[PATCH 0/9] Add support of similar chips

[PATCH 0/9] Add support of similar chips

[Jean-Baptiste Maneyrol]

This series add support of new chips that are similar to the ones already
supported.

Add correct OF support for spi and modify low-pass filter settings to
support correctly all the chips.

Jean-Baptiste Maneyrol (9):
  dt-bindings: iio: imu: inv_mpu6050: add missing entry for mpu6000
  iio: imu: inv_mpu6050: cleanup spi support
  iio: imu: inv_mpu6050: add support of ICM20609 & ICM20689
  dt-bindings: add description for icm20609 and icm20689
  iio: imu: inv_mpu6050: add support of IAM20680
  dt-bindings: add description for iam20680
  iio: imu: inv_mpu6050: add support of ICM20690
  dt-bindings: add description for icm20690
  iio: imu: inv_mpu6050: fix LPF bandwidth setting

 .../bindings/iio/imu/inv_mpu6050.txt          |   5 +
 drivers/iio/imu/inv_mpu6050/Kconfig           |  12 +--
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c    | 100 ++++++++++++++----
 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c     |  23 ++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h     |  20 +++-
 drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c     |  55 ++++++++++
 6 files changed, 181 insertions(+), 34 deletions(-)

-- 
2.17.1

[PATCH 1/9] dt-bindings: iio: imu: inv_mpu6050: add missing entry for mpu6000

[Jean-Baptiste Maneyrol]

mpu6000 is spi only.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
 Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
index c5ee8a20af9f..38483ea31fd4 100644
--- a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
+++ b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
@@ -4,6 +4,7 @@ http://www.invensense.com/mems/gyro/mpu6050.html
 
 Required properties:
  - compatible : should be one of
+		"invensense,mpu6000"
 		"invensense,mpu6050"
  		"invensense,mpu6500"
 		"invensense,mpu6515"
-- 
2.17.1

[PATCH 2/9] iio: imu: inv_mpu6050: cleanup spi support

[Jean-Baptiste Maneyrol]

Add missing mpu6515 support and add of match table.
Reorganize Kconfig to display chips grouped by generations.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
 drivers/iio/imu/inv_mpu6050/Kconfig       |  8 +++---
 drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 35 +++++++++++++++++++++++
 2 files changed, 39 insertions(+), 4 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 017bc0fcc365..003134734646 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -15,8 +15,8 @@ config INV_MPU6050_I2C
 	select INV_MPU6050_IIO
 	select REGMAP_I2C
 	help
-	  This driver supports the Invensense MPU6050/6500/6515,
-	  MPU9150/9250/9255 and ICM20608/20602 motion tracking devices
+	  This driver supports the Invensense MPU6050/9150,
+	  MPU6500/6515/9250/9255, ICM20608 and ICM20602 motion tracking devices
 	  over I2C.
 	  This driver can be built as a module. The module will be called
 	  inv-mpu6050-i2c.
@@ -27,8 +27,8 @@ config INV_MPU6050_SPI
 	select INV_MPU6050_IIO
 	select REGMAP_SPI
 	help
-	  This driver supports the Invensense MPU6000/6500/6515,
-	  MPU9250/9255 and ICM20608/20602 motion tracking devices
+	  This driver supports the Invensense MPU6000,
+	  MPU6500/6515/9250/9255, ICM20608 and ICM20602 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_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
index ec102d5a5c77..f7276f9d83fc 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -74,6 +74,7 @@ static int inv_mpu_probe(struct spi_device *spi)
 static const struct spi_device_id inv_mpu_id[] = {
 	{"mpu6000", INV_MPU6000},
 	{"mpu6500", INV_MPU6500},
+	{"mpu6515", INV_MPU6515},
 	{"mpu9250", INV_MPU9250},
 	{"mpu9255", INV_MPU9255},
 	{"icm20608", INV_ICM20608},
@@ -83,6 +84,39 @@ static const struct spi_device_id inv_mpu_id[] = {
 
 MODULE_DEVICE_TABLE(spi, inv_mpu_id);
 
