Merge tag 'staging-5.1-rc1' of git://git.kernel.org/pub/scm/linux/kernel/git/gregkh/staging

Pull staging/IIO updates from Greg KH:
 "Here is the big staging/iio driver pull request for 5.1-rc1.

  Lots of good IIO driver updates and cleanups in here as always.
  Combined with the removal of the xgifb driver, we have a net "loss" of
  over 9000 lines in the pull request, always a nice thing.

  As the outreachy application process is currently happening, there are
  loads of tiny checkpatch cleanup fixes all over the staging tree,
  which accounts for the majority of the fixups"

* tag 'staging-5.1-rc1' of git://git.kernel.org/pub/scm/linux/kernel/git/gregkh/staging: (341 commits)
  staging: mt7621-dma: remove license boilerplate text
  staging: mt7621-dma: add SPDX GPL-2.0+ license identifier
  Staging: ks7010: Replace typecast to int
  Staging: vt6655: Align a static function declaration
  staging: speakup: fix line over 80 characters.
  staging: mt7621-eth: Remove license boilerplate text
  staging: mt7621-eth: Add SPDX license identifier
  staging: ks7010: removed custom Michael MIC implementation.
  staging: rtl8192e: Fix space and suspect issue
  Staging: vt6655: Modify comment style of SPDX License Identifier
  Staging: vt6655: Modify comment style for SPDX-License-Identifier
  Staging: vt6655: Align a function declaration
  Staging: vt6655: Alignment of function declaration
  staging: rtl8712: Fix indentation issue
  staging: wilc1000: fix incorrent type in initializer
  staging: rtl8188eu: remove unused P2P_PRIVATE_IOCTL_SET_LEN
  staging: rtl8188eu: remove unused enum P2P_PROTO_WK_ID
  staging: rtl8723bs: Remove duplicated include from drv_types.h
  Staging: vt6655: Alignment should match open parenthesis
  staging: erofs: fix mis-acted TAIL merging behavior
  ...

10 files changed, 358 insertions, 46 deletions

diff --git a/drivers/iio/imu/bmi160/bmi160.h b/drivers/iio/imu/bmi160/bmi160.h
index 2351049d930b..621f5309d735 100644
--- a/drivers/iio/imu/bmi160/bmi160.h
+++ b/drivers/iio/imu/bmi160/bmi160.h
@@ -2,9 +2,20 @@
 #ifndef BMI160_H_
 #define BMI160_H_
 
+#include <linux/iio/iio.h>
+
+struct bmi160_data {
+	struct regmap *regmap;
+	struct iio_trigger *trig;
+};
+
 extern const struct regmap_config bmi160_regmap_config;
 
 int bmi160_core_probe(struct device *dev, struct regmap *regmap,
 		      const char *name, bool use_spi);
 
+int bmi160_enable_irq(struct regmap *regmap, bool enable);
+
+int bmi160_probe_trigger(struct iio_dev *indio_dev, int irq, u32 irq_type);
+
 #endif  /* BMI160_H_ */
diff --git a/drivers/iio/imu/bmi160/bmi160_core.c b/drivers/iio/imu/bmi160/bmi160_core.c
index b10330b0f93f..6af65d6f1d28 100644
--- a/drivers/iio/imu/bmi160/bmi160_core.c
+++ b/drivers/iio/imu/bmi160/bmi160_core.c
@@ -1,26 +1,27 @@
+// SPDX-License-Identifier: GPL-2.0
 /*
  * BMI160 - Bosch IMU (accel, gyro plus external magnetometer)
  *
  * Copyright (c) 2016, Intel Corporation.
- *
- * This file is subject to the terms and conditions of version 2 of
- * the GNU General Public License.  See the file COPYING in the main
- * directory of this archive for more details.
+ * Copyright (c) 2019, Martin Kelly.
  *
  * IIO core driver for BMI160, with support for I2C/SPI busses
  *
- * TODO: magnetometer, interrupts, hardware FIFO
+ * TODO: magnetometer, hardware FIFO
  */
 #include <linux/module.h>
 #include <linux/regmap.h>
 #include <linux/acpi.h>
 #include <linux/delay.h>
+#include <linux/irq.h>
+#include <linux/of_irq.h>
 
