@@ -16,8 +16,8 @@ config INV_MPU6050_I2C
select REGMAP_I2C
help
This driver supports the Invensense MPU6050/9150,
- MPU6500/6515/9250/9255, ICM20608 and ICM20602 motion tracking devices
- over I2C.
+ MPU6500/6515/9250/9255, ICM20608/20609/20689 and ICM20602
+ 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 and ICM20602 motion tracking devices
- over SPI.
+ MPU6500/6515/9250/9255, ICM20608/20609/20689 and ICM20602
+ motion tracking devices over SPI.
This driver can be built as a module. The module will be called
inv-mpu6050-spi.
@@ -176,6 +176,22 @@ static const struct inv_mpu6050_hw hw_info[] = {
.fifo_size = 512,
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
},
+ {
+ .whoami = INV_ICM20609_WHOAMI_VALUE,
+ .name = "ICM20609",
+ .reg = ®_set_6500,
+ .config = &chip_config_6050,
+ .fifo_size = 4 * 1024,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ },
+ {
+ .whoami = INV_ICM20689_WHOAMI_VALUE,
+ .name = "ICM20689",
+ .reg = ®_set_6500,
+ .config = &chip_config_6050,
+ .fifo_size = 4 * 1024,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ },
{
.whoami = INV_ICM20602_WHOAMI_VALUE,
.name = "ICM20602",
@@ -286,20 +302,22 @@ static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
if (result)
return result;
+ /* set accel lpf */
switch (st->chip_type) {
case INV_MPU6050:
case INV_MPU6000:
case INV_MPU9150:
/* old chips, nothing to do */
- result = 0;
+ return 0;
+ case INV_ICM20689:
+ /* set FIFO size to maximum value */
+ val |= INV_ICM20689_BITS_FIFO_SIZE_MAX;
break;
default:
- /* set accel lpf */
- result = regmap_write(st->map, st->reg->accel_lpf, val);
break;
}
- return result;
+ return regmap_write(st->map, st->reg->accel_lpf, val);
}
/**
@@ -74,6 +74,8 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev)
switch (st->chip_type) {
case INV_ICM20608:
+ case INV_ICM20609:
+ case INV_ICM20689:
case INV_ICM20602:
/* no i2c auxiliary bus on the chip */
return false;
@@ -218,6 +220,8 @@ static const struct i2c_device_id inv_mpu_id[] = {
{"mpu9250", INV_MPU9250},
{"mpu9255", INV_MPU9255},
{"icm20608", INV_ICM20608},
+ {"icm20609", INV_ICM20609},
+ {"icm20689", INV_ICM20689},
{"icm20602", INV_ICM20602},
{}
};
@@ -253,6 +257,14 @@ static const struct of_device_id inv_of_match[] = {
.compatible = "invensense,icm20608",
.data = (void *)INV_ICM20608
},
+ {
+ .compatible = "invensense,icm20609",
+ .data = (void *)INV_ICM20609
+ },
+ {
+ .compatible = "invensense,icm20689",
+ .data = (void *)INV_ICM20689
+ },
{
.compatible = "invensense,icm20602",
.data = (void *)INV_ICM20602
@@ -75,6 +75,8 @@ enum inv_devices {
INV_MPU9250,
INV_MPU9255,
INV_ICM20608,
+ INV_ICM20609,
+ INV_ICM20689,
INV_ICM20602,
INV_NUM_PARTS
};
@@ -276,6 +278,7 @@ struct inv_mpu6050_state {
/* mpu6500 registers */
#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
+#define INV_ICM20689_BITS_FIFO_SIZE_MAX 0xC0
#define INV_MPU6500_REG_ACCEL_OFFSET 0x77
/* delay time in milliseconds */
@@ -340,6 +343,8 @@ struct inv_mpu6050_state {
#define INV_MPU9255_WHOAMI_VALUE 0x73
#define INV_MPU6515_WHOAMI_VALUE 0x74
#define INV_ICM20608_WHOAMI_VALUE 0xAF
+#define INV_ICM20609_WHOAMI_VALUE 0xA6
+#define INV_ICM20689_WHOAMI_VALUE 0x98
#define INV_ICM20602_WHOAMI_VALUE 0x12
/* scan element definition for generic MPU6xxx devices */
@@ -78,6 +78,8 @@ static const struct spi_device_id inv_mpu_id[] = {
{"mpu9250", INV_MPU9250},
{"mpu9255", INV_MPU9255},
{"icm20608", INV_ICM20608},
+ {"icm20609", INV_ICM20609},
+ {"icm20689", INV_ICM20689},
{"icm20602", INV_ICM20602},
{}
};
@@ -109,6 +111,14 @@ static const struct of_device_id inv_of_match[] = {
.compatible = "invensense,icm20608",
.data = (void *)INV_ICM20608
},
+ {
+ .compatible = "invensense,icm20609",
+ .data = (void *)INV_ICM20609
+ },
+ {
+ .compatible = "invensense,icm20689",
+ .data = (void *)INV_ICM20689
+ },
{
.compatible = "invensense,icm20602",
.data = (void *)INV_ICM20602
They are similar to ICM20608 chip. 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 | 26 ++++++++++++++++++---- drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 12 ++++++++++ drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 5 +++++ drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 10 +++++++++ 5 files changed, 53 insertions(+), 8 deletions(-)