[PATCH 0/5] mpu6050: code clean and calibration support

[PATCH 0/5] mpu6050: code clean and calibration support

[Matt Ranostay]

The patchset series cleans up several documentation, return
code issues, incorrect timing delays, and adds accl/gyro offset
support.

Matt Ranostay (5):
  iio: imu: mpu6050: use inv_mpu6050_sensor_show return code
  iio: imu: mpu6050: fix INV_MPU6050_REG_UP_TIME delay
  iio: imu: mpu6050: add missing docstring for int_pin_cfg
  iio: imu: mpu6050: add calibration offset support
  iio: imu: mpu6050: add mpu6500 register settings

 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 88 +++++++++++++++++++++++++++---
 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  |  6 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 20 ++++++-
 drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c  |  3 +-
 4 files changed, 105 insertions(+), 12 deletions(-)

-- 
1.9.1

[PATCH 1/5] iio: imu: mpu6050: use inv_mpu6050_sensor_show return code

[Matt Ranostay]

Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
---
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 225860016fed..4324328fd304 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -275,7 +275,7 @@ static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 		case IIO_TEMP:
 			/* wait for stablization */
 			msleep(INV_MPU6050_SENSOR_UP_TIME);
-			inv_mpu6050_sensor_show(st, st->reg->temperature,
+			ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
 							IIO_MOD_X, val);
 			break;
 		default:
-- 
1.9.1

[PATCH 2/5] iio: imu: mpu6050: fix INV_MPU6050_REG_UP_TIME delay

[Matt Ranostay]

replace msleep(INV_MPU6050_REG_UP_TIME) with usleep_range calls
due to fact the wait time is under 20 milliseconds.

Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
---
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 3 ++-
 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  | 3 ++-
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 7 ++++++-
 3 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 4324328fd304..6d4b19dd16f8 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -148,7 +148,8 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 		return result;
 
 	if (power_on)
-		msleep(INV_MPU6050_REG_UP_TIME);
+		usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
+			     INV_MPU6050_REG_UP_TIME_MAX);
 
 	return 0;
 }
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index af400dd892a9..37cc16d3fca3 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -68,7 +68,8 @@ static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
 		if (ret)
 			goto write_error;
 
-		msleep(INV_MPU6050_REG_UP_TIME);
+		usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
+			     INV_MPU6050_REG_UP_TIME_MAX);
 	}
 	if (!ret) {
 		st->powerup_count++;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index fcc2f3dfdfa8..243324dd78de 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -172,10 +172,15 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR   6
 #define INV_MPU6050_FIFO_COUNT_BYTE          2
 #define INV_MPU6050_FIFO_THRESHOLD           500
+
+/* delay time in milliseconds */
 #define INV_MPU6050_POWER_UP_TIME            100
 #define INV_MPU6050_TEMP_UP_TIME             100
 #define INV_MPU6050_SENSOR_UP_TIME           30
-#define INV_MPU6050_REG_UP_TIME              5
+
+/* delay time in microseconds */
+#define INV_MPU6050_REG_UP_TIME_MIN          5000
+#define INV_MPU6050_REG_UP_TIME_MAX          10000
 
 #define INV_MPU6050_TEMP_OFFSET	             12421
 #define INV_MPU6050_TEMP_SCALE               2941
-- 
1.9.1

[PATCH 3/5] iio: imu: mpu6050: add missing docstring for int_pin_cfg

[Matt Ranostay]

Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
---
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 243324dd78de..a6c45ce459ee 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -39,6 +39,7 @@
  *  @int_enable:	Interrupt enable register.
  *  @pwr_mgmt_1:	Controls chip's power state and clock source.
  *  @pwr_mgmt_2:	Controls power state of individual sensors.
+ *  @int_pin_cfg;	Controls interrupt pin configuration.
  */
 struct inv_mpu6050_reg_map {
 	u8 sample_rate_div;
-- 
1.9.1

[PATCH 4/5] iio: imu: mpu6050: add calibration offset support

[Matt Ranostay]

Allow setting of the x/y/z axes calibration offsets for the gyroscope
and accelerometer.

Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
---
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 51 ++++++++++++++++++++++++++++--
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 10 ++++++
 2 files changed, 59 insertions(+), 2 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 6d4b19dd16f8..3acf0863e558 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -55,6 +55,8 @@ static const struct inv_mpu6050_reg_map reg_set_6050 = {
 	.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_MPU6050_REG_ACCEL_OFFSET,
+	.gyro_offset		= INV_MPU6050_REG_GYRO_OFFSET,
 };
 
 static const struct inv_mpu6050_chip_config chip_config_6050 = {
@@ -200,6 +202,20 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 	return result;
 }
 
+static int inv_mpu6050_sensor_set(struct inv_mpu6050_state  *st, int reg,
+				int axis, int val)
+{
+	int ind, result;
+	__be16 d = cpu_to_be16(val);
+
+	ind = (axis - IIO_MOD_X) * 2;
+	result = regmap_bulk_write(st->map, reg + ind, (u8 *)&d, 2);
+	if (result)
+		return -EINVAL;
+
+	return 0;
+}
+
 static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
 				int axis, int *val)
 {
@@ -221,11 +237,12 @@ static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 			      int *val2,
 			      long mask) {
 	struct inv_mpu6050_state  *st = iio_priv(indio_dev);
+	int ret = 0;
 
 	switch (mask) {
 	case IIO_CHAN_INFO_RAW:
 	{
-		int ret, result;
+		int result;
 
 		ret = IIO_VAL_INT;
 		result = 0;
@@ -321,6 +338,20 @@ error_read_raw:
 		default:
 			return -EINVAL;
 		}
+	case IIO_CHAN_INFO_CALIBBIAS:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
+						chan->channel2, val);
+			return IIO_VAL_INT;
+		case IIO_ACCEL:
+			ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
+						chan->channel2, val);
+			return IIO_VAL_INT;
+
+		default:
+			return -EINVAL;
+		}
 	default:
 		return -EINVAL;
 	}
@@ -416,6 +447,21 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
 			break;
 		}
 		break;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			result = inv_mpu6050_sensor_set(st,
+							st->reg->gyro_offset,
+							chan->channel2, val);
+			break;
+		case IIO_ACCEL:
+			result = inv_mpu6050_sensor_set(st,
+							st->reg->accl_offset,
+							chan->channel2, val);
+			break;
+		default:
+			result = -EINVAL;
+		}
 	default:
 		result = -EINVAL;
 		break;
@@ -569,7 +615,8 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 		.modified = 1,                                        \
 		.channel2 = _channel2,                                \
 		.info_mask_shared_by_type =  BIT(IIO_CHAN_INFO_SCALE), \
-		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),         \
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |        \
+				      BIT(IIO_CHAN_INFO_CALIBBIAS),   \
 		.scan_index = _index,                                 \
 		.scan_type = {                                        \
 				.sign = 's',                          \
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index a6c45ce459ee..c4e24148c733 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -40,6 +40,8 @@
  *  @pwr_mgmt_1:	Controls chip's power state and clock source.
  *  @pwr_mgmt_2:	Controls power state of individual sensors.
  *  @int_pin_cfg;	Controls interrupt pin configuration.
+ *  @accl_offset:	Controls the accelerometer calibration offset.
+ *  @gyro_offset:	Controls the gyroscope calibration offset.
  */
 struct inv_mpu6050_reg_map {
 	u8 sample_rate_div;
@@ -57,6 +59,8 @@ struct inv_mpu6050_reg_map {
 	u8 pwr_mgmt_1;
 	u8 pwr_mgmt_2;
 	u8 int_pin_cfg;
+	u8 accl_offset;
+	u8 gyro_offset;
 };
 
 /*device enum */
@@ -133,6 +137,9 @@ struct inv_mpu6050_state {
 };
 
 /*register and associated bit definition*/
+#define INV_MPU6050_REG_ACCEL_OFFSET        0x06
+#define INV_MPU6050_REG_GYRO_OFFSET         0x13
+
 #define INV_MPU6050_REG_SAMPLE_RATE_DIV     0x19
 #define INV_MPU6050_REG_CONFIG              0x1A
 #define INV_MPU6050_REG_GYRO_CONFIG         0x1B
@@ -174,6 +181,9 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_FIFO_COUNT_BYTE          2
 #define INV_MPU6050_FIFO_THRESHOLD           500
 
