* [PATCH 1/2] dt-bindings: iio: imu: add icm20602 bindings to mpu6050
@ 2019-01-22 12:02 Randolph Maaßen
2019-01-22 12:02 ` [PATCH 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU Randolph Maaßen
0 siblings, 1 reply; 4+ messages in thread
From: Randolph Maaßen @ 2019-01-22 12:02 UTC (permalink / raw)
To: gaireg
Cc: Jonathan Cameron, Hartmut Knaack, Lars-Peter Clausen,
Peter Meerwald-Stadler, Rob Herring, Mark Rutland, Brian Masney,
Jonathan Marek, Martin Kelly, Douglas Fischer,
Jean-Baptiste Maneyrol, linux-iio, devicetree, linux-kernel
Adding the invensense ICM-20602 to the compatible list of the mpu6050
driver
Signed-off-by: Randolph Maaßen <gaireg@gaireg.de>
---
Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt | 1 +
1 file changed, 1 insertion(+)
diff --git a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
index 6ab9a9d196b0..268bf7568e19 100644
--- a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
+++ b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
@@ -11,6 +11,7 @@ Required properties:
"invensense,mpu9250"
"invensense,mpu9255"
"invensense,icm20608"
+ "invensense,icm20602"
- reg : the I2C address of the sensor
- interrupts: interrupt mapping for IRQ. It should be configured with flags
IRQ_TYPE_LEVEL_HIGH, IRQ_TYPE_EDGE_RISING, IRQ_TYPE_LEVEL_LOW or
--
2.11.0
^ permalink raw reply related [flat|nested] 4+ messages in thread
* [PATCH 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU
2019-01-22 12:02 [PATCH 1/2] dt-bindings: iio: imu: add icm20602 bindings to mpu6050 Randolph Maaßen
@ 2019-01-22 12:02 ` Randolph Maaßen
2019-01-26 20:05 ` Jonathan Cameron
0 siblings, 1 reply; 4+ messages in thread
From: Randolph Maaßen @ 2019-01-22 12:02 UTC (permalink / raw)
To: gaireg
Cc: Jonathan Cameron, Hartmut Knaack, Lars-Peter Clausen,
Peter Meerwald-Stadler, Rob Herring, Mark Rutland,
Jonathan Marek, Brian Masney, Martin Kelly, Douglas Fischer,
Jean-Baptiste Maneyrol, Hans de Goede, linux-iio, devicetree,
linux-kernel
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>
---
drivers/iio/imu/inv_mpu6050/Kconfig | 8 ++++----
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 29 +++++++++++++++++++++++++++++
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, 56 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..01c856417d8f 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,
@@ -140,6 +163,12 @@ static const struct inv_mpu6050_hw hw_info[] = {
.reg = ®_set_6500,
.config = &chip_config_6050,
},
+ {
+ .whoami = INV_ICM20602_WHOAMI_VALUE,
+ .name = "ICM20602",
+ .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..e5b7213c74f9 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->chip_type == INV_ICM20602) {
+ ret = regmap_write(st->map, INV_ICM20602_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
^ permalink raw reply related [flat|nested] 4+ messages in thread
* Re: [PATCH 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU
2019-01-22 12:02 ` [PATCH 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU Randolph Maaßen
@ 2019-01-26 20:05 ` Jonathan Cameron
2019-01-28 18:36 ` Randolph Maaßen
0 siblings, 1 reply; 4+ messages in thread
From: Jonathan Cameron @ 2019-01-26 20:05 UTC (permalink / raw)
To: Randolph Maaßen
Cc: Hartmut Knaack, Lars-Peter Clausen, Peter Meerwald-Stadler,
Rob Herring, Mark Rutland, Jonathan Marek, Brian Masney,
Martin Kelly, Douglas Fischer, Jean-Baptiste Maneyrol,
Hans de Goede, linux-iio, devicetree, linux-kernel
On Tue, 22 Jan 2019 13:02:14 +0100
Randolph Maaßen <gaireg@gaireg.de> wrote:
> 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>
There is a slight oddity in here, in that you introduce a
field in the chip info to describe the register to control the i2c disable
but then don't actually use it in the code.
You should check if that is 0 and if not, write the separate
register it provides.
Jonathan
> ---
> drivers/iio/imu/inv_mpu6050/Kconfig | 8 ++++----
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 29 +++++++++++++++++++++++++++++
> 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, 56 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..01c856417d8f 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,
> @@ -140,6 +163,12 @@ static const struct inv_mpu6050_hw hw_info[] = {
> .reg = ®_set_6500,
> .config = &chip_config_6050,
> },
> + {
> + .whoami = INV_ICM20602_WHOAMI_VALUE,
> + .name = "ICM20602",
> + .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
This is introduced but never actually used.
> */
> 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..e5b7213c74f9 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->chip_type == INV_ICM20602) {
> + ret = regmap_write(st->map, INV_ICM20602_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},
> {}
> };
>
^ permalink raw reply [flat|nested] 4+ messages in thread
* Re: [PATCH 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU
2019-01-26 20:05 ` Jonathan Cameron
@ 2019-01-28 18:36 ` Randolph Maaßen
0 siblings, 0 replies; 4+ messages in thread
From: Randolph Maaßen @ 2019-01-28 18:36 UTC (permalink / raw)
To: Jonathan Cameron
Cc: Hartmut Knaack, Lars-Peter Clausen, Peter Meerwald-Stadler,
Rob Herring, Mark Rutland, Jonathan Marek, Brian Masney,
Martin Kelly, Douglas Fischer, Jean-Baptiste Maneyrol,
Hans de Goede, linux-iio, devicetree, linux-kernel
Hi,
first, thanks for the review.
Am Samstag, den 26.01.2019, 20:05 +0000 schrieb Jonathan Cameron:
> On Tue, 22 Jan 2019 13:02:14 +0100
> Randolph Maaßen <gaireg@gaireg.de> wrote:
>
> > 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>
>
> There is a slight oddity in here, in that you introduce a
> field in the chip info to describe the register to control the i2c disable
> but then don't actually use it in the code.
>
> You should check if that is 0 and if not, write the separate
> register it provides.
I see, i mixed the register handling up. I intended to use the variable in the
inv_mpu_i2c_disable function but used the define there. I'll send a v2
Randolph
>
> Jonathan
> > ---
> > drivers/iio/imu/inv_mpu6050/Kconfig | 8 ++++----
> > drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 29
> > +++++++++++++++++++++++++++++
> > 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, 56 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..01c856417d8f 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,
> > @@ -140,6 +163,12 @@ static const struct inv_mpu6050_hw hw_info[] = {
> > .reg = ®_set_6500,
> > .config = &chip_config_6050,
> > },
> > + {
> > + .whoami = INV_ICM20602_WHOAMI_VALUE,
> > + .name = "ICM20602",
> > + .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
>
> This is introduced but never actually used.
>
> > */
> > 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..e5b7213c74f9 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->chip_type == INV_ICM20602) {
> > + ret = regmap_write(st->map, INV_ICM20602_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},
> > {}
> > };
> >
>
>
--
Mit freundlichen Grüßen
Randolph Maaßen
^ permalink raw reply [flat|nested] 4+ messages in thread
end of thread, other threads:[~2019-01-28 18:36 UTC | newest]
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2019-01-22 12:02 [PATCH 1/2] dt-bindings: iio: imu: add icm20602 bindings to mpu6050 Randolph Maaßen
2019-01-22 12:02 ` [PATCH 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU Randolph Maaßen
2019-01-26 20:05 ` Jonathan Cameron
2019-01-28 18:36 ` Randolph Maaßen
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