LinuxLists.cc - [PATCH v3 0/2] Add support for the ICM 20600 IMU

2023-05-05 05:57:37

Subject: [PATCH v3 0/2] Add support for the ICM 20600 IMU

2023-05-05 05:59:47

Subject: [PATCH v3 2/2] iio: imu: mpu6050: Add support for the ICM 20600 IMU

The Invensense ICM-20600 is a 6-axis MotionTracking device that combines a
3-axis gyroscope and an 3-axis accelerometer. It is very similar to the
ICM20602 imu which is already supported by the mpu6050 driver. The main
difference is that the ICM-20600 has a different WHOAMI value.

Signed-off-by: Hermes Zhang <[email protected]>
---
drivers/iio/imu/inv_mpu6050/Kconfig | 4 ++--
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 10 ++++++++++
drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 6 ++++++
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 ++
drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 5 +++++
5 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 3636b1bc90f1..64dd73dcc4ba 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -16,7 +16,7 @@ config INV_MPU6050_I2C
select REGMAP_I2C
help
This driver supports the Invensense MPU6050/9150,
- MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20602/ICM20690
+ MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20600/20602/20690
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,
- MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20602/ICM20690
+ MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20600/20602/20690
and IAM20680 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 8a129120b73d..592a6e60b413 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -244,6 +244,15 @@ static const struct inv_mpu6050_hw hw_info[] = {
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
.startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
},
+ {
+ .whoami = INV_ICM20600_WHOAMI_VALUE,
+ .name = "ICM20600",
+ .reg = &reg_set_icm20602,
+ .config = &chip_config_6500,
+ .fifo_size = 1008,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_ICM20602_GYRO_STARTUP_TIME, INV_ICM20602_ACCEL_STARTUP_TIME},
+ },
{
.whoami = INV_ICM20602_WHOAMI_VALUE,
.name = "ICM20602",
@@ -1597,6 +1606,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
break;
+ case INV_ICM20600:
case INV_ICM20602:
indio_dev->channels = inv_mpu_channels;
indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index 2f2da4cb7321..0e39877678df 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -32,6 +32,7 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev)
case INV_ICM20608D:
case INV_ICM20609:
case INV_ICM20689:
+ case INV_ICM20600:
case INV_ICM20602:
case INV_IAM20680:
/* no i2c auxiliary bus on the chip */
@@ -183,6 +184,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
{"icm20608d", INV_ICM20608D},
{"icm20609", INV_ICM20609},
{"icm20689", INV_ICM20689},
+ {"icm20600", INV_ICM20600},
{"icm20602", INV_ICM20602},
{"icm20690", INV_ICM20690},
{"iam20680", INV_IAM20680},
@@ -236,6 +238,10 @@ static const struct of_device_id inv_of_match[] = {
.compatible = "invensense,icm20689",
.data = (void *)INV_ICM20689
},
+ {
+ .compatible = "invensense,icm20600",
+ .data = (void *)INV_ICM20600
+ },
{
.compatible = "invensense,icm20602",
.data = (void *)INV_ICM20602
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 94b54c501ec0..b4ab2c397d0f 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -79,6 +79,7 @@ enum inv_devices {
INV_ICM20608D,
INV_ICM20609,
INV_ICM20689,
+ INV_ICM20600,
INV_ICM20602,
INV_ICM20690,
INV_IAM20680,
@@ -398,6 +399,7 @@ struct inv_mpu6050_state {
#define INV_ICM20608D_WHOAMI_VALUE 0xAE
#define INV_ICM20609_WHOAMI_VALUE 0xA6
#define INV_ICM20689_WHOAMI_VALUE 0x98
+#define INV_ICM20600_WHOAMI_VALUE 0x11
#define INV_ICM20602_WHOAMI_VALUE 0x12
#define INV_ICM20690_WHOAMI_VALUE 0x20
#define INV_IAM20680_WHOAMI_VALUE 0xA9
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
index 89f46c2f213d..05451ca1580b 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -76,6 +76,7 @@ static const struct spi_device_id inv_mpu_id[] = {
{"icm20608d", INV_ICM20608D},
{"icm20609", INV_ICM20609},
{"icm20689", INV_ICM20689},
+ {"icm20600", INV_ICM20600},
{"icm20602", INV_ICM20602},
{"icm20690", INV_ICM20690},
{"iam20680", INV_IAM20680},
@@ -125,6 +126,10 @@ static const struct of_device_id inv_of_match[] = {
.compatible = "invensense,icm20689",
.data = (void *)INV_ICM20689
},
+ {
+ .compatible = "invensense,icm20600",
+ .data = (void *)INV_ICM20600
+ },
{
.compatible = "invensense,icm20602",
.data = (void *)INV_ICM20602
--
2.30.2

2023-05-06 16:31:27

by Jonathan Cameron

[permalink] [raw]

