iio: imu: mpu6050: Add support for the ICM 20600 IMU

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@axis.com>
Acked-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
Link: https://lore.kernel.org/r/20230505054853.2155326-3-chenhuiz@axis.com
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 3636b1b..64dd73d 100644 (file)
--- 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 8a12912..592a6e6 100644 (file)
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -245,6 +245,15 @@ static const struct inv_mpu6050_hw hw_info[] = {
                .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
        },
        {
+               .whoami = INV_ICM20600_WHOAMI_VALUE,
+               .name = "ICM20600",
+               .reg = &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",
                .reg = &reg_set_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 2f2da4c..0e39877 100644 (file)
--- 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},
@@ -237,6 +239,10 @@ static const struct of_device_id inv_of_match[] = {
                .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 94b54c5..b4ab2c3 100644 (file)
--- 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 89f46c2..05451ca 100644 (file)
--- 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},
@@ -126,6 +127,10 @@ static const struct of_device_id inv_of_match[] = {
                .data = (void *)INV_ICM20689
        },
        {
+               .compatible = "invensense,icm20600",
+               .data = (void *)INV_ICM20600
+       },
+       {
                .compatible = "invensense,icm20602",
                .data = (void *)INV_ICM20602
        },