+static const struct of_device_id inv_of_match[] = {
+	{
+		.compatible = "invensense,mpu6000",
+		.data = (void *)INV_MPU6000
+	},
+	{
+		.compatible = "invensense,mpu6500",
+		.data = (void *)INV_MPU6500
+	},
+	{
+		.compatible = "invensense,mpu6515",
+		.data = (void *)INV_MPU6515
+	},
+	{
+		.compatible = "invensense,mpu9250",
+		.data = (void *)INV_MPU9250
+	},
+	{
+		.compatible = "invensense,mpu9255",
+		.data = (void *)INV_MPU9255
+	},
+	{
+		.compatible = "invensense,icm20608",
+		.data = (void *)INV_ICM20608
+	},
+	{
+		.compatible = "invensense,icm20602",
+		.data = (void *)INV_ICM20602
+	},
+	{ }
+};
+MODULE_DEVICE_TABLE(of, inv_of_match);
+
 static const struct acpi_device_id inv_acpi_match[] = {
 	{"INVN6000", INV_MPU6000},
 	{ },
@@ -93,6 +127,7 @@ static struct spi_driver inv_mpu_driver = {
 	.probe		=	inv_mpu_probe,
 	.id_table	=	inv_mpu_id,
 	.driver = {
+		.of_match_table = inv_of_match,
 		.acpi_match_table = ACPI_PTR(inv_acpi_match),
 		.name	=	"inv-mpu6000-spi",
 		.pm     =       &inv_mpu_pmops,
-- 
2.17.1

[PATCH 3/9] iio: imu: inv_mpu6050: add support of ICM20609 & ICM20689

[Jean-Baptiste Maneyrol]

They are similar to ICM20608 chip.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
 drivers/iio/imu/inv_mpu6050/Kconfig        |  8 +++----
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 26 ++++++++++++++++++----
 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  | 12 ++++++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |  5 +++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c  | 10 +++++++++
 5 files changed, 53 insertions(+), 8 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 003134734646..e933db3a5a89 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/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.
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 5096fc49012d..5fd57a1bee90 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/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);
 }
 
 /**
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index f47a28b4be23..c2b5621edadb 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -74,6 +74,8 @@ 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;
@@ -218,6 +220,8 @@ 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},
 	{}
 };
@@ -253,6 +257,14 @@ 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
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 6158fca7f70e..75b8903450eb 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/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 */
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
index f7276f9d83fc..189df8bae7b4 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -78,6 +78,8 @@ 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},
 	{}
 };
@@ -109,6 +111,14 @@ 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
-- 
2.17.1

[PATCH 4/9] dt-bindings: add description for icm20609 and icm20689

[Jean-Baptiste Maneyrol]

New supported chips.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
 Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
index 38483ea31fd4..606daa145975 100644
--- a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
+++ b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
@@ -12,6 +12,8 @@ Required properties:
 		"invensense,mpu9250"
 		"invensense,mpu9255"
 		"invensense,icm20608"
+		"invensense,icm20609"
+		"invensense,icm20689"
 		"invensense,icm20602"
  - reg : the I2C address of the sensor
  - interrupts: interrupt mapping for IRQ. It should be configured with flags
-- 
2.17.1

[PATCH 5/9] iio: imu: inv_mpu6050: add support of IAM20680

[Jean-Baptiste Maneyrol]

Automotive certified IMU, similar to ICM20608.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
 drivers/iio/imu/inv_mpu6050/Kconfig        | 4 ++--
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 8 ++++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  | 6 ++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 2 ++
 drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c  | 5 +++++
 5 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index e933db3a5a89..e65474a64675 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/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,
-	  MPU6500/6515/9250/9255, ICM20608/20609/20689 and ICM20602
+	  MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602 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,
-	  MPU6500/6515/9250/9255, ICM20608/20609/20689 and ICM20602
+	  MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602 and IAM20680
 	  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 5fd57a1bee90..e8e6beef3f04 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -200,6 +200,14 @@ static const struct inv_mpu6050_hw hw_info[] = {
 		.fifo_size = 1008,
 		.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
 	},
+	{
+		.whoami = INV_IAM20680_WHOAMI_VALUE,
+		.name = "IAM20680",
+		.reg = &reg_set_6500,
+		.config = &chip_config_6050,
+		.fifo_size = 512,
+		.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+	},
 };
 
