From mboxrd@z Thu Jan 1 00:00:00 1970 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org X-Spam-Level: X-Spam-Status: No, score=-7.1 required=3.0 tests=DKIMWL_WL_HIGH,DKIM_SIGNED, DKIM_VALID,DKIM_VALID_AU,INCLUDES_PATCH,MAILING_LIST_MULTI,SIGNED_OFF_BY, SPF_PASS,URIBL_BLOCKED autolearn=unavailable autolearn_force=no version=3.4.0 Received: from mail.kernel.org (mail.kernel.org [198.145.29.99]) by smtp.lore.kernel.org (Postfix) with ESMTP id 05C0AC10F13 for ; Sun, 14 Apr 2019 10:46:41 +0000 (UTC) Received: from vger.kernel.org (vger.kernel.org [209.132.180.67]) by mail.kernel.org (Postfix) with ESMTP id A8A29218D3 for ; Sun, 14 Apr 2019 10:46:40 +0000 (UTC) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=kernel.org; s=default; t=1555238800; bh=vVbD6rgm7vtKOq3whzD9UJOqpGGo8ige86PIpwf4JeA=; h=Date:From:To:Cc:Subject:In-Reply-To:References:List-ID:From; b=yUMRILoaqIEJnE/8JScd1mJmT1KjP0Uzc9c0RsfcbPTwkhpYT7IuRYzzbk8gHi/Lo cq25onVd8LH6J1tVRO4ZdsJQPE3aGhWhSr8NxzC8w1gVWqOY1O/omNYB3bBwQ1OwT7 HWYJcV9XC6vQsnmoNuSdb0ixfDNR/P6xxKWbStJI= Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1725829AbfDNKqk (ORCPT ); Sun, 14 Apr 2019 06:46:40 -0400 Received: from mail.kernel.org ([198.145.29.99]:59144 "EHLO mail.kernel.org" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1725681AbfDNKqj (ORCPT ); Sun, 14 Apr 2019 06:46:39 -0400 Received: from archlinux (cpc91196-cmbg18-2-0-cust659.5-4.cable.virginm.net [81.96.234.148]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by mail.kernel.org (Postfix) with ESMTPSA id 57C6B20848; Sun, 14 Apr 2019 10:46:35 +0000 (UTC) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=kernel.org; s=default; t=1555238798; bh=vVbD6rgm7vtKOq3whzD9UJOqpGGo8ige86PIpwf4JeA=; h=Date:From:To:Cc:Subject:In-Reply-To:References:From; b=V31nvPtWtCbegnDCNzLmx1E+70HmP4hyTxwhFzJLYQWmupIrIVEHEFfxLIz0V0DKB xVfdTJsCT5+ajX8Q1VSCYOS3hx1egM4S80JrE57pGIE0nvo6YURffK4vG1Bh9qedVH YmwuK4fAdDbPYXKIZohemA//RpLKprbVDXrMRGk0= Date: Sun, 14 Apr 2019 11:46:31 +0100 From: Jonathan Cameron To: Jean-Baptiste Maneyrol Cc: "stevemo@skydio.com" , Hartmut Knaack , Lars-Peter Clausen , Peter Meerwald-Stadler , Martin Kelly , Jonathan Marek , Brian Masney , Randolph =?UTF-8?B?TWFhw59lbg==?= , Douglas Fischer , "linux-iio@vger.kernel.org" , "linux-kernel@vger.kernel.org" Subject: Re: [PATCH v2] iio: imu: mpu6050: Fix FIFO layout for ICM20602 Message-ID: <20190414114631.263047ef@archlinux> In-Reply-To: References: <20190326090238.23651-1-stevemo@skydio.com> <20190403062910.5047-1-stevemo@skydio.com> <20190407124501.1a8b21d8@archlinux> X-Mailer: Claws Mail 3.17.3 (GTK+ 2.24.32; x86_64-pc-linux-gnu) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: quoted-printable Sender: linux-iio-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org On Mon, 8 Apr 2019 14:32:00 +0000 Jean-Baptiste Maneyrol wrote: > Hello, >=20 > overall looks good for me. >=20 > I would just prefer to change the define name for temperature to INV_ICM2= 0602_SCAN_TEMP. It is the chip temperature that can be used for temperature= compensation for both accel and gyro data. >=20 > But it is really just a details. >=20 > 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 >=20 >=20 > From: Jonathan Cameron > Sent: Sunday, April 7, 2019 13:45 > To: stevemo@skydio.com > Cc: Jean-Baptiste Maneyrol; Hartmut Knaack; Lars-Peter Clausen; Peter Mee= rwald-Stadler; Martin Kelly; Jonathan Marek; Brian Masney; Randolph Maa=C3= =9Fen; Douglas Fischer; linux-iio@vger.kernel.org; linux-kernel@vger.kernel= .org > Subject: Re: [PATCH v2] iio: imu: mpu6050: Fix FIFO layout for ICM20602 > =C2=A0 > =C2=A0CAUTION: This email originated from outside of the organization. Pl= ease make sure the sender is who they say they are and do not click links o= r open attachments unless you recognize the sender and know the content is = safe. >=20 > On Tue,=C2=A0 2 Apr 2019 23:28:56 -0700 > stevemo@skydio.com wrote: >=20 > > From: Steve Moskovchenko > > > > 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 =20 > I'd like a reviewed-by or acked-by from Jean-Baptiste on this before > I take it. >=20 > thanks, >=20 > Jonathan >=20 > > --- > > v2: Read temperature when running in accel-only mode, too. > > > >=C2=A0 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 46 +++++++++++++++++= +++-- > >=C2=A0 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h=C2=A0 | 20 +++++++++- > >=C2=A0 drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c |=C2=A0 3 ++ > >=C2=A0 3 files changed, 64 insertions(+), 5 deletions(-) > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/i= mu/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, > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 return I= IO_VAL_INT_PLUS_MICRO; > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0 case IIO_TEMP: > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 *val =3D= 0; > > -=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 *val2 =3D INV_MPU6050_T= EMP_SCALE; > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 if (st->chip_type =3D= =3D INV_ICM20602) > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 *val2 =3D INV_ICM20602_TEMP_SCALE; > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 else > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 *val2 =3D INV_MPU6050_TEMP_SCALE; > >=C2=A0 > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 return I= IO_VAL_INT_PLUS_MICRO; > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0 default: > > @@ -480,7 +483,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 case IIO_CHAN_INFO_OFFSET: > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0 switch (chan->type) { > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0 case IIO_TEMP: > > -=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 *val =3D INV_MPU6050_TE= MP_OFFSET; > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 if (st->chip_type =3D= =3D INV_ICM20602) > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 *val =3D INV_ICM20602_TEMP_OFFSET; > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 else > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 *val =3D INV_MPU6050_TEMP_OFFSET; > >=C2=A0 > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 return I= IO_VAL_INT; > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0 default: > > @@ -845,6 +851,32 @@ static const struct iio_chan_spec inv_mpu_channels= [] =3D { > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_CHAN(IIO_ACCEL, I= IO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z), > >=C2=A0 }; > >=C2=A0 > > +static const struct iio_chan_spec inv_icm20602_channels[] =3D { > > +=C2=A0=C2=A0=C2=A0=C2=A0 IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIM= ESTAMP), > > +=C2=A0=C2=A0=C2=A0=C2=A0 { > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0 .type =3D IIO_TEMP, > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0 .info_mask_separate =3D BIT(IIO_CHAN_INFO_RAW) > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 | BIT(IIO_CHAN_INFO_OFFSET) > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 | BIT(IIO_CHAN_INFO_SCALE), > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0 .scan_index =3D INV_ICM20602_SCAN_GYRO_TEMP, > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0 .scan_type =3D { > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 .sign =3D 's', > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 .realbits =3D 16, > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 .storagebits =3D 16, > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 .shift =3D 0, > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 .endianness =3D IIO_BE, > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0 }, > > +=C2=A0=C2=A0=C2=A0=C2=A0 }, > > + > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV= _ICM20602_SCAN_GYRO_X), > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV= _ICM20602_SCAN_GYRO_Y), > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV= _ICM20602_SCAN_GYRO_Z), > > + > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_IC= M20602_SCAN_ACCL_Y), > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_IC= M20602_SCAN_ACCL_X), > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_IC= M20602_SCAN_ACCL_Z), > > +}; > > + > >=C2=A0 /* > >=C2=A0=C2=A0 * The user can choose any frequency between INV_MPU6050_MIN= _FIFO_RATE and > >=C2=A0=C2=A0 * 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, in= t irq, const char *name, > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0 indio_dev->name =3D name; > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 else > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0 indio_dev->name =3D dev_name(dev); > > -=C2=A0=C2=A0=C2=A0=C2=A0 indio_dev->channels =3D inv_mpu_channels; > > -=C2=A0=C2=A0=C2=A0=C2=A0 indio_dev->num_channels =3D ARRAY_SIZE(inv_mp= u_channels); > > + > > +=C2=A0=C2=A0=C2=A0=C2=A0 