+/* mpu6500 registers */
+#define INV_MPU6500_REG_ACCEL_OFFSET        0x77
+
 /* delay time in milliseconds */
 #define INV_MPU6050_POWER_UP_TIME            100
 #define INV_MPU6050_TEMP_UP_TIME             100
-- 
1.9.1

[PATCH 5/5] iio: imu: mpu6050: add mpu6500 register settings

[Matt Ranostay]

Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
---
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 32 +++++++++++++++++++++++++++---
 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  |  3 ++-
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |  2 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c  |  3 ++-
 4 files changed, 34 insertions(+), 6 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 3acf0863e558..75d93181a16d 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -39,6 +39,26 @@ 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_6500 = {
+	.sample_rate_div	= INV_MPU6050_REG_SAMPLE_RATE_DIV,
+	.lpf                    = INV_MPU6050_REG_CONFIG,
+	.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,
+	.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,
+};
+
 static const struct inv_mpu6050_reg_map reg_set_6050 = {
 	.sample_rate_div	= INV_MPU6050_REG_SAMPLE_RATE_DIV,
 	.lpf                    = INV_MPU6050_REG_CONFIG,
@@ -68,7 +88,13 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = {
 	.accl_fs = INV_MPU6050_FS_02G,
 };
 
-static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
+static const struct inv_mpu6050_hw hw_info[] = {
+	{
+		.num_reg = 117,
+		.name = "MPU6500",
+		.reg = &reg_set_6500,
+		.config = &chip_config_6050,
+	},
 	{
 		.num_reg = 117,
 		.name = "MPU6050",
@@ -692,7 +718,6 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 {
 	int result;
 
-	st->chip_type = INV_MPU6050;
 	st->hw  = &hw_info[st->chip_type];
 	st->reg = hw_info[st->chip_type].reg;
 
@@ -726,7 +751,7 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 }
 
 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
-		       int (*inv_mpu_bus_setup)(struct iio_dev *))
+		int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
 {
 	struct inv_mpu6050_state *st;
 	struct iio_dev *indio_dev;
@@ -739,6 +764,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 		return -ENOMEM;
 
 	st = iio_priv(indio_dev);
+	st->chip_type = chip_type;
 	st->powerup_count = 0;
 	st->irq = irq;
 	st->map = regmap;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index 37cc16d3fca3..37aec63113ed 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -130,7 +130,8 @@ static int inv_mpu_probe(struct i2c_client *client,
 		return PTR_ERR(regmap);
 	}
 
-	result = inv_mpu_core_probe(regmap, client->irq, name, NULL);
+	result = inv_mpu_core_probe(regmap, client->irq, name,
+				    NULL, id->driver_data);
 	if (result < 0)
 		return result;
 
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index c4e24148c733..e302a49703bf 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -277,7 +277,7 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
 int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
 void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
-		      int (*inv_mpu_bus_setup)(struct iio_dev *));
+		int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
 int inv_mpu_core_remove(struct device *dev);
 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
 extern const struct dev_pm_ops inv_mpu_pmops;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
index 5b552a677340..dea6c4361de0 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -54,7 +54,8 @@ static int inv_mpu_probe(struct spi_device *spi)
 		return PTR_ERR(regmap);
 	}
 
-	return inv_mpu_core_probe(regmap, spi->irq, name, inv_mpu_i2c_disable);
+	return inv_mpu_core_probe(regmap, spi->irq, name,
+				  inv_mpu_i2c_disable, id->driver_data);
 }
 
 static int inv_mpu_remove(struct spi_device *spi)
-- 
1.9.1

Re: [PATCH 1/5] iio: imu: mpu6050: use inv_mpu6050_sensor_show return code

[Daniel Baluta]

On Mon, Feb 22, 2016 at 11:39 PM, Matt Ranostay <matt.ranostay@intel.com> wrote:
> Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
> ---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 2 +-
>  1 file changed, 1 insertion(+), 1 deletion(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index 225860016fed..4324328fd304 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -275,7 +275,7 @@ static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
>                 case IIO_TEMP:
>                         /* wait for stablization */

While at it please also fix this type :D.

