iio: imu: mpu6050: Add support for the ICM 20602 IMU

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>

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 5483b2e..d2fe9db 100644 (file)
--- 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 1e428c1..650de0f 100644 (file)
--- 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 dd758e3..e46eb4d 100644 (file)
--- 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 6bcc11f..325afd9 100644 (file)
--- 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
 };
 
@@ -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 227f50a..a112c3f 100644 (file)
--- 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},
        {}
 };