 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 c2b5621edadb..66193786386c 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -77,6 +77,7 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev)
 	case INV_ICM20609:
 	case INV_ICM20689:
 	case INV_ICM20602:
+	case INV_IAM20680:
 		/* no i2c auxiliary bus on the chip */
 		return false;
 	case INV_MPU9150:
@@ -223,6 +224,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
 	{"icm20609", INV_ICM20609},
 	{"icm20689", INV_ICM20689},
 	{"icm20602", INV_ICM20602},
+	{"iam20680", INV_IAM20680},
 	{}
 };
 
@@ -269,6 +271,10 @@ static const struct of_device_id inv_of_match[] = {
 		.compatible = "invensense,icm20602",
 		.data = (void *)INV_ICM20602
 	},
+	{
+		.compatible = "invensense,iam20680",
+		.data = (void *)INV_IAM20680
+	},
 	{ }
 };
 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 75b8903450eb..404c289f8c84 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -78,6 +78,7 @@ enum inv_devices {
 	INV_ICM20609,
 	INV_ICM20689,
 	INV_ICM20602,
+	INV_IAM20680,
 	INV_NUM_PARTS
 };
 
@@ -346,6 +347,7 @@ struct inv_mpu6050_state {
 #define INV_ICM20609_WHOAMI_VALUE		0xA6
 #define INV_ICM20689_WHOAMI_VALUE		0x98
 #define INV_ICM20602_WHOAMI_VALUE		0x12
+#define INV_IAM20680_WHOAMI_VALUE		0xA9
 
 /* scan element definition for generic MPU6xxx devices */
 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 189df8bae7b4..e911e13edb86 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -81,6 +81,7 @@ static const struct spi_device_id inv_mpu_id[] = {
 	{"icm20609", INV_ICM20609},
 	{"icm20689", INV_ICM20689},
 	{"icm20602", INV_ICM20602},
+	{"iam20680", INV_IAM20680},
 	{}
 };
 
@@ -123,6 +124,10 @@ static const struct of_device_id inv_of_match[] = {
 		.compatible = "invensense,icm20602",
 		.data = (void *)INV_ICM20602
 	},
+	{
+		.compatible = "invensense,iam20680",
+		.data = (void *)INV_IAM20680
+	},
 	{ }
 };
 MODULE_DEVICE_TABLE(of, inv_of_match);
-- 
2.17.1

[PATCH 6/9] dt-bindings: add description for iam20680

[Jean-Baptiste Maneyrol]

New supported chip.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
 Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
index 606daa145975..29cec46e27ec 100644
--- a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
+++ b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
@@ -15,6 +15,7 @@ Required properties:
 		"invensense,icm20609"
 		"invensense,icm20689"
 		"invensense,icm20602"
+		"invensense,iam20680"
  - reg : the I2C address of the sensor
  - interrupts: interrupt mapping for IRQ. It should be configured with flags
    IRQ_TYPE_LEVEL_HIGH, IRQ_TYPE_EDGE_RISING, IRQ_TYPE_LEVEL_LOW or
-- 
2.17.1

[PATCH 7/9] iio: imu: inv_mpu6050: add support of ICM20690

[Jean-Baptiste Maneyrol]

Same generation as ICM20602 but different registers.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
 drivers/iio/imu/inv_mpu6050/Kconfig        |  8 ++---
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 36 +++++++++++++++++++---
 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  |  5 +++
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |  3 ++
 drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c  |  5 +++
 5 files changed, 48 insertions(+), 9 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index e65474a64675..7137ea6f25db 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/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, ICM20608/20609/20689, ICM20602 and IAM20680
-	  motion tracking devices over I2C.
+	  MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602/ICM20690 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,
-	  MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602 and IAM20680
-	  motion tracking devices over SPI.
+	  MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602/ICM20690 and
+	  IAM20680 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 e8e6beef3f04..9ecc667debbe 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -200,6 +200,14 @@ static const struct inv_mpu6050_hw hw_info[] = {
 		.fifo_size = 1008,
 		.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
 	},
+	{
+		.whoami = INV_ICM20690_WHOAMI_VALUE,
+		.name = "ICM20690",
+		.reg = &reg_set_icm20602,
+		.config = &chip_config_6050,
+		.fifo_size = 1024,
+		.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+	},
 	{
 		.whoami = INV_IAM20680_WHOAMI_VALUE,
 		.name = "IAM20680",
@@ -295,6 +303,25 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 }
 EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);
 