>                         msleep(INV_MPU6050_SENSOR_UP_TIME);
> -                       inv_mpu6050_sensor_show(st, st->reg->temperature,
> +                       ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
>                                                         IIO_MOD_X, val);
>                         break;
>                 default:
> --
> 1.9.1
>
> --
> To unsubscribe from this list: send the line "unsubscribe linux-iio" in
> the body of a message to majordomo@vger.kernel.org
> More majordomo info at  http://vger.kernel.org/majordomo-info.html

Re: [PATCH 1/5] iio: imu: mpu6050: use inv_mpu6050_sensor_show return code

[Daniel Baluta]

On Mon, Feb 22, 2016 at 11:49 PM, Daniel Baluta <daniel.baluta@intel.com> wrote:
> On Mon, Feb 22, 2016 at 11:39 PM, Matt Ranostay <matt.ranostay@intel.com> wrote:
>> Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
>> ---
>>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 2 +-
>>  1 file changed, 1 insertion(+), 1 deletion(-)
>>
>> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
>> index 225860016fed..4324328fd304 100644
>> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
>> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
>> @@ -275,7 +275,7 @@ static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
>>                 case IIO_TEMP:
>>                         /* wait for stablization */
>
> While at it please also fix this type :D.

s/type/typo :)))

Re: [PATCH 0/5] mpu6050: code clean and calibration support

[Jonathan Cameron]

On 22/02/16 21:39, Matt Ranostay wrote:
> The patchset series cleans up several documentation, return
> code issues, incorrect timing delays, and adds accl/gyro offset
> support.
> 
> Matt Ranostay (5):
>   iio: imu: mpu6050: use inv_mpu6050_sensor_show return code
>   iio: imu: mpu6050: fix INV_MPU6050_REG_UP_TIME delay
>   iio: imu: mpu6050: add missing docstring for int_pin_cfg
>   iio: imu: mpu6050: add calibration offset support
>   iio: imu: mpu6050: add mpu6500 register settings
> 
>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 88 +++++++++++++++++++++++++++---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  |  6 +-
>  drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 20 ++++++-
>  drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c  |  3 +-
>  4 files changed, 105 insertions(+), 12 deletions(-)
> 
Whole series looks good to me (the typo fix can follow if you like :)

Ideally I'd like Ge to take a look as well (+ anyone else who fancies
doing so!) so will leave it on list for a few days more.

Jonathan

Re: [PATCH 0/5] mpu6050: code clean and calibration support

[Daniel Baluta]

On Thu, Feb 25, 2016 at 12:04 AM, Ge Gao <GGao@invensense.com> wrote:
> Dear all,
>         It looks good to me.
>         Thanks.
>

Hi Ge :),

Thanks for having a look at this. For next patches please also add the
kernel formal
Acked-by tag, like this:

Acked-by: Ge Gao <GGao@invensense.com>

so that Jonathan can mark your collaboration into the commit message.

> Best Regards,
>
> Ge Gao
>
>
> -----Original Message-----
> From: Jonathan Cameron [mailto:jic23@kernel.org]
> Sent: Wednesday, February 24, 2016 1:08 PM
> To: Matt Ranostay
> Cc: linux-iio@vger.kernel.org; daniel.baluta@intel.com; adriana.reus@intel.com; Ge Gao
> Subject: Re: [PATCH 0/5] mpu6050: code clean and calibration support
>
> On 22/02/16 21:39, Matt Ranostay wrote:
>> The patchset series cleans up several documentation, return code
>> issues, incorrect timing delays, and adds accl/gyro offset support.
>>
>> Matt Ranostay (5):
>>   iio: imu: mpu6050: use inv_mpu6050_sensor_show return code
>>   iio: imu: mpu6050: fix INV_MPU6050_REG_UP_TIME delay
>>   iio: imu: mpu6050: add missing docstring for int_pin_cfg
>>   iio: imu: mpu6050: add calibration offset support
>>   iio: imu: mpu6050: add mpu6500 register settings
>>
>>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 88
>> +++++++++++++++++++++++++++---
>> drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  |  6 +-
>> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 20 ++++++-
>> drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c  |  3 +-
>>  4 files changed, 105 insertions(+), 12 deletions(-)
>>
> Whole series looks good to me (the typo fix can follow if you like :)
>
> Ideally I'd like Ge to take a look as well (+ anyone else who fancies doing so!) so will leave it on list for a few days more.
>
> Jonathan