 #include <linux/iio/iio.h>
 #include <linux/iio/triggered_buffer.h>
 #include <linux/iio/trigger_consumer.h>
 #include <linux/iio/buffer.h>
 #include <linux/iio/sysfs.h>
+#include <linux/iio/trigger.h>
 
 #include "bmi160.h"
 
@@ -64,8 +65,32 @@
 #define BMI160_CMD_GYRO_PM_FAST_STARTUP	0x17
 #define BMI160_CMD_SOFTRESET		0xB6
 
+#define BMI160_REG_INT_EN		0x51
+#define BMI160_DRDY_INT_EN		BIT(4)
+
+#define BMI160_REG_INT_OUT_CTRL		0x53
+#define BMI160_INT_OUT_CTRL_MASK	0x0f
+#define BMI160_INT1_OUT_CTRL_SHIFT	0
+#define BMI160_INT2_OUT_CTRL_SHIFT	4
+#define BMI160_EDGE_TRIGGERED		BIT(0)
+#define BMI160_ACTIVE_HIGH		BIT(1)
+#define BMI160_OPEN_DRAIN		BIT(2)
+#define BMI160_OUTPUT_EN		BIT(3)
+
+#define BMI160_REG_INT_LATCH		0x54
+#define BMI160_INT1_LATCH_MASK		BIT(4)
+#define BMI160_INT2_LATCH_MASK		BIT(5)
+
+/* INT1 and INT2 are in the opposite order as in INT_OUT_CTRL! */
+#define BMI160_REG_INT_MAP		0x56
+#define BMI160_INT1_MAP_DRDY_EN		0x80
+#define BMI160_INT2_MAP_DRDY_EN		0x08
+
 #define BMI160_REG_DUMMY		0x7F
 
+#define BMI160_NORMAL_WRITE_USLEEP	2
+#define BMI160_SUSPENDED_WRITE_USLEEP	450
+
 #define BMI160_ACCEL_PMU_MIN_USLEEP	3800
 #define BMI160_GYRO_PMU_MIN_USLEEP	80000
 #define BMI160_SOFTRESET_USLEEP		1000
@@ -108,8 +133,9 @@ enum bmi160_sensor_type {
 	BMI160_NUM_SENSORS /* must be last */
 };
 
-struct bmi160_data {
-	struct regmap *regmap;
+enum bmi160_int_pin {
+	BMI160_PIN_INT1,
+	BMI160_PIN_INT2
 };
 
 const struct regmap_config bmi160_regmap_config = {
@@ -273,7 +299,7 @@ int bmi160_set_mode(struct bmi160_data *data, enum bmi160_sensor_type t,
 		cmd = bmi160_regs[t].pmu_cmd_suspend;
 
 	ret = regmap_write(data->regmap, BMI160_REG_CMD, cmd);
-	if (ret < 0)
+	if (ret)
 		return ret;
 
 	usleep_range(bmi160_pmu_time[t], bmi160_pmu_time[t] + 1000);
@@ -305,7 +331,7 @@ int bmi160_get_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
 	int i, ret, val;
 
 	ret = regmap_read(data->regmap, bmi160_regs[t].range, &val);
-	if (ret < 0)
+	if (ret)
 		return ret;
 
 	for (i = 0; i < bmi160_scale_table[t].num; i++)
@@ -328,7 +354,7 @@ static int bmi160_get_data(struct bmi160_data *data, int chan_type,
 	reg = bmi160_regs[t].data + (axis - IIO_MOD_X) * sizeof(sample);
 
 	ret = regmap_bulk_read(data->regmap, reg, &sample, sizeof(sample));
-	if (ret < 0)
+	if (ret)
 		return ret;
 