+static int inv_mpu6050_set_gyro_fsr(struct inv_mpu6050_state *st,
+				    enum inv_mpu6050_fsr_e val)
+{
+	unsigned int gyro_shift;
+	u8 data;
+
+	switch (st->chip_type) {
+	case INV_ICM20690:
+		gyro_shift = INV_ICM20690_GYRO_CONFIG_FSR_SHIFT;
+		break;
+	default:
+		gyro_shift = INV_MPU6050_GYRO_CONFIG_FSR_SHIFT;
+		break;
+	}
+
+	data = val << gyro_shift;
+	return regmap_write(st->map, st->reg->gyro_config, data);
+}
+
 /**
  *  inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
  *
@@ -318,6 +345,7 @@ static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
 		/* old chips, nothing to do */
 		return 0;
 	case INV_ICM20689:
+	case INV_ICM20690:
 		/* set FIFO size to maximum value */
 		val |= INV_ICM20689_BITS_FIFO_SIZE_MAX;
 		break;
@@ -346,8 +374,8 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 	result = inv_mpu6050_set_power_itg(st, true);
 	if (result)
 		return result;
-	d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
-	result = regmap_write(st->map, st->reg->gyro_config, d);
+
+	result = inv_mpu6050_set_gyro_fsr(st, INV_MPU6050_FSR_2000DPS);
 	if (result)
 		goto error_power_off;
 
@@ -559,12 +587,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
 {
 	int result, i;
-	u8 d;
 
 	for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
 		if (gyro_scale_6050[i] == val) {
-			d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
-			result = regmap_write(st->map, st->reg->gyro_config, d);
+			result = inv_mpu6050_set_gyro_fsr(st, i);
 			if (result)
 				return result;
 
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index 66193786386c..f8b1fbca2d9e 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -224,6 +224,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
 	{"icm20609", INV_ICM20609},
 	{"icm20689", INV_ICM20689},
 	{"icm20602", INV_ICM20602},
+	{"icm20690", INV_ICM20690},
 	{"iam20680", INV_IAM20680},
 	{}
 };
@@ -271,6 +272,10 @@ static const struct of_device_id inv_of_match[] = {
 		.compatible = "invensense,icm20602",
 		.data = (void *)INV_ICM20602
 	},
+	{
+		.compatible = "invensense,icm20690",
+		.data = (void *)INV_ICM20690
+	},
 	{
 		.compatible = "invensense,iam20680",
 		.data = (void *)INV_IAM20680
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 404c289f8c84..7ae614052210 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -78,6 +78,7 @@ enum inv_devices {
 	INV_ICM20609,
 	INV_ICM20689,
 	INV_ICM20602,
+	INV_ICM20690,
 	INV_IAM20680,
 	INV_NUM_PARTS
 };
@@ -297,6 +298,7 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_MAX_ACCL_FS_PARAM        3
 #define INV_MPU6050_THREE_AXIS               3
 #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT    3
+#define INV_ICM20690_GYRO_CONFIG_FSR_SHIFT   2
 #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT    3
 
 #define INV_MPU6500_TEMP_OFFSET              7011
@@ -347,6 +349,7 @@ struct inv_mpu6050_state {
 #define INV_ICM20609_WHOAMI_VALUE		0xA6
 #define INV_ICM20689_WHOAMI_VALUE		0x98
 #define INV_ICM20602_WHOAMI_VALUE		0x12
+#define INV_ICM20690_WHOAMI_VALUE		0x20
 #define INV_IAM20680_WHOAMI_VALUE		0xA9
 
 /* scan element definition for generic MPU6xxx devices */
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
index e911e13edb86..2d069e7d468b 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -81,6 +81,7 @@ static const struct spi_device_id inv_mpu_id[] = {
 	{"icm20609", INV_ICM20609},
 	{"icm20689", INV_ICM20689},
 	{"icm20602", INV_ICM20602},
+	{"icm20690", INV_ICM20690},
 	{"iam20680", INV_IAM20680},
 	{}
 };
@@ -124,6 +125,10 @@ static const struct of_device_id inv_of_match[] = {
 		.compatible = "invensense,icm20602",
 		.data = (void *)INV_ICM20602
 	},
+	{
+		.compatible = "invensense,icm20690",
+		.data = (void *)INV_ICM20690
+	},
 	{
 		.compatible = "invensense,iam20680",
 		.data = (void *)INV_IAM20680
-- 
2.17.1

