iio: imu: inv_mpu6050: add support of ICM20690

Same generation as ICM20602 but different registers.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.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 e65474a..7137ea6 100644 (file)
--- 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 e8e6bee..9ecc667 100644 (file)
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -201,6 +201,14 @@ static const struct inv_mpu6050_hw hw_info[] = {
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
        },
        {
+               .whoami = INV_ICM20690_WHOAMI_VALUE,
+               .name = "ICM20690",
+               .reg = &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",
                .reg = &reg_set_6500,
@@ -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 cd0eeb5..1363d37 100644 (file)
--- 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},
        {}
 };
@@ -256,6 +257,10 @@ static const struct of_device_id inv_of_match[] = {
                .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 404c289..7ae6140 100644 (file)
--- 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 393cec5..bc351dd 100644 (file)
--- 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},
        {}
 };
@@ -128,6 +129,10 @@ static const struct of_device_id inv_of_match[] = {
                .data = (void *)INV_ICM20602
        },
        {
+               .compatible = "invensense,icm20690",
+               .data = (void *)INV_ICM20690
+       },
+       {
                .compatible = "invensense,iam20680",
                .data = (void *)INV_IAM20680
        },