Re: [PATCH 1/2] iio: imu: mpu6050: Add support for the ICM 20600 IMU

[Jonathan Cameron]

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 = &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