 	*val = sign_extend32(le16_to_cpu(sample), 15);
@@ -362,7 +388,7 @@ static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
 	int i, val, ret;
 
 	ret = regmap_read(data->regmap, bmi160_regs[t].config, &val);
-	if (ret < 0)
+	if (ret)
 		return ret;
 
 	val &= bmi160_regs[t].config_odr_mask;
@@ -394,13 +420,12 @@ static irqreturn_t bmi160_trigger_handler(int irq, void *p)
 			 indio_dev->masklength) {
 		ret = regmap_bulk_read(data->regmap, base + i * sizeof(sample),
 				       &sample, sizeof(sample));
-		if (ret < 0)
+		if (ret)
 			goto done;
 		buf[j++] = sample;
 	}
 
-	iio_push_to_buffers_with_timestamp(indio_dev, buf,
-					   iio_get_time_ns(indio_dev));
+	iio_push_to_buffers_with_timestamp(indio_dev, buf, pf->timestamp);
 done:
 	iio_trigger_notify_done(indio_dev->trig);
 	return IRQ_HANDLED;
@@ -416,18 +441,18 @@ static int bmi160_read_raw(struct iio_dev *indio_dev,
 	switch (mask) {
 	case IIO_CHAN_INFO_RAW:
 		ret = bmi160_get_data(data, chan->type, chan->channel2, val);
-		if (ret < 0)
+		if (ret)
 			return ret;
 		return IIO_VAL_INT;
 	case IIO_CHAN_INFO_SCALE:
 		*val = 0;
 		ret = bmi160_get_scale(data,
 				       bmi160_to_sensor(chan->type), val2);
-		return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
+		return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
 	case IIO_CHAN_INFO_SAMP_FREQ:
 		ret = bmi160_get_odr(data, bmi160_to_sensor(chan->type),
 				     val, val2);
-		return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
+		return ret ? ret : IIO_VAL_INT_PLUS_MICRO;
 	default:
 		return -EINVAL;
 	}
@@ -498,6 +523,186 @@ static const char *bmi160_match_acpi_device(struct device *dev)
 	return dev_name(dev);
 }
 