Re: [PATCH 0/5] mpu6050: code clean and calibration support

[Ge Gao]

Sure. I will do that. 
Thanks.:-)


Ge


________________________________________
From: daniel.baluta@gmail.com <daniel.baluta@gmail.com> on behalf of Daniel Baluta <daniel.baluta@intel.com>
Sent: Thursday, February 25, 2016 12:45 AM
To: Ge Gao
Cc: Jonathan Cameron; Matt Ranostay; linux-iio@vger.kernel.org; daniel.baluta@intel.com; adriana.reus@intel.com
Subject: Re: [PATCH 0/5] mpu6050: code clean and calibration support

On Thu, Feb 25, 2016 at 12:04 AM, Ge Gao <GGao@invensense.com> wrote:
> Dear all,
>         It looks good to me.
>         Thanks.
>

Hi Ge :),

Thanks for having a look at this. For next patches please also add the
kernel formal
Acked-by tag, like this:

Acked-by: Ge Gao <GGao@invensense.com>

so that Jonathan can mark your collaboration into the commit message.

> Best Regards,
>
> Ge Gao
>
>
> -----Original Message-----
> From: Jonathan Cameron [mailto:jic23@kernel.org]
> Sent: Wednesday, February 24, 2016 1:08 PM
> To: Matt Ranostay
> Cc: linux-iio@vger.kernel.org; daniel.baluta@intel.com; adriana.reus@intel.com; Ge Gao
> Subject: Re: [PATCH 0/5] mpu6050: code clean and calibration support
>
> On 22/02/16 21:39, Matt Ranostay wrote:
>> The patchset series cleans up several documentation, return code
>> issues, incorrect timing delays, and adds accl/gyro offset support.
>>
>> Matt Ranostay (5):
>>   iio: imu: mpu6050: use inv_mpu6050_sensor_show return code
>>   iio: imu: mpu6050: fix INV_MPU6050_REG_UP_TIME delay
>>   iio: imu: mpu6050: add missing docstring for int_pin_cfg
>>   iio: imu: mpu6050: add calibration offset support
>>   iio: imu: mpu6050: add mpu6500 register settings
>>
>>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 88
>> +++++++++++++++++++++++++++---
>> drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  |  6 +-
>> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 20 ++++++-
>> drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c  |  3 +-
>>  4 files changed, 105 insertions(+), 12 deletions(-)
>>
> Whole series looks good to me (the typo fix can follow if you like :)
>
> Ideally I'd like Ge to take a look as well (+ anyone else who fancies doing so!) so will leave it on list for a few days more.
>
> Jonathan

Re: [PATCH 1/5] iio: imu: mpu6050: use inv_mpu6050_sensor_show return code

[Jonathan Cameron]

On 22/02/16 21:39, Matt Ranostay wrote:
> Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
Wouldn't apply automatically so I did it manually.

Anyhow, applied to the togreg branch of iio.git - initially pushed out as testing
for the autobuilders to play tennis with it.

J
> ---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 2 +-
>  1 file changed, 1 insertion(+), 1 deletion(-)
> 
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index 225860016fed..4324328fd304 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -275,7 +275,7 @@ static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
>  		case IIO_TEMP:
>  			/* wait for stablization */
>  			msleep(INV_MPU6050_SENSOR_UP_TIME);
> -			inv_mpu6050_sensor_show(st, st->reg->temperature,
> +			ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
>  							IIO_MOD_X, val);
>  			break;
>  		default:
> 

Re: [PATCH 2/5] iio: imu: mpu6050: fix INV_MPU6050_REG_UP_TIME delay

[Jonathan Cameron]

