@@ -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.
@@ -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 = ®_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;
@@ -224,6 +224,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
{"icm20609", INV_ICM20609},
{"icm20689", INV_ICM20689},
{"icm20602", INV_ICM20602},
+ {"icm20690", INV_ICM20690},
{"iam20680", INV_IAM20680},
{}
};
@@ -271,6 +272,10 @@ 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
@@ -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 */
@@ -81,6 +81,7 @@ static const struct spi_device_id inv_mpu_id[] = {
{"icm20609", INV_ICM20609},
{"icm20689", INV_ICM20689},
{"icm20602", INV_ICM20602},
+ {"icm20690", INV_ICM20690},
{"iam20680", INV_IAM20680},
{}
};
@@ -124,6 +125,10 @@ 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
Same generation as ICM20602 but different registers. Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> --- drivers/iio/imu/inv_mpu6050/Kconfig | 8 ++--- drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 36 +++++++++++++++++++--- drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 5 +++ drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 3 ++ drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 5 +++ 5 files changed, 48 insertions(+), 9 deletions(-)