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From:   Jean-Baptiste Maneyrol <JManeyrol@invensense.com>
To:     Jonathan Cameron <jic23@kernel.org>,
        "stevemo@skydio.com" <stevemo@skydio.com>
CC:     =?iso-8859-1?Q?Randolph_Maa=DFen?= <gaireg@gaireg.de>,
        Hartmut Knaack <knaack.h@gmx.de>,
        Lars-Peter Clausen <lars@metafoo.de>,
        Peter Meerwald-Stadler <pmeerw@pmeerw.net>,
        Martin Kelly <mkelly@xevo.com>,
        Jonathan Marek <jonathan@marek.ca>,
        Brian Masney <masneyb@onstation.org>,
        Rob Herring <robh@kernel.org>,
        Douglas Fischer <fischerdouglasc@gmail.com>,
        "linux-iio@vger.kernel.org" <linux-iio@vger.kernel.org>,
        "linux-kernel@vger.kernel.org" <linux-kernel@vger.kernel.org>
Subject: Re: [PATCH] iio: imu: mpu6050: Fix FIFO layout for ICM20602
Thread-Topic: [PATCH] iio: imu: mpu6050: Fix FIFO layout for ICM20602
Thread-Index: AQHU47MLLn2ny7kCw0qT2r4ovD55E6YkhZiAgALKIiA=
Date:   Mon, 1 Apr 2019 13:51:20 +0000
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References: <20190326090238.23651-1-stevemo@skydio.com>,<20190330182923.549949d5@archlinux>
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Hello,=0A=
=0A=
it is right that temperature is always put inside the FIFO with this chip.=
=0A=
=0A=
But beware that it should also be the case when accelerometer only is enabl=
ed. The FIFO should contain accel data + temp. You can easily verify that b=
y looking at the size of a sample inside the FIFO when only accelerometer i=
s enabled (should be 8 instead of 6).=0A=
=0A=
If this is confirmed, you need to modify your code to handle this case corr=
ectly.=0A=
=0A=
Best regards,=0A=
Jean-Baptiste Maneyrol=0A=
=0A=
=0A=
=0A=
From: Jonathan Cameron <jic23@kernel.org>=0A=
Sent: Saturday, March 30, 2019 19:29=0A=
To: stevemo@skydio.com=0A=
Cc: gaireg@gaireg.de; Hartmut Knaack; Lars-Peter Clausen; Peter Meerwald-St=
adler; Jean-Baptiste Maneyrol; Martin Kelly; Jonathan Marek; Brian Masney; =
Rob Herring; Douglas Fischer; linux-iio@vger.kernel.org; linux-kernel@vger.=
kernel.org; Randolph Maa=DFen=0A=
Subject: Re: [PATCH] iio: imu: mpu6050: Fix FIFO layout for ICM20602=0A=
=A0=0A=
=A0CAUTION: This email originated from outside of the organization. Please =
make sure the sender is who they say they are and do not click links or ope=
n attachments unless you recognize the sender and know the content is safe.=
=0A=
=0A=
On Tue, 26 Mar 2019 02:01:45 -0700=0A=
stevemo@skydio.com wrote:=0A=
+CC Randolph, who I think introduced the support.=0A=
=0A=
> From: Steve Moskovchenko <stevemo@skydio.com>=0A=
>=0A=
> The MPU6050 driver has recently gained support for the=0A=
> ICM20602 IMU, which is very similar to MPU6xxx. However,=0A=
> the ICM20602's Gyro data specifically includes temperature=0A=
> readings, which were not present on MPU6xxx parts. As a=0A=
> result, the driver will under-read the ICM20602's FIFO=0A=
> register, causing the same (partial) sample to be returned=0A=
> for all reads, until the FIFO overflows.=0A=
>=0A=
> Fix this by adding a table of scan elements speciically for=0A=
> the ICM20602, which takes the extra temperature data into=0A=
> consideration.=0A=
>=0A=
> While we're at it, fix the temperature offset and scaling=0A=
> on ICM20602, since it uses different scale/offset constants=0A=
> than the rest of the MPU6xxx devices.=0A=
>=0A=
> Signed-off-by: Steve Moskovchenko <stevemo@skydio.com>=0A=
Hi Steve=0A=
=0A=
This all looks sensible to me.=A0 Ideally should have had a fixes tag.=0A=
=0A=
If no one shouts in the next few days I'll pick this up and add one.=0A=
Give me a poke if I seem to have forgotten it in a week or so.=0A=
=0A=
Thanks,=0A=
=0A=
Jonathan=0A=
=0A=
=0A=
> ---=0A=
>=A0 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 46 ++++++++++++++++++++--=
=0A=
>=A0 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h=A0 | 20 +++++++++-=0A=
>=A0 drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c |=A0 8 +++-=0A=
>=A0 3 files changed, 67 insertions(+), 7 deletions(-)=0A=
>=0A=
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu=
/inv_mpu6050/inv_mpu_core.c=0A=
> index 650de0fefb7b..fedd3f2b0135 100644=0A=
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c=0A=
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c=0A=
> @@ -471,7 +471,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 retu=
