iio: imu: inv_mpu6050: add support of ICM20609 & ICM20689

They are similar to ICM20608 chip.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

drivers/iio/imu/inv_mpu6050/Kconfig

@@ -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.

drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

@@ -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 = &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 = &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);
 }
 
 /**

drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c

@@ -61,6 +61,8 @@ 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;
@@ -202,6 +204,8 @@ 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},
 	{}
 };
@@ -237,6 +241,14 @@ 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

drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

@@ -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 */

drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c

@@ -81,6 +81,8 @@ 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},
 	{}
 };
@@ -112,6 +114,14 @@ 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