+static int bmi160_write_conf_reg(struct regmap *regmap, unsigned int reg,
+				 unsigned int mask, unsigned int bits,
+				 unsigned int write_usleep)
+{
+	int ret;
+	unsigned int val;
+
+	ret = regmap_read(regmap, reg, &val);
+	if (ret)
+		return ret;
+
+	val = (val & ~mask) | bits;
+
+	ret = regmap_write(regmap, reg, val);
+	if (ret)
+		return ret;
+
+	/*
+	 * We need to wait after writing before we can write again. See the
+	 * datasheet, page 93.
+	 */
+	usleep_range(write_usleep, write_usleep + 1000);
+
+	return 0;
+}
+
+static int bmi160_config_pin(struct regmap *regmap, enum bmi160_int_pin pin,
+			     bool open_drain, u8 irq_mask,
+			     unsigned long write_usleep)
+{
+	int ret;
+	struct device *dev = regmap_get_device(regmap);
+	u8 int_out_ctrl_shift;
+	u8 int_latch_mask;
+	u8 int_map_mask;
+	u8 int_out_ctrl_mask;
+	u8 int_out_ctrl_bits;
+	const char *pin_name;
+
+	switch (pin) {
+	case BMI160_PIN_INT1:
+		int_out_ctrl_shift = BMI160_INT1_OUT_CTRL_SHIFT;
+		int_latch_mask = BMI160_INT1_LATCH_MASK;
+		int_map_mask = BMI160_INT1_MAP_DRDY_EN;
+		break;
+	case BMI160_PIN_INT2:
+		int_out_ctrl_shift = BMI160_INT2_OUT_CTRL_SHIFT;
+		int_latch_mask = BMI160_INT2_LATCH_MASK;
+		int_map_mask = BMI160_INT2_MAP_DRDY_EN;
+		break;
+	}
+	int_out_ctrl_mask = BMI160_INT_OUT_CTRL_MASK << int_out_ctrl_shift;
+
+	/*
+	 * Enable the requested pin with the right settings:
+	 * - Push-pull/open-drain
+	 * - Active low/high
+	 * - Edge/level triggered
+	 */
+	int_out_ctrl_bits = BMI160_OUTPUT_EN;
+	if (open_drain)
+		/* Default is push-pull. */
+		int_out_ctrl_bits |= BMI160_OPEN_DRAIN;
+	int_out_ctrl_bits |= irq_mask;
+	int_out_ctrl_bits <<= int_out_ctrl_shift;
+
+	ret = bmi160_write_conf_reg(regmap, BMI160_REG_INT_OUT_CTRL,
+				    int_out_ctrl_mask, int_out_ctrl_bits,
+				    write_usleep);
+	if (ret)
+		return ret;
+
+	/* Set the pin to input mode with no latching. */
+	ret = bmi160_write_conf_reg(regmap, BMI160_REG_INT_LATCH,
+				    int_latch_mask, int_latch_mask,
+				    write_usleep);
+	if (ret)
+		return ret;
+
+	/* Map interrupts to the requested pin. */
+	ret = bmi160_write_conf_reg(regmap, BMI160_REG_INT_MAP,
+				    int_map_mask, int_map_mask,
+				    write_usleep);
+	if (ret) {
+		switch (pin) {
+		case BMI160_PIN_INT1:
+			pin_name = "INT1";
+			break;
+		case BMI160_PIN_INT2:
+			pin_name = "INT2";
+			break;
+		}
+		dev_err(dev, "Failed to configure %s IRQ pin", pin_name);
+	}
+
+	return ret;
+}
+
+int bmi160_enable_irq(struct regmap *regmap, bool enable)
+{
+	unsigned int enable_bit = 0;
+
+	if (enable)
+		enable_bit = BMI160_DRDY_INT_EN;
+
+	return bmi160_write_conf_reg(regmap, BMI160_REG_INT_EN,
+				     BMI160_DRDY_INT_EN, enable_bit,
+				     BMI160_NORMAL_WRITE_USLEEP);
+}
+EXPORT_SYMBOL(bmi160_enable_irq);
+
+static int bmi160_get_irq(struct device_node *of_node, enum bmi160_int_pin *pin)
+{
+	int irq;
+
+	/* Use INT1 if possible, otherwise fall back to INT2. */
+	irq = of_irq_get_byname(of_node, "INT1");
+	if (irq > 0) {
+		*pin = BMI160_PIN_INT1;
+		return irq;
+	}
+
+	irq = of_irq_get_byname(of_node, "INT2");
+	if (irq > 0)
+		*pin = BMI160_PIN_INT2;
+
+	return irq;
+}
+
+static int bmi160_config_device_irq(struct iio_dev *indio_dev, int irq_type,
+				    enum bmi160_int_pin pin)
+{
+	bool open_drain;
+	u8 irq_mask;
+	struct bmi160_data *data = iio_priv(indio_dev);
+	struct device *dev = regmap_get_device(data->regmap);
+
+	/* Level-triggered, active-low is the default if we set all zeroes. */
+	if (irq_type == IRQF_TRIGGER_RISING)
+		irq_mask = BMI160_ACTIVE_HIGH | BMI160_EDGE_TRIGGERED;
+	else if (irq_type == IRQF_TRIGGER_FALLING)
+		irq_mask = BMI160_EDGE_TRIGGERED;
+	else if (irq_type == IRQF_TRIGGER_HIGH)
+		irq_mask = BMI160_ACTIVE_HIGH;
+	else if (irq_type == IRQF_TRIGGER_LOW)
+		irq_mask = 0;
+	else {
+		dev_err(&indio_dev->dev,
+			"Invalid interrupt type 0x%x specified\n", irq_type);
+		return -EINVAL;
+	}
+
+	open_drain = of_property_read_bool(dev->of_node, "drive-open-drain");
+
+	return bmi160_config_pin(data->regmap, pin, open_drain, irq_mask,
+				 BMI160_NORMAL_WRITE_USLEEP);
+}
+
+static int bmi160_setup_irq(struct iio_dev *indio_dev, int irq,
+			    enum bmi160_int_pin pin)
+{
+	struct irq_data *desc;
+	u32 irq_type;
+	int ret;
+
+	desc = irq_get_irq_data(irq);
+	if (!desc) {
+		dev_err(&indio_dev->dev, "Could not find IRQ %d\n", irq);
+		return -EINVAL;
+	}
+
+	irq_type = irqd_get_trigger_type(desc);
+
+	ret = bmi160_config_device_irq(indio_dev, irq_type, pin);
+	if (ret)
+		return ret;
+
+	return bmi160_probe_trigger(indio_dev, irq, irq_type);
+}
+
 static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
 {
 	int ret;
@@ -505,7 +710,7 @@ static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
 	struct device *dev = regmap_get_device(data->regmap);
 