rn IIO_VAL_INT_PLUS_MICRO;=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 case IIO_TEMP:=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *val=
 =3D 0;=0A=
> -=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *val2 =3D I=
NV_MPU6050_TEMP_SCALE;=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (st->chi=
p_type =3D=3D INV_ICM20602)=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0 *val2 =3D INV_ICM20602_TEMP_SCALE;=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 else=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0 *val2 =3D INV_MPU6050_TEMP_SCALE;=0A=
>=A0=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 retu=
rn IIO_VAL_INT_PLUS_MICRO;=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 default:=0A=
> @@ -480,7 +483,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,=0A=
>=A0=A0=A0=A0=A0=A0=A0 case IIO_CHAN_INFO_OFFSET:=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 switch (chan->type) {=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 case IIO_TEMP:=0A=
> -=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *val =3D IN=
V_MPU6050_TEMP_OFFSET;=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (st->chi=
p_type =3D=3D INV_ICM20602)=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0 *val =3D INV_ICM20602_TEMP_OFFSET;=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 else=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0 *val =3D INV_MPU6050_TEMP_OFFSET;=0A=
>=A0=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 retu=
rn IIO_VAL_INT;=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 default:=0A=
> @@ -845,6 +851,32 @@ static const struct iio_chan_spec inv_mpu_channels[]=
 =3D {=0A=
>=A0=A0=A0=A0=A0=A0=A0 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_S=
CAN_ACCL_Z),=0A=
>=A0 };=0A=
>=A0=0A=
> +static const struct iio_chan_spec inv_icm20602_channels[] =3D {=0A=
> +=A0=A0=A0=A0 IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),=0A=
> +=A0=A0=A0=A0 {=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 .type =3D IIO_TEMP,=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 .info_mask_separate =3D BIT(IIO_CHA=
N_INFO_RAW)=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0 | BIT(IIO_CHAN_INFO_OFFSET)=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0 | BIT(IIO_CHAN_INFO_SCALE),=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 .scan_index =3D INV_ICM20602_SCAN_G=
YRO_TEMP,=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 .scan_type =3D {=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0 .sign =3D 's',=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0 .realbits =3D 16,=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0 .storagebits =3D 16,=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0 .shift =3D 0,=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0 .endianness =3D IIO_BE,=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0 },=0A=
> +=A0=A0=A0=A0 },=0A=
> +=0A=
> +=A0=A0=A0=A0 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN=
_GYRO_X),=0A=
> +=A0=A0=A0=A0 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN=
_GYRO_Y),=0A=
> +=A0=A0=A0=A0 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN=
_GYRO_Z),=0A=
> +=0A=
> +=A0=A0=A0=A0 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_AC=
CL_Y),=0A=
> +=A0=A0=A0=A0 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_AC=
CL_X),=0A=
> +=A0=A0=A0=A0 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_AC=
CL_Z),=0A=
> +};=0A=
> +=0A=
>=A0 /*=0A=
>=A0=A0 * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RA=
TE and=0A=
>=A0=A0 * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched=
 by the=0A=
> @@ -1100,8 +1132,14 @@ int inv_mpu_core_probe(struct regmap *regmap, int =
irq, const char *name,=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 indio_dev->name =3D name;=0A=
>=A0=A0=A0=A0=A0=A0=A0 else=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 indio_dev->name =3D dev_name=
(dev);=0A=
> -=A0=A0=A0=A0 indio_dev->channels =3D inv_mpu_channels;=0A=
> -=A0=A0=A0=A0 indio_dev->num_channels =3D ARRAY_SIZE(inv_mpu_channels);=
=0A=
> +=0A=
> +=A0=A0=A0=A0 if (chip_type =3D=3D INV_ICM20602) {=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 indio_dev->channels =3D inv_icm2060=
2_channels;=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 indio_dev->num_channels =3D ARRAY_S=
