1 files changed, 49 insertions, 17 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..53a59957cc54 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -1,14 +1,6 @@
+// SPDX-License-Identifier: GPL-2.0-only
 /*
 * Copyright (C) 2012 Invensense, Inc.
-*
-* This software is licensed under the terms of the GNU General Public
-* License version 2, as published by the Free Software Foundation, and
-* may be copied, distributed, and modified under those terms.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
 */
 
 #include <linux/module.h>
@@ -471,7 +463,10 @@ 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 +475,10 @@ 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:
@@ -796,12 +794,14 @@ static const struct iio_mount_matrix *
 inv_get_mount_matrix(const struct iio_dev *indio_dev,
 		     const struct iio_chan_spec *chan)
 {
-	return &((struct inv_mpu6050_state *)iio_priv(indio_dev))->orientation;
+	struct inv_mpu6050_state *data = iio_priv(indio_dev);
+
+	return &data->orientation;
 }
 
 static const struct iio_chan_spec_ext_info inv_ext_info[] = {
 	IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
-	{ },
+	{ }
 };
 
 #define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
@@ -845,6 +845,32 @@ 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_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
@@ -1021,8 +1047,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 
 	pdata = dev_get_platdata(dev);
 	if (!pdata) {
-		result = of_iio_read_mount_matrix(dev, "mount-matrix",
-						  &st->orientation);
+		result = iio_read_mount_matrix(dev, "mount-matrix",
+					       &st->orientation);
 		if (result) {
 			dev_err(dev, "Failed to retrieve mounting matrix %d\n",
 				result);
@@ -1100,8 +1126,14 @@ 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;