Subject: Re: [PATCH v3 0/2] Add support for the ICM 20600 IMU

On Fri, 5 May 2023 13:48:51 +0800
Hermes Zhang <[email protected]> wrote:

> The Invensense ICM-20600 is a 6-axis MotionTracking device that combines a
> 3-axis gyroscope and an 3-axis accelerometer. It is very similar to the
> ICM20602 imu which is already supported by the mpu6050 driver. The main
> difference is that the ICM-20600 has a different WHOAMI value.
>
> Notes:
> v2: require specifying "invensense,icm20602" as a fallback compatible
> in the binding, as suggested
> v3: reorder "invensense,icm20602" entry before icm20608 and add
> Reviewed-by tag from Krzysztof

Looks good to me. I want to leave a little more time for Jean-Baptiste to take
a look. If it looks like I've forgotten this in 2 weeks, feel free to give me
a poke.

Thanks,

Jonathan

>
> Hermes Zhang (2):
> dt-bindings: iio: imu: mpu6050: Add icm20600 bindings to mpu6050
> iio: imu: mpu6050: Add support for the ICM 20600 IMU
>
> .../bindings/iio/imu/invensense,mpu6050.yaml | 3 +++
> drivers/iio/imu/inv_mpu6050/Kconfig | 4 ++--
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 10 ++++++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 6 ++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 ++
> drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 5 +++++
> 6 files changed, 28 insertions(+), 2 deletions(-)
>

2023-05-09 09:12:25

by Jean-Baptiste Maneyrol

[permalink] [raw]

Subject: Re: [PATCH v3 2/2] iio: imu: mpu6050: Add support for the ICM 20600 IMU

Hello,

looks good for me, thanks for the patch.

Acked-by: Jean-Baptiste Maneyrol <[email protected]>

From: Hermes Zhang <[email protected]>
Sent: Friday, May 5, 2023 07:48
To: [email protected] <[email protected]>; [email protected] <[email protected]>; [email protected] <[email protected]>
Cc: Jean-Baptiste Maneyrol <[email protected]>; [email protected] <[email protected]>; [email protected] <[email protected]>; [email protected] <[email protected]>; Hermes Zhang <[email protected]>; Lars-Peter Clausen <[email protected]>
Subject: [PATCH v3 2/2] iio: imu: mpu6050: Add support for the ICM 20600 IMU
?
[CAUTION] This is an EXTERNAL email. Do not click links or open attachments unless you recognize the sender and know the content is safe.

======================================================================
The Invensense ICM-20600 is a 6-axis MotionTracking device that combines a
3-axis gyroscope and an 3-axis accelerometer. It is very similar to the
ICM20602 imu which is already supported by the mpu6050 driver. The main
difference is that the ICM-20600 has a different WHOAMI value.