IZE(inv_icm20602_channels);=0A=
> +=A0=A0=A0=A0 } else {=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 indio_dev->channels =3D inv_mpu_cha=
nnels;=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 indio_dev->num_channels =3D ARRAY_S=
IZE(inv_mpu_channels);=0A=
> +=A0=A0=A0=A0 }=0A=
>=A0=0A=
>=A0=A0=A0=A0=A0=A0=A0 indio_dev->info =3D &mpu_info;=0A=
>=A0=A0=A0=A0=A0=A0=A0 indio_dev->modes =3D INDIO_BUFFER_TRIGGERED;=0A=
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/=
inv_mpu6050/inv_mpu_iio.h=0A=
> index 325afd9f5f61..eb04391feaa8 100644=0A=
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h=0A=
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h=0A=
> @@ -208,6 +208,9 @@ struct inv_mpu6050_state {=0A=
>=A0 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR=A0=A0 6=0A=
>=A0 #define INV_MPU6050_FIFO_COUNT_BYTE=A0=A0=A0=A0=A0=A0=A0=A0=A0 2=0A=
>=A0=0A=
> +/* ICM20602 gyro data includes temperature */=0A=
> +#define INV_ICM20602_BYTES_PER_GYRO_SENSOR=A0=A0 8=0A=
> +=0A=
>=A0 /* mpu6500 registers */=0A=
>=A0 #define INV_MPU6500_REG_ACCEL_CONFIG_2=A0=A0=A0=A0=A0 0x1D=0A=
>=A0 #define INV_MPU6500_REG_ACCEL_OFFSET=A0=A0=A0=A0=A0=A0=A0 0x77=0A=
> @@ -229,6 +232,9 @@ struct inv_mpu6050_state {=0A=
>=A0 #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT=A0=A0=A0 3=0A=
>=A0 #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT=A0=A0=A0 3=0A=
>=A0=0A=
> +#define INV_ICM20602_TEMP_OFFSET=A0=A0=A0=A0=A0=A0=A0=A0=A0 8170=0A=
> +#define INV_ICM20602_TEMP_SCALE=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0=A0 3060=0A=
> +=0A=
>=A0 /* 6 + 6 round up and plus 8 */=0A=
>=A0 #define INV_MPU6050_OUTPUT_DATA_SIZE=A0=A0=A0=A0=A0=A0=A0=A0 24=0A=
>=A0=0A=
> @@ -270,7 +276,7 @@ struct inv_mpu6050_state {=0A=
>=A0 #define INV_ICM20608_WHOAMI_VALUE=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 0xA=
F=0A=
>=A0 #define INV_ICM20602_WHOAMI_VALUE=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 0x1=
2=0A=
>=A0=0A=
> -/* scan element definition */=0A=
> +/* scan element definition for generic MPU6xxx devices */=0A=
>=A0 enum inv_mpu6050_scan {=0A=
>=A0=A0=A0=A0=A0=A0=A0 INV_MPU6050_SCAN_ACCL_X,=0A=
>=A0=A0=A0=A0=A0=A0=A0 INV_MPU6050_SCAN_ACCL_Y,=0A=
> @@ -281,6 +287,18 @@ enum inv_mpu6050_scan {=0A=
>=A0=A0=A0=A0=A0=A0=A0 INV_MPU6050_SCAN_TIMESTAMP,=0A=
>=A0 };=0A=
>=A0=0A=
> +/* scan element definition for ICM20602, which includes gyro temp */=0A=
> +enum inv_icm20602_scan {=0A=
> +=A0=A0=A0=A0 INV_ICM20602_SCAN_ACCL_X,=0A=
> +=A0=A0=A0=A0 INV_ICM20602_SCAN_ACCL_Y,=0A=
> +=A0=A0=A0=A0 INV_ICM20602_SCAN_ACCL_Z,=0A=
> +=A0=A0=A0=A0 INV_ICM20602_SCAN_GYRO_TEMP,=0A=
> +=A0=A0=A0=A0 INV_ICM20602_SCAN_GYRO_X,=0A=
> +=A0=A0=A0=A0 INV_ICM20602_SCAN_GYRO_Y,=0A=
> +=A0=A0=A0=A0 INV_ICM20602_SCAN_GYRO_Z,=0A=
> +=A0=A0=A0=A0 INV_ICM20602_SCAN_TIMESTAMP,=0A=
> +};=0A=
> +=0A=
>=A0 enum inv_mpu6050_filter_e {=0A=
>=A0=A0=A0=A0=A0=A0=A0 INV_MPU6050_FILTER_256HZ_NOLPF2 =3D 0,=0A=
>=A0=A0=A0=A0=A0=A0=A0 INV_MPU6050_FILTER_188HZ,=0A=
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu=
/inv_mpu6050/inv_mpu_ring.c=0A=
> index 548e042f7b5b..20828d6a13f9 100644=0A=
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c=0A=
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c=0A=
> @@ -204,8 +204,12 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)=
=0A=
>=A0=A0=A0=A0=A0=A0=A0 if (st->chip_config.accl_fifo_enable)=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 bytes_per_datum +=3D INV_MPU=
6050_BYTES_PER_3AXIS_SENSOR;=0A=
>=A0=0A=
> -=A0=A0=A0=A0 if (st->chip_config.gyro_fifo_enable)=0A=
> -=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 bytes_per_datum +=3D INV_MPU6050_BY=
TES_PER_3AXIS_SENSOR;=0A=
> +=A0=A0=A0=A0 if (st->chip_config.gyro_fifo_enable) {=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (st->chip_type =3D=3D INV_ICM206=
02)=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 bytes_per_d=
atum +=3D INV_ICM20602_BYTES_PER_GYRO_SENSOR;=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 else=0A=
> +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 bytes_per_d=
atum +=3D INV_MPU6050_BYTES_PER_3AXIS_SENSOR;=0A=
> +=A0=A0=A0=A0 }=0A=
>=A0=0A=
>=A0=A0=A0=A0=A0=A0=A0 /*=0A=
>=A0=A0=A0=A0=A0=A0=A0=A0 * read fifo_count register to know how many bytes=
 are inside the FIFO=0A=
=0A=