconfig
> +++ b/drivers/iio/imu/inv_mpu6050/Kconfig
> @@ -16,7 +16,7 @@ config INV_MPU6050_I2C
> select REGMAP_I2C
> help
> This driver supports the Invensense MPU6050/9150,
> - MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20602/ICM20690
> + MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20600/20602/20690
> 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,
> - MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20602/ICM20690
> + MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20600/20602/20690
> 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 8a129120b73d..592a6e60b413 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -244,6 +244,15 @@ static const struct inv_mpu6050_hw hw_info[] = {
> .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
> .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
> },
> + {
> + .whoami = INV_ICM20600_WHOAMI_VALUE,
> + .name = "ICM20600",
> + .reg = ®_set_icm20602,
> + .config = &chip_config_6500,
> + .fifo_size = 1008,
> + .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
> + .startup_time = {INV_ICM20602_GYRO_STARTUP_TIME, INV_ICM20602_ACCEL_STARTUP_TIME},
> + },
> {
> .whoami = INV_ICM20602_WHOAMI_VALUE,
> .name = "ICM20602",
> @@ -1597,6 +1606,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
> indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
> break;
> + case INV_ICM20600:
> case INV_ICM20602:
> indio_dev->channels = inv_mpu_channels;
> indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> index 2f2da4cb7321..0e39877678df 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> @@ -32,6 +32,7 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev)
> case INV_ICM20608D:
> case INV_ICM20609:
> case INV_ICM20689:
> + case INV_ICM20600:
> case INV_ICM20602:
> case INV_IAM20680:
> /* no i2c auxiliary bus on the chip */
> @@ -183,6 +184,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
> {"icm20608d", INV_ICM20608D},
> {"icm20609", INV_ICM20609},
> {"icm20689", INV_ICM20689},
> + {"icm20600", INV_ICM20600},
> {"icm20602", INV_ICM20602},
> {"icm20690", INV_ICM20690},
> {"iam20680", INV_IAM20680},
> @@ -236,6 +238,10 @@ static const struct of_device_id inv_of_match[] = {
> .compatible = "invensense,icm20689",
> .data = (void *)INV_ICM20689
> },
> + {
> + .compatible = "invensense,icm20600",
> + .data = (void *)INV_ICM20600
> + },
> {
> .compatible = "invensense,icm20602",
> .data = (void *)INV_ICM20602
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index 94b54c501ec0..b4ab2c397d0f 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -79,6 +79,7 @@ enum inv_devices {
> INV_ICM20608D,
> INV_ICM20609,
> INV_ICM20689,
> + INV_ICM20600,
> INV_ICM20602,
> INV_ICM20690,
> INV_IAM20680,
> @@ -398,6 +399,7 @@ struct inv_mpu6050_state {
> #define INV_ICM20608D_WHOAMI_VALUE 0xAE
> #define INV_ICM20609_WHOAMI_VALUE 0xA6
> #define INV_ICM20689_WHOAMI_VALUE 0x98
> +#define INV_ICM20600_WHOAMI_VALUE 0x11
> #define INV_ICM20602_WHOAMI_VALUE 0x12
> #define INV_ICM20690_WHOAMI_VALUE 0x20
> #define INV_IAM20680_WHOAMI_VALUE 0xA9
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> index 89f46c2f213d..05451ca1580b 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> @@ -76,6 +76,7 @@ static const struct spi_device_id inv_mpu_id[] = {
> {"icm20608d", INV_ICM20608D},
> {"icm20609", INV_ICM20609},
> {"icm20689", INV_ICM20689},
> + {"icm20600", INV_ICM20600},
> {"icm20602", INV_ICM20602},
> {"icm20690", INV_ICM20690},
> {"iam20680", INV_IAM20680},
> @@ -125,6 +126,10 @@ static const struct of_device_id inv_of_match[] = {
> .compatible = "invensense,icm20689",
> .data = (void *)INV_ICM20689
> },
> + {
> + .compatible = "invensense,icm20600",
> + .data = (void *)INV_ICM20600
> + },
> {
> .compatible = "invensense,icm20602",
> .data = (void *)INV_ICM20602