On 22/02/16 21:39, Matt Ranostay wrote:
> replace msleep(INV_MPU6050_REG_UP_TIME) with usleep_range calls
> due to fact the wait time is under 20 milliseconds.
> 
> Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
Applied.
> ---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 3 ++-
>  drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  | 3 ++-
>  drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 7 ++++++-
>  3 files changed, 10 insertions(+), 3 deletions(-)
> 
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index 4324328fd304..6d4b19dd16f8 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -148,7 +148,8 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
>  		return result;
>  
>  	if (power_on)
> -		msleep(INV_MPU6050_REG_UP_TIME);
> +		usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
> +			     INV_MPU6050_REG_UP_TIME_MAX);
>  
>  	return 0;
>  }
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> index af400dd892a9..37cc16d3fca3 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> @@ -68,7 +68,8 @@ static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
>  		if (ret)
>  			goto write_error;
>  
> -		msleep(INV_MPU6050_REG_UP_TIME);
> +		usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
> +			     INV_MPU6050_REG_UP_TIME_MAX);
>  	}
>  	if (!ret) {
>  		st->powerup_count++;
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index fcc2f3dfdfa8..243324dd78de 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -172,10 +172,15 @@ struct inv_mpu6050_state {
>  #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR   6
>  #define INV_MPU6050_FIFO_COUNT_BYTE          2
>  #define INV_MPU6050_FIFO_THRESHOLD           500
> +
> +/* delay time in milliseconds */
>  #define INV_MPU6050_POWER_UP_TIME            100
>  #define INV_MPU6050_TEMP_UP_TIME             100
>  #define INV_MPU6050_SENSOR_UP_TIME           30
> -#define INV_MPU6050_REG_UP_TIME              5
> +
> +/* delay time in microseconds */
> +#define INV_MPU6050_REG_UP_TIME_MIN          5000
> +#define INV_MPU6050_REG_UP_TIME_MAX          10000
>  
>  #define INV_MPU6050_TEMP_OFFSET	             12421
>  #define INV_MPU6050_TEMP_SCALE               2941
> 

Re: [PATCH 3/5] iio: imu: mpu6050: add missing docstring for int_pin_cfg

[Jonathan Cameron]

On 22/02/16 21:39, Matt Ranostay wrote:
> Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
Applied.
> ---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 1 +
>  1 file changed, 1 insertion(+)
> 
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index 243324dd78de..a6c45ce459ee 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -39,6 +39,7 @@
>   *  @int_enable:	Interrupt enable register.
>   *  @pwr_mgmt_1:	Controls chip's power state and clock source.
>   *  @pwr_mgmt_2:	Controls power state of individual sensors.
> + *  @int_pin_cfg;	Controls interrupt pin configuration.
>   */
>  struct inv_mpu6050_reg_map {
>  	u8 sample_rate_div;
> 

Re: [PATCH 4/5] iio: imu: mpu6050: add calibration offset support

[Jonathan Cameron]

On 22/02/16 21:39, Matt Ranostay wrote:
> Allow setting of the x/y/z axes calibration offsets for the gyroscope
> and accelerometer.
> 
> Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
Applied - again minor fuzz, but I think it went on top fine.

