iio: imu: mpu6050: Add support for the ICM 20600 IMU

The Invensense ICM-20600 is a 6-axis MotionTracking device that combines a
3-axis gyroscope and an 3-axis accelerometer. It is very similar to the
ICM20602 imu which is already supported by the mpu6050 driver. The main
difference is that the ICM-20600 has a different WHOAMI value.
Signed-off-by: Hermes Zhang <chenhuiz@axis.com>
Acked-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
Link: https://lore.kernel.org/r/20230505054853.2155326-3-chenhuiz@axis.comSigned-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

drivers/iio/imu/inv_mpu6050/Kconfig

@@ -16,7 +16,7 @@ config INV_MPU6050_I2C
 	select REGMAP_I2C
 	help
 	  This driver supports the Invensense MPU6050/9150,
-	  MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20602/ICM20690
+	  MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20600/20602/20690
 	  and IAM20680 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,
-	  MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20602/ICM20690
+	  MPU6500/6515/6880/9250/9255, ICM20608(D)/20609/20689, ICM20600/20602/20690
 	  and IAM20680 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

@@ -244,6 +244,15 @@ static const struct inv_mpu6050_hw hw_info[] = {
 		.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
 		.startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
 	},
+	{
+		.whoami = INV_ICM20600_WHOAMI_VALUE,
+		.name = "ICM20600",
+		.reg = &reg_set_icm20602,
+		.config = &chip_config_6500,
+		.fifo_size = 1008,
+		.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+		.startup_time = {INV_ICM20602_GYRO_STARTUP_TIME, INV_ICM20602_ACCEL_STARTUP_TIME},
+	},
 	{
 		.whoami = INV_ICM20602_WHOAMI_VALUE,
 		.name = "ICM20602",
@@ -1597,6 +1606,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 		indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
 		indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
 		break;
+	case INV_ICM20600:
 	case INV_ICM20602:
 		indio_dev->channels = inv_mpu_channels;
 		indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);

drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c

@@ -32,6 +32,7 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev)
 	case INV_ICM20608D:
 	case INV_ICM20609:
 	case INV_ICM20689:
+	case INV_ICM20600:
 	case INV_ICM20602:
 	case INV_IAM20680:
 		/* no i2c auxiliary bus on the chip */
@@ -183,6 +184,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
 	{"icm20608d", INV_ICM20608D},
 	{"icm20609", INV_ICM20609},
 	{"icm20689", INV_ICM20689},
+	{"icm20600", INV_ICM20600},
 	{"icm20602", INV_ICM20602},
 	{"icm20690", INV_ICM20690},
 	{"iam20680", INV_IAM20680},
@@ -236,6 +238,10 @@ static const struct of_device_id inv_of_match[] = {
 		.compatible = "invensense,icm20689",
 		.data = (void *)INV_ICM20689
 	},
+	{
+		.compatible = "invensense,icm20600",
+		.data = (void *)INV_ICM20600
+	},
 	{
 		.compatible = "invensense,icm20602",
 		.data = (void *)INV_ICM20602

drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

@@ -79,6 +79,7 @@ enum inv_devices {
 	INV_ICM20608D,
 	INV_ICM20609,
 	INV_ICM20689,
+	INV_ICM20600,
 	INV_ICM20602,
 	INV_ICM20690,
 	INV_IAM20680,
@@ -398,6 +399,7 @@ struct inv_mpu6050_state {
 #define INV_ICM20608D_WHOAMI_VALUE		0xAE
 #define INV_ICM20609_WHOAMI_VALUE		0xA6
 #define INV_ICM20689_WHOAMI_VALUE		0x98
+#define INV_ICM20600_WHOAMI_VALUE		0x11
 #define INV_ICM20602_WHOAMI_VALUE		0x12
 #define INV_ICM20690_WHOAMI_VALUE		0x20
 #define INV_IAM20680_WHOAMI_VALUE		0xA9

drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c

@@ -76,6 +76,7 @@ static const struct spi_device_id inv_mpu_id[] = {
 	{"icm20608d", INV_ICM20608D},
 	{"icm20609", INV_ICM20609},
 	{"icm20689", INV_ICM20689},
+	{"icm20600", INV_ICM20600},
 	{"icm20602", INV_ICM20602},
 	{"icm20690", INV_ICM20690},
 	{"iam20680", INV_IAM20680},
@@ -125,6 +126,10 @@ static const struct of_device_id inv_of_match[] = {
 		.compatible = "invensense,icm20689",
 		.data = (void *)INV_ICM20689
 	},
+	{
+		.compatible = "invensense,icm20600",
+		.data = (void *)INV_ICM20600
+	},
 	{
 		.compatible = "invensense,icm20602",
 		.data = (void *)INV_ICM20602