Signed-off-by: Hermes Zhang <[email protected]>
---
?drivers/iio/imu/inv_mpu6050/Kconfig??????? |? 4 ++--
?drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 10 ++++++++++
?drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c? |? 6 ++++++
?drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h? |? 2 ++
?drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c? |? 5 +++++
?5 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 3636b1bc90f1..64dd73dcc4ba 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -16,7 +16,7 @@ config INV_MPU6050_I2C
???????? select REGMAP_I2C
???????? help
?????????? This driver supports the Invensense MPU6050/9150,
-???????? MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20602/ICM20690
+???????? MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20600/20602/20690
?????????? 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,
-???????? MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20602/ICM20690
+???????? MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20600/20602/20690
?????????? and IAM20680 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 8a129120b73d..592a6e60b413 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -244,6 +244,15 @@ static const struct inv_mpu6050_hw hw_info[] = {
???????????????? .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
???????????????? .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
???????? },
+?????? {
+?????????????? .whoami = INV_ICM20600_WHOAMI_VALUE,
+?????????????? .name = "ICM20600",
+?????????????? .reg = &reg_set_icm20602,
+?????????????? .config = &chip_config_6500,
+?????????????? .fifo_size = 1008,
+?????????????? .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+?????????????? .startup_time = {INV_ICM20602_GYRO_STARTUP_TIME, INV_ICM20602_ACCEL_STARTUP_TIME},
+?????? },
???????? {
???????????????? .whoami = INV_ICM20602_WHOAMI_VALUE,
???????????????? .name = "ICM20602",
@@ -1597,6 +1606,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
???????????????? indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
???????????????? indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
???????????????? break;
+?????? case INV_ICM20600:
???????? case INV_ICM20602:
???????????????? indio_dev->channels = inv_mpu_channels;
???????????????? indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index 2f2da4cb7321..0e39877678df 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -32,6 +32,7 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev)
???????? case INV_ICM20608D:
???????? case INV_ICM20609:
???????? case INV_ICM20689:
+?????? case INV_ICM20600:
???????? case INV_ICM20602:
???????? case INV_IAM20680:
???????????????? /* no i2c auxiliary bus on the chip */
@@ -183,6 +184,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
???????? {"icm20608d", INV_ICM20608D},
???????? {"icm20609", INV_ICM20609},
???????? {"icm20689", INV_ICM20689},
+?????? {"icm20600", INV_ICM20600},
???????? {"icm20602", INV_ICM20602},
???????? {"icm20690", INV_ICM20690},
???????? {"iam20680", INV_IAM20680},
@@ -236,6 +238,10 @@ static const struct of_device_id inv_of_match[] = {
???????????????? .compatible = "invensense,icm20689",
???????????????? .data = (void *)INV_ICM20689
???????? },
+?????? {
+?????????????? .compatible = "invensense,icm20600",
+?????????????? .data = (void *)INV_ICM20600
+?????? },
???????? {
???????????????? .compatible = "invensense,icm20602",
???????????????? .data = (void *)INV_ICM20602
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 94b54c501ec0..b4ab2c397d0f 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -79,6 +79,7 @@ enum inv_devices {
???????? INV_ICM20608D,
???????? INV_ICM20609,
???????? INV_ICM20689,
+?????? INV_ICM20600,
???????? INV_ICM20602,
???????? INV_ICM20690,
???????? INV_IAM20680,
@@ -398,6 +399,7 @@ struct inv_mpu6050_state {
?#define INV_ICM20608D_WHOAMI_VALUE????????????? 0xAE
?#define INV_ICM20609_WHOAMI_VALUE?????????????? 0xA6
?#define INV_ICM20689_WHOAMI_VALUE?????????????? 0x98
+#define INV_ICM20600_WHOAMI_VALUE????????????? 0x11
?#define INV_ICM20602_WHOAMI_VALUE?????????????? 0x12
?#define INV_ICM20690_WHOAMI_VALUE?????????????? 0x20
?#define INV_IAM20680_WHOAMI_VALUE?????????????? 0xA9
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
index 89f46c2f213d..05451ca1580b 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -76,6 +76,7 @@ static const struct spi_device_id inv_mpu_id[] = {
???????? {"icm20608d", INV_ICM20608D},
???????? {"icm20609", INV_ICM20609},
???????? {"icm20689", INV_ICM20689},
+?????? {"icm20600", INV_ICM20600},
???????? {"icm20602", INV_ICM20602},
???????? {"icm20690", INV_ICM20690},
???????? {"iam20680", INV_IAM20680},
@@ -125,6 +126,10 @@ static const struct of_device_id inv_of_match[] = {
???????????????? .compatible = "invensense,icm20689",
???????????????? .data = (void *)INV_ICM20689
???????? },
+?????? {
+?????????????? .compatible = "invensense,icm20600",
+?????????????? .data = (void *)INV_ICM20600
+?????? },
???????? {
???????????????? .compatible = "invensense,icm20602",
???????????????? .data = (void *)INV_ICM20602
--
2.30.2

2023-05-13 17:48:27

by Jonathan Cameron

[permalink] [raw]

Subject: Re: [PATCH v3 0/2] Add support for the ICM 20600 IMU

On Sat, 6 May 2023 17:37:17 +0100
Jonathan Cameron <[email protected]> wrote:

> On Fri, 5 May 2023 13:48:51 +0800
> Hermes Zhang <[email protected]> wrote:
>
> > The Invensense ICM-20600 is a 6-axis MotionTracking device that combines a
> > 3-axis gyroscope and an 3-axis accelerometer. It is very similar to the
> > ICM20602 imu which is already supported by the mpu6050 driver. The main
> > difference is that the ICM-20600 has a different WHOAMI value.
> >
> > Notes:
> > v2: require specifying "invensense,icm20602" as a fallback compatible
> > in the binding, as suggested
> > v3: reorder "invensense,icm20602" entry before icm20608 and add
> > Reviewed-by tag from Krzysztof
>
> Looks good to me. I want to leave a little more time for Jean-Baptiste to take
> a look. If it looks like I've forgotten this in 2 weeks, feel free to give me
> a poke.

Series applied to the togreg branch of iio.git and initially pushed out as
testing for 0-day to take a look and see if we missed anything.

Thanks,

Jonathan

>
> Thanks,
>
> Jonathan
>
>
> >
> > Hermes Zhang (2):
> > dt-bindings: iio: imu: mpu6050: Add icm20600 bindings to mpu6050
> > iio: imu: mpu6050: Add support for the ICM 20600 IMU
> >
> > .../bindings/iio/imu/invensense,mpu6050.yaml | 3 +++
> > drivers/iio/imu/inv_mpu6050/Kconfig | 4 ++--
> > drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 10 ++++++++++
> > drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 6 ++++++
> > drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 ++
> > drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 5 +++++
> > 6 files changed, 28 insertions(+), 2 deletions(-)
> >
>