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iio: imu: mpu6050: Add support for the ICM 20602 IMU
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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>
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Randolph Maaßen authored and Jonathan Cameron committed Feb 2, 2019
1 parent d9f5c4e commit 22904bd
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Showing 5 changed files with 58 additions and 7 deletions.
8 changes: 4 additions & 4 deletions drivers/iio/imu/inv_mpu6050/Kconfig
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Original file line number Diff line number Diff line change
Expand Up @@ -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.

Expand All @@ -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.
31 changes: 31 additions & 0 deletions drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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 = {
Expand All @@ -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 = {
Expand Down Expand Up @@ -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)
Expand Down
6 changes: 6 additions & 0 deletions drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand Down Expand Up @@ -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},
{}
};

Expand Down Expand Up @@ -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);
Expand Down
8 changes: 8 additions & 0 deletions drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -65,6 +66,7 @@ struct inv_mpu6050_reg_map {
u8 int_pin_cfg;
u8 accl_offset;
u8 gyro_offset;
u8 i2c_if;
};

/*device enum */
Expand All @@ -77,6 +79,7 @@ enum inv_devices {
INV_MPU9250,
INV_MPU9255,
INV_ICM20608,
INV_ICM20602,
INV_NUM_PARTS
};

Expand Down Expand Up @@ -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

Expand Down Expand Up @@ -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 {
Expand Down
12 changes: 9 additions & 3 deletions drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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},
{}
};

Expand Down

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