[PATCH v2 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU

From: Randolph MaaÃen
Date: Mon Jan 28 2019 - 13:50:38 EST

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 MaaÃen <gaireg@xxxxxxxxx>
---
drivers/iio/imu/inv_mpu6050/Kconfig | 8 ++++----
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 31 ++++++++++++++++++++++++++++++
drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 6 ++++++
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 8 ++++++++
drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 12 +++++++++---
5 files changed, 58 insertions(+), 7 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 5483b2ea754d..d2fe9dbddda7 100644
--- 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 1e428c196a82..650de0fefb7b 100644
--- 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 dd758e3d403d..e46eb4ddea21 100644
--- 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 6bcc11fc1b88..325afd9f5f61 100644
--- 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 227f50afff22..a112c3f45f74 100644
--- 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},
{}
};

--
2.11.0