 	ret = regmap_write(data->regmap, BMI160_REG_CMD, BMI160_CMD_SOFTRESET);
-	if (ret < 0)
+	if (ret)
 		return ret;
 
 	usleep_range(BMI160_SOFTRESET_USLEEP, BMI160_SOFTRESET_USLEEP + 1);
@@ -516,12 +721,12 @@ static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
 	 */
 	if (use_spi) {
 		ret = regmap_read(data->regmap, BMI160_REG_DUMMY, &val);
-		if (ret < 0)
+		if (ret)
 			return ret;
 	}
 
 	ret = regmap_read(data->regmap, BMI160_REG_CHIP_ID, &val);
-	if (ret < 0) {
+	if (ret) {
 		dev_err(dev, "Error reading chip id\n");
 		return ret;
 	}
@@ -532,16 +737,59 @@ static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
 	}
 
 	ret = bmi160_set_mode(data, BMI160_ACCEL, true);
-	if (ret < 0)
+	if (ret)
 		return ret;
 
 	ret = bmi160_set_mode(data, BMI160_GYRO, true);
-	if (ret < 0)
+	if (ret)
 		return ret;
 
 	return 0;
 }
 
+static int bmi160_data_rdy_trigger_set_state(struct iio_trigger *trig,
+					     bool enable)
+{
+	struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+	struct bmi160_data *data = iio_priv(indio_dev);
+
+	return bmi160_enable_irq(data->regmap, enable);
+}
+
+static const struct iio_trigger_ops bmi160_trigger_ops = {
+	.set_trigger_state = &bmi160_data_rdy_trigger_set_state,
+};
+
+int bmi160_probe_trigger(struct iio_dev *indio_dev, int irq, u32 irq_type)
+{
+	struct bmi160_data *data = iio_priv(indio_dev);
+	int ret;
+
+	data->trig = devm_iio_trigger_alloc(&indio_dev->dev, "%s-dev%d",
+					    indio_dev->name, indio_dev->id);
+
+	if (data->trig == NULL)
+		return -ENOMEM;
+
+	ret = devm_request_irq(&indio_dev->dev, irq,
+			       &iio_trigger_generic_data_rdy_poll,
+			       irq_type, "bmi160", data->trig);
+	if (ret)
+		return ret;
+
+	data->trig->dev.parent = regmap_get_device(data->regmap);
+	data->trig->ops = &bmi160_trigger_ops;
+	iio_trigger_set_drvdata(data->trig, indio_dev);
+
+	ret = devm_iio_trigger_register(&indio_dev->dev, data->trig);
+	if (ret)
+		return ret;
+
+	indio_dev->trig = iio_trigger_get(data->trig);
+
+	return 0;
+}
+
 static void bmi160_chip_uninit(void *data)
 {
 	struct bmi160_data *bmi_data = data;
@@ -555,6 +803,8 @@ int bmi160_core_probe(struct device *dev, struct regmap *regmap,
 {
 	struct iio_dev *indio_dev;
 	struct bmi160_data *data;
+	int irq;
+	enum bmi160_int_pin int_pin;
 	int ret;
 