[PATCH 8/9] dt-bindings: add description for icm20690

[Jean-Baptiste Maneyrol]

New supported chip.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
 Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
index 29cec46e27ec..f2f64749e818 100644
--- a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
+++ b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
@@ -15,6 +15,7 @@ Required properties:
 		"invensense,icm20609"
 		"invensense,icm20689"
 		"invensense,icm20602"
+		"invensense,icm20690"
 		"invensense,iam20680"
  - reg : the I2C address of the sensor
  - interrupts: interrupt mapping for IRQ. It should be configured with flags
-- 
2.17.1

[PATCH 9/9] iio: imu: inv_mpu6050: fix LPF bandwidth setting

[Jean-Baptiste Maneyrol]

As every chip has some little variant in LPF bandwidth values,
use common values that are working for all chips.
Simplify the LPF setting function.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 30 ++++++++++++----------
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 10 ++++----
 2 files changed, 21 insertions(+), 19 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 9ecc667debbe..c4db9086775c 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -707,30 +707,32 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
 /**
  *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
  *
- *                  Based on the Nyquist principle, the sampling rate must
- *                  exceed twice of the bandwidth of the signal, or there
- *                  would be alising. This function basically search for the
- *                  correct low pass parameters based on the fifo rate, e.g,
- *                  sampling frequency.
+ *                  Based on the Nyquist principle, the bandwidth of the low
+ *                  pass filter must not exceed the signal sampling rate divided
+ *                  by 2, or there would be aliasing.
+ *                  This function basically search for the correct low pass
+ *                  parameters based on the fifo rate, e.g, sampling frequency.
  *
  *  lpf is set automatically when setting sampling rate to avoid any aliases.
  */
 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 {
-	static const int hz[] = {188, 98, 42, 20, 10, 5};
+	static const int hz[] = {400, 200, 90, 40, 20, 10};
 	static const int d[] = {
-		INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
-		INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
+		INV_MPU6050_FILTER_200HZ, INV_MPU6050_FILTER_100HZ,
+		INV_MPU6050_FILTER_45HZ, INV_MPU6050_FILTER_20HZ,
 		INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
 	};
-	int i, h, result;
+	int i, result;
 	u8 data;
 
-	h = (rate >> 1);
-	i = 0;
-	while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
-		i++;
-	data = d[i];
+	data = INV_MPU6050_FILTER_5HZ;
+	for (i = 0; i < ARRAY_SIZE(hz); ++i) {
+		if (rate >= hz[i]) {
+			data = d[i];
+			break;
+		}
+	}
 	result = inv_mpu6050_set_lpf_regs(st, data);
 	if (result)
 		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 7ae614052210..9a81098a8b4d 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -370,14 +370,14 @@ enum inv_mpu6050_scan {
 };
 
 enum inv_mpu6050_filter_e {
-	INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
-	INV_MPU6050_FILTER_188HZ,
-	INV_MPU6050_FILTER_98HZ,
-	INV_MPU6050_FILTER_42HZ,
+	INV_MPU6050_FILTER_NOLPF2 = 0,
+	INV_MPU6050_FILTER_200HZ,
+	INV_MPU6050_FILTER_100HZ,
+	INV_MPU6050_FILTER_45HZ,
 	INV_MPU6050_FILTER_20HZ,
 	INV_MPU6050_FILTER_10HZ,
 	INV_MPU6050_FILTER_5HZ,
-	INV_MPU6050_FILTER_2100HZ_NOLPF,
+	INV_MPU6050_FILTER_NOLPF,
 	NUM_MPU6050_FILTER
 };
 
-- 
2.17.1

Re: [PATCH 1/9] dt-bindings: iio: imu: inv_mpu6050: add missing entry for mpu6000

[Rob Herring]

On Mon, Jan 20, 2020 at 10:36:12AM +0100, Jean-Baptiste Maneyrol wrote:
> mpu6000 is spi only.
> 
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
> ---
>  Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt | 1 +
>  1 file changed, 1 insertion(+)

Just combine all the DT patches if you're only adding new compatible 
strings.