Jonathan
> ---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 51 ++++++++++++++++++++++++++++--
>  drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 10 ++++++
>  2 files changed, 59 insertions(+), 2 deletions(-)
> 
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index 6d4b19dd16f8..3acf0863e558 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -55,6 +55,8 @@ static const struct inv_mpu6050_reg_map reg_set_6050 = {
>  	.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_MPU6050_REG_ACCEL_OFFSET,
> +	.gyro_offset		= INV_MPU6050_REG_GYRO_OFFSET,
>  };
>  
>  static const struct inv_mpu6050_chip_config chip_config_6050 = {
> @@ -200,6 +202,20 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
>  	return result;
>  }
>  
> +static int inv_mpu6050_sensor_set(struct inv_mpu6050_state  *st, int reg,
> +				int axis, int val)
> +{
> +	int ind, result;
> +	__be16 d = cpu_to_be16(val);
> +
> +	ind = (axis - IIO_MOD_X) * 2;
> +	result = regmap_bulk_write(st->map, reg + ind, (u8 *)&d, 2);
> +	if (result)
> +		return -EINVAL;
> +
> +	return 0;
> +}
> +
>  static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
>  				int axis, int *val)
>  {
> @@ -221,11 +237,12 @@ static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
>  			      int *val2,
>  			      long mask) {
>  	struct inv_mpu6050_state  *st = iio_priv(indio_dev);
> +	int ret = 0;
>  
>  	switch (mask) {
>  	case IIO_CHAN_INFO_RAW:
>  	{
> -		int ret, result;
> +		int result;
>  
>  		ret = IIO_VAL_INT;
>  		result = 0;
> @@ -321,6 +338,20 @@ error_read_raw:
>  		default:
>  			return -EINVAL;
>  		}
> +	case IIO_CHAN_INFO_CALIBBIAS:
> +		switch (chan->type) {
> +		case IIO_ANGL_VEL:
> +			ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
> +						chan->channel2, val);
> +			return IIO_VAL_INT;
> +		case IIO_ACCEL:
> +			ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
> +						chan->channel2, val);
> +			return IIO_VAL_INT;
> +
> +		default:
> +			return -EINVAL;
> +		}
>  	default:
>  		return -EINVAL;
>  	}
> @@ -416,6 +447,21 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
>  			break;
>  		}
>  		break;
> +	case IIO_CHAN_INFO_CALIBBIAS:
> +		switch (chan->type) {
> +		case IIO_ANGL_VEL:
> +			result = inv_mpu6050_sensor_set(st,
> +							st->reg->gyro_offset,
> +							chan->channel2, val);
> +			break;
> +		case IIO_ACCEL:
> +			result = inv_mpu6050_sensor_set(st,
> +							st->reg->accl_offset,
> +							chan->channel2, val);
> +			break;
> +		default:
> +			result = -EINVAL;
> +		}
>  	default:
>  		result = -EINVAL;
>  		break;
> @@ -569,7 +615,8 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
>  		.modified = 1,                                        \
>  		.channel2 = _channel2,                                \
>  		.info_mask_shared_by_type =  BIT(IIO_CHAN_INFO_SCALE), \
> -		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),         \
> +		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |        \
> +				      BIT(IIO_CHAN_INFO_CALIBBIAS),   \
>  		.scan_index = _index,                                 \
>  		.scan_type = {                                        \
>  				.sign = 's',                          \
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index a6c45ce459ee..c4e24148c733 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -40,6 +40,8 @@
>   *  @pwr_mgmt_1:	Controls chip's power state and clock source.
>   *  @pwr_mgmt_2:	Controls power state of individual sensors.
>   *  @int_pin_cfg;	Controls interrupt pin configuration.
> + *  @accl_offset:	Controls the accelerometer calibration offset.
> + *  @gyro_offset:	Controls the gyroscope calibration offset.
>   */
>  struct inv_mpu6050_reg_map {
>  	u8 sample_rate_div;
> @@ -57,6 +59,8 @@ struct inv_mpu6050_reg_map {
>  	u8 pwr_mgmt_1;
>  	u8 pwr_mgmt_2;
>  	u8 int_pin_cfg;
> +	u8 accl_offset;
> +	u8 gyro_offset;
>  };
>  
>  /*device enum */
> @@ -133,6 +137,9 @@ struct inv_mpu6050_state {
>  };
>  
>  /*register and associated bit definition*/
> +#define INV_MPU6050_REG_ACCEL_OFFSET        0x06
> +#define INV_MPU6050_REG_GYRO_OFFSET         0x13
> +
>  #define INV_MPU6050_REG_SAMPLE_RATE_DIV     0x19
>  #define INV_MPU6050_REG_CONFIG              0x1A
>  #define INV_MPU6050_REG_GYRO_CONFIG         0x1B
> @@ -174,6 +181,9 @@ struct inv_mpu6050_state {
>  #define INV_MPU6050_FIFO_COUNT_BYTE          2
>  #define INV_MPU6050_FIFO_THRESHOLD           500
>  
> +/* mpu6500 registers */
> +#define INV_MPU6500_REG_ACCEL_OFFSET        0x77
> +
>  /* delay time in milliseconds */
>  #define INV_MPU6050_POWER_UP_TIME            100
>  #define INV_MPU6050_TEMP_UP_TIME             100
> 

