Re: [PATCH 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU
Hi,
first, thanks for the review.
Am Samstag, den 26.01.2019, 20:05 + schrieb Jonathan Cameron:
> On Tue, 22 Jan 2019 13:02:14 +0100
> Randolph Maaßen 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
>
> 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 = _config_6050,
> > },
> > + {
> > + .whoami = INV_ICM20602_WHOAMI_VALUE,
> > + .name = "ICM20602",
> > + .reg = _set_icm20602,
> > + .config = _config_6050,
> > + },
> > };
> >
> > int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32
> > mask)
> > diff --git
Re: [PATCH 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU
On Tue, 22 Jan 2019 13:02:14 +0100
Randolph Maaßen 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
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 = _config_6050,
> },
> + {
> + .whoami = INV_ICM20602_WHOAMI_VALUE,
> + .name = "ICM20602",
> + .reg = _set_icm20602,
> + .config = _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(>dev));
> switch (st->chip_type) {
> case
[PATCH 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU
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
---
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 = _config_6050,
},
+ {
+ .whoami = INV_ICM20602_WHOAMI_VALUE,
+ .name = "ICM20602",
+ .reg = _set_icm20602,
+ .config = _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(>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[] = {