Re: [PATCH 2/9] iio: imu: inv_mpu6050: cleanup spi support

[Jonathan Cameron]

On Mon, 20 Jan 2020 10:36:13 +0100
Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> wrote:

> Add missing mpu6515 support and add of match table.
> Reorganize Kconfig to display chips grouped by generations.
> 
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>

The handling of of / acpi / directly probed could do with cleaning up in
here.

> ---
>  drivers/iio/imu/inv_mpu6050/Kconfig       |  8 +++---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c | 35 +++++++++++++++++++++++
>  2 files changed, 39 insertions(+), 4 deletions(-)
> 
> diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
> index 017bc0fcc365..003134734646 100644
> --- a/drivers/iio/imu/inv_mpu6050/Kconfig
> +++ b/drivers/iio/imu/inv_mpu6050/Kconfig
> @@ -15,8 +15,8 @@ config INV_MPU6050_I2C
>  	select INV_MPU6050_IIO
>  	select REGMAP_I2C
>  	help
> -	  This driver supports the Invensense MPU6050/6500/6515,
> -	  MPU9150/9250/9255 and ICM20608/20602 motion tracking devices
> +	  This driver supports the Invensense MPU6050/9150,
> +	  MPU6500/6515/9250/9255, ICM20608 and ICM20602 motion tracking devices
>  	  over I2C.
>  	  This driver can be built as a module. The module will be called
>  	  inv-mpu6050-i2c.
> @@ -27,8 +27,8 @@ config INV_MPU6050_SPI
>  	select INV_MPU6050_IIO
>  	select REGMAP_SPI
>  	help
> -	  This driver supports the Invensense MPU6000/6500/6515,
> -	  MPU9250/9255 and ICM20608/20602 motion tracking devices
> +	  This driver supports the Invensense MPU6000,
> +	  MPU6500/6515/9250/9255, ICM20608 and ICM20602 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_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> index ec102d5a5c77..f7276f9d83fc 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
> @@ -74,6 +74,7 @@ static int inv_mpu_probe(struct spi_device *spi)
>  static const struct spi_device_id inv_mpu_id[] = {
>  	{"mpu6000", INV_MPU6000},
>  	{"mpu6500", INV_MPU6500},
> +	{"mpu6515", INV_MPU6515},
>  	{"mpu9250", INV_MPU9250},
>  	{"mpu9255", INV_MPU9255},
>  	{"icm20608", INV_ICM20608},
> @@ -83,6 +84,39 @@ static const struct spi_device_id inv_mpu_id[] = {
>  
>  MODULE_DEVICE_TABLE(spi, inv_mpu_id);
>  
> +static const struct of_device_id inv_of_match[] = {
> +	{
> +		.compatible = "invensense,mpu6000",
> +		.data = (void *)INV_MPU6000

The current code won't actually get this field as it uses
spi_id->driver_data directly.

We should be looking I think to moved to more unified handling
rather than explicit acpi / dt legs.

device_get_match_data should simplify things and will mean
the data pointers here are actually used.

Will still need the special handling for the case where
the driver wasn't probed as a result of dt or ACPI.

Thanks,

Jonathan

> +	},
> +	{
> +		.compatible = "invensense,mpu6500",
> +		.data = (void *)INV_MPU6500
> +	},
> +	{
> +		.compatible = "invensense,mpu6515",
> +		.data = (void *)INV_MPU6515
> +	},
> +	{
> +		.compatible = "invensense,mpu9250",
> +		.data = (void *)INV_MPU9250
> +	},
> +	{
> +		.compatible = "invensense,mpu9255",
> +		.data = (void *)INV_MPU9255
> +	},
> +	{
> +		.compatible = "invensense,icm20608",
> +		.data = (void *)INV_ICM20608
> +	},
> +	{
> +		.compatible = "invensense,icm20602",
> +		.data = (void *)INV_ICM20602
> +	},
> +	{ }
> +};
> +MODULE_DEVICE_TABLE(of, inv_of_match);
> +
>  static const struct acpi_device_id inv_acpi_match[] = {
>  	{"INVN6000", INV_MPU6000},
>  	{ },
> @@ -93,6 +127,7 @@ static struct spi_driver inv_mpu_driver = {
>  	.probe		=	inv_mpu_probe,
>  	.id_table	=	inv_mpu_id,
>  	.driver = {
> +		.of_match_table = inv_of_match,
>  		.acpi_match_table = ACPI_PTR(inv_acpi_match),
>  		.name	=	"inv-mpu6000-spi",
>  		.pm     =       &inv_mpu_pmops,

