iio: imu: inv_mpu6050: add support of ICM20690 (8abce87d) · Commits · 戴 / test

drivers/iio/imu/inv_mpu6050/Kconfig

+4 −4

Original line number	Diff line number	Diff line
		@@ -16,8 +16,8 @@ config INV_MPU6050_I2C
		select REGMAP_I2C
		help
		This driver supports the Invensense MPU6050/9150,
		MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602 and IAM20680
		motion tracking devices over I2C.
		MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602/ICM20690 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,
		MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602 and IAM20680
		motion tracking devices over SPI.
		MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602/ICM20690 and
		IAM20680 motion tracking devices over SPI.
		This driver can be built as a module. The module will be called
		inv-mpu6050-spi.

drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

+31 −5

Original line number	Diff line number	Diff line
		@@ -200,6 +200,14 @@ static const struct inv_mpu6050_hw hw_info[] = {
		.fifo_size = 1008,
		.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
		},
		{
		.whoami = INV_ICM20690_WHOAMI_VALUE,
		.name = "ICM20690",
		.reg = &reg_set_icm20602,
		.config = &chip_config_6050,
		.fifo_size = 1024,
		.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
		},
		{
		.whoami = INV_IAM20680_WHOAMI_VALUE,
		.name = "IAM20680",
		@@ -295,6 +303,25 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
		}
		EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);

		static int inv_mpu6050_set_gyro_fsr(struct inv_mpu6050_state *st,
		enum inv_mpu6050_fsr_e val)
		{
		unsigned int gyro_shift;
		u8 data;

		switch (st->chip_type) {
		case INV_ICM20690:
		gyro_shift = INV_ICM20690_GYRO_CONFIG_FSR_SHIFT;
		break;
		default:
		gyro_shift = INV_MPU6050_GYRO_CONFIG_FSR_SHIFT;
		break;
		}

		data = val << gyro_shift;
		return regmap_write(st->map, st->reg->gyro_config, data);
		}

		/**
		* inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
		*
		@@ -318,6 +345,7 @@ static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
		/* old chips, nothing to do */
		return 0;
		case INV_ICM20689:
		case INV_ICM20690:
		/* set FIFO size to maximum value */
		val \|= INV_ICM20689_BITS_FIFO_SIZE_MAX;
		break;
		@@ -346,8 +374,8 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
		result = inv_mpu6050_set_power_itg(st, true);
		if (result)
		return result;
		d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
		result = regmap_write(st->map, st->reg->gyro_config, d);

		result = inv_mpu6050_set_gyro_fsr(st, INV_MPU6050_FSR_2000DPS);
		if (result)
		goto error_power_off;

		@@ -559,12 +587,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
		static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
		{
		int result, i;
		u8 d;

		for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
		if (gyro_scale_6050[i] == val) {
		d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
		result = regmap_write(st->map, st->reg->gyro_config, d);
		result = inv_mpu6050_set_gyro_fsr(st, i);
		if (result)
		return result;

drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c

+5 −0

Original line number	Diff line number	Diff line
		@@ -208,6 +208,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
		{"icm20609", INV_ICM20609},
		{"icm20689", INV_ICM20689},
		{"icm20602", INV_ICM20602},
		{"icm20690", INV_ICM20690},
		{"iam20680", INV_IAM20680},
		{}
		};
		@@ -255,6 +256,10 @@ static const struct of_device_id inv_of_match[] = {
		.compatible = "invensense,icm20602",
		.data = (void *)INV_ICM20602
		},
		{
		.compatible = "invensense,icm20690",
		.data = (void *)INV_ICM20690
		},
		{
		.compatible = "invensense,iam20680",
		.data = (void *)INV_IAM20680

drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

+3 −0

Original line number	Diff line number	Diff line
		@@ -78,6 +78,7 @@ enum inv_devices {
		INV_ICM20609,
		INV_ICM20689,
		INV_ICM20602,
		INV_ICM20690,
		INV_IAM20680,
		INV_NUM_PARTS
		};
		@@ -297,6 +298,7 @@ struct inv_mpu6050_state {
		#define INV_MPU6050_MAX_ACCL_FS_PARAM 3
		#define INV_MPU6050_THREE_AXIS 3
		#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
		#define INV_ICM20690_GYRO_CONFIG_FSR_SHIFT 2
		#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3

		#define INV_MPU6500_TEMP_OFFSET 7011
		@@ -347,6 +349,7 @@ struct inv_mpu6050_state {
		#define INV_ICM20609_WHOAMI_VALUE 0xA6
		#define INV_ICM20689_WHOAMI_VALUE 0x98
		#define INV_ICM20602_WHOAMI_VALUE 0x12
		#define INV_ICM20690_WHOAMI_VALUE 0x20
		#define INV_IAM20680_WHOAMI_VALUE 0xA9

		/* scan element definition for generic MPU6xxx devices */

drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c

+5 −0

Original line number	Diff line number	Diff line
		@@ -84,6 +84,7 @@ static const struct spi_device_id inv_mpu_id[] = {
		{"icm20609", INV_ICM20609},
		{"icm20689", INV_ICM20689},
		{"icm20602", INV_ICM20602},
		{"icm20690", INV_ICM20690},
		{"iam20680", INV_IAM20680},
		{}
		};
		@@ -127,6 +128,10 @@ static const struct of_device_id inv_of_match[] = {
		.compatible = "invensense,icm20602",
		.data = (void *)INV_ICM20602
		},
		{
		.compatible = "invensense,icm20690",
		.data = (void *)INV_ICM20690
		},
		{
		.compatible = "invensense,iam20680",
		.data = (void *)INV_IAM20680

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