On Mon, 8 Apr 2019 14:32:00 +0000
Jean-Baptiste Maneyrol <jmaney...@invensense.com> wrote:
> Hello,
>
> overall looks good for me.
>
> I would just prefer to change the define name for temperature to
> INV_ICM20602_SCAN_TEMP. It is the chip temperature that can be used for
> temperature compensation for both accel and gyro data.
>
> But it is really just a details.
>
> Best regards,
> Jean-Baptiste Maneyrol
Rather than go around again, I've made the change and applied the
patch to the fixes-togreg branch of iio.git. I also added a
fixes tag.
Thanks,
Jonathan
>
>
> From: Jonathan Cameron <ji...@kernel.org>
> Sent: Sunday, April 7, 2019 13:45
> To: stev...@skydio.com
> Cc: Jean-Baptiste Maneyrol; Hartmut Knaack; Lars-Peter Clausen; Peter
> Meerwald-Stadler; Martin Kelly; Jonathan Marek; Brian Masney; Randolph
> Maaßen; Douglas Fischer; linux-...@vger.kernel.org;
> linux-kernel@vger.kernel.org
> Subject: Re: [PATCH v2] iio: imu: mpu6050: Fix FIFO layout for ICM20602
>
> CAUTION: This email originated from outside of the organization. Please make
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>
> On Tue, 2 Apr 2019 23:28:56 -0700
> stev...@skydio.com wrote:
>
> > From: Steve Moskovchenko <stev...@skydio.com>
> >
> > The MPU6050 driver has recently gained support for the
> > ICM20602 IMU, which is very similar to MPU6xxx. However,
> > the ICM20602's FIFO data specifically includes temperature
> > readings, which were not present on MPU6xxx parts. As a
> > result, the driver will under-read the ICM20602's FIFO
> > register, causing the same (partial) sample to be returned
> > for all reads, until the FIFO overflows.
> >
> > Fix this by adding a table of scan elements specifically
> > for the ICM20602, which takes the extra temperature data
> > into consideration.
> >
> > While we're at it, fix the temperature offset and scaling
> > on ICM20602, since it uses different scale/offset constants
> > than the rest of the MPU6xxx devices.
> >
> > Signed-off-by: Steve Moskovchenko <stev...@skydio.com>
> I'd like a reviewed-by or acked-by from Jean-Baptiste on this before
> I take it.
>
> thanks,
>
> Jonathan
>
> > ---
> > v2: Read temperature when running in accel-only mode, too.
> >
> > drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 46 ++++++++++++++++++++--
> > drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 20 +++++++++-
> > drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 3 ++
> > 3 files changed, 64 insertions(+), 5 deletions(-)
> >
> > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> > b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> > index 650de0fefb7b..fedd3f2b0135 100644
> > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> > @@ -471,7 +471,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
> > return IIO_VAL_INT_PLUS_MICRO;
> > case IIO_TEMP:
> > *val = 0;
> > - *val2 = INV_MPU6050_TEMP_SCALE;
> > + if (st->chip_type == INV_ICM20602)
> > + *val2 = INV_ICM20602_TEMP_SCALE;
> > + else
> > + *val2 = INV_MPU6050_TEMP_SCALE;
> >
> > return IIO_VAL_INT_PLUS_MICRO;
> > default:
> > @@ -480,7 +483,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
> > case IIO_CHAN_INFO_OFFSET:
> > switch (chan->type) {
> > case IIO_TEMP:
> > - *val = INV_MPU6050_TEMP_OFFSET;
> > + if (st->chip_type == INV_ICM20602)
> > + *val = INV_ICM20602_TEMP_OFFSET;
> > + else
> > + *val = INV_MPU6050_TEMP_OFFSET;
> >
> > return IIO_VAL_INT;
> > default:
> > @@ -845,6 +851,32 @@ static const struct iio_chan_spec inv_mpu_channels[] =
> > {
> > INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
> > };
> >
> > +static const struct iio_chan_spec inv_icm20602_channels[] = {
> > + IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
> > + {
> > + .type = IIO_TEMP,
> > + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
> > + | BIT(IIO_CHAN_INFO_OFFSET)
> > + | BIT(IIO_CHAN_INFO_SCALE),