Re: [PATCH 5/5] iio: imu: mpu6050: add mpu6500 register settings

[Jonathan Cameron]

On 22/02/16 21:39, Matt Ranostay wrote:
> Signed-off-by: Matt Ranostay <matt.ranostay@intel.com>
Applied to the togreg branch of iio.git - initially pushed out as testing for
the autobuilders to play with it.

Thanks,
Jonathan
> ---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 32 +++++++++++++++++++++++++++---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  |  3 ++-
>  drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |  2 +-
>  drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c  |  3 ++-
>  4 files changed, 34 insertions(+), 6 deletions(-)
> 
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index 3acf0863e558..75d93181a16d 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -39,6 +39,26 @@ 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_6500 = {
> +	.sample_rate_div	= INV_MPU6050_REG_SAMPLE_RATE_DIV,
> +	.lpf                    = INV_MPU6050_REG_CONFIG,
> +	.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,
> +	.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,
> +};
> +
>  static const struct inv_mpu6050_reg_map reg_set_6050 = {
>  	.sample_rate_div	= INV_MPU6050_REG_SAMPLE_RATE_DIV,
>  	.lpf                    = INV_MPU6050_REG_CONFIG,
> @@ -68,7 +88,13 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = {
>  	.accl_fs = INV_MPU6050_FS_02G,
>  };
>  
> -static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
> +static const struct inv_mpu6050_hw hw_info[] = {
> +	{
> +		.num_reg = 117,
> +		.name = "MPU6500",
> +		.reg = &reg_set_6500,
> +		.config = &chip_config_6050,
> +	},
>  	{
>  		.num_reg = 117,
>  		.name = "MPU6050",
> @@ -692,7 +718,6 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
>  {
>  	int result;
>  
> -	st->chip_type = INV_MPU6050;
>  	st->hw  = &hw_info[st->chip_type];
>  	st->reg = hw_info[st->chip_type].reg;
>  
> @@ -726,7 +751,7 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
>  }
>  
>  int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> -		       int (*inv_mpu_bus_setup)(struct iio_dev *))
> +		int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
>  {
>  	struct inv_mpu6050_state *st;
>  	struct iio_dev *indio_dev;
> @@ -739,6 +764,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
>  		return -ENOMEM;
>  
>  	st = iio_priv(indio_dev);
> +	st->chip_type = chip_type;
>  	st->powerup_count = 0;
>  	st->irq = irq;
>  	st->map = regmap;
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> index 37cc16d3fca3..37aec63113ed 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> @@ -130,7 +130,8 @@ static int inv_mpu_probe(struct i2c_client *client,
>  		return PTR_ERR(regmap);
>  	}
>  
> -	result = inv_mpu_core_probe(regmap, client->irq, name, NULL);
> +	result = inv_mpu_core_probe(regmap, client->irq, name,
> +				    NULL, id->driver_data);
>  	if (result < 0)
>  		return result;
>  
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index c4e24148c733..e302a49703bf 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -277,7 +277,7 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
>  int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
>  void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
>  int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> -		      int (*inv_mpu_bus_setup)(struct iio_dev *));
> +		int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
>  int inv_mpu_core_remove(struct device *dev);
>  int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
>  extern const struct dev_pm_ops inv_mpu_pmops;
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> index 5b552a677340..dea6c4361de0 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> @@ -54,7 +54,8 @@ static int inv_mpu_probe(struct spi_device *spi)
>  		return PTR_ERR(regmap);
>  	}
>  
> -	return inv_mpu_core_probe(regmap, spi->irq, name, inv_mpu_i2c_disable);
> +	return inv_mpu_core_probe(regmap, spi->irq, name,
> +				  inv_mpu_i2c_disable, id->driver_data);
>  }
>  
>  static int inv_mpu_remove(struct spi_device *spi)
>