Received-SPF: pass (google.com: best guess record for domain of linux-kernel-owner@vger.kernel.org designates 209.132.180.67 as permitted sender) client-ip=209.132.180.67;
Message-ID: <1548700594.4312.6.camel@gaireg.de>
Subject: Re: [PATCH 2/2] iio: imu: mpu6050: Add support for the ICM 20602 IMU
From:   Randolph =?ISO-8859-1?Q?Maa=DFen?= <gaireg@gaireg.de>
To:     Jonathan Cameron <jic23@kernel.org>
Cc:     Hartmut Knaack <knaack.h@gmx.de>,
        Lars-Peter Clausen <lars@metafoo.de>,
        Peter Meerwald-Stadler <pmeerw@pmeerw.net>,
        Rob Herring <robh+dt@kernel.org>,
        Mark Rutland <mark.rutland@arm.com>,
        Jonathan Marek <jonathan@marek.ca>,
        Brian Masney <masneyb@onstation.org>,
        Martin Kelly <mkelly@xevo.com>,
        Douglas Fischer <fischerdouglasc@gmail.com>,
        Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>,
        Hans de Goede <hdegoede@redhat.com>,
        linux-iio@vger.kernel.org, devicetree@vger.kernel.org,
        linux-kernel@vger.kernel.org
Date:   Mon, 28 Jan 2019 19:36:34 +0100
In-Reply-To: <20190126200523.5233466c@archlinux>
References: <20190122120221.27187-1-gaireg@gaireg.de>
         <20190122120221.27187-2-gaireg@gaireg.de>
         <20190126200523.5233466c@archlinux>
Content-Type: text/plain; charset="UTF-8"
Mime-Version: 1.0
Content-Transfer-Encoding: 8bit
Sender: linux-kernel-owner@vger.kernel.org
Precedence: bulk

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 = &reg_set_6500,
> >  		.config = &chip_config_6050,
> >  	},
> > +	{
> > +		.whoami = INV_ICM20602_WHOAMI_VALUE,
> > +		.name = "ICM20602",
> > +		.reg = &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