> > + .scan_index = INV_ICM20602_SCAN_GYRO_TEMP,
> > + .scan_type = {
> > + .sign = 's',
> > + .realbits = 16,
> > + .storagebits = 16,
> > + .shift = 0,
> > + .endianness = IIO_BE,
> > + },
> > + },
> > +
> > + INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
> > + INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
> > + INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),
> > +
> > + INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
> > + INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
> > + INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
> > +};
> > +
> > /*
> > * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and
> > * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the
> > @@ -1100,8 +1132,14 @@ int inv_mpu_core_probe(struct regmap *regmap, int
> > irq, const char *name,
> > indio_dev->name = name;
> > else
> > indio_dev->name = dev_name(dev);
> > - indio_dev->channels = inv_mpu_channels;
> > - indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
> > +
> > + if (chip_type == INV_ICM20602) {
> > + indio_dev->channels = inv_icm20602_channels;
> > + indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
> > + } else {
> > + indio_dev->channels = inv_mpu_channels;
> > + indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
> > + }
> >
> > indio_dev->info = &mpu_info;
> > indio_dev->modes = INDIO_BUFFER_TRIGGERED;
> > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> > b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> > index 325afd9f5f61..2ed4b98e0cd7 100644
> > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> > @@ -208,6 +208,9 @@ struct inv_mpu6050_state {
> > #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
> > #define INV_MPU6050_FIFO_COUNT_BYTE 2
> >
> > +/* ICM20602 FIFO samples include temperature readings */
> > +#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2
> > +
> > /* mpu6500 registers */
> > #define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
> > #define INV_MPU6500_REG_ACCEL_OFFSET 0x77
> > @@ -229,6 +232,9 @@ struct inv_mpu6050_state {
> > #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
> > #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3
> >
> > +#define INV_ICM20602_TEMP_OFFSET 8170
> > +#define INV_ICM20602_TEMP_SCALE 3060
> > +
> > /* 6 + 6 round up and plus 8 */
> > #define INV_MPU6050_OUTPUT_DATA_SIZE 24
> >
> > @@ -270,7 +276,7 @@ struct inv_mpu6050_state {
> > #define INV_ICM20608_WHOAMI_VALUE 0xAF
> > #define INV_ICM20602_WHOAMI_VALUE 0x12
> >
> > -/* scan element definition */
> > +/* scan element definition for generic MPU6xxx devices */
> > enum inv_mpu6050_scan {
> > INV_MPU6050_SCAN_ACCL_X,
> > INV_MPU6050_SCAN_ACCL_Y,
> > @@ -281,6 +287,18 @@ enum inv_mpu6050_scan {
> > INV_MPU6050_SCAN_TIMESTAMP,
> > };
> >
> > +/* scan element definition for ICM20602, which includes temperature */
> > +enum inv_icm20602_scan {
> > + INV_ICM20602_SCAN_ACCL_X,
> > + INV_ICM20602_SCAN_ACCL_Y,
> > + INV_ICM20602_SCAN_ACCL_Z,
> > + INV_ICM20602_SCAN_GYRO_TEMP,
> > + INV_ICM20602_SCAN_GYRO_X,
> > + INV_ICM20602_SCAN_GYRO_Y,
> > + INV_ICM20602_SCAN_GYRO_Z,
> > + INV_ICM20602_SCAN_TIMESTAMP,
> > +};
> > +
> > enum inv_mpu6050_filter_e {
> > INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
> > INV_MPU6050_FILTER_188HZ,
> > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> > b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> > index 548e042f7b5b..57bd11bde56b 100644
> > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> > @@ -207,6 +207,9 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
> > if (st->chip_config.gyro_fifo_enable)
> > bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
> >
> > + if (st->chip_type == INV_ICM20602)
> > + bytes_per_datum += INV_ICM20602_BYTES_PER_TEMP_SENSOR;
> > +
> > /*
> > * read fifo_count register to know how many bytes are inside the
> >FIFO
> > * right now
>