 	indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
@@ -566,11 +816,11 @@ int bmi160_core_probe(struct device *dev, struct regmap *regmap,
 	data->regmap = regmap;
 
 	ret = bmi160_chip_init(data, use_spi);
-	if (ret < 0)
+	if (ret)
 		return ret;
 
 	ret = devm_add_action_or_reset(dev, bmi160_chip_uninit, data);
-	if (ret < 0)
+	if (ret)
 		return ret;
 
 	if (!name && ACPI_HANDLE(dev))
@@ -583,16 +833,23 @@ int bmi160_core_probe(struct device *dev, struct regmap *regmap,
 	indio_dev->modes = INDIO_DIRECT_MODE;
 	indio_dev->info = &bmi160_info;
 
-	ret = devm_iio_triggered_buffer_setup(dev, indio_dev, NULL,
+	ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
+					      iio_pollfunc_store_time,
 					      bmi160_trigger_handler, NULL);
-	if (ret < 0)
+	if (ret)
 		return ret;
 
-	ret = devm_iio_device_register(dev, indio_dev);
-	if (ret < 0)
-		return ret;
+	irq = bmi160_get_irq(dev->of_node, &int_pin);
+	if (irq > 0) {
+		ret = bmi160_setup_irq(indio_dev, irq, int_pin);
+		if (ret)
+			dev_err(&indio_dev->dev, "Failed to setup IRQ %d\n",
+				irq);
+	} else {
+		dev_info(&indio_dev->dev, "Not setting up IRQ trigger\n");
+	}
 
-	return 0;
+	return devm_iio_device_register(dev, indio_dev);
 }
 EXPORT_SYMBOL_GPL(bmi160_core_probe);
 
diff --git a/drivers/iio/imu/bmi160/bmi160_i2c.c b/drivers/iio/imu/bmi160/bmi160_i2c.c
index 5b1f7e6af651..e36f5e82d400 100644
--- a/drivers/iio/imu/bmi160/bmi160_i2c.c
+++ b/drivers/iio/imu/bmi160/bmi160_i2c.c
@@ -1,12 +1,9 @@
+// SPDX-License-Identifier: GPL-2.0
 /*
  * BMI160 - Bosch IMU, I2C bits
  *
  * Copyright (c) 2016, Intel Corporation.
  *
- * This file is subject to the terms and conditions of version 2 of
- * the GNU General Public License.  See the file COPYING in the main
- * directory of this archive for more details.
- *
  * 7-bit I2C slave address is:
  *      - 0x68 if SDO is pulled to GND
  *      - 0x69 if SDO is pulled to VDDIO
diff --git a/drivers/iio/imu/bmi160/bmi160_spi.c b/drivers/iio/imu/bmi160/bmi160_spi.c
index e521ad14eeac..c19e3df35559 100644
--- a/drivers/iio/imu/bmi160/bmi160_spi.c
+++ b/drivers/iio/imu/bmi160/bmi160_spi.c
@@ -1,11 +1,9 @@
+// SPDX-License-Identifier: GPL-2.0
 /*
  * BMI160 - Bosch IMU, SPI bits
  *
  * Copyright (c) 2016, Intel Corporation.
  *
- * This file is subject to the terms and conditions of version 2 of
- * the GNU General Public License.  See the file COPYING in the main
- * directory of this archive for more details.
  */
 #include <linux/acpi.h>
 #include <linux/module.h>
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 5483b2ea754d..d2fe9dbddda7 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -13,8 +13,8 @@ config INV_MPU6050_I2C
 	select INV_MPU6050_IIO
 	select REGMAP_I2C
 	help
-	  This driver supports the Invensense MPU6050/6500/9150 and ICM20608
-	  motion tracking devices over I2C.
+	  This driver supports the Invensense MPU6050/6500/9150 and
+	  ICM20608/20602 motion tracking devices over I2C.
 	  This driver can be built as a module. The module will be called
 	  inv-mpu6050-i2c.
 