if (chip_type =3D=3D INV_ICM20602) { > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0 indio_dev->channels =3D inv_icm20602_channels; > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0 indio_dev->num_channels =3D ARRAY_SIZE(inv_icm20602_channels); > > +=C2=A0=C2=A0=C2=A0=C2=A0 } else { > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0 indio_dev->channels =3D inv_mpu_channels; > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0 indio_dev->num_channels =3D ARRAY_SIZE(inv_mpu_channels); > > +=C2=A0=C2=A0=C2=A0=C2=A0 } > >=C2=A0 > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 indio_dev->info =3D &mpu_info; > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 indio_dev->modes =3D INDIO_BU= FFER_TRIGGERED; > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/im= u/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 { > >=C2=A0 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR=C2=A0=C2=A0 6 > >=C2=A0 #define INV_MPU6050_FIFO_COUNT_BYTE=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0 2 > >=C2=A0 > > +/* ICM20602 FIFO samples include temperature readings */ > > +#define INV_ICM20602_BYTES_PER_TEMP_SENSOR=C2=A0=C2=A0 2 > > + > >=C2=A0 /* mpu6500 registers */ > >=C2=A0 #define INV_MPU6500_REG_ACCEL_CONFIG_2=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0 0x1D > >=C2=A0 #define INV_MPU6500_REG_ACCEL_OFFSET=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0 0x77 > > @@ -229,6 +232,9 @@ struct inv_mpu6050_state { > >=C2=A0 #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT=C2=A0=C2=A0=C2=A0 3 > >=C2=A0 #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT=C2=A0=C2=A0=C2=A0 3 > >=C2=A0 > > +#define INV_ICM20602_TEMP_OFFSET=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0 8170 > > +#define INV_ICM20602_TEMP_SCALE=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 3060 > > + > >=C2=A0 /* 6 + 6 round up and plus 8 */ > >=C2=A0 #define INV_MPU6050_OUTPUT_DATA_SIZE=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0 24 > >=C2=A0 > > @@ -270,7 +276,7 @@ struct inv_mpu6050_state { > >=C2=A0 #define INV_ICM20608_WHOAMI_VALUE=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 0xAF > >=C2=A0 #define INV_ICM20602_WHOAMI_VALUE=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 0x12 > >=C2=A0 > > -/* scan element definition */ > > +/* scan element definition for generic MPU6xxx devices */ > >=C2=A0 enum inv_mpu6050_scan { > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_SCAN_ACCL_X, > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_SCAN_ACCL_Y, > > @@ -281,6 +287,18 @@ enum inv_mpu6050_scan { > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_SCAN_TIMESTAMP, > >=C2=A0 }; > >=C2=A0 > > +/* scan element definition for ICM20602, which includes temperature */ > > +enum inv_icm20602_scan { > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_ICM20602_SCAN_ACCL_X, > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_ICM20602_SCAN_ACCL_Y, > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_ICM20602_SCAN_ACCL_Z, > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_ICM20602_SCAN_GYRO_TEMP, > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_ICM20602_SCAN_GYRO_X, > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_ICM20602_SCAN_GYRO_Y, > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_ICM20602_SCAN_GYRO_Z, > > +=C2=A0=C2=A0=C2=A0=C2=A0 INV_ICM20602_SCAN_TIMESTAMP, > > +}; > > + > >=C2=A0 enum inv_mpu6050_filter_e { > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_FILTER_256HZ_NOLP= F2 =3D 0, > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 INV_MPU6050_FILTER_188HZ, > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/i= mu/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) > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 if (st->chip_config.gyro_fifo= _enable) > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0 bytes_per_datum +=3D INV_MPU6050_BYTES_PER_3AXIS_SENSOR; > >=C2=A0 > > +=C2=A0=C2=A0=C2=A0=C2=A0 if (st->chip_type =3D=3D INV_ICM20602) > > +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0 bytes_per_datum +=3D INV_ICM20602_BYTES_PER_TEMP_SENSOR; > > + > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 /* > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 * read fifo_count regis= ter to know how many bytes are inside the FIFO > >=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 * right now =20 >=20