Re: [PATCH 9/9] iio: imu: inv_mpu6050: fix LPF bandwidth setting

[Jonathan Cameron]

On Mon, 20 Jan 2020 10:36:20 +0100
Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> wrote:

> As every chip has some little variant in LPF bandwidth values,
> use common values that are working for all chips.
> Simplify the LPF setting function.
> 
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
hmm. On this one I wonder if the 'fix' title is strictly accurate.
It's certainly a good thing to have, but I'm not sure if we will
want to backport it.  If you do, then break it out of this series
as a separate fix and add appropriate fixes tag.

All the other patches I haven't commented on in this series look fine
to me subject to Rob's suggestion of combining the dt ID additions for
the binding doc into one patch.

Thanks,

Jonathan

> ---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 30 ++++++++++++----------
>  drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 10 ++++----
>  2 files changed, 21 insertions(+), 19 deletions(-)
> 
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index 9ecc667debbe..c4db9086775c 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -707,30 +707,32 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
>  /**
>   *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
>   *
> - *                  Based on the Nyquist principle, the sampling rate must
> - *                  exceed twice of the bandwidth of the signal, or there
> - *                  would be alising. This function basically search for the
> - *                  correct low pass parameters based on the fifo rate, e.g,
> - *                  sampling frequency.
> + *                  Based on the Nyquist principle, the bandwidth of the low
> + *                  pass filter must not exceed the signal sampling rate divided
> + *                  by 2, or there would be aliasing.
> + *                  This function basically search for the correct low pass
> + *                  parameters based on the fifo rate, e.g, sampling frequency.
>   *
>   *  lpf is set automatically when setting sampling rate to avoid any aliases.
>   */
>  static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
>  {
> -	static const int hz[] = {188, 98, 42, 20, 10, 5};
> +	static const int hz[] = {400, 200, 90, 40, 20, 10};
>  	static const int d[] = {
> -		INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
> -		INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
> +		INV_MPU6050_FILTER_200HZ, INV_MPU6050_FILTER_100HZ,
> +		INV_MPU6050_FILTER_45HZ, INV_MPU6050_FILTER_20HZ,
>  		INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
>  	};
> -	int i, h, result;
> +	int i, result;
>  	u8 data;
>  
> -	h = (rate >> 1);
> -	i = 0;
> -	while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
> -		i++;
> -	data = d[i];
> +	data = INV_MPU6050_FILTER_5HZ;
> +	for (i = 0; i < ARRAY_SIZE(hz); ++i) {
> +		if (rate >= hz[i]) {
> +			data = d[i];
> +			break;
> +		}
> +	}
>  	result = inv_mpu6050_set_lpf_regs(st, data);
>  	if (result)
>  		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 7ae614052210..9a81098a8b4d 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -370,14 +370,14 @@ enum inv_mpu6050_scan {
>  };
>  
>  enum inv_mpu6050_filter_e {
> -	INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
> -	INV_MPU6050_FILTER_188HZ,
> -	INV_MPU6050_FILTER_98HZ,
> -	INV_MPU6050_FILTER_42HZ,
> +	INV_MPU6050_FILTER_NOLPF2 = 0,
> +	INV_MPU6050_FILTER_200HZ,
> +	INV_MPU6050_FILTER_100HZ,
> +	INV_MPU6050_FILTER_45HZ,
>  	INV_MPU6050_FILTER_20HZ,
>  	INV_MPU6050_FILTER_10HZ,
>  	INV_MPU6050_FILTER_5HZ,
> -	INV_MPU6050_FILTER_2100HZ_NOLPF,
> +	INV_MPU6050_FILTER_NOLPF,
>  	NUM_MPU6050_FILTER
>  };
>