@@ -24,7 +24,7 @@ config INV_MPU6050_SPI
 	select INV_MPU6050_IIO
 	select REGMAP_SPI
 	help
-	  This driver supports the Invensense MPU6050/6500/9150 and ICM20608
-	  motion tracking devices over SPI.
+	  This driver supports the Invensense MPU6050/6500/9150 and
+	  ICM20608/20602 motion tracking devices over SPI.
 	  This driver can be built as a module. The module will be called
 	  inv-mpu6050-spi.
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 1e428c196a82..650de0fefb7b 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -38,6 +38,29 @@ static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
  */
 static const int accel_scale[] = {598, 1196, 2392, 4785};
 
+static const struct inv_mpu6050_reg_map reg_set_icm20602 = {
+	.sample_rate_div	= INV_MPU6050_REG_SAMPLE_RATE_DIV,
+	.lpf                    = INV_MPU6050_REG_CONFIG,
+	.accel_lpf              = INV_MPU6500_REG_ACCEL_CONFIG_2,
+	.user_ctrl              = INV_MPU6050_REG_USER_CTRL,
+	.fifo_en                = INV_MPU6050_REG_FIFO_EN,
+	.gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
+	.accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
+	.fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
+	.fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
+	.raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
+	.raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
+	.temperature            = INV_MPU6050_REG_TEMPERATURE,
+	.int_enable             = INV_MPU6050_REG_INT_ENABLE,
+	.int_status             = INV_MPU6050_REG_INT_STATUS,
+	.pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
+	.pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
+	.int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
+	.accl_offset            = INV_MPU6500_REG_ACCEL_OFFSET,
+	.gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
+	.i2c_if                 = INV_ICM20602_REG_I2C_IF,
+};
+
 static const struct inv_mpu6050_reg_map reg_set_6500 = {
 	.sample_rate_div	= INV_MPU6050_REG_SAMPLE_RATE_DIV,
 	.lpf                    = INV_MPU6050_REG_CONFIG,
@@ -58,6 +81,7 @@ static const struct inv_mpu6050_reg_map reg_set_6500 = {
 	.int_pin_cfg		= INV_MPU6050_REG_INT_PIN_CFG,
 	.accl_offset		= INV_MPU6500_REG_ACCEL_OFFSET,
 	.gyro_offset		= INV_MPU6050_REG_GYRO_OFFSET,
+	.i2c_if                 = 0,
 };
 
 static const struct inv_mpu6050_reg_map reg_set_6050 = {
@@ -78,6 +102,7 @@ static const struct inv_mpu6050_reg_map reg_set_6050 = {
 	.int_pin_cfg		= INV_MPU6050_REG_INT_PIN_CFG,
 	.accl_offset		= INV_MPU6050_REG_ACCEL_OFFSET,
 	.gyro_offset		= INV_MPU6050_REG_GYRO_OFFSET,
+	.i2c_if                 = 0,
 };
 
 static const struct inv_mpu6050_chip_config chip_config_6050 = {
@@ -140,6 +165,12 @@ static const struct inv_mpu6050_hw hw_info[] = {
 		.reg = &reg_set_6500,
 		.config = &chip_config_6050,
 	},
+	{
+		.whoami = INV_ICM20602_WHOAMI_VALUE,
+		.name = "ICM20602",
+		.reg = &reg_set_icm20602,
+		.config = &chip_config_6050,
+	},
 };
 
 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index dd758e3d403d..e46eb4ddea21 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -127,6 +127,7 @@ static int inv_mpu_probe(struct i2c_client *client,
 	st = iio_priv(dev_get_drvdata(&client->dev));
 	switch (st->chip_type) {
 	case INV_ICM20608:
+	case INV_ICM20602:
 		/* no i2c auxiliary bus on the chip */
 		break;
 	default:
@@ -179,6 +180,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
 	{"mpu9250", INV_MPU9250},
 	{"mpu9255", INV_MPU9255},
 	{"icm20608", INV_ICM20608},
+	{"icm20602", INV_ICM20602},
 	{}
 };
 
@@ -213,6 +215,10 @@ static const struct of_device_id inv_of_match[] = {
 		.compatible = "invensense,icm20608",
 		.data = (void *)INV_ICM20608
 	},
+	{
+		.compatible = "invensense,icm20602",
+		.data = (void *)INV_ICM20602
+	},
 	{ }
 };
 MODULE_DEVICE_TABLE(of, inv_of_match);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 6bcc11fc1b88..325afd9f5f61 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -44,6 +44,7 @@
  *  @int_pin_cfg;	Controls interrupt pin configuration.
  *  @accl_offset:	Controls the accelerometer calibration offset.
  *  @gyro_offset:	Controls the gyroscope calibration offset.
+ *  @i2c_if:		Controls the i2c interface
  */
 struct inv_mpu6050_reg_map {
 	u8 sample_rate_div;
@@ -65,6 +66,7 @@ struct inv_mpu6050_reg_map {
 	u8 int_pin_cfg;
 	u8 accl_offset;
 	u8 gyro_offset;
+	u8 i2c_if;
 };
 
 /*device enum */
@@ -77,6 +79,7 @@ enum inv_devices {
 	INV_MPU9250,
 	INV_MPU9255,
 	INV_ICM20608,
+	INV_ICM20602,
 	INV_NUM_PARTS
 };
 
@@ -195,6 +198,10 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_BIT_PWR_ACCL_STBY       0x38
 #define INV_MPU6050_BIT_PWR_GYRO_STBY       0x07
 
+/* ICM20602 register */
+#define INV_ICM20602_REG_I2C_IF             0x70
+#define INV_ICM20602_BIT_I2C_IF_DIS         0x40
+
 #define INV_MPU6050_REG_FIFO_COUNT_H        0x72
 #define INV_MPU6050_REG_FIFO_R_W            0x74
 
@@ -261,6 +268,7 @@ struct inv_mpu6050_state {
 #define INV_MPU9255_WHOAMI_VALUE		0x73
 #define INV_MPU6515_WHOAMI_VALUE		0x74
 #define INV_ICM20608_WHOAMI_VALUE		0xAF
+#define INV_ICM20602_WHOAMI_VALUE		0x12
 
 /* scan element definition */
 enum inv_mpu6050_scan {
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
index 227f50afff22..a112c3f45f74 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -31,9 +31,14 @@ static int inv_mpu_i2c_disable(struct iio_dev *indio_dev)
 	if (ret)
 		return ret;
 
-	st->chip_config.user_ctrl |= INV_MPU6050_BIT_I2C_IF_DIS;
-	ret = regmap_write(st->map, st->reg->user_ctrl,
-			   st->chip_config.user_ctrl);
+	if (st->reg->i2c_if) {
+		ret = regmap_write(st->map, st->reg->i2c_if,
+				   INV_ICM20602_BIT_I2C_IF_DIS);
+	} else {
+		st->chip_config.user_ctrl |= INV_MPU6050_BIT_I2C_IF_DIS;
+		ret = regmap_write(st->map, st->reg->user_ctrl,
+				   st->chip_config.user_ctrl);
+	}
 	if (ret) {
 		inv_mpu6050_set_power_itg(st, false);
 		return ret;
@@ -81,6 +86,7 @@ static const struct spi_device_id inv_mpu_id[] = {
 	{"mpu9250", INV_MPU9250},
 	{"mpu9255", INV_MPU9255},
 	{"icm20608", INV_ICM20608},
+	{"icm20602", INV_ICM20602},
 	{}
 };
 
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
index 8e47dccdd40f..66fbcd94642d 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
@@ -105,12 +105,10 @@ static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw)
 static int st_lsm6dsx_shub_read_reg(struct st_lsm6dsx_hw *hw, u8 addr,
 				    u8 *data, int len)
 {
-	const struct st_lsm6dsx_shub_settings *hub_settings;
 	int err;
 
 	mutex_lock(&hw->page_lock);
 
-	hub_settings = &hw->settings->shub_settings;
 	err = st_lsm6dsx_set_page(hw, true);
 	if (err